Control Techniques Commander SK Advanced User's Manual page 76

Parameter Keypad and CT Modbus User Advanced parameter
Menu 6 Introduction Parameter x.00 CT Soft Menu 0
description format display RTU programming descriptions
If the 'Jog' bit is set the sequencer switches Pr 1.13 to 1 to select the Jog reference. The sequencer must also see one of the run commands for the
drive to run at the jog speed.
Pr 6.04 has a number of pre-determined set-ups that change the functions of the terminals.
Latches are also available for each of the three run inputs, Run Forward, Run Reverse and Run, allowing them to become active from momentary
inputs. When enabled, by setting Pr 6.04, a NOT STOP input must also be applied by using a digital input to program Pr 6.39. When the NOT STOP
input becomes inactive each of the three latches are reset. When the latches are disabled, clearing Pr 6.04, they become transparent.
As default, terminals B5 and B6 are configured as Run Forward and Run Reverse. When either Run Forward or Run Reverse is selected, there is a
65ms delay within the drives software before the drive will actually run in the direction indicated. If the drive is running forward, there is also a delay
when the Run Forward terminal is opened and the Run Reverse terminal is closed and vice-versa.
This 65ms delay is to allow the drive to change the direction of motor rotation without entering stopping mode i.e. if DC injection braking mode was
enabled and there was no 65ms delay, when the run forward terminal was opened, the drive would immediately go into the DC injection braking mode
rather than ramp down and ramp back up to speed in the reverse direction.
This 65ms delay can cause problems in some applications where a very fast response to the digital inputs is required.
One solution to the above is to set Pr 6.04 to a 2, so that terminal B5 is setup as a run terminal and B6 is setup as a fwd/rev terminal. This
configuration eliminates the 65ms delay, and now the only delay is the sample time of the software.
The following diagram shows the main operation of the sequencer in normal and keypad modes. The diagram shows normal control where the
sequencer bits are used as inputs and keypad mode where the keypad keys are used as inputs.
In normal operation the sequencer has been designed to operate with Run forward and Run reverse controls, and can be setup to accommodate a
Run control and a fwd/rev selector.
Run forward / Run reverse configuration
If a Run forward or Run reverse control is required then bits 6.30 and 6.32 should be used to control the drive (digital inputs should not be routed to
bits 6.33 and 6.34).
Run fwd/rev configuration
If Run control with a forward reverse selector is required then bits 6.33 and 6.34 should be used to control the drive (digital inputs should not be routed
to bits 6.30 and 6.32).
Using Run forward and reverse, or using Run, can be made latching by setting bit 6.40. The Not stop bit (6.39) should be 1 to allow the sequencing
bit to be latched. If the Not stop bit is zero all latches are cleared and held at zero.
Notes on Jog:
To allow the drive to run at the jog speed from standstill the jog input must be made active, while all run inputs remain inactive. If a run command is
given while the jog input is active, the drive will at the normal speed reference selected in menu 1. When the run input is active and the drive is
running at normal speed reference in menu 1, if the jog input is activated the drive will not act upon the jog reference until the run has been
deactivated.
When the drive is required to stop after having been running at the jog speed, the jog (or any other run function) will not be able to go active for
approximately 2s, because when the drive is disabled it will coast to a stop and a delay is incurred to allow the rotor flux to decay.
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Commander SK Advanced User Guide
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