Switching Frequency; High Speed Operation; Figure 8-3 Torque And Rated Voltage Against Speed - Emerson unidrive sp User Manual

Safety Product Mechanical
Information Information Installation
The time for the drive to trip from cold with constant motor current is
given by:
T = -(Pr 4.15) x ln(1 - (K x Pr 5.07 / Pr 4.01)
trip
Alternatively the thermal time constant can be calculated from the trip
time with a given current from:
Pr 4.15 = -T / ln(1 - (K / Overload)
trip
The maximum value for the thermal time constant can be increased up
to a maximum value of 3000s to allow an increased overload if the motor
thermal characteristics permit.
For applications using CT Dynamics Unimotors the thermal time
constants can be found in the Unimotor manual.
8.5

Switching frequency

The default switching frequency is 3kHz (6kHz in Servo mode), however
this can be increased up to a maximum of 16kHz by Pr 5.18 (dependent
on drive size). The available switching frequencies are shown below.
Table 8-1 Available switching frequencies
Drive
Model 3kHz
size
0 All
1 All
2 All
SP320X
SP3401 &
SP3402
3
SP3403
SP350X
4 All
5 All
6 All
If switching frequency is increased from 3kHz the following apply:
1. Increased heat loss in the drive, which means that derating to the
output current must be applied.
See the derating tables for switching frequency and ambient
temperature in section 12.1.1 Power and current ratings (Derating
for switching frequency and temperature) .
2. Reduced heating of the motor - due to improved output waveform
quality.
3. Reduced acoustic noise generated by the motor.
4. Increased sample rate on the speed and current controllers. A trade
off must be made between motor heating, drive heating and the
demands of the application with respect to the sample time required.
Table 8-2 Sample rates for various control tasks at each
switching frequency
3, 6, 12 4, 8, 16
kHz
3kHz = 167μs
Level 1 6kHz = 83μs
12kHz = 83μs
Level 2 250μs
Level 3 1ms
Level 4 4ms
Background
148
Electrical Getting Basic
installation Started parameters
2
)
2
)
4kHz 6kHz 8kHz 12kHz 16kHz
Closed loop
Open loop vector and
kHz
Servo
Current
125μs Peak limit
controllers
Current limit Speed controller
and ramps and ramps
Voltage controller
Time critical user interface
Non-time critical user interface
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Running SMARTCARD
Optimization
the motor operation
8.6

High speed operation

8.6.1 Encoder feedback limits
The maximum encoder frequency should be prevented from exceeding
500kHz (or 410kHz for software V01.06.00 and earlier). In closed loop and
servo modes the maximum speed that can be entered in to the speed
reference clamps (Pr 1.06 and Pr 1.07) can be limited by the drive. This is
defined by the following (subject to an absolute maximum of 40,000rpm):
Maximum speed limit (rpm) =
Where:
ELPR is the equivalent encoder lines per revolution and is the
number of lines that would be produced by a quadrature encoder.
• Quadrature encoder ELPR = number of lines per revolution
• F and D encoder ELPR = number of lines per revolution / 2
• SINCOS encoder ELPR = number of sine waves per revolution
This maximum speed limit is defined by the device selected with the
speed feedback selector (Pr 3.26), and the ELPR set for the position
feedback device. In closed-loop vector mode it is possible to disable this
limit via Pr 3.24, so that the drive can be switched between operation
with and without feedback when the speed becomes too high for the
feedback device. The maximum speed limit is defined as above when
Pr 3.24 = 0 or 1, and is 40,000rpm when Pr 3.24 = 2 or 3.
8.6.2 Field weakening (constant power) operation
(Open loop and closed loop vector mode only)
The drive can be used to run an induction machine above synchronous
speed into the constant power region. The speed continues to increase
and the available shaft torque reduces. The characteristics below show
the torque and output voltage characteristics as the speed is increased
above the rated value.

Figure 8-3 Torque and rated voltage against speed

Torque
Rated
voltage
Care must be taken to ensure the torque available above base speed is
sufficient for the application to run satisfactorily.
The saturation breakpoint parameters (Pr 5.29 and Pr 5.30) found during
the autotune in closed loop vector mode ensure the magnetizing current
is reduced in the correct proportion for the specific motor. (In open loop
mode the magnetizing current is not actively controlled.)
8.6.3 Servo high speed operation
High speed servo mode is enabled by setting Pr 5.22 =1. Care must be
taken when using this mode with servo motors to avoid damaging the
drive. The voltage produced by the servo motor magnets is proportional
to speed. For high speed operation the drive must apply currents to the
motor to counter-act the flux produced by the magnets. It is possible to
operate the motor at very high speeds that would give a very high motor
terminal voltage, but this voltage is prevented by the action of the drive.
Onboard Advanced Technical
Diagnostics
PLC parameters Data
500kHz x 60
ELPR
7
3.0 x 10
=
ELPR
Rated speed
Unidrive SP User Guide
Issue Number: 13
UL Listing
Information
Speed
Speed