Page 1 Parameter Reference Guide Unidrive M702 RFC-A Mode Issue: 01.16.01 (Eth 01.07.00) ...
Page 2 Issue Number: 01.16.01 (Eth 01.07.00) Unidrive M702 Firmware Version: V01.16.01.00 Slot 4 (Ethernet) Firmware Version: V01.07.00.24 Unidrive M702 Project Last Modified: 21-Jul-2017 10:57:25 Slot 4 (Ethernet) Project Last Modified: 29-Feb-2016 13:34:17 HTML Generator Version: 3.4.2.24481 Unidrive M702 Parameter Reference Guide...
Page 3 If Parameter Cloning (11.042) has any other value it is not affected. The table below shows the possible actions that can be initiated with Parameter mm.000 (mm.000). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 4 This action does not require a drive reset. Only display parameters that are used to set-up destinations 12001 (i.e. DE format bit is 1). This action does not require a drive reset. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 5 Saving drive parameters User-save and power-down save drive parameters are stored in non-volatile memory within the drive. Any values that have changed are copied to this memory under the following conditions. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 6 Open-loop, RFC-A, RFC-S 400V M2 Maximum Reference Clamp (21.001) 60.0Hz Open-loop M2 Maximum Reference Clamp (21.001) 1800rpm RFC-A M2 Rated Frequency (21.006) 60.0Hz Open-loop, RFC-A M2 Rated Load rpm (21.008) 1800rpm Open-loop M2 Rated Load rpm (21.008) 1770rpm RFC-A M2 Rated Voltage (21.009) 460V Open-loop, RFC-A, RFC-S Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 7 This ensures that the user program can be changed or erased in case it causes an HF trip at every power-up. Once the Stored HF is cleared, it is necessary to power cycle the drive or to re-download the user program to allow the program to restart. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 8 08401570 235.5 202.4 348.889 09402000 243.1 388.889 09402240 292.6 435.556 10402700 472.5 10403200 397.1 622.222 11403770 565.5 659.75 480.7 733.056 11404170 625.5 729.75 535.7 810.833 11404640 557.7 902.222 575V Rated Drives Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 9 118.8 191.111 09601040 137.5 202.222 09601310 196.5 229.25 170.5 254.722 10601500 262.5 189.2 291.667 10601780 311.5 216.7 346.111 11602100 367.5 247.5 408.333 11602380 416.5 302.5 462.778 11602630 394.5 460.25 335.5 511.389 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 10 Range applied to the parameters showing the AMC jerk Units User units / ms / ms / ms Range of [MIN] Range of [MAX] 107374.1823 VM_AMC_JERK_UNIPOLAR[MAX] = 107374.1823 / AMC Auto Resolution Scaling (31.016) VM_AMC_JERK_UNIPOLAR[MIN] = 0 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 11 Scaling (31.016) Scaling (31.016) Identifier VM_AMC_POSITION_UNIPOLAR Description Unipolar version of VM_AMC_POSITION Units User units Range of [MIN] Range of [MAX] 2147483647 VM_AMC_POSITION_UNIPOLAR is modified by AMC Auto Resolution Scaling (31.016) and AMC Roll Over Limit (31.010). See the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 12 VM_DC_VOLTAGE[MAX] is the full scale d.c. link voltage feedback (over voltage trip level) for the drive. This level is drive voltage rating dependent. See the table below. Voltage level 200V 400V 575V 690V VM_DC_VOLTAGE[MAX] 1190 VM_DC_VOLTAGE[MIN] = 0 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 13 User units Range of [MIN] Range of [MAX] 0 to 6 VM_MIN_SWITCHING_FREQUENCY[MAX] = Maximum Switching Frequency (05.018) VM_MIN_SWITCHING_FREQUENCY[MIN] = 0 for motor control modes, or 1 for Regen mode (subject to the maximum) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 14 Care should be taken not to exceed a speed that would cause damage to the position feedback device. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 15 Range of [MAX] 0.0 to 1000.0 VM_REGEN_REACTIVE[MAX] applies a limit to the reactive current reference in Regen mode so that the total current reference does not exceed its maximum allowed level. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 16 Open-loop: Hz Units RFC-A, RFC-S: rpm or mm/s Open-loop: 0.0 Range of [MIN] RFC-A, RFC-S: 0.0 Open-loop: 0.0 to 550.0 Range of [MAX] RFC-A, RFC-S: 0.0 to 50000.0 VM_SPEED_FREQ_REF_UNIPOLAR[MAX] = VM_SPEED_FREQ_REF[MAX] Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 17 User units Range of [MIN] Range of [MAX] 0 to 6 VM_SWITCHING_FREQUENCY[MAX] = Power stage dependent VM_SWITCHING_FREQUENCY[MIN] = 0 for motor control modes, or 1 for Regen mode (subject to the maximum) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 18 Range applied to torque reference and percentage load parameters with two decimal places Units Range of [MIN] -1000.00 to 0.00 Range of [MAX] 0.00 to 1000.00 VM_USER_CURRENT_HIGH_RES[MAX] = User Current Maximum Scaling (04.024) with an additional decimal place VM_USER_CURRENT_HIGH_RES[MIN] = -VM_USER_CURRENT_HIGH_RES[MAX] Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 19 Off (0) or On (1) Off (0) 01.056 Linear Speed Selected Off (0) or On (1) ND NC PT 01.057 Force Reference Direction None (0), Forward (1), Reverse (2) None (0) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 20 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 21 Menu 1 − Speed References Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 22 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 23 4ms write Display Format Standard Decimal Places Coding RO, VM, ND, NC, PT Reference Selected (01.001) is the basic reference selected from the available sources including the effect of the reference offset. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 24 Background read Display Format Standard Decimal Places Coding RW, VM If Negative Reference Clamp Enable (01.008) = 1 then Minimum Reference Clamp (01.007) is forced to be a negative value and is applied to the final Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 25 Indicates when the jog function is active Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 2ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 26 Preset Select Flag 3 Preset Select Flag 2 Preset Select Flag 1 Preset Selected Indicator (01.047) (01.046) (01.045) (01.050) Reference Selected Indicator (01.049) and Preset Selected Indicator (01.050) then define the reference to be used as shown below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 27 If the keypad control sequencer is active the Stop and Run keys automatically become active and the Auxilliary key may be optionally enabled as the reverse key with Enable Auxiliary Key (06.013). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 28 Defines the value for preset reference 3 Mode RFC‑A Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF Default Units Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 29 Skip Reference 1 (01.029) as the centre of the band. When the selected reference is within the rejection band the lower limit of the band is passed through the filter so that reference is always less than demanded. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 30 Displays when the reference is in 1 of the pre-defined rejection zones Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT See Skip Reference 1 (01.029). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 31 Defines the value of the reference trim as a percentage Mode RFC‑A Minimum -100.00 Maximum 100.00 Default 0.00 Units Type 16 Bit Volatile Update Rate 4ms read Display Format Standard Decimal Places Coding RW, NC Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 32 Defines which reference is selected by the drive Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 4ms read Display Format Standard Decimal Places Coding RW, NC See Reference Selector (01.014). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 33 Displays which preset is currently selected Mode RFC‑A Minimum Maximum Default Units Type 8 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT See Reference Selector (01.014). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 34 Enable Auxiliary Key (06.013) = 0) The state diagram below shows how the system moves between states when the keypad keys are pressed and Hand/Off/Auto Operating Mode (01.052) is adjusted. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 35 RO, NC Fire Mode Activate (01.054) cannot be written directly, but it can be controlled from a digital input. This prevents fire mode from being enabled from the keypad, comms or an option module. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 36 01.056 Linear Speed Selected Short description Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate Background write Display Format Standard Decimal Places Coding RO, ND, NC, PT See Linear Speed Select (01.055). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 37 Force Reference Direction (01.057). If Force Reference Direction (01.057) = 1 then Pre-skip Filter Reference (01.002) is always positive, and if Force Reference Direction (01.057) = 2 then Pre-skip Filter Reference (01.002) is always zero or negative. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 38 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 39 Menu 2 − Speed Ramps Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 40 If Ramp Enable (02.002) = 1 then the ramp system is present between the Pre-ramp Reference (01.003) and the Post Ramp Reference (02.001). If Ramp Enable (02.002) = 0 then any changes in the Pre-ramp Reference (01.003) are reflected immediately in the Post Ramp Reference (02.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 41 Because the speed reference has fallen faster than the actual speed, there is a recovery time before the speed reference rises to meet the actual speed. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 42 Short description Set to 1 to disable the ramp system Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 43 The following is an example based on the default parameter values for Open-loop mode. The diagram below shows a change of frequency from 0Hz to 50Hz with the ramp rate set to 5.0s/100Hz and Maximum Rate Of Change Of Acceleration (02.007) set to its default value of 3.1s /100Hz. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 44 If the required change of frequency had been 5.0Hz, i.e. less than 2 x wB, then the alternative equation should be used: = 2 √(Δw / J ) = 2 √(5.0 / 32.3) = 0.78s SRamp1 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 45 If 1 ≤ Acceleration Rate Selector (02.010) ≤ 8 the acceleration rate is selected directly, i.e. 1 selects Acceleration Rate 1 (02.011), 2 selects Acceleration Rate 2 (02.012), etc. If Acceleration Rate Selector (02.010) = 0 the acceleration rate is selected with the acceleration rate select bits as shown in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 46 Defines the acceleration rate present in acceleration rate 4 Mode RFC‑A Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE Default 2.000 Units Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 47 The Deceleration Rate Selector (02.020) operates in the same way as the Acceleration Rate Selector (02.010). If Deceleration Rate Selector (02.020) = 0 the deceleration rate is selected with the deceleration rate select bits as shown in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 48 Defines the deceleration rate present in deceleration rate 4 Mode RFC‑A Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE Default 2.000 Units Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM See Deceleration Rate 1 (02.021). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 49 Coding RO, ND, NC, PT Acceleration Rate Selected (02.030) shows a value between 1 and 8 that corresponds to parameters 02.011 to 02.018 indicating which of these acceleration rates is actually being used. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 50 Defines which deceleration rate is used if deceleration rate selector = 0 Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 4ms read Display Format Standard Decimal Places Coding RW, NC See Deceleration Rate Selector (02.020). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 51 S ramp is changed the maximum acceleration is modified automatically. If motor map 2 is selected then M2 Maximum Reference Clamp (21.001), M2 Acceleration Rate 1 (21.004) and M2 Deceleration Rate 1 (21.005) are used to define the ramp profile. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 52 If S Ramp Set-up Mode (02.041) = 2 it is possible to set up four independent maximum rate of change of acceleration values as shown in the diagram below. The values from 1 to 4 correspond to Maximum Rate Of Change Of Acceleration 1 (02.042) to Maximum Rate Of Change Of Acceleration 4 (02.045) respectively. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 53 Defines the 4th maximum rate of change of acceleration used by the S ramp system Mode RFC‑A Minimum 0.000 Maximum 100.000 Default 0.000 Units Type 32 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Maximum Rate Of Change Of Acceleration 1 (02.042). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 54 Menu 3 Single Line Descriptions − Speed Control and Position Feedback Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 55 ±100.0 % RO Num ND NC PT 03.046 P1 Reference destination 0.000 to 59.999 0.000 RW Num DE PT US 03.047 P1 SSI Incremental Mode Off (0) or On (1) Off (0) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 56 Off (0) or On (1) ND NC PT Digital Input 4 (0), Digital Input 5 (1), P1 Marker (2), 03.105 F2 Freeze Trigger Source Digital Input 4 (0) P2 Marker (3), Common (4), Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 57 0 to 65535 RW Num NC PT 03.169 P2 User Comms Receive Register 0 to 65535 RW Num NC PT 03.171 P2 Error Detected Off (0) or On (1) ND NC PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 58 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 59 Menu 3 − Speed Control and Position Feedback Mode: RFC‑A Normally the units for speed parameters are rpm for both rotary and linear applications. For a linear application one revolution corresponds to one motor Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 60 1. All speed parameters are displayed in rpm if sensorless mode is active, i.e. Sensorless Mode Active (03.078) = 1. 2. Speed feedback parameters associated with each feedback interface, i.e. P1 Speed Feedback (03.027) for position feedback interface P1, etc., are always displayed in rpm for a rotary device. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 61 The marker inputs can be used without their associated position feedback as freeze trigger inputs, therefore these are present where possible even if the associated incremental or SINCOS position feedback is not possible. The table below gives the connection functions associated with the codes used. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 62 Clock input for SSI Gray or SSI Binary modes Zout Z output for AB, AB Lock, FD, FD Lock or FR modes Power Supply and Temperature Measurement Power supply output (13 = Supply, 14 = 0V) Temperature measurement input Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 63 P1 Position feedback interface Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 64 (03.038) and the encoder simulation mode selected in Encoder Simulation Mode (03.088). P2 Status (03.172) shows the status of the P2 position interface depending on the settings in P2 Device type (03.138), P1 Device Type (03.038), and Encoder Simulation Mode (03.088). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 65 The datum points indicated with "I" are at the start of the current controller tasks and the datum points marked "S" correspond to speed controller tasks. The internal "I" datum points are not visible outside the drive control system. The "S" datum points are used to synchronise with option modules. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 66 P1 Resolver Poles (03.065) P1 Resolver Excitation (03.066) P1 User Comms Enable (03.067) (EnDat 2.2 only) P2 User Comms Enable (03.167) (EnDat 2.2 only) P2 Status (03.172) Motor pole pairs for the currently active motor Motor pole pairs for the currently active motor Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 67 Encoder Simulation Output Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 68 A common freeze logic system is also provided, so that the freeze trigger events can be combined either to trigger the freeze system in the drive or to generate a freeze trigger for option modules. The freeze system is shown in the diagram below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 69 The ripple for a linear system is given by the following equation in mm/s: Ripple in Speed Feedback (03.002) = Pole pitch in mm / 16ms / Position resolution The position resolution for each type of feedback device is defined in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 70 The speed error is the difference between the final Final Speed Reference (03.001) and the Speed Feedback (03.002), and does not include the effect of the differential term in the speed controller feedback branch. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 71 Over Speed trip is produced. If Over Speed Threshold (03.008) is set to 0.0 the threshold is based on the variable minimum/maximum for the references and is equal to 1.2 x VM_SPEED_FREQ_REF[MAX]. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 72 Kd x Ki is greater than 170. To analyse the performance of the speed controller it may be represented as an s-domain model as shown below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 73 Defines the proportional gain for the 2nd speed controller Mode RFC‑A Minimum 0.0000 Maximum 200.0000 Default 0.0300 Units s/rad Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding See Speed Controller Proportional Gain Kp1 (03.010). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 74 The following equations are used by the drive to calculate the gains. Ki = J / (Kc' x Kt) x (2π x ωbw / Kbw) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 75 The Motor And Load Inertia (03.018) represents the total inertia driven by the motor. This is used to set the speed controller gains (see Speed Controller Set-up Method (03.017)) and to provide torque feed forwards during acceleration when required (see Torque Mode Selector (04.011)). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 76 Set to 1 to enable the use of the hard speed reference Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding See Hard Speed Reference (03.022). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 77 The speed is given in mm/s if P1 Linear Feedback Select (03.051) = 1 and Linear Speed Select (01.055) = 1, otherwise it is given in rpm. The value shown is measured over a 16ms sliding window period, and so the ripple in this value is as defined for Speed Feedback (03.002). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 78 P1 Device Type (03.038): AB, FD, FR, AB Servo, FD Servo, FR Servo Each position feedback device produces incremental signals which are counted in hardware. If P1 Marker Mode (03.031) = 0 the following occurs when a marker event is produced by the Z1 input: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 79 Some SSI encoders include leading zeros before the turns information and in this case the number of turns bits should include the leading zeros. Some BiSS encoders include zero padding either before or after the turns information (see P1 Additional Configuration (03.074)). P1 Rotary Turns Bits Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 80 Defines the supply voltage output for device P1 Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 81 Defines the device type connected to the drive P1 position feedback interface Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 82 RFC-A mode. The position is derived from the commutation signals alone. A phase locked loop is used to smooth the feedback, but this introduces a delay and there is significant ripple in the position and speed feedback at low speeds. If this method is used for Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 83 Used to enable or disable the terminations on the position feedback interface inputs Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 84 8 Bit User Save Update Rate Background read Display Format Binary Decimal Places Coding RW, BU This parameter can be used to enable or disable position feedback trip functions as follows: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 85 Data read from the position feedback device during auto-configuration is out of range SC BiSS Encoder 14 BiSS, SC BiSS The turns or position padding values in parameter P1 Additional Configuration (03.074) are out of range. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 86 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, TE Value Text Disabled Enabled P1 Device Type (03.038): SC Hiperface, SC EnDat, EnDat, BiSS, SC BiSS Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 87 Defines the maximum speed reference from device P1 Mode RFC‑A Minimum Maximum 33000 Default 1500 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, BU Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 88 Initialise Position Feedback (03.075) after the encoder has powered up. If the encoder includes a power supply alarm bit, the power supply monitor should be enabled. This will ensure that the drive remains tripped until the encoder is powered up and the action of resetting the trip will reinitialise the Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 89 If P1 Linear Feedback Select (03.051) = 1 then the position feedback interface is configured to operate with a linear position feedback device. P1 Linear Comms Pitch (03.052) and P1 Linear Line Pitch (03.053) should be used to set up the position feedback interface. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 90 P1 Pole Pitch (03.055) is used to define the distance equivalent to one pole for linear position feedback devices. If the linear position feedback device is being used with a linear motor, then P1 Pole Pitch (03.055) should be set to the pole pitch of the motor. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 91 RO, ND, NC, PT P1 Normalised Marker Position (03.059) is the value P1 Normalised Position (03.058) at the last marker event provided bit 2 of P1 Marker Mode (03.031) is set to 1. See P1 Marker Mode (03.031) for more details. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 92 230μs the position is sampled every 250μs and P1 Low Speed Update Rate Active (03.063) = 1. If the complete exchange takes any longer a trip is initiated. The following table shows the calculations used by the drive to determine the necessary time to obtain the required data. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 93 If P1 Device Type (03.038) is set to EnDat or SC EnDat then P1 Encoder Protocol Detected (03.064) is set to the appropriate EnDat protocol after successful communication with the encoder during initialisation. If communications is not successful during initialisation then P1 Encoder Protocol Detected (03.064) is set to 0. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 94 4. If a linear mode is selected (i.e. P1 Linear Feedback Select (03.051) = 1) then the system will operate with standard sampling. P1 Device Type (03.038): Any other type of device P1 Resolver Excitation (03.066) has no effect Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 95 The status flags are defined as follows: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 96 Byte 0 Address Data (MSB) Data (LSB) EnDat Up to 4 bytes can be written to the buffer in the same format as for EnDat 2.1. The following commands are supported. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 97 Shows the state of the signals from the position feedback device Mode RFC‑A Minimum Maximum (Display: 000000) (Display: 111111) Default Units Type 16 Bit Volatile Update Rate Background write Display Format Binary Decimal Places Coding RO, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 98 P1 Additional Configuration (03.074) provides configuration information, not covered by the other set-up parameters, for the position feedback device connected to the P1 position feedback interface and is specific to the type of device being used. P1 Device Type (03.038): BiSS, SC BiSS Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 99 Position Feedback Initialized (03.076) are checked, and if any position feedback devices are not initialised an attempt is made to initialise them. The table below shows the initialisation process for different position feedback devices that can be connected to the drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 100 03.080 Sensorless Position Short description Mode RFC‑A Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 101 For SSI output mode the number of bits included in the output can be selected SSI (3) (see Encoder Simulation Mode (03.088) for details). Although Encoder Simulation Source (03.085) is not a standard source parameter in common with other sources the actual source is only changed on drive reset. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 102 The ratio between the input at the P1 interface and the output is either unity or a limited number of binary divider ratios (see Encoder Simulation Hardware Divider (03.089)). Hardware mode only produces an output with AB, FD, FR, SC, SC Hiperface, SC EnDat or SC SSI Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 103 SSI output register once per sample period defined by Encoder Simulation Sample Period (03.087). An example is given below which shows how the data is aligned. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 104 Defines if the marker output is derived directly from the marker input Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Encoder Simulation Mode (03.088). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 105 03.096 Encoder Simulation SSI Turns Bits Short description Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Encoder Simulation Mode (03.088). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 106 The output of the common freeze line is selected. If the output of the drive common freeze system is enabled (Bit 3 of Common Freeze Mode (03.112) = 1) then the drive common freeze system provides the freeze event triggers. If the output of the drive common freeze system is disabled the option module Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 107 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 108 If P2 Zero is selected as the trigger source then F1 Freeze Position Source (03.102) has no effect and P2 is always used as the freeze position source. This is because these freeze trigger sources are only intended to capture the zero position of the device being used to give the zero position trigger event. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 109 Displays the normalised position from the F2 freeze system Mode RFC‑A Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit Volatile Update Rate 250µs write Display Format Standard Decimal Places Coding RO, ND, NC, PT See F2 Freeze Position Source (03.107). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 110 Source 1 input invert 1 Source 2 input invert Output invert Output enable Therefore the value defined bits 2 to 0 can be used to generate various logic functions as given in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 111 Displays the resistance of the thermistor on the P1 interface Mode RFC‑A Minimum Maximum 5000 Default Units Ω Type 16 Bit Volatile Update Rate Background write Display Format Standard Decimal Places Coding RO, ND, NC, PT See P1 Thermistor Type (03.118). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 112 Displays the speed feedback from the P2 interface Mode RFC‑A Minimum −VM_SPEED Maximum VM_SPEED Default Units Type 32 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RO, FI, VM, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 113 This ensures that the marker event occurs at the same physical location for either direction of rotation. The action taken when a marker event occurs can be modified by setting the bits of P2 Marker Mode (03.131) as described in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 114 P2 Device type (03.138): AB P2 Rotary Lines Per Revolution (03.134) should be set to the number of lines per revolution for the encoder connected to the P1 position feedback interface. P2 Device type (03.138): FD, FR Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 115 Set this to the feedback device type connected to the P2 position interface Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 116 It may be important to detect a break in the connections between the drive and the position feedback device. This feature is provided for most position feedback devices either directly or indirectly as listed below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 117 If auto-configuration is disabled (i.e. P2 Auto-configuration Select (03.141) = 1) then none of the above actions are carried out except for the line delay measurement. P2 Device type (03.138): All other device types P2 Auto-configuration Select (03.141) has no effect. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 118 Displays the value in P2 reference Mode RFC‑A Minimum -100.0 Maximum 100.0 Default Units Type 16 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RO, FI, ND, NC, PT See P2 Maximum Reference (03.143). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 119 P2 Additional Power-up Delay (03.149) defines an additional delay that is added to the minimum delay. See P1 Additional Power-up Delay (03.049) for the minimum delays for the different position feedback device types. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 120 P2 Device type (03.138): FD, FR P2 Linear Line Pitch (03.153) should be set to the distance covered by two line periods on the encoder. P2 Device type (03.138): Any other device P2 Linear Line Pitch (03.153) has no effect. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 121 Coding RO, ND, NC, PT P2 Normalised Position (03.158) is the position taken from the position feedback device including the effect of the marker function. See P2 Normalisation Turns (03.157) for details of the format. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 122 This means that longer line lengths can be used with these feedback devices provided the correct cable and connection arrangements are used. P2 Device type (03.138): Any other type of device P2 Line Delay Time (03.162) is always zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 123 Defines the value present in the user comms transmit register Mode RFC‑A Minimum Maximum 65535 Default Units Type 16 Bit Volatile Update Rate Background read/write Display Format Standard Decimal Places Coding RW, NC, PT, BU See P2 User Comms Enable (03.167). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 124 The P2 position interface is not available. 1: AB 2: FD 3: FR 4: EnDat 5: SSI 6: BiSS The P2 position interface is available. The connections for the P2 position interface are shown below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 125 Provides additional configuration information for the position feedback device not included in the other Short description set-up parameters. Mode RFC‑A Minimum Maximum 511116116 Default Units Type 32 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See P1 Additional Configuration (03.074). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 126 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 127 Rated Current (05.007). The Maximum Heavy Duty Rating (11.032) and Maximum Rated Current (11.060) are fixed for each drive size and the table below shows the possible duty ratings that can be selected depending on the levels of these parameters. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 128 In a drive that contains multiple power modules Full Scale Current Kc (11.061) is the full scale current of an individual module multiplied by the number of modules. Maximum Heavy Duty Rating (11.032) and Maximum Rated Current (11.060) are the value for an individual module multiplied by the number of modules. RFC-A mode Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 129 2. The calculations given below are used in each drive mode to define VM_MOTOR1_CURRENT_LIMIT. Similar calculations based on the equivalent motor map 2 parameters are be used to define VM_MOTOR2_CURRENT_LIMIT. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 130 With rotor flux oriented control there is a significant difference between the angle from the total current vector to the torque producing current (cos φ ) and the power factor. The diagram below shows the voltages and currents in the motor represented as vectors. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 131 φ is smaller than φ. φ can then be used to give more accurate values of the current components in the rotor flux reference frame. sin φ Mrated Rated Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 132 φ to give the power factor which is written to the Rated Power Factor (05.010) as an indication of the motor power factor. RFC-S mode Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 133 2. The calculations given below are used in each drive mode to define VM_MOTOR1_CURRENT_LIMIT. Similar calculations based on the equivalent motor map 2 parameters are be used to define VM_MOTOR2_CURRENT_LIMIT. VM_MOTOR1_CURRENT_LIMIT = (I / Rated Current (05.007)) x 100% MaxRef Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 134 Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM, RA The Motoring Current Limit (04.005) limits the current when the motor is being accelerated away from standstill. The Regenerating Current Limit (04.006) limits Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 135 Speed control torque reference and the User torque reference. The Speed control torque reference is the Speed Controller Output (03.004), combined with the Inertia Compensation Torque (02.038) if this is enabled. The User torque reference is the Torque Reference (04.008), combined Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 136 It is also possible to decelerate the coiler with a negative User torque reference. The coiler will decelerate down to -5rpm until a stop is applied. The operating area is shown below: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 137 -Final Speed Reference (03.001). This system can be used for torque control in either direction with a safe speed limit in either direction if the load torque is less than the applied torque (i.e. the load is removed). The diagram below shows the possible regions of operation. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 138 Current Controller Ki Gain (04.014) = Current Controller Kp Gain (04.013) x 256 x T / τ Where τ is the motor time constant (L / R). R is the per phase stator resistance of the motor (i.e. half the resistance measured between two phases). Therefore: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 139 Defines the current loop controller integral gain Mode RFC‑A Minimum Maximum 30000 Default 2000 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Current Controller Kp Gain (04.013). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 140 The maximum value for K is 1.05, so that above the knee of the characteristics the motor can operate continuously up to 105% of rated current. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 141 If the motor current and speed are by I and w then, = [(1 - K ) x (I / (K ] + [K x (w Rated Rated Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 142 Disabled Thermal Protection Mode (04.016) defines the action taken by the drive when Motor Protection Accumulator (04.019) reaches 100% and/or Percentage Of Drive Thermal Trip Level (07.036) exceeds 90%. The actions for each mode are given in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 143 16 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RO, VM, ND, NC, PT Final Current Limit (04.018) is the current limit level that is applied to give the Final Current Reference (04.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 144 RW, VM, RA User Current Maximum Scaling (04.024) defines the variable maximum/minimums VM_USER_CURRENT and VM_USER_CURRENT_HIGH_RES which are applied to Percentage Load (04.020), Torque Reference (04.008) and Torque Offset (04.009). This is useful when routing these parameters to an analog Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 145 At Speed (10.006) = 1 AND |Speed Feedback (03.002)| > Low Load Detection Speed/Frequency Threshold (04.028) AND Percentage Load (04.020) Low Load Detection Level (04.027) The diagram below shows a typical fan type load and the shaded areas define where low load is detected. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 146 Set to enable high performance current controller mode Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Current Controller Kp Gain (04.013). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 147 Can be used to define an additional motor thermal time constant Mode RFC‑A Minimum Maximum 3000.0 Default 89.0 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Motor Thermal Time Constant 1 (04.015). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 148 Torque Correction Time Constant (04.043) is set to a non-zero value this system is enabled and Torque Correction Time Constant (04.043) defines the time constant of the correction system. The maximum positive or negative trim that can be applied is defined by Torque Correction Maximum (04.044). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 149 Magnetising Current Limit (04.049) is normally suitable, but may be decreased if required. The maximum level of magnetising current will not be decreased below the rated level for the motor how ever low the value in Magnetising Current Limit (04.049). This parameter is not used in RFC-S mode. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 150 Menu 5 Single Line Descriptions − Motor Control Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 151 0.00 % RO Num NC PT US 05.061 Disable Deadtime Compensation Off (0) or On (1) Off (0) RW Bit 05.062 Saturation Breakpoint 2 0.0 to 100.0 % 0.0 % RW Num Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 152 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 153 Menu 5 − Motor Control Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 154 16 Bit Volatile Update Rate Background read Display Format Standard Decimal Places Coding RO, FI, VM, ND, NC, PT D.c. Bus Voltage (05.005) gives the voltage across the d.c. link of the drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 155 Set to the rated voltage of the motor Mode RFC‑A Minimum −VM_AC_VOLTAGE_SET Maximum VM_AC_VOLTAGE_SET Default See exceptions below Units Type 16 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM, RA Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 156 Short description Defines the auto-tune test to be performed Mode RFC‑A Minimum Maximum Default Units Type 8 Bit Volatile Update Rate Background read Display Format Standard Decimal Places Coding RW, TE, NC Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 157 1. A stationary test is performed to measure Stator Resistance (05.017), Transient Inductance (05.024), Maximum Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060). If Enable Stator Compensation (05.049) = 1 then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 158 The motor poles or the position feedback resolution have been set up incorrectly where position feedback is being used. The trip Autotune 7 will not occur if Number Of Motor Poles (05.011) ≥ 6 (i.e. 12 poles). If Sensorless Mode Active (03.078) = 1 then trips Autotune 1 (except Autotune 1.008), Autotune 2 and Autotune 7 are disabled. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 159 Rated Speed Optimisation Minimum Load (05.020). For best optimisation results the correct values of Stator Resistance (05.017), Transient Inductance (05.024), Stator Inductance (05.025), Saturation Breakpoint 1 (05.029), Saturation Breakpoint 2 (05.062), Saturation Breakpoint 3 (05.030) and Saturation Breakpoint 4 (05.063) should be used. A number of different adaptive control methods can be selected as follows: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 160 The steady state parameters are converted to equivalent transient model parameters: σL - (L The equivalent drive parameters are: Stator Resistance (05.017) = R Transient Inductance (05.024) = σL Stator Inductance (05.025) = L Stator Resistance (05.017) is used as described in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 161 Short description Rated Speed Optimisation Minimum Load Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background Read Display Format Standard Decimal Places Coding See Rated Speed Optimisation Select (05.016). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 162 Short description Set to 1 to enable High Dynamic Performance Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 163 = 2, Final Current Reference (04.004) = Final Torque Reference (04.003) x Rated Frequency (05.006) / |Output Frequency (05.001)|. This is not as accurate as using the calculated flux, and does not boost the torque on starting as the flux is increased in the motor, but it reduces the likelihood of Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 164 Background read Display Format Standard Decimal Places Coding Voltage Controller Gain (05.031) can be used to modify the proportional gain of the d.c. link voltage controller used for standard ramp and supply loss Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 165 If the switching frequency needs to switch to a lower level, then the drive will trip. If Minimum Switching Frequency is changed the new value will only become active when Switching Frequency is at or above the minimum value. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 166 8 Bit User Save Update Rate Background Read Display Format Standard Decimal Places Coding Maximum Inverter Temperature Ripple (05.039) defines the maximum inverter temperature ripple allowed before the switching frequency is reduced. See Auto-switching Frequency Change (05.035). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 167 P1 Slot4 The stator temperature can be used to compensate for changes in stator resistance. See Stator Temperature Coefficient (05.047). Stator Temperature Source (05.044) is used to select the source for the stator temperature measurement. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 168 If the temperature measurement is not closely coupled to the winding it may be necessary to adjust Stator Temperature Coefficient (05.047) for correct compensation. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 169 A position feedback category option Option Slot P1 Thermistor Temperature module must be fitted and the P1 position (xx.122) feedback must be set up for the correct temperature feedback device Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 170 Defines the base temperature used to calculate the temperature of the rotor Mode RFC‑A Minimum Maximum Default Units °C Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Rotor Temperature Coefficient (05.054). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 171 Defines Saturation Breakpoint 2 within the saturation characteristic Mode RFC‑A Minimum Maximum 100.0 Default Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Saturation Breakpoint 1 (05.029). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 172 Defines Saturation Breakpoint 4 within the saturation characteristic Mode RFC‑A Minimum Maximum 100.0 Default Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Saturation Breakpoint 1 (05.029). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 173 Menu 6 Single Line Descriptions − Sequencer and Clock Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 174 06.061 Standby Mode Mask 0000000 to 1111111 0000000 RW Bin 200V drive: 175 V 400V drive: 330 V 06.065 Standard Under Voltage Threshold ±VM_STD_UNDER_VOLTS V RW Num 575V drive: 435 V Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 175 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 176 Menu 6 − Sequencer and Clock Mode: RFC‑A The diagram below shows the sequencer for RFC-A and RFC-S modes. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 177 The sequencer, which provides overall control of the drive, is implemented in two stages. The first stage includes the enable logic and sequencer logic Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 178 The diagram below shows the sequencer logic when Reference Selected Indicator (01.049) is not equal to 4 (i.e. keypad control mode is not selected). The definition of the logic symbols are given below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 179 The diagram below shows the sequencer logic when Reference Selected Indicator (01.049) = 4 (i.e. keypad control mode is selected). The definition of the logic symbols are given below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 180 Defines how the motor is controlled when the run signal is removed from the drive Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 181 If the current limit value is set at a very low level the drive may enter the Under Voltage state before the motor has stopped. Once the sequencer state machine has reached the DISABLE state, it will be necessary Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 182 It should be noted that catch a spinning motor will not operate correctly if the speed of the motor is high enough that the open-circuit voltage is larger than the a.c. supply voltage to the drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 183 It should be noted that if the drive is tripped and is then reset from any source other than the keypad Stop key then the drive may start immediately under the following conditions: Enable Sequencer Latching (06.040) = 0, the Final drive enable is active and one of the sequencer bits (Run Forward (06.030), Run Reverse (06.032) or Run (06.034) is active. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 184 The value of this parameter as seen over comms or to an applications module is as follows. Value = (day[1..31] x 10000) + (month[1..12] x 100) + year[0..99] Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 185 Acc Powered Local Keypad Remote Keypad Slot 1 Slot 2 Slot 3 Slot 4 Date/Time Selector (06.019) is used to select the drive date and time as shown in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 186 Set to 0 when a filter change has taken place Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate Background read/write Display Format Standard Decimal Places Coding RW, ND, NC See Time Between Filter Changes (06.021). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 187 Displays the running cost of the drive Mode RFC‑A Minimum -32000 Maximum 32000 Default Units Type 16 Bit Volatile Update Rate Background write Display Format Standard Decimal Places Coding RO, ND, NC, PT See Energy Cost Per kWh (06.027). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 188 Set to 1 to give the drive a run signal Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 2ms read Display Format Standard Decimal Places Coding RW, NC Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 189 If Not Stop (06.039) = 1 then the sequencer bits can be latched. If Not Stop (06.039) = 0 then the latches are cleared and their outputs are forced to zero which will de-activate the Final drive run. See description of sequencer logic for more details. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 190 When Auto/manual bit (bit7) = 1 then bits 0 to 6 and bit 9 of the Control Word (06.042) become active. The equivalent parameters are not modified by these bits, but become inactive when the equivalent bits in the Control Word (06.042) are active. When the bits are active they replace the functions of the equivalent parameters. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 191 Maximum cooling with fan speed limited to the 1 to 10 modulus of Cooling Fan control (06.045). Fan runs continuously at full speed. The two possible control characteristics are shown in the diagram below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 192 Input Phase Loss Detection Mode (06.047) defines the methods used for input phase loss detection provided by the drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 193 The diagram below shows the sleep mode detection system. If Fire mode active = 1, Reference Selected Indicator (01.049) = 4, the Run excluding sleep = 0 or Sleep / Wake Threshold (06.053) = 0 then the sleep mode system is disabled, and so Sleep Required (06.056) and Sleep Active (06.057) are held at zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 194 Displays if the sleep function has been activated Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate Background write Display Format Standard Decimal Places Coding RO, ND, NC, PT See Sleep / Wake Threshold (06.053). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 195 Standby Mode Mask (06.061). Actions are enabled by setting the appropriate bit to 1. Once standby mode has become active it will remain active, even if an attempt is made subsequently to enable the drive, until Standby Mode Enable (06.060) is set to 0. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 196 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, VM, RA Voltage Default Value 200V 400V 575V 690V Under-voltage and power supply control Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 197 Standard Under Voltage Threshold (06.065) and the peak of the maximum allowed a.c. supply voltage for the drive. For example: The minimum Standard Under Voltage Threshold (06.065) for a 400V drive is 330V The maximum allowed supply voltage for this drive is 480V + 10% Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 198 (06.069)) and Active Supply (06.044). When Backup Supply Mode Enable (06.068) is set to one the maximum applied to Low Under Voltage Threshold (06.066) prevents this from being increased above Standard Under Voltage Threshold (06.065) / 1.1 so that the 5% hysteresis band on the low under- voltage threshold does not overlap the standard under-voltage threshold. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 199 2. Under-voltage System Contactor Close (06.069) is not set to one until the soft-start is fully active (relay open) because the soft-start is required to prevent current surges from the supply being applied. This is also shown in the diagram below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 200 The following diagram is a simple representation of the power circuit required. This does not include the necessary circuit protection components or possible battery charger, etc. The diagram below shows the state of Under Voltage Active (10.016) and the control signal to the external contactor (Under- voltage System Contactor Close (06.069)). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 201 This prevents power from being taken from the back-up supply if the mains supply is not present when the external soft-start system contactor is open. The following diagram shows how these differences apply to the system operation. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 202 Parameter 06.070 Under-voltage System Contactor Closed Short description Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 4ms read Display Format Standard Decimal Places Coding See Standard Under Voltage Threshold (06.065). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 203 Defines the lowest level of the d.c. bus voltage where the braking IGBT becomes active Mode RFC‑A Minimum −VM_DC_VOLTAGE_SET Maximum VM_DC_VOLTAGE_SET Default See exceptions below Units Type 16 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM, RA Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 204 Low Voltage Braking IGBT Threshold (06.075) is used, so that the braking IGBT is on with a minimum on time of 1ms is the d.c. link voltage is above this level, or off if the d.c. link voltage is below this level. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 205 UTC (Coordinated Universal Time) with an additional offset also provided by the option module. The data and time is derived by adding the additional offset and the time from the option module and then adding Date And Time Offset (06.084). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 206 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 207 Power Input 1 (03.010) Power Input 2 (03.013) Regen Power Input 3 (03.014) The diagram below shows the parameter structure for each I/O. See Internal I/O Identifier (11.068) for details of which I/O is present for different I/O options. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 208 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 209 Temperature Monitor Select 1 (07.038), Temperature Monitor Select 2 (07.039) and Temperature Monitor Select 3 (07.052) respectively. The default values give two monitoring points in the power system in Monitored Temperature 1 (07.004) and Monitored Temperature 2 (07.005), and control board temperature 1 in Monitored Temperature 3 (07.006). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 210 Mode RFC‑A Minimum -250 Maximum Default Units °C Type 16 Bit Volatile Update Rate Background write Display Format Standard Decimal Places Coding RO, ND, NC, PT See Monitored Temperature 1 (07.004) for details. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 211 Display Format Standard Decimal Places Coding RO, ND, NC, PT Percentage Of d.c. Link Thermal Trip Level (07.035) gives the percentage of the maximum allowed temperature as estimated by the thermal model of the d.c. link components. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 212 Temperature Monitor Select 1 (07.038) selects the temperature to be monitored in Monitored Temperature 1 (07.004) using the format given for Temperature Nearest To Trip Level (07.037). If the monitoring point selected does not exist then the monitored temperature is always zero. The table below shows the monitoring points that can be selected. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 213 (07.015) is set up for a temperature feedback mode. When a temperature feedback mode is selected a 2mA current source is connected to analog input 3 to supply the temperature feedback device that is connected to the input. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 214 (07.049). If Analog Input 3 Mode (07.015) is 7 or 8 (i.e. tripping is enabled) an Thermistor.003 trip is initiated. The default values for Analog Input 3 Thermistor Trip Threshold (07.048) and Analog Input 3 Thermistor Reset Threshold (07.049) are the levels specified in the DIN 44082 standard. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 215 Defines the temperature to be monitored in Monitored Temperature 3 Mode RFC‑A Minimum Maximum 1999 Default Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Temperature Monitor Select 1 (07.038). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 216 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 217 The parameter structure for each digital I/O is shown in the diagram below. The table below covers all the possible digital I/O parameters. See Internal I/O Identifier (11.068) for details of which I/O is present for different I/O options. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 218 Displays the state for digtial input 4 Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 2ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 219 If External Trip Mode (08.010) = 0 the safe torque off inputs simply enable or disable the drive. If External Trip Mode (08.010) > 0 it is possible to enable the following trip functions. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 220 Short description Set to invert Digital Input 05 Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 221 Update Rate Drive Reset Read Display Format Standard Decimal Places Coding RW, DE, PT, BU The Digital I/O Source/Destination parameters provide the routing for the source and/or destination for the digital I/O. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 222 Displays the state for the Safe Torque Off 2 input Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 2ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT See Digital Output 01 State (08.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 223 A value of 0 or 1 allows the input state to be non-inverted or inverted respectively. An additional toggle function is provided for Keypad Run button inputs. The toggle function output changes state on each rising edge (0 to 1 change) at its input. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 224 RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Drive Reset Read Display Format Standard Decimal Places Coding RW, DE, PT, BU See Digital Output 01 Source (08.021). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 225 65535 Minimum Maximum (Display: 0000000000000000) (Display: 1111111111111111) Default Units (Display: 0000000000000000) Type 16 Bit Volatile Update Rate 250µs read Display Format Binary Decimal Places Coding RW, PT, BU See Digital I/O Output Enable Register 1 (08.071). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 226 Menu 9 Single Line Descriptions − User Functions 1 Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 227 09.063 Scope Mode Single (0), Normal (1), Auto (2) Single (0) 09.064 Scope Arm Off (0) or On (1) Off (0) 09.065 Scope Data Not Ready Off (0) or On (1) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 228 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 229 Menu 9 − User Functions 1 Mode: RFC‑A Menu 9 provides the parameters for the following features: 1. Logic functions 2. Motorised Pot 3. Binary Sum 4. Timers 5. Scope function Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 230 1 until the input to the delay has been at 1 for the delay time. If Logic Function 1 Delay (09.009) or Logic Function 2 Delay (09.019) is negative then the output remains at 1 until the input to the delay has been 0 for the delay time. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 231 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 232 Motorised Pot Scaling (09.024) Motorised Pot Scaling (09.024) > 1.000 the output will exceed the range of the destination parameter, and so the destination parameter will be at its maximum or minimum before the output of the motorised pot reaches the limits of its range. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 233 If the maximum of the destination parameter > 7, Binary Sum Output (09.032) is routed in the same way as any other destination where the destination target is at its full scale value when the Binary Sum Output (09.032) = 7 + Binary Sum Offset (09.034). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 234 1. If Date/Time Selector (06.019) is changed and the drive is reset then the source for the timers will change, therefore Timer 1 Repeat Function Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 235 (09.039) and Timer 2 Repeat Function (09.049) are reset to 0 to disable the timers, and the date and time entries in the trip log are cleared. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 236 Units Type 16 Bit Power Down Save Update Rate 4ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT Motorised Pot Output (09.003) shows the output of the motorised pot function. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 237 1 until the input to the delay has been at 1 for the delay time. If Logic Function 1 Delay (09.009) is negative then the output remains at 1 until the input to the delay has been 0 for the delay time. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 238 Defines input source 2 of logic function 2 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Drive reset read Display Format Standard Decimal Places Coding RW, PT, BU Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 239 1 until the input to the delay has been at 1 for the delay time. If Logic Function 2 Delay (09.019) is negative then the output remains at 1 until the input to the delay has been 0 for the delay time. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 240 Motorised Pot Scaling (09.024) Motorised Pot Scaling (09.024) > 1.000 the output will exceed the range of the destination parameter, and so the destination parameter will be at its maximum or minimum before the output of the motorised pot reaches the limits of its range. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 241 Set to add two to the binary sum output Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 4ms read Display Format Standard Decimal Places Coding RW, NC See Binary Sum Output (09.032). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 242 32 Bit User Save Update Rate Background read Display Format Date Decimal Places Coding Timer 1 Start Date (09.035) defines the start date within the repeat period of timer 1. See Timer 1 Repeat Function (09.039) for more information. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 243 Monday, etc.). If the stop time event is set to occur at or before the start time event or the Timer 1 Repeat Function (09.039) = 0 or Timer 1 Enable (09.040) = 0 the output remains inactive at all times (i.e. Timer 1 Output (09.042) = 0 if Timer 1 Invert (09.041) = 0). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 244 Defines the start date for timer 2 Mode RFC‑A 311299 Minimum Maximum (Display: 00-00-00) (Display: 31-12-99) Default Units (Display: 00-00-00) Type 32 Bit User Save Update Rate Background read Display Format Date Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 245 Units Type 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, TE Value Text None Hour Week Month Year One off Minute See Timer 1 Repeat Function (09.039). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 246 Defines the source of scope trace 2 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Drive reset read Display Format Standard Decimal Places Coding RW, PT, BU Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 247 Defines the scope trigger threshold Mode RFC‑A Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See Scope Trigger Source (09.060). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 248 When the file transfer is complete, data acquisition begins again and Scope Data Not Ready (09.065) is set to 1 for a period that is long enough to fill the scope buffer with new data. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 249 The scope function can capture up to 4000 bytes of parameter data. The Scope Time Period (09.069) gives the length of the time period covered by the scope buffer in milliseconds which depends on the number of traces stored, the sample time and the size of the parameters used as trace sources. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 250 Short description Set to reset the scope auto-save function Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate Background read Display Format Standard Decimal Places Coding See Scope Auto-save Mode (09.070). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 251 Maximum Default Units Type 8 Bit Power Down Save Update Rate Background write Display Format Standard Decimal Places Coding RO, TE, NC Value Text Disabled Active Stopped Failed See Scope Auto-save Mode (09.070). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 252 Menu 10 Single Line Descriptions − Status and Trips Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 253 10.061 Braking Resistor Resistance 0.00 to 10000.00 Ω 0.00 Ω RW Num 10.062 Low Load Detected Alarm Off (0) or On (1) 10.063 Local Keypad Battery Low Off (0) or On (1) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 254 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 255 Menu 10 − Status and Trips Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 256 Indicates that the drive is running below the set speed Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate Background write Display Format Standard Decimal Places Coding RO, ND, NC, PT See At Speed Lower Limit (03.006). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 257 RO, ND, NC, PT Braking IGBT Active (10.011) is set to one if the braking IGBT is active. As the braking IGBT active periods may be short, each time the braking IGBT is Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 258 Indicates that the motor overload accumulator is above 75% and the output current is high Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate Background write Display Format Standard Decimal Places Coding RO, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 259 Type 8 Bit Power Down Save Update Rate Write on trip Display Format Standard Decimal Places Coding RO, TE, ND, NC, PT, BU Click here to view trips in numerical order. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 260 Encoder 12 Encoder 13 Encoder 14 External Trip I/O Overload Inductance Inductor Too Hot Inter-connect Island Keypad Mode Line Sync Low Load Motor Too Hot Name Plate None OHt Brake OHt Control Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 261 Reserved 239 Reserved 240 Reserved 241 Reserved 242 Reserved 243 Reserved 244 Reserved 245 Reserved 246 Reset Reset Logs Resistance Slot1 Different Slot1 Error Slot1 HF Slot1 Not Fitted Slot1 Watchdog Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 262 User Trip 66 User Trip 67 User Trip 68 User Trip 69 User Trip 70 User Trip 71 User Trip 72 User Trip 73 User Trip 74 User Trip 75 User Trip 76 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 263 User Trip 159 Voltage Range Watchdog Trip 0 (10.020) to Trip 9 (10.029) store the most recent 10 trips that have occurred where Trip 0 (10.020) is the most recent and Trip 9 (10.029) is the Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 264 All drive functions are stopped and the trip message will be displayed on the drive keypad. The error can only be reset by powering the drive down and up again. The table below gives the reasons for internal faults and their corresponding trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 265 6. Brake R Too Hot is active or the system has been set up to disable the braking IGBT based on the braking resistor temperature and the resistor is too hot (i.e. bit 2 of Action On Trip Detection (10.037) is set). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 266 RFC‑A Minimum Maximum Default Units Type 8 Bit Power Down Save Update Rate Write on trip Display Format Standard Decimal Places Coding RO, TE, ND, NC, PT, BU See Trip 0 (10.020). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 267 Action On Trip Detection (10.037) = 0 and the accumulator reaches 100% an Brake R Too Hot trip is initiated. If bit 1 of Action On Trip Detection (10.037) = 1 and the accumulator reaches 100% the braking IGBT is disabled until the accumulator falls below 95.0%. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 268 If Number Of Auto-reset Attempts (10.034) = 6 the auto-reset counter is held at zero, and so there is no limit on the number of auto-reset attempts. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 269 Output Voltage (05.002) Output Power (05.003) Output Power (05.003) Output Power (05.003) D.c. Bus Voltage (05.005) D.c. Bus Voltage (05.005) D.c. Bus Voltage (05.005) Analog Input 1 (07.001) Analog Input 1 (07.001) Analog Input 1 (07.001) Analog Input 2 (07.002) Analog Input 2 (07.002) Analog Input 2 (07.002) Analog Input 3 (07.003) Analog Input 3 (07.003) Analog Input 3 (07.003) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 270 Status parameter Drive Healthy (10.001) Drive Active (10.002) Zero Speed (10.003) Running At Or Below Minimum Speed (10.004) Below Set Speed (10.005) At Speed (10.006) Above Set Speed (10.007) Rated Load Reached (10.008) Current Limit Active (10.009) Regenerating (10.010) Braking IGBT Active (10.011) Braking Resistor Alarm (10.012) Reverse Direction Commanded (10.013) Reverse Direction Running (10.014) Supply Loss (10.015) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 271 RFC‑A 235959 Minimum Maximum (Display: 00:00:00) (Display: 23:59:59) Default Units Type 32 Bit Power Down Save Update Rate Write on trip Display Format Time Decimal Places Coding RO, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 272 Maximum (Display: 00-00-00) (Display: 31-12-99) Default Units Type 32 Bit Power Down Save Update Rate Write on trip Display Format Date Decimal Places Coding RO, ND, NC, PT See Trip 0 (10.020). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 273 RFC‑A 311299 Minimum Maximum (Display: 00-00-00) (Display: 31-12-99) Default Units Type 32 Bit Power Down Save Update Rate Write on trip Display Format Date Decimal Places Coding RO, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 274 RO, ND, NC, PT Local Keypad Battery Low (10.063) is set to one when a keypad is fitted to the front of the drive with an internal real-time clock and the battery is not Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 275 9), then Drive Healthy (10.001) will be set to 1 and the status LED on the front of the drive will not flash. If the drive is tripped then Drive Healthy (10.001) will be set to 0 and the status LED will flash independent of what Hold Drive Healthy on Under Voltage (10.068) is set to. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 276 RFC‑A Minimum Maximum 65535 Default Units Type 16 Bit Power Down Save Update Rate Write on trip Display Format Standard Decimal Places Coding RO, ND, NC, PT, BU See Trip 0 (10.020). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 277 RFC‑A Minimum Maximum 65535 Default Units Type 16 Bit Power Down Save Update Rate Write on trip Display Format Standard Decimal Places Coding RO, ND, NC, PT, BU See Trip 0 (10.020). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 278 0 is set back to zero, otherwise if a higher priority trip occurs bit 0 is shifted left by one bit. The result is that each of the bits in Trip Reset Source Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 279 Hand Auto See Hand/Off/Auto Operating Mode (01.052) for details of the hand/off/auto system. Hand Off Auto State (10.105) shows the state of this system and is used at power-up to restore the previous state if required. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 280 Auto-tune State (10.107) is zero unless an auto-tune is active when it shows the current state of the auto-tune sequence as follows: Parameter value Auto-tune state Stator resistance measurement Transient inductance measurement Stator inductance measurement Inertia measurement Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 281 Menu 11 Single Line Descriptions − Miscellaneous Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 282 RO Num ND NC PT US 11.072 NV Media Card Create Special File 0 to 1 RW Num None (0), SMART Card (1), 11.073 NV Media Card Type ND NC PT SD Card (2) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 283 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 284 The rating dependent parameters are left at their default values. After the parameters have been transferred and saved to non-volatile memory a Card Rating trip is given as a warning. The table below gives a list of the rating dependent parameters. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 285 User Current Maximum Scaling (04.024) Rated Current (05.007) M2 Rated Current (21.007) Rated Voltage (05.009) M2 Rated Voltage (21.009) Rated Power Factor (05.010) M2 Rated Power Factor (21.010) Stator Resistance (05.017) M2 Stator Resistance (21.012) Maximum Switching Frequency (05.018) Transient Inductance /Ld (05.024) M2 Transient Inductance /Ld (21.014) Stator Inductance (05.025) M2 Stator Inductance (21.024) No-load Lq (05.068) M2 No-load Lq (21.041) Rated Load Lq (05.069) M2 Rated Load Lq (21.042) No-load Phase Offset (05.070) M2 No-load Phase Offset (21.043) Rated Load Phase Offset (05.071) M2 Rated Load Phase Offset (21.044) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 286 11.001 Option Synchronisation Select Short description Option Synchronisation Select Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background Read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 287 Parameter 00.030 Scaling (11.021) defines the scaling applied to parameter 00.030 when it is displayed on a basic keypad. The scaling is only applied in the status and view modes. If the parameter is edited via the keypad it reverts to its unscaled value during editing. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 288 User Drive Mode (11.031) is set to the current drive mode at power-up. The user can change the drive mode as follows: 1. Set Parameter mm.000 (mm.000) to 1253, 1254, 1255 or 1256 2. Change User Drive Mode (11.031) to the required mode 3. Initiate a drive reset Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 289 Number Of Power Modules Detected (11.071) shows the number of power modules detected in the drive when communications with the power system is established. The number of modules can be checked and a trip initiated depending on the value of Number Of Power Modules Test (11.035) as follows: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 290 RO, TE, ND, NC, PT Value Text None Open-loop RFC-A RFC-S Regen User Prog Option App NV Media Card File Type (11.038) shows the file type of the file selected with NV Media Card File Number (11.037) as shown in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 291 1. This is the same action as writing 4001 to Parameter mm.000 (mm.000) except that the file will be overwritten if it already exists. When the action is complete Parameter Cloning (11.042) remains at 3. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 292 Status Only No Access Security The drive provides a number of different levels of security that can be set by the user via User Security Status (11.044); these are shown in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 293 Select Motor 2 Parameters (11.045) operates in the same way in Regen mode, but Inductor Protection Accumulator (04.019) is reset to zero each time the value is changed. Motor 2 Active (21.015) shows the motor map that is active. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 294 Onboard User Program: Status (11.048) shows the status of the onboard user program. Value Description A user program is present but is stopped The user program is running The user program has an exception No user program is present Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 295 Shows the most significant 9 decimal digits of the drive serial number Mode RFC‑A Minimum Maximum 999999999 Default Units Type 32 Bit Volatile Update Rate Power-up write Display Format Standard Decimal Places Coding RO, ND, NC, PT See Serial Number LS (11.052). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 296 Option Slot Identifiers (11.056) is a volatile parameter its value is saved in non-volatile memory when parameters are saved. If Option Slot Identifiers (11.056) is changed the drive must be powered down and then powered up again for the change to take effect. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 297 Parameter AAAA Product Identifier Characters (11.064) nnnnnnnn Drive Rating And Configuration (11.065) CCCC Additional Identifier Characters 1 (11.091) DDEE Additional Identifier Characters 2 (11.092) FFFB Additional Identifier Characters 3 (11.093) Drive Rating And Configuration (11.065) is split into a number of fields as defined in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 298 Control Board 002 or 003 Unidrive M - Standard 002 or 003 Unidrive M - High Speed Servo Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 299 Display Format Standard Decimal Places Coding RO, ND, NC, PT, BU Position Feedback Interface Identifier (11.069) identifies the type of interface fitted in the position feedback interface option location as given in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 300 SMART Card A SMART Card has been inserted SD Card A FAT formatted SD card has been inserted NV Media Card File Type (11.038) shows the type of non-volatile media card inserted in the drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 301 Defines characters 5-8 of a string which can be used to identify the drive Mode RFC‑A Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit User Save Update Rate Display Format String Decimal Places Coding RW, PT See Drive Name Characters 1-4 (11.079). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 302 Minimum Maximum Default Units Type 8 Bit Power Down Save Update Rate Background write Display Format Standard Decimal Places Coding RO, TE, ND, NC, PT Value Text Menu 0 All Menus Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 303 Number Of Rectifiers Expected (11.096) defines how many controlled rectifiers are expected on each power module. Within a complete drive with a diode input stage there are no controlled rectifiers. Within a complete drive with a controlled rectifier input stage there is one controlled rectifier. For a Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 304 If there are less external rectifiers than defined by Number Of Rectifiers Expected (11.096) then a Configuration is initiated with the sub-trip indicating how many rectifers should be present. See Trip 0 (10.020). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 305 12.052 Brake Control: Mode Off (0) or On (1) Off (0) 12.054 External Brake Released Indicator Off (0) or On (1) Off (0) 12.055 Brake Release Source Off (0) or On (1) Off (0) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 306 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 307 Displays the output of threshold detector 1 Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT See Threshold Detector 1 Output (12.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 308 The variable selector functions are always active even if the source and destination are not routed to valid parameters. If a source is not a valid parameter then the source value is taken as 0. The update rate for each of the variable selector functions is always 4ms. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 309 The sectional control function is intended to apply scaling and a speed offset to a 16 bit position value to generate a new 16 bit position value. The output can be used as an input to the Standard motion controller (Menu 13) and to generate an encoder simulation output (Menu 3). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 310 (13.021) in the standard motion controller which is used to provide the speed reference and to control the local motor attached to the drive. The encoder simulation system is used to generate the section output to be fed into the next drive. The source for the encoder simulation is Standard Motion Local Reference Position (13.021). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 311 Defines the scaling for the 1st input for variable selector 1 Mode RFC‑A Minimum -4.000 Maximum 4.000 Default 1.000 Units Type 16 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding See Variable Selector 1 Source 1 (12.008). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 312 Defines the hysteresis for threshold detector 2 Mode RFC‑A Minimum 0.00 Maximum 25.00 Default 0.00 Units Type 16 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding See Threshold Detector 1 Output (12.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 313 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, TE Value Text Input 1 Input 2 Subtract Multiply Divide Time Const Ramp Modulus Powers Sectional See Variable Selector 1 Source 1 (12.008). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 314 Short description Enables variable selector 2 Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, BU See Variable Selector 1 Source 1 (12.008). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 315 Standard Motion Controller Mode (13.010) * * If Brake Control: Enable Position Control During Brake Release (12.049) = 1 RFC-A mode (Brake Control: Mode (12.052) = 0) In RFC-A mode with Brake Control: Mode (12.052) = 0 the following brake controller is provided. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 316 Speed Feedback (03.002) falls below Brake Control: Brake Apply Speed (12.045) and an additional delay defined by Brake Control: Brake Delay (12.046). Brake controller sequence The brake controller sequence is shown for forward movement in the diagram below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 317 If Brake Control: Mode (12.052) = 1 a brake controller similar to the one used for Open-loop mode is provided for applications using RFC-A mode without position feedback as shown in the diagram below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 318 Brake Control: Lower Current Threshold (12.043) or the drive is disabled. Brake Control: Lower Current Threshold (12.043) is used to detect if the motor has been disconnected from the drive and should be set to a suitable level to detect this condition. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 319 Defines the delay for applying the brake Mode RFC‑A Minimum Maximum 25.0 Default Units Type 8 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, BU See Brake Control: Enable (12.041) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 320 12.055 Brake Release Source Short description Brake Release Source Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Background Read Display Format Standard Decimal Places Coding See Brake Control: Enable (12.041). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 321 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 322 The standard motion controller is compatible with the motion controller in Unidrive SP with a sample rate of 4ms. The drive ramp system (Menu 2) operates normally when the standard motion controller is enabled. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 323 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 324 Displays the position error for the Standard Motion Controller Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit Volatile Update Rate 250µs write Display Format Standard Decimal Places Coding RO, ND, NC, PT See Standard Motion Revolutions Error (13.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 325 RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding If Standard Motion Reference Invert (13.006) = 1 the reference position direction is reversed. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 326 The motion controller generates a speed feed-forward term from the speed of the reference source. This value is passed through Menu 1, and so the ramps (Menu 2) may be included if required. As the motion controller only has a proportional gain, it is necessary to use speed feed-forwards to prevent a constant position error. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 327 Update Rate Background read Display Format Standard Decimal Places Coding If Standard Motion Absolute Mode Enable (13.011) = 0 the reference and feedback integrators are held at 0 while the motion controller is disabled, and Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 328 Update Rate Background read Display Format Standard Decimal Places Coding RW, NC If Standard Motion Position Error Reset (13.016) = 1 the reference and feedback integrators are held at their reset values (See Standard Motion Absolute Mode Enable (13.011)). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 329 Defines the fine position for the local reference Mode RFC‑A Minimum Maximum 65535 Default Units Type 16 Bit Volatile Update Rate 250µs read Display Format Standard Decimal Places Coding RW, NC, BU See Standard Motion Local Reference Revolutions (13.020). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 330 If one controller is active and the other is subsequently enabled without disabling the active controller then the active controller remains active until the drive is powered down and back up again. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 331 Menu 14 Single Line Descriptions − User PID Controller Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 332 Min Error (6), Max Error (7) 14.060 PID1 Feedback Square Root Enable 1 Off (0) or On (1) Off (0) 14.061 PID2 Feedback Square Root Enable Off (0) or On (1) Off (0) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 333 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 334 In the following sections a description is given for PID controller 1. The descriptions also apply to PID controller 2 except where stated. The sample rate for the PID controllers is always 4ms. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 335 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 336 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 337 PID1 Output Scaling (14.015) can be used to scale the output, which is limited to a range from -100.00% to 100.00% after this function. The output is then added to PID1 Feed-forwards Reference (14.019) and is again limited to the range from -100.00% to 100.00% before being routed to the destination defined by PID1 Destination (14.016). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 338 It is easier to use a pressure transducer than a flow transducer, and so the feedback from the transducer needs to be converted from pressure to flow. As flow = Constant x √Pressure the square root function can be used in the conversion. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 339 Defines the Kp gain used for PID1 Mode RFC‑A Minimum 0.000 Maximum 4.000 Default 1.000 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See PID1 Output (14.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 340 RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Drive reset read Display Format Standard Decimal Places Coding RW, DE, PT, BU See PID1 Output (14.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 341 Displays the value of the error for PID1 Mode RFC‑A Minimum -100.00 Maximum 100.00 Default Units Type 16 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT See PID1 Output (14.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 342 Defines the level of the pre-sleep boost function Mode RFC‑A Minimum 0.00 Maximum 100.00 Default 0.00 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See PID1 Reference Source (14.003). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 343 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Drive reset read Display Format Standard Decimal Places Coding RW, PT, BU See PID1 Feedback Source (14.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 344 Defines the Kp gain used for PID2 Mode RFC‑A Minimum 0.000 Maximum 4.000 Default 1.000 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See PID1 Proportional Gain (14.010). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 345 RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Drive reset read Display Format Standard Decimal Places Coding RW, DE, PT, BU See PID1 Destination (14.016). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 346 Displays the value of the error for PID2 Mode RFC‑A Minimum -100.00 Maximum 100.00 Default Units Type 16 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT See PID1 Error (14.022). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 347 The description given in PID1 Output (14.001) assumed that PID1 Mode Selector (14.059) = 0 so that PID controller 1 uses its own feedback (FBK1). It is possible to select alternative configurations that allow various combinations of feedback or error from either PID controller to be used as shown below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 348 Enables the squre root function of PID2 Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding See PID1 Feedback Square Root Enable 1 (14.060) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 349 Enables the squre root function of PID1 Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding See PID1 Feedback Output Scaling (14.058). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 350 -2147483648 to 2147483647 RW Num 18.053 Application Menu 1 Power‑down Save Long Integer 53 -2147483648 to 2147483647 RW Num 18.054 Application Menu 1 Power‑down Save Long Integer 54 -2147483648 to 2147483647 RW Num Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 351 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 352 Short description General read-only integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit Volatile Update Rate Display Format Standard Decimal Places Coding RO, PR, ND, NC Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 353 18.012 Application Menu 1 Read-write Integer 12 Short description General read-write integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 354 18.019 Application Menu 1 Read-write Integer 19 Short description General read-write integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 355 18.026 Application Menu 1 Read-write Integer 26 Short description General read-write integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 356 18.033 Application Menu 1 Read-write bit 33 Short description General read-write bit application parameter Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 357 18.040 Application Menu 1 Read-write bit 40 Short description General read-write bit application parameter Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 358 18.047 Application Menu 1 Read-write bit 47 Short description General read-write bit application parameter Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 359 Short description General power-down save long integer application parameter Mode RFC‑A Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit Power Down Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 360 -2147483648 to 2147483647 RW Num 19.053 Application Menu 2 Power‑down Save Long Integer 53 -2147483648 to 2147483647 RW Num 19.054 Application Menu 2 Power‑down Save Long Integer 54 -2147483648 to 2147483647 RW Num Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 361 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 362 Short description General read-only integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit Volatile Update Rate Display Format Standard Decimal Places Coding RO, PR, ND, NC Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 363 19.013 Application Menu 2 Read-write Integer 13 Short description General read-write integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 364 19.020 Application Menu 2 Read-write Integer 20 Short description General read-write integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 365 19.027 Application Menu 2 Read-write Integer 27 Short description General read-write integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 366 19.034 Application Menu 2 Read-write bit 34 Short description General read-write bit application parameter Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 367 19.041 Application Menu 2 Read-write bit 41 Short description General read-write bit application parameter Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 368 19.048 Application Menu 2 Read-write bit 48 Short description General read-write bit application parameter Mode RFC‑A Minimum Maximum Default Units Type 1 Bit User Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 369 Short description General power-down save long integer application parameter Mode RFC‑A Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit Power Down Save Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 370 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 371 20.006 Application Menu 3 Read-write Integer 6 Short description General read-write integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit Volatile Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 372 20.013 Application Menu 3 Read-write Integer 13 Short description General read-write integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit Volatile Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 373 20.020 Application Menu 3 Read-write Integer 20 Short description General read-write integer application parameter Mode RFC‑A Minimum -32768 Maximum 32767 Default Units Type 16 Bit Volatile Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 374 20.027 Application Menu 3 Read-write Long Integer 27 Short description General read-write long integer application parameter Mode RFC‑A Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit Volatile Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 375 20.034 Application Menu 3 Read-write Long Integer 34 Short description General read-write long integer application parameter Mode RFC‑A Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit Volatile Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 376 20.040 Application Menu 3 Read-write Long Integer 40 Short description General read-write long integer application parameter Mode RFC‑A Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit Volatile Update Rate Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 377 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 378 Default 2.000 Units Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM This is the motor map 2 equivalent parameter for Acceleration Rate 1 (02.011). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 379 See exceptions below Units Type 16 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM, RA Voltage Region Default Value 200V 400V 50Hz 400V 60Hz 575V 690V Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 380 Maximum 3000.0 Default 89.0 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding This is the motor map 2 equivalent parameter for Motor Thermal Time Constant 1 (04.015). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 381 Minimum Maximum 30000 Default Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding This is the motor map 2 equivalent parameter for Current Controller Kp Gain (04.013). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 382 Units Type 16 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM, RA, BU This is the motor map 2 equivalent parameter for Regenerating Current Limit (04.006). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 383 RFC‑A Minimum Maximum Default Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding This is the motor map 2 equivalent parameter for Notch Filter Bandwidth (04.032). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 384 Maximum 99999.999 Default 0.000 Units Type 32 Bit User Save Update Rate Background Read Display Format Standard Decimal Places Coding This is the motor map 2 equivalent parameter for No-load Core Loss (04.045). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 385 Maximum 100.0 Default 100.0 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding This is the motor map 2 equivalent parameter for Magnetising Current Limit (04.049). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 386 Menu 22 Single Line Descriptions − Menu 0 Set-up Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 387 22.060 Parameter 00.060 Set‑up 0.000 to 59.999 0.000 22.061 Parameter 00.061 Set‑up 0.000 to 59.999 0.000 22.062 Parameter 00.062 Set‑up 0.000 to 59.999 0.000 22.063 Parameter 00.063 Set‑up 0.000 to 59.999 0.000 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 388 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 389 Defines the parameter to be shown in 00.005 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 1.014 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 390 Defines the parameter to be shown in 00.011 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 5.001 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 391 Defines the parameter to be shown in 00.017 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 4.012 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 392 Defines the parameter to be shown in 00.023 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 1.005 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 393 Defines the parameter to be shown in 00.029 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 11.036 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 394 Defines the parameter to be shown in 00.035 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 395 Defines the parameter to be shown in 00.041 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 5.018 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 396 Defines the parameter to be shown in 00.047 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 5.006 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 397 Defines the parameter to be shown in 00.053 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 4.015 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 398 Defines the parameter to be shown in 00.059 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 399 Defines the parameter to be shown in 00.065 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 400 Defines the parameter to be shown in 00.071 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 401 Defines the parameter to be shown in 00.077 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 402 Defines the parameter to be shown in 00.080 Mode RFC‑A Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, PT, BU See Parameter 00.001 Set-up (22.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 403 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 404 24.004 Serial Number LS 4.00.004 Serial Number LS 24.005 Serial Number MS 4.00.005 Serial Number MS 24.006 Status 4.00.006 Status 24.007 Reset 4.00.007 Reset 24.008 Default 4.00.008 Default 24.009 Active Alarm Bits 4.00.009 Active Alarm Bits 24.010 Active IP Address 4.00.010 Active IP Address 24.011 Date Code 4.00.011 Date Code Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 405 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 406 0.1rpm or 0.1mm/s units. The conversion to the output speed is based on the set-up parameters of the position feedback selected to control the motor. The Advanced Motion Controller is made up from the components shown in the diagram below. Individual menus are provided for each of the components. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 407 In a dual loop configuration the output ratio must be Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 408 = 0.01 user units/ms = (0.01 / User units ratio) PosBits/ms PosBits = (0.01 / 2 / User units ratio) revs/ms PosBits = (10 / 2 / User units ratio) revs/s Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 409 / User units ratio) mm/ms/ms PosBits = (1000 x PolePitch / 2 / User units ratio) mm/s The acceleration resolution and the maximum acceleration can be calculated using the equations in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 410 After the feedback has been initialised the change of position from the position feedback device is modified by the user unit ratio, and inverted if required, before being accumulated in the Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 411 Defines the numerator of the AMC Slave User Units Ratio Mode RFC‑A Minimum Maximum 2147483647 Default 1000 Units Type 32 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See AMC Master User Units Ratio Numerator (31.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 412 The initial position (AMC Master Position (32.004)) within the rollover limit is derived from this position as shown in the diagram below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 413 4ms rate. The timing of the controller (AMC Rate Select (31.012) = 250μs) and parameter reading and writing is shown below with respect to other tasks in the drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 414 Short description Defines the sample rate of the AMC Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 415 For example, if the slave moves 100mm for every revolution of the motor and the motor normalised position has 16 position bits per revolution. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 416 31.016 AMC Auto Resolution Scaling Short description Mode RFC‑A Minimum Maximum 2147483647 Default Units Type 32 Bit Volatile Update Rate Background write Display Format Standard Decimal Places Coding RO, ND, NC, PT See AMC Auto Resolution Enable (31.015). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 417 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 418 If AMC Master Source Select (32.001) is set to 0 then AMC Master Speed Reference (32.008) is used as the source and provides a position that changes at a Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 419 If an option module is being used as the master source then a freeze source in the option module can be selected. If a freeze source selected in an option module does not exist then AMC Master Freeze Position (32.006) will remain at its present value. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 420 Short description Master freeze flag status Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RW, NC See AMC Master Source Select (32.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 421 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 422 Background read Display Format Standard Decimal Places Coding RW, TE Value Text User Position Sensorless P1 Drive P2 Drive P1 Slot1 P2 Slot1 P1 Slot2 P2 Slot2 P1 Slot3 P2 Slot3 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 423 If an option module is being used as the slave source then a freeze source in the option module can be selected. If a freeze source selected in an option module does not exist then AMC Slave Freeze Position (33.006) will remain at its present value. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 424 Short description Slave freeze flag status Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RW, NC See AMC Slave Freeze Position (33.006). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 425 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 426 (stop) the profile generator is disabled and the slave will stop as quickly as possible. 2 (Profile Stop) This mode is the same as the profiled stop mode except that AMC Reference Select (34.007) is automatically changed to 0 if the following error Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 427 AMC Roll-over Limit (31.010) - Δ. This has the effect of making any reverse movements into forward movements by forcing the profile to rollover the AMC Roll-over Limit (31.010) - 1 boundary as shown below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 428 1 boundary the change of position is modified so that -Δ (rollover the zero boundary) becomes AMC Roll-over Limit (31.010) - Δ and +Δ (rollover the AMC Roll-over Limit (31.010) boundary) becomes Δ - AMC Roll-over Limit (31.010). This has the effect of preventing the profile input position from crossing the zero or AMC Roll-over Limit (31.010) - 1 boundary. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 429 Defines the input to the profile generator Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate AMC sample rate read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 430 7. When AMC Reference Select (34.007) is set to 7 (profile position) the AMC Profile Input Position (38.006) is held at the previous value and the slave will continue to move to or remain at the profile input position. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 431 AMC Master Source Select (32.001) and AMC Master Freeze Select (32.007). The diagram below shows the effect of selecting the Cam by writing directly to AMC Reference Select (34.007) or by using the action on a freeze event. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 432 The reference selector is set to the reference trigger when a change is detected Mode RFC‑A Minimum Maximum Default Units Type 8 Bit Volatile Update Rate AMC sample rate read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 433 Value Text Stop Position Abs Speed Home Position Rel Position Profile See AMC Reference Select (34.007). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 434 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 435 0 at the end of the last segment to prevent a speed discontinuity as the cam table wraps round. The diagram below shows an example of interpolation within the Nth segment. x is AMC Cam Start Position In Segment (35.002) y is the output position Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 436 For the Cos2 interpolation f(X) = X - (1/π) sin (πX) which gives sinusoidal changes in dy/dx. The diagram below shows the position and speed for an acceleration from 0. If ΔY / ΔX is less than W at the start of the segment dy/dx will fall over the segment and W will be less than W Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 437 Defines the denominator for the ratio that is applied to the change of output position from the Cam Short description function Mode RFC‑A Minimum Maximum 2147483647 Default 1000 Units Type 32 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding See AMC Cam Output Ratio Numerator (35.005). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 438 (more than 20 points) from a controller or AMC Cam Mode (35.012) is set to 2 and the rate of change at the end of the last segment is not zero. Unidrive M702 Parameter Reference Guide...
Page 439 AMC Cam Start Index (35.001), AMC Cam Size (35.003) and AMC Cam Single Shot Enable (35.004) while the cam is running to produce the cam profile shown below, i.e. the cam remains in the running segment until the ramp out is required. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 440 Note that any parameter in AMC Cam (35) or AMC Cam Table (36) must be updated at least 4ms before the cam enters the segment in which the new value is applied, e.g. when running forwards AMC Cam Size (35.003) must be updated 4ms before the end of the last segment is reached. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 441 Menu 36 Single Line Descriptions − AMC Cam Table Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 442 0 to VM_AMC_POSITION_CAM_UNIPOLAR UU 0 UU RW Num 36.062 AMC Cam Table Out 19 ±VM_AMC_POSITION_CAM UU 0 UU RW Num 36.063 AMC Cam Table Interpolation 19 Cos1 (0), Square (1), Cos2 (2) Cos1 (0) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 443 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 444 The parameter numbers for the cam table entries for each of the other segments are calculated using the following, where 1 ≤ X ≤ 19. Entry Parameter Number AMC Cam Table In X 36.004 + 3X AMC Cam Table Out X 36.005 + 3X AMC Cam Table Interpolation X 36.006 + 3X Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 445 Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, TE Value Text Cos1 Square Cos2 See AMC Cam Table In 0 (36.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 446 Defines the interpolation entry to the cam table for segment 3 Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 447 Defines the output entry to the cam table for segment 5 Mode RFC‑A Minimum −VM_AMC_POSITION_CAM Maximum VM_AMC_POSITION_CAM Default Units Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM See AMC Cam Table In 0 (36.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 448 Defines the input entry to the cam table for segment 6 Mode RFC‑A Minimum Maximum VM_AMC_POSITION_CAM_UNIPOLAR Default Units Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM See AMC Cam Table In 0 (36.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 449 Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, TE Value Text Cos1 Square Cos2 See AMC Cam Table In 0 (36.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 450 Defines the interpolation entry to the cam table for segment 10 Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 451 Defines the output entry to the cam table for segment 12 Mode RFC‑A Minimum −VM_AMC_POSITION_CAM Maximum VM_AMC_POSITION_CAM Default Units Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM See AMC Cam Table In 0 (36.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 452 Defines the input entry to the cam table for segment 14 Mode RFC‑A Minimum Maximum VM_AMC_POSITION_CAM_UNIPOLAR Default Units Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM See AMC Cam Table In 0 (36.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 453 Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, TE Value Text Cos1 Square Cos2 See AMC Cam Table In 0 (36.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 454 Defines the interpolation entry to the cam table for segment 17 Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 455 Defines the output entry to the cam table for segment 19 Mode RFC‑A Minimum −VM_AMC_POSITION_CAM Maximum VM_AMC_POSITION_CAM Default Units Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, VM See AMC Cam Table In 0 (36.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 456 Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding RW, TE Value Text Cos1 Square Cos2 See AMC Cam Table In 0 (36.004). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 457 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 458 AMC Reference Select (34.007)) or by disabling the motion controller. The diagram below shows the speed of the master and slave systems with AMC EGB Enable Rigid Lock (37.001) = 0. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 459 Defines the denominator of the ratio used at the input to the electronic gearbox Mode RFC‑A Minimum Maximum 2147483647 Default 1000 Units Type 32 Bit User Save Update Rate 4ms read Display Format Standard Decimal Places Coding See AMC EGB Ratio Numerator (37.002). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 460 Displays when the electronic gearbox is locked Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 4ms write Display Format Standard Decimal Places Coding RO, ND, NC, PT See AMC EGB Enable Rigid Lock (37.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 461 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 462 RW, VM The default value of 1092 UU/ms is the equivalent of 1000rpm for a feedback device with 16 normalised position bits per revolution and a user unit ratio of unity. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 463 Jerk configuration It is possible to configure up to four independent jerk values as shown in the diagram below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 464 AMC Profile Output Speed (38.009) reaches standstill. Profile 1 - Single jerk AMC Profile Jerk 1 (38.011) > 0 AMC Profile Jerk 2 (38.012) = 0 AMC Profile Jerk 3 (38.013) = 0 AMC Profile Jerk 4 (38.014) = 0 Profile 2 - Acceleration and deceleration jerk Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 465 (38.002), AMC Profile Jerk 3 (38.013) and AMC Profile Jerk 4 (38.014). This is shown in the diagram below. Note that when AMC Profile Complete Window (41.005) is set to zero AMC Profile Complete Flag (41.006) can be used to detect when the output of the profile has reached the target position and is at standstill. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 466 If AMC Profile Input Position (38.006) is changed before the profile has been completed and AMC Profile Output Speed (38.009) must cross the zero boundary to reach the new target speed the profile will be constrained by the deceleration parameters for the entire movement as shown in the diagram below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 467 Short description Mode RFC‑A Minimum −VM_AMC_JERK_UNIPOLAR Maximum VM_AMC_JERK_UNIPOLAR Default 0.0000 Units UU/ms³ Type 32 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, VM See AMC Profile Jerk 1 (38.011). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 468 If the profile generator is disabled (see the introduction to menu 38) or the linear ramp is enabled the profile parameters are updated as described in the previous mode. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 469 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 470 Short description Mode RFC‑A Minimum −VM_AMC_POSITION Maximum VM_AMC_POSITION Default Units Type 32 Bit Volatile Update Rate AMC sample rate read Display Format Standard Decimal Places Coding RW, VM See AMC External Position Reference Select (39.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 471 39.010 AMC Speed Feed-forwards Gain Short description Mode RFC‑A Minimum 0.000 Maximum 2.000 Default 1.000 Units Type 16 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 472 Mode RFC‑A Minimum −VM_AMC_RATE Maximum VM_AMC_RATE Default 0.000 Units UU/ms² Type 32 Bit Volatile Update Rate AMC sample rate read Display Format Standard Decimal Places Coding RW, VM See AMC External Position Reference Select (39.001). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 473 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 474 5. AMC Home Complete (40.005) is set to 1. Reset Phase 1. The homing reference becomes a position reference instead of a speed reference and the target position is set to AMC Home Position (40.004) + AMC Home Offset Position Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 475 The time between when the home event occurs and the home position is set to AMC Slave Position (33.004) will be no more than one complete sample (4ms) and the home position will be within 4ms × AMC Home Maximum Speed (40.003) of the physical home position. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 476 The slave will move in the direction defined by AMC Home Direction (40.001) until a positive transition of F1 Freeze Flag (03.104) is detected. The home position is then set to AMC Slave Position (33.004). Note that F1 Freeze Flag (03.104) is reset at the beginning of the homing sequence. Mode 2 - Home on positive limit Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 477 AMC Home Direction (40.001) until a positive transition of F1 Freeze Flag (03.104) is detected. The home position is then set to the AMC Slave Freeze Position (33.006). Mode 5 and 6 - Home on home switch with positive limit Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 478 The default value of 10.92 UU/ms is the equivalent of 10rpm for a feedback device with 16 normalised position bits per revolution and a user unit ratio of unity. See AMC Home Mode (40.002). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 479 RW, VM When the home position has been detected AMC Profile Input Position (38.006) is set to AMC Home Offset Position (40.007). The homing sequence is complete (AMC Home Offset Complete (40.008) = 1) when |AMC Profile Input Position (38.006) - AMC Slave Position (33.004)| ≤ AMC Home Complete Window (40.010). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 480 If AMC Home Negative Limit Selector (40.016) is set to 2 then AMC Home Negative Limit (40.014) is set to AMC Negative Hardware Limit Flag (41.014). Note that when AMC Negative Hardware Limit Flag (41.014) is used as the negative limit for the homing sequence the negative hardware and software limits configured in AMC Control and Status (41) are disabled. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 481 When a home has been completed AMC Home Slave Source (40.021) is set to AMC Slave Source Select (33.001) and the following parameters are saved automatically if the position feedback is configured to be absolute. Parameters saved AMC Home Slave Source (40.021) AMC Slave Offset (33.003) AMC Home Slave Source (40.021) is automatically reset (None) forcing another home to be completed in the following conditions. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 482 Standard Decimal Places Coding RW, TE Value Text None User Position Sensorless P1 Drive P2 Drive P1 Slot1 P2 Slot1 P1 Slot2 P2 Slot2 P1 Slot3 P2 Slot3 See AMC Home Required (40.020). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 483 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 484 AMC Stop Reference (34.002) AMC Slave Position (33.004) AMC Profile Input Position (38.006) if AMC Reference Select (34.007) is 4 AMC Master Position (32.004) x Electronic gearbox ratio AMC Profile Input Position (38.006) if AMC Reference Select (34.007) is not 4 AMC Slave Position (33.004) AMC Profile Output Position (38.008) AMC Slave Position (33.004) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 485 Coding RW, VM *10rpm for a 16 bits per revolution device (user units ratio = 1) AMC At Speed Flag (41.010) is set to 1 if AMC Profile Output Speed (38.009) - AMC Profile Input Speed (38.007)| ≤ AMC At Speed Window (41.009). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 486 Unlike the operating range the working range is flexible and can be configured for an individual motion sequence. The maximum delay for a software limit is 4ms. Note that the software limits are disabled when performing a homing routine (AMC Reference Select (34.007) = 7). The logic diagram for the limit switches is shown below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 487 41.017 AMC Home Required Flag Short description Mode RFC‑A Minimum Maximum Default Units Type 1 Bit Volatile Update Rate 4ms Write Display Format Standard Decimal Places Coding RO, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 488 Mode RFC‑A Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, TE Value Text Profile No Profile See AMC Positive Hardware Limit Flag (41.013). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 489 41.027 AMC Negative Software Limit Position Short description Mode RFC‑A Minimum −VM_AMC_POSITION Maximum VM_AMC_POSITION Default Units Type 32 Bit User Save Update Rate Background read Display Format Standard Decimal Places Coding RW, VM See AMC Positive Hardware Limit Flag (41.013). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 490 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 491 See Serial Number LS (MM.004). Parameter 4.00.006 Status Short description Status Minimum Maximum Default Units Type 8 Bit Volatile Update Rate Background Display Format Standard Decimal Places Coding RO, TE, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 492 Minimum Maximum (Display: 128.0.0.0) (Display: 127.255.255.255) Default Units (Display: 0.0.0.0) Type 32 Bit Volatile Update Rate Background Display Format IP Address Decimal Places Coding RO, NC, PT Modules active IP address. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 493 Display Format Standard Decimal Places Coding RO, ND, NC, PT, BU Date Code (4.0.011) is a two-digit number in the form yyww where yy is the year and ww the week number. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 494 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 495 Controls whether or not the module will attempt to use a Dynamic Host Configuration Protocol (DHCP) server to obtain an IP address, subnet mask, default gateway and DNS servers. When DHCP is enabled, the following parameters will become read-only immediately (no reset required): IP Address (4.02.006) Subnet Mask (4.02.007) Default Gateway (4.02.008) Primary DNS (4.02.009) Secondary DNS (4.02.010) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 496 If DHCP is enabled ( DHCP Enable (4.02.005) ) this parameter becomes read-only and, until a primary DNS address is allocated to the module, will display 0.0.0.0. If DHCP is disabled the module will initialise, on reset or power cycle, with the primary DNS address stored for the parameter. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 497 Read on module reset and Type 16 Bit User Save Update Rate HTTP_ENABLE Display Format Standard Decimal Places Coding RW, BU The web server port. This may be changed for added security. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 498 8 Bit User Save Update Rate Read on module reset Display Format Standard Decimal Places Coding RW, TE, BU Defines the parameter conversion for EthernetIP and Modbus. Value Text Unidrive M Unidrive SP Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 499 0 BU Default (1 bit types) / Unipolar (all other types): 1 The MSB is used for Status and the LSB is used for Command. Possible values for the Command are: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 500 IDLE Idle READY The parameter channel is ready to take commands PROCESSING Processing the command The command processed successfully ERROR Error is detected, detail will be found in the first parameter. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 501 The higher two sections for the destination IP address. 0xFF000000 (127.0.0.1) represents the current drive. Parameter S.MM.PPP + 2 Description Destination IP Address yyy.zzz Identifier Mode(s) Minimum Maximum 0xFFFF Default Units Type 16 Bit User Save Update rate Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 502 VM Variable minimum/maximum 0 W Writable UNIT 0 DP Decimal places 0 BU Default (1 bit types) / Unipolar (all other types): 1 Destination parameter address – Slot and Menu sections. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 503 0 BU Default (1 bit types) / Unipolar (all other types): 1 Destination parameter address - parameter section Parameter S.MM.PPP + 5 Description Parameter Value LSW / Error Code Identifier Mode(s) Minimum Maximum Default Units Type 16 Bit User Save Update rate Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 504 It stores the least significant word of the value read from the destination parameter if the command is read and the status is Done. It is the error code for the process if the status is Error. The following table list the possible error codes: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 505 The decimal place information is invalid (i.e. out of range of allowed values for a Decimal Place write). Invalid Param Invalid parameter in the parameter channel. Invalid CMD Invalid command Invalid IP Invalid IP address Unknown Error An unknown error happens -18 to - Reserved Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 506 It stores the most significant word of the value to be write in to the destination parameter if the command is Write (2) It stores the most significant word of the value read from the destination parameter if the command is read and the status is Done. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 507 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 508 Background cycles per second (4.09.008) can be used to view the cycle rate of the background task. If the value drops to zero then a BG Overrun drive trip will occur. RTMoE RTMoE is an industrial Ethernet protocol for both cyclic and acyclic communication. The Ethernet interface RTMoE capabilities can be found in the table below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 509 8 Bit Volatile Update Rate Background write Display Format Standard Decimal Places Coding RO, ND, NC, PT, BU The number of available mappings in the system for use in cyclic links. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 510 Note: Synchronous Cyclic Links are supported on (Unidrive M Ethernet interface) but not on (SI-Ethernet on Unidrive M200 - M600). Parameter 4.09.030 PCB Temperature Short description Minimum -128 Maximum Default Units °C Type 8 Bit Volatile Update Rate Background write Display Format Standard Decimal Places Coding RO, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 511 Slot 4 Menu 10 Single Line Descriptions − Easy Mode Cyclic Data Mode: RFC‑A Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 512 Not editable (-5), Invalid link num (- 4), Invalid args (-3), Too many links (-2), Out of memory (-1), OK (0), Not running (1), OK sync (2) 4.10.030 Tx3 Link Profile Std (0), Sync (1) Std (0) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 513 4.10.053 Rx2 Parameter Count 0 to 10 Direct (0), Multicast1 (1), Multicast2 (2), Multicast3 (3), Multicast4 (4), Local (5), 4.10.054 Rx2 Source Type Direct (0) Multicast5 (6), Multicast6 (7), Multicast7 (8), Multicast8 (9), Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 514 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 515 Parameter Update Rate Parameters are exchange over the network. The value exchanged with the network must be exchanged with the drive or option parameter. The rate of Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 516 Display Format Standard Decimal Places Coding RW, NC This parameter allows the protocol to be defaulted to factory settings. This includes all of the protocol features, configuration, mappings and stored objects. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 517 (4.10.002) returns to Off as shown in the associated timing diagram. If the active configuration is Offline (representing a configuration provided by a PC tool) the configuration was created in conjunction with the user application. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 518 A user program utilising cyclic data may use this parameter along with Configuration Valid (4.10.005) to detect when cyclic communication is operational; once detected if the user program wishes to monitor for timeout or data late events the provided counters (Timeout Count (4.10.008) and Data Late Count (4.10.009)) can be used. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 519 Units Type 8 Bit User Save Update Rate Read on reset Display Format Standard Decimal Places Coding RW, BU This is used to set the link number for the Tx1 link. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 520 Read on reset Display Format Standard Decimal Places Coding RW, BU Defines, in milliseconds, the period at which Tx1 Link will be transmitted. A value of zero disables the transmission of data. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 521 Update Rate Read on reset Display Format Standard Decimal Places Coding RW, TE Value Text Description Standard link Sync Synchronized link Used to select Tx2 as a standard or synchronous cyclic link. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 522 RW, BU This specifies the IP address of the destination device for the Tx1 link. If Tx2 Link Transmission Type (4.10.024) is set to either broadcast or multicast this parameter will display the appropiate address. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 523 Selects the Tx3 link as a standard or synchronous cyclic link Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format Standard Decimal Places Coding RW, TE Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 524 Sets the destination address of the Tx3 link 4294967295 Minimum Maximum (Display: 0.0.0.0) (Display: 255.255.255.255) Default Units (Display: 0.0.0.0) Type 32 Bit User Save Update Rate Read on reset Display Format IP Address Decimal Places Coding RW, BU Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 525 Not running OK. Not running. OK sync Configuration of synchronous link successful This reports the links status if it has been loaded. A Reset (4.10.002) is required to load any changes. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 526 Link is multicast to the IP address Multicast9 Link is multicast to the IP address Multicast10 Link is multicast to the IP address This parameter specifies the type of transmission for the Rx1 link. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 527 Trigger module event 2 Event3 Trigger module event 3 Defines the event to trigger in the given destination, as specified in Rx1 Timeout Event Destination (4.10.047), if a cyclic data timeout occurs on the Rx1 link. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 528 Update Rate Read on reset Display Format Standard Decimal Places Coding RW, TE Value Text Description Standard link Sync Synchronized link Used to select Rx2 as a standard or synchronous cyclic link. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 529 Note: It is good system design to allow for some message loss by setting the timeout duration to be greater than the transmit period by a factor of 2 or more. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 530 4.10.059 Rx2 Link Status Short description Link status when loaded Minimum Maximum Default Units Type 8 Bit Volatile Update Rate Write on reset Display Format Standard Decimal Places Coding RO, TE, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 531 Type 8 Bit User Save Update Rate Read on reset Display Format Standard Decimal Places Coding RW, BU This parameter is used to set the link number for the Rx3 link. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 532 Defines the timeout action for the Rx3 link Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format Standard Decimal Places Coding RW, TE, BU Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 533 4.10.069 Rx3 Link Status Short description Link status when loaded Minimum Maximum Default Units Type 8 Bit Volatile Update Rate Write on reset Display Format Standard Decimal Places Coding RO, TE, ND, NC, PT Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 534 Not running OK. Not running. OK sync Configuration of synchronous link successful This reports the links status if it has been loaded. A Reset (4.10.002) is required to load any changes. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 535 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 536 Default Units Type 1 Bit Volatile Update Rate Written every 10ms Display Format Standard Decimal Places Coding The parameter displays the module's synchronisation status. 1 = Synhronised, 0 = Not synchronised. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 537 This parameter controls the rate at which PTP Sync frames are sent. the message rate is determined by raising 2 to the power of this parameter. E.g the default value here of -2 results in four sync messages per second. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 538 In Factory Fit Ethernet / SI-Ethernet firmare V01.03.00.00 onwards there are a reduced range of actions. Since the option zero has been deprecated, the new default action is Trip (1st option). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 539 Slot 3 Trigger module event in slot 3 Slot 4 Trigger module event in slot 4 Defines the destination (slot) to trigger the event when a late synchronised frame is received. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 540 Trigger module event 1 Event2 Trigger module event 2 Event3 Trigger module event 3 Defines the event number to trigger in the given destination (slot) when a late synchronised frame is received. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 541 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 542 Specified port is currently in use by another protocol Timeout event Timeout trigger event location is not valid Num Connections The Max priority connection is greater than the max connections This parameter will indicate any Modbus configuration errors. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 543 Note: It is good system design to allow for some message loss by setting the timeout duration to be greater than the transmit period by a factor of 2 or more. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 544 Defines the Modbus register addressing mode Minimum Maximum Default Units Module reset, Modbus interface reset Type 8 Bit User Save Update Rate or Modbus interface enable Display Format Standard Decimal Places Coding RW, TE, BU Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 545 This parameter specifies an IP address for a priority connection. Note: fill parameters 20 through 23 from the Priority_Connection_1. If a higher numbered Priority Connection is specified without the lower ones being filled, then it will be ignored. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 546 7‑SCI (2) PT US 10‑Trap PM BL (4) 2‑FC DC (0), 6‑WRI (1), 4.20.041 Type of Motor 2 7‑SCI (2), 9‑Sin PM BL (3), 7‑SCI (2) PT US 10‑Trap PM BL (4) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 547 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 548 Short description Set to reset the interface Minimum Maximum Default Units Background read; written to 0 on Type 1 Bit Volatile Update Rate initialisation Display Format Standard Decimal Places Coding RW, NC Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 549 On an RPI timeout the interface will not trip the drive. It will write the values specified in Fault Values menu (23) to the PLC output mappings for the assembly object 101 if active. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 550 PLC output parameters will have their values set to zero Hold last Hold the last value in output parameters No Action No action with output parameters This parameter defines the action to be taken upon a PLC idle event. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 551 Minimum Maximum Default Units Module reset, EtherNet/IP interface Type 8 Bit Volatile Update Rate reset or EtherNet/IP interface enable Display Format Standard Decimal Places Coding RO, TE, ND, NC, PT, BU Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 552 Whether consistency is enabled or not, data will always be consistent for an individual parameter, i.e. all 4 bytes of a 32 bit value will be consistent. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 553 Sets and displays the custom product code Minimum Maximum 65535 Default Units Module reset, EtherNet/IP interface Type 16 Bit User Save Update Rate reset or EtherNet/IP interface enable Display Format Standard Decimal Places Coding RW, BU Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 554 Wound Rotor Induction Motor 7-SCI Squirrel Cage Induction Motor 9-Sin PM BL Sinusoidal PM BL Motor 10-Trap PM BL Trapezoidal PM BL Motor This parameter defines the type of motor 2 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 555 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 556 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a source parameter for the data that will be transmitted to the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 557 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a source parameter for the data that will be transmitted to the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 558 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a source parameter for the data that will be transmitted to the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 559 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a source parameter for the data that will be transmitted to the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 560 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a source parameter for the data that will be transmitted to the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 561 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a source parameter for the data that will be transmitted to the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 562 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 563 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a destination parameter for the data that will be transmitted from the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 564 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a destination parameter for the data that will be transmitted from the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 565 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a destination parameter for the data that will be transmitted from the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 566 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a destination parameter for the data that will be transmitted from the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 567 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a destination parameter for the data that will be transmitted from the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 568 Slot Menu Parameter Decimal Places Coding RW, PT, BU This parameters defines a destination parameter for the data that will be transmitted from the PLC. The default value for the parameter is zero. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 569 Mac MAC address Ver Version number SMP Slot, menu, parameter Num Number parameter DE Destination RA Rating dependent NC Non-copyable PT Protected default value Power- FI Filtered US User save down save Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 570 Coding RW, PT This parameter defines the value to be sent to the mapped output destination when fault values have been configured to be sent (with RPI timeout action (4.20.011) and PLC idle action (4.20.015)). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 571 Coding RW, PT This parameter defines the value to be sent to the mapped output destination when fault values have been configured to be sent (with RPI timeout action (4.20.011) and PLC idle action (4.20.015)). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 572 Coding RW, PT This parameter defines the value to be sent to the mapped output destination when fault values have been configured to be sent (with RPI timeout action (4.20.011) and PLC idle action (4.20.015)). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 573 Coding RW, PT This parameter defines the value to be sent to the mapped output destination when fault values have been configured to be sent (with RPI timeout action (4.20.011) and PLC idle action (4.20.015)). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 574 Coding RW, PT This parameter defines the value to be sent to the mapped output destination when fault values have been configured to be sent (with RPI timeout action (4.20.011) and PLC idle action (4.20.015)). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 575 Coding RW, PT This parameter defines the value to be sent to the mapped output destination when fault values have been configured to be sent (with RPI timeout action (4.20.011) and PLC idle action (4.20.015)). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 576 The error can only be reset by powering the drive down and up again. The table below gives the reasons for internal faults and their corresponding trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 577 6. Brake R Too Hot is active or the system has been set up to disable the braking IGBT based on the braking resistor temperature and the resistor is too hot (i.e. bit 2 of Action On Trip Detection (10.037) is set). Trips Summary (numerical order) Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 578 User Trip 58 User Trip 59 User Trip 60 User Trip 61 User Trip 62 User Trip 63 User Trip 64 User Trip 65 User Trip 66 User Trip 67 User Trip 68 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 579 User Trip 128 User Trip 129 User Trip 130 User Trip 131 User Trip 132 User Trip 133 User Trip 134 User Trip 135 User Trip 136 User Trip 137 User Trip 138 Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 580 Encoder 7 Encoder 8 Encoder 9 Destination Slot1 HF Slot1 Watchdog Slot1 Error Slot1 Not Fitted Slot1 Different Slot2 HF Slot2 Watchdog Slot2 Error Slot2 Not Fitted Slot2 Different Slot3 HF Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 581 Indicates that a current loss was detected in current mode on Analog Input 2 (Terminal 7). In 4-20mA and 20-4mA modes. loss of input is detected if the current falls below 3mA. See Analog Input 2 Mode (07.011) for further details. Recommended actions: Check control wiring is correct. Check control wiring is undamaged. Check Analog Input 2 Mode (07.011). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 582 Ensure that the motor is stationary before the drive is enabled. zero speed threshold. Trip Autotune 2 Value Short description The drive has tripped during a rotating auto-tune. The cause of the trip can be identified from the associated sub-trip number. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 583 An Autotune 7 trip is initiated during a rotating auto-tune, if the number of motor poles or the position feedback resolution have been set up incorrectly where position feedback is being used. Recommeded actions: Check the lines per revolution for the feedback device. Check the number of poles in Number Of Motor Poles (05.011). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 584 An attempt has been made to access a file on a NV media card, but the file is already being accessed be an Option Module, such as one of the Applications modules. No data is transferred. Recommended actions: Wait for the Option Module to finish accessing the NV media card and re-attempt the required function. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 585 Card No Data Value Short description An attempt has been made to access a non-existent file on a NV media card. No data is transferred. Recommended actions: Ensure data block number is correct. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 586 Error in option slot 1 Error in option slot 2 Error in option slot 3 Error in option slot 4 Recommended actions: Ensure the source / destination option module is installed on the correct slot. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 587 There should be a derivative image in the product but this has been erased. The identifer is out of range. The derivative image has been changed. Trip Derivative Image Value Short description Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 588 An error has been detected in the derivative product image. The sub-trip indicated the reason for the trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 589 The option module fitted in slot 3 is not allowed As 30. with the derivative image. The option module fitted in slot 4 is not allowed As 30. with the derivative image. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 590 Ensure the drive is programmed to the latest software version. Hardware fault - return drive to supplier. Trip EEPROM Fail Value Short description EEPROM Fail trip indicates that default parameters have been loaded because of the reasons given below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 591 SC SC device single turn sine wave commutation signals. SC SC device marker This trip can occur if the position feedback device type selected in P1 Device Type (03.038) is not correct for the position feedback device connected to the drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 592 This trip indicates that the encoder has indicated an error or that the power supply has failed to an SSI encoder. This trip can also indicate a wire break to an SSI encoder. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 593 This trip indicates that the data read from the encoder was out of range during auto-configuration. No parameters will be modified with data read from the encoder as a result of auto-configuration. The tens in the sub-trip number indicate the interface number (i.e. 1 for P1 interface and 2 for P2 interface). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 594 If the inductance ratio or difference is too small this is because one of the following conditions is true: (No-load Lq (05.072)- Ld (05.024)) / Ld (05.024) < 0.1 (No-load Lq (05.072) - Ld (05.024)) < (K / Full Scale Current Kc (11.061))H where: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 595 Short description This trip indicates that the inverter has lost the synchronization with the ac supply in Regen mode. Recommended actions: Check the supply / supply connections to the regen drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 596 Trip OHt Control Value Short description This trip indicates that a control stage over-temperature has been detected. From the sub-trip "xxyzz", the cause of the trip can be identified as follows: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 597 This trip indicates that an IGBT junction over-temperature has been detected based on a firmware thermal model. The sub-trip indicates which model has initiated the trip in the form xxyzz as given below. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 598 03: W phase power device system number Power Power module 04: Rectifier system number Power Power module 05: General power system system number Power Power module 00: Braking IGBT system number Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 599 OI dc Value Short description This trip indicates that the short circuit protection for the drive output stage has been activated. The table below shows where the trip has been detected. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 600 To disable the trip set Output Phase Loss Detection Enable (06.059) to zero. Trip Over Speed Value Short description In open-loop mode, if the Output Frequency (05.001) exceeds the threshold set in Over Speed Threshold (03.008) in either direction, an Over Speed trip is Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 601 Recommended actions: Check the AC supply voltage balance and level at full load. Check the DC bus ripple level with an isolated oscilloscope. Check the output current stability. Reduce the duty cycle. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 602 Hardware fault - contact the supplier of the drive. Trip Power Down Save Value Short description This trip indicates that an error has been detected in the power down save parameters stored in non-volatile memory. Recommended actions: Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 603 This trip value is used in Unidrive SP for an under voltage trip. The under voltage condition is now a drive state, and so this trip is no longer used by the drive. Trip Reserved 095 Value Short description Reserved trip number. Trip Reserved 102 Value Short description Reserved trip number. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 604 Short description Reserved trip number. Trip Reserved 171 Value Short description Reserved trip number. Trip Reserved 172 Value Short description Reserved trip number. Trip Reserved 173 Value Short description Reserved trip number. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 605 Short description Reserved trip number. Trip Reserved 237 Value Short description Reserved trip number. Trip Reserved 238 Value Short description Reserved trip number. Trip Reserved 239 Value Short description Reserved trip number. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 606 Ensure the stator resistance of the motor falls within the range of the drive model. Select fixed boost mode (Open-loop Control Mode (05.014) = Fixed) and verify the output current waveforms with an oscilloscope. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 607 This trip indicates that there is a fault with the option module in option slot 1 that means that this module cannot operate. The possible causes of the trip are given by the sub-trip value. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 608 Slot3 Different then Slot4 Different. Drive user parameters must be saved to prevent this trip on the next power-up if the module has changed. If the menus have been changed, but not the module, the trip will not occur on the next power-up. The sub-trip number gives the following indications of the reason for the trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 609 The drive failed to upload menu tables from the module and timed-out (5s). Menu table CRC invalid. Recommended actions: Ensure the option module is installed correctly. Replace the option module. Replace the drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 610 This trip indicates that there is a fault with the option module in option slot 3 that means that this module cannot operate. The possible causes of the trip are given by the sub-trip value. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 611 Slot3 Different then Slot4 Different. Drive user parameters must be saved to prevent this trip on the next power-up if the module has changed. If the menus have been changed, but not the module, the trip will not occur on the next power-up. The sub-trip number gives the following indications of the reason for the trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 612 The drive failed to upload menu tables from the module and timed-out (5s). Menu table CRC invalid. Recommended actions: Ensure the option module is installed correctly. Replace the option module. Replace the drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 613 Note that if this trip occurs, all menu customisation provided by option modules, the derivative image or the user program image is not used. The tables below show the values corresponding to the parts of the sub-trip number. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 614 Option slot 4 set-up Option slot 4 applications Trip Temp Feedback Value Short description This trip indicates a fault with a thermistor in the drive (i.e. open circuit or short circuit). Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 615 This trip indicates that a temperature sensor connected to one of the analogue inputs or terminal 15 on the position feedback interface (15 way D-type connector) has indicated an over-temperature. The source of the trip can be identified by the sub-trip number. Sub-trip Source Analogue input 1 Analogue input 2 Analogue input 3 Position feedback interface Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 616 Recommended actions: Check the user program. Trip User Program Value Short description An error has been detected in the onboard user program image. The sub-trip indicated the reason for the trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 617 *Image is not compatible with the control board serial As 80. number Image has detected and prevented attempted pointer access outside of the IEC task’s heap area. Image has detected and prevented misaligned pointer usage. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 618 Perform a user save in Pr mm.000 to ensure that the trip doesn't occur the next time the drive is powered up. Ensure that the drive has enough time to complete the save before removing the power to the drive. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 619 This trip is not used by the drive and can be used for a user trip. Trip User Trip 52 Value Short description This trip is not used by the drive and can be used for a user trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 620 This trip is not used by the drive and can be used for a user trip. Trip User Trip 65 Value Short description This trip is not used by the drive and can be used for a user trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 621 This trip is not used by the drive and can be used for a user trip. Trip User Trip 78 Value Short description This trip is not used by the drive and can be used for a user trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 622 This trip is not used by the drive and can be used for a user trip. Trip User Trip 113 Value Short description This trip is not used by the drive and can be used for a user trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 623 This trip is not used by the drive and can be used for a user trip. Trip User Trip 126 Value Short description This trip is not used by the drive and can be used for a user trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 624 This trip is not used by the drive and can be used for a user trip. Trip User Trip 139 Value Short description This trip is not used by the drive and can be used for a user trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 625 This trip is not used by the drive and can be used for a user trip. Trip User Trip 152 Value Short description This trip is not used by the drive and can be used for a user trip. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)
Page 626 Reduce the level of supply disturbance. Set Regen Maximum Voltage (03.027) to zero to disable this trip. Trip Watchdog Value Short description This trip indicates that the control word watchdog has been enabled and has timed out. Unidrive M702 Parameter Reference Guide Issue: 01.16.01 (Eth 01.07.00)

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