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Emerson Mentor MP, Руководство для продвинутых пользователей

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Parameter description

protocol

      

 

Performance

     

 

Menu

 

3

 

If

 

the

 

speed

 

feedback

 

(Pr

 

3.02

 

{di05,

 

0.40})

 

exceeds

 

this

 

level

 

in

 

either

 

direction

 

an

 

overspeed

 

trip

 

is

 

produced.

 

If

 

this

 

parameter

 

is

 

set

 

to

 

zero,

 

the

 

"At

 

speed"

 

flag

 

(Pr

 

10.06)

 

is

 

set

 

if

 

the

 

speed

 

feedback

 

(Pr

 

3.02

 

{di05,

 

0.40})

 

is

 

on

 

the

 

boundaries

 

or

 

within

 

the

 

at

 

speed

 

window.

 

Flags

 

Pr

 

10.07

 

and

 

Pr

 

See

 

the

 

description

 

under

 

Pr

 

3.16.

 

See

 

the

 

description

 

under

 

Pr

 

3.16

 

 

Parameter

 

structure

 

Keypad

 

and

 

format

 

Advanced

 

parameter

 

descriptions

 

Serial

 

comms

 

 

 
 
 
 
 
 

 

 

overspeed

 

threshold

 

is

 

automatically

 

set

 

to

 

1.2

 

x

 

SPEED_MAX.

 

 

 
 
 
 
 
 
 

10.05

 

are

 

set

 

if

 

the

 

reference

 

is

 

above

 

or

 

below

 

the

 

window

 

respectively.

 

If

 

Pr

 

3.09

 

=

 

0

 

reference

 

window

 

mode

 

is

 

used

 

and

 

the

 

"at

 

speed"

 

condition

 

is

 

true

 

if

 

(|Pr

 

1.03

 

{di02,

 

0.37}|

 

-

 

Pr

 

3.06)

 

δ

 

|Pr

 

3.02

 

{di05,

 

0.40}|

 

δ

 

(|Pr

 

1.03

 

{di02,

 

0.37}|

 

+

 

Pr

 

3.07)

 

(If

 

the

 

lower

 

limit

 

is

 

less

 

than

 

zero

 

then

 

zero

 

is

 

used

 

as

 

the

 

lower

 

limit.)

 

If

 

Pr

 

3.09

 

=

 

1

 

absolute

 

window

 

mode

 

is

 

used

 

and

 

the

 

"at

 

speed"

 

condition

 

is

 

true

 

if

 

Pr

 

3.06

 

δ

 

|Pr

 

3.02

 

{di05,

 

0.40}|

 

δ

 

Pr

 

3.07

 

 

 
 
 
 
 
 
 
 
 
 
 

 

 

 
 
 
 
 
 
 
 
 
 
 

 

 
 
 
 
 
 
 
 

Mentor

 

MP

 

Advanced

 

User

 

Guide

 

45

 

Issue

 

Number:

 

4

 

www.onxcontrol.com

 

3.10

 

{SP01,

 

0.61}

 

(Kp1)

 

Speed

 

controller

 

proportional

 

gains

 

(Kp2)

 

3.13

 

Coding

 

Bit

 

SP

 

FI

 

DE

 

Txt

 

VM

 

DP

 

ND

 

RA

 

NC

 

NV

 

PT

 

US

 

RW

 

BU

 

PS

 

 

 

 

 

 

 

4

   

 

 

 

 

1

 

1

 

1

   

Range

 

0.0000

 

to

 

6.5535

 

(1

 

/

 

(rad/s))

 

Default

 

0.0300

 

Second

 

motor

 

parameter

 

Pr

 

21.17

 

(3.10)

 

Update

 

rate

 

Background

 

read

 

3.11

 

{SP02,

 

0.62}

 

(Ki1)

 

Speed

 

controller

 

integral

 

gains

 

(Ki2)

 

3.14

 

Coding

 

Bit

 

SP

 

FI

 

DE

 

Txt

 

VM

 

DP

 

ND

 

RA

 

NC

 

NV

 

PT

 

US

 

RW

 

BU

 

PS

 

 

 

 

 

 

 

2

   

 

 

 

 

1

 

1

 

1

   

Range

 

0.00

 

to

 

655.35

 

(s

 

/

 

(rad/s))

 

Default

 

0.10

 

Second

 

motor

 

parameter

 

Pr

 

21.18

 

(3.11)

 

Update

 

rate

 

Background

 

read

 

3.08

 

Overspeed

 

threshold

 

Coding

 

Bit

 

SP

 

FI

 

DE

 

Txt

 

VM

 

DP

 

ND

 

RA

 

NC

 

NV

 

PT

 

US

 

RW

 

BU

 

PS

 

 

 

 

 

 

 

 

 

 

 

 

 

1

 

1

 

1

   

Range

 

0

 

to

 

10,000

 

rpm

 

Default

 

0

 

Update

 

rate

 

Background

 

read

 

3.09

 

Absolute

 

“at

 

speed”

 

select

 

Coding

 

Bit

 

SP

 

FI

 

DE

 

Txt

 

VM

 

DP

 

ND

 

RA

 

NC

 

NV

 

PT

 

US

 

RW

 

BU

 

PS

 

1

   

 

 

 

 

 

 

 

 

 

 

1

 

1

   

 

Default

 

0

 

Update

 

rate

 

Background

 

read

 

Содержание Mentor MP

Страница 1: ... Mentor MP High performance DC drive 25A to 7400A 480V to 690V Two or four quadrant operation Supplied by Authorized distributor Oniks Kontrol Sistemleri San ve Tic A Ş Part Number 0476 0002 04 Issue 4 www onxcontrol com ...

Страница 2: ...equest or can be found at www greendrives com The electronic variable speed drives manufactured by Control Techniques have the potential to save energy and through increased machine process efficiency reduce raw material consumption and scrap throughout their long working lifetime In typical applications these positive environmental effects far outweigh the negative impacts of product manufacture ...

Страница 3: ...reset 14 2 11 Second motor parameters 14 2 12 Special display functions 14 3 Parameter x 00 15 3 1 Parameter x 00 reset 15 3 2 Saving parameters in drive EEPROM 15 3 3 Loading defaults 16 3 4 Differences between European and USA defaults 16 3 5 SMARTCARD transfers 16 3 6 Display non default values or destination parameters 16 4 Parameter description format 17 4 1 Parameter ranges and variable maxi...

Страница 4: ... 190 5 21 Menu 22 Additional menu 0 setup 198 5 22 Menu 23 Header definitions 199 5 23 Pre Defined Sub Blocks 201 5 24 Menu 0 linear 202 5 25 Menu structure 202 5 26 32 bit parameters 203 5 26 1 Drive parameters 203 5 26 2 Solutions Module parameters 203 6 Serial communications protocol 204 6 1 ANSI communications protocol 204 6 1 1 Introduction 204 6 1 2 Physical layer and UART 204 6 1 3 Reading ...

Страница 5: ...b block navigation SEt UP SE00 SE13 diAGnoS di01 di14 triPS inPut in01 in10 Headers 1 1 Menu 0 sub block Menu 0 can be accessed by 2 methods 1 Pr 11 44 SE14 0 35 0 Sub block mode 2 Pr 11 44 SE14 0 35 0 Linear mode Menu 23 contains the parameters to allow menu 0 to be customized in sub block mode The first sub block is a user defined area USEr which is configured by the parameters in menu 22 As def...

Страница 6: ...ameter file However the value will be transferred if only the current rating is different and the file is a differences from default type file NC Not copied not transferred to or from SMARTCARD during copying NV Not visible not visible on the keypad PT Protected cannot be used as a destination US User save saved in drive EEPROM when the user initiates a parameter save RW Read write can be written ...

Страница 7: ...are version di14 0 50 0 00 Spare Menu 0 Parameter Description Display 0 71 3 26 Speed feedback selector Fb01 0 72 3 51 Tachometer rating V 1000 rpm Fb02 0 73 3 53 Tachometer input mode Fb03 0 74 3 52 Tachometer speed feedback Fb04 0 75 3 34 Drive encoder lines per revolution Fb05 0 76 3 36 Encoder supply Fb06 0 77 3 38 Encoder type Fb07 0 78 3 39 Encoder termination select Fb08 0 79 3 27 Encoder s...

Страница 8: ...Menu 4 4 07 150 Mentor MP Advanced User Guide 7 Issue Number 4 www onxcontrol com ...

Страница 9: ...ontrol com Issue Number 4 Menu Description LED LCD 0 Commonly used basic set up parameters for quick easy programming 1 Speed reference 2 Ramps 3 Speed feedback and speed control 4 Torque and current control 5 Motor control including field regulator 6 Sequencer and clock 7 Analog I O 8 Digital I O 9 Programmable logic motorized pot and binary sum 10 Status and trips 11 General drive setup 12 Thres...

Страница 10: ...RD access is taking place or when the second motor map is active menu 21 2 2 Keypad operation Control buttons The keypad consists of 1 Joypad used to navigate the parameter structure and change parameter values 2 Mode button used to change between the display modes parameter view parameter edit status 3 Three control buttons used to control the drive if keypad mode is selected 4 Help button MP Key...

Страница 11: ...aracter to be edited in lower line of display flashing Change parameter values using keys Can only be used to move between menus if L2 access has been enabled Pr 11 44 SE14 0 35 Time out defined by Pr 11 41 default value 240 s Figure 2 4 Mode examples Parameter View Mode Status Mode Healthy Status Alarm Status Trip Status Menu 5 Parameter 5 Pr 5 05 value Do not change parameter values without care...

Страница 12: ...y action when the last parameter in a menu is being displayed will cause the parameter number to roll over to Pr x 00 Similarly holding the Down key will cause the parameter number to decrement until Pr x 00 is reached and a single Down key action will cause the parameter number to roll under to the top of the menu Pressing the Up and Down keys simultaneously will select Pr x 00 in the currently s...

Страница 13: ...6 Browsing favourites control Normal 0 Filter 1 Normal 0 RW Txt 40 07 Keypad security code 0 to 999 0 RW Uni US 40 08 Communication channel selection Disable 0 Slot1 1 Slot2 2 Slot3 3 Slave 4 Direct 5 Disable 0 RW Txt US 40 09 Hardware key code 0 to 999 0 RW Uni US 40 10 Drive node ID Address 0 to 255 1 RW Uni US 40 11 Flash ROM memory size 4Mbit 0 8Mbit 1 RO Txt PT US 40 19 String database versio...

Страница 14: ...the trip string flashes on the 2nd row The read only parameters listed below are frozen with any trip except UV trip until the trip is cleared For a list of the possible trip strings see Pr 10 20 tr01 0 51 Pressing any of the parameter keys changes the mode to the parameter view mode If the trip is HF01 to HF16 then no key action is recognized User security closed All parameters Read Only access E...

Страница 15: ... above 1233 or 1244 must be entered into Pr x 00 before the drive can be reset Default parameters are loaded after an EEF trip and so the parameters should be reprogrammed as required and saved in EEPROM If the drive is reset after a trip from any source other than the Stop key the drive restarts immediately if 1 A non latching sequencer is used with the enable active and one of run forward run re...

Страница 16: ...ction reset if the drive is supplied from a normal line power supply Pr 10 16 0 and Pr 6 44 0 When a parameter save is initiated the data is stored in a new bank and only when the data store is complete does the new bank become active If the power is removed before the parameter save is complete a SAVE Er trip user save parameter save error or PSAVE Er trip power down save parameter save error wil...

Страница 17: ...ts are loaded the user save parameters are automatically saved to the drive EEPROM in all modes Standard defaults are loaded by setting Eur or USA in Pr x 00 performing a drive reset When the drive is a single quadrant drive the following parameters are 3 5 SMARTCARD transfers Drive parameters setup macros and internal ladder programs can be transferred to from SMARTCARDs See Pr 11 36 to Pr 11 40 ...

Страница 18: ...e parameter uses text strings instead of numbers VM Variable maximum the maximum of this parameter can vary DP Decimal place indicates the number of decimal places used by this parameter ND No default when defaults are loaded except when the drive is manufactured or on EEPROM failure this parameter is not modified RA Rating dependent this parameter is likely to have different values and ranges wit...

Страница 19: ...peed This maximum is used for some speed related parameters in menu 3 To allow headroom for overshoot etc the maximum speed is twice the maximum speed reference SPEED_MAX 2 x MAX_SPEED_REF MAX_RAMP_RATE MAX_RAMP_RATE_M2 3200 000 Maximum ramp rate If Pr 1 06 SE02 0 23 Pr 21 01 1000 and Pr 2 39 0 or Pr 2 39 1000 then MAX_RAMP_RATE 3200 000 Else if Pr 2 39 0 MAX_RAMP_RATE 3200 Pr 1 06 SE02 0 23 Pr 21...

Страница 20: ...meter is set up to point to a parameter which receives information from the function referred to as the destination parameter 1 If the parameter number in the destination pointer parameter does not exist then the output value has no effect 2 If the destination parameter is protected then the output value has no effect 3 If the function output is a bit value i e a digital input the destination para...

Страница 21: ... 015 for analog input 1 and 0 004 for analog inputs 2 and 3 4 3 2 Hard speed reference update rate The normal update rate for the hard speed reference is 4 ms however it is possible to reduce the sample time to 250 s by selecting the reference from particular sources The fast update rate is only possible provided the conditions given below are met Analog inputs not including I O expansion Solution...

Страница 22: ...g of the destination drive is different from the source drive if the drive voltage ratings are different or the file is a parameter file However the value will be transferred if only the current rating is different and the file is a differences from default type file NC Not copied not transferred to or from SMARTCARD during copying NV Not visible not visible on the keypad PT Protected cannot be us...

Страница 23: ... the function or range of a parameter is affected by the setting of another parameter the information in the lists relates to the default condition of such parameters Mentor MP Advanced User Guide 21 Issue Number 4 www onxcontrol com ...

Страница 24: ...d b y P y K e r m e t 2 e R 1 4 9 R m y 0 X a d w w e n f e r R W n Lev e m 1 37 Analog input 2 Analog reference 2 1 42 Preset reference select Preset reference Preset reference selector 1 15 1 43 Keypad reference select Preset reference select bits 1 3 1 47 1 46 1 45 1 44 Precision reference select 1 52 Keypad only select 1 14 Reference selector Reference selected indicator 1 49 1 21 1 28 Preset ...

Страница 25: ...ntrol 1 11 Reference enabled indicator 1 35 Pre ramp reference Reverse selected indicator 1 12 Feed forward selected indicator 1 40 Negative minimum speed select 1 06 Maximum speed clamp 1 07 Minimum speed clamp Maximum reversespeed Pre filter 1 02 1 03 Menu 2 1 08 x 1 1 06 1 07 1 07 1 06 1 05 Jog reference 1 39 Velocity feed forward reference 1 06 1 06 1 06 1 29 Skip speed 1 1 30 Skip speed band ...

Страница 26: ... 0 Second motor parameter Pr 21 01 Update rate Background read 1 04 Reference offset Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 10 000 0 rpm Default 0 0 Update rate Background read when precision reference is active 4 ms write otherwise 1 05 Jog reference Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 to 1 000 0 rpm Default 0 0 Update rate 4 ms r...

Страница 27: ...2 0 23 If Pr 1 08 1 MAX_SPEED_REF is Pr 1 06 SE02 0 23 or Pr 1 07 SE01 0 22 whichever is the largest If the second motor map is selected Pr 21 01 is used instead of Pr 1 06 SE02 0 23 and Pr 21 02 instead of Pr 1 07 SE01 0 22 Mentor MP Advanced User Guide 25 Issue Number 4 www onxcontrol com 1 07 SE01 0 22 Minimum reference clamp Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 Ra...

Страница 28: ...reference system It should be noted that the minimum limit in the main reference limits block changes when either the jog reference or velocity feed forward references are active When one of these is active if Pr 1 08 0 the minimum Pr 1 06 SE02 0 23 Pr 21 01 for motor map2 if Pr 1 01 di01 0 36 selected reference x 100 Pr 1 38 100 and when this parameter is 1 the reference is given by Pr 1 01 di01 ...

Страница 29: ...Pr 1 43 1 then Pr 1 49 4 Pr 1 44 1 then Pr 1 49 5 Pr 1 52 1 then Pr 1 49 6 The bit parameters with lower numbers have priority over those with higher numbers Mentor MP Advanced User Guide 27 Issue Number 4 www onxcontrol com 1 14 SE05 0 26 Reference selector Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 to 6 Default 0 A1 A2 Second motor parameter Pr 21 03 Update rate 4 m...

Страница 30: ...e Number 4 1 15 Preset selector Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 0 to 9 Default 0 Update rate 4 ms read Pr 1 49 Pr 1 50 Reference 1 1 Analog reference 1 Pr 1 36 1 1 Preset defined by Pr 1 50 Pr 1 21 to Pr 1 28 2 1 Analog reference 2 Pr 1 37 2 1 Preset defined by Pr 1 50 Pr 1 21 to Pr 1 28 3 x Preset defined by Pr 1 50 Pr 1 21 to Pr 1 28 4 x Keypad reference Pr 1...

Страница 31: ... keypad reference for different modes are given below See also Pr 1 51 on page 33 Power up keypad control mode reference Pr 1 18 defines the coarse part of reference either positive or negative with a resolution of 0 1 rpm and Pr 1 19 defines the fine part of the reference always positive with a resolution of 0 001 rpm The final reference is given by Pr 1 18 Pr 1 19 Therefore Pr 1 19 increases pos...

Страница 32: ...ower limit of the band is passed through to the ramps such that reference is always less than demanded 30 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 1 21 Preset reference 1 1 22 Preset reference 2 1 23 Preset reference 3 1 24 Preset reference 4 1 25 Preset reference 5 1 26 Preset reference 6 1 27 Preset reference 7 1 28 Preset reference 8 Coding Bit SP FI DE Txt VM DP ND RA NC...

Страница 33: ...ased These are special parameters when a non bit type quantity uses these parameters as a destination not just from analog inputs The scaling and limiting applied is as described with Pr 1 08 on page 25 Mentor MP Advanced User Guide 31 Issue Number 4 www onxcontrol com 1 36 Analog reference 1 1 37 Analog reference 2 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range MAX_SPEED_R...

Страница 34: ...rols Pr 1 50 bit 0 Pr 1 46 controls Pr 1 50 bit 1 Pr 1 47 controls Pr 1 50 bit 2 See the description with Pr 1 14 SE05 0 26 and Pr 1 15 on page 28 for more information sequence of reference selection by a programmable input terminal or function When this bit is zero the preset selection will follow the timer even when the drive is disabled 32 Mentor MP Advanced User Guide www onxcontrol com Issue ...

Страница 35: ... comms 0 rESEt zero 1 LASt last value used before power down 2 PrS1 Preset 1 Pr 1 21 before power down functions the drive is controlled from the terminals The pushbuttons can be used as digital inputs Mentor MP Advanced User Guide 33 Issue Number 4 www onxcontrol com 1 51 Power up keypad reference control mode Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 to 2 Default 0...

Страница 36: ...arameter 0 0 0 0 0 1 Output terminals 0 XX Read only RO parameter 0 1 0 0 1 1 1 0 0 1 0 1 The parameters are all shown at their default settings 1 1 0 1 1 1 Acceleration rate selector 2 10 Acceleration rates 1 8 2 11 Acceleration rate 1 2 12 Acceleration rate 2 2 13 Acceleration rate 3 2 14 Acceleration rate 4 2 15 Acceleration rate 5 2 16 Acceleration rate 6 2 17 Acceleration rate 7 2 18 Accelera...

Страница 37: ...cted 2 31 Deceleration rate selector 2 20 1 50 selected reference 2 29 Jog deceleration rate indicator Forward Reverse Decel rate Decel rate N N t t Deceleration Ramp control 2 06 S Ramp enable 2 02 Ramp enable Post ramp reference 2 01 Ramp output selector 2 05 limit Menu 3 d dt Pr 3 18 Motor and load inertia Pr 5 32 Motor torque per amp 2 38 Inertia compensation torque For more information refer ...

Страница 38: ...Mentor MP Advanced User Guide 35 Issue Number 4 www onxcontrol com ...

Страница 39: ...the selected ramp rate in s See Pr 2 39 If the S ramp is enabled Pr 2 06 1 then the ramp time is extended as shown in the diagram opposite 36 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 2 07 S ramp acceleration limit Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 3 1 1 1 Range 2 0 000 to 100 000 s 1 000 rpm Default 3 600 Update rate Background read 2 01 di03 0 38 Post...

Страница 40: ...mp1 should be used but if the speed change is greater or equal to w linear TRamp2 should be used TRamp1 2 w x Pr 2 07 1000 TRamp2 w x A 1000 Pr 2 07 A The default values for the ramp rate and S ramp acceleration limit have been chosen such that for the default maximum speed the curved parts of the S ramp are 25 of the original ramp if S ramp is enabled Therefore the ramp time is increased by a fac...

Страница 41: ...inputs be programmed to operate with each reference Since the new ramp rate is selected with the new reference the deceleration applies towards the selected preset if the motor needs to decelerate to reach the preset 38 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 2 11 SE03 0 24 Acceleration rate 1 2 12 Acceleration rate 2 2 13 Acceleration rate 3 2 14 Acceleration rate 4 2 15 A...

Страница 42: ... Issue Number 4 www onxcontrol com 2 21 SE04 0 25 Deceleration rate 1 2 22 Deceleration rate 2 2 23 Deceleration rate 3 2 24 Deceleration rate 4 2 25 Deceleration rate 5 2 26 Deceleration rate 6 2 27 Deceleration rate 7 2 28 Deceleration rate 8 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 3 1 1 1 Range 0 to MAX_RAMP_RATE s Pr 1 06 SE02 0 23 or Pr 2 39 Default 5 000 Second motor paramet...

Страница 43: ... parameter is not 0 the ramp times will be the time from 0 rpm to the value in Pr 2 39 for example setting Pr 2 39 1000 rpm and Pr 2 11 SE03 0 24 5 s the drive will take 5 s to accelerate from 0 rpm to 1000 rpm this parameter when Pr 2 40 is less than or equal the linear ramp time set by Pr 2 11 SE03 0 24 When Pr 2 40 is greater than the linear ramp time the total ramp time will be J Pr 2 11 SE03 ...

Страница 44: ...eference from analog inputs 2 or 3 is 10bits plus sign Analog feedback resolution The resolution for both Armature voltage and tachometer feedback is 10bit plus sign Accuracy With encoder feedback the absolute speed accuracy depends on the accuracy of the crystal used with the drive microprocessor The accuracy of the crystal is 100ppm and so the absolute speed accuracy is 100ppm 0 01 of the refere...

Страница 45: ...r 3 36 supply encoder 3 38 Drive encoder type Speed feedback from option module in slot 1 Speed feedback from option 15 03 16 03 Speed feedback Speed feedback percentage 3 39 termination select 3 40 detection encoder error 3 42 Drive encoder filter 3 47 Re initialise position module in slot 2 Speed feedback from option module in slot 3 Tacho speed 17 03 3 52 3 02 Speed detector threshold levels 3 ...

Страница 46: ... 42 to the required filter time The encoder ripple seen by the speed controller is given by Encoder speed ripple 60 Filter time ELPR x 4 If Pr 3 42 is set to zero no filter the ripple seen by the speed controller and drive encoder reference system is given by Encoder speed ripple 60 250 µs ELPR x 4 From the drive encoder port Filter defined by Pr 3 42 16ms filter Speed controller Drive encoder ref...

Страница 47: ...encoder is used from an option the encoder speed ripple is reduced by a factor of 2 2 Interpolation bits For example with the nominal 10 bits of interpolation information the speed ripple is reduced by a factor of 256 This shows how a SINCOS encoder can reduce noise caused by encoder quantization without any filtering in the speed feedback or the current demand so that high gains may be used to gi...

Страница 48: ...mit is less than zero then zero is used as the lower limit If Pr 3 09 1 absolute window mode is used and the at speed condition is true if Pr 3 06 δ Pr 3 02 di05 0 40 δ Pr 3 07 Mentor MP Advanced User Guide 45 Issue Number 4 www onxcontrol com 3 10 SP01 0 61 Kp1 Speed controller proportional gains Kp2 3 13 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 4 1 1 1 Range 0 0000 to 6 5535 1 ra...

Страница 49: ...ncreasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system i e it reduces the positional displacement produced by applying a load torque to the motor Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient For a given integral gain the damping can be improved by increasi...

Страница 50: ...ive system also includes non ideal delays due to the torque controller response and speed measurement and control delays These delays which can be approximated with a simple unity gain transport delay Tdelay as shown below should be taken into account for more accurate results w s Kp Ki s Kc Kt L s w s _ _ Ki Kd Tdelay The speed controller gains used in previous Mentor II products were in internal...

Страница 51: ...very high inertia It should be noted that if high values of Kp are used it is likely that the speed controller output will need to be filtered see Pr 4 12 or the speed feedback will need to be filtered see Pr 3 42 If the feedback is not filtered it is possible the output of the speed controller will be a square wave that changes between the current limits causing the integral term saturation syste...

Страница 52: ...slot 1 the drive produces an Enc9 trip if the drive is active 2 Slot2 Solutions Module in slot 2 3 Slot3 Solutions Module in slot 3 4 tACHO Tachometer 5 ESt SPEED Estimated speed It should be noted that the value shown by this parameter is measured over a 16 ms sliding window period in the same way as Pr 3 02 di05 0 40 and so the ripple in this parameter accessible via comms or by an Solutions Mod...

Страница 53: ...y the user If Pr 3 35 is set to zero the marker system operates in a conventional manner and only resets the position Pr 3 29 and not the turns Pr 3 28 on a marker event If Pr 3 35 is set to one the whole position Pr 3 28 and Pr 3 29 are reset on a marker event The full reset mode allows the marker to give a form of registration where the marker event defines zero position It is sometimes desirabl...

Страница 54: ...Ab Quadrature incremental encoder with or without marker pulse 1 Fd Incremental encoder with frequency and direction outputs with or without marker pulse 2 Fr Incremental encoder with forward and reverse outputs with or without marker pulse Mentor MP Advanced User Guide 51 Issue Number 4 www onxcontrol com 3 36 Fb06 0 76 Drive encoder supply voltage Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US ...

Страница 55: ...he above trips can over ride trip Enc2 so if there is a wire break trip and then a power supply trip the drive will store both trips in the trip log Both the above trips turn the terminal encoder supply off 52 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 3 39 Fb08 0 78 Drive encoder termination select Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 Range 0 to 2 Defa...

Страница 56: ...n set up correctly This may then be scaled and routed to any non protected drive parameter the encoder input as a percentage of the maximum drive encoder reference provided that the number of encoder lines per revolution Pr 3 34 Fb05 0 75 has been set up correctly This may then be scaled and routed to any non protected drive parameter complete To allow detection of non initialized state Pr 3 48 re...

Страница 57: ...of these supplies will cause one of the other encoder trips and it should be noted that Enc1 or PS 24V trips can override Enc2 trips so that the power supply overload is not mistaken for an encoder error to trim out the tolerance build ups in the feedback electronics Parameter units are DC in DC mode and rms AC in AC mode 54 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 3 51 Fb02...

Страница 58: ... Serial comms 0 Clockwise 1 Anti clockwise Mentor MP Advanced User Guide 55 Issue Number 4 www onxcontrol com 3 53 Fb03 0 73 Tachometer input mode Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 0 to 2 Default 0 DC Update rate Background read 3 54 Encoder direction Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default 0 Update rate Background read 3 55 Select ...

Страница 59: ...back sign different to estimate feedback sign then Feedback polarity error End if If Pr 3 55 is 1 then Pr 3 57 1 Else Feedback loss error End if End if No upper limit above base speed Upper limit estimated speed Pr 3 56 Lower limit base speed Pr 3 56 Lower limit estimated speed Pr 3 56 56 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 3 56 Speed feedback loss window Coding Bit SP ...

Страница 60: ...Parameter description protocol Performance Menu 4 Parameter structure Keypad and format Advanced parameter descriptions Serial comms Mentor MP Advanced User Guide 57 Issue Number 4 www onxcontrol com ...

Страница 61: ...ting Figure 5 4 Menu 4 logic diagram Inertia compensation torque 2 38 Inertia 4 22 compensation enable Speed loop output 3 04 Torque mode Menu 5 Torque demand Quadrant select 4 03 Speed over ride level Coiler uncoiler speed over ride level Current taper 4 27 1 threshold 2 threshold 1 end point Torque reference 4 08 Motor rated 4 31 2 end point Threshold 1 exceeded current 4 10 Torque 5 07 4 32 Thr...

Страница 62: ... 2 _ Current controller Continuous Kp gain Continuous Ki gain Menu 5 Current demand 4 33 Slew rate limit 4 34 Discontinuous Ki gain 11 32 Drive rating 5 15 5 05 Motor constant Line voltage Menu 5 Overriding current limit 4 18 Key 10 17 Motor current overload alarm indicator Input terminals Output terminals 0 XX 0 XX Read write RW parameter Read only RO parameter accumulator The parameters are all ...

Страница 63: ... not operating in the field weakening region 60 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 4 06 Regen current limit Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 Range 0 to MOTOR1_CURRENT_LIMIT_MAX Default 150 0 Second motor parameter Pr 21 28 Update rate Background read 4 05 Motoring current limit Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1...

Страница 64: ... used However if ramp stop mode is used the ramp output is pre loaded with the actual speed at the changeover point to avoid unwanted jumps in the speed reference 0 Speed control mode The torque demand is equal to the speed loop output 1 Torque control The torque demand is given by the sum of the torque reference and the torque offset if enabled The speed is not limited in any way however the driv...

Страница 65: ...m speed must be limited by the drive 3 Coiler uncoiler mode Positive final speed demand a positive resultant torque will give torque control with a positive speed limit defined by the final speed demand A negative resultant torque will give torque control with a negative speed limit of 5 rpm Negative final speed demand a negative resultant torque will give torque control with a negative speed limi...

Страница 66: ...e the regulation of systems where the speed loop gains need to be low for stability of position feedback quantization noise The filter introduces a lag in the speed loop and so the speed loop gains may need to be reduced to maintain stability as the filter is increased Alternative filters can be selected depending on the value of the speed controller gain selector Pr 3 16 If Pr 3 16 0 Pr 4 12 is u...

Страница 67: ...rease the proportional gain Kp to reduce the response time of the current controllers If Kp is increased by a factor of 1 5 then the response to a step change of reference will give 12 5 overshoot It is recommended that Ki is increased in preference to Kp Pr 4 16 1 Drive current limit is limited to 100 when estimated motor temperature reaches 100 Pr 4 16 2 Drive trips when estimated motor temperat...

Страница 68: ...defined level when the temperature falls below 95 The time for some action to be taken by the drive from cold with constant motor current is given by Ttrip Pr 4 15 x ln 1 1 05 x Pr 5 07 SE07 0 28 Pr 4 01 di08 0 43 2 Alternatively the thermal filter can be calculated from the trip time with a given current from Pr 4 15 Ttrip ln 1 1 05 Overload 2 For example if the drive should trip after supplying ...

Страница 69: ...t reduces as a function of speed to an end point defined by Pr 4 30 The output of the taper block controls Pr 4 18 If only 1 taper is used it must be Taper 1 If both are used Taper 1 must be first Refer to the diagrams under Pr 4 32 66 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 4 24 User current maximum scaling Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1...

Страница 70: ...e a tendency to flash over if the rate of change of current is too high for the inherent lag of the interpole winding Pr 4 33 is defined as allowed per unit change per second Slew rate in amps s 1 Pr 4 33 x DRIVE_CURRENT_MAX Mentor MP Advanced User Guide 67 Issue Number 4 www onxcontrol com 4 33 Slew rate limit Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 1 0 to 60000 s Def...

Страница 71: ... the supply frequency in Hertz Imax is the peak load current including any overload in amps V rms is the line to line supply voltage in volts such as a motor field fine control of the current the bridge change over hysteresis can be reduced from 1 6 to 0 2 of the drive maximum current by setting this parameter 68 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 4 34 Discontinuous cu...

Страница 72: ...ter x 00 Parameter protocol Performance Parameter structure Keypad and description format Advanced parameter descriptions Serial comms Menu 5 Mentor MP Advanced User Guide 69 Issue Number 4 www onxcontrol com ...

Страница 73: ...tage loop P gain 5 62 5 68 Field weakening enable 5 64 5 59 Back emf set point 3 02 Speed feedback 5 63 I gain 5 69 Voltage limit 100 Enable 5 77 emf 5 08 speed 5 09 Armature rated voltage 5 07 X 5 61 Irated Ra X 5 04 100 100 5 87 Field IR compensation Estimated speed IR drop 5 52 5 88 Armature IR compensation Contactor enable 6 55 Armature voltage select 5 61 resistance 4 02 Filtered magnitude DC...

Страница 74: ...el select Flux Voltage demand 5 66 Field economy timeout time Field voltage mode select 5 75 Voltage to firing angle conversion Field firing angle 5 58 5 55 5 73 Rated 1 Flux loop P gain 5 71 5 57 field voltage 5 78 Field output voltage 5 54 100 Flux feedback _ 5 72 I gain feedback Percentage voltage demand Field voltage mode 5 58 5 48 5 89 External flux feedback select Flux calculator breakpoint ...

Страница 75: ...tion 5 03 Menu 4 5 01 Key General 5 43 Armature mode output 5 12 Autotune 5 45 request bridge 5 15 Motor constant 5 46 request bridge Quadrant select 1 enable 2 enable Input terminals Output terminals 0 XX 0 XX Read write RW parameter Read only RO parameter 5 25 Disable adaptive autotune Field weakening compensation disable 5 47 request bridge 5 83 enable reversal 5 84 threshold 3 enable 4 enable ...

Страница 76: ...5 04 Where Pr 5 04 estimated speed Pr 5 53 back emf Pr 5 08 base speed Pr 5 09 rated voltage Pr 5 07 motor rated current Pr 5 61 armature resistance Pr 5 54 flux feedback Current limits Motor thermal protection Mentor MP Advanced User Guide 73 Issue Number 4 www onxcontrol com 5 07 SE07 0 28 Motor rated current Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 1 Range 0 to RATED_CU...

Страница 77: ... eliminating their effect upon the system This parameter must be used with caution When the firing angle is controlled directly by Pr 5 10 there is no protection against excessive acceleration output voltage or current WARNING other than the instantaneous over current trip Also take care to reset Pr 5 11 to 0 after the completion of tests 74 Mentor MP Advanced User Guide www onxcontrol com Issue N...

Страница 78: ...inning autotune for inertia measurement The drive attempts to accelerate the motor in the forward direction up to 3 4 x rated load rpm and then back to standstill Several attempts may be made starting with rated torque 16 and then increasing the torque progressively to x 1 8 x 1 4 x 1 2 and x 1 rated torque if the motor cannot be accelerated to the required speed 5s acceleration time is allowed du...

Страница 79: ... automatically setup by autotune Pr 5 15 29 5 x V rms L x f x Imax Where L is the load inductance in Henries R is the load resistance in ohms f is the supply frequency in Hertz Imax is the peak load current including any overload in amps 76 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 Pr 5 14 Pr 5 16 Pr 6 55 Armature voltage selected 0 0 0 A1 A2 0 0 1 MA1 MA2 0 1 0 A1 A2 0 1 1 M...

Страница 80: ...ional gain Pr 4 13 and Discontinuous integral gain Pr 4 34 for optimum performance The commissioning start up autotune should still be carried out because Continuous integral gain Pr 4 14 is not set by the continuous autotune Calculation of the gains is suspended when the voltage field weakening voltage loop becomes active so that the gains are not increased when the field is weakened Mentor MP Ad...

Страница 81: ...ee lines as shown below flux 100 Pr 5 30 Pr 5 29 Linear characteristic i e no saturation 50 75 100 Field current If Pr 5 29 and Pr 5 30 have their default values of 50 and 75 the characteristic becomes one line and there will be a linear relationship between the drive estimate of flux and the flux producing current If Pr 5 29 and Pr 5 30 are increased above 50 and 75 the drive estimate of flux can...

Страница 82: ...Arated IArated x Ra Rated speed rad s Mentor MP Advanced User Guide 79 Issue Number 4 www onxcontrol com Number Text Description 0 Std Normal 1Q or 4Q 1 P 1br Parallel 1 bridge Current loop gains reduced by half No bridge lock out 2 P 2br12P Parallel 2 bridge 12 pulse 3 P 2br24P Parallel 2 bridge 24 pulse 4 FrEE Not used 5 Not used 6 Not used 7 P cont Parallel 6P master 8 P SLAuE Parallel 6P slave...

Страница 83: ...l mode Pr 4 11 0 and the slave drive is programmed in torque control mode Pr 4 11 1 The final current demand Pr 4 04 on the master drive has to be fed in to the slave drive torque reference Pr 4 08 This current demand signal can be transferred between the drives using either an analog input output communication module or by using CT Sync Additional bridge interlocking signals are shared between th...

Страница 84: ...lse with bridge lockout Pr 4 11 1 Select torque mode Pr 10 52 168 Mask field loss trip Pr 10 62 Off Mask field loss trip Pr 5 43 2 Armature mode to parallel 12 pulse with bridge lockout Figure 5 8 Master Slave control connection detail for 12 pulse Analog output 1 Master Master Slave T9 T7 0V 0V T24 T25 T11 T24 T25 T11 NOTE Connection to T24 and T25 are only required for 4Q systems Table 5 5 Paral...

Страница 85: ...he system When auto tune has finished transfer the values of Pr 5 15 Pr 4 13 Pr 4 14 and Pr 4 34 from the master to each of the slave drives 4 Re start auto tune by setting Pr 5 12 to 1 on the master drive only 5 Enable the system 6 When auto tune has finished transfer the values of Pr 5 15 Pr 4 13 Pr 4 14 and Pr 4 34 from the master to the slave 7 Set Pr 5 25 0 on Slave drives Auto tune is now co...

Страница 86: ...ease refer to section 4 6 in the Mentor MP User Guide Master Drive in 6 pulse parallel system Slave Healthy The master drive must know the state of health of the slave or slaves in a 6 pulse parallel system This can be achieved using digital IO or a communication module Where there are multiple slave drives the master can be setup to use 1 bit to check the health of the slave or multiple bits Figu...

Страница 87: ...or bit Master Slave 51 52 53 NC 25 51 52 53 NC Slave 51 52 53 NC Set Pr 8 22 to Pr 5 45 Figure 5 14 Multiple Slaves signal multiple monitor Bits Master Slave 51 52 53 NC 22 Slave 51 52 53 25 2829 51 52 53 NC 22 Slave Slave 51 52 53 NC 22 51 52 53 NC 22 Set Pr 8 22 to Pr 5 45 Pr 8 25 to Pr 5 46 and Pr 8 26 to Pr 5 47 84 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 ...

Страница 88: ...nly exception is when the power software generates a hardware fault Following this event the slave power processor will stop firing its own thyristors Figure 5 16 Slave 6 pulse parallel 10 02 10 01 In slave mode the slave OK is the logical AND of the Received Master Comms and Drive OK signal Slave OK can be routed to a relay so the master has an indication of the status of the slave The drive will...

Страница 89: ...erial comms setup to use Pr 5 45 to Pr 5 47 the software reads and writes to the I O at 1 ms external controller not FXMP25 86 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 5 48 External flux feedback select Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default 0 Second motor parameter Pr 21 38 Update rate 1 ms read 05 45 05 46 05 47 Slave bridge request status Co...

Страница 90: ...w onxcontrol com 5 59 Back emf set point Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 to ARMATURE_VOLTAGE_MAX Vdc Default For 480V Drive Eur 440 USA 500 For 575V Drive Eur 630 USA 630 For 690V Drive Eur 760 USA 760 Second motor parameter Pr 21 08 Update rate Background read 5 56 di09 0 44 Field current feedback Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 2 ...

Страница 91: ... may overshoot when base speed is reached An increase in this gain increases the rate at which the parameter is 1 the field weakening voltage is enabled which allows the field to be weakened Pr 5 66 This is used to prevent the motor windings from overheating if the drive is stopped and the motor ventilation is switched off This can also be used to prevent condensation in the motor when it is not i...

Страница 92: ... Pr 5 65 Figure 5 17 Time diagram when economy timeout selected Pr 5 65 1 Disable Stop command Reset Power on Sequencer run Drive active Reset action Speed Field economy Active Field current Pr 5 66 Pr 5 66 Pr 5 66 Pr 5 66 Pr 6 54 100ms Pr 6 54 100ms Mentor MP Advanced User Guide 89 Issue Number 4 www onxcontrol com 5 67 Field economy level Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1...

Страница 93: ...mode is selected Pr 5 75 On 1 This parameter becomes the minimum voltage demand when field voltage mode is selected Pr 5 75 On 1 NOTE If Flux feedback is selected from Pr 5 89 and the value falls below that of the value set in Pr 5 69 then no action can be taken by the drive as it does not control the Flux demand 90 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 5 70 SE10 0 31 Rat...

Страница 94: ...the estimated speed calculation more accurate The rotating autotune sets this value in the range of 80 to 100 On motors with a high level of armature reactance the autotune level may need to be increased so the field is always fully fluxed Mentor MP Advanced User Guide 91 Issue Number 4 www onxcontrol com 5 73 SE11 0 32 Rated field voltage Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 ...

Страница 95: ... field controller When the parameter is set to external half control EtrnL or external in full control E FULL the drive will use the external field controller Pr 5 54 Pr 5 56 di09 0 44 Pr 5 57 Pr 5 58 and Pr 5 60 will now be controlled by the external field controller If no signal is received from the external field controller the drive will trip field loss 92 Mentor MP Advanced User Guide www onx...

Страница 96: ...0 31 Pr 5 56 di09 0 44 2 Alternatively the thermal filter can be calculated from the trip time with a given current from Pr 5 81 Ttrip ln 1 1 20 Overload 2 For example if the drive should trip after supplying 125 overload for 60 seconds then Pr 5 81 60 ln 1 1 20 1 25 2 24 The thermal model temperature accumulator is reset to zero at power up and accumulates the temperature of the field while the d...

Страница 97: ...t Armature voltage Q2 Forward Reverse Forward Zero speed flag Invert Flux Demand Field Flux Invert Speed Error Figure 5 19 Field reversal state machine Running Forward Entry Clear invert speed error Wait for Zero Speed forward Wait for positive flux level Entry Clear flux invert Wait for negative flux level Entry Set flux invert Wait for Zero Speed reverse Running Reverse Entry Set invert speed er...

Страница 98: ...voltage on the motor default value of 100 provides full compensation In some motors compensation windings are employed to correct for speed droop under load and so 100 compensation is not required In these cases this parameter must be adjusted to apply the correct amount of compensation Setting a negative value will cause the speed to fall as load increases Mentor MP Advanced User Guide 95 Issue N...

Страница 99: ...u 5 Parameter structure Keypad and description format Advanced parameter descriptions Serial comms or by a high speed fieldbus When Pr 5 48 is set to 1 this parameter is used as the flux feedback 96 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 5 89 External flux feedback Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 Range 0 to 100 0 Update rate 1 ms read ...

Страница 100: ...ero reference interlock Run rising edge delay 1 13 Jog selected indicator 2 02 Ramp enable disable 3 23 Hard speed reference disable 13 10 Position control Hardware enable 6 29 Not stop 6 39 Contactor active 6 56 Drive active falling 13 18 Relative jog enable Limit switch 1 Limit switch 2 6 35 6 36 13 19 Relative jog reverse select Logic 1 RUN Enable 6 15 STOP RESET RESET User defined Logic 1 Spee...

Страница 101: ...ve will use the external 24 V supply if connected the fan s are stopped and a power down save is performed If the line supply is lost and the auxiliary supply is good the drive will trip supply loss SL and firing of the thyristors will suspend approximately 50 ms later In mode 1 StoP The auxiliary supply failure and SL trip are independent Following an auxiliary supply failure The drive trips UU a...

Страница 102: ... Pr 6 04 is set to 0 Pr 6 04 is set to 1 24V Run Fwd Run Rev 24V Run Permit Run Fwd Run Rev 21 22 23 24 25 26 27 28 29 30 31 Pr 6 04 is set to 2 Pr 6 04 is set to 3 24V Run Fwd Rev Key 24V Run Permit Run Fwd Rev 21 22 23 24 25 26 27 28 29 30 31 Continuous contact Momentary contact the StoP state instead of the rdy state Mentor MP Advanced User Guide 99 Issue Number 4 www onxcontrol com Pr 6 04 T25...

Страница 103: ...rd and Run reverse are both active and have been for 60 ms The drive can be re started by activating the necessary bits to give a normal start Sequencer latching enabled Pr 6 40 1 If the Stop key is pressed when the stop key is enabled Pr 6 12 1 or when the drive is tripped the sequencer run is removed and so the drive stops or remains stopped respectively The sequencer run can only then be reappl...

Страница 104: ... the value of Pr 6 18 at any time by setting and clearing this parameter manually application module If the data is not written with the various parts in the correct range i e minutes are greater than 59 etc the clock is set to zero on the next minute This clock may be used for time stamping the trip log if Pr 6 28 0 This parameter is used in conjunction with Pr 6 21 Mentor MP Advanced User Guide ...

Страница 105: ... meter is reset and held at zero when Pr 6 17 is one This parameter is used in conjunction with Pr 6 25 102 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 6 21 Powered up time hours minutes Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 1 Range 0 to 23 59 Hours Minutes Update rate Background write 6 22 Run time years days Coding Bit SP FI DE Txt VM DP ND RA NC ...

Страница 106: ...into the disable state by an input Mentor MP Advanced User Guide 103 Issue Number 4 www onxcontrol com 6 32 Sequencing bit Run reverse Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default 0 Update rate 4 ms read 6 33 Sequencing bit Forward reverse Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default 0 Update rate 4 ms read 6 28 Select clock for trip log time sta...

Страница 107: ... and the normal run sequencing bits are not providing a run signal 500 s digital input filter delay 250 s software delay and stop the motor with a zero deceleration ramp rate i e in current limit The limit switches are direction dependant so that the motor can rotate in a direction that allows the system to move away from the limit switch Pre ramp reference hard speed reference 0 rpm Forward limit...

Страница 108: ...t bits in the control word are active When the bits are active they replace the functions of the equivalent parameters For example if Pr 6 43 1 and bit 7 of Pr 6 42 1 the drive enable is no longer controlled by Pr 6 15 but by bit 0 of the control word If either Pr 6 43 0 or bit 7 of Pr 6 42 0 the drive enable is controlled by Pr 6 15 Bit 8 Analog preset reference When the control word is enabled P...

Страница 109: ... word is changed from zero to one with the control word enabled Once the watchdog is enabled it must be serviced at least once every second or an SCL trip occurs The watchdog is disabled when an SCL trip occurs and so it must be re enabled when the trip is reset When this is set to 1 the fan remains at full speed until 10 s after this parameter is set to zero Note when the drive is in the UU state...

Страница 110: ... Sequencer run OR Contactor active 6 55 Drive active falling edge decay Drive active Drive disable Stop command Power on Sequencer enable before delay Sequencer enable Sequencer run Sequencer run delayed Hold zero speed Contactor active Drive active Motor Speed 6 54 Run rise edge delay Drive active falling edge delay Run rise Mentor MP Advanced User Guide 107 Issue Number 4 www onxcontrol com 6 56...

Страница 111: ...en from a Update rate The analog inputs are sampled every 4 ms except where the destinations shown in the table below are chosen the input is in voltage mode and other the output operates in voltage mode is updated every 250 s special scaling is used as described in the table and the user scaling is ignored 108 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 Input destination Sampl...

Страница 112: ...alog input 2 scaling x 1 Analog input 2 destination parameter Any 7 14 variable parameter 7 13 Analog input 2 invert Analog input 3 destination parameter Any 7 18 unprotected variable Analog ref 2 1 37 parameter A D 7 15 7 16 Analog input 3 mode selector Analog output 1 source parameter Analog input 3 scaling x 1 7 17 Any variable parameter 7 19 Analog output 1 Analog input 3 invert 3 02 Speed fee...

Страница 113: ...s are given in the following table www onxcontrol com Issue Number 4 Drive O ht2 Trip temperature Release from O ht2 Warning temperature MP25A4 R 100 95 90 MP45A4 R MP75A4 R MP105A4 R MP155A4 R MP210A4 R 94 90 85 MP25A5 R 100 95 90 MP45A5 R MP105A5 R MP155A5 R MP210A5 R 94 90 85 MP350A4 R 105 100 95 MP420A4 R MP550A4 R 100 95 90 MP700A4 R 105 100 95 MP825A4 R MP900A4 R 100 95 90 MP1200A4 R 110 100...

Страница 114: ...loss 6 VOLt Voltage mode 7 th SC Thermistor with short circuit detection TH trip if R 3 k 3 TH reset if R 1 k 8 THS trip if R 50 R 8 th Thermistor without short circuit detection TH trip if R 3 k 3 TH reset if R 1 k 8 9 th diSp Thermistor display only with no trip 7 08 T5 6 analog input 1 scaling Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 3 1 1 1 Range 0 000 to 40 000 Default 1 000 Up...

Страница 115: ...nalog input 2 destination Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 2 1 1 1 1 Range Pr 0 00 to Pr 22 99 Default Pr 1 37 Update rate Read on drive reset 7 18 T8 analog input 3 destination Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 2 1 1 1 1 Range Pr 0 00 to Pr 22 99 Default Pr 0 00 Update rate Read on drive reset 7 16 T8 analog input 3 scaling Coding Bit SP FI DE TE V...

Страница 116: ...ue Number 4 www onxcontrol com 7 19 T9 analog output 1 source Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range Pr 0 00 to Pr 22 99 Default Pr 3 02 di05 0 40 Update rate Read on drive reset 7 20 T9 analog output 1 scaling Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 3 1 1 1 Range 0 000 to 40 000 Default 1 000 Update rate Background read 7 22 T10 analog output 2 sou...

Страница 117: ...ted the respective bit is set to zero 114 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 7 31 T7 analog input 2 offset 7 32 T8 analog input 3 offset Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 100 0 Default 0 0 Update rate Background read 7 24 T10 analog output 2 mode Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 to 3 Default 0 Upd...

Страница 118: ...l input Relay Background Relay 2 Background Buttons TBD Figure 5 24 Menu 8 logic diagram T24 digital I O 1 state 8 01 T24 output select 8 31 At speed 10 06 x 1 T24 digital I O 1 8 29 I O polarity select 8 30 Open collector output T24 digital I O 1 source destination 8 11 T24 digital I O 1 invert 8 21 Any bit parameter Any unprotected bit parameter x 1 T25 digital I O 2 state T25 output select Any ...

Страница 119: ... digital input 6 state 8 05 8 06 x 1 T28 digital input 5 invert 8 15 T29 digital input 6 invert 8 16 T28 digital input 5 destination 8 25 T29 digital input 6 destination 8 26 Any unprotected bit parameter Any unprotected bit parameter Analog input 1 input 2 select 1 41 8 29 I O polarity select Drive enable mode select Drive enable indicator 8 09 8 10 x 1 Jog forward 6 31 Key Drive enable 8 29 x 1 ...

Страница 120: ...iagram cont Relay source invert Relay source 8 27 Relay 1 Any bit paramete r state Healthy x 1 Relay source invert Relay source 8 60 Relay 2 Any bit paramete r state Contactor x 1 Destination 5V On Start Key I O state Any bit paramete r Destination 5V On Reverse Key I O state Any bit paramete r Toggle enable Pr 8 52 Mentor MP Advanced User Guide 117 Issue Number 4 www onxcontrol com ...

Страница 121: ...0 88 Pr 8 14 0 Pr 8 24 Pr 6 32 Run reverse T28 input 5 Pr 8 05 in09 0 89 Pr 8 15 0 Pr 8 25 Pr 1 41 Local remote T29 input 6 Pr 8 06 in10 0 90 Pr 8 16 0 Pr 8 26 Pr 6 31 Jog T51 T52 T53 relay state Pr 8 07 Pr 8 17 0 Pr 8 27 Pr 10 01 Drive OK T31 Enable Pr 8 09 T61 T62 T63 relay state Pr 8 40 Pr 8 50 0 Pr 8 60 Pr 6 55 Contactor enable Start button Pr 8 41 Pr 8 61 Pr 0 00 Forward Reverse button Pr 8 4...

Страница 122: ... a 0 to 1 change on the terminal will cause a reset On 1 Inverted Mentor MP Advanced User Guide 119 Issue Number 4 www onxcontrol com 8 11 T24 digital I O 1 invert 8 12 T25 digital I O 2 invert 8 13 T26 digital I O 3 invert 8 14 T27 digital input 4 invert 8 15 T28 digital input 5 invert 8 16 T29 digital input 6 invert 8 17 T51 T52 T53 relay invert Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW...

Страница 123: ...26 T29 digital input 6 destination Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 2 1 1 1 1 Default See Table 5 7 Range Pr 0 00 to Pr 22 99 Update rate Read on drive reset Pr 8 29 0 negative logic inputs and outputs Pr 8 29 1 positive logic inputs and outputs Pr 8 29 2 positive logic inputs and negative logic outputs Inputs 5 V 1 15 V 0 5 V 0 15 V 1 5 V 0 15 V 1 Non relay Outputs On 1 ...

Страница 124: ... Pr 22 99 Update rate Read on drive reset 8 40 T61 T62 T63 relay state 8 41 Start button state 8 42 Forward Reverse button state Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Default See Table 5 7 Update rate 4 ms write 8 31 T24 digital I O 1 output select 8 32 T25 digital I O 2 output select 8 33 T26 digital I O 3 output select Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW...

Страница 125: ...unction 1 input 2 invert 9 07 9 37 x 1 9 09 Function 1 delay x 1 9 06 Function 1 input 2 source parameter Any bit parameter Function 2 input 1 invert 9 15 Function 2 Function 2 output indicator Function 2 destination parameter x 1 output invert 9 18 9 02 9 20 Any unprotected 9 14 Function 2 input 1 source parameter Function 2 mode bit parameter Any bit parameter Function 2 input 2 invert 9 17 9 38...

Страница 126: ... ones LSB 9 30 Binary sum logic twos 9 31 Binary sum unprotected bit parameter Function disabled if set to a non valid destination Key logic fours MSB Input terminals Output terminals 0 XX 0 XX Read write RW parameter Read only RO parameter The parameters are all shown at their default settings Menu 9 contains two logic block functions which can be used to produce any type of two input logic gate ...

Страница 127: ...NV PT US RW BU PS 2 1 1 1 1 Range Pr 0 00 to Pr 22 99 Default Pr 0 00 Update rate Read on reset 9 05 Logic function 1 source 1 invert 9 15 Logic function 2 source 1 invert Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default 0 Update rate 4 ms x number of menu 9 or 12 functions active read 9 07 Logic function 1 source 2 invert 9 17 Logic function 2 source 2 invert Coding Bit SP F...

Страница 128: ...lay time Input Delay Output Mentor MP Advanced User Guide 125 Issue Number 4 www onxcontrol com 9 09 Logic function 1 delay 9 19 Logic function 2 delay Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 25 0 s Default 0 0 Update rate 4 ms x number of menu 9 or 12 functions active read 9 10 Logic function 1 destination 9 20 Logic function 2 destination Coding Bit SP FI DE Txt VM D...

Страница 129: ... at each power up Up and down are only active when the drive is running i e drive active Reset is active at all times 3 Last value at power up and only change when drive running Set to value at power down when drive powered up Up and down are only active when the drive is running i e drive active Reset is active at all times 9 24 Motorized pot scale factor Coding Bit SP FI DE Txt VM DP ND RA NC NV...

Страница 130: ...xt VM DP ND RA NC NV PT US RW BU PS 1 2 1 1 1 1 Range Pr 0 00 to Pr 22 99 Default Pr 0 00 Update rate Read on reset 9 27 Motorized pot down Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default 0 Update rate 4 ms x number of menu 9 or 12 functions active read 9 31 Binary sum fours input Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default 0 Update rate 4 ms x num...

Страница 131: ...The output is the logic OR of the 2 inputs Exclusive OR The output is the exclusive OR of the 2 inputs 128 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 9 37 Logic block 1 mode 9 38 Logic block 2 mode Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 0 to 4 Default 0 Update rate 4 ms read 9 35 Up down disable source Coding Bit SP FI DE Txt VM DP ND RA NC NV PT ...

Страница 132: ...ucture Keypad and format Advanced parameter descriptions Serial comms Mentor MP Advanced User Guide 129 Issue Number 4 www onxcontrol com Clock source 2 Data source 1 Output 0 X No change 0 1 0 0 0 1 1 1 1 X No change 1 0 X No change Reset source 2 Set source 1 Output 1 0 0 0 1 1 0 0 No change ...

Страница 133: ...shing 0 speed feedback Pr 3 02 di05 0 40 is at or below minimum speed 5 rpm Minimum speed is defined by Pr 1 07 SE01 0 22 The parameter is only set if the drive is running 130 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 10 01 Drive OK Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Update rate Background write 10 04 Running at or below min speed Coding Bit SP F...

Страница 134: ...an Ixt overload If the rated current Pr 5 07 SE07 0 28 is set to a level above the rated drive current Pr 11 32 the overload alarm is given when the current is higher than 100 of rated current Mentor MP Advanced User Guide 131 Issue Number 4 www onxcontrol com 10 13 Direction commanded Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Update rate Background write 10 10 Regenerating ...

Страница 135: ... cannot operate with the current PLL synchronisation and the firing angle demand 161 This can occur if the PLL is in the process of losing synchronization but has not yet asserted a PLL Err trip 174 C Acc SMARTCARD trip SMARTCARD Read Write fail 185 Check SMARTCARD is installed located correctly Ensure SMARTCARD is not writing data to data location 500 to 999 Replace SMARTCARD C boot SMARTCARD tri...

Страница 136: ...SMARTCARD C rdo SMARTCARD trip SMARTCARD has the Read Only bit set 181 Enter 9777 in Pr xx 00 to allow SMARTCARD Read Write access Ensure the drive is not writing to data locations 500 to 999 on the card C rtg SMARTCARD trip The voltage and or current rating of the source and destination drives are different 186 Parameter data or default difference data is being transferred from a SMART card to th...

Страница 137: ...back in estimated speed mode refer to running a motor section checking speed feedback Carry out a rotating autotune Fbr The polarity of the feedback tachometer or encoder is incorrect 160 Check that the feedback devices are connected correctly FdL No current in the field supply circuit 168 Check that the field controller Pr 5 77 SE12 0 33 is enabled For the internal field controller check terminal...

Страница 138: ...C 2 I t on drive output current Refer to Pr 4 16 20 Ensure the load is not jammed sticking Check the load on the motor has not changed O ht1 Drive overheat SCR junction based on thermal model 21 Reduce ambient temperature Reduce overload cycle O ht2 Heatsink over temperature 22 Check enclosure drive fans are still functioning correctly Check enclosure ventilation paths Check enclosure door filters...

Страница 139: ...e corrupt 36 Indicates that the power was removed when user parameters were being saved The drive will revert back to the user parameter set that was last saved successfully Perform a user save Pr xx 00 to SAVE and reset the drive to ensure this trip does or occur the next time the drive is powered up SCL Drive RS485 serial comms loss to remote keypad 30 Reinstall the cable between the drive and k...

Страница 140: ...er trip Pr 10 38 t032 Reserved 32 See diagnosis for t002 t032 to t033 Reserved 32 to 33 See diagnosis for t002 t038 to t039 Reserved 38 to 39 See diagnosis for t002 t040 to t089 User trip 40 to 89 See diagnosis for t023 t099 nd User trip defined in 2 processor Solutions Module code 99 This solutions module program must be interrogated to find the cause of this trip A value of 99 is being written t...

Страница 141: ...not spinning when a static autotune is carried out tunE5 No field current detected during autotune 15 Reset Pr 5 70 SE10 0 31 to nameplate value and re autotune motor tunE6 Cannot achieve rated back emf during autotune 16 Reset Pr 5 70 SE10 0 31 to nameplate value and re autotune motor tunE7 Rotating autotune initiated with Estimated speed selected 17 Connect a feedback device to carry out a rotat...

Страница 142: ...L3 tO 20 It AC 168 FdL 212 SL3 Er 21 O ht1 169 FOC 213 SL3 nF 22 O ht2 170 SL 214 SL3 dF 23 t023 171 S OLd 215 SL rtd 24 th 172 S OV 216 t216 25 thS 173 th Err 217 229 HF17 HF29 26 O Ld1 174 PLL Err 27 O ht3 175 C Prod 28 cL2 176 t176 29 cL3 177 C Boot 30 SCL 178 C BUSy 31 EEF 179 C Chg 32 33 t032 t033 180 C Optn 34 Pad 181 C RdO 35 CL bit 182 C Err 36 SAVE Er 183 C dat 37 PSAVE Er 184 C FULL 38 3...

Страница 143: ...er error 11 Access to the EEPROM failed or incorrect EEPROMs installed 12 Main program stack overflow 13 16 Not used 17 No comms from power processor 18 Bucket suppressor capacitor failure 19 Over heat on bucket suppressor or snubber circuits Check internal fan operation 20 Power circuit identification code error 21 Power processor Watchdog failure 22 Power processor Undefined exception 23 Power p...

Страница 144: ...trips When a manual reset occurs the auto reset counter is reset to zero set the Drive OK indication is not cleared on a trip if an auto reset is going to occur writes the value back to zero If the value is not included in the table a trip is initiated with the same trip number as the value provided the drive is not already tripped Mentor MP Advanced User Guide 141 Issue Number 4 www onxcontrol co...

Страница 145: ...h defines the clock source is changed by the user the whole trip and trip time logs are cleared It should be noted that the powered up time can be modified by the user at any time If this is done the values in the trip time log remain unchanged until a trip occurs The new values put in the log for earlier trips Trip 1 to 9 will become the time difference between the value of the power up clock whe...

Страница 146: ...r 10 62 to 0 Example 2 The user wants the drive to stop and then trip when there is current loss on analog input 2 Enter 28 into Pr 10 52 to achieve this __ No bridge _1 Bridge 1 active 2_ Bridge 2 active Where _ is a blank When the armature voltage exceeds 1 15 times the supply voltage the armature voltage clamp is activated to prevent the voltage rising SCR firing is inhibited until the voltage ...

Страница 147: ...trol com Issue Number 4 Pr 10 76 Text Comment 0 No L123 No voltage detected on L1 L2 L3 1 L123 E13 L1 L2 L3 clockwise 2 L123 E12 L1 L2 L3 clockwise 3 L123 E32 L1 L2 L3 clockwise 4 L123 E31 L1 L2 L3 clockwise 5 L123 E21 L1 L2 L3 clockwise 6 L123 E23 L1 L2 L3 clockwise 7 L321 E13 L1 L2 L3 anticlockwise 8 L321 E23 L1 L2 L3 anticlockwise 9 L321 E21 L1 L2 L3 anticlockwise 10 L321 E31 L1 L2 L3 anticlock...

Страница 148: ...hould not be set in this parameter Modbus RTU When the Modbus RTU protocol is used addresses between 0 and 247 are permitted Address 0 is used to globally address all slaves and so this address should not be set in this parameter via a Solutions Module or via the comms interface itself If it is changed via the comms interface the response to the command uses the original protocol The master should...

Страница 149: ... synchronous serial interface This is covered in a separate specification related to the keypad port Modbus RTU protocol but with LCD keypad only When this mode is selected it is only possible to read or write parameters in menu 99 within the drive and only using Modbus rtu excluding FC40 Also Pr 99 29 is set to one by the drive If Pr 99 29 is set to zero full communications is enabled for 5 secon...

Страница 150: ...at does not affect the product documentation adjusted with the LED keypad When this parameter is read via an LED keypad and security is locked it appears as zero The security code can be modified via serial comms etc by setting this parameter to the required value setting Pr 11 44 SE14 0 35 to 2 and initiating a reset by setting Pr 10 38 to 100 However security can only be cleared via the LED keyp...

Страница 151: ...ocks in 16 byte pages 1001 shows the total space available on the card for data blocks in 16 byte pages 1002 shows the state of the read only bit 0 and warning suppression flags bit 1 1003 shows the product identifier It should be noted that 16 bytes are reserved at the beginning and the end of the card that cannot be used to hold data Therefore a 4096 byte card has 4064 bytes 254 x 16 byte pages ...

Страница 152: ...drive may be transferred to from internal flash memory from to a SMARTCARD If the user program is transferred from a drive with no program loaded the block is still created on the card but contains no data If this is then transferred to a drive the drive will then have no user program Option type data block This type of block is created by an application module and contains user defined data When ...

Страница 153: ... should be noted that if ratings of the source and destination drives are different or the Solutions Modules installed to the source and destination drives are different it is possible that some parameters with variable maximums may be limited and not have the same values as on the card For example the user current maximum scaling Pr 4 24 is rating dependent and could be set to its default value w...

Страница 154: ...used 2 3OpEn LP Open loop mode parameter file 3 3CL VECt Closed loop vector mode parameter file 4 3SErVO Servo mode parameter file 5 3REGEn Regen mode parameter file 6 3DC DC mode parameter file 7 8 3Un Unused 9 4C SE Commander SE mode difference from default file not used 10 4OpEn LP Open loop mode difference from default file 11 4CL VECt Closed loop vector mode difference from default file 12 4S...

Страница 155: ...in the drive When Pr 11 42 SE09 0 30 is equal to 3 and the parameters in the drive are saved the card is also updated therefore the card becomes a copy of the drive parameters At power up if Pr 11 42 SE09 0 30 is set to 3 the drive will save the complete parameter set to the card This is done to ensure that if a card is inserted while the drive is powered down the new card will have the correct da...

Страница 156: ...et to zero Ladder Program not installed running stopped tripped Mentor MP Advanced User Guide 153 Issue Number 4 www onxcontrol com 11 46 Defaults previously loaded Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 to 2 Default 0 Update rate Background write 11 47 Drive Onboard Application Lite Ladder Program Enable Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 ...

Страница 157: ... stopped Digits 876 543 210 154 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 Value Description n Onboard Application Lite Ladder Program caused a drive trip due to an error condition while running rung n Note that the rung number is shown on the display as a negative number 0 Onboard Application Lite Ladder Program is not installed 1 Onboard Application Lite Ladder Program is in...

Страница 158: ...MP75R 19 1B Single 105 A MP105 20 155 A MP155 21 210 A MP210 22 Four 105 A MP105R 23 155 A MP155R 24 210 A MP210R 25 2A 480 V Single 350 A MP350 26 420 A MP420 27 550 A MP550 28 Four 350 A MP350R 29 420 A MP420R 30 550 A MP550R 31 690V Single 350 A MP350 32 33 2A 690 V Single 470 A MP470 34 2A 690 V Four 350 A MP350R 35 36 2A 690 V Four 470 A MP470R 37 2B 480 V Single 700 A MP700 39 900 A MP900 40...

Страница 159: ...ssage to a number of Mentor 2 drives over EIA RS 485 156 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 Number Frame Voltage rating Quadrant variant Current rating Model 53 2D 480 V Four 1200 A MP1200R 54 1850 A MP1850R 55 690 V 1200 A MP1200R 56 1850 A MP1850R 57 2A 575 V Two 350 A MP350A5 58 470 A MP470A5 59 Four 350 A MP350A5R 60 470 A MP470A5R 61 2B Two 700 A MP700A5 62 825 A ...

Страница 160: ...er program in the SM Applications Plus module allows the user to create their own conversion functions if required either to extend the set of parameters which can be converted or to override one of the conversions which are provided Pr 11 60 The setting of this parameter is used in determining the thermal filter of the external discharge resistor installed It is assumed that the temperature will ...

Страница 161: ...ture is ambient temperature Disch argeTime Pr11 62 Ton Energy Pr 11 64 If the cycle shown in the diagram above is followed repeatedly where the external resistor is heated to its maximum temperature and then cools to ambient The average power in the resistor Ton Pr 11 62 T Pr 11 63 where Tp is the full power discharge period Pr 11 63 Energy T Energy p Disch argePower Pr11 63 T p AveragePower The t...

Страница 162: ...nt on the supply and Parameter structure Keypad and format Advanced parameter descriptions Serial comms an external resistor may be required to limit the voltage Mentor MP Advanced User Guide 159 Issue Number 4 www onxcontrol com 11 65 External resistor temperature Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 to 100 Update rate Background write 11 66 Suppressor voltage C...

Страница 163: ...old Detector 1 output destination paramete r 12 07 Any unprotected bit parameter 12 03 Threshold Detector 1 input source 12 05 Threshold Detector 1 hysteresis 12 06 Threshold Detector 1 output invert Threshold Detector 2 Any variable parameter Threshold Detector 2 threshold level 12 24 Threshold Detector 2 output indicator 12 02 Threshold Detector 2 x 1 Threshold Detector 2 output destination para...

Страница 164: ... 161 Issue Number 4 www onxcontrol com 12 05 Threshold detector 1 hysteresis 12 25 Threshold detector 2 hysteresis Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range 0 00 to 25 00 Default 0 00 Update rate 4 ms x number of menu 9 or 12 functions active read 12 04 Threshold detector 1 level 12 24 Threshold detector 2 level Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS ...

Страница 165: ...e r Any variable paramete r 12 28 Variable selector 2 input 1 scaling 12 33 Variable selector 2 input 1 source Variable selector 2 input 2 scaling 12 30 12 35 Variable selector 2 mode Variable selector 2 control Variable selector 2 output indicator 12 32 Variable selector 2 output destinatio n 12 31 Any unprotected variable parameter 12 34 12 29 Variable selector 2 input 2 source Key Input termina...

Страница 166: ...fault 0 Update rate 4 ms x number of menu 9 or 12 functions active read 12 13 Variable selector 1 source 1 scaling 12 33 Variable selector 2 source 1 scaling Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 3 1 1 Range 4 000 Default 1 000 Update rate 4 ms x number of menu 9 or 12 functions active read 12 14 Variable selector 1 source 2 scaling 12 34 Variable selector 2 source 2 scaling Cod...

Страница 167: ...if Pr 12 13 is 0 000 The remainder from the scaling division is stored and then added at the next sample to maintain an exact ratio between the position input and the position output provided the speed input is zero The controller only takes the change of position from the input source parameter and not the absolute value so that when the controller is first made active the output does not jump to...

Страница 168: ...13 21 Pr 13 21 counts up or down based on the delta position from the variable selector and rolls over or under at 65535 or 0 If the controller is set up to ignore the local reference turns then Pr 13 21 can be used as the position controller reference If Pr 13 21 is also used as the encoder simulation source the local reference can also be used to give the reference for the next drive in the syst...

Страница 169: ...e Number 4 Old value of Pr 12 41 New value of Pr 12 41 Pr 8 12 Pr 8 22 Pr 8 32 Pr 8 17 Pr 8 27 Drive OK output Brake release output Any 1 0 Pr 10 01 1 0 Pr 12 40 Brake release output Not 1 2 0 Pr 12 40 1 No change No change Brake release output Drive OK output 1 2 0 Pr 12 40 1 0 Pr 10 01 Not stop Drive OK output 1 0 or 3 0 Pr 6 39 0 0 Pr 10 01 Reset 2 0 or 3 0 Pr 10 33 0 No change No change ...

Страница 170: ... drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered The use of a SMARTCARD in boot mode or an SM Applications module can ensure drive parameters are immediately programmed to avoid this situation Figure 5 31 Menu 12 Brake control function External field 12 51 External brake released indicator 12 54 Post brake release delay 12 47...

Страница 171: ...ault 10 Update rate Background read This parameter should be set to a level that is required to hold a load when the brake is released 12 45 Brake apply speed Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 0 to 200 rpm Default 5 rpm Update rate Background read When stopping the drive reference can be removed i e Pr 1 11 0 but the brake will remain energized open until the mot...

Страница 172: ...art Provided the default non absolute mode is selected the position controller can help to limit the movement of the motor when the brake is released When parameter Pr 12 49 is changed from one to zero Pr 13 04 and Pr 13 10 are automatically set to zero 2 Jog override When this parameter is set to two the jog inputs to the sequencer take priority over the run inputs during the period when the brak...

Страница 173: ...e limit switch or an auxiliary contact on the brake contactor A digital input needs to be routed to this parameter to monitor the brake state and Pr 12 55 needs to be set to enable this feature release action is triggered by an external feedback Pr 12 54 170 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 12 52 Flux present threshold Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US ...

Страница 174: ...Parameter description protocol Performance Menu 13 Parameter structure Keypad and format Advanced parameter descriptions Serial comms Mentor MP Advanced User Guide 171 Issue Number 4 www onxcontrol com ...

Страница 175: ... with the drive sequencer see Menu 6 The sample time for the position controller is 4 ms and the output is supplied to the speed reference every 4 ms Figure 5 33 Menu 13 logic diagram Relative jog reverse 13 19 Relative jog enable 13 18 Position control reference position Relative jog reference 13 17 Revolution x 1 Drive Encoder Slot 1 3 28 3 29 15 04 15 05 15 06 Position controller reference sour...

Страница 176: ...d speed reference selector 3 23 Position loop disabled 1 Hold zero speed 6 08 Position loop error 13 01 13 02 13 03 Position controller P gain 13 09 Hard speed reference 3 22 Revolution Position Fine Position Position loop enabled 13 12 Position controller speed clamp Orientation acceptance window 13 14 Key Orientation Input terminals 0 XX Read write RW parameter Orientation position complete 13 1...

Страница 177: ...sition feedback source is shown in Pr 13 02 slots The reference can also be taken from the local reference parameters If the reference and feedback sources are the same the position controller cannot be enabled If a Solutions Module slot is selected as a source but the module is not a position feedback category Solutions Module the position controller cannot be enabled 174 Mentor MP Advanced User ...

Страница 178: ...he position error Pr 13 02 gives a speed reference of 1rads 1 9 5 rpm when this gain is 1 00 Mentor MP Advanced User Guide 175 Issue Number 4 www onxcontrol com Parameter value Mode Feedforward active 0 Position controller disabled 1 Rigid position control Yes 2 Rigid position control 3 Non rigid position control Yes 4 Non rigid position control 5 Orientation on stop 6 Orientation on stop and when...

Страница 179: ...feed forward level is not correct a constant position error will exist Relative jogging If relative jogging is enabled the feedback position can be made to move relative to the reference position at the speed defined by Pr 13 17 Orientation If Pr 13 10 is 5 the drive orientates the motor following a stop command If hold zero speed is enabled Pr 6 08 1 the drive remains in position control when ori...

Страница 180: ...erefore the position controller operates on the relative position changes of the reference and feedback from the point when the position controller is re enabled It should be noted that the value of this parameter does not affect the operation of the marker reset for any position source If the marker position reset disable Pr 3 31 for the drive encoder or similar for Solutions Modules is zero the ...

Страница 181: ...o reset the error integrator 4 One of the position sources is invalid 5 The position feedback initialised Pr 3 48 is zero 178 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 13 17 Relative jog reference Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 0 to 4 000 0 rpm Default 0 0 Update rate Background read 13 20 Local reference turns Coding Bit SP FI DE Txt...

Страница 182: ...lues The position delta used as the input to the position controller is calculated correctly even when the turns are ignored as the 32bit position is treated as a roll over roll under counter This feature can be used for example with the local reference when only the position and not the turns or fine position is available This feature is not available when absolute mode is selected Pr 13 11 1 Men...

Страница 183: ...ID controller This menu contains a PID controller which has programmable reference and feedback inputs programmable enable bit reference slew rate limiting variable clamp levels and programmable destination The sample rate of the PID controller is 4 ms Figure 5 34 Menu 14 logic diagram 180 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 ...

Страница 184: ...limits enable PID controller output PID output scale factor 14 01 14 15 PID output destination parameter 14 16 Any unprotected variable parameter 14 12 PID derivative gain Key Input terminals Output terminals 0 XX 0 XX Read write RW parameter Read only RO parameter The parameters are all shown at their default settings The PID controller is only enabled if Pr 14 16 is set to a non Pr xx 00 and unp...

Страница 185: ... 100 per second and D 1 000 the output produced by the D term will be 100 182 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 14 02 PID main reference source 14 03 PID reference source 14 04 PID feedback source Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range Pr 0 00 to Pr 22 99 Default Pr 0 00 Update rate Read on reset 14 05 PID reference source invert 14 0...

Страница 186: ...r negative magnitude for the PID controller output When any of the limits are active the integrator is held Mentor MP Advanced User Guide 183 Issue Number 4 www onxcontrol com 14 10 PID P gain Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 3 1 1 1 Range 0 000 to 4 000 Default 1 000 Update rate Background read 14 13 PID upper limit Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS ...

Страница 187: ... PS 3 1 1 1 Range 0 000 to 4 000 Default 1 000 Update rate 4 ms read 14 16 PID destination Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 2 1 1 1 1 Range Pr 0 00 to Pr 22 99 Default Pr 0 00 Update rate Read on reset 14 19 PID main reference Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range 100 00 Update rate 4 ms write 14 20 PID reference Coding Bit SP FI DE Txt VM...

Страница 188: ...er structure Keypad and format Advanced parameter descriptions Serial comms Mentor MP Advanced User Guide 185 Issue Number 4 www onxcontrol com 14 22 PID error Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range 100 00 Update rate 4 ms write ...

Страница 189: ...ms update time and a module with 8 ms are installed to the drive then the combined update time for the time critical parameters of each module is 12 ms In the parameter tables the update time added by the type of module is given for example 4 ms for the SM Encoder Plus or 8 ms for the SM I O Plus When parameters are saved by the user in the drive EEPROM the option code of the currently installed m...

Страница 190: ...umber 4 www onxcontrol com 18 02 to 18 10 Application menu 1 read only integer Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 Range 32 768 to 32 767 Default 0 Update rate N A 18 01 Application menu 1 power down saved integer Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 32 768 to 32 767 Default 0 Update rate N A 18 11 to 18 30 Application menu 1 read write intege...

Страница 191: ...control com Issue Number 4 19 01 Application menu 2 power down saved integer Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 32 768 to 32 767 Default 0 Update rate N A 19 11 to 19 30 Application menu 2 read write integer Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 Range 32 768 to 32 767 Default 0 Update rate N A 19 02 to 19 10 Application menu 2 read only inte...

Страница 192: ...ldbus and application Solutions Modules The read write parameters in this menu cannot be saved in the drive Mentor MP Advanced User Guide 189 Issue Number 4 www onxcontrol com 20 21 to 20 40 Application menu 3 read write long integer Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 Range 31 31 2 to 2 1 Default 0 Update rate N A 20 01 to 20 20 Application menu 3 read write integer Codin...

Страница 193: ...om the right in the first row is on applied as shown below 190 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 Value of Pr 21 03 Display String Pr 1 49 0 A1 A2 Selected by terminal input 1 A1 Pr 1 2 A2 Pr 2 3 Pr 3 4 Pad 4 5 Prc 5 6 Keypad ref only 6 21 01 Maximum reference clamp Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range SPEED_LIMIT_MAX rpm Default 1000 ...

Страница 194: ...selected by timer The presets are selected automatically in turn Pr 1 16 defines the time between each change Mentor MP Advanced User Guide 191 Issue Number 4 www onxcontrol com 21 04 Acceleration rate Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 3 1 1 1 Range 0 to MAX_RAMP_RATE_M2 Default 5 000 Normal parameter Pr 2 11 SE03 0 24 Update rate Background read 21 05 Deceleration rate Co...

Страница 195: ...1 1 1 Range 0 to ARMATURE_VOLTAGE_MAX V DC Default For 480 V drive Eur 440 USA 500 For 575 V drive Eur 630 USA 630 For 690 V drive Eur 760 USA 760 Normal parameter Pr 5 09 SE06 0 27 Update rate Level 4 read 21 07 Motor rated current Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 1 Range 0 to RATED_CURRENT_MAX A Default RATED_CURRENT_MAX Normal parameter Pr 5 07 SE07 0 28 Update...

Страница 196: ...ontinuous current controller Ki gain Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 to 4000 Default 200 Normal parameter Pr 4 34 Update rate Background read 21 14 Continuous current controller Ki gain Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 to 4000 Default 50 Normal parameter Pr 4 14 Update rate Background read 21 16 Thermal filter Coding ...

Страница 197: ...the drive produces an EnC9 trip 2 Slot2 Solutions Module in slot 2 3 Slot3 Solutions Module in slot 3 4 tacho 5 Est speed 194 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 21 18 Speed controller Ki gain Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range 1 0 00 to 655 35 s rad s Default 0 10 Normal motor parameter Pr 3 11 SP02 0 62 Update rate Background read 2...

Страница 198: ...DP ND RA NC NV PT US RW BU PS 1 1 1 Range 0 to 500 Vdc Default Eur 360 USA 300 Normal parameter Pr 5 73 SE11 0 32 Update rate Background read 21 25 Motor saturation breakpoint 1 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 0 to 100 of rated flux Default 50 Normal parameter Pr 5 29 Update rate Background read 21 27 Motoring current limit Coding Bit SP FI DE Txt VM DP ND RA N...

Страница 199: ... 1 1 Range 0 to MOTOR2_CURRENT_LIMIT_MAX Default 150 0 Normal parameter Pr 4 07 Update rate Background read 21 28 Regen current limit Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 1 Range 0 to MOTOR2_CURRENT_LIMIT_MAX Default 150 0 Normal parameter Pr 4 06 Update rate Background read 21 30 Field thermal filter Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Ra...

Страница 200: ...oop I gain Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range 0 to 300 0 Default 5 Normal parameter Pr 5 63 Update rate Background read 21 33 Field weakening voltage loop P gain Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range 0 to 300 0 Default 0 4 Normal parameter Pr 5 62 Update rate Background read 21 35 Rated field compensation factor Coding Bit SP FI ...

Страница 201: ...rameters that reside in the programmable area in menu 0 structure Keypad and format Advanced parameter descriptions Serial comms 5 21 Menu 22 Additional menu 0 setup 198 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 22 01 to 22 20 Parameter 00 xy setup Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range Pr 0 00 to Pr 22 99 Default 0 00 Update rate Background ...

Страница 202: ... Movement between sub blocks is achieved with the left and right keys Pr 23 01 contains all the sub block headers Table 5 10 and Figure 5 35 show the result of the direction keys when Pr 11 44 SE14 0 35 is set to L1 0 When Pr 11 44 SE14 0 35 is not 0 the left and right keys will allow access to the advance parameter set and menu 0 will become a linear menu valid parameters in the block When moving...

Страница 203: ... current ratings Parameters with this attribute will not be transferred to the destination drive by a SMARTCARD when the rating of the destination drive is different from the source drive if the drive voltage ratings are different or the file is a parameter file However the value will be transferred if only the current rating is different and the file is a differences from default type file NC Not...

Страница 204: ...1 0 33 5 77 Enable field control SE12 0 34 5 12 Autotune SE13 0 35 11 44 Security status SE14 Menu 0 Parameter Description Display 0 71 3 26 Speed feedback selector Fb01 0 72 3 51 Tachometer rating V 1000 rpm Fb02 0 73 3 53 Tachometer input mode Fb03 0 74 3 52 Tachometer speed feedback Fb04 0 75 3 34 Drive encoder lines per revolution Fb05 0 76 3 36 Encoder supply Fb06 0 77 3 38 Encoder type Fb07 ...

Страница 205: ...bypassed Trips 5 23 Pre Defined Sub Blocks set up Speed loop Serial interface Speed feedback Diagnostic Mentor MP Advanced User Guide 201 Issue Number 4 www onxcontrol com ...

Страница 206: ...s The menus and parameters roll over in both directions For example If the last parameter is displayed a further press will cause the display to roll over and show the first parameter When changing between menus the drive remembers which parameter was last viewed in a particular menu and will display that parameter The 2 21 5 menus and parameters roll over in both directions Menu 0 0 04 0 05 0 06 ...

Страница 207: ...3 02 di05 0 40 Pr 3 03 Pr 3 10 SP01 0 61 Pr 3 18 Pr 3 22 Pr 3 27 Fb09 0 79 Menu 4 Pr 4 01 di08 0 43 Pr 4 02 Pr 4 08 Pr 4 17 Menu 5 Pr 5 01 Pr 5 03 Pr 5 04 Pr 5 07 SE07 0 28 Pr 5 08 SE08 0 29 Pr 5 24 Pr 5 25 Menu 11 Pr 11 32 Menu 20 Pr 20 21 Pr 20 22 Pr 20 23 Pr 20 24 Pr 20 25 Pr 20 26 Pr 20 27 Pr 20 28 Pr 20 29 Pr 20 30 Pr 20 31 Pr 20 32 Pr 20 33 Pr 20 34 Pr 20 35 Pr 20 36 Pr 20 37 Pr 20 38 Pr 20 ...

Страница 208: ... may be lost or extra decimal places added i e if 1 2345 is written to a parameter with one decimal place the result is 1 2 if 1 2 is written to a parameter with three decimal places the result is 1 200 It should be noted that parameters can only have 0 1 2 3 4 5 or 6 decimal places 5 The data field can contain up to 10 numbers but the value even ignoring decimal points must not exceed the range 2...

Страница 209: ... the same as requesting the value of the last parameter to be read or written to The response is the same as for a normal read ACK Acknowledge Ctl F This is the same as requesting the value of the parameter after the last parameter to be read or written to The response is the same as for a normal read BS Back space Ctl H This is the same as requesting the value of the parameter before the last par...

Страница 210: ...for a non valid address or one of the following occurs 1 The command is aborted because a non numerical value is received in the drive address menu or parameter numbers Mentor MP Advanced User Guide 205 Issue Number 4 www onxcontrol com ...

Страница 211: ...eous gap is inserted then receiving nodes may start frame processing early in which case the CRC will fail and the frame will be discarded MODBUS RTU is a master slave system All master requests except broadcast requests will lead to a response from an individual slave The slave will respond i e start transmitting the response within the quoted maximum slave response time this time is quoted in th...

Страница 212: ...f registers The slave imposes an upper limit on the number of registers which can be read If this is exceeded the slave will issue an exception code 2 Writes a value to a single 16bit register The normal response is an echo of the request returned after the register contents have been written The register address can correspond to a 32bit parameter but only 16 bits of data can be sent The MODBUS p...

Страница 213: ...rameter address X x 100 Y 1 208 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 Byte Description 0 Slave node address 1 through 247 0 is global 1 Function code 0x17 2 Start register address to read MSB 3 Start register address to read LSB 4 Number of 16bit registers to read MSB 5 Number of 16bit registers to read LSB 6 Start register address to write MSB 7 Start register address to...

Страница 214: ... Read Start register address Number of 16bit registers Response Comments 1 28 127 1 0x5678 Standard 16 bit access to a 32bit register will return low 16bit word of truncated data 1 28 16511 2 0x12345678 Full 32bit access 1 28 16511 1 Exception 2 Number of words must be even for 32bit access 1 29 128 1 0xABCD Standard 16 bit access to a 32bit register will return low 16bit word of data 1 29 16512 2...

Страница 215: ...sue an exception In this case the master device will time out If a write multiple FC16 or FC23 request exceeds the slave maximum buffer size then the slave will discard the message No exception will be transmitted in this case and the master will time out Mentor MP Advanced User Guide 209 Issue Number 4 www onxcontrol com ...

Страница 216: ...23 access 6 2 9 CRC The CRC is a 16bit cyclic redundancy check using the standard CRC 16 polynomial x16 x15 x2 1 The 16bit CRC is appended to the message and transmitted LSB first The CRC is calculated on ALL the bytes in the frame 6 2 10 Device compatibility parameters 210 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 Parameter Description Device ID Unique device identification ...

Страница 217: ... bandwidth is 100 Hz 0 40 Pr 5 03 in closed loop 7 4 Digital inputs and outputs 7 5 Current feedback Accuracy 5 Resolution 10 bit plus sign Full scale resolution is equivalent to 222 drive rated current ADC Mentor MP Advanced User Guide 211 Issue Number 4 www onxcontrol com Terminals Pr 6 35 Pr 6 36 Limit switches Other 24 26 as input 250 s 4 ms 24 26 as output 4 ms 4 ms 27 29 250 s 4 ms 31 enable...

Страница 218: ...19 Digital I O 1 source destination 120 Digital I O 2 source destination 120 Digital I O 3 source destination 120 Digital I O read word 119 Digital input 115 Digital input 4 destination 120 Digital input 5 destination 120 Digital input 6 destination 120 Digital output 115 Digital reference resolution 41 Direction commanded 131 Direction running 131 Display 9 Display special functions 14 Drive OK 1...

Страница 219: ... Parameter structure 5 Parameter view mode 11 Parameter x 00 15 PID controller 180 Position controller 174 Position controller mode 175 Position controller P gain 175 Powered up time 101 Precision reference 29 R Ramp enable 36 Ramps 34 Ranges 18 Rated frequency 74 Rated voltage 74 Reference offset 24 Reference selected indicator 32 Reference selector 27 Regenerating 131 Relative jogging 176 Relay ...

Страница 220: ...r 2 162 Variable selectors 160 Velocity feed forward 176 Velocity feed forward reference 31 Voltage mode select 76 Voltage rating 147 W Wire break detect 52 Z Zero speed 130 Zero speed threshold 44 214 Mentor MP Advanced User Guide www onxcontrol com Issue Number 4 ...

Страница 221: ......

Страница 222: ...0476 0002 04 ...

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