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Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 2

Basic parameters (Menu 0)

Parameter

Range

Default

Type

RFC-A

RFC-S

RFC-A

RFC-S

00.001

Minimum Reference Clamp

±VM_NEGATIVE_REF_CLAMP1 Hz / rpm

0.0 Hz

0.0 rpm

00.002

Maximum Reference Clamp

±VM_POSITIVE_REF_CLAMP Hz / rpm

50Hz

default:

50.0 Hz

60Hz

default:

60.0 Hz

50Hz

default:

1500.0 rpm

60Hz

default:

1800.0 rpm

3000.0 rpm

00.003

Acceleration Rate 1

±VM_ACCEL_

RATE s /100 Hz

±VM_ACCEL_RATE

s /1000 rpm

5.0

s/100 Hz

2.000

s/1000 rpm

0.200

s/1000 rpm

00.004

Deceleration Rate 1

±VM_ACCEL_

RATE s /100 Hz

±VM_ACCEL_RATE

s /1000 rpm

10.0

s/100 Hz

2.000

s/1000 rpm

0.200

s/1000 rpm

00.005

Reference Selector

Preset (3), Keypad (4), Precision (5),

Keypad Ref (6)

Preset (3)

00.006

Symmetrical Current Limit

±VM_MOTOR1_CURRENT_LIMIT %

0.0 %

00.007

Open-loop Control Mode

Ur S (0), Ur (1),

Fixed (2),

Ur Auto (3),

Ur I (4),

Square (5),

Current 1P (6)

Ur I (4)

Speed Controller
Proportional Gain Kp1

0.0000 to 200.000 s/rad

0.0300

s/rad

0.0100

s/rad

00.008

Low Frequency Voltage
Boost

0.0 to 25.0 %

Size 3 to

6: 3.0 %
Size 7 &
8: 2.0 %
Size 9

≥

1.0 %

Speed Controller Integral
Gain Ki1

0.00 to 655.35 s

/rad

0.10

/rad

1.00

/rad

00.009

Dynamic V to F Select

Off (0) or On (1)

Off (0)

Speed Controller Differential
Feedback Gain Kd 1

0.00000 to 0.65535 1/rad

0.00000 1/rad

00.010

Motor Rpm

±180000 rpm

0 rpm

Speed Feedback

±VM_SPEED rpm

00.011

Output Frequency

±VM_SPEED_FREQ_REF Hz

P1 Position

0 to 65535

00.012

Current Magnitude

±VM_DRIVE_CURRENT_UNIPOLAR A

00.013

Torque Producing Current

±VM_DRIVE_CURRENT A

00.014

Torque Mode Selector

0 or 1

0 to 5

00.015

Ramp Mode Select

Fast (0),

Standard (1),

Std boost (2)

Fast (0), Standard (1)

Standard (1)

00.016

Ramp Enable

Off (0) or On (1)

On (1)

00.017

Current Reference Filter
Time Constant

0.0 to 25.0 ms

0.0 ms

00.022

Bipolar Reference Enable

Off (0) or On (1)

Off (0)

00.023

Jog Reference

0.0 to 400.0 Hz

0.0 to 4000.0 rpm

0.0

00.024

Preset Reference 1

±VM_SPEED_FREQ_REF rpm

0.0

00.025

Preset Reference 2

±VM_SPEED_FREQ_REF rpm

0.0

Unidrive M702_HS72 Control GSG Iss2.book Page 24 Friday, December 12, 2014 1:05 PM

Содержание Unidrive HS72

Страница 1: ...d Guide Unidrive M702 Unidrive HS72 Universal Variable Speed AC drive for induction and permanent magnet motors Part Number 0478 0251 02 Issue 2 Unidrive M702_HS72 Control GSG Iss2 book Page 1 Friday December 12 2014 1 05 PM ...

Страница 2: ...1 4 Getting started 12 4 1 Quick start commissioning start up using Unidrive M Connect V02 00 00 00 onwards 12 4 2 Keypad display 15 4 3 Keypad operation 16 4 4 Menu 0 17 4 5 Menu structure 17 4 6 Advanced menus 18 4 7 Changing the operating mode 19 4 8 Saving parameters 19 4 9 Restoring parameter defaults 20 4 10 Displaying parameters with non default values only 20 4 11 Displaying destination pa...

Страница 3: ...n approved electrical isolation device before gaining access to the electrical connections With the sole exception of the Safe Torque Off function none of the drive functions must be used to ensure safety of personnel i e they must not be used for safety related functions Careful consideration must be given to the functions of the drive which might result in a hazard either through their intended ...

Страница 4: ...ity of the drive to run a motor at speeds above its designed maximum it is strongly recommended that the manufacturer is consulted first Low speeds may cause the motor to overheat because the cooling fan becomes less effective The motor should be installed with a protection thermistor If necessary an electric forced vent fan should be used The values of the motor parameters set in the drive affect...

Страница 5: ...al AC supply cables and connections Output cables and connections Many internal parts of the drive and external option units Unless otherwise indicated control terminals are single insulated and must not be touched 1 11 2 Stored charge The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected If the drive has been energized the AC s...

Страница 6: ...Without position feedback sensor Sensorless 3 RFC S With position feedback sensor Without position feedback sensor Sensorless 2 1 1 Open loop mode The drive applies power to the motor at frequencies varied by the user The motor speed is a result of the output frequency of the drive and slip due to the mechanical load The drive can improve the speed control of the motor by applying slip compensatio...

Страница 7: ...ut the need for position feedback by using current voltages and key motor parameters to estimate the motor speed It can eliminate instability traditionally associated with open loop control such as operating large motors with light loads at low frequencies 2 1 3 RFC S Rotor Flux Control for Synchronous permanent magnet brushless motors RFC S provides closed loop control with position feedback devi...

Страница 8: ...on interface is always available but the availability of the P2 position interface and the encoder simulation output depends on the position feedback device used on the P1 position interface Figure 3 1 Location of position feedback connection Refer to the Drive User Guide for information regarding the supported feedback devices on the P1 and P2 position interface and the encoder stimulation output...

Страница 9: ...038 Connections 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 AB 0 A A B B Z Z V 4 0 V Th FD 1 F F D D Z Z FR 2 F F R R Z Z AB Servo 3 A A B B Z Z U U V V W W FD Servo 4 F F D D Z Z U U V V W W FR Servo 5 F F R R Z Z U U V V W W SC 6 A Cos A Cos B Sin B Sin Z Z SC Hiperface 7 Cos Cosref Sin Sinref DATA DATA EnDat 8 DATA DATA CLK CLK Frz 3 Frz 3 SC EnDat 9 A A B B DATA DATA CLK CLK SSI 10 DATA DATA CLK CLK F...

Страница 10: ...losely in order to avoid disturbance to the encoder operation from electrical noise Use the grounding bracket and grounding clamp supplied with the drive to terminate the shields at the drive Figure 3 3 Grounding of signal cable shields using the grounding bracket Motor cable Use a motor cable with an overall shield Connect the shield of the motor cable to the ground terminal of the motor frame us...

Страница 11: ... to the Drive User Guide for guidance Control cables If the control wiring is to leave the enclosure it must be shielded and the shield s clamped to the drive using the grounding bracket Remove the outer insulating cover of the cable to ensure the shield s make contact with the bracket but keep the shield s intact until as close as possible to the terminals Figure 3 4 Feedback cable shield connect...

Страница 12: ...ownloaded from www controltechniques com file size approximately 100 MB Unidrive M Connect system requirements Windows 8 Windows 7 SP1 Windows Vista SP2 Windows XP SP3 Minimum of 1280 x 1024 screen resolution with 256 colours Microsoft Net Frameworks 4 0 this is provided in the downloaded file Note that you must have administrator rights to install Unidrive M Connect Any previous copy of Unidrive ...

Страница 13: ...d control mode is highlighted in the Drive Settings dialog then Change the supply frequency if required and select Apply otherwise select Cancel Select Default parameters from the Dashboard and in the Default Parameters dialogue select Apply If the required control mode is not highlighted in the Drive Settings dialog then Select the required mode and supply frequency Select Apply 3 Select Setup an...

Страница 14: ...Drive encoder Lines Per Revolution LPR in Pr 03 034 set according to encoder Drive encoder termination resistor setting in Pr 03 039 0 A A B B termination resistors disabled 1 A A B B termination resistors enabled Analog I O The motor thermistor can be selected in Pr 07 015 Refer to the parameter help for Pr 07 015 for further information Ramps Setup Enter the required Acceleration rate and Decele...

Страница 15: ...e than one of these indications is active then the indications are prioritized as shown in Table 4 1 When the drive is powered up the lower row will show the power up parameter defined by Parameter Displayed At Power up 11 022 Table 4 1 Active action icon Figure 4 1 KI Keypad 1 Escape button 2 Start reverse Auxiliary button 3 Start forward 4 Navigation keys x4 5 Stop Reset red button 6 Enter butto...

Страница 16: ...Stop Reset button Used to reset the drive In keypad mode can be used for Stop Figure 4 2 Display modes The navigation keys can only be used to move between menus if Pr 00 049 has been set to show All Menus To enter Edit Mode press key Status Mode Parameter Mode Edit Mode Character to be edited in lower line of display flashing Change parameter values using keys When returning to Parameter Mode use...

Страница 17: ...ing the values of parameters make a note of the new values in case they need to be entered again For new parameter values to apply after the AC supply to the drive is interrupted new values must be saved Refer to section 4 8 Saving parameters on page 19 Figure 4 4 Menu structure The menus and parameters roll over in both directions i e if the last parameter is displayed a further press will cause ...

Страница 18: ...l communications 12 Threshold detectors and variable selectors 13 Standard motion control 14 User PID controller 15 Option module slot 1 set up menu 16 Option module slot 2 set up menu 17 Option module slot 3 set up menu 18 General option module application menu 1 19 General option module application menu 2 20 General option module application menu 3 21 Second motor parameters 22 Menu 0 set up 23 ...

Страница 19: ... communications by setting Pr 10 038 to 100 4 8 Saving parameters When changing a parameter in Menu 0 the new value is saved when pressing the Enter button to return to parameter view mode from parameter edit mode If parameters have been changed in the advanced menus then the change will not be saved automatically A save function must be carried out Procedure 1 Select Save Parameters in Pr mm 000 ...

Страница 20: ...r 12001 in Pr mm 000 the only parameters that will be visible to the user will be destination parameters This function does not require a drive reset to become active In order to deactivate this function return to Pr mm 000 and select No action alternatively enter a value of 0 Please note that this function can be affected by the access level enabled refer to section 4 12 Parameter access level an...

Страница 21: ...ying between drives Saving drive parameter sets Saving a program The NV Media Card is located at the top of the module under the drive display if installed on the left hand side Ensure NV Media Card is inserted with the contacts facing the left hand side of the drive The drive only communicates with the NV Media Card when commanded to read or write meaning the card may be hot swapped Figure 4 5 In...

Страница 22: ...in the target drive is out of range then the data is limited to the range of the target parameter 3 If the target drive has a different rating to the source drive then the normal rules for this type of transfer apply Figure 4 6 Basic NV Media Card operation The whole card may be protected from writing or erasing by setting the read only flag refer to the Drive User Guide for further information Th...

Страница 23: ... card trips also apply 9 9 9555 Clear the warning suppression flag 9 9 9666 Set the warning suppression flag 9 9 9777 Clear the read only flag 9 9 9888 Set the read only flag 9 9 9999 Erase and format the NV media card 9 9 15yyy Transfer a program from an option module in slot 1 to an option module applications file 9 16yyy As 15yyy but for slot 2 9 17yyy As 15yyy but for slot 3 9 18yyy Load a pro...

Страница 24: ...rad 0 0300 s rad 0 0100 s rad RW 00 008 Low Frequency Voltage Boost 0 0 to 25 0 Size 3 to 6 3 0 Size 7 8 2 0 Size 9 1 0 RW Speed Controller Integral Gain Ki1 0 00 to 655 35 s2 rad 0 10 s2 rad 1 00 s2 rad RW 00 009 Dynamic V to F Select Off 0 or On 1 Off 0 RW Speed Controller Differential Feedback Gain Kd 1 0 00000 to 0 65535 1 rad 0 00000 1 rad RW 00 010 Motor Rpm 180000 rpm 0 rpm RW Speed Feedbac...

Страница 25: ... Current Controller Ki Gain 0 to 30000 40 2000 RW 00 040 Auto tune 0 to 2 0 to 3 0 to 4 0 RW 00 041 Maximum Switching Frequency 2 kHz 0 3 kHz 1 4 kHz 2 6 kHz 3 8 kHz 4 12 kHz 5 16 kHz 6 3kHz 1 RW 00 042 Number Of Motor Poles Automatic 0 to 480 Poles 240 Automatic 0 6 Poles 3 RW 00 043 Rated Power Factor 0 000 to 1 000 0 850 RW Position Feedback Phase Angle 0 0 to 359 9 RW 00 044 Rated Voltage VM_A...

Страница 26: ...atus Menu 0 0 All Menus 1 Read only Menu 0 2 Read only 3 Status Only 4 No Access 5 Menu 0 0 RW 00 050 Software Version 0 to 99999999 RO 00 051 Action On Trip Detection 0 to 31 0 RW Parameter Range Default Type1 OL RFC A RFC S OL RFC A RFC S Unidrive M702_HS72 Control GSG Iss2 book Page 26 Friday December 12 2014 1 05 PM ...

Страница 27: ...ters or user program file from NV media card file 001 Save to file 1 Transfer the drive parameters to parameter file 001 Load file 2 Load the drive parameters or user program file from NV media card file 002 Save to file 2 Transfer the drive parameters to parameter file 002 Load file 3 Load the drive parameters or user program file from NV media card file 003 Save to file 3 Transfer the drive para...

Страница 28: ...Clear the read only flag 9888 NV media card Set the read only flag 9999 NV media card Erase and format the NV media card 110S0 Transfer electronic nameplate motor object parameters from the drive to an encoder connected to the drive or an option module 110S1 Transfer electronic nameplate motor objects parameters from an encoder connected to the drive or option module to the drive parameters 110S2 ...

Страница 29: ...rted Guide 29 Issue Number 2 Safety information Introduction Control connections Getting started Basic parameters Menu 0 Running the motor Further information Unidrive M702_HS72 Control GSG Iss2 book Page 29 Friday December 12 2014 1 05 PM ...

Страница 30: ...arameters are all shown in their default settings 00 024 00 025 00 026 00 027 Preset Reference 1 Preset Reference 2 Preset Reference 3 Preset Reference 4 Preset references 0 1 2 3 4 5 Precision reference Open Loop only 00 022 Bipolar Reference Select 00 028 Enable Forward Reverse Key Preset Keypad Precision 6 Keypad Ref 00 005 Reference Selector Unidrive M702_HS72 Control GSG Iss2 book Page 30 Fri...

Страница 31: ...oltageMode Selector DynamicV f Select 00 007 Boost Voltage 00 008 00 009 OL Motor voltage control Estimated Motor Speed _ L1 L2 L3 _ U V W Resistor optional Drive RUN FORWARD RUN REVERSE Minimum Frequency SpeedClamp 00 001 00 002 7 8 Ramps Acceleration Rate Deceleration Rate Ramp Mode Selector 00 003 00 004 00 015 RFC A RFC S modes only 000 16 Maximum Frequency SpeedClamp Ramp Enable Digital outpu...

Страница 32: ...es in the drive should not be relied upon It is essential that the correct value is entered in Pr 00 046 Rated Current This affects the thermal protection of the motor If the drive is started using the keypad it will run to the speed defined by the keypad reference Pr 01 017 This may not be acceptable depending on the application The user must check in Pr 01 017 and ensure that the keypad referenc...

Страница 33: ...ional Thermal overload for braking resistor to protect against fire risk This must be wired to interrupt the AC supply in the event of a fault This is not required if the optional internal braking resistor is used T e r m i n a l M o d e K e y p a d M o d e Communications port Keypad Optional item must be installed for keypad mode L1 L2 L3 Fuses L1 L2 L3 U V W U V W Servo motor permanent magnet 2 ...

Страница 34: ...erform either a stationary or a rotating auto tune The motor must be at a standstill before an auto tune is enabled A rotating auto tune should be used whenever possible so the measured value of power factor of the motor is used by the drive A stationary auto tune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft A stationary auto tune measures t...

Страница 35: ... 040 1 for a stationary auto tune or set Pr 00 040 2 for a rotating auto tune Close the Drive Enable signal terminal 11 and 13 The drive will display Ready Close the run signal terminal 7 or 8 The lower display will flash Autotune while the drive is performing the auto tune Wait for the drive to display Ready or Inhibit and for the motor to come to a standstill Remove the drive enable and run sign...

Страница 36: ...ination resistors disabled 1 A A B B termination resistors enabled Z Z termination resistors disabled 2 A A B B Z Z termination resistors enabled Enter motor nameplate details Enter Motor rated frequency in Pr 00 047 Hz Motor rated current in Pr 00 046 A Motor rated speed in Pr 00 045 rpm Motor rated voltage in Pr 00 044 V check if or connection Set maximum speed Enter Maximum speed in Pr 00 002 r...

Страница 37: ...used if the motor is uncoupled A rotating auto tune first performs a stationary auto tune before rotating the motor at 2 3 base speed in the direction selected The rotating auto tune measures the stator inductance of the motor and calculates the power factor To perform an auto tune Set Pr 00 040 1 for a stationary auto tune or set Pr 00 040 2 for a rotating auto tune Close the drive enable signal ...

Страница 38: ... Maximum frequency in Pr 00 002 rpm Set accel decel rates 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 Select or deselect catch a spinning motor mode If catch a spinning motor mode is not required then set Pr 06 009 to 0 If catch a spinning motor m...

Страница 39: ...splay will flash Autotune while the drive is performing the autotune Wait for the drive to display Ready or Inhibit and for the motor to come to a standstill Remove the drive enable and run signal from the drive 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 ...

Страница 40: ...sabled 2 A A B B Z Z termination resistors enabled 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 auto tune 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 deceler...

Страница 41: ...tune will rotate the motor by up to 2 mechanical revolutions in the direction selected regardless of the reference provided to obtain the position feedback phase angle A stationary auto tune is then performed to obtain stator resistance inductance in flux axis voltage offset at zero current maximum voltage offset inductance in torque axis with no load on the motor and current at maximum voltage of...

Страница 42: ...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 s...

Страница 43: ...otor Further information 6 2 6 Use of the motor database for a Leroy Somer LSRPM motor for use in RFC S Sensorless mode Select Motor Setup from the Dashboard On the Motor Setup screen select Choose a motor Select the required motor database Select the required motor from the list and click OK Unidrive M702_HS72 Control GSG Iss2 book Page 43 Friday December 12 2014 1 05 PM ...

Страница 44: ...d motor is displayed on the Motor Setup screen Click Send to drive to set the associated parameters It is possible to set motor parameters for motor 2 by selecting the Motor 2 tab and following the same procedure Unidrive M702_HS72 Control GSG Iss2 book Page 44 Friday December 12 2014 1 05 PM ...

Страница 45: ...onnections Getting started Basic parameters Menu 0 Running the motor Further information 7 Further information 7 1 Diagnostics For further information regarding diagnostics including trips and alarms refer to the Drive User Guide Unidrive M702_HS72 Control GSG Iss2 book Page 45 Friday December 12 2014 1 05 PM ...

Страница 46: ...ge category II Drive OK 24 V output 12 13 0 V 0 V Digital output 1 Digital output 2 0 V Digital input 4 Digital input 5 24 V input 0 V Drive enable 1 SAFE TORQUE OFF 0 V Drive enable 2 SAFE TORQUE OFF At zero speed Unidrive M702_HS72 Control GSG Iss2 book Page 46 Friday December 12 2014 1 05 PM ...

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