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Carotron Trooper Pro Instruction Manual

D.c. motor control
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Instruction Manual
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TPR902-000
TPR902-E00

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Summary of Contents for Carotron Trooper Pro

  • Page 1 Instruction Manual Models TPR902-000 TPR902-E00...

  • Page 2: Table Of Contents

    Table of Contents 1. General Description ............................3 2. Specifications ..............................4 2.1 Electrical............................. 4 2.2 Physical .............................. 5 3. Installation ................................. 6 3.1 Control Installation ..........................6 3.2 Wiring Guidelines..........................6 4. Terminal Connections & Functions ........................7 4.1 AC Power Connections ........................7 4.2 Motor Connections ..........................

  • Page 3: General Description

    Armature voltage feedback, tachometer feedback, and encoder feedback • Power On/Off switch (enclosed models only) • 9 button keypad with 2 line by 16 character display • USB connectivity • Compatible with Carotron's free CaroLink software • Option port •...

  • Page 4: Specifications

    Specifications 2.1 Electrical A.C. Input Voltage Range Encoder Feedback/Frequency Input 1 phase, 115-230VAC ± 10%, 50/60 Hz ± 2 Hz, 15A Frequency: 50kHz max, square wave • • Uni-directional (single channel) • Armature Output Single ended • Voltage: 15 VDC max 0-90VDC @ 115VAC input •...

  • Page 5: Physical

    2.2 Physical Figure 1: Chassis Models Figure 2: Enclosed Models...

  • Page 6: Installation

    Excess ambient temperatures within enclosures can reduce the life expectancy of electronic components and can failure of the Trooper® Pro control. Contact Carotron for assistance in sizing enclosures for particular horsepower ratings.

  • Page 7: Terminal Connections & Functions

    Drive Motor AC Input Approx. Full Load Recommended Armature Armature Model Voltage Line Amps Fuse (Amps) Amps Volts 11.7 TPR902-000 1-1/2 12.2 Table 1: Model Rating Data Terminal Connections & Functions 4.1 AC Power Connections Terminals L1 and L2 are the AC line inputs. Refer to Figure 3 below. Fusing is provided on board. Refer to Table 1 above for recommended fuse sizing.

  • Page 8: Motor Connections

    4.2 Motor Connections Field Many small motors are permanent magnet type or "PM" motors. These motors use magnets instead of an electro-magnet winding. When using these motors, no connections are made to the F1 and F2 terminals. A motor that has an electro-magnetic field winding will typically come in two types: single or dual winding.
  • Page 9 Armature The armature leads are usually the highest current wires associated with the drive and warrant special attention to sizing based on current rating as well as length of run. Extra care should be used where terminations and splices are made. Refer to Table 1 for typical armature voltage and current ratings.

  • Page 10: Signal Connections

    4.3 Signal Connections Figure 7 shows the typical signal connections to an Trooper® Pro drive. When operated, the Emergency Stop contacts at terminal 3 will immediately clamp all control signals. If an armature contactor is used (via Relay Output 1), it will also de-energize to disconnect the armature from the bridge output.
  • Page 11 The Trooper® Pro supports three different start/stop logic schemes (four including the local mode). Refer to Figure 8 below. The momentary scheme (often called 3 wire) uses momentary pushbuttons to control the starting and stopping of the drive. A selector switch or a contact controls the direction. The other two schemes use maintained contacts (often called 2 wire mode).

  • Page 12: Human Machine Interface (Hmi)

    Human Machine Interface (HMI) 5.1 Description of Interface The Human Machine Interface (HMI) is the primary method for accessing the drive's parameters. It allows for custom user configuration, monitoring, and troubleshooting. As seen in Figure 10, the HMI consists of a 2 line by 16 characters display, 9 button keypad, and 4 LEDs. REF: 10.00% MODE:...
  • Page 13 When power is applied to the drive, the HMI displays the drive's firmware version. After a short timeout, the Drive Monitor 1 (DM01) screen is displayed. Navigation through the menu is achieved by using the Up, Down, Left, Right, Escape, and Enter keys. Figure 11: Menu Structure...

  • Page 14: Table 3: Drive Monitor Descriptions

    Monitors The Monitors section contain the Drive Monitor screens. Each of theses screens displays various drive status information. Monitor Description DM01 Reference/Mode DM02 Reference/Act Speed DM03 Local Direction DM04 Local Jog DM05 Armature Status DM06 Fault Status DM07 Alarm Status DM08 Velocity Loop Status DM09...

  • Page 15: Start Up Procedure

    Start Up Procedure 6.1 Pretest 1. Verify incoming power supply voltage. Input voltage should be checked ahead of the supplying circuit breaker, disconnect switch, etc. before it is switched on. 2. Connections should be visually inspected and checked for tightness. An ohmmeter can be used to check for ground faults.

  • Page 16: Adjustment Procedure: Torque (Current) Regulator

    LED should be off. Adjust the external reference signal connected to terminal 5 to its minimum. Typically, the reference value on DM01 should be approximately zero. Place the drive in Run mode via the external contacts. Slowly increase the external reference until the motor is rotating.

  • Page 17: Password Protection

    2. The Current Proportional Gain (G1.16), Current Integral Time (G1.17), Velocity Proportional Gain (G2.21), and Velocity Integral Time (G2.22) parameters are preset by Carotron to provide stable and responsive performance under most load conditions. When required, the drive performance can be optimized for a particular application or to correct undesirable operation by use of these adjustments.

  • Page 18: Programming & Adjustments

    Programming & Adjustments Programming and adjustment of the Trooper® Pro is accomplished by changing parameter settings. Each parameter has a Tag identifier and a descriptive name. Parameters are separated into groups and blocks according to their function. The following sections contain each software block diagram and descriptions of each parameter function.

  • Page 19: B: Digital Inputs

    7.2 B: Digital Inputs These parameters configure the drive's physical digital inputs (digital & frequency). B1: Digital Input 1 Figure 14 B1.01 Digital Input 1 Destination (ICR, Preset: H1.12 [Ext Run Enable]) Determines the function of the digital input. Each digital input can control (or write to) any R/W parameter in the drive.
  • Page 20 B1.02 Digital Input 1 Status [Terminal 3] (RO) Displays the status of the digital input. A value of OFF indicates the digital input is off or not activated. A value of ON indicates the digital input is on or active. B1.03 Digital Input 1 Off Value (RW) This is the value written to the target parameter when the digital input's status is OFF.
  • Page 21 B4: Digital Input 4 Figure 17 Digital Input 4 is functionally equivalent to Digital Input 1. Refer to B1.XX B4.01 Digital Input 4 Destination (ICR, Preset: H1.04 [Jog]) B4.02 Digital Input 4 Status (RO) B4.03 Digital Input 4 Off Value (RW) B4.04 Digital Input 4 On Value (RW) B5: Digital Input 5 Figure 18...
  • Page 22 B6: Frequency Input Figure 19 Figure 20 B6.01 Freq Input Destination (ICR, Preset: 00.00 [Not Set]) The frequency input can control (or write to) any R/W parameter in the drive. The destination parameter contains the tag of the parameter the input will control (i.e. the target parameter). Refer to Table 5 on page 24 for a list of commonly used functions.
  • Page 23 parameter. For example, if the target parameter is in percent, this parameter will be in percent. If the target parameter is True/False, this parameter will be True/False. B6.11 Freq Input Gain (R/W, Preset: 100.00) Defines the value of the target parameter when the input signal is greater than or equal to the 100% Calibration.

  • Page 24: C: Analog Inputs

    7.3 C: Analog Inputs These parameters configure the drive's physical analog inputs. C1: Analog Input 1 Figure 21 C1.01 Analog Input 1 Destination (ICR, Preset: 1.04 [Reference A]) Each of the analog inputs can control (or write to) any R/W parameter in the drive. The destination parameter contains the tag of the parameter the input will control (i.e.

  • Page 25: Table 6: Analog Input Voltage Status Readings

    C1.02 Analog Input 1 Status (RO) Displays the raw analog to digital conversion value. Table 6 below lists the typical status values for common input voltage levels. Signal Input Status +11V 2047 +10V 1861 -931 -10V -1862 -11V -2048 Table 6: Analog Input Voltage Status Readings C1.03 Analog Input 1 Polarity (ICR, Preset: Unipolar) Configures the type of analog input signal used, either UNIPOLAR or BIPOLAR.

  • Page 26: Table 7: Analog Input 2 Current Status Readings

    C2: Analog Input 2 Figure 23 Analog Input 2 is functionally equivalent to Analog Input 1. Refer to C1.XX for details. The only exception is that this input can be configured for voltage or current. See parameters C2.02 and C2.05 below for differences. C2.01 Analog Input 2 Destination (ICR, Preset: 00.00 [Not Set]) C2.02 Analog Input 2 Status (RO) Displays the raw analog to digital conversion value.

  • Page 27: D: Digital Outputs

    7.4 D: Digital Outputs These parameters configure the drive's physical digital outputs (relay & frequency/digital). D1: Relay Output 1 Figure 24 D1.01 Relay Output 1 Source (ICR, Preset: H1.16 [Drive Running]) The function of the relay output is configured by this parameter. Each output can be controlled by any parameter in the drive.
  • Page 28 D2: Relay Output 2 Figure 25 Relay Output 2 is functionally equivalent to Relay Output 1. Refer to D1.XX D2.01 Relay Output 2 Source (ICR, Preset: H1.16 [Drive Running]) D2.02 Relay Output 2 Absolute Value (R/W, Preset: Off) D2.03 Relay Output 2 On Value (R/W, Preset: On) D2.04 Relay Output 2 Off Value (R/W, Preset: Off) D2.05 Relay Output 2 Status (RO)

  • Page 29: E: Analog Outputs

    7.5 E: Analog Outputs These parameters configure the drive's physical analog outputs. E1: Analog Output 1 Figure 26 E1.01 Analog Output 1 Source (ICR, Preset: G2.18 [Filtered Velocity Feedback]) The function of this output is configured by this parameter. The output can be controlled by any parameter in the drive.

  • Page 30: Table 10: Analog Output Status

    E1.05 Analog Output 1 Status (RO) Displays the raw digital to analog output level. Refer to Table 10 for typical values. Status Voltage +10V 2047 1023 -1024 -10V -2048 Table 10: Analog Output Status E2: Analog Output 2 Figure 27 Analog Output 2 is functionally equivalent to Analog Output 1.

  • Page 31: F: Motor Data

    7.6 F: Motor Data F1: Motor Data Figure 28 F1.02 Armature Current (ICR, Preset: 0A) Enter the motor nameplate armature current rating. F1.03 Armature Voltage (ICR, Preset: 0V) Enter the motor nameplate armature voltage rating. F1.07 Base Speed (ICR, Preset: 0 RPM) Enter the motor nameplate base speed rating.
  • Page 32 F3: Encoder Data This section is utilized only if a motor mounted encoder is used for speed feedback. Parameter B6.02 should also be set to EFB. Figure 30 F3.02 Encoder Pulses/Rev (ICR, Preset: 1024) Enter the number of pulses produced by the encoder in one revolution.

  • Page 33: G: Control Loops

    7.7 G: Control Loops G1: Current Loop Figure 31 G1.01 Reference Select (ICR, Preset: Normal) Selects the reference source for the loop. This parameter should always be set to NORMAL except when performing a step response loop tuning sequence. G1.02 Torque Reference (R/W, Preset: 0.00%) This is the current loop's reference when A1.02 is set to TORQUE mode.
  • Page 34 G1.13 Filtered Current Feedback (RO) A filtered version of G1.12. G1.14 Armature Amps (RO) G1.13 expressed in amps. G1.15 Current Error (RO) The difference between the final current demand (G1.08) and the current feedback (G1.12). This signal is the input to the PI loop. G1.16 Current Prop Gain (R/W, Preset: 2.30) Sets the loop response.
  • Page 35 G2: Velocity Loop Figure 32 G2.01 Velocity Demand (RO) This value is the summation of the setpoints in the Setpoint Sum ( 2) block. It serves as the initial reference for the velocity (or speed) loop. G2.02 Forward Max Speed Scale (R/W, Preset: 100.00%) This parameter allows scaling of the Velocity Demand (G2.01).
  • Page 36 loaded motors when using armature voltage as the velocity feedback. The IR Comp adjustment can be used to increase the speed regulation by summing a small amount of negative Current Feedback with the Armature Voltage Feedback. Range: 0..30.00% G2.10 Tachometer FB Raw (RO) This is the raw analog to digital conversion value of the tachometer voltage feedback signal.
  • Page 37 G2.29 Custom Scale (R/W, Preset: 0 RPM) When G2.28 is set to ON, the filtered velocity feedback is multiplied by this parameter to produce the Motor RPM (G2.30). Adjust this parameter until G2.28 reads the correct speed. Range: 0..10,000 RPM G2.30 Motor RPM (RO) Displays the current motor speed in RPM.

  • Page 38: H: Start/Stop Logic

    7.8 H: Start/Stop Logic H1: Start/Stop Logic Figure 33 H1.01 Logic Select (ICR, Preset: Maintained Run/Dir) Determines how the drive is started and stopped. There are four parameters that control the drive's mode and direction: H1.02-H1.05. Each of these parameters will have a different function depending upon the selection of H1.01.
  • Page 39 H1.07 Safe Start Mode (ICR, Preset: Enabled) The drive incorporates a safety feature that prevents the drive running if a run command is present during power up. While NOT recommended by Carotron, this feature can be disabled if other external safety logic is used.

  • Page 40: Table 11: Drive Modes

    H1.13 Run Status (RO) Status of drive. ON indicates the drive is in the run mode. Note that this does not include the jog mode. H1.14 Jog Status (RO) Status of drive. ON indicates the drive is in the jog mode. H1.15 Direction Status (RO) Indicates the commanded direction of the drive: FWD or REV.
  • Page 41 H2:Local/Remote Logic H2.01 In Local Mode (ICR, Preset: No) Determines if the drive is in the Local mode of operation. The LOCAL/REMOTE key toggles this value. H2.02 Local Options (ICR, Preset: LOCAL SS/LOCAL REF) The drive can operate in one of three local modes. LOCAL SS / LOCAL REF Starting, stopping, &...

  • Page 42: I: Setpoints

    : Setpoints 1: Setpoints Figure 34 1.01 Aux Reference Enable (R/W, Preset: Enabled) Both H1.17 and this parameter must be ENABLED in order for the selected reference to be passed to the Ramp 1 block (J1). When used, this parameter is often linked from a digital input to confirm the armature contactor has closed.
  • Page 43 I2: Setpoint Sum This block sums four setpoints together. The result is the Velocity Demand (G2.01) signal for the Velocity Loop. Each of the four setpoints has a multiplier. Figure 35 2.01 Multiplier A (R/W, Preset: 100.00%) Multiplier for Ramp Output signal. Range: -300..300% 2.02 Setpoint B (R/W, Preset: 0.00%) This value is summed with the drive's reference (via the Ramp 1 block).

  • Page 44: J: Ramps

    7.10 J: Ramps J1: Ramp 1 The Ramp 1 block takes the reference output from the Setpoints block and applies a ramp rate to the signal. The ramped reference is an input to the Setpoint Sum block. Parameters J1.01-J1.04 set the linear acceleration and deceleration times.
  • Page 45 J1.05 S Accel Begin Time A (R/W, Preset: 0.0 Secs) Defines the S Curve characteristic at the beginning of the acceleration ramp. Range: 0..10 Secs J1.06 S Accel End Time A (R/W, Preset: 0.0 Secs) Defines the S Curve characteristic at the ending the acceleration ramp. Range: 0..10 Secs J1.07 S Decel Begin Time A (R/W, Preset: 0.0 Secs) Defines the S Curve characteristic at the beginning of the deceleration ramp.
  • Page 46 J1.22 Ramping Status (RO) Indicates whether the Ramp Output (J1.21) is increasing or decreasing to the value of the Ramp Input (J1.20). J2: Ramp 2 The Ramp 2 block is very similar to the Ramp 1 block. It can be used for custom applications. Figure 39 J2.01 Fwd Accel Time A (R/W, Preset: 5.0 Secs) Defines the time that it takes for the ramp output to increase from 0.00% to +100.00%.
  • Page 47 J2.09 Fwd Accel Time B (R/W, Preset: 1.0 Secs) J2.10 Fwd Decel Time B (R/W, Preset: 1.0 Secs) J2.11 Rev Accel Time B (R/W, Preset: 1.0 Secs) J2.12 Rev Decel Time B (R/W, Preset: 1.0 Secs) J2.13 S Accel Begin Time B (R/W, Preset: 0.0 Secs) J2.14 S Accel End Time B (R/W, Preset: 0.0 Secs) J2.15 S Decel Begin Time B (R/W, Preset: 0.0 Secs) J2.16 S Decel End Time B (R/W, Preset: 0.0 Secs)

  • Page 48: K: Fault Logic

    7.11 K: Fault Logic K1: Fault Options Figure 40 K1.01 Feedback Loss Enable (R/W, Preset: Enabled) Only used if G2.15 is set to TACHOMETER or ENCODER. In order to prevent excessive speed in a run away condition, the drive has the capability to detect the loss of a speed feedback signal. When detected, the drive will generate a Feedback Loss fault.

  • Page 49: Table 13: Faults 1

    K2: Fault Status K2.01 Power On Reset (RO) The drive generates an internal reset by setting this parameter to ON after power is applied. After the reset expires, the value returns to OFF. K2.02 Internal Fault Reset (RO) This parameter is set to ON when the RESET button on the keypad is used to clear a fault.

  • Page 50: Table 15: Alarms 1

    '0' (assuming the fault is no longer active). Refer to Table 13. K2.06 Latched Faults 2 (RO) Refer to K2.05. Refer to Table 14. K2.07 Fault Description (RO) Indicates the current fault. If multiple faults are latched, the highest priority fault is displayed. Refer to page 90 for a list of faults and their descriptions.
  • Page 51 K3: Fault Log K3.01 Most Recent Fault (RO) K3.02 2nd Most Recent Fault (RO) K3.03 3rd Most Recent Fault (RO) K3.04 4th Most Recent Fault (RO) K3.05 5th Most Recent Fault (RO) K3.06 6th Most Recent Fault (RO) K3.07 7th Most Recent Fault (RO) K3.08 8th Most Recent Fault (RO) K3.09 9th Most Recent Fault (RO) K3.10 10th Most Recent Fault (RO)
  • Page 52 K4: Fault Capture The fault capture block captures the values of certain operating parameters when a fault occurs. The captured values can be used as a troubleshooting/diagnostic aid in determining the cause of the fault. K4.01 Fault (RO) A description of the fault. K4.02 Armature Volts (RO) The armature voltage level (G2.08) when the fault occurred.

  • Page 53: L: Applications

    7.12 L: Applications L1: Aux PID Loop Figure 44 L1.01 PID Enable (R/W, Preset: Disabled) Enables/disables the PID loop. The output (L1.25) is held at zero when DISABLED. L1.02 PID Reset (R/W, Preset: Off) Resets the PID loop. The output (L1.25) is held at zero when ON. L1.03 Prop Gain (R/W, Preset: 5.00) Sets the loop response.
  • Page 54 L1.12 Controller Action (R/W, Preset: ERR=SP-FB) Determines how the error is calculated. The error is the difference between the Setpoint and Feedback parameters. This effectively determines the direction of correction that the PID loop provides. Available options are ERR=SP-FB or ERR=FB-SP. L1.13 Setpoint (R/W, Preset: 0.00%) The desired position on dancer systems or the desired tension on loadcell systems.
  • Page 55 L2: Diameter Calculator Figure 45 L2.01 Diameter Select (R/W, Preset: None) Selects the method of diameter calculation. NONE The diameter calculator is disabled. EXTERNAL An external device measures the diameter (such as a sonic or a laser). The external device is connected to an analog or freq input.
  • Page 56 L2.04 Thickness (R/W, Preset: 0.0001") Used only when L2.01 is set to ROLL REVOLUTIONS or LINE REVOLUTIONS. The actual thickness of the material being used should be entered here. If a range of material thicknesses are used, an average of the thickness should be used. Alternatively, an external controller (such as an HMI) could be used to change this value for different products.
  • Page 57 L3: Roll Speed Calculator A problem encountered in center driven takeup and letoff applications is the nonlinear relationship between the diameter of a roll and the motor speed required to maintain constant surface speed of the roll during diameter increase or decrease. A plot of this relationship shows a hyperbolic curve. Refer to Figure 48.
  • Page 58 L4: Taper Tension Calculator When center winding material, in some cases decreasing tension (taper tension) is desirable to prevent telescoping and/or wrinkling of inner layers of material. The taper tension calculator can be configured to provide tapering tension starting at any point in the roll diameter. Tension Demand (L4.04) will decrease by a percentage of the Tension Setpoint (L4.01) from the Taper Diameter (L4.02) setting to the Max Diameter (L2.03).
  • Page 59 L5: CTCW Calculator The CTCW (Constant Tension Center Wind) block allows the drive to provide constant or taper tension control without external tension sensors. The CTCW block provides a torque reference output that is composed of diameter torque, inertia torque, friction torque, static friction torque, and pulse torque.

  • Page 60: Table 16: Inertia Sensitivity

    would need to be increased. Refer to the following table for recommended initial values depending upon the line accel/decel rates. Note that these values may need to be adjusted to obtain steady levels of Inertia Torque depending upon the amount of electrical noise present on the signal.
  • Page 61 L5.15 Torque Sum (R/W, Preset: 0.00%) This parameter provides an auxiliary summing point before the Total Torque is calculated. A typical use would be to sum in a correction signal from the output of a PID block when loadcells are used with the CTCW Calculator. Range: 0..100% L5.16 Total Torque (RO) The sum of the L5.02, L5.07, L5.09, L5.10, L5.14 &...
  • Page 62 L6: MOP (Motor Operated Potentiometer) In many industrial applications, a potentiometer is used to provide a reference signal (typically speed) to a machine. Often, it would be advantageous to allow the machine operator to adjust this potentiometer from multiple locations (especially on large machines). However, this is not possible with a standard analog potentiometer.

  • Page 63: M: Thresholds

    7.13 M: Thresholds The threshold blocks compare an input value to two threshold levels. When the input value equals or exceeds the On Level, an internal switch is turned on. When the input equals or falls below the Off Level, the switch turns off. Two threshold levels are provided so that a hysteresis may be created if desired.

  • Page 64: N: Timers

    7.14 N: Timers The drive provided six timer blocks. Each of the timers can operate in one of six modes. N1: Timer 1 Figure 54 N1.01 Timer 1 Mode (R/W, Preset: On Delay) Selects the operating mode of the timer. Refer to Figure 55. ON DELAY When N1.02 changes to ON, the internal switch turns on after a delay set by N1.03.
  • Page 65 N1.03 Timer 1 Delay Time 1 (R/W, Preset: 5.0 Secs) Second delay time. Used only when N1.01 is set to SINGLE CYCLE or REPEAT CYCLE. Range: 0.1..600 Secs N1.05 Timer 1 On Value (R/W, Preset: 100.00%) The ON input to the switch. The value is selected when the switch is on. Range: -300..300% N1.06 Timer 1 Off Value (R/W, Preset: 0.00%) The OFF input to the switch.

  • Page 66: O: Logic Gates

    7.15 O: Logic Gates The Logic Gate blocks provide basic boolean logic and comparison functions. O1: Logic Gate 1 Figure 56 O1.01 Logic Gate 1 Mode (R/W, Preset: A And B) Selects the function of the logic gate. A AND B Performs a logical AND between Inputs A (O1.02) and Input B (O1.03).
  • Page 67 A < B? The output (O1.04) will be ON when Input A (O1.02) is less than Input B (O1.03). A <= B? The output (O1.04) will be ON when Input A (O1.02) is less than or equal to Input B (O1.03). A EQUALS B? The output (O1.04) will be ON when Input A (O1.02) is equal to Input B (O1.03).

  • Page 68: Table 17: Logic Gates Truth Table

    O1.04 Logic Gate 1 Output (R/W, Preset: False*) Output of the logic gate. *Note that the formatting/units of this parameter will change depending upon the mode selected by O1.01. Output (O1.04) Input A Input B (O1.02) (O1.03) NAND XNOR SR FF No Change Table 17: Logic Gates Truth Table O2: Logic Gate 2...

  • Page 69: P: Switches

    7.16 P: Switches The drive provides 6 internal single pole double throw switches. P1: Switch 1 Figure 57 P1.01 Switch 1 Coil (R/W, Preset: Off) Defines the status of the switch: ON or OFF. P1.02 Switch 1 On Value (R/W, Preset: 0.00%) The ON input to the switch.

  • Page 70: Q: Internal Links

    7.17 Q: Internal Links The internal links can be used to connect or link parameters together. The source parameter selects the parameter from which data will be retrieved. The destination parameter selects the parameter to which the data will be written. In other words, the value of the parameter identified by Source will be written to the parameter identified by Destination.

  • Page 71: R: Communications

    7.18 R: Communications R1: Com Port A (CN12: USB) R1.01 Port A Clear Counters (R/W, Preset: Off) Resets R1.02-R1.10 to zero when set to ON. Value automatically returns to OFF. R1.02 Port A Bus Messages (RO) The total number of bus messages. R1.03 Port A Bus Com Errors (RO) The total number of bus messages that have errors.
  • Page 72 R2: Com Port B (Option Slot) R2.01 Port B Modbus Network Address (R/W, Preset: 1) Sets the Modbus® network address of the drive. Range: 1..247 R2.02 Port B Baud Rate (R/W, Preset: 38400) Sets the communication speed. Available rates are 2400, 4800, 9600, 19200, 38400, 57600, 76800, &...
  • Page 73 R2.20 Port B Ethernet Address Mode (R/W, Preset: Auto) When set to AUTO, the IP Address will be auto-assigned by a DHCP server on the network. Parameters R2.21-32 will display the assigned settings. When set to MANUAL, the IP Address settings are set by parameters R2.21-32.

  • Page 74: S: Zero Speed

    7.19 S: Zero Speed S1: Zero Speed Figure 61 S1.01 Zero Speed Setpoint (R/W, Preset: 4.00%) Sets the speed level that the drive considers to be stopped. When ramping to stop, the drive drops out the armature contactor when this level is reached. Range: 0.5..25% S1.02 Standstill Enable (R/W, Preset: Enabled) In applications where the drive is in the Run mode with zero velocity reference, motor creepage may be apparent under some load conditions.

  • Page 75: T: System

    7.20 T: System T1: System Status T1.01 Drive Model (RO) Displays the drive's model number. T1.02 Rated Armature Curr (RO) Displays the drive's rated armature current. T1.04 Firmware Version (RO) Displays the drive's firmware version. T1.08 Edit In Progress (RO) ON indicates a drive parameter is being edited via the keypad.
  • Page 76 T2: System Options T2.01 Parameter Save (R/W, Preset: Off) When parameter changes are made via the keypad, the changes are automatically saved. Parameters changes made over one of the communication ports are not saved. Setting this parameter to ON will save all of the current drive parameters.

  • Page 77: U: Auxiliary

    7.21 U: Auxiliary The drive provides 20 auxiliary parameters for general purpose use. Many times they are used when it is desired to link an input to an output. Since this cannot be done directly, an auxiliary parameter can be used as a tie point. Also, the drive's inputs and outputs can be used as remote I/O via the communications ports.

  • Page 78: Parameter Table

    7.22 Parameter Table The following table lists all the Trooper® Pro parameters and their properties. ICR=Inhibit Change while Running RW=Read/Write RO=Read Only Table 18: Parameters Modbus Parameter Name Access Range Preset Note Address A1.02 2178 Operating Mode Vel..Torq Velocity A1.03 2179 Initialize 0..65535...
  • Page 79 Modbus Parameter Name Access Range Preset Note Address C1.02 6274 Analog Input 1 Status -2048..2047 C1.03 6275 Analog Input 1 Polarity Unipolar..Bipolar Unipolar C1.04 6276 Analog Input 1 Filtering 0..15 C1.05 6277 Analog Input 1 Type Voltage Voltage C1.06 6278 Analog Input 1 0% Cal 0..2047 C1.07...
  • Page 80 Modbus Parameter Name Access Range Preset Note Address G1.13 14477 Current Feedback Filtered -150.00..150.00% 0.00% G1.14 14478 Armature Amps Varies by Model 0.0A G1.15 14479 Current Error -300.00%..300.00% 0.00% G1.16 14480 Current Proportional Gain 0.00..15.00 2.30 G1.17 14481 Current Integral Time 0.001..30.000Secs 0.400Secs G1.19...
  • Page 81 Modbus Parameter Name Access Range Preset Note Address H1.11 16523 Run Overrides Jog Disabled..Enabled Disabled H1.12 16524 External Run Enable Disabled..Enabled Disabled H1.13 16525 Run Status Off..On H1.14 16526 Jog Status Off..On H1.15 16527 Direction Status Fwd..Rev H1.16 16528 Armature Pilot Off..On H1.17 16529...
  • Page 82 Modbus Parameter Name Access Range Preset Note Address J2.01 20737 A: Forward Accel Time 0.1..600.0Secs 5.0Secs J2.02 20738 A: Forward Decel Time 0.1..600.0Secs 5.0Secs J2.03 20739 A: Reverse Accel Time 0.1..600.0Secs 5.0Secs J2.04 20740 A: Reverse Decel Time 0.1..600.0Secs 5.0Secs J2.05 20741 A: S Accel Start Time...
  • Page 83 Modbus Parameter Name Access Range Preset Note Address K4.04 23044 Field Volts 0..400 K4.05 23045 Field Amps Varies by Model K4.06 23046 Reference -300.00..300.00% 0.00% K4.07 23047 Ramp Output -300.00..300.00% 0.00% K4.08 23048 Final Velocity Demand -105.00..105.00% 0.00% K4.09 23049 Velocity Feedback -125.00..125.00% 0.00%...
  • Page 84 Modbus Parameter Name Access Range Preset Note Address L5.01 25217 Diameter Torque Gain 0.00..300.00% 100.00% L5.02 25218 Diameter Torque 0.00..100.00% 0.00% L5.03 25219 Inertia Mode Accel..Decel Accel L5.04 25220 Inertia Sensitivity 1..10 L5.05 25221 Inertia Compensation 0.00..100.00% 0.00% L5.06 25222 Line Speed Status Decel..AtSpeed..Accel AtSpeed...
  • Page 85 Modbus Parameter Name Access Range Preset Note Address M5.01 27265 Threshold 5 Input -300.00..300.00% 0.00% M5.02 27266 Threshold 5 Absolute Value Off..On M5.03 27267 Threshold 5 On Level -300.00..300.00% 50.00% M5.04 27268 Threshold 5 Off Level -300.00..300.00% 40.00% M5.05 27269 Threshold 5 On Value -300.00..300.00% 100.00%...
  • Page 86 Modbus Parameter Name Access Range Preset Note Address N3.01 29057 Timer 3 Mode Refer to page 64 OnDelay N3.02 29058 Timer 3 Input Off..On N3.03 29059 Timer 3 Delay Time 1 0.1..600.0Secs 5.0Secs N3.04 29060 Timer 3 Delay Time 2 0.1..600.0Secs 5.0Secs N3.05...
  • Page 87 Modbus Parameter Name Access Range Preset Note Address O4.04 31236 Logic Gate 4 Output Varies by Mode False O5.01 31361 Logic Gate 5 Mode Refer to page 66 A and B O5.02 31362 Logic Gate 5 Input A Varies by Mode False O5.03 31363...
  • Page 88 Modbus Parameter Name Access Range Preset Note Address Q2.01 35073 Internal Link 11 Source A1.01..U1.20 00.00 Q2.02 35074 Internal Link 11 Destination A1.01..U1.20 00.00 Q2.03 35075 Internal Link 12 Source A1.01..U1.20 00.00 Q2.04 35076 Internal Link 12 Destination A1.01..U1.20 00.00 Q2.05 35077 Internal Link 13 Source...
  • Page 89 Modbus Parameter Name Access Range Preset Note Address R2.10 37258 Device Message Count 0..65535 R2.11 37259 Device No Response Count 0..65535 R2.12 37260 Break Detected Count 0..65535 R2.13 37261 Framing Error Count 0..65535 R2.14 37262 Overrun Error Count 0..65535 R2.15 37263 Parity Error Count 0..65535...

  • Page 90: Troubleshooting

    Modbus Parameter Name Access Range Preset Note Address U1.12 43148 Aux 12 -327.68..327.67% 0.00% U1.13 43149 Aux 13 -327.68..327.67% 0.00% U1.14 43150 Aux 14 -327.68..327.67% 0.00% U1.15 43151 Aux 15 -327.68..327.67% 0.00% U1.16 43152 Aux 16 -327.68..327.67% 0.00% U1.17 43153 Aux 17 -327.68..327.67% 0.00%...
  • Page 91 Fault Description Suggested Action F1.03 is set properly. If an armature contactor is used, ensure contactor is energizing and contacts are working properly. G2.15=Tachometer Verify tachometer rating. Ensure F2.02 and jumper J2 are set properly. Ensure proper polarity of tachometer signal (G2.11) and invert if necessary The motor speed exceeded the level set by (F2.02).

  • Page 92: Spare Parts

    All models ......................D14602-000 Power Board All models ......................D14599-000 Keypad Board All models ......................C14608-000 9.2 Fuses Recommended Line Fuses: Time Delay, 250VAC Model Amps Carotron P/N Manufacturer P/N Bussmann MDA-15 TPR002-000 FUS1005-00 Littelfuse 326015 Mersen GSA15 Table 20: Recommended Line Fuses...

  • Page 93: Prints

    Prints D14605 CONTROL BOARD ASSEMBLY...

  • Page 94: D14602 Regulator Board Assembly

    D14602 REGULATOR BOARD ASSEMBLY...

  • Page 95: D14599 Power Board Assembly

    D14599 POWER BOARD ASSEMBLY...

  • Page 96: C14608 Keypad Board Assembly

    C14608 KEYPAD BOARD ASSEMBLY...

  • Page 98: D14702 Software Block Diagram

    PRO FIRMWARE...
  • Page 99 BLOCK DIAGRAM...
  • Page 100 PRO FIRMWARE...
  • Page 101 BLOCK DIAGRAM...
  • Page 102 Notes...

  • Page 103: Standard Terms & Conditions Of Sale

    Company's satisfaction to have failed to so perform, or The Standard Terms and Conditions of Sale of Carotron, LLC. (here- refund to the Purchaser the purchase price paid by the Purchaser to inafter called “Company”) are set forth as follows in order to give the...
  • Page 104 3204 Rocky River Road Heath Springs, SC 29058 Phone: 803.286.8614 Fax: 803.286.6063 Email: saleserv@carotron.com Web: www.carotron.com MAN1065-00 Rev. A Issued 11-03-2022...

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