Table Of Contents - Emerson Unidrive M702 User Manual

Table of Contents

Product View1
General Information2
How To Use This Guide3
Table Of Contents4
Safety Information8
Warnings, Cautions And Notes8
Electrical Safety - General Warning8
System Design And Safety Of Personnel8
Environmental Limits8
Access8
Fire Protection8
Compliance With Regulations8
Motor8
Mechanical Brake Control8
Adjusting Parameters8
Electrical Installation9
Product Information10
Model Number10
Introduction10
Ratings11
Operating Modes14
Typical Short Term Overload Limits14
Open Loop Mode14
Rfc-A Mode/Rfc- S14
Compatible Position Feedback Devices15
Drive Features16
Nameplate Description17
Options Available With The Drive17
Option Module Identification18
Keypad Identification18
Items Supplied With The Drive19
Additional Options19
Mechanical Installation20
Cooling20
Environmental Protection20
Planning The Installation20
Terminal Cover Removal21
Location And Identification Of Terminal Covers22
Removing The Finger-Guard And Dc Terminal Cover Break-Outs26
Installing / Removing Option Modules And Keypads27
Removal Of A Standard Option Module28
Installation And Removal Of A Large Option Module28
Installation And Removal Of The Ki-Keypad29
Dimensions And Mounting Methods30
Surface Mounting30
Mounting Brackets37
Enclosure For Standard Drives38
Recommended Spacing Between The Drives38
Enclosure Sizing39
Calculating The Size Of A Sealed Enclosure39
Calculating The Air-Flow In A Ventilated Enclosure39
Enclosure Design And Drive Ambient Temperature40
Heatsink Fan Operation40
Enclosing Standard Drive For High Environmental Protection40
Installing The Gasket41
Installation Of High Ip Insert41
Through Panel Mounting41
Heatsink Mounted Brake Resistor43
Internal Braking Resistor Installation43
External Emc Filter45
Electrical Terminals47
Location Of The Power And Ground Terminals47
Terminal Sizes And Torque Settings48
Routine Maintenance Of The Drive48
Plug-In Terminal Block Maximum Cable Sizes48
External Emc Filter Terminal Data48
Real Time Clock Battery Replacement49
Fan Removal Procedure50
Power Connections51
Ac And Dc Connections51
Ground Connections54
Ac Supply Requirements55
Supplying The Drive With Dc56
Supplies Requiring Line Reactors56
Input Inductor Calculation56
Dc Bus Paralleling57
24 Vdc Supply57
Low Voltage Operation58
Heatsink Fan Supply58
Ac Input Current And Fuse Ratings (200 V)59
Input Current And Fuse Ratings (400 V)60
Ac Input Current And Fuse Ratings (575 V)60
Input Current And Fuse Ratings (690 V)60
Cable Ratings61
Output Circuit And Motor Protection63
Cable Types And Lengths63
High-Capacitance / Reduced Diameter Cables64
Motor Winding Voltage64
Multiple Motors64
Braking65
Output Contactor65
Heatsink Mounted Braking Resistor65
Braking Resistor Overload Protection Parameter Settings66
Heatsink Mounted Braking Resistor Data66
External Braking Resistor67
Thermal Protection Circuit For The Braking Resistor67
Emc (Electromagnetic Compatibility)68
Braking Resistor Software Overload Protection68
Ground Leakage68
Grounding Hardware69
Drive And Emc Filter Cross Reference69
Installation Of Grounding Clamp69
Internal Emc Filter70
General Requirements For Emc72
Feedback Device Cable Shielding73
Supply And Ground Cable Clearance75
Grounding The Drive, Motor Cable Shield And Filter75
Sensitive Signal Circuit Clearance75
Grounding The Motor Cable Shield75
Variations In The Emc Wiring76
Interruptions To The Motor Cable76
Using A Motor Isolator / Disconnect-Switch76
Surge Immunity Of Control Circuits76
Communications Connections77
Ethernet Fieldbus Communications77
Surge Suppression77
Control Connections78
Control Terminal Specification79
Position Feedback Connections80
Position Feedback Connection Details82
Position Feedback Terminal Specifications84
Safe Torque Off (Sto)86
Sincos Encoder Resolution86
Keypad Operation88
Control Buttons88
Getting Started88
Understanding The Display88
Quick Access Mode89
Keypad Shortcuts89
Display Modes89
Menu Structure90
Mode Examples90
Menu 091
Advanced Menus91
Ki-Keypad Set-Up Menu92
Display Messages92
Alarm Indications92
Changing The Operating Mode93
Saving Parameters93
Restoring Parameter Defaults93
Parameter Access Level And Security93
Displaying Parameters With Non-Default Values Only94
Displaying Destination Parameters Only94
Communications94
User Security Level / Access Level94
Basic Parameters96
Menu 0: Basic Parameters96
Parameter Descriptions100
Running The Motor102
Quick Start Connections102
Minimum Connections To Get The Motor Running In Any Operating Mode103
Quick Start Commissioning / Start-Up107
Open Loop107
Rfc - A Mode (With Position Feedback)108
Rfc-A Mode (Sensorless Control)109
Rfc-S Mode (With Position Feedback)110
Setting Up A Feedback Device111
P1 Position Interface111
Detailed Feedback Device Commissioning / Start-Up Information112
P2 Position Interface114
Encoder Simulation Output Set-Up115
Software Mode - Incremental Signals116
Ratio117
Software Mode - Absolute Ssi Data117
Optimization118
Motor Map Parameters118
Rated Speed/Number Of Motor Pole118
Rated Power Factor118
Autotune119
Open Loop Control Mode119
Enable Slip Compensation120
Rfc-A Mode121
Induction Motor With Position Feedback121
Motor Rated Current121
Rated Voltage/Frequency121
Motor Parameter Adaptive Control122
Current Loop Gains122
Speed Loop Gains123
Rfc-S Mode124
Permanent Magnet Motor With Position Feedback124
Stationary Autotune/Rotating Autotune124
Inertia Measurement Test124
Maximum Motor Rated Current127
Current Limits127
Motor Thermal Protection127
Switching Frequency128
High Speed Operation128
Encoder Feedback Limits128
Permanent Magnet Motor High Speed Operation128
Quasi-Square Wave (Open-Loop Only)129
Unidrive M702 User Guide Issue Number129
Nv Media Card Operation130
Smartcard Support130
Transferring Data131
Writing To The Smartcard131
Reading From The Smartcard131
Booting Up From The Smartcard On Every Power Up131
Nv Media Card Parameters132
Data Block Header Information132
Nv Media Card Trips133
Onboard Plc And Machine Control Studio134
Benefits134
Features134
Onboard Plc Parameters135
Onboard Plc Trips135
Advanced Parameters136
Feature Look-Up Table137
Parameter Ranges And Variable Minimum/Maximums139
Menu 1: Frequency / Speed Reference146
Menu 2: Ramps150
Menu 3: Frequency Slaving, Speed Feedback And Speed Control153
Freeze System Logic158
P1 Position Feedback Interface Thermistor Input159
Encoder Simulation159
Menu 4: Torque And Current Control164
Menu 4 Rfc-A Logic Diagram165
Menu 4 Rfc-S Logic Diagram166
Menu 5: Motor Control168
Menu 5 Open-Loop Logic Diagram168
Menu 5 Rfc-A, Rfc-S Logic Diagram170
Menu 6: Sequencer And Clock174
Menu 6 Logic Diagram174
Menu 6 Low Voltage Operation175
Menu 7: Temperature Monitoring178
Menu 8: Digital I/O180
Menu 8 Logic Diagram180
Menu 9: Programmable Logic, Motorized Pot, Binary Sum And Timers184
Menu 9 Logic Diagram: Scope Function187
Menu 10: Status And Trips190
Menu 11: General Drive Set-Up192
Menu 12 Logic Diagram194
Menu 12: Threshold Detectors, Variable Selectors And Brake Control Function194
Open-Loop Brake Function196
Open-Loop Brake Sequence197
Rfc-A Mode With Brake Controller Mode198
Rfc-A Brake Sequence199
Rfc-A Mode (Brake Controller (12.052) = 0) And Rfc-S Mode200
Menu 13: Standard Motion Controller202
Menu 13 Logic Diagram202
Menu 14: User Pid Controller206
Menu 14 Logic Diagram206
Menus 15, 16 And 17: Option Module Set-Up210
Location Of Option Module Slots And Their Corresponding Menu Numbers210
Menu 18: Application Menu 1211
Menu 19: Application Menu 2212
Menu 20: Application Menu 3213
Menu 21: Second Motor Parameters214
Menu 22: Additional Menu 0 Set-Up216
Menu 24: Ethernet Status And Monitoring217
Slot 4 Menu 0: Ethernet Status And Monitoring218
Slot 4 Menu 2: Ethernet Configuration218
Slot 4 Menu 9: Resources219
Slot 4 Menu 10: Easy Mode220
Slot 4 Menu 11: Synchronization222
Slot 4 Menu 15: Modbus223
Slot 4 Menu 20: Ethernet/Ip224
Menu 21 Ethernet/Ip In Mappings225
Menu 22 Ethernet/Ip Out Mappings225
Menu 23 Ethernet/Ip Fault Values226
Technical Data227
Drive Technical Data227
Maximum Permissible Continuous Output Current229
Power Dissipation232
Line Reactors235
Motor Requirements235
Temperature, Humidity And Cooling Method235
Ip / Ul Rating235
Corrosive Gasses236
Vibration236
Acoustic Noise236
Overall Dimensions236
Weights237
Input Current, Fuse And Cable Size Ratings237
Ac Input Current And Fuse Ratings238
Maximum Motor Cable Lengths242
Minimum Resistances And Power Ratings For Braking Resistor242
Braking Resistor Resistance And Power Rating243
Drive Power Terminal Data243
Electromagnetic Compatibility (Emc)244
Immunity Compliance244
Size 3 Emission Compliance244
Optional External Emc Filters245
Emc Filter Ratings245
Overall Emc Filter Dimensions245
Emc Filter Torque Settings246
Diagnostics247
Status Modes (Keypad And Led Status)247
Trip Indications247
Identifying A Trip / Trip Source248
Trips, Sub-Trip Numbers249
Analog Input 1/2 Current Loss249
Analog Output Calibration Failed249
Customization Table For An Application Module Has Changed249
Position Feedback Direction Incorrect250
Drive Encoder U Commutation Signal Fail250
Autotune Test Stopped Before Completion250
Braking Resistor Overload Timed Out250
Advanced Motion Controller Cam Failure251
Nv Media Card Write Fail251
Menu 0 Parameter Modification Cannot Be Saved To Nv Media Card251
Nv Media Card File/Data Is Different To The One In The Drive251
Nv Media Card Data Structure Error252
Nv Media Card Has The Read Only Bit Set252
Nv Media Card Full252
Nv Media Card Data Not Found252
Trip Initiated From The Control Word (06.042)253
Current Feedback Offset Error253
Drive Parameters Are Being Changed253
Power Stage Recognition: Unrecognized Drive Size253
Default Parameters Have Been Loaded254
Drive Position Feedback Interface Power Supply Overload254
Drive Encoder (Feedback) Wire Break254
Phase Offset Incorrect While Running255
Feedback Device Comms Failure255
Checksum Or Crc Error255
Encoder Has Indicated An Error255
Initialization Failed256
Position Feedback Interface Has Timed Out256
Rfc-S Mode Phasing Failure Due To Incorrect Phase Angle256
Encoder Could Not Be Identified During Auto-Configuration256
Data Read From The Encoder Is Out Of Range During Auto-Configuration257
An External Trip Is Initiated257
Out Of Range Of Frequency Has Been Detected In Regen Mode257
Data Processing Error: Cpu Address Error257
Data Processing Error: Illegal Slot Instruction258
Data Processing Error: Cpu Interrupt Crash258
Data Processing Error: Free Store Overflow258
Data Processing Error: Main Program Stack Overflow258
Data Processing Error: Internal Flash Memory Has Failed259
Data Processing Error: Cpu Register Bank Error259
Data Processing Error: Rtos Error259
Data Processing Error: Asic Is Not Compatible With The Hardware259
Inductance Measurement Out Of Range Or Motor Saturation Not Detected260
The Regen Inductor Has Overloaded260
Digital Output Overload260
Island Condition Detected In Regen Mode260
The Load On The Drive Has Fallen Below The Low Load Detection Level261
Output Current Overload Timed Out261
Electronic Nameplate Transfer Has Failed261
Control Stage Over Temperature261
Dc Bus Over Temperature262
Inverter Over Temperature Based On Thermal Model262
Power Stage Over Temperature262
Rectifier Over Temperature263
Instantaneous Output Over Current Detected263
Braking Igbt Over Current Detected263
Power Module Over Current Detected From Igbt263
Snubber Over-Current Detected264
Option Module Does Not Acknowledge During Drive Mode Changeover264
Output Phase Loss Detected264
Motor Speed Has Exceeded The Over Speed Threshold264
Supply Phase Loss265
Dc Bus Voltage Has Exceeded The Peak Level For 15 Seconds265
Communication Has Been Lost266
Power System Configuration Data Error266
Power Down Save Error266
Internal Power Supply Fault266
24V Internal Power Supply Overload267
Reserved Trips267
Measured Resistance Has Exceeded The Parameter Range267
Ethernet Interface In Slot 4 Has Changed267
Ethernet Interface In Slot 4 Has Detected A Fault268
Ethernet Interface In Slot 4 Hardware Fault269
Ethernet Interface In Slot 4 Has Been Removed269
Application Menu Customization Conflict Error269
Option Module In Option Slot X Has Changed269
Option Module X Hardware Fault270
Option Module In Option Slot X Has Been Removed270
Option Module Watchdog Function Service Error270
Hardware Trip Has Occurred During Last Power Down270
Ram Allocation Error271
Internal Thermistor Has Failed271
Brake Resistor Over Temperature271
Motor Thermistor Short Circuit271
Motor Thermistor Over-Temperature272
Drive Has Tripped And The Cause Of The Trip Is Undefined272
User 24 V Supply Is Not Present On Control Terminals (1,2)272
On Board User Program Error273
User Save Error / Not Completed274
Supply Voltage Out Of Range Detected In Regen Mode274
User Generated Trip274
Trip Generated By An Onboard User Program274
Serial Communications Look Up Table275
Internal / Hardware Trips276
Trip Categories276
Status Indications277
Displaying The Trip History277
Behaviour Of The Drive When Tripped278
Ul Listing Information279
Environment279
Thermal Memory Retention279
Motor Overload Protection/Motor Overspeed Protection279
General279
Mounting279
Ul Listed Accessories279
Electrical Ratings279
Index280