Page 1 www.controltechniques.com Advanced User Guide Universal Variable Speed AC Drive for induction and servo motors Part Number: 0471-0002-07 Issue: 7 http://nicontrols.com...
Page 2 N O R T H E R N INDUSTRIAL W W W . N I C O N T R O L S . C O M ESTABLISHED IN 1978 Northern Industrial Thwaites Close Blackburn Lancashire BB1 2QQ United Kingdom Cert No.
Page 3 This product is supplied with the latest version of software. If this product is to be used in a new or existing system with other drives, there may be some differences between their software and the software in this product. These differences may cause this product to function differently. This may also apply to drives returned from a Control Techniques Service Centre.
Page 4: Table Of Contents
Menu 11: General drive set-up ......................181 5.13 Menu 12: Threshold detectors, variable selectors and brake control function ........192 5.14 Menu 13: Position control ........................206 5.15 Menu 14: User PID controller ......................218 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 5: Table Of Contents
Menu 22: Additional menu 0 set-up ....................325 Macros ........................326 Introduction ............................326 6.1.1 Fundamental differences between Unidrive SP and Unidrive Classic ..............328 Macro 1 - Easy Mode ........................329 Macro 2 - Motorised potentiometer ....................332 Macro 3 - Preset speeds ........................336 Macro 4 - Torque control ........................
Page 6: Parameter Structure
Figure 1-2 Menu structure Menu 0 ..XX.00..0.50 0.49 0.48 0.47 0.46 Moves between parameters 0.05 0.04 0.03 0.02 0.01 Moves between Menus Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 7 {11.42} nonE (0), rEAd (1), Prog (2), AutO (3), boot (4) nonE (0) RW Txt 0.31 Drive rated voltage {11.33} 200 (0), 400 (1), 575 (2), 690 (3) V RO Txt NC PT Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 8 This parameters is not transferred by SMARTCARDs when the rating of the destination drive is different from the source drive. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 9: Advanced Menus
Any Solutions Module type is recognised with all drive types in any slots. The relevant template is used to define menu 15 for the module type fitted in slot 1, menu 16 for slot 2, and menu 17 for slot 3. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 10: Keypad And Display
Understanding the display There are two keypads available for the Unidrive SP. The SM-Keypad has an LED display and the SM-Keypad Plus has an LCD display. Both keypads can be fitted to the drive but the SM-Keypad Plus can also be remotely mounted on an enclosure door.
Page 11: Status Mode
Up key action when the last parameter in a menu is being longer the key is held, until such time that the parameters maximum or displayed will cause the parameter number to roll over to Pr x.00. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 12: Sm-Keypad Plus Advanced Operation
LCD keypad internal menus (Menu 40 and 41) with the specific keypad still fitted. Any other keypad (SM-Keypad Plus or SM-Keypad without the correct code programmed ) will provide read only access to all parameters. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 13 The User Security has now been disabled, and will not have to be unlocked each time the drive is powered up to allow read / write access to the parameters. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 14: Alarm And Trip Display
Solutions Module is Open loop for a different drive software version. The drive allows up to 5 Closed loop seconds for this process. Servo Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 15: Sm-Keypad Plus: Menus 41 And 42
Hardware key security code Selects between normal browsing (all parameters) and filtered browsing. A four-digit code (1 to 9999) that, if equal to the current Unidrive SP Normal:Access to all parameters in the drive and installed option security code, bypasses drive security and allows read / write access to modules all drive parameters.
Page 16 Browsing filter Fnn source Up to twenty parameters can be selected for the filter-browsing list. These parameters may be anywhere on the Unidrive SP or on any of the application modules fitted. Any local SM-Keypad Plus parameter can also be chosen. Any parameter specification set to zero will be skipped.
Page 17: Parameter X.00
Pr x.00 then only the action required by Pr x.00 is performed. Pr x.00 and Pr 11.42 are then reset to zero. If Pr 11.42 has a value of 3 or 4 it will Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 18: Parameter Description Format
The following types are possible. Spare: not used Open-loop - with the Unidrive SP hardware and open loop drive mode Filtered: some parameters which can have rapidly changing selected. The control strategy is V/F mode with fixed boost or open-loop values are filtered when displayed on the drive keypad for vector.
Page 19: Parameter Ranges And Variable Maximums
DRIVE_CURRENT_MAX The maximum drive current is the current at the over current trip level and is given by: [9999.99A] DRIVE_CURRENT_MAX = Maximum Heavy Duty current rating (Pr 11.32) / 0.45 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 20 Regen unit rated current is given by Pr 5.07 Maximum output voltage set-point AC_VOLTAGE_SET_MAX Defines the maximum motor voltage that can be selected. [690V] 200V drives: 240V, 400V drives: 480V 575V drives: 575V, 690V drives: 690V Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 21: Sources And Destinations
Pr 11.45. locations when the drive is reset. Menu 21 contains all the second motor parameters. In this menu the Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 22: Update Rates
0.12% with a maximum speed of 50rpm or more. Typical differences (1500rpm maximum speed, menu 7 scaling of 1.000, analog input 1 filter of 4ms) are 0.015% for analog input 1 and 0.004% for analog inputs 2 and 3. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 23: Advanced Parameter Descriptions
(all other bit parameters have a default of zero. Non-bit parameters are unipolar if this flag is one. Power-down save: automatically saved in drive EEPROM at power-down. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 24 Parameter Keypad and Parameter Parameter Advanced parameter Serial comms Electronic Feature look- Macros Performance Menu 1 structure display x.00 description format descriptions protocol nameplate up table Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 25: Menu 1: Frequency/Speed Reference
Menu 1: Frequency/speed reference Menu 1 controls the main reference selection. When the drive operates in open-loop mode a frequency reference is produced, and when Unidrive SP operates in closed-loop vector or servo modes a speed reference is produced.
Page 26 Skip freq./ speed 1 speed 2 speed 3 Velocity feed-forward 1.05 1.30 1.32 1.34 [1.06] reference Skip freq./ Skip freq./ Skip freq./ reference speed band speed band speed band [1.06] [1.07] Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 27 Reference used for jogging. See section 5.7 Menu 6: Sequencer and clock on page 122 for details on when the jog mode can be activated. The jog reference can be used for relative jogging in digital lock mode (see section 5.14 Menu 13: Position control on page 206). Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 28 If Pr 1.08=1: SPEED_FREQ_MAX is Pr 1.06 or -Pr 1.07 whichever is the largest (If the second motor map is selected Pr 21.01 is used instead of Pr 1.06 and Pr 21.02 instead of Pr 1.07) Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 29 Pr 1.01 = selected reference x (100 + Pr 1.38) / 100 and when this parameter is 1 the reference is given by Pr 1.01 = selected reference + Pr 1.04 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 30 Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28) Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28) Keypad reference (Pr 1.17) Precision reference (Pr 1.18 and Pr 1.19) ** x = any value Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 31 This parameter defines the time between preset reference changes when Pr 1.15 is set to 9. If Pr 1.48 is set to 1 then the preset counter and timer are reset and preset 1 will be selected. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 32 When this bit is at 0 the precision reference parameters are read and stored in internal memory. Because the precision reference has to be set in two parameters, this bit is provided to prevent the drive reading the parameters while the reference is being updated. Instead, the drive uses the value Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 33 When the selected reference is within a band the lower limit of the band is passed through to the ramps such that reference is always less than demanded. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 34 Txt VM DP ND RA NC NV US RW BU Coding Update rate 4ms write This bit indicates that the position controller has selected the velocity feed forward as a reference for the drive Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 35 Txt VM DP ND RA NC NV US RW BU Coding Range Open-loop, Closed-loop vector, Servo 1 to 8 Update rate 4ms write Indicates the preset reference currently being selected Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 36 Update rate Selects the value of the keypad control mode (Pr 1.17) at power-up as follows: rESEt zero LASt last value used before power-down PrS1 Preset 1, Pr 1.21, before power-down Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 37: Menu 2: Ramps
Jog acceleration 2.19 rate Jog selected 1.13 indicator Reverse Forward accel. rate accel. rate Acceleration Ramp control 2.03 Ramp hold Pre-ramp speed Ramp mode 1.03 2.04 reference select* Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 38 (Closed- loop only) Deceleration Ramps always enabled Post-ramp in Open-loop Ramp control reference 2.06 S-Ramp enable** 2.01 S-Ramp acceleration 2.07 limit 2.08 Standard ramp voltage* 2.38 d/dt Inertia compensation torque (Closed-loop only) Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 39 The output of the ramp controller (when active) is a current demand that is fed to the frequency changing current controller (Open-loop mode) or the torque producing current controller (Closed-loop vector or Servo modes). The gain of these controllers can be modified with Pr 4.13 and Pr 4.14. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 40 T = S ramp rate of change / Ramp rate Enabling S ramp increases the total ramp time by the period T since an additional T/2 is added to each end of the ramp in producing the S. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 41 Since the new ramp rate is selected with the new reference, the acceleration applies towards the selected preset if the motor needs to accelerate to reach the preset. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 42 Ramp rate selection by terminal input 1 - 8 Ramp rate defined by parameter number, i.e. 1 = Pr 2.21, 2 = Pr 2.22, etc. Ramp rate selection by Pr 1.50 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 43 The jog deceleration rate is only used when the drive is changing speed because the jog reference has changed or to stop from the jog reference. It is not used to go from the jog to the run state. This prevents the fast ramps normally used with jog from being used when changing between running and jogging. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 44 This value can be used as a feed forward term that is added to the speed controller output if Pr 4.22 is set to one. Pr 2.38 shows the torque value as a percentage of rated active current. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 45: Menu 3: Slave Frequency, Speed Feedback, Speed Control And Regen Operation
100ppm, and so the absolute frequency/speed accuracy is 100ppm (0.01%) of the reference, when a preset speed is used. If an analog input is used the absolute accuracy is further limited by the absolute accuracy and non-linearity of the analog input. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 46 Read-only (RO) Output 0.XX parameter terminals 3.09 10.07 Absolute at-speed 3.07 Above at-speed The parameters are all shown at their default settings detect mode window indicator At speed upper limit Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 47 At speed upper limit Drive modes Open-loop, Closed-loop vector, Servo Txt VM DP ND RA NC NV US RW BU Coding Range Open-loop 0.0 to 3,000.0 Hz Default Open-loop Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 48 Although Pr 3.15 can be set to zero the drive uses a value of 0.001 if this parameter is zero. 3.16 Enable frequency slaving output Drive modes Open-loop Txt VM DP ND RA NC NV US RW BU Coding Default Open-loop Update rate Background read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 49 250µs for the direction signal before an edge occurs on the frequency signal. The frequency slaving output operates up to 1000Hz, above this frequency the outputs could be undefined. For further Menu 3 Open-loop parameters, refer to Pr 3.27 on page 61. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 50 Parameter Keypad and Parameter Parameter Advanced parameter Serial comms Electronic Feature look- Menu 3 Macros Performance structure display x.00 description format descriptions protocol nameplate up table Closed-loop Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 51 Drive encoder 3.30 fine position Drive encoder Maximum drive reference 3.43 encoder 3.46 destination reference (rpm) Any unprotected variable parameter Drive encoder ??.?? reference scaling Drive encoder 3.45 3.44 reference ??.?? Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 52 Absolute at-speed window indicator detect mode At speed upper limit Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 53 The speed error is the difference between the final speed demand and the speed feedback in rpm. This does not include the effect of the D term in the speed controller feedback branch. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 54 (If the lower limit is less than zero then zero is used as the lower limit.) If Pr 3.09 = 1 absolute window mode is used and the "at speed" condition is true if Pr 3.06 ≤ |Pr 3.02| ≤ Pr 3.07 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 55 US RW BU Coding Range Closed-loop vector, Servo 0.00 to 653.35 s/rad s Default Closed-loop vector, Servo 1.00 Second motor Closed-loop vector, Servo Pr 21.18 parameter Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 56 It should be noted that the differential term is limited internally so that it is ineffective if speed in rpm x Kd x Ki is greater than 170. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 57 Gain Conversion from previous internal units to new SI units Kp_old / 17103 Ki_old / 94.41 Kd_old / 46376 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 58 The compliance angle is the required angular displacement when the drive delivers a torque producing current equivalent to the motor rated current (Pr 5.07) with no field weakening. This parameter is used to define the compliance angle used for setting up the speed loop gain parameters automatically when Pr 3.17 = 2. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 59 The drive uses the closed-loop vector algorithm with the selected position feedback. 1: Closed-loop vector mode without position feedback The drive uses the closed-loop vector algorithm and derives the position feedback internally. 2: Closed-loop vector mode with no maximum speed limit Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 60 No load phase voltages No load line voltages Encoder angle 32768 43691 54613 10923 21845 32768 U Encoder commutation signals (high = U > U) Encoder alignment for zero encoder phase angle Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 61 If a position feedback category Solutions Module is not fitted in slot 1 the drive produces an EnC9 trip. 2, Slot2: Solutions Module in slot 2 3, Slot3: Solutions Module in slot 3 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 62 Therefore if the number of poles is set to two, one revolution is the movement by one pole pitch. Drive encoder marker position reset disable 3.31 Drive modes Open-loop, Closed-loop vector, Servo Txt VM DP US RW BU Coding Default Open-loop, Closed-loop vector, Servo Update rate Background read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 63 From software version 01.06.01 onwards - SC.Hiper, SC.SSI, Ab.servo, Fr.servo and Fd.servo type encoders. For example - a Unidrive SP with software prior to 1.06.01 in servo mode does not store the phase offset if used with a 2000PPR quadrature encoder Unidrive SP Advanced User Guide www.controltechniques.com...
Page 64 Although Pr 3.35 can be set to any value from 0 to 32, if the value is less than 1, the resolution is 1 bit. Some SSI encoders (SC.SSI or SSI) include a power supply monitor alarm using the least significant bit of the position. It is possible for the drive to monitor this bit and produce an Enc6 trip if the Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 65 Modules is obtained 20µs before the datum point where other types of encoders are sampled. If slow sampling is used both the control position and the position passed to Solutions Modules is obtained 150µs before the datum. When fast sampling is used the delay introduced into the control Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 66 This type of encoder is normally only used in servo mode. If it is used in closed-loop vector mode the UVW signals are ignored. The UVW commutation signals are used to define the motor position during the first 120deg electrical rotation after the drive is powered-up or the encoder is initialised Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 67 1. Pr 3.33 defines the ratio between the length of a sine wave period and the length of the least significant comms bit. 2. No mask is applied to the turns displayed in Pr 3.28. 3. Pr 3.35 defines the number of comms bits used to give the whole position value. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 68 Checksum/CRC error or SSI not ready at start of position SC.Hiper, SC.EnDat, EnDat Enc5 transfer (i.e. data input not one) SC.Hiper, SC.EnDat, EnDat The encoder has indicated an error Enc6 SSI, SC.SSI +Power supply failure Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 69 A delay is provided during intialisation for some encoders to allow the encoder to be ready to provide position information after it has powered up. The delay is provided during initialisation because this occurs during drive power-up and after encoder power supply trips are reset. The delays are as follows: Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 70 0 to 5 (0 to16 ms) Default Open-loop, Closed-loop vector, Servo Update rate Background read 0 = 0ms, 1 = 1ms, 2 = 2ms, 3 = 4ms, 4 = 8ms, 5 = 16ms Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 71 This may then be scaled and routed to any non-protected drive parameter. 3.47 Re-initialise position feedback Drive modes Open-loop, Closed-loop vector, Servo Txt VM DP US RW BU Coding Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 72 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 73 The sequence of data that should appear in Pr 90.23 for an encoder with an address of 0x40 and a position of 0x03, 0x59, 0x63, 0x97 is shown in the table below. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 74 Bits 14 and 13 can both be set in the transmit register if required to indicate that this is both the first and last byte of the message. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 75 Data read from Pr 90.23 Bit 15 Bit 14 Bit 13 Data 0x8000 0x00 Address 0x8012 0x12 Data 0x8034 0x34 Data The data is the parameter at address zero is 0x1234. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 76 Voltage DC voltage mains AC voltage mains rating loss detection level loss detection level 200V 205Vdc 75Vac 400V 410Vdc 150Vac 575V 540Vdc 225Vac 690V 540Vdc 225Vac Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 77 Attempt to synchronise for 30s. If unsuccessful after this time then give a LI.SYnC trip. After a failure during running attempt to re-synchronise for 30s before tripping. 2, triP: immediate trip Attempt to synchronise for 30s. If unsuccessful after this time then give a LI.SYnC trip. After a failure during running, trip immediately. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 78 If the power flow from the supply is reduced (i.e. less power is taken from the supply or more power is fed back into the supply) the d.c. bus voltage will rise. During a rapid transient the bus will rise and then fall as shown below. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 79 41 (T41) and 42 (T42) as default. This output, or an alternative output, should be used to control the soft-start contactor. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 80 If the ratings are different the analog input scaling must be used to give the correct power feed-forwards, where the scaling is given by: Load drive Rated drive current / Regen unit rated drive current Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 81: Menu 4: Torque And Current Control
UNISP6xxx and UNISP7xxx drive modules can be connected in parallel to make a larger drive. The currents are then defined as follows: Rated drive current Rated drive current is the sum of the module currents. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 82 The above calculation is based on the assumption that the flux producing current (Pr 4.17) in the stator flux reference frame does not vary with load and remains at the level for rated load. This is not the case and the flux producing current will vary as the load is increased. Therefore the maximum Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 83 (V is given by the following equation. σL – 2πf ϕ ---------------------------------------------------------- - -tan Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 84 The Maximum current is either (1.75 x Rated drive current) when the rated current set by Pr 5.07 (or Pr 21.07 if motor map 2 is selected) is less than or equal to the maximum Heavy Duty current rating, otherwise it is (1.1 x Maximum rated current). Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 85 It is possible to set a level of reactive current with Pr 4.08 in regen mode. This parameter has a limit defined as REGEN_REACTIVE_MAX that is provided to limit the total current to DRIVE_CURRENT_MAX. × Rated drive current 1.75 ------------------------------------------------------------------------ - × REGEN_REACTIVE_MAX – Pr 4.07 100% Regen unit rated current Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 86 Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 87 Braking energy Motor Motor current Read-only (RO) Output load active overload overload overload alarm 0.XX parameter terminals indicator indicator indicator accumulator indicator The parameters are all shown at their default settings Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 88 Braking energy Motor Motor current Read-only (RO) Output 0.XX load active overload overload overload alarm parameter terminals indicator indicator indicator accumulator indicator The parameters are all shown at their default settings Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 89 2.01 Percentage load Overload 4.19 2.01 accumulator 4.20 2.01 Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 90 Into supply The active current is aligned with the y axis of the reference frame. The y axis of the reference frame is aligned with the regen unit terminal voltage vector. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 91 Coding Range Open-loop, Closed-loop vector, Servo 0 to MOTOR1_CURRENT_LIMIT_MAX % Open-loop 165.0 Default Closed-loop vector, Servo 175.0 Second motor Open-loop, Closed-loop vector, Servo Pr 21.28 parameter Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 92 4.08 Torque reference Drive modes Open-loop, Closed-loop vector, Servo US RW BU Coding Range Open-loop, Closed-loop vector, Servo ±USER_CURRENT_MAX % Default Open-loop, Closed-loop vector, Servo 0.00 Update rate 4ms read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 93 When this parameter is set to 1, 2 or 3 the ramps are not active whilst the drive is in the run state. When the drive is taken out of the run state, but not Unidrive SP Advanced User Guide www.controltechniques.com...
Page 94 This is an example for an uncoiler operating in the positive direction. The final speed demand should be set to a level just above the maximum normal speed. When the resultant torque demand is negative the uncoiler will apply tension and try and rotate at 5rpm in reverse, and so take up any slack. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 95 Open-loop, Closed-loop vector, Servo, Range 0 to 30,000 Regen Drive voltage rating: 200V 400V 575V 690V Open-loop, Default Closed-loop vector, Servo Regen Closed-loop vector, Servo Pr 21.22 Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 96 To test the controller the supply should be removed while the motor is running. It is likely that the gains can be increased further if required because the DC bus voltage controller has a stabilising effect, provided that the drive is not required to operate in torque control mode. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 97 As already stated, the drive compensates for changes of switching frequency to give similar performance as the switching frequency changes. The following table gives the relationship between the user gain values and the values actually used by the drive for Unidrive and Unidrive SP. Although other scaling values are included in the current controller these values can be used to make a relative comparison between switching frequencies and a relative comparison between Unidrive and Unidrive SP.
Page 98 K is 1.05, so that above the knee of the characteristics the motor can operate continuously up to 1.05% current. (In Regen mode K = 1.05 over the whole operating frequency range.) Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 99 For example, if the drive should trip after supplying 150% overload for 60 seconds with K = 1.05 then Pr 4.15 = -60 / ln(1 - (1.05 / 1.50) ) = 89 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 100 If this parameter is set to one, the drive calculates a torque reference from the motor and load inertia (Pr 3.18) and the rate of change of speed reference. The torque reference is added to the speed controller output to provide inertia compensation. This can be used in speed or torque control Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 101 Below base speed Pr 4.26 is equal to Pr 4.20. Above base speed the percentage torque producing current (shown in Pr 4.20) is adjusted as follows: Pr 4.26 = Pr 4.20 x rated frequency / frequency Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 102: Menu 5: Motor Control
4.01 4.20 Percentage active current 4.17 Motor magnetising current Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 103 High dynamic performance enable 5.26 Voltage controller gain 5.31 Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 104 5.03 5.16 Power calculation (V x 1) optimiser enable Servo High speed Motor 5.22 servo mode current enable Motor active magnitude current 4.02 4.01 4.17 Motor magnetising current Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 105 Output Power voltage 5.03 2.01 calculation (v.i) current Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 106 However, in normal operation the result will be reasonably accurate provided that the slip compensation has been set up correctly in the rated full load rpm parameter (Pr 5.08). Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 107 Vector mode voltage control Open-loop Slip compensation Dynamic V to F control Current limits Closed-loop vector Motor thermal protection Vector control algorithm Current limits Servo Motor thermal protection Regen Thermal protection Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 108 Rs compensation is gradually reduced to zero as the frequency increases. For the vector modes to operate correctly the stator resistance (Pr 5.17), motor rated power factor (Pr 5.10) and voltage offset (Pr 5.23) are all required to be set up Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 109 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 110 In closed-loop modes it is not possible to go into the stop state if Pr 5.12 has a non-zero value. (If Pr 5.12 is set to 4 in closed-loop vector mode or 6 in servo mode then no test is carried out, but the current loop gains are re-calculated. For these actions the drive Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 111 1. Stationary test • A stationary test is performed to measure the stator resistance (Pr 5.17) • Pr 5.17 is saved to EEPROM. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 112 • Pr 3.25 is saved to EEPROM. • A stationary test is performed to measure the motor resistance (Pr 5.17). • Pr 5.17 is saved to EEPROM. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 113 If the parameter is set to 6 it is automatically cleared by the drive once the calculation is complete. It should be noted that the value changes back to zero within a few hundred milliseconds of being set to 6 by the user. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 114 This optimises the copper losses in the motor and reduces the iron losses. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 115 Initialisation occurs when parameter 03.48 changes from zero to one. The phasing angle parameter is updated to the correct value, but it is not saved to EEPROM or the SMART card. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 116 This parameter defines the required switching frequency. The drive may automatically reduce the actual switching frequency (without changing this parameter) if the power stage becomes too hot. The switching frequency can reduce from 12kHz to 6kHz to 3kHz, or 16kHz to 8kHz to 4kHz. An Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 117 A suitable field controller gain is automatically set by the drive from the motor parameters. However it is possible by setting this parameter to a 1 to reduce this gain by a factor of 2 if instability problems occur above base speed. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 118 Open-loop, Closed-loop vector, Servo Pr 21.14 parameter Update rate Background read Open-loop, Closed-loop vector With reference to the diagram overleaf, the transient inductance is defined as σL + (L / (L Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 119 The level of slip compensation is set by the rated frequency and rated speed parameters. Slip compensation is only enabled when this parameter is set to 1 and Pr 5.08 is set to a value other than zero or synchronous speed. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 120 If Pr 5.29 and Pr 5.30 are increased above 50 and 75 the drive estimate of flux can include the effect of saturation. It is unlikely that information will be available to set up these parameters, and so the values are determined during the rotating auto-tune test. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 121 This parameter is used to set up the current controller integral terms when the drive is disabled to prevent current transients when the drive is enabled with a spinning motor. It is also used to provide a voltage feed forward term if high dynamic performance is selected with Pr 5.26. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 122 SINCOS encoders with lines per revolution that are not a power of two, or closed-loop vector mode operation without an encoder. Current controller Sample Value String Switching frequency (kHz) time (us) 6 rEd 12 rEd Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 123: Menu 6: Sequencer And Clock
Drive power supply monitor Active supply 6.44 48V auxiliary supply Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 124 DC bus level at Vml . This causes the motor to decelerate at a rate that increases as the speed falls. If the mains is re-applied it will force the DC Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 125 Open-loop Update rate Background read Defines the time of injection braking during phase 1 with stopping modes 3 and 4 (see Pr 6.01 on page 123) for injection braking stop. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 126 As the Stop key is also used to reset trips this means that if the Stop key is pressed when the drive is tripped, the trip will be reset, but the drive does not start. This is done as follows. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 127 Coding Open-loop, Closed-loop vector, Servo, Default Regen Update rate Background read If this parameter is one the energy meter (Pr 6.24 and Pr 6.25) is reset and held at zero. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 128 Run time: years.days Drive modes Open-loop, Closed-loop vector, Servo, Regen VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0 to 9.364 Years.Days Regen Update rate Background write Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 129 The run time clock increments when the drive inverter is active to indicate the number of minutes that the drive has been running since leaving the Control Techniques factory. This clock may be used for time stamping the trip log if Pr 6.28 = 1.
Page 130 Open-loop, Closed-loop vector, Servo Update rate 4ms read 6.33 Sequencing bit: Forward/reverse Drive modes Open-loop, Closed-loop vector, Servo VM DP US RW BU Coding Default Open-loop, Closed-loop vector, Servo Update rate 4ms read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 131 Pre-ramp reference+hard speed reference = 0rpm Both limit switches active 6.37 Sequencing bit: Jog reverse Drive modes Open-loop, Closed-loop vector, Servo US RW BU Coding Default Open-loop, Closed-loop vector, Servo Update rate 4ms read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 132 Pr 6.43 = 1 the control word is enabled. Each bit of the control word corresponds to a sequencing bit or function as shown below. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 133 The drive will operate normally. Parameters that are saved at power-down are saved when the supply is removed and a UU trip occurs. 1: Low voltage battery supply The drive is operating in low voltage battery supply mode. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 134 If a drive is operating in regen mode or from a low voltage battery supply detection of mains or phase loss from the input power stages is automatically disabled because the a.c. input system is not active. If the drive is operating from a high voltage d.c. supply and is a multi-module drive mains loss Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 135 3. Modbus messages using the CMP protocol can only route messages to nodes within the drive. It will not be possible for these to be routed further, i.e. via CT Net on an SM Applications module. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 136: Menu 7: Analog I/O
Pr 5.03 - output power 10V would be produced when: Active current = Rated drive current / 0.45 Peak phase voltage in phase with the active current = DC_VOLTAGE_MAX / 2 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 137 ??.?? current Read-only (RO) Output 0.XX 7.23 7.24 4.02 parameter terminals Analog Analog ??.?? output 2 output 2 The parameters are all shown at their default settings scaling mode selector Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 138 The values displayed in the parameter are normally between -20 and +127°C. If the value measured from the thermistor exceeds the range from -20 to +150°C it is assumed that the device is either open-circuit or short-circuit. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 139 US RW BU Coding Open-loop, Closed-loop vector, Servo, Range Pr 0.00 to Pr 21.51 Regen Open-loop, Closed-loop vector, Servo Pr 1.36 Default Regen Pr 0.00 Update rate Read on drive reset Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 140 US RW BU Coding Open-loop, Closed-loop vector, Servo, Range Pr 0.00 to Pr 21.51 Regen Open-loop, Closed-loop vector, Servo Pr 1.37 Default Regen Pr 3.10 Update rate Read on drive reset Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 141 Txt VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Range Pr 0.00 to Pr 21.51 Regen Open-loop, Closed-loop vector, Servo, Default Pr 0.00 Regen Update rate Read on drive reset Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 142 US RW BU Coding Open-loop, Closed-loop vector, Servo, Range Pr 0.00 to Pr 21.51 Regen Open-loop, Closed-loop vector, Servo Pr 4.02 Default Regen Pr 5.05 Update rate Read on drive reset Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 143 Analog input 1 is filtered using a window filter to remove quantisation noise and adjust the resolution of this input. The length of the window can be adjusted with this parameter. The shortest possible window is 250µs. It should be noted that if this input is not used as a speed reference (Pr 1.36, Pr Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 144 Pr 5.01 or Pr 4.02 to Pr 7.19 respectively. Parameter value Parameter string Action Write Pr 7.19 = Pr 5.01 Write Pr 7.19 = Pr 4.02 No action Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 145 This includes the effects of drive output current and DC bus ripple. The estimated temperature is displayed as a percentage of the trip level in this parameter. If the parameter value reaches 100% an Oht3 trip is initiated. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 146: Menu 8: Digital I/O
Sample rate Function T24 to T26 Digital input or output T27 to T29 Digital input Relay Background Background 24V output Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 147 8.23 I/O 3 source/ Start/stop destination logic select 8.29 8.30 T26 digital 8.13 I/O polarity Open collector unprotected I/O 3 invert output select parameter ??.?? Run forward 6.30 x(-1) ??.?? Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 148 Read-write (RW) 0.XX terminals x(-1) 10.32 parameter Drive enable Read-only (RO) Output 0.XX parameter terminals Relay source This logic diagram applies only when all parameters are at their default settings x(-1) Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 149 Background read Unidrive SP has a dedicated hardware enable input which always controls Pr 6.29. If the enable is inactive the IGBT firing signals are turned off without software intervention. As default (Pr 8.10 = 0) the drive is in the inhibit mode when the enable is inactive. Setting this parameter to one causes Unidrive SP Advanced User Guide www.controltechniques.com...
Page 150 See Table 5-4 on page 148 Default Regen See Table 5-5 on page 148 Open-loop, Closed-loop vector, Servo, Range Pr 0.00 to Pr 21.51 Regen Update rate Read on drive reset Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 151 RA NC NV US RW BU Coding Open-loop, Closed-loop vector, Servo, Pr 8.31 = On (1), Default Regen Pr 8.32 and Pr 8.33 = OFF (0) Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 152 Keypad reference selected Pr 1.41 - Analog ref 2 select Pr 6.31 - jog 5, Prc Precision reference selected Pr 1.41 - Analog ref 2 select Pr 6.31 - jog Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 153: Menu 9: Programmable Logic, Motorised Pot And Binary Sum
??.?? ??.?? x(-1) Function-2 input-2 9.16 source parameter Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 154 Binary-sum logic output Binary-sum logic destination value offset parameter 9.34 9.32 9.33 9.29 unprotected Binary-sum logic ones (LSB) parameter ??.?? 9.30 ??.?? Binary-sum logic twos 9.31 Binary-sum logic fours (MSB) Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 155 RA NC NV US RW BU Coding Open-loop, Closed-loop vector, Servo, Range Pr 0.00 to Pr 21.51 Regen Open-loop, Closed-loop vector, Servo, Default Pr 0.00 Regen Update rate Read on reset Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 156 If the delay parameter is negative, the delay holds the output active for the delay period after the active condition has been removed as shown below. Therefore an active input that lasts for 4ms or more will produce an output that lasts at least as long as the delay time. Input Delay Output Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 157 This parameter defines the time taken for the motorised pot function to ramp from 0 to 100.0%. Twice this time will be taken to adjust the output from -100.0 % to +100.0 %. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 158 These three bits control the motorised pot. The up and down inputs increase and decrease the output at the programmed rate respectively. If both up and down are active together the up function dominates and the output increases. If the reset input is one, the motorised pot output is reset and held at 0.0%. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 159 RA NC NV US RW BU Coding Open-loop, Closed-loop vector, Servo, Range Pr 0.00 to Pr 21.51 Regen Open-loop, Closed-loop vector, Servo, Default Pr 0.00 Regen Update rate Read on reset Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 160 If destination parameter maximum ≤ (7 + Offset): Destination parameter = Binary sum output If destination parameter maximum > (7 + Offset): Destination parameter = Destination parameter maximum x Binary sum output / (7 + Offset) Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 161: Menu 10: Status And Trips
US RW BU Coding Update rate Background write 10.06 At speed Drive modes Open-loop, Closed-loop vector, Servo Txt VM DP ND RA NC NV US RW BU Coding Update rate Background write Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 162 This parameter is set when the braking IGBT is active and the braking energy accumulator is greater than 75%. This parameter is held on for at least 0.5s so that it can be seen on the display. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 163 Coding Update rate Background write Indicates that any of the heat sink temperatures (Pr 7.04 or Pr 7.05) or the control board temperature (Pr 7.06) are above their alarm level. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 164 SMARTCARD trip: Data location specified does not contain any data Ensure data block number is correct C.Err SMARTCARD trip: SMARTCARD data is corrupted Ensure the card is located correctly Erase data and retry Replace SMARTCARD Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 165 Check encoder power is set correctly Replace feedback device If wire break detection on the main drive encoder input is not required, set Pr 3.40 = 0 to disable the Enc2 trip Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 166 2 or greater than 50,000. Linear motor pole pitch / encoder ppr set up is incorrect or out of parameter range i.e. Pr 5.36 = 0 or Pr 21.31 = 0. Faulty encoder. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 167 Hardware fault - return drive to supplier HF24 Power stage recognition: unrecognised drive size Hardware fault - return drive to supplier HF25 Current feedback offset error Hardware fault - return drive to supplier Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 168 Check cubicle / drive fans are still functioning correctly Check cubicle ventilation paths Check cubicle door filters Increase ventilation Decrease acceleration / deceleration rates Reduce drive switching frequency Reduce duty cycle Reduce motor load Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 169 Increase the over speed trip threshold in Pr 3.08 (closed loop modes only) Speed has exceeded 1.2 x Pr 1.06 or Pr 1.07 (open loop mode) Reduce the speed loop P gain (Pr 3.10) to reduce the speed overshoot (closed loop modes only) Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 170 Check integrity of interface ribbon cables and connections (size 4,5,6 only) Hardware fault - return drive to supplier Failure to measure resistance during autotune or when starting in open loop vector mode 0 or 3 Check motor power connection continuity Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 171 Thermistor trip Thermistor short circuit Resolver: Poles not compatible Check that the correct number of resolver poles has been set in Pr 15/16/17.15. with motor The Solutions Module has over-heated Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 172 Check value in Pr 15/16/17.50. The following table lists the possible error codes for the I/O module. Error code Reason for fault No errors Digital output short circuit Module over temperature Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 173 SM-Applications program must be interrogated to find the cause of this trip t216 to t217 User trip defined in 2 processor Solutions Module code 216 to 217 SM-Applications program must be interrogated to find the cause of this trip Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 174 Onboard PLC program attempted access to a non-existent parameter Check program UP ro Onboard PLC program attempted write to a read-only parameter Check program UP So Onboard PLC program attempted read of a write-only parameter Check program Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 175 177 to 178 t177 to t178 SL.rtd CL.bit C.Chg 216 to 217 t216 to 217 EEF1 C.Optn 220 to 232 HF20 to HF32 37 to 38 t037 to t038 C.RdO Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 176 Regen Update rate Background read The default value is a suitable value for standard braking resistors that can be mounted within the drive heatsink as given in the table below. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 177 If the cycle shown in the diagram above is repeated, where the resistor is heated to its maximum temperature and then cools to ambient. The average power in the resistor, P / Tp Where: Tp is the full power braking period = E / T Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 178 If there has been no trip for 5 minutes then the reset count is cleared. Auto reset will not occur on a UU, Et, EEF or HFxx trips. When a manual reset occurs the auto reset counter is reset to zero. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 179 If stop on low priority trips is selected the drive will stop before tripping except in Regen mode where the drive trips immediately. Low priority trips are: th, ths, Old1, cL2, cL3, SCL. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 180 Pr 10.15 Pr 10.14 Pr 10.13 Pr 10.12 Pr 10.11 Pr 10.10 Pr 10.09 Pr 10.08 Pr 10.07 Pr 10.06 Pr 10.05 Pr 10.04 Pr 10.03 Pr 10.02 Pr 10.01 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 181 It is possible that this time difference may be negative, in which case the value will be zero. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 182: Menu 11: General Drive Set-Up
Pr 6.13 Pr 6.13 Pr 0.00 Pr 11.19 Pr 0.29 Pr 11.36 Pr 11.36 Pr 11.36 Pr 11.36 Pr 11.20 Pr 0.30 Pr 11.42 Pr 11.42 Pr 11.42 Pr 11.42 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 183 The master should wait at least 20ms before sending a new message using the new protocol. (Note: ANSI uses 7 data bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and no parity.) Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 184 This parameter can be changed via the drive keypad, via a Solutions Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original baud rate. The master should wait at least 20ms before sending a new message using the new baud rate. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 185 Write at power-up If this parameter is zero the drive is a standard Unidrive SP product. If this parameter is non-zero then the product is a derivative product. Derivatives can have different defaults from the standard product and restrictions on the values allowed for some parameters.
Page 186 The drive software version consists of three numbers xx.yy.zz. Pr 11.29 displays xx.yy and zz is displayed in Pr 11.34. Where xx specifies a change that affects hardware compatibility, yy specifies a change that affects product documentation, and zz specifies a change that does not affect the product documentation. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 187 3yyy, the drive EEPROM checksum will be set up to be incorrect and an EEF trip will be initiated. If the card is removed during data transfer from the card for a data block that was saved with code 4yyy then no data will be saved to EEPROM and a C.Acc trip Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 188 Pr x.00 is simply set to 0. If the compare fails a C.cpr trip is initiated. This function can be used with all data block types except type 18. If a compare is requested with data block type 18 the result will always be a C.cpr trip. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 189 Sets the timeout for the drive display to revert to status mode from edit mode following no key presses. Although this parameter can be set to less than 2s, the minimum timeout is 2s. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 190 Default Regen Update rate Background read Setting this parameter to a non-zero value and resetting the drive loads defaults as follows. This parameter is automatically reset to zero when the Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 191 Open-loop, Closed-loop vector, Servo, Range 0 to 2 Regen Open-loop, Closed-loop vector, Servo, Default Regen Update rate Background read This parameter is used to start and stop the drive Onboard PLC program. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 192 The drive Onboard PLC program first run parameter is set for the duration of the first ladder diagram scan from the ladder diagram stopped state. This enables the user to perform any required initialisation every time the ladder diagram is run. This parameter is set every time the ladder is stopped. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 193: Menu 12: Threshold Detectors, Variable Selectors And Brake Control Function
Threshold Threshold Detector 2 Detector 2 Detector 2 hysteresis output invert input source Hysteresis Input Read-write (RW) Threshold 0.XX terminals parameter level Read-only (RO) Output 0.XX parameter terminals Threshold output Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 194 Variable selector 2 ??.?? input 2 scaling 12.34 ??.?? Variable selector 2 12.29 input 2 source Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 195 Open-loop, Closed-loop vector, Servo, Regen Txt VM DP RA NC NV US RW BU Coding Open-loop, Closed-loop vector, Servo, Default Regen Update rate 4ms x number of menu 9 or 12 functions active read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 196 US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0 to 10 Regen Open-loop, Closed-loop vector, Servo, Default Regen Update rate 4ms x number of menu 9 or 12 functions active read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 197 US RW BU Coding Open-loop, Closed-loop vector, Servo, Range ±4.000 Regen Open-loop, Closed-loop vector, Servo, Default 1.000 Regen Update rate 4ms x number of menu 9 or 12 functions active read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 198 The controller only takes the change of position from the input source parameter, and not the absolute value, so that when the controller is first made active the output does not jump to the source position, but only moves with any changes of source position after that point in time. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 199 9 or 12 enabled. If another function is enabled the input to the position controller will only change every 8ms (i.e. every 2 samples of the position controller) and the speed reference applied to the drive could be very noisy. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 200 Pr 8.22 (Source / Pr 8.32 (Input/ Pr 8.12 (Invert) Pr 8.17 (Invert) Pr 8.27 (Source) Pr 12.41 destination) output) No action Pr 10.01 Pr 12.40 Pr 12.40 No action No action Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 201 2. Pre-brake release delay 3. Post-brake release delay 4. Wait for brake apply frequency 5. Wait for zero frequency 6. 1s delay as phase 2 of stopping sequence (Pr 6.01 =1,2 or 3) Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 202 (i.e. reversing direction without stopping), provided the Reference on parameter (Pr 1.11) remains at one, the brake is not applied. This prevents the brake from activating and de-activating as the motor passes through zero speed. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 203 The post-brake release delay is used to allow for the brake release time. During this period the frequency reference is held constant (Pr 2.03 = 1), so that there is no sudden increase in motor speed when the brake actually releases. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 204 Pr 12.48 1. Wait for motor fluxed (closed-loop vector only) 2. Post-brake release delay 3. Wait for speed threshold 4. Wait for brake apply speed delay 5. Brake apply delay Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 205 The brake apply delay is used to allow for the brake application time. During this period the Hold zero speed parameter (Pr 6.08) is one, and so the drive is enabled with zero speed reference. This ensures that the motor remains stationary while the brake is being applied. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 206 When Pr 12.49 is changed from one to zero Pr 13.04 and Pr 13.10 are automatically set to zero. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 207: Menu 13: Position Control
When the position controller is de-selected (i.e. Pr 13.10 is changed to zero) Pr 1.39, Pr 1.40, Pr 3.22 and Pr 3.23 are set to zero. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 208 Parameter Keypad and Parameter Parameter Advanced parameter Serial comms Electronic Feature look- Macros Performance Menu 13 structure display x.00 description format descriptions protocol nameplate up table Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 209 Position Position counter fine controller feedback Drive source 3.28 3.29 3.30 Encoder 13.05 Slot 1 15.04 15.05 15.06 ∆ Position Slot 2 16.04 16.05 16.06 Slot 3 17.04 17.05 17.06 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 210 13.12 Position controller speed clamp Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals This logic diagram applies only when all parameters are at their default settings Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 211 3.29 3.30 Encoder 13.05 Slot 1 15.04 15.05 15.06 ∆ Position Slot 2 16.04 16.05 16.06 Limited to ± / rev Slot 3 17.04 17.05 17.06 Orientation position 13.13 reference Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 212 Orientation Input Read-write (RW) 0.XX terminals parameter Orientation Read-only (RO) Output 0.XX position 13.15 parameter terminals complete This logic diagram applies only when all parameters are at their default settings Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 213 If a Solutions Module slot is selected as a source, but the module is not a position feedback category Solutions Module the position controller cannot be enabled. Orientation mode can always be enabled in closed-loop modes. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 214 Closed-loop vector, Servo 0 to 6 Default Open-loop, Closed-loop vector, Servo Update rate Background read This parameter is used to set the position controller mode as shown in the following table. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 215 If Pr 13.10 is 6 the drive orientates the motor following a stop command and whenever the drive is enabled provided that hold zero speed is enabled (Pr 6.08 = 1). This ensures that the spindle is always held in the same position following the drive being enabled. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 216 Drive modes Closed-loop vector, Servo Txt VM DP RA NC NV US RW BU Coding Range Closed-loop vector, Servo 0 to 4,096 Default Closed-loop vector, Servo Update rate Background read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 217 Open-loop, Closed-loop vector, Servo Update rate Background read Relative jog can be used to move the feedback position relative to the reference position at a speed defined by Pr 13.17. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 218 (and not the turns or fine position) is available. This feature is not available when absolute mode is selected (Pr 13.11 = 1). Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 219: Menu 14: User Pid Controller
Any variable parameter feedback ??.?? 14.21 ??.?? x(-1) enable 14.08 Drive normal indicator & 10.01 Logic 1 Any bit parameter ??.?? ??.?? Source 14.09 not used Optional PID enable source parameter Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 220 PID integral gain 14.01 14.15 14.12 ??.?? PID derivative gain Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 221 Regen Update rate Background read This parameter defines the time taken for the reference input to ramp from 0 to 100.0% following a 0 to 100% step change in input. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 222 Txt VM DP RA NC NV US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0.000 to 4.000 Regen Open-loop, Closed-loop vector, Servo, Default 0.000 Regen Update rate Background read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 223 When this parameter is set to 0 the integrator operates normally. Setting this parameter to 1 will cause the integrator value to be held. Setting this parameter does not prevent the integrator from being reset to zero if the PID controller is disabled. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 224 PID error Drive modes Open-loop, Closed-loop vector, Servo, Regen Coding Txt VM DP RA NC NV US RW BU Open-loop, Closed-loop vector, Servo, Range ±100.00 % Regen Update rate 4ms write Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 225: Menus 15, 16 And 17: Solutions Module Slots
12ms. In the parameter tables the update time added by the type of module is given, for example 4ms for the SM-Encoder Plus or 8ms for the SM-I/O Plus. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 226: Sm-Universal Encoder Plus
Auto parameter configuration on power-up has been requested Pr SC.HiPEr, SC.EnDat, EnDat x.17>1 but the encoder type has not been recognised. The user must supply Pr x.09 and Pr x.11 and possibly Pr x.10. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 227 PL2 Term Freeze RS485 Freeze +24V Ab output Fd output SSI output Marker output block input input Freeze 0V common Data Data\ Clock\ (input) Clock (input) 0V common Freeze Freeze\ Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 228 24V Freeze input Freeze flag RS485 Freeze input x.35 Freeze revolution counter Freeze x.36 Freeze position x.39 24V / RS485 Freeze inputs x.37 Freeze fine position x(-1) x.41 Freeze invert Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 229 Coding Open-loop, Closed-loop vector, Servo, Range ±40,000.0 rpm Regen Update rate 4ms write Provided the set-up parameters for the position feedback are correct this parameter shows the speed in rpm. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 230 (Pr x.07 = 0), or just to set the marker flag (Pr x.07 = 1). When the position is reset by the marker, Pr x.05 and Pr x.06 are reset to zero. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 231 Where encoder comms alone is used as position feedback, the equivalent lines per revolution (Pr x.10) is not used in setting up the encoder interface. It is possible for the drive to set up this parameter automatically from information obtained from the encoder via HIPERFACE or EnDat interfaces (see Pr x.18 on page 234). Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 232 This parameter defines the baud rate for the encoder comms when using SSI or EnDat encoders. However, a fixed baud rate of 9,600 baud is used with HIPERFACE encoders and this parameter has no effect. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 233 For example an encoder with 12 turns bits, 13 bit single turn resolution and a baud rate of 1M would give the following time: Time to obtain the position data = 28µs (27.25µs rounded up) Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 234 (see Pr 3.40 on page 67). This will ensure that the drive remains tripped until the encoder is powered up and the action of resetting the trip will reinitialise the encoder interface. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 235 The Solutions Module should be able to auto-configure with any EnDat encoder where the number of turns and lines per revolution are a power of 2, and the following HIPERFACE encoders: SCS 60/70, SCM 60/70, SRS 50/60, SRM 50/60, SHS 170, LINCODER, SCS-KIT 101, SKS36, SKM36. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 236 Open-loop, Closed-loop vector, Servo, Regen Txt VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0.000 to 4.000 Regen Open-loop, Closed-loop vector, Servo, Default 1.000 Regen Update rate Background read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 237 Background read x.27 Encoder simulation resolution select Drive modes Open-loop, Closed-loop vector, Servo, Regen Txt VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Default Regen Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 238 The baud rate is set in the master device, but the Solutions Module can output up to 500kHz. The pause time of 90µs must never be reduced. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 239 0 to 65,535 (1/2 ths of a revolution) Regen Update rate 4ms write This position is taken from the position feedback device and is not affected by the marker or the freeze inputs. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 240 Open-loop, Closed-loop vector, Servo, Regen Txt VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0 to 65535 (1/2 ths of a revolution) Regen Update rate Level 2 write Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 241 Background read When Pr x.40 = 0 freeze occurs on the rising edge of the freeze input. When Pr x.41 = 1 freeze occurs on the falling edge of the freeze input. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 242 The last message was to auto-configure the drive encoder and the encoder was identified successfully. The last message was initiated through the Solutions Module interface or from the drive electronic nameplate system and the last message was successful. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 243 8 to produce a 14 bit position as will be given from the read position data transfer, this gives a position of 9,112. The returned data from the encoder and read through Pr x.43 is given below: Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 244 Bits 14 and 13 can both be set in the transmit register to indicate that this is both the first and last byte of the message. If any other command is used then the response is as follows: Address byte Data (LSB) Data (MSB) byte Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 245 0111 0100 0100 (end of turns and start of the position) 1 1101 0011 1110 1860 7486 So the absolute position is 1860/7486 which should be compared to the displayed interpolated position of 1860/7485. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 246 Txt VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0 to 32 bits Regen Open-loop, Closed-loop vector, Servo, Default Regen Update rate Background read Used by the simulation module. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 247 = zz. Where xx specifies a change that affects hardware compatibility, yy specifies a change that affects product documentation, and zz specifies a change that does not affect the product documentation. When a module is fitted that does not contain software both these parameters appear as zero. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 248 Parameter Keypad and Parameter Parameter Advanced parameter Serial comms Electronic Feature look- Menus 15 to 17 Macros Performance structure display x.00 description format descriptions protocol nameplate up table SM-Resolver Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 249: Sm-Resolver
REF HIGH (excitation) REF LOW (excitation) Resolver x.15 poles x.17 Error detection level Freeze positional Freeze input Freeze information flag SM-Applications Freeze x.39 x.36 SM-Universal position Encoder Plus Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 250 Encoder 3.29 source x.xx Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 251 The new parameters values are not stored in EEPROM until the user performs a parameter save. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 252 Open-loop, Closed-loop vector, Servo, Regen Txt VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0 to 50,000 Regen Open-loop. Closed-loop vector, Servo, Default 4,096 Regen Update rate Background read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 253 If the number of resolver poles is set up incorrectly and the resolver is selected as the drive speed feedback for motor control Solutions Module error 11 is produced. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 254 1, but is reduced if the ratio is less than 1. Some ratios are not possible when the resolver resolution is reduced below 14 bits as shown in the following table. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 255 US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0 to 65,535 (1/2 ths of a revolution) Regen Update rate Combined update time. This module adds 4ms to the combined update time. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 256 = zz. Where xx specifies a change that affects hardware compatibility, yy specifies a change that affects product documentation, and zz specifies a change that does not affect the product documentation. When a module is fitted that does not contain software both these parameters appear as zero. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 257: Sm-Encoder Plus
Revolution Encoder x.15 counter Position type Not used x.32 x.33 Marker x.08 x.07 input Marker Marker flag position disable SM-Applications module freeze x.36 x.39 input Freeze Freeze position flag Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 258 If the module is selected for motor control position feedback then the position and speed parameters are updated as defined with each parameter, but are available within the drive at a faster rate as shown below. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 259 Update rate Combined update time. This module adds 4ms to the combined update time. Provided the set-up parameters for the position feedback are correct this parameter shows the speed feedback in rpm. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 260 Pr x.05 is reset to zero. The marker flag is set each time the marker input becomes active, but it is not reset by the drive, and so this must be done by the user. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 261 The filter is not active if the parameter value is 0ms(0) or 1ms(1), but operates over the defined window for parameter values of 2ms(2), 4ms(3), 8ms(4) and 16ms(5). Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 262 US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0 to 65,535 (1/2 ths of a revolution) Regen Update rate Combined update time. This module adds 4ms to the combined update time. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 263 = zz. Where xx specifies a change that affects hardware compatibility, yy specifies a change that affects product documentation, and zz specifies a change that does not affect the product documentation. When a module is fitted that does not contain software both these parameters appear as zero. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 264: Sm I/O Plus
I/O 3 invert Positive parameter X.29 logic select ??.?? x(-1) ??.?? Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default setting Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 265 All digital outputs are disabled when the drive is in the UU condition. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 266 9.8V. This ensures that when the input is driven from a voltage produced from the drive’s own 10V supply, the input can reach full scale. The output operates in voltage mode only. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 267 Option software version Drive modes Open-loop, Closed-loop vector, Servo, Regen Txt VM DP US RW BU Coding Range Open-loop, Closed-loop, Servo, Regen 00.00 to 99.99 Update rate Write on power-up Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 268 T2 Input / output 1 T3 Input / output 2 T4 Input / output 3 T6 Input 4 T7 Input 5 T8 Input 6 T21 Relay 7 T23 Relay 8 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 269 Txt VM DP RA NC NV US RW BU Coding Open-loop, Closed-loop vector, Servo, Range ±100.0 % Regen Update rate Combined update time. This module adds 4ms to the combined update time. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 270 Analog input 2 invert Drive modes Open-loop, Closed-loop vector, Servo, Regen Txt VM DP RA NC NV US RW BU Coding Open-loop, Closed-loop vector, Servo, Default Regen Update rate Background read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 271 = zz. Where xx specifies a change that affects hardware compatibility, yy specifies a change that affects product documentation, and zz specifies a change that does not affect the product documentation. When a module is fitted that does not contain software both these parameters appear as zero. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 272: Sm-Ezmotion
Value Out of Range SP Menu Parameter is out of range. Use the Unidrive SP User Guide to verify the range of the parameter and try again SP Database Setup Error...
Page 273 File Corruption Error - Consult Factory File Corruption Error - Consult Factory Program Error - Too Many Wait For No more than nine arguments in Wait Limit # of arguments and redownloads Instructions for Instruction Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 274 SM-EZMotion module digital outputs so that device attached to the module outputs they draw no more than 20mA total. is drawing too much current. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 275 Trajectory update rate (user configured) This parameter shows the status of digital Output #2 on the SM-EZMotion module. A value of 1 indicates that the Output is active. A value of 0 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 276 There are six individual digits that indicate the status of different processes. This parameter will display a six digit number that can be used in conjunction with the graphic below to determine the status of each process. Leading zeros in the value are not displayed. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 277 = zz. Where xx specifies a change that affects hardware compatibility, yy specifies a change that affects product documentation, and zz specifies a change that does not affect the product documentation. When a module is fitted that does not contain software both these parameters appear as zero. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 278: Fieldbus Module Category Parameters
When parameters are saved by the user in the drive EEPROM the option code of the currently fitted module is saved in EEPROM. If the drive is subsequently powered-up with a different module fitted, or no module fitted where a module was previously fitted, the drive gives a Slot.dF trip. The Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 279 The maximum amount of polled data that can be transferred is 28 words. SM-CANopen, SM-CAN To be defined If Pr x.05 = 0 then the input and output cyclic data lengths will be configured independently by Pr x.38, Pr x.39 and Pr x.40. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 280 O registers (Pr x.20 to Pr x.29). I and O registers are reserved and must SM-CAN I and O registers are reserved and must not be used not be used Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 281 Pr x.29. For this reason if a length of more than 10 is selected for either the input or output cyclic data only the first 10 words can be used. A cyclic data mode of greater length than 10 will result in an over-length error. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 282 A range of 5, slot 3, SM-Applications PLC registers will receive cyclic 5*32 bit data Pr 15.27 Pr 160.05 Pr 15.28 Channel disabled Pr 15.29 Channel disabled Table 5-12 illustrates what the resulting message would look like. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 283 If the client is reset (e.g. by Pr x.31 in a fieldbus setup menu being set to 1) the client will restart, no trip will occur and the server will continue normal operation. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 284 NOTE In most cases the user can simply perform a Unidrive SP parameter save - this is enough to ensure that the system will recover from a power supply cycle and does not result in an interruption to Fieldbus communication.
Page 285 1. Fieldbus communication will be stopped. 2. Fieldbus menu parameter values will be downloaded to the Unidrive SP from the Solutions Modules flash memory - if a valid parameter set has not been saved then a trip 70 will occur.
Page 286 The mapping error status indicates more detailed information regarding any problems with the current mapping parameters (See Table 5-13). If there are multiple errors in the mapping information only the first error that is found will be shown. Once this error has been rectified the module will have to Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 287 Set up cyclic blocks for IN mappings in inter-option comms channel. 11. Update OUT inter-option comms blocks (Error codes - 215) Set up cyclic blocks for OUT mappings in inter-option comms channel. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 288 = zz. Where xx specifies a change that affects hardware compatibility, yy specifies a change that affects product documentation, and zz specifies a change that does not affect the product documentation. When a module is fitted that does not contain software both these parameters appear as zero. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 289: Sm-Applications
Slot 3 module timed out during inter-option communications transaction Unknown error during inter-option communications transaction The Applications Module will only detect a change in parameter values after start-up or on restart after being reset. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 290 The following strings are defined: Display Value Description None No DPL program present StoP DPL program is stopped DPL program is running triP Run-time error, Error task running or DPL program stopped Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 291 Value Description 300 baud 600 baud 1200 1200 baud 2400 2400 baud 4800 4800 baud 9600 9600 baud 19200 19200 baud 38400 38400 baud 57600 57600 baud 115200 115200 baud Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 292 All drives Range All drives 0 to 200 Update Rate Not Applicable The scheduling rate for the user program clock task in milliseconds. A value of zero disables the clock task. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 293 When this parameter is 0 (default) the module will be reset when a drive trip is cleared. This may be set to 1 which will enable the module to continue running unaffected by a drive trip reset. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 294 Txt VM DP US RW BU Coding Default All drives Update Rate Not Applicable This parameter is not cached i.e. the current value will be used at the next power down. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 295 CTNet baud rate ♣ x.24 Drive types Open-loop, Closed-loop vector, Servo, Regen Txt VM DP US RW BU Coding Default All drives Range All drives 0 to 3 Update Rate Not Applicable Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 296 CTNet easy mode - second cyclic source parameter ♣ x.29 Drive types Open-loop, Closed-loop vector, Servo, Regen Txt VM DP US RW BU Coding Default All drives Range All drives 0 to 9,999 Update Rate Not Applicable Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 297 CTNet. Pr x.32 to Pr x.34 allow the user to specify which parameters should be updated from cyclic data received in slots 1 to 3 on the local node. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 298 CAM function without initialising the CAM generator. NOTE User operations which return a status code do not cause a drive trip even if this parameter is set. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 299 Not Applicable When Pr x.43 = 0 freeze occurs on the rising edge of the freeze input. When Pr x.43 = 1 freeze occurs on the falling edge of the freeze input. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 300 10s). If the temperature falls below 90°C the fan can operate normally again. If the PCB temperature exceeds 100°C the drive is tripped and the error status is set to 74. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 301 = zz. Where xx specifies a change that affects hardware compatibility, yy specifies a change that affects product documentation, and zz specifies a change that does not affect the product documentation. When a module is fitted that does not contain software both these parameters appear as zero. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7...
Page 302: Sm-Slm
The mode naming conventions are: Host mode uses an external position controller host and an SLM module for the speed loop. Enc. only mode uses the SLM module for speed feedback and nameplate data only. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 303 Enable (SLM) 24Vdc (SLM) x.12 Autotune Saving Isolated 0V (SLM) SLM power- mode mode Not connected up delay x.26 x.27 Not connected 5.18 = 8kHz 3.26 = SM-SLM slot Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 304 16 Trip Speed x.03 Action read from Lock position SLM EEPROM feedback (CT Coder) x.49 x.29 Revolution Fine Autotune Position counter position mode x.26 x.04 x.05 x.06 Parameters transferred x.28 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 305 Open-loop, Closed-loop, Servo, Regen Update rate 4ms write Provided the set-up parameters for the position feedback are correct this parameter shows the speed feedback in rpm. This parameter is filtered to increase readability. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 306 Host mode uses an external position controller and an SM-SLM for the speed loop. The host controller will handle all SLM calculations for initialisation. The UniSP acts as torque amplifier similar in operation as the MultiAx drive. Enc. only mode uses the SLM module for speed feedback and nameplate data only. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 307 Indicates the software version of the SLM module fitted to the motor. This is SLM Pr 100 which needs to have been transferred if in HOST mode. The format is p.vvv where p is the page and vvv is the software version of the page. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 308 If the sequencer state has not reached RUNNING or TRIP within 60 seconds from the first pass through power-up after the sequencer has been restarted, then the Solutions Module will trip the drive with Pr x.50 equal to 19. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 309 Exit - Pass Go to trip Initialise single period sine absolute position by writing to number of pole pairs command Go to the wait state Take time stamp for wait period Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 310 Set torque mode without speed over riding etc Drive has tripped so wait for user reset in [7 - Wait for hardware enable] Enable the drive (function of Pr 6.15) Exit - Fail Check for trip Trip Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 311 2 - Idle - no tuning or set-up 3 - Idle - no tuning or set-up 4 - RESET the whole initialisation system NOTE 4 will hold the sequencer in reset. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 312 0 - NONE: No motor parameters have been sent to the UniSP 1 - MIN: Minimal parameters have been transferred so normal performance is possible 2 - FULL: All parameters have been transferred so high performance is possible Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 313 If Pr x.49 is set to 1, Pr x.04, Pr x.05 and Pr x.06 are not updated. If this parameter is set to 0 Pr x.04, Pr x.05 and Pr x.06 are updated normally. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 314 = zz. Where xx specifies a change that affects hardware compatibility, yy specifies a change that affects product documentation, and zz specifies a change that does not affect the product documentation. When a module is fitted that does not contain software both these parameters appear as zero. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 315: Menu 18: Application Menu 1
18.31 to 18.50 Application menu 1 read-write bit Drive modes Open-loop, Closed-loop vector, Servo, Regen Txt VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Default Regen Update rate Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 316: Menu 19: Application Menu 2
19.31 to 19.50 Application menu 2 read-write bit Drive modes Open-loop, Closed-loop vector, Servo, Regen Txt VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Default Regen Update rate Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 317: Menu 20: Application Menu 3
Drive modes Open-loop, Closed-loop vector, Servo, Regen Txt VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Range to 2 Regen Open-loop, Closed-loop vector, Servo, Default Regen Update rate Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 318: Menu 21: Second Motor Parameters
Pr 1.41 = 1 then Pr 1.49 = 2 Pr 1.42 = 1 then Pr 1.49 = 3 Pr 1.43 = 1 then Pr 1.49 = 4 Pr 1.44 = 1 then Pr 1.49 = 5 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 319 0 to 3000.0 Hz Range Closed-loop vector 0 to 1250.0 Hz Default Open-loop, Closed-loop vector EUR: 50.0, USA: 60.0 Normal Open-loop, Closed-loop vector Pr 5.06 parameter Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 320 Txt VM DP US RW BU Coding Range Open-loop, Closed-loop vector 0.000 to 1.000 Default Open-loop, Closed-loop vector 0.850 Normal Open-loop, Closed-loop vector Pr 5.10 parameter Update rate Background read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 321 Drive modes Open-loop, Closed-loop vector, Servo Txt VM DP US RW BU Coding Default Open-loop, Closed-loop vector, Servo Normal motor Open-loop, Closed-loop vector, Servo Pr 21.15 parameter Update rate Background write Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 322 When the second motor is selected the gains defined in Pr 21.17 to Pr 21.19 are used directly by the speed controller. The speed controller set-up method defined by Pr 3.13 is ignored. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 323 Drive voltage rating: 200V 400V 575V 690V Default Open-loop, Closed-loop vector, Servo, Regen 1,000 2,000 2,400 3,000 Normal Open-loop, Closed-loop vector, Servo, Pr 4.14 parameter Regen Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 324 Range Open-loop, Closed-loop vector, Servo 0 to MOTOR2_CURRENT_LIMIT_MAX % Open-loop 165.0 Default Closed-loop vector, Servo, Regen 175.0 Normal Open-loop, Closed-loop vector, Servo, Pr 4.06 parameter Regen Update rate Background read Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 325 US RW BU Coding Range Open-loop, Closed-loop vector, Servo 0 to 655.35mm Default Open-loop, Closed-loop vector, Servo 0.00mm Normal Open-loop, Closed-loop vector, Servo Pr 5.36 parameter Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 326: Menu 22: Additional Menu 0 Set-Up
SMARTCARD. This ensures that defaults are used for this menu if the saved parameters are from a software version which did not include this menu. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 327: Macros
A SMARTCARD is available with these macros Unidrive SP. pre-programmed for download into a Unidrive SP. The programmable section of Menu 0 is from Pr 0.11 - Pr 0.30 inclusive. Table 6-1 Macros that are available...
Page 328 1.00 to 99.99 RO Uni NC PT RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not cloned Rating dependent Protected User save Power down save Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 329: Fundamental Differences Between Unidrive Sp And Unidrive Classic
• Macro 3 on Unidrive SP works in a slightly different way to Unidrive Classic. In the Unidrive Classic Macro 3, the only way in which the preset speeds can be enabled was to switch digital input F6 to logic 1.
Page 330: Macro 1 - Easy Mode
Table 6-2 on page 327, as this is Easy mode. Pr 0.11 to Pr 0.30 are not configured to point to any other parameter in this mode. Table 6-3 Parameter set-up to reproduce Macro 1 on a Unidrive SP Value Parameter 5.14...
Page 331 1.17 Keypad control mode reference Precision reference (not used with Menu 0) Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals Menu 0 changes from default configuration Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 332 OL> Motor-voltage control 0.09 derivative gain 0.07 Voltage mode selector 0.08 0.10 Boost voltage Estimated motor 0.09 speed Dynamic V/f select Motor speed Power stage 0.10 0.41 PWM switching frequency Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 333: Macro 2 - Motorised Potentiometer
OFF (0) or On (1) OFF (0) RW Bit 0.29 Motorised pot rate {9.23} 0 to 250 s RW Uni 0.30 Motorised pot scale factor {9.24} 0.000 to 4.000 1.000 RW Uni Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 334 Table 6-5 Parameter set-up to reproduce Macro 2 on a Unidrive SP Value Parameter 7.14 T7 analog input 2 destination Pr 0.00 8.21 T24 digital I/O 1 source / destination Pr 9.26...
Page 335 Motorised pot. zero-start select 0.28 Motorised pot. Bipolar select Read-only (RO) 0.29 Motorised pot. rate Output 0.XX parameter 0.30 Motorised pot.output scale factor terminals Menu 0 changes from default configuration Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 336 0.09 derivative gain 0.07 Voltage mode selector 0.08 0.10 Boost voltage Estimated motor 0.09 speed Dynamic V/f select Motor Motor speed active-current Power stage 0.10 0.13 0.41 PWM switching frequency Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 337: Macro 3 - Preset Speeds
Preset reference 2 {1.22} ±SPEED_FREQ_MAX Hz/rpm RW Bi 0.27 Preset reference 3 {1.23} ±SPEED_FREQ_MAX Hz/rpm RW Bi 0.28 Preset reference 4 {1.24} ±SPEED_FREQ_MAX Hz/rpm RW Bi 0.29 Not used 0.30 Not used Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 338 Table 6-7 Parameter set-up to reproduce Macro 3 on a Unidrive SP Value Parameter 8.21 T24 digital I/O 1 source / destination Pr 1.46 8.25 T28 digital input 5 destination Pr 1.45...
Page 339 0.26 Preset reference 2 0.27 Preset reference 3 0.28 Preset reference 4 Read-only (RO) Output 0.XX 0.29 (Not used) parameter terminals 0.30 (Not used) Menu 0 changes from default configuration Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 340 OL> Motor-voltage control 0.09 derivative gain 0.07 Voltage mode selector 0.08 0.10 Boost voltage Motor speed 0.09 Dynamic V/f select Motor Motor speed active-current Power stage 0.10 0.13 0.41 PWM switching frequency Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 341: Macro 4 - Torque Control
0 to 40,000 rpm RW Uni 0.29 T5/6 analog input 1 scaling (7.08) 0 to 4.000 1.000 RW Uni 0.30 T7 analog input 2 scaling (7.12) 0 to 4.000 1.000 RW Uni Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 342 Performance structure display x.00 description format descriptions protocol nameplate up table Table 6-9 Parameter set-up to reproduce Macro 4 on a Unidrive SP Value Parameter 7.10 Analog input 1 destination Pr 4.08 7.14 Analog input 2 destination Pr 1.36 8.22 T25 digital I/O 2 source / destination Pr 10.04...
Page 343 Analog input 2 (maximum speed override level) Read-only (RO) 0.28 Over-speed threshold Output 0.XX parameter 0.29 Analog input 1 scaling terminals 0.30 Analog input 2 scaling Menu 0 changes from default configuration Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 344 0.09 derivative gain 0.07 Voltage mode selector 0.08 0.10 Boost voltage Estimated motor 0.09 speed Dynamic V/f select Motor Motor speed active-current Power stage 0.10 0.13 0.41 PWM switching frequency Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 345: Macro 5 - Pid Control
RW Uni 0.29 T8 analog input 3 scaling (7.16) 0 to 4.000 1.000 RW Uni 0.30 PID optional enable source (14.09) Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 346 Performance structure display x.00 description format descriptions protocol nameplate up table Table 6-11 Parameter set-up to reproduce Macro 5 on a Unidrive SP Value Parameter 7.10 Analog input 1 destination Pr 0.00 7.14 Analog input 2 destination Pr 1.27 7.18 Analog input 3 destination Pr 1.28...
Page 347 Preset reference 8 Read-only (RO) 0.28 Analog input 2 scaling Output 0.XX parameter 0.29 Analog input 3 scaling terminals 0.30 Optional PID-enable source selector Menu 0 changes from default configuration Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 348 0.09 derivative gain 0.07 Voltage mode selector 0.08 0.10 Boost voltage Estimated motor 0.09 speed Dynamic V/f select Motor Motor speed active-current Power stage 0.10 0.13 0.41 PWM switching frequency Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 349: Macro 6 - Axis Limit Control
OFF (0) or On (1) OFF (0) RW Bit 0.23 Not used 0.24 Not used 0.25 Not used 0.26 Not used 0.27 Not used 0.28 Not used 0.29 Not used 0.30 Not used Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 350 Feature look- Macros Performance structure display x.00 description format descriptions protocol nameplate up table Table 6-13 Parameter set-up to reproduce Macro 6 on a Unidrive SP Value Parameter 1.10 Bipolar select On (1) 2.04 Ramp mode FASt 2.22 Deceleration rate 2 8.39...
Page 351 (not used) terminals parameter 0.26 (not used) 0.27 (not used) Read-only (RO) 0.28 (not used) Output 0.XX parameter 0.29 (not used) terminals 0.30 (not used) Menu 0 changes from default configuration Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 352 0.09 derivative gain 0.07 Voltage mode selector 0.08 0.10 Boost voltage Estimated motor 0.09 speed Dynamic V/f select Motor Motor speed active-current Power stage 0.10 0.13 0.41 PWM switching frequency Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 353: Macro 7 - Brake Control
0.21 Not used 0.22 Not used 0.23 Not used 0.24 Not used 0.25 Not used 0.26 Not used 0.27 Not used 0.28 Not used 0.29 Not used 0.30 Not used Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 354 Macros Performance structure display x.00 description format descriptions protocol nameplate up table Table 6-15 Parameter set-up to reproduce Macro 7 on a Unidrive SP Default( ) Parameter 2.04 Ramp mode FASt 3.05 Zero speed threshold 5.27 Enable slip compensation OFF (0) 6.08...
Page 355 At zero speed 0.17 delay indicator Reference enabled indicator 1.11 (see the Unidrive Advanced User Guide) 0.20 Brake application At zero speed 0.17 delay indicator Menu 0 changes from default configuration Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 356 0.29 (not used) select 0.30 (not used) Motor Motor speed active-current Read-write (RW) 0.XX Power stage parameter 0.10 0.13 0.41 Read-only (RO) 0.XX parameter PWM switching frequency Input terminals Output terminals Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 357: Macro 8 - Digital Lock
(2) 0.29 Revolution counter {x.04} 0 to 65,535 revolutions RO Uni FI NC PT Drive encoder revolution 0.30 {3.28} 0 to 65,535 revolutions RO Uni FI NC PT counter Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 358 Macros Performance structure display x.00 description format descriptions protocol nameplate up table Table 6-17 Parameter set-up to reproduce Macro 8 on a Unidrive SP Value Parameter 2.02 Ramp enable OFF (0) 2.04 Ramp mode FASt 8.21 T24 digital I/O source / destination Pr 13.18...
Page 359 0.17 Reference encoder/resolver ratio Digital-lock modes: Orientation modes: Feedback-encoder 0.18 speed Feedback encoder 0.30 revolution Orientation counter reference Encoder / feedback 0.19 0.26 position Position 0.20 error Drive encoder input Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 360 0.27 Orientation acceptance window Read-only (RO) Output 0.XX parameter 0.28 Stop mode selector terminals 0.29 Reference encoder/resolver revolution counter 0.30 Feedback encoder/resolver revolution counter Menu 0 changes from default configuration Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 361: Serial Communications Protocol
Introduction 123456 +123456 Unidrive SP supports an ANSIx3.28 type comms protocol as supported by previous Control Techniques products with some modification to allow If the parameter to be read does not exist the End of transmission access to 32 bit parameters. This chapter describes the implementation character (Ctl D)is returned.
Page 362: Ct Modbus Rtu Specification
CT Modbus RTU specification The following short commands can be used: This section describes the adaptation of the MODBUS RTU protocol offered on Control Techniques' products. The portable software class Not acknowledge (Ctl U) which implements this protocol is also defined.
Page 363 Message data The frame is terminated with a minimum silent period of 3.5 character all Control Techniques products). The minimum slave response time is times (for example, at 19200 baud the minimum silent period is 2ms). also quoted but will never be less that the minimum silent period defined Nodes use the terminating silence period to detect the end of frame and by 3.5 character times.
Page 364 Start register address LSB Register data 0 LSB Number of 16bit registers MSB 7+byte count CRC LSB Number of 16bit registers LSB 8+byte count CRC MSB CRC LSB CRC MSB Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 365 4+byte count CRC MSB Unidrive SP / SM-Applications Message Routing Example Unidrive SP can hold up to three options in slots 1, 2 or 3. For the purposes of message routing, these slots are treated as ports 1, 2 and 3 on Unidrive SP.
Page 366 Address field is 0 and so processes the message and returns a response. Figure 7-1 Example message routing from a PC through Unidrive SP to a SM-Applications in a Unidrive SP option slot PC sets Slave Node Unidrive SP receives message over...
Page 367 Length of data (bytes) = 4x32bit registers = 0x10 16bytes #20.1- 0x12345678, 16584 Full 32bit access #20.2 0xFFFFABCD #20.01 data 7-10 #20.02 data 11-14 #20.03 data 15-18 #20.04 data CRC LSB CRC MSB Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 368 + x15 + x2 + 1. The 16bit CRC is appended to the message and transmitted LSB first. The CRC is calculated on ALL the bytes in the frame. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com...
Page 369: Electronic Nameplate
Therefore, either the speed controller gains defined in the performance object or those derived from the compliance angle, bandwidth and damping factor parameters are used. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 370: Motor Object
Motor poles 5.17 Stator resistance (Rs) 5.24 Transient inductance (Ls') 5.25 Stator inductance (Ls) 5.29 Motor saturation breakpoint 1 5.30 Motor saturation breakpoint 2 5.32 Motor torque per amp (Kt) Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 371: Performance Objects
4.12 Torque demand filter 4.13 Current controller Kp gain 4.14 Current controller Ki gain Spare 0 Spare 1 Spare 2 Spare 3 Spare 4 Spare 5 Spare 6 Spare 7 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 372 4.12 Torque demand filter 4.13 Current controller Kp gain 4.14 Current controller Ki gain Spare 0 Spare 1 Spare 2 Spare 3 Spare 4 Spare 5 Spare 6 Spare 7 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 373: Performance
250µs 24-26 as output 27-29 250µs 31 (enable) 4ms* 4ms* 31 (disable) <100us <100µs Relay output closing 4ms* 4ms* 4ms* 4ms* Relay output opening 4ms* 4ms* 4ms* 4ms* *software only Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 374: Current Feedback
Current feedback Accuracy: 5% Resolution: 10 bit plus sign Full scale resolution is equivalent to 222% drive rated current (OI.AC trip level) Bandwidth Speed loop: 150Hz Current loop: t.b.c. Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 375: Feature Look-Up Table
8.15 8.25 8.39 Digital input T29 8.06 8.16 8.26 8.39 13.01 to 13.19 to Digital lock 13.10 13.11 13.12 13.16 3.22 3.23 13.09 13.23 Digital output T22 8.08 8.18 8.28 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 376 3.32 3.31 Maximum speed 1.06 11.01 to Menu Menu 0 set up 11.22 Minimum speed 1.07 10.04 Modules - number of 11.35 Motor map 5.06 5.07 5.08 5.09 5.10 5.11 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 377 Speed controller 3.19 3.20 3.21 3.17 Speed feedback 3.02 3.03 3.04 Speed feedback - drive 3.26 3.27 3.28 3.29 3.30 3.31 3.42 Speed reference selection 1.14 1.15 1.49 1.50 1.01 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 378 Voltage controller 5.31 Voltage mode 5.14 5.17 5.23 5.15 Voltage rating 11.33 5.09 5.05 Voltage supply 6.44 6.46 5.05 Warning 10.19 10.12 10.17 10.18 10.40 Zero speed indicator bit 3.05 10.03 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 379: Index
Drive enable ................148 Drive healthy .................160 Drive mode ................185 Drive modes ................17 Drive reset ..............13 Drive set-up - general ..............22 Drive warning ................163 DRIVE_CURRENT_MAX ............18 Dynamic V to F ..............113 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 380 Injection braking level ............124 Integral gain ................54 Jog acceleration rate ...............41 Jog deceleration rate ...............42 Jog reference ................26 Keypad ..................9 Keypad control ................13 Keypad control mode reference ..........31 Keypad operation ..............9 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...
Page 381 Relative jogging ..............214 Number of motor poles ............109 Relay source .................150 Resolution ................44 Revolution counter ..............61 Rigid position control .............214 Rotating test ..............110 Run time ................128 Running cost .................128 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 7 http://nicontrols.com...
Page 382 Status mode ................10 Wire break detect ............67 Status word ................179 Stop mode ................123 Switching frequency - maximum ...........115 Zero speed ................160 System resource ..............290 Zero speed threshold .............. 46 Unidrive SP Advanced User Guide Issue Number: 7 www.controltechniques.com http://nicontrols.com...

Control Techniques unidrive sp Advanced User's Manual

1 Parameter Structure

2 Keypad and Display

3 Parameter X.00

4 Parameter Description Format

5 Advanced Parameter Descriptions

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