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PROGRAMMING GUIDE

  

 

SINUS PENTA

 

 

171/486

 

 

24.2. 

PID Regulator Tuning – Method of Ziegler and Nichols  

 
Tuning a PID regulator consists in selecting and allocating values to PID parameters in order to adjust the operation of 
the system to the technical requirements of the process and to the equipment restrictions. 
One of the possible PID tuning procedures is the 

Method of Ziegler and Nichols. 

 
This method implies the following steps:

 

1.  Set the integral action and the derivative action to zero: Ti (

P242

) = 0, Td (

P243

) = 0. 

2.  Assign very low values to Kp (

P240

), then apply a little step to the reference signal (setpoint) selected with 

C285

/

286

/

287.

 

3.  Gradually increase the value of Kp until 

permanent oscillation

 is attained in the PID loop. 

4.  Tune the parameters for a 

P, PI 

or

  PID

  regulator based on the table below—where Kp

c

  is the value of the 

proportional gain corresponding to the permanent oscillation (critical gain) and T

c

  is the period of the permanent 

oscillation: 
 

 

Kp (

P240

) 

Ti (

P242

) 

Td (

P243

) 

P 

0.5 Kp

c

 

 

 

PI 

0.45 Kp

c

 

T

c

/1.2 

 

PID 

0.6 Kp

c

 

T

c

/2 

T

c

/8 

 
 

 

 

Figure 25: Permanent oscillation with Kp

c

 critical gain 

 

Содержание PENTA MARINE

Страница 1: ...law This device is to be used only for the purposes it has been designed to Other uses should be considered improper and dangerous The manufacturer is not responsible for possible damages caused by im...

Страница 2: ...minal Board Only C169a Speed Regulator Parameter Selection C179a C179b Command and Reference Selection C187a C187b Multitorque Selection The figure related to the ENABLE control has been modified A ne...

Страница 3: ...Torque Reference 27 3 2 Speed Torque Limit Reference 27 3 3 PID Reference 27 3 4 PID Feedback Reference 27 4 PROGRAMMABLE FUNCTIONS 28 4 1 Multimotor 28 4 2 Voltage Frequency Pattern 28 4 3 Slip Compe...

Страница 4: ...14 1 Overview 124 14 2 List of Parameters P080 to P100 124 15 PID MULTIREFERENCES MENU 127 15 1 Overview 127 15 2 List of Parameters P080a to P099a 128 16 MULTITORQUE MENU 130 16 1 Overview 130 16 2 L...

Страница 5: ...ital Outputs 232 30 3 List of Parameters P350 to P385 236 31 INPUTS FOR REFERENCES FROM OPTIONAL BOARD 250 31 1 Scaling Analog Inputs XAIN4 XAIN5 250 31 2 List of parameters P390 to P399 251 32 AUTOTU...

Страница 6: ...rt and Non condensing Function 363 40 1 2 DC Braking at Stop 365 40 1 3 DC Braking Command Sent from Digital Input 366 40 2 List of Parameters C215 to C224 369 41 POWER DOWN MENU 372 41 1 Overview 372...

Страница 7: ...inus Penta 433 52 3 2 From the Sinus Penta to the Master 437 53 EXPANSION BOARD CONFIGURATION MENU 439 53 1 Overview 439 53 2 List of Parameters R021 to R023 439 54 PROFIDRIVE BOARD CONFIGURATION MENU...

Страница 8: ...30 Response to the step when the values of Kp and Ti are too small 175 Figure 31 PID Sleep and Wake up Mode when P237a is set to 1 179 Figure 32 MDO block diagram 187 Figure 33 DIGITAL Mode 195 Figure...

Страница 9: ...ble 21 Preset PID units of measure 89 Table 22 List of the programmable measurements for P268 P268a P268b P268c P268d P268e 91 Table 23 Example of a Speed Ramp 93 Table 24 List of parameters P009 to P...

Страница 10: ...e and Model Class 2T 4T 4 295 Table 85 Parameters depending on the Drive Size and Model Class 5T 6T 1 297 Table 86 Parameters depending on the Drive Size and Model Class 5T 6T 2 298 Table 87 Parameter...

Страница 11: ...rameters R016 to R018b and I080 430 Table 129 Word for address 230 431 Table 130 List of parameters R021 to R023 439 Table 131 List of parameters R025 to R045 440 Table 132 List of Parameters R050 to...

Страница 12: ...n tester data logger table compiler including history data parameter setup and data reception transmission storage from and to a calculator scan function for the automatic detection of the connected d...

Страница 13: ...Mxxx Measures always Read Only Mxxx Range Drive representation integer Display on the display keypad and the RemoteDrive may be a decimal figure plus unit of measure Active Type of control IFD VTC FO...

Страница 14: ...n Rxxx Parameters Read Only when the drive is in Run R W when the drive is in stand by or in Run but the motor is stopped see P003 Condition required for changing C parameters in the PASSWORD AND USER...

Страница 15: ...motor controls IFD VTC FOC Function Input description NOTE Use the ESC key to enter the value of an Ixxx input If the SAVE ENTER key is used W17 SAVE IMPOSSIBLE warning is displayed NOTE When changin...

Страница 16: ...ribed in the Menu Tree section The complete tree structure is displayed but the actual structure depends on the user level set in P001 and on the implemented programming For example if only motor 1 is...

Страница 17: ...S PAR PASSWORD AND ACCESS LEVEL CFG AUTO TUNE IDP SINUS PENTA START UP MENU Press ENTER to start MEA PID REGULATOR PAR DISPLAY KEYPAD CFG MODULATION FREQUENCY IDP PRODUCT MEA DIGITAL INPUTS PAR RAMPS...

Страница 18: ...METERS CFG PID CONFIGURATION PAR DIGITAL OUTPUTS CFG BRIDGE CRANE PAR AUXILIARY DIGITAL OUTPUTS CFG DATE AND TIME PAR PT100 MEASURE SETTINGS CFG TIMED FLAGS PAR FIELDBUS PARAMETERS CFG SERIAL LINKS PA...

Страница 19: ...TOR MEASURES PAR PASSWORD AND ACCESS LEVEL CFG AUTO TUNE IDP SINUS PENTA Start Up Menu Press ENTER to start MEA PID REGULATOR PAR DISPLAY KEYPAD CFG CONFIGURATION OF MOTOR N 1 IDP PRODUCT Access to Ra...

Страница 20: ...y for parameter modifications when a flashing cursor appears press and to change the parameter value Do one of the following to quit the editing mode Press ESC with P269b 0 No the parameter value used...

Страница 21: ...0 A 0 0 0 r p m 0 0 0 r p m KEYPAD Pages if any 0 0 H z 0 0 A 0 0 0 r p m R e f 1 5 0 0 0 0 r p m KEYPAD Pages continued 0 0 H z 0 0 A 0 0 0 r p m T L i m 1 5 0 0 N m Root Page I N V E R T E R O K 1 5...

Страница 22: ...f Configuration Menu Motor 1 C F G C 0 0 8 C 0 4 2 C O N F I G U R A T I O N M O T O R N 1 Root page I N V E R T E R O K 1 5 0 0 0 0 r p m 0 0 0 r p m M E A P A R C F I D P 2 When using the SAVE ENTER...

Страница 23: ...ng is displayed one among W41 to W46 when trying to DOWNLOAD parameters to a drive whose SW Version IDP PIN or current voltage classes are different from those of the drive previously used for paramet...

Страница 24: ...an also choose to keep running conditions and reference unaffected any command is bumpless For more details please refer to the description of parameter C148 CONTROL METHOD MENU In LOCAL mode the L CM...

Страница 25: ...eleration Reference on LIMIT LED Yellow No active limit Voltage or current limit active BRAKE LED Yellow Ordinary run Either one is active DC current brake IGBT braking Ramp extension L CMD LED Green...

Страница 26: ...oder signal called Encoder A MDI8 can be used to acquire a frequency input called FINB this avoids acquiring encoder B via ES836 or ES913 optional board 4 MDO Multifunction Digital Outputs MDO1 is a P...

Страница 27: ...1 Speed for Motor 1 and a VTC or FOC algorithm is used you can program a source as an external torque limit see parameter C147 in the CONTROL METHOD MENU If a torque control is used and an external sp...

Страница 28: ...U 4 4 Speed Searching When using the Volt Freq IFD or VTC VectorTorque control algorithm e g C010 V F IFD for Motor 1 you can set the speed searching function for the motor speed of rotation which is...

Страница 29: ...ve Command Sources and Reference Sources You can set a digital input as a selector switch allowing selecting two alternative control sources and reference sources Example A selector switch is required...

Страница 30: ...e RAMPS MENU P033 Deceleration Ramp in Fire Mode see the RAMPS MENU P099 Speed Fire Mode see the MULTISPEED MENU C186 MDI Enabling Fire Mode see the DIGITAL INPUTS MENU The Fire Mode is enabled when c...

Страница 31: ...ming examples for particular functions of the Penta drive Flowcharts are used for easier reference For any detail concerning individual parameters see the relevant sections in this manual 5 2 Programm...

Страница 32: ...ay keypad Preset Speed Reference from digital input The reference scaling is obtained through the parameters included in the Input Reference menu Each source is assigned to a parameter setting its min...

Страница 33: ...Iout Output current Vout Output voltage Vdc DC bus voltage Pout Output power The reference scaling is obtained through the parameters included in the Reference menu Each source is assigned to a param...

Страница 34: ...REF input P052 is the voltage value for REF input for a speed reference of 1800rpm C029 For a speed reference of 1500rpm with 5 V P052 is to be set as follows Max speed REF 5 V C029 Vx Vx 5 V 1800rpm...

Страница 35: ...through the parameters included in the Reference menu Each source is assigned to a parameter setting its min value and max value for the min max torque of the connected motor e g Motor 1 C047 for min...

Страница 36: ...quency Input menu set the source for Encoder A speed feedback set C189 A FBK B NO if also encoder B or frequency input FIN B are used see the programming options for C189 in the Encoder Frequency Inpu...

Страница 37: ...r Frequency Input menu set the source for Encoder A speed reference set C189 A REF B NO if also encoder B or frequency input FIN B are used see programming options for C189 in the Encoder Frequency In...

Страница 38: ...art Up menu I D P S I N U S P E N T A S T A R T U P M E N U P r e s s E N T E R t o s t a r t Press ENTER to enter the wizard Before entering the control parameters you are asked to choose a dialogue...

Страница 39: ...nt limit while accelerating only if IFD is active C044 Current limit at constant rpm only if IFD is active C045 Current limit while decelerating only if IFD is active C048 Torque limit only if VTC FOC...

Страница 40: ...que in respect to the rpm centrifugal pumps fans etc set C034 preboost1 to 0 4 Autotune motor stopped In case of IFD motor control when slip compensation is inactive C039 0 no autotune is required On...

Страница 41: ...andby Fluxing you can change Cxxx parameters when the motor is stopped but the drive is enabled You can write down any custom parameters in the table provided on the last pages of this Programming Gui...

Страница 42: ...otor in IFD mode at nominal rpm read out the current value from the Motor Measures Menu and use that value as the first trial value for I0 For example if the rated motor current is C018 133A and M026...

Страница 43: ...ng the autotune procedure again 6b Current loop autotune motor stopped If the motor cannot rotate with any connected load it is not possible to estimate the rotor time constant by way of the autotune...

Страница 44: ...ad to saturation of the motor flux lower efficiency due to greater no load current inaccurate torque adjustment or controller instability It is suggested that P175j1 be applied at its maximum value up...

Страница 45: ...6 for some time or press the RESET key on the display keypad NOTE The ENABLE A and ENABLE B inputs are allocated to the STO function If this safety functionality is to be adopted the control mode and...

Страница 46: ...he Motor Measures Menu M026 and use it as a first trial value for I0 For example if the rated current is C018 133A and M026 36A set C021 36 133 27 NOTE If the motor must run at a higher speed than the...

Страница 47: ...at case the rotor time constant C025 is not computed based on the motor measurements 7a Autotune of the rotor time constant and current and flux loops rotor free CAUTION This type of tuning requires t...

Страница 48: ...the current loop is not properly tuned Follow the instructions given in step 6 and decrease the value of I0 parameter C021 in the MOTOR CONFIGURATION MENU If the motor is noisy when starting this mean...

Страница 49: ...ABLE A and ENABLE B inputs are allocated to the STO function If this safety functionality is to be adopted the control mode and the control circuit of these signals must be accomplished as per the Saf...

Страница 50: ...ons programmed for the digital inputs of the Penta drive References Menu This menu contains the following values analog references the encoder input and the frequency input references the speed torque...

Страница 51: ...stant speed once the preset ramp time is over M002 Speed Ramp Output M002 3 Range 32000 integer part 99 decimal part 32000 99 rpm Note The actual range depends on the selected motor because it is defi...

Страница 52: ...ctive for VTC and FOC controls only Address 1658 Function With speed control Torque demand of the speed regulator for the type of control used With torque control Torque reference processed in respect...

Страница 53: ...reset torque limit values and the rated torque of the selected motor C047 C048 Motor 1 C090 C091 Motor 2 C133 C134 Motor 3 Active Active for VTC and FOC controls only Address 1663 Function This is the...

Страница 54: ...e limit is used the value of this measure is the torque limit obtained at constant speed on the other hand if the torque limit is internal to the drive this value is the actual torque limit M016 Torqu...

Страница 55: ...hi such as the ratio between the active power and the apparent power at the drive output M028 Output Power M028 Range 32768 32767 3276 8 3276 7 kW Note The actual range depends on the drive size Activ...

Страница 56: ...Reference after Ramps M019 Range 10000 100 00 Note The actual range depends on the max value and the min value of the PID reference set in parameters P245 P246 Active Always active Address 1669 Funct...

Страница 57: ...in parameters P445 P446 for the reference and in P447 P448 for the feedback Active This measure is active if enabled from C291a Address 1736 Function This is the measure percent of the PID2 input erro...

Страница 58: ...URATION MENU As for the display keypad the unit of measure can be programmed with parameters P267b P267c in the DISPLAY KEYPAD menu M024 PID Feedback M024 Range 32000 Note The actual range depends on...

Страница 59: ...the inputs programmed as ENABLE SW C152 of all the programmed command sources See also the CONTROL METHOD MENU and the TIMERS MENU Refer to Figure 54 for the ENABLE and ENABLE SW status M032 Instant...

Страница 60: ...T 6 MDI7 ECHB 3 MDI4 7 MDI8 FINB M036 Auxiliary Digital Inputs in the Terminal Board M036 Range Bit controlled measure See Table 4 Active Always active Address 1686 Function Status of the auxiliary di...

Страница 61: ...rence voltage current set in P055 The numerical value always includes two decimal figures the unit of measure is V or mA Active Always active Address 1688 Function Measure of the voltage current value...

Страница 62: ...ddress 1690 integer part 1691 decimal part Function This is the value of the speed reference set via serial link M042 Speed Reference from Fieldbus M042 Range 32000 integer part 99 decimal part 32000...

Страница 63: ...parameters P245 P246 Active Always active Address 1696 Function This is the measure of the PID reference set via serial link and expressed as a percentage M047 PID Reference from Fieldbus M047 Range 1...

Страница 64: ...NTROL METHOD MENU M051 Frequency Input Reference M051 Range 1000 10000 10000 100000 Hz Note The actual range depends on the frequency min value and max value set in P071 P072 Active Always active Addr...

Страница 65: ...le 5 Coding of Measure M056 Bit n Digital Output 0 MDO1 FOUT 1 MDO2 2 MDO3 3 MDO4 6 Status of the precharge contactor M056a Virtual Digital Outputs M056a Range Bit controlled measure See Table 6 Activ...

Страница 66: ...ANALOG AND FREQUENCY OUTPUTS MENU M059 AO2 Analog Output M059 Range 100 100 Active Always active Address 1709 Function Value percent of AO2 analog output referred to the preset max output value maximu...

Страница 67: ...om parameter R023 Address 1719 Function Temperature detected in analog channel 1 M070 PT100 Measure in Channel 2 M070 Range 500 2600 50 0 260 0 C Active This measure is active only if programmed from...

Страница 68: ...is the activation time of the drive IGBTs Both values are expressed in 32 bits divided into two 16 bit words the low part and the high part Functioning Times S u p p l y T i m e M 0 5 4 5 3 2 5 0 1 O...

Страница 69: ...on time of the drive IGBTs M066 Supply Time Counter M066 Range 0 65000 0 650000h Active Always active Address 1716 Function Time elapsed after resetting the supply time counter M089 Drive Status M089...

Страница 70: ...ware is required or a special preset set via display keypad is required see the DATA LOGGER MENU 2 OK interlocked ES851 is ready to be configured even through the display keypad of the drive where it...

Страница 71: ...KO 3 Authentication KO 4 IPCP KO 5 Modem not yet initialized 6 Modem init KO 7 Modem not configured 8 Modem not dial out 16 Connect end echo time out 32 Connect end idle time out 64 Connect end term...

Страница 72: ...powered on the initial value is always 0 M121 Encoder B Count Value M121 Range 0 65535 0 65535 Note The actual range of this measure is based on the type of encoder being used Active Always active Add...

Страница 73: ...iramp 1 JOG Jog mode SLAVE Selection of Slave Mode PID Dis PID Disable KpdLock Display keypad unit Mot 2 Selection of Motor 2 Mot 3 Selection of Motor 3 Var 0 Reference Variation 0 Var 1 Reference Var...

Страница 74: ...ayed instead of the Supply Time ST and the Operation Time OT respectively Navigation Example Fault List Menu A l a r m n 1 A 0 8 0 S P E E D T R A C K I N G A l a r m 1 M e a s u r e s I n v e r t e r...

Страница 75: ...2000 32000 Nm 9 M009 Torque Generated by the Motor 32000 32000 Nm 10 M029 DC bus Voltage 0 1400 0 1400 V 11 M030 Grid Voltage 0 1000 0 1000 V 12 M064 IGBT Temperature 32000 320 0 C 13 M006 Inverter Ou...

Страница 76: ...ws a navigation example for the Power Off List Navigation Example PowerOff List Menu A l a r m a t P o w e r O f f A l a r m N u m b e r 0 0 0 I n v e r t e r O F F M e a I n v e r t e r S t a t u s C...

Страница 77: ...08 Torque Demand 32000 32000 Nm 5053 M009 Torque Generated by the Motor 32000 32000 Nm 5054 M029 DC bus Voltage 0 1400 0 1400 V 5055 M030 Grid Voltage 0 1000 0 1000 V 5056 M064 IGBT Temperature 32000...

Страница 78: ...rd BASIC 0 868 P263 Language P263 Range 0 4 0 ITALIANO 1 ENGLISH 2 ESPA OL 3 PORTUGUES 4 DEUTSCH F1 version standard 0 DANISH 1 ENGLISH 2 NORWEGIAN 3 FINNISH 4 SWEDISH F2 version on demand 0 RUSSIAN 1...

Страница 79: ...he table below Table 15 Indexes corresponding to the different models sizes of the Penta Drive Index Model Index Model Index Model Index Model Index Model 0 0003 20 0023 40 0076 60 0259 80 0748 1 0004...

Страница 80: ...ented in the drive e g Regenerative For the application software downloading instructions see the Remote Drive DRIVE REMOTE CONTROL User Manual SW Versions SW Versions Range 0 65535 0 65 535 Address T...

Страница 81: ...CUSTOMER SERVICE and give the Serial Number of the drive where the Fire Mode is to be activated Enter the password given by the Customer Service CAUTION The Fire Mode Enable Password is set to 0 when...

Страница 82: ...ite enable BASIC 00001 513 P001 Programming level BASIC 0 Basic 514 P002 Write enable password ENGINEERING 00001 510 P003 Conditions required to change C parameters ADVANCED StandBy Fluxing 509 P000 W...

Страница 83: ...CAUTION The new password allowing parameter write is the value entered in P002 Note it down and keep it handy P003 Conditions for C Parameter Modifications P003 Range 0 1 0 Stand by only 1 StandBy Fl...

Страница 84: ...in the following sections 11 2 Root Page I N V E R T E R O K 1 5 0 0 0 0 r p m 0 0 0 r p m M E A P A R C F I D P The Root page is factory set as the startup page to be displayed when the drive is turn...

Страница 85: ...ly the pages containing the references sent via keypad see the CONTROL METHOD MENU and the PID CONFIGURATION MENU LOCAL MODE In LOCAL mode the L CMD and L REF LEDs come on when the Local mode is activ...

Страница 86: ...q cannot be accessed P268c Measure n 2 on Keypad page ADVANCED M026 Motor Current cannot be accessed P268d Measure n 3 on Keypad page ADVANCED M004 Motor Spd cannot be accessed P268e Measure n 4 on Ke...

Страница 87: ...to the access page of the menu containing that parameter press the MENU key again to go to the Root page press the MENU key again to go to the Keypad page If factory setting is active P264b 0 STANDAR...

Страница 88: ...key to enter the Local mode the Keypad page containing the PID reference is displayed Use the and keys to change the PID reference Press the LOC REM key once again when the drive is disabled to disab...

Страница 89: ...P267a Range 0x20 0x8A every byte ASCII 0x20 blank ASCII 0x8A Default 0x015D255B ASCII 0x5D ASCII 0x25 ASCII 0x5B Level ENGINEERING Address 1867 1869 This is a 32 bit data item Characters are 8 bit AS...

Страница 90: ...15 516 Function These parameters allow scaling the read out of the measures on the Root page which have been selected with parameters P268 and P268a P268b P268c P268d P268e Measure n 1 n 2 n 3 n 4 on...

Страница 91: ...Aux Ser Dig IN M017 Flux Ref M064 Hts Temp M018 PID Ref M065 OP Counter M019 PID RmpOut M066 SP Counter M020 PID Fbk M036b Aux FBus Dig IN M021 PID Err M022a PID2 Out M022 PID Out M069 PT100 Temp 1 M...

Страница 92: ...REV key is disabled P269 3 both keys are disabled P269b ESC Key to Restore Previous Value P269b Range 0 1 0 No 1 YES Default 0 0 No Level ENGINEERING Address 1051 Function Effect of pressing the ESC k...

Страница 93: ...n ramps A fifth parameter allows selecting the ramps for the preset rounding off 12 1 1 DESCRIPTION OF THE SPEED RAMPS For the four speed ramps that can be selected through a combination of the digita...

Страница 94: ...ted by a second order polynomial in velocity Limited Jerk S curves are used to eliminate discontinuities in acceleration that are detrimental to mechanical gear The rounding off is expressed as a perc...

Страница 95: ...rounding off values are applied to the start end ramp up down time Figure 5 Speed profile without Rounding Off and with Rounding Off 2 example In the figures above the run command is represented by t...

Страница 96: ...P031 is set to No acceleration is brought to zero before the speed reference starts decreasing then deceleration begins with the preset pattern Figure 6 Speed profile with Acceleration Reset Yes to N...

Страница 97: ...tion time ADVANCED See Table 82 and Table 86 619 P020 Speed ramps 3 and 4 time unit of measure ADVANCED See Table 82 and Table 86 620 P021 Selection for S ramp rounding off ADVANCED 1 On 621 P022 Acce...

Страница 98: ...0 0 s if P014 0 0 1 s 0 32700 s if P014 0 1 s 0 327000 s if P014 0 10 s Default See Table 82 and Table 86 Level BASIC Address 610 Function Determines the time the reference takes to go from the max pr...

Страница 99: ...tion Defines the unit of measure for the time periods for speed ramp 1 P009 and P010 for speed ramp 2 P012 and P013 and for ramps in Fire Mode P032 and P033 The allowable programmable range may be ext...

Страница 100: ...0 0 s if P020 0 0 1 s 0 32700 s if P020 0 1 s 0 327000 s if P020 0 10 s Default See Table 82 and Table 86 Level ADVANCED Address 618 Function Same as ramp 1 see P009 NOTE Values for ramp 4 can be appl...

Страница 101: ...ing thus suppressing torque peaks that could damage mechanical couplings P022 Acceleration Ramp Start Rounding Off Time P022 Range 0 100 0 100 Default See Table 82 and Table 86 Level ADVANCED Address...

Страница 102: ...ce is that this rounding off function is applied to the last stage of a deceleration ramp NOTE When using parameter P025 the preset deceleration ramp time is increased by P025 2 P026 Torque Ramp Time...

Страница 103: ...Deceleration Time P030 Range 0 6500 0 6500 sec Default 1 1sec Level ADVANCED Address 630 Function The preset time corresponds to the time the ramped speed torque reference takes to go from the JOG sp...

Страница 104: ...ble 82 and Table 86 Level ENGINEERING Address 632 Function This ramp is used to accelerate the motor when in Fire Mode P033 Fire Mode Deceleration Ramp P033 Range 0 32700 0 327 00 s if P014 0 0 01 s 0...

Страница 105: ...nected motor The setup of the main reference is based on a number of parameters included in several menus Table 25 Parameters used for the Inputs for References Menu Parameters Menu Contents P050 P074...

Страница 106: ...080 P098 Prohibit Speed P115 P121 Reference Variation Percent P105 P108 Multispeed Saturation Inversion 1 Saturation Saturation Cw CCW REV C054 C071 C072 Motor 2 Control C097 C114 C115 Motor 3 Control...

Страница 107: ...145 C146 Control Method Saturation Active Motor Selection 2 Motor 3 Motor Motor 1 configuration C009 Scaling C047 C048 Motor Limits n 1 C090 C091 Motor Limits n 2 C133 C134 Motor Limits n 3 P000661 b...

Страница 108: ...050 P055 P060 Table 26 Analog Input Hardware Mode Type Terminals Name Type Dip Switch Parameter Single ended input 1 2 REF 10V Input SW1 1 off P050 0 20mA Input SW1 1 on Differential input 5 6 AIN1 10...

Страница 109: ...134 motor 3 The X axis values of the two points depend on the analog input REF Input Parameter P051 is the X axis value of the first point parameter P052 is the X axis value of the second point AIN1In...

Страница 110: ...d reference Figure 10 Computing Inputs REF 1 and 2 examples The setup in the first part of the figure is as follows P050 3 P051 1V P051a 100 P052 10V P052a 100 Speed_Min C028 100 rpm Speed_Max C029 11...

Страница 111: ...OGRAMMING GUIDE SINUS PENTA 111 486 Figure 11 Computing REF Input Example 3 The Setup in Figure 11 is as follows P050 0 P051 5V P051a 100 P052 8V P052a 100 Speed_Min C028 300 rpm Speed_Max C029 1450 r...

Страница 112: ...ted to P061 ADVANCED 100 0 679 P062 Value of AIN2 input producing max reference X axis ADVANCED 20 0mA 662 P062a Percentage of Speed_Max Trq_Max producing max reference Y axis related to P062 ADVANCED...

Страница 113: ...ected signal is saturated between these two values NOTE The value set in parameter P050 must match with the status of SW1 1 switch allowing selecting the proper electric circuit for the analog signal...

Страница 114: ...axis related to P052 P052a Range 0 1000 100 0 Default 1000 100 0 Level ADVANCED Address 676 Function This parameter represents the max speed percentage or the max torque percentage for a torque refer...

Страница 115: ...etected signal is saturated between these two values NOTE The value set in parameter P055 must match with the status of switch SW1 2 allowing selecting the proper electric circuit for the analog signa...

Страница 116: ...Y axis related to P057 P057a Range 0 1000 100 0 Default 1000 100 0 Level ADVANCED Address 678 Function This parameter represents the min speed percentage or the min torque percentage for a torque ref...

Страница 117: ...A and 20mA The detected signal is saturated between these two values NOTE The value set in parameter P060 must match with the status of switches SW1 3 SW1 4 and SW1 5 allowing selecting the proper ele...

Страница 118: ...aximum reference or better the reference set in C029xP062a Master mode or in C048xP062a Slave mode If motor 2 is active C072 and C091 will be used instead of C029 and C048 if motor 3 is active the val...

Страница 119: ...s enabled if the absolute value of the current speed reference is kept in the prohibit range for a time longer than the time set in P066 reference is set to zero and the motor speed decreases followin...

Страница 120: ...d Default 1 1 Enabled Level ADVANCED Address 668 Function If P068 1 the Speed Torque or PID references added through input digital signals UP and DOWN or with the INC and DEC keys local mode are store...

Страница 121: ...Local mode and vice versa using the LOC REM key or the LOC REM digital input or when a control source switches to the other using the digital input programmed in C179 MDI for source selection see the...

Страница 122: ...eed percentage or the min torque percentage for a torque reference to be used for the minimum reference set with P071 P072 Value of FIN Producing Max Reference X axis P072 Range 1000 10000 10 kHz 100...

Страница 123: ...max speed percentage or the min torque percentage for a torque reference to be used for the maximum reference set with P073 P074 Value of ECH Producing Max Reference X axis P074 Range 32000 32000 320...

Страница 124: ...e set in the multispeed which is active at that moment If digital inputs set as multispeed are all open inactive no other reference source is considered the speed reference is zero If P080 SUM SPEED t...

Страница 125: ...he sum of the references for the other reference sources selected in the CONTROL METHOD MENU 2 Exclusive Preset Speed the selected multispeed is the actual rpm value upon saturation due to min and max...

Страница 126: ...on the unit of measure programmed in P100 P100 Multispeed Unit of Measure P100 Range 0 2 0 0 01 rpm 2 1 0 rpm Default 2 2 1 0 rpm Level ADVANCED Address 700 Function Determines the unit of measure con...

Страница 127: ...eters Menu P257 Gain for PID scaling 0 1 When AIN1 analog input is set to 100 the pressure reference is 10 bars 100 P257 10 0 Supposing that AIN1 is set to 43 the references below are obtained based o...

Страница 128: ...NG 50 988 P080a Multireference P080a Range 0 2 0 Preset Ref 1 Sum Ref 2 Exclusive Preset Ref Default 0 0 Preset Ref Level ENGINEERING Address 944 Function This parameter sets if the PID reference resu...

Страница 129: ...Reference in Fire Mode P099a Range 1000 1000 1000 Default 500 50 0 Level ENGINEERING Address 988 Function This parameter sets the value of the PID reference when in Fire Mode The value of the PID ref...

Страница 130: ...the Multitorque Menu are saturated by the minimum and maximum torque limits C047 C048 for motor 1 and are disabled by the input programmed in C187 Limit Source Disable The Multitorque limit values are...

Страница 131: ...nuity until it reaches the new rpm value of the speed reference The intermediate values of the prohibit speed ranges are to be intended as absolute values independent of the reference sign Figure 12 P...

Страница 132: ...speed ranges ADVANCED 708 P105 P106 P107 Prohibit Speed 1 2 3 P105 Range 0 32000 0 32000 rpm Default 0 0 rpm Level ADVANCED Address 705 706 707 Function Determines the intermediate value of the first...

Страница 133: ...range from 100 0 to 100 0 of the instant reference given by the addition of all the selected sources Example P115 0 0 Variation percent of reference 1 P116 50 0 Variation percent of reference 2 P117 8...

Страница 134: ...iation percent n 4 ENGINEERING 0 0 718 P119 Reference variation percent n 5 ENGINEERING 0 0 719 P120 Reference variation percent n 6 ENGINEERING 0 0 720 P121 Reference variation percent n 7 ENGINEERIN...

Страница 135: ...s response dynamically related to the speed error in that way the speed regulator will be more reactive to big errors and less sensitive to small errors To activate this control logics speed error th...

Страница 136: ...or thresholds the speed regulator will use coefficients that are dynamically linked with the speed error see figure below Integral coefficient 1 P126 err P130 1 P125 1 P126 P131 P130 Proportional coef...

Страница 137: ...00 749 P150 Mot3 Minimum error threshold BASIC 1 00 750 P151 Mot3 Maximum error threshold BASIC 1 00 751 P152 Symmetry regulation of three phase current ENGINEERING 0 752 P153 VTC speed error filter...

Страница 138: ...fault value 10 if a speed error of 1 occurs the regulator will require 10 of the rated motor torque This parameter may be accessed if the min and max error thresholds are different P130 P131 for Motor...

Страница 139: ...three phase current balancing It must be used when dissymmetry of the motor currents occurs especially when no load currents are delivered and the motor rotates at low rpm P153 VTC Speed Error Filter...

Страница 140: ...t of the flux regulator ensuring that the connected motor is always properly fluxed This menu allows accessing the current PI regulators and flux regulators for the FOC control 20 2 List of Parameters...

Страница 141: ...is parameter is automatically computed and saved when the Autotune procedure is performed see the AUTOTUNE MENU P156 P163 P170 Current Regulator Integral Time P156 Motor n 1 P163 Motor n 2 P170 Motor...

Страница 142: ...g from 200 to 400 microseconds based on carrier frequency P159 P166 P173 Flux Regulator Integral Time P159 Motor n 1 P166 Motor n 2 P173 Motor n 3 Range 1 32000 1 0 32000 Disabled Default 33 33 ms Lev...

Страница 143: ...FUNCTION User Level DEFAULT VALUE MODBUS Address P175h1 Low Frequency Flux Increment Percentage for Motor 1 ENGINEERING 0 0 684 P175i1 Minimum Frequency for Motor 1 Flux Increment ENGINEERING 15 0 733...

Страница 144: ...requency of the interpolation for the flux increment at low frequency Indicates the frequency as a percentage of the rated frequency C015 C058 C101 up to which a flux increment equal to the value set...

Страница 145: ...applied to negative current values having absolute values greater than the rated drive current multiplied by P175a When lower currents than the threshold currents are applied compensation is obtained...

Страница 146: ...ntrol VTC Function Minimum reference flux expressed as a percentage with respect of the nominal flux P175o Filter Time Constant of Flux Rate Limiter P175o Range 1 32000 1 32000 ms Default 300 300 ms L...

Страница 147: ...VALUE MAX VALUE 10 AO1 Speed speed of the connected motor 10V 1500 1500 11 AO2 Speed Ref speed reference at constant rpm 10V 1500 1500 12 AO3 Current of the connected motor 10V 0 Imax Depending on th...

Страница 148: ...the corresponding value to be assigned to the analog output For values equal to or lower than Val Min Out Min will be assigned to the selected analog output For analog outputs AO1 AO2 and AO3 the foll...

Страница 149: ...ogramming the frequency output the setting of MDO1 in the DIGITAL OUTPUTS MENU is disabled The figure below illustrates the structure of the frequency output Parameterization is similar to the one use...

Страница 150: ...input REF 19 AIN1 100 00 Analog input AIN1 20 AIN2 PTC 100 00 Analog input AIN2 21 Enc In 10000 rpm Speed read by the encoder used as a reference 22 PulseIn 100 00 kHz Frequency input 23 Flux Ref 1 00...

Страница 151: ...sible min and max output values range from 0 to 10V The selected variable has a positive or negative sign 3 0 20mA The analog output is set as a current output and the possible min and max output valu...

Страница 152: ...r for AO1 analog output P182 0 0 V Min AO1 output value with reference to P178 P183 10 0 V Max AO1 output value with reference to P179 Figure 18 Curve voltage speed implemented by AO1 Example 1 0 1 2...

Страница 153: ...variable P179 500 rpm Max value of AO1 selected variable P180 0 000 V AO1 Analog output offset P181 0 ms Filter for AO1 analog output P182 0 0 V Min AO1 output value with reference to P178 P183 10 0 V...

Страница 154: ...21 Curve voltage speed implemented by AO1 Example 4 0 1 2 3 4 5 6 7 8 9 10 500 400 300 200 100 0 100 200 300 400 500 rpm V Example 5 Table 41 Programming AO1 10V Parameterization of Analog Output AO1...

Страница 155: ...output ADVANCED 2 0 10V 792 P193 Selected variable for AO3 analog output ADVANCED 5 Output current 793 P194 Min value of AO3 selected variable ADVANCED 0 A 794 P195 Max value of AO3 selected variable...

Страница 156: ...o set them as current outputs see the DIP switch configuration and follow the instructions displayed on the keypad or refer to the Sinus Penta s Installation Guide P177 Selected Variable for AO1 Analo...

Страница 157: ...P181 Filter for AO1 Analog Output P181 Range 0 65000 0 000 65 000 sec Default 0 0 000 sec Level ADVANCED Address 781 Function Value of the filter time constant applied to AO1 analog output P182 Min AO...

Страница 158: ...ult 2 Reference at constant speed Level ADVANCED Address 785 Function Selects the variable to be allocated to AO2 digital output P186 Min Value of AO2 Selected Variable P186 Range 32000 32000 Depends...

Страница 159: ...he value selected in P184 10 0 10 0 V 20 0 20 0 mA Default 100 10 0 V Level ADVANCED Address 790 Function Minimum output value obtained when the minimum value of the variable set in P186 is implemente...

Страница 160: ...imum value of the variable selected via P193 corresponding to the min output value of AO3 set in P198 P195 Max Value of AO3 Selected Variable P195 Range 320 00 320 00 Depends on the value selected thr...

Страница 161: ...P195 is implemented P200 FOUT Output in MDO1 Frequency P200 Range 0 2 0 Disabled 1 Pulse 2 ABS Pulse Default 0 0 Disabled Level ADVANCED Address 800 Function Selects the operating mode of FOUT frequen...

Страница 162: ...203 P205 Range 1000 10000 10 00 100 00 kHz Default 10000 100 00 kHz Level ADVANCED Address 805 Function Maximum output value obtained when the maximum value of the variable set in P203 is implemented...

Страница 163: ...output signal when Sine or Cosine variables are selected P215 Frequency of Saw Wave Analog Output Signal P215 Range 0 20000 0 200 00Hz Default 100 1 00Hz Level ENGINEERING Address 815 Function Freque...

Страница 164: ...e of the control configuration of the STO function to be executed upon first start up and also periodically at yearly intervals NOTE The reset function for the alarms on the leading edges of MDI3 is n...

Страница 165: ...eft application of the delay times set for the drive enabling disabling on the right the start signal persists for a shorter time than the delay set for enabling in this case the Start function is not...

Страница 166: ...r assigned to virtual outputs MPL1 4 ENGINEERING 0 No timer assigned 829 P216 T1 Enable delay P216 Range 0 60000 0 0 6000 0 sec Default 0 0 0 Level ENGINEERING Address 816 Function This parameter sets...

Страница 167: ...0 0 sec Default 0 0 0 Level ENGINEERING Address 820 Function This parameter sets T3 enable time Operation as per P216 P221 T3 Disable delay P221 Range 0 60000 0 0 6000 0 sec Default 0 0 0 Level ENGINE...

Страница 168: ...nd the same timer may be assigned to multiple inputs Select zero to avoid delaying the digital inputs Setting via serial link see coding table below Table 44 Coding of P226 Timers assigned to digital...

Страница 169: ...tiple outputs Select zero to avoid delaying the digital outputs Setting via serial link see coding in P226 P229 Timers Assigned to Virtual Outputs MPL 1 4 P229 Range 0 0 0 0 5 5 5 5 0 No timer assigne...

Страница 170: ...ative term this is the variable keeping track of the evolution of the error or the controlled variable difference between two consecutive errors or between two consecutive values of the feedbacked var...

Страница 171: ...ral action and the derivative action to zero Ti P242 0 Td P243 0 2 Assign very low values to Kp P240 then apply a little step to the reference signal setpoint selected with C285 286 287 3 Gradually in...

Страница 172: ...below cover the following how the transient is affected from the proportional action when the integral action is kept constant in a PI regulator how the transient is affected from the integral action...

Страница 173: ...PROGRAMMING GUIDE SINUS PENTA 173 486 Figure 27 Response to the step based on the value of Kp when Ti is kept constant...

Страница 174: ...is shown in the figure below Figure 28 Response to the step when Kp is too large 24 3 2 INTEGRAL ACTION I Symbol Tuning function Main goal Ti As soon as an input variance occurs Error an output varian...

Страница 175: ...value of Ti when Kp is kept constant The figure below represents the response of the PI regulator when the values for Kp and Ti are lower than the optimum value computed with the method of Ziegler and...

Страница 176: ...ited so the error is still remarkable If the error persists the actuator will saturate because the longer the time the error persists the stronger the integral action is this phenomenon is called wind...

Страница 177: ...ivative time multiples of P244 ENGINEERING 0 Tc ms 843 P244 Cycle time of PID regulator Tc ENGINEERING 5 ms 844 P245 Min value of PID reference ENGINEERING 0 00 845 P246 Max value of PID reference ENG...

Страница 178: ...the speed torque reference to be adjusted If a Frequency control is used the PID regulator can be used to adjust the drive output voltage in this case P236 relates to the instant voltage value E g If...

Страница 179: ...ID Feedback Sleep Level Wake Up Level P237b P237 RUNNING STOP T P255 P000666 b P237a 1 Feedback P237b Figure 31 PID Sleep and Wake up Mode when P237a is set to 1 P238 Max Value of Integral Term P238 R...

Страница 180: ...to obtain a wider range for the proportional coefficient used in PID regulator and ranging from 0 000 to 6500 0 Supposing that the default values are used for P240 and P241 the proportional coefficie...

Страница 181: ...the selected analog input Example Select AIN1 analog input as the PID reference and suppose that its max and min values are 10V and 10V respectively If P245 is 50 this means that the PID reference wi...

Страница 182: ...e value max P245 P246 to 0 P251 Unit of measure of PID Ramp P251 Range 0 3 0 0 01 s 1 0 1 s 2 1 0 s 3 10 0 s Default 1 1 0 10 s Level ENGINEERING Address 851 Function This parameter defines the unit o...

Страница 183: ...ING Address 853 Function As P252 but P253 sets the rounding off applied at the end of the ramps NOTE When P253 is used the preset ramp time is increased by P253 2 P254 Integral Term Activation Thresho...

Страница 184: ...c Level ENGINEERING Address 856 Function This parameter limits the max acceleration for the PID regulator output The max acceleration for the PID regulator output is equal to 100 P256 msec P257 Gain f...

Страница 185: ...6 for standard PID corresponds to P436 for PID2 To enable the 2 zone mode set C291a 5 2 Zone MIN or 6 2 Zone MAX PID CONFIGURATION MENU Once the 2 zone mode is enabled the standard PID regulator opera...

Страница 186: ...INEERING 5 ms 1354 P445 Min allowable value of PID2 reference ENGINEERING 0 00 1355 P446 Max allowable value of PID2 reference ENGINEERING 100 00 1356 P447 Min allowable value of PID2 feedback ENGINEE...

Страница 187: ...ENCY OUTPUTS MENU NOTE XMDI digital outputs values from 13 to 20 in the parameters relating to the control functions can be set up only after setting XMDI O in parameter R023 26 1 1 FACTORY SETTINGS T...

Страница 188: ...absolute values but depend on the selected tests ABS BRAKE The ABS BRAKE mode allows controlling the electromechanical brake of a motor used for lifting applications The ABS BRAKE mode is applied by s...

Страница 189: ...0 5 rpm D6 Rev Run Speed measured or estimated lower than 0 5 rpm D7 Lim MOT Drive in limiting mode operating as a motor D8 Lim GEN Drive in limiting mode operating as a generator D9 Limiting Drive in...

Страница 190: ...imers D52 MPL 3 Delayed Virtual digital input resulting from MPL3 output DELAYED from MPL Timers D53 MPL 4 Delayed Virtual digital input resulting from MPL4 output DELAYED from MPL Timers D54 OTM Elap...

Страница 191: ...ference over axis q A26 Id REF 5000 0 A 10 Current reference over axis d A27 Iq 5000 0 A 10 Current measure over axis q A28 Id 5000 0 A 10 Current measure over axis d A29 Volt Vq 2000 0 V 10 Voltage o...

Страница 192: ...sed only if the operating mode of the selected digital output is 2 Example MDO1 P270 2 Testing Variable B for MDO1 2 3 4 P274 P283 P292 P301 If an analog variable is selected a logic TEST is performed...

Страница 193: ...The status of the input Qn depends on the previous value Qn 1 and on the result of the two tests Signals A and B are considered only when passing from 0 1 Rising Edge or 1 0 Falling Edge Signal A and...

Страница 194: ...s when no condition is true The NOR function between two variables corresponds to the AND of the same false variables i e A NOR B A AND B A NOR B Test A Test B Output 0 0 1 1 0 0 0 1 0 1 1 0 A NAND B...

Страница 195: ...or the second variable C See Example 6 MDO1 2 3 4 Logic applied to MDO1 2 3 4 P278 P287 P296 P305 The logic of the Boolean signal can be reversed at the end of the processing chain The user can choose...

Страница 196: ...SINUS PENTA PROGRAMMING GUIDE 196 486 Figure 34 ANALOG Mode Figure 35 DOUBLE DIGITAL Mode...

Страница 197: ...PROGRAMMING GUIDE SINUS PENTA 197 486 Figure 36 General structure of the parameterization of a digital output...

Страница 198: ...of f A B and C test P296 MDO3 Output logic level FALSE The digital output status depends on the Boolean variable Inverter Alarm which is TRUE only when an alarm trips This output is a fail safe conta...

Страница 199: ...MEA P272 MDO1 Variable B selection A71 Speed MEA P273 MDO1 Testing variable A ABS x P274 MDO1 Testing variable B ABS x P275 MDO1 Comparing value for Test A 100 00 rpm P276 MDO1 Comparing value for Te...

Страница 200: ...P295 MDO3 Function applied to the result of the two tests A Set B Reset Rising Edge P295a MDO3 Variable C selection D0 Disabled P295b MDO3 Function applied to the result of f A B and C test P296 MDO3...

Страница 201: ...pm and that the first digital output is used parameters are set as follows Table 54 MDO parameterization for the PWM function P270 MDO1 Digital output mode PWM MODE P271 MDO1 Variable A selection A72...

Страница 202: ...B and C is used Table 55 MDO parameterization for the Ready state of a PLC supervisor P270 MDO1 Digital output mode DOUBLE DIGITAL P271 MDO1 Variable A selection D21 Enable P272 MDO1 Variable B selec...

Страница 203: ...886 P286a MDO2 Selecting variable C ADVANCED 0 Disable 644 P286b MDO2 Function applied to the result of f A B C ADVANCED 0 f A B OR C 645 P287 MDO2 Output logic level ADVANCED 1 TRUE 887 P288 MDO3 Dig...

Страница 204: ...See Table 48 Default 61 A01 Speed MEA Level ADVANCED Address 871 Function This parameter selects the digital signal used to calculate the value of MDO1 digital output It selects an analog variable us...

Страница 205: ...ines the test to be performed for the variable detected by P272 using P276 as a comparing value P275 MDO1 Comparing Value for Test A P275 Range 32000 32000 320 00 320 00 of the full scale value of sel...

Страница 206: ...See Table 48 Default 0 D0 Disable Level ADVANCED Address 642 Function This parameter selects the digital signal used to calculate the value of MDO1 digital output The digital signals that can be sele...

Страница 207: ...beginning of this chapter P280 MDO2 Selecting Variable A P280 Range 0 149 See Table 48 Default 71 A11 Torque Output Level ADVANCED Address 880 Function This parameter selects the digital signal used t...

Страница 208: ...fines the test to be performed for the variable detected by P281 using P285 as a comparing value P284 MDO2 Comparing Value for Test A P284 Range 32000 32000 320 00 320 00 of the full scale value of se...

Страница 209: ...See Table 48 Default 0 D0 Disable Level ADVANCED Address 644 Function This parameter selects the digital signal used to calculate the value of MDO2 digital output The digital signals that can be selec...

Страница 210: ...nning of this chapter P289 MDO3 Selecting Variable A P289 Range 0 149 See Table 48 Default 3 D3 Inverter Alarm Level ADVANCED Address 889 Function This parameter selects the digital signal used to cal...

Страница 211: ...er defines the test to be performed for the variable detected by P290 using P294 as a comparing value P293 MDO3 Comparing Value for Test A P293 Range 32000 32000 320 00 320 00 of the full scale value...

Страница 212: ...Table 48 Default 0 D0 Disable Level ADVANCED Address 646 Function This parameter selects the digital signal used to calculate the value of MDO3 digital output The digital signals that can be selected...

Страница 213: ...ing of this chapter P298 MDO4 Selecting Variable A P298 Range 0 149 See Table 48 Default 1 D1 Inverter Run Ok Level ADVANCED Address 898 Function This parameter selects the digital signal used to calc...

Страница 214: ...er defines the test to be performed for the variable detected by P299 using P303 as a comparing value P302 MDO4 Comparing Value for Test A P302 Range 32000 32000 320 00 320 00 of the full scale value...

Страница 215: ...Table 48 Default 0 D0 Disable Level ADVANCED Address 648 Function This parameter selects the digital signal used to calculate the value of MDO4 digital output The digital signals that can be selected...

Страница 216: ...c Level P305 Range 0 1 0 FALSE 1 TRUE Default 1 1 TRUE Level ADVANCED Address 905 Function MDO4 digital output logic function to apply a logic reversal negation to the calculated output signal 0 FALSE...

Страница 217: ...4 Signal selection ENGINEERING D0 Disable 912 P313 XMDO4 Output logic level ENGINEERING 1 True 913 P314 XMDO5 Signal selection ENGINEERING D0 Disable 914 P315 XMDO5 Output logic level ENGINEERING 1 Tr...

Страница 218: ...ic reversal negation to the calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied P310 XMDO3 Signal Selection P310 Range 0 79 See Table 48 Default 0 D0 Disable Lev...

Страница 219: ...gic reversal negation to the calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied P314 XMDO5 Signal Selection P314 Range 0 79 See Table 48 Default 0 D0 Disable Le...

Страница 220: ...variable used to calculate the value of XMDO6 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 48 P317 XMDO6 Output Logic Level...

Страница 221: ...ON 1 8 ON 1 2 3 ON 1 4 5 6 7 ON 1 8 ON 1 2 3 ON 1 4 5 6 7 ON 1 8 SW2 28 2 List of Parameters P318 to P325 Table 58 List of parameters P318 to P325 Parameter FUNCTION User Level DEFAULT VALUES MODBUS A...

Страница 222: ...Function Value of the measure offset for channel 1 an offset can be applied to the measure to correct possible errors P322 Channel 2 Measure Mode P322 Range 0 1 0 no input 1 val PT100 Default 0 0 no...

Страница 223: ...Function Value of the measure offset for channel 3 an offset can be applied to the measure to correct possible errors P326 Channel 4 Measure Mode P326 Range 0 1 0 no input 1 val PT100 Default 0 0 no...

Страница 224: ...t of parameters P330 to P331 Parameter FUNCTION User Level Default Values MODBUS Address P330 Third measure from the Fieldbus ENGINEERING 13 Torque Out 930 P331 Fourth measure from the Fieldbus ENGINE...

Страница 225: ...20 M019 PID RmpOut 67 M066 SP Counter 21 M020 PID Fbk 68 M036b Aux FBus Dig IN 22 M021 PID Err 69 M022a PID2 Out 23 M022 PID Out 70 M069 PT100 Temp 1 24 M023 PID Ref 71 M070 PT100 Temp 2 25 M024 PID...

Страница 226: ...ry digital outputs values from 13 to 20 in the parameters relating to the control functions can be set up only after setting XMDI O in parameter R023 30 1 1 FACTORY SETTING The four virtual digital ou...

Страница 227: ...cations The ABS BRAKE mode is applied by selecting the measured or estimated speed value A71 as the first variable and the output torque A80 as the second variable Variables are considered as absolute...

Страница 228: ...omparing value ABS GREATER THAN EQUAL TO Absolute value selected variable comparing value ABS LOWER Absolute value selected variable comparing value ABS LOWER THAN EQUAL TO Absolute value selected var...

Страница 229: ...the previous value Qn 1 and on the result of the two tests Signals A and B are considered only when passing from 0 1 Rising Edge or 1 0 Falling Edge and may be used both as Set and Reset command Exam...

Страница 230: ...s when no condition is true The NOR function between two variables corresponds to the AND of the same false variables i e A NOR B A AND B A NOR B Test A Test B Output 0 0 1 1 0 0 0 1 0 1 1 0 A NAND B...

Страница 231: ...rogrammed block The user can choose one of the six Boolean tests above for the first variable f A B and for the second variable C Logic applied to MPL1 2 3 4 P358 P367 P376 P385 The logic of the Boole...

Страница 232: ...nality of the system thus avoiding loop wiring on the same control board Example It can be necessary to control the status of the physical ENABLE contacts ENABLE A and ENABLE B of the system to cause...

Страница 233: ...Min operating PWR P365 MPL2 Comparing value for Test B Min FBK value P366 MPL2 Function applied to the result of the 2 tests A AND B P366a MPL2 Selecting variable C D11 PID Out Max P366b MPL2 Functio...

Страница 234: ...l See steps 1 and 2 below Virtual digital output MPL4 locks the system operation in two modes 1 Virtually connecting the output to an external alarm input P385 FALSE C164 12 MPL4 2 Disabling the PID P...

Страница 235: ...put logic level TRUE P377 MPL4 Digital output mode DIGITAL P378 MPL4 Selecting variable A D52 MPL3 P379 MPL4 Selecting variable B P380 MPL4 Testing variable A P381 MPL4 Testing variable B P382 MPL4 Co...

Страница 236: ...966 P366a MPL2 Selecting variable C ADVANCED D0 DISABLE 934 P366b MPL2 Function applied to the result of f A B C ADVANCED 0 f A B OR C 935 P367 MPL2 Output logic level ADVANCED 1 TRUE 967 P368 MPL3 Di...

Страница 237: ...Function This parameter selects the digital signal used to calculate the value of MPL1 digital output It selects an analog variable used to calculate the value of MPL1 digital output if one of the ana...

Страница 238: ...er defines the test to be performed for the variable detected by P352 using P356 as a comparing value P355 MPL1 Comparing Value for Test A P355 Range 32000 32000 320 00 320 00 of the full scale value...

Страница 239: ...Table 48 Default 0 D0 Disable Level ADVANCED Address 932 Function This parameter selects the digital signal used to calculate the value of MPL1 digital output The digital signals that can be selected...

Страница 240: ...the beginning of this chapter P360 MPL2 Selecting Variable A P360 Range 0 149 See Table 48 Default 33 D0 Disable Level ADVANCED Address 960 Function This parameter selects the digital signal used to...

Страница 241: ...er defines the test to be performed for the variable detected by P361 using P365 as a comparing value P364 MPL2 Comparing Value for Test A P364 Range 32000 32000 320 00 320 00 of the full scale value...

Страница 242: ...66a Range 0 79 See Table 48 Default 0 D0 Disable Level ADVANCED Address 934 Function This parameter selects the digital signal used to calculate the value of MPL2 digital output The digital signals th...

Страница 243: ...the beginning of this chapter P369 MPL3 Selecting Variable A P369 Range 0 149 See Table 48 Default 38 D0 Disable Level ADVANCED Address 969 Function This parameter selects the digital signal used to...

Страница 244: ...er defines the test to be performed for the variable detected by P370 using P374 as a comparing value P373 MPL3 Comparing Value for Test A P293 Range 32000 32000 320 00 320 00 of the full scale value...

Страница 245: ...Table 48 Default 0 D0 Disable Level ADVANCED Address 936 Function This parameter selects the digital signal used to calculate the value of MPL3 digital output The digital signals that can be selected...

Страница 246: ...the beginning of this chapter P378 MPL4 Selecting Variable A P378 Range 0 149 See Table 48 Default 0 D0 Disable Level ADVANCED Address 978 Function This parameter selects the digital signal used to c...

Страница 247: ...er defines the test to be performed for the variable detected by P379 using P383 as a comparing value P382 MPL4 Comparing Value for Test A P382 Range 32000 32000 320 00 320 00 of the full scale value...

Страница 248: ...e Table 48 Default 0 D0 Disable Level ADVANCED Address 938 Function This parameter selects the digital signal used to calculate the value of MPL4 digital output The digital signals that can be selecte...

Страница 249: ...it reflects the drive status this indication is not be considered SIL rated as per the safety standards the STO function relates to The STO safety function is accomplished with a dedicated and redunda...

Страница 250: ...Differential input Pin 11 12 XAIN4 10V Input P390 Differential input Pin 13 14 XAIN5 20mA Input P395 NOTE Configurations different from the ones stated in the table above are not allowed Scaling is ob...

Страница 251: ...395 Type of signal over XAIN5 input ADVANCED 3 4 20mA 995 P396 Value of XAIN5 input producing min reference X axis ADVANCED 4 0mA 996 P396a Percentage of Speed_Min Trq_Min producing min reference Y ax...

Страница 252: ...P390 0 0 100 if P390 3 10 0 V 10 0 V if P390 0 10 V 0 0 V 10 0V if P390 1 0 10 V Default 100 10 0V Level ADVANCED Address 992 Function This parameter selects the value for XAIN4 input signal for maxim...

Страница 253: ...being saturated if the detected signal is lower than 4 mA or greater than 20 mA alarms A069 or A086 trip 4 0 20 mA Unipolar current input between 0 mA and 20mA The detected signal is saturated between...

Страница 254: ...7a Range 0 1000 100 0 Default 1000 100 0 Level ADVANCED Address 712 Function This parameter represents the max speed percentage or the max torque percentage for a torque reference to be used for the m...

Страница 255: ...073 Motor Tune describes the type of autotune which is performed Because the values set in I073 or I074 cannot be changed once for all and are automatically reset after autotune the ENABLE A ENABLE B...

Страница 256: ...t cannot rotate During that procedure current pulses are applied to the motor The current amplitude of the current pulses is up to the rated current Before performing this procedure tune motor paramet...

Страница 257: ...f rotation of approx 150 rpm its speed of rotation is detected by the encoder then the drive is disabled The following messages can be displayed on the display keypad A059 Encoder Fault W31 Encoder OK...

Страница 258: ...ct operation of the encoder used as a speed feedback see Checking the Encoder Operation I074 Type of Motor Tune I074 Range 0 2 0 Motor Params 1 Control NO rot 2 Control YES rot Default This is not a p...

Страница 259: ...hat the connected motor has a rated speed equal to 1500rpm at 50Hz and that you need the best performance up to 200rpm and a noiseless carrier frequency at max speed 3000rpm In this case the max speed...

Страница 260: ...00Hz on demand except for models 0008 0010 and 0013 625Hz on demand 625Hz on demand except for models 0040 1000Hz on demand and 0049 800Hz on demand 500Hz for models 0523 0599 0749 0832 0850 0965 and...

Страница 261: ...le 85 Level ENGINEERING Address 1001 Function This parameter represents the min value of the modulation frequency being used NOTE The minimum value in C001 cannot exceed the maximum value in C002 If y...

Страница 262: ...r has effect only if C001 C002 It represents the min value of pulses per period obtained when modulation frequency changes synchronous modulation C004 Silent Modulation C004 Range 0 1 0 No 1 Yes Defau...

Страница 263: ...to use a transducer The Field Oriented Control is a closed chain control requiring a speed transducer to detect the position of the motor shaft instant by instant The parameter set for the selected mo...

Страница 264: ...rameters C013 C032 C038 C056 C075 C081 C099 C118 C124 Slip compensation activation C039 C082 C125 Drop in rated current voltage C040 C083 C126 Fluxing ramp time C041 C084 C127 The parameters that can...

Страница 265: ...trol implementation S Slip rot M Rr rotor time constant Because the motor characteristics are generally unknown the Sinus Penta is capable of automatically determining the motor characteristics see th...

Страница 266: ...sses caused by the stator impedance and a greater torque at lower revs If C013 Quadratic the drive will follow a V f pattern with a parabolic trend You can set the starting voltage value C034 the desi...

Страница 267: ...ominal voltage at the frequency set up by the relevant parameter C035 C078 C121 Boost 0 application frequency Determines the Boost 0 application frequency C035a C078a C121a Voltage Boost 1 Determines...

Страница 268: ...ON IFD ONLY This function allows compensating the speed decrease of the asynchronous motor when the mechanical load increases slip compensation This is available for IFD control only The parameters re...

Страница 269: ...2 and 3 the parameters relating to min and max torque C090 C091 and C133 C134 are included in the Limits Menu 2 and Limits Menu 3 Using a 0020 drive connected to a 15kW motor C048 is factory set to 12...

Страница 270: ...es are highlighted in gray P176 AO1 Representation Mode Selection 1 10V P177 AO1 Represented Variable Selected 64 Torque Dem P178 AO1 Minimum Value of the Represented Variable 200 P179 AO1 Maxmum Valu...

Страница 271: ...er than the rated speed C016 scaled by C030 For example a motor featuring rated speed C016 1480rpm and C030 100 with rated current C018 100A and C021 25 up to 1480rpm the magnetization current is C018...

Страница 272: ...hows the magnetiziation current Imag pattern and the outpt voltage Vout pattern based on speed with fixed load for the static field weakening and the automatic field weakening Figure 44 Comparing the...

Страница 273: ...s means that the magnetizing current in field weakening mode is too low Do the following A Increase C030 in oder to start reducing the magnetization current as 1 n at higher speed or disable the stati...

Страница 274: ...ve BASIC 1013 See Table 84 and Table 88 C056 M2 1056 C099 M3 1099 C014 M1 Phase rotation ENGINEERING 1014 0 No C057 M2 1057 C100 M3 1100 C015 M1 Rated motor frequency BASIC 1015 50 0 Hz C058 M2 1058 C...

Страница 275: ...dratic torque curve ADVANCED 1032 30 C075 M2 1075 C118 M3 1118 C033 M1 Rated revs referring to reduction in quadratic torque curve ADVANCED 1033 20 C076 M2 1076 C119 M3 1119 C034 M1 Voltage Preboost f...

Страница 276: ...e used see Table 79 DO NOT USE xT Regen settings in this case Table 79 Equivalence between AC mains range and DC range AC Mains DC range 200 240 Vac 280 338 Vdc 380 480 Vac 530 678 Vdc 481 500 Vac 680...

Страница 277: ...rollers guarantee segregation between the flux control and the torque control In that way the motor flux is adjusted based on the magnetizing current obtained from No load current C021 C064 for motor...

Страница 278: ...set in parameter C029 C072 C115 This function can be used to automatically toggle from the torque control mode to the speed control mode when the torque control mode is implemented the motor speed ca...

Страница 279: ...C and FOC Function This parameter enables the encoder as a speed feedback It defines the encoder characteristics and whether Encoder A MDI6 and MDI7 in the terminal board or Encoder B with optional bo...

Страница 280: ...equency Boost0 C035 C078 C121 and voltage increase to a programmed frequency Boost1 C036 C079 C122 frequency for Boost1 C037 C080 C123 C014 C057 C100 Phase Rotation C014 Motor 1 C057 Motor 2 C100 Moto...

Страница 281: ...ass 5T drives 690 0V for class 6T drives Level BASIC Address 1019 1062 1105 Function This parameter defines the rated motor voltage nameplate rating C020 C063 C106 Motor No Load Power C020 Motor 1 C06...

Страница 282: ...ar connection is used it matches with the value of the inductance of one phase if a delta connection is used it matches with 1 3 of the inductance of one phase Autotune is always recommended NOTE With...

Страница 283: ...he bus voltage readout Changing this value can avoid motor oscillations especially when no load is connected to the motor C028 C071 C114 Min Motor Speed C028 Motor 1 C071 Motor 2 C114 Motor 3 Range 32...

Страница 284: ...efines the maximum speed of the connected motor When references forming the global reference are at their max relative value the global reference equals the max speed of the connected motor If C011 C0...

Страница 285: ...31 1074 1117 Function If it is not set to zero this parameter determines the speed value to be entered for the maximum speed alarm A076 C032 C075 C118 Reduction in Quadratic Torque Curve C032 Motor 1...

Страница 286: ...ge frequency constant It is expressed as a percentage of the nominal motor voltage C019 C062 C105 C035a C078a C121a Frequency for Boost 0 Application C035a mot n 1 C078a mot n 2 C121a mot n 3 Range 0...

Страница 287: ...orque compensation expressed as a percentage of the motor rated voltage The preset value expresses the voltage increase when the motor is running at its rated torque NOTE For optimum efficiency it is...

Страница 288: ...e Type of V f pattern C015 50 Hz Rated frequency C019 380 V Rated voltage C018 50 A Rated current If the drive output frequency is 25 Hz it should deliver 190V When the output current is 40A C018 the...

Страница 289: ...YES 0013 19 21 25 5 10 YES 0014 16 5 25 30 5 16 YES 0015 23 25 30 5 10 YES S05 S12 0016 27 30 36 3 10 YES 0020 30 36 43 3 10 YES S12 0017 30 32 37 3 10 YES 0023 38 42 51 3 10 YES 0025 41 48 58 3 10 Y...

Страница 290: ...00 960 1152 2 4 NO S60P 0598P 900 1100 1152 2 4 NO S65 0598 900 1100 1320 2 4 NO 0748 1000 1300 1560 2 4 NO 0831 1200 1440 1728 2 4 NO S75 0964 1480 1780 2136 2 4 NO 1130 1700 2040 2448 2 4 NO 1296 21...

Страница 291: ...0 50 10 10 50 10 0 1 0 2 S05 S12 0016 300 150 50 10 10 50 10 0 1 0 2 0020 300 150 50 10 10 50 10 0 1 0 2 S12 0017 300 150 50 10 10 50 10 0 1 0 2 0023 300 150 50 10 10 50 10 0 1 0 2 0025 300 150 50 10...

Страница 292: ...450 100 250 100 100 1 100 1 2 0524 450 100 250 100 100 1 100 1 2 S60P 0598P 450 100 250 100 100 1 100 1 2 S65 0598 450 100 250 100 100 1 100 1 2 0748 450 100 250 100 100 1 100 1 2 0831 450 100 250 10...

Страница 293: ...0 1 0013 0 CONST 1 0 0 50 1 0014 0 CONST 1 0 0 50 1 0015 0 CONST 1 0 0 50 1 S05 S12 0016 0 CONST 1 0 0 50 1 0020 0 CONST 1 0 0 50 1 S12 0017 0 CONST 1 0 0 50 1 0023 0 CONST 1 0 0 50 1 0025 0 CONST 1 0...

Страница 294: ...02 2 FREE 0 2 20 20 0 S60 0457 2 FREE 0 2 20 20 0 0524 2 FREE 0 2 20 20 0 S60P 0598P 2 FREE 0 2 20 20 0 S65 0598 2 FREE 0 2 20 20 0 0748 2 FREE 0 2 20 20 0 0831 2 FREE 0 2 20 20 0 S75 0964 2 FREE 0 2...

Страница 295: ...9 0 800 6 00 0020 5 5 19 5 0 346 2 89 11 21 0 0 600 5 00 S12 0017 9 2 21 0 800 6 00 0023 7 5 25 7 0 300 2 50 0025 15 29 0 400 3 00 0030 18 5 35 0 300 2 50 0033 11 36 0 200 1 50 0034 22 41 0 250 2 00...

Страница 296: ...14 315 528 0 008 0 25 0524 220 661 0 004 0 12 355 589 0 007 0 20 S60P 0598P 250 732 0 003 0 12 400 680 0 006 0 20 S65 0598 250 732 0 003 0 12 400 680 0 006 0 20 0748 280 840 0 002 0 09 500 841 0 003...

Страница 297: ...125 165 198 2 4 YES 0088 150 200 240 2 4 YES 0131 190 250 300 2 4 YES 0164 230 300 360 2 4 YES 0172 265 345 414 2 4 YES S42 0181 305 380 420 2 4 NO 0201 330 420 420 2 4 NO 0218 360 465 560 2 4 NO 025...

Страница 298: ...0 10 50 10 0 1 0 2 S32 0076 300 150 100 10 10 50 10 0 1 0 2 0088 300 150 150 10 10 50 10 0 1 0 2 0131 300 150 150 10 10 50 10 0 1 0 2 0164 300 150 200 10 10 50 10 0 1 0 2 0172 300 150 200 10 10 50 10...

Страница 299: ...051 0 CONST 1 0 0 50 1 0062 0 CONST 1 0 0 50 1 0069 0 CONST 1 0 0 50 1 S32 0076 0 CONST 1 0 0 50 1 0088 0 CONST 1 0 0 50 1 0131 0 CONST 0 5 0 50 1 0164 0 CONST 0 5 0 50 1 S42 0181 2 FREE 0 2 20 20 0 0...

Страница 300: ...110 112 6 0 104 1 73 0131 110 135 0 058 1 44 160 158 0 069 1 73 0164 132 168 0 029 1 44 185 185 0 035 1 73 S42 0181 185 225 0 026 1 44 220 220 0 031 1 73 0201 200 240 0 026 1 30 250 250 0 031 1 56 021...

Страница 301: ...ange of the source used for limitation the torque ramp times set in the RAMPS MENU will be applied to the preset limit torque reference When in field weakening mode such as when the system operates at...

Страница 302: ...ier frequency models without Ipeak functionality fdef default carrier frequency f maximum carrier frequency to obtain Imax fmax maximum programmable carrier frequency CAUTION The pictures above show t...

Страница 303: ...SIC 1044 150 C087 M2 ADVANCED 1087 C130 M3 1130 C045 M1 Current limit while decelerating BASIC 1045 See Table 82 and Table 86 C088 M2 ADVANCED 1088 C131 M3 1131 C046 M1 Current limit decrease in field...

Страница 304: ...elected motor No limit is applied if this parameter is set to 0 Disabled The maximum allowable value depends on the drive size C045 C088 C131 Current Limit while Decelerating C045 Motor 1 C088 Motor 2...

Страница 305: ...120 0 Level BASIC C048 ADVANCED C091 C134 Address 1048 1091 1134 Control VTC and FOC Function This parameter sets the max limit of the torque demanded by the control being used Torque is expressed as...

Страница 306: ...eferences hardware or virtual sources and enable an external torque limit The drive commands may be sent from The hardware terminal board terminal board on the control board which is logically separat...

Страница 307: ...d refer to the TIMERS MENU Figure 49 Selecting the command sources If the keypad is not selected as a command source or when the keypad is selected if the the STOP input function is also enabled C150...

Страница 308: ...inal board see C180 forces the keypad as the only command source thus ignoring the values set in parameters C140 C141 C142 The following functions are therefore enabled for the hardware terminal board...

Страница 309: ...le and logic AND C179b Reference Selection 0 Disable If C179 MDIx input or logic OR C179b MDIx input C143 Always active Active if MDIx 0 C144 Always active Active if MDIx 1 C145 Always active Always a...

Страница 310: ...Speed Limit I029 is used as a torque limit if C147 5 Serial Link I029 is expressed as a percentage of the max absolute torque set with the parameters C047 and C048 motor 1 and relevant parameters for...

Страница 311: ...filtering see the INPUTS FOR REFERENCES FROM OPTIONAL BOARD Figure 50 Selecting the source references 36 1 3 ALTERNATIVE COMMAND AND REFERENCE SOURCES A digital input can be set as a selector between...

Страница 312: ...determined by the drive size and the motor size The max absolute torque is the max value ranging between the absolute values of C047 and C048 motor 1 and relevant parameters for motor 2 and motor 3 M...

Страница 313: ...e following requirements at 0V they are expected to generate 100 of the minimum motor speed reference C028 i e 0rpm at 10V they are expected to generate 100 of the maximum motor speed reference C029 i...

Страница 314: ...ence 100 0 P055 Type of Signal over AIN1 input 3 0 10V P056 Value of AIN1 Input producing Min Reference 0 0V P056a Percentage of Ref_Min producing Min Reference 100 0 P057 Value of AIN1 input producin...

Страница 315: ...ameters above C140 C141 C142 Command Source Selection 1 2 3 C140 C141 C142 Range 0 5 0 Disabled 1 Terminal Board 2 Serial Link 3 Fieldbus 4 Terminal Board B 5 Keypad Default C140 C141 1 C142 0 C140 C1...

Страница 316: ...speed or torque references shall only be given by the PID output and not by the sources set in C143 C146 Reference sources 10 and 11 can be selected only after setting XAIN in parameter R023 C147 Tor...

Страница 317: ...detailed below switching from Remote to Local mode and vice versa can be performed even when the drive is running No Bumpless When switching from Remote to Local mode a zero speed or torque reference...

Страница 318: ...o each digital input in the terminal board Each parameter has a particular function which is assigned to a given terminal on the terminal board Figure 51 Inputs that can be selected to implement contr...

Страница 319: ...for all active terminals The ENABLE function is obtained with the logic AND of the input signals for terminal MDI2 S physical terminal board and terminals MDI2 serial link and fieldbus in all active...

Страница 320: ...RUN command the main speed reference must be other than zero When START is inactive also when the ENABLE is active the RUN command is disabled the reference is set to zero and the speed or torque setp...

Страница 321: ...ereas the same terminal may be assigned to different functions In order to enable the drive operation ENABLE A and ENABLE B inputs must be active In that way MDI2 S displayed in measure M033 will be a...

Страница 322: ...r the Safe Torque Off Function Application Manual That manual also includes a detailed validation procedure of the control configuration of the STO function to be executed upon first start up and also...

Страница 323: ...pes of control parameters P065 and P066 must be set accordingly The drive may also be disabled by the PID regulator see parameter P255 DANGER The deactivation of the ENABLE SW signal the activation of...

Страница 324: ...e reset function from terminal MDI3 set C154 Yes If a protection trips the drive locks the motor starts idling the motor idles and stops due to friction or the mechanical load and an alarm message is...

Страница 325: ...scription START 14 MDI1 Enables the drive RUN ENABLE 15 MDI2 S Enables the drive RESET 16 MDI3 Resets the alarms tripped MULTISPEED 0 17 MDI4 Bit 0 for Multispeed selection MULTISPEED 1 18 MDI5 Bit 1...

Страница 326: ...Input ADVANCED 1162 none C163 RESET UP DOWN Input ADVANCED 1163 none C164 External alarm 1 Input ADVANCED 1164 none C164a External alarm 1 trip delay ADVANCED 1305 immediate C165 External alarm 2 Inpu...

Страница 327: ...6 Range 0 2 0 Inactive 1 Clear all 2 Set factory default Default This is not a programming parameter the input is set to zero whenever the drive is powered on and whenever the command is executed Leve...

Страница 328: ...drive RUN Press STOP to disable the drive RUN reference is set to zero so the speed or torque setpoint decreases to zero based on the preset deceleration ramp In case of preset STOP the keypad and on...

Страница 329: ...RSE signal and the START input act as switches otherwise they act as keys NOTE If the keypad is active pressing the FWD REV key on the display keypad will also reverse the direction of rotation of the...

Страница 330: ...Inactive Level ADVANCED Address 1299 Function The REVERSE B Input acts as the REVERSE Input see C151 when Terminal Board B is active The figure below illustrates the processing logic diagram for the...

Страница 331: ...is estimated in series to the ENABLE function associated to MDI2 inputs If this function is enabled the drive is enabled if and only if the ENABLE A ENABLE B and ENABLE SW inputs are simultaneously ac...

Страница 332: ...e the input signal on the terminal selected via C153 activate the ENABLE A and ENABLE B signals activate the MDI2 inputs via serial link and fieldbus if selected via C140 C141 C142 activate the ENABLE...

Страница 333: ...ss is updated via an external interface system In order not to change the value of a different parameter read the address value from the interface system before operating and make sure that only the b...

Страница 334: ...1 0 1 0 1 0 1 0 1 0 1 0 1 MULTISPEED 1 X 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 MULTISPEED 2 X 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 MULTISPEED 3 X 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 Multispeed selected X 0 1 2 3 4 5...

Страница 335: ...or FOC control this function has no effect even if C160 0 The DCB command enables DC braking at stop for a time period depending on the speed value determining the input activation See the DC Braking...

Страница 336: ...a C165a C166a allow delaying external alarms To restart the drive the digital input set as an external alarm must be closed and a Reset procedure is required Alarms tripped due to these 3 functions ar...

Страница 337: ...and Multiramp 1 is the most significant bit bit 1 The ramps range from 1 to 4 for the selected ramp add 1 to the binary figure obtained If one of these functions is not programmed the relevant bit is...

Страница 338: ...tion is active the JOG function is ignored NOTE If the motor is not running in SLAVE mode torque reference instead of speed reference it can rotate at JOG speed when the user activates the JOG functio...

Страница 339: ...ANCED Address 1170 Control VTC and FOC Function When activating the terminal allocated to the Slave Input the main reference becomes a torque reference and the speed loop is by passed This function en...

Страница 340: ...its output and its external variable are set to zero More precisely if the PID regulator is in External Out mode C294 0 when the PID DISABLE function is enabled the PID output is set to zero and the e...

Страница 341: ...e START STOP REV JOG RESET commands via keypad If the LOCK command is active and the LOCAL mode is disabled the LOCK function prevents the LOCAL mode from activating C173 C174 MOTOR SEL Input C173 C17...

Страница 342: ...own in Table 105 and Table 106 If one of these functions is not set up its bit is zero Table 105 Selection of the speed reference variation Variation of the Selected Speed Reference Bit 2 Bit 1 Bit 0...

Страница 343: ...med in the PID CONFIGURATION MENU parameter C285 for reference source n 1 and C288 for feedback source n 1 When the digital input set as a source selector is closed only the second command source and...

Страница 344: ...ed source The ENABLE input MDI2 however is considered as AND to the selected source C179b Input for Reference Selection C179b Range 0 16 0 24 if ES847 or ES870 is fitted 0 Inactive 1 8 MDI1 MDI8 9 12...

Страница 345: ...PID Disable and the LOCAL function itself that can be disabled at any time If the input is deactivated when the drive is disabled signals coming from different sources will activate again If the main...

Страница 346: ...82 Function This function allows allocating two different functions to the same terminal NOTE Only few preset combinations are allowed When invalid configurations are set up ILLEGAL DATA appears on th...

Страница 347: ...ecting whether the drive is to be deactivated with a controlled deceleration ramp or is left idling when the START command is open C186 Fire Mode Enable Input C186 Range 0 16 0 24 if ES847 or ES870 is...

Страница 348: ...cted Multitorque reference Function Status of the relevant input MULTITORQUE 0 0 1 0 1 MULTITORQUE 1 0 0 1 1 Selected Multitorque 0 1 2 3 Resulting multitorque limit P101 P102 P103 If both Multitorque...

Страница 349: ...81a to P087a according to the operating mode selected with P080a The 3 functions determine which is the active reference among the 7 available PID references the active value 1 or the inactive value 0...

Страница 350: ...can be programmed for MDI6 and MDI7 if you attempt to program MDI6 and MDI7 alarm A082 Illegal Encoder Configuration will trip when the ENABLE function is activated Reading a Frequency Input Digital i...

Страница 351: ...Configuration will trip when the ENABLE function is activated Reading a Frequency Input Only MDI6 digital input FINA can be used as a frequency input if MDI8 is programmed as a frequency input FINB wi...

Страница 352: ...with an NPN encoder with Single Ended outputs its resolution is 1024 pls rev Only one Push Pull encoder can be connected to digital inputs MDI6 MDI7 so encoder NPN of motor 2 representing the speed f...

Страница 353: ...ble Selection of reference 4 source References Menu Setup of the reading range for the encoder used as a speed reference P073 0 rpm Encoder input min rpm P074 750 rpm Encoder input max rpm Ramps Menu...

Страница 354: ...89 Function This parameter determines the operating mode of the fast acquisition digital inputs or the encoders connected to the optional boards If MDI8 is used as a frequency input the optional board...

Страница 355: ...or the motor control and as a PID regulator reference C190 Number of Pls Rev for Encoder A C190 Range 256 10000 256 10000 pls rev Default 1024 1024 Level BASIC Address 1190 Function Defines the number...

Страница 356: ...racking error is caused by saturation of the speed regulator due to external torque limit no alarm trips The tracking error activation is indicated by digital signal D32 see Table 48 Alarm A080 may be...

Страница 357: ...98 Range 0 1 0 2 Quadrature channels 1 Channel only Default 0 0 2 Quadrature channels Level ENGINEERING Address 1198 Function This parameter defines the number of channels used for encoder B reading s...

Страница 358: ...period is 30s According to the tables in the Braking Resistors section Motor Drives Accessories User Manual the applicable braking resistor is 10 24 kW The max continuous duty for said resistor is 62s...

Страница 359: ...eshold thus limiting the maximum value of the resisting torque In FOC control this function is enabled only if C210 0 The regulator may be controlled in VTC control only Parameters C213a and C213b are...

Страница 360: ...ion If C210 With Resistor this parameter commands enabling resistor and DC bus relating to this operating condition allowing dissipating energy regenerated from the motor If no braking resistor is use...

Страница 361: ...nsation Smart Voltage Control SVC Smart Voltage Control C213 Range 0 1000 0 1000 Default 0 0 Level ENGINEERING Address 1279 Control IFD Function If this parameter is set 0 a value given by C213 deriva...

Страница 362: ...the resisting torque limit The limiting function activates when voltage exceeds the value below Vth C213c Vunlock 100 where Vunlock is based on the inverter voltage class and is typically higher than...

Страница 363: ...1 DC BRAKING AT START AND NON CONDENSING FUNCTION To activate DC braking at start set C216 to YES Braking occurs after sending a START command with a speed reference other than zero before the accele...

Страница 364: ...current during motor fluxing Parameter C221 expressed as a percentage of the rated current of the controlled motor determines the level of direct current injected into the motor Parameters used to pr...

Страница 365: ...set in C235 Power Down Stop Level The figure below illustrates the output speed and DC Braking trends when the DC Braking at Stop function is active Parameters used to program this function are the fo...

Страница 366: ...ases a t1 t time t1 for braking command is longer than t To restart the motor following the preset acceleration ramp when DC Braking is over just disable the DCB command and disable and enable again t...

Страница 367: ...earching function disabled C245 NO Prematurely disable the manual braking command to stop DC braking If the motor is still rotating it will start idling To restart the motor following the preset accel...

Страница 368: ...ivate the Speed Searching function When the motor speed searching occurs the motor speed is increased depending on the preset acceleration ramp see Figure 62 Figure 62 Manual DCB Example 3 Motor Speed...

Страница 369: ...gulator ENGINEERING 1237 100 ms C221 DCB Hold ADVANCED 1221 0 C222 Ramp Braking Time for Motor 1 DCB ENGINEERING 1222 See Table 82 and Table 86 C223 Ramp Braking Time for Motor 2 DCB ENGINEERING 1223...

Страница 370: ...NGINEERING Address 1213 Control VTC Function Ramp duration to zero speed before activating DC Brake in case of manual request by digital input VTC control C220 DCB Current Level C220 Range 0 MIN Ipeak...

Страница 371: ...during DC Braking when the VTC control algorithm is activated C221 DCB Hold C221 Range 0 100 0 100 Default 0 0 Level ADVANCED Address 1221 Control IFD Function Determines the level of direct current i...

Страница 372: ...takes place deceleration ramp in Power Down C227 The time period of the deceleration ramp can be user defined YES V In case of power down for a time longer than C226 the motor coasts to stop so that D...

Страница 373: ...Down the following functions can be selected in parameter C234 Stop The drive will control the motor until it stops down independently of the value set in C235 When the motor stops and power supply i...

Страница 374: ...EERING 1234 0 Stop C235 Motor speed at the end of Power Down ENGINEERING 1235 0 rpm C225 Procedure in Case of Power Down C225 Range 0 3 0 Disabled 1 Yes 2 YesV 3 Alarm Default 3 3 Alarm Level ENGINEER...

Страница 375: ...deceleration adjustment when C225 Yes V C228 Start Increment of Ramp Gradient in Power Down C228 Range 100 10000 1 00 100 00 Default 10 0 10 Level ENGINEERING Address 1228 Function Determines an incr...

Страница 376: ...r Class 6T Level ENGINEERING Address 1230 Function Determines the reference value for DC bus voltage in case of automatic deceleration in Power Down C225 Yes V C231 PI Proportional Constant for Automa...

Страница 377: ...s attained the drive is put on stand by and the motor keeps decelerating motor idling If power supply is restored the same conditions as described in the step above see Stop instead of stopping the mo...

Страница 378: ...en and close the START command before tSSdis C246 is over disable the DC Braking command before the DC braking preset time is over see the DC BRAKING MENU reset any alarm tripped with reference other...

Страница 379: ...LE B command tO tSSdis C246 or C246 0 Three stages Time t1 The drive output frequency corresponds to the last value which was active before disabling the drive output current matches with the value se...

Страница 380: ...Lock RESET and ENABLE during Speed Searching C245 YES due to an Alarm Trip tOFF tSSdis C246 or C246 0 NOTE If the Safety at Start function is disabled C181 Inactive it is not necessary to activate an...

Страница 381: ...This parameter enables the speed searching function The Speed Searching function is enabled in the following cases when the ENABLE function is deactivated and reactivated before time tSSdis C246 when...

Страница 382: ...C248 Range 20 Min Ipeak inverter Imot 100 20 Min Ipeak inverter Imot 100 Default 75 75 Level ENGINEERING Address 1248 Control IFD VTC Function Determines the max current level for speed searching it i...

Страница 383: ...4 if ES847 or ES870 is fitted 0 Inactive 1 8 MDI1 MDI8 9 12 MPL1 MPL4 13 16 TFL1 TFL4 17 24 XMDI1 XMDI8 Default 0 0 Inactive Level ENGINEERING Address 1250 Control IFD VTC Function If set to Inactive...

Страница 384: ...dervoltage alarm A047 DC bus voltage below allowable threshold with motor running or Mains Loss alarm A064 mains loss when the motor is running and the Power Down function is disabled are not stored i...

Страница 385: ...s 1257 Function At power on this parameter enables the automatic reset of the alarms tripped when the drive is powered off C258 Enable Saving Undervoltage and Mains Loss Alarms C258 Range 0 1 0 Disabl...

Страница 386: ...34 6 Compliance Description 0 NO NO The Motor Thermal Protection function is disabled 1 YES No Derated IC410 The Motor Thermal Protection function is active with trip current It independent of operat...

Страница 387: ...methods are more complex but give more accurate results 44 2 1 IEC CLASS The motor can be protected as defined in the IEC 60947 4 1 standard for the thermal overload relays If the protection class is...

Страница 388: ...18 63 460 0 58 59 1400 0 25 71 500 0 7 106 1400 0 37 71 500 1 03 81 1395 0 55 80 600 1 3 37 1430 0 75 80 570 1 61 35 1420 1 1 90S 700 2 37 31 1445 1 5 90L 750 3 28 22 1450 2 2 112M 720 4 42 55 1455 4...

Страница 389: ...b When using a 7 5kW motor the multiplicative constant corresponding to an LRC FLC 8 2 is approx 46 if referring to the graph above As a result the motor thermal time constant that you would select is...

Страница 390: ...ing on the IEC Class and the current flowing which is supposed to be constant Parameter C266 trip current is factory set to 105 Figure 68 Trip delay of alarm A075 based on the IEC Class Example The pr...

Страница 391: ...on C264 Range 0 50 0 50 C Default 50 50 C Level ADVANCED Address 1264 Function This parameter sets the heatsink threshold for the activation of its cooling fans according to the control logic set in C...

Страница 392: ...0 C273 Thermal Time Constant C267 Motor 1 C270 Motor 2 C273 Motor 3 Range 1 10800 1 10 800 s Default 720 720s corresponding to IEC Class 20 Level BASIC C267 ADVANCED C270 C273 Address 1267 1270 1273 F...

Страница 393: ...ress 1275 Function This parameter resets the partial counter for the drive operation time C276 Operation Time Threshold C276 Range 0 65000 0 650000h Default 0 0h Level ENGINEERING Address 1276 Functio...

Страница 394: ...d Structure of the PID Regulator Figure 69 Structure of the PID Regulator The figure above illustrates the block diagram of the PID regulator Each block is described below Block 1 PID reference source...

Страница 395: ...Their percentage values relate to rated current values and rated voltage values of the selected motor and to 1500VDC respectively NOTE In Local mode the PID regulator is disabled if set as C294 Add R...

Страница 396: ...value for a time longer than P255 P455 for PID2 the drive is automatically put on stand by In the last block the PID output is applied to the function defined by the PID Action parameter C294 The PID...

Страница 397: ...addresses Table 122 Reference sources from serial link MODBUS Address Input User Level Type of Reference Description Unit of Measure 1418 I031 BASIC PID Reference PID reference value Set in P267 1420...

Страница 398: ...e source from the PID regulator Up to three reference sources may be configured 285 C287 considered as a sum The sources are used by the PID and are expressed in percentage values with reference to th...

Страница 399: ...ful if C294 3 Add Voltage This is a RMS measure of the output voltage obtained from the readout of the values of two properly transformed phase to phase output voltages from AIN1 and AIN2 Feedback sou...

Страница 400: ...f the remaining selected feedback signals is subtracted from the feedback signal programmed in C288 AVERAGE The resultant of the feedback is given from the arithmetical average of the selected signals...

Страница 401: ...e two PIDs use only the signals selected with C285 C288 for PID and with C286 C289 for PID2 2 PID PID and PID2 operate in parallel the outputs of the two PIDs are matched based on the configuration of...

Страница 402: ...93 Function This parameter defines if the proportional term is used for the multiplication of the derivative and integral terms as well 0 No means that the proportional term DOES NOT multiply the inte...

Страница 403: ...ol algorithm of the active motor is IFD In this case the PID regulator output is a correction of the output voltage The percentage value of the PID output relates to the instant voltage value For exam...

Страница 404: ...t the maximum level in the tank is to be kept at 50 and that a 4 20mA level probe is used with an output of 4mA for the min level and 20mA for the max level The PID reference is sent from keypad while...

Страница 405: ...de must also be set The PID regulator parameters are defined in the PID PARAMETERS MENU This configuration limits the PID output between 0 and 100 for a proper rotation of the connected pump Set P255...

Страница 406: ...emented output is the speed reference the higher the error absolute value the higher the PID output value This means that the quicker the level increases the quicker the pump suction On the other hand...

Страница 407: ...analog input AIN1 The rated motor voltage C019 is assumed to be 400V Set the following in the PID CONFIGURATION MENU C285 Selection of PID Reference 1 9 V out C288 Selection of PID Feedback 1 2 AIN1 C...

Страница 408: ...t the following in the INPUTS FOR REFERENCES MENU P055 Type of Reference for AIN1 Input 0 10V P057 Ref Max Value Limits for AIN1 Input 8 0V P060 Type of Reference for AIN2 Input 0 10V P062 AIN2 Input...

Страница 409: ...when during the lifting stage the mechanical brake closes when the load is suspended after reaching negligible speed In that case the torque produced by the motor is capable of keeping the load hangi...

Страница 410: ...a Range 0 32000 0 32000 ms Default 0 0 Level ENGINEERING Address 1301 1309 Control VTC and FOC Function Delay time passing between the start command and the speed ramp start During this time the motor...

Страница 411: ...NU parameters C192 C193 C194 the output of the electromechanical brake is to be disabled thus causing the activation of the brake itself 0 No in case of tracking error the brake command output is kept...

Страница 412: ...rial link of the inverter where the Data Logger is installed the Clock Calendar is viewed in the measure parameters below To update the Clock Calendar via serial link set the new values in C310 to C31...

Страница 413: ...3 Wed 4 Th 5 Fri 6 Sat 7 Sun Active This measure is available only if the Data Logger ES851 is installed and activated R021 ENABLE Address 3345 Level BASIC Function Day of the week current value Day...

Страница 414: ...2 December Active This measure is available only if the Data Logger ES851 is installed and activated R021 ENABLE Address 3347 Level BASIC Function Month current value Year Year Range 2000 2099 2000 20...

Страница 415: ...dar editing command ADVANCED 1244 C310 Day of the Week to be changed C310 Range 1 7 1 Mon 2 Tues 3 Wed 4 Th 5 Fri 6 Sat 7 Sun Default 1 1 Mon Active This parameter can be viewed and changed only if th...

Страница 416: ...ameter can be viewed and changed only if the Data Logger ES851 is installed and activated R021 ENABLE Address 1240 Function This parameter sets the value of the year to be changed C314 Time hours to b...

Страница 417: ...ta Logger ES851 is installed and activated R021 ENABLE Address 1244 Function If this parameter is set to 1 all the values set in parameters C310 to C315 are written and stored to the clock calendar of...

Страница 418: ...deactivation time of the flag itself 1 parameter setting the days of the week when the flag shall activate If the activation time precedes the deactivation time the flag will have the TRUE logic valu...

Страница 419: ...me ON Minutes ADVANCED 0 286 C346 TFL3 Time ON Seconds ADVANCED 0 287 C347 TFL3 Time OFF Hour ADVANCED 0 288 C348 TFL3 Time OFF Minutes ADVANCED 0 289 C349 TFL3 Time OFF Seconds ADVANCED 0 290 C350 TF...

Страница 420: ...evel ADVANCED Address 274 281 288 295 Function Sets the hour of deactivation of the timed flag TFL1 TFL2 TFL3 TFL4 C334 C341 C348 C355 Minute of Deactivation of the Timed Flag TFL1 TFL2 TFL3 TFL4 C334...

Страница 421: ...fault 0 0 Level ADVANCED Address 277 284 291 298 Function Sets the second of deactivation of the timed flag TFL1 TFL2 TFL3 TFL4 Every bit corresponds to a day of the week bit 1 corresponds to Monday b...

Страница 422: ...s for a time equal to 3 5 times the transmission time of a character the controller will consider this time interval as the end of the message Similarly a message starting with a shorter silence time...

Страница 423: ...arameters are the address of the basic digital register to be read and the output number to be read QUERY RESPONSE Slave address Slave address 03h Function 03h Function Register address high Byte numb...

Страница 424: ...legal address 0x03 ILLEGAL DATA VALUE The numerical value the Master tried to write is not included in the correct range 0x06 DEVICE BUSY The drive refused the Master writing attempt e g because it is...

Страница 425: ...RJ45 connector dialogues correctly with the drive using the default values preset in the parameter set for serial link 1 The drive will typically behave as a slave device i e it only answers to queri...

Страница 426: ...Added to 4byte time for Serial link 1 RJ45 ENGINEERING 598 2msec R012 Watchdog Time for Serial Link 1 RJ45 ENGINEERING 599 0 0sec R013 Parity Bit for Serial Link 1 RJ45 ENGINEERING 600 1 Disabled 2 St...

Страница 427: ...0 3 0 Disabled 1 Stop bit 1 Disabled 2 Stop bit 2 Even 1 Stop bit 3 Odd 1 Stop bit Default 1 1 Disabled 2 Stop bit Level ENGINEERING Address 593 Function This parameter determines whether the parity b...

Страница 428: ...RJ45 connector and the message sent from the master to the drive is considered as complete R012 Watchdog Time for Serial Link 1 RJ45 R012 Range 0 60000 0 6000 0 sec Default 0 0 0 sec Level ENGINEERIN...

Страница 429: ...meter R016 0 to disable alarm A070 A legal message is as follows PROFIdrive The master drive writes bit 11 1 of the Control Word see PROFIdrive COMMUNICATIONS BOARD Installation and Programming Guide...

Страница 430: ...once the drive has received the first legal message from the master as described in Alarm A070 Communication Suspended This avoids untimely activation due to different start times between the master a...

Страница 431: ...e system checks if bit 15 of word 5 digital inputs from Fieldbus is set to 1 If the bit drops to zero for a time longer than R016 alarm A070 Fieldbus WDG trips 1 After having established a connection...

Страница 432: ...t power on and whenever the command is executed Level ENGINEERING Validity Boards B40 Modbus TCP IP and Profinet Address 519 Function Pressing the button forces the following after the board is reset...

Страница 433: ...six variables shall be entered by the PLC Variables from 7 on may not be entered to the PLC 52 3 1 FROM THE MASTER TO THE SINUS PENTA Word 1 Code 2 Description 3 Range 4 Unit of Measure 5 Scaling 1 M0...

Страница 434: ...d must contain the value 5010 or 001100102 0 5010 x 100 5010 Example M042 210 M043 50 speed ref 210 50 rpm bit 15 8 bit 7 0 Speed reference decimal portion Word 3 Torque reference limit from FIELDBUS...

Страница 435: ...bit controls input XMDI8 and is independent of the watchdog control Word 6 Command for Digital Outputs from FIELDBUS Digital commands from FIELDBUS are the 4 lower bytes of the word bit 15 4 bit 3 0 C...

Страница 436: ...edback from FIELDBUS Word 11 Type of cycle required The word states the cycle required 0x40 Write cycle 0x80 Read cycle For the Read cycle the field including the read address Word 12 is to be complet...

Страница 437: ...ult 4 20mA 1529 7652 The words below are significant only when using the parameter exchange memory zone to read and write all the Penta drive s parameters by referring to their Modbus address Word 1 C...

Страница 438: ...alogue Signal Full scale values 0 15366 0 10V input 15366 15366 10V input 1529 7652 4 20mA input are nominal values These values can be changed due to automatic compensation of the tolerance of the in...

Страница 439: ...ENGINEERING 553 None R021 Data Logger Setting R021 Range 1 2 1 Disable 2 Enable Default 1 1 Disable Level ENGINEERING Address 551 Function This parameter enables or disables Data Logger initializatio...

Страница 440: ...r R016 is 0 and bit 11 is set to 0 for a time longer than the time set in R016 See FIELDBUS CONFIGURATION MENU 54 2 List of Parameters R025 to R045 Table 131 List of parameters R025 to R045 Parameter...

Страница 441: ...dress 548 550 554 558 Function These parameters allow selecting the inputs to be downloaded from the Master PLC to the drive through the eight process data items that can be mapped in the fast communi...

Страница 442: ...ng to the PROFIdrive protocol One to one scale of the programmed reference VENDOR SPECIFIC 2 The eight low bits in the CONTROL WORD represent the eight digital inputs in the control board One to one s...

Страница 443: ...Month R050 Range 0 9112 0 9112 Default 5703 5703 Level ENGINEERING Active This parameter can be viewed and changed only if the Data Logger ES851 is installed and activated R021 ENABLE Address 524 Func...

Страница 444: ...week 4 fourth week 5 last week The second digit D indicates the day of the week 1 Monday 7 Sunday The third and fourth digits MM indicate the start month 01 January 12 December Example European Union...

Страница 445: ...cs CAUTION The parameters set from this menu are not saved to non volatile memory of the Data Logger board They must be confirmed and saved using the RemoteDrive software 56 2 List of Parameters R115...

Страница 446: ...eset values given in Table 134 the Data Logger is forced to Interlocked mode see the Data Logger Measures Menu Table 134 Preset connections Value COM Baudrate bps Stop bit Parity Delay ms 0 No active...

Страница 447: ...eter the drive will use the parameter value stored in the Work zone when next turned on P parameters can be written at any moment According to factory setting C parameters may be written when the equi...

Страница 448: ...11 Restore Default Default This is not a parameter at power on and whenever the EEPROM command is executed I012 is set to zero Level BASIC Address 1399 Function This parameter saves and restores the e...

Страница 449: ...ripped Default This is not a programming parameter the input is set to zero whenever the drive is powered on and whenever the command is executed Level BASIC Address 1400 Function 1 Trips alarm A040 U...

Страница 450: ...operation time The drive status when the alarm tripped and some measures sampled when the alarm tripped are also stored to the Fault List The readout and storage of the fault list can be very useful t...

Страница 451: ...determine the cause responsible for the alarm and its possible solutions Any information stored to the FAULT LIST is also required when contacting Elettronica Santerno s Customer Service 3 In the fol...

Страница 452: ...ial link 0 9 pole D connector A062 SR1 WatchDog Watchdog tripped in serial link 1 RJ45 A063 Generic Motorola Control board failure A064 Mains Loss No power is supplied from the mains A065 AutoTune Fau...

Страница 453: ...out of measure range of the drive A109 Amb Overtemp Ambient overtemperature A110 Fieldbus Board Fault Fault occurring in the Fieldbus board A111 A120 Control board failure A129 No Output Phase Output...

Страница 454: ...Solution Reset the alarm send a RESET command A041 IGBT Fault Side A A041 Description General hardware fault from IGBT side A Event Power converter A generated a general alarm Possible cause Electroma...

Страница 455: ...ve voltage from the motor set IFD control and operate the drive in no load conditions 3 Check if the command signals are sent to the drive using screened cables where required see Sinus Penta s Instal...

Страница 456: ...easured in DC bus capacitors has dropped below the min value allowed for a proper operation of the drive class being used Possible cause Supply voltage has dropped below 200Vac 15 class 2T 380V 15 cla...

Страница 457: ...2 In case of very inertial loads and if the alarm tripped when decelerating try to set a longer deceleration ramp If short stop times are needed or if the motor is pulled by the load activate the res...

Страница 458: ...054 Optional Board not in A054 Description ES847 or ES870 not in Event The control board detects no ES847 or ES870 I O expansion boards after parameter R023 I O Board Setting is set as 0 Possible caus...

Страница 459: ...able in the VIRTUAL DIGITAL OUTPUTS MPL MENU The drive checked if R023 I O Board setting is set to 0 in the EXPANSION BOARD CONFIGURATION MENU Possible cause Wrong settings Solution Check settings and...

Страница 460: ...ime longer than the time set in the parameters relating to serial link watchdog see the SERIAL LINKS MENU This alarm does not trip if due to parameters in the CONTROL METHOD MENU or due to the status...

Страница 461: ...Current input 4mA A066 REF A067 AIN1 A068 AIN2 A069 XAIN5 Description A066 REF Current input 4 20mA lower than 4mA A067 AIN1 Current input 4 20mA lower than 4mA A068 AIN2 Current input 4 20mA lower t...

Страница 462: ...ve as required by parameter R018b and reset the drive control board If communication between the Master and the Slave Penta cannot be restored alarm A070 is restored after setting parameter R016 to ze...

Страница 463: ...The estimated motor speed for VTC control Possible cause Value of parameter C031 too low Torque reference too high for SLAVE mode Solution 1 Check the compatibility of the parameter with respect to t...

Страница 464: ...er Solution 1 Set parameters C192 C193 correctly 2 Check torque limit value see the INPUTS FOR REFERENCES MENU and the CONTROL METHOD MENU 3 Check the mechanical load 4 Make sure that the encoder work...

Страница 465: ...s MDI6 and MDI7 see the DIGITAL INPUTS MENU 3 Check if optional encoder board is fitted and properly mounted A083 A084 A085 External Alarm A083 EXT1 A084 EXT2 A085 EXT3 Description A083 External alarm...

Страница 466: ...osing signal is sent auxiliary of the relay during functioning precharge already closed Possible cause Failure in the relay control circuit or in the auxiliary signal circuit detecting relay closing S...

Страница 467: ...ATION MENU Possible cause Incorrect setting in parameter C009 Incorrect setting of the digital input parameters enabling the selection functions for motor 2 C173 and or motor 3 C174 Solution 1 Check a...

Страница 468: ...N2 XAIN5 set with the following ranges 4 20mA or 0 20mA Possible cause Wrong setting of SW1 on the control board except for A086 Failure in the current signal source Solution 1 Check setting of SW1 ex...

Страница 469: ...se contact ELETTRONICA SANTERNO s Customer Service NOTE This alarm may be enabled only by Elettronica Santerno and is to be explicitly requested at the time when ordering the drive A140 Torque Off not...

Страница 470: ...urrent A044 2312 Continuous overcurrent No 2 PWMA1 Fault A051 2320 Short circuit earth leakage PWMA Fault A041 PWMA0 Fault A050 PWMA Not ON A053 3000 Voltage 3100 Mains voltage 3130 Phase failure Main...

Страница 471: ...egal Motor Selected A098 6309 Data record No 9 MDI6 Illegal Configuration A100 630A Data record No 10 MDI8 Illegal Configuration A101 7000 Supplementary modules 7100 Power 7110 Brake chopper Braking R...

Страница 472: ...rnings are neither protections nor alarms and are not stored to the fault list Some warnings simply state what s happening or suggest what to do when using the keypad However most of the warning messa...

Страница 473: ...on or product ID W24 VERIFY DATA Download preliminary operation underway the system is checking the integrity and compatibility of the parameters saved in the keypad memory W28 OPEN START Open and clo...

Страница 474: ...ive running with motor in deceleration stage 16 INVERTER OK Drive on Stand by with no alarms tripped 17 FLUXING Motor fluxing stage 18 FLUXED MOTOR Motor fluxed 19 FIRE MODE RUN Constant rpm in Fire M...

Страница 475: ...P015 Tup3 P016 Tdn3 P018 Tup4 P019 Tdn4 P020 Un Meas3 4 P021a Rnd Sel1 1 On P021b Rnd Sel2 1 On P021c Rnd Sel3 1 On P021d Rnd Sel4 1 On P022 RndStartAcc P023 RndStopAcc P024 RndStartDec P025 RndStopDe...

Страница 476: ...c6 0 0 P121 VarPerc7 0 0 P12x P15x Speed Loop P125 Ti min M1 0 500 s P126 Ti max M1 0 500 s P128 Kp min M1 10 00 P129 Kp max M1 10 00 P130 Err min M1 1 00 P131 Err max M1 1 00 P135 Ti min M2 0 500 s P...

Страница 477: ...187 AO2 Max 1500 000 rpm P188 AO2 Offset 0 000 V P189 AO2 Filt 0 000 s P190 AO2 Out_min 10 0 V P191 AO2 Out_max 10 0 V P192 AO3 Mode 1 10V P193 AO3 Sel 5 Motor Current P194 AO3 Min 0 000 A P195 AO3 Ma...

Страница 478: ...s P251 PID U Mea 1 0 1 s P252 Rnd start 50 P253 Rnd stop 50 P254 Thresh Int 0 0 Refmax P255 Disab Time Disabled P256 Trate Lim 1 ms P257 GainScale 1 000 P260 GainAWUP 1 00 P27x P30x Digital Outputs P2...

Страница 479: ...rue P368 Out3Mode 0 Disable P369 Out3Sel1 D0 Disable P370 Out3Sel2 D0 Disable P371 Out3 Test1 0 P372 Out3 Test2 0 P373 D03 ValTst1 0 P374 D03 ValTst2 0 P375 Out3Func 0 A OR B P375a Out3Sel1 D0 Disable...

Страница 480: ...toBst C039 SlipComp M1 Disabled C040 DV_M1 Disabled C041 TFLM1 C042 Vout Sat M1 100 100 C04x C05x Limits M1 C043 Iacclim M1 C045 Ideclim M1 150 C044 Irunlim M1 150 C047 Tmin M1 C046 defilimRed M1 0 Di...

Страница 481: ...Ref 4 0 Disabled C147 Sel T lim 0 Disabled C148 RemLoc_mode 0 StandBy Fluxing C15x C18x Digital Inputs C149 Start 1 MDI1 C149a StartB 0 None C150 Stop 0 None C150a StopB 0 None C151 Rev 0 None C151a R...

Страница 482: ...9 Pddcder 1 C230 Vpddel C231 Kpvdclc 0 050 C232 Kivdclc 0 500s C234 stopmode 0 Stop C235 stoplev 0 rpm C24x Speed Searching C245 Enab SpdSch 0 No C246 tssd 1 s C247 SpsRate 10 C248 Is 75 C249 SpsSpd 0...

Страница 483: ...on m 0 C332 TFL1 T on s 0 C333 TFL1 T off h 0 C334 TFL1 T off m 0 C335 TFL1 T off s 0 C336 TFL1 WeekDays 0 C337 TFL2 T on h 0 C338 TFL2 T on m 0 C339 TFL2 T on s 0 C340 TFL2 T off h 0 C341 TFL2 T off...

Страница 484: ...ta Logger Setting 1 NO R023 I O Board setting 0 None R02x R04x PROFIdrive Settings R025 SlaveAddr 1 R026 PZD3_O_Addr 1 Digital Inputs R027 PZD4_O_Addr 0 not used R028 PZD5_O_Addr 0 not used R029 PZD6_...

Страница 485: ...DRIVECOM 471 DRY RUN 234 E EEPROM 448 ELECTRICAL SPECIFICATIONS OF THE CONNECTED MOTOR 265 ENABLE 322 ENABLE SW INPUT 332 ENCODER TEST 46 ENCODER TUNE 46 ENCODER FREQUENCY INPUTS 351 EQUIVALENT CIRCUI...

Страница 486: ...INPUT 331 REVERSE INPUT 330 ROOT PAGE 85 ROUNDING OFF 96 S S RAMPS 95 SERIAL LINKS 426 SERIAL NUMBER 82 SLAVE INPUT 340 SLIP COMPENSATION 28 SMART VOLTAGE CONTROL 360 362 SOURCE SELECTION INPUT 344 SP...

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