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Control Unit
COMBIVERT F5-A
Applications manual
KEB COMBIVERT F5-A Applications Manual
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Contents
Table of Contents
Troubleshooting
Bookmarks
Table of Contents
Table of Contents
Table of Contents
Features of KEB COMBIVERT
Function Principle
Product Description
Application as Directed
Type Code
Control Units
3 Hardware
Control Circuit F5-A, -E
Terminal Strip X2A
Connection of the Control
Digital Inputs
Analog Inputs
Aux-Function
Voltage Input / External Power Supply
Control Circuit A-Servo
Terminal Strip X2A
Connection of the Control Terminal Block
4 Operation
Fundamentals
Parameters, Parameter Groups, Parameter Sets
Selection of a Parameter
Adjustment of Parameter Value
ENTER-Parameter
Non-Programmable Parameters
Resetting of Error Messages
Resetting of Peak Values
Acknowledgement of Status Signals
Password Structure
Password Levels
Passwords
Changing of Password Level
5 Selection of Operating Mode
6 Start-Up
Preparatory Measures
After Unpacking the Goods
Installation and Connection
Checklist Prior to Start-Up
Start-Up
Start-Up of an Asynchronous Motor
Initial Start-Up
V/F Characteristic Operation
Vector Controlled Operation with Encoder Feedback Without Motor Model
Vector Controlled Operation with Encoder Feedback with Motor Model
Start-Up F5H-M (ASCL/ Vector-Controlled Without Encoder Feedback with Motor Model)
Start-Up of a Synchronous Motor
Start-Up F5A-S
Start-Up F5E-S (SCL)
7 Functions
Operating and Appliance Data
Operating and Appliance Data
Overview of the Ru-Parameters
Overview of the In-Parameters
Overview of the Sy-Parameters
Description of the Ru-Parameters
Explanation to Parameter Description
Description of the In-Parameters
Description of the SY (System) - Parameters
Analog In- and Outputs
Analog In- and Outputs
Brief Description Analog Inputs
Interface Selection
AN1 / AN2 (An.00, An.10)
AN3 (An.20)
Noise Filter (An.01, An.11, An.21)
Noise Filter (An.01, An.11, An.21)
Save Mode (An.02, An.12, An.22)
Input Selection (An.03, An.13, An.23)
Zero Clamp (An.04, An.14, An.24)
Amplifier Of The Input Characteristic (An.05
Amplifier of the Input Characteristic (An.05
Lower- and Upper Limit (An.08, An.09, An.18, An.19, An.28, An.29)
Selection Refinput / aux Function (An.30)
Brief Description Analog Outputs
Output Signals
Analog Output / Display (Ru.33
ANOUT 1 / -2 / -3 / -4 / Function (An.31 / An.36 / An.41, An.47)
Amplifier Of The Output Characteristic (An.33
Amplifier of the Output Characteristic
Anout 1
Digital In- and Outputs
Digital In- and Outputs
Summary Description Digital Inputs
Input Signals PNP / NPN Selection (DI.00)
Setting of Digital Inputs by Software (DI.01, DI.02)
Input Terminal State (Ru.21), Internal Input State (Ru.22)
Delay Activation / Deactivation Digital Inputs
Digital Noise Filter (DI.03), Fast Digital Noise Filter (DI.23)
Digital Noise Filter (DI.03), Fast Digital Noise Filter (DI.23)
Inversion of Inputs (DI.04)
Input Trigger (DI.05)
Strobe-Dependent Inputs (DI.06, DI.07, DI.08)
Reset / Input Selection (DI.09) and Reset / Input Slope Selction (DI.10)
Assignment of the Inputs
Software-ST and Locking of the Control Release
Deactivation of the Digital Control Release
Short Description - Digital Outputs
Output Filter (Do.43, Do.44)
Output Filter (Do.43, Do.44)
Output Signals / Hardware
Switching Conditions (Do.00
Inverting Of Switching Conditions For Flags 0
Inverting of Switching Conditions for Flags 0
AND/OR Connections of the Switching Conditions (Do.24)
Selection Of Switching Conditions For Flags 0
Selection of Switching Conditions for Flags 0
AND Connection for Outputs (Do.41)
Inverting Of Flags (Do.25
Inverting of Flags (Do.25
Selection Of Flags (Do.33
Selection of Flags (Do.33
Output Terminal State (Ru.25) and Digital Output State (Ru.80)
Hardware Output Allocation (Do.51)
Programming Example
Setpoint, Rotation- and Ramp Setting
Setpoint-, Rotation- and Ramp Setting
Summary Description
Reference Source Op.00
Rotation Source Op.01
Acceleration of Speed Reversal
Setpoint Limits
Step Values (Op.18
Setpoint Limits
Setpoint Calculation
Ramp Generator
Acc Dec Mode
Ramp with Constant Ascent
Linear Ramps
Ramp with Constant Time
Ogive Run
Time Factor Acceleration/Deceleration (Op.62)
Motor Data and Controller Adjustments of the Asynchronous Motor
Motor Data and Controller Adjustment of the Asynchronous Motor
Open Loop Operation (V/F Characteristic)
Rated Frequency (Uf.00), Boost (Uf.01) and Delta Boost (Uf.04 / Uf.05)
Maximal Voltage Mode (Uf.10)
Additional Rated Point (Uf.02 / Uf.03)
Voltage Stabilisation (Uf.09)
Switching Frequency (Uf.11)
Energy Saving Function (Uf.06
SMM (Sensorless Motor Management)
Motor Name Plate
Determination of the Stator Resistance (Dr.06)
Load Motor Dependent Para. (Fr.10), Controller Activation
Adjustment of the Slip Compensation (Cs.00, Cs.01, Cs.04, Cs.06, Cs.09)
Improved Slip Compensation (Cs.00 Bit 6 = 64, Cs.03)
Speed-Controlled Operation
Initial Settings
Adjustment of the Torque Compensation (Uf.16, Uf.17)
Motor Rating Plate Data
Motor Adaption
Speed Feedback and Selection of the Speed Direction
Vector Controlled Operation Without Motor Model
DASM Rated Speed
Flux Reduction in the Field Weakening Range
Vector Controlled Operation with Motor Model (with Encoder Feedback)
Electrical Parameters (Equivalent Circuit Data) of the Motor
Magnetisation Current Adaption
Motor Identification Error State Dr.66
Additional Trimming
Generally Adjustments for Operation with Motor Model
Magnetisation Current Adaption / with Motor Model
Special Functions
Vector Control Without Speed Feedback (ASCL)
ASCL / Low Speed Operation
Switch to Consecutive Motor
Model Adaption
Special Function: Rotor Adaption
KP/KI Speed Calc. ASCL (Ds.14, 15) and Speed PT1-Time ASCL (Ds.17)
Block Diagram
Motor Data and Controller Adjustments of the Synchronous Motor
Initial Settings
Adjustments of the Synchronous Motor
Motor Name Plate
Actual Value Source
Controller Configuration
Motor Adaption
IPM Motors (Reluctance Torque)
Absolute Position (Encoder 1)
Controller Structure
Speed Measurement
Speed-Controlled Operation Without Encoder Feedback (SCL)
General
Initial Settings for Sensorless Operation
Identification of the Motor Data
Auto-Identification
Single Identification
Dead Time Compensation (Uf.18)
Motor Identification Error State Dr.66
Standstill and Starting Phase
Low Speed
Motor Model
Operation with Sine-Wave Filter
Functions in the SCL Software
Block Diagram
Speed Control
Speed Control
Speed Controller Parameters
Initial Setting
Automatic Adjustment of the Speed Controller
Automatic Adjustment of the Speed Controller (Only at Operating with Motor Model)
Square Influence of the Controller Parameters
Operating State-Dependent Control Parameters
Determination of the Mass Moment of Inertia
Acceleration Dependent Pre-Control
Precontrol Reciprocal of Amplification / Filtering
Setpoint Smoothening
Torque Display and -Limiting
PT1 Output Filter
Torque Display and -Limiting
Maximum Voltage Controller, Voltage Limit
Physical Torque Limits ASM
Torque Limits in Base Speed Range
Physical Torque Limits DSM
Torque Limits in Base Speed Range (Dr.27, Dr.15)
Torque Limits in Base Speed Range
Determination of the Magnetizing Current Limit (Ds.13)
Definition of the Limiting Characteristic
Shifting of the Limiting Characteristic
Additionally Torque Limiting in the Field Weakening Range
Influence of the Current Limit
Adjustmentof Application-Dependent Torque Limits
Display of Actual Torque Values and Limits
Display of the Torque-Related Motor Load (Ru.90)
Mode 1: „Torque Reference Level" le 27 = 0
Mode 2: „Torque Reference Level" le 27 Unequal 0
Torque Control
Torque Reference Source
Rate of Change Torque Reference
Speed Limiting
Control Mode
Mode 1: Torque-Controlled Operation with Emergency Changeover to Speed Control
Mode 2: Torque-Controlled Mode with Superimposed Speed Control
Current Control, -Limiting and Switching Frequencies
Current Control
Current Limit
Current Limiting
Switching Frequencies and Derating
Switching Frequency (Uf.11, In.03, In.04, Ru.45)
Switching Frequencies (Uf.11, In.03, In.04, Ru.45)
Voltage Reserve for the Non-Prioritized Current Controller
Speed Measurement
Speed Measurement
Designs
Encoder Interface Channel 1 (X3A)
TTL Incremental Encoder Input (Standard at F5-M)
Resolver Evaluation (Standard at F5-S)
Encoder Interface Channel 2 (X3B)
Incremental Encoder Input
Incremental Encoder Output
Voltage Supply of the Encoder
Selection of Encoder
Encoder Identifier
Encoder Identifier
Initial Setting
Gear Factor
Definition
Gear Factor / Analog Setting
Gear Factor / Set-Programming
Emulation Mode
Absolute Position (Encoder 1)
Position Values
System Offset
Further Parameters / Encoder
SSI Encoder at Channel 1
SSI Encoder at Channel 2
SSI Position Standardization Channel 1 and 2 (Ec.41)
Tachometer at Channel 2
Evaluation Intelligent Interface
Encoder over Gear (Ec.39)
Consider Deceleration Times of the Position Sensing
Table of Contents
Limit Switch
Hardware Limit Switch
Software Limit Switch
Posi- and Synchronous Operation
Approach to Reference Point
Approach to Reference Point / Modes
Approach to Reference Point / Stopping Point
Approach to Reference Point / Stop at Zero Signal
Approach to Reference Point / no Driving Free
Approach to Reference Point / Limit Switch
Reference Point / Manual Setting
Reference Point / Valid Position
With Input Function "Set Reference Point
Approach to Reference Point / Stop at Index 0
Approach to Reference Point with Overdriving of the Reference Limit Switch
Approach to Reference Point with Subsequent Drive to Zero Signal
Position Reset in the Encoder
Synchronous Mode
Synchronous Mode / Principle
Synchronous Mode / Premise
Synchronous Mode / Position Normalisation
Synchronous Mode / Selection of Operating Mode
Synchronous Mode / Activation and Synchronization
Principle
Synchronization at Limit
Synchronization with Constant Path
Synchronization with Ramp
Gear Factor
Angular Correction
Angular Reset
Posi Mode
Selection of Operating Mode
Posi Mode / Principle
Posi Mode / Premise
Position Normalisation
Position Control by the Motor Encoder
Positioning by the Output
Speed and Position Control by Motor Encoder/ Encoder Mounting after Gear
Posi Mode / Actual Position
Posi Mode / Set and Target Position
Posi Mode / Single Positioning
Posi Mode / Sequential Positioning
Posi Mode / Positioning with Set Changeover
Posi Mode / Rotary Table
Rotary Table with Path Optimization
Rotary Table Without Path Optimization
Posi Mode / Defined Stop
Posi Mode / Remaining Distance Positioning
Posi Mode / Flying Referencing with Correction
Posi Mode / Start Positioning
Posi Mode / Inaccessible Positions
Posi Mode / Stop Positioning
Analog Position Setting
Analog Position Output
Target Window
Backlash
Position Scan
Teach Function
Functions and Displays for the Positioning Mode
Contouring Control Mode
Contouring Control Mode / Premises
Contouring Control Mode / Settings
Contouring Control Mode / Write / Read Data
Contouring Control Mode / Speed Precontrol
Contouring Control Mode / Watchdog
Contouring Control Mode / Example
Position Controller
Protective Functions
Error and Warning Messages
Bus Error
External Fault
Inverter over Temperature
Limit Switch Error
Motor Protection with Temperature Sensor
Overcurrent
Overload
Overvoltage
Underpotential
Encoder Interface / Encoder Error
Set Selection Error
General Power Circuit Error
Maximum Acceleration Exceeded
Phase Loss
Speed Controller Limit Reached
Speed Limit Exceeded
Response to Malfunction Messages
Selection of the Response
Parametrisation of the Abnormal Stopping
Automatic Restart
Undervoltage Error (E.UP)
Base Block
Fast Stop
Malfunction Messages and Pre-Warnings
Overcurrent Error (E.OC)
Overvoltage Error (E.OP)
Quick Stop in the V/F Characteristic Operation
Quick Stop at Closed-Loop Systems
Abnormal Stopping Via Control Word
S-Curve for Quick Stop Ramp
Speed Search
Time Monitoring Abnormal Stopping
Ramp Stop
Speed Search at Asynchronous Motors in Closed-Loop Operation Without Encoder
Speed Search in Closed-Loop Operation with Encoder
Speed Search in Open-Loop Operation
Current-Dependent Ramp Stop
DC Link Voltage-Dependent Ramp Stop
Electronic Motor Protection
Power-Off Function
Activation Via Digital Input
GTR7-Control
Activation Conditions
Adjustment of the Activation Threshold
Electrical Work Via GTR7
Special Functions
Parameter Sets
Non-Programmable Parameters
Security Parameters
System Parameters
Copying of Parameter Sets Via Keyboard (Fr.01)
Indirect and Direct Set-Addressing
Copying of Parameter Sets Via Bus (Fr.01, Fr.09)
Select Parameter Sets
Locking of Parameter Sets
Set Activation/Deactivation Delay (Fr.05, Fr.06)
DC-Braking
V/F Characteristic Control
Speed-Controlled Operation Without Feedback (ASCL)
Energy Saving Function
Motorpoti Function
Timer / Counter Programming
Brake Control
Mode Brake Control
Monitoring of the Brake Control
Sequence of the Brake Control
Brake Control / Vector Controlled
V/F Characteristic Controlled Operation
Sweep Generator
Diameter Correction
Analog Setting of Parameter Values
Register Function
Technology Control
The PID Controller
PID Setpoint
Pidactual Value
Application Examples
CP-Parameter Definition
Overview
Assignment of CP-Parameters
Example
Display Norm
Variable Norm
8 Error Assistance
Troubleshooting
General
Error Messages and Their Cause
9 Project Design
General Designs
Control Cabinet Design Calculation
Design of Braking Resistors
Cables and Fuses
10 Networks
Network Components
Available Hardware
RS232 Cable PC / Operator 00.58.025-001D
HSP5 Cable / Control Board 00.F5.0C0-0010
Interface Operator F5 00.F5.060-2000
Profibus-DP Operator F5 00.F5.060-3000
Interbus Operator F5 00.F5.060-4000 / 4001
Canopen Operator F5 00.F5.060-5010 / 5011
Sercos Operator 00.F5.060-6000
Bus Parameter
Baud Rate Ext. Bus (SY.07)
Baud Rate Int. Bus (SY.11)
Inverter Address (SY.06)
Response to E.bus (Pn.05)
Watchdog Time (Pn.06)
Auto Store (Ud.05), Auto Store State (Ud.04)
HSP5 Watchdog Time (SY.09)
Status and Control Word
Speed Setting Via Bus
11 Parameter Overview
Parameter
Parameter Groups
Characteristics of the F5-S in a Housing
The Following Parameters Are Available at A-Servo
The Following Parameters Are Not Available at A-Servo
Parameter List F5-A, -E and -H
12 Annex
Index
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Parameters, Parameter Groups, Parameter Sets
Download this manual
A P P L I C AT I O N M A N U A L
KEB COMBIVERT
Mat.No.
00F5AEA-K440
Rev.
1A
F5-A,-E,-H 4.4
Table of
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Chapters
Table of Contents
6
Control Units
22
Start-Up
52
Operating and Appliance Data
72
Analog In- and Outputs
98
Digital In- and Outputs
114
Setpoint, Rotation- and Ramp Setting
142
Motor Data and Controller Adjustments of the Asynchronous Motor
164
Motor Data and Controller Adjustments of the Synchronous Motor
202
Speed Control
228
Torque Display and -Limiting
240
Current Control, -Limiting and Switching Frequencies
262
Speed Measurement
268
Table of Contents
294
Table of Contents
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