Control Techniques unidrive sp Manuals

Control Techniques unidrive sp Manuals

Manuals and User Guides for Control Techniques unidrive sp. We have 2 Control Techniques unidrive sp manuals available for free PDF download: Advanced User's Manual, Installation Manual

Control Techniques unidrive sp Advanced User's Manual

Control Techniques unidrive sp Advanced User's Manual (383 pages)

Universal Variable Speed AC Drive for induction and servo motors

Brand: Control Techniques | Category: Controller | Size: 4.86 MB

Table of Contents

Drive Software Version
3
General Information
3
Table of Contents
4
1 Parameter Structure

6
- Menu Structure
  6
- Parameter Navigation
  6
- Advanced Menus
  9
- Solutions Modules
  9
2 Keypad and Display

10
- Understanding the Display
  10
  - SM-Keypad
    10
  - SM-Keypad Plus
    10
- Keypad Operation
  10
- Display Modes
  11
- Status Mode
  11
- Parameter View Mode
  11
- Edit Mode
  11
- SM-Keypad Plus Advanced Operation
  12
- Parameter Access Level and Security
  12
  - Browsing Filter
    12
    
    'Hardware Key' Feature
    12
    
    Access Level
    13
    
    User Security
    13
    
    Changing the Access Level
    13
    
    Setting User Security
    13
- Alarm and Trip Display
  14
- Keypad Control Mode
  14
- Drive Reset
  14
- Second Motor Parameters
  14
- Special Display Functions
  14
- SM-Keypad Plus: Menus 41 and 42
  15
  - Keypad Configuration Menu
    15
  - Zero Parameter
    15
  - Language Select
    15
  - Keypad Serial Address
    16
  - Keypad Memory Size
    16
  - Browsing Filter Fnn Source
    16
  - Saving Parameters
    17
  - Loading Defaults
    17
- US Default Differences (1244)
  17
3 Parameter X.00

17
4 Parameter Description Format

18
5 Advanced Parameter Descriptions

23
- Overview
  23
- Menu 1: Frequency/Speed Reference
  25
  - Menu 1 Logic Diagram
    25
  - Frequency/Speed Reference Selected
    27
  - Pre-Skip Filter Reference
    27
  - Pre-Ramp Reference
    27
  - Reference Offset
    27
  - Maximum Reference Clamp
    28
  - Minimum Reference Clamp
    28
  - Negative Minimum Reference Clamp Enable
    28
  - Analog Input Scaling
    29
  - Reference Limits
    29
  - Reference Offset Select
    29
  - Bipolar Reference Enable
    30
  - Reference Enabled Indicator
    30
  - Reverse Selected Indicator
    30
  - Jog Selected Indicator
    30
  - Keypad Reference
    31
  - Preset Selector
    31
  - Preset Reference Selector Timer
    31
  - Keypad Control Mode Reference
    32
  - Precision Reference Coarse
    32
  - Precision Reference Fine
    32
  - Precision Reference Update Disable
    32
  - Reference in Rejection Zone
    34
  - Percentage Trim
    34
  - Velocity Feed Forward
    34
  - Velocity Feed Forward Select
    34
  - Reference Timer Reset Flag
    35
  - Reference Selected Indicator
    35
  - Preset Reference Selected Indicator
    35
  - Power-Up Keypad Control Mode Reference
    36
- Menu 2: Ramps
  37
  - Menu 2 Logic Diagram
    37
  - Post Ramp Reference
    39
  - Ramp Enable
    39
  - Ramp Hold
    39
  - Ramp Mode Select
    39
  - S Ramp Enable
    40
  - S Ramp Acceleration Limit
    40
  - Standard Ramp Voltage
    41
  - Acceleration Rate Selector
    41
  - Jog Acceleration Rate
    42
  - Deceleration Rate Selector
    42
  - Jog Deceleration Rate
    43
  - Inertia Compensation Torque
    44
  - Frequency/Speed Accuracy and Resolution
    45
  - Digital Reference Resolution
    45
  - Analog Reference Resolution
    45
  - Accuracy
    45
- Menu 3: Slave Frequency, Speed Feedback, Speed Control and Regen Operation
  45
  - Parameter Descriptions: Open-Loop
    46
  - Frequency Slaving Demand
    47
  - Zero Speed Threshold
    47
  - At Speed Lower Limit
    47
  - At Speed Upper Limit
    47
  - Absolute “At Speed” Select
    48
  - Enable Frequency Slaving
    48
  - Slaving Ratio Numerator
    48
  - Slaving Ratio Denominator
    48
  - Select X2048 Output
    49
  - F and D Frequency Slaving Output
    49
  - Parameter Descriptions: Closed-Loop Vector and Servo
    51
  - Final Speed Reference
    53
  - Speed Feedback
    53
  - Speed Error
    53
  - Overspeed Threshold
    55
  - Absolute “At Speed” Detect
    55
  - Speed Controller Proportional Gain (Kp1)
    55
  - Speed Controller Proportional Gain (Kp2)
    55
  - Speed Controller Differential Feedback Gain (Kd1)
    56
  - Speed Controller Differential Feedback Gain (Kd2)
    56
  - Speed Controller Gain Select
    56
  - Speed Controller Set-Up Method
    58
  - Motor and Load Inertia
    58
  - Compliance Angle
    58
  - Bandwidth
    59
  - Damping Factor
    59
  - Hard Speed Reference
    59
  - Hard Speed Reference Selector
    59
  - Encoder Phase Angle
    60
  - Encoder with Commutation Signals (Ab.servo, Fd.servo, Fr.servo)
    60
  - Speed Feedback Selector
    61
  - Drive Encoder Speed Feedback
    62
  - Drive Encoder Revolution Counter
    62
  - Drive Encoder Position
    62
  - Drive Encoder Fine Position
    62
  - Drive Encoder Marker Flag
    63
  - Drive Encoder Turns Bits / Linear Encoder Comms to Sine Wave Ratio
    63
  - Drive Encoder Lines Per Revolution
    63
  - Drive Encoder Supply Voltage
    65
  - Drive Encoder Comms Baud Rate
    65
  - Endat Comms
    66
  - SSI Comms
    66
  - Drive Encoder Type
    66
  - Endat, SSI - Comms Only Encoder Mode
    68
  - Drive Encoder Error Detection Level
    68
  - Encoder Trips
    68
  - Wire-Break Detection
    69
  - Encoder Initialisation
    69
  - Encoder Power Supply Trips
    70
  - Sc.hiper, Sc.endat, Endat
    70
  - Linear Endat Encoders
    70
  - Hiperface Encoders
    70
  - Maximum Drive Encoder Reference
    71
  - Drive Encoder Reference Scaling
    71
  - Drive Encoder Reference Destination
    71
  - Re-Initialise Position Feedback
    71
  - Position Feedback Initialised
    72
  - Full Motor Object Electronic Nameplate Transfer
    72
  - Position Feedback Lock
    72
  - Communication with Hiperface and Endat Encoders
    72
  - Sc.hiper Type Encoders
    73
  - Example of a Hiperface Transfer: Read Position
    73
  - Example of Hiperface Transfer: Delete Data Field
    74
  - Sc.endat
    74
  - Example of Endat Transfer: Read Position
    75
  - Example of Endat Transfer: Encoder Send Parameter
    75
  - Parameter Descriptions: Regen
    76
  - Reactive Power
    77
  - Input Inductance
    77
  - Regen Status
    77
  - Regen Restart Mode
    77
  - Voltage Set-Point
    78
  - Voltage Controller Kp Gain
    78
  - Setting the Current Controller Gains
    78
  - Setting the Voltage Controller Gain
    78
  - Close Soft-Start Contactor
    79
  - Soft-Start Contactor Closed
    80
  - Enable Motor Drive
    80
  - Power Feed-Forward Compensation
    80
- Menu 4: Torque and Current Control
  81
  - Maximum Heavy Duty Current Rating
    82
  - Maximum Rated Current
    82
  - Open-Loop
    82
  - Closed-Loop Vector
    83
  - Servo
    84
  - Regen
    85
  - Current Magnitude
    90
  - Active Current
    90
  - Open-Loop, Closed-Loop Vector and Servo
    90
  - Torque Demand
    91
  - Current Demand
    91
  - Motoring Current Limit
    91
  - Regen Current Limit
    91
  - Symmetrical Current Limit
    92
  - Torque Reference
    92
  - Reactive Current Reference
    93
  - Torque Offset
    93
  - Torque Offset Select
    93
  - Torque Mode Selector
    93
  - Example of Coiler Operation
    94
  - Example of Uncoiler Operation
    94
  - Current Demand Filter 1
    95
  - Current Controller Kp Gain
    95
  - Current Controller Ki Gain
    96
  - Current Limit Operation
    96
  - Mains Loss and Controlled Standard Ramp
    96
  - Closed-Loop Vector and Servo
    97
  - Thermal Time Constant
    98
  - Thermal Protection Mode
    98
  - Reactive Current
    100
  - Overriding Current Limit
    100
  - Overload Accumulator
    100
  - Percentage Load
    100
  - Current Demand Filter 2
    101
  - User Current Maximum Scaling
    101
  - Low Speed Thermal Protection Mode
    101
  - Percentage Torque
    101
- Menu 5: Motor Control
  102
  - Output Frequency
    106
  - Output Voltage
    106
  - Output Power
    106
  - Motor Rpm
    106
  - DC Bus Voltage
    107
  - Rated Frequency
    107
  - Motor Rated Current (Regen Mode: Regen Unit Rated Current)
    107
  - Rated Load Rpm / Rated Speed
    108
  - Rated Voltage
    108
  - Open Loop
    108
  - Fixed Boost Mode: Fd
    109
  - Square Law Mode: Sre
    109
  - Closed Loop Vector
    109
  - Rated Power Factor
    110
  - Number of Motor Poles
    110
  - Autotune
    110
  - Dynamic V to F / Flux Optimise Select
    114
  - Voltage Mode Select
    115
  - Action on Enable
    115
  - Low Frequency Voltage Boost
    116
  - Rated Rpm Auto-Tune
    116
  - Stator Resistance
    116
  - Maximum Switching Frequency
    116
  - High Stability Space Vector Modulation
    117
  - Quasi-Square Enable
    117
  - Field Gain Reduction
    117
  - Enable High Speed Servo Mode
    118
  - Voltage Offset
    118
  - High Dynamic Performance Enable
    119
  - Enable Slip Compensation
    119
  - Field Weakening Compensation Disable
    120
  - Motor Saturation Breakpoint 1
    120
  - Motor Saturation Breakpoint 2
    120
  - Voltage Controller Gain
    121
  - Motor Torque Per Amp (Kt)
    121
  - Motor Volts Per 1000Rpm (Ke)
    121
  - Disable Auto-Switching Frequency Change
    122
  - Motor Pole Pitch
    122
  - Actual Switching Frequency
    122
- Menu 6: Sequencer and Clock
  123
  - Stop Mode
    124
  - Mains Loss Mode
    124
  - Start/Stop Logic Select
    125
  - Injection Braking Level
    125
  - Injection Braking Time
    125
  - Hold Zero Speed
    126
  - Catch a Spinning Motor
    126
  - Enable Stop Key
    126
  - Sequencer Latching Not Enabled (Pr 6.40 = 0)
    127
  - Sequencer Latching Enabled (06.40 = 1)
    127
  - Enable Forward/Reverse Key
    127
  - Electricity Cost Per Kwh
    127
  - Time between Filter Changes
    128
  - Filter Change Required / Change Done
    128
  - Powered-Up Time: Years.days
    128
  - Powered-Up Time: Hours.minutes
    128
  - Run Time: Hours.minutes
    129
  - Energy Meter: Mwh
    129
  - Energy Meter: Kwh
    129
  - Running Cost
    129
  - Select Clock for Trip Log Time Stamping
    130
  - Hardware Enable
    130
  - Sequencing Bit: Run Forward
    130
  - Sequencing Bit: Jog
    130
  - Sequencing Bit: Run
    131
  - Forward Limit Switch
    131
  - Reverse Limit Switch
    131
  - Sequencing Bit: Jog Reverse
    131
  - Sequencing Bit: Not Stop
    132
  - Enable Sequencer Latching
    132
  - Drive Event Flags
    132
  - Control Word
    132
  - Active Supply
    133
  - Bit 8: Analog/Preset Reference
    133
  - Bit12: Trip Drive
    133
  - Bit 13: Reset Drive
    133
  - Force Cooling Fan to Run at Full Speed
    134
  - Nominal Low Voltage Battery Supply
    134
  - Disable Mains/Phase Loss Detection from Input Rectifier
    134
  - Mains Loss Ride through Detection Level
    135
  - Disable Multi-Module Drive Module Number Storing on Trip
    135
  - Drive Comms State
    135
- Menu 7: Analog I/O
  136
  - T5/6 Analog Input 1 Level
    138
  - Stack Temperature 1
    138
  - Control Board Temperature
    138
  - T5/6 Analog Input 1 Offset Trim
    139
  - T5/6 Analog Input 1 Scaling
    139
  - T5/6 Analog Input 1 Invert
    139
  - T5/6 Analog Input 1 Destination
    139
  - T7 Analog Input 2 Mode
    140
  - T7 Analog Input 2 Scaling
    140
  - T7 Analog Input 2 Invert
    140
  - T7 Analog Input 2 Destination
    140
  - T8 Analog Input 3 Mode
    141
  - T8 Analog Input 3 Scaling
    141
  - T8 Analog Input 3 Invert
    141
  - T8 Analog Input 3 Destination
    141
  - T9 Analog Output 1 Source
    142
  - T9 Analog Output 1 Scaling
    142
  - T9 Analog Output 1 Mode
    142
  - T10 Analog Output 2 Source
    142
  - T10 Analog Output 2 Scaling
    143
  - T10 Analog Output 2 Mode
    143
  - Calibrate T5/6 Analog Input 1 Full Scale
    143
  - T5/6 Analog Input 1 Sample Time
    143
  - T5/6 Analog Input 1 Current Loop Loss
    144
  - T7 Analog Input 2 Current Loop Loss
    144
  - T5/6 Analog Input 1 Offset
    144
  - IGBT Junction Temperature
    145
  - Drive Thermal Protection Accumulator
    145
- Menu 8: Digital I/O
  146
  - Relay Source
    151
  - T22 24V Output Source
    151
  - Positive Logic Select
    151
  - Open Collector Output
    151
  - T28 & T29 Digital Input Auto-Selection Disable
    152
- Menu 9: Programmable Logic, Motorised Pot and Binary Sum
  153
  - Motorised Pot Output
    155
  - Logic Function 1 Source 1 Invert
    155
- Menu 10: Status and Trips
  161
  - Drive Healthy
    161
  - Drive Active
    161
  - Zero Speed
    161
  - Above Set Speed
    162
  - Load Reached
    162
  - Drive Output Is at Current Limit
    162
  - Braking IGBT Active
    162
  - Direction Commanded
    163
  - Direction Running
    163
  - Mains Loss
    163
  - Under Voltage Active
    163
  - Drive Warning
    164
  - Power Module Mains Loss Detection
    164
  - Drive Encoder Trip: Feedback Device Comms Failure
    166
  - Drive Encoder Trip: Checksum or CRC Error
    166
  - Drive Encoder Trip: Encoder Has Indicated an Error
    166
  - Drive Encoder Trip: Initialisation Failed
    166
  - Data Processing Error: CPU Address Error
    167
  - Data Processing Error: DMAC Address Error
    167
  - Data Processing Error: Illegal Instruction
    167
  - Data Processing Error: Illegal Slot Instruction
    167
- Menu 11: General Drive Set-Up
  182
- Menu 12: Threshold Detectors, Variable Selectors and Brake Control Function
  193
- Menu 13: Position Control
  207
  - Revolutions Error
    213
  - Position Error
    213
  - Fine Position Error
    213
  - Position Controller Reference Source
    213
  - Position Reference Invert
    214
  - Ratio Numerator
    214
  - Ratio Denominator
    214
  - Position Controller P Gain
    214
  - Rigid Position Control
    215
  - Non-Rigid Position Control
    215
  - Relative Jogging
    215
  - Absolute Mode Enable
    216
  - Position Controller Speed Clamp
    216
  - Orientation Position Reference
    216
  - Orientation Acceptance Window
    216
  - Orientation Position Complete
    217
  - Position Error Reset
    217
  - Relative Jog Reference
    217
  - Relative Jog Enable
    217
  - Local Reference Turns
    218
  - Local Reference Position
    218
  - Local Reference Fine Position
    218
  - Local Reference Disable
    218
- Menu 14: User PID Controller
  219
  - PID Output
    221
  - PID Main Reference Source
    221
  - PID Reference Source
    221
  - PID Feedback Source
    221
  - PID Enable
    222
  - PID Optional Enable Source
    222
  - PID P Gain
    222
  - PID I Gain
    222
  - PID Upper Limit
    223
  - PID Lower Limit
    223
  - PID Scaling
    223
  - PID Destination
    223
  - PID Symmetrical Limit Enable
    224
  - PID Main Reference
    224
  - PID Reference
    224
- Menus 15, 16 and 17: Solutions Module Slots
  225
  - SM-Universal Encoder Plus
    226
    
    Solutions Module Error Status Values
    226
    
    SM-Universal Encoder Plus Logic Diagram
    227
    
    Reference / Feedback Encoder Input
    227
    
    Option ID Code
    229
    
    Option Software Version
    229
    
    Speed
    229
    
    Revolution Counter
    230
    
    Position
    230
    
    Fine Position
    230
    
    Marker Position Reset Disable
    230
    
    Encoder Turns
    231
    
    Equivalent Lines Per Revolution
    231
    
    Encoder Single Turn Comms Resolution
    232
    
    Motor Thermistor Check Enable
    232
    
    Encoder Supply Voltage
    232
    
    Encoder Comms Baud Rate
    232
    
    Encoder Type
    234
    
    SSI: Absolute SSI Only Encoder
    234
    
    SC.SSI Sincos Encoder Using SSI Comms Protocol
    234
    
    Encoder Termination
    235
    
    Error Detection Level
    235
    
    Auto Configuration Enable / SSI Binary Format Select
    235
    
    Feedback Filter
    236
    
    Maximum Feedback Reference
    236
    
    Feedback Reference
    236
    
    Feedback Reference Scaling
    236
    
    Feedback Reference Destination
    237
    
    Encoder Simulation Source
    237
    
    Encoder Simulation Ratio Denominator
    237
    
    Encoder Simulation Resolution Select
    237
    
    Encoder Simulation Mode
    238
    
    AB or FD Modes
    238
    
    Software Simulation: High Resolution Encoder
    238
    
    Software Simulation: any Other Condition
    238
    
    Marker Output
    239
    
    Non-Marker Reset Revolution Counter
    239
    
    Non-Marker Reset Position
    239
    
    Non-Marker Reset Fine Position
    239
    
    Marker Revolution Counter
    240
    
    Marker Position
    240
    
    Marker Fine Position
    240
    
    Freeze Revolution Counter
    240
    
    Freeze Input Mode Selection
    241
    
    Freeze Flag
    241
    
    Freeze Main Drive Position
    241
    
    Freeze Falling Edge Select
    241
    
    Encoder Comms Transmit Register
    242
    
    Encoder Comms Receive Register
    242
    
    Disable Encoder Position Check
    242
    
    Sc.hiper
    243
    
    Example of a HIPERFACE Transfer
    243
    
    Example of a Endat Transfer
    245
    
    Line Per Revolution Divider
    246
    
    SSI Output Turns
    246
    
    SSI Output Comms Resolution
    246
    
    Lock Position Feedback
    247
    
    Solutions Module Error Status
    247
    
    Option Software Sub-Version
    247
  - SM-Resolver
    249
    
    SM-Resolver Logic Diagram
    249
    
    Position/Speed Feedback Update Rate
    251
  - SM-Encoder Plus
    257
  - SM I/O Plus
    264
  - SM-Ezmotion
    272
  - Fieldbus Module Category Parameters
    278
  - SM-Applications
    289
  - Sm-Slm
    302
    
    SM-SLM Logic Diagram
    303
    
    Sequencer Flow Diagram
    309
    
    Autotune Mode
    311
    
    Saving Mode
    312
    
    Parameters Transferred
    312
    
    Action the Tuning and Saving Parameters
    313
    
    Automatic Basic Drive Set-Up Request
    313
    
    Axis Initialised
    313
    
    Position Lock
    313
    
    Application Menu 1 Power-Down Saved Integer
    315
    
    Application Menu 1 Read-Only Integer
    315
    
    Application Menu 1 Read-Write Integer
    315
    
    Application Menu 1 Read-Write Bit
    315
- Menu 18: Application Menu 1
  315
- Menu 19: Application Menu 2
  316
  - Application Menu 3 Read-Write Integer
    317
  - Application Menu 3 Read-Write Long Integer
    317
- Menu 20: Application Menu 3
  317
- Menu 21: Second Motor Parameters
  318
  - Acceleration Rate
    319
  - Deceleration Rate
    319
- Menu 22: Additional Menu 0 Set-Up
  326
- Introduction
  327
  - Fundamental Differences between Unidrive SP and Unidrive Classic
    329
- Macro 1 - Easy Mode
  330
- Macro 1 Specific Parameters
  330
- Macro 2 - Motorised Potentiometer
  333
- Macro 3 - Preset Speeds
  337
- Macro 4 - Torque Control
  341
- Macro 5 - PID Control
  345
- Macro 6 - Axis Limit Control
  349
- Macro 7 - Brake Control
  353
- Macro 8 - Digital Lock
  357
7 Serial Communications Protocol

361
- ANSI Communications Protocol
  361
  - Physical Layer and UART
    361
  - Reading a Parameter
    361
- CT Modbus RTU Specification
  362
  - Short Commands
    362
  - Modbus Rtu
    363
  - Physical Layer
    363
  - RTU Framing
    363
  - Slave Address
    363
  - Data Consistency
    364
  - Data Encoding
    364
  - Function Codes
    364
  - FC03 Read Multiple
    364
  - FC23 Read/Write Multiple
    365
  - Fc64 Cmp
    365
  - FC64 Message Routing Capability
    365
  - Communications Timeouts
    366
  - Extended Data Types
    367
  - Exceptions
    368
  - Device Compatibility Parameters
    368
  - Parameter over Range During Block Write FC16
    368
  - Parameter over Range During Block Read/Write FC23
    368
8 Electronic Nameplate

369
- Loading/Storing Object Parameters
  369
- Motor Object Parameters
  369
- Performance Object Parameters
  369
- Motor Object
  370
- Performance Objects
  371
- Analog Outputs
  373
- Analog Reference
  373
- Digital Inputs and Outputs
  373
- Digital Speed Reference
  373
- Bandwidth
  374
- Current Feedback
  374
10 Feature Look-Up Table

375
- Index
  379

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Control Techniques unidrive sp Installation Manual

Control Techniques unidrive sp Installation Manual (42 pages)

Low Voltage DC

Brand: Control Techniques | Category: Power Supply | Size: 4.27 MB

Table of Contents

Installation Guide
1
Table of Contents
3
1 Safety Information

4
2 Introduction

6
3 Product Information

9
- Ratings
  9
  - Low Voltage DC Rating
    9
  - Drive Control 24V Rating
    10
4 System Design

11
5 Component Data

30
- Fusing
  30
- Discharge Resistor and Protection
  32
- Brake Resistor
  33
- External Soft Start Resistor
  37
- Blocking Diode (D1)
  39
- Supply Capacitor (C1)
  39
- Supplier Websites
  40
- Unidrive SP Low Voltage DC Installation Guide Issue Number
  41

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