Vacon apfiff09 marine Applications Manual Download Page 216

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apfiff09 marine

VACON®

•

215

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7.9.1.1

Open Loop Settings

P2.9.4.1

Speed controller P gain, Open Loop ID637

“OL Speed Reg P”

Defines the P gain for the speed controlled in Open Loop control mode.

P2.9.4.2

Speed controller I gain, Open Loop ID638

“OL Speed Reg I”

Defines the I gain for the speed controlled in Open Loop control mode.

7.9.1.2

Closed Loop Speed Control Settings

Speed control formula:

𝑦 = 𝐾𝑝 [1 +

𝑇𝑖 𝑠] 𝑒

𝑢(𝑘) = 𝑦(𝑘 − 1) + 𝐾𝑝[𝑒(𝑘) − 𝑒(𝑘 − 1) +

𝑇𝑠

𝑇𝑖 𝑒

(𝑘)]

P2.9.5.1

Speed control P gain

ID613

“Speed Control Kp”

Gain for the speed controller in closed loop motor control operation. Gain value 100
means that the nominal torque reference is produced at the speed controller output for
the frequency error of 1Hz.

P2.9.5.2

Speed control I time

ID614

“Speed Control Ti”

Sets the integral time constant for the speed controller. Increasing the I-time increases
stability but lengthens the speed response time.

Kp 30, Ti 100

Kp 30, Ti 300

Summary of Contents for apfiff09 marine

Page 1: ...vacon nx ac drives apfiff09 marine application manual ...

Page 2: ......

Page 3: ...outputs 17 5 APFIFF09 MONITORING VALUES 18 5 1 Monitoring values 19 5 1 1 Monitoring values 2 20 5 1 2 FieldBus Monitoring values 21 5 1 3 Master Follower Monitoring values 21 5 1 4 PI Control Monitoring values 22 5 1 5 Frequency Chain 22 5 1 6 Torque Chain 22 5 1 7 Active Limits 22 5 1 8 Functional Safety Monitoring 23 5 1 9 Condition Based Monitoring 23 5 2 Monitoring values description 25 5 2 1...

Page 4: ... Handling 71 6 6 3 Torque Handling 72 6 6 4 Frequency Handling 72 6 6 5 DC Link Handling 73 6 6 6 Limit Settings Options 73 6 7 Flux and DC Current handling 73 6 7 1 Flux and DC Current handling OL Settings 73 6 7 2 Flux and DC Current handling CL Settings 74 6 8 Motor Control 75 6 8 1 Motor Control Basic Settings 75 6 8 2 Open Loop 75 6 8 3 Closed Loop Control Settings 76 6 8 4 PMSM Control setti...

Page 5: ...4 Load 99 6 20 Keypad control Control keypad Menu M3 100 6 21 System menu Control keypad Menu M6 100 6 22 Expander boards Control keypad Menu M7 100 7 APFIFF09 DESCRIPTION OF PARAMETERS 101 7 1 Basic Parameters 101 7 2 Reference Handling 110 7 2 1 Basic Parameters 111 7 2 2 Constant Reference 114 7 2 3 Power Reference 116 7 2 4 Torque Reference 118 7 2 5 Prohibited frequencies 124 7 2 6 Motor pote...

Page 6: ...gs 231 7 12 2 Temperature sensor protections 233 7 12 3 Stall protection 235 7 12 4 Speed Error 237 7 12 5 Motor Protection 238 7 12 6 Over Load Protection 241 7 12 7 4mA Protection 243 7 12 8 Under load protection 244 7 12 9 Earth Fault 246 7 12 10 Cooling protection 246 7 12 11 Fieldbus communication 247 7 12 12 External Fault function 248 7 12 13 Encoder Fault function 249 7 13 Fieldbus setting...

Page 7: ...82 9 1 Zero position identification with absolute encoder 282 9 2 Start position with incremental encoder without Z pulse input 282 9 3 Identification with incremental encoder with Z pulse input 283 10 Status and control words in detail 284 10 1 Fieldbus 284 10 1 1 Combination 1 ProfiDrive Standard with Profibus option board 285 10 1 2 Combination 2 ByPass ProfiDrive State Diagram 286 10 1 3 Combi...

Page 8: ...ch system by just entering a few additional parameter settings explained in this manual Also settings for the permanent magnet motors are covered in this manual 1 1 General This application is not kept backwards compatible Please read the application change note or chapter 2 Marine versions compatibility issues in this manual to see what needs to be noted when updating the application See also the...

Page 9: ...inputs and output functions are handled in 30 ms time level and analogue output singles are using pre filtered signals Torque 1 second linear filtering Power etc Power limit functions are handled in 10 ms time level or faster Additional functions Joystick input dead zone Different power limits by DI or from Fieldbus Motoring and generating side Master Follower function for steering propeller and d...

Page 10: ...e actions include replacement of faulty motors or bearings and ensuring the motor is running within optimal conditions Following are the monitoring capabilities introduced Motor stator winding monitoring During monitoring inter turn short circuit or unbalance in the motor winding is detected in advance Damages caused by motor stator winding isolation occurs over a period of time When more winding ...

Page 11: ...oint is captured based on the defined minimum and maximum speed respectively When speed points are not captured properly baseline generation fails then a new baseline has to be generated The baseline serves as a reference for threshold limits Using parameters the user can select the type of baseline measurement Baseline Run The drive controls the motor speed and monitors required values to derive ...

Page 12: ...on During the initial stage baselines for different types of condition based monitoring are computed based on the type of baseline mode selected by the user Threshold Calculation Once the baseline is computed the thresholds for warnings stage 1 and stage 2 and alarm fault are computed based on the warning or alarm fault mode The threshold and mode are set via parameters Monitoring After the thresh...

Page 13: ...or Egual HW Hardware I f Current Frequency Id Magnetization Current IGBT Insulated Gate Bipolar Transistor INV Inversion Iq Torque Producing Current LT Less Than MF Master Follower OL Open Loop PID Proportional Integral Derivative PM Permanent Magnet PMSM Permanent Magnet Synchronous Motor PU Per Unit RO Relay Output RS Reset Set SB System Bus Sep Ex SM Separatelly Excitated Synchronous Motor SM S...

Page 14: ...en operating in Ramp Follower mode the follower brake control closed the brake after the master drive was in stop state Now brake is closed in this mode at the same time as the master drive is closing the brake V215 Stop Torque Release Time ID changed from 1848 to 1858 Note 1 When updating application it is not recommended to use VACON NCDrive parameter download function Instead upload the paramet...

Page 15: ... 24V Control voltage output Voltage for switches see 6 13 GND I O ground Ground for reference and controls 14 DIN4 Programmable G2 2 7 No function defined at default 15 DIN5 Programmable G2 2 7 No function defined at default 16 DIN6 Programmable G2 2 7 No function defined at default 17 CMB Common for DIN4 DIN6 Connect to GND or 24V 18 AOA1 Analogue output 1 Programmable P2 3 1 2 Output range selec...

Page 16: ...e by giving the parameter an appropriate value The value is formed of the Board slot on the VACON NX control board see VACON NX User Manual and the respective signal number see below Function name Slot Terminal number Terminal type Example You want to connect the digital output function Reference fault warning parameter 2 3 3 7 to the digital output DO1 on the basic board NXOPTA1 see VACON NX User...

Page 17: ...nnection between the function and input output in the same way as with the control panel Just pick the address code from the drop down menu in the Value column see the Figure below Figure 4 1 Screenshot of NCDrive programming tool Entering the address code Be ABSOLUTELY sure not to connect two functions to one and same output in order to avoid function overruns and to ensure flawless operation WAR...

Page 18: ...er if you want to use the values of a digital input signal for for example testing purposes only you can set the board slot value to 0 and the terminal number to any number between 2 10 to place the input to a TRUE state In other words the value 1 corresponds to open contact and values 2 to 10 to closed contact In case of analogue inputs giving the value 1 for the terminal number corresponds to 0 ...

Page 19: ... Cust Customer s own setting ID ID number of the parameter _____ On parameter code Parameter value can only be changed after the FC has been stopped _____ Apply the Terminal to Function method TTF to these parameters see chapter 4 _____ Monitoring value is possible to control from fieldbus by ID number The manual presents signals that are not normally visible for monitoring i e is not a parameter ...

Page 20: ... rpm 2 Motor speed in rpm V1 4 Motor current A Varies 3 1 s linear filtering V1 5 Motor torque 4 In of Motor nominal torque V1 6 Motor Power 5 V1 7 Motor voltage V 6 Calculated motor voltage V1 8 DC link voltage V 7 Measured DC voltage filtered V1 9 Unit temperature C 8 Heatsink temperature V1 10 Motor temperature 9 Calculated motor temperature trip 105 V1 11 Analogue input 1 13 AI1 unfiltered V1 ...

Page 21: ...easured temperature 4 Cº 69 4 s filtering V1 24 11 Measured temperature 5 Cº 70 4 s filtering V1 24 12 Measured temperature 6 Cº 71 4 s filtering V1 24 13 ABS Encoder Revolutions r 55 V1 24 14 ABS Encoder Position 54 V1 24 15 Step response Hz 1132 V1 24 16 CosPhiiActual 68 V1 24 17 Flux Current 72 V1 24 18 Regulator Status 77 V1 24 19 Frequency Delta Hz s 1847 V1 24 20 Data Logger Trigger Word 97 ...

Page 22: ...rd 2 57 V1 25 19 MC Status 64 V1 25 20 Last Active Warning 74 V1 25 21 Shaft Rounds 1170 V1 25 22 Shaft Angle 1169 V1 25 23 Fault Word 10 1202 V1 25 24 Warning Word 10 1269 Table 5 3 FieldBus Monitoring values 5 1 3 Master Follower Monitoring values Code Parameter Unit Form ID Description V1 26 1 SB SystemStatus 1601 V1 26 2 Total Current A 80 Sum current of all drives DS V1 26 3 Master CW 93 Code...

Page 23: ...o motor control V1 28 4 Frequency Reference Actual Hz 1128 V1 28 5 Frequency Ramp Out Hz 1129 V1 28 6 Frequency Reference Final Hz 1131 V1 28 7 Encoder Frequency Hz 1164 Table 5 6 Frequency Chain Monitoring values 5 1 6 Torque Chain Code Parameter Unit Form ID Description V1 29 1 Torque Reference 18 V1 29 2 Torque Reference 3 1144 V1 29 3 Torque Ref Final 1145 V1 29 4 Speed Control Out 1134 V1 29 ...

Page 24: ...on Based Monitoring Code Parameter Unit ID Description V1 32 1 1 Baseline Status 3622 0 Not Started 1 Running 2 Running 10 3 Running 20 4 Running 30 5 Running 40 6 Running 50 7 Running 60 8 Running 70 9 Running 80 10 Running 90 11 Completed 12 Run Failed 13 Manual Before Baseline 14 Manual After Baseline V1 32 1 2 Baseline Data 1 Hz or 3601 V1 32 1 3 Baseline Data 2 Hz or 3602 V1 32 1 4 Baseline D...

Page 25: ... 3626 V 1 32 3 5 Vibration Alarm Fault High 3627 Code Parameter Unit ID Description V1 32 4 1 Motor Torque 4 V1 32 4 2 Load Threshold Value 3628 V1 32 4 3 Load Warning S1 High 3639 V1 32 4 4 Load Warning S2 High 3630 V 1 32 4 5 Load Alarm Fault High 3631 V1 32 4 6 Load Warning S1 Low 3632 V1 32 4 7 Load Warning S2 Low 3633 V 1 32 4 8 Load Alarm Fault Low 3634 Code Parameter Unit ID Description V 1...

Page 26: ... Motor speed rpm ID 2 Motor speed in rpm V1 4 Motor current A ID 3 Open loop 1 s linear filtering Closed Loop 32 ms filtering Drive Synch Operation Master drive This value is the total current of the system divided by number of drives in the system SbLastID SbLastId cannot be changed it needs to be set according to how many drives are linked with system bus Drive Synch Operation Follower drive Thi...

Page 27: ...DC link voltage V ID 7 Measured DC voltage filtered V1 9 Unit temperature C ID 8 Heatsink temperature V1 10 Motor temperature ID 9 Calculated motor temperature 105 is tripping limit if response is fault V1 11 Analogue input 1 ID 13 V1 12 Analogue input 2 ID 14 Unfiltered analogue input level 0 0 mA 0 V 100 10 V 100 20 mA 10 V Monitoring scaling is determined by the option board parameter V1 13 Ana...

Page 28: ...1 19 DIN1 DIN2 DIN3 ID 15 V1 20 DIN4 DIN5 DIN6 ID 16 DIN1 DIN2 DIN3 status DIN4 DIN5 DIN6 status b0 DIN3 DIN6 b1 DIN2 DIN5 b2 DIN1 DIN4 V1 21 Power reference ID 1700 Power reference monitoring value If power reference is not selected in the reference group it can be directly written to this monitoring variable from fieldbus and only ramping rate function is active from power reference group V1 22 ...

Page 29: ...tus Word ID 43 Status Word 1 Application Status Word combines different drive statuses to one data word Recommended signal for VACON NCDrive monitoring Application Status Word 1 ID43 FALSE TRUE b0 Flux not ready Flux ready 90 b1 Not in Ready state Ready b2 Not Running Running b3 No Fault Fault b4 Direction Forward Direction Reverse b5 Emergency Stop Active Emergency Stop NOT Active b6 Run Disabled...

Page 30: ...rature 2 Cº ID 51 V1 24 9 Measured temperature 3 Cº ID 52 V1 24 10 Measured temperature 4 Cº ID 69 V1 24 11 Measured temperature 5 Cº ID 70 V1 24 12 Measured temperature 6 Cº ID 71 Separate measurement from two PT100 board The signal has 4 s filtering time V1 24 13 ABS Encoder Revolutions ID55 Absolute encoder revolution information V1 24 14 ABS Encoder Position ID54 Absolute encoder position with...

Page 31: ...b14 b15 V1 24 19 Frequency Delta ID 1847 Change of Final Frequency Reference in Hz s V1 24 20 Data Logger Trigger Word ID 97 Data Logger Trig Word ID97 Function Comment b0 Fault Status Logger is triggered when there is a fault b1 Warning Status Logger is triggered when there is a warning b2 Auto Reset Warning Logger is triggered when there is a fault that has been defined to be automatically reset...

Page 32: ...trol SR TRUE b1 Closed loop control FALSE Closed loop control TRUE b2 b3 b4 b5 b6 b7 b8 b9 b10 b11 b12 b13 b14 b15 V1 24 24 Rotor Flux ID1158 Rotor Flux Calculated Rotor flux V1 24 25 Ident Failure Code Ident Fail Code ID 98 Failure code for failed identification 1 Current measurement offset 2 Identification current level 3 Acceleration time too long 4 Identification frequency reference not reache...

Page 33: ...x ready 90 b1 Not in Ready state Ready b2 Not Running Running b3 No Fault Fault b4 Direction Forward Direction Reverse b5 Emergency Stop Active Emergency Stop NOT Active b6 Run Disabled Run Enable b7 No Warning Warning b8 Power positive Power negative or Gen torque or current limit active b9 Parameter Set 1 Active or no set used Parameter Set 2 active b10 Brake Chopper Operating b11 No DC Brake DC...

Page 34: ...it state not OK b5 StartUp Wizard is active b6 Run Enable is not set b7 Ready state prevented by STO b8 b9 b10 b11 b12 b13 b14 b15 V1 24 31 Prevent MC Ready ID 1609 Prevent MC Ready ID1609 Signal b0 Endat option board OPTBB OPTBE communication is not initialized after power up b1 Drive sync master has wrong modulator or 1000ms task parameters are not initialized b2 Drive sync follower delay is act...

Page 35: ...b12 Fieldbus DIN2 OFF Fieldbus DIN2 ON b13 Fieldbus DIN3 OFF Fieldbus DIN3 ON b14 Fieldbus DIN4 OFF Fieldbus DIN4 ON b15 No Action No Action V1 26 2 FB Speed Reference ID875 FB Speed Reference from the fieldbus V1 25 2 FB Status Word ID65 ProfiDrive type status word Not the same as used by Profibus board in ProfiDrive mode Needs to be selected with P2 14 19 GSW to be used See details in Chapter 9 ...

Page 36: ...alogue output Default Control of FB PD 4 V1 25 7 FB Motor Current A ID 45 Motor current drive independent given with one decimal point V1 25 8 Fault Word 1 ID 1172 Different faults are collected to two words that can be read from fieldbus or with VACON NCDrive PC software Fault Word 1 ID1172 Bit Fault s B0 F1 Over current F31 IGBT F41 IGBT B1 F2 Over Voltage B2 F9 Under Voltage B3 F15 Motor Stalle...

Page 37: ...ooling Warning and Fault F60 Cooling Failure Warning and Fault B12 B13 F8 System Fault B14 B15 V1 25 10 Warning Word 1 ID 1174 Warning Word 1 ID1174 Bit Warning s B0 W15 Motor Stalled B1 W16 Motor Over Temperature W29 Thermistor B2 W17 Motor UnderLoad B3 W10 Input Phase Loss B4 W11 Output Phase Loss B5 W30 Safe Torque Off B6 W43 Encoder Warning B7 B8 W14 Unit Over Temperature B9 W50 4 mA warning B...

Page 38: ...served Reserved V1 25 12 FB Power Reference ID1703 Power reference from fieldbus is written to this monitoring signal V1 25 13 Fault History ID 37 Fault number of the last active fault V1 25 14 AuxControlWord ID 1161 Aux Control Word ID1161 FALSE TRUE b0 Reserved Reserved b1 Reserved Reserved b2 Reserved Reserved b3 Reserved Reserved b4 Reserved Reserved b5 Reserved Reserved b6 Reserved Reserved b...

Page 39: ...ate machine Motor Control Status Word FALSE TRUE b0 Not in Ready state Ready b1 Not Running Running b2 Direction Clockwise Counter clockwise b3 No Fault Fault b4 No Warning Warning b5 At reference speed b6 At Zero Speed b7 Flux Ready b8 TC Speed Limiter Active b9 Encoder Direction Counter clockwise b10 Under Voltage Fast stop b11 No DC brake DC Brake is active b12 b13 Restart delay active b14 b15 ...

Page 40: ...t F83 b4 PT100 Fault F56 F65 b5 b6 b7 b8 b9 b10 b11 b12 b13 b14 b15 V1 25 22 Warning Word 10 ID 1269 Warning Word 10 ID1269 Bit Warning s B0 W61 Speed Error B1 W3 Earth Fault B2 W82 Over Load B3 B4 W56 or W65 PT100 Warning B5 B6 B7 B8 B9 B10 B11 B12 B13 B14 B15 5 2 3 Master Follower The following lists the relevant signals in Master follower system Note for DriveSynch Systems In a DriveSynch syste...

Page 41: ... Status Word ID1601 FALSE TRUE b0 Drive 1 in synch b1 Drive 1 Ready b2 Drive 1 Running b3 Drive 1 Fault b4 Drive 2 in synch b5 Drive 2 Ready b6 Drive 2 Running b7 Drive 2 Fault b8 Drive 3 in synch b9 Drive 3 Ready b10 Drive 3 Running b11 Drive 3 Fault b12 Drive 4 in synch b13 Drive 4 Ready b14 Drive 4 Running b15 Drive 4 Fault V1 26 2 Total Current A ID 80 D1 This value is the current of whole dri...

Page 42: ...3 b14 Disable SB Diagnostic Disable SB Diagnostic b15 V1 26 4 1 Motor Current D1 A ID 1616 D1 D2 D3 and D4 This value is the current of drive own power unit V1 26 4 2 Motor Current D2 A ID 1605 D1 This value is the current of drive number two power unit D2 D3 and D4 Not updated V1 26 4 3 Motor Current D3 A ID 1606 D1 This value is the current of drive number three power unit D2 D3 and D4 Not updat...

Page 43: ...ady Flux ready 90 b1 Not in Ready state Ready b2 Not Running Running b3 No Fault Fault b4 Charge Switch Open Charge Switch Closed b5 Brake Frequency Limit ON Brake Frequency Limit OFF b6 Run Disabled Run Enable b7 No Warning Warning b8 Follower b9 Master b10 Drive Synch In Synch b11 No DC Brake DC Brake is active b12 No Run Request Run Request b13 No Limit Controls Active Limit control Active b14 ...

Page 44: ...27 2 PI Actual Value ID21 PI Actual value Actual input is selected by ID number V1 27 3 PI Output ID23 PI Output before scaling This value uses PI Out High and Low for limiting V1 27 4 PI Output Scaled ID1807 Scaled PI Output This is used for ID connection Scaling function is used to scale value more suitable for connected signal For example when the output is connected to torque limit the actual ...

Page 45: ...ence Final Hz 1131 Final reference to speed controller After ramp generator and after Speed Step function used for closed loop speed tuning when used together with Encoder 1 frequency V1 28 7 Encoder 1 Frequency Hz 1164 Encoder frequency monitored directly from encoder 5 2 6 Torque Chain V1 29 1 Torque reference ID 18 Torque reference value before load share V1 29 2 Torque Reference 3 1144 Torque ...

Page 46: ...ocal contacts Classified as Public V1 30 1 Motoring Torque Limit ID1950 V1 30 2 Generator Torque Limit ID1951 V1 30 3 Motoring Power Limit ID1952 V1 30 4 Generator Power Limit ID1953 V1 30 5 Current Limit A ID1954 V1 30 6 SPC Positive Limit ID1955 V1 30 7 SPC Negative Limit ID1956 ...

Page 47: ... not accepted Advanced safety option board will accept ack from drive b1 Drive reset not accepted Advanced safety option board will accept reset from drive b2 b3 b4 b5 b6 b7 b8 b9 b10 b11 b12 b13 b14 b15 V1 31 2 Integrity Level ID1640 Safety integrity level SIL of drive Considers presence of OPTAF control board version and power unit topology Possible values 0 no safety 2 SIL2 3 SIL3 ...

Page 48: ...ledge from outside 0 automatic 1 manual FALSE TRUE b0 B0 Start up STO active ACK STO Boot b1 B1 STO ACK STO b2 B2 SS1 ACK SS1 b3 B3 SS2 ACK SS2 b4 B4 SQS ACK SQS b5 B5 SLS ACK SLS b6 B6 SSR ACK SSR b7 B7 SMS ACK SMS b8 B8 SSM ACK SSM b9 B9 SAR ACK SAR b10 B10 SDI ACK SDI b11 b12 b13 b14 b15 V1 31 4 Safety Encoder Speed ID1642 Encoder speed in RPM reported by advanced safety option board V1 31 5 Ra...

Page 49: ...ALSE TRUE b0 STO b1 SS1 b2 SS2 b3 SQS b4 SSR b5 SLS1 b6 SLS2 b7 SLS3 b8 SDI b9 SDI b10 SSM b11 SMS b12 SAR b13 SOS b14 SBC b15 V1 31 7 Request DIN ID1645 Advanced safety option board Control board safety function request word Indicates if a function is requested by Digital input of the advanced safety option board FALSE TRUE b0 STO b1 SS1 b2 SS2 b3 SQS b4 SSR b5 SLS1 b6 SLS2 b7 SLS3 b8 SDI b9 SDI ...

Page 50: ...a function is requested by safe PLC FALSE TRUE b0 STO b1 SS1 b2 SS2 b3 SQS b4 SSR b5 SLS1 b6 SLS2 b7 SLS3 b8 SDI b9 SDI b10 SSM b11 SMS b12 SAR b13 b14 b15 V1 31 9 Function In Use ID1647 Indicates which safety functions have been enabled by configuration FALSE TRUE b0 STO b1 SS1 b2 SS2 b3 SQS b4 SOS b5 SBC b6 SLS b7 SSR b8 SMS b9 SSM b10 SAR b11 SDI b12 b13 b14 b15 V1 31 10 Safety Status Word ID16...

Page 51: ...SDI b10 SSM b11 SMS b12 SAR b13 b14 b15 V1 31 11 Safety General Status Word ID1649 Indicates states of the advanced safety option board input outputs Safety General Status Word ID1649 FALSE TRUE b0 DIN1 b1 DIN2 b2 SIN3 b3 SIN4 b4 DOUT1 b5 DOUT2 b6 SSM_Above_Max_Limit b7 SSM_Below_Max_Limit b8 Acknowledge_Requested_DIN b9 Acknowledge_Requested_PLC b10 Acknowledge_Requested_Drive b11 SS1_Ramp_Select...

Page 52: ...istorDiagnosticFault b8 StoThermistorShortCircuitFault b9 StoChannel1State b10 StoChannel2State b11 StartUpPreventActivated b12 b13 b14 b15 V1 31 13 Safety Zero Speed ID1651 Speed value the advanced safety option board uses for determining motor stoppage V1 31 14 SBC Speed rpm ID1652 Indicates the speed the brake is intended to be activated If SBC Order 1 SBC activated after STO SOS SBC will be ac...

Page 53: ... baseline data is chosen using the baseline data selector ID 3509 V1 32 1 2 Baseline Data 1 Hz or ID 3601 V1 32 1 3 Baseline Data 2 Hz or ID 3602 V1 32 1 4 Baseline Data 3 Hz or ID 3603 V1 32 1 5 Baseline Data 4 Hz or ID 3604 V1 32 1 6 Baseline Data 5 Hz or ID 3605 V1 32 1 7 Baseline Data 6 Hz or ID 3606 V1 32 1 8 Baseline Data 7 Hz or ID 3607 V1 32 1 9 Baseline Data 8 Hz or ID 3608 V1 32 1 10 Bas...

Page 54: ... 2 9 Voltage Warning S2 High ID 3615 The warning S2 high threshold value V1 32 2 10 Voltage Alarm Fault High ID 3616 The alarm fault high threshold value V1 32 3 1 Vibration ID 3623 Vibration value in the condition based monitoring V1 32 3 2 Vibration Threshold Value ID 3624 Vibration threshold value after interpolating V1 32 3 3 Vibration Warning S1 High ID 3625 The warning S1 high threshold valu...

Page 55: ...warning S2 low threshold value V1 32 4 8 Load Alarm Fault Low ID 3634 The alarm fault low threshold value V1 32 5 Condition Based Status ID 3619 Condition Based Status ID 3619 Bit B0 Stator Winding Current Warning S1 B1 Stator Winding Voltage Warning S1 B2 Vibration Warning S1 B3 Load Warning S1 B4 B5 Stator Winding Current Warning S2 B6 Stator Winding Voltage Warning S2 B7 Vibration Warning S2 B8...

Page 56: ...Unit Read or select power on counter format USINT value WRITE access 1 1 ms 2 10 ms 3 100 ms 4 1 s 5 1 min 6 1 h Default 7 1 d ID1051 ResetOnTimeTripCounter Reset Power on trip counter rising edge will reset counter BOOL value WRITE access Write INT value 1 to reset if Process Data is used 5 2 10 2 Energy Meter counter monitoring ID11 EnergyMeter Read ID80 and ID81 to see used format UINT value RE...

Page 57: ...rmat UINT value READ only access Max value is 65 535 and after that value is reset to zero and counting is restarted ID1052 EnergyTripCounterUnit WRITE access Unit value can be changed via fieldbus USINT value 1 0 01 kWh 2 0 1 kWh 3 1 kWh 4 10 kWh 5 100 kWh 6 1 MWh 7 10 MWh 8 100 MWh 9 1 GWh 10 10 GWh ID1053 ResetMWhTripCounter Reset energy trip counter rising edge will reset the counter BOOL valu...

Page 58: ...Motor nominal speed 5 20 000 rpm 1440 112 The default applies for a 4 pole motor and a nominal size AC drive P2 1 6 Motor nominal current 0 1 x IH 2 x IH A IH 113 Check the rating plate of the motor P2 1 7 Motor cos 0 30 1 00 0 85 120 Check the rating plate of the motor P2 1 8 Motor Nominal Power 0 0 3200 0 kW 0 0 116 Check the rating plate of the motor P2 1 9 Magnetizing current 0 00 100 00 A 0 0...

Page 59: ...handling parameters G2 2 6 2 2 Constant Reference Code Parameter Min Max Unit Default Cust ID Note P2 2 7 1 Jogging speed reference 0 00 320 00 Hz 5 00 124 P2 2 7 2 Preset speed 1 0 00 320 00 Hz 10 00 105 Multi step speed 1 P2 2 7 3 Preset speed 2 0 00 320 00 Hz 15 00 106 Multi step speed 2 P2 2 7 4 Preset speed 3 0 00 320 00 Hz 20 00 126 Multi step speed 3 P2 2 7 5 Preset speed 4 0 00 320 00 Hz 2...

Page 60: ...ue reference max 300 0 300 0 100 642 P2 2 9 3 Torque reference min 300 0 300 0 0 0 643 P2 2 9 4 Torque reference filtering time 0 32000 ms 0 1244 P2 2 9 5 Torque Reference Dead Zone 0 0 300 0 0 00 1246 P2 2 9 6 Torque Select 0 5 2 1278 0 Speed Control 1 Maximum freq limit 2 Ramp Output 3 Min 4 Max 5 Window P2 2 9 7 Window negative 0 00 50 00 Hz 2 00 1305 P2 2 9 8 Window positive 0 00 50 00 Hz 2 00...

Page 61: ...es G2 2 10 6 2 6 Motor Potentiometer Code Parameter Min Max Unit Default Cust ID Note P2 2 11 1 Motor potentiometer ramp rate 0 10 2000 00 Hz s 1 00 331 Ramp rate for motor potentiometer P2 2 11 2 Motor potentiometer frequency reference memory reset 0 3 1 367 0 No reset 1 Reset in stop state 2 Reset in powered down 3 StopReq Fout P2 2 11 3 Motor potentiometer reference copy 0 2 0 366 0 No copy 1 C...

Page 62: ...503 P2 3 8 Ramp 2 shape 0 100 4 501 0 Linear 0 S curve ramp time P2 3 9 Inching Ramp 0 01 320 00 s 1 00 1257 P2 3 10 Reducing of acc dec times 0 5 0 401 Scales active ramp from 100 to 10 0 Not used 1 AI1 2 AI2 3 AI3 4 AI4 5 Fieldbus Table 6 10 Ramp control basic settings G2 3 6 3 2 Quick Stop Code Parameter Min Max Unit Default Cust ID Note P2 3 11 1 IO Quick Stop Mode 0 1 0 1276 0 Coasting 1 Ramp...

Page 63: ... 2 10 Fault reset 0 1 0 1 414 All faults reset cc P2 4 2 11 External fault close 0 1 0 1 405 Ext fault displayed cc P2 4 2 12 External fault open 0 1 0 2 406 Ext fault displayed oc P2 4 2 13 Acc Dec time selection 0 1 0 1 408 Acc Dec time 1 oc Acc Dec time 2 cc P2 4 2 14 Acc Dec prohibit 0 1 0 1 415 Acc Dec prohibited cc P2 4 2 15 DC braking 0 1 0 1 416 DC braking active cc P2 4 2 16 Jogging speed...

Page 64: ... 4 2 6 4 3 Analogue input 1 Code Parameter Min Max Unit Default Cust ID Note P2 4 3 1 AI1 signal selection 0 1 E 10 A 1 377 Slot Board input No P2 4 3 2 AI1 Reference Filter TC 0 000 32 000 s 0 000 324 0 No filtering P2 4 3 3 AI1 signal range 0 3 0 320 0 0 100 1 20 100 4 mA Fault 2 10V 10V 3 Custom range P2 4 3 4 AI1 custom minimum setting 160 00 160 00 0 00 321 Custom Range Minimum input P2 4 3 5...

Page 65: ...lled from FB P2 4 5 2 AI3 filter time 0 000 32 000 s 0 000 142 0 No filtering P2 4 5 3 AI3 custom minimum setting 160 00 160 00 0 00 144 Custom range always active See ID326 P2 4 5 4 AI3 custom maximum setting 160 00 160 00 100 00 145 Custom range always active See ID327 P2 4 5 5 AI3 signal inversion 0 1 0 151 0 Not inverted 1 Inverted P2 4 5 6 AI3 reference scaling minimum value 32000 32000 0 103...

Page 66: ...erence signal P2 4 6 7 AI3 reference scaling maximum value 32000 32000 0 1040 Selects the value that corresponds to the max reference signal P2 4 6 8 AI4 Controlled ID 0 10000 0 1510 Select parameter that you want to control by ID number Table 6 18 Analogue input 4 parameters G2 4 6 6 4 7 Options Code Parameter Min Max Unit Default Cust ID Note P2 4 7 1 Input signal inversion Control 0 6553 5 0 10...

Page 67: ...t supervision 0 1 0 1 449 See ID350 P2 5 1 19 Temperature limit supervision 0 1 0 1 450 Drive temperature supervision See ID354 P2 5 1 20 Torque limit supervision 0 1 0 1 451 See ID348 P2 5 1 21 Motor thermal protection 0 1 0 1 452 Thermistor fault or warning P2 5 1 22 Analogue input supervision limit 0 1 0 1 463 See ID356 P2 5 1 23 Motor regulator activation 0 1 0 1 454 One of limit controller is...

Page 68: ...7 Encoder speed 0 Motor nominal speed 18 Unit Temperature 19 Value Control Out 20 Drive Output Power P2 5 2 3 Analogue output 1 filter time 0 00 10 00 s 1 00 308 0 No filtering P2 5 2 4 Analogue output 1 inversion 0 1 0 309 0 Not inverted 1 Inverted P2 5 2 5 Analogue output 1 minimum 0 1 0 310 0 0 mA 0 1 4 mA 20 P2 5 2 6 Analogue output 1 scale 10 1000 100 311 P2 5 2 7 Analogue output 1 offset 100...

Page 69: ...3 inversion 0 1 0 481 0 Not inverted 1 Inverted P2 5 4 5 Analogue output 3 minimum 0 1 0 482 0 0 mA 0 1 4 mA 20 P2 5 4 6 Analogue output 3 scale 10 1000 100 483 P2 5 4 7 Analogue output 3 offset 100 00 100 00 0 00 484 Table 6 23 Analogue output 3 parameters G2 5 4 6 5 5 Analogue output 4 Code Parameter Min Max Unit Default Cust ID Note P2 5 5 1 Analogue output 4 signal selection 0 1 E 10 0 1 1527 ...

Page 70: ... delay 0 00 320 00 s 0 00 488 0 00 Off delay not in use P2 5 6 5 Invert delayed DO1 0 1 0 1587 0 Not inverted 1 Inverted P2 5 6 6 ID Bit Free DO 0 00 2000 15 0 00 1217 Table 6 25 Delayed digital output 1 parameters G2 5 6 6 5 7 Delayed digital output 2 Code Parameter Min Max Unit Default Cust ID Note P2 5 7 1 Digital output 2 signal selection 0 1 E 10 0 1 489 Possibility to invert by ID1091 INV Co...

Page 71: ...t supervision 0 2 0 350 0 Not used 1 Low limit 2 High limit P2 5 8 9 Reference limit supervision value 0 00 100 0 0 00 351 P2 5 8 10 FC temperature supervision 0 2 0 354 0 Not used 1 Low limit 2 High limit P2 5 8 11 FC temperature supervised value 10 100 C 40 355 P2 5 8 12 Analogue supervision signal 0 4 0 356 0 Not used 1 AI1 2 AI2 3 AI3 4 AI4 P2 5 8 13 Analogue supervision low limit 0 00 100 00 ...

Page 72: ... 3 Motoring Power Limit 0 0 300 0 300 0 1289 P2 6 2 4 Generator Power Limit 1 0 0 300 0 300 0 1513 Power limit activated by DI P2 6 2 5 Generator Power Limit 2 0 0 300 0 300 0 1514 Power limit activated by DI P2 6 2 6 Power Limit 1 0 300 0 100 0 1503 Power limit activated by DI P2 6 2 7 Power Limit 2 0 300 0 50 0 1504 Power limit activated by DI P2 6 2 8 Power limit ramp rate 0 1000 0 s 100 1502 P...

Page 73: ...9 P2 6 3 11 Pull Out Slip Limit 0 0 3270 0 500 0 1291 Table 6 31 Torque handling parameters G2 6 3 6 6 3 1 Torque Handling OL Settings Code Parameter Min Max Unit Default Cust ID Note P2 6 3 12 1 Torque limit control P gain 0 0 32000 3000 610 P2 6 3 12 2 Torque limit control I gain 0 0 32000 200 611 Table 6 32 Torque handling open loop parameters G2 6 3 11 6 6 3 2 Torque Handling CL Settings Code ...

Page 74: ...ge Ref Selector 0 1 1 1537 0 Under Voltage Ref 1 0 8 Estimated DC Volt P2 6 5 7 Under Voltage Reference 5 410 6 567 5 540 6 745 V Varies 1538 Table 6 35 DC link handling parameters G2 6 5 6 6 5 1 DC Link Handling CL Settings Code Parameter Min Max Unit Default Cust ID Note P2 6 5 8 1 Over voltage reference 94 00 130 0 0 118 00 1528 P2 6 5 8 2 Over voltage motoring side torque limit 0 0 300 0 10 0 ...

Page 75: ...6 DC Brake Current in Stop 0 00 IL A Varies 1080 P2 7 1 7 Flux brake 0 1 0 520 0 Off 1 On P2 7 1 8 Flux braking current 0 00 IL A IH 519 Table 6 38 Flux and DC current handling open loop parameters G2 7 1 6 7 2 Flux and DC Current handling CL Settings Code Parameter Min Max Unit Default Cust ID Note P2 7 2 1 Magnetizing current at start 0 IL A 0 00 627 P2 7 2 2 Magnetizing time at start 0 0 600 0 ...

Page 76: ...it Default Cust ID Note P2 8 4 1 U f optimisation 0 1 0 109 0 Not used 1 Automatic torque boost P2 8 4 2 U f ratio selection 0 3 0 108 0 Linear 1 Squared 2 Programmable 3 Linear with flux optim P2 8 4 3 Field weakening point 6 00 320 00 Hz 50 00 602 P2 8 4 4 Voltage at field weakening point 10 00 200 00 100 00 603 n x Unmot P2 8 4 5 U f curve midpoint frequency 0 00 P2 8 3 3 Hz 50 00 604 P2 8 4 6 ...

Page 77: ... 5 657 P2 8 5 3 Slip adjust 0 500 75 619 P2 8 5 4 Acceleration compensation 0 00 300 00 s 0 00 626 P2 8 5 5 Speed Error Filter TC 0 1000 ms 0 1311 P2 8 5 6 Encoder filter time 0 1000 ms 0 618 P2 8 5 7 Encoder Selection 0 2 0 1595 0 1 Encoder Input 1 2 Encoder Input 2 P2 8 5 8 SC Torque Chain Select 0 65535 0 1557 Default 96 after identification P2 8 5 9 TCDunDampGain 0 00 100 00 1576 P2 8 5 10 TCD...

Page 78: ...150 0 0 0 1730 P2 8 6 11 Enable Rs Identification 0 1 1 654 0 No 1 Yes P2 8 6 12 Lsd Voltage Drop 32000 32000 0 1757 P2 8 6 13 Lsq Voltage Drop 32000 32000 0 1758 P2 8 6 14 EncIDCurrent 0 0 150 0 90 0 1734 P2 8 6 15 Polarity ID Mode 0 1 1737 P2 8 6 16 Polarity Pulse Length 0 1000 ms 200 1742 P2 8 6 17 Polarity Detection Angle 0 0 360 0 Deg 1 5 1748 P2 8 6 18 Angle Identification Mode 0 2 1749 P2 8...

Page 79: ...ons 0 65535 0 1610 P2 8 8 2 MC Options 0 65535 0 1740 P2 8 8 3 Resonance Damping Select 0 200 0 00 1760 P2 8 8 4 Damping Frequency 0 320 0 Hz 0 1763 P2 8 8 5 Damping Gain 0 32000 0 1764 P2 8 8 6 Damping Phase 0 360 0 00 1765 P2 8 8 7 Damping Activation Frequency 0 320 00 0 1770 P2 8 8 8 Damping Filter Time Constant 0 32700 105 1771 P2 8 8 9 Over Modulation Limit 50 120 105 1515 If you have sine fi...

Page 80: ...Flux 140 0 2500 140 136 8 P2 8 9 15 Flux 150 0 2500 150 136 9 P2 8 9 16 Rs voltage drop 0 30000 Varies 662 Used for torque calculation in open loop P2 8 9 17 Ir add zero point voltage 0 30000 Varies 664 P2 8 9 18 Ir add generator scale 0 30000 Varies 665 P2 8 9 19 Ir add motoring scale 0 30000 Varies 667 P2 8 9 20 Ls Voltage Dropp 0 3000 0 673 P2 8 9 21 Motor BEM Voltage 0 00 320 00 0 674 P2 8 9 2...

Page 81: ...to Fnom Table 6 48 Speed control basic settings G2 9 6 9 2 Speed Control OL Settings Code Parameter Min Max Unit Default Cust ID Note P2 9 4 1 Speed controller P gain open loop 0 32767 3000 637 P2 9 4 2 Speed controller I gain open loop 0 32767 300 638 Table 6 49 Speed control OL settings G2 9 4 6 9 3 Speed Control CL Settings Code Parameter Min Max Unit Default Cust ID Note P2 9 5 1 Speed control...

Page 82: ...tions 0 65535 64 1084 P2 10 4 Control Options 2 0 65535 0 1798 P2 10 5 Advanced Options 1 0 65535 0 1560 P2 10 6 Advanced Options 2 0 65535 0 1561 P2 10 7 Advanced Options 4 0 65535 0 1563 P2 10 8 Advanced Options 5 0 65535 0 1564 P2 10 9 Advanced Options 6 0 65535 0 1565 P2 10 10 Advanced Options 7 0 65535 0 1568 P2 10 11 Restart Delay 0 65535 s Varies 1424 P2 10 12 Restart Delay CL 0 60 000 s Va...

Page 83: ...llower Torque Reference Select 0 10 10 1083 0 Not used 1 AI1 2 AI2 3 AI3 4 AI4 5 AI1 joystick 6 AI2 joystick 7 Torque reference from keypad R3 5 8 FB Torque Reference 9 Master Torque OL 10 Master Torque CL P2 11 4 Follower Stop Function 0 2 2 1089 0 Coasting 1 Ramping 2 As Master P2 11 5 MF Brake Logic 0 2 0 1326 Not used when Ramp follower or in drive sync mode 0 Master or Own 1 Own 2 Master Own ...

Page 84: ... slot fault 0 3 2 734 See P2 12 1 1 P2 12 1 5 Safe Disable Response 0 2 1 755 See P2 12 1 1 P2 12 1 6 FaultWarnIndicat 0 2 1 1940 0 Static 1 Toggle 2 Marine Table 6 54 Common settings G2 12 1 6 12 2 Temperature sensor protections Code Parameter Min Max Unit Default Cust ID Note P2 12 2 1 No of used inputs on board 1 0 5 0 739 0 Not used ID Write 1 Sensor 1 in use 2 Sensor 1 2 in use 3 Sensor 1 2 3...

Page 85: ...requency limit 1 0 P2 1 2 Hz 25 0 712 Table 6 56 Stall protection G2 12 3 6 12 4 Speed error monitoring Code Parameter Min Max Unit Default Cust ID Note P2 12 4 1 Speed Error Mode 0 3 0 752 0 No response 1 Warning 2 Fault stop acc to 2 3 2 3 Fault stop by coasting P2 12 4 2 Speed Error Limit 0 0 100 0 5 0 753 P2 12 4 3 Speed Fault Delay 0 00 100 00 S 0 1 754 P2 12 4 4 Over Speed Fault Response 0 2...

Page 86: ...12 6 6 12 7 Underload protection Code Parameter Min Max Unit Default Cust ID Note P2 12 7 1 Underload protection 0 3 0 713 0 No response 1 Warning 2 Fault stop acc to 2 3 2 3 Fault stop by coasting P2 12 7 2 Field weakening area load 10 0 150 0 50 0 714 P2 12 7 3 Zero frequency load 5 0 150 0 10 0 715 P2 12 7 4 Underload protection time limit 2 00 600 00 s 20 00 716 Table 6 60 Underload protection...

Page 87: ... to external fault 2 0 3 2 747 0 No response 1 Warning 2 Fault stop acc to 2 3 2 3 Fault stop by coasting Table 6 64 External fault parameters G2 12 11 6 12 12 Encoder Fault Code Parameter Min Max Unit Default Cust ID Note P2 12 12 1 Response to encoder fault 1 3 2 1353 1 Warning 2 Fault 3 Warning To Open Loop P2 12 12 2 Encoder Fast Hz Limit 0 00 320 00 Hz 1801 P2 12 12 3 Fast Time Limit 0 00 32 ...

Page 88: ... correct hardware and software P2 13 18 Fieldbus process data out 16 selection 0 10000 0 565 Visible with correct hardware and software P2 13 19 Fieldbus process data in 1 selection 0 10000 1140 876 Choose controlled data with parameter ID Def FB Torque Reference P2 13 20 Fieldbus process data in 2 selection 0 10000 46 877 Def FB Limit Scaling P2 13 21 Fieldbus process data in 3 selection 0 10000 ...

Page 89: ... Slot Selector 0 Varies 0 1440 0 Not Sel 4 Slot D 5 Slot E 6 Slot D Fast 7 Slot E fast 8 Slot D 16 9 Slot E 16 Note 6 9 visible with correct hardware and software P2 13 38 State Machine 1 2 1 896 1 Standard 2 ProfiDrive P2 13 39 FB Custom Minimum 32000 32000 0 898 FB Speed Reference Minimum scaling P2 13 40 FB Custom Maximum 32000 32000 10000 899 FB Speed Reference Maximum Scaling P2 13 41 SW ID B...

Page 90: ...l DIN 0 1 E 10 0 1 1570 Slot Board input No P2 14 2 2 Controlled ID 0 10000 ID 0 1571 Select ID that is controlled by digital input P2 14 2 3 False value 32000 32000 0 1572 Value when DI is low P2 14 2 4 True value 32000 32000 0 1573 Value when DI is high Table 6 69 DIN ID Control parameters G2 14 2 6 14 3 DIN ID Control 2 Code Parameter Min Max Unit Default Cust ID Note P2 14 3 1 ID Control DIN 0...

Page 91: ...90 VACON apfiff09 marine Local contacts http drives danfoss com danfoss drives local contacts Table 6 71 DIN ID Control parameters G2 14 4 ...

Page 92: ...1 1574 Table 6 73 ID Controlled Digital Output parameters G2 14 6 6 14 7 Free DIN Delay Code Parameter Min Max Unit Default Cust ID Note P2 14 7 1 ID Bit Free DIN 0 00 2000 15 ID Bit 0 00 1832 P2 14 7 2 On Delay 0 00 320 00 s 0 00 1833 P2 14 7 3 Off Delay 0 00 320 00 s 0 00 1834 P2 14 7 4 Mono Time 0 00 320 00 s 0 00 1836 P2 14 7 5 Control Out ID 0 10000 0 1835 Table 6 74 ID Controlled Digital Out...

Page 93: ...rease P2 15 8 Generator Torque limit increase maximum speed limit 0 00 320 00 Hz 100 00 1548 Point where torque value of ID1549 is added to base generator torque limit P2 15 9 Generator Torque limit increase maximum addition 0 0 300 0 300 0 1549 P2 15 10 Brake Fault Action 1 3 1 1316 1 Warning 2 Fault stop acc to 2 3 2 3 Fault stop by coasting P2 15 11 Brake Fault Delay 0 00 320 00 s 0 20 1317 Tab...

Page 94: ...0 00 60 00 s 0 10 718 P2 16 3 Start function 0 2 2 719 0 Ramp 1 Flying start 2 According to Stop Function P2 16 4 Number of tries after undervoltage trip 0 10 0 720 P2 16 5 Number of tries after overvoltage trip 0 10 0 721 P2 16 6 Number of tries after overcurrent trip 0 3 0 722 P2 16 7 Number of tries after reference trip 0 10 0 723 P2 16 8 Number of tries after motor temperature fault trip 0 10 ...

Page 95: ...erted 0 Illegal value P2 17 8 PI Low limit 32000 32000 359 P2 17 9 PI High limit 32000 32000 10000 360 P2 17 10 PI Controller Output scale 3200 0 3200 0 100 0 1803 P2 17 11 PI Stop state value 32000 32000 0 1806 Table 6 81 PI controller parameters G2 17 6 18 Functional Safety Code Parameter Min Max Unit Default Cust ID Note P2 19 1 SQS Reaction 0 1 1 545 0 No Action 1 Quick Stop P2 18 2 SS1 Reacti...

Page 96: ...nt Min Steady 3 Current Mean Steady 4 Current Std Steady 5 Voltage Max Steady 6 Voltage Min Steady 7 Voltage Mean Steady 8 Voltage Std Steady 9 Vibration Max Ramp 10 Vibration Min Ramp 11 Vibration Mean Ramp 12 Vibration Std Ramp 13 Load Max Steady 14 Load Min Steady 15 Load Mean Steady 16 Load Std Steady P2 19 2 6 Modified Point 0 9 0 3507 P2 19 2 7 Modified Value 300 00 320 00 Hz or 0 3508 P2 19...

Page 97: ...0 3517 P2 19 3 4 3 Warning S1 Delay 0 3600 s 0 3518 P2 19 3 4 4 Warning S2 Mode 0 2 0 3519 0 Abs value 1 Baseline offset 2 Baseline factor P2 19 3 4 5 Warning S2 High 0 100 0 0 3720 P2 19 3 4 6 Warning S2 Delay 0 3600 s 0 3721 P2 19 3 4 7 Alarm fault Mode 0 2 0 3522 0 Abs value 1 Baseline offset 2 Baseline factor P2 19 3 4 8 Alarm fault High 0 100 0 0 3523 P2 19 3 4 9 Alarm fault Delay 0 3600 s 0 ...

Page 98: ...de 0 2 0 3534 0 Abs value 1 Baseline offset 2 Baseline factor P2 19 3 7 5 Warning S2 High 0 100 0 0 3535 P2 19 3 7 6 Warning S2 Delay 0 3600 s 0 3536 P2 19 3 7 7 Alarm fault Mode 0 2 0 3537 0 Abs value 1 Baseline offset 2 Baseline factor P2 19 3 7 8 Alarm fault High 0 100 0 0 3538 P2 19 3 7 9 Alarm fault Delay 0 3600 s 0 3539 6 19 2 6 Voltage Unbalance Counters Code Parameter Min Max Unit Default ...

Page 99: ...e P2 19 4 3 1 Warning S1 Mode 0 2 0 3555 0 Abs value 1 Baseline offset 2 Baseline factor P2 19 4 3 2 Warning S1 High 0 100 0 0 3556 P2 19 4 3 3 Warning S1 Delay 0 3600 s 0 3557 P2 19 4 3 4 Warning S2 Mode 0 2 0 3558 0 Abs value 1 Baseline offset 2 Baseline factor P2 19 4 3 5 Warning S2 High 0 100 0 0 3559 P2 19 4 3 6 Warning S2 Delay 0 3600 s 0 3560 P2 19 4 3 7 Alarm fault Mode 0 2 0 3561 0 Abs va...

Page 100: ...3584 P2 19 5 2 3 Warning S1 High 300 0 300 0 0 3573 P2 19 5 2 4 Warning S1 Delay 0 3600 s 0 3574 P2 19 5 2 5 Warning S2 Mode 0 2 0 3575 0 Abs value 1 Baseline offset 2 Baseline factor P2 19 5 2 6 Warning S2 Low 300 0 300 0 0 3585 P2 19 5 2 7 Warning S2 High 300 0 300 0 0 3576 P2 19 5 2 8 Warning S2 Delay 0 3600 s 0 3577 P2 19 5 2 9 Alarm fault Mode 0 2 0 3578 0 Abs value 1 Baseline offset 2 Baseli...

Page 101: ... 1 0 123 0 Forward 1 Reverse P3 4 Stop button 0 1 1 114 0 Limited function of Stop button 1 Stop button always enabled R3 5 Torque reference 0 0 100 0 0 0 P3 7 License Key 0 65535 0 1995 Table 6 83 Keypad control parameters M3 6 21 System menu Control keypad Menu M6 For parameters and functions related to the general use of the AC drive such as application and language selection customised paramet...

Page 102: ...arine application do not give any other command to the drive for 2 seconds so that the software can process the change properly P2 1 3 Motor Nominal Voltage ID110 Motor Nom Voltg Find this value Un on the rating plate of the motor P2 1 4 Motor Nominal Frequency ID111 Motor Nom Freq Find this value fn on the rating plate of the motor This parameter sets the field weakening point to the same value i...

Page 103: ...ent Can be measured by running motor without load at 2 3 of nominal speed When the value is zero the magnetization current is calculated from motor nominal parameters 𝑀𝑜𝑡𝑜𝑟 𝑀𝑎𝑔𝑛𝑒𝑡𝑖𝑧𝑎𝑡𝑖𝑜𝑛 𝐶𝑢𝑟𝑟𝑒𝑛𝑡 5 𝑆𝑖𝑛 𝜑 1 5 𝑆𝑖𝑛 𝜑 𝑀𝑜𝑡𝑜𝑟 𝑁𝑜𝑚𝑖𝑛𝑎𝑙 𝐶𝑢𝑟𝑟𝑒𝑛𝑡 𝑀𝑜𝑡𝑜𝑟 𝑀𝑎𝑔𝑛𝑒𝑡𝑖𝑧𝑎𝑡𝑖𝑜𝑛 𝐶𝑢𝑟𝑟𝑒𝑛𝑡 5 1 𝐶𝑜𝑠 𝜑 2 1 5 1 𝐶𝑜𝑠 𝜑 2 𝑀𝑜𝑡𝑜𝑟 𝑁𝑜𝑚𝑖𝑛𝑎𝑙 𝐶𝑢𝑟𝑟𝑒𝑛 𝐹𝑊 𝑅𝑜𝑡𝑜𝑟𝐹𝑙𝑢𝑥 𝑓 𝑀𝑜𝑡𝑜𝑟𝑁𝑜𝑚𝐹𝑟𝑒𝑞 𝑓 𝑂𝑢𝑡 2 𝑤ℎ𝑒𝑛 𝑓 𝑂𝑢𝑡 𝑓 𝑀𝑜𝑡𝑜𝑟𝑁𝑜𝑚𝐹𝑟𝑒𝑞 If given before identificati...

Page 104: ...un P2 1 3 P2 1 8 Motor basic data P2 1 9 Magnetization current can also be given if available if given before the identification without rotating motor U f curve will be tuned according to given magnetization current P2 1 11 Motor Type When in closed loop and with an encoder installed also the parameter for pulses revolutions in Menu M7 have to be set The automatic identification is activated by s...

Page 105: ...op control is needed after the mechanics are connected to shaft Example of behaviour Parameters updated during this identification AM PM P2 1 9 MagnCurrent P2 8 4 2 U f Ratio Select P2 8 4 2 U f Ratio Select P2 8 4 5 U f Mid Freq P2 8 4 5 U f Mid Freq P2 8 4 6 U f Mid Voltg P2 8 4 6 U f Mid Voltg P2 8 4 7 Zero Freq Voltg P2 8 4 7 Zero Freq Voltg P2 8 5 1 CurrentControlKp P2 8 9 16 RsVoltageDrop P2...

Page 106: ...o use internal slip estimator to compensate the motor temperature setting SCTorqueChainSelect B5 B6 true Example of behaviour Parameters updated during this identification AM PM P2 1 9 MagnCurrent P2 8 4 2 U f Ratio Select P2 8 4 2 U f Ratio Select P2 8 4 3 Field WeakngPnt P2 8 4 5 U f Mid Freq P2 8 4 5 U f Mid Freq P2 8 4 6 U f Mid Voltg P2 8 4 6 U f Mid Voltg P2 8 4 7 Zero Freq Voltg P2 8 4 7 Ze...

Page 107: ...l type encoder IM If performed for induction motor encoder pulse number and direction are identified Can be used if the is no encoder information available correct result can be achieved only when motor in unloaded Note Identification run needs to be done again if the encoder position related to motor is changed due to maintenance for example Parameters updated during this identification AM PM P2 ...

Page 108: ...ro Freq Voltg P2 8 9 16 RsVoltageDrop P2 8 5 1 CurrentControlKp P2 8 9 17 IrAddZeroPVoltag P2 8 6 12 LsdVoltageDrop P2 8 9 22 24 Ix Offset P2 8 6 13 LsqVoltageDrop P2 8 9 1 15 Flux X P2 8 6 19 Curr Contr Kp d P2 8 9 16 RsVoltageDrop P2 8 9 17 IrAddZeroPVoltag P2 8 9 20 LsVoltageDrop P2 8 9 21 MotorBEMVoltage P2 8 9 22 24 Ix Offset P2 8 9 25 Estimator Kp P2 8 6 1 PMSMShaftPositio 5 Enc ABS Lock Abs...

Page 109: ...tification and will open the brake when the start rotation begins Because saturation curve run is not made the running time is shorter and gives possibility to make even if lifting hook is connected Example of behaviour Parameters updated during this identification P2 1 9 MagnCurrent P2 8 4 2 U f Ratio Select P2 8 4 5 U f Mid Freq P2 8 4 6 U f Mid Voltg P2 8 4 7 Zero Freq Voltg P2 8 9 16 RsVoltage...

Page 110: ...tRatio P 2 8 9 30DeadTimeComp P 2 8 9 31DeadTieContCurL 10 ID Run Fails Identification failed Identification failed in last attempt P2 1 11 Motor Type ID650 Motor Type Select used motor type with this parameter 0 Induction Induction motor Asynchronous motor 1 PMSM Permanent magnet synchronous motor Synchronous Motor Contact factory before using with externally magnetized motor If Switching Frequen...

Page 111: ...t Speeds F 4 mA fault SEL G IN 0 IN 1 P 4mA Fault Freq P Control Place P I O Reference P Keypad Ref Sel P Fieldbus Ctr Ref SEL G IN 0 IN 1 P I O Reference 2 DI I O Ref 1 2 MUX K IN 0 IN 1 IN 2 IN 3 MIN IN 1 IN 2 SEL G IN 0 IN 1 DI Max Frequency 2 P Max Frequency P Max Frequency 2 Speed reference chain before ramp control P SpeedShare C 100 00 ADD F Adjust Reference FW FreqRef2 LIMIT MN IN MX P Max...

Page 112: ...pad Ref Reference from keypad R3 2 9 Fieldbus Reference is taken from Fieldbus alternative scaling can be selected in G Fieldbus 10 Motor Pot Motor potentiometer Reference handled with two digital input G Input Signals Digital Inputs increase and decrease Behaviour adjusted in G Ref Handling Motor Poten mete 11 AI1 AI2 min The minimum of Analogue Input 1 and Analogue Input 2 is used as reference 1...

Page 113: ... 2 10 Vdc 10 Vdc 8 Keypad Ref Reference from keypad R3 2 9 Fieldbus Reference is taken from Fieldbus alternative scaling can select in G Fieldbus P2 2 3 Fieldbus frequency reference selection ID122 Fielbus Ctr Ref Defines which frequency reference source is selected when control place is Fieldbus P3 1 Control Place 0 AI1 Analogue Input 1 Signal scaling in G2 4 3 Input Signals Analogue Input 1 1 AI...

Page 114: ... Speed share ID1241 Speed Share Defines the speed reference percentage ratio after the final reference location but before the ramp control The monitoring value FreqReference shows the reference after the speed share function Used to adjust the reference ration for example in a line drive so that the PLC can give the same reference to all drives while the speed share compensate gear ratio affects ...

Page 115: ... P2 2 7 4 Preset speed 3 ID126 Preset Speed 3 P2 2 7 5 Preset speed 4 ID127 Preset Speed 4 P2 2 7 6 Preset speed 5 ID128 Preset Speed 5 P2 2 7 7 Preset speed 6 ID129 Preset Speed 6 P2 2 7 8 Preset speed 7 ID130 Preset Speed 7 Parameter values define the Preset speeds references activated by digital inputs These references will follow reverse command if given Speed Digital Input Preset speed 1 Digi...

Page 116: ...ching reference 1 ID1239 Inching Ref 1 P2 2 7 10 Inching reference 2 ID1240 Inching Ref 2 These parameters define the reference for the inching function The references are bidirectional and the reverse command does not affect the direction of the inching reference Other parameters for inching function Digital input selection Enable Inching Digital input selection Inching 1 Digital input selection ...

Page 117: ...ween speed and torque control Note Do not change between open loop and closed loop control modes while the drive is run state P2 8 1 Motor Control Mode Speed control modes P2 8 2 Motor Control Mode 2 Torque control modes DI Motor Control mode 1 2 Selection between speed and power control mode P2 2 9 1 Torque reference select 10 Power Ref In power reference mode the drive is operating in torque con...

Page 118: ... 4 4 Input Signals Analogue Input 2 3 AI3 Signal scaling in G2 4 5 Input Signals Analogue Input 3 4 AI4 Signal scaling in G2 4 6 Input Signals Analogue Input 4 5 AI1 Joystick Analogue input 1 10 Vdc 10 Vdc 6 AI2 Joystick Analogue input 2 10 Vdc 10 Vdc 7 Keypad Ref Torque reference from keypad R3 6 8 Fieldbus Monitoring variable FB Power Reference ID1703 P2 2 8 2 Maximum Power Reference ID1621 Powe...

Page 119: ...e Reference ADD P TorqRefStep Filt x2 IN TC OUT P TorqRefFilterTC MULDIV VALUE MULTIP DIVIS C 100 0 SUB P Torq Ref Max P Torq Ref Min MULDIV VALUE MULTIP DIVIS C 10000 ADD P Torq Ref Min LIMIT MN IN MX P Torq Ref Max P Torq Ref Max NEG IN P2 2 9 1 Torque reference selection ID641 Torq Ref Select 0 Not Used 1 AI1 Analogue Input 1 Signal scaling in G Input Signals Analogue Input 1 2 AI2 Analogue Inp...

Page 120: ... Ref Min Minimum torque reference for analogue input reference selections 1 4 P2 2 9 4 Torque reference filtering time ID1244 TorqRefFilterTC Defines the filtering time for torque reference Filtering is done after load share function and before torque step function P2 2 9 5 Torque reference dead zone ID1246 TorqRefDeadZone The small values of the torque reference around zero can be ignored by sett...

Page 121: ...it if set lower than maximum frequency parameter speed controller active speed controller active P Pos Freq Limit P Neg Freq Limit Time Drive in Torque Control Drive in Torque Control Speed RPM 2 RampOutput Ramp output for both directions Speed is limited by reference after ramp generator thus speed will increase with set ramp time until the actual torque is equal to the reference torque If speed ...

Page 122: ...orque Control Drive in Torque Control Speed controller active Drive in Torque Control Speed controller active Speed controller active Speed controller active 4 Max Maximum from speed reference and torque reference The maximum of the speed controller output and the torque reference is selected as final torque reference speed controller active speed controller active Drive in Torque Control speed co...

Page 123: ... Positive Off Limit ID1307 ID1306 are zero this parameter is also the speed limit from the Speed Reference in torque control mode Otherwise this is the speed control activation limit P2 2 9 8 Window positive ID1304 Window Pos Defines the size of speed window to positive direction from the final speed reference in torque control mode If both Window Negative Off Limit and Window Positive Off Limit I...

Page 124: ...orque control minimum frequency ID636 OL TC Min Freq Defines the frequency limit below which the AC drive operates in frequency control mode P2 2 9 11 2 Open loop torque controller P gain ID639 OL TorqCtrl P Defines the gain for open loop torque control P2 2 9 11 3 Open loop torque controller I gain ID640 OL TorqCtrl I Defines the integration gain for open loop torque control ...

Page 125: ...is kept at the low limit until the input reference is above the high limit P2 2 10 1 Prohibit frequency area 1 Low limit ID509 Range 1 Low Lim P2 2 10 2 Prohibit frequency area 1 High limit ID510 Range 1 High Lim Range definition where a different ramp time defined by RampTimeFactor is used Used Speed Reference RPM Requested Speed Reference RPM Low Lim High Lim P2 2 10 3 Ramp time factor for prohi...

Page 126: ...tiometer reference value in Hz s Normal ramp times are still active and determine how fast the actual output frequency increases P2 2 11 2 Motor potentiometer reference reset ID367 MotPotRef Reset 0 No reset Reference is kept past the stop state and stored to memory in case of a power down 1 Stop State Reference is set to zero when the drive is in stop state This selection includes power down situ...

Page 127: ...rom minimum frequency or from reference that was last used when the drive was run with motor potentiometer 1 Reference The drive s active reference is copied If the drive is ramping when the value of motor potentiometer is changed the drive will continue ramping after the change This allows the reference copy in stop state unless the MotPot Reset function overruns it e g reset in stop state is not...

Page 128: ... Adjust Input With this parameter you can select the signal according to which the frequency reference to the motor is fine adjusted 0 Not used 1 Analogue input 1 2 Analogue input 2 3 Analogue input 3 4 Analogue input 4 5 FB Adjust Reference ID47 Monitoring Signal P2 2 12 2 Adjust minimum ID494 Adjust minimum Percentage that is subtracted from the main reference when adjust input is at minimum P2 ...

Page 129: ...128 VACON apfiff09 marine Local contacts http drives danfoss com danfoss drives local contacts Adjust Input Adjustment 10 20 50 100 66 66 ...

Page 130: ...owards the zero frequency until the correct value is detected Use this mode if the motor is coasting when the start command is given With the flying start it is possible to start the motor form actual speed without forcing the speed to zero before ramping to reference Closed loop control will always start like flying start because exact speed of the motor is known from encoder feedback P2 3 2 Stop...

Page 131: ...es a linear ramp shape which causes acceleration and deceleration to act immediately to the changes in the reference signal Setting value 1 100 for this parameter produces an S shaped acceleration deceleration Used to reduce mechanical erosion and current spikes when reference is changed Figure 7 2 10 S ramp with 3 s ramp time compared to without S ramp S ramp time is noticed first when total ramp...

Page 132: ...ng is active Inching function will start the drive to reference without additional start command regardless of control place Inching function requires enabling from digital input before command is accepted Inching is also disabled if there is a start command active on the active control place Other parameters for inching Parameter Inching Reference 1 Parameter Inching Reference 2 Digital input sel...

Page 133: ...leration times 7 3 1 Quick Stop P2 3 11 1 Quick stop mode ID1276 Quick Stop Mode Selects the mode of stopping the drive when quick stop is active It is recommended to use same stop function in follower drives It is recommended to use same ramp time in both drives 0 Coast stop 1 Ramp stop P2 3 11 2 Quick Stop Ramp time ID1256 Ramp time while quick stop with ramp is executed ...

Page 134: ...pen loop control When the limiting situation has passed with a step the speed is accelerated against the limit controller to the reference speed if speed control is used In case this parameter is active the speed will increase with the set ramp times This parameter also sets the Ramp Frequency to actual frequency when change from torque control to speed control is made Note Disable this parameter ...

Page 135: ...100 ms time level but the drive s own ramp is set much shorter to have fast response When the reference Green is used without interpolator also the output frequency would behave in the same way causing torque and current spikes every time reference changes When the interpolator time is set to 100 ms the output frequency behaves as blue line Reference Time 100 ms P2 3 12 4 Extend Zero Speed Time ID...

Page 136: ...art 1 closed contact start forward DI Start 1 Start 2 closed contact start reverse DI Start 2 Start 1 Start 2 Freq Out 2 1 Figure 7 6 Start forward Start reverse The first selected direction has the highest priority When the DIN1 contact opens the direction of rotation starts the change 1 Start Rev Start command Direction command Start 1 closed contact start open contact stop Start 2 closed contac...

Page 137: ...r potentiometer UP DIN1 closed contact start forward DIN2 closed contact Increases motor potentiometer reference see Motor potentiometer function for more details 5 ForwR RevR Forward start rising edge Reverse start rising edge DIN1 closed contact start forward Rising edge required to start DIN2 closed contact start reverse Rising edge required to start 6 StartR Rev Start command rising edge Direc...

Page 138: ... run is disabled Contact open Start of motor disabled Contact closed Start of motor enabled P2 4 2 4 Reverse ID412 Reverse This reverse command is active when Start signal 2 is not used for reverse command because setting of Start Stop logic selection parameter Contact open Direction forward Contact closed Direction reverse P2 4 2 5 Preset speed 1 ID419 Preset Speed 1 P2 4 2 6 Preset speed 2 ID419...

Page 139: ...es are set in Ramp Control parameter group Contact open Acceleration Deceleration time 1 selected Contact closed Acceleration Deceleration time 2 selected P2 4 2 14 Acceleration Deceleration prohibited ID415 Acc Dec Prohibit Contact closed No acceleration or deceleration possible until the contact is opened With P2 9 3 Control Options B13 B13 it is possible to select if the deceleration direction ...

Page 140: ...Parameter Set 1 Set 2 selection ID496 Param Set1 Set2 With this parameter you can select between Parameter Set 1 and Set 2 Remember to put the same input for both parameter set Parameter sets cannot be changed while the drive is in run state Digital input FALSE Set 1 is loaded as the active set Digital input TRUE Set 2 is loaded as the active set When making two parameter sets from the keypad 1 Se...

Page 141: ...put to the Cooling OK signal from VACON flow control application or any input that shows state of used cooling unit See details of operation from G2 11 9 cooling parameters group 7 4 2 2 Inching function Inching function will start the drive to reference without additional start command regardless of control place Inching requires enabling from digital input before the command is accepted Inching ...

Page 142: ...limit Digital input 1 ID1506 Gen PowerLimit 1 P2 4 2 32 Generator Power limit Digital input 2 ID1507 Gen PowerLimit 2 With these parameters you can select the desired digital input for controlling the generator power limit Gen PowerLimit 1 and Gen PowerLimit 2 activate the respective power limits defined in G2 6 2 Power Handling parameter group If both inputs are activated the power limit is zero ...

Page 143: ...2 digital input that is also used to load parameter set to active set P2 4 2 40 Start Place A B ID425 Start PlaceA B This parameter is used to select if start signal in IO control is monitored from P2 4 2 1 and P2 4 2 2 P2 4 2 41 Start signal 1B ID423 Start Signal 1B Signal selection 1B for the start stop logic This is for Start Place B selected with P2 4 2 39 Default programming 0 1 Default Forwa...

Page 144: ...4 4 1 AI2 signal selection ID388 AI2 Signal Sel Connect the AI1 AI2 signal to the analogue input of your choice with this parameter For more information about the TTF programming method see chapter 4 P2 4 3 2 Analogue input 1 reference filter timeID324 AI1 Filter Time P2 4 4 2 Analogue input 2 reference filter timeID329 AI2 Filter Time First order filtering is used for analogue signals that are us...

Page 145: ...ignal Range 0 0 20mA 10V Signal input ranges 0 10 V and 0 20 mA Input signal is used from 0 to 100 Reference Hz Analogue Input 100 0 Min Freq Max Freq 1 4 20 mA Signal input ranges 4 20 mA and 2 10 V Input signal is used from 20 to 100 Reference Hz Analogue Input 100 0 Min Freq Max Freq 20 2 10 10 V Signal input range 10 V 10 V Input signal is used from 100 to 100 10 V 0 V Max Freq Max Freq Analog...

Page 146: ...danfoss drives local contacts Classified as Public 3 Custom Range With custom range it is possible to freely adjust the input level that corresponds to the minimum and maximum frequencies Reference Hz Analogue Input 100 0 Min Freq Max Freq 40 Custom Min 80 Custom Max ...

Page 147: ...2 reference scaling minimum value ID393 AI2 RefScale Min P2 4 4 7 AI2 reference scaling maximum value ID394 AI2 RefScale Max Additional reference scaling Analogue input reference scaling can be set to a different value than the minimum and maximum frequency Reference Hz Analogue Input 100 0 Min Freq 0 Hz Max Freq 60 Hz 47 Hz Ref Scale Max 24 Hz Ref Scale Min Reference Hz Analogue Input 100 0 Min F...

Page 148: ...it defined with this parameter In joystick function when input is between zero and this parameter the drive will go to sleep state P2 4 3 10 AI1 sleep delay ID386 AI1 Sleep Delay P2 4 4 10 AI2 sleep delay ID397 AI2 Sleep Delay This parameter defines the time the analogue input signal has to stay under the sleep limit in order to stop the drive P2 4 3 11 AI1 joystick offset ID165 AI1 Joyst Offset P...

Page 149: ...3 4 P AI3 4 Scale Max P AI3 4 Scale Min Write to Par ID ID To Write IN P AI3 4 Control ID P2 4 5 1 AI3 signal selection ID141 AI3 Signal Sel P2 4 6 1 AI4 signal selection ID152 AI4 Signal Sel Connect the AI3 AI4 signal to the analogue input of your choice with this parameter For more information see Chapter 4 Terminal To Function TTF programming principle When the parameter for Analogue input sign...

Page 150: ...om Max P2 4 5 5 AI3 signal inversion ID151 AI3 Signal Inv P2 4 6 5 AI4 signal inversion ID162 AI3 Signal Inv The signal inversion function is useful if for example the PLC is sending power limit to the drive using fieldbus If the PLC is unable to communicate with the drive the power limit from fieldbus to the drive would be zero Using an inverted signal logic zero value from PLC would mean maximum...

Page 151: ...rs This means that when controlling the Field Weakening Point as in example you also need to set numbers for decimals For example FWP 100 00 needs to be set as 10000 P2 4 5 8 AI3 Controlled ID ID1509 AI3 Control ID P2 4 6 8 AI4 Controlled ID ID1510 AI4 Control ID These parameters define the controlled parameter Example You want to control motor field weakening point voltage through an analogue inp...

Page 152: ...llows you to select which input signal operation will be inverted B00 1 Invert external fault 1 B01 2 Invert external fault 2 B02 4 Inverted Run Enable digital input B03 8 Inverted Brake acknowledge digital input B04 16 Invert Mot Torq Limit 1 digital input B05 32 Invert Gen Torq Limit 1 digital input B08 256 Motoring Power limit digital input inverted B09 512 Generator Power limit digital input i...

Page 153: ... P2 12 1 External fault is used to select response P2 5 1 7 Reference fault or warning 4mA ID438 AI Ref Faul Warn Fault or warning depending on parameter Response to the 4mA reference fault Response is selected in G2 11 6 P2 5 1 8 Drive overtemperature warning ID439 OverTemp Warn Drive temperature has exceeded normal operation conditions Temperature limit may vary depending on the drive type or si...

Page 154: ...tp drives danfoss com danfoss drives local contacts Classified as Public P2 5 1 13 IO Control Place ID444 IO Control Place Active control place is I O terminal defined by the parameter for Control place P3 1 or forced with digital input function ...

Page 155: ...keOnOffCurLim Running NOT IN OR IN 1 IN 2 IN 3 AND IN 1 IN 2 IN 3 Running NOT IN Fault Active AND IN 1 IN 2 IN 3 Run Request NOT IN ABS IN FreqRampOut SEL G IN 0 IN 1 Reverse Direction LE IN 1 IN 2 P BrakeOnFreqLim P BrakeOnFreqLim AND IN 1 IN 2 IN 3 Run Request NOT IN FreqRampOut EQ IN 1 IN 2 0 PreBrakeOpenCommand The final brake open command It is possible that in a Master Follower system the ma...

Page 156: ...ke control inverted ID446 ExtBrakeCtrl Inv See detail description about brake operation in G2 15 Brake Control Example OPTA2 board RO1 Brake function ON Terminals 22 23 are open Relay not energized Brake function OFF Terminals 22 23 are connected Relay is energized 21 22 23 21 22 23 When using the Master Follower function the follower drive will open the brake at the same time as the Master does e...

Page 157: ...s defined in Supervision Lim parameter group The function can be set to monitor either the high or the low limit Limit and functions are selected in G2 5 8 Supervision Limits P2 5 1 20 Torque limit supervision ID451 Torq Lim Superv The motor torque goes beyond the set supervision limits defined in Supervision Lim parameter group The function can be set to monitor either the high or the low limit L...

Page 158: ... 5 1 31 Fieldbus digital input 4 parameter ID894 FB Dig 4 Par ID P2 5 1 33 Fieldbus digital input 5 parameter ID895 FB Dig 5 Par ID With these parameters you can define the parameter to be controlled by using FB Digital input Example All option board inputs are in use and you still want to give DI DC Brake Command ID416 You also have a fieldbus board in the drive Set parameter ID891 Fieldbus digit...

Page 159: ...t This parameter selects the desired function for the analogue output signal 0 Not used Analogue output is forced to 20 2 V 4 mA 1 O P Freq Drive Output Frequency Output frequency from zero to maximum frequency 2 Freq Ref Freq reference from zero to maximum frequency 3 Motor speed Motor speed from zero speed to motor synchronous speed 4 O P Current Drive Output Current Drive output current from ze...

Page 160: ...rom negative two times nominal to positive two times nominal speed 17 Enc 1 Speed Encoder 1 speed from zero speed to motor synchronous speed 18 Unit Temp Unit temperature scaled from 0 degree to 100 degree 19 Value Control Value control output 20 Drive Output Power Drive output power scaled from zero to Motor Nominal Power P2 1 8 P2 5 2 3 Analogue output filter time ID308 Iout Filter Time P2 5 3 3...

Page 161: ...t Function Signal 0 100 P2 5 2 5 Analogue output minimum ID310 P2 5 3 5 Analogue output 2 minimum ID475 P2 5 4 5 Analogue output 3 minimum ID482 P2 5 5 5 Analogue output 4 minimum ID1523 Defines the signal minimum to either 0 mA or 4 mA living zero 0 Set minimum value to 0 mA 0 1 Set minimum value to 4 mA 20 100 0 Analogue Output Function Signal 0 100 20 Inverted P2 5 2 6 Analogue output scale ID3...

Page 162: ...et ID375 Iout Offset P2 5 3 7 Analogue output 2 offset ID477 Iout 2 Offset P2 5 4 7 Analogue output 3 offset ID484 Iout 3 Offset P2 5 5 7 Analogue output 4 offset ID1524 Iout 4 Offset Defines the offset for the analogue output signal In the picture below the 50 scaling signal has been given 20 offset and the 200 scaling has been given 50 offset 100 0 Scaling 50 Function Signal 0 100 20 50 Scaling ...

Page 163: ... may vary depending on drive type and size 6 ExtFaul Warm External fault or warning depending on parameter response to external fault 7 RefFaul Warn Fault or warning depending on parameter Response to the 4mA reference fault occurs if analogue reference is 4 20 mA and signal is 4mA 8 Warning Always if a warning is on 9 Reversed Drive output frequency is negative 10 JogSpeedSel The jogging preset o...

Page 164: ...option board indicates overtemperature Fault or warning depending on the response parameter 23 AI Supervis Analogue input supervision Analogue input supervision function Set Reset type output function 24 FB DigInput1 Fieldbus digital input data 1 25 FB DigInput2 Fieldbus digital input data 2 26 FB DigInput3 Fieldbus digital input data 3 27 Warning SR Warning indication that requires pressing of Re...

Page 165: ...ital outputs 1 and 2 on and off delays P2 5 6 5 Invert digital output 1 ID1587 INV Delayed DO1 P2 5 7 5 Invert digital output 2 ID1588 INV Delayed DO2 Inverts delayed digital output operation Signal DO On Delay Off Delay P2 5 6 6 ID Bit Free DO 1 ID1217 P2 5 7 6 ID Bit Free DO 2 ID1385 Select the signal for controlling the DO The parameter has to be set in format xxxx yy where xxxx is the ID numbe...

Page 166: ...upv Lim P2 5 8 8 Reference limit supervision function ID350 Ref Superv Lim P3 6 8 10 Drive temperature limit supervision function ID354 Temp Lim Superv 0 No supervision 1 Low limit supervision 2 High limit supervision 3 ABS Torque Low limit supervision 4 ABS Torque High limit supervision The following five parameters are used to set a limit value to be monitored with the corresponding parameter ab...

Page 167: ...put supervision function will control the selected digital output to close when the analogue input signal has exceeded the high limit and open when the signal goes below the low limit P2 5 8 12 Analogue input supervision signal ID356 Ain Supv Input With this parameter you can select the analogue input to be monitored 0 Not used 1 AI1 2 AI2 3 AI3 4 AI4 5 FBLimScaling P2 5 8 13 Analogue Low supervis...

Page 168: ...VACON 167 Local contacts http drives danfoss com danfoss drives local contacts Classified as Public 7 5 5 Output Options P2 5 9 1 Output Inversion ID1808 Invert selected digital output functions B0 1 Inver Common Alarm ...

Page 169: ...losed loop control the current limit affects the torque producing current limit not the total current This can be changed in options group with the LimitTotalCurrent parameter In drive synch operation limiting is for average current of units P2 6 1 2 Scaling of current limit ID399 Currnt Lim Sclng 0 Not used 1 AI1 2 AI2 3 AI3 4 AI4 5 FB Limit Scaling ID46 Monitoring value This signal will adjust t...

Page 170: ...6 IN 7 IN 8 IN 9 P MotPowerLimScaling P MotorPowerLimir F Analogue Input 1 MUL X X F Analogue Input 2 MUL X X F Analogue Input 3 MUL X X F Analogue Input 4 MUL X X F FB Limit Scaling MUL X X P Mot PowerLimit 1 P Mot PowerLimit 2 0 DI Mot PowerLimit 1 DI Mot PowerLimit 2 SEL4 B0 B1 IN00 IN01 IN10 IN11 RAMP10 STOP OUT SET DATA SPEED IN LT IN 1 IN 2 P PowerLimitRampUpRate SEL G IN 0 IN 1 NOT IN SEL G...

Page 171: ...ons P2 6 2 4 Generator Power limit 1 ID1513 Gen PowerLimit 1 P2 6 2 5 Generator Power limit 2 ID1514 Gen PowerLimit 2 Generator side power limit values when limits are activated by digital inputs When both digital inputs are activated the power limit is forced to zero P2 6 2 6 Motoring Power limit 1 ID1503 Mot PowerLimit 1 P2 6 2 7 Motoring Power limit 2 ID1504 Mot PowerLimit 2 Motoring side power...

Page 172: ...9 Power Follower ID1705 Power Follower Activates the power follower function P2 6 2 10 Power limit follower hysteresis ID1529 PowerFoll Hyst Defines the hysteresis of the actual power where the internal power limit is kept while the input power limit is higher than the actual power Input Power Limit Power Limit 80 Internal Power Limit Hysteresis Actual Power P2 6 2 11 Scaling of Motoring Power Lim...

Page 173: ... AI1 2 AI2 3 AI3 4 AI4 5 FieldBus Scaling ID46 Monitoring Value P2 6 2 13 Undervoltage power limit DC level ID1611 UV Power C Levl This parameter defines the DC voltage level when the special power limit function is activated When DC voltage goes below this level the power level defined by under voltage power limit will be activated P2 6 2 14 Undervoltage power limit ID1612 UV Power Lim Defines th...

Page 174: ...IMIT MN IN MX 0 V Motor Torque ADD P TorqueFoll Hyst Final Torque Limit MIN IN 1 IN 2 P Torque Limit MIN IN 1 IN 2 SEL G IN 0 IN 1 F OL Control T P w 7 6 3 2 Generator torque limit function Details of Add to Gen Torq Lim can be found from Brake Control chapter MUX K IN 0 IN 1 IN 2 IN 3 IN 4 IN 5 IN 6 IN 7 IN 8 IN 9 P GenTorqLimSclng P GenerTorqueLimit F Analogue Input 1 MUL X X F Analogue Input 2 ...

Page 175: ...e torque limit This limit value is used for all scaling functions and torque limit ramp rate functions if activated P2 6 3 3 Generator Torque limit ID1288 GenerTorqueLimit Generator side torque limit This limit is used for all scaling functions generator side torque limit is not included in ramp up rate function P2 6 3 4 Motoring Torque limit 1 ID1625 Mot TorqueLim 1 Motoring side torque limit tha...

Page 176: ...ue and may cause mechanical stress in the system P2 6 3 6 Torque Follower ID1706 Torque Follower Activates the torque follower function and ramp rate limiter function for torque limit 0 Not used 1 Motoring 2 Generator 3 Motoring Generator P2 6 3 7 Torque limit increase rate ID1532 TorqueLimInc rate Defines the torque limit increase rate Decreasing power limit will be in effect immediately P2 6 3 8...

Page 177: ...3 4 AI4 5 FB Limit Scaling ID46 Monitoring value P2 6 3 11 Pull Out Slip Limit ID1291 PullOutSlipLimit This defined slip limit for pull out torque point 100 0 equals motor nominal slip 7 6 3 4 Open Loop settings only P2 6 3 12 1 Torque limit control P gain ID610 TorqLimCtrl P This parameter defines the gain of the torque limit controller It is used in Open Loop control mode only P2 6 3 12 2 Torque...

Page 178: ...mp Control Input P Max Frequency DI Max Frequecy 2 P Max Frequency P Max Frequency 2 P2 6 4 1 Maximum Frequency Limit 2 ID1512 Max Frequency 2 This parameter defines the maximum frequency when the digital input Max Frequency 2 is activated This limit does not affect the reference values that are of constant type for example the preset speed references If the actual speed is higher than Max Frequen...

Page 179: ...ller Closed loop controller is a PI type controller 2 On Ramping Activated PI Type controller Both open and closed loop controllers are activated Open loop controller is a PI type controller Closed loop controller is PI type controller as in selection 1 P2 6 5 2 Overvoltage Reference Select ID1262 OverVolt Ref Sel Overvoltage reference level depending on the status of the brake chopper In closed l...

Page 180: ...ld be a system with AFE or there is an external BCU unit When this option is selected the drive overvoltage level is set a little higher so that its operation does not conflict with AFE or BCU units 3 On Run Stop Used and tested in READY state and when running Brake chopper is also active when the drive is not in Run state This option can be used for example when other drives are generating but en...

Page 181: ...een active drive will ramp to zero speed using ramp time 2 and generate an under voltage fault F9 with sub code S3 Note In closed loop control also the parameter CLrmpFollEncFreq needs to be activated to achieve identical operation P2 6 5 6 Under Voltage Reference Select ID1537 UnderVoltRef Sel Select the operation level for open loop under voltage controller 0 UnderVoltRef Under voltage operation...

Page 182: ...e level in Closed Loop control mode Percentage value related to unit nominal voltage DC voltage Default 65 690 Vac 1 35 65 605 Vdc 500 Vac 1 35 65 438 Vdc 7 6 6 Limit options P2 6 6 1 Limit total current ID1901 LimitTotalCurren This function activates the total current limit function in close loop control Normally in closed loop the current limit only affects the torque producing current ...

Page 183: ... start this parameter is used together with DC Brake time to decrease the time when motor is able to produce nominal torque When DC brake current is applied to the motor the output frequency is zero P2 7 1 2 DC braking time at start ID507 Start DC BrakeTm DC brake is activated when the start command is given This parameter defines for how long the DC current is given to the motor before accelerati...

Page 184: ...put frequency at the time of stop command will determine the DC braking time For example 50 hertz motor is running at 25 Hz when the stop command is given The DC brake time will be 50 of the DC braking time at stop If the frequency is below 5 Hz the minimum DC braking time is 10 of the DC braking time at stop DC braking is started after a short restart delay following the stop command if stop func...

Page 185: ...ling of DC braking current ID400 DC currnt Sclng The DC braking current can be reduced with the free analogue input signal between zero current and the current set with parameter DC Braking Current 0 Not used 1 AI1 2 AI2 3 AI3 4 AI4 5 FB Limit Scaling ID46 Monitoring value P2 7 1 6 DC brake current in stop ID1080 DCBrakeCurlnStop Defines the current injected to the motor in stop state when the dig...

Page 186: ...frequency is reduced and the flux in the motor is increased This increases losses on motor which in turn increases the motor s capability to brake Unlike in DC braking the motor speed remains controlled during braking The flux braking can be set ON or OFF 0 Flux braking OFF Output frequency Motor voltage Motor Current 1 Flux braking ON Output frequency Motor voltage Flux Current Motor Current P2 7...

Page 187: ...or the more time it needs Set this time so that the rotor flux is more than 90 before speed is released Start Zero Speed Time ID615 or mechanical brake is released P2 7 2 3 Flux reference ID1250 FluxReference Reference value for rotor flux Rotor flux can be reduced by changing the magnetization current This however also affects the motor model making the torque calculations a little less accurate ...

Page 188: ...tion Reduced flux function is used to decrease the magnetization current below a certain frequency limit This function is used in systems where high starting torque is not needed This function CANNOT be used in any situation where motor nominal torque from zero speed is required P2 7 2 6 Reduced Flux frequency A frequency point where flux starts to reduce to a level defined by Reduced Flux Level t...

Page 189: ... picture presents the torque that is produced by the induction motor when connected directly on line 1 Motor Synchronous speed Motor is taking only magnetization current 2 Motor nominal operation point Motor is producing 100 of rated torque and power Actual shaft speed is the motor nominal speed The motor takes nominal current 3 Pull out torque This is the point where the motor produced torque sta...

Page 190: ...slip is 60 rpm And when the motor torque is 50 the slip is 30 rpm To keep the reference speed the drive must increase the output frequency by 1 Hz TN 100 TN 50 Freq Out 51 Hz Slip Freq Ref 50 Hz Shaft Freq Closed Loop control Closed loop control controls the motor using the exact information of the motor speed from the encoder Control mode selections 3 and 4 are closed loop control modes Using the...

Page 191: ...SpeedCtrl Close loop speed control Drive frequency reference is set to motor speed reference Motor speed stays the same regardless of motor load 4 Closed Loop Closed loop speed or torque control In this control mode the drive can be selected to run in torque control mode The operation is selected by parameter Torque Select in the Torque Reference parameter group The default selection is torque con...

Page 192: ...rator thus speed will increase with set ramp time until actual torque is equal to reference torque If speed is below the reference when load is removed from the shaft the speed will increase without ramp This is the default selection For master follower system it is recommended to use a selection that allows a little higher reference for torque follower that load will be balanced equally for examp...

Page 193: ... values Parameter group 2 1 Option 1 Automatic functions Step 1 Make identification with rotating motor Step 2 If needed Activate speed control or U f optimization Torque boost Step 3 If needed Activate both speed control and U f optimization Option 2 Manual tuning Step 1 Run the motor using 2 3 of motor nominal frequency as the frequency reference Read the motor current in the monitoring menu or ...

Page 194: ...en programmable U f curve is activated P2 8 4 2 U f ration selection ID108 U f Ratio Select Linear 0 The voltage of the motor changes linearly from zero point voltage to the field weakening point where the voltage at FWP is supplied to the motor Squared 1 The voltage of the motor changes from zero point voltage following the squared curve form zero frequency to the field weakening point The motor ...

Page 195: ...ient DC voltage is available P2 8 4 5 U f curve middle point frequency ID604 U f Mid Freq If the programmable U f curve has been selected with parameter U f ratio this parameter defines the middle point frequency of the curve See also parameter Middle point voltage When the programmable U f curve is selected this value is set to 10 of motor nominal frequency P2 8 4 6 U f curve middle point voltage...

Page 196: ...closed loop control utilizing the encoder z pulse defines also the current level used in starting before the z pulse is received to synchronize with DC Start Angele identification This parameter defined DC Current level when Start Angle Identification Time is set greater than zero See P2 8 5 5 Start Angle Identification Time P2 8 4 10 I f Control Limit ID1790 I f Control Lim This parameter sets th...

Page 197: ...ip adjust ID619 Slip Adjust The motor name plate speed is used to calculate the nominal slip This value is used to adjust the voltage of motor when loaded The name plate speed is sometimes inaccurate and this parameter can therefore be used to trim the slip Reducing the slip adjust value increases the motor voltage when the motor is loaded P2 8 5 4 Acceleration compensation ID626 Accel Compens Set...

Page 198: ...oo high a filter time reduces speed control stability Values over 10 ms are not recommended in normal cases P2 8 5 7 Encoder Selection ID1595 Encoder Selector With this parameter it is possible to select which encoder input is used for closed loop control Encoder board OPT A7 is needed because of the possibility to connect two encoders 0 1 Encoder input 1 2 Encoder input 2 P2 8 5 8 Speed Control T...

Page 199: ...n the motor cools down or warms up the slip of the motor will change When this function is activated in closed loop control mode the drive will estimate changes in motor resistance and correct the changes of motor slip automatically to achieve the best torque estimation This function is automatically activated when identification run with rotating motor is successfully finished This option is avai...

Page 200: ...ication is needed if there are no absolute encoder or incremental encoder with z pulse used This function defines how the start angle identification is made in those cases Identification time depends on the motor electrical characteristics but takes typically 50ms 200ms In case of absolute encoders start angle will read directly from the encoder absolute angle value On the other hand incremental e...

Page 201: ...1759 Polarity direction check is seldom needed because the identification itself gives already the right direction Hence in most cases this function can disabled by setting any negative parameter value which is recommended especially if there occurs F1 faults during the identification P2 8 6 5 Start Angle Identification Time ID1755 StartAngleIdTime Start angle can be determined also by feeding dc ...

Page 202: ...r several different purposes I f Control This parameter defines the current level during I f control in percent of the motor nominal current Zero position with incremental encoder and Z Pulse In closed loop control utilizing the encoder z pulse defines also the current level used in starting before the z pulse is received to synchronize with DC Start Angele identification This parameter defined DC...

Page 203: ...event proper motor control Too high gain may also lead to unstable control Integration time is more significant in this case for control P2 8 6 9 Flux Current Ti ID652 FluxCurrent Ti Defines the integration time for the flux current controller when using a PMS motor Depending on motor construction and the ramp rate that is used to go to field weakening area short integration times may be needed so...

Page 204: ...e drop across the stator inductance at nominal current and frequency 𝑋𝑑 𝐷𝑟𝑖𝑣𝑒 𝑠𝑐𝑎𝑙𝑒 𝑋𝑑 Ω 𝐼𝑛 𝐴 3 2560 𝑈𝑛 𝑉 P2 8 6 13 Lsq Voltage Drop ID1758 Lsq Voltage Drop Q axis reactance voltage drop 2560 100 Gives the voltage drop across the stator inductance at nominal current and frequency 𝑋𝑞 𝐷𝑟𝑖𝑣𝑒 𝑠𝑐𝑎𝑙𝑒 𝑋𝑞 Ω 𝐼𝑛 𝐴 3 2560 𝑈𝑛 𝑉 P2 8 6 14 Encoder ID Current ID1734 Current reference for encoder identification r...

Page 205: ...o position but requires that the motor can be accelerated to 2 3 of motor nominal speed to find the absolute encoder zero position After 2 3 of nominal speed is reached the motor is coasted to determine the encoder zero position after the DC brake is applied to make the rotor to stop to stand still This method can be used also when step up transforms are used P2 8 6 22 PMSM Shaft Position High ID6...

Page 206: ... 28 LdqSatIDRun ID677 This will enable saturation ratio identification routine in ID run cases where d and q axis inductances are identified in general P2 8 6 29 LdqIDWithAngle ID678 This will enable shaft position d axis identification based on the current pulse injection method before the inductance identification run in ID run cases where d and q axis inductances are identified in general This ...

Page 207: ...eters define together with the Torque Stabiliser Damping the actual gain of the filter Torque Stabiliser Gain is the gain at the zero frequency Torque stabiliser Gain in FWP is the gain at the field weakening frequency The gain changes linearly with the frequency between these two points so that the gain is 𝐺 TorqStabGainFWP TorqStabGain f fFWP TorqStabGain if f fFWP 𝐺 TorqStabGainFWP if f fFWP Th...

Page 208: ...ning point voltage or maximum drive output voltage 7 8 4 3 Flux stabiliser Flux stabilizer is the first order high pass filter for the estimated flux producing current 𝐼𝑑 The output of the filter is correcting term 𝑑𝑈 added to the output voltage reference The gain and the corner frequency of the filter is controlled by the following parameters P2 8 7 6 Flux Stabiliser Gain ID1797 Flux Stab Gain Fl...

Page 209: ... corner frequency of the high pass filter The time constant of the filter is calculated as 𝑇𝑐 𝑇𝑠 𝑉𝑜𝑙𝑡𝑎𝑔𝑒𝑆𝑡𝑎𝑏 𝑇𝐶 1000 𝑉𝑜𝑙𝑡𝑎𝑔𝑒𝑆𝑡𝑎𝑏 𝑇𝐶 1𝑚𝑠 𝑉𝑜𝑙𝑡𝑎𝑔𝑒𝑆𝑡𝑎𝑏 𝑇𝐶 1000 𝑉𝑜𝑙𝑡𝑎𝑔𝑒𝑆𝑡𝑎𝑏 𝑇𝐶 𝑚𝑠 P2 8 7 8 Voltage stabiliser Gain ID1738 VoltStabGain Voltage Stabilizer Gain is a function of a torque If the torque is below 15 the gain is the value defined by the Voltage Stabilizer Gain If the torque is above 50 the gain i...

Page 210: ...frequency torque oscillations in the drive system 0 Not in use Only monitoring if Resonance damping frequency 0 0 Hz See FW ResonanceFrequency and FW ResonanceAmplitude 1 Band pass Speed Error Oscillation damping with band pass filter from speed error 2 Band Stop Band Pass Speed Error Oscillation damping with band stop and band pass filter from speed error 3 Band Pass Iq Current Oscillation dampin...

Page 211: ... Current ref for AC scanning phases in Flying Start P2 8 8 13 AC Scan Time ID1715 Flying Start AC scanning time reference in ms if slip is 1 Hz actual time depends on motor nom slip P2 8 8 14 DC magnetization current ID1716 Current ref for DC magn phases in Flying Start P2 8 8 15 Flux build time ID1704 Flux BuildUp time reference in Flying Start P2 8 8 16 Flux build torque ID1711 Torque reference ...

Page 212: ...zero speed when torque boost is used P2 8 9 18 Ir Add generator scale ID665 IrAddGeneScale Defines the scaling factor for generator side IR compensation when torque boost is used P2 8 9 19 Ir Add motoring scale ID667 IrAddMotorScale Defines the scaling factor for motoring side IR compensation when torque boost is used P2 8 9 20 Measured Ls voltage drop ID673 LsVoltageDrop Leakage inductance voltag...

Page 213: ...eadTimeComp ID1751 Dead Time Compensation in ns Identified during 7 DTC Identification run P2 8 9 31 DeadTieContCurL ID1752 Continuous discontinuous current limit for Dead Time Compensation Identified during 7 DTC Identification run 7 8 7 Fine Tuning parameters P2 8 10 1 DeadTHWCompDisab ID1750 Hardware dead time compensation 0 enabled 1 disabled P2 8 10 2 CurrMeasFCompTC ID1554 P2 8 10 3 CurrLimO...

Page 214: ...If load drooping is set to 10 for a motor that has a nominal frequency of 50 Hz and is nominally loaded 100 of torque the output frequency is allowed to decrease 5 Hz from the frequency reference The function is used for for example when the balanced load is needed for mechanically connected motors P2 9 2 Load Drooping Time ID656 LoadDroopingTime This function is used in order to achieve a dynamic...

Page 215: ...sing the brake When using option Normal the load will slowly come down depending on load and the drooping factor Normal 0 Load Drooping factor is constant through the whole speed range Removed below zero frequency limit 1 Load drooping is removed linearly below the zero frequency limit defined in G2 6 4 Freq Handling Load Drooping Freq Out Zero Freq Limit Linearly increased to motor nominal freque...

Page 216: ...op control mode 7 9 1 2 Closed Loop Speed Control Settings Speed control formula 𝑦 𝐾𝑝 1 1 𝑇𝑖 𝑠 𝑒 𝑢 𝑘 𝑦 𝑘 1 𝐾𝑝 𝑒 𝑘 𝑒 𝑘 1 𝑇𝑠 𝑇𝑖 𝑒 𝑘 P2 9 5 1 Speed control P gain ID613 Speed Control Kp Gain for the speed controller in closed loop motor control operation Gain value 100 means that the nominal torque reference is produced at the speed controller output for the frequency error of 1Hz P2 9 5 2 Speed cont...

Page 217: ...eed time at stop ID616 Stop 0 SpeedTime The drive will remain at zero speed with controllers active for the time defined by this parameter after reaching the zero speed when a stop command is given This parameter has no effect if the selected stop function is Coasting Note that the zero speed time starts when the ramp time is expected to reach the zero speed not when the actual speed reaches zero ...

Page 218: ...el in Hz below which the speed controller gain is Speed Controller gain f0 P2 9 5 6 Speed Controller f1 point ID1301 SPC f1 Point The speed level in Hz above which the speed controller gain is Speed Controller P gain Gain changes linearly between f0 and f1 points P2 9 5 7 Speed Controller gain f0 ID1299 SPC Kp f0 The relative gain of the speed controller as a percentage of the Speed Controller P G...

Page 219: ...is changed to with parameter P2 8 5 4 10 Speed Controller torque minimum gain using a filter set by parameter P2 8 5 4 11 Speed Controller torque minimum filtering time This is in percent of the motor nominal torque P2 9 5 10 Speed Controller torque minimum gain ID1295 SPC Kp Torq Min Relative gain as a percentage of the speed controller gain after speed area adjustment when the speed control outp...

Page 220: ...DriveSynch the maximum switching frequency is limited to 3 6 kHz P2 10 2 Modulator Type ID1516 Modulator type Select modulator type Some operations require use of a software modulator 0 ASIC modulator A classical third harmonic injection The spectrum is slightly better compared to the Software 1 modulator NOTE An ASIC modulator cannot be used when using DriveSynch or PMS motor with an incremental ...

Page 221: ...eration when using DI Acc Dec prohibit function B14 Disables Modulation Synchronization for Current follower function B15 Enables Current Follower function when Drive Synch operation is selected in Mater Follower Mode P2 10 4 Control Options 2 ID1798 ControlOptions2 These parameter functions are dependent of VACON Marine application version B01 Power reference speed direction automatic update func...

Page 222: ...tching frequencies prevents torque calculation distortions Requires Software Modulator 1 P2 10 9 Advanced Options 6 ID1565 AdvancedOptions6 B05 To reduce aliasing effects in current measurement it is possible to take an average from all internal samples taken at fast time level It must be noted that this mode does not affect the motor control only monitoring P2 10 10 Advanced Options 7 ID15658 Adv...

Page 223: ...rence between the drives is possible Speed control of the Follower should be used when the motor shafts of the Master and the Follower drives are coupled flexibly to each other so that a slight speed difference between the drives is possible When both the Master and Followers are speed controlled drooping is typically also used P SpeedShare W 100 00 ADD F Adjust Reference R FreqRef2 LIMIT MN IN MX...

Page 224: ...tem only Master drive monitoring signals are reliable Only directly measured values are reliable in follower units Even the Output Frequency of DriveSynch follower is not directly observed and thus may not show actual output frequency that is controlled by DriveSynch Master Drive Note The maximum switching frequency for the drives using VACON DriveSynch is 3 6 kHz Minimum recommended switching fre...

Page 225: ...level of redundancy however needs to be carefully defined considering the motor load and the requirements of the process The master drive unit and the fast drive to drive optical communication has to be functional for the VACON DriveSynch functionality The auxiliary power 24V must be continuously provided for all the control units including the non functional drive units in VACON drive synch syste...

Page 226: ...ACON Drive Synch Motor Nominal power from the motor name plate Number of drives in parallel using VACON Drive Synch Motor Nominal power from the motor name plate Number of drives in parallel using VACON Drive Synch Master Follower Mode Master DriveSynch Follower DriveSynch Follower DriveSynch Follower DriveSynch Motor Control Mode Open Loop Open Loop Frequency If used as Secondary Master Open Loop...

Page 227: ...SBInUse Yes SBID 3 SBNextID 4 SBLastID 4 Follower SBInUse Yes SBID 4 SBNextID 1 SBLastID 4 H1 RX H1 RX H1 RX H2 TX H2 TX H2 TX Figure 7 16 System bus physical connections with the OPT D2 board P2 11 1 Master Follower selection ID1324 MF Mode Select the Master Follower mode When the drive is a follower the Run Request command is monitored from Master but all references are selectable by parameters ...

Page 228: ...otentiometer Reference handled with two digital inputs G Input Signals Digital Inputs increase and decrease Behaviour adjusted in G Ref Handling Motor Poten mete 11 AI1 AI2 min The smaller of Analogue Input 1 and Analogue Input 2 is used as reference 12 AI1 AI2 max The greater of Analogue Input 1 and Analogue Input 2 is used as reference 13 Max Freq Maximum Frequency P2 1 2 Max Frequency is used a...

Page 229: ...c 10 Vdc For joystick inputs maximum negative reference is the negative of Torq Ref Max 7 Keypad Ref Torque reference from keypad R3 5 8 Fieldbus Reference is taken from fieldbus Alternative scaling can be selected in G Fieldbus 9 Master Torque Reference is taken from Master drive when using the Master Follower function P2 11 4 Follower stop function ID1089 FollowerStopFunction When the follower d...

Page 230: ... released until the drive has the feedback from the brake actual or defined by Mechanical Brake Delay parameter and master has released speed When this selection is made also in Master drive Speed is not released until the master drive has the feedback from the brake actual or defined by Mechanical Brake Delay parameter also from followers 3 Master Master drive is controlling the follower drive br...

Page 231: ...ives for diagnostic purposes 0 No response 1 Warning 2 Fault stop mode after fault according to Stop function 3 Fault stop mode after fault always by coasting 7 11 3 1 Drive Synch Control parameters P2 11 10 1 DriveSynch Follower Fault ID1531 DS Follower Fault Defines the response in the Master drive when a fault occurs in any of the follower drives When one of the drives trips to fault the master...

Page 232: ...fault history 1 Fault not stored in fault history Under voltage fault limits 500 V units 333 Vdc 690 V units 460 Vdc P2 12 1 3 Output phase supervision ID702 OutputPh Superv Output phase supervision of the motor ensures that the motor phases have an approximately equal current 0 No response 1 Warning 2 Fault stop mode after fault according to Stop Function 3 Fault stop mode after fault always by c...

Page 233: ...has passed Fault requires a reset always 1st fault 1st warning 2nd fault 2nd warning Reset 10 Seconds 1 Toggle If there is a warning or fault already active a new warning or fault will toggle signal for one second 1st fault 1st warning 2nd fault 2nd warning Reset 10 Seconds 2 Marine If there is a warning or fault already active a new warning or fault will toggle signal for one second Warning statu...

Page 234: ...e ID740 Board1 Response 0 No response 1 Warning 2 Fault stop mode after fault according to Stop Function 3 Fault stop mode after fault always by coasting P2 12 2 3 Board 1 warning limit ID741 Board1Warn Limit Set here the limit at which the PT100 warning will be activated When individual warning and fault limits are activated this is first board first channel 1A P2 12 2 5 Board 1 fault limit ID742...

Page 235: ...12 2 1 Individual channel monitoring Individual channel monitoring is activated by setting one of the warning limits per board different than zero Common limits in above parameters will be channel A warning and fault limits Channel B and C limits are set with below parameters P2 12 2 9 1 Channel 1B Warn ID764 P2 12 2 9 2 Channel 1B Fault ID765 First board second 1B channel warning and fault limits...

Page 236: ...Warning 2 Fault stop mode after fault according to Stop Function 3 Fault stop mode after fault always by coasting P2 12 3 2 Stall current limit ID710 Stall Current The current can be set to 0 2 IH For a stall stage to occur the current must have exceeded this limit The software does not allow entering a greater value than 2 IH If the motor current limit is changed this parameter is automatically r...

Page 237: ...ontacts P2 12 3 4 Stall time ID711 Stall Time Lim This is the maximum time allowed for a stall stage The stall time is counted by an internal up down counter If the stall time counter value goes above this limit the protection will cause a trip Stall Status Stall Time Time Stall Trip Area ...

Page 238: ...4 1 Speed error fault function ID752 Speed Error Mode Defines the fault function when the speed reference and the encoder speed are above the set limits 0 No response 1 Warning 2 Fault stop mode after fault always by coasting P2 12 4 2 Speed error maximum difference ID753 SpeedErrorLimit Defines the limit when fault situation is noticed The difference between the speed reference and the encoder sp...

Page 239: ...quency P2 12 5 1 Motor thermal protection reasponse ID704 Motor Therm Prot Defines the response when the calculated temperature of the motor has reached 105 monitoring signal 0 No response 1 Warning 2 Fault stop mode after fault according to Stop Function 3 Fault stop mode after fault always by coasting P2 12 5 2 Motor ambient temp factor ID705 MotAmbTempFactor Defines the temperature factor for c...

Page 240: ...in seconds the motor can safely operate at six times the rated current is known given by the motor manufacturer the time constant parameter can be set basing on it As a rule of thumb the motor thermal time constant in minutes equals to 2xt6 If the drive is in stop stage the time constant is internally increased to three times the set parameter value The cooling in the stop stage is based on convec...

Page 241: ...anfoss drives local contacts P2 12 5 6 Response to thermistor fault ID732 ThermistF Resp 0 No response 1 Warning 2 Fault stop mode after fault according to ID506 3 Fault stop mode after fault always by coasting Setting the parameter to 0 will deactivate the protection ...

Page 242: ...t maximum defined input level Overload Maximum Input These points define the slope for the function For example if the input value is in the middle of 105 and Overload Maximum Input values the counter is increased by half of the Over Load Maximum step 2 12 5 7 Response to over load ID1838 OverLoadResponse 0 No response 1 Warning 2 Fault 2 12 5 8 Over Load Signal ID1837 OverLoadSignal 0 Not Used 1 ...

Page 243: ...r Load Minimum Input ID1849 OverLoadMinIN Input value level where overload counter is increased or decreased 2 12 5 12 Software over current trip limit ID1094 OverCurrTripLim Fast software over current limit function Set current limit related to motor nominal current in value Value 0 will disable the function ...

Page 244: ...or below 0 5 mA for 0 5 seconds P2 12 6 1 Response to the 4mA reference fault ID700 4mA Input Fault 0 No response 1 Warning 2 Warning the frequency from 10 seconds back is set as reference 3 Warning the Preset Frequency is set as reference 4 Fault stop mode after fault according to Stop Function 5 Fault stop mode after fault always by coasting 6 Warning change control place to Fieldbus P2 12 6 2 4...

Page 245: ... IH are used to find the scaling ratio for the internal torque value P2 12 7 1 Under load protection ID713 Underload Protec 0 No response 1 Warning 2 Fault stop mode after fault according to Stop Function 3 Fault stop mode after fault always by coasting If tripping is set active the drive will stop and activate the fault stage Deactivating the protection by setting the parameter to 0 will reset th...

Page 246: ...Limit This time can be set between 2 0 and 600 0 s This is the maximum time allowed for an underload state to exist An internal up down counter counts the accumulated underload time If the underload counter value goes above this limit the protection will cause a trip according to parameter Underload Protection Underload State Underload time Time Trip Area ...

Page 247: ...is connected to the drive DI Cooling Monitor to indicate if cooling liquid is circulating P2 12 9 1 Cooling fault delay ID751 Cooling F Delay This parameter defines the delay after which the drive goes to fault state when Cooling OK signal is missing P2 12 9 2 Cooling fault response ID762 CoolingFaultREsp In some cases it is more important to allow the drive to run even if the cooling liquid is no...

Page 248: ...to indicate from the PLC side that communication is operational in a controlled way P2 12 10 1 FieldBus Response Slot D ID733 FB Fault Slot D Set here the response for a fieldbus fault if the active control place is fieldbus For more information see the respective Fieldbus Board Manual 0 No response 1 Warning 2 Fault stop mode after fault according to Stop Function 3 Fault stop mode after fault al...

Page 249: ...Previous reference from 10 seconds Forced fault after delay 5 Quick Stop Action defined by P2 3 11 1 Quick Stop Mode is taken 6 Warning Change control place to IO 7 12 12 External Fault function P2 12 11 1 Response to external fault ID701 External Fault 1 P2 12 11 2 Response to external fault ID747 External Fault 2 Defines the response to a digital input signal informing about an external conditio...

Page 250: ...s in run state 1 Warning 2 Fault 3 Warning Change to Open Loop This selection changes operation mode to Open Loop Sensorless when encoder fault is detected Note It s recommended to activate I f start when this is selection is used and speed remains long period of times in zero speed area P2 12 12 2 Encoder Fast Hz Limit ID1801 Frequency limit where detection is made using fast detection P2 12 12 3...

Page 251: ...alogger signals will changed based on motor control mode automatically Setting datalogger from NCDrive will disable signal change automatically to reactivate automatic change set this parameter to 1 1 Reset to Auto When datalogger signals has been changed in NCDrive use this to set datalogger back to Auto mode 2 SW Default System software default are activated and mode changes automatically to 4 3...

Page 252: ... ID850 FB Min Scale P2 13 2 Fieldbus reference maximum scaling ID851 FB Max Scale Use these two parameters to scale the fieldbus reference signal If both parameters have the same value the minimum and maximum frequency limits are used for scaling FB Reference input 100 0 Min Freq Max Freq FB Max Scale FB Min Scale Frequency 100 Min Freq Max Freq FB Max Scale FB Min Scale Output frequency FB Actual...

Page 253: ...s data OUT selections 9 to 16 ID558 565 FB Data OutXSel With these parameters you can monitor any monitoring or parameter value from the fieldbus Enter the ID number of the item you wish to monitor for the value of these parameters See monitoring signals for full details of ID numbers Note that these parameters are visible only if a Fieldbus board with support for 16 process data variables is inse...

Page 254: ...vailability in used fieldbus manual P2 13 36 FB Actual Speed ID1741 FBActualSpeed With this it is possible to select which Actual speed is shown on the fieldbus 0 Calculated This selection shows what the ramp generator output is Open Loop In frequency control mode when only the ramp output is shown on the fieldbus and therefore the motor slip or any other changes of speed due to load changes are n...

Page 255: ...e for all fieldbus board contact factory for more detail 3 Service data of Profibus board cannot be used 4 Fieldbus board parameters cannot be accessed 5 Profibus option board will operate only in ByPass mode 6 Standard F53 fault detection is not available WD Pulse monitoring needs to be used to monitor communication faults P2 13 38 State Machine Application has possibility to select what kind of ...

Page 256: ...On Limit This parameter defines the limit when the selected parameter value is forced to On value P2 14 1 4 Control Off Value ID1583 Contrl Off Value This parameter defines the value that is used when the used input signal is below Off limit P2 14 1 5 Control On Value ID1584 Contrl On Value This parameter defines the value that is used when the used input signal is above On limit P2 14 1 6 Control...

Page 257: ...values Off value On value Control Off value Control On Value Off value On value Negative Positive 3 SR Input value is used to make a step change in the output between On and Off values 4 Scale Input value is scaled linearly between On and Off values 5 Scale Inverted Inverted value is scaled linearly between On and Off values P2 14 1 8 Control Signal Filtering TC ID1586 Control Filt TC This paramet...

Page 258: ...D P2 14 3 2 DIN Controlled ID ID1575 Controlled ID P2 14 4 2 DIN Controlled ID ID1579 Controlled ID Select parameter ID controlled by ID1570 P2 14 2 3 Value for Low digital input FALSE ID1572 FALSE Value P2 14 3 3 Value for Low digital input FALSE ID1592 FALSE Value P2 14 4 3 Value for Low digital input FALSE ID1594 FALSE Value Set here the controlled parameter value when the digital input ID1570 ...

Page 259: ...Bus communication fault in slot E W67 Not implemented b8 Drive over temperature W14 b9 Analogue input 4mA W50 b10 Not used b11 Emergency stop W63 Not implemented b12 Run disabled W62 Not implemented b13 Not used b14 Mechanical Brake W58 b15 Not used P2 14 5 1 ID Bit Free Digital output control 1 ID1216 ID Bit Free DO1 P2 14 6 1 ID Bit Free Digital output control 2 ID1386 ID Bit Free DO2 Select the...

Page 260: ...meter value other than zero and one is needed this can be connected to DIN ID Control function ID1570 ID1590 or 1578 where desired values can be set and connected to correct parameter 7 14 5 ID Bit ID Control This function is used when it is necessary to control a signal or parameter through e g Status Bit Controlling the parameter is done with the ID of the controlled parameter and the true and f...

Page 261: ...IN 1 IN 2 R Motor Current P BrakeOnOffCurLim Running NOT IN OR IN 1 IN 2 IN 3 AND IN 1 IN 2 IN 3 Running NOT IN Fault Active AND IN 1 IN 2 IN 3 Run Request NOT IN ABS IN FreqRampOut SEL G IN 0 IN 1 Reverse Direction LE IN 1 IN 2 P BrakeOnFreqLim P BrakeOnFreqLim AND IN 1 IN 2 IN 3 Run Request NOT IN FreqRampOut EQ IN 1 IN 2 0 PreBrakeOpenCommand The final brake open command It is possible that in ...

Page 262: ...K Running NOT IN P Neg Freq Limit P Pos Freq Limit SEL G IN 0 IN 1 CL Control P BrakeOffFrqLimOL P BrakeOffFrqLimCL NEG IN PreBrakeOpenCommand P2 15 1 Mechanical brake reaction time ID1544 Brake Mech Delay After the brake open command has been given speed is kept at the Brake Open limit until the reaction time has passed This hold time should be set to correspond to the mechanical brake reaction t...

Page 263: ... use the start up torque function P2 15 4 Closing frequency from forward direction ID1539 BrakeOnFreqLim Output frequency limit to close the brake when the speed approaches zero speed from positive direction Lifting direction must be given as positive frequency P2 15 5 Closing frequency from reverse direction ID1540 BrakeInFreqLim Output frequency limit to close the brake when the speed approaches...

Page 264: ...t is started to increased when speed of the motor increases over speed P2 15 8 Generator Torque limit increase high speed limit ID1548 MaxTorqLim Hz The frequency level at which point the torque defined by the Generator Torque Limit increase maximum addition is added entirely to the final torque limit P2 15 9 Generator Torque limit increase added torque ID1549 MaxTorqLim When this parameter is set...

Page 265: ...ack indicates that the brake is open while the drive is in stop state In some cases it is possible that an encoder fault appears when the drive is run against closed brake The encoder fault can be disabled with Control Options B8 when the drive is controlling the brake to be closed P2 15 10 Brake fault response ID1316 Brake Fault Defines the action after detection of a brake fault 0 No response 1 ...

Page 266: ...ormally this is the torque generated when the zero speed time at stop has expired and the drive has stopped modulation or started the flux off delay function 2 Torque Reference The normal torque reference chain is used expect TorqueStep for the start up torque level This can be used when the external system knows the load on the shaft when brake is released 3 Torque Forwad Reverse Drive uses torqu...

Page 267: ...or Roll Back controller P2 15 13 2 Roll Back Torque ID1788 Initial torque level which is stepwise fed to the motor after the RB is active in the direction which tends to oppose the RB movement P2 15 13 3 Roll Back Level ID1789 Encoder pulses threshold level when roll back controller is active also speed reference needs to be zero P2 15 13 4 Roll Back Kp 2 ID1792 7 15 5 Functions P2 15 14 1 Stop To...

Page 268: ...tomatic reset Trial time ID718 Trial Time The Automatic reset function keeps trying to reset the faults appearing during the time set with this parameter If the number of faults during the trial time exceed the value of the respective parameter set with ID720 to ID725 a permanent fault is generated Three Auto Reset times Fault Trig Auto Reset Fault Active Warning Active Wait time Trial time Figure...

Page 269: ...ault trip 0 Number of automatic fault resets after overcurrent trip saturation trip and IGBT temperature faults P2 16 7 Number of tries after reference trip ID723 4mA Fault Tries This parameter determines how many automatic fault resets can be made during the trial time after 4 mA reference fault 0 No automatic fault reset after reference fault trip 0 Number of automatic fault resets after the ana...

Page 270: ...on In drive interface point of view the behaviour is identical to actual fault situation B00 1 Simulates over current fault F1 B01 2 Simulates over voltage fault F2 B02 4 Simulates under voltage fault F9 B03 8 Simulates output phase supervision fault F11 B04 16 Simulates earth fault F3 B05 32 Simulates system fault F8 This fault simulation cover wide range of different faults in drive see fault de...

Page 271: ...ntegration time of the PID controller If this parameter is set to 1 00 second a change of 10 in the error value causes the controller output to change by 10 00 s If the parameter value is set to 0 00 s the PID controller will operate as P controller P2 17 3 PI Controller reference ID167 PID Reference PI controller reference from keypad used also when reference is controlled from Fieldbus P2 17 4 P...

Page 272: ...60 PID Max Limit With these parameters you can set the minimum and maximum limits for the PID controller output These limits are of importance for example when you define the gain and I time for the PID controller P2 17 10 PI Controller output scale ID1803 PID Out Scale This parameter is used to scale PI output to have more controlling are for the PI controller For example the PI controller maximu...

Page 273: ... Reaction ID546 0 No Action 1 Zero Speed 2 Quick Stop Reference is forced to zero Uses currently active ramp times P2 18 4 SDI Reaction ID544 0 No Action 1 Disable Dir Disables direction to selected direction For ramping down drive uses ramp time P2 3 13 P2 18 5 SLS Reaction ID543 0 No Action 1 Limit Reference Speed Reference is limited to Safe Board limit Motor Nominal Slip Used currently active ...

Page 274: ...aseline In this application measurements of the motor current and voltage unbalances for stator winding is collected The current unbalance is used in open loop and voltage unbalance is used in closed loop and sensorless control Other measurements are load and vibration if vibration input is set The principle is to run the application through 10 frequency points including 10 steady and 9 ramp state...

Page 275: ...ge Mean Steady 8 Voltage Std Steady 9 Vibration Max Ramp 10 Vibration Min Ramp 11 Vibration Mean Ramp 12 Vibration Std Ramp 13 Load Max Steady 14 Load Min Steady 15 Load Mean Steady 16 Load Std Steady P2 19 2 6 Modified Point ID3507 This parameter can be changed point in the modified array Steady array includes 10 points and ramp array includes 9 points First point is 0 value P2 19 2 7 Modified Va...

Page 276: ...eady 15 Load Mean Steady 16 Load Std Steady 7 19 2 Stator Winding For stator winding monitoring motor currents and voltages are being evaluated for evolving unbalances For this purpose current and voltage unbalances are computed and monitored In case of unbalanced grid voltage a resonance like oscillation may occur if the motor frequency matches the grid frequency P2 19 3 1 Line Frequency ID1913 T...

Page 277: ...r can be set min factor in the threshold value if zero then min is not used P2 19 3 3 3 Current Unbalance Max Factor ID3513 P2 19 3 6 3 Voltage Unbalance Max Factor ID3528 P2 19 4 2 3 Vibration Mean Factor ID3552 P2 19 5 1 3 Load Mean Factor ID3569 This parameter can be set max factor in the threshold value if zero then max is not used P2 19 3 3 4 Current Unbalance Std Factor ID3514 P2 19 3 6 4 Vo...

Page 278: ...urrent Unbalance Warning S2 Mode ID3519 P2 19 3 7 4 Voltage Unbalance Warning S2 Mode ID3534 P2 19 4 3 4 Vibration Warning S2 Mode ID3558 P2 19 5 2 4 Load Warning S2 Mode ID3575 P2 19 3 4 7 Current Unbalance Alarm fault Mode ID3522 P2 19 3 7 7 Voltage Unbalance Alarm fault Mode ID3537 P2 19 4 3 7 Vibration Alarm fault Mode ID3561 P2 19 5 2 7 Load Alarm fault Mode ID3578 Use this parameter to selec...

Page 279: ... load only and high notification thresholds Threshold value range varies based on detection level mode selection This limit is not used when value is zero P2 19 3 4 3 Current Unbalance Warning S1 Delay ID3518 P2 19 3 7 3 Voltage Unbalance Warning S1 Delay ID3533 P2 19 4 3 3 Vibration Warning S1 Delay ID3557 P2 19 5 2 4 Load Warning S1 Delay ID3574 P2 19 3 4 6 Current Unbalance Warning S2 Delay ID3...

Page 280: ...3542 P2 19 3 8 2 Voltage Unbalance Warning S2 Counter ID3547 P2 19 4 4 2 Vibration Warning S2 Counter ID3565 P2 19 5 3 2 Load Warning S2 Counter ID3582 P2 19 3 5 3 Current Unbalance Alarm fault Counter ID3543 P2 19 3 8 3 Voltage Unbalance Alarm fault Counter ID3548 P2 19 4 4 3 Vibration Alarm fault Counter ID3566 P2 19 5 3 3 Load Alarm fault Counter ID3583 Counter values for detection levels P2 19...

Page 281: ...sted from the keypad with this parameter The output frequency can be copied as the keypad reference by pushing the Stop button for 3 seconds when you are on any of the pages of menu M3 P3 3 Keypad Direction ID123 Keypad Direction 0 Forward The rotation of the motor is forward when the keypad is the active control place 1 Reverse The rotation of the motor is reversed when the keypad is the active c...

Page 282: ...d Variable is called DataLoggerTrigWord DataLoggerTrigWord ID97 Function Comment b0 Fault Status Logger is triggered when there is a fault b1 Warning Status Logger is triggered when there is a warning b2 Auto Reset Warning Logger is triggered when there is a fault that has been defined to be automatically reset This bit can be used to get the first fault situation b3 Fault Status OR Warning Stattu...

Page 283: ... start Related parameters P2 1 9 Identification ID631 P2 8 5 1 PMSM Shaft Position ID649 9 2 Start position with incremental encoder without Z pulse input When using incremental encoder without Z pulse no actual identification is made However start angle is defined in every start Identification mode can be selected by P2 8 5 2 Start Angle Identification Mode In this case the encoder identification...

Page 284: ...llatory movement has stopped the motor rotates until Z pulse is received from the encoder When identification is successful P2 8 5 1 PMSM Shaft Position is updated If the identification is not successful the value of this parameter is set to zero and an identification warning is displayed for 10 seconds W57 If identification is made several times the result may be different because there are as ma...

Page 285: ... board manual 2 2 ByPass Some fieldbus board operate by default in ByPass mode 2 ProfiDrive Control word is ProfiDrive type and explained in this manual Status Word is can be selected by ID number default is ProfiDrive type ID65 V1 26 2 FB Status Word 3 2 ByPass 1 Basic Control word is Three Bit control Status Word is can be selected by ID number default is ProfiDrive type ID65 V1 26 2 FB Status W...

Page 286: ...2 Fieldbus DIN2 OFF Fieldbus DIN2 ON See P2 5 1 19 20 b13 Fieldbus DIN3 OFF Fieldbus DIN3 ON See P2 5 1 21 22 b14 Fieldbus DIN4 OFF Fieldbus DIN4 ON See P2 5 1 23 24 b15 Fieldbus DIN5 OFF Fieldbus DIN5 ON Not used 10 1 1 2 FB Status Word Combination 1 ProfiDrive Basic with Profibus option board FB Status Word for Profibus in Combination 1 FALSE TRUE Comment b0 Not Ready initial READY 1 SM See Prof...

Page 287: ... S3 Switched On SW B0 B1 TRUE B2 B6 FALSE S4 Operation SW B0 B1 B2 TRUE B6 FALSE CW B0 FALSE OFF CW B1 TRUE No Coast Stop CW B2 TRUE No Quick Stop CW B1 FALSE Coast Stop CW B2 FALSE Quick Stop CW B0 TRUE ON CW B0 FALSE OFF CW B3 TRUE Enable Operation CW B3 FALSE Disable Operation CW B1 FALSE Coast Stop CW B1 FALSE Coast Stop OR CW B2 FALSE Quick Stop RAMP STOP QUICK STOP CW B0 FALSE OFF CW B0 TRUE...

Page 288: ... B06 Switch On Inhibited Ready to Switch On Operate and Running R SW B02 Running W CW B03 Start Request AND IN 1 IN 2 IN 3 IN 4 NOT IN NOT IN AND IN 1 IN 2 IN 3 Internal Conditions for Pulses Enabled AND IN 1 IN 2 IN 3 AND IN 1 IN 2 Internal Conditions for Ready To Operate AND IN 1 IN 2 NOT IN NOT IN Internal Conditions for Ready To Switch On V RunRequest R SW B01 Ready To Operate R SW B00 Ready T...

Page 289: ...un the drive with defined constant speed 0 No Action 1 Run with constant speed b10 Fieldbus Control Enable Activate Fieldbus control when P3 1 3 Fieldbus 0 Fieldbus Control NOT active 1 Activate Fieldbus Control b11 Watch Dog 0 1 0 1 1 sec square wave clock This is used to check data communication between Profibus master and the drive Used to generate FB Communication Fault b12 b13 b14 b15 B00 FAL...

Page 290: ... a fault depends on the type of fault refer to alarm handling in Appendix A 8 If the fault reaction has isolated the voltage the drive then goes into the Switching On Inhibited condition 10 1 2 3 Jogging function I O Jogging Command Jogging function will start the drive to reference without additional start command regardless of control place when given from IO Jogging function requires enabling f...

Page 291: ... be separately activated by Aux Control Word or by digital input Enable Jogging when IO control used for Jogging B10 FALSE FB Control disabled TRUE FB Control Enabled FB Control Disabled Drive will not follow main control word from Fieldbus If removed while running the drive will make coasting stop FB Control Enabled Drive follows control word from fieldbus B11 FALSE FB WD Pulse Low TRUE FB WD Pul...

Page 292: ...s NOT equal to speed reference 1 Speed actual is equal to speed reference b9 FB Control Active 0 Fieldbus Control NOT active 1 Fieldbus Control active b10 Above Limit Indicate if speed actual is below the limit P2 4 16 0 Speed actual is below the speed limit 1 Speed actual is above the speed limit b11 b12 b13 b14 b15 Watch Dog Feedback B00 FALSE Not Ready to Switch On TRUE Ready to Switch On Not R...

Page 293: ...uick Stop B07 FALSE No Warning TRUE Warning Present No Warning There is no warning or the warning has disappeared again Warning Present Drive still works warning in the service maintenance parameter no acknowledgement B08 FALSE Speed Error Out Of Tolerance Range TRUE Speed Error Within Tolerance Range Speed Error Out Of Tolerance Range Speed Error Within Tolerance Range B09 FALSE No Control Reques...

Page 294: ...of the fieldbuses use MCStatus as Status word that is shown below For Profibus the status word can be selected The default is Combination 2 Status Word ProfiDrive type ID68 V1 3 2 MainStatusWord Below Status Word can be selected with P2 10 17 GSW Data by setting it to ID64 FB Status Word for Profibus in Combination 3 FALSE TRUE Comment b0 Not Ready READY b1 STOP RUN b2 Clockwise Counter clockwise ...

Page 295: ... Baudrate 57 600 and a 50 ms update interval for signals for the RS232 communication For the CAN communication use a 1 Mbit communication speed and 7 ms update interval for signals When you contact the support send the trn par and Service info txt files with a description of the situation If the situation is caused by a fault take also the Datalogger data from the drive Note that Datalogger settin...

Page 296: ...lter parameter P6 7 5 in system menu F2 Overvoltage fault DC link voltage has exceeded the drive protection limits S1 Hardware trip 500 Vac unit DC voltage above 911 Vdc 690 Vac unit DC voltage above 1200 Vdc S2 Overvoltage control supervision only 690 Vac unit DC voltage has been above 1100 Vdc for too long Possible cause and solutions Too short a deceleration time o Increase deceleration time o ...

Page 297: ...ction of the feedback from charging relay o Reset the fault and restart Should the fault re occur contact your local distributor F6 Emergency stop Emergency stop command has been given by using a special option board F7 Saturation fault S1 Hardware failure Possible cause and solutions If there is a brake chopper in use o Check the isolation resistance and the resistance on the brake resistor FR4 F...

Page 298: ...there Check the boards S7 Charge switch S8 No power to driver card S9 Power unit communication TX S10 Power unit communication Trip S11 Power unit comm Measurement S12 SystemBus synchronization has failed in DriveSynch operation S30 Safe disable inputs are in different state OPT AF S31 Thermistor short circuit detected OPT AF S32 OPT AF board has been removed S33 OPT AF board EEPROM error S34 36 O...

Page 299: ...vision S1 Phase supervision diode supply S2 Phase supervision active front end Possible cause 1 Input line phase is missing Correcting measures Check supply voltage fuses and cable F11 Output phase supervision Current measurement has detected that there is no current in one phase or one phase current is considerably different from other phases Correcting measures Check motor cable and motor F12 Br...

Page 300: ...ly no real indication of the shaft rotation Stall protection is a type of over current protection Check motor and load F16 Motor over temperature Motor overheating has been detected by the AC drive motor temperature mode The motor is overloaded Calculated temperature has exceeded 105 Possible cause 1 Motor load is too high 2 Motor values are set incorrectly Correcting measures Decrease motor load ...

Page 301: ...on 2 Component failure Correcting measures Reset the fault and restart Should the fault re occur contact your local distributor F26 Start Up prevention Possible cause 1 Start up of the drive has been prevented 2 Run request is ON when a new application is loaded to drive Correcting measures Cancel prevention of start up if this can be done safely Remove Run Request F29 Thermistor fault The thermis...

Page 302: ...ossible cause 1 Cooling fan of the AC drive does not start when ON command is given Correcting measures Contact your local distributor F37 Device change Option board or power unit changed Possible cause 1 New device of same type and rating Correcting measures Reset Device is ready for use F38 Device added Option board added Correcting measures Reset Device is ready for use Old board settings will ...

Page 303: ... Encoder reversed S5 Encoder board missing S6 Serial communication fault S7 Ch A Ch B Mismatch S8 Resolver Motor pole pair mismatch S9 Missed Start Angle S10 Sin Cos encoder feedback is missing S11 Encoder angle is drifting fault S12 Dual speed supervision fault S13 Encoder angle supervision fault S14 Encoder estimated missing pulse fault switch from the CL ctrl to the OL sensorless ctrl 1 Modulat...

Page 304: ...ult Correcting measures Remove fault situation from external device F52 Keypad communication Possible cause 1 The connection between the control keypad or VACON NCDrive and the AC drive is broken Correcting measures Check keypad connection and possible keypad cable F53 Fieldbus communication Slot D Possible cause 1 The data connection between the fieldbus Master and the fieldbus board is broken 2 ...

Page 305: ...ment offset A2 Identification current level A3 Acceleration time too long A4 Identification frequency reference not reached A5 Too low or high magnetization current A6 Flux curve outside expected levels A7 PMSM Encoder zero position A8 Too low maximum frequency limit A9 PMSM encoder zero pulse not found A10 Ls Identification timeout A11 Ls Identification current Possible cause 1 There was load on ...

Page 306: ...r the liquid cooled units An external sensor is connected to the drive DI Cooling Monitor to indicate if cooling liquid is circulating If the drive is in Stop state only a warning is issued In Run state a fault is issued and the drive makes a coast stop Possible cause 1 Liquid cooled drive cooling circulation have been failed Correcting measures Check reason for cooling failure from external syste...

Page 307: ...e other for the motor bearings A1 Temperature limit has been exceeded A2 Sensor not wired or not working A3 Short circuit Possible cause 2 Temperature limit values set for the temperature board parameters have been exceeded Correcting measures Find the cause of temperature rise Check sensor wiring F67 Fieldbus communication Slot E Possible cause 1 The data connection between the fieldbus Master an...

Page 308: ...unctional description from Motor Protection chapter F84 Speed Protection Motor speed has exceeded min or max speed limit by 120 rpm Possible cause 1 Torque Step is too high for the current load 2 Acceleration compensation has wrong settings F85 Baseline Run Baseline run has failed Possible cause There was a failure during the baseline run F86 Condition Based Monitoring Current or voltage unbalance...

Page 309: ...ff09 marine Local contacts http drives danfoss com danfoss drives local contacts Possible cause Severe fault is detected in motor Correcting measures 1 Check motor stator windings 2 Check vibration input 3 Check load ...

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