42
Unidrive M702 / HS72 Control Getting Started Guide
Issue Number: 2
6.2.5
RFC-S mode (Sensorless)
Permanent magnet motor without position feedback
Action
Detail
Before power-
up
Ensure:
•
The drive enable signal is not given (terminal 31).
•
Run signal is not given
•
Motor is connected
Power-up the
drive
Verify that RFC-S mode is displayed as the drive powers up. If the mode
is incorrect see section 4.7
page 19, otherwise restore parameter defaults (see section
4.9
Ensure that the drive displays ‘inhibit’
Enter motor
nameplate
details
Enter:
•
Motor rated current in Pr
00.046
(A)+
Ensure that this equal to or less than the Heavy Duty rating of the
drive otherwise ‘Motor Too Hot’ trips may occur during the autotune.
•
Number of poles in Pr
00.042
•
Motor rated voltage in Pr
00.044
(V)
Set maximum
speed
Enter:
•
Maximum speed in Pr
00.002
(rpm)
Set
acceleration /
deceleration
rates
Enter:
•
Acceleration rate in Pr
00.003
(s/1000 rpm)
•
Deceleration rate in Pr
00.004
(s/1000 rpm) (If braking resistor
installed, set Pr
00.015
= Fast. Also ensure Pr
10.030
, Pr
10.031
and Pr
10.061
are set correctly, otherwise premature ‘Brake R Too
Hot’ trips may be seen).
Autotune
The drive is able to perform a stationary autotune. The motor must be at
a standstill before an autotune is enabled. A stationary autotune will give
moderate performance.
•
A stationary autotune is performed to locate the flux axis of the
motor. The stationary autotune measures the stator resistance,
inductance in flux axis, inductance in torque axis with no load on the
motor and values relating to deadtime compensation from the drive.
Measured values are used to calculate the current loop gains, and
at the end of the test the values in Pr
00.038
and Pr
00.039
are
updated.
To perform an autotune:
•
Set Pr
00.040
= 1 or 2 for a stationary autotune. (Both perform the
same tests).
•
Close the run signal (terminal 26 or 27).
•
Close the drive enable signal (terminal 31). The upper row of the
display will flash 'Auto Tune' during the test.
•
Wait for the drive to display 'Ready' or 'Inhibit'.
If the drive trips it cannot be reset until the drive enable signal (terminal
31) has been removed.
•
Remove the drive enabled and run signal from the drive.
Check
Saliency
In sensorless mode, when the motor speed is below Pr
00.045
/ 10, a
special low speed algorithm must be used to control the motor. There are
two modes available, with the mode chosen based on the saliency of the
motor. The ratio No-load Lq (Pr
00.056
) / Ld (Pr
05.024
) provides a
measure of the saliency. If this value is > 1.1, then Non-salient mode
must be used (this is the default), otherwise Injection mode may be used.
Set Pr
00.054
for the selected mode: Injection (0) or Non-salient (1).
Save
parameters
Select 'Save Parameters' in Pr
mm.000
(alternatively enter a value of 1000
in Pr
mm.000
) and press red
reset button or toggle the reset
digital input.
Run
Drive is now ready to run
Model No: 95UXXXXXXXXXXXX
Volts: 380/480
Cont: 7.7Nm:4.81Arms
Stall: 9.5Nm:5.91Arms
Speed: 3000rpm Poles:6
Kt: 1.6Nm/Arms
Ins Class: H
Brake: 12Nm
24V
0.67A
Serial No: XXXXXXXXXXX
Control Techniques
Dynamics Ltd
ANDOVER, HANTS.
ENGLAND. SP10 5AB
0.02
t
1000rpm
0.03
t
0.04
Ld
No-load Lq
R
S
Ef
Unidrive M702_HS72 Control GSG Iss2.book Page 42 Friday, December 12, 2014 1:05 PM
