Table Of Contents - Control Techniques unidrive sp Advanced User's Manual

Table of Contents

General Information3
Drive Software Version3
Table Of Contents4
Parameter Structure6
Parameter Navigation6
Menu Structure6
Advanced Menus9
Solutions Modules9
Keypad And Display10
Understanding The Display10
Sm-Keypad10
Sm-Keypad Plus10
Keypad Operation10
Display Modes11
Status Mode11
Parameter View Mode11
Edit Mode11
Sm-Keypad Plus Advanced Operation12
Parameter Access Level And Security12
Browsing Filter12
'Hardware Key' Feature12
Access Level13
User Security13
Changing The Access Level13
Setting User Security13
Alarm And Trip Display14
Keypad Control Mode14
Drive Reset14
Second Motor Parameters14
Special Display Functions14
Sm-Keypad Plus: Menus 41 And 4215
Keypad Configuration Menu15
Zero Parameter15
Language Select15
Keypad Serial Address16
Keypad Memory Size16
Browsing Filter Fnn Source16
Saving Parameters17
Loading Defaults17
Us Default Differences (1244)17
Parameter X.0017
Smartcard Transfers17
Electronic Nameplate Transfers17
Display Non-Default Values Or Destination Parameters17
Parameter Description Format18
Drive Modes18
Parameter Ranges And Variable Maximums19
Definition Of Parameter Ranges & Variable Maximums19
Maximum Motor Rated Current21
Sources And Destinations21
Second Motor Parameter21
Update Rates22
Hard Speed Reference Update Rate22
Advanced Parameter Descriptions23
Overview23
Menu 1: Frequency/Speed Reference25
Menu 1 Logic Diagram25
Frequency/Speed Reference Selected27
Pre-Skip Filter Reference27
Pre-Ramp Reference27
Reference Offset27
Maximum Reference Clamp28
Minimum Reference Clamp28
Negative Minimum Reference Clamp Enable28
Analog Input Scaling29
Reference Limits29
Reference Offset Select29
Bipolar Reference Enable30
Reference Enabled Indicator30
Reverse Selected Indicator30
Jog Selected Indicator30
Keypad Reference31
Preset Selector31
Preset Reference Selector Timer31
Keypad Control Mode Reference32
Precision Reference Coarse32
Precision Reference Fine32
Precision Reference Update Disable32
Reference In Rejection Zone34
Percentage Trim34
Velocity Feed Forward34
Velocity Feed Forward Select34
Reference Timer Reset Flag35
Reference Selected Indicator35
Preset Reference Selected Indicator35
Power-Up Keypad Control Mode Reference36
Menu 2: Ramps37
Menu 2 Logic Diagram37
Post Ramp Reference39
Ramp Enable39
Ramp Hold39
Ramp Mode Select39
S Ramp Enable40
S Ramp Acceleration Limit40
Standard Ramp Voltage41
Acceleration Rate Selector41
Jog Acceleration Rate42
Deceleration Rate Selector42
Jog Deceleration Rate43
Inertia Compensation Torque44
Frequency/Speed Accuracy And Resolution45
Digital Reference Resolution45
Analog Reference Resolution45
Accuracy45
Menu 3: Slave Frequency, Speed Feedback, Speed Control And Regen Operation45
Parameter Descriptions: Open-Loop46
Frequency Slaving Demand47
Zero Speed Threshold47
At Speed Lower Limit47
At Speed Upper Limit47
Absolute "At Speed" Select48
Enable Frequency Slaving48
Slaving Ratio Numerator48
Slaving Ratio Denominator48
Select X2048 Output49
F And D Frequency Slaving Output49
Parameter Descriptions: Closed-Loop Vector And Servo51
Final Speed Reference53
Speed Feedback53
Speed Error53
Overspeed Threshold55
Absolute "At Speed" Detect55
Speed Controller Proportional Gain (Kp1)55
Speed Controller Proportional Gain (Kp2)55
Speed Controller Differential Feedback Gain (Kd1)56
Speed Controller Differential Feedback Gain (Kd2)56
Speed Controller Gain Select56
Speed Controller Set-Up Method58
Motor And Load Inertia58
Compliance Angle58
Bandwidth59
Damping Factor59
Hard Speed Reference59
Hard Speed Reference Selector59
Encoder Phase Angle60
Encoder With Commutation Signals (Ab.servo, Fd.servo, Fr.servo)60
Speed Feedback Selector61
Drive Encoder Speed Feedback62
Drive Encoder Revolution Counter62
Drive Encoder Position62
Drive Encoder Fine Position62
Drive Encoder Marker Flag63
Drive Encoder Turns Bits / Linear Encoder Comms To Sine Wave Ratio63
Drive Encoder Lines Per Revolution63
Drive Encoder Supply Voltage65
Drive Encoder Comms Baud Rate65
Endat Comms66
Ssi Comms66
Drive Encoder Type66
Endat, Ssi - Comms Only Encoder Mode68
Drive Encoder Error Detection Level68
Encoder Trips68
Wire-Break Detection69
Encoder Initialisation69
Encoder Power Supply Trips70
Sc.hiper, Sc.endat, Endat70
Linear Endat Encoders70
Hiperface Encoders70
Maximum Drive Encoder Reference71
Drive Encoder Reference Scaling71
Drive Encoder Reference Destination71
Re-Initialise Position Feedback71
Position Feedback Initialised72
Full Motor Object Electronic Nameplate Transfer72
Position Feedback Lock72
Communication With Hiperface And Endat Encoders72
Sc.hiper Type Encoders73
Example Of A Hiperface Transfer: Read Position73
Example Of Hiperface Transfer: Delete Data Field74
Sc.endat74
Example Of Endat Transfer: Read Position75
Example Of Endat Transfer: Encoder Send Parameter75
Parameter Descriptions: Regen76
Reactive Power77
Input Inductance77
Regen Status77
Regen Restart Mode77
Voltage Set-Point78
Voltage Controller Kp Gain78
Setting The Current Controller Gains78
Setting The Voltage Controller Gain78
Close Soft-Start Contactor79
Soft-Start Contactor Closed80
Enable Motor Drive80
Power Feed-Forward Compensation80
Menu 4: Torque And Current Control81
Maximum Heavy Duty Current Rating82
Maximum Rated Current82
Open-Loop82
Closed-Loop Vector83
Servo84
Regen85
Current Magnitude90
Active Current90
Open-Loop, Closed-Loop Vector And Servo90
Torque Demand91
Current Demand91
Motoring Current Limit91
Regen Current Limit91
Symmetrical Current Limit92
Torque Reference92
Reactive Current Reference93
Torque Offset93
Torque Offset Select93
Torque Mode Selector93
Example Of Coiler Operation94
Example Of Uncoiler Operation94
Current Demand Filter 195
Current Controller Kp Gain95
Current Controller Ki Gain96
Current Limit Operation96
Mains Loss And Controlled Standard Ramp96
Closed-Loop Vector And Servo97
Thermal Time Constant98
Thermal Protection Mode98
Reactive Current100
Overriding Current Limit100
Overload Accumulator100
Percentage Load100
Current Demand Filter 2101
User Current Maximum Scaling101
Low Speed Thermal Protection Mode101
Percentage Torque101
Menu 5: Motor Control102
Output Frequency106
Output Voltage106
Output Power106
Motor Rpm106
Dc Bus Voltage107
Rated Frequency107
Motor Rated Current (Regen Mode: Regen Unit Rated Current)107
Rated Load Rpm / Rated Speed108
Rated Voltage108
Open Loop108
Fixed Boost Mode: Fd109
Square Law Mode: Sre109
Closed Loop Vector109
Rated Power Factor110
Number Of Motor Poles110
Autotune110
Dynamic V To F / Flux Optimise Select114
Voltage Mode Select115
Action On Enable115
Low Frequency Voltage Boost116
Rated Rpm Auto-Tune116
Stator Resistance116
Maximum Switching Frequency116
High Stability Space Vector Modulation117
Quasi-Square Enable117
Field Gain Reduction117
Enable High Speed Servo Mode118
Voltage Offset118
High Dynamic Performance Enable119
Enable Slip Compensation119
Field Weakening Compensation Disable120
Motor Saturation Breakpoint 1120
Motor Saturation Breakpoint 2120
Voltage Controller Gain121
Motor Torque Per Amp (Kt)121
Motor Volts Per 1000Rpm (Ke)121
Disable Auto-Switching Frequency Change122
Motor Pole Pitch122
Actual Switching Frequency122
Menu 6: Sequencer And Clock123
Stop Mode124
Mains Loss Mode124
Start/Stop Logic Select125
Injection Braking Level125
Injection Braking Time125
Hold Zero Speed126
Catch A Spinning Motor126
Enable Stop Key126
Sequencer Latching Not Enabled (Pr 6.40 = 0)127
Sequencer Latching Enabled (06.40 = 1)127
Enable Forward/Reverse Key127
Electricity Cost Per Kwh127
Time Between Filter Changes128
Filter Change Required / Change Done128
Powered-Up Time: Years.days128
Powered-Up Time: Hours.minutes128
Run Time: Hours.minutes129
Energy Meter: Mwh129
Energy Meter: Kwh129
Running Cost129
Select Clock For Trip Log Time Stamping130
Hardware Enable130
Sequencing Bit: Run Forward130
Sequencing Bit: Jog130
Sequencing Bit: Run131
Forward Limit Switch131
Reverse Limit Switch131
Sequencing Bit: Jog Reverse131
Sequencing Bit: Not Stop132
Enable Sequencer Latching132
Drive Event Flags132
Control Word132
Active Supply133
Bit 8: Analog/Preset Reference133
Bit12: Trip Drive133
Bit 13: Reset Drive133
Force Cooling Fan To Run At Full Speed134
Nominal Low Voltage Battery Supply134
Disable Mains/Phase Loss Detection From Input Rectifier134
Mains Loss Ride Through Detection Level135
Disable Multi-Module Drive Module Number Storing On Trip135
Drive Comms State135
Menu 7: Analog I/O136
T5/6 Analog Input 1 Level138
Stack Temperature 1138
Control Board Temperature138
T5/6 Analog Input 1 Offset Trim139
T5/6 Analog Input 1 Scaling139
T5/6 Analog Input 1 Invert139
T5/6 Analog Input 1 Destination139
T7 Analog Input 2 Mode140
T7 Analog Input 2 Scaling140
T7 Analog Input 2 Invert140
T7 Analog Input 2 Destination140
T8 Analog Input 3 Mode141
T8 Analog Input 3 Scaling141
T8 Analog Input 3 Invert141
T8 Analog Input 3 Destination141
T9 Analog Output 1 Source142
T9 Analog Output 1 Scaling142
T9 Analog Output 1 Mode142
T10 Analog Output 2 Source142
T10 Analog Output 2 Scaling143
T10 Analog Output 2 Mode143
Calibrate T5/6 Analog Input 1 Full Scale143
T5/6 Analog Input 1 Sample Time143
T5/6 Analog Input 1 Current Loop Loss144
T7 Analog Input 2 Current Loop Loss144
T5/6 Analog Input 1 Offset144
Igbt Junction Temperature145
Drive Thermal Protection Accumulator145
Menu 8: Digital I/O146
Relay Source151
T22 24V Output Source151
Positive Logic Select151
Open Collector Output151
T28 & T29 Digital Input Auto-Selection Disable152
Menu 9: Programmable Logic, Motorised Pot And Binary Sum153
Motorised Pot Output155
Logic Function 1 Source 1 Invert155
Menu 10: Status And Trips161
Drive Healthy161
Drive Active161
Zero Speed161
Above Set Speed162
Load Reached162
Drive Output Is At Current Limit162
Braking Igbt Active162
Direction Commanded163
Direction Running163
Mains Loss163
Under Voltage Active163
Drive Warning164
Power Module Mains Loss Detection164
Drive Encoder Trip: Feedback Device Comms Failure166
Drive Encoder Trip: Checksum Or Crc Error166
Drive Encoder Trip: Encoder Has Indicated An Error166
Drive Encoder Trip: Initialisation Failed166
Data Processing Error: Cpu Address Error167
Data Processing Error: Dmac Address Error167
Data Processing Error: Illegal Instruction167
Data Processing Error: Illegal Slot Instruction167
Menu 11: General Drive Set-Up182
Menu 12: Threshold Detectors, Variable Selectors And Brake Control Function193
Menu 13: Position Control207
Revolutions Error213
Position Error213
Fine Position Error213
Position Controller Reference Source213
Position Reference Invert214
Ratio Numerator214
Ratio Denominator214
Position Controller P Gain214
Rigid Position Control215
Non-Rigid Position Control215
Relative Jogging215
Absolute Mode Enable216
Position Controller Speed Clamp216
Orientation Position Reference216
Orientation Acceptance Window216
Orientation Position Complete217
Position Error Reset217
Relative Jog Reference217
Relative Jog Enable217
Local Reference Turns218
Local Reference Position218
Local Reference Fine Position218
Local Reference Disable218
Menu 14: User Pid Controller219
Pid Output221
Pid Main Reference Source221
Pid Reference Source221
Pid Feedback Source221
Pid Enable222
Pid Optional Enable Source222
Pid P Gain222
Pid I Gain222
Pid Upper Limit223
Pid Lower Limit223
Pid Scaling223
Pid Destination223
Pid Symmetrical Limit Enable224
Pid Main Reference224
Pid Reference224
Menus 15, 16 And 17: Solutions Module Slots225
Sm-Universal Encoder Plus226
Solutions Module Error Status Values226
Sm-Universal Encoder Plus Logic Diagram227
Reference / Feedback Encoder Input227
Option Id Code229
Option Software Version229
Speed229
Revolution Counter230
Position230
Fine Position230
Marker Position Reset Disable230
Encoder Turns231
Equivalent Lines Per Revolution231
Encoder Single Turn Comms Resolution232
Motor Thermistor Check Enable232
Encoder Supply Voltage232
Encoder Comms Baud Rate232
Encoder Type234
Ssi: Absolute Ssi Only Encoder234
Sc.ssi Sincos Encoder Using Ssi Comms Protocol234
Encoder Termination235
Error Detection Level235
Auto Configuration Enable / Ssi Binary Format Select235
Feedback Filter236
Maximum Feedback Reference236
Feedback Reference236
Feedback Reference Scaling236
Feedback Reference Destination237
Encoder Simulation Source237
Encoder Simulation Ratio Denominator237
Encoder Simulation Resolution Select237
Encoder Simulation Mode238
Ab Or Fd Modes238
Software Simulation: High Resolution Encoder238
Software Simulation: Any Other Condition238
Marker Output239
Non-Marker Reset Revolution Counter239
Non-Marker Reset Position239
Non-Marker Reset Fine Position239
Marker Revolution Counter240
Marker Position240
Marker Fine Position240
Freeze Revolution Counter240
Freeze Input Mode Selection241
Freeze Flag241
Freeze Main Drive Position241
Freeze Falling Edge Select241
Encoder Comms Transmit Register242
Encoder Comms Receive Register242
Disable Encoder Position Check242
Sc.hiper243
Example Of A Hiperface Transfer243
Example Of A Endat Transfer245
Line Per Revolution Divider246
Ssi Output Turns246
Ssi Output Comms Resolution246
Lock Position Feedback247
Solutions Module Error Status247
Option Software Sub-Version247
Sm-Resolver249
Sm-Resolver Logic Diagram249
Position/Speed Feedback Update Rate251
Sm-Encoder Plus257
Sm I/O Plus264
Sm-Ezmotion272
Fieldbus Module Category Parameters278
Sm-Applications289
Sm-Slm302
Sm-Slm Logic Diagram303
Sequencer Flow Diagram309
Autotune Mode311
Saving Mode312
Parameters Transferred312
Action The Tuning And Saving Parameters313
Automatic Basic Drive Set-Up Request313
Axis Initialised313
Position Lock313
Application Menu 1 Power-Down Saved Integer315
Application Menu 1 Read-Only Integer315
Application Menu 1 Read-Write Integer315
Application Menu 1 Read-Write Bit315
Menu 18: Application Menu 1315
Application Menu 2 Power-Down Saved Integer316
Application Menu 2 Read-Only Integer316
Application Menu 2 Read-Write Integer316
Menu 19: Application Menu 2316
Application Menu 3 Read-Write Integer317
Application Menu 3 Read-Write Long Integer317
Menu 20: Application Menu 3317
Menu 21: Second Motor Parameters318
Acceleration Rate319
Deceleration Rate319
Menu 22: Additional Menu 0 Set-Up326
Macros327
Introduction327
Fundamental Differences Between Unidrive Sp And Unidrive Classic329
Macro 1 - Easy Mode330
Macro 1 Specific Parameters330
Macro 2 - Motorised Potentiometer333
Macro 3 - Preset Speeds337
Macro 4 - Torque Control341
Macro 5 - Pid Control345
Macro 6 - Axis Limit Control349
Macro 7 - Brake Control353
Macro 8 - Digital Lock357
Serial Communications Protocol361
Ansi Communications Protocol361
Physical Layer And Uart361
Reading A Parameter361
Ct Modbus Rtu Specification362
Short Commands362
Modbus Rtu363
Physical Layer363
Rtu Framing363
Slave Address363
Data Consistency364
Data Encoding364
Function Codes364
Fc03 Read Multiple364
Fc23 Read/Write Multiple365
Fc64 Cmp365
Fc64 Message Routing Capability365
Communications Timeouts366
Extended Data Types367
Exceptions368
Device Compatibility Parameters368
Parameter Over Range During Block Write Fc16368
Parameter Over Range During Block Read/Write Fc23368
Electronic Nameplate369
Motor Object Parameters369
Performance Object Parameters369
Loading/Storing Object Parameters369
Motor Object370
Performance Objects371
Performance373
Digital Speed Reference373
Analog Reference373
Analog Outputs373
Digital Inputs And Outputs373
Current Feedback374
Feature Look-Up Table375
Index379