Emerson unidrive sp User Manual
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Emerson unidrive sp User Manual

Universal variable speed ac drive for induction and servo motors
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Table Of Contents
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Table of Contents

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Advanced User Guide
U
Universal Variable Speed AC
Drive for induction and servo
motors
Part Number: 0471-0002-10
Issue: 10
www.controltechniques.com

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Summary of Contents for Emerson unidrive sp

  • Page 1 Advanced User Guide Universal Variable Speed AC Drive for induction and servo motors Part Number: 0471-0002-10 Issue: 10 www.controltechniques.com...
  • Page 2 General Information The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed drive with the motor. The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the contents of the guide, without notice.

  • Page 3: Table Of Contents

    Menu 4: Torque and current control ....................88 5.6.1 Open-loop .................................. 89 5.6.2 Closed-loop vector ..............................90 5.6.3 Servo ..................................91 5.6.4 Regen ..................................92 5.6.5 Parameter descriptions .............................. 93 Menu 5: Motor control ........................109 Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 4: Table Of Contents

    Solutions module parameters ..........................367 Macros ........................368 Introduction ............................368 6.1.1 Fundamental differences between Unidrive SP and Unidrive Classic ..............370 Macro 1 - Easy Mode ........................371 Macro 2 - Motorized potentiometer ....................374 Macro 3 - Preset speeds ........................378 Macro 4 - Torque control ........................

  • Page 5: Table Of Contents

    Speed loop ................................413 9.6.2 Current loop ................................413 Rotor Flux Control (RFC) mode................414 10.1 Introduction ............................414 10.2 Setting up the RFC mode ........................414 10.3 Further Tuning ...........................414 10.4 Other Considerations .........................414 Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • 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 www.controltechniques.com Issue Number: 10...
  • Page 7 Hz/rpm 0.27 CL> Drive encoder lines per {3.34} 0 to 50,000 1024 4096 RW Uni revolution 0.28 Keypad fwd/rev key enable {6.13} OFF (0) or On (1) OFF (0) RW Bit Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 8 Destination: This parameter selects the destination of an software version V01.08.00 and later, power-down save input or logic function. parameters are also saved in the drive when the user initiates a parameter save. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 9: Advanced Menus

    Any Solutions Module type is recognized with all drive types in any slots. The relevant template is used to define menu 15 for the module type installed in slot 1, menu 16 for slot 2, and menu 17 for slot 3. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 10: Issue

    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 installed 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 least significant digit; and secondly by selecting each digit in turn and displayed will cause the parameter number to roll over to Pr x.00. adjusting them to the required value. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 12: Sm-Keypad Plus

    Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save For more information about the SM-Keypad Plus, see the SM-Keypad Plus User Guide. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 13: Parameter Access Level And Security

    Access to menu 0 only Access to all menus (menu 0 to menu 22) The Access Level can be changed through the keypad even if the User Security has been set. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 14: Alarm And Trip Display

    This can be done whether the drive is disabled or running. If the Up or Down keys are held the rate of change of keypad reference increases with time. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 15: Special Display Functions

    This is only carried out loading if the parameter information held by the Solutions Module is for a different drive software version. The drive allows up to five seconds for this process. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 16: Parameter X.00

    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 operate correctly causing parameters to be save to a smart card each time a parameter save is performed. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 17: Loading Defaults

    110zy to parameter x.00 and resetting the drive where z is 0 for the drive or 1, 2 or 3 for Solutions Module slots 1, 2 or 3 respectively. See Chapter 8 Electronic nameplate on page 408 for details. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 18: Parameter Description Format

    Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) trip occurs. With software version V01.08.00 and later, power-down save parameters are also saved in the drive when the user initiates a parameter save. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • 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 = Kc / 0.45 where Kc is the current scaling factor Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.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 www.controltechniques.com Issue Number: 10...
  • Page 21 Software V01.07.01 and earlier: POWER_MAX = √3 x AC_VOLTAGE_MAX x Kc x 1.75 Software V01.08.00 and later: POWER_MAX = √3 x AC_VOLTAGE_MAX x DRIVE_CURRENT_MAX The values given in square brackets indicate the absolute maximum value allowed for the variable maximum. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 22 27.0 27.0 36.0 SP4604 36.0 36.0 43.0 SP4605 43.0 43.0 52.0 SP4606 52.0 52.0 62.0 SP5601 63.0 63.0 84.0 SP5602 85.0 85.0 99.0 SP6601 85.7 100.0 125.0 SP6602 107.1 125.0 144.0 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 23: Default

    15 to 17. If a conflict occurs a dESt trip occurs that cannot be reset until the conflict is resolved. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 24: Sources And Destinations

    0.1rpm units) used when high speed updating is not in Modules (see description for the appropriate Solutions Module). operation. Therefore the absolute scaling of the analog inputs varies slightly between normal and high speed updating. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 25: Torque Reference Update Rate

    The fast update rate is only possible provided the conditions given below are met. Analog inputs 2 or 3 on the drive The analog inputs must be in voltage mode with zero offset. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 26: Advanced Parameter Descriptions

    Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) trip occurs. With software version V01.08.00 and later, power-down save parameters are also saved in the drive when the user initiates a parameter save. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 27: Feature Look-Up Table

    3.15 3.16 3.17 3.18 Hard speed reference 3.22 3.23 Heavy duty rating 5.07 11.32 High stability space vector 5.19 modulation I/O sequencer 6.04 6.30 6.31 6.32 6.33 6.34 6.42 6.43 6.41 Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 28 Thermal protection - drive 5.18 5.35 7.04 7.05 7.06 7.32 7.35 10.18 Thermal protection - motor 4.15 5.07 4.19 4.16 4.25 7.15 Thermistor input 7.15 7.03 Threshold detector 1 12.01 12.03 to 12.07 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 29 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: 10 www.controltechniques.com...

  • Page 30: Menu 1: Frequency/Speed Reference

    Precision reference Read-only (RO) Output 0.XX 1.18 parameter Memory terminals 1.19 Precision The parameters are all shown in their default settings reference trim *Refer to Pr 1.14 on page 35. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 31 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: 10 www.controltechniques.com...
  • Page 32 Reference used for jogging. See section 5.8 Menu 6: Sequencer and clock on page 134 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 5.15 Menu 13: Position control on page 232). Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 33 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: 10...
  • Page 34 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: 10...
  • Page 35 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: 10 www.controltechniques.com...
  • Page 36 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...
  • Page 37 Closed loop As with open-loop a higher resolution speed reference can be programmed by selecting these parameters. In this case the speed will have a resolution of 0.001 rpm. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 38 Closed-loop vector and servo DP = 0 Open-loop 0.0 to 3,000.0 Hz Range Closed-loop vector, Servo 0 to 40,000 rpm Open-loop Default Closed-loop vector, Servo Update rate Background read See below. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 39 Txt VM DP ND RA NC NV US RW BU Coding Range Open-loop Closed-loop vector, Servo ±100.00 % Default Open-loop Closed-loop vector, Servo 0.00 Update rate 4ms read See Pr 1.09 on page 34. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 40 When this flag is set the preset timer for auto preset timer mode (Pr 01.15 = 9) is reset and preset 1 is selected. This can be used to start a new sequence of reference selection by a programmable input terminal or function. When this bit is zero the preset selection will follow the timer even when the drive is disabled. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 41 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: 10 www.controltechniques.com...

  • Page 42: Menu 2: Ramps

    1.50 selected indicator 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: 10...
  • Page 43 (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: 10 www.controltechniques.com...
  • Page 44 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: 10...
  • Page 45 Where A is the selected ramp rate in s / 1000rpm If the S ramp is enabled (Pr 2.06 = 1) then the ramp time is extended as shown in the diagram below. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 46 OU trip. The minimum level should be greater than the voltage produced on the DC bus by the highest supply voltage. Normally the DC bus voltage will be approximately the rms supply line voltage x √2. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 47 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 Issue Number: 10...
  • Page 48 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 www.controltechniques.com Issue Number: 10...
  • Page 49 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 Issue Number: 10 www.controltechniques.com...
  • Page 50 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 www.controltechniques.com...

  • Page 51: 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 Issue Number: 10...
  • Page 52 10.06 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 www.controltechniques.com Issue Number: 10...
  • Page 53 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 Issue Number: 10 www.controltechniques.com...
  • Page 54 Coding Default Open-loop Update rate Background read 3.17 Select x2048 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 www.controltechniques.com Issue Number: 10...
  • Page 55 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 67. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 56 RFC sensorless 3.42 speed feedback calculator 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: 10...
  • Page 57 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: 10 www.controltechniques.com...
  • Page 58 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 59 (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: 10 www.controltechniques.com...
  • Page 60 US RW BU Coding Range Closed-loop vector, Servo 0.00 to 655.35 s/rad s Closed-loop vector 0.10 Default 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: 10...
  • Page 61 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: 10...
  • Page 62 The Kd gain is not affected. If Pr 3.17 is set to 3 automatic gain set up is not active, but Kp is boosted by a factor of 16. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 63 The bandwidth is defined as the theoretical 3dB point on the closed-loop gain characteristic of the speed controller as a second order system. At this point the phase shift is approximately 60°. This parameter is used to define the bandwidth used for setting up the speed loop gain parameters automatically when Pr 3.17 = 1. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 64 6 and 12kHz operation is reduced from 12kHz to 6kHz. Also operation at 4kHz, 8kHz or 16kHz is not possible and if these frequencies are selected the actual switching frequency is switched down to the next lower frequency. Pr 5.37 displays the actual switching frequency being used. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 65 U Encoder commutation signals (high = U > U) Encoder alignment for zero encoder phase angle The encoder can be aligned statically by connecting the motor to a DC power supply as shown: Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 66 If a position feedback category Solutions Module is not installed 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: 10...
  • Page 67 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 ND US RW BU Coding Default Open-loop, Closed-loop vector, Servo Update rate Background read Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 68 (see Pr 3.41). If Pr 3.33 is greater than 16 the number of turns bit is 16. It should be noted that some SSI encoders include leading zeros before the turns information. In this case the number of turns bits should include the leading zeros. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 69 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 When Ab, Fd, Fr, AbServo, Fd.Servo, Fr.Servo, SC, SC.Hiper, SC.EnDat or SC.SSI encoder are used the equivalent number of encoder lines per...
  • Page 70 This parameter defines the baud rate for the encoder comms when using SSI or EnDat encoders. However, a fixed baud rate of 9600 baud is used with HIPERFACE encoders and this parameter has no effect. Parameter value Parameter string Baud rate 100k 200k 300k 400k 500k 1000 1500 1.5M 2000 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 71 23μs and 6 or 12kHz switching is used, which have a fast sample rate of 83μs, it is possible for the time allowed for tm to be too short. Therefore if 6 or 12kHz switching are used the total message transfer time should not exceed 53μs unless tm can be guaranteed to be less than 30μs by a suitable margin. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 72 This type of encoder gives absolute position and can be used for motor control in closed-loop vector or servo modes. The drive can check the position from the sine and cosine waveforms against the internal encoder position using serial communications and if an error occurs the drive initiates a trip. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 73 SSI encoder it is possible to have apparent large change of position, and this can result in the turns information becoming and remaining corrupted until the encoder is re-initialized. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 74 All (Servo mode only) Enc10 Incorrect encoder phasing SC, SC.Hiper, SC.EnDat, SC.SSI Failure of analog position alignment during encoder initialisation Enc11 SC.Hiper The encoder type could not be identified during auto-configuration Enc12 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 75 24V supply within the drive is overloaded (PS.24V trip). The internal 24V supply provides power for the encoder power supply, user 24V output, digital I/O, Solutions Modules etc. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 76 Under these conditions, without a filter on the feedback, it is possible for the speed loop output to change constantly from one current limit to the other and lock the integral term of the speed controller. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 77 Txt VM DP ND US RW BU Coding Update rate Background read 3.48 Position feedback initialised Drive modes Open-loop, Closed-loop vector, Servo Txt VM DP ND US RW BU Coding Update rate Background write Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 78: Communication With Hiperface And Endat Encoders

    Data can be read from the receive register (Pr 90.23) at any time. If there is receive data in the buffer bit 15 will be set. Once the data has been read the register should be cleared and the drive will then transfer more data. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 79 0x42 Read position command 0x8003 0x03 Position byte 0 (MS byte) 0x8059 0x59 Position byte 1 0x8063 0x63 Position byte 2 0x8097 0x97 Position byte 3 (LS byte) 0xc0ac 0xac Checksum Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 80 Example of EnDat transfer: Read position Disable drive encoder position check by setting Pr 90.21 to one. This should be set back to zero at the end of the transfer if encoder position checking is required. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 81 Data read from Pr 90.23 Bit 15 Bit 14 Bit 13 Data 0x8000 0x00 Address 0x8012 0x12 Data 0x8034 0x34 Data The data in the parameter at address zero is 0x1234. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 82 (i.e. UVW). Either an external soft start resistor or the charging system in the drive may be used. See Unidrive SP Regen Installation Guide for details. When the d.c. link capacitors are charged a contactor, controlled by the drive, is closed to either short out the external charging resistor, or to disconnect the charging system and connect the drive inverter terminals directly to the supply.
  • Page 83 Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 84 Attempt to synchronize for 30s. If unsuccessful after this time then give a LI.SYnC trip. After a failure during running attempt to re-synchronize for 30s before tripping. 2, triP: immediate trip Attempt to synchronize 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: 10...
  • Page 85 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 DC 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: 10...
  • Page 86 The contactor should be controlled by this parameter. When regen mode is selected this bit is routed to digital I/O7 (T41/42 - relay output) as default. This output, or an alternative output, should be used to control the contactor. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 87 This parameter defines the strategy used for current trimming in regen mode. If Pr 3.11 = 0 then current trimming is only carried out once after power- up. If Pr 3.11 = 1 current trimming is carried out after power-up and then before the drive runs each time it is enabled. Unidrive SP Advanced User Guide Issue Number: 10...

  • Page 88: Menu 4: Torque And Current Control

    SP4203 SP3402 SP5201 SP3403 SP5202 SP4401 SPMD1201 133.7 SP4402 SPMD1202 164.5 SP4403 SPMD1203 214.2 SP5401 SPMD1204 248.5 SP5402 SP6401 154.2 SP6402 SPMA1401 154.2 SPMA1402 SPMD1401 154.2 SPMD1402 SPMD1403 205.7 SPMD1404 248.5 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 89: Open-Loop

    This is not the case and the flux producing current will vary as the load is increased. Therefore the maximum current limit may not be reached before the drive reduces the current limit to prevent the peak limit from becoming active. Unidrive SP Advanced User Guide Issue Number: 10...

  • Page 90: Closed-Loop Vector

    (V is given by the following equation. σL – 2πf – ϕ -tan ---------------------------------------------------------- - Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 91: Servo

    MOTOR1_CURRENT_LIMIT_MAX is used as the maximum for some parameters such as the user current limits. The current maximum current limit is defined as follows (with a maximum of 1000%): Maximum current × ------------------------------------------------------ - CURRENT_LIMIT_MAX 100% Motor rated current Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 92: Regen

    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. × 1.75 Pr 4.07 ⎛ ⎞ × -------------------------------------------------------------------- - ------------------ - REGEN_REACTIVE_MAX – 100% ⎝ ⎠ Regen unit rated current Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 93: Parameter Descriptions

    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: 10 www.controltechniques.com...
  • Page 94 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 www.controltechniques.com Issue Number: 10...
  • Page 95 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: 10 www.controltechniques.com...
  • Page 96 4.02 2.01 Percentage load Overload 2.01 4.19 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: 10...
  • Page 97 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: 10 www.controltechniques.com...
  • Page 98 US RW BU Coding Range Open-loop, Closed-loop vector, Servo 0 to MOTOR1_CURRENT_LIMIT_MAX % Open-loop 165.0* Default Closed-loop vector, Servo,Regen 175.0* Second motor Open-loop, Closed-loop vector, Pr 21.28 parameter Servo,Regen Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 99 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: 10 www.controltechniques.com...
  • Page 100 The current error is passed through proportional and integral terms to give a frequency reference which is limited to the range ±SPEED_FREQ_MAX . Current Frequency demand P Pr 4.13 reference I Pr 4.14 Active current Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 101 It is also possible to decelerate the coiler with a negative resultant torque demand. The coiler will decelerate down to - 5rpm until a stop is applied. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 102 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: 10...
  • Page 103 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: 10...
  • Page 104 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 105 K is 1.05, so that above the knee of the characteristics the motor can operate continuously up to 105% current. (In Regen mode K = 1.05 over the whole operating frequency range). Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 106 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: 10...
  • Page 107 This parameter displays the active current (Pr 4.02) as a percentage of the rated current (Pr 5.07 or Pr 21.07). Positive values indicate power flow from the supply and negative values indicate power into the supply Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 108 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: 10...

  • Page 109: Menu 5: Motor Control

    4.02 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: 10 www.controltechniques.com...
  • Page 110 5.15 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: 10...
  • Page 111 Motor full load 5.03 rated speed Power calculation (V x 1) 5.16 optimiser enable Servo High speed Motor 5.22 servo mode current enable Motor active magnitude current 4.01 4.02 4.17 Motor magnetising current Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 112 Output power 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: 10...
  • Page 113 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: 10...
  • Page 114 Open-loop Vector mode voltage control 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: 10...
  • Page 115 (Rs) compensation is applied. However there is a delay of 0.5s when the drive is enabled during which only partial vector based compensation is applied to allow the machine flux to build up. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 116 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 117 The test will not start unless the drive is disabled before the test is initiated by applying the enable or run, i.e. it will not start if the drive is in the stop state. In closed-loop modes it is not possible to go into the stop state if Pr 5.12 has a non-zero value. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 118 It should be noted that the current loop gains (Pr 4.13 and 4.14) are not updated as part of any test if either the stator resistance or the transient inductance for the active motor map are zero. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 119 This test takes approximately 2 seconds to complete and can only be used where the rotor settles to a stable position in a short time. • Pr 3.25 is saved to EEPROM. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 120 Once two valid changes have occurred the test operates in the same way as for other encoder types. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 121 Pr 5.17. The maximum measurable value for a particular drive size can be calculated from the following formula. = DC_VOLTAGE_MAX x 0.45 / (Kc x √ where Kc is the current scaling factor for the drive Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 122 5: SrE, Square law characteristic Neither the stator resistance nor the voltage offset are used, instead a fixed square law characteristic with boost applied as defined by Pr 5.15 is used. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 123 2 the gain is increased by a factor of 16 to give faster convergence. The rated rpm optimizer is automatically disabled when closed-loop vector RFC mode is selected (Pr 3.24=1 or 3). Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 124 Open-loop, Closed-loop vector, Regen 0 (3 kHz) Default Servo 2 (6 kHz) Update rate Background read *The maximum switching frequency available is limited for some drive sizes as shown in the table below. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 125 12 = 83μs Current limit Sequencing and Level 2 250μs Speed controller and ramps and ramps Synchronization Level 3 Voltage controller Level 4 Time critical user interface Background Non-time critical user interface Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 126 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...
  • Page 127 The value shown in Pr 5.23 is this offset given in line to line rms volts. It is not possible for the user to measure this voltage easily, and so the automatic measurement procedure should be used (see Pr 5.14 on page 122). Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 128 When this bit is set the drive provides a cross-coupling feed forward voltage as produced by the transient inductance and a frequency based voltage feed forward term. These voltages improve the transient performance of the current controllers Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 129 The rated level of flux in most induction motors causes saturation. Therefore the flux against flux producing current characteristic is non-linear. The effects of saturation are to cause a step increase in torque when operating in torque mode as the speed increases into the field weakening region. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 130 The motor torque per amp (Kt) must be entered in this parameter by the user for the automatic gain calculation system to operate correctly, and to allow the drive to calculate the correct inertia during an inertia auto-tune. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 131 This parameter should be set up to give the pole pitch of a linear motor, i.e. the movement of the motor for one cycle of the drive power output waveforms, if auto-configuration with a linear EnDat encoder is required. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 132 2, 2 = x 3, and 3 = x 4). Longer pulses should only be used if noise and vibration are a problem and the motor has low friction and low cogging torque. As the torque level is reduced the measurement is likely to be affected by cogging and the results may not be accurate. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 133 If the value of this parameter is too small the drive will detect the motor speed as zero even if the motor is spinning. Unidrive SP Advanced User Guide Issue Number: 10...

  • Page 134: Menu 6: Sequencer And Clock

    Drive power supply monitor Active supply 6.44 Low voltage 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: 10...
  • Page 135 There is no mains loss detection and the drive operates normally only as long as the DC bus voltage remains within specification (i.e. >Vuu). Once the voltage falls below Vuu a UU trip occurs and this will reset itself if the voltage rises again above VuuRestart shown in the table below. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 136 To return terminals T25, T26 and T27 to their default functions, one of the following operations should be performed. • Drive defaults should be restored. See section 5.8 Restoring parameter defaults in the Unidrive SP User Guide for details.
  • Page 137 When this bit is set the drive remains active even when the run command has been removed and the motor has reached standstill. The drive goes to the 'StoP' state instead of the 'rdy' state. NOTE Pr 6.08 may be changed by the brake control in menu 12. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 138 3. OR Run forward and Run reverse are both active and have been for 60ms. 4. The drive is in the UU state. The drive can then be restarted by activating the necessary bits to give a normal start. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 139 US RW BU 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 Issue Number: 10 www.controltechniques.com...
  • Page 140 6.22 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 www.controltechniques.com Issue Number: 10...
  • Page 141 Open-loop, Closed-loop vector, Servo, Regen VM DP US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0 to 30,000 hrs Regen Update rate Background read See Pr 6.18 on page 140. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 142 Open-loop, Closed-loop vector, Servo Update rate 4ms read 6.31 Sequencing bit: Jog 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 www.controltechniques.com Issue Number: 10...
  • Page 143 6.35 Forward limit switch Drive modes Open-loop, Closed-loop vector, Servo VM DP US RW BU Coding Default Open-loop, Closed-loop vector, Servo Update rate 250μs read Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 144 Open-loop, Closed-loop vector, Servo Update rate 4ms read 6.40 Enable sequencer latching 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: 10...
  • Page 145 Run reverse Pr 6.32 Forward/reverse Pr 6.33 Pr 6.34 Not stop Pr 6.39 Auto/manual Analog/Preset reference Pr 1.42 Jog reverse Pr 6.37 Reserved Reserved Trip drive Reset drive Pr 10.33 Keypad watchdog Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 146 Voltage level DC_VOLTAGE_MAX Pr 6.46 x 1.45 Braking IGBT threshold voltage Pr 6.46 x 1.325 Under voltage trip level Restart voltage level after UU trip Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 147 When the control system is leaving the mains loss ride through condition (ACUU) it is important that no load is applied to the input rectifier until it is fully active. This feature can be disabled by setting this parameter to one. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 148 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...
  • Page 149 DC Bus voltage is above the mains loss detection level. The rectifier may still be phasing forwards and the application of load at this point may cause the DC Bus voltage to fall back below the mains loss detection level again. Unidrive SP Advanced User Guide Issue Number: 10...

  • Page 150: Menu 7: Analog I/O

    (vsy x isy). Pr 5.03 - output power 10V would be produced when: Active current = Kc / 0.45 Peak phase voltage in phase with the active current = DC_VOLTAGE_MAX / 2 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 151 ??.?? 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 Issue Number: 10 www.controltechniques.com...
  • Page 152 -20°C to 150°C it is assumed that the monitoring thermistor has failed and a hardware fault trip is initiated (Pr 7.04 - HF27, Pr 7.05 and Pr 7.36 - HF28). Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 153 5. For drive size SP0xxx the fan is always on when the drive or the braking IGBT are enabled and remains on for 10s after the drive or braking IGBT is disabled. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 154 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: 10...
  • Page 155 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: 10 www.controltechniques.com...
  • Page 156 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: 10...
  • Page 157 If speed feedback or power is selected for high speed mode for both analog output 1 and analog output 2 the setting is ignored for analog output 2. If the high speed mode is selected the output is always a voltage signal. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 158 If speed feedback or power is selected for high speed mode for both analog output 1 and analog output 2 the setting is ignored for analog output 2. If the high speed mode is selected the output is always a voltage signal. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 159 Open-loop, Closed-loop vector, Servo, Regen Txt VM DP ND US RW BU Coding Open-loop, Closed-loop vector, Servo, Range ±100.00 % Regen Open-loop, Closed-loop vector, Servo, Default 0.00 Regen Update rate Background read Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 160 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...
  • Page 161 An additional thermal monitoring point is provided in SP6xxx and SPMxxxxx drives. The temperature is displayed in this parameter in degrees C. See Pr 7.04 to Pr 7.06 for more details. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 162: Menu 8: Digital I/O

    8ms (maximum 20ms). The digital outputs are updated every 4ms. Any changes to the source/destination parameters only become effective after drive reset is activated. 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 www.controltechniques.com Issue Number: 10...
  • Page 163 Parameter Keypad and Parameter Parameter Advanced parameter Serial comms Electronic Macros Performance RFC mode Menu 8 structure display x.00 description format descriptions protocol nameplate Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 164 6.04 8.23 I/O 3 source/ Start/stop destination 8.29 logic select 8.30 T26 digital 8.13 I/O polarity Open collector unprotected I/O 3 invert select output parameter ??.?? Run forward 6.30 x(-1) ??.?? Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 165 Relay source source invert This logic diagram applies only when all 8.27 8.17 parameters are at their default settings Any bit parameter Relay Drive ??.?? state Healthy 10.01 8.07 ??.?? x(-1) Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 166 Txt VM DP RA NC NV US RW BU Coding Open-loop, Closed-loop vector, Servo, Default See table Regen Update rate 4ms write OFF (0) = Terminal inactive On (1) = Terminal active Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 167 Background read Unidrive SP has a dedicated hardware enable/secure disable 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 the enable to behave as an Et trip input.
  • Page 168 When this parameter is zero digital outputs are in push-pull mode. When this parameter is one either the high-side drive (negative logic polarity) or the low-side driver (positive logic polarity) is disabled. This allows outputs to be connected in a wire-ORed configuration. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 169 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 This parameter has no effect in Regen mode. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 170: Menu 9: Programmable Logic, Motorized 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: 10...
  • Page 171 9 and 12 functions active. The logic functions are active if one or both the sources are routed to a valid parameter. The other functions are active if the output destination is routed to a valid unprotected parameter. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 172 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: 10...
  • Page 173 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: 10 www.controltechniques.com...
  • Page 174 This parameter defines the time taken for the motorized 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: 10...
  • Page 175 These three bits control the motorized 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 motorized pot output is reset and held at 0.0%. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 176 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: 10...
  • Page 177 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: 10 www.controltechniques.com...

  • Page 178: 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: 10...
  • Page 179 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: 10...
  • Page 180 US RW BU 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: 10...
  • Page 181 SMARTCARD trip: SMARTCARD can not perform the required function as it is being accessed by a Solutions Module Wait for the Solutions Module to finish accessing the SMARTCARD and then re-attempt the required function Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 182 SMARTCARD trip: SMARTCARD has the Read Only bit set Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access Ensure the drive is not writing to data locations 500 to 999 on the card Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 183 With EnDat encoders, check the comms resolution and/or carry out the auto-configuration Pr 3.41 Checksum / CRC error or SSI not ready at start of position transfer (i.e. data input not one) Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 184 Drive encoder trip: The periods per revolution obtained during auto-configuration for a rotary SINCOS encoder is not a Enc17 power of two. Select a different type of encoder. Faulty encoder. EnP.Er Data error from electronic nameplate stored in selected position feedback device Replace feedback device Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 185 Power stage recognition: multi module voltage or current rating mismatch Hardware fault - return drive to supplier HF24 Power stage recognition: unrecognised drive size Hardware fault - return drive to supplier Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 186 Pr 10.31 to 0 to disable the trip L.SYnC Drive failed to synchronize to the supply voltage in Regen mode Refer to the Diagnostics chapter in the Unidrive SP Regen Installation Guide. O.CtL Drive control board over temperature Check enclosure / drive fans are still functioning correctly...
  • Page 187 Check braking resistor value is greater than or equal to the minimum resistance value Check braking resistor insulation OIdC.P Power module over current detected from IGBT on state voltage monitoring Vce IGBT protection activated. Check motor and cable insulation. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 188 Universal Encoder Plus encoder supply and the SM-Encoder Output Plus encoder supply. • Reduce load and reset • Provide an external 24V >50W power supply • Remove any Solutions Modules and reset Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 189 Reinstall the cable between the drive and keypad Check cable for damage Replace cable Replace keypad SLX.dF Solutions Module slot X trip: Solutions Module type installed in slot X changed 204,209,214 Save parameters and reset Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 190 Select a different type of encoder. period for a linear encoder Encoder Plus Faulty encoder. exceeds 255. SM-Universal Check ambient temperature Encoder Plus & Solutions Module has overheated Check enclosure ventilation SM-Resolver Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 191 Inter-Solutions Module comms error with module in slot 2 Inter-Solutions Module comms error with module in slot 3 Inter-Solutions Module comms error with module unknown slot APC internal error Communications to drive faulty Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 192 Communications error to slot 3 SM-Ethernet, SM-EtherCAT Memory allocation error SM-Ethernet, SM-EtherCAT File system error SM-Ethernet, SM-EtherCAT Configuration file error SM-Ethernet Language file error SM-Ethernet Timed event over-run Internal watchdog error Internal software error Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 193 Motor object type incorrect Unidrive SP object error Encoder object CRC error Motor object CRC error Performance object CRC error Unidrive SP object CRC error Sequencer timeout Solutions module over temperature SLX.HF Solutions Module slot X trip: Solutions Module X hardware fault...
  • Page 194 Onboard PLC program variables and function block calls using more than the allowed RAM space (stack overflow) Check program UP ovr Onboard PLC program attempted out of range parameter write Check program UP PAr Onboard PLC program attempted access to a non-existent parameter Check program Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 195 168 to 174 t168 to t174 SL3.nF C.Prod SL3.dF EnP.Er SL.rtd CL.bit C.boot t216 SAVE.Er C.bUSY HF17 PSAVE.Er C.Chg HF18 t038 C.OPtn HF19 L.SYnC C.RdO 220 to 232 HF20 to HF32 Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 196 4. When the drive is first powered up a UU trip is initiated if the supply voltage is below the restart voltage level and another trip is not active. This does not cause save power down save parameters to be saved at this point. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 197 DE Txt VM DP RA NC NV US RW BU Coding Open-loop, Closed-loop vector, Servo, Range 0.00 to 400.00 s Regen Open-loop, Closed-loop vector, Servo, Default See below Regen Update rate Background read Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 198 All other sizes 200V 2.6s 3.3s 0.00s 400V 1.7s 3.3s 0.00s 575V and 690V 0.00s If Pr 10.31 is set to zero then the braking resistor thermal protection system is disabled. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 199 The braking load will probably not be shared equally between the resistors because of voltage measurement tolerances within the individual drives. However, once a resistor reaches its maximum temperature its load will be reduced, and be taken up by another resistor. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 200 If this parameter is 0 then Pr 10.01 (Drive ok) is cleared every time the drive trips regardless of any auto-reset that may occur. When this parameter is set the 'Drive ok' indication is not cleared on a trip if an auto-reset is going to occur. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 201 If the value is not included in the table a trip is initiated with the same trip number as the value provided the drive is not already tripped. Action Values written to 10.38 Trip code SL1.HF No action SL2.HF SL3.HF 217-245 Drive reset Clear trip and trip time logs 255 Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 202 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, Range 00.00 to 23.59 Hours.Minutes Regen Update rate Background write Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 203 It is possible that this time difference may be negative, in which case the value will be zero. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 204: Menu 11: General Drive Set-Up

    Pr 6.13 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 www.controltechniques.com Issue Number: 10...
  • Page 205 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 Issue Number: 10...
  • Page 206 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 www.controltechniques.com Issue Number: 10...
  • Page 207 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 208 Open-loop, Closed-loop vector, Servo, Range 0 (200) to 3 (690) Regen Update rate Write at power-up This parameter has four possible values (200, 400, 575, 690) and indicates the voltage rating of the drive. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 209 This data can be viewed through Pr 11.38 to Pr 11.40 by increasing or decreasing Pr 11.37. This parameter jumps between the data numbers of the data blocks present on the card. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 210 The data density is not as high as a parameter file type data block, but in most cases the number of differences from default is small and the data blocks are therefore smaller. This method can be used, for example, for creating drive macros. Parameter RAM is used as the source of this information. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 211 To ensure that the performance of the destination drive is similar to that of the source drive, the speed controller gains and current controller gains are scaled as shown in the table below. Note that the gain scaling is only applied when the data block number is less than 500. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 212 SMARTCARD data type/mode Drive modes Open-loop, Closed-loop, Servo, Regen Txt VM DP RA NC NV US RW BU Coding Range Open-loop, Closed-loop, Servo, Regen 0 to 18 Update rate Background write Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 213 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 Issue Number: 10...
  • Page 214 Solutions Modules it is possible to fit the required Solutions Modules to a drive (corresponding to the modules installed when the SMART card data was stored) and transfer the parameters to the drive including those for the Solutions Modules. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 215 Open-loop, Closed-loop vector, Servo, Default Number of defaults loaded, i.e. 1,233 etc. Regen Update rate Background write Displays the number of the last set of defaults loaded, i.e. 1233, 1244, etc. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 216 0 on dispatch from the factory. If the Drive Onboard Application Lite Ladder Programming Events is greater than the maximum value which may be represented by this parameter the value will be clipped to the maximum value. This parameter is not altered when defaults are loaded. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 217 The Drive Onboard Application Lite Ladder 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: 10 www.controltechniques.com...

  • Page 218: Menu 12: Threshold Detectors, Variable Selectors And Brake Control Function

    Threshold 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: 10...
  • Page 219 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 Issue Number: 10 www.controltechniques.com...
  • Page 220 The output may be inverted if required by setting the invert flag (Pr 12.06, Pr 12.26). The result is routed to the destination (defined by Pr 12.07, Pr 12.27). Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 221 Txt VM DP RA NC NV US RW BU Coding Open-loop, Closed-loop vector, Servo, Range ±100.00 % Regen Update rate 4ms x number of menu 9 or 12 functions active write Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 222 When the Sectional control mode is selected the function is also reset, and the output is held at zero, when the control (Pr 12.15 or Pr 12.35) is zero. It is active when the control has a non-zero value. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 223 The diagram below shows how the variable selector in Sectional control mode can be used to provide a position reference for the drive and act as a source for encoder simulation to give the position reference for the next drive in the system. Unidrive SP Advanced User Guide Issue Number: 10...

  • Page 224: Brake Control Function

    This parameter should be used as a source for a digital output to control an electro-mechanical brake. This parameter is one to release the brake and zero to apply the brake. Digital I/O can be automatically configured to use this parameter as a source (see Pr 12.41). Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 225 The use of a Smartcard in boot mode or an SM-Applications module can ensure drive parameters are immediately programmed to avoid this situation. WARNING Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 226 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: 10...
  • Page 227 (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: 10...
  • Page 228 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...
  • Page 229 Pr 12.46 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: 10 www.controltechniques.com...
  • Page 230 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...
  • Page 231 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: 10...

  • Page 232: 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: 10...
  • Page 233 Parameter Keypad and Parameter Parameter Advanced parameter Serial comms Electronic Macros Performance RFC mode Menu 13 structure display x.00 description format descriptions protocol nameplate Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 234 Revolution Position 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: 10...
  • Page 235 Position 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: 10 www.controltechniques.com...
  • Page 236 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 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: 10...
  • Page 237 3. The absolute mode parameter (Pr 13.11) is changed. The position controller is disabled transiently to reset the error integrator. 4. One of the position sources is invalid. The position feedback initialised parameter (Pr 3.48) is zero. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 238 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...
  • Page 239 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: 10 www.controltechniques.com...
  • Page 240 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...
  • Page 241 Orientation position reference Drive modes Closed-loop vector, Servo Txt VM DP RA NC NV US RW BU Coding Range Closed-loop vector, Servo 0 to 65,535 Default Closed-loop vector, Servo Update rate Background read Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 242 Background read 13.18 Relative jog enable Drive modes Open-loop, Closed-loop vector, Servo Txt VM DP RA NC NV 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: 10...
  • Page 243 Open-loop, Closed-loop vector, Servo Update rate 4ms read The local reference can be used to control the position of the motor shaft. If the local reference disable parameter is one the previously written value Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 244 (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 www.controltechniques.com...
  • Page 245 Parameter Keypad and Parameter Parameter Advanced parameter Serial comms Electronic Macros Performance RFC mode Menu 14 structure display x.00 description format descriptions protocol nameplate Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 246: 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: 10...
  • Page 247 The parameters are all shown at their default settings *The PID controller is only enabled if Pr 14.16 is set to a non Pr xx.00 and unprotected destination parameter. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 248 Default 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: 10...
  • Page 249 Open-loop, Closed-loop vector, Servo, Regen 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: 10 www.controltechniques.com...
  • Page 250 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...
  • Page 251 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: 10 www.controltechniques.com...

  • Page 252: Menus 15, 16 And 17: Solutions Module Slots

    EEPROM until the user performs a parameter save. Parameters common to all categories Parameter Range Default Type x.01 Solutions Module ID 0 to 599 PT US x.50 Solutions Module error status 0 to 255 NC PT Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 253: Sm-Universal Encoder Plus

    It is important that a break in the connections between the drive and the position feedback device can be detected. This feature is provided either directly or indirectly as listed. When the drive is reset this parameter is cleared for the relevant Solutions Module Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 254 If the clock stops or the data line is disconnected the data input to the drive may stay in one state or the other and cause a trip. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 255 Parameter Keypad and Parameter Parameter Advanced parameter Serial comms Electronic Menus 15 to 17 Macros Performance RFC mode structure display x.00 description format descriptions protocol nameplate SM-Uni Enc Pl Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 256 Ab output Fd output SSI output Marker output block input input x.38 Freeze 0V common Data Data\ 9-Way Clock\ (input) RS485 Clock (input) Drive /slot 0V common bus input Freeze Freeze\ Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 257 Marker output other slots Marker output x.40 Marker Freeze flag Marker output x.35 Freeze revolution counter Freeze x.36 Freeze position x.39 Marker output x.37 Freeze fine position x(-1) x.41 Freeze invert Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 258 Provided the set-up parameters are correct, the position is always converted to units of 1/2 ths of a revolution, but some parts of the value may not be relevant depending on the resolution of the feedback device. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 259 It is possible for this parameter to be obtained automatically from the encoder (see Pr x.18). If Pr x.09 is greater than 16 the number of turns bit is 16. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 260 Pr x.11 must be set to the number of comms bits used to represent one revolution of the encoder. The single turn comms resolution may be higher than the resolution of the sine waves per revolution. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 261 (position values from the encoder could be used in a position control system). NOTE Also refer to the SM-Universal Encoder Plus User Guide, for further detailed information on operation with encoder serial comms. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 262 SSI power supply bit monitor This will ensure that the drive remains tripped until the encoder is powered up and the action of resetting the trip will re-initialize the encoder interface. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 263 If the encoder includes a bit that indicates the status of the power supply the power supply monitor should be enabled (see Pr x.17). 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: 10 www.controltechniques.com...
  • Page 264 Solutions Module can auto-configure with any of the following devices. Rotary EndAt encoders The encoder turns, comms resolution and equivalent lines per rev are set up directly using the data read from the encoder. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 265 The resistance value of the thermistor input can be seen in Pr x.21. The motor thermistor resistance value shown in Pr x.21 is shown in 0.1% of 10kΩ units. The position feedback when used as a reference can be viewed here. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 266 Update rate: Read on reset x.25 Encoder simulation ratio numerator 0.0000 to 3.0000 0.2500 Update rate: Background read The simulated encoder output (incremental), Ab, Ab.L, Fd, Fd.L can be scaled using the above parameter. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 267 Also refer to the SM-Universal Encoder Plus User Guide for further detailed information. x.29 Non-marker reset revolution counter 0 to 65535 revolutions Update rate: 4ms write x.30 Non-marker reset position 0 to 65535 (1/2 ths of a revolution) Update rate: 4ms write Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 268 The selection of which mode used is dependent on the value of Pr x.38. The default is 1 that corresponds to only the 24V input to this Solutions Module. The values correspond to the modes as described in the table below: Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 269 If the commutation inputs equalled 110 (which is the 2nd segment) then Pr x.42 would be set to 2110. Segment 9 means that the current commutation input is invalid. All other modes follow the description for Pr x.44. NOTE This parameter has no effect for SC.SErvo encoders. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 270 An ELPR of 10,000 gives a maximum speed of 3000rpm. NOTE When operating with an Incremental plus commutation (absolute encoder), Ab.SErvo, Fd.SErvo, Fr.SErvo or SC.SErvo this parameter should remain at default (Pr x.46 = 1). Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 271 When operating with an Issue 3 SM-Universal Encoder Plus Solutions Module, the software must be V.03.xx.xx. When operating with an Issue 4 SM- Universal Encoder Plus Solutions Module, the software must be V.04.xx.xx Failure to comply with the above can result in Solutions Module failure. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 272: Sm-Resolver

    REF HIGH (excitation) REF LOW (excitation) Resolver x.15 poles x.17 Error detection level Freeze positional information Freeze input Freeze Freeze x.35 revolution flag SM-Applications counter x.39 SM-Universal Freeze Encoder Plus x.36 position Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 273 Revolution counter Position x.29 x.30 Encoder simulation Non marker reset source positional information x.24 Position Ratio numerator Simulated encoder Resolver Term x.05 x.25 output connections source Encoder 3.29 source x.xx Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 274 Provided the set-up parameters for the position feedback are correct this parameter shows the speed in rpm. x.04 Revolution counter 0 to 65,535 revolutions Update rate: 4ms x number of dumb modules x.05 Position 0 to 65,535 (1/2 revolutions) Update rate: 4ms x number of dumb modules Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 275 For example with a 6 pole resolver (and 6 pole motor) the resolution is over of a mechanical revolution. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 276 Wire break detect Error detection disabled Wire break detect Error detection disabled Wire break detect NOTE The wire break trip is not activated provided one signal is >1.5Vrms or both are >0.2Vrms approximately. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 277 If Pr x.24 has any value than those above the encoder simulation outputs are not active. x.29 Non-marker reset revolution counter 0 to 65,535 revolutions Update rate: 4ms x number of dumb modules Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 278 (for a minimum of 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 www.controltechniques.com...
  • Page 279 Parameter Keypad and Parameter Parameter Advanced parameter Serial comms Electronic Menus 15 to 17 Macros Performance RFC mode structure display x.00 description format descriptions protocol nameplate SM-Encoder Pl Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 280: Sm-Encoder Plus / Sm-Encoder Output Plus

    Not used x.32 x.33 Marker x.08 x.07 input Marker Marker flag position disable Freeze positional information Freeze input Freeze Freeze x.35 revolution flag SM-Applications counter x.39 SM-Universal Freeze Encoder Plus x.36 position Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 281 Lock position feedback Revolution counter Position x.04 x.05 Positional information 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: 10 www.controltechniques.com...
  • Page 282 Freeze Encoder Plus Freeze x.36 position flag Encoder Encoder simulation simulation mode source Position Encoder simulation Module encoder ratio numerator x.05 port Drive encoder 3.29 port Ab.L Fd.L Drive encoder position Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 283 Positional information 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 Solutions Module terminal Ab.L Fd.L PL2 term block 9-Way Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 284 16 15 Revolutions Position When the feedback device rotates by more than one revolution, the revolutions in Pr x.04 increment or decrement in the form of a sixteen bit roll-over counter. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 285 Update rate: Background read The terminations may be enabled/disabled by this parameter as follows: Encoder input x.16=0 x.16=1 x.16=2 A-A\ Disabled Enabled Enabled B-B\ Disabled Enabled Enabled Z-Z\ Disabled Disabled Enabled Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 286 The ratio between the change of encoder position and the change of encoder simulation output position is defined by Pr x.25. The table below shows the possible ratios. Pr x.25 Ratio 0.0000 to 0.0312 1/32 0.0313 to 0.0625 1/16 0.0626 to 0.1250 0.1251 to 0.2500 0.2501 to 0.5000 0.5001 to 3.0000 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 287 0 to 65535 revolutions Update rate: 4ms x number of dumb modules x.36 Freeze position 0 to 65535 (1/2 ths of a revolution) Update rate: 4ms x number of dumb modules Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 288 (for a minimum of 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 www.controltechniques.com...

  • Page 289: Sm-Io 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: 10 www.controltechniques.com...
  • Page 290 This module has three digital input/outputs (DI/O1 to DI/O3), three digital inputs (DI4 to DI6) and two relays outputs (D07 and DO8). The inputs can operate with positive or negative logic (defined by Pr x.29), the outputs operate with positive logic using high side drivers only and the relay outputs operate with positive logic only. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 291 Pr x.05 Pr x.15 Pr x.25 00.00 Pr x.06 Pr x.16 Pr x.26 00.00 T21/T22 DO7(Relay) Pr x.07 Pr x.17 Pr x.27 00.00 T23/T22 DO8(Relay) Pr x.08 Pr x.18 Pr x.28 00.00 Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 292 Terminal Input Input modes Resolution Voltage only 10 bit plus sign Voltage only 10 bit plus sign Terminal Output Output modes Resolution Voltage only 10 bit plus sign Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 293 T7 digital input 5 invert x.16 T8 digital input 6 invert x.17 Relay 1 invert x.18 Relay 2 invert OFF (0) or On (1) OFF (0) Update rate: 8ms x number of dumb modules Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 294 I/O 1 Pr x.21 Pr x.09 Pr x.11 Pr x.31 I/O 2 Pr x.22 Pr x.10 Pr x.12 Pr x.32 I/O 3 Pr x.23 Pr x.03 Pr x.13 Pr x.33 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 295 Update rate: Read on reset x.48 Analog output 1 source Pr 0.00 to Pr 21.51 Pr 0.00 Update rate: Read on reset x.49 Analog output 1 scaling 0.000 to 4.000 1.000 Update rate: Background read Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 296 (for a minimum of 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 www.controltechniques.com...

  • Page 297: Sm-Io Lite & Sm-Io Timer

    Invert x.17 0.00 State Default source x.07 Pr 0.00 21.51 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: 10 www.controltechniques.com...
  • Page 298 Years Real time x.37 clock Real time clock +1 hour 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: 10...
  • Page 299 The digital inputs are set-up in positive logic only. This logic cannot be changed. x.07 Relay state (Terminals T21 and T23) OFF(0) or On(1) Update rate: Background write 0: OFF de-energized 1: On energized This parameter indicates the state of the relay. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 300 Destination parameters define the parameter each of the programmable inputs is to control. Only parameters that are not protected can be controlled by the programmable digital inputs. If a non-valid parameter is programmed, the digital input is not routed anywhere. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 301 00.00 Update rate: Background read/write x.37 Real time clock years 2000 to 2099 2000 Update rate: Background read/write NOTE Pr x.34 to Pr x.37 are not available on the SM-I/O Lite. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 302 This parameter is used to scale the analog input if so desired. However in most cases it is not necessary as each input is automatically scaled such that for 100.0%, the destination parameters (defined by the settings of Pr x.43) will be at maximum. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 303 When a Solutions Module is installed that does not contain software, both Pr x.02 and Pr x.51 appear as zero. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 304: Sm-Io Pelv

    X.14 I/O 4 invert unprotected bit parameter ??.?? 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 www.controltechniques.com Issue Number: 10...
  • Page 305 1 level input 1 destination X.40 unprotected X.43 Analog input 1 variable parameter ??.?? X.38 X.41 Analog Analog ??.?? input 1 input 1 x(-1) mode selector scaling X.42 Analog input 1 invert Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 306 Figure 5-24 SM-I/O PELV analog output logic diagram T10 Analog output 1 T12 Analog output 2 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: 10...
  • Page 307 T3 digital I/O 1 state x.10 T4 digital I/O 2 state OFF (0) or On (1) Update rate: 4ms write These parameters indicate the input and output states of the terminals. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 308 A minimum of 500μs must pass between consecutive freeze inputs. If a freeze input should occur less than 500μs after the previous one, the second will be ignored and have no effect on the drive. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 309 OFF (0) or On (1) OFF (0) Update rate: Background read These parameters select the function of terminals T3 to T5 as follows: OFF (0) = digital input On (1) = digital output Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 310 Pr 0.00 Update rate: Read on reset Only unprotected parameters can be controlled by analog inputs. If a non valid parameter is programmed to the destination, the input is not routed anywhere. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 311 This module contains two processors, and thus two software versions. Pr x.02 shows the version number of the main module processor. Pr x.51, which is normally used to give a sub-version number, shows the software version in the slave processor, which operates on the PELV side of the isolation barrier. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 312: Sm-Io 120V

    T8 digital Input 6 x.16 ??.?? unprotected parameter 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 settings Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 313 EEPROM the option code of the currently installed Solutions Module is saved in EEPROM. If the drive is subsequently powered-up with a different Solutions Module installed, or no Solutions Module installed where one was previously installed, the drive gives a SLx.dF or SLx.nf trip. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 314 This word is used to determine the status of the digital inputs and relays by reading one parameter. The bits in this word reflect the state of Pr x.03 to Pr x.10. Digital input/ relays Digital input 1 Digital input 2 Digital input 3 Digital input 4 Digital input 5 Digital input 6 Relay 1 Relay 2 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 315 This Solutions Module includes a temperature monitoring circuit. If the PCB temperature exceeds 90°C, the drive fan is forced to operate at full speed for a minimum of 10s on Unidrive SP. 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.

  • Page 316: Sm-Io 24V Protected

    X.14 I/O 4 invert Any unprotected parameter ??.?? 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 www.controltechniques.com Issue Number: 10...
  • Page 317 ??.?? x(-1) ??.?? T9 digital input 7 state T9 digital T9 digital input 7 input 7 invert destination X.07 X.17 X.27 unprotected T9 digital input 7 parameter ??.?? x(-1) ??.?? Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 318 Figure 5-32 SM-I/O 24V Protected analog output logic diagram T10 Analog output 1 T12 Analog output 2 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: 10...
  • Page 319 Update rate: Write on power-up On Unidrive SP the menu for the relevant slot appears for the new Solutions Module category with the default parameter values for the new category. When no Solutions Module is installed in the relevant slot this parameter is zero. When a Solutions Module is installed this parameter displays the identification code.
  • Page 320 OFF (0) or On (1) OFF (0) Update rate: Background read These parameters select the function of terminals T3 to T5 as follows: OFF (0) = digital input On (1) = digital output Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 321 The parameter required to be represented as an analog signal by the analog output on terminal 10, should be programmed into this parameter. x.49 Analog output 1 scaling 0.000 to 4.000 1.000 Update rate: Background read This parameter can be used to scale the analog output if so desired. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 322 This module contains two processors, and thus two software versions. Pr x.02 shows the version number of the main module processor. Pr x.51, which is normally used to give a sub-version number, shows the software version in the slave processor. Unidrive SP Advanced User Guide www.controltechniques.com...

  • Page 323: Sm-Io 32

    Update rate: Write on power-up On Unidrive SP the menu for the relevant slot appears for the new Solutions Module category with the default parameter values for the new category. When no Solutions Module is installed in the relevant slot this parameter is zero. When a Solutions Module is installed this parameter displays the identification code.
  • Page 324 Pr x.10 as follows: Digital I/O Parameter DIO1 Pr x.09 DIO2 Pr x.10 DIO3 Pr x.03 DIO4 Pr x.04 DIO5 Pr x.05 DIO6 Pr x.06 DIO7 Pr x.07 DIO8 Pr x.08 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 325 I/O status for all 32 I/O lines will be limited to the read register parameter range before being written to the read register parameter. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 326 Pr x.51 = zz, where: xx specifies a change that affects hardware compatibility yy specifies a change that affects product documentation zz specifies a change that does not affect the product documentation. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 327: Sm-Applications Modules

    Failed to update drive parameter database cache in Flash memory. Not Run User program downloaded while drive enabled. Will occur if #MM.37 = 1 and a program is downloaded. Failed to change drive mode ♣♥ Invalid CTNet buffer operation. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 328 1-9. Zero is not permitted since it is used by the master for addressing groups of nodes. This parameter has no effect if the EIA-RS485 mode is 25 (CTSync) or 26 (CTSync) Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 329 Mode 78: 1 start bit, 7 data bits, ODD parity, 1 stop bit Applications CT-Sync Master The baud rate is fixed at 896875bps Applications CT-Sync Slave The baud rate is fixed at 896875bps Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 330 Update Rate Initialisation Defines the scheduling period (tick-time), in milliseconds, for the DPL CLOCK task. A value of zero will disable the CLOCK task. NOTE Prior to version 01.05.00 Unidrive SP the default for this parameter was 0ms (disabled). ♦♣♥ x.12...
  • Page 331 20 (depending upon the setting of Pr x.21). NOTE Note that this will also cause a reset of the module and this parameter will return back to zero automatically. Also if the Unidrive SP is tripped, it will be reset. Menu 81 will not be saved.
  • Page 332 If menu 20 is to be restored on power-up the user must ensure that this parameter is saved in the drive before powering down. Since menu 20 is a global drive menu, only one option installed to the Unidrive SP should be used to store and restore menu 20, therefore if more than one Applications module is installed to the drive only one should have this parameter set otherwise menu 20 will not be restored correctly on power-up.
  • Page 333 When this parameter is 0 the drive will trip with runtime error 81 if an APC non-recoverable error occurs, such as use of an initialized CAM function. When this parameter is 1 the drive will not trip when an APC non-recoverable error occurs. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 334 This parameter is dependant on what is running in the module i.e. Indexer ♣ x.46 User Set-Up Parameter 2 Access Range Default Update Rate N/A This parameter is dependant on what is running in the module i.e. Indexer Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 335 0 to 99 Default Update Rate N/A Specifies the minor revision number of the operating system of the Applications module. Use in conjunction with Pr x.02 to form the complete version number. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 336: 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 337 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 Issue Number: 10 www.controltechniques.com...
  • Page 338 Module Output Overload this fault occurs, the digital output 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 www.controltechniques.com Issue Number: 10...
  • Page 339 This parameter shows the status of digital Input #2 on the SM-EZMotion module. A value of 1 indicates that the Input is active. A value of 0 indicates that the Input is inactive. This equates Pin # 3 on the EZMotion I/O Connector. Unidrive SP Advanced User Guide Issue Number: 10...
  • Page 340 Pr x.48 = 11023 would signify that user programs are currently running on Task 2 and Task 1, and that a Index is running on Profile 1 while a Jog is running on Profile 0. Pr x.48 = 104 would signify that a user program is running on Task 0 and Gearing motion is running on Profile 0. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 341 Pr x.50 = 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 installed that does not contain software both these parameters appear as zero. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 342: Sm-Slm

    Standalone mode (S.AlonE) - uses the SLM module for position feedback, nameplate data and speed loop control. • Fieldbus mode (FiELd.bS) - uses an external host for the speed demand only. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 343 Parameter Keypad and Parameter Parameter Advanced parameter Serial comms Electronic Menus 15 to 17 Macros Performance RFC mode structure display x.00 description format descriptions protocol nameplate SM-SLM Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 344 5.18 = 8kHz 3.26 = SM-SLM slot SAVE Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown in their default settings Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 345 16 Trip Speed x.03 Lock position feedback x.49 x.29 Action read from Revolution Fine SLM EEPROM Position counter position (CT Coder) Autotune mode x.04 x.05 x.06 x.26 Parameters transferred x.28 LOAD Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 346 When the feedback device rotates by more than one revolution, the revolutions in Pr x.04 increment or decrement in the form of a sixteen bit roll-over counter. The marker offset corrects this position. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 347 0 to 5 1 (0.250 s) Drive modes: Encoder only Update rate: Background read This parameter specifies the time delay between the drive power-up and the SLM being available in 250ms units. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 348 Axis initialisation wait Host mode, wait for SLM to get absolute position SP mode comms set-up Conversion to Unidrive SP type comms SP mode comms set-up wait Host mode, wait for SLM to change to page 2 Wait for hardware enable...
  • Page 349 Motor saturation point 1 Pr 5.29 • Motor saturation point 2 Pr 5.30 NOTE In Encoder only mode, a parameter save cannot be performed with the drive in either RUN or STOP. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 350 Indicates that the axis has been correctly initialized and is ready to run. • Encoder only mode: Axis initialised active from sequencer status • Host mode: Axis initialised active from sequencer plus external motion controller Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 351 When a Solutions Module is installed that does not contain software, both Pr x.02 and Pr x.51 appear as zero. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 352: Fieldbus Module Category Parameters

    EEPROM. If the drive is subsequently powered-up with a different Solutions Module installed, or no Solutions Module is installed when one was previously installed, the drive will trip on SLx.dF or SLx.nF. Unidrive SP Advanced User Guide www.controltechniques.com...
  • Page 353 When a Solutions Module is installed that does not contain software, both Pr x.02 and Pr x.51 appear as zero. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 354: Menu 18: Application Menu 1

    Update rate 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: 10...

  • Page 355: Menu 19: Application Menu 2

    Update rate 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: 10 www.controltechniques.com...

  • Page 356: Menu 20: Application Menu 3

    *Menu 20 parameters are non-clonable and cannot be saved in a full parameter type data block or difference from default data block on a SMART card with software versions before V01.07.00. However, with V01.07.00 onwards these parameters are saved in a difference from defaults type data block if they are not at their default value. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 357: Menu 21: Second Motor Parameters

    Pr 1.14 parameter Update rate 4ms read Unlike the motor 1 (Pr 1.14) this parameter is not used for T28 and T29 digital input auto-selection (see Pr 8.39 on page 169). Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 358 0.0 to 3200.0 s/100Hz Range Closed-loop vector, Servo 0.000 to 3200.000 s/1000rpm Open-loop Default Closed-loop vector 2.000 Servo 0.200 Normal Open-loop, Closed-loop vector, Servo Pr 2.11 parameter Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 359 0 to 180,000 rpm Range Closed-loop vector, Servo 0.00 to 40,000.00 rpm Open-loop, 1500 Default Closed-loop vector 1450.00 Servo 3000.00 Normal Open-loop, Closed-loop vector, Servo Pr 5.08 parameter Update rate Background read Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 360 The table below shows the units. Therefore 1.000 in the parameter represents the resistance shown in the units column. Units Drive size Ω SP0xxx 10.0 SP1xxx to SP5xxx SP6xxx to SP9xxx and SPMxxxxx 0.01 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 361 Open-loop, Closed-loop vector, Servo, Range 0.0 to 3000.0 Regen Open-loop, 89.0 Closed-loop vector, Default Servo 20.0 Regen 89.0 Normal motor Open-loop, Closed-loop vector, Servo, Pr 4.15 parameter Regen Update rate Background read Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 362 Encoder phase angle Drive modes Servo Txt VM DP US RW BU Coding Range Servo 0.0 to 359.9 ° electrical Default Servo Normal motor Servo Pr 3.25 parameter Update rate Background read Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 363 Drive modes Closed-loop vector Txt VM DP US RW BU Coding Range Closed-loop vector 0.00 to 5,000.00 mH Default Closed-loop vector 0.00 Normal Closed-loop vector Pr 5.25 parameter Update rate Background read Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 364 Coding 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 www.controltechniques.com Issue Number: 10...
  • Page 365 Txt VM DP 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 Issue Number: 10 www.controltechniques.com...

  • Page 366: 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 www.controltechniques.com...

  • Page 367: Bit Parameters

    Pr 160.00 to Pr 161.00 to Pr 162.00 to Pr 163.00 to Pr 164.00 to Pr 165.00 to Pr 160.99 Pr 161.99 Pr 162.99 Pr 163.99 Pr 164.99 Pr 165.99 Menu 165 Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 368: Macros

    The brake control macro configures the drive to apply or release a mechanical brake on a motor in a crane or hoist application. The drive issues a brake release signal via a digital output when the relevant conditions are met. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 369 1.00 to 99.99 RO Uni NC PT RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 370: 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 371: Macro 1 - Easy Mode

    Table 6-2 on page 369, 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 372 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: 10...
  • Page 373 Speed-loop 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: 10 www.controltechniques.com...

  • Page 374: Macro 2 - Motorized Potentiometer

    OFF (0) or On (1) OFF (0) RW Bit 0.29 Motorized pot rate {9.23} 0 to 250 s RW Uni 0.30 Motorized pot scale factor {9.24} 0.000 to 4.000 1.000 RW Uni Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 375 RFC mode structure display x.00 description format descriptions protocol nameplate 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 376 0.27 Motorized pot. zero-start select 0.28 Motorized pot. Bipolar select Read-only (RO) 0.29 Motorized pot. rate Output 0.XX parameter 0.30 Motorized pot.output scale factor terminals Menu 0 changes from default configuration Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 377 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 Motor speed active-current Power stage 0.10 0.13 0.41 PWM switching frequency Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 378: 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: 10...
  • Page 379 RFC mode structure display x.00 description format descriptions protocol nameplate 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 380 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: 10...
  • Page 381 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: 10 www.controltechniques.com...

  • Page 382: 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: 10...
  • Page 383 Performance RFC mode structure display x.00 description format descriptions protocol nameplate 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 384 Analog input 2 (maximum speed override level) 0.28 Over-speed threshold Read-only (RO) 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: 10...
  • Page 385 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 Motor speed active-current Power stage 0.10 0.13 0.41 PWM switching frequency Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 386: 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: 10...
  • Page 387 Performance RFC mode structure display x.00 description format descriptions protocol nameplate 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 7.15...
  • Page 388 0.27 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: 10...
  • Page 389 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 Motor speed active-current Power stage 0.10 0.13 0.41 PWM switching frequency Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 390: 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: 10...
  • Page 391 Electronic Macros Performance RFC mode structure display x.00 description format descriptions protocol nameplate 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 392 (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: 10...
  • Page 393 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 Motor speed active-current Power stage 0.10 0.13 0.41 PWM switching frequency Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 394: Macro 7 - Brake Control

    RW Bi 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: 10...
  • Page 395 Macros Performance RFC mode structure display x.00 description format descriptions protocol nameplate Table 6-15 Parameter set-up to reproduce Macro 7 on a Unidrive SP Default( ) Parameter 2.04 Ramp mode FASt (0) 3.05 Zero speed threshold 5.27 Enable slip compensation OFF (0) 6.08...
  • Page 396 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: 10...
  • Page 397 0.29 (not used) select 0.30 (not used) Motor Motor speed Read-write (RW) active-current 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: 10 www.controltechniques.com...

  • Page 398: Macro 8 - Digital Lock

    RW Txt no.rP (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: 10...
  • Page 399 Macros Performance RFC mode structure display x.00 description format descriptions protocol nameplate 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 13.15...
  • Page 400 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: 10...
  • Page 401 0.26 Orientation reference 0.27 Orientation acceptance window Read-only (RO) Output 0.XX 0.28 Stop mode selector parameter 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: 10 www.controltechniques.com...

  • Page 402: 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 403: Drive Address

    1. The command is aborted because a non-numerical value is received in the drive address, menu or parameter numbers. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 404: Modbus Rtu

    0 through 65535. The register address is therefore #menu.param is mapped into the MODBUS register space as menu*100 decremented on the master device before passing to the protocol. + param. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 405: Data Consistency

    Length of register data to write (in bytes) Number of 16bit registers LSB Register data 0 MSB CRC LSB Register data 0 LSB CRC MSB 7+byte count CRC LSB 8+byte count CRC MSB Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 406: Extended Data Types

    #1.29 is a signed 16 bit parameter with a value of 0xABCD, and #1.30 is type. a signed 16 bit parameter with a value of 0x0123. NOTE The selection is applied for the whole block access. Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...

  • Page 407: Exceptions

    If a write multiple (FC16 or FC23) request exceeds the slave maximum buffer size then the slave will discard the message. No exception will be transmitted in this case and the master will time out. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 408: 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: 10...

  • Page 409: Motor Object

    5.11 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: 10 www.controltechniques.com...

  • Page 410: Performance Objects

    Regen current limit 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: 10...
  • Page 411 Regen current limit 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: 10 www.controltechniques.com...

  • Page 412: Performance

    24-26 as input 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: 10...

  • Page 413: Current Feedback

    The phase delay of the current controller has a limiting effect on the response of the outer loop. Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...

  • Page 414: Rotor Flux Control (Rfc) Mode

    To set up the Unidrive SP in RFC mode follow the instructions below. 2. With RFC mode it is possible to switch between closed loop vector mode with a position feedback device and RFC mode while running...
  • Page 415 Brake control function ............218 Drive reset ..............14 Braking IGBT active ..............179 Drive warning ................ 181 Braking resistor alarm ............179 DRIVE_CURRENT_MAX ............19 Braking time ................197 Dynamic V to F ..............122 Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 416 Jog acceleration rate ............... 48 Jog deceleration rate .............. 49 Jog reference ................32 Keypad ..................10 Keypad control ................ 14 Keypad control mode reference ..........37 Keypad operation ..............10 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
  • Page 417 Relay source ................. 168 Resolution ................51 Revolution counter ..............67 RFC mode ................414 Rigid position control ............240 Rotating test ..............118 Run time ................141 Running cost ................. 141 Unidrive SP Advanced User Guide Issue Number: 10 www.controltechniques.com...
  • Page 418 Stator resistance ..............122 Status mode ................11 Wire break detect ..............74 Status word ................202 Stop mode ................135 Switching frequency - maximum ........... 124 Zero speed ................178 Zero speed threshold ..............53 Unidrive SP Advanced User Guide www.controltechniques.com Issue Number: 10...
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