Page 1 C O M B I V E R T Programming Manual Power unit Firmware version 2.1.x.x for control types: G6L-G (characteristic-controlled) (Asynchronous Sensorless G6L-M ASCL Closed Loop) G6P-S (Sensorless Closed Loop) Mat.No. Rev. 00G6NEA-0020...
Page 3: Table Of Contents
7.1.3 Overview of the Sy-Parameters ................ 32 7.1.4 Explanation to parameter description ..............32 7.1.5 Description of the ru-Parameters ..............33 7.1.6 Description of the In-Parameters ............... 43 7.1.7 Description of the Sy-Parameters ..............47 © KEB, 2019-03 COMBIVERT G6...
Page 4 Deactivation of the digital control release ..............72 9.15 Short description - digital outputs ................. 73 9.16 Output signals / Hardware ....................74 9.17 Output filter (do43, do44) ....................74 9.18 Switching conditions (do00...do07) ................75 9.19 Inverting of switching conditions for flags 0...7 (do08...do15) ........79 COMBIVERT G6 © KEB, 2019-03...
Page 5 Voltage stabilisation (uF09) ................108 11.1.5 Deactivation of the voltage stabilisation via digital input ........111 11.1.6 Switching frequency (uF11) ................111 11.1.7 Energy saving function (uF06...uF08) ..............111 11.1.8 SMM (sensorless motor management) ............113 11.1.8.1 Motor name plate .................... 113 © KEB, 2019-03 COMBIVERT G6...
Page 6 Single identification ..................148 12.2.4.1 Deadtime compensation (uF18) ..............150 12.2.4.2 Motor identification error state dr66 ..............150 12.2.5 Standstill and starting phase ................151 12.2.6 Low speed ....................... 153 12.2.7 Motor model ....................154 12.2.8 Function mode ....................156 COMBIVERT G6 © KEB, 2019-03...
Page 7 15.3 Speed limiting ......................... 187 15.4 Control mode ........................187 15.4.1 Mode 1: Torque-controlled operation with emergency changeover to speed con- trol ........................187 15.4.2 Mode 2: Torque-controlled mode with superimposed speed control ....188 © KEB, 2019-03 COMBIVERT G6...
Page 8 Quick stop at closed-loop systems ..............209 18.5.3 Time monitoring abnormal stopping ..............210 18.5.4 S-curve for quick stop ramp ................210 18.5.5 Quick stop via control word ................210 18.6 Speed search ........................210 COMBIVERT G6 © KEB, 2019-03...
Page 9 19.10 Set activation / deactivation delay (Fr05, Fr06) ............242 Special Functions ..................243 20.1 DC braking ........................243 20.1.1 DC braking in v/f mode ..................245 20.1.2 DC braking in speed-controlled operation without feedback (ASCL) ....245 20.2 Energy saving function ....................246 © KEB, 2019-03 COMBIVERT G6...
Page 10 Watchdog time internal bus (Sy09) ..............287 23.2.6 Auto store (Ud05), auto store state (Ud04) ............ 287 23.2.7 Status and control word ................... 288 23.2.8 Speed setting via bus ..................291 23.3 Description of the DSP402 parameters ................ 292 COMBIVERT G6 © KEB, 2019-03...
Page 11 Device Control mode ..................294 23.3.3 Velocity mode ....................297 Parameter Overview ..................300 24.1 Parameter ........................300 24.1.1 Parameter groups .................... 300 24.1.2 Parameter listing ..................... 301 Annex ......................314 25.1 UL Marking ........................314 25.2 Index ..........................315 © KEB, 2019-03 COMBIVERT G6...
Page 12: Preface
Copyright The customer may use the instruction manual as well as further documents or parts from it for internal pur- poses. Copyrights are with KEB and remain valid in its entirety. All rights reserved. , COMBIVERT , COMBICONTROL and COMBIVIS are registered trademarks of Karl E.
Page 13: Specified Application
The used semiconductors and components of KEB are developed and dimensioned for the use in industrial products. If the KEB COMBIVERT F5 is used in machines, which work under exceptional conditions or if es- sential functions, life-supporting measures or an extraordinary safety step must be fulfilled, the necessary reliability and security must be ensured by the machine builder.
Page 14: Type Code
D like 3 with STO with tor, without safety function STO f=0Hz Control type C Analog/digital (standard) D CAN ® 1 E IO-Link ® 2 continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 15 PROFIBUS user organisation e.V. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, ® Germany * SCL = Sensorless Closed Loop ** ASCL = Asynchronous Sensorless Closed Loop © KEB, 2019-03 COMBIVERT G6...
Page 16: Hardware
Safety function STO STO (optional) Control terminal block LED1 Inverter state LED Display/keyboard (optional) RJ45 terminals (optional) Figure 3.1 Sample image The following controls are available for the KEB COMBIVERT G6: Control type • Standard • CANopen • IO-Link • EtherCAT • VARAN In this chapter there are not any more information on the single controls.
Page 17: Operation
- is generated by the application parameters - usually it is activated only for the adaption to the application Password structure The KEB COMBIVERT G6 is provided with extensive password protection. The different passwords are used - change the display modes 4.2.1 Passwords and password levels...
Page 18: Selection Of Operating Mode
COMBIVIS recognizes the use of inappropriate lists and select the cor- rect config file automatically. Unintended settings and wrong displays can occur if the warning messages are ignored. Products made for export are limited to an output frequency of 599Hz. Ramps and setpoint limits are calculated to the adjusted value in parameter Ud02 (e.g. 800Hz). COMBIVERT G6 © KEB, 2019-03...
Page 19: Reference Speed / Reference Frequency
8000 rpm 2000 rpm dr49 16000 rpm 4000 rpm dS22 32000 rpm 8000 rpm The description of single parameter adjustments provides (unless otherwise mentioned) a speed range of 4000 rpm (Ud02 = 4 or 8). © KEB, 2019-03 COMBIVERT G6...
Page 20: Start-Up
After unpacking the goods and checking them for complete delivery following measures are to be carried out: Visual control for transport damage: Should any external damages to the KEB COMBIVERT be visible get in tough with your forwarding agent and return the unit with a corresponding report to KEB.
Page 21: Start-Up Of An Asynchronous Motor
Start-up of an asynchronous motor The following chapters describe the start-up of an asynchronous motor in the two available modes: v/f characteristic open-loop operation (G6L-G or G6P-G) speed-controlled operation without encoder feedback (ASCL / G6L-M) © KEB, 2019-03 COMBIVERT G6...
Page 22: V/F Characteristic Operation
10% higher than the highest setpoint speed in the application. 3. Loading the default parameters Loading the default parameters (KEB factory setting) by - Fr01 copy parameter set = - 4 Pre-adjustments (e.g. function of the digital inputs) disappear.
Page 23 6. Measurement of the stator resistance The stator resistance dr06 can be determined automatically by the KEB COMBIVERT. Inverter must be in status „70: standstill (modulation off)“. This can be achieved e.g. by setting oP02 to value 0. Then start the measurement with the input of =>...
Page 24: Start-Up G6L-M (Ascl/ Vector Controlled With Motor Model)
(e.g. resolution of the speed, etc.) see chapter 5.1. 3. Loading the default parameters If the control type Ud02 was not changed, loading of the default parameters (KEB factory setting) can be released by setting - Fr01 copy parameter set = 4 Pre-adjustments (e.g.
Page 25 8. Calculation of motor-dependent data Even if the motor data dr06 to dr10 are unknown, the motor-dependent data (e.g. dr18 field weak. speed) must be calculated once at this point. - Fr10 motor adaption = 1: uF09 © KEB, 2019-03 COMBIVERT G6...
Page 26 Start-Up 9. Identification of the equivalent circuit data The equivalent circuit data dr06...dr10 can be determined automatically by the KEB COMBIVERT. The fol- lowing must be considered: • The motor must be in no-load operation for identification of the main inductance. By default, the motor rotates with dr17: "Speed for maximum torque". The speed limits (oP-Parameter see chapter 10.5) must be programmed accordingly if this is not permissible.
Page 27 ASCL at low speed is critical. If the behaviour of the drive (e.g. when reversing or stopping) is not optimal, additional measures must be executed (described in chapter 11 "operation at low speed"). If error messages occur during the start-up phase, read chapter 22 „Fault diagnosis“. © KEB, 2019-03 COMBIVERT G6...
Page 28: Start-Up Of A Synchronous Motor
Parameter dr26 must be programmed as peak value of the phase-phase voltage U . Equivalent circuit data must be entered according to the data sheet OR the data must be identified automati- cally like step 8. 7. Calculation of motor-dependent data - Fr10 motor adaption = 1: uF09 COMBIVERT G6 © KEB, 2019-03...
Page 29 The start-up is successful completed if no error messages have arisen. A detailed parameter description and their effects are described in chapter 12. Special adjustments are required for the operation of special or high-frequency motors. Please contact KEB for this case. © KEB, 2019-03 COMBIVERT G6...
Page 30: Functions
ANOUT1 pre ampl. disp. ru34 ANOUT1 post ampl. disp. ru35 ANOUT2 pre ampl. disp. ru36 ANOUT2 post ampl. disp. ru37 motorpoti actual value ru38 Power module temperature ru39 Overload integrator (E.OL) COMBIVERT G6 © KEB, 2019-03...
Page 31: Overview Of The In-Parameters
E.OL error counter In28 E.OP error counter In29 E.OH error counter In30 E.OHI error counter In39 deadtime selector In40 Dead time value In41 serial no. 2 (date) In42 serial no. 2 (count) In43 QS no. 2 © KEB, 2019-03 COMBIVERT G6...
Page 32: Overview Of The Sy-Parameters
→ = read / write = Resolution and value range depending on the control type (Ud02) Min. value = Minimum value Max. = Maximum value value Res. = Resolution Default = Default value = Unit COMBIVERT G6 © KEB, 2019-03...
Page 33: Description Of The Ru-Parameters
Addr. PG E Min. value Max. value Res. Default ru07 actual value display 2207h -4000 4000 0.125 The actual speed is calculated or encoder channel 2 is displayed depending on the adjusted actual source (cS01). © KEB, 2019-03 COMBIVERT G6...
Page 34 The more precise the motor data are entered, the more pre- cise is the indication of the active current. The maximum values depend on the size of the inverter. COMBIVERT G6 © KEB, 2019-03...
Page 35 I1 (Prog. input 1) X2A.10 I2 (Prog. input 2) X2A.9 I3 (Prog. input 3) X2A.12 I4 (Prog. input 4) X2A.11 IA (internal input A) IB (internal input B) 1024 IC (internal input C) 2048 ID (internal input D) © KEB, 2019-03 COMBIVERT G6...
Page 36 (do08...23) and indicated (see also Chapter 9 „Digital Inputs and Outputs“). According to following table a specific decimal value is given out for any output flags. If several output flags are set, the sum of the decimal values is indicated. Decimal Output -No. value Flag 0 (do08...do23) Flag 1 (do08...do23) Flag 2 (do08...do23) Flag 3 (do08...do23) Flag 4 (do08...do23) Flag 5 (do08...do23) Flag 6 (do08...do23) Flag 7 (do08...do23) COMBIVERT G6 © KEB, 2019-03...
Page 37 221Ah The KEB COMBIVERT can have access to 8 parameter sets (0-7). Through programming the inverter can change parameter sets autonomously and can thus start different modes of operation. This parameter shows the parameter set, with which the inverter is operating currently. Another parameter set can be edited independently via bus (see also chapter 19 "Parameter sets").
Page 38 -100 0.01 The motorpoti-function in the KEB COMBIVERT imitates a mechanical, motor operated potentiometer. The control occurs via 2 prog. inputs („Poti up“ and „Poti down“). The display is limited by oP53 / 54. The adjust- ment of the motorpoti is done with parameters oP50...oP59 (also see chapt. 20.3 „Motorpoti function“). By way of the bus the motorpoti can be set to any chosen value between -100...100%.
Page 39 Indicates the actual switching frequency of the inverter. The displayed values correspond to the following switching frequencies: 0 = 2 kHz 1 = 4 kHz 2 = 8 kHz 3 = 12 kHz 4 = 16 kHz © KEB, 2019-03 COMBIVERT G6...
Page 40 PG E Min. value Max. value Res. Default ru73 set torque in percent 2249h -400 This parameter displays the adjusted set torque (ru11) in percent at the input referring to the absolute torque reference (cS19). COMBIVERT G6 © KEB, 2019-03...
Page 41 Parameter Addr. PG E Min. value Max. value Res. Default ru82 ramp value disp. 2252h -2147483647 2147483647 high-res. Parameter ru82 displays the value of the ramp output (ru02) in high-resolution (see chapter „Setpoint set- ting“). © KEB, 2019-03 COMBIVERT G6...
Page 42 Min. value Max. value Res. Default ru96 active sub index 2260h Displays the active subindex. Parameter Addr. PG E Min. value Max. value Res. Default ru97 internel temperature 2261h °C Displays the internal inverter temperature. COMBIVERT G6 © KEB, 2019-03...
Page 43: Description Of The In-Parameters
0 = 2 kHz 1 = 4 kHz 2 = 8 kHz 3 = 12 kHz 4 = 16 kHz Parameter Addr. PG E Min. value Max. value Res. Default In06 software version 2E06h © KEB, 2019-03 COMBIVERT G6...
Page 44 Parameter In17 displays the temperature mode of the inverter. In17 Function of T1, T2 Pn72 Resistance Display ru46 Error/ warning < 750 Ω T1-T2 closed 0.75…1.65 kΩ not defined (reset resistance) PTC (according to DIN EN 60947-8) 1.65…4 kΩ not defined (tripping resistance) > 4 kΩ T1-T2 open COMBIVERT G6 © KEB, 2019-03...
Page 45 In19 2E13h 0,01 power Parameter In19 displays the rated inverter act. power of the motor recommended by KEB. The rated active power of the recommended motor is different (depending on the frequency inverter size) Parameter Addr. PG E Min.
Page 46 The measured values of the characteristic "deadtime" can be read out in parameter In40. Parameter Addr. PG E Min. value Max. value Res. Default In41 serial no. 2 (date) 2E29h -2147483648 2147483647 In42 serial no. 2 (count) 2E2Ah -2147483648 2147483647 In43 QS no. 2 2E2Bh 65535 The serial number 2 identifies the power unit. The QS-number 2 contains production-internal information. COMBIVERT G6 © KEB, 2019-03...
Page 47: Description Of The Sy-Parameters
PG E Min. value Max. value Res. Default Sy32 scope timer 2020h 65535 The scope timer generates a time period of 1 ms. This can be used by external programs, e.g. scope, to represent time patterns. The timer counts from 0...65535 and starts again with 0 after an overflow. © KEB, 2019-03 COMBIVERT G6...
Page 48 Max. value Res. Default Sy52 set speed value 2034h -32000 32000 Setting of the set speed value in the range of ±32000 rpm. The reference source oP00 must be set to „5“ for setpoint setting via Sy52. The rotation source is determined via oP01 like the other absolute reference sources. COMBIVERT G6 © KEB, 2019-03...
Page 49 If there is adjusted an invalid address (neither assigned in the inverter nor on the control board) the control board searches for the next existing address of the parameter group. If this parameters is available in the CP-Mode, the setting becomes effective there. Otherwise CP00 is in- dicated as start parameter. © KEB, 2019-03 COMBIVERT G6...
Page 50: Analog Inputs And Outputs
An10 AN2 interface selection An11 AN2 noise filter An12 AN2 save mode An13 AN2 save trig. input selection An14 AN2 zero clamp An15 AN2 gain An16 AN2 offset X An17 AN2 offset Y An18 AN2 lower limit COMBIVERT G6 © KEB, 2019-03...
Page 51: Interface Selection
Figure 8.3 Control with poti and internal reference voltage Ri amounts 30 kΩ at the terminals at value 0 (0...10V DC) in parameters An00 /An10. Terminal CRF (Pin 16) at X2A may be loaded with max. 4mA. 0...±20mA 4...20mA Figure 8.4 Control with current signal (An00 / An10 = 1 or 2) © KEB, 2019-03 COMBIVERT G6...
Page 52: Noise Filter (An01 / An11)
Moreover, with An02 / An12 it can be determined whether the memory contents are saved or deleted upon switch off. An04 / An14: Save mode Value Meaning Always release (default) Release via digital input No reset at power-on-reset (default) Reset at power-on-reset COMBIVERT G6 © KEB, 2019-03...
Page 53: Input Selection (An03 / An13)
I1 (prog. input 1) X2A.10 I2 (prog. input 2) X2A.9 I3 (prog. input 3) X2A.12 I4 (prog. input 4) X2A.11 IA (internal input A) IB (internal input B) 1024 IC (internal input C) 2048 ID (internal input D) © KEB, 2019-03 COMBIVERT G6...
Page 54: Zero Clamp (An04 / An14)
Output signal (for further sig- nal processing) Input signal coming -10% from the noise filter -10% fade-out range Figure 8.6 Zero clamp An04 / An14: Zero clamp Value range Meaning -10.0%...10.0% Value range of the hysteresis for An04 and An14. COMBIVERT G6 © KEB, 2019-03...
Page 55: Gain Of The Input Characteristic (An05
Example 1. adjustment of the X-offset for input AN1 to 50 (%) Example 2. adjustment of the gain to 2 100% 100% An05 An06 -100% 100% -100% 100% -100% -100% Figure 8.8 X-Offset (An06) = 50%; Gain (An05) = 2.00 © KEB, 2019-03 COMBIVERT G6...
Page 56: Lower Limit And Upper Limit (An08, An09, An18, An19)
An08 AN1 lower limit An09 AN1 upper limit An18 AN2 lower limit An19 AN2 upper limit 400% An09 / An19 -400% 400% An08 / An18 -400% Figure 8.10 Limitation of the analog signal COMBIVERT G6 © KEB, 2019-03...
Page 57: Selection Ref Input / Aux-Function (An30)
Reference value = 1000 rpm in the 4000 mode (Ud02 = 4 or 8) Reference value = 2000 rpm in the 8000 mode (Ud02 = 5 or 9) etc. (see chapter 5 Selection of the operating mode) © KEB, 2019-03 COMBIVERT G6...
Page 58: Brief Description Analog Outputs
Analog Inputs and Outputs Brief description analog outputs The KEB COMBIVERT has four programmable analog outputs (ANOUT 1, 2 and ANOUT 3, 4). Outputs ANOUT 3 and ANOUT 4 are realized by software. Parameters An31 / An36 allow the selection of one size which is given out at the outputs X2A.22 / 24.
Page 59: Output Signals
Following parameters are used for the display of the analog outputs, before and after the characteristic am- plification: ru33 ANOUT1 / pre amplifier display 0...±400 % ru34 ANOUT1 / post amplifier display 0...±100 % ru35 ANOUT2 / pre amplifier display 0...±400 % ru36 ANOUT2 / post amplifier display 0...±100 % No display is provided at analog outputs ANOUT3 and ANOUT4. © KEB, 2019-03 COMBIVERT G6...
Page 60: Anout 1
Depending on the rated inverter current (In01), depending on Ud02, depending on the motor The value can be found in the technical data of the power circuit manual . COMBIVERT G6 © KEB, 2019-03...
Page 61: Gain Of The Output Characteristic
2. Adjust the gain (An33) to -1 An35 100% An33 An34 -100% 100% -100% Figure 8.15 Inverting the analog output These settings result in an inverting of the analog signal. corresponds to at the output 100% corresponds to at the output © KEB, 2019-03 COMBIVERT G6...
Page 62: Anout 1
Analog values can be preset in percent for the respective input with parameters An32 / An37 / An42 / An48. For that purpose value 8: „digital setting“ must be adjusted as process variable. The setting is done within the range ±100 %. COMBIVERT G6 © KEB, 2019-03...
Page 63: Digital Inputs And Outputs
Digital Inputs and Outputs Summary description digital inputs KEB COMBIVERT has 8 external digital inputs and 4 internal inputs (IA…ID). All inputs can be assigned to one or several functions. The external inputs are generally controlled with PNP wiring in the standard version. Parameter ru21 displays the actual controlled inputs.
Page 64: Input Signal Pnp
In the case of several inputs the sum is to be formed. Exception: The control release must be supplied with 24V. The 24V supply can be done e.g. with the 24V output (X2A.4). COMBIVERT G6 © KEB, 2019-03...
Page 65: Input Terminal State (Ru21), Internal Input State (Ru22)
If a signal is 1- or 0-active (inverted)can be adjusted with parameter di04. The parameter is bit-coded, i.e. the value corresponding to the input must be entered. If several inputs shall be inverted, then the sum is to be formed. (Exception: An inversion of the control release remains without function). © KEB, 2019-03 COMBIVERT G6...
Page 66: Turn On- And Turn Off Delay Time Of The Digital Inputs
Switch-off is effected with the next rising edge. Control release (ST) can be set to edge-triggered flip-flop, but this remains without affect on the function, since it is a pure static signal. Input sig- nal after filtering Input trigger Figure 9.4 Example of a signal flow diagram for input I1 (di05 = 16) COMBIVERT G6 © KEB, 2019-03...
Page 67: Strobe Dependent Inputs (Di06, Di07, Di08)
In that case the strobe signal is static, i.e. the input signals are accepted for as long as the strobe signal is set (or for as long as the gate is open). © KEB, 2019-03 COMBIVERT G6...
Page 68 Edge active strobe (di07 = 0) Input signal strobe signal Input state time [t] Figure 9.6 Static strobe mode 1 (di07 = 1) Input signal strobe signal Input state time [t] Figure 9.7 Static strobe mode 2 (di07 = 2) COMBIVERT G6 © KEB, 2019-03...
Page 69: Error Reset Input Selection (Di09) And Error Reset Negative Slope (Di10)
1 uF21 dt. comp. off input sel. The following table gives an overview of all functions which can be assigned to a digital input with parameters di11...di22 (several functions are possible). © KEB, 2019-03 COMBIVERT G6...
Page 70 268435456: control GTR7 GTR7 (braking transistor) permanently on Pn64 536870912: reserved 1073741824: reserved 2147483648: prog. function additional function („+“ function) is selected (di24...35) the column "Fct Para" displays the function-related parameter corresponding to the value in di11...di22. COMBIVERT G6 © KEB, 2019-03...
Page 71 22: Voltage stabilization off uF27 when the function is activated. The time for increasing and decreasing can be adjusted with uF06. the column "Fct Para" displays the function-related parameter corresponding to the value in di11...di22. © KEB, 2019-03 COMBIVERT G6...
Page 72: Software-St And Locking Of The Control Release
An input which can deactivate the digital setting of the control release can be selected with parameter di39 „disable dig. ST input selection“. Thus only terminal ST is effective. Thus it is possible to realize hand operation on failure of the bus system. COMBIVERT G6 © KEB, 2019-03...
Page 73: Short Description - Digital Outputs
=128 =128 & internal & output OD > 1 > 1 ru25 State ru25 State ru24 State ru23 Output condi- of output flags output state Digital outputs tion state Figure 9.9 Principle of the digital outputs © KEB, 2019-03 COMBIVERT G6...
Page 74: Output Signals / Hardware
The total current of X2A.13 or X2A.14 is limited to 50mA. In case of inductive load at the relay outputs or at the transistor output a protective wiring is to be provided (free-wheeling diode)! 9.17 Output filter (do43, do44) A filter can be set for switching condition 0 with do43. With do44 for switching condition 1. The change of a switching condition must be applied for the filter time, then it becomes active at the output of the filter. If the change is cancelled during the filter time the filter time is reset and restarted with the next change. The filter time can be adjusted in a range of 0 (off)...1000 ms. COMBIVERT G6 © KEB, 2019-03...
Page 75: Switching Conditions (Do00
( I > Pn20 ) trolled operation). Ramp is stopped (LA-/LD-Stop active). Pn24 „LAD load level“ LAD stop or Pn25 „LD voltage“ exceeded at acceleration/deceleration. DC-braking DC voltage-braking active continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 76 Number of the inverter state (e.g. 18 at error! Watchdog) = inv.status (ru00) = level switching level pow. mod. temp. > level Heat sink temperature > switching level motortemp. > level Motor temperature > switching level continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 77 Amount ru81 „active power“ > switching level active power > level ru81 „active power“ > switching level 75...79 reserved ru17 „active power“ higher than the switching level (sign of active current > level ru17 is considered). continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 78 DC braking is completed halt after DC-brake > lev. and the mean value of the apparent current during DC braking is higher than the adjusted level referring to the rated current. COMBIVERT G6 © KEB, 2019-03...
Page 79: Inverting Of Switching Conditions For Flags 0
Parameter do16...do23 serve for the selection of the 8 preassigned switching conditions. The selection is done for each flag separately, where one can choose between no one and up to all 8 switching conditions. The value of the selected switching conditions must be entered in do16...do23 in accordance with Fig. 9.13. If several conditions shall be inverted, the sum is to be formed. © KEB, 2019-03 COMBIVERT G6...
Page 80: And / Or Connection Of The Switching Conditions (Do24)
1 Bit 0 Flag 0 > 1 do17 & 1 Bit 1 Flag 1 > 1 do23 & 1 Bit 7 Flag 7 > 1 Figure 9.13 Linking the switching conditions in logic step 1 COMBIVERT G6 © KEB, 2019-03...
Page 81: Inverting Of Flags (Do25
Bit 5 Bit 6 & 1 Bit 7 Bit 7 > 1 Figure 9.14 Inverting and selection of flags With parameters do25..do32 each of the 8 flags (bit 0...7) from logic step 1 can be inverted separately. With this function it is possible to set any chosen flag as inverted flag. The parameter is bit-coded. According to Fig. 9.14 the weighting of the flag to be inverted must be entered in do25...do32. If several flags shall be inverted, the sum is to be formed. 9.23 Selection of flags (do33...do40) A selection of flags of the first logic step can be made in the second logic step. The selection is done for each output separately, where one can choose between none and up to all 8 flags. The value of the selected flags must be entered in do33...do40 in accordance with Fig. 9.14. The sum is to be formed if several flags shall be selected. © KEB, 2019-03 COMBIVERT G6...
Page 82: And / Or Connection Of The Flags (Do41)
(according to the following picture). If several outputs shall be inverted, the sum is to be formed. do42 Bit 0 Bit 1 Bit 2 Bit 3 do41 Bit 4 Bit 5 Bit 6 Bit 7 Figure 9.16 Inversion of Outputs COMBIVERT G6 © KEB, 2019-03...
Page 83: Output Terminal State (Ru25) And Digital Output State (Ru80)
The output signals are allocated to output terminals O1, O2, R1 and R2 with do51. The assignment is done according to following table: do51: hardware output allocation Value Signal Output Default 0...1 O1 (terminal 13) 2...3 O2 (terminal 4) 4...5 R1 (terminal 26, 28, 30) 6...7 R2 (terminal 25, 27, 29) © KEB, 2019-03 COMBIVERT G6...
Page 84: Programming Example Digital Outputs
Output O2 (terminal X2A.13) set do34 to „1“ (flag 1 is evaluated). set do26 to „0“ (no inversion) The adjustment of do41 is independent for this example, as only one flag is adjusted at do36. Relay output R1 (terminal X2A.25...27) set do35 to „2“ (flag 2 is evaluated). set do27 to „0“ (no inversion) The adjustment of do41 is independent for this example, as only one flag is adjusted at do36. Relay output R2 (terminal X2A.28...30) set do36 to „4“ (flag 3 is evaluated). set do28 to „0“ (no inversion) The adjustment of do41 is independent for this example, as only one flag is adjusted at do36. COMBIVERT G6 © KEB, 2019-03...
Page 85: Setpoint-, Rotation- And Ramp Setting
10.1 Short description of the setpoints The setpoints of the KEB COMBIVERT G6 can be preadjusted analog as well as digital. The AUX-function adds or multiplies an analog setpoint with other setpoint settings. The setpoint and rotation selection links the different setpoint sources with the possible rotation sources. The obtained signal is used for further setpoint calculation.
Page 86: Reference Source Op00
REF or AUX The percentage value in oP76 „refer- input. 12: digital in % (oP76) ence setting % all sets“ is used as Attention: writing in all sets! speed setpoint. further on next side COMBIVERT G6 © KEB, 2019-03...
Page 87: Rotation Source Op01
Setpoint Setpoint setting Figure 10.2 0-limited Rotation setting absolute: no sign of the set value is evaluated and it is always driven with the amount in accordance with the selected rotation direction. © KEB, 2019-03 COMBIVERT G6...
Page 88 X2A.8 X2A.7 Figure 10.4 oP01 = value 4 or value 5 oP01 = „4“ or „5“ The inputs defined with oP60 and oP61 operate as follows at rotation setting run / stop and forward/ reverse (oP01 = „4“ or „5“): COMBIVERT G6 © KEB, 2019-03...
Page 89 Evaluation without LS (oP01 = 7) In this case the inverter modulates always. No direction of rotation must be set. positive setpoints (also 0) -> forward direction of rotation oP01 = 7: negative setpoints -> reverse direction of rotation © KEB, 2019-03 COMBIVERT G6...
Page 90 (set rotation source oP01 = 6, 8, 9 or 10) If run / stop is to be adjusted via the control word, oP02 must be set to "0". Terminals F/R may not be wired (OR-connection of terminal oP02 and Sy50). COMBIVERT G6 © KEB, 2019-03...
Page 91: Deceleration Of The Rotation Correction
[-9] -0,1125 Hz [-332] -4,1500 Hz ru22 internal input state [5] ST+F [9] ST+R [4] F ru00 inverter state [66] forw ard constant [67] reverse acceleration [1] ERROR overpotential Figure 10.6 Deceleration of rotation reversal © KEB, 2019-03 COMBIVERT G6...
Page 92: Step Values (Op18
Setpoint-, Rotation- and Ramp Setting 10.5 Step values (oP18...oP23) The KEB COMBIVERT supports up to 3 fixed frequencies for each parameter set, which can be selected binary-coded via two digital inputs. The inputs required for the selection are defined with oP19 and oP20 (see also chapter "Assignment of the inputs"). The rotation source for the step values is defined with oP18. The adjustment is independent of oP01 and is valid exclusively for the fixed frequencies. The setting of a fixed frequency has priority over the "normal"...
Page 93 See chapter 9 "Digital inputs". Step value 1...3 (oP21, oP22, oP23) The 3 step values oP21...23 are set-programmable and can be adjusted in a range of -4000...4000 rpm / -400...400 Hz. The value range depends on the setting in parameter Ud02: control type. © KEB, 2019-03 COMBIVERT G6...
Page 94: Setpoint Limits
(despite different absolute max. references) to adjust the characteristic of the analog setpoint with the same ascent for both rotation directions (see Fig. 10.9). The absolute maximum speed of oP14 is valid for both directions of rotation if value -1 „For“ is adjusted in oP15. COMBIVERT G6 © KEB, 2019-03...
Page 95 Other causes can be (e.g., caused by EMC) malfunctions in the speed measure- ment or a noisy, insufficiently smoothed speed estimate in the encoderless control (SCL or ASCL). +n [rpm] max. reference (oP10) forward absolute max. (oP14) setpoint forward Setpoint [%] Setpoint [%] -100% +100% (oP11) max. refer- ence reverse -n [rpm] Figure 10.10 Setpoint limits © KEB, 2019-03 COMBIVERT G6...
Page 96: Setpoint Calculation
If a higher value is selected for the lower limit than for the upper limit, the function is also not active. COMBIVERT G6 © KEB, 2019-03...
Page 97: High-Resolution Setpoint Setting
If oP64 is set to 2000 rpm, to the half max. value (4000 rpm mode), there is a high-resolution of: oP64 high-resolution = ───── = 1.86 x 10 This should be sufficient for all applications. The setting value for oP63 is calculated as follows: required ref. value oP63 = ────────────── oP64 © KEB, 2019-03 COMBIVERT G6...
Page 98: Ramp Generator
0: FDEC constant ramp Standard operation mode 4: FDEC constant time/act. ref. Do not adjust! deceleration 2, 3 forward 8: FDEC c.t./last cnst. ref. constant time 12: FDEC ogive Ogive run continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 99: Ramp With Constant Ascent
The calculation is executed only after power on, at set copying and direct writing of the parameters. 10.9.2 Ramp with constant ascent This mode is the KEB factory setting. The acceleration / deceleration values a re defined with parameters oP28 to oP31. The jerk (i.e. the permissible acceleration / deceleration change) is defined with parameters oP32...oP35 and oP70... oP73.
Page 100: Linear Ramps
Δ t = 5 s speed change Δ n = 900 rpm 4000 rpm mode reference speed = 1000 rpm ramp time to be adjusted 5 s * 1000 rpm oP28 =  = 5.56 s 900 rpm COMBIVERT G6 © KEB, 2019-03...
Page 101: S-Curve Times
-1: see forward = oP32 oP35: S-curve time deceleration 0: off reverse 0.01 s...5 s -1: lower s-curve = oP32 oP70: s-curve up time acc. for. 0: off 0.01 s...5 s further on next side © KEB, 2019-03 COMBIVERT G6...
Page 102 -1: lower s-curve = oP32 oP72: s-curve up time dec. for. 0: off 0.01 s...5 s -2: acceleration parameter = oP32 -1: lower s-curve = oP32 oP73: s-curve up time dec. rev. 0: off 0.01 s...5 s COMBIVERT G6 © KEB, 2019-03...
Page 103: Ramp With Constant Time
This means that the drive don´t decelerate, it keeps running with the last setpoint before stop command. Minimum acceleration / deceleration is limited programatically to: Δn / Δt = reference speed / 4800 s (reference speed dep. on Ud02 / see chapter 5) This means the drive would not continue to run constantly, but it decelerates very slowly. © KEB, 2019-03 COMBIVERT G6...
Page 104: Ogive Run
Value Description 0: off 1: 2 times 2: 4 times The linear ramp times are extended or reduces by the adjusted factor. 3: 8 times 4: 16 times 5: 1/10 times, and s-curve COMBIVERT G6 © KEB, 2019-03...
Page 105: Modulation Switch-Off Range
-1 = forward The value is the same as in oP36 The setpoint jumps from 0, without ramps to the adjusted value in oP37. The ad- 0.0000...400.0000Hz justed values of oP07 and oP11 are considered as limits © KEB, 2019-03 COMBIVERT G6...
Page 106: Motor Data And Controller Setting Of The Asynchronous Motor
V/f characteristic operation, with SMM (Sensorless Motor Management) for speed stabilisation and different current limiting protective functions - Vector controlled operation with motor model without encoder feedback (ASCL) During speed-controlled operation of an asynchronous motor without encoder feedback (Asynchronous Sen- sorless Closed Loop => ASCL), the speed is estimated with a mathematical model of the asynchronous machine. COMBIVERT G6 © KEB, 2019-03...
Page 107: Open-Loop Operation (V/F Characteristic)
25.5 %. ru42: modulation grade 100% uF04 = 0.0...25.5 %; Default = 0 % uF05 = 0.00...10.00 s; Default = 0 s uF04 uF01 uF05 Figure 11.2 Delta boost © KEB, 2019-03 COMBIVERT G6...
Page 108: Max. Voltage Mode (Uf10)
Figure 11.3 Additional point 11.1.4 Voltage stabilisation (uF09) The DC link voltage and thereby the directly dependent output voltage can be changed by fluctuations of the mains voltage or the load. The fluctuations of the output voltage are compensated when the voltage stabilisa- tion is activated. i.e., 100% output voltage correspond to the value set in uF09, but maximally 110% · (UDC link / √ 2) depending on the adjustment of uF10. This function further allows operation of motors with low rated voltage at the inverter. COMBIVERT G6 © KEB, 2019-03...
Page 109 = Output voltage CP.16=50 Hz uF00 = 50 Hz Figure 11.4 voltage stabilisation with voltage stabilisation without voltage stabilisation Motor voltage Motor speed Motor voltage Utilisation Utilisation Motor speed Figure 11.5 Example: Acceleration with load © KEB, 2019-03 COMBIVERT G6...
Page 110 1024 ms smoothing time with voltage stabilisation without voltage stabilisation Actual frequency Actual frequency Actual DC voltage Actual DC voltage Motor voltage Motor voltage Utilisation Utilisation Figure 11.6 Example: Deceleration of a high-inertia drive from 80Hz COMBIVERT G6 © KEB, 2019-03...
Page 111: Deactivation Of The Voltage Stabilisation Via Digital Input
0.0...130.0% Output voltage in %, on which is modulated at activated energy saving function. uF08 energy saving input selection 0...4095 (Default 0) For the assignment of the inputs to the parameter values, refer to chapter 9.1 „Digital inputs“. © KEB, 2019-03 COMBIVERT G6...
Page 112 8...15 generally off standard time * time / 2 4...7 Voltage ramp time / 4 time / 8 time / 16 * default setting 1.6s COMBIVERT G6 © KEB, 2019-03...
Page 113: Smm (Sensorless Motor Management)
Following parameters can be taken directly from the name plate and entered: dr00 DASM rated current dr01 DASM rated speed dr02 DASM rated voltage dr03 DASM rated power dr04 DASM rated cos(phi) dr05 DASM rated frequency © KEB, 2019-03 COMBIVERT G6...
Page 114: Determination Of The Stator Resistance (Dr06)
"Calculate drive data" is displayed in the status display (ru00) during determination. Upon successful de- termination the motor stator resistance is entered in dr06. If an error occurs during determination then error message „ERROR calc. drive data“ is output. COMBIVERT G6 © KEB, 2019-03...
Page 115: Load Mot.dependent Parameter (Fr10), Controller Activation
Adjustment of the slip compensation (cS00, cS01, cS04, cS06, cS09) The integrated speed controller is used at cS00 = 2 for slip compensation. The rotor speed calculated from the motor model is selected as actual controller value with cS01 = 2. The slip compensation can be config- ured with bits 3-6 in cS00. © KEB, 2019-03 COMBIVERT G6...
Page 116: Improved Slip Compensation (Cs00 Bit 6 = 64, Cs03)
With the improved slip com- pensation, the slip calculation during motor operation above the nominal setpoint is approximated to the real M/n-characteristic with a parabolic function. Major inaccuracies will occur then only above double rated torque. COMBIVERT G6 © KEB, 2019-03...
Page 117: Adjustment Of The Autoboost (Uf16, Uf17)
Switching frequency (2, 4, 8 kHz) of the inverter etc. Parameter dr68 can be activated in order to reach an accurate temperature. The source and the rotor resist- ance mode can be adjusted in parameter dr68 „resistance adaption mode“. © KEB, 2019-03 COMBIVERT G6...
Page 118: Winding Temperature Detection Via Aux
Parameter dr53 is parameterized via the AUX input if value 0 is set. A value must be preset if the motor temperature is estimated. In this case it is recommended to set a value of 100°C and to carry out a fine ad- justment after run in of the motor. dr53: corr. delta temperature Value Function 0: off switched off 1...250°C Adjustable value range for the delta temperature COMBIVERT G6 © KEB, 2019-03...
Page 119: Winding Temperature Detection Via Estimation Of The Motor Temperature
The maximum temperature for the estimated motor temperature is determined in parameter dr56. dr56: Rs corr max. temp. Value Function 30...90°C Adjustable maximum value for the estimated motor temperature © KEB, 2019-03 COMBIVERT G6...
Page 120: Select 50Hz / 60Hz Mode (Ud06)
Motor Data and Controller Setting of the Asynchronous Motor 11.1.10 Select 50Hz / 60Hz mode (Ud06) The COMBIVERT G6 can be changed with parameter Ud06 between 50 Hz and 60 Hz mains and motor op- eration. Parameter Ud06 is only available in open-loop mode G6x-G.
Page 121: Vector Controlled Operation (Ascl)
6: Torque / number (G6L/P) 7: off The speed controlled operation (cS00 = 5 or 6) is a special form described in chapter 15. The following adjustments are necessary in speed-controlled operation, in all modes with motor model: © KEB, 2019-03 COMBIVERT G6...
Page 122: Motor Rating Plate Data
DASM speed for max torque dr18 DASM field weakening speed Definition of magnetisation: dr19 flux adaption factor dr20 field weakening curve Current controller dS00 KP current dS01 KI current Torque limits: cS19 „absolute torque reference“ cS20...cS23 torque limit (for. mot., rev. mot., for. gen., rev. gen.) Pn61 Quick stop torque limit COMBIVERT G6 © KEB, 2019-03...
Page 123 Enter the rated voltage to be used later in parameter uF09, activate Fr10 = 1 and reset parameter uF09 to „off“ . After completion of a possible "fine tuning", i.e., the manual adjustment of controller parame- ters, torque limits, etc., parameter Fr10 may not be activated anymore. Otherwise, the manually adjusted parameters will be overwritten by the calculated values! © KEB, 2019-03 COMBIVERT G6...
Page 124: Speed Feedback And Selection Of The Speed Direction
Electrical parameters (equivalent circuit data) of the motor The parameters DASM stator resistance (dr06), DASM leakage inductance (dr07) and DASM rotor resist- ance (dr08) can be taken from a motor data sheet or they can be automatically determined by the KEB COM- BIVERT using the motor identification. The resistances are very low (only a few mΩ) for motors with high power. This can lead to errors in the automatic identification. For these motors, it may be sensible to use the...
Page 125: Automatic Mode
The speed controller must be sensibly parametrised (choose small Ki). The drive may not vibrate during the identification. The following chapter, "single identification", contains more detailed information with respect to the separate steps of the identification and can be skipped if automatic mode is chosen. In the chapter after the next, "ad- ditional trimmings", two further identifications are described which are not part of the automatic mode and that are unnecessary in many cases. The explanations of the parameters required to be set continues in chapter 11.2.2.5 "generally required set- tings for operation with motor model". © KEB, 2019-03 COMBIVERT G6...
Page 126: Single Identification
The motor accelerates to "speed for Mmax" (dr17) 9: reserved 10: Dead time detec- tion 4kHz * Measurement of dead time compensation characteristics for different switching frequencies 11: Dead time detection 8kHz * 12: reserved 13: reserved continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 127 = 5. If a mode other than automatic is used for the iden- tification, this action should be executed after the measurement of the leakage inductance, rotor and stator resistance, but before the identification of the main inductance, in order that the controllers are correctly par- ametrised for the speed ramp-up. Main inductance (ASM) (dr48 = 6) It is necessary for the identification of the main inductance that the motor accelerates to the speed for maxi- mum torque (dr17). The speed controller must be parameterised reasonable (select small Ki), the drive may not vibrate during the identification. The motor must be able to rotate in no-load operation. After the main inductance has been identified, the drive stops automatically. There is a special ramp „motor identification ramp time“ (dr49) for identification. This ramp applies for accel- eration at the beginning and deceleration at the end of the identification. © KEB, 2019-03 COMBIVERT G6...
Page 128: Motor Identification Error State Dr66
> 65 ° at smallest permissible range measuring frequency and < 10 °at the largest. Stator resistance measuring or dead time has reached The modulation factor has reached 100% modulation 100%. Frequency at Ls/L measurement not within permissible range COMBIVERT G6 © KEB, 2019-03...
Page 129: Additional Trimming
The calibrated no-load torque is stored as correction characteristic. The display of the actual torque in ru12 is corrected during operation with this characteristic. The torque offset characteristic can be read out with parameters dr58 / dr59. This should be executed only if the application really requires increased torque accuracy. © KEB, 2019-03 COMBIVERT G6...
Page 130: Generally Adjustments For Operation With Motor Model
A disadvantage of this current offset detection is that it is carried out only once and therefore temperature and ageing effects are not taken into account. To preserve the identified offset, automatic measurement is deactivated with dr48 = 19. Since the automatic measurement can only be reactivated by the KEB service personnel, the current offset detection should preferably be carried out only in consultation with KEB. 11.2.2.5 Generally adjustments for operation with motor model The drive is only ready for operation after switching the modulation if the flux is build up. If one starts earlier,...
Page 131 "dead time com- pensation mode" (uF18) = 3: „automatic". uF18: deadtime compensation mode Value Explanation 0: off Deactivates the dead time compensation 1: reserved 2: e-function Only required for special applications © KEB, 2019-03 COMBIVERT G6...
Page 132: Magnetisation Current Adaption / With Motor Model
The output frequency should not exceed 1/10 of the switching frequency. Thus the following applies: switching fre- max. output frequency output speed (for pole-pair number = 2) quency 4 kHz 400Hz 12000 rpm 8 kHz 800Hz 24000 rpm Voltage output for HF applications (dS18 Bit 6, value 64) COMBIVERT G6 © KEB, 2019-03...
Page 133 Depending on the deviation of the current from the sine form the inductance is reduced to 85..70% of the identified value. • Check current controller adjustments: A correction of the current controller adjustment is eventually necessary if the identified leakage induct- ance (dS07) is < 1.4mH: dS00 = dS00_def * 1.0…1.5 dS01 = dS01_def * 1.5…2 © KEB, 2019-03 COMBIVERT G6...
Page 134 Ramp time and s-curve at deceleration Resolution mode Min. oP30...oP31 / Min. oP34...oP35 4000 rpm 0.05 s 8000 rpm 0.1 s 16000 rpm 0.15 s 32000 rpm 0.25 s COMBIVERT G6 © KEB, 2019-03...
Page 135: Ascl / Low Speed Operation
Ramp output display ru02 Example: Ud02 = 4 (4000 rpm - mode) dS21 = 200 rpm dS22 = 0.2s dS21 = 200 rpm dS22 = 0.2s time [t] Figure 11.9 ASCL at low speed © KEB, 2019-03 COMBIVERT G6...
Page 136 (ru15) delay current speed (ru07) Frequency (ru03) magnetising current time actual torque (ru12) Figure 11.10 ASCL model deactivation during deceleration The torque display (ru12) is invalid after change-over to frequency controlled operation! COMBIVERT G6 © KEB, 2019-03...
Page 137: Switch To Consecutive Motor
DC voltage is connected to the motor´s clamps. The small braking torque while the motor is still running at high speed is a disadvantage. For more (appropriate parameters, settings, etc.) see chapter 18.6 speed search and 20.1 DC braking, re- spectively. © KEB, 2019-03 COMBIVERT G6...
Page 138: 11.2.2.10 Function Mode
For control based on calculated current, this time is minimised. Observer / motor model, observer effect / motor model The observer causes an equalisation between the measured currents and the currents calculated from the motor model. This is useful for some high frequency applications. The reciprocal of amplification of the ob- server is defined with parameter „observer factor“ (dS23). COMBIVERT G6 © KEB, 2019-03...
Page 139: Speed Estimate Controller (Ds14, Ds15) And Speed Smoothing (Ds17)
This change leads to a less accurate torque display and an inferior performance of the drive. The rotor adaption compensates for the temperature deviations of the resistance. It is activated with bit 1 in parameter dS04 „flux/rotor adaption mode“. © KEB, 2019-03 COMBIVERT G6...
Page 140 After "net on" the inverter always starts with the value 100%. The state of the rotor adaption can be read in parameter ru59 „factor rotor adaption“: 100% means that the drive is working with the identified values. Values unequal 100% mean that the actual rotor resistance is = ru59 * dr08 (TPIM rotor resistance). COMBIVERT G6 © KEB, 2019-03...
Page 141: Block Diagram
Motor Data and Controller Setting of the Asynchronous Motor 11.2.4 Block diagram Figure 11.11 Block diagram ASCL © KEB, 2019-03 COMBIVERT G6...
Page 142 KI Umax dS04 KP maximum voltage controller imr_ref dS10 umax modulation ref. (max. -2% of the max. output voltage) = SQR (Usd -0.75 + Usq omega_1 dr18, dr20, Imr rated Figure 11.13 Field weakening COMBIVERT G6 © KEB, 2019-03...
Page 143: Adjustments Of The Synchronous Motor
DSM EMF voltage constant (dr26, dr63) EMF is the induced voltage in no-load operation and must be entered as peak value (phase-phase) referring to 1000 rpm. dr26 = EMFeff x √ 2 Parameter dr26 is only considered if parameter dr63 has value 0. © KEB, 2019-03 COMBIVERT G6...
Page 144: Speed Control Configuration
With activation of the system inversion it is reached that the motor with selected rotation direction "forward" (e.g. by setpoint- or rotation setting) has the physically direction "reverse" respectively at setting "reverse" the physical rotation "forward". Precondition is a correct wiring of motor. COMBIVERT G6 © KEB, 2019-03...
Page 145 - dr33 DSM max. torque Motor type (only at SCL): - nn01 stabilisation current - nn02 min. speed for current - nn03 max. speed for current - nn10 standstill current - nn11 stabilisation time © KEB, 2019-03 COMBIVERT G6...
Page 146: Speed-Controlled Operation Without Encoder Feedback (Scl)
The motor model nn00 must be set to value „191“. 12.2.2 Identification of the motor data The required equivalent circuit data for the motor model can be determined by the KEB COMBIVERT itself. First, the motor data must be entered according chapter 12.1 and the motor adaption must be executed. There are two possibilities to start the identification: Writing of parameter dr48 in inverter state „stop (LS)", measurement is starting automatically.
Page 147 0: 1000Hz 32: 500Hz 64: 250Hz The measuring frequency is changed indepen- 96: 125Hz dently during measurement. 5...7 Frequency 128: 62.5Hz Therefore, leave the value at 0: keep 1000Hz! 160: 31.25Hz 192: 15.625Hz 224: 7.8125Hz * at dr48 = 8 auto identification © KEB, 2019-03 COMBIVERT G6...
Page 148: Auto Identification
= 2. Measurement current is DSM rated current dr23. The frequency of the meas- uring signal is adjustable via bit 5...7 in parameter dr48. If the measurement current cannot be reached with COMBIVERT G6 © KEB, 2019-03...
Page 149 Furthermore the automatic measurement is deactivated when the modulation is switched off, so the identified offset remains permanently. Voltage pulse (dr48 = 20) A preset voltage step by dr31 energizes the motor with 4 pulses with this function. A step response can be recorded with the COMBIVIS scope. The appropriate resonances can be identified from this step response. © KEB, 2019-03 COMBIVERT G6...
Page 150: Deadtime Compensation (Uf18)
Values 21 and 22 should only be used from a motor size of about 11 kW. Values 21 and 22 are used for the optimisation of the magnetization current for the entered rated motor data. It is recommended to change current offset values only in compliance with KEB. 12.2.4.1 Deadtime compensation (uF18) The drive has also measured the dead time compensation characteristic during automatic identification. This...
Page 151: Standstill And Starting Phase
Pn26 „speed search condition“ (for details, see Chapter 18.6). Additional start ramp In order to leave the critical range of small speed at starting and stopping there is an additional ramp for this range. © KEB, 2019-03 COMBIVERT G6...
Page 152 The current of nn01 „stabilisation current" must be regarded as maximum active current. The current ramp of nn02 and nn03 must be parametrized by such way (see chapter 12.2.5) that the lowering of current (nn03) is upside the deactivation of the open-loop operation (nn03 > nn08). COMBIVERT G6 © KEB, 2019-03...
Page 153: Low Speed
Speed / rpm standstill current nn10 stabilisation current nn01 Ramp output ru02 nn02 nn03 Figure 12.3 Low speed It is necessary to adapt the current or the ramp if there are vibrations during steady state. © KEB, 2019-03 COMBIVERT G6...
Page 154: Motor Model
The starting phase with activated currents runs more steady so that this adjustment should not be changed! If the rated motor current is higher than the rated inverter current the values are limited (after loading Fr10) to ½ of the HSR current In18. COMBIVERT G6 © KEB, 2019-03...
Page 155 To limit the speed estimate controller see also chapter 11.2.2.11. The general speed control settings can be adjusted according to chapter 13 "Speed control". Diagram of the controller structure for operation without encoder feedback, see chapter 12.3. © KEB, 2019-03 COMBIVERT G6...
Page 156: Function Mode
For the operation with sine-wave filter it is necessary to filter the resonance frequency with a band-stop filter. The resonance frequency of the sine-wave filter and the corresponding filter parameters can be determined with the tool sine-wave filter exe (www.keb.de). The equivalent circuit data of the motor and sine-wave filter must be entered in order to generate a parameter list. Then this parameter list must be loaded to the inverter. The filter parameters are stored in the fh parameter group.
Page 157: Rotor Position Detection For Synchronous Motors Without Rotation
The value in this parameter must be increased if the rotor position is suboptimal. dS33: step current Value range 0...15000 The current is internal limited to the rated inverter current In01. This function is only given, if the inductance in parameter dr31 is correctly measured or adjusted. © KEB, 2019-03 COMBIVERT G6...
Page 158: Rotor Position Detection For Synchronous Motors At Low Speeds (Hf Supply)
The speed limit for „open loop speed“ is separately adjustable from the auxiliary ramp (nn08) via nn17. In order that all remains downward compatible, nn08 is still active for "open loop speed" if nn17 is set to 0. COMBIVERT G6 © KEB, 2019-03...
Page 159: Block Diagram
Adjustments of the Synchronous Motor 12.3 Block diagram Figure 12.4 Block diagram SCL © KEB, 2019-03 COMBIVERT G6...
Page 161 Adjustments of the Synchronous Motor Figure 12.6 Speed controller and torque limitation © KEB, 2019-03 COMBIVERT G6...
Page 162 Torque characteristic for field weakening (only further lowering of the limits) dS03 mode DC-komp dr33 ch.curve dr40 nact. dr42 dr44 dr46 DC link voltage dr46 dr39 dr41 dr43 dr45 Figure 12.7 Torque limitation field weakening COMBIVERT G6 © KEB, 2019-03...
Page 163: Speed Control
An oscillation of the estimated speed is a possible disturbance at encoderless operation of asynchronous motors (ASCL). Increase of the value in parameter "ASCL speed PT1 time" (ds17) often enables a dynamic speed controller adjustment, that means a smaller value for cS26. © KEB, 2019-03 COMBIVERT G6...
Page 164: Operating State-Dependent Control Parameters
The solution is to enter a high value in parameter "KI offset“ (cS10) in order make the controller rigidy. If cS11 indicates the value „-1: brake release", this "KI offset" is set immediately to 0 at the end of the brake release time, not reduced during operating in a speed range. COMBIVERT G6 © KEB, 2019-03...
Page 165: Determination Of The Mass Moment Of Inertia
In order to eliminate the effect of friction from the calculation, you can determine the mass moment of inertia a second time in similar manner, however by deceleration test. The average value of both inertia, determined at ramp-up or deceleration must be entered in parameter cS25 „inertia (kg cm^2)“. © KEB, 2019-03 COMBIVERT G6...
Page 166: Pt1 Output Filter
This parameter must be set to 100% for a complete pre-control. Pretorque speed factor Inertia cS25 cS28 Low pass filter precontrol actual speed acceleration torque delta n_set setpoint value Pretorque speed PT1 filter Speed setpoint time cS27 value before 1 ms Speed controller Figure 13.5 Acceleration dependent pre-control COMBIVERT G6 © KEB, 2019-03...
Page 167: Precontrol Reciprocal Of Amplification / Filtering
Torque peaks, which are caused by a speed setpoint setting in steps, can be reduced by means of a low pass filter. Here also valid: the higher the time in parameter cS27 „pretorq. speed PT1 time“ the better the smooth- ing, but also the undynamic of precontrol. © KEB, 2019-03 COMBIVERT G6...
Page 168: Setpoint Smoothening
(ru01) (ru01) Precontrol value for the Precontrol value for the acceleration torque acceleration torque t [ms] t [ms] Figure 13.8 short cycle time entered in oP74 Figure 13.9 longest cycle time entered in oP74 COMBIVERT G6 © KEB, 2019-03...
Page 169: Square Influence Of The Controller Parameters
If the square mode is adjusted, the variable KI and KP have no function. Mode cS11= -1 brake release re- mains possible. Possible curves: 1000 1500 2000 n [rpm] Figure 13.10 cS07=30; cS08=100; cS12=500; cS13=1000, „resonance point“ © KEB, 2019-03 COMBIVERT G6...
Page 170 Speed Control 1000 1500 2000 n [rpm] Figure 13.11 cS07=200; cS08=100; cS12=500; cS13=1000 1000 1500 2000 n [rpm] Figure 13.12 cS07=100; cS08=30; cS12=500; cS13=1000 COMBIVERT G6 © KEB, 2019-03...
Page 171 Speed Control 1000 1500 2000 n [rpm] Figure 13.13 cS07=30; cS08=30; cS12=1300; cS13=1800 gain Inv. Imr 1000 1500 2000 n [rpm] Figure 13.14 cS07=100; cS08=200; cS12=1300; cS13=3700, „field weakening“ (linear field weakening) © KEB, 2019-03 COMBIVERT G6...
Page 172: Torque Display And Limiting
For the synchronous machine, the voltage limitation is done by setting a negative magnetising current. The maximum value of this current is determined with parameter dS13 „magn. current limit“. (see chapter 14.3 "physical torque limits of the synchronous motor" about the influence and adjustment of dS13). COMBIVERT G6 © KEB, 2019-03...
Page 173: Physical Torque Limits Asm
Therefore, also the software cur- rent limit should be activated. 14.2.2 Torque limits in base speed range If the motor is overloaded, i.e. if a torque is required, beyond its limit torque, the maximum voltage controller reduces the flux too much and thereby also reduces the maximum achievable torque. Therefore the maximum permissible torque must be reduced in the field weakening range. The torque limiting characteristic is defined with parameters dr15...dr18. © KEB, 2019-03 COMBIVERT G6...
Page 174 Data sheet value for breakdown torque of the motor at rated frequen- 2.5 * 36Nm = 90Nm Safety reserve 25% = 22.5 Nm dr16 „DASM max torque corn. sp“ = 90Nm – 22.5Nm = 67.5Nm COMBIVERT G6 © KEB, 2019-03...
Page 175: Physical Torque Limits Sm
This voltage may reach maximally the overvoltage threshold, otherwise the inverter is damaged. Therefore the permissible speed is limited. If the drive exceeds the value of parameter ru79 „abs. speed (EMF)" the inverter changes into "Error! overspeed“. © KEB, 2019-03 COMBIVERT G6...
Page 176: Determination Of The Magnetizing Current Limit (Ds13)
If the magnetizing current limit is selected too high, the available torque becomes smaller again. Furthermore too high value for dS13 can cause the maximum voltage controller to "hang". That means: for setting the mag- netizing current, more voltage is used than is gained from the field weakening. The voltage remains too high. A typical value for dS13 is the rated motor current. In the field weakening range, the current needed to set a defined torque increases. COMBIVERT G6 © KEB, 2019-03...
Page 177: Definition Of The Limiting Characteristic
(i.e., the last point on the characteristic) should minimally be set to the following value: Magnetising current limit (dS13) = 0.37 x ————————————————— x DSM rated torque (dr27) DSM rated current (dr32) This value may not be fallen below for the following reason: © KEB, 2019-03 COMBIVERT G6...
Page 178 Figure 14.5 Limiting characteristic The limiting characteristic is activated via dS03 bit 1. dS03: current/torque mode Meaning Value Explanation 0: off Activation of the limiting characteristic field weak. curve (defined by dr33, dr40...dr47) 2: on COMBIVERT G6 © KEB, 2019-03...
Page 179: Shifting Of The Limiting Characteristic
Speed [rpm] Figure 14.6 Shifting of the limiting characteristic The limiting characteristic must always be programmed higher than the speed range where the motor shall be operated. Otherwise, the drive operates in an undefined range at lower DC link voltage values due to the shift of the characteristic to lower speeds. © KEB, 2019-03 COMBIVERT G6...
Page 180: Influence Of The Current Limit
The torque limits can be adjusted during operation for special applications by multiplying with a factor of 0...100%. Parameter „torque reference source“ (cS15) determines how this factor is built for the adjusted torque limits (cS19...cS23). COMBIVERT G6 © KEB, 2019-03...
Page 181 To realize this faster processing, the following parameters do not have any function: (+/- 10V) „AN2 noise filter“ (An11), „AN2 offset Y“ (An17), „AN2 zero clamp“ (An14), „AN2 save mode“ (An12). The value of AN2 is limited as multiplier to 100%. This limits can be lowered by the limiting characteristic. © KEB, 2019-03 COMBIVERT G6...
Page 182: Display Of Actual Torque Values And Limits
The effective limits for the actual direction of rotation can be read in parameters ru47 "act. torque limit mot." and ru48 "act. torque limit gen.". Parameters ru47 and ru48 are depending on the programmed torque limits, the limiting characteristic and current limits (e.g. hardware current limit or dr37 "max. current“). COMBIVERT G6 © KEB, 2019-03...
Page 183: Display Of The Torque-Related Motor Load Ru90
= ——————————————————————— act. torque limit (ru47 respectively ru48 mot. gen. Actual torque limit mot. (ru47) Actual torque (ru12) Max. torque in % (ru90) Field weakening speed (dr18) Speed [rpm] Figure 14.7 LE27 = 0 © KEB, 2019-03 COMBIVERT G6...
Page 184: Mode 2: „Reference Torque" Le27 Unequal 0
Speed Speed [rpm] Speed [rpm] Figure 14.8 Parameter LE28 value 0 Figure 14.9 Display ru90 value 0 At parameter LE28 value 0 the smaller of the two max. values is the reference torque for ru90. COMBIVERT G6 © KEB, 2019-03...
Page 185 DSM rated speed (dr24) x DC link voltage min Torque S1 operation at DC link = 565V Torque S1 operation at DC link < 565V Reference torque (LE27) Reference torque at DC link = 565V Reference torque at DC link < 565V Speed [rpm] Figure 14.12 LE28 value 2 © KEB, 2019-03 COMBIVERT G6...
Page 186: Torque Control
Value Explanation 0: off Torque reference is transferred directly without ramp The maximum rate of change for the torque reference amounts to rated motor torque 1...60000 ms per adjusted ramp time (cS16). COMBIVERT G6 © KEB, 2019-03...
Page 187: Speed Limiting
(cS19) „ref. torque ramp speed controller digital % (cS18) torque reference -100% ru49 cS16 motorpoti (ru37) external PID output (ru57) AN2 direct (high scanning) cS19 „abs. torque refer- ence“ Figure 15.1 Mode 1 © KEB, 2019-03 COMBIVERT G6...
Page 188: Mode 2: Torque-Controlled Mode With Superimposed Speed Control
+100% digital absolute (cS19) „ref. torque ramp speed torque digital % (cS18) controller ru49 reference cS16 -100% motorpoti (ru37) external PID output (ru57) AN2 direct (high scanning) cS19 „abs. torque reference“ Figure 15.2 Mode 2 COMBIVERT G6 © KEB, 2019-03...
Page 189: Current Control, Limiting And Switching Frequencies
In special applications this is advantageous for the quality of current control A change of bit 4 in parameter dS03 is normally not necessary and should be done only by authorized KEB service personnel. © KEB, 2019-03 COMBIVERT G6...
Page 190: Current Limit
The function is activated by setting "current/torque mode = 1: on" in parameter (dS03) „current/torque mode. dS03: current/torque mode Meaning Value Function 0: off Maximum current mode off Maximum current mode 1: on Activation of the software current limiting COMBIVERT G6 © KEB, 2019-03...
Page 191: Switching Frequencies And Derating
This carrier frequency change-over is generally not good for the control charac- teristic of the drive. Therefore, the switching frequency uF11 should be as similar as possible to the rated switching frequency. However, the effects of derating are negligible in many applications. © KEB, 2019-03 COMBIVERT G6...
Page 192: Current Ripple
The smaller the leakage inductance (ASM) and/or the winding inductance (SM) the higher the ripple. This is particularly the case for motors with high power or spindle motors. Therefore the carrier frequency must be selected as high as possible for these motors. COMBIVERT G6 © KEB, 2019-03...
Page 193: Gear Factor
Channel 2 is an initiator input and can not be used as speed feedback or for the motor model. The initiator input channel 2 is only available for inverters with CAN control board. © KEB, 2019-03 COMBIVERT G6...
Page 194: Gear Factor / Analog Setting
For an analog value of 100%, the gear factor numerator should be 1100 => An56 analog para. setting max value = 1100 With this setting, a gear factor of 0.9 to 1.1 can be set with an Aux value of -100%...100%. COMBIVERT G6 © KEB, 2019-03...
Page 195: Gear Factor / Set-Programming
Set 0...2: oP53 motorpoti min. value = -100% Set 0...2: oP54 motorpoti max. value = 100% Set 0: oP52 motorpoti value = -100% Set 1: oP52 motorpoti value Set 2: oP52 motorpoti value = 100% © KEB, 2019-03 COMBIVERT G6...
Page 196: Protective Functions
If the control release is activated „2: ERROR underpotential" or „13: ERROR power unit not ready“ is trig- gered after the adjusted time is up, if the condition is still met (DC link too low or LT_OK signal not active). COMBIVERT G6 © KEB, 2019-03...
Page 197: Overvoltage
A level when the adjusted response is triggered between 0° C and 90° C can be adjusted with Pn11 „OH warning level“. The response to the warning message is set with Pn10 "warning OH stop. mode". © KEB, 2019-03 COMBIVERT G6...
Page 198: External Fault
The internal watchdog monitors the communication of the internal HSP5 interface (control card and power unit). After expiration of an adjustable time (0.01...10 s) without incoming telegrams, the response adjusted in Pn05 is triggered. Value „0: off“ in Sy09 deactivates the function. COMBIVERT G6 © KEB, 2019-03...
Page 199: Motor Protection With Temperature Sensor
Error „9: ERROR drive overheat“ is triggered after expiration of the delay time in Pn13. If the overtemperature condition is past, message „91: no A. drive overheat" or "no ERROR drive overheat“ is issued. Only then the error can be reset or the automatic restart can be carried out. © KEB, 2019-03 COMBIVERT G6...
Page 200: Software Motor Protection (I T-Function)
The response to the pre-warning is set with Pn14 "warning OH2 stop. mode". With this, an abnormal stopping can be executed before the drive raises an error. During the abnormal stopping, the inverter is in status „ABN. STOP motor protection“. Switching condition "10: no ERROR detected" is met at the digital outputs. COMBIVERT G6 © KEB, 2019-03...
Page 201: Set Selection Error
(status „25: ERROR speed ctrl. lim" / E.SCL) 18.1.13 General power circuit error Monitors for the internal hardware (e.g. fans) are integrated on some inverter types. If one of these monitoring circuits reports an error, "12: ERROR power unit“ is triggered. © KEB, 2019-03 COMBIVERT G6...
Page 202: Phase Failure
Speed change during the scan time (in rpm) Acceleration = ────────────────────────────────── 60 x acceleration scan time (in seconds) If the acceleration limit (Pn79) is exceeded, the response defined by Pn81 „warning acc.stop. mode“ is trig- gered. Depending on the programming, the drive changes into status „24: ERROR max. acceleration“ (E.Acc) or „106: ABN.STOP max. acceleration“ (A.Acc). COMBIVERT G6 © KEB, 2019-03...
Page 203: Response To Malfunction Messages
Deceleration at the abnormal stopping-ramp or the torque- and current limit, 4: Quickstop, modula- respectively, shutdown of the modulation after reaching speed 0, automatic tion off, auto retry restart, as soon as the malfunction has been resolved continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 204: Parameterization Of The Quick Stop At Malfunction
The function can be activated separately for the different errors and malfunctions with the Pn parameters. The automatic restart only makes sense if the error can be expected based on the application. Normally, the cause of the error must first be investigated and eliminated before the drive restarts by executing the reset. COMBIVERT G6 © KEB, 2019-03...
Page 205: Undervoltage Error (Error Underpotential)
An error response with automatic restart is selected in parameters Pn03, Pn05, Pn07, Pn08, Pn10, Pn12, Pn14, Pn18, Pn75 and Pn81 with the values 3...5. The base block time (bbL) is observed only if the drive is above uF13 "base block voltage level". © KEB, 2019-03 COMBIVERT G6...
Page 206: Base Block
For the differential controller, the time constant is set in Pn60. The setpoint value of the differential controller is preset in Pn59: „quick stop level“, Pn58 selects the actual value from either apparent current or active current. COMBIVERT G6 © KEB, 2019-03...
Page 207 0...200 % Current limit for differential control = 0...200 % rated inverter current (In01) It can be selected with Pn58 bit 1 whether the inverter shall decelerate at the active current limit or at the apparent current limit. © KEB, 2019-03 COMBIVERT G6...
Page 208 Quick stop level (Pn59) Quick stop mode (Pn58) Bit 1 Apparent current (ru15) actual ramp time Rated inverter current (In01) Active current (ru17) Rated inverter current (In01) Figure 18.1 Block diagram of the differential control: COMBIVERT G6 © KEB, 2019-03...
Page 209: Quick Stop At Closed-Loop Systems
The torque limitation superimposed by the limiting characteristic and the available current remain in effect. For asynchronous motors, the maximum cutoff torque for abnormal stopping can also be increased to make more torque available for braking, even in the field weakening range. Pn67: q.stop max. torq.corn.sp Value Explanation 0...32000.00 Nm the limiting characteristic at quick stop is defined by Pn67 (instead dr16) © KEB, 2019-03 COMBIVERT G6...
Page 210: Time Monitoring Abnormal Stopping
On activation of the speed search, however, the current speed is determined and the drive is accelerated or decelerated from this starting point to the setpoint speed, according to the adjusted ramps. Parameter Pn26 "Speed search condition" determines when the speed search shall be executed. COMBIVERT G6 © KEB, 2019-03...
Page 211: Extension Of The Speed Search
Start value is the last output frequency value If the calculated actual value is selected as actual 192: measured actual value source in cS01, the last output frequency value value is used as start value. © KEB, 2019-03 COMBIVERT G6...
Page 212: Speed Search In Ascl Mode
Pn23 „LAD stop input selection" is set. 4: deceleration The deceleration ramp is stopped on exceeding of Pn24 "LAD load level“ or if stop I-dep. the input programmed in Pn23 „LAD stop input selection" is set. COMBIVERT G6 © KEB, 2019-03...
Page 213: Current-Dependent Ramp Stop
When falling below the maximal constant current the inverter ac- celerates / decelerates again with the normal ramp times. The stall function is active until the original setpoint speed is reached. This protection function only operates at G6L in open-loop operation (cS00 = off). © KEB, 2019-03 COMBIVERT G6...
Page 214 The decrease is then done according to the Level following formula: decrease above rated rated frequency (uF00) frequency Stall level = Pn20 −−−−−−−‒−−−−−−−− 128: yes actual frequency (ru03) Constant 256: Constant current limit current limit Constant current limit always released release release COMBIVERT G6 © KEB, 2019-03...
Page 215 Actual frequency ru03 Inverter state ru00 act. utilization ru13 Figure 18.2 Function of the stall level at constant run (default setting) The deceleration stop is active if a quick stop ramp time is entered in Pn60. © KEB, 2019-03 COMBIVERT G6...
Page 216: Electronic Motor Protection For G6L (Asynchronous Motors)
The cooling mode of the motor is set with parameter dr11. dr11: motorprotection mode Value Meaning Separate cooling Self-cooling (default) Parameter dr12 (motorprot. rated current) specifies the rated current for each set (= 100% utilisation) for the motor protection function. The motor protection-load is calculated as follows: apparent current (ru15) Motor protection load ———————————————— motorprot. rated current (dr12) COMBIVERT G6 © KEB, 2019-03...
Page 217 Then the motor protection function must be able to distinguish which of the motors is currently being supplied. For this there is parameter Fr08 „motor set classification“. Each motor is assigned a number from 0 to maxi- mally 7 and this value is entered in parameter Fr08 in all sets where the respective motor is supplied. © KEB, 2019-03 COMBIVERT G6...
Page 218: Motor Protection Function For G6P (Synchronous Motors)
The continuous current is speed-dependent. At speed 0 it is equal to dr28 „DSM curr. f. zero speed“ and reaches at dr24 „DSM rated speed“ the value dr23 „DSM rated current“. COMBIVERT G6 © KEB, 2019-03...
Page 219 The counter is reduced if the ratio apparent current to continuous current is lower than the value in dr50. The recovery time dr36 "mot.prot. recovery time" is the time which the counter requires to count from 100% to 0% (after triggering of the error, i.e., without current flow). The error triggered by the motor protection function can already be reset before the recovery time expires. © KEB, 2019-03 COMBIVERT G6...
Page 220: Power-Off Function
Determination of the initial jump from 0: from the slip the calculated slip Initial jump (only v/f -char- acteristic) Determination of the initial jump from 4: from the load the load factor continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 221 Error, if no restart after elapsed. system recovery This concerns Sy51 Bit 1, Sy44 Bit 1 and the switching conditions do00... do07 = 3 ...5. 512: Error, if no restart The inverter status (ru00) does not change, but the error LED flashes. © KEB, 2019-03 COMBIVERT G6...
Page 222 2: calculated actual start jump value Slip calculation by the active 0: active current I current Motor data Slip calculation 4: Utilisation I Utilisation Figure 18.8 Initial jump for regenerative operation in the 1st cycle COMBIVERT G6 © KEB, 2019-03...
Page 223 To be able to adapt the drive individually to the application, the proportional factor of the DC link voltage con- troller can be adjusted with Pn51 and the integral factor with Pn57, in the range of 0...32767. In most cases the default setting will achieve sufficient results. If, however, overshoots or fall backs of the motor occur, the values must be lowered. © KEB, 2019-03 COMBIVERT G6...
Page 224 The inverter modulates independent of a rotation setting with the adjusted boost and is in status „Power off function active“ (POFF). After expiration of the restart delay Pn52 (if adjusted) the inverter restarts automati- cally when the mains voltage is returned. COMBIVERT G6 © KEB, 2019-03...
Page 225 (Pn48)). In this case the control remains active with the increased setpoint value. A restart is possible then only after reaching the standstill. Then the behaviour of Pn44 Bit 3...4 is defined. The lowering of the controller parameters is also executed in this mode. © KEB, 2019-03 COMBIVERT G6...
Page 226: Gtr7-Control
Exception: On opening the control release (noP), the GTR7 is always switched off for safety reasons. I.e., as soon as a digital input is selected for activation of the braking transistor, the adjustments in Pn65 concerning the GTR7 and parameter Pn69 are without function. COMBIVERT G6 © KEB, 2019-03...
Page 227: Adjustment Of The Activation Threshold
Then the braking transistor can be activated with bit 5 for status "0: software NOP no operation". Exception: On opening the hardware control release (terminal X2A.6), the braking transistor is always switched off. In which cases the braking transistor remains active even if modulation is switched off depends of the specific application. © KEB, 2019-03 COMBIVERT G6...
Page 228: Motor Stall Detection
4...7: reserved reserved 0: to zero The magnetizing current is controlled to value zero. 8: to rated mag- The magnetizing current is controlled to the rated magnetizing current. netizing current continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 229: Testing The Safety Function Sto
If the direction of rotation is delayed, a new test cycle will start after approx. 100ms. If a direction of rotation is specified shortly before the end of a test cycle, it cannot be guaranteed that the test has been carried out successfully. As a result, the STO inputs are deactivated for 8ms (ru00 displays noP during this time). This process cannot be deactivated. © KEB, 2019-03 COMBIVERT G6...
Page 230: Special Functions
A malfunction or error reset is only permitted if the amount of the actual value 4096: ERROR (ru07) is lower than the operating hysteresis (LE16). This applies also to the Reset at 0 automatic restart. continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 231 If this bit is set, the two watchdogs are also deactivated with the selected input (in di39). If a response with automatic restart is now selected for the watchdog error, the malfunction automatically resets and the drive can be used in manual operation. © KEB, 2019-03 COMBIVERT G6...
Page 232: Flow Control
I1 (prog. input 1) X2A.10 I2 (prog. input 2) X2A.9 I3 (prog. input 3) X2A.12 I4 (prog. input 4) X2A.11 IA (internal input A) IB (internal input B) 1024 IC (internal input C) 2048 ID (internal input D) COMBIVERT G6 © KEB, 2019-03...
Page 233 0: closed Internal flow drive Pn92 or 1: open active Pn93 =0 & Pn93 & & Pn94 Flow state ru22 0: no flow 1: Flow Pn91 ru38 < Pn95 Temperature state 0: OK 1: Condensation risk Figure 18.9 Flow control © KEB, 2019-03 COMBIVERT G6...
Page 234: Fan Control
Checking the fan function. 16: switched on 0: Automatic fan control 32: switched off Setting of the internal fan at inverter opera- 5...6 Internal fan tion. (unit-dependent) 64: switched on 96: off / overtemperature protection COMBIVERT G6 © KEB, 2019-03...
Page 235: Parameter Sets
Parameter Sets Parameter Sets The KEB COMBIVERT contains 8 parameter sets (0...7), i.e. all set-programmable parameters are available 8 times in the inverter and independent of each other they can be assigned with different values. Since many parameters have equal values in the parameter sets, it would be relatively complex to change every param- eter in each set individually.
Page 236: System Parameters
Default values are copied into all programmable parameters of the target set cust+sys/sel. (with the exception of security parameters). sets -4: KEBdef/ Default values are copied into all parameters of all sets (with the exception cust+sys/all sets of security parameters). COMBIVERT G6 © KEB, 2019-03...
Page 237: Parameter Set Selection
Set selection deactivated; set 0 always active Set selection via keyboard/bus with Fr04 Set selection binary-coded via terminal strip Set selection input-coded via terminal strip priority: ST>RST>R>F>I1>I2>I3>I4>IA>IB>IC>ID Set selection input-coded via terminal strip priority: ID>IC>IB>IA>I4>I3>I2>I1>R>F>RST>ST Set selection via control word Sy50 © KEB, 2019-03 COMBIVERT G6...
Page 238: Input-Coded Set Selection
With input-coded set selection (Fr02 = 3) I1, I2 and F are defined for set selection. In this case F = set 1; I1 2 = and I2 3 = would be acticated as the valence is (I2>I1>F). If I1 and I2 are triggered simultaneously the inverter switches into set2, since the priority is F>I1>I2 at Fr02=3. COMBIVERT G6 © KEB, 2019-03...
Page 239 Set Fr02 to value „2“ (set selection binary-coded via terminal) Input 2² Set 7 Set 6 Set 5 Set 4 Set 3 Set 2 Set 1 Set 0 Figure 19.2 Example 1: Input-coded set selection © KEB, 2019-03 COMBIVERT G6...
Page 240: Binary-Coded Set Selection
With binary-coded set selection: maximally three of the internal or external inputs may be programmed to set selection (2 =8 sets) to avoid set selection errors. the valence of the inputs programmed for set selection rises (ID>IC>IB>IA>I4>I3>I2>I1>R>F>RST>ST) COMBIVERT G6 © KEB, 2019-03...
Page 241: Set Change Mode Modulation On (Fr12)
Sets 2 and 5 should be blocked. As seen in the table of Fr03, value 4 and value 32 must be entered. The outcome of this is a total value of 36, which must be entered. Fr02: Parameter set source Value Locked set © KEB, 2019-03 COMBIVERT G6...
Page 242: Set Activation / Deactivation Delay (Fr05, Fr06)
ON delay for set 1 of 2 s immediate changeover as no delay is adjusted OFF delay for set 2 of 1s and ON delay for set 3 of 2s OFF delay for set 3 of 2s COMBIVERT G6 © KEB, 2019-03...
Page 243: Special Functions
Whereby the DC braking is triggered can be adjusted with Pn28. Depending on the adjusted mode the speed / frequency which triggers the DC braking can be preset with Pn32. Pn30 „DC braking time“ determines the braking time (time when DC voltage is applied to the motor). Pn29 is bit-coded and defines the inputs which trigger DC braking. © KEB, 2019-03 COMBIVERT G6...
Page 244 32: DCB at power DC braking after power-on-reset (power on) 64: DCB at Reset DC braking after reset 128: DCB at Auto- DC braking after automatic restart Retry 256: DCB after LS DC braking after status „70: standstill“ COMBIVERT G6 © KEB, 2019-03...
Page 245: Dc Braking In V/F Mode
"max. current", if the maximum current mode is activated in dS03. The lower limit is given by the magnetising current. After ending of the DC braking function, the rated flux of the machine must flow before the motor is started. To that end, "wait for flux = 128: on" (Bit 7 = 1) must be programmed in parameter dS04. The torque display is not valid in the DC braking (display always 0 Nm). © KEB, 2019-03 COMBIVERT G6...
Page 246: Energy Saving Function
Default time / 4 Default time / 8 Default time / 16 * default setting 1.6s uF07: Energy saving factor Value Meaning 0,0...130,0% Output voltage in %, on which is modulated at activated energy saving function. COMBIVERT G6 © KEB, 2019-03...
Page 247 I4 (Prog. input 4) IA (internal input A) IB (internal input B) 1024 IC (internal input C) 2048 ID (internal input D) Hysteresis uF07 Example: uF06 = 2, uF07 = 50% Figure 20.1 Energy saving function © KEB, 2019-03 COMBIVERT G6...
Page 248: Motorpoti Function
/ value input selection ru37 motorpoti actual value Analog setting of the parameter value Setting via parameter -100...0...100% chapter 20.8 ± 100% (oP59 is ignored) Figure 20.2 Motorpoti function COMBIVERT G6 © KEB, 2019-03...
Page 249 0: Set 0 value of oP59 „motorpoti inc/dec time" from set 0. Motorpoti source The adjustment of the motorpoti value occurs with the 4: act. set (ru26) value of oP59 „motorpoti inc/dec time“ from the active © KEB, 2019-03 COMBIVERT G6...
Page 250: Timer / Counter Programming
LE25 or LE24 38 „Timer 2 > Level A“ of LE23 is fulfilled or an input mode LE0...LE7 ? met ? is being set! of LE22 is set ru44 timer 2 display Resetting to zero Figure 20.3 Timer programming Timer / mode (LE21 / LE26) COMBIVERT G6 © KEB, 2019-03...
Page 251 LE20 / LE25: Timer / Starting condition Value Timer / Starting condition Modulation on Modulation off Constant run Modulation off/ no power on res. The values must be added in case of several starting conditions. © KEB, 2019-03 COMBIVERT G6...
Page 252 LE00...LE07 define the level for the switching conditions 37 / 38 („Timer > level“). If the timer exceeds the adjusted value, switching condition (do00...do07) is set. A level in the range of -30000.00 to 30000.00 can be adjusted. Reasonable for the timer are only values from 0...655.35. COMBIVERT G6 © KEB, 2019-03...
Page 253: Brake Control
For applications in the areas lifting and lowering, or other applications requiring the use of a brake, the control of the brake can be taken over by the KEB frequency inverter. The control of the brake is done via relay or transistor output. A signal is output for the control of the brake.
Page 254: Monitoring Of The Brake Control
During brake release time when the brake is mechanically released, the speed set value (ru01) is not yet stored, but the brake control start ref. (Pn37) is still maintained. Pn37 must contain value 0 rpm for vector-controlled systems both at synchronous and asynchronous motors. COMBIVERT G6 © KEB, 2019-03...
Page 255 100 ms. Thereby, the noise that can occur in the motor during a jolt-like shutdown of the current can be prevented. After the current has been drained, the inverter changes into status „70: standstill (modulation off)“. © KEB, 2019-03 COMBIVERT G6...
Page 256: Brake Control In Vector Controlled Operation (For Ascl And Scl)
In vector controlled operation, the drive also builds up torque at setpoint speed 0. Therefore, no start or stop speed is required (Pn37 = Pn41 = 0 rpm). Thus also the premagnetizing time Pn35 can be set to zero. The time the drive requires for flux build-up is always await, until the output for brake release is set. COMBIVERT G6 © KEB, 2019-03...
Page 257 „AN2 Offset X“ (An16) is equal 0%, „AN2 lower limit“ (An18) = -100% and „AN2 upper limit“ (An19) = 100% The formula for amplification and offset setting is then for AN2: Output signal = "AN2 gain" (An15) * input signal + "AN2 offset Y" (An17) This gives, for "AN2 offset Y" = 100% and for "AN2 amplification" = -2 © KEB, 2019-03 COMBIVERT G6...
Page 258: Brake Control In V/F-Characteristic Controlled Operation
100 ms (small power) and fractions of a second (mo- tors with large power). Brake delay time (Pn39) In v/f-characteristic controlled operation, the speed follows the predefined deceleration ramp not quite ex- actly. After completion of the deceleration ramp a delay time must be await to mask out dynamic effects. COMBIVERT G6 © KEB, 2019-03...
Page 259: Sweep Generator
0: off 1: Sweep-gen. function 0...3 Select function 2: Diameter correction 3...15: off 0: AN2 input (ru30) 16: AN2 input (ru30) 4...7 32: reserved Adjust input source 48: Digital source (oP45) 64: Input AUX (ru53) © KEB, 2019-03 COMBIVERT G6...
Page 260 Operating principle of the wobble function The following picture shows the setpoint process, which is generated by the wobble function: Ampl. + ---------- Ampl. ----------- oP47 oP48 Figure 20.6 Operating principle of the wobble function COMBIVERT G6 © KEB, 2019-03...
Page 261: Diameter Correction
0: off 1: Sweep-gen. function 0...3 Select function 2: Diameter correction 3...15: off 0: AN2 input (ru30) 16: AN2 input (ru30) 4...7 32: reserved Adjust input source 48: Digital source (oP45) 64: Input AUX (ru53) © KEB, 2019-03 COMBIVERT G6...
Page 262: Analog Setting Of Parameter Values
An53: Analog parameter setting source Value Explanation AUX input Motorpoti function Parameter An54 „an. para setting dest.“ determines the bus address which parameter presets the analog value. An54: Analog para setting dest. Value Explanation 0...32767 adjustable value range COMBIVERT G6 © KEB, 2019-03...
Page 263: Technology Control
If a non-set-programmable parameter is adjusted as target parameter, it is always edited in set 0 (independ- ent on An57). 20.9 Technology control The KEB COMBIVERT is equipped with an universal programmable technology controller, which is able to build up pressure-, temperature- or dancer position control. 20.9.1 The PID controller The technology controller consists of a set /actual value comparator, which transmits the system deviation to the PID controller.
Page 264 (ru02) / max. reference (oP10 / oP11) setting The function is only active if the technology controller is used as process controller (cS00 Bit 0...2 = 1). The fading time is 0 if it is used as setpoint controller. COMBIVERT G6 © KEB, 2019-03...
Page 265 PID output frequency at 100%. A frequency of -400.0...400.0 Hz can be adjusted (dependent on ud02). The output value forms the output frequency (ru03) at cS00 Bit 0… 1 = 1 added with the ramp output frequency (ru02). © KEB, 2019-03 COMBIVERT G6...
Page 266: Pid Set Value
If one of the analog channels is adjusted, the signals can be adapted with the analog amplifiers individually to the requirements (see chapter 8). PID controller abs. reference (cn01) The abs. reference of the PID controller in the range of -400.0…400.0% is preset with cn01. The parameter is set-programmable. COMBIVERT G6 © KEB, 2019-03...
Page 267: Pid Actual Value
Actual DC volt- The displayed actual DC voltage 0...1000 V (1000 V = 100 %) in parameter ru18 is age (ru18) used as actual value signal. Active power Reference value: 2 * Default dr03  100% (ru81) © KEB, 2019-03 COMBIVERT G6...
Page 268: Application Examples
An30 = 8200 cn08 ru01 ru53 cn04...cn06 Ramp generator cn10 oP-Parameter oP00 = 1 Characteristic amplifier Actual value ru29 ru30 cn02 = 1 An-Parameter ru02 ramp output value Figure 20.12 PID controller with precontrol (variant 1) COMBIVERT G6 © KEB, 2019-03...
Page 269 Analog setpoint ru02 cn07 ru01 ru27 ru28 ru52 cn08 cn00 = 1 cn04...cn06 oP00 = 6 An-Parameter cn10 Active current-actual value ru17 cn02 = 5 Figure 20.14 PID controller as active current- (torque-) control without precontrol © KEB, 2019-03 COMBIVERT G6...
Page 270 Analog current reference ru29 ru30 cn07 ru52 cn08 cS04 cn00 = 2 cn04...cn06 Active current-actual value cn10 ru17 ramp output value cn02 = 5 Figure 20.15 PID controller as active current- (torque-) control with precontrol COMBIVERT G6 © KEB, 2019-03...
Page 271: Positioning Function In Open-Loop (V/F) Mode
= Pn73* f_max The entire positioning time is dependent on the maximum frequency oP10 / oP11, the deceleration time in oP30, the mode in Ud02, the positioning delay Pn63 and the adjusted value in Pn73. © KEB, 2019-03 COMBIVERT G6...
Page 272: Define Cp-Parameters
Parameter, die nicht als CP-Parameter zulässig sind (z.B. Ud15...Ud17 sowie Fr01), werden mit „Daten un- gültig“ quittiert. When entering an invalid parameter address the parameter is set to „oFF“ (-1). The appropri- ate CP-parameter is not displayed at this setting. COMBIVERT G6 © KEB, 2019-03...
Page 273: Assignment Of Cp-Parameters
Bit 0...7 are valid active set (ru26) current set; the current set is displayed / edited indirect set addressing, the parameter set determined with the set indirect (Fr09) pointer Fr09 is displayed / edited reserved © KEB, 2019-03 COMBIVERT G6...
Page 274: Create Cp-Parameter Menu
Parameter address for uF07 Ud17 = 4097 Setting in set 0 and display scaling from set 4 Ud15 = 7 CP07 Ud16 = -1: off CP07 is faded-out Ud17 = xxx Ud17 is without function COMBIVERT G6 © KEB, 2019-03...
Page 275: Display Norm
Adjusts the offset in the range of ±32767 (default 0). The parameter is set-programmable. Ud21 control display norm The calculation mode, the decimal places as well as the units indicated in KEB COMBIVIS are adjusted with ud21. The parameter is bit-coded and set-programmable. It is adjustable in the range of 0...1791.
Page 276 Non-normalized value = normalized value / resolution Table 3 Representation (Bit 8...11) Value Representation 0 decimal places 1 decimal place 2 decimal places 3 decimal places 1024 4 decimal places 1280 variable decimal places 1536 hexadecimal display COMBIVERT G6 © KEB, 2019-03...
Page 277: Variable Norm For Cp-Parameters
Mult read variable yes / no 131072: Shifter read variable yes / no 262144: Offset variable yes / no 0: r/w Write protection is not active, reading and writing possible 524288: ro Write protection is active, only reading © KEB, 2019-03 COMBIVERT G6...
Page 278 (Ud23 = -1). A prog. parameter is additionally inadmissible as process writing date when the target parameter is read-only (generally at activated modulation in active set). The set definition of the process date is always valid as set source for the process data (e.g. Sy17 for process read date 1). The adjustment in Ud24 is without meaning. COMBIVERT G6 © KEB, 2019-03...
Page 279 COMBIVIS 6 auf Scope Kanal 1 bis 4 gelegt werden, ohne dass COMBIVIS den schnellen Scope-Modus verlässt. The set definition of the scope data is always valid as set source for scope data (e.g. Sy34 for scope data 1). The adjustment in Ud24 is without meaning. © KEB, 2019-03 COMBIVERT G6...
Page 280: Error Diagnosis
The following chapter shall help you to avoid errors as well as help you to determine and remove the cause of errors on your own. The error messages of all KEB COMBIVERT G6 are represented, although depending upon device and design some are missing.
Page 281 The message is output if the quick stop function becomes active as quick stop response to a warning signal. This message is displayed if during constant operation the load is stall limited to the adjusted current limit. continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 282 Forward deceleration with the adjusted ramp times. This message is displayed if during deceleration the load is limited Ld stop to the adjusted load level or the DC-link current to the adjusted voltage level. continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 283 The error „ERROR 28: safety“ can not be reset with a digi- tal input. The error can only be reset by switching off and on of the frequency inverter. ERROR overfrequency Current frequency is above the permissible range. continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 284 The speed controller is in limitation. The response to the cause can ABN.STOP speed ctrl. lim be programmed with Pn75. This warning is triggered via an external input. The response to this ABN.STOP external fault warning can be programmed. continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 285 This warning is output when the defined level is exceeded. Further- A.STOP overheat pow.mod more the response to this warning can be programmed. Watchdog for the communication between control board and PC ABN.STOP bus (on an optional fieldbus interface) or control board and power unit has responded. The response to this warning can be programmed. © KEB, 2019-03 COMBIVERT G6...
Page 286: Fieldbus
Fieldbus Fieldbus 23.1 Available hardware The following controls are available for the KEB COMBIVERT G6: Control type • Standard (analog / digital) • CANopen • IO-Link • EtherCAT • VARAN In this chapter there are not any more information on the single controls. The respective instal- lation manual is available at www.keb.de for more information.
Page 287: Watchdog Time Internal Bus (Sy09)
Ud04: Ud04 auto store state Value Description Parameter storage completed, only operating data are 0: Stand by stored. 1: compare Comparison of the parameters 3: write active Data are stored 4: secure hour meter Hour meter is stored © KEB, 2019-03 COMBIVERT G6...
Page 288: Status And Control Word
Selection of the active parameter set, if value „5: control word 4...6 Parameter set (Sy50)“ is programmed in Fr02 „parameter set source". 64: Set 4 80: Set 5 96: Set 6 112: Set 7 reserved continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 289 Inverter is in error state 0: Stop The modulation is switched off with „stop“ and switched on with „start“. 4: Start 0: FOR Display of the actual direction of rotation 8: REV continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 290 8192: OB 16384: OC 32768: OD The watchdog (Pn06) must be active at control via bus (via control word). Status word long Sy44 The control word long (32 Bit) consists of Sy51 and Sy42. COMBIVERT G6 © KEB, 2019-03...
Page 291: Speed Setting Via Bus
The reference source oP00 must be set to „5“ for setpoint setting via Sy52. Actual speed value Sy53 The actual speed can be read out in rpm with this parameter. The direction of rotation is signalled by the sign. © KEB, 2019-03 COMBIVERT G6...
Page 292: Description Of The Dsp402 Parameters
Operation enabled Figure 23.1 State machine Legend 24V control voltage applied; voltage power unit can be applied Voltage power unit applied; no torque at the motor Voltage power unit applied; Torque can be applied (flux build-up, speed search etc.) Torque at the motor COMBIVERT G6 © KEB, 2019-03...
Page 293 Which operations are executed is dependent on the used motor type, the control mode and the application-dependent parameterization of the unit. Possible functions are: • Structure of the magnetic flux (asynchronous machine), determination of the rotor position (encoder- less control method) etc. After completion of these functions the drive changes into state Operation enabled. © KEB, 2019-03 COMBIVERT G6...
Page 294: Device Control Mode
ERROR drive overheat 4310h no ERROR drive overheat 4310h ERROR Power unit 5400h ERROR overload 3230h no ERROR overload 3230h ERROR bus 1000h ERROR overload 2 3230h no ERROR overload 2 3230h continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 295 Bits in the control word Command Change Fault reset Enable Quick stop Enable Switch on operation voltage Shutdown 2,6,8 Switch on Disable voltage 7,9,10,12 Quick stop 7,10,11 Disable operation Enable operation 4, 16 Fault reset ↑ © KEB, 2019-03 COMBIVERT G6...
Page 296 Parameter pr97 displays the selected mode in pr96. pr97: DSP402_ModesOfOperDispl. Index (Hex read / write Value Description address) permission -1: Profile mode off The profile mode is switched off Setting the target speed by the control. Generation 0x6061 Read_only 2: Velocity mode of the speed profile in the drive. Speed- and torque control in the drive COMBIVERT G6 © KEB, 2019-03...
Page 297: Velocity Mode
The min. set value can be set in subindex 1. 0x6046 Read_Write ... 100...(variable The max. set value can be set in subindex 2. Parameters of oP14 and oP15 apply primarily for pr70 and must be adapted additionally. © KEB, 2019-03 COMBIVERT G6...
Page 298 The reference speed can be adjusted in sub- 100...(variable index 1 0x604A Read_Write ... 0...300s The ramp time can be adjusted in subindex 2. Subindex 2 Figure 23.2 Exemplary presentation for pr72, pr73 und pr74 COMBIVERT G6 © KEB, 2019-03...
Page 299 ACC / DEC source 4: oP28 / oP30 At oP04 > value 0: 0: VL mode pr74 The described set-dependent parameters are quick stop source used. 8: Pn60 0: VL mode pr77 PPZ source 16: dr01 / dr05 © KEB, 2019-03 COMBIVERT G6...
Page 300: Parameter Overview
Parameter Overview Parameter Overview 24.1 Parameter 24.1.1 Parameter groups All available parameter groups and the corresponding abbreviations of the COMBIVERT G6 are listed in this table. Parameter groups Abbreviations Parameter group name Adjustment / Assistant parameter Analog inputs / outputs...
Page 301: Parameter Listing
-100 An49 ANOUT4 gain 2A31h ALL appl np --- 0.01 An50 ANOUT4 offset X 2A32h ALL appl np --- -100 An51 ANOUT4 offset Y 2A33h ALL appl np --- -100 continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 302 E -2147483648 2147483647 di13 I3 functions 2B0Dh ALL appl E -2147483648 2147483647 8192 di14 I4 functions 2B0Eh appl E -2147483648 2147483647 di14 I4 functions 2B0Eh M, S appl E -2147483648 2147483647 continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 303 2C1Bh ALL appl do28 inv. flags for R2 2C1Ch ALL appl do29 inv. flags for OA 2C1Dh ALL appl do30 inv. flags for OB 2C1Eh ALL appl do31 inv. flags for OC 2C1Fh ALL appl do32 inv. flags for OD 2C20h ALL appl continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 304 Rs corr auto temp. in.Sel 263Dh G, M appl 4095 dr62 state motor ident. 263Eh M, S np --- dr63 DSM EMF HR (Vpk/1000rpm) 263Fh appl np --- 255.996 0.004 continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 305 Fr09 indirect set pointer 2909h ALL appl np --- Fr10 motor adaption 290Ah G, M appl Fr10 motor adaption 290Ah appl Fr11 reset set input sel. 290Bh ALL appl 4095 continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 306 2D1Ah ALL appl np --- LE27 reference torque 2D1Bh M, S appl np --- 32000 0.01 LE28 ref. torque mode 2D1Ch ALL appl nn00 motor model select 3400h appl 32767 continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 307 2335h ALL appl np --- -100 0.01 oP54 motorpoti max. value 2336h ALL appl np --- -100 0.01 oP55 motorpoti reset value 2337h ALL appl np --- -100 0.01 continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 308 --- °C Pn12 warning dOH stop. mode 240Ch appl np --- Pn12 warning dOH stop. mode 240Ch M, S appl np --- Pn13 E.dOH delay time 240Dh appl np --- continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 309 Pn76 max. E.UP warning time 244Ch ALL appl np --- 32.00 0.01 Pn78 USV operation inp. sel. 244Eh ALL appl 4095 Pn79 acceleration limit 1/S^2 244Fh ALL appl np --- 0.01 10737418.23 0.01 0.01 continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 310 6041h ALL np --- 65535 pr66 VL_TargetVelocity 6042h ALL appl np --- -32000 32000 pr67 VL_VelocityDemand 6043h np --- -400 0.0125 pr68 VL_ControlEffort 6044h ALL np --- -32000 32000 continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 311 --- 655.35 0.01 ru44 timer 2 display 222Ch ALL appl np --- 655.35 0.01 ru45 act. switching frequency 222Dh ALL np --- ru46 motor temperature 222Eh ALL np --- °C continued on the next page © KEB, 2019-03 COMBIVERT G6...
Page 312 2817h ALL appl 32767 Ud24 pp properties 2818h ALL appl 1048575 Ud25 pp write multiplier 2819h ALL appl np --- -32767 32767 Ud26 pp write shifter 281Ah ALL appl np --- continued on the next page COMBIVERT G6 © KEB, 2019-03...
Page 313 2515h ALL appl 4095 uF25 dead time soft on/off 2519h ALL appl np --- 1024 uF26 baseblock extension time 251Ah ALL appl 2.00 0.01 uF27 uF09 off input select 251Bh G, M appl np --- 4095 © KEB, 2019-03 COMBIVERT G6...
Page 314: Annex
Annex 25.1 UL Marking Acceptance according to UL is marked at KEB inverters with the adjacent logo on the type plate. In this chapter there are not any more information to the UL-marking. The respective control circuit instruction manual is available at www.keb.de for more information.
Page 315: Index
45, 47, 49, 50, 58, 59, 60, 69, An33 58, 61, 62 276, 277, 278, 281, 294, 295, 74, 76, 77, 78, 85, 86, 89, 95, An34 61, 62 297, 298, 300 96, 104, 113, 114, 121, 129, An35 58, 61 © KEB, 2019-03 COMBIVERT G6...
Page 316 270, 271, 293, 297 190, 199, 215, 216, 238, 247, cS11 161, 164, 169, 258 transistor 14, 41, 70, 74, 223, 258, 266, 274, 275, 277, 289, cS12 145, 161, 164, 166, 169, 226, 227, 228, 230, 254 COMBIVERT G6 © KEB, 2019-03...
Page 317 25, 124, 127 143, 144, 145, 149, 154, 158, di51 66 dr08 25, 108, 124, 127 159, 162, 172, 173, 175, 176, di52 66 dr09 114, 115, 116 177, 179, 180, 184, 185, 189, © KEB, 2019-03 COMBIVERT G6...
Page 318 285, 289, 290, 291 dr63 143, 149 output 18, 22, 30, 31, 33, 35, 36, dr64 143, 158 Factory setting 55, 61, 86, 101, 102 37, 38, 39, 40, 41, 43, 50, 55, dr66 128, 129, 151 COMBIVERT G6 © KEB, 2019-03...
Page 319 200, 204, 229, 234, 264, 269, LE10 84 input 281, 282, 284, 285, 286 LE12 134 coded set selection 239, 240, Motorpoti LE15 79 241, 242 actual value 24, 28, 30, 33, 38, LE16 76, 79, 230, 245, 291 © KEB, 2019-03 COMBIVERT G6...
Page 320 255, 260, 262, 272, 273, 274, 261, 262, 263, 264, 266, 272, oP55 249, 250 276, 277, 278, 281, 294, 295, 275, 281, 282, 283, 284, 287, oP56 69, 70, 249, 250 297, 298, 300 oP57 69, 70, 249, 250 COMBIVERT G6 © KEB, 2019-03...
Page 321 14, 22, 23, 24, 27, 30, 35, 65, 72, 73, 74, 75, 76, 77, 78, Pn37 19, 255, 257, 259 36, 37, 41, 50, 52, 53, 57, 58, 79, 81, 82, 83, 84, 85, 86, 94, Pn38 256 © KEB, 2019-03 COMBIVERT G6...
Page 322 39, 228, 236 269, 270, 291 Pn93 69, 232, 233, 284 ru41 30, 39, 236 ru02 19, 30, 33, 41, 58, 60, 76, 77, Pn94 78, 232, 233 ru42 30, 39, 107, 108, 132, 177, COMBIVERT G6 © KEB, 2019-03...
Page 323 174, 175, 177, 180, 181, 182, 284, 285, 286, 287, 288, 294, Special 184, 186, 190, 201, 206, 207, 295, 299 functions 13, 55, 63, 69, 70, 213, 214, 279, 284 select 71, 78, 87, 98, 106, 108, 113, © KEB, 2019-03 COMBIVERT G6...
Page 324 143, 144, 146, 149, 150, 156, Sy50 32, 48, 64, 71, 72, 87, 89, Ud02 18, 19, 22, 24, 28, 32, 45, 157, 162, 169, 172, 174, 178, 90, 92, 93, 206, 207, 210, 238, COMBIVERT G6 © KEB, 2019-03...
Page 325 26, 29, 134, 173, 175, 190, uF16 115, 117 uF17 115, 117 uF18 26, 29, 108, 129, 131, 132, 149, 150 uF19 110 uF21 69, 71, 132, 134, 150 uF25 134 underload Use 12 Using © KEB, 2019-03 COMBIVERT G6...
Page 326 Z.I. de la Croix St. Nicolas • 14, rue Gustave Eiffel 94510 LA QUEUE EN BRIE fon: +33 1 49620101 • fax: +33 1 45767495 net: • mail: www.keb.fr info@keb.fr More and latest addresses at http://www.keb.de © KEB Mat.No. 00G6NEA-0020 Rev. Date 03/2019...

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