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TMEIC TMdrive-30 Instruction Manual

Igbt inverter, igbt converter
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6 F 3 A 4 7 6 8
IGBT Inverter, IGBT Converter
TMdrive-30, TMdrive-P30
Instruction Manual
Oct, 2004
TOSHIBA MITSUBISHI-ELECTRIC
INDUSTRIAL SYSTEMS CORPORATION
© TOSHIBA MITSUBISHI-ELECTRIC
INDUSTRIAL SYSTEMS Corporation , 2004
All Rights Reserved.

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  • Page 1 6 F 3 A 4 7 6 8 IGBT Inverter, IGBT Converter TMdrive-30, TMdrive-P30 Instruction Manual Oct, 2004 TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS CORPORATION © TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS Corporation , 2004 All Rights Reserved.
  • Page 2 Maintenance, inspection, and adjustment of this equipment require specialized knowledge. Read this manual completely and carefully before using this equipment. Personnel who use this equipment should undergo specialized training provided by our TMEIC on a for-fee basis. Contact your TMEIC representative for details on training courses. — 1 —...

  • Page 3: Table Of Contents

    TMdrive-P30 Control Specifications (Speed sensor: Resolver) ..........24 2.3.6 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control) ........25 2.3.7 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control with Driving Multiple Motors)............................26 2.3.8 TMdrive-30 Control Specifications (V/f control) ................. 27 2.3.9 TMdrive-30 Control Specifications.....................
  • Page 4 3.5 P I/O Input/output ..........................84 3.5.1 P I/O Input..........................84 3.5.2 P I/O Output ..........................88 3.6 Transmission Between Drives ......................89 3.7 Motor Temperature Detection Circuit (TMdrive-30)................89 3.8 Analog Input/Output ..........................90 3.8.1 Analog Input ..........................90 3.8.2 Analog Output ........................... 92 3.8.2.1...
  • Page 5 Voltage Reference........................132 5.4.6 Speed Feedback ........................133 5.4.6.1 PLG.......................... 133 5.4.6.2 Resolver........................134 5.5 Optional Function According to Application (TMdrive-30) ..............135 5.5.1 Auto Field Weakening Control....................135 5.5.2 Torque Control ........................136 5.5.3 Sensor-less Vector Control ...................... 139 5.5.4 V/f Control..........................
  • Page 6 6.5 Recommended Spare Parts.......................155 6.6 Prohibition of Modifications ........................159 6.7 Movement............................159 6.8 Disposal..............................159 Data Control (Common to TMdrive-30 and TMdrive-P30) ..............160 7.1 Setting Data............................160 Fault and Recovery (Common to TMdrive-30 and TMdrive-P30)............161 8.1 Cautions when Handling Fault ......................161 8.2 Traceback............................162 8.3 How to Repair.............................163...

  • Page 7: Usage Notes

    6F3A4768 1 Usage Notes This equipment includes high-voltage components. To prevent electric shock, burns, or other injuries when using this equipment, and to maintain its performance, be sure to read this manual before using this equipment. Also, observe all warning labels attached to the equipment. marks have the following meanings: : Electric shock warning : Warning for safe work...
  • Page 8 6F3A4768 Notice (Green Label) [Warning Label Examples] These labels provide advice that can assure safe operation, can prevent errors and performance NOTICE degradation in the equipment, and can be useful in When operating or adjusting the preventing breakdowns. equipment and during maintenance/ inspections, be sure to observe the precautions noted in the User's Manual.

  • Page 9: To Prevent Electric Shocks

    6F3A4768 1.1 To Prevent Electric Shocks! The inverter (TMdrive-30) has 1250 V ac or more, Do not touch the inside panel or parts of the 1800 V dc or more and 200 V ac or 220/230 V ac equipment while the power is being applied circuits, and the converter (TMdrive-P30) has 1100 V or the motor is running.

  • Page 10: Tmdrive-30 Inspection And Maintenance And Recovery Procedures

    6F3A4768 1.2 TMdrive-30 Inspection and Maintenance and Recovery Procedures 1.2.1 Inspection and Maintenance Procedure (Power-off Procedure) Stop the (1) Stop the load equipment, and verify that all electrically powered equipment has equipment stopped completely. (2) Turn on the operation panel interlock switch by pressing it. Prohibit operation of the inverter on the hardware (safety or emergency stop switch, etc).

  • Page 11: Recovery Procedure (Power-On Procedure)

    6F3A4768 1.2.2 Recovery Procedure (Power-on Procedure) (1) Before turn on the power supply, check the DC power supply is off. (2) Check the recovery status of the sections that were disconnected for inspection and maintenance and the replaced parts (connector insertion status, conductor tightening status, etc.) (3) Release of the safety measures (grounding, etc).

  • Page 12: Tmdrive-P30 Inspection And Maintenance And Recovery Procedures

    6F3A4768 1.3 TMdrive-P30 Inspection and Maintenance and Recovery Procedures 1.3.1 Inspection and Maintenance Procedure (Power-off Procedure) (1) Check that all supplied inverters have stopped completely then turn off the "AC Stop the MAIN CIRCUIT BREAKER" switch on the automatic control panel to stop the equipment equipment and to turn off move the circuit breaker.

  • Page 13: Recovery Procedure (Power-On Procedure)

    6F3A4768 1.3.2 Recovery Procedure (Power-on Procedure) Before turn on the power supply, check the DC power supply is off. (2) Check the recovery status of the sections that were disconnected for inspection and maintenance and the replaced parts (connector insertion status, conductor Check tightening status, etc.) before...

  • Page 14: Operation

    Do not disconnect any unit during operation. 1.4.1 Normal operation of TMdrive-30 Normal operation through interface should be performed by the following procedure after confirming that the necessary interface signals are securely connected.

  • Page 15: Test Operation (Common To Tmdrive-30 And Tmdrive-P30)

    6F3A4768 1.4.3 Test operation Test operation can be done using the maintenance tool. Before performing test operation, check the following items: (1) Check that the necessary signals are securely connected. (2) Check that operation on the main unit side is off and the equipment is completely stopped. (3) Contact the person in charge of field operations and obtain permission for individual operations.

  • Page 16: When A Fault Occurs

    6F3A4768 1.5 When a Fault Occurs When a serious fault occurs, perform the following procedure to prevent further damage and to return the equipment to service as soon as possible. (1) Record the fault message displayed on the operation panel. <Standard type operation panel>...
  • Page 17 6F3A4768 Table 1.5.1 List of Fault Code Symbols Symbols Symbols Symbols Symbols 129 MPSF 208 UVS 301 SPA1 376 OL_A OCD_U 130 OVP 209 IL 302 SPA2 377 CL_TA OCD_V 131 OVN 210 P_SW 306 P_SW 378 GR_A OCD_W 132 OVP_B 211 QSTOP_FAULT 307 QSTOP_FAULT 379 PRE_F...

  • Page 18: Notes On Changing Parameter Settings

    6F3A4768 1.6 Notes on Changing Parameter Settings The setting data for this equipment is stored in EEPROM that is nonvolatile memory, as shown in Fig. 1.6.1. When the microcontroller is started (initialized) at power on the data in EEPROM is read as indicated by (1) and that data is copied without change to RAM as indicated by (2).

  • Page 19: Overview

    2 Overview 2.1 Introduction TMdrive-30 is a totally digital- and vector-controlled sine wave PWM inverter that performs highly precise and efficient variable speed control of AC motors with a small to medium capacity. Also, TMdrive-P30 is an IGBT converter that receives the AC power supply and converts it into the DC power for the IGBT inverter. This equipment is power supply system-friendly because it controls the input current as sin wave.

  • Page 20: Description Of Terminology

    A reversible converter also allows inverter operation but the converter connected on the power supply side is called a converter. Common converter DC main circuit power supply for TMdrive-30. This unit is used as common power supply. TMdrive-P30, TMdrive-T30, and TMdrive-D30 series are provided.

  • Page 21: Specifications Of Tmdrive-30 And Tmdrive-P30

    6F3A4768 2.3 Specifications of TMdrive-30 and TMdrive-P30 This section describes the features of TMdrive-30 and specifications of TMdrive-P30. 2.3.1 Features (1) High performance and high reliability Use of a large capacity IGBT improves the reliability, reduces the switching loss, and improves the control performance.

  • Page 22: General Specifications (Structure)

    6F3A4768 2.3.2 General Specifications (Structure) The general specifications (structure) of the equipment are shown in below. Table 2.3.1 General Specifications (Structure) (TMdrive-30, TMdrive-P30) Optional Item Standard specification Remarks specification Temperature: 0 to 40 ° C Humidity: 95% maximum If altitude is more...

  • Page 23: General (Electrical) Specifications

    6F3A4768 2.3.3 General (Electrical) Specifications The general (electrical) specifications for the equipment are shown in below. Table 2.3.2 General (Electrical) Specifications (TMdrive-30, TMdrive-P30) Item Standard specification Optional specification Control method 3-level PWM method Input voltage Output voltage See the detailed explanation in Capacity lineup 2.3.10, “Ratings.”...

  • Page 24: Tmdrive-30 Control Specifications (Speed Sensor: Plg)

    6F3A4768 2.3.4 TMdrive-30 Control Specifications (Speed sensor: PLG) The table below shows the TMdrive-30 control specifications when the speed sensor is PLG. Table 2.3.3 TMdrive-30 Control Specifications (Speed sensor: PLG) Item Standard specification Optional specification Required hardware None Output frequency range...

  • Page 25: Tmdrive-P30 Control Specifications (Speed Sensor: Resolver)

    6F3A4768 2.3.5 TMdrive-P30 Control Specifications (Speed sensor: Resolver) The table below shows the TMdrive-30 control specifications when the speed sensor is a resolver. Table 2.3.4 TMdrive-P30 Control Specifications (Speed sensor: Resolver) Item Standard specification Optional specification Output frequency range 0 to 120 Hz...

  • Page 26: Tmdrive-30 Control Specifications (Speed Sensor-Less Vector Control)

    6F3A4768 2.3.6 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control) The table below shows the TMdrive-30 control specifications for speed sensor-less vector control. Table 2.3.5 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control) Item Standard specification Optional specification Required hardware None Output frequency range 1.8 to 120 Hz...

  • Page 27: Tmdrive-30 Control Specifications (Speed Sensor-Less Vector Control With Driving Multiple Motors)

    6F3A4768 2.3.7 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control with Driving Multiple Motors) The table below shows the TMdrvie-30 control specifications for multiple motor drive speed sensor-less vector control. Table 2.3.6 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control with Driving Multiple Motors)

  • Page 28: Tmdrive-30 Control Specifications (V/F Control)

    6F3A4768 2.3.8 TMdrive-30 Control Specifications (V/f control) The table below shows the TMdrive-30 control specifications for V/f control. Table 2.3.7 TMdrive-30 Control Specifications (V/f control) Item Standard specification Optional specification Required hardware None Output frequency range 0.0 to 120 Hz 0.0 to 120Hz...

  • Page 29: Tmdrive-30 Control Specifications

    6F3A4768 2.3.9 TMdrive-30 Control Specifications The table below shows the TMdrive-P30 Control Specifications. Table 2.3.8 TMdrive-30 Control Specifications Item Standard specification Optional specification Basic control Voltage control method + power factor control + dp axis current control Voltage control AC input voltage effective value x...

  • Page 30: Ratings

    6F3A4768 2.3.10 Ratings Tables 2.3.9, 2.3.10 and 2.3.11 list the ratings in the TMdrive-30 and TMdrive-P30 standard specifications. Tables 2.3.12 and 2.3.13 list the ratings with over-load level in the TMdrive-30 and TMdrive-P30. Table 2.3.9 TMdrive-30 Ratings Table (Standard Specifications)
  • Page 31 1100Vac 1250Vac 1200Vac ± 10% 1150Vac 1100Vac ± 5% Diode 2×700Vac 1200Vac 1150Vac +10%/ − 0% 1250Vac 1200Vac Table 2.3.12 Ratings with over-load level (TMdrive-30) Rated AC current Frame voltage voltage Arms OL150% OL175% OL200% OL250% OL300% -60s -60s -60s...

  • Page 32: Protective Functions

    6F3A4768 2.3.11 Protective Functions Fig. 2.3.2 shows the protection schematic diagram of TMdrive-30. Fig. 2.3.3 shows the protection schematic diagram of TMdrive-P30. The equipment is protected not only by current and voltage signals but also by protection detection in the control circuit.
  • Page 33 6F3A4768 PRE-CHARGE C_FN_T CIRCUIT C_FN Thermal switch PRE-CHARGE CIRCUIT OH_T Gate Control Board OVP,N OL5, OL20 F_PRE UVP,N OL_A GDM_F PRE_F F_GND TOSLINE-S20 Limit TL_F GR_T CP_PSF CL_T CL_TA Main Control Fig. 2.3.3 TMdrive-P30 Protection System Diagram — 32 —...

  • Page 34: Current-Related Protection

    The standard setting is CL = 60.0 (s). This function provides an alarm. A current limit alarm (CL_TA) is detected at TIME_CL x 80%. (5) Low frequency overload STALL (TMdrive-30) This is detected when large load is applied at low frequency.

  • Page 35: Voltage Protection

    Activated when the DC voltage supply drops below the setting value. The standard setting is DC undervoltage (UVP, UVN) detection level = 50.0%. 2.3.11.3 Motor Speed Protection (TMdrive-30) (1) Overspeed Overspeed is detected when the motor speed exceeds the preset speed.

  • Page 36: Protection Associated With Motor And Break (Tmdrive-30)

    A fuse is provided on the grounding circuit to prevent damage expansion at grounding accident occurrence. A blown fuse is detected by the microswitch. 2.3.11.5 Protection Associated with Motor and Break (TMdrive-30) (1) Motor overheat M_OH,M_OH_A When a temperature sensor is provided (optional) for the motor, temperature is detected to protect the motor.

  • Page 37: Operation-Related Protection

    GR_T signal is activated after an elapse of time specified by the TIME_GR timer. The standard setting is TIME_GR = 0.1 (s). Table 2.3.14 and Table 2.3.15 show the main protective functions of TMdrive-30 and TMdrive-P30 respectively. *1 and *2 in the tables represent the following notes.
  • Page 38 6F3A4768 Table 2.3.14 Main Protective Functions of TMdrive-30 Detection *1 Linked operations *2 Medium Minor Major fault Item Abbreviation Related setting fault fault Hardware Software Coast Stop Alarm stop stop request AC overcurrent $CP_OCA DC overvoltage (P,N) OVP, OVN $CP_OV...
  • Page 39 6F3A4768 Table 2.3.15 Main Protective Functions of TMdrive-P30 Detection *1 Linked operations *2 Medium Minor Major fault fault fault Item Abbreviation Related setting Hardware Software Current Gate block Stop input Alarm stop request breaker trip AC overcurrent $CP_OCA DC overvoltage OVP, OVN $CP_OV DC overcurrent...

  • Page 40: Product Code

    Products codes are explained as follows. 2.4.1 TMdrive-30 The configuration of product code used for TMdrive-30 is shown below. First 9 letters are shown on the inverter rated plate. See the schematic diagrams for optional functions. Table 2.4.1 Product Code...

  • Page 41: Tmdrive-P30

    6F3A4768 2.4.2 TMdrive-P30 The configuration of production code used for TMdrive-P30 is shown below. First 9 letters are shown on the inverter rated plate. See the schematic diagrams for optional functions. Table 2.4.2 Products Code Column 1 10 11 V T 3 1 ~ 4 7 ~ 9 Model...

  • Page 42: Interface

    Fig. 3.1.1 shows the recommended grounding circuit of TMdrive-30 and TMdrive-P30 with associated units. TMdrive-30 and TMdrive-P30 are normally used together and the common DC bus bar is used to connect between these two drive units. In this configuration, ground bus bar is also provided to connect between them.
  • Page 43 6F3A4768 Transformer Coupling Frame E Terminal box E Separation plate c) Connect the terminal Machine box ground terminal and frame ground terminal d) For a single-core Motor with a cable b) Shield of the main cable, connect the circuit cable shield of each phase.

  • Page 44: Motor Interface (Tmdrive-30)

    Class C Under 10 Ω PLC, control system grounding 3.2 Motor Interface (TMdrive-30) When connecting to the motor, use a shielded cable and be sure to connect it to the grounding conductor on both the drive unit side and motor side.

  • Page 45: Speed Sensor Interface (Tmdrive-30)

    6F3A4768 3.3 Speed Sensor Interface (TMdrive-30) A pulse generator (PLG) or resolver is used as speed detector. At this time, note that the model of the XIO circuit board may vary depending on the type of sensor. ARND-3120A: PLG or sensor-less vector control ARND-3120B: Resolver or sensor-less vector control 3.3.1 PLG Interface (Differential Type)

  • Page 46: Resolver Interface

    6F3A4768 3.3.2 Resolver Interface When the high-performance vector control (optional) is specified, a resolver is connected to this equipment. An optimal type is selected depending on the rated motor RPM from those shown in Table 3.3.1. (Either 1 kHz excitation or 4 kHz excitation) Table 3.3.1 Resolver Types Rated RPM 1000 min-1 or less (4x)
  • Page 47 6F3A4768 Drive unit ARND-3120B/C/D Drive unit ARND-3120B/C/D Exsin EXcos Exsin EXcos Resolver Resolver Relay Relay Bl Wh Ye Wh Gr Wh Re Wh Terminal Terminal Bl Wh Ye Wh Gr Wh Re Wh S1 S3 R1 R3 R2 R S1 S3 R1 R3 R4 R Resolver TS2118N24E10...

  • Page 48: Sensor-Less Vector Control

    6F3A4768 3.3.3 Sensor-less Vector Control In this control, no speed sensors are required. Either of the following two XIO circuit board types is used. ARND-3120A: PLG or sensor-less control ARND-3120B: Resolver or sensor-less control The following cautions must be observed when using the sensor-less vector control. (1) PLG pulse signals obtained using the vector control with sensor cannot be obtained with sensor-less vector control.

  • Page 49: Speed Pulse Signal Output (Single End Type)

    6F3A4768 3.3.4 Speed Pulse Signal Output (Single end type) When the resolver or PLG is used, the speed signal can be output as pulse signal. (These pulse signals cannot be output in the sensor-less vector control.) Fig. 3.3.3 shows the PLG pulse output circuit. The power for pulses is supplied from an external power supply.

  • Page 50: Serial Transmission

    6F3A4768 3.4 Serial Transmission In addition to P-I/O, this drive equipment also supports serial data transmission using a transmission unit. The TMdrive-10 can be set up to use one, the other, or both of these techniques. The serial data transmission unit provides an interface with upstream programmable controllers (PLC units).
  • Page 51 6F3A4768 Table 3.4.2 Overview of ISBus ISBus Maximum number of stations Master or drive station: 32 units Scan memory words 10 words send and receive/unit Transmission speed of scan Maximum 5Mbps transmission Frame size of message 128 bytes transmission Table 3.4.3 Overview of DeviceNet DeviceNet Maximum number of stations Master or drive station: 64 units...

  • Page 52: Tosline-S20 Specifications

    6F3A4768 3.4.2 TOSLINE-S20 Specifications Two types of TOSLINE-S20 are available depending on the connector type. As shown below, TOSLINE-S20 with the standard specifications uses F07-type optical connector. Table 3.4.5 shows the standard specifications. Table 3.4.5 TOSLINE-S20 Hardware Specifications TOSLINE-S20 transmission board type Item ARND-8213A, 8217A ARND-8110A, 8213D, 8217D...

  • Page 53: Scan Transmission

    6F3A4768 3.4.2.2 Scan Transmission This transmission system transmits data at specified intervals (at regular time). The drive unit contains inputs and outputs. The input is command inputs, such as speed reference and sequence signals from the PLC. The output is used to transmit actual speed and current values from the drive unit to host control or monitor units, such as PLC.
  • Page 54 6F3A4768 Memory allocated to Drive-1 Input 6 W Control circuit Send Transmission Output 10 W Receive Memory allocated to Drive-2 Input 6 W FC Connector Output 10 W Memory allocated to Drive-n Input 6 W TOSLINE-S20 Output 10 W ASC25 System master equipment Memory allocated to Drive-1 Input 6 W...
  • Page 55 6F3A4768 ARND-8110 TL-S20 Master TL-S20 Slave ARND-8213 (PLC) Drive Equipment ARND-8217 Common Memory $SCAN_R_ADRS+0 Optional Address defined by $SCAN_RCV01_AS Common Memory $SCAN_R_ADRS+1 Optional Address defined by $SCAN_RCV02_AS Common Memory $SCAN_R_ADRS+2 Optional Address defined by $SCAN_RCV03_AS Common Memory $SCAN_R_ADRS+3 Optional Address defined by $SCAN_RCV04_AS Common Memory $SCAN_R_ADRS+4 Optional Address defined by $SCAN_RCV05_AS Common Memory $SCAN_R_ADRS+5...
  • Page 56 6F3A4768 ARND-8110 TL-S20 Master TL-S20 Slave ARND-8213 (PLC) Drive Equipment ARND-8217 Common Memory $SCAN_R_ADRS+0 Optional Address assigned by $SCAN_RCV01_AS Common Memory $SCAN_R_ADRS+1 Optional Address assigned by $SCAN_RCV02_AS Common Memory $SCAN_R_ADRS+2 Optional Address assigned by $SCAN_RCV03AS Common Memory $SCAN_R_ADRS+3 Optional Address assigned by $SCAN_RCV04_AS Common Memory $SCAN_R_ADRS+4 Optional Address assigned by $SCAN_RCV05_AS Common Memory $SCAN_R_ADRS+5...
  • Page 57 6F3A4768 Table 3.4.6 shows the parameter settings. Since these settings may greatly affect operation of the entire system, the settings must be determined by taking the configuration of the entire PLC system into consideration. For details of settings, see the instruction manual for parameters and actually set data. Table 3.4.6 Transmission Parameter Settings Data name Application...

  • Page 58: Isbus Transmission Specifications

    6F3A4768 3.4.3 ISBus Transmission Specifications ISBus hardware specifications are shown in below. Table 3.4.7 ISBus Hardware Specifications Item ISBus transmission board type ARND-8204A Connector type RJ45 Connector Cable Shielded twisted pair cable specification Bus scan time Number Bus scan time [ms] of node 2 ~ 4 5 ~ 8...

  • Page 59: Scan Transmission

    6F3A4768 3.4.3.2 Scan Transmission This transmission system transmits data at specified intervals (at regular time). There are inputs and outputs as drive equipment. Inputs are command input of the speed reference and the sequence signal from PLC etc. Outputs are used for transmission of the actual value of speed and current, etc. from drive equipment to control / surveillance apparatus of upper side, such as PLC.
  • Page 60 6F3A4768 ISBus Master PLC etc. ARND-8204 Heartbeat ISBus Slave Drive Equipment Transmission 1 SSEQ_OUT2 Address defined by $SCAN_WR01_AS ex.) SSEQ_OUT1, 2, 4 SP_LMT SP_LMT SSEQ_OUT_BIT0 SSEQ_OUT_BIT0 READY READY RNTD RNTD FLDR FLDR FAULT FAULT ALARM ALARM SSEQ_OUT_BIT3 SSEQ_OUT_BIT3 SSEQ_OUT_BIT2 SSEQ_OUT_BIT2 SSEQ_OUT_BIT1 SSEQ_OUT_BIT1 Transmission Inp.
  • Page 61 6F3A4768 Table 3.4.8 shows the parameter settings. Since these settings may greatly affect operation of the entire system, the settings must be determined by taking the configuration of the entire PLC system into consideration. For details of settings, see the instruction manual for parameters and actually set data. Table 3.4.8 ISBus Transmission Parameter Settings Data name Application...

  • Page 62: Devicenet Transmission Specifications

    6F3A4768 3.4.4 DeviceNet Transmission Specifications DeviceNet hardware specifications are shown in below. Table 3.4.9 DeviceNet Hardware Specifications Item DeviceNet transmission board type ARND-8127A Connector type Plug-in connector (open type) Cable specification Trunk line One pair of twisted signal (#18): Blue/White One pair of twisted power source (#15): Black/Red Foil/stitch shielded drain wire (#18):...
  • Page 63 6F3A4768 DN311 or DN311A(Scaner) Power DC 24 V Drop cable T-PDS Tool Trunk cable Drive equipment ARND-8127A Drive equipment ARND-8127A Fig. 3.4.8 Examples of DeviceNet Connection — 62 —...

  • Page 64: Scan Transmission

    6F3A4768 3.4.4.2 Scan Transmission This transmission system transmits data at specified intervals (at regular time). There are inputs and outputs as drive equipment. Inputs are command input of the speed reference and the sequence signal from PLC etc. Outputs are used for transmission of the actual value of speed and current, etc. from drive equipment to control / surveillance apparatus of upper side, such as PLC.
  • Page 65 6F3A4768 DeviceNet Master DeviceNet slave PLC etc. Drive equipment ARND-8127 SSEQ_OUT1 Sequence output Address defined by $SCAN_WR02_AS ex.) SSEQ_OUT1, 2, 4 RNTD FLDR C_FN READY SP_LMT RNTD FLDR *1) Indefinite value (Do not use At At Reference Reference) Ref From Net *2) BIT 6: Net Ref of Command input Ctrl From Net FAULT...
  • Page 66 6F3A4768 Fig. 3.4.11 Fig. 3.4.12 The sending and receiving contents in the case of 4W/10W mode are shown in . As for the first word, sending and receiving perform bit transmission inside a transmission board. The contents of transmission of DeviceNet master (PLC) are based on DeviceNet specification Volume II Release 1.2 Instance 23 and 73.
  • Page 67 6F3A4768 DeviceNet Master DeviceNet slave PLC etc. Drive equipment ARND-8127 SSEQ_OUT1 Sequence output Address defined by $SCAN_WR02_AS ex.) SSEQ_OUT1, 2, 4 RNTD FLDR READY C_FN SP_LMT RNTD FLDR *1) Indifinite value (Do not use At At Reference Reference) Ref From Net *2) BIT 6: Net Ref of Command input Ctrl From Net FAULT...
  • Page 68 6F3A4768 Table 3.4.10 and Table 3.4.11 show the parameter settings. Since these settings may greatly affect operation of the entire system, the settings must be determined by taking the configuration of the entire PLC system into consideration. For details of settings, see the instruction manual for parameters and actually set data. Table 3.4.10 Transmission Parameter Settings 4W/4W Mode DeviceNet...
  • Page 69 6F3A4768 Table 3.4.11 4W/10W Mode DeviceNet Transmission Parameter Settings Class Data name Application Setting value example Explanation Transmission mode DeviceNet Transmission $COMM_TYPE 2200 H selection Transmission between Do not use $FLG_DSCAN drive units Own station No. Fixed $TL_SELF_NO PLC station No. Fixed $TL_PC_NO Cycle time...

  • Page 70: Profibus Transmission Specifications

    6F3A4768 3.4.5 PROFIBUS Transmission Specifications PROFIBUS hardware specifications are shown in below. Table 3.4.12 PROFIBUS Hardware Specifications Item PROFIBUS transmission board type ARND-8130A Connector type 9 pin D-Sub connector Shielded twisted pair copper wire cable type A Cable Resistance 135 ~ 165 Ω Capacitor specification 30 pf/m...

  • Page 71: Scan Transmission

    6F3A4768 3.4.5.2 Scan Transmission This transmission system transmits data at specified intervals (at regular time). There are inputs and outputs as drive equipment. Inputs are command input of the speed reference and the sequence signal from PLC etc. Outputs are used for transmission of the actual value of speed and current, etc. from drive equipment to control / surveillance apparatus of upper side, such as PLC.
  • Page 72 6F3A4768 PROFIBUS Master PROFIBUS slave PLC etc. Drive equipment ARND-8130 SERSEQDATA1 Address defined by $SCAN_RCV01_AS ex.) SERSEQDATA1, 2, 4 R_TEN SPA1 BRTST EXRST EXRST R_TEN PZD2 Optional address defined by $SCAN_RCV02_AS PZD3 Optional address defined by $SCAN_RCV03_AS PZD4 Optional address defined by $SCAN_RCV04_AS PZD5 Optional address defined by $SCAN_RCV05_AS PZD6...
  • Page 73 6F3A4768 Table 3.4.13 shows the parameter settings. Since these settings may greatly affect operation of the entire system, the settings must be determined by taking the configuration of the entire PLC system into consideration. For details of settings, see the instruction manual for parameters and actually set data. Table 3.4.13 PROFIBUS Transmission Parameter Settings Class Data name...

  • Page 74: Sequence Input/Output

    6F3A4768 3.4.6 Sequence Input/Output 3.4.6.1 Sequence Input The first input data of transmission is specified to sequence data input, then set SERSEQDATA1, SERSEQDATA2 or SERSEQDATA4. Table 3.4.14 ~ Table 3.4.16 show the bit signals of each sequence input. In general, a value of 1 indicates either the normal or the operating state, and 0 indicates either an error or stopped.
  • Page 75 6F3A4768 Table 3.4.15 SERSEQDATA2 Bit Signals Signal name Contents 15 QSTOP Emergency Stop command 1: Emergency Stop Off while running causes a emergency deceleration stop 14 UVS External safety switch 1: Operation permitted, contactor closed Off while running causes a coast stop 13 EXT Startup command 1: Startup command...
  • Page 76 6F3A4768 Table 3.4.16 SERSEQDATA4 Bit Signals Signal name Contents 15 N.U. Not used Heart beat (transmission Periodical rectangular wave signals 14 HB healthy) Field excitation command 1: Field excitation command (when EXT is off) 13 FLD Brake command 1: Brake release command 12 B 11 SC_PPI Speed control P/PI change...

  • Page 77: Sequence Output

    6F3A4768 3.4.6.2 Sequence Output The first output data of transmission is specified to sequence data output, then set SSEQ_OUT1, SSEQ_OUT2 or SSEQ_OUT4. Table 3.4.17 ~ Table 3.4.19 show the bit signals of each sequence output. Generally, “1” indicate correct or operating state while “0” indicates error or stop state. Table 3.4.17 SSEQ_OUT1 Bit Signals Signal name Contents...
  • Page 78 6F3A4768 Table 3.4.19 SSEQ_OUT4 Bit Signals Signal name Contents Heart beat (transmission healthy) Periodic rectangular wave signals FAULT Critical fault 1: Critical fault ALARM Slight fault 1: Slight fault R_LMT Reverse limit 1: Reverse limit Discontinuation detecting 1: Discontinuation detected READY Operation ready 1: Operation ready...

  • Page 79: Optional Sequence Output

    6F3A4768 3.4.6.3 Optional Sequence Output Table 3.4.20 shows the optional sequence outputs Table 3.4.20 DT_WR_SEQ Bit Signals Signal name Contents N.U. Not used R_LIMIT_ Reversing limit 0: Limit detection F_LIMIT_ Forwarding limit 0: Limit detection N.U. Not used N.U. Not used N.U.

  • Page 80: Serial Input/Output Signals

    6F3A4768 3.4.7 Serial Input/Output Signals 3.4.7.1 Serial Input Signals Table 3.4.21 shows examples of names of data to be input through the serial communication. Table 3.4.21 Interface Data Examples (Input) Data name 100%-count Functions SP_REF1 25000 Speed reference 1 SP_REF2 25000 Speed reference 2 SP_REFA1...

  • Page 81: Serial Output Signals

    6F3A4768 3.4.7.2 Serial Output Signals Signals that can be output through serial transmission are shown below: Table 3.4.22 Interface Data Examples (Output) Data name 100%-count Functions SP_F_OUT 25000 Speed feedback for control use T_R_OUT 4000 Torque reference for control use I1_F_DSP 4000 Motor primary current feedback for monitoring...

  • Page 82: Message Transmission

    6F3A4768 3.4.8 Message Transmission This transmission system transmits data among specified stations at irregular time. This system is applicable to transmission of a lot of data, such as trace-back data if a fault occurs. This transmission system is optional system specifications. 3.4.9 Transmission Error Detection Table 3.4.23 shows the transmission error items.
  • Page 83 6F3A4768 Table 3.4.24 Transmission Error Detection Function in the Combination with each Transmission Board Item TL-S20 ISBus DeviceNet PROFIBUS TL_F1 TL_F2 TL_F3 TL_F4 — — — Transmission between drives is not supported If SCAN_RCV01_AS to SCAN_RCV10_AS for designation of application are set at “Not used” ("DUST") or if TL_OP1_ST to TL_OP4_ST are set at “0”, the transmission error is not detected.

  • Page 84: Heartbeat

    6F3A4768 3.4.9.1 Heartbeat Heartbeat (signal name: HB) is assigned to the following sequence input and output. The heartbeat signal is a signal which circulates between a master station and drive equipment station while turning on and turning off. The drive equipment detects TL_F3 when this signal does not change more than a fixed period. Receiving heartbeat (From master station to drive equipment): Bit 2 of sequence input SERSEQDATA1, 2, 4.

  • Page 85: P I/O Input/Output

    6F3A4768 3.5 P I/O Input/output 3.5.1 P I/O Input A total of 8 (DI0 to DI7) photo-coupler input buffers (PC) are provided as external hardware signal inputs. To obtain needed bit information, DI1 to DI7 are specified by 2 parameters. Selectable DI signals are assigned to DI_EX1 to DI_EX4 bits shown on the following pages.
  • Page 86 6F3A4768 Table 3.5.2 DI_EX1 (P I/O Input Allocation) TMdrive-3 TMdrive-P3 Signal name Contents External interlock 1: Operation permitted Off while running causes a coast stop External safety switch 1: Operation permitted, contactor closed Off while running causes a coast stop Startup command 1: Startup command Off while running can be selected either a...
  • Page 87 6F3A4768 Table 3.5.3 DI_EX2 (P I/O Input Allocation) Signal name Content TMdrive-30 TMdrive-P3 N.U. Not used N.U. Not used N.U. Not used SPA4 Spare 4 SPA3 Spare 3 SPA2 Spare 2 BLA_ AC Circuit breaker N.U. Not used OH_ACL_ ACL overheating...
  • Page 88 6F3A4768 Table 3.5.1 DI_EX3 (P I/O Input Allocation) Signal name Description TMdrive TMdrive -P30 15 QSTOP Emergency stop command Emergency stop command when 14 UVS External safety switch Operation enabled when 1 13 EXT Start command Start command when 1 12 CM_BUF1 Command buffer bit 1 11 CM_BUF2...

  • Page 89: P I/O Output

    6F3A4768 3.5.2 P I/O Output A desired signal of the sequence data of the results processed inside the equipment can be output from the input/output circuit board (ARND-3120). Entering data name including the sequence signal you want to output into $DOn_AS and setting the bit specification of sequence signal to $DOn_BN, you can assign the sequence signal (n = 0 to 5).

  • Page 90: Transmission Between Drives

    The operation is controlled so that two units are balanced. According to the signals from both units, the speed of a unit, to which a larger load is applied, is reduced to ensure balanced operation. 3.7 Motor Temperature Detection Circuit (TMdrive-30) (1) Platinum temperature sensor (ST-3A type, 1 kΩ) The figure below shows the motor temperature detection circuit.

  • Page 91: Analog Input/Output

    6F3A4768 Analog Input/Output 3.8.1 Analog Input The equipment is provided with 2 general-purpose analog input channels (AIN1, AIN2). An analog signal is input from the external terminal block board (ARND-3120) and converted to a digital value through a 12-bit A/D converter. A ±10 V input is converted to count −2047 to 2047, and then data is subjected to gain ($AINn_GS) and offset ($AINn_OS) processing by software and is stored in the target data register with its storage destination signal name ($AINn_AS) specified.
  • Page 92 6F3A4768 <Example 2> When 4-20 mA is used for speed reference signal to enter from AIN1. Setting Jumpers “JP1A to Open” and “JP1B to Close”, 20 mA when entered corresponds to about 10 V output. On the other hand, 4 mA input corresponds to 2 V output and thus set Gain and Offset so that 4 mA input corresponds to 0 reference and 20 mA to 25000 count.

  • Page 93: Analog Output

    6F3A4768 3.8.2 Analog Output 3.8.2.1 General-purpose Analog Output Three channels, AOUT1 to AOUT3, are provided as general-purpose analog outputs. These general-purpose analog outputs are output from the terminal circuit board (ARND-3120). You can select the output data from the menu shown in Table 3.8.1. This is done by specifying the desired data code to the setting parameters $AUTO1_CODE to $AOUT3_CODE.
  • Page 94 6F3A4768 To output signals not listed in the table above, select 0 as code number and set data name, D/A gain and offset in accordance with the channel. $AOUTn_CODE: Set 0 $AOUTn_OP_AS: AOUTn Data name $AOUTn_OP_GS: AOUTn D/A conversion gain $AOUTn_OP_OS: AOUTn Offset n: 1 to 3...

  • Page 95: Measurement Analog Output

    6F3A4768 3.8.2.2 Measurement Analog Output Five channels, D/A1 to D/A5, are provided as measurement analog outputs, and these are outputs from the CTR board (ARND-3110). The configuration is shown below. Output data, gain and offset can be set on the PC screen.

  • Page 96: Options (Tmdrive-30)

    6F3A4768 Options (TMdrive-30) 3.9.1 Motor Mounted Fan Circuit It is also possible to manufacture a motor mounted fan circuit as an option or house it in the equipment. When using it, be sure to check the rotation direction of the fan and change its phase rotation if necessary.

  • Page 97: Structure

    6F3A4768 Structure The dimensions of TMdrive-30 are shown in Section 4.1. The dimensions of TMdrive-P30 are shown in Section 4.2. 4.1 Dimensions of TMdrive-30 1500, 2000 frames Approximate mass: 1300kg Control panel Inverter panel 2300 1200 Fig. 4.1.1 1500, 2000 frames...

  • Page 98: Dimension Of Tmdrive-P30

    6F3A4768 Dimension of TMdrive-P30 2000 frames Approximate mass: 1600kg Pre-charge panel Control panel Converter panel 2300 1200 Fig. 4.2.1 2000 frames 4000 frames Approximate mass: 2600kg Pre-charge panel Converter panel Control panel Converter panel (slave) (master) 2300 1200 1200 Fig. 4.2.2 4000 frames <Notes>...

  • Page 99: Operation Panel

    6F3A4768 4.3 Operation Panel The standard type operation panel is shown in Fig. 4.3.1. The LED display consists of 7 segments x 3 characters. The model name, software number, operation data, operation preparation indication and FI (First Fault) are displayed with their abbreviations and numeric values. Fig.
  • Page 100 6F3A4768 Fig. 4.3.3 shows the overall screen transitions. Screen switching basically takes place at three-minute intervals. Pressing FAULT REST for five seconds triggers one operation. When the power supply is turned on, the model name and software version are displayed for three seconds, respectively.

  • Page 101: Equipment Model Name/Software Version Display

    The display items are described below. 4.3.1 Equipment Model Name/Software Version Display When power is turned on, the model name and the lower three digits of the software version are displayed. (Inverter) (Converter) Equipment Model Name: TMdrive-30 Equipment Model Name: TMdrive-P30 “30” “P30” Software version: Software version: “01A”...

  • Page 102: Operation Preparation Display

    6F3A4768 4.3.3 Operation Preparation Display When the “READY” condition is unsatisfied, an unsatisfied sequence signal code number (three digits) is displayed. The title “PI-“ and up to four code numbers are displayed cyclically. For example, if there are two unsatisfied signals, three screens are displayed cyclically. See Table 1.5.1 for code Nos.

  • Page 103: First Fault) Display

    6F3A4768 4.3.4 FI (FIrst fault) Display When a FAULT occurs, the fault sequence signal numbers (3 digits) for the faults that occurred within 10ms after the first fault occurrence are displayed in order of occurrence (faults that occurred after 10ms are not displayed).

  • Page 104: Software Resetting Operation

    6F3A4768 4.3.7 Software Resetting Operation Pressing “FAULT RESET” longer than 15 seconds in the Display mode when the electric condition (UV) is off will set the Software Reset Operation screen following on the operations in 4.3.5 and 4.3.6. In software resetting, initialize the system as in POWER-ON resetting while the power is turned on. By this, setting changes that need initialization and initialization of the TOSLINE-S20 Transmission Option Boards (ARND-8217) can be executed by panel operation without shutting down the power.

  • Page 105: Software Error Display

    6F3A4768 4.3.8 Software Error Display When power is turned on, the software in the FLASH memory is checked. If an error is detected, software error display appears. When “Software Error” is displayed, the main control functions will not operate, disabling transmission and connection of adjustment tools.

  • Page 106: Operation

    6F3A4768 Operation 5.1 Main Circuit Operation 5.1.1 Main circuit Operation of Two-level Inverter Fig.5.1.1 shows the main circuit operation for one-phase (U-phase) of the two-level inverter. IGBTU IGBTU Virtual neutral Virtual neutral point point Virtual 0 V Virtual 0 V IGBTX IGBTX a) IGBTU is on (positive current)
  • Page 107 6F3A4768 (1) When positive current is flowing into the motor: When flowing the positive current, two states a) and b) are controlled by the on/off control of the IGBTU and IGBTX to control the voltage output from the U-phase. a) IGBTU is on. (IGBTX is off.) IGBTU is on and IGBTX is off.
  • Page 108 6F3A4768 IGBTU on IGBTX on Regular cycle a) 0 V output b) + (positive) output c) - (negative) output Fig. 5.1.2 Average Output Voltage Fig. 5.1.3 PWM Waveform — 107 —...

  • Page 109: Two-Level Converter Operation

    6F3A4768 5.1.2 Two-level Converter Operation Fig. 5.1.4 shows the main circuit operation for one-phase (U-phase) of the two-level converter (TMdrive-P10). This figure shows the main circuit operation for one-phase (U-phase) of the converter when DC voltage is 680V. IGBTU IGBTU 340V 340V Virtual neutral point...
  • Page 110 6F3A4768 (1) When positive current flows in the power supply (motor running) By controlling two states a) and b) by turning on/off IGBT and IGTX, output voltage from U-phase is controlled. a) IGBTU is turned on (IGBTX off) IGBTU turns on and IGBX turns off. If the DC voltage is lower than the power supply voltage, the current flows into the DC capacitor through the diode.

  • Page 111: Main Circuit Operation For Three-Level Inverter

    6F3A4768 5.1.3 Main Circuit Operation for Three-level Inverter Fig. 5.1.5 and Fig. 5.1.6 show the main circuit operation for the three-level IGBT inverter. P(+900V) N(-900V) (1) When Q1 and Q2 are ON (positive current) P(+900V) P(+900V) N(-900V) N(-900V) (2) When Q2 and Q3 are ON (positive current) (3) When Q3 and Q4 are ON (positive current) Fig.
  • Page 112 6F3A4768 P(+900V) N(-900V) (4) When Q1 and Q2 are ON (negative current) P(+900V) P(+900V) N(-900V) N(-900V) (5) When Q2 and Q3 are ON (negative current) (6) When Q3 and Q4 are ON (negative current) Fig. 5.1.6 Main Circuit Operation for Three-level Inverter —...
  • Page 113 6F3A4768 In the three-level inverter, three levels of voltage (P-potential, C-potential, and N-potential) can be output by turning on/off four IGBTs from 01 (IGBT1) to 04 (IGBT4). Fig. 5.1.7 shows the inverter output (phase) voltage waveform and IGBT status. Fig. 5.1.8 shows the output voltage (rectangular wave) and average voltage (sine wave) of the inverter.

  • Page 114: Three-Level Converter Operation

    6F3A4768 5.1.4 Three-level Converter Operation Fig. 5.1.9 and Fig.5.10 show the main circuit operation principle for the three-level IGBT converter. P(+900V) Power supply N(-900V) (1) When Q1 and Q2 are ON (positive current) P(+900V) P(+900V) Power supply Power supply N(-900V) N(-900V) (2) When Q2 and Q3 are ON (positive current) (3) When Q3 and Q4 are ON (positive current)
  • Page 115 6F3A4768 P(+900V) Power supply N(-900V) (4) When Q1 and Q2 are ON (negative current) P(+900V) P(+900V) Power supply Power supply N(-900V) N(-900V) (5) When Q2 and Q3 are ON (negative current) (6) When Q3 and Q4 are ON (negative current) Fig.

  • Page 116: Main Circuit Configuration Of Tmdrive-30

    ARND-3110D Extended transmission grandchild board is common with TMdrive-10 Fig. 5.2.1 Wiring Diagram of TMdrive-30 Control (Single:1500kVA, 2000kVA) The main circuit is composed of a capacitor and an inverter that converts the DC power into AC power. Basically, the capacitor is intended to temporarily store reactive power of the induction motor. The IGBT unit consists of three phase IGBT stacks, and the output power is supplied to the motor.

  • Page 117: Twin-Drive (2X1500Kva, 2X2000Kva)

    (ISBus) Resolver Sensor-less ARND-8204A (Profibus) (optional) (DeviceNet) (optional) Display Window version support tool control Tool transmission Main control board ARND-3110D Extended transmission grandchild board is common with TMdrive-10 Fig. 5.2.2 Wiring Diagram of TMdrive-30 Control (2x1500kVA, 2x2000kVA) — 116 —...

  • Page 118: Main Circuit Configuration Of Tmdrive-P30

    6F3A4768 Main Circuit Configuration of TMdrive-P30 5.3.1 Single Converter (1700kW) The main circuit configuration of TMdrive-P30 is described below. As shown in Fig. 5.3.1, 1100Vac is input through the input transformer. IGBT converts this 1100Vac to 2x900Vdc, which is then supplied to the IGBT inverter from a common bus at the bottom of the enclosure.

  • Page 119: Twin Converter (2X1700Kw)

    6F3A4768 5.3.2 Twin converter (2x1700kW) The twin-converter consists of two pairs of converter main circuits that are connected in parallel, as shown in Fig. 5.3.2. IGBT converts the input power to 2x900Vac, which is then supplied to the IGBT inverter from a common bus at the bottom of the enclosure.

  • Page 120: Control Circuit Tmdrive-30

    6F3A4768 5.4 Control Circuit TMdrive-30 Fig. 5.4.1 shows the TMdrive-30 control block diagram. $ mark shows a setting parameters. $ mark is only for reference and the actual parameter does not include $. These parameters must set properly. Speed Speed...

  • Page 121: Speed Reference

    6F3A4768 5.4.1 Speed Reference An external speed reference with 25000 counts/100% weighing is input to SP_REF1 through the serial transmission or analog input, and then the rate and limit processes are performed to output the SP_R signal. The speed reference signal is positive for forward rotation and negative for reverse rotation. Drooping (option) DROOP_R...
  • Page 122 6F3A4768 Drooping (option) This optional function is used when transferring or machining one material by multiple drive units. In such applications, when the speed of one motor is increased, a large load is applied to this motor and the load applied to other motors is decreased.

  • Page 123: Speed Control

    6F3A4768 5.4.2 Speed Control 5.4.2.1 Speed Control 1 (ASPR) Fig. 5.4.3 shows the speed control 1 (ASPR) block diagram. Speed reference signal SP_R and the speed feedback are input with count 25000/100% weighting and the deviation between these two is subjected to proportional/integral operations and output. After this signal is subjected to speed filtering and torque limit processing, its torque reference SFC_T_R is output with count 4000/100% weighting.

  • Page 124: Speed Control Gain Switching (Option)

    6F3A4768 5.4.2.2 Speed control gain switching (option) The speed control response is determined relative to load GD . Therefore, as load GD fluctuates a great deal (such as winder), the speed response changes (as GD grows with the same gain, the response slows down). For such a case, this equipment is provided with a function to keep the operation stable by using different speed control gains.

  • Page 125: Speed Control 2 (Asr)

    6F3A4768 5.4.2.3 Speed Control 2 (ASR) Fig. 5.4.4 shows the speed control 2 (ASR) block diagram. The speed control circuit receives the speed reference signal SP_R and the speed feedback signals at the weight rate of 25000 counts/100% and the deviation of these two proportional calculation outputs, and the integral calculation result of the deviation of these two signals are output.
  • Page 126 6F3A4768 $ASR_J0 Transmission $ASR_W0 x ASR_J0_T 25000/100% <Torque limit> Speed <Proportional> 4000/100% reference <Filter> 5.4.1 SP_R <Proportional> 5.4.3.1 $FLT_T_R Limit calculation 5.4.3.2 <Integration> Speed detection 5.4.6 SP_F <Speed control 2> $ASR_P_CMD: Speed reference proportional gain <Filter> $ASR_P_FBK: Speed feed back proportional gain $ASR_I: Speed control integral gain $ASR_ERR_MAX: Speed control error deadband max value...

  • Page 127: Speed Control With Rmfc Control (Asrr)

    6F3A4768 5.4.2.4 Speed Control with RMFC Control (ASRR) Fig. 5.4.5 shows the speed control block with RMFC control (ASRR). The speed reference signal SP_R and speed feedback SP_F are entered with a weight of 25000 count/100%. The difference between SP_R and SP_F is proportionally integrated and output. After this signal is processed with a speed filter and torque limit, the torque reference SFC_T_R is output with a weight of 4000 count/100%.
  • Page 128 6F3A4768 (1) RMFC: Reference Model Following Control RMFC control consists of the following: (1) A machine model where the system is approximated to an ideal one-inertia system. (2) A speed controller that controls the machine system model. This control system is called “Reference Model Following Control (RMFC) “because the motor speed is controlled so that it will follow the model speed output from the reference model.

  • Page 129: Torque Reference And Current Reference

    6F3A4768 5.4.3 Torque Reference and Current Reference Signal SFC_T_R equivalent to the torque reference, which is the speed control results, is input to calculate the torque limit and process di/dt in order to calculate the final torque reference signal T_R. 5.4.3.1 Tension Control (Option) If optional tension control is used, the TRQ_REF signal obtained from the calculation results of the speed control is compared with the tension reference TENS_R signal input externally to find the torque reference.

  • Page 130: Iq Limit

    6F3A4768 5.4.3.2 IQ Limit The IQ limit has a flat characteristic as a standard, but as shown in Fig. 5.4.7, it can also be set according to the speed and operating conditions. (1) Standard setting The IQ limit has the following settings and flat characteristic. The graph in the figure shows this characteristic.

  • Page 131: D-Q Axis Current Control

    6F3A4768 5.4.4 D-Q Axis Current Control Fig. 5.4.7 shows the block diagram of D-Q axis current control. This system controls the current of an induction motor by separating it into a torque component and magnetic flux component. This system controls the current on the D-Q coordinates and can handle both reference and feedback values as DC values.
  • Page 132 6F3A4768 Induction voltage compensation Flux Reference $ACR_E2 FL_R Frequency F0 <Integral> 4000/100% <IQ Limit> 16384 CNT Torque <Proportional> ÷ IQ_R EQ_R Reference 5.4.3 5.4.5 $LMT_E Limit Rated Current Adjustment 5.4.3.2 L Compensation $CS_MOTOR_CURR $CS_EQUIP_CURR SFC_DATA ID_REF (option) 5.4.2 IQ_FBK <Anti-overshoot> Frequency <Current Control>...

  • Page 133: Voltage Reference

    6F3A4768 5.4.5 Voltage Reference (1) Voltage reference EQ_R and ED_R, the results of current control, are input. Then, θ , the information of magnetic flux, is input and a 3-phase voltage reference is obtained. Since in this case an interval is provided between ON and OFF of the IGBTs, a dead time compensation is inserted.

  • Page 134: Speed Feedback

    6F3A4768 5.4.6 Speed Feedback A PLG (Pulse Generator) or a resolver can be selected for speed feedback (for details of the interface, see section 3). Speed control with a TG is not provided because its performance is inferior. 5.4.6.1 PLG A signal is detected from a 2-phase PLG attached to the motor and converted to a speed.

  • Page 135: Resolver

    6F3A4768 5.4.6.2 Resolver A resolver is a sensor that detects the rotating angle (position) of the motor. This resolver converts changes in position into speed signals at periodic intervals. Two types of resolvers are available, 1x type and 4x type. (1) 1x type This type of resolver detects one electrical rotation as the motor rotates one rotation.

  • Page 136: Optional Function According To Application (Tmdrive-30)

    Operation shown in Fig. 5.5.1 a) to make the magnetic flux constant is used for general operation method of the induction motor. In TMdrive-30, operation is performed with the magnetic flux and ID_REF made constant. At this time, the induced voltage is calculated by multiplying the speed by the magnetic flux. The voltage is then increased in proportion to the speed.

  • Page 137: Torque Control

    6F3A4768 5.5.2 Torque Control In winding machines, the winding materials are controlled at a specified tension. Therefore, the host PLC calculates the torque (reference) to be output from the motor. Additionally, the drive unit controls to output a torque corresponding to this torque reference. Furthermore, operation is made with speed control when the winding is completed or winding of next materials is started.
  • Page 138 6F3A4768 4000/100% Speed controlling IMPACT_TEST25 Output of torque reference speed control <Torque limit> 4000/100% TRQ_REF section 5.4.2 <di/dt> Torque reference input $LMT_DIDT_P Limit EXT_TRQ(option) calculation $LMT_DIDT_N section 5.4.3.2 4000/100% Tension control TENS_R Tension reference selection sequence Torque controlling TENS_R1 (option) CUT detection Tension auxiliary A>B...
  • Page 139 6F3A4768 (5) Reverse winding option There are two winding directions, normal winding and reverse winding, as shown in Figure Fig. 5.5.4 a) and c). A desired winding direction is selected using the normal winding/reverse winding switch (R_TEN). R_TEN: 0 = Normal winding 1 = Reverse winding The TRQ_REF signal with the polarity is compared with the external torque reference TENS_R1 signal with the polarity.

  • Page 140: Sensor-Less Vector Control

    6F3A4768 5.5.3 Sensor-less Vector Control This sensor-less vector control performs the vector control of the induction motor without use of the speed sensor. Conventionally, there has been the V/f control without the speed sensor. However, this sensor-less vector control provides the simple control feature of the V/f control and the high performance of the vector control.

  • Page 141: Jog Operation

    6F3A4768 5.5.5 JOG Operation JOG operation is a mode that operates the inverter while JOG command is inputted, and has the following features. (1) Forward output by forward JOG command (F), reverse output by reverse JOG command (R). (2) The 1st speed, 2nd speed and 3rd speed are provided for each forward JOG command and reverse JOG command.

  • Page 142: Emergency Operation

    6F3A4768 5.5.6 Emergency Operation In case of an emergency, the following two kinds of operations can be made by the PI/O signal. 5.5.6.1 Emergency Operation Mode This operation mode is used to operate the equipment regardless of the signals sent from the TOSLINE-S20 in the system with the transmission unit (TOSLINE-S20).

  • Page 143: Shared Motion

    Switched by $FLG_CHGSYS (DI7) Mask $FLG_CHGSYS=12345 Bit6 processing DI input $FLG_CHGSYS=6789 $MSK_DI1 Select transmission Other switching signals are $DI7_IX=1 not accepted. $DI7_BN=6 * DI7 fixed Upper trunk line Control software processing TMdrive-30 Fig. 5.5.7 Setting Value Switching Signal Interface — 142 —...
  • Page 144 6F3A4768 The setup of shared motion may not be completed normally at the beginning of adjustment at field. In this case, setting parameter change cannot be performed using 2S signal. Therefore, the method that save parameters to A bank and B bank EEPROM from a setting parameter file at the beginning of adjustment at field is shown in Fig. 5.5.8.

  • Page 145: Control Circuit Tmdrive-P30

    6F3A4768 Control Circuit TMdrive-P30 The figure below shows the TMdrive-P30 control block diagram. $ mark shows setting parameters. $ mark is only for reference and the actual parameter does not include $. Voltage phase detection (PLL) Section 5.6.3 Id, Iq current detection Voltage Voltage...

  • Page 146: Voltage Reference

    6F3A4768 5.6.1 Voltage reference The voltage reference is set for $CW_V_R, with 10000 count/100% weighting. The standard setting is $=_V_R=100%. 5.6.2 Voltage Control The voltage control block is shown below. The voltage reference signal V_R and voltage feedback VDC_F are input with 10000 count/100% weighting and the deviation between these two is subjected to proportional/integral operations and output.

  • Page 147: D-Q Axis Current Control

    6F3A4768 5.6.3 D-Q Axis Current Control Fig. 5.6.3 shows a block diagram of D-Q axis current control. This system controls power supply current by separating it into active current and reactive current. This system controls current on the D-Q coordinates and can handle both reference and feedback values as DC values. This means that it can control AC as a DC value, achieving high-performance control.
  • Page 148 6F3A4768 <Voltage <Current control> reference> <Proportion, Integrator> 4000CNT/100% VU_REF IQ_R EQ_R Coordinate VV_REF conversion IQ_F $ACR_A VW_REF $ACR_W1 θ 1000CNT/100% $ACR_P PWM Control ID_S ED_R 4000CNT/100% ID_F <Voltage phase detection> 65536CNT/2 π <Proportion, Integrator> <Filter> 10000CNT/100% CNV_QO VD_FBK DLT_Q ∫ (Input voltage phase) $FLT_PLL $PLL_P...

  • Page 149: Voltage Reference

    6F3A4768 5.6.4 Voltage Reference (1) Voltage reference EQ_R and ED_R, the results of current control, are input. Then, the information of power supply phase is input and a three-phase voltage reference is obtained. Since a timing interval is provided between the ON and OFF of the IGBTs, dead time compensation is inserted here.

  • Page 150: Voltage Saturation Restraint Control (Vsc)

    6F3A4768 5.6.5 Voltage Saturation Restraint Control (VSC) If the AD voltage/DC voltage ratio becomes excessively large, the current control output of the converter saturates, which may result in unsteady control. This can be prevented by voltage saturation restraint control (VSC). The basic operation is to generate D-axis current reference according to the primary voltage reference value.

  • Page 151: Reactive Current Voltage Control (Rcv) (Optional)

    6F3A4768 5.6.6 Reactive Current Voltage Control (RCV) (Optional) Using the power regeneration function, reactive current voltage control (RCV) can be performed for the purpose of improving the power factor of the AC power supply. The AD voltage command value as a reference is input in RCV_REF_T through transmission and D-axis current reference ID_R is output so that the deviation from the AC voltage feedback VAC_F at that time will become 0.

  • Page 152: Maintenance (Common To Tmdrive-30 And Tmdrive-P30)

    6F3A4768 Maintenance (Common to TMdrive-30 and TMdrive-P30) Preparations for inspection and maintenance Stop the Turn off the main Turn off the control Check the main circuit Electrical equipment → circuit power supply → → power supply discharge → power supply check See Chapter 1 for details.

  • Page 153: Regular Inspections

    6F3A4768 6.2 Regular Inspections Carry out regular inspections centered on the following points. (1) Cleaning of cubicle interior (2) Cleaning of air filter (3) Circuit part discoloration, deformation, leakage (capacitor, resistor, reactor, transformer, etc.) check (4) Board (resistor, capacitor discoloration, deformation, board discoloration, deformation, dirt, soldered part deterioration, etc.) check and cleaning (5) Wiring (discoloration due to heat, corrosion) check (6) Tightened parts (looseness in bolts, nuts, screws) check...

  • Page 154: Enclosure And Structural Parts

    6F3A4768 6.3.2 Enclosure and Structural Parts (1) Cooling fan (any time) Check if there is any abnormality with air flow, increased fan noise, etc. Particularly make sure you have replaced and tightened the bolts again which you removed once. Untightened screws may damage the bearing and blade, etc.

  • Page 155: Parts To Be Regularly Renewed

    6F3A4768 Parts to be Regularly Renewed To use the TOSVERT-250Wi under optimal conditions for a maximum period of time, it is necessary to regularly renew (repair) components whose characteristics have deteriorated. Table 6.4.1 below shows the parts used for the inverter equipment whose regular renewal is recommended and their recommended renewal period. Table 6.4.1 Parts to be Regularly Renewed Recommended Product name...

  • Page 156: Recommended Spare Parts

    When parts in the equipment have broken down, spare parts are required to shorten the mean time to repair (MTTR). Since replacement of individual parts takes much time, it is recommended to replace by equipment. Recommended spare parts for TMdrive-30 are shown in Table 6.5.1, and spare parts for TMdrive-P30 are shown in Table 6.5.2 and Table 6.5.3.
  • Page 157 6F3A4768 Table 6.5.1 Spare Parts for TMdrive-30 Qty. used for each capacity Recom. Standard Total level recom- Product name Type Model & Rating quantity A:10% mended used B:5% quantity C:0% IS-BUS PWB ARND-8204A IS-BUS Display Unit DISP-3121A DISP I/O Terminal PWB...
  • Page 158 6F3A4768 Table 6.5.2 Spare Parts for TMdrive-P30 (List 1) Qty. used for each Recom. capacity Standard level Total quantity recom- Product name Type Model & Rating A:10% used mended B:5% quantity C:0% IS-BUS PWB ARND-8204A IS-BUS Display Unit DISP-3121A DISP I/O Terminal PWB ARND-3120B Main Control PWB...
  • Page 159 6F3A4768 Table 6.5.3 Spare Parts for TMdrive-P30 (List 2) Qty. used for each Recommended capacity Standard level Total recom- Product name Type Model & Rating A:10% quantity mended B:5% used quantity C:0% Relay MM2XPN DC24V 24VDC Socket for Relay 8PFA 250V-10A Diode 1S1835 600V-1A...

  • Page 160: Prohibition Of Modifications

    6F3A4768 Prohibition of Modifications Modifying this equipment is dangerous. When you need modifications, contact Toshiba. 6.7 Movement Inspections may be required before moving the equipment which has been installed. Contact Toshiba. 6.8 Disposal When part or the entire equipment is disposed of, you need special handling for waste disposal. Consult with waste disposal professionals.

  • Page 161: Data Control (Common To Tmdrive-30 And Tmdrive-P30)

    6F3A4768 Data Control (Common to TMdrive-30 and TMdrive-P30) 7.1 Setting Data We recommend you to save the inverter setting data as a personal computer data file. It is recommended to control the setting data backed up in a file stored on the personal computer.

  • Page 162: Fault And Recovery (Common To Tmdrive-30 And Tmdrive-P30)

    6F3A4768 Fault and Recovery (Common to TMdrive-30 and TMdrive-P30) 8.1 Cautions when Handling Fault When a fault occurs, you are likely to repeat trial and error, pressed by the feeling that you have to recover it immediately. However, it is important to go back to the fundamentals and correctly understand the phenomena of the fault.

  • Page 163: Traceback

    The drive unit features a traceback function that saves the status of the drive before and after fault occurrence. Traceback data is useful for failure cause analysis. The inverter (TMdrive-30) and converter (TMdrive-P30) can save traceback data for up to 7 fault occurrences, respectively.

  • Page 164: How To Repair

    6F3A4768 How to Repair 8.3.1 Cautions on Repair (1) Prepare necessary tools and drawings, etc. before starting the work. (2) Be careful not to damage other parts when removing some parts. (3) Do not make wrong connections when recovering from the fault and put markings, etc., if necessary. (4) After recovery, check the wiring according to the schematic.
  • Page 165 TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS CORPORATION...

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