Parameter Group 4 – High Performance Motor Control - Invertek Optidrive P2 series Installation & Operating Instructions Manual

8.3. Parameter Group 4 – High Performance Motor Control
Incorrect adjustment of parameters in menu group 4 can cause unexpected behaviour of the motor and any connected
machinery. It is recommended that these parameters are only adjusted by experienced users.
Par Parameter Name
P4-01 Motor Control Mode
Selects the motor control method. An autotune must be performed if setting 0 or 1 is used.
0: Speed Control with Torque Limit (vector)
1: Torque Control with Speed Limit (vector)
2: Speed Control (Enhanced V/F)
P4-02 Motor Parameter Auto-tune Enable
When set to 1, the drive immediately carries out a non-rotating autotune to measure the motor parameters for optimum control
and efficiency. Following completion of the autotune, the parameter automatically returns to 0.
P4-03 Vector Speed Controller Proportional Gain
Sets the proportional gain value for the speed controller when operating in Vector Speed or Vector Torque motor control modes
(P4-01 = 0 or 1). Higher values provide better output frequency regulation and response. Too high a value can cause instability or
even over current trips. For applications requiring best possible performance, the value should be adjusted to suit the connected
load by gradually increasing the value and monitoring the actual output speed of the load until the required dynamic behaviour
is achieved with little or no overshoot where the output speed exceeds the setpoint.
In general, higher friction loads can tolerate higher values of proportional gain, and high inertia, low friction loads may require
the gain to be reduced.
P4-04 Vector Speed Controller Integral Time Constant
Sets the integral time for the speed controller. Smaller values provide a faster response in reaction to motor load changes, at the
risk of introducing instability. For best dynamic performance, the value should be adjusted to suit the connected load.
P4-05 Motor Power Factor Cos Ø
When operating in Vector Speed or Vector Torque motor control modes, this parameter must be set to the motor nameplate
power factor
P4-06 Torque Control Reference / Limit Source
When P4-01 = 0, this parameter defines the source for the maximum output torque limit.
When P4-01 = 1, this parameter defines the source for the torque reference (setpoint).
0: Fixed Digital. The torque controller reference / limit is set in P4-07
1: Analog Input 1. The output torque is controlled based on the signal applied to Analog Input 1, whereby 100% input signal level
will result in the drive output torque being limited by the value set in P4-07.
2: Analog Input 2. The output torque is controlled based on the signal applied to Analog Input 2, whereby 100% input signal level
will result in the drive output torque being limited by the value set in P4-07.
3: Fieldbus. The output torque is controlled based on the signal from the communications Fieldbus, whereby 100% input signal
level will result in the drive output torque being limited by the value set in P4-07.
4: Master / Slave. The output torque is controlled based on the signal from the Invertek Master / Slave, whereby 100% input
signal level will result in the drive output torque being limited by the value set in P4-07.
5: PID Controller Output. The output torque is controlled based on the output of the PID controller, whereby 100% input signal
level will result in the drive output torque being limited by the value set in P4-07.
P4-07 Maximum Motoring Torque Limit / Current Limit
When operating in Vector Speed or Vector Torque motor control modes (P4-01 = 0 or 1), this parameter defines the maximum
torque limit or reference used by the drive in conjunction with P4-06.
When operating in V/F Mode (P4-01 = 2), this parameter defines the maximum output current the drive will provide to the
motor before reducing the output frequency to attempt to limit the current.
P4-08 Minimum Motoring Torque Limit
Active only in Vector Speed or Vector Torque motor control modes (P4-01 = 0 or 1). Sets a minimum torque limit, whereby the
when the Optidrive is enabled, it will always attempt to maintain this torque on the motor at all times whilst operating.
NOTE : This parameter should be used with extreme care, as the drive output frequency will increase to achieve the torque
level, and may exceed the selected speed reference
P4-09 Generator Mode Max. Torque Limit (Maximum Regenerative Torque)
Active only in Vector Speed or Vector Torque motor control modes (P4-01 = 0 or 1). Sets the maximum regenerating torque
allowed by the Optidrive
P4-10 V/F Characteristic Adjustment Frequency
When operating in V/F mode (P4-01 = 2), this parameter in conjunction with P4-11 sets a frequency point at which the voltage
set in P4-11 is applied to the motor. Care must be taken to avoid overheating and damaging the motor when using this feature.
P4-11 V/F Characteristic Adjustment Voltage
Used in conjunction with parameter P4-10
P4-12 Thermal Overload Value Retention
0 : Disabled.
1 : Enabled. All Optidrives feature electronic thermal overload protection for the connected motor, designed to protect the
motor against damage. An internal overload accumulator monitors the motor output current over time, and will trip the drive if
the usage exceeds the thermal limit. When P4-12 is disabled, removing the power supply from the drive and re-applying will
reset the value of the accumulator. When P4-12 is enabled, the value is retained during power off.
P4-13 Output Phase Sequence
0 : U,V, W.
1 : U, W, V. Direction of motor rotation when operating in a forward direction will be reversed.
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Optidrive ODP-2 User Guide Revisions 2.10
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Minimum Maximum Default
0 2
0 1
0.1 400.0
0.000 2.000
0.50 0.99
0 5
P4-08 500.0
0.0 P4-07
0.0 200.0
0.0 P1-09
0 P1-07
0 1
0 1
Units
2 -
0 -
25.0 %
0.050 s
- -
0 -
150.0 %
0.0 %
100.0 %
0.0 Hz
0 V
0 -
0 -