Unidrive SPM-User Guide - I4
Unidrive SPM-User Guide - I4
Unidrive SPM-User Guide - I4
Unidrive SPM
Universal Variable Speed AC
Drive Modular Solutions for
induction and servo motor
applications
www.controltechniques.com
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect
installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed
drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy
of continuous development and improvement, the manufacturer reserves the right to change the specification of the
product or its performance, or the contents of the guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or
mechanical including photocopying, recording or by an information storage or retrieval system, without permission in
writing from the publisher.
Environmental statement
Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its
products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is
certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other
relevant information is available on request, or can be found at www.greendrives.com.
The electronic variable-speed drives manufactured by Control Techniques have the potential to save energy and
(through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long
working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product
manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded but should
instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the products easy to dismantle
into their major component parts for efficient recycling. Many parts snap together and can be separated without the use
of tools, while other parts are secured with conventional fasteners. Virtually all parts of the product are suitable for
recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller
products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these
containers can be recycled. Polythene, used on the protective film and bags for wrapping product, can be recycled in the
same way. Control Techniques' packaging strategy prefers easily-recyclable materials of low environmental impact, and
regular reviews identify opportunities for improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.
REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires
the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is
considered by the European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is
therefore listed by them as a candidate for compulsory authorisation.
For current information on how this requirement applies in relation to specific Control Techniques products, please
approach your usual contact in the first instance. Control Techniques position statement can be viewed at:
http://www.controltechniques.com/REACH
.
Copyright © January 2014 Control Techniques Ltd
Issue Number: 4
Software: 01.20.00 onwards
How to use this guide
This guide provides complete information for installing and operating a Unidrive SPMA and SPMD, with a SPMC or
SPMU rectifier, from start to finish.
The information is in logical order, taking the reader from receiving the drive through to fine tuning the performance.
NOTE
There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1 Safety
Information contains general safety information. It is essential that the warnings are observed and the information
considered when working with or designing a system using the drive.
This map of the user guide helps to find the right sections for the task you wish to complete, but for specific information,
refer to Contents on page 4 to 5:
1 Safety information
2 Introduction
3 Product information
4 System configuration
5 Mechanical installation
6 Electrical installation
7 Getting started
8 Basic parameters
10 Optimisation
11 SMARTCARD operation
12 Onboard PLC
13 Advanced parameters
14 Technical data
15 Diagnostics
16 UL listing information
Contents
Declaration of Conformity ....................... 6 6 Electrical Installation .......................... 67
Declaration of Conformity (including 2006 6.1 Power connections ............................................. 68
6.2 AC supply requirements ..................................... 70
Machinery Directive) ................................ 7 6.3 Output sharing choke specification .................... 72
1 Safety Information .................................8 6.4 Supplying the drive with DC / DC bus paralleling 73
6.5 Resistor sizing for Unidrive SPMU softstart ....... 73
1.1 Warnings, Cautions and Notes .............................8
6.6 Heatsink fan supply ............................................ 76
1.2 Electrical safety - general warning ........................8
6.7 Control 24Vdc supply ......................................... 76
1.3 System design and safety of personnel ................8
6.8 Low voltage DC power supply ............................ 76
1.4 Environmental limits ..............................................8
6.9 Ratings ............................................................... 77
1.5 Access ...................................................................8
6.10 Output circuit and motor protection .................... 78
1.6 Fire protection .......................................................8
6.11 Braking ............................................................... 80
1.7 Compliance with regulations .................................8
6.12 Ground leakage .................................................. 82
1.8 Motor .....................................................................8
6.13 EMC (Electromagnetic compatibility) ................. 82
1.9 Mechanical brake control ......................................8
6.14 SPMC/U control connections ............................. 90
1.10 Adjusting parameters ............................................8
6.15 Low voltage DC mode enable, heatsink fan
1.11 Electrical installation ..............................................9
supply connections (SPMA/D) and status input
2 Introduction ..........................................10 connections (SPMD) .......................................... 93
6.16 Serial communications connections ................... 95
2.1 Rectifier (SPMC/U) ..............................................10
6.17 Control connections - master interface .............. 95
2.2 SPMA inverter .....................................................11
6.18 Encoder connections .......................................... 99
2.3 SPMD inverter .....................................................12
6.19 SAFE TORQUE OFF ....................................... 102
2.4 Input line reactor .................................................12
2.5 Output sharing choke ..........................................12 7 Getting Started.................................. 105
2.6 Model number .....................................................13
7.1 Understanding the display ................................ 105
3 Product Information ............................14 7.2 Keypad operation ............................................. 105
7.3 Menu structure ................................................. 106
3.1 Ratings ................................................................14
7.4 Menu 0 ............................................................. 107
3.2 Operating modes .................................................19
7.5 Advanced menus ............................................. 108
3.3 Compatible encoders ..........................................19
7.6 Changing the operating mode .......................... 109
3.4 Features ..............................................................20
7.7 Saving parameters ........................................... 109
3.5 Nameplate description ........................................21
7.8 Restoring parameter defaults ........................... 109
3.6 Options ................................................................22
7.9 Parameter access level and security ............... 110
3.7 Items supplied with the drive ...............................26
7.10 Displaying parameters with non-default
4 System configuration ..........................27 values only ....................................................... 111
7.11 Displaying destination parameters only ........... 111
5 Mechanical Installation ......................35 7.12 Serial communications ..................................... 111
5.1 Safety information ...............................................35
5.2 Planning the installation ......................................35 8 Basic parameters .............................. 112
5.3 Terminal cover removal .......................................36 8.1 Single line descriptions .................................... 112
5.4 Solutions Module /Keypad - installation/removal 40 8.2 Full descriptions ............................................... 116
5.5 Mounting of control master/slave pod .................41
5.6 Docking a Unidrive SPMC/U to an SPMD ...........42
9 Running the motor ............................ 126
5.7 Mounting methods ...............................................44 9.1 Quick start Connections ................................... 126
5.8 Enclosure ............................................................52 9.2 Changing the operating mode .......................... 126
5.9 Heatsink fan operation ........................................57 9.3 Changing keypad mode ................................... 126
5.10 Enclosing drive for high environmental 9.4 Quick Start commissioning/start-up ................. 130
protection ............................................................59 9.5 Quick start commissioning/start-up (CTSoft) ... 134
5.11 External EMC filter ..............................................61 9.6 Setting up a feedback device ........................... 134
5.12 Line reactor mounting dimensions ......................64
5.13 Electrical terminals ..............................................65
5.14 Routine maintenance ..........................................66
The AC variable speed drive products listed above have been designed
and manufactured in accordance with the following European These electronic drive products are intended to be used with
harmonised standards: appropriate motors, controllers, electrical protection components
and other equipment to form complete end products or systems.
Adjustable speed electrical power drive Compliance with safety and EMC regulations depends upon
EN 61800-5-1:2007 systems - safety requirements - electrical, installing and configuring drives correctly, including using the
thermal and energy specified input filters. The drives must be installed only by
professional assemblers who are familiar with requirements for
Adjustable speed electrical power drive safety and EMC. The assembler is responsible for ensuring that the
EN 61800-3:2004 systems. EMC product standard including end product or system complies with all the relevant laws in the
specific test methods country where it is to be used. Refer to the User Guide. An EMC
Data Sheet is also available giving detailed EMC information.
Electromagnetic compatibility (EMC). Generic
EN 61000-6-2:2005 standards. Immunity standard for industrial
environments
L2A
2.1 Rectifier (SPMC/U) L3A
There are two distinct types of rectifier available
SPMC: Controlled SCR/thyristor rectifier
SPMU: Uncontrolled diode rectifier
-DC (A)
Different current and voltage ratings are available for both types.
+DC (B)
A separate input line reactor (INLXXX) of at least the value
shown in Table 6-2 and Table 6-3 on page 71 must be used
with the rectifiers. Failure to provide sufficient reactance could L1B
CAUTION
damage or reduce the service life of the rectifier or inverter.
L2B
The Unidrive SPMC is a half controlled SCR/thyristor bridge and is used L3B
as a front end to the SPMD inverter module or as a stand alone rectifier
for several smaller drives. Soft-start is built in.
The Unidrive SPMU is used as a front end to the SPMD inverter module -DC(B)
or as a stand alone rectifier for several smaller drives. Softstart must be
supplied externally using a resistor and contactor or SPMC. 2.1.2 Diode rectifier (SPMU)
An external 24V, 3A power supply is required in addition to the AC The uncontrolled diode rectifier is supplied as an alternative to the half
supply to allow the rectifier to operate. See section 6.14.3 Unidrive controlled SCR/thyristor rectifier. Control wiring is limited to a thermal
SPMC/U control connections on page 92 and section 14.1.4 Unidrive trip. Soft-start is achieved by the use of an external contactor and
SPM 24V power supply on page 267. Control wiring is required between resistor.
the rectifier and motoring drive(s) so that if the rectifier indicates a fault
SPMU14X2 and 16X1
the motoring drive(s) will be disabled.
Figure 2-3 Single diode rectifier
The 24V supply must be protected using a 4A slow-blow fuse, one for
each supply pole. +DC
-DC
L1A
L2A
L3A
-DC (A)
+DC (B)
L1B
L2B
L3B
-DC (B)
NOTE
To gain access to the second power stage terminals, the housing covers must be removed. See Figure 5-5 on page 38.
+DC
Optional
L1 U
L2 BR V
L3 W
-DC
+DC Optional
+DC
BR V
-DC
U1 U2
L1 L1A
V1 V2
L2 L2A
W1 W2
L3 L3A
L3 Drive 2 U V W
L1B
L2B
L3B
NOTE For a physical representation of the input line reactors and output
This is not an interbridge reactor. sharing chokes, see Figure 3-4 on page 22.
2.6 Model number Figure 2-13 Input line reactor / output sharing choke
The way in which the model numbers for the Unidrive SPM range are
formed is illustrated below. INL 4 0 1 W
Figure 2-11 Rectifier (SPMC and SPMU)
SPMA 1 4 0 1 NOTE
The wirewound type of input line reactor is the minimum material
version. Minimum airflow and maximum ambient temperature must be
maintained. Refer to Table 14-24 on page 271.
Unidrive SPM product line
SPMA: Power module power stages
for custom drive systems -
AC input
SPMD: Power module power stages
for custom drive systems -
DC input
Voltage rating
2: 200V to 240V (SPMD only)
4: 380V to 480V
6: 500V to 690V
Configuration
Indicates if an internal brake transistor is fitted:
0: Brake fitted
2: Brake not fitted
NOTE
200V to 240V SPMD modules can only be supplied by an SPMU or
separate soft start circuit.
3 Product Information
3.1 Ratings
The Unidrive SPM is dual rated. Available output
The setting of the motor rated current determines which rating applies - current Overload limit -
Heavy Duty
Heavy Duty or Normal Duty.
The two ratings are compatible with motors designed to IEC60034. Maximum Overload limit -
continuous Normal Duty
The graph aside illustrates the difference between Normal Duty and current (above
Heavy Duty with respect to continuous current rating and short term 50% base
overload limits. speed) -
Normal Duty
Maximum
continuous
current -
Heavy Duty
Motor rated
current set
in the drive
Heavy Duty - with high Normal Duty
overload capability
100% 100%
70% 70%
Max. permissible Max. permissible
continuous continuous
current current
Pr 4.25 = 0 Pr 4.25 = 0
Pr 4.25 = 1 Pr 4.25 = 1
The continuous current ratings given are for maximum 40°C (104°F), 1000m altitude and 3.0 kHz switching frequency. Derating is required for higher
switching frequencies, ambient temperature >40°C (104°F), high altitude and parallel applications. For further information, refer to section
14.1.1 Power and current ratings (Derating for switching frequency and temperature) on page 263.
Table 3-1 SPMA 400V drive ratings (380V to 480V ±10%)
Normal Duty Heavy Duty
Maximum Nominal Nominal Maximum Open Closed Nominal Nominal External 24V
continuous Peak motor motor continuous loop loop motor motor current
Model consumption
output current power power output peak peak power power
current at 400V at 460V current current current at 400V at 460V
A A kW hp A A A kW hp A
3.3
SPMA14X2* 236 259 132 200 210 271 315 110 150
Table 3-2 Paralleled SPMA 400V motor drive ratings (380V to 480V ±10%)
Normal Duty Heavy Duty
Maximum Nominal Maximum Nominal Required
Nominal Open Closed Nominal
continuous Peak motor continuous motor output
Paralleled SPMA modules motor loop peak loop peak motor
output current power at output power sharing
power at 460V current current power at 460V
current 400V current at 400V choke
A A kW hp A A A kW hp
2 x SPMA14X1* 389 428 225 300 342 439 512 185 300 1 x OTL411
2 x SPMA14X2* 448 493 250 400 399 513 598 225 350 1 x OTL412
3 x SPMA14X1* 584 642 315 500 513 659 769 280 450 3 x OTL401
3 x SPMA14X2* 672 739 355 550 598 769 897 315 500 3 x OTL402
4 x SPMA14X1* 779 859 400 650 684 878 1025 355 600 4 x OTL401
4 x SPMA14X2* 896 986 500 750 798 1026 1197 400 700 4 x OTL402
5 x SPMA14X1* 973 1071 550 850 855 1098 1281 450 750 5 x OTL401
5 x SPMA14X2* 1121 1233 600 950 997 1282 1496 550 850 5 x OTL402
6 x SPMA14X1* 1168 1285 650 1000 1026 1318 1538 550 900 6 x OTL401
6 x SPMA14X2* 1345 1479 750 1150 1197 1539 1795 650 1050 6 x OTL402
NOTE When connecting drives in parallel they must be derated. Table 3-2, Table 3-4, Table 3-6, Table 3-8 and Table 3-10 already have the
required de-rating.
3.3
SPMA16X2* 144 158 132 150 125 160 187 110 125
* Derating is applied to these drives at low output frequencies. Please contact the supplier of the drive for more information if the application requires
significant torque, at or close to zero speed for extended periods of time or if prolonged periods of overload (>100%) are required.
Table 3-4 Paralleled SPMA 690V motor drive ratings (500V to 690V ±10%)
Normal Duty Heavy Duty
Maximum Nominal Nominal Maximum Open Closed Nominal Nominal
Required
continuous Peak motor motor continuous loop loop motor motor
Paralleled SPMA modules output sharing
output current power power output peak peak power power
choke
current at 690V at 575V current current current at 690V at 575V
A A kW hp A A A kW hp
2 x SPMA16X1* 237 261 250 250 190 244 284 200 200 1 x OTL611
2 x SPMA16X2* 273 300 280 300 237 305 356 250 250 1 x OTL612
3 x SPMA16X1* 356 391 355 400 285 366 427 300 300 3 x OTL601
3 x SPMA16X2* 410 451 450 450 356 457 534 355 400 3 x OTL602
4 x SPMA16X1* 475 522 500 500 380 488 569 400 400 4 x OTL601
4 x SPMA16X2* 547 601 560 600 475 610 712 500 500 4 x OTL602
5 x SPMA16X1* 593 653 610 600 475 610 712 500 500 5 x OTL601
5 x SPMA16X2* 684 752 710 700 593 763 890 610 600 5 x OTL602
6 x SPMA16X1* 712 783 710 800 570 732 854 610 600 6 x OTL601
6 x SPMA16X2* 820 902 875 900 712 915 1068 710 800 6 x OTL602
NOTE The Unidrive SPMD can be connected to its rectifier module in two ways, directly above the inverter (docked) or independently mounted in
different vertical planes (undocked). Changes in the flow of air mean that the ratings are different for the two mounting methods for SPMD12x4.
For details on docking, refer to section 5.6 Docking a Unidrive SPMC/U to an SPMD on page 42.
Table 3-5 SPMD 200V drive ratings (200V to 240V ±10%) based on AC supply voltage
Normal Duty Heavy Duty
Maximum Nominal Nominal Maximum Open Closed Nominal Nominal External 24V
Required current
continuous Peak motor motor continuous loop loop motor motor Required
Model input line consumption
output current power at power at output peak peak power power at rectifier
reactor
current 230V 230V current current current at 230V 230V
A A kW hp A A A kW hp A
1 192 211 55 75 156 201 234 45 60
SPMD12X1 * 1x
INL401
SPMD12X2 *1 248 272 75 100 192 247 288 55 75
1x
SPMD12X3 *1 312 343 90 125 250 322 375 75 100
SPMU1402
3.3
2 1x
SPMD12X4 * 335 365 90 125 290 374 435 90 125
INL402
3 350 385 110 150 290 374 435 90 125
SPMD12X4 *
* Derating is applied to these drives at low output frequencies. Please contact the supplier of the drive for more information if the application requires
significant torque, at or close to zero speed for extended periods of time or if prolonged periods of overload (>100%) are required.
*1 SPMD12X1 to 12X3 ratings apply with the rectifier docked and undocked.
*2 SPMD12X4 rating with the rectifier docked. The overload rating for the SPMD12X4 is only available if the ambient temperature is 35°C or lower.
*3 SPMD12X4 rating with the rectifier undocked. The maximum continuous output current and overload rating for the SPMD12X4 is only available if
the ambient temperature is 35°C or lower.
When using an SPMU a separate soft start circuit must be provided for the DC bus. Refer to Figure 4-6 on page 32 and section 6.5 Resistor
sizing for Unidrive SPMU softstart on page 73.
CAUTION
Table 3-6 Paralleled SPMD 200V motor drive ratings (200V to 240V ±10%) based on AC supply voltage
Normal Duty Heavy Duty
Maximum Nominal Nominal Maximum Open Closed Nominal Nominal Required
Required
continuous Peak motor motor continuous loop loop motor motor Required output
Paralleled SPMD modules line
output current power at power at output peak peak power power at rectifier sharing
reactor
current 230V 230V current current current at 230V 230V choke
A A kW hp A A A kW hp
1x
2 x SPMD12X1* 364 401 110 150 296 381 444 90 125 1 x INL411
OTL411
1x
2 x SPMD12X2* 471 518 132 200 364 468 546 110 150 1 x INL411
1x OTL412
SPMU2402 1x 1x
2 x SPMD12X3* 592 652 160 250 475 610 712 150 200
INL412 OTL413
1x 1x
2 x SPMD12X4* 636 700 200 250 551 708 826 160 200
INL412 OTL414
NOTE The Unidrive SPMD can be connected to its rectifier module in two ways, directly above the inverter (docked) or independently mounted in
different vertical planes (undocked). Changes in the flow of air mean that the ratings are different for the two mounting methods for SPMD14x4.
For details on docking, refer to section 5.6 Docking a Unidrive SPMC/U to an SPMD on page 42.
Table 3-7 SPMD 400V motor drive ratings (380V to 480V ±10%) based on AC supply voltage
Normal Duty Heavy Duty
Maximum Nominal Nominal Maximum Open Closed Nominal Nominal External 24V
Required current
continuous Peak motor motor continuous loop loop motor motor Required
Model input line consumption
output current power at power at output peak peak power power at rectifier
reactor
current 400V 460V current current current at 400V 460V
A A kW hp A A A kW hp A
SPMD14X1 *1 205 225 110 150 180 232 270 90 150
1 x INL401 3.3
SPMD14X2 *1 246 270 132 200 210 271 315 110 150
1x
SPMD14X3 *1 290 319 160 250 246 310 359 132 200
SPMC1402
SPMD14X4 *2 335 365 185 300 290 374 435 160 250 1 x INL402 4.5
3 350 385 200 300 290 374 435 160 250
SPMD14X4 *
* Derating is applied to these drives at low output frequencies. Please contact the supplier of the drive for more information if the application requires
significant torque, at or close to zero speed for extended periods of time or if prolonged periods of overload (>100%) are required.
*1 SPMD12X1 to 12X3 ratings apply with the rectifier docked and undocked.
*2 SPMD12X4 rating with the rectifier docked. The overload rating for the SPMD12X4 is only available if the ambient temperature is 35°C or lower.
*3 SPMD12X4 rating with the rectifier undocked. The maximum continuous output current and overload rating for the SPMD12X4 is only available if
the ambient temperature is 35°C or lower.
Table 3-8 Paralleled SPMD 400V motor drive ratings (380V to 480V ±10%) based on AC supply voltage
Normal Duty Heavy Duty
Maximum Nominal Nominal Maximum Open Closed Nominal Nominal Required
Required
continuous Peak motor motor continuous loop loop motor motor Required output
Paralleled SPMD modules input line
output current power at power at output peak peak power power at rectifier sharing
reactor
current 400V 460V current current current at 400V 460V choke
A A kW hp A A A kW hp
2 x SPMD14X1* 389 428 225 300 342 439 512 185 300 1 x OTL411
1 x INL411
2 x SPMD14X2* 467 514 280 400 399 513 598 225 300 1 x OTL412
1 x SPMC2402
2 x SPMD14X3* 551 606 315 450 467 586 683 280 400 1 x OTL413
1 x INL412
2 x SPMD14X4* 636 700 355 500 551 708 826 315 450 1 x OTL414
1 x SPMC2402 + 1 x INL411 +
3 x SPMD14X2* 701 771 400 600 598 769 897 315 500 3 x OTL402
1 x SPMC1402 1 x INL401
4 x SPMD14X1* 779 856 450 650 684 878 1025 355 600 2 x SPMC2402 2 x INL411 4 x OTL401
1 x SPMC2402 + 1 x INL412 +
3 x SPMD14X3* 826 909 450 700 701 879 1025 400 650 3 x OTL403
1 x SPMC1402 1 x INL402
4 x SPMD14X2* 934 1028 500 800 798 1026 1197 450 700 2 x SPMC2402 2 x INL411 4 x OTL402
1 x SPMC1402 + 1 x INL412 +
3 x SPMD14X4* 954 1050 560 800 826 1062 1239 450 750 3 x OTL404
1 x SPMC2402 1 x INL402
4 x SPMD14X3* 1102 1212 630 900 934 1172 1367 550 800 2 x INL412 4 x OTL403
2 x SPMC2402
4 x SPMD14X4* 1272 1400 710 1000 1102 1416 1652 630 900 2 x INL412 4 x OTL404
NOTE When connecting drives in parallel they must be derated. Table 3-2, Table 3-4, Table 3-6, Table 3-8 and Table 3-10 have already the
required de-rating.
Table 3-9 SPMD 690V motor drive ratings (500V to 690V ±10%)
Normal Duty Heavy Duty
Maximum Nominal Nominal Maximum Open Closed Nominal Nominal External 24V
Required current
continuous Peak motor motor continuous loop loop motor motor Required
Model input line consumption
output current power power output peak peak power power rectifier
reactor
current at 690V at 575V current current current at 690V at 575V
A A kW hp A A A kW hp A
SPMD16X1* 125 137 110 125 100 129 150 90 100
1 x INL601 3.3
SPMD16X2* 144 158 132 150 125 161 188 110 125
1x
SPMC/U1601
SPMD16X3* 168 184 160 150 144 185 216 132 150
1 x INL602 4.5
SPMD16X4* 192 211 160 200 168 216 252 150 150
* Derating is applied to these drives at low output frequencies. Please contact the supplier of the drive for more information if the application requires
significant torque, at or close to zero speed for extended periods of time or if prolonged periods of overload (>100%) are required.
Table 3-10 Paralleled SPMD 690V motor drive ratings (500V to 690V ±10%) based on AC supply voltage
Normal Duty Heavy Duty
Maximum Nominal Nominal Maximum Open Closed Nominal Nominal Required
Required
Paralleled continuous Peak motor motor continuous loop loop motor motor Required output
input line
SPMD modules output current power at power at output peak peak power power at rectifier sharing
reactor
current 690V 575V current current current at 690V 575V choke
A A kW hp A A A kW hp
2 x SPMD16X1* 237 261 250 250 190 244 284 200 200 1 x OTL611
1 x INL611
2 x SPMD16X2* 273 300 280 300 237 305 356 250 250 1 x SPMC2601 1 x OTL612
2 x SPMD16X3* 319 351 315 350 273 351 410 250 300 1 x OTL613
1 x INL612
2 x SPMD16X4* 364 401 315 350 319 410 478 280 350 2 x SPMC1601 1 x OTL614
3 x SPMD16X2* 410 451 450 450 356 457 534 355 400 1 x SPMC2601 1 x INL611 + 3 x OTL602
+ 1 x INL601
3 x SPMD16X3* 478 526 500 500 410 527 615 450 450 1 x SPMC1601 1 x INL612 + 3 x OTL603
3 x SPMD16X4* 547 601 545 600 478 615 718 450 500 3 x SPMC1601 1 x INL602 3 x OTL604
4 x SPMD16X3* 638 702 630 700 547 703 820 545 600 2 x SPMC2601 4 x OTL603
2 x INL612
4 x SPMD16X4* 729 802 710 800 638 820 957 630 700 4 x SPMC1601 4 x OTL604
NOTE When connecting drives in parallel they must be derated. Table 3-2, Table 3-4, Table 3-6, Table 3-8 and Table 3-10 have already the
required de-rating.
* Derating is applied to these drives at low output frequencies. Please contact the supplier of the drive for more information if the application requires
significant torque, at or close to zero speed for extended periods of time or if prolonged periods of overload (>100%) are required.
3.1.1 Typical short term overload limits
The maximum percentage overload limit changes depending on the selected motor. Variations in motor rated current, motor power factor and motor
leakage inductance all result in changes in the maximum possible overload. The exact value for a specific motor can be calculated using the
equations detailed in Menu 4 in the Unidrive SP Advanced User Guide.
Typical values are shown in the tables below for closed loop vector (VT) and open loop (OL) modes.
Table 3-13 Typical overload limits for all Unidrive SPM modules
Closed loop/RFC/ Closed loop/RFC/Servo/
Operating mode Open loop from cold Open loop from 100%
Servo/Regen from cold Regen from 100%
Normal Duty overload with motor rated current = drive rated current 110% for 165s 110% for 9s 110% for 165s 110% for 9s
Heavy Duty overload with motor rated current = drive rated current 150% for 60s 150% for 8s 129% for 97s 129% for 15s
Generally the drive rated current is higher than the matching motor rated current allowing a higher level of overload than the default setting.
The time allowed in the overload region is proportionally reduced at very low output frequency on some drive ratings.
NOTE
The maximum overload level which can be attained is independent of the speed.
3.2 Operating modes For further details refer to section 10.1.4 Servo motor control on
page 146.
The Unidrive SPM is designed to operate in any of the following modes:
3.2.5 Regen
1. Open loop mode
For use as a regenerative front end for four quadrant operation.
Open loop vector
Fixed V/F mode (V/Hz) Regen operation allows bi-directional power flow to and from the AC
Quadratic V/F mode (V/Hz) supply. This provides far greater efficiency levels in applications which
2. RFC mode would otherwise dissipate large amounts of energy in the form of heat in
3. Closed loop vector a braking resistor.
4. Servo The harmonic content of the input current is negligible due to the
5. Regen sinusoidal nature of the waveform when compared to a conventional
bridge rectifier or SCR/thyristor front end.
3.2.1 Open loop mode
See the Unidrive SP Regen Installation Guide for more information
For use with induction motors.
about operation in this mode.
The drive applies power to the motor at frequencies varied by the user.
The motor speed is a result of the output frequency of the drive and slip 3.3 Compatible encoders
due to the mechanical load. The drive can improve the speed control of
the motor by applying slip compensation. The performance at low speed Table 3-14 Encoders compatible with Unidrive SPM
depends on whether V/F mode or open loop vector mode is selected.
Encoder type Pr 3.38 setting
Open loop vector mode Quadrature incremental encoders with or without
The voltage applied to the motor is directly proportional to the frequency Ab (0)
marker pulse
except at low speed where the drive uses motor parameters to apply the
Quadrature incremental encoders with UVW
correct voltage to keep the flux constant under varying load conditions.
commutation signals for absolute position for
Typically 100% torque is available down to 1Hz for a 50Hz motor. Ab.SErvo (3)
permanent magnet motors with or without marker
For further details refer to section 10.1.1 Open loop motor control on pulse
page 138. Forward / reverse incremental encoders with or
Fr (2)
Fixed V/F mode without marker pulse
The voltage applied to the motor is directly proportional to the frequency Forward / reverse incremental encoders with
except at low speed where a voltage boost is provided which is set by UVW commutation signals for absolute position
Fr.SErvo (5)
the user. This mode can be used for multi-motor applications. for permanent magnet motors with or without
Typically 100% torque is available down to 4Hz for a 50Hz motor. marker pulse
Frequency and direction incremental encoders
Quadratic V/F mode Fd (1)
with or without marker pulse
The voltage applied to the motor is directly proportional to the square of
the frequency except at low speed where a voltage boost is provided Frequency and direction incremental encoders
which is set by the user. This mode can be used for running fan or pump with UVW commutation signals for absolute
Fd.SErvo (4)
applications with quadratic load characteristics or for multi-motor position for permanent magnet motors with or
applications. This mode is not suitable for applications requiring a high without marker pulse
starting torque. Sincos incremental encoders SC (6)
Heidenhain sincos encoders with Endat comms
3.2.2 RFC mode SC.EndAt (9)
for absolute position
Rotor flux control provides closed loop control without the need for Stegmann sincos encoders with Hiperface comms
position feedback by using current, voltages and key motor parameters SC.HiPEr (7)
for absolute position
to estimate the motor speed. It can eliminate instability traditionally
Sincos encoders with SSI comms for absolute
associated with open loop control such as operating large motors with SC.SSI (11)
position
light loads at low frequencies.
SSI encoders (Gray code or binary) SSI (10)
For further details refer to section 10.1.2 RFC mode on page 140.
Endat comms only encoders EndAt (8)
3.2.3 Closed loop vector mode UVW commutation only encoders* Ab.SErvo (3)
For use with induction motors with a feedback device installed.
* This feedback device provides very low resolution feedback and should
The drive directly controls the speed of the motor using the feedback not be used for applications requiring a high level of performance
device to ensure the rotor speed is exactly as demanded. Motor flux is
accurately controlled at all times to provide full torque all the way down
to zero speed.
For further details refer to section section 10.1.3 Closed loop vector
motor control on page 143.
3.2.4 Servo
For use with permanent magnet brushless motors with a feedback
device installed.
The drive directly controls the speed of the motor using the feedback
device to ensure the rotor speed is exactly as demanded. Flux control is
not required because the motor is self excited by the permanent
magnets which form part of the rotor.
Absolute position information is required from the feedback device to
ensure the output voltage is accurately matched to the back EMF of the
motor. Full torque is available all the way down to zero speed.
3.4 Features
Figure 3-1 Features of the Unidrive SPM Modules
Control master pod Control slave pod
Cover Base
SMARTCARD
slot Approvals label B
Keypad
connection Status LED
Serial port Rating label Status
connector LED
Solutions Module
slot 1
Solutions Module
slot 2
Solutions Module
slot 3
Control terminals
Encoder
connection
Relay terminals
AC
supply
Internal
EMC filter Approvals
label A
DC
supply
Internal
EMC filter
DC
supply Approvals
label A
AC
supply
Motor Motor
connections connections DC
output
NOTE
24V supply is required for fans on all modules.
Approvals label A
(SPMA / SPMD - Master and Slave)
Heavy Duty /
Model
Normal Duty Customer and
power rating date code
SPMA1601 90 / 110kW STDN39 Key to approvals
Please read manual before connecting.
Electric Shock Risk: Wait 10 min between
disconnecting supply & removing covers CE approval Europe
Input voltage I/P 500-690V 50-60Hz 3ph 128.0A
Output voltage O/P 0-690V 100 / 125A Approvals
C Tick approval Australia
R
Rating label
(SPMA / SPMD - Master and Slave)
Serial
S.No: 3000005001 number
Approvals label B
(SPMA / SPMD - Master only)
3.6 Options
Figure 3-3 Control options available with Unidrive SPM
SMARTCARD*
Keypad
15-way D-type
converter
Master
interface
Slave CT Comms
interface cable
Paralleling
cable**
* A SMARTCARD is provided as standard. Only one SMARTCARD can be installed at any one time. For further information, refer to Chapter
11 SMARTCARD operation on page 151.
** Paralleling cable (CT Part No 3471-9842) is only supplied with a control slave pod.
Figure 3-4 Power options available for Unidrive SPM
Single input line reactor Dual input line reactor Single input line reactor Single output sharing choke Dual output sharing choke
(INLX0X) for use with (INLX1X) for use with (INL40XW) for use with (OTLX0X) for parallel (OTLX1X) for parallel
Unidrive SPMC/U Unidrive SPMC/U Unidrive SPMC/U module drives module drives
A separate input line reactor of at least the value shown in Table 6-2 and Table 6-3 on page 71 must be used with the rectifiers. Failure to
provide sufficient reactance could damage or reduce the service life of the rectifier or inverter.
CAUTION
All Unidrive SPM Solutions Modules are color-coded in order to make identification easy. The following table shows the color-code key and gives
further details on their function.
Power down the drive before installing / removing the Solutions Module. Failure to do so may result in damage to the product.
CAUTION
Resolver interface
Light Blue SM-Resolver Feedback interface for resolvers.
Simulated quadrature encoder outputs
Incremental encoder interface
Feedback interface for incremental encoders without
Brown SM-Encoder Plus
commutation signals.
No simulated encoder outputs available
Incremental encoder interface
Feedback interface for incremental encoders without
SM-Encoder Output
Dark Brown commutation signals.
Plus
Feedback Simulated encoder output for quadrature, frequency and
direction signals
Drive encoder input converter
15-way D-type
N/A Provides screw terminal interface for encoder wiring and spade
converter
terminal for shield
Single ended Single ended encoder interface
N/A encoder interface Provides an interface for 15V single ended ABZ or UVW
(15V) encoder signals, such as those from hall effect sensors
Reference Marker Signal Interface
Provides an interface that converts the 1Vpp reference marker
Reference Marker signal found on some SinCos into a differential EIA485
N/A
Signal Interface compatible marker pulse signal for use by the drive. The sine
and cosine signals from the encoder are passed to the drive
unchanged.
ERN1387 Encoder Interface Board
Provides an interface for Heidenhain ERN1387 and ERN487
ERN1387 Encoder
N/A SinCos encoder which use a single SinCos cycle per revolution
Interface Board
commutation track. A SM-Universal Encoder Plus module is
required to use this interface board.
Applications Processor
White SM-Applications Lite 2nd processor for running pre-defined and /or customer created
application software
Motion Controller
Dark Blue SM-EZMotion 11/2 axis motion controller with processor for running customer
created application specific software.
Automation
(Applications) Applications Processor (with CTNet)
Moss Green
SM-Applications 2nd processor for running pre-defined and /or customer created
Plus application software with CTNet support. Enhanced
performance over SM-Applications.
Applications Processor
SM-Applications Lite 2nd processor for running pre-defined and /or customer created
White
V2 application software. Enhanced performance over SM-
Applications Lite
Applications Processor
Golden
brown
SM-Register 2nd processor for running position capture functionality with
CTNet support
DeviceNet option
Medium Grey SM-DeviceNet
Devicenet adapter for communications with the drive
Interbus option
Dark Grey SM-INTERBUS
Interbus adapter for communications with the drive
CAN option
Pink SM-CAN
CAN adapter for communications with the drive
CANopen option
Light Grey SM-CANopen
Fieldbus CANopen adapter for communications with the drive
SERCOS option
Class B compliant. Torque velocity and position control modes
Red SM-SERCOS supported with data rates (bit/sec): 2MB, 4MB, 8MB and 16MB.
Minimum 250μsec network cycle time. Two digital high speed
probe inputs 1μsec for position capture
Ethernet option
10 base-T / 100 base-T; Supports web pages, SMTP mail and
Beige SM-Ethernet
multiple protocols: DHCP IP addressing; Standard RJ45
connection
LonWorks option
Pale Green SM-LON
LonWorks adapter for communications with the drive
EtherCAT option
Brown Red SM-EtherCAT
EtherCAT adapter for communication with the drive
SLM interface
The SM-SLM allows SLM feedback to be connected directly to
the Unidrive SP drive and allows operation in either of the
SLM Orange SM-SLM
following modes:
• Encoder only mode
• Host mode
Table 3-16 Keypad identification
Type Keypad Name Further Details
Power
24V power supply 24V, 10A power supply (Part No: 8510-0000)
supply
Nylon washers M8
M6
Sealing clips
Through panel
mounting gasket
Mounting bracket
Fan / control
connector(s)
Paralleling cable
(Part No 3471-
9842)
Slave only
Mounting screws
M8x20
Control
connectors Master only
Relay connector
Master only
Grounding
bracket
Master only
Top surface
mounting
brackets
Surface
mounting
brackets
Grounding
busbar
EMC output
bracket
Finger guard
grommets
4 System configuration
This chapter describes various Unidrive SPM system configurations. A suitable external 24Vdc power supply is available from the supplier of the
drive. See section 14.1.4 Unidrive SPM 24V power supply on page 267 for further details.
Figure 4-1 Layout for a Unidrive SPMA module operating on a 3-phase AC supply
L3
L2
L1
Fuses*
U V W
24Vdc***
Fuses**
*Refer to Table 6-15 on page 77 for technical data and part numbers.
**Fuses are needed only if the power supply has a current rating of more than 10A.
***Refer to section 14.1.3 Supply requirements on page 267 for supply requirements.
Figure 4-2 Layout for two or more Unidrive SPMA modules operating on a 3-phase AC supply
L3
L2
L1
Fuses* Fuses*
Master Slave
Paralleling
cable
U V W U V W
Fuses**
24Vdc***
OTLXXX OTLXXX
sharing sharing
chokes chokes
*Refer to Table 6-15 on page 77 for technical data and part numbers.
**Fuses are needed only if the power supply has a current rating of more than 10A.
***Refer to section 14.1.3 Supply requirements on page 267 for supply requirements.
Refer to the external 24V power supply current consumption column in the ratings tables in section 3.1 Ratings on page 14.
Figure 4-3 Layout for an Unidrive SPMD module operating on a 3-phase supply
Fuses*
L3
L2
L1
INLXXX
Line reactor***
Fuses**
+DC -DC
SPMC
24Vdc****
Rectifier to
inverter
control wiring
U V W
Fuses**
SPMD
24Vdc****
*Refer to Table 6-16, Table 6-17 on page 78 and Table 6-18 on page 78 for technical data and part numbers.
**Fuses are needed only if the power supply has a current rating of more than 10A.
***Refer to Table 6-2, Table 6-3, Table 6-4 and Table 6-5 on page 71 for technical data and part numbers.
****Refer to section 14.1.3 Supply requirements on page 267 for supply requirements.
Figure 4-4 Layout for an Unidrive SPMD module operating on a 3 phase supply with SPMU (uncontrolled) rectifier and softstart circuit
INLXXX
Line reactor***
Fuses*
L3
L2
L1
CLOSED
K2 3s
OPEN
Figure 4-5 Layout for two or more Unidrive SPMD modules operating on a 3-phase AC supply
L3
L2
L1
Fuses* Fuses*
INLXXX INLXXX
Line reactor** Line reactor**
Rectifier
control
connections
Master Slave
Rectifier
to inverter
control
wiring
Figure 4-6 Layout for two Unidrive SPMD modules with a dual SPMC rectifier operating on a 3-phase AC supply
Fuses*
L3
L2
L1
INLX1X
Line reactor**
24Vdc****
Master Slave
Rectifier
to inverter
control
wiring
Figure 4-7 Layout for two Unidrive SPMD slave modules with a dual SPMC rectifier operating on a 3-phase AC supply with a remote
mounted control master pod
Fuses*
L3
L2
L1
INLX1X
Line reactor**
24Vdc****
Paralleling cable*
Enclosure
The drive is intended to be mounted in an enclosure which
prevents access except by trained and authorized
WARNING
personnel, and which prevents the ingress of contamination.
It is designed for use in an environment classified as
pollution degree 2 in accordance with IEC 60664-1. This
o
means that only dry, non-conducting contamination is 5
acceptable.
• contamination with any form of dust which may restrict the fan, or
th a n 2 X
below bottom of enclosure)
a b o v e o r b e lo w b o t t o m
o f e n c lo s u r e )
NOTE
During installation it is recommended that the vents on the drive are
covered to prevent debris (e.g. wire off-cuts) from entering the drive.
Stored charge
The drive contains capacitors that remain charged to a
potentially lethal voltage after the AC supply has been
disconnected. If the drive has been energized, the AC
WARNING supply must be isolated at least ten minutes before work
may continue.
Normally, the capacitors are discharged by an internal
resistor. Under certain, unusual fault conditions, it is possible
that the capacitors may fail to discharge, or be prevented
from being discharged by a voltage applied to the output
terminals. If the drive has failed in a manner that causes the
display to go blank immediately, it is possible the capacitors
will not be discharged. In this case, consult Control
Techniques or their authorized distributor.
Input
Input
Input
To remove a terminal cover, undo the screw and lift the terminal cover off as shown.
When replacing the terminal covers the screws should be tightened with a maximum torque of 1 N m (0.7 lb ft).
Figure 5-4 Removing the terminal covers (Uni SPMA illustrated)
Pozi Pz2
Figure 5-5 Removing the Unidrive SPMC/U dual rectifier terminal covers and housing
T25 Torx
Pozi Pz2
T25 Torx
When removing the Unidrive SPMC/U dual rectifier centre housing, undo the 3 x T25 torx head screws as shown in Figure 5-5. When the housing is
replaced, the screws should be tightened with a maximum torque of 2.5 N m (1.8 lb ft).
1 2
All models
1 2
SPMA and
SPMD
Place finger-guard on a flat solid surface and hit relevant break-outs with
hammer as shown (1). Continue until all required break-outs are
removed (2). Remove any flash / sharp edges once the break-outs are
removed.
Grommets are available for the Unidrive SPM finger-guards. Two
versions are available allowing for either single or double cable entries.
Power down the drive before installing / removing the Solutions Module. Failure to do so may result in damage to the product.
WARNING
B Solutions Module
in slot 1
A
Solutions Module
in slot 2
Solutions Module
in slot 3
A
To instal the Solutions Module, press down in the direction shown above until it clicks into place.
To remove the Solutions Module, press inwards at the points shown (A) and pull in the direction shown (B).
The drive has the facility for all three Solutions Module slots to be used at the same time, as illustrated.
NOTE N
It is recommended that the Solutions Module slots are used in the following order: slot 3, slot 2 and slot 1.
WARNING
To install, align the keypad and press gently in the direction shown until it clicks into position.
To remove, while pressing the tabs inwards (A), gently lift the keypad in the direction indicated (B).
NOTE N
The keypad can be installed / removed while the drive is powered up and running a motor, providing that the drive is not operating in keypad mode.
5.5 Mounting of control master/slave pod Figure 5-11 Mounting the control slave pod on the drive
1 2
1. In order to expose the mounting holes, remove the control slave pod
2 cover. This is done by undoing the screws highlighted and pulling
the cover off.
2. Care must be taken when installing control slave pod. Refer to
Figure 5-12. Use the 2 x M6 screws to mount the control slave pod
to the drive in the position shown.
3. The cover can then be re-installed.
Figure 5-12 Control master/slave pod and power module base
plate connectors
1. In order to expose the top mounting hole, the terminal covers need
to be removed. This is done by undoing the terminal cover screw
highlighted and then removing the two plastic covers.
2. Care must be taken when installing master control pod. Refer to
Figure 5-12. Use the 2 x M6 screws to mount the control master pod
to the drive in the position shown.
3. The terminal covers can then be re-installed. 2
1
Ensure that the connector on the back of the control master/slave pod
(1) is securely installed to the power module metal base plate connector
(2).
Terminal
cover
screw
390.2mm Mounting
449.4mm (15.36in) holes
(17.69in)
35.4mm
(1.39in)
59.9mm
(2.36in)
The control master pod can be mounted remotely. docking kit (3470-0012) can be used to electrically connect the two
modules together.
Figure 5-14 Docking kit
In order to meet IP20, the control master pod should be
mounted to a solid surface to restrict access to the back of the
module.
CAUTION
In order to expose the top mounting hole, the terminal covers need to be
removed. This is done by undoing the terminal cover screw highlighted
in Figure 5-13, and then removing the two plastic covers.
Use the 2 x M5 captive screws to mount the control master pod to pre-
tapped holes using the dimensions shown in Figure 5-13.
NOTE N SPM inverter to rectifier
The parallel cable for the control master pod is 2m long, as such it busbars
should be mounted close to the appropriate power module.
SPM interface
5.6 Docking a Unidrive SPMC/U to an bracket
SPMD The SPM interface bracket should be connected first, followed by the
Docking a Unidrive SPMC/U to an SPMD allows the user to create an SPM inverter to rectifier busbars, to the appropriate terminals as shown
AC input/AC output drive. The advantages of docking are: in Figure 5-15.
Bottom of
SPMC/U
(rectifier)
Top of
SPMD
(inverter)
SPM interface
bracket
NOTE N
A current derating must be applied to the Unidrive SPMD1404 when
docked with the Unidrive SPMC/U. Details can be found in section
14.1.1 Power and current ratings (Derating for switching frequency and
temperature) on page 263.
5.7 Mounting methods If the drive has been used at high load levels for a period of
Unidrive SPMA, SPMD and SPMC can be either surface or through- time, the heatsink can reach temperatures in excess of 70°C
panel mounted using the appropriate brackets. (158°F). Human contact with the heatsink should be
Surface mounting is where the drive is simply secured to the enclosure WARNING
prevented.
wall/backplate.
5.7.1 Surface mounting
Through-panel mounting is where the drive is secured with the heatsink
protruding through the enclosure panel to the external environment. This Many of the drives in this product range weigh in excess of
has the effect of reducing the temperature within the enclosure. 15kg (33lb). Use appropriate safeguards when lifting these
models.
The following drawings show the dimensions of the drive and mounting A full list of drive weights can be found in section
holes for each method to allow a back plate to be prepared. WARNING 14.1.19 Weights on page 269.
18.9mm (0.744in)
25.7 ±0.5mm
(1.012 ±0.020in)
18.9mm (0.744in)
∅8.5mm
(0.335in)
258.6 ±0.5mm
∅8.5mm
310mm (12.205in) 298mm (11.732in) (10.181 ±0.020in)
(0.335in)
18.9mm (0.744in)
25.7 ±0.5mm
(1.012 ±0.020in)
18.9mm (0.744in)
∅8.5mm
(0.335in)
258.6 ±0.5mm
(10.181 ±0.020in) ∅8.5mm
310.1mm (12.209in) 297.4mm (11.709in)
(0.335in)
18.3mm (0.720in)
25.7 ±0.5mm
(1.012 ±0.020in)
Figure 5-19 Surface mounting the Unidrive SPMD with SPMC/U (rectifier) and docking kit
258.6 ±0.5mm
(10.181 ±0.020in) ∅8.5mm
310.1mm (12.209in) 297.4mm (11.709in) (0.335in)
18.3mm (0.720in)
25.7 ±0.5mm
(1.012 ±0.020in)
380.5 ±0.25mm
(14.980 ±0.010in)
90.3
±0.25mm
145.3 ±0.25mm (3.555
(5.720 ±0.010in) ±0.010in)
258.6 ±0.5mm
(10.181 ±0.020in)
777.3 ±0.25mm
(30.602 ±0.010in)
18.3mm (0.720in)
∅8.5mm
(0.335in)
NOTE N
A current derating must be applied to the Unidrive SPMD1404 when docked with the Unidrive SPMC/U. Details can be found in section 14.1.1 Power
and current ratings (Derating for switching frequency and temperature) on page 263.
298mm (11.732in)
98mm 258.6±0.5mm
∅8.5mm
310mm (12.205in) 200mm (7.874in) (3.858in) (10.181±0.020in)
(0.335in)
27.1±0.5mm
(1.067±0.020in)
R6.5mm
(0.256in)
286.0±0.5mm
(11.260±0.020in)
1161.2
1131mm 1179.3mm 1105.6mm 1107.8±0.5mm ±0.5mm
(44.528in) (46.429in) (43.528in) (43.614±0.020in) (45.717
±0.020in)
R6.5mm
(0.256in)
13.7±0.5mm
(0.539±0.020in)
258.6±0.5mm ∅8.5mm
(10.181±0.020in) (0.335in)
297mm (11.693in)
27.1±0.5mm
(1.067±0.020in)
R6.5mm
(0.256in)
286.0±0.5mm
(11.260±0.020in)
789.2
758.7mm 806.9mm 732.0mm 735.0±0.5mm ±0.5mm
(29.870in) (31.768in) (28.819in) (28.937±0.020in) (31.071
±0.020in)
R6.5mm
(0.256in)
13.7±0.25mm
(0.539±0.010in)
258.6±0.5mm ∅8.5mm
(10.181±0.020in) (0.335in)
297.0mm (11.693in)
R6.5mm
286.0±0.5mm (0.256in)
(11.260±0.020in)
387.2
341.9mm 345.9±0.5mm ±0.5mm
386.4mm (15.244
(15.213in) (13.461in) (13.618±0.020in)
±0.020in)
R6.5mm
(0.256in) ∅8.5mm
(0.335in)
13.7±0.5mm
(0.539±0.020in) 145.3±0.25mm 113.3±0.25mm
(5.720±0.010in) (4.461±0.010in)
Figure 5-23 Through-panel mounting the Unidrive SPMD with SPMC/U (rectifier) and docking kit
297mm (11.693in)
258.6±0.5mm ∅8.5mm
96.7mm 27.5±0.25mm
310.1mm (12.209in) 198.3mm (7.807in) (10.181±0.020in) (0.335in)
(3.807in) (1.083±0.010in)
25.1mm
(0.988in)
R6.5mm
(0.256in)
286.0±0.5mm
(11.260±0.020in)
∅8.5mm
(0.335in)
145.3±0.25mm
(5.720±0.010in)
17.5±0.25mm
(0.689±0.010in)
1121.8
1145.1mm 1194.1mm 1118.2mm ±1.0mm
(45.083in) (47.012in) (44.024in) (44.165
±0.040in)
731.9mm 789.2±0.5mm
(31.071±0.020in) 735.0±0.5mm
(28.815in) (88.937±0.020in)
13.7±0.25mm
(0.539±0.010in)
24.0mm
(0.945in)
NOTE N
A current derating must be applied to the Unidrive SPMD when docked with the Unidrive SPMC/U. Details can be found in section 14.1.1 Power and
current ratings (Derating for switching frequency and temperature) on page 263.
x4 8.5mm
SPMA
(0.335in)
x2
8.5mm
SPMD
(0.335in)
x4
x2
SPMC 8.5mm Unidrive SPMC and SPMU
/U (0.335in) Figure 5-27 Installation of the Unidrive SPMC/U surface mounting
brackets
x1 1
2
5.7.4 Installation of the Unidrive SPM mounting
brackets
Common
The Unidrive SPM range use the same mounting brackets for surface
and through-panel mounting.
The mounting bracket has a long section and a short section.
Figure 5-24 Unidrive SPM mounting bracket
Short section
Long section
The mounting bracket must be installed in the correct orientation with the
long section inserted into or attached to the drive and the short section is
attached to the back plate. Figure 5-25 shows the orientation of the
mounting bracket when the drive is surface and through-panel mounted.
Figure 5-25 Orientation of the Unidrive SPM mounting bracket
3
Long section
Short section 4
When through-panel mounted, the mounting brackets on the left hand 1. Common Unidrive SPM mounting bracket. Ensure short section
side of the Unidrive SPMA and SPMD can be secured using the screws attached to back-plate.
already located there. This only applies to the bottom of the Unidrive 2. Unidrive SPMC/U supply ground bracket. M10 x 20 screw required.
SPMC/U rectifier. to mount bracket, maximum length 40mm (1.575in) used with
vibration resistant washer. Torque setting of 15 N m (11.1 lb.ft).
On the right hand side, the mounting brackets are just inserted into the
3. Unidrive SPMC/U motor ground bracket.
slots in the chassis of the drive; no mounting screws are present here.
4. Unidrive SPMC/U surface mounting bracket. M8 screws required to
mount bracket, minimum length 20mm (0.787in) used with vibration
resistant washer. Torque setting of 9 N m (6.6 lb.ft)
1
2
5.8 Enclosure
5.8.1 Enclosure layout
Observe the clearances in Figure 5-29 taking into account any appropriate notes for other devices / auxiliary equipment when planning the
installation. A Unidrive SPMA is shown, but the illustration also applies to a docked Unidrive SPMD and SPMC.
Figure 5-29 Enclosure layout
Locate
Locateasas
required
required
Enclosure AC supply
contactor and
fuses or MCB
≥100mm
(4in)
Optional
external
EMC filter
A A
Note
For EMC compliance:
1) When using an external EMC
filter, one filter is required for
each drive
2) Power cabling must be at
least 100mm (4in) from the
drive in all directions
Signal cables
Plan for all signal cables
to be routed at least
300mm (12in) from the
drive and any power cable
Optional braking
resistor and overload
Figure 5-30 Alternative enclosure layout: Undocked Unidrive SPMD and SPMC
Locate
Locateasas
required
required
Enclosure AC supply
contactor and
fuses or MCB
≥100mm
(4in)
Optional
external
EMC filter
A ≥60mm (2.362in)
The Unidrive SPMC
can be mounted
upside down (e.g.
for easier wire
routing) if required
Note
A A A For EMC compliance:
1) When using an external EMC
filter, one filter is required for
each drive
2) Power cabling must be at
least 100mm (4in) from the
drive in all directions
Signal cables
Plan for all signal cables
to be routed at least
300mm (12in) from the
drive and any power cable
External
controller
≥100mm
(4in)
Locate optional braking Fan supply: 24Vdc
resistor external to SPMA: 3.3A
cubicle (preferably near SPMD1401 & 1402: 6.3A
to or on top of the cubicle). SPMD1403 & 1404: 7.6A
Locate the overload
protection device as required
Optional braking
resistor and overload
NOTE N
The Unidrive SPMC must not be mounted any higher than the SPMD. This is to prevent the heated air expelled from the Unidrive SPMD being
recirculated through the SPMC.
5.8.2 Enclosure ambient temperature over rated. The maximum permissible output currents should remain
Drive derating is required for operation in high ambient temperatures the same as those given at 40°C.
• If the drive is required to operate above 40°C the derates at 50°C
Totally enclosing or through panel mounting the drive in either a sealed
should be applied. Refer to section 14.1.1 Power and current ratings
cabinet (no airflow) or in a well ventilated cabinet makes a significant
(Derating for switching frequency and temperature) on page 263
difference on drive cooling.
• The same applies for altitude below 1000m. There should be no
The chosen method affects the ambient temperature value (Trate) which over rating at lower altitude
should be used for any necessary derating to ensure sufficient cooling
NOTE
for the whole of the drive.
For applications over 3000m, contact the supplier of the drive.
The ambient temperature for the four different combinations is defined
below: 5.8.4 Enclosure sizing
This section looks at a method for cooling a medium power density
1. Totally enclosed with no air flow (<2 m/s) over the drive
enclosure. By running through a worked example it brings out the issues
Trate = Tint + 5°C
associated with cooling the drives when they are completely mounted
2. Totally enclosed with air flow (>2 m/s) over the drive inside an enclosure.
Trate = Tint
This example only considers one possible method of enclosing the
3. Through panel mounted with no airflow (<2 m/s) over the drive drives and tries to highlight and solve thermal issues created by hot air
Trate = the greater of Text +5°C, or Tint recirculating inside an enclosure. Other methods of enclosure design are
also possible, such as through panel mounting, which removes many of
4. Through panel mounted with air flow (>2 m/s) over the drive
the issues discussed in this chapter. Refer to section 5.7.2 Through-
Trate = the greater of Text or Tint
panel mounting on page 47.
Where: The enclosure design example will use the following conditions:
Text = Temperature outside the cabinet
• Enclosure placed in a room with a 30°C ambient and an altitude
Tint = Temperature inside the cabinet
<1000m
Trate = Temperature used to select current rating from tables in • Continuous output current requirement from the system = 650A
Chapter 14 Technical Data .
Parts used in system model:
5.8.3 Altitude derating • 1800mm (70.87in) x 800mm (31.5in) x 500mm (19.69in) enclosure
Multiply the maximum rated output current by the derate factor (Df) in with input and output ventilation
Figure 5-31 and the ambient correction factor (Cf) in Figure 5-32. • 2 x SPMD1404
Rated output current = Df x Cf x Oc • 2 x docking SPMC1402
Figure 5-31 Altitude derate factor • 2 x input line reactors (L1)
• 2 x output sharing chokes (L2)
1
0.95
Derate factor (Df)
0.9
0.85
0.8
0.75
0 500 1000 1500 2000 2500 3000
Altitude (m)
1.03
1.025
Correction factor (Cf)
1.02
1.015
1.01
1.005
0.995
20 22 24 26 28 30 32 34 36 38 40
Temperature (°C)
Note:
• The ambient temperature correction factor used is for altitude
calculation only. If the ambient is less than 40°C the drive cannot be
Recirculated
air
L1 L1
Input air
flow
L1
Output air
flow
Enclosure
vent
L2 L2
Drive selection
Select drives necessary to achieve desired output current based on
altitude calculation and other drive derates (e.g. paralleling derates, L2
switching frequency derates, ambient derate etc).
recalculate.
0.6 Option 3: Add enclosure fan.
Option 4: Redesign the enclosure so that the drives can be through
0.4 panel mounted. This means that most of the heat can escape outside
the main enclosure and the input air into the heat sinks will remain at the
external ambient and not be affected by recirculation. Refer to section
0.2 5.7.2 Through-panel mounting on page 47.
NOTE
0
Heat loss through the front of the drive still needs to be considered.
0 20 40 60 80 100 120
Open area (%) Adding enclosure fan
This is an approximation to the amount of air that is re-circulated within Calculate required flow rate
• Fan needs to remove the effect of re-circulation and the added
the enclosure due to inlet and outlet venting restrictions. The factor has a
choke loss.
safety factor built in to it to ensure a safe result. The factor has been
• Loss effecting drive temp (Pr) = 3510.4W
calculated using CFD software, testing the amount of heat flow back into
• The above Loss of 3510.4W is for one drive only, so with an
the drive when different vent restrictions are given. The factor can also
enclosure of 2 units the total loss to remove = 7020.8W
be applied to an SPMA and separated SPMD.
Calculate the temperature rise allowed in the enclosure:
Calculate loss which affects the drive inlet air temperature
Loss affecting drive temperature (Pr) = Lower choke Loss (Pc) + Temperature rise (dT) = (Allowable drive ambient - 5 {safety
(Total loss of single drive (Dp) x Recirculation factor (Rf)) factor}) - External ambient
= 250 + (4290 x 0.76) = (40 - 5) - 30
= 3510 W = 5°C
NOTE
Then using:
This is the loss from 1 drive unit only as simulations have shown that V = 3kPr/ (dT)
with drives mounted inline and in a symmetric system the losses are Flow rate required to remove loss = (3x1x7020.8) / 5
shared equally. = 4212.5 m3/hr
Calculate back pressure on fan
Open area of roof + open area of inlet x 100
Open area of venting % = ---------------------------------------------------------------------------------------------------------------------------
2 x cubicle width x cubicle depth
Figure 5-36 Pressure drop Figure 5-37 AC supply 400mm diameter blower performance
500
450
400
350
300
Pressure drop (Pa)
250
200
150
100
50
0
0 20 40 60 80 100 80
Total open area (%)
Best practice: Size the enclosure air inlet and exit vents at least as
large as the venturi opening of the fan used. This will ensure a negligible
back pressure.
With 52.5% open area: Pressure drop = 34
Selecting fan
Considerations when selecting fan:
• Dimensions and space limitation Final summary
• Required flow rate 1. Enclosure fans can be placed on inlet and outlet depending on
• Static pressure system limitations.
• Noise level 2. Considerations with fan on outlet:
• Power supply • Higher Ambient temperature surrounding fan, can affect fan life.
• Depressurisation of enclosure which may draw in dust through
Table 5-4 Type of fan any apertures.
Backward curved Blower (Centrifugal) 3. Considerations with fan on inlet:
• Outward flow perpendicular to inward flow • Proximity of dust filter to fan, can create excess back pressure
• Good at high + low back pressures on fan
• Good resistance to dust and dirt due to • Non-uniform flow across internal components
impeller design 4. Dust filters:
• Do not need cowling Use the largest filter possible, in order to:
• Relatively small diameters required for a. Increase dust capacity
high airflow b. Reduce pressure drop
5. Make sure Drive inlets are as close to the enclosure air inlet as
possible
Forward curved blower (Centrifugal) 6. Do not block the inlet and outlets of the drive airflow. Keep to best
• Requires cowling practice spacing between drives and other parts in enclosure.
• Good at directing flow 7. Beware of blocking air inlets or outlets with cable routing.
Figure 5-38 Removal of Unidrive SPMA/D fan (part 1) Figure 5-39 Removal of Unidrive SPMA/D fan (part 2)
Fan
connector
3 (removed)
Fan
cassette
1
1. Remove the cable from the fan connector
Fan
connector 2. Undo fan cassette screws
3. Slide fan cassette out of heatsink chamber
4. Remove fan screws in order to remove fan from cassette
IP20
(NEMA1)
Drive fitted
with IP54
fan as
standard
Gasket
seal
It may be necessary to improve the rigidity of the through panel 1. Use a thicker panel for the mounting wall of the enclosure through
mounting surface due to the larger distance between the top and bottom which the drive is mounted.
mounting brackets and the need to maintain compression on the gasket. 2. Use an internal backplate to pull the rear wall of the enclosure up to
When the drive is mounted, if the gap between the drive flange (which the drive gasket. See Figure 5-42 for details. (Nylon washers are
the gasket rests on) and the rear wall of the enclosure is ≥6mm at any supplied in the standard drive kit for sealing off any nut and bolt
point around the drive then the following methods can be used to mountings that exit through the rear wall of the panel).
compress the gasket further: 3. If an internal backplate is not available a separate clamp can be
used to simulate option 2. See Figure 5-43 on page 61. 4 off sealing
clamps are supplied in the drive kit box.
Figure 5-42 Option 2 for achieving IP54 (NEMA 12) through-panel mounting
Backplate
50mm max 5mm
Enclosure (1.97in max) (0.2in)
rear wall A
253mm
(9.96in)
placed 817mm
centrally (32.17in)
along
length
5mm
(0.2in) 817mm (32.17in)
5 4 3 2 3 4
6 1 5
6
2
1
A M8
M6 B
Table 5-6 Description of fixings Table 5-7 Quantity of nylon washers included in the kit boxes
Item Description Size Quantity of M8 (A) Quantity of M6 (B)
1 Bolt All 4 4
2 Flat washer
3 Nylon washer (from kitbox)
4 Flat washer
5 Spring washer
6 Nut
Figure 5-43 Option 3 for achieving IP54 (NEMA 12) through panel mounting
36.5mm Enclosure
(1.44in) rear wall
Sealing
bracket
(4 places)
253mm (9.96in)
placed centrally
along length
The heatsink fan installed on the Unidrive SPMC/U is IP21 rated as 5.11 External EMC filter
standard. To achieve IP54 rating (NEMA 12) at the rear of the heatsink
In order to provide our customers with a degree of flexibility, external EMC
for through panel mounting, the SPMC/U heatsink fan must be changed
filters have been sourced from two manufacturers: Schaffner & Epcos.
for the IP54 version, part number 3251-7824. Filter details for each drive rating are provided in the tables below. Both
The procedures in section 5.9 Heatsink fan operation on page 57 should the Schaffner and Epcos filters meet the same specifications.
be followed to change the fan. Table 5-10 Single drive EMC filter details
If the standard fan is used in a dirty/dusty environment, reduced fan Schaffner Epcos
lifetime will result. Regular cleaning of the fan and heatsink is Drive
CT part no. Weight CT part no. Weight
recommended in this environment. The heatsink fan installed in Unidrive
SPMA and SPMD are IP54 rated as standard. SPMA14X1 to 5.25 kg 8.6 kg
4200-6603 4200-6601
SPMA14X2 (11.6 lb) (19.1 Ib)
The guidelines in Table 5-8 should be followed.
SPMA16X1 to 5.25 kg 8.6 kg
Table 5-8 Environment considerations 4200-6604 4200-6602
SPMA16X2 (11.6 lb) (19.1 Ib)
Environment Fan Comments SPMD12X1 to 5.5 kg 8.6 kg
4200-6315 4200-6313
SPMD12X4 (12.11 Ib) (19.1 Ib)
Clean Standard
SPMD14X1 to 5.5 kg 8.6 kg
Dry, dusty (non- Regular cleaning recommended. 4200-6315 4200-6313
Standard SPMD14X4 (12.11 Ib) (19.1 Ib)
conductive) Fan lifetime may be reduced.
SPMD16X1 to 5.5 kg 8.5 kg
Dry, dusty Standard / Regular cleaning recommended. 4200-6316 4200-6314
SPMD16X4 (12.11 Ib) (18.7 Ib)
(conductive) IP54 Fan lifetime may be reduced.
IP54 compliance IP54 Regular cleaning recommended. The external EMC filters for Unidrive SPMA and SPMD are designed to
be mounted above the drive, as shown in Figure 5-44.
NOTE N Mount the external EMC filter following the guidelines in section
When designing an IP54 (NEMA 12) enclosure (Figure 5-41), 6.13.5 Compliance with generic emission standards on page 87.
consideration should be given to the dissipation from the front of the Figure 5-44 Mounting the external EMC filter
drive.
Table 5-9 Power losses from the front of the drive when through-
panel mounted
Model Power loss
SPMA ≤480W
SPMD ≤300W
SPMC ≤50W
SPMU ≤50W
H
C
G I
Z Z
D Z E
Z
V
Z Z
The following EMC filters are available for multiple module drives.
Table 5-12 EMC filters for multiple drive combinations
Epcos
Combination
CT part no. Weight
2 x SPMD1401
2 x SPMD1402 4200-6801 22kg (48.5lb)
2 x SPMD1403
2 x SPMD1404
4 x SPMD1401
4200-6802 28kg (61.7lb)
3 x SPMD1403
4 x SPMD1402
4 x SPMD1403
4200-6803 34kg (75lb)
4 x SPMD1404
Figure 5-46 Multiple drive EMC filters
A
V V
Z Z
G G
V V
C
D E
B B
187mm (7.36in)
∅M8
5mm
(0.2in)
130mm
(5.12in)
10mm
(0.39in) 110mm
(4.33in)
155mm 75.5±2mm
(6.1in) (2.97±0.08in)
Figure 5-49 Single line input reactor force cooled (INLX0XW)
222±1mm (8.74±0.04in)
∅8.5mm
142±1mm (5.59±0.04in) 15±1mm (0.34in) 265±5mm
335±5mm
(0.59±0.04in) (10.43
(13.19±0.2in)
±0.2in)
108±1mm
(4.25±0.04in)
For overall dimensions and other details, refer to section 6.3 Output
sharing choke specification on page 72.
7.5mm
(0.3in)
8.5±0.5mm
(0.17±0.02in)
For overall dimensions and other details, refer to section 6.2.2 Input line
reactor specifications on page 70.
Control terminals
Relay terminals
2.5mm
3mm
8mm AF 8mm AF
AC IN
M10 nut
17mm AF
DC IN
M10 nut
17mm AF
AC IN
11mm
Suitable for
M10 nut
M10 nut & bolt
17mm AF
Stored charge
The drive contains capacitors that remain charged to a
potentially lethal voltage after the AC supply has been
disconnected. If the drive has been energized, the AC
WARNING supply must be isolated at least ten minutes before work
may continue.
Normally, the capacitors are discharged by an internal
resistor. Under certain, unusual fault conditions, it is possible
that the capacitors may fail to discharge, or be prevented
from being discharged by a voltage applied to the output
terminals. If the drive has failed in a manner that causes the
display to go blank immediately, it is possible the capacitors
will not be discharged. In this case, consult Control
Techniques or their authorized distributor.
6.1 Power connections Figure 6-2 Unidrive SPMD & SPMC/U (rectifier) power connections
Input connections
6.1.1 AC and DC connections Mains Supply
Figure 6-1 Unidrive SPMA power connections Supply ground
Input connections L1 L2 L3
Supply Mains
ground Supply
L1 L2 L3
Fuses
Line reactor
Fuses (INLXXX)
Optional
EMC filter
Optional
line reactor
Optional
EMC filter L1 L2 L3 PE
L1 L2 L3
SPMC/U
PE +DC -DC
* Internal
EMC filter
PE +DC -DC
PE +DC -DC
* Internal
EMC filter
SPMA
SPMD
Heatsink
fan supply
connections**
Output connections Heatsink
fan supply**
Output connections connections
U V W
U V W
SPMAXX0X only
* SPMDXX0X only
+DC BR *
+DC BR
Thermal
overload Thermal
protection overload
device protection
device
Motor Motor
* See section 6.1.2 Ground connections . * See section 6.1.2 Ground connections .
** See Figure 6-12 Location of the heatsink fan supply connections ** See Figure 6-12 Location of the heatsink fan supply connections
(SPMA & SPMD) on page 76 for more information. (SPMA & SPMD) on page 76 for more information.
Supply
ground
Motor
ground
Supply
ground
Motor Motor
ground ground
Figure 6-6 Unidrive SPMD and SPMC/U (rectifier) ground connections Drives are suitable for use on supplies of installation category III and
lower, according to IEC60664-1. This means they may be connected
Supply permanently to the supply at its origin in a building, but for outdoor
ground installation additional over-voltage suppression (transient voltage surge
suppression) must be provided to reduce category IV to category III.
6.3.2 Cooling requirements for higher output Dual OTL output sharing chokes - OTLX1X
frequencies The OTLX1X dual output sharing choke core does not see the change in
Single OTL output sharing chokes - OTLX0X drive output frequency as this choke is a current cancelling choke. Only
Up to output frequencies of 300 Hz, 1m/s airflow provides adequate the drives switching frequency has an effect on the core loss.
cooling. Therefore motor frequency is not an issue until higher frequencies cause
Above 300Hz, the following equation must be used to calculate the high copper losses due to skin effect.
required airflow: Therefore with the dual OTL chokes, only 1m/s airflow is required.
S = (f0.75/72) Maximum output frequency for OTL chokes
Where: The maximum allowable output frequency for OTL output sharing
S is the airflow in metres per seconds chokes, singles or duals, should be limited to 550 Hz.
f is the drive output frequency in Hz
Example:
Output frequency is 450 Hz
S = (4500.75/72)
= 1.4m/s
K2
R1
I>
K1 SPMU Drive
Supply
L1 L1 DC+ DC+ U
To
L2 L2 V
Motor
L3 L3 DC- DC- W
Status
Rectifier Status
24V +- Enable
0V
K1: Main supply contactor to drive. 2. Calculate the energy stored in the systems DC bus capacitance at
K2: Soft-start contactor the maximum supply voltage using:
2
R1: Soft-start resistor W = 1.45 × C × V ll
MCB1: Thermal / magnetic circuit breaker Where:
K1 and K2 should be energized at the same time. W: Maximum energy stored in the DC bus (Joules)
C: Total DC bus capacitance (Farads)
MCB1 is normally closed Vll: Nominal line-to-line supply voltage (Volts)
Drive is not allowed to start until K1 has closed.
NOTE N
K1 is energized 3s after the drive OK parameter becomes active as 20% over-rate has been applied to allow for component tolerances and a
shown in Figure 6-9 further 10% over-rate has been applied to allow for supply variations.
Figure 6-9 Switching sequence for K1 and K2
3. Calculate the minimum number of resistors required to meet this
Under energy value (round up to the nearest one), (Table 6-12). Then
voltage Drive Healthy calculate the series parallel arrangement of resistors to produce the
active Under Voltage
Pr 10.16 total resistor value in the required range (Table 6-12 and Table 6-13).
4. Calculate the peak supply current and select the MCB. Ensure that
CLOSED 3s
K1 the peak current is less than that shown in Table 6-10. If the current
OPEN is too high, then choose a series / parallel arrangement of resistors
CLOSED that will give a higher resistance and therefore a lower peak current.
K2 3s
OPEN 1.56 × V ll
I pk = -------------------------
R
6.5.1 Procedure Where:
Selection of the resistor and contactor is an iterative process requiring R: Total resistance of the soft-start resistor network. (Ohms)
calculations based on the total DC bus capacitance, supply voltage and Ipk: Peak supply current (Amps)
knowledge of the available parts.
The MCB must have a current rating no less than 13 x less than this
1. Calculate the total DC bus capacitance of the system by simply
peak current to avoid nuisance trips. See Figure 6-15. MCBs available
adding the DC bus capacitances of each drive that is to be started by
from Control Techniques can be found in Table 6-13.
the soft-start circuit.
7. Compare the supply currents at time t1 to t5 with the circuit breaker 2960
I P10 = ------------- = 11.1A
worst-case trip characteristic. Make sure that the current is less than 24
the trip curve for all the time intervals calculated. But the MCB current rating from step 4 was 1.2A
8. Check that the MCB prevents the resistor from overheating. An 11.1A is 9 x the rated current
example will best illustrate the process.
From Figure 6-11 the MCB will trip in approximately 3s
Example:
From the resistor manufacturer's data shown in Figure 6-10, 10 x rated
SPMD1204 on a 230Vac +10% line power supply. power can be withstood for 5s
Step 1 The MCB will protect the resistor. Design complete.
C = 13200µF
6.5.2 Design data
Step 2
Capacitance
W = 1.45 x 13200 x 10-6 x 2302 DC bus capacitance values and peak allowable supply current for
W = 1013J Unidrive SPM drives are as follows.
Step 3 Table 6-10 DC bus capacitance and peak supply current values
Select resistor CT part number 1270-2483 Total DC bus Maximum allowable
Number of resistors required = 1013 / 1700 = 0.6 Model capacitance peak supply current
One resistor is sufficient at 48Ω, but if a shorter start-up time is required, µF A
then two resistors can be used in parallel giving 24Ω. SPMA14X1 4400
75
Step 4 SPMA14X2 5500
Peak supply current is: SPMA16X1
2200 52
SPMA16X2
1.56 × 230 SPMD12X1 8800
I pk = ---------------------------- = 14.95Apk
24 SPMD12X2 11000
75
A 1.2A MCB is required. SPMD12X3
13200
Step 5 SPMD12X4
Calculate the start-up time: SPMD14X1 4400 52
SPMD14X2 5500
–6
t ch arg e = 5 × 24 × 13200 × 10 = 1.58s SPMD14X3 70
6600
SPMD14X4
A start-up time of 1.58s is acceptable.
SPMD16X1
2200
SPMD16X2
91
SPMD16X3
2933
SPMD16X4
Softstart resistor
The following resistors can be configured in series and parallel
arrangements to meet the requirements.
Table 6-11 Available resistors Table 6-13 MCBs available from Control Techniques
CT part
Resistor Power Energy PxR Rated current Rated voltage No of poles
CT part product number
value rating rating
number 4133-0117 0.3 480 1
Ω W J V2
4133-0217 1 480 1
150 53 170 1270-3157 7950
4133-0277 2 480 1
48 148 1,700 1270-2483 7104
If it is difficult to find a suitable resistor then a resistor with a higher P x R Figure 6-11 Example of tripping characteristic
product may have to be used.
The P x R product of the resistor should be larger than: 120
2 Thermal Trip Magnetic Trip
V ll 60 Area Area
P × R = -----------
10.9 40
20
Table 6-12 Allowable Softstart resistor range
Min. Resistance Max. Resistance 10
CT part number
Ω Ω 6
Minutes
4
SPMA14X1
30 300
SPMD14X1
Tripping time
2
SPMD12X1
SPMA14X2 24 240 1
SPMD14X2 40
SPMA16X1 20
SPMA16X2 Cold
105 1051
SPMD16X1 10
SPMD16X2
Seconds 6
SPMD12X2
4
SPMD14X3 20 200
SPMD14X4 2
SPMD16X3
79 789
SPMD16X4 1
0.6
Hot
SPMD12X3
17 168 0.4
SPMD12X4
0.2
For multiple modules, divide the resistance by the number of modules.
For example the minimum resistance for 3 x SPMD1404 is 6.7Ω. 0.1
0.02
% Multiples of rated Power
0.01
1 1.5 2 3 4 5 6 8 10 15 20 30
10 14 21
1
0 1 2 5 10 20 25 50 100
Circuit Breaker
Protection for the softstart circuit must be provided. The recommended
protection is to use a miniature circuit breaker (MCB) having a thermal
magnetic trip. The thermal part of the tripping mechanism protects
against a high impedance short circuit and the magnetic part of the trip
protects the resistor against a direct short circuit.
Many different MCBs are possible, e.g.:
• GB2CB range from Telemecanique
• S 281-K range from ABB
6.6 Heatsink fan supply SPMD16X1 and 16X2 4A fast blow (I2t <20A2s)
The heatsink fan on Unidrive SPMA and SPMD requires an external SPMD16X3 and 16X4 6.3A fast blow (I2t <100A2s)
24Vdc supply. The connections for the heatsink fan supply must be made NOTE
to the upper terminal connector near to the W phase output on the drive. The recommended wire gauge for the fan supply and low voltage mode
Figure 6-12 shows the position of the heatsink fan supply connections. enable is 1mm2 wire (16AWG).
Figure 6-12 Location of the heatsink fan supply connections
For further information on the operation of the heatsink fan, refer to
(SPMA & SPMD)
section 5.9 Heatsink fan operation on page 57.
The default setting is 48V for all drive sizes. selection of cables and fuses. These values are stated for the worst case
The over voltage trip threshold and braking IGBT turn on voltage are condition with the unusual combination of stiff supply with bad balance.
scaled from this value as follows: The value stated for the maximum continuous input current would only
Brake IGBT turn on = 1.325 x Pr 6.46 (V) be seen in one of the input phases. The current in the other two phases
Over voltage trip = 1.45 x Pr 6.46 (V) would be significantly lower.
For application data, refer to the Unidrive SP Low Voltage DC Installation The values of maximum input current are stated for a supply with a 2%
Guide. negative phase-sequence imbalance and rated at the supply fault
current given in Table 6-14.
6.9 Ratings Table 6-14 Supply fault current used to calculate maximum input
The input current is affected by the supply voltage and impedance. currents
Typical input current Model Symmetrical fault level (kA)
The values of typical input current are given to aid calculations for power SPMA
flow and power loss. SPMD 100
The values of typical input current are stated for a balanced supply. SPMC/U
Maximum continuous input current
The values of maximum continuous input current are given to aid the
Fuses
The AC supply to the drive must be installed with suitable protection against overload and short-circuits. Table 6-15, Table 6-16, Table 6-
17 and Table 6-18 show recommended fuse ratings. Failure to observe this requirement will cause risk of fire.
WARNING
Table 6-15 Unidrive SPMA input current, fuse and cable size ratings
Fuse option 1 Fuse option 2
Typical cable size
Typical Maximum IEC class gR OR Ferraz HSJ HRC AND Semi-conductor
input input North HRC Semi-
Model current current IEC class Cable
America: IEC class gG conductor AC input Motor output
gR installation
Ferraz HSJ UL class J IEC class aR
method
A A A A A A mm2 AWG mm2 AWG
SPMA14X1 224 241 315 300 250 315 2 x 70 2 x 2/0 2 x 70 2 x 2/0 B2
SPMA14X2 247 266 315 300 315 350 2 x 120 2 x 4/0 2 x 120 2 x 4/0 B2
SPMA16X1 128 138 200 200 200 200 2 x 50 2 x 1 2 x 50 2 x 1 B2
SPMA16X2 144 156 200 200 200 200 2 x 50 2 x 1 2 x 50 2 x 1 B2
Table 6-16 Unidrive SPMD input current, fuse and cable size ratings
Typical DC Maximum DC Typical cable size
Maximum DC DC fuse
input input voltage for
Model input current IEC class aR DC input Motor output Cable
current cable rating
installation
A A V A mm2 AWG mm2 AWG method
SPMD12X1 202 343 400 400 2 x 70 2 x 2/0 2 x 70 2 x 2/0 B2
SPMD12X2 261 400 400 560 2 x 95 2 x 4/0 2 x 120 2 x 4/0 B2
SPMD12X3 338 457 400 560 2 x 120 2 x 4/0 2 x 120 2 x 4/0 B2
SPMD12X4 372 552 400 560 2 x 120 2 x 4/0 2 x 120 2 x 4/0 B1 or C
SPMD14X1 222 343 800 400 2 x 70 2 x 2/0 2 x 70 2 x 2/0 B2
SPMD14X2 268 400 800 560 2 x 95 2 x 4/0 2 x 120 2 x 4/0 B2
SPMD14X3 314 457 800 560 2 x 120 2 x 4/0 2 x 120 2 x 4/0 B2
SPMD14X4 379 552 800 560 2 x 120 2 x 4/0 2 x 120 2 x 4/0 B1 or C
SPMD16X1 135 191 1150 250 2 x 95 2 x 4/0 2 x 50 2x1 B2
SPMD16X2 157 240 1150 315 2 x 120 2 x 4/0 2 x 50 2x1 B2
SPMD16X3 184 275 1150 350 2 x 120 2 x 4/0 2 x 50 2x1 B2
SPMD16X4 209 323 1150 400 2 x 120 2 x 4/0 2 x 50 2x1 B2
NOTE N
Fuse ratings are for a DC supply or paralleled DC bus arrangements. When supplied by a single SPMC or SPMU of the correct rating, the AC input
fuses provide protection for the drive and no DC fuse is required.
Table 6-17 Unidrive SPMC/U 400V input current, fuse and cable size rating
Semiconductor fuse in
Typical Typical cable size
Maximum series with HRC fuse
DC
input HRC IEC Semi-
Model output
current Class gG UL conductor AC input DC output cable Cable
current
class J IEC class aR installation
method
A A A A mm2 AWG mm2 AWG
Table 6-18 Unidrive SPMC/U 690V input current, fuse and cable size ratings
Semiconductor fuse in
Typical Typical cable size
Maximum series with HRC fuse
DC
input HRC IEC Semi-
Model output
current Class gG UL conductor AC input DC output cable Cable
current
class J IEC class aR installation
method
A A A A mm2 AWG mm2 AWG
NOTE N A fuse or other protection must be included in all live connections to the
AC supply.
The cable sizes noted in Table 6-15, Table 6-16, Table 6-17 and Table 6-
18 are typical cable sizes based on UL508C and IEC60364-5-52:2001. Fuse types
Maximum cable sizes are 2 x 240mm2 or 2 x 400kcmil per pole. The The fuse voltage rating must be suitable for the drive supply voltage.
user will have to decide what size of cable to use in any given application IEC Fuse types
based on the local wiring regulations. Use of high temperature cables • IEC class gG - Full range breaking capability in general application.
that are thinner than those stated in the typical cable chart maybe Slow acting.
possible, contact the supplier of the drive for advice. • IEC class gR - Dual rated: semiconductor protection (ultra-fast
Installation method (ref:IEC60364-5-52:2001) acting) and cable protection.
B1 - Separate cables in conduit • IEC class aR - Semiconductor Protection, fast acting. Provides no
B2 - Multicore cable in conduit protection from slow, small overloads, so cable must be protected by
C - Multicore cable in free air using a gG fuse or circuit breaker.
• HRC- High Rupturing Capacity – Denotes the ability of the fuse link
NOTE N to interrupt extremely high fault currents.
Cable sizes are from IEC60364-5-52:2001 table A.52.C with correction North American Fuse Types
factor for 40°C ambient of 0.87 (from table A52.14) for cable installation
method B2 (multicore cable in conduit). • UL class J - Full range breaking capability in general application.
Slow acting. Up to 600V only.
Cable size may be reduced if a different installation method is used, or if • Ferraz HSJ -High speed class J fuses. Dual rated: semiconductor
the ambient temperature is lower. protection (ultra-fast acting) and cable protection. Up to 600V only
NOTE N and only from Ferraz.
Owing to the high level of current on the input of SPMD1404 and the Ground connections
output of SPMC1402 and SPMU1402, the cable installation method The drive must be connected to the system ground of the AC supply.
must be B1 or C rather than B2 if the ambient is 40°C. Installation The ground wiring must conform to local regulations and codes of
method B1 is separate cables in conduit and installation method C is practice.
multicore cable in free air.
The recommended cable sizes above are only a guide. The mounting
Electrochemical corrosion of earthing terminals
and grouping of cables affects their current-carrying capacity, in some
cases smaller cables may be acceptable but in other cases a larger Ensure that grounding terminals are protected against
cable is required to avoid excessive temperature or voltage drop. Refer corrosion i.e. as could be caused by condensation.
WARNING
to local wiring regulations for the correct size of cables.
6.9.1 Main AC supply contactor
NOTE N The recommended AC supply contactor type is AC1.
The recommended output cable sizes assume that the motor maximum
current matches that of the drive. Where a motor of reduced rating is 6.10 Output circuit and motor protection
used the cable rating may be chosen to match that of the motor. To
ensure that the motor and cable are protected against over-load, the The output circuit has fast-acting electronic short-circuit protection which
drive must be programmed with the correct motor rated current. limits the fault current to typically no more than five times the rated
output current, and interrupts the current in approximately 20µs. No
NOTE N additional short-circuit protection devices are required.
UL listing is dependent on the use of the correct type of UL-listed fuse.
The drive provides overload protection for the motor and its cable. For
See Chapter 16 UL Listing Information on page 295 for sizing
this to be effective, Pr 0.46 Motor rated current must be set to suit the
information.
motor.
There is also provision for the use of a motor thermistor to prevent over-
heating of the motor, e.g. due to loss of cooling. Normal capacitance High capacitance
Shield or armor Shield or armor close
6.10.1 Cable types and lengths separated from the cores to the cores
Since capacitance in the motor cable causes loading on the output of the
The cable used for Table 6-19 and Table 6-20 is shielded and contains
drive, ensure the cable length does not exceed the values given in Table
four cores. Typical capacitance for this type of cable is 130pF/m (i.e.
6-19 and Table 6-20.
from one core to all others and the shield connected together).
Use 105°C (221°F) (UL 60/75°C temp rise) PVC-insulated cable with
copper conductors having a suitable voltage rating, for the following 6.10.2 Motor winding voltage
power connections: The PWM output voltage can adversely affect the inter-turn insulation in
the motor. This is because of the high rate of change of voltage, in
• AC supply to external EMC filter (when used)
conjunction with the impedance of the motor cable and the distributed
• AC supply (or external EMC filter) to drive
nature of the motor winding.
• Drive to motor
• Drive to braking resistor For normal operation with AC supplies up to 500Vac and a standard
motor with a good quality insulation system, there is no need for any
Table 6-19 Maximum motor cable lengths (Unidrive SPMA) special precautions. In case of doubt the motor supplier should be
Maximum permissible motor cable length for consulted.
Model each of the following frequencies Special precautions are recommended under the following conditions,
3kHz 4kHz 6kHz but only if the motor cable length exceeds 10m:
Table 6-20 Maximum motor cable lengths (Unidrive SPMD) For multiple motors, the precautions given in section 6.10.3 Multiple
motors should be followed.
Maximum permissible motor cable length for
each of the following frequencies For the other cases listed, it is recommended that an inverter-rated
Model
motor be used. This has a reinforced insulation system intended by the
3kHz 4kHz 6kHz manufacturer for repetitive fast-rising pulsed voltage operation.
SPMD12X1
Users of 575V NEMA rated motors should note that the specification for
SPMD12X2 inverter-rated motors given in NEMA MG1 section 31 is sufficient for
SPMD12X3 motoring operation but not where the motor spends significant periods
SPMD12X4 braking. In that case an insulation peak voltage rating of 2.2kV is
SPMD14X1 recommended.
SPMD14X2 If it is not practical to use an inverter-rated motor, an output choke
250m (820ft) 185m (607ft) 125m (410ft) (inductor) should be used. The recommended type is a simple iron-cored
SPMD14X3
component with a reactance of about 2%. The exact value is not critical.
SPMD14X4
This operates in conjunction with the capacitance of the motor cable to
SPMD16X1 increase the rise-time of the motor terminal voltage and prevent
SPMD16X2 excessive electrical stress.
SPMD16X3
6.10.3 Multiple motors
SPMD16X4
Open-loop only
• Cable lengths in excess of the specified values may be used only If the drive is to control more than one motor, one of the fixed V/F modes
when special techniques are adopted; refer to the supplier of the should be selected (Pr 5.14 = Fd or SrE). Make the motor connections
drive. as shown in Figure 6-15 and Figure 6-16. The maximum cable lengths in
• The default switching frequency is 3kHz for open-loop and closed- Table 6-19 and Table 6-20 apply to the sum of the total cable lengths
loop vector and 6kHz for servo. from the drive to each motor.
High-capacitance cables It is recommended that each motor is connected through a protection relay
since the drive cannot protect each motor individually. For A connection, a
The maximum cable length is reduced from that shown in Table 6-19 and
sinusoidal filter or an output inductor must be connected as shown in
Table 6-20 if high capacitance motor cables are used.
Figure 6-16, even when the cable lengths are less than the maximum
Most cables have an insulating jacket between the cores and the armor permissible. For details of inductor sizes refer to the supplier of the drive.
or shield; these cables have a low capacitance and are recommended.
Cables that do not have an insulating jacket tend to have high
capacitance; if a cable of this type is used, the maximum cable length is
half that quoted in the tables. (Figure 6-14 shows how to identify the two
types.)
Figure 6-15 Preferred chain connection for multiple motors 6.10.4 A / Δ motor operation
The voltage rating for A and Δ connections of the motor should always
be checked before attempting to run the motor.
The default setting of the motor rated voltage parameter is the same as
the drive rated voltage, i.e.
Motor protection 400V drive 400V rated voltage
relay
A typical 3 phase motor would be connected in A for 400V operation or
Δ for 200V operation, however, variations on this are common e.g.
A 690V Δ 400V
Incorrect connection of the windings will cause severe under or over
fluxing of the motor, leading to a very poor output torque or motor
saturation and overheating respectively.
6.11 Braking
Braking occurs when the drive is decelerating the motor, or is preventing
the motor from gaining speed due to mechanical influences. During
braking, energy is returned to the drive from the motor.
Motor When the motor is being braked by the drive, the maximum regenerated
protection
relay power that the drive can absorb is equal to the power dissipation
(losses) of the drive.
When the regenerated power is likely to exceed these losses, the DC
bus voltage of the drive increases. Under default conditions, the drive
brakes the motor under PI control, which extends the deceleration time
as necessary in order to prevent the DC bus voltage from rising above a
user defined set-point.
If the drive is expected to rapidly decelerate a load, or to hold back an
Star connection
overhauling load, a braking resistor must be installed.
Table 6-21 shows the DC voltage level at which the drive turns on the
braking transistor.
Inductor
Table 6-21 Braking transistor turn on voltage
Drive voltage rating DC bus voltage level
200V 390V
400V 780V
690V 1120V
NOTE N
When a braking resistor is used, Pr 0.15 should be set to FASt ramp
mode.
Braking Resistor Connections given in Surge immunity of control circuits - long cables and connections
This section details the rules that govern the connection of braking outside a building on page 89 for increased surge immunity of control
resistors to a parallel application. The braking resistor should be circuits where control wiring is extended.
connected across the brake and +DC terminals. Section 6.13.4, Requirements for meeting the EMC standard for
1. The brake terminals must not be connected together. Each module power drive systems, IEC61800-3 (EN61800-3:2004).
must have its own resistor if required. Section 6.13.5, Requirements for meeting the generic emission
2. The resistor connected to each module must not have a value less standards for the industrial environment, IEC61000-6-4, EN61000-6-
than the recommended minimum value for that module size. 4:2007
3. The total power rating must not be less than the maximum expected The recommendations of section 6.13.3 will usually be sufficient to avoid
regenerative power. causing disturbance to adjacent equipment of industrial quality. If
4. If the DC buses are separate and the modules are all the same particularly sensitive equipment is to be used nearby, or in a non-
rating, the brake resistors must match to better than 5% at all power industrial environment, then the recommendations of section 6.13.4 or
flows. (If the temperature coefficient and/or temperature rise of the section 6.13.5 should be followed to give reduced radio-frequency
resistor is significant then the cooling must also match to ensure the emission.
resistors are at similar temperatures and hence similar resistance
values.) In order to ensure the installation meets the various emission standards
described in:
5. If the DC buses are common the brake resistors do not need to
match. However to use the drive's brake resistor protection • The EMC data sheet available from the supplier of the drive
algorithm it must be set up to protect the most vulnerable resistor. • The Declaration of Conformity at the front of this manual
• Chapter 14 Technical Data on page 263
...the correct external EMC filter must be used and all of the guidelines in
6.12 Ground leakage section 6.13.3 General requirements for EMC and section
The ground leakage current depends upon whether the internal EMC 6.13.5 Compliance with generic emission standards must be followed.
filter is installed. The drive is supplied with the filter installed. Instructions High ground leakage current
for removing the internal filter are given in Figure 6-19 on page 83. When an EMC filter is used, a permanent fixed ground
With internal filter installed: connection must be provided which does not pass through a
56mA AC at 400V 50Hz (proportional to supply voltage and connector or flexible power cord. This includes the internal
frequency) WARNING EMC filter.
18µA DC with a 600v DC bus (33MΩ)
With internal filter removed: NOTE N
<1mA The installer of the drive is responsible for ensuring compliance with the
Note that in both cases there is an internal voltage surge protection EMC regulations that apply where the drive is to be used.
device connected to ground. Under normal circumstances this carries
6.13.1 Grounding hardware
negligible current.
The master interface is supplied with a grounding clamp and a
grounding bracket to facilitate EMC compliance. They provide a
When the internal filter is installed the leakage current is
convenient method for direct grounding of cable shields without the use
high. In this case a permanent fixed ground connection must
of "pig-tails". Cable shields can be bared and clamped to the grounding
be provided, or other suitable measures taken to prevent a
safety hazard occurring if the connection is lost. bracket using metal clips or clamps1 (not supplied) or cable ties. Note
WARNING
that the shield must in all cases be continued through the clamp to the
intended terminal on the drive, in accordance with the connection details
6.12.1 Use of residual current device (RCD) for the specific signal.
There are three common types of ELCB / RCD: 1 A suitable clamp is the Phoenix DIN rail mounted SK14 cable clamp
1. AC - detects AC fault currents
(for cables with a maximum outer diameter of 14mm).
2. A - detects AC and pulsating DC fault currents (provided the DC
current reaches zero at least once every half cycle) See Figure 6-18 for details on installing the grounding bracket.
3. B - detects AC, pulsating DC and smooth DC fault currents Figure 6-18 Installation of grounding bracket (master interface)
• Type AC should never be used with drives.
• Type A can only be used with single phase drives
• Type B must be used with three phase drives
Only type B ELCB / RCD are suitable for use with 3 phase
inverter drives.
WARNING
Loosen screws (1). Remove EMC filter in the direction shown (2).
Metal backplate
Optional EMC
filter
3 phase AC supply ~
PE
Grounding bar
The incoming supply ground
should be connected to a
single power ground bus bar
or low impedance earth
terminal inside the cubicle.
This should be used as a Metal backplate
common 'clean' ground for all safety bonded to
Use four core cable to
components inside the cubicle. power ground busbar
connect the motor to the drive.
The ground conductor in the
motor cable must be connected
directly to the earth terminal of
the drive and motor.
It must not be connected directly
to the power earth busbar.
Optional
ground
connection
Cable layout 1. Ensuring correct transfer of data without disturbance from electrical
Figure 6-21 indicates the clearances which should be observed around noise originating either within the drive or from outside.
the drive and related ‘noisy’ power cables by all sensitive control signals 2. Additional measures to prevent unwanted emission of radio
/ equipment. frequency noise. These are optional and only required where the
Figure 6-21 Drive cable clearances installation is subject to specific requirements for radio frequency
emission control.
To ensure correct transfer of data, observe the following:
Resolver connections:
• Use a cable with an overall shield and twisted pairs for the resolver
signals
• Connect the cable shield to the drive 0V connection by the shortest
possible link ("pigtail")
• It is generally preferable not to connect the cable shield to the
resolver. However in cases where there is an exceptional level of
common-mode noise voltage present on the resolver body, it may be
helpful to connect the shield there. If this is done then it becomes
essential to ensure the absolute minimum length of "pigtails" at both
shield connections, and possibly to clamp the cable shield directly to
the resolver body and to the drive grounding bracket.
• The cable should preferably not be interrupted. If interruptions are
unavoidable, ensure the absolute minimum length of "pigtail" in the
shield connections at each interruption.
Encoder connections:
• Use a cable with the correct impedance
• Use a cable with individually shielded twisted pairs
• Connect the cable shields to 0V at both the drive and the encoder,
using the shortest possible links ("pigtails")
Do not place sensitive
(unscreened) signal circuits • The cable should preferably not be interrupted. If interruptions are
in a zone extending
300mm (12”) all around the unavoidable, ensure the absolute minimum length of "pigtail" in the
Drive, motor cable, input
cable from RFI filter and
shield connections at each interruption. Preferably, use a connection
unscreened braking resistor
cable (if used)
method which provides substantial metallic clamps for the cable
shield terminations.
The above applies where the encoder body is isolated from the motor
and where the encoder circuit is isolated from the encoder body. Where
there is no isolation between the encoder circuits and the motor body,
and in case of doubt, the following additional requirement must be
observed. This gives the best possible noise immunity.
• The shields must be directly clamped to the encoder body (no
pigtail) and to the drive grounding bracket. This may be achieved by
clamping of the individual shields or by providing an additional
overall shield which is clamped.
300mm
(12in)
NOTE N
The recommendations of the encoder manufacturer must also be
adhered to for the encoder connections.
NOTE N
In order to guarantee maximum noise immunity for any application
double shielded cable as shown should be used.
In some cases single shielding of each pair of differential signals cables,
or a single overall shield with individual shield on the thermistor
Optional braking connections is sufficient. In these cases all the shields should be
resistor and overload
connected to ground and 0V at both ends.
If the 0V is required to be left floating a cable with individual shields and
an overall shield must be used.
Figure 6-22 and Figure 6-23 illustrate the preferred construction of cable
NOTE N and the method of clamping. The outer sheath of the cable should be
Any signal cables which are carried inside the motor cable (i.e. motor
stripped back enough to allow the clamp to be installed. The shield must
thermistor, motor brake) will pick up large pulse currents via the cable
not be broken or opened at this point. The clamps should be installed
capacitance. The shield of these signal cables must be connected to
close to the drive or feedback device, with the ground connections made
ground close to the motor cable, to avoid this noise current spreading
to a ground plate or similar metallic ground surface.
through the control system.
Feedback device cable shielding
Shielding considerations are important for PWM drive installations due to
the high voltages and currents present in the output (motor) circuit with a
very wide frequency spectrum, typically from 0 to 20 MHz.
The following guidance is divided into two parts:
Figure 6-22 Feedback cable, twisted pair Operation in the second environment
Cable overall shield In all cases a shielded motor cable must be used, and an EMC filter is
required for all Unidrive SPs with a rated input current of less than 100A.
The drive contains an in-built filter for basic emission control. In some
cases feeding the motor cables (U, V and W) once through a ferrite ring
Twisted can maintain compliance for longer cable lengths. The requirements of
pair Cable
cable operating in the second environment are met, depending on the motor
cable length for 3kHz switching frequency as stated in Table 6-23.
The table summarizes the performance of in-built filters when used with
Twisted pair shield
SPMA drives and single pairs of SPMD drives and SPMC/U rectifiers,
assembled in the standard recommended configuration.
Figure 6-23 Feedback cable connections Table 6-23 Second environment emission compliance
Connection Drive size Filter Voltage Motor cable length 0 - 100 (m)
at drive
SPMA In-built Any Unrestricted
Shield SPMD In-built Any Unrestricted
connection
to 0V Key:
Unrestricted: EN 61800-3:2004 second environment, unrestricted
Twisted distribution
Cable pair
For longer motor cables, an external filter is required. Where a filter is
shield shield
required, follow the guidelines in section 6.13.5 Compliance with generic
emission standards .
Where a filter is not required, follow the guidelines given in section
6.13.3 General requirements for EMC on page 84.
The second environment typically includes an industrial low-
voltage power supply network which does not supply
Ground clamp buildings used for residential purposes. Operating the drive in
Cable
on shield this environment without an external EMC filter may cause
CAUTION interference to nearby electronic equipment whose sensitivity
has not been appreciated. The user must take remedial
measures if this situation arises. If the consequences of
unexpected disturbances are severe, it is recommended that
the guidelines in section 6.13.5 Compliance with generic
emission standards be adhered to.
Cable Twisted
shield pair Refer to section 14.1.26 Electromagnetic compatibility (EMC) on
shield page 273 for further information on compliance with EMC standards and
definitions of environments.
Shield Detailed instructions and EMC information are given in the Unidrive SP
connection EMC Data Sheet which is available from the supplier of the drive.
to 0V
Connection
at motor
6.13.5 Compliance with generic emission standards Avoid placing sensitive signal circuits in a zone 300mm (12in) all around
Use the recommended filter and shielded motor cable. Observe the the power module.
layout rules given in Figure 6-24. Ensure the AC supply and ground Figure 6-25 Sensitive signal circuit clearance
cables are at least 100mm from the power module and motor cable.
Figure 6-24 Supply and ground cable clearance
≥100mm (4in)
≥100mm
(4in)
≥300mm
(12in)
Sensitive
signal
cable
≥100mm (4in)
Ensure good EMC grounding. Unshielded wiring to the optional braking resistor(s) may be used,
Figure 6-26 Grounding the drive, motor cable shield and filter provided the wiring does not run external to the enclosure. Ensure a
minimum spacing of 300mm (12in) from signal wiring and the AC supply
wiring to the external EMC filter. Otherwise this wiring must be shielded.
Figure 6-28 Shielding requirements of optional external braking
resistor
Enclosure Enclosure
Ensure direct
metal contact
at drive and
filter (not shown)
mounting
points (any OR
paint must be
removed).
+DC BR +DC BR
Optional external
braking resistor
Connect the shield of the motor cable to the ground terminal of the motor
frame using a link that is as short as possible and not exceeding 50mm Optional external
(2in) long. A full 360° termination of the shield to the terminal housing of braking resistor
If the control wiring is to leave the enclosure, it must be shielded and the Terminal block in the enclosure
shield(s) clamped to the drive using the grounding bracket as shown in The motor cable shields should be bonded to the back-plate using
Figure 6-29. Remove the outer insulating cover of the cable to ensure uninsulated metal cable-clamps which should be positioned as close as
the shield(s) make contact with the bracket, but keep the shield(s) intact possible to the terminal block. Keep the length of power conductors to a
until as close as possible to the terminals minimum and ensure that all sensitive equipment and circuits are at
Alternatively, wiring may be passed through a ferrite ring, part no. 3225- least 0.3m (12 in) away from the terminal block.
1004. Figure 6-31 Connecting the motor cable to a terminal block in the
Figure 6-29 Grounding of signal cable shields using the enclosure
grounding bracket
From the Drive
Back-plate
Enclosure
To the motor
Ground
screw
• Connecting the motor cable to a terminal block in the drive enclosure As a general rule, if the circuits are to pass outside the building where
• Installing a motor isolator/disconnect switch for safety when work is the drive is located, or if cable runs within a building exceed 30m, some
done on the motor additional precautions are advisable. One of the following techniques
In these cases the following guidelines should be followed. should be used:
1. Galvanic isolation, i.e. do not connect the control 0V terminal to 6.14 SPMC/U control connections
ground. Avoid loops in the control wiring, i.e. ensure every control
wire is accompanied by its return (0V) wire. The rectifier must be supplied from an external 24V 3A supply to feed
2. Shielded cable with additional power ground bonding. The cable the fans and control circuits. When supplied with 24V and the three
shield may be connected to ground at both ends, but in addition the phase line power input are in tolerance, the rectifier is able to provide the
ground conductors at both ends of the cable must be bonded user with x1 rectifier OK contact, x2 status outputs to the SPMD inverter
together by a power ground cable (equipotential bonding cable) with (indicating the status of the rectifier), and x2 status inputs for
applications using more than one rectifier in parallel (see Figure 6-36)
cross-sectional area of at least 10mm2, or 10 times the area of the
signal cable shield, or to suit the electrical safety requirements of the Figure 6-35 Location of SPMC (rectifier) control terminals
plant. This ensures that fault or surge current passes mainly through
the ground cable and not in the signal cable shield. If the building or
plant has a well-designed common bonded network this precaution
is not necessary.
3. Additional over-voltage suppression - for the analog and digital
inputs and outputs, a zener diode network or a commercially
available surge suppressor may be connected in parallel with the
input circuit as shown in Figure 6-33 and Figure 6-34.
If a digital port experiences a severe surge its protective trip may operate
(O.Ld1 trip code 26). For continued operation after such an event, the
trip can be reset automatically by setting Pr 10.34 to 5.
Figure 6-33 Surge suppression for digital and unipolar inputs and
outputs
Signal from plant Signal to drive
0V 0V
Figure 6-34 Surge suppression for analog and bipolar inputs and
outputs
Signal from plant Signal to drive
0V 0V NOTE
The external 24V supply must be connected to enable the Unidrive SPMC/U.
Surge suppression devices are available as rail-mounting modules, e.g.
from Phoenix Contact: NOTE
Unipolar TT-UKK5-D/24 DC When the Unidrive SPMC/U is connected to a Unidrive SPMD, the
Bipolar TT-UKK5-D/24 AC status output connections must be connected as shown in Figure 6-36.
These devices are not suitable for encoder signals or fast digital data Unidrive SPMC/U external 24V supply requirements
networks because the capacitance of the diodes adversely affects the Nominal voltage: 24V
signal. Most encoders have galvanic isolation of the signal circuit from Minimum voltage: 23V
the motor frame, in which case no precautions are required. For data Maximum voltage: 28V
networks, follow the specific recommendations for the particular Current drawn: 3A
network. Minimum start-up voltage: 18V
Recommended power supply: 24V, 100W, 4.5A
Recommended fuse: 4A fast blow (I2t <20A2s)
NOTE N
If the Unidrive SPM power supply (CT part number 8510-0000) is used
to supply the Unidrive SPMA/D or SPMC/U, a fuse on the 24V supply to
the SPMC/U is not required.
73 Status input 0
72 0V common
71 Status input 1
70 0V common
External 24V
85 supply
84 0V common
83 Status output 0
82 0V common
81 Status output 1
80 0V common
91 Rectifier OK
90 Relay contacts
Inverter (master)
SPMD
60 0V common
61 Status 1 input
62 0V common
63 Status 0 input
SPMC/U 1 SPMC/U 2
Rectifier OK 91 91 Rectifier OK
Relay contacts 90 90 Relay contacts
Inverter (master)
SPMD
60 0V common
61 Status 1 input
62 0V common
63 Status 0 input
The STATUS LEDs S0 and S1 mirror the status outputs and are
encoded as follows:
Table 6-24 Key to SPMC (rectifier) LEDs
Status Output Figure 6-40 SPMA low voltage DC mode enable connections
Meaning
1: Left LED 0: Right LED
24V heatsink fan supply
Line power supply, or 24V supply to the
OFF OFF 0V
rectifier has been lost
Not connected
OFF ON Phase loss
Any of the following:
• Snubber overheating due to excessive 65 64 63 62 61 60 Upper terminal connector
cable charging current or supply notching
ON OFF
• Rectifier heatsink over temperature 55 54 53 52 51 50 Lower terminal connector
• Rectifier PCB over temperature
• Status input wire break
0V
ON ON System OK
Low voltage DC mode enable
The SPMD drive will monitor the status lines and on detection of a fault To the heatsink fan
disables the system via a PhP or (when used in conjunction with a
SPMC) OHT4.P trip. Pre-wired internally
Figure 6-41 SPMD low voltage DC mode enable connections 6.15.4 SPMD status input connections
24V heatsink fan supply
60 0V common
0V
Status inputs (from rectifier) 61 Status 1 input
62 0V common
65 64 63 62 61 60 Upper terminal connector
63 Status 0 input
55 54 53 52 51 50 Lower terminal connector
To allow status monitoring from
Function
the SPMC/U rectifier module
0V
Logic 0 voltage level <7.5V
Low voltage DC mode enable
To the heatsink fan Logic 1 voltage level >7.5V
Pre-wired internally I/P resistance 6.8kΩ
Open circuit voltage level -15V (connected to -15V by 47kΩ)
6.15.1 Low voltage DC mode enable connections
(SPMA/D) 6.15.5 External 24V heatsink fan supply (SPMA/D)
50 0V 64 0V
51 Low voltage DC mode enable 65 24V heatsink fan supply
To allow the drive to be used To provide the power supply to the
Function Function
from a low voltage DC supply heatsink mounted fan
Nominal voltage 24.0Vdc Nominal voltage 24Vdc
Minimum continuous operating Minimum continuous operating
19.2Vdc 23.5V
voltage voltage
Maximum continuous operating Maximum continuous operating
30.0Vdc 27V
voltage voltage
Nominal current consumption 500mA SPMA (all): 3.3A
8A 600V AC fast acting class CC SPMD12X1/12X4: 3.3A
Recommended fuse
type fuse SPMD14X1/14X2: 3.3A
Current consumption
SPMD14X3/14X4: 4.5A
SPMD16X1/16X2: 3.3A
6.15.2 Heatsink fan supply connections (SPMA/D) SPMD16X3/16X4: 4.5A
52 Recommended power supply 24V, 5A
53 SPMA (all):
Heatsink fan connections
54 4A fast blow (I2t >20A2s)
55 SPMD12X1/12X4:
4A fast blow (I2t >20A2s)
No user connections SPMD14X1/14X2:
4A fast blow (I2t >20A2s)
Recommended fuse
6.15.3 SPMA status input connections SPMD14X3/14X4:
6.3A fast blow (I2t >100A2s)
60
SPMD16X1/16X2:
61 4A fast blow (I2t >20A2s)
No connection
62 SPMD16X3/16X4:
63 6.3A fast blow (I2t >100A2s)
No user connections
All digital terminal functions (including the relay) can be programmed in Figure 6-43 Default terminal functions
menu 8.
The setting of Pr 1.14 and Pr 6.04 can cause the function of digital inputs
T25 to T29 to change. For more information, please refer to section
13.21.1 Reference modes on page 254 and section 13.21.7 Start / stop
logic modes on page 259.
The control circuits are isolated from the power circuits in the
drive by basic insulation (single insulation) only. The installer Polarized signal
must ensure that the external control circuits are insulated connectors
from human contact by at least one layer of insulation 1 11
WARNING (supplementary insulation) rated for use at the AC supply
voltage. 41 42
At zero speed 24
Reset 25
Run forward 26
Run reverse 27
Analog input 1/ Analog input 1
input 2 select Analog input 2
28
41 Status relay
Drive ok
42 (Over voltage
category II)
Resolution 16-bit plus sign (as speed reference) Absolute maximum current +70mA
Bipolar single-ended analog voltage or Terminal 25 default function DRIVE RESET input
Type of output
unipolar single ended current Terminal 26 default function RUN FORWARD input
Mode controlled by... Pr 7.21 and Pr 7.24 Positive or negative logic digital inputs,
Operating in Voltage mode (default) Type positive or negative logic push-pull outputs
or open collector outputs
Voltage range ±9.6V ±5%
Input / output mode controlled by... Pr 8.31, Pr 8.32 and Pr 8.33
Maximum offset 100mV
Operating as an input
Maximum output current ±10mA
Logic mode controlled by... Pr 8.29
Load resistance 1kΩ min
Absolute maximum applied voltage
Protection 35mA max. Short circuit protection ±30V
range
Operating in current mode Impedance 6kΩ
0 to 20mA ±10% Input thresholds 10.0V ±0.8V
Current ranges
4 to 20mA ±10%
Operating as an output
Maximum offset 600μA
Open collector outputs selected Pr 8.30
Maximum open circuit voltage +15V
Nominal maximum output current 200mA (total including terminal 22)
Maximum load resistance 500Ω Maximum output current 240mA (total including terminal 22)
Common to all modes Common to all modes
Resolution 10-bit (plus sign in voltage mode) Voltage range 0V to +24V
250μs when configured as a high speed 250μs when configured as an input with
output with sources as Pr 4.02, Pr 4.17 in
destinations as Pr 6.35 or Pr 6.36. 600μs
all modes or Pr 3.02, Pr 5.03 in closed loop Sample / Update period
Update period when configured as an input with
vector or servo mode. 4ms when
destinations as Pr 6.29. 4ms in all other
configured as any other type of output or
cases.
with all other sources.
27 Digital Input 4
11 0V common
Common connection for all external 28 Digital Input 5
Function
devices
29 Digital Input 6
Terminal 27 default function RUN REVERSE input
21 0V common Terminal 28 default function Analog INPUT 1 / INPUT 2 select
Terminal 29 default function JOG SELECT input
Common connection for all external
Function Type Negative or positive logic digital inputs
devices
Logic mode controlled by... Pr 8.29
Voltage range 0V to +24V
22 +24V user output (selectable) Absolute maximum applied voltage
±30V
range
Terminal 22 default function +24V user output
Impedance 6kΩ
Can be switched on or off to act as a fourth
digital output (positive logic only) by setting Input thresholds 10.0V ±0.8V
Programmability
the source Pr 8.28 and source invert 250μs with destinations as Pr 6.35 or
Pr 8.18 Sample / Update period Pr 6.36. 600μs with destinations as Pr 6.29.
Nominal output current 200mA (including all digital I/O) 4ms in all other cases.
Maximum output current 240mA (including all digital I/O)
Protection Current limit and trip
30 0V common
Common connection for all external
23 0V common Function
devices
Common connection for all external
Function
devices
6.18.1 Specifications SC, SC.HiPEr, EndAt, SC.EndAt, SSI and SC.SSI encoders
Feedback device connections 1 Channel Cos*
Ab, Fd, Fr, Ab.SErVO, Fd.SErVO and Fr.SErVO encoders
2 Channel Cosref*
1 Channel A, Frequency or Forward inputs
3 Channel Sin*
2 Channel A\, Frequency\ or Forward\ inputs
4 Channel Sinref*
3 Channel B, Direction or Reverse inputs
Type Differential voltage
4 Channel B\, Direction\ or Reverse\ inputs
1.25V peak to peak (sin with regard to
Maximum Signal level
Type EIA 485 differential receivers sinref and cos with regard to cosref)
V01.06.01 and later: 500kHz Maximum input frequency See Table 6-31
Maximum input frequency
V01.06.00 and earlier: 410kHz Maximum applied differential voltage
±4V
Line loading <2 unit loads and common mode voltage range
Line termination components 120Ω (switchable) For the SinCos encoder to be compatible with Unidrive SPM, the output
signals from the encoder must be a 1V peak to peak differential voltage
Working common mode range +12V to –7V
(across Sin to Sinref and Cos to Cosref).
Absolute maximum applied voltage
±25V The majority of encoders have a DC offset on all signals. Stegmann
relative to 0V
encoders typically have a 2.5Vdc offset. The Sinref and Cosref are a
Absolute maximum applied differential flat DC level at 2.5Vdc and the Cos and Sin signals have a 1V peak to
±25V
voltage
peak waveform biased at 2.5Vdc.
Encoders are available which have a 1V peak to peak voltage on Sin,
Sinref, Cos and Cosref. This results in a 2V peak to peak voltage seen
5 Marker pulse channel Z
at the drive's encoder terminals. It is not recommended that encoders of
6 Marker pulse channel Z\ this type are used with Unidrive SPM, and that the encoder feedback
signals should meet the above parameters (1V peak to peak).
7 Phase channel U Resolution: The sinewave frequency can be up to 500kHz but the
resolution is reduced at high frequency. Table 6-31 shows the number
8 Phase channel U\
of bits of interpolated information at different frequencies and with
9 Phase channel V different voltage levels at the drive encoder port. The total resolution in
bits per revolution is the ELPR plus the number of bits of interpolated
10 Phase channel V\ information. Although it is possible to obtain 11 bits of interpolation
information, the nominal design value is 10 bits.
11 Phase channel W
* Not used with EndAt and SSI communications only encoders.
12 Phase channel W\
5 Marker pulse channel Z
Type EIA 485 differential receivers
6 Marker pulse channel Z\
Maximum input frequency 512kHz
32 unit loads (for terminals 5 and 6) Type EIA 485 differential receivers
Line loading
1 unit load (for terminals 7 to 12) Maximum input frequency 512kHz
120Ω (switchable for terminals 5 and 6, Line loading 32 unit loads
Line termination components
always in circuit for terminals 7 to 12)
Line termination components 120Ω (switchable)
Working common mode range +12V to –7V
Working common mode range +12V to –7V
Absolute maximum applied voltage
+14V to -9V Absolute maximum applied voltage
relative to 0V +14V to -9V
relative to 0V
Absolute maximum applied differential
+14V to -9V Absolute maximum applied differential
voltage +14V to -9V
voltage
NOTE
This signal is available from drive firmware version 01.16.00 and above.
Table 6-31 Feedback resolution based on frequency and voltage level
Volt/Freq 1kHz 5kHz 50kHz 100kHz 200kHz 500kHz
1.2 11 11 10 10 9 8
1.0 11 11 10 9 9 7
0.8 10 10 10 9 8 7
0.6 10 10 9 9 8 7
0.4 9 9 9 8 7 6
5 Data**
6.19 SAFE TORQUE OFF
The SAFE TORQUE OFF function provides a means for preventing the
6 Data\** drive from generating torque in the motor, with a very high level of
integrity. It is suitable for incorporation into a safety system for a
11 Clock***
machine. It is also suitable for use as a conventional drive enable input.
12 Clock\*** The SAFE TORQUE OFF function makes use of the special property of
an inverter drive with an induction motor, which is that torque cannot be
Type EIA 485 differential transceivers
generated without the continuous correct active behavior of the inverter
Maximum frequency 2MHz circuit. All credible faults in the inverter power circuit cause a loss of
32 unit loads (for terminals 5 and 6) torque generation.
Line loading
1 unit load (for terminals 11 and 12) The SAFE TORQUE OFF function is fail-safe, so when the SAFE
Working common mode range +12V to –7V TORQUE OFF input is disconnected the drive will not operate the motor,
Absolute maximum applied voltage even if a combination of components within the drive has failed. Most
±14V component failures are revealed by the drive failing to operate. SAFE
relative to 0V
TORQUE OFF is also independent of the drive firmware. This meets the
Absolute maximum applied differential
±14V requirements of the following standards, for the prevention of operation
voltage
** Not used with SC encoders. of the motor.1
*** Not used with SC and SC.HiPEr encoders. EN 61800-5-2:2007 SIL 3 (PFH ≤10-8)
EN ISO 13849-1:2006 PL e (MTTFD >105 yr)
Frequency slaving outputs (open loop only)
Ab, Fd, Fr, SC, SC.HiPEr, EndAt, SC.EndAt, SSI and SC.SSI EN954-1:1997 Category 3
encoders On drives with date code P04 and later the SAFE TORQUE OFF input
also meets the requirements of EN 81-1 (clause 12.7.3 b) as part of a
7 Frequency slaving out channel A system for preventing unwanted operation of the motor in a lift
8 Frequency slaving out channel A\ (elevator).2
1 Independent approval has been given by BGIA.
9 Frequency slaving out channel B
2
Independent approval of concept has been given by TÜV. Please
10 Frequency slaving out channel B\ consult the separate guide for lift applications for further information.
Type EIA 485 differential transceivers SAFE TORQUE OFF can be used to eliminate electro-mechanical
Maximum output frequency 512kHz
contactors, including special safety contactors, which would otherwise
be required for safety applications.
Absolute maximum applied voltage
±14V Note on response time of SAFE TORQUE OFF, and use with safety
relative to 0V
controllers with self-testing outputs (drives with date code P04 and
Absolute maximum applied differential
±14V later).
voltage
SAFE TORQUE OFF has been designed to have a response time of
Common to all Encoder types greater than 1ms, so that it is compatible with safety controllers whose
outputs are subject to a dynamic test with a pulse width not exceeding
13 Encoder supply voltage
1ms.
Supply voltage 5.15V ±2%, 8V ±5% or 15V ±5%
For applications where a fast-acting disable function is required, please
Maximum output current 300mA for 5V and 8V* see section 13.21.10 Fast Disable on page 262.
200mA for 15V*
Note on the use of servo motors, other permanent-magnet motors,
The voltage on terminal 13 is controlled by Pr 3.36. The default for this reluctance motors and salient-pole induction motors.
parameter is 5V (0) but this can be set to 8V (1) or 15V (2). Setting the
encoder voltage supply too high for the encoder could result in damage When the drive is disabled through SAFE TORQUE OFF, a possible
to the feedback device. (although highly unlikely) failure mode is for two power devices in the
inverter circuit to conduct incorrectly.
The termination resistors must be disabled if the outputs from the
This fault cannot produce a steady rotating torque in any AC motor. It
encoder are higher than 5V.
produces no torque in a conventional induction motor with a cage rotor. If
the rotor has permanent magnets and/or saliency, then a transient
alignment torque may occur. The motor may briefly try to rotate by up to
14 0V common 180° electrical, for a permanent magnet motor, or 90° electrical, for a
salient pole induction motor or reluctance motor. This possible failure
mode must be allowed for in the machine design.
15 Motor thermistor input
The design of safety-related control systems must only be
This terminal is connected internally to terminal 8 of the signal done by personnel with the required training and experience.
connector. Connect only one of these terminals to a motor thermistor. The SAFE TORQUE OFF function will only ensure the safety
Analog input 3 must be in thermistor mode, Pr 7.15 = th.SC (7), th (8) or of a machine if it is correctly incorporated into a complete
WARNING
th.diSP (9). safety system. The system must be subject to a risk
assessment to confirm that the residual risk of an unsafe
event is at an acceptable level for the application.
second channel to interrupt the power connection, nor a fault detection Reset Stop
circuit.
Enable
It is important to note that a single short-circuit from the SAFE TORQUE K1 Drive
K1
OFF input to a DC supply of approximately +24V would cause the drive Start
K2
to be enabled. This can be excluded under EN ISO 13849-2 by the use K2
+24V
Drive run
Reset Stop (Pr 10.02)
Drive
STO
Start
M
3~
NOTE N
The auxiliary relay K2 must be located in the same enclosure and close
to the drive, with its coil connected as closely as possible to the drive
enable / SAFE TORQUE OFF input.
Figure 6-48 Use of contactor and relay to avoid the need for
protected wiring
+24V
Reset Stop
STO
K1 Drive
Start K2
K2
K1
Two-channel Safety
interlocks relay
K1 K2
M
K1 and K2 must have contacts 3~
with connected movement
7 Getting Started
This chapter introduces the user interfaces, menu structure and security level of the drive.
Upper display
Lower display
Mode (black) button Mode (black) button
Help button
Control buttons Control buttons
Fwd / Rev (blue) button Joypad Fwd / Rev (blue) button Joypad
Stop/reset (red) button Stop/reset (red) button
Start (green) button Start (green) button
NOTE The red stop button is also used to reset the drive.
Both the SM-Keypad and the SM-Keypad Plus can indicate when a SMARTCARD access is taking place or when the second motor map is active
(menu 21). These are indicated on the displays as follows.
Status
Mode
(Display
not
flashing)
Timeout** Timeout** Timeout**
To enter Parameter
Mode, press key or To return to
Status Mode,
press key
RO R/W
parameter parameter
Edit Mode
(Character to be edited in lower line of display flashing)
Change parameter values using keys.
* Can only be used to move between menus if L2 access has been enabled (Pr 0.49). Refer to section 7.9 on page 110.
**Timeout defined by Pr 11.41 (default value = 240s).
Figure 7-4 Mode examples
Parameter
Status Mode
View Mode
Healthy Status Alarm Status Trip Status
NOTE
For new parameter-values to apply after the AC supply to the drive is
interrupted, new values must be saved. Refer to section 7.7 Saving
parameters on page 109.
Menu 2
2.21 5
Menu 0
* * 0.04 5
Menu 1
0.05 0
0.06 150
1.14 0
Menu 4
4.07 150
* Can only be used to move between menus if L2 access has
been enabled (Pr 0.49). Refer to section 7.9 Parameter access
level and security on page 110.
Menu 20 enu 2
Menu 21 Menu 0 Menu 1 M
....XX.00....
21.50 0.50 1.50
21.49 0.49 1.49
21.48 0.48 1.48
21.47 0.47 1.47
21.46 0.46 1.46
Moves
between
parameters
7.4 Menu 0
Menu 0 is used to bring together various commonly used parameters for
basic easy set up of the drive.
Appropriate parameters are copied from the advanced menus into menu
0 and thus exist in both locations.
For further information, refer to Chapter 8 Basic parameters on
page 112.
7.9 Parameter access level and security L2 1 Access to all menus (menu 0 to menu 22)
The parameter access level determines whether the user has access to The Access Level can be changed through the keypad even if the User
menu 0 only or to all the advanced menus (menus 1 to 22) in addition to Security has been set.
menu 0. 7.9.3 User Security
The User Security determines whether the access to the user is read The User Security, when set, prevents write access to any of the
only or read write. parameters (other than Pr. 0.49 and Pr 11.44 Access Level) in any
Both the User Security and Parameter Access Level can operate menu.
independently of each other as shown in the table below: User security open - All parameters: Read / Write access
Parameter Menu 0 Advanced
User Security
Access Level status menus status
L1 Open RW Not visible
L1 Closed RO Not visible
L2 Open RW RW
L2 Closed RO RO
RW = Read / write access RO = Read only access
The default settings of the drive are Parameter Access Level L1 and
user Security Open, i.e. read / write access to Menu 0 with the advanced Pr 0.00 Pr 1.00 ............ Pr 21.00 Pr 22.00
menus not visible. Pr 0.01 Pr 1.01 ............ Pr 21.01 Pr 22.01
7.9.1 Access Level Pr 0.02 Pr 1.02 ............ Pr 21.02 Pr 22.02
The access level is set in Pr 0.49 and allows or prevents access to the Pr 0.03 Pr 1.03 ............ Pr 21.03 Pr 22.03
advanced menu parameters. ............
............
L1 access selected - Menu 0 only visible
Pr 0.49 Pr 1.49 ............ Pr 21.30 Pr 22.28
Pr 0.00 Pr 1.00 ............ Pr 19.00 Pr 20.00 Pr 0.50 Pr 1.50 ............ Pr 21.31 Pr 22.29
Pr 0.01 Pr 1.01 ............ Pr 19.01 Pr 20.01
User security closed - All parameters: Read Only access
Pr 0.02 Pr 1.02 ............ Pr 19.02 Pr 20.02
(except Pr 0.49 and Pr 11.44)
Pr 0.03 Pr 1.03 ............ Pr 19.03 Pr 20.03
............ Pr 0.00 Pr 1.00 ............ Pr 21.00 Pr 22.00
............ Pr 0.01 Pr 1.01 ............ Pr 21.01 Pr 22.01
Pr 0.49 Pr 1.49 ............ Pr 19.49 Pr 20.49 Pr 0.02 Pr 1.02 ............ Pr 21.02 Pr 22.02
Pr 0.50 Pr 1.50 ............ Pr 19.50 Pr 20.50 Pr 0.03 Pr 1.03 ............ Pr 21.03 Pr 22.03
............
............
L2 access selected - All parameters visible Pr 0.49 Pr 1.49 ............ Pr 21.30 Pr 22.28
Pr 0.50 Pr 1.50 ............ Pr 21.31 Pr 22.29
To lock the User Security again, set Pr 0.49 to Loc and press the
reset button.
Disabling User Security This parameter defines the communications protocol used by the 485
Unlock the previously set security code as detailed above. Set Pr 0.34 to comms port on the drive. This parameter can be changed via the drive
0 and press the button. The User Security has now been disabled, keypad, via a Solutions Module or via the comms interface itself. If it is
and will not have to be unlocked each time the drive is powered up to changed via the comms interface, the response to the command uses
allow read / write access to the parameters. the original protocol. The master should wait at least 20ms before send a
new message using the new protocol. (Note: ANSI uses 7 data bits, 1
7.10 Displaying parameters with non- stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and
no parity.)
default values only
By entering 12000 in Pr xx.00, the only parameters that will be visible to Comms value String Communications mode
the user will be those containing a non-default value. This function does 0 AnSI ANSI
not require a drive reset to become active. In order to deactivate this
1 rtU Modbus RTU protocol
function, return to Pr xx.00 and enter a value of 0.
Modbus RTU protocol, but with an SM-
Please note that this function can be affected by the access level 2 Lcd
Keypad only
enabled, refer to section 7.9 Parameter access level and security for
further information regarding access level. ANSIx3.28 protocol
Full details of the CT ANSI communications protocol are the Advanced
7.11 Displaying destination parameters only User Guide.
By entering 12001 in Pr xx.00, the only parameters that will be visible to
Modbus RTU protocol
the user will be destination parameters. This function does not require a
Full details of the CT implementation of Modbus RTU are given in the
drive reset to become active. In order to deactivate this function, return
Advanced User Guide.
to Pr xx.00 and enter a value of 0.
Modbus RTU protocol, but with an SM-Keypad only
Please note that this function can be affected by the access level
This setting is used for disabling communications access when the SM-
enabled, refer to section 7.9 Parameter access level and security for
Keypad is used as a hardware key. See the Advanced User Guide for
further information regarding access level.
more details.
7.12 Serial communications
0.36 {11.25} Serial communications baud rate
7.12.1 Introduction
The Unidrive SP has a standard 2-wire EIA485 interface (serial RW Txt US
communications interface).which enables all drive set-up, operation and 300 (0), 600 (1), 1200 (2),
monitoring to be carried out with a PC or controller if required. Therefore, 2400 (3), 4800 (4), 9600 (5),
Ú 19200 (6), 38400 (7),
Ö 19200 (6)
it is possible to control the drive entirely by serial communications
without the need for a SM-keypad or other control cabling. The drive 57600 (8)*, 115200 (9)*
supports two protocols selected by parameter configuration:
* only applicable to Modbus RTU mode
• Modbus RTU
This parameter can be changed via the drive keypad, via a Solutions
• CT ANSI
Module or via the comms interface itself. If it is changed via the comms
Modbus RTU has been set as the default protocol, as it is used with the
interface, the response to the command uses the original baud rate. The
PC-tools commissioning/start-up software as provided on the CD ROM.
master should wait at least 20ms before sending a new message using
The serial communications port of the drive is a RJ45 socket, which is the new baud rate.
isolated from the power stage and the other control terminals (see
section 6.16 Serial communications connections for connection and NOTE
isolation details). When using the CT EIA232 Comms cable the available baud rate is
limited to 19.2k baud.
The communications port applies a 2 unit load to the communications
network.
0.37 {11.23} Serial communications address
USB/EIA232 to EIA485 Communications
RW Txt US
An external USB/EIA232 hardware interface such as a PC cannot be
used directly with the 2-wire EIA485 interface of the drive. Therefore a Ú 0 to 247 Ö 1
suitable converter is required.
Suitable USB to EIA485 and EIA232 to EIA485 isolated converters are Used to define the unique address for the drive for the serial interface.
available from Control Techniques as follows: The drive is always a slave.
• CT USB Comms cable (CT Part No. 4500-0096) Modbus RTU
• CT EIA232 Comms cable (CT Part No. 4500-0087) When the Modbus RTU protocol is used addresses between 0 and 247
When using one of the above converters or any other suitable converter are permitted. Address 0 is used to globally address all slaves, and so
with the Unidrive SP, it is recommended that no terminating resistors be this address should not be set in this parameter
connected on the network. It may be necessary to 'link out' the ANSI
terminating resistor within the converter depending on which type is When the ANSI protocol is used the first digit is the group and the
used. The information on how to link out the terminating resistor will second digit is the address within a group. The maximum permitted
normally be contained in the user information supplied with the group number is 9 and the maximum permitted address within a group is
converter. 9. Therefore, Pr 0.37 is limited to 99 in this mode. The value 00 is used
7.12.2 Serial communications set-up parameters to globally address all slaves on the system, and x0 is used to address
The following parameters need to be set according to the system all slaves of group x, therefore these addresses should not be set in this
requirements. parameter.
8 Basic parameters
Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive. All the parameters in menu 0 appear in other
menus in the drive (denoted by {…}).
Menus 11 and 22 can be used to change most of the parameters in menu 0. Menu 0 can also contain up to 59 parameters by setting up menu 22.
8.1 Single line descriptions
Range(Ú) Default(Ö)
Parameter Type
OL VT SV OL VT SV
0.00 xx.00 {x.00} 0 to 32,767 0 RW Uni
0.01 Minimum reference clamp {1.07} ±550.0 Hz ±SPEED_LIMIT_MAX Hz/rpm 0.0 RW Bi PT US
EUR> 50.0 EUR> 1,500.0 US
0.02 Maximum reference clamp {1.06} 0 to 550.0 Hz SPEED_LIMIT_MAX Hz/rpm 3,000.0 RW Uni
USA> 60.0 USA> 1,800.0
{2.11} 0.0 to 3,200.0 0.000 to 3,200.000 US
0.03 Acceleration rate 5.0 2.000 0.200 RW Uni
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
0.04 Deceleration rate {2.21} 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), PAd (4),
0.05 Reference select {1.14} A1.A2 (0) RW Txt NC US
Prc (5)
0.06 Current limit {4.07} 0 to Current_limit_max % 138.1 165.7 150.0 RW Uni RA US
Ur_S (0),
Ur (1), Fd (2),
OL> Voltage mode select {5.14} Ur_Auto (3), Ur_I (4) RW Txt US
0.07 Ur_I (4),
SrE (5)
CL> Speed controller P gain {3.10} 0.0000 to 6.5535 1/rad s-1 0.0300 0.0100 RW Uni US
0.0 to 25.0%
OL> Voltage boost {5.15} of motor rated 1.0 RW Uni US
0.08 voltage
CL> Speed controller I gain {3.11} 0.00 to 655.35 1/rad 0.10 1.00 RW Uni US
OFF (0) or On
OL> Dynamic V/F {5.13} 0 RW Bit US
0.09 (1)
CL> Speed controller D gain {3.12} 0.00000 to 0.65535 (s) 0.00000 RW Uni US
OL> Estimated motor speed {5.04} ±180,000 rpm RO Bi FI NC PT
0.10
CL> Motor speed {3.02} ±Speed_max rpm RO Bi FI NC PT
OL & VT> Drive output ±Speed_freq_
{5.01} ±550 Hz RO Bi FI NC PT
frequency max Hz
0.11 0 to 65,535
SV> Drive encoder position {3.29} 1/216ths of a RO Uni FI NC PT
revolution
0.12 Total motor current {4.01} 0 to Drive_current_max A RO Uni FI NC PT
OL & VT> Motor active
{4.02} ±Drive_current_max A RO Bi FI NC PT
0.13 current
SV> Analog input 1 offset trim {7.07} ±10.000 % 0.000 RW Bi US
0.14 Torque mode selector {4.11} 0 to 1 0 to 4 Speed control mode (0) RW Uni US
FASt (0)
FASt (0)
0.15 Ramp mode select {2.04} Std (1) Std (1) RW Txt US
Std (1)
Std.hV (2)
OL> T28 and T29 auto- OFF (0) or On
{8.39} OFF (0) RW Bit US
0.16 selection disable (1)
CL> Ramp enable {2.02} OFF (0) or On (1) On (1) RW Bit US
OL> T29 digital input Pr 0.00 to
{8.26} Pr 6.31 RW Uni DE PT US
destination Pr 21.51
0.17
CL> Current demand filter
{4.12} 0.0 to 25.0 ms 0.0 RW Uni US
time constant
0.18 Positive logic select {8.29} OFF (0) or On (1) On (1) RW Bit PT US
0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),
0.19 Analog input 2 mode {7.11} VOLt (6) RW Txt US
4-20 (4), 20-4 (5), VOLt (6)
0.20 Analog input 2 destination {7.14} Pr 0.00 to Pr 21.51 Pr 1.37 RW Uni DE PT US
0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),
0.21 Analog input 3 mode {7.15} 4-20 (4), 20-4 (5), VOLt (6), th.SC (7), th (8) RW Txt PT US
th (8), th.diSp (9)
0.22 Bipolar reference select {1.10} OFF (0) or On (1) OFF (0) RW Bit US
0.23 Jog reference {1.05} 0 to 400.0 Hz 0 to 4000.0 rpm 0.0 RW Uni US
0.24 Pre-set reference 1 {1.21} ±Speed_limit_max rpm 0.0 RW Bi US
0.25 Pre-set reference 2 {1.22} ±Speed_limit_max rpm 0.0 RW Bi US
±Speed_freq_
OL> Pre-set reference 3 {1.23} 0.0 RW Bi US
0.26 max Hz/rpm
CL> Overspeed threshold {3.08} 0 to 40,000 rpm 0 RW Uni US
±Speed_freq_
OL> Pre-set reference 4 {1.24} 0.0 RW Bi US
max Hz/rpm
0.27
CL> Drive encoder lines per
{3.34} 0 to 50,000 1024 4096 RW Uni US
revolution
0.28 Keypad fwd/rev key enable {6.13} OFF (0) or On (1) OFF (0) RW Bit US
Range(Ú) Default(Ö)
Parameter Type
OL VT SV OL VT SV
SMARTCARD parameter
0.29 {11.36} 0 to 999 0 RO Uni NC PT US
data
0.30 Parameter copying {11.42} nonE (0), rEAd (1), Prog (2), AutO (3), boot (4) nonE (0) RW Txt NC *
0.31 Drive rated voltage {11.33} 200 (0), 400 (1), 575 (2), 690 (3) V RO Txt NC PT
Maximum Heavy Duty
0.32 {11.32} 0.00 to 9999.99A RO Uni NC PT
current rating
OL> Catch a spinning motor {6.09} 0 to 3 0 RW Uni US
0.33
VT> Rated rpm autotune {5.16} 0 to 2 0 RW Uni US
0.34 User security code {11.30} 0 to 999 0 RW Uni NC PT PS
0.35 Serial comms mode {11.24} AnSI (0), rtu (1), Lcd (2) rtU (1) RW Txt US
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
9600 (5), 19200 (6), 38400 (7),
0.36 Serial comms baud rate {11.25} 19200 (6) RW Txt US
57600 (8) Modbus RTU only,
115200 (9) Modbus RTU only
0.37 Serial comms address {11.23} 0 to 247 1 RW Uni US
200V drive: 75
All voltage 400V drive: 150
0.38 Current loop P gain {4.13} 0 to 30,000 RW Uni US
ratings: 20 575V drive: 180
690V drive: 215
200V drive: 1000
0 to 30,000 All voltage 400V drive: 2000
0.39 Current loop I gain {4.14} RW Uni US
ratings 40 575V drive: 2400
690V drive: 3000
0.40 Autotune {5.12} 0 to 2 0 to 4 0 to 6 0 RW Uni
Maximum switching
0.41 {5.18} 3 (0), 4 (1), 6 (2) 3 (0) 6 (2) RW Txt RA US
frequency
0.42 No. of motor poles {5.11} 0 to 60 (Auto to 120 pole) 0 (Auto) 6 POLE (3) RW Txt US
OL & VT> Motor rated
{5.10} 0.000 to 1.000 0.850 RW Uni US
0.43 power factor
SV> Encoder phase angle {3.25} 0.0 to 359.9° 0.0 RW Uni US
200V drive: 230
400V drive: EUR> 400, USA> 460
0.44 Motor rated voltage {5.09} 0 to AC_voltage_set_max V RW Uni RA US
575V drive: 575
690V drive: 690
EUR>
0.00 to
OL & VT> Motor rated full 0 to 180,000 EUR> 1,500 1,450.00
{5.08} 40,000.00 RW Uni US
load speed (rpm) rpm USA> 1,800 USA>
0.45 rpm
1,770.00
SV> Motor thermal time
{4.15} 0.0 to 3000.0 20.0 RW Uni US
constant
0.46 Motor rated current {5.07} 0 to Rated_current_max A Drive rated current [11.32] RW Uni RA US
EUR> 50.0
0.47 Rated frequency {5.06} 0 to 550.0 Hz RW Uni US
USA> 60.0
OPEn LP (1), CL VECt (2),
0.48 Operating mode selector {11.31} OPEn LP (1) CL VECt (2) SErVO (3) RW Txt NC PT
SErVO (3), rEgEn (4)
0.49 Security status {11.44} L1 (0), L2 (1), Loc (2) RW Txt PT US
0.50 Software version {11.29} 1.00 to 99.99 RO Uni NC PT
0.51 Action on trip detection {10.37} 0 to 15 0 RW Uni US
* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved
Key: Coding Attribute
Coding Attribute Rating dependent: this parameter is likely to have different
values and ranges with drives of different voltage and
OL Open loop
current ratings. Parameters with this attribute will not be
CL Closed loop vector and Servo transferred to the destination drive by SMARTCARDs when
VT Closed loop vector RA the rating of the destination drive is different from the
SV Servo source drive and the file is a parameter file. However, with
{X.XX} Copied advanced parameter software V01.09.00 and later the value will be transferred if
only the current rating is different and the file is a
RW Read/write: can be written by the user
differences from default type file.
RO Read only: can only be read by the user
Not copied: not transferred to or from SMARTCARDs
Bit 1 bit parameter: ‘On’ or ‘OFF’ on the display NC
during copying.
Bi Bipolar parameter PT Protected: cannot be used as a destination.
Uni Unipolar parameter User save: parameter saved in drive EEPROM when the
Txt Text: the parameter uses text strings instead of numbers. US
user initiates a parameter save.
Filtered: some parameters which can have rapidly changing Power-down save: parameter automatically saved in drive
FI values are filtered when displayed on the drive keypad for EEPROM when the under volts (UV) trip occurs or when the
easy viewing. PS user initiates a parameter save. With software version
Destination: This parameter selects the destination of an V01.08.00 and later, power-down save parameters are also
DE
input or logic function. saved in the drive when the user initiates a parameter save.
The function of the two digital inputs are controlled by the setting of Pr 0.05 (reference selector). See table below for details.
Analogue reference
Analogue Analogue
input 2 input 2
offset trim destination Any
0.13 0.20 unprotected
variable
Analogue parameter
input + Analogue
2 mode ??.?? reference 2
+
0.19 1.37 Reference
0.05
selector
??.??
OR
Bipolar
reference
select
0.24
Preset frequency
reference
Preset
0.24
frequency 1
A1.A2
Preset
0.25 A1.Pr
frequency 2
Open Loop only A2.Pr
Preset Pr
0.26
frequency 3
Preset PAd
0.27
frequency 4 Prc
Keypad reference
0.23
Jog reference
Enable forward /
0.28
reverse key Digital inputs T28 & T29
Key
Motor control
Maximum Current
frequency/ 0.06
limit
speed clamp
0.14 Torque mode
0.02 Ramp selector
enable
OL> Catch a
Minimum 0.16 spinning motor
frequency/ 0.33 VT> Motor full
speed clamp load rated speed
autotune
0.01
CL>
0.17 Current demand
filter time
Closed loop only
constant
Motor parameters
0.42 ~ 0.47
Ramps
No. of poles
Power factor
Rated voltage
CL> Speed-loop PID gains Rated speed
Rated current
Rated frequency
0.07 Speed-loop SV> Motor thermal
proportional time constant
gain
0.03
Acceleration 0.08 Speed-loop
rate integral gain
0.10
Power stage _
PWM switching +
0.41
frequency
Drive encoder Drive output
0.27 0.11
ppr frequency
Overspeed
0.26
threshold OL & VT> Total motor
Motor active current
current 0.13 0.12
_
U V W + BR
Magnetising
15 way sub-D
current
connector
Resistor
optional
Save parameters when under voltage is not active (Pr 10.16 SV 3,000.0
1000
= 0) and low voltage DC supply is not active (Pr 6.44 = 0).
(The drive has additional over-speed protection.)
1001 Save parameters under all conditions
Open-loop
1070 Reset all option modules
1233 Load standard defaults Set Pr 0.02 at the required maximum output frequency for both
directions of rotation. The drive speed reference is scaled between
1244 Load US defaults
Pr 0.01 and Pr 0.02. [0.02] is a nominal value; slip compensation may
1253 Change drive mode with standard defaults cause the actual frequency to be higher.
1254 Change drive mode with US defaults
Closed-loop
Change drive mode with standard defaults (excluding menus
1255 Set Pr 0.02 at the required maximum motor speed for both directions of
15 to 20)
rotation. The drive speed reference is scaled between Pr 0.01 and Pr 0.02.
Change drive mode with US defaults (excluding menus 15 to
1256 For operating at high speeds see section 10.6 High speed operation on
20)
page 149.
Transfer drive parameters as difference from default to a
2001*
bootable SMARTCARD block in data block number 001 8.2.3 Ramps, speed reference selection, current
Transfer drive EEPROM data to a SMART Card block limit
3yyy*
number yyy 0.03 {2.11} Acceleration rate
Transfer drive data as difference from defaults to SMART
4yyy* RW Uni US
Card block number yyy
Transfer drive ladder program to SMART Card block number OL Ú 0.0 to 3,200.0 s/100 Hz Ö 5.0
5yyy*
yyy VT 2.000
0.000 to 3,200.000
6yyy* Transfer SMART Card data block number yyy to the drive CL Ú s/1,000 rpm
Ö
SV 0.200
7yyy* Erase SMART Card data block number yyy
Compare drive parameters with SMART Card data block Set Pr 0.03 at the required rate of acceleration.
8yyy*
number yyy
Note that larger values produce lower acceleration. The rate applies in
9555* Clear SMARTCARD warning suppression flag both directions of rotation.
9666* Set SMARTCARD warning suppression card
9777* Clear SMARTCARD read-only flag 0.04 {2.21} Deceleration rate
9888* Set SMARTCARD read-only flag RW Uni US
9999* Erase SMARTCARD data block 1 to 499 OL Ú 0.0 to 3,200.0 s/100 Hz Ö 10.0
Transfer electronic nameplate parameters to/from drive from/
0.000 to 3,200.000 VT 2.000
110zy to encoder. See the Advanced User Guide for more CL Ú s/1,000 rpm
Ö
information on this function. SV 0.200
12000** Display non-default values only
12001** Display destination parameters only Set Pr 0.04 at the required rate of deceleration.
Note that larger values produce lower deceleration. The rate applies in
* See Chapter 11 SMARTCARD operation on page 151 for more
both directions of rotation.
information of these functions.
** These functions do not require a drive reset to become active. All
other functions require a drive reset to initiate the function.
8.2.2 Speed limits
0.01 {1.07} Minimum reference clamp
RW Bi PT US
OL Ú ±550.0 Hz Ö 0.0
SV 150.0
0.08 {3.11} Speed controller integral gain
Pr 0.06 limits the maximum output current of the drive (and hence RW Uni US
maximum motor torque) to protect the drive and motor from overload.
0.00 to 655.35 VT 0.10
Set Pr 0.06 at the required maximum torque as a percentage of the rated CL Ú 1/rad
Ö
torque of the motor, as follows: SV 1.00
TR Software V01.10.00 and later, the defaults are as above.
[ 0.06 ] = -------------------- × 100 (%)
T RATED
Software V01.09.01 and earlier, the default is 1.00 in Closed-loop vector
Where: and servo modes.
TR Required maximum torque Closed-loop
TRATED Motor rated torque Pr 0.08 (3.11) operates in the feed-forward path of the speed-control
loop in the drive. See Figure 13-4 on page 176 for a schematic of the
speed controller. For information on setting up the speed controller
Alternatively, set 0.06 at the required maximum active (torque-
gains, refer to Chapter 10 Optimization on page 138.
producing) current as a percentage of the rated active current of the
motor, as follows:
0.09 {5.13} Dynamic V/F / flux optimize select
[ 0.06 ] =
IR - × 100 (%)
------------------ RW Bit US
IRATED OL Ú OFF (0) or On (1) Ö OFF (0)
Where:
Open-loop
IR Required maximum active current
Set Pr 0.09 (5.13) at 0 when the V/f characteristic applied to the motor is
IRATED Motor rated active current to be fixed. It is then based on the rated voltage and frequency of the
motor.
8.2.4 Voltage boost, (open-loop), Speed-loop PID Set Pr 0.09 at 1 when reduced power dissipation is required in the motor
gains (closed-loop) when it is lightly loaded. The V/f characteristic is then variable resulting
0.07 {5.14} Voltage mode selector in the motor voltage being proportionally reduced for lower motor
currents. Figure 8-2 shows the change in V/f slope when the motor
RW Txt US current is reduced.
Ur_S (0), Ur (1), Fd (2),
OL Ú Ur_Auto (3), Ur_I (4), Ö Ur_I (4)
SrE (5)
Open-loop
There are six voltage modes available, which fall into two categories,
vector control and fixed boost. For further details, refer to section Pr
0.07 {5.14} Voltage mode on page 139.
Frequency
0.10 {5.04} Estimated motor speed Open-loop & closed loop vector
RO Bit FI NC PT When the motor is being driven below its rated speed, the torque is
OL Ú ±180,000 rpm Ö proportional to [0.13].
Servo
Pr 0.11 displays the position of the encoder in mechanical values of 0 to
65,535. There are 65,536 units to one mechanical revolution.
Motor Speed
0.17 {4.12} Current demand filter time constant
RW Uni US
Programmed
deceleration
rate
CL Ú 0.0 to 25.0 ms Ö 0.0
Closed-loop
A first order filter, with a time constant defined by Pr 0.17, is provided on
the current demand to reduce acoustic noise and vibration produced as
t a result of position feedback quantisation noise. The filter introduces a
lag in the speed loop, and so the speed loop gains may need to be
2: Standard ramp with motor voltage boost
reduced to maintain stability as the filter time constant is increased.
This mode is the same as normal standard ramp mode except that the
motor voltage is boosted by 20%. This increases the losses in the motor, 0.18 {8.29} Positive logic select
dissipating some of the mechanical energy as heat giving faster
deceleration. RW Bit PT US
Ú OFF (0) or On (1) Ö On (1)
0.16 {8.39} T28 and T29 auto-selection disable
RW Bit US Pr 0.18 sets the logic polarity for digital inputs and digital outputs. This
does not affect the drive enable input or the relay output.
OL Ú OFF (0) or On (1) Ö OFF (0)
0.19 {7.11} Analog input 2 mode
Open-loop
RW Txt US
When Pr 0.16 is set to 0, digital inputs T28 and T29 are set up
automatically with destinations according to the setting of the reference Ú 0 to 6 Ö VOLt (6)
select Pr 0.05.
In modes 2 & 3 a current loop loss trip is generated if the current falls
below 3mA.
In modes 2 & 4 the analog input level goes to 0.0% if the input current
falls below 4mA.
Open-loop
0.22 {1.10} Bipolar reference select Refer to Pr 0.24 to Pr 0.26.
RW Bit US
Ú OFF (0) or On (1) Ö OFF (0) 0.27 {3.34} Drive encoder lines per revolution
RW Uni US
Pr 0.22 determines whether the reference is uni-polar or bi-polar as
follows: VT Ú Ö 1024
0 to 50,000
Pr 0.22 Function SV Ú Ö 4096
Closed-loop
0 Unipolar speed/frequency reference
Enter in Pr 0.27 the number of lines per revolution of the drive encoder.
0.29 {11.36} SMARTCARD parameter data 0.33 {5.16} Rated rpm autotune
RO Uni NC PT US RW Uni US
Ú 0 to 999 Ö 0 VT Ú 0 to 2 Ö 0
This parameter shows the number of the data block last transferred from Closed-loop vector
a SMARTCARD to the drive. The motor rated full load rpm parameter (Pr 0.45) in conjunction with the
motor rated frequency parameter (Pr 0.46) defines the full load slip of the
0.30 {11.42} Parameter copying motor. The slip is used in the motor model for closed-loop vector control.
The full load slip of the motor varies with rotor resistance which can vary
RW Txt NC *
significantly with motor temperature. When Pr 0.33 is set to 1 or 2, the
Ú 0 to 4 Ö nonE (0) drive can automatically sense if the value of slip defined by Pr 0.45 and
Pr 0.46 has been set incorrectly or has varied with motor temperature. If
* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved. the value is incorrect parameter Pr 0.45 is automatically adjusted. The
adjusted value in Pr 0.45 is not saved at power-down. If the new value is
NOTE N required at the next power-up it must be saved by the user.
If Pr 0.30 is equal to 1 or 2 this value is not transferred to the EEPROM
Automatic optimization is only enabled when the speed is above 12.5%
or the drive. If Pr 0.30 is set to a 3 or 4 the value is transferred.
of rated speed, and when the load on the motor load rises above 62.5%
Pr Pr rated load. Optimization is disabled again if the load falls below 50% of
Comment rated load.
String value
nonE 0 Inactive For best optimization results the correct values of stator resistance (Pr
5.17), transient inductance (Pr 5.24), stator inductance (Pr 5.25) and
rEAd 1 Read parameter set from the SMARTCARD
saturation breakpoints (Pr 5.29, Pr 5.30) should be stored in the relevant
Prog 2 Programming a parameter set to the SMARTCARD
parameters. These values can be obtained by the drive during an
Auto 3 Auto save autotune (see Pr 0.40 for further details).
boot 4 Boot mode Rated rpm auto-tune is not available if the drive is not using external
For further information, please refer to Chapter 11 SMARTCARD position/speed feedback.
operation on page 151. The gain of the optimizer, and hence the speed with which it converges,
can be set at a normal low level when Pr 0.33 is set to 1. If this
0.31 {11.33} Drive rated voltage parameter is set to 2 the gain is increased by a factor of 16 to give faster
RO Txt NC PT convergence.
200V (0), 400V (1), 575V (2), 0.34 {11.30} User security code
Ú 690V (3)
Ö
RW Uni NC PT PS
Pr 0.31 indicates the voltage rating of the drive. Ú 0 to 999 Ö 0
0.32 {11.32} Maximum Heavy Duty current rating If any number other than 0 is programmed into this parameter, user
RO Uni NC PT security is applied so that no parameters except parameter 0.49 can be
adjusted with the keypad. When this parameter is read via a keypad it
Ú 0.00 to 9,999.99 A Ö appears as zero.
For further details refer to section 7.9.3 User Security on page 110.
Pr 0.32 indicates the maximum continuous Heavy Duty current rating.
This parameter can be changed via the drive keypad, via a Solutions Open-Loop
Module or via the comms interface itself. If it is changed via the comms
interface, the response to the command uses the original baud rate. The There are two autotune tests available in open loop mode, a stationary
and a rotating test. A rotating autotune should be used whenever
master should wait at least 20ms before send a new message using the
possible, so the measured value of power factor of the motor is used by
new baud rate.
the drive.
0.37 {11.23} Serial comms address • The stationary autotune can be used when the motor is loaded and it
is not possible to remove the load from the motor shaft.
RW Uni US
• A rotating autotune first performs a stationary autotune, before
Ú 0 to 247 Ö 1 rotating the motor at 2/3 base speed in the forward direction for
several seconds. The motor must be free from load for the rotating
Used to define the unique address for the drive for the serial interface. autotune.
The drive is always a slave. To perform an autotune, set Pr 0.40 to 1 for a stationary test or 2 for a
Modbus RTU rotating test, and provide the drive with both an enable signal (on
When the Modbus RTU protocol is used addresses between 0 and 247 terminal 31) and a run signal (on terminal 26 or 27).
are permitted. Address 0 is used to globally address all slaves, and so Following the completion of an autotune test the drive will go into the
this address should not be set in this parameter inhibit state. The drive must be placed into a controlled disable condition
ANSI before the drive can be made to run at the required reference. The drive
can be put in to a controlled disable condition by removing the SAFE
When the ANSI protocol is used the first digit is the group and the
TORQUE OFF signal from terminal 31, setting the drive enable
second digit is the address within a group. The maximum permitted
parameter Pr 6.15 to OFF (0) or disabling the drive via the control word
group number is 9 and the maximum permitted address within a group is
(Pr 6.42 & Pr 6.43).
9. Therefore, Pr 0.37 is limited to 99 in this mode. The value 00 is used
to globally address all slaves on the system, and x0 is used to address For further information refer to section Pr 0.40 {5.12} Autotune on
all slaves of group x, therefore these addresses should not be set in this page 138.
parameter. Closed-loop
There are three autotune tests available in closed loop vector mode, a
0.38 {4.13} Current loop P gain
stationary test, a rotating test and an inertia measurement test. A
RW Uni US stationary autotune will give moderate performance whereas a rotating
OL Ú Ö All voltage ratings: 20 autotune will give improved performance as it measures the actual
values of the motor parameters required by the drive. An inertia
200V drive: 75
0 to 30,000 measurement test should be performed separately to a stationary or
400V drive: 150
CL Ú Ö 575V drive: 180
rotating autotune.
690V drive: 215 • The stationary autotune can be used when the motor is loaded and it
is not possible to remove the load from the motor shaft.
• A rotating autotune first performs a stationary autotune, before
rotating the motor at 2/3 base speed in the forward direction for
approximately 30 seconds. The motor must be free from load for the
rotating autotune.
• The inertia measurement test can measure the total inertia of the
load and the motor. This is used to set the speed loop gains (see
Speed loop gains, below) and to provide torque feed forwards when Following the completion of an autotune test the drive will go into the
required during acceleration. During the inertia measurement test inhibit state. The drive must be placed into a controlled disable condition
the motor speed changes from 1/3 to 2/3 rated speed in the forward before the drive can be made to run at the required reference. The drive
direction several times. The motor can be loaded with a constant can be put in to a controlled disable condition by removing the SAFE
torque load and still give an accurate result, however, non-linear TORQUE OFF signal from terminal 31, setting the drive enable
loads and loads that change with speed will cause measurement parameter Pr 6.15 to OFF (0) or disabling the drive via the control word
errors. (Pr 6.42 & Pr 6.43).
To perform an autotune, set Pr 0.40 to 1 for a stationary test, 2 for a Setting Pr 0.40 to 6 will cause the drive to calculate the current loop
rotating test, or 3 for an inertia measurement test and provide the drive gains based on the previously measured values of motor resistance and
with both an enable signal (on terminal 31) and a run signal (on terminal inductance. The drive does apply any voltage to the motor during this
26 or 27). test. The drive will change Pr 0.40 back to 0 as soon as the calculations
Following the completion of an autotune test the drive will go into the are complete (approximately 500ms).
inhibit state. The drive must be placed into a controlled disable condition For further information refer to section Pr 0.40 {5.12} Autotune on
before the drive can be made to run at the required reference. The drive page 138.
can be put in to a controlled disable condition by removing the SAFE
TORQUE OFF signal from terminal 31, setting the drive enable 0.41 {5.18} Maximum switching frequency
parameter Pr 6.15 to OFF (0) or disabling the drive via the control word RW Txt RA US
(Pr 6.42 & Pr 6.43).
OL Ö 3 (0)
Setting Pr 0.40 to 4 will cause the drive to calculate the current loop
gains based on the previously measured values of motor resistance and Ú 3 (0), 4 (1), 6 (2) VT 3 (0)
inductance. The drive does apply any voltage to the motor during this CL Ö
test. The drive will change Pr 0.40 back to 0 as soon as the calculations SV 6 (2)
are complete (approximately 500ms).
This parameter defines the required switching frequency. The drive may
For further information refer to section Pr 0.40 {5.12} Autotune on automatically reduce the actual switching frequency (without changing
page 144. this parameter) if the power stage becomes too hot. A thermal model of
Servo the IGBT junction temperature is used based on the heatsink
There are five autotune tests available in servo mode, a short low speed temperature and an instantaneous temperature drop using the drive
test, a normal low speed test, an inertia measurement test, a stationary output current and switching frequency. The estimated IGBT junction
test and a minimal movement test. A normal low speed should be done temperature is displayed in Pr 7.34. If the temperature exceeds 145°C
where possible as the drive measures the stator resistance and the switching frequency is reduced if this is possible (i.e >3kHz).
inductance of the motor, and from these calculates the current loop Reducing the switching frequency reduces the drive losses and the
gains. An inertia measurement test should be performed separately to a junction temperature displayed in Pr 7.34 also reduces. If the load
short low speed or normal low speed autotune. condition persists the junction temperature may continue to rise again
above 145°C and the drive cannot reduce the switching frequency
• A short low speed test will rotate the motor by 2 electrical revolutions further the drive will initiate an ‘O.ht1’ trip. Every second the drive will
(i.e. up to 2 mechanical revolutions) in the forward direction, and attempt to restore the switching frequency to the level set in Pr 0.41.
measure the encoder phase angle. The motor must be free from
load for this test. The full range of switching frequencies is not available on all ratings of
• A normal low speed test will rotate the motor by 2 electrical Unidrive SP. See section For applications using CT Dynamics
revolutions (i.e. up to 2 mechanical revolutions) in the forward Unimotors the thermal time constants can be found in the Unimotor
direction. This test measures the encoder phase angle and updates manual. on page 149, for the maximum available switching frequency for
other parameters including the current loop gains. The motor must each drive rating.
be free from load for this test. 8.2.7 Motor parameters
• The inertia measurement test can measure the total inertia of the
load and the motor. This is used to set the speed loop gains and to 0.42 {5.11} No. of motor poles
provide torque feed forwards when required during acceleration. RW Txt US
During the inertia measurement test the motor speed changes from
1
OL Ú Ö Auto (0)
/3 to 2/3 rated speed in the forward direction several times. The
motor can be loaded with a constant torque load and still give an 0 to 60 (Auto to 120 Pole) VT Auto (0)
accurate result, however, non-linear loads and loads that change
CL Ú Ö
SV 6 POLE (3)
with speed will cause measurement errors.
• The stationary test only measures the motor resistance and Open-loop
inductance, and updates the current loop gain parameters. This test
This parameter is used in the calculation of motor speed, and in applying
does not measure the encoder phase angle so this test needs to be
the correct slip compensation. When auto is selected, the number of
done in conjunction with either the short low speed or minimal
motor poles is automatically calculated from the rated frequency
movement tests.
(Pr 0.47) and the rated full load rpm (Pr 0.45). The number of poles =
• The minimal movement test will move the motor through a small
120 * rated frequency / rpm rounded to the nearest even number.
angle to measure the encoder phase angle. This test will operate
correctly when the load is an inertia, and although a small amount of Closed-loop vector
cogging and stiction is acceptable, this test cannot be used for a This parameter must be set correctly for the vector control algorithms to
loaded motor. operate correctly. When auto is selected, the number of motor poles is
To perform an autotune, set Pr 0.40 to 1 for a short low speed test, 2 for automatically calculated from the rated frequency (Pr 0.47) and the rated
a normal low speed test, 3 for an inertia measurement test, 4 for a full load rpm (Pr 0.45). The number of poles = 120 * rated frequency /
stationary test or 5 for a minimal movement test, and provide the drive rpm rounded to the nearest even number.
with both an enable signal (on terminal 31) and a run signal (on terminal Servo
26 or 27).
This parameter must be set correctly for the vector control algorithms to
operate correctly. When auto is selected the number of poles is set to 6.
synchronous speed - slip speed). Entering the correct value into this
0.43 {5.10} Motor rated power factor parameter allows the drive to increase the output frequency as a
RW Uni US function of load in order to compensate for this speed drop.
OL Ú Ö Slip compensation is disabled if Pr 0.45 is set to 0 or to synchronous
0.000 to 1.000 0.850 speed, or if Pr 5.27 is set to 0.
VT Ú Ö If slip compensation is required this parameter should be set to the value
from the rating plate of the motor, which should give the correct rpm for a
The power factor is the true power factor of the motor, i.e. the angle
hot machine. Sometimes it will be necessary to adjust this when the
between the motor voltage and current.
drive is commissioned because the nameplate value may be inaccurate.
Open-loop Slip compensation will operate correctly both below base speed and
The power factor is used in conjunction with the motor rated current within the field weakening region. Slip compensation is normally used to
(Pr 0.46) to calculate the rated active current and magnetizing current of correct for the motor speed to prevent speed variation with load. The
the motor. The rated active current is used extensively to control the rated load rpm can be set higher than synchronous speed to deliberately
drive, and the magnetizing current is used in vector mode Rs introduce speed droop. This can be useful to aid load sharing with
compensation. It is important that this parameter is set up correctly. mechanically coupled motors.
This parameter is obtained by the drive during a rotational autotune. If a Closed loop vector
stationary autotune is carried out, then the nameplate value should be
Rated load rpm is used with motor rated frequency to determine the full
entered in Pr 0.43.
load slip of the motor which is used by the vector control algorithm.
Closed-loop vector Incorrect setting of this parameter can result in the following:
If the stator inductance (Pr 5.25) contains a non-zero value, the power • Reduced efficiency of motor operation
factor used by the drive is continuously calculated and used in the vector • Reduction of maximum torque available from the motor
control algorithms (this will not update Pr 0.43). • Failure to reach maximum speed
If the stator inductance is set to zero (Pr 5.25) then the power factor • Over-current trips
written in Pr 0.43 is used in conjunction with the motor rated current and • Reduced transient performance
other motor parameters to calculate the rated active and magnetizing • Inaccurate control of absolute torque in torque control modes
currents which are used in the vector control algorithm. The nameplate value is normally the value for a hot machine, however,
This parameter is obtained by the drive during a rotational autotune. If a some adjustment may be required when the drive is commissioned if the
stationary autotune is carried out, then the nameplate value should be nameplate value is inaccurate.
entered in Pr 0.43. The rated full load rpm can be optimized by the drive (For further
information, refer to section 10.1.3 Closed loop vector motor control on
page 143).
0.43 {3.25} Encoder phase angle
RW Uni US 0.45 {4.15} Motor thermal time constant
SV Ú 0.0 to 359.9° Ö 0.0 RW Uni US
The phase angle between the rotor flux in a servo motor and the SV Ú 0 to 3000.0 Ö 20.0
encoder position is required for the motor to operate correctly. If the
phase angle is known it can be set in this parameter by the user. Servo
Alternatively the drive can automatically measure the phase angle by Pr 0.45 is the motor thermal time constant of the motor, and is used
performing a phasing test (see autotune in servo mode Pr 0.40). When (along with the motor rated current Pr 0.46, and total motor current
the test is complete the new value is written to this parameter. The Pr 0.12) in the thermal model of the motor in applying thermal protection
encoder phase angle can be modified at any time and becomes effective to the motor.
immediately. This parameter has a factory default value of 0.0, but is not Setting this parameter to 0 disables the motor thermal protection.
affected when defaults are loaded by the user.
For further details, refer to section 10.4 Motor thermal protection on
page 148.
0.44 {5.09} Motor rated voltage
RW Uni RA US
0.46 {5.07} Motor rated current
200V drive: 230
400V drive: EUR> 400 RW Uni RA US
0 to
Ú AC_VOLTAGE_SET_MAX V
Ö USA> 460 Ú 0 to Rated_current_max A Ö Drive rated current [11.32]
575V drive: 575
690V drive: 690 Enter the name-plate value for the motor rated current.
0.45 {5.08} Motor rated full load speed (rpm) OL Ú 0 to 550.0 Hz Ö EUR> 50.0, USA> 60.0
EUR> 1,450.00 Enter the value from the rating plate of the motor.
VT Ú 0.00 to 40,000.00 rpm Ö USA> 1,770.00
Open-loop
This is the speed at which the motor would rotate when supplied with its
base frequency at rated voltage, under rated load conditions (=
Ú 1 to 4 Ö VT 2
SV 3
Bit Function
0 Stop on non-important trips
1 Disable braking IGBT trips
2 Disable phase loss trip (Unidrive SP size 0 only)
Disable braking resistor temperature monitoring failure
3
detection. (Unidrive SP size 0 only)
Stop on non-important trips
If bit 0 is set to zero then the drive simply trips when a non-important trip
occurs. Non-important trips are: th, ths, Old1, cL2, cL3, SCL. If bit 0 is
set to one the drive will stop before tripping when one of these trips is
initiated, except in Regen mode where the drive trips immediately.
Disable braking IGBT trips
For details of braking IGBT trip mode see Pr 10.31.
Ensure that no damage or safety hazard could arise from the For Solutions Module terminal information see section 13.15 Menus 15,
motor starting unexpectedly. 16 and 17: Solutions Module set-up on page 217 or the appropriate
WARNING Solutions Module option user guide.
The values of the motor parameters affect the protection of 9.2 Changing the operating mode
the motor. Changing the operating mode returns all parameters to their default
The default values in the drive should not be relied upon. value, including the motor parameters. (Pr 0.49 and Pr 0.34 are not
CAUTION
It is essential that the correct value is entered in Pr 0.46 Motor affected by this procedure.)
rated current. This affects the thermal protection of the motor.
Procedure
If the keypad mode has been used previously, ensure that Use the following procedure only if a different operating mode is
required:
the keypad reference has been set to 0 using the
1. Enter either of the following values in Pr xx.00, as appropriate:
buttons as if the drive is started using the keypad it will run to 1253 (EUR, 50Hz AC supply frequency)
CAUTION the speed defined by the keypad reference (Pr 0.35). 1254 (USA, 60Hz AC supply frequency)
2. Change the setting of Pr 0.48 as follows:
If the intended maximum speed affects the safety of the Pr 0.48 setting Operating mode
machinery, additional independent over-speed protection
must be used. 1 Open-loop
WARNING
Figure 9-1 Minimum connections to get the motor running in any operating mode
Pin Function
1 Termination resistor
2 RX TX
3 Isolated 0V
4 +24V
5 Isolated 0V
6 TX enable
7 RX\ TX\
8 RX\ TX\
Shell Isolated 0V
C R O Serial 1
l F p U V W
communications
port
o C e 8
s n
e Terminal Encoder connections
d L 1 A F Cos
o 2
3
A\
B
F\
D
Cos\
Sin
o 4 B\ D\ Sin\
L p
5
6
Z
Z\
Data
Data\
o 7 U Fout* Aout* Fout* Aout*
o 8
9
U\
V
Fout\*
Dout*
Aout\*
Bout*
Fout\*
Dout*
Aout\*
Bout*
p 10
11
V\ Dout\*
W
Bout\* Dout\* Bout\*
Clk
12 W\ Clk\
V 13
14
+V
0V
+V
0V
e A A 15 Th Th
2 Encoder connector
15 way D-type
Induction motor
U V W
S
e
r
v A A
Servo motor
(permanent
o B B
magnet)
U U E
V V
W W
Z Z 1
Fuses
L3
L2
L1
1
2
3 0V
+10V
4
Speed
5 reference
input
6
7
8
9
10
11 T
e
SPMA r
SPMD
SPMC
21 m
22 24V i
23
n
a
24
+DC l
! 25
U V W 24Vdc
fan 26 RUN FWD M
3 supply
27 RUN REV o
28 d
Braking resistor
29
e
(optional)
30 K
31
e
SAFE TORQUE OFF y
(drive enable)
p
a
d
M
o
d
SM-Keypad / SM-Keypad Plus.
e
Optional item; must be fitted for keypad mode. Pr 0.05
=PAd (4)
Ensure:
• The drive enable signal is not given (terminal 31)
Before power-up
• Run signal is not given
• Motor is connected
Verify that Open Loop mode is displayed as the drive powers up. If the mode is incorrect see section
7.6 Changing the operating mode on page 109.
If a motor thermistor is not connected and the drive trips on ‘th’ set Pr 0.21 = VOLt and press the red
Power-up the drive reset button.
Ensure:
• Drive displays ‘inh’
If the drive trips, see Chapter 15 Diagnostics on page 276.
Enter:
• Motor rated frequency in Pr 0.47 (Hz) Mot X XXXXXXXXX
Enter motor No XXXXXXXXXX kg
• Motor rated current in Pr 0.46 (A) IP55 I.cl F °C 40 s S1
nameplate details
• Motor rated speed in Pr 0.45 (rpm) V Hz min-1 kW cosφ
230 50 1445 2.20 0.80
A
8.50
400 4.90
• Motor rated voltage in Pr 0.44 (V) - check if or connection CN = 14.5Nm
I.E.C 34 1(87)
240 50 1445 2.20 0.76 8.50
415 4.90
CN = 14.4Nm
CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN
Enter: 100Hz
The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill
before an autotune is enabled. A rotating autotune should be used whenever possible so the
measured value of power factor of the motor is used by the drive.
A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction
selected regardless of the reference provided. Once complete the motor will coast to a
stop. The enable signal must be removed before the drive can be made to run at the
required reference.
WARNING
The drive can be stopped at any time by removing the run signal or removing the drive
enable. cos ∅
• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the
load from the motor shaft. A stationary autotune measures the stator resistance of the motor and
Autotune the voltage offset in the drive. These are required for good performance in vector control modes. A
stationary autotune does not measure the power factor of the motor so the value on the motor
nameplate must be entered into Pr 0.43. RS
σLS
• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first
performs a stationary autotune before rotating the motor at 2/3 base speed in the direction
selected. The rotating autotune measures the power factor of the motor.
To perform an autotune:
• Set Pr 0.40 = 1 for a stationary autotune or set Pr 0.40 = 2 for a rotating autotune
• Close the Drive Enable signal (terminal 31). The drive will display ’rdY’.
• Close the run signal (terminal 26 or 27). The lower display will flash ’Auto’ and ’tunE’ alternatively,
while the drive is performing the autotune.
• Wait for the drive to display ’rdY’ or ‘inh’ and for the motor to come to a standstill.
If the drive trips, see Chapter 15 Diagnostics on page 276.
Remove the drive enable and run signal from the drive.
Enter 1000 in Pr xx.00
Save parameters
Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)
Ensure:
• Drive Enable signal is not given (terminal 31)
Before power-up
• Run signal is not given
• Motor and feedback device are connected
Verify that Closed Loop mode is displayed as the drive powers up. If the mode is incorrect see section
7.6 Changing the operating mode on page 109.
Power-up the If a motor thermistor is not connected and the drive trips on ‘th’ set Pr 0.21 = VOLt and press the red reset
drive button.
Ensure:
• Drive displays ‘inh’. If the drive trips, see Chapter 15 Diagnostics on page 276.
Select RFC
mode and • Set Pr 3.24 = 1 or 3 to select RFC mode
disable encoder • Set Pr 3.40 = 0
wire-break trip
Enter:
Enter motor • Motor rated frequency in Pr 0.47 (Hz)
Mot X XXXXXXXXX
details • Motor rated speed (base speed - slip speed) in Pr 0.45 (rpm) 230 50 1445 2.20 0.80
400
CN = 14.5Nm
8.50
4.90
I.E.C 34 1(87)
240 50 1445 2.20 0.76 8.50
Enter:
Set acceleration / 1000rpm
• Acceleration rate in Pr 0.03 (s/1000rpm)
deceleration
• Deceleration rate in Pr 0.04 (s/1000rpm) (If braking resistor installed, set Pr 0.15 = FAST. Also ensure
rates
Pr 10.30 and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.) 0.03 0.04
t
A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected
regardless of the reference provided. Once complete the motor will coast to a stop. The enable signal
must be removed before the drive can be made to run at the required reference.
The drive can be stopped at any time by removing the run signal or removing the drive enable. cos ∅
WARNING
• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load
from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of
the motor. These are used to calculate the current loop gains, and at the end of the test the values in
Autotune
Pr 0.38 and Pr 0.39 are updated. A stationary autotune does not measure the power factor of the motor so RS
σLS
the value on the motor nameplate must be entered into Pr 0.43. LS
• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a
T saturation
stationary autotune before rotating the motor at 2/3 base speed in the direction selected. The rotating Nm break-
points
autotune measures the stator inductance of the motor and calculates the power factor. N rpm
To perform an autotune:
• Set Pr 0.40 = 1 for a stationary autotune or set Pr 0.40 = 2 for a rotating autotune
• Close the Drive Enable signal (terminal 31). The drive will display ’rdY’.
• Close the run signal (terminal 26 or 27). The lower display will flash ’Auto’ and ’tunE’ alternatively, while
the drive is performing the autotune.
• Wait for the drive to display ‘rdY’ or ‘inh’ and for the motor to come to a standstill
If the drive trips, see Chapter 15 Diagnostics on page 276.
Remove the drive enable and run signal from the drive.
Enter 1000 in Pr xx.00
Save parameters
Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)
Set motor
feedback Setting the encoder voltage supply too high for the encoder could result in damage to the feedback
parameters device.
CAUTION
• Drive encoder Lines Per Revolution (LPR) in Pr 3.34 (set according to encoder)
• Drive encoder termination resistor setting in Pr. 3.39:
0 = A-A\, B-B\, Z-Z\ termination resistors disabled
1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled
2 = A-A\, B-B\, Z-Z\ termination resistors enabled
Enter:
Enter motor • Motor rated frequency in Pr 0.47 (Hz)
• Motor rated current in Pr 0.46 (A)
Mot X XXXXXXXXX
nameplate IP55
No XXXXXXXXXX kg
I.cl F °C 40 s S1
Hz min-1 kW cosφ
I.E.C 34 1(87)
240 50 1445 2.20 0.76 8.50
Enter:
Set acceleration / 1000rpm
• Acceleration rate in Pr 0.03 (s/1000rpm)
deceleration
• Deceleration rate in Pr 0.04 (s/1000rpm) (If braking resistor installed, set Pr 0.15 = FAST. Also ensure
rates
Pr 10.30 and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.) 0.03 0.04
t
Unidrive SP is able to perform either a stationary or a rotating autotune. The motor must be at a
standstill before an autotune is enabled. A stationary autotune will give moderate performance whereas
a rotating autotune will give improved performance as it measures the actual values of the motor
parameters required by the drive.
A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected
regardless of the reference provided. Once complete the motor will coast to a stop. The enable
signal must be removed before the drive can be made to run at the required reference.
WARNING The drive can be stopped at any time by removing the run signal or removing the drive enable. cos ∅
• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load
from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of
the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr
Autotune 0.38 and Pr 0.39 are updated. A stationary autotune does not measure the power factor of the motor so RS
σLS
the value on the motor nameplate must be entered into Pr 0.43. LS
• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a
T saturation
stationary autotune before rotating the motor at 2/3 base speed in the direction selected. The rotating Nm break-
points
autotune measures the stator inductance of the motor and calculates the power factor.
N rpm
To perform an autotune:
• Set Pr 0.40 = 1 for a stationary autotune or set Pr 0.40 = 2 for a rotating autotune
• Close the Drive Enable signal (terminal 31). The drive will display ‘rdY’
• Close the run signal (terminal 26 or 27). The lower display will flash ‘Auto’ and ‘tunE’ alternatively, while
the drive is performing the autotune.
• Wait for the drive to display ‘rdY’ or ‘inh’ and for the motor to come to a standstill
If the drive trips, see Chapter 15 Diagnostics on page 276.
Remove the drive enable and run signal from the drive.
Enter 1000 in Pr xx.00
Save parameters
Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)
Run Drive is now ready to run
9.4.4 Servo
Permanent magnet motor with a speed and position feedback device
For simplicity only an incremental quadrature encoder with commutation outputs will be considered here. For information on setting up one of the
other supported speed feedback devices, refer to section 9.6 Setting up a feedback device on page 134.
Action Detail
Ensure:
• Drive Enable signal is not given (terminal 31)
Before power-
• Run signal is not given
up
• Motor is connected
• Feedback device is connected
Verify that Servo mode is displayed as the drive powers up. If the mode is incorrect see section 7.6 Changing the
operating mode on page 109.
Power-up the If a motor thermistor is not connected and the drive trips on ‘th’ set Pr 0.21 = VOLt and press the red reset button.
drive Ensure:
• Drive displays ‘inh’
If the drive trips, see Chapter 15 Diagnostics on page 276.
Incremental encoder basic set-up
Enter:
• Drive encoder type in Pr. 3.38 = Ab.SErVO (3): Quadrature encoder with commutation outputs
• Encoder power supply in Pr. 3.36 = 5V (0), 8V (1) or 15V (2).
NOTE If output voltage from the encoder is >5V, then the termination resistors must be disabled Pr 3.39 to 0.
Set motor
feedback Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.
parameters
CAUTION
• Drive encoder Pulses Per Revolution in Pr. 3.34 (set according to encoder)
• Drive encoder termination resistor setting in Pr. 3.39:
0 = A-A\, B-B\, Z-Z\ termination resistors disabled
1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled
2 = A-A\, B-B\, Z-Z\ termination resistors enabled
Enter:
Enter motor • Motor rated current in Pr 0.46 (A)
nameplate Ensure that this equal to or less than the Heavy Duty rating of the drive otherwise It.AC trips may occur Model No: 95UXXXXXXXXXXXX
Volts: 380/480
Cont: 7.7Nm:4.81Arms
Brake: 12Nm
24V
0.67A
Set Enter:
acceleration / • Acceleration rate in Pr 0.03 (s/1000rpm)
1000rpm
deceleration • Deceleration rate in Pr 0.04 (s/1000rpm) (If braking resistor installed, set Pr 0.15 = FAST. Also ensure Pr 10.30
rates and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.) 0.03 0.04
t
Unidrive SP is able to perform a short low speed, a normal low speed or a minimal movement autotune. The
motor must be at a standstill before an autotune is enabled. A normal low speed autotune will measure the
encoder phase offset angle and calculate the current gains.
The short low speed and normal low speed tests will rotate the motor by up to 2 revolutions in the direction
selected, regardless of the reference provided. The minimal movement test will move the motor through an
angle defined by Pr 5.38. Once complete the motor will come to a standstill. The enable signal must be
WARNING
removed before the drive can be made to run at the required reference.
The drive can be stopped at any time by removing the run signal or removing the Drive Enable.
The motor must not be loaded when attempting an autotune.
• The short low speed and normal low speed tests will rotate the motor by up to 2 rotations in the direction 0
selected and the drive measures the encoder phase angle and updates the value in Pr 3.25. The normal low
speed test also measures the stator resistance, and inductance of the motor. These are used to calculate the 0
Autotune current loop gains, and at the end of the test the values in Pr 0.38 and Pr 0.39 are updated. The short low
speed test takes approximately 2s and the normal low speed test approximately 20s to complete.
• The minimal movement autotune will move the motor through an angle defined by Pr 5.38. The motor
must not be loaded for this test although it will operate correctly when the load is an inertia.
To perform an autotune:
• Set Pr 0.40 = 1 for a short low speed autotune, Pr 0.40 = 2 for a normal low speed test or Pr 0.40 = 5 for
a minimal movement autotune.
• Close the run signal (terminal 26 or 27).
• Close the Drive Enable signal (terminal 31). The lower display will flash 'Auto' and 'tunE' alternatively,
while the drive is performing the test.
• Wait for the drive to display 'rdy' or ‘inh’ and for the motor to come to a standstill.
If the drive trips it cannot be reset until the drive enable signal (terminal 31) has been removed. See Chapter
15 Diagnostics on page 276.
Remove the drive enabled and run signal from the drive.
Save Enter 1000 in Pr xx.00
parameters Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)
Run Drive is now ready to run
If output voltage from the encoder is >5V, then the termination resistors must be disabled Pr 3.39 to 0
Set to the number of lines or sine waves per revolution of the encoder.
Encoder number of lines per
Pr 3.34 See section 9.6.3 Restriction of encoder number of lines per revolution on page 137 for restrictions
revolution
on this parameter.
0 = A, B, Z termination resistors disabled
Encoder termination selection
Pr 3.39 1 = A, B termination resistors enabled and Z termination resistors disabled
(Ab or Ab.SErVO only)
2 = A, B, Z termination resistors enabled
0 = Error detection disable
1 = Wire break detection on A, B and Z inputs enabled
Encoder error detection level Pr 3.40 2 = Phase error detection (Ab.SErVO only)
3 = Wire break detection on A, B and Z inputs and phase error detection (Ab.SErVO only)
Termination resistors must be enabled for wire break detection to operate
* These settings should only be used in closed loop vector mode, otherwise a phase offset test must be performed after every power up.
If output voltage from the encoder is >5V, then the termination resistors must be disabled Pr 3.39 to 0
Set to the number of pulses per revolution of the encoder divide by 2.
Encoder number of lines per
Pr 3.34 See section 9.6.3 Restriction of encoder number of lines per revolution on page 137 for restrictions
revolution
on this parameter.
0 = F or CW, D or CCW, Z termination resistors disabled
Encoder termination selection Pr 3.39 1 = F or CW, D or CCW termination resistors enabled and Z termination resistors disabled
2 = For CW, D or CCW, Z termination resistors enabled
0 = Error detection disable
1 = Wire break detection on F & D or CW & CCW, and Z inputs enabled
2 = Phase error detection (Fd.SErVO and Fr.SErVO only)
Encoder error detection level Pr 3.40
3 = Wire break detection on F & D or CW & CCW, and Z inputs and Phase error detection
(Fd.SErVO and Fr.SErVO only)
Termination resistors must be enabled for wire break detection to operate
* These settings should only be used in closed loop vector mode, otherwise a phase offset test must be performed after every power up.
At power-up Pr 3.48 is initially zero, but is set to one when the drive encoder and any encoders connected to any Solutions Modules have been
initialized. The drive cannot be enabled until this parameter is one.
Encoder initialization will occur as follows:
• At drive power-up
• When requested by the user via Pr 3.47
• When trips PS.24V, Enc1 to Enc8, or Enc11 to Enc17 trips are reset
• The encoder number of lines per revolution (Pr 3.34) or the number of motor poles (Pr 5.11 and Pr 21.11) are changed (software version
V01.08.00 and later).
Initialization causes an encoder with communications to be re-initialized and auto-configuration to be performed if selected. After initialization
Ab.SErVO, Fd.SErVO and Fr.SErVO encoders will use the UVW commutations signals to give position feedback for the first 120° (electrical) of
rotation when the motor is restarted.
10 Optimization
This chapter takes the user through methods of optimizing the product
set-up, maximizing performance. The auto-tuning features of the drive
simplify this task.
10.1 Motor map parameters
10.1.1 Open loop motor control
Pr 0.46 {5.07} Motor rated current Defines the maximum continuous motor current
The motor rated current parameter must be set to the maximum continuous current of the motor. (See section 10.2 Maximum motor rated current on
page 148, for information about setting this parameter higher then the maximum Heavy Duty current rating.) The motor rated current is used in the following:
• Current limits (see section 10.3 Current limits on page 148, for more information)
• Motor thermal overload protection (see section 10.4 Motor thermal protection on page 148, for more information)
• Vector mode voltage control (see Voltage mode Pr 0.07, later in this table)
• Slip compensation (see Slip compensation Pr 5.27, later in this table)
• Dynamic V/F control
Pr 0.44 {5.09} Motor rated voltage Defines the voltage applied to the motor at rated frequency
Pr 0.47 {5.06} Motor rated frequency Defines the frequency at which rated voltage is applied
The motor rated voltage Pr 0.44 and the motor rated frequency Pr 0.47 Pr 0.44
calculate the rated slip for slip compensation (see motor rated speed
Pr 0.45, later in this table).
Pr 0.45 {5.08} Motor rated speed Defines the full load rated speed of the motor
Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles
The motor rated speed and the number of poles are used with the motor rated frequency to calculate the rated slip of induction machines in Hz.
0.42 0.45
Rated slip (Hz) = Motor rated frequency - (Number of pole pairs x [Motor rated speed / 60]) = 0.47 – ⎛ ----------- × -----------⎞
⎝ 2 60 ⎠
If Pr 0.45 is set to 0 or to synchronous speed, slip compensation is disabled. If slip compensation is required this parameter should be set to the
nameplate value, which should give the correct rpm for a hot machine. Sometimes it will be necessary to adjust this when the drive is commissioned
because the nameplate value may be inaccurate. Slip compensation will operate correctly both below base speed and within the field-weakening
region. Slip compensation is normally used to correct for the motor speed to prevent speed variation with load. The rated load rpm can be set higher
than synchronous speed to deliberately introduce speed droop. This can be useful to aid load sharing with mechanically coupled motors.
Pr 0.42 is also used in the calculation of the motor speed display by the drive for a given output frequency. When Pr 0.42 is set to ‘Auto’, the number
of motor poles is automatically calculated from the rated frequency Pr 0.47, and the motor rated speed Pr 0.45.
Number of poles = 120 x (Motor rated frequency Pr 0.47 / Motor rated speed Pr 0.45) rounded to the nearest even number
Pr 0.43 {5.10} Motor rated power factor Defines the angle between the motor voltage and current
The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. The power factor is used in conjunction
with the motor rated current Pr 0.46, to calculate the rated active current and magnetising current of the motor. The rated active current is used
extensively to control the drive, and the magnetising current is used in vector mode stator resistance compensation. It is important that this
parameter is set up correctly. The drive can measure the motor rated power factor by performing a rotating autotune (see Autotune Pr 0.40, below).
Pr 0.40 {5.12} Autotune
There are two autotune tests available in open loop mode, a stationary and a rotating test. A rotating autotune should be used whenever possible so
the measured value of power factor of the motor is used by the drive.
• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary test
measures the stator resistance (Pr 5.17) and voltage offset (Pr 5.23), which are required for good performance in vector control modes (see
Voltage mode Pr 0.07, later in this table). The stationary autotune does not measure the power factor of the motor so the value on the motor
nameplate must be entered into Pr 0.43. To perform a Stationary autotune, set Pr 0.40 to 1, and provide the drive with both an enable signal (on
terminal 31) and a run signal (on terminal 26 or 27).
• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, as above, before rotating the
motor at 2/3 base speed in the direction selected for several seconds (regardless of the speed reference). In addition to the stator resistance (Pr 5.17)
and voltage offset (Pr 5.23), the rotating autotune measures the power factor of the motor and updates Pr 0.43 with the correct value. To perform a
Rotating autotune, set Pr 0.40 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition
before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the SAFE
TORQUE OFF signal from terminal 31, setting the drive enable parameter Pr 6.15 to OFF (0) or disabling the drive via the control word (Pr 6.42 &
Pr 6.43).
Pr 0.44 Pr 0.44
Pr 0.44 / 2
Shaft speed
Load
In order to prevent the speed droop shown above slip compensation should be enabled.
To enable slip compensation Pr 5.27 must be set to a 1 (this is the default setting), and the motor rated speed must be entered in Pr 0.45 (Pr 5.08).
The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed. This is normally displayed on the
motor nameplate, i.e. for a typical 18.5kW, 50Hz, 4 pole motor, the motor rated speed would be approximately 1465rpm. The synchronous speed for
a 50Hz, 4 pole motor is 1500rpm, so therefore the slip speed would be 35rpm.
If the synchronous speed is entered in Pr 0.45, slip compensation will be disabled. If too small a value is entered in Pr 0.45, the motor will run faster
than the demanded frequency.
The synchronous speeds for 50Hz motors with different numbers of poles are as follows:
2 pole = 3000rpm, 4 pole = 1500rpm, 6pole =1000rpm, 8 pole = 750rpm
Pr 0.46 {5.07} Motor rated current Defines the maximum motor continuous current
The motor rated current parameter must be set to the maximum continuous current of the motor. (See section 10.2 Maximum motor rated current on
page 148, for information about setting this parameter higher than the maximum Heavy Duty current rating.) The motor rated current is used in the
following:
• Current limits (see section 10.3 Current limits on page 148, for more information)
• Motor thermal overload protection (see section 10.4 Motor thermal protection on page 148, for more information)
• Vector control algorithm
Pr 0.44 {5.09} Motor rated voltage Defines the voltage applied to the motor at rated frequency
Pr 0.47 {5.06} Motor rated frequency Defines the frequency at which rated voltage is applied
The motor rated voltage Pr 0.44 and the motor rated frequency Pr 0.47
Output voltage characteristic
are used to define the relationship between the voltage and frequency Output
voltage
applied to the motor, as shown.
The motor rated voltage is used by the field controller to limit the voltage Pr 0.44
applied to the motor. Normally this is set to the nameplate value. To allow
current control to be maintained, it is necessary for the drive to leave
some 'headroom' between the motor terminal voltage and the maximum
available drive output voltage. For good transient performance at high
Pr 0.44 / 2
speed, the motor rated voltage should be set below 95% of the minimum
supply voltage to the drive.
The motor rated voltage and motor rated frequency are also used during
the rotating autotune test (see Autotune Pr 0.40 later in this table) and in
the calculations required for automatic optimization of the motor rated
Output
speed (see Motor rated speed optimization Pr 5.16, later in this table). Pr 0.47 / 2 Pr 0.47
frequency
Therefore, it is important that the correct value for motor rated voltage is
used.
Pr 0.45 {5.08} Motor rated speed Defines the full load rated speed of the motor
Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles
The motor rated speed and motor rated frequency are used to determine the full load slip of the motor which is used by the vector control algorithm.
Incorrect setting of this parameter has the following effects:
• Reduced efficiency of motor operation
• Reduction of maximum torque available from the motor
• Reduced transient performance
• Inaccurate control of absolute torque in torque control modes
The nameplate value is normally the value for a hot motor; however, some adjustment may be required when the drive is commissioned if the
nameplate value is inaccurate. Either a fixed value can be entered in this parameter or an optimization system may be used to automatically adjust
this parameter (see Motor rated speed autotune Pr 5.16, later in this table).
When Pr 0.42 is set to ‘Auto’, the number of motor poles is automatically calculated from the motor rated frequency Pr 0.47, and the motor rated
speed Pr 0.45
Number of poles = 120 x (Motor rated frequency Pr 0.47 / Motor rated speed Pr 0.45) rounded to the nearest even number
Pr 0.43 {5.10} Motor rated power factor Defines the angle between the motor voltage and current
The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. If the stator inductance is set to zero
(Pr 5.25) then the power factor is used in conjunction with the motor rated current Pr 0.46 and other motor parameters to calculate the rated active
and magnetising currents of the motor, which are used in the vector control algorithm. If the stator inductance has a non-zero value this parameter
is not used by the drive, but is continuously written with a calculated value of power factor. The stator inductance can be measured by the drive by
performing a rotating autotune (see Autotune Pr 0.40, later in this table).
It is highly recommended that a rotating autotune is performed (Pr 0.40 set to 2).
• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary
autotune measures the stator resistance (Pr 5.17) and transient inductance (Pr 5.24) of the motor. These are used to calculate the current loop
gains, and at the end of the test the values in Pr 4.13 and Pr 4.14 are updated. A stationary autotune does not measure the power factor of the
motor so the value on the motor nameplate must be entered into Pr 0.43. To perform a Stationary autotune, set Pr 0.40 to 1, and provide the
drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune before rotating the
motor at 2/3 of motor rated frequency in the direction selected for approximately 30s. During the rotating autotune the stator inductance (Pr 5.25),
and the motor saturation breakpoints (Pr 5.29 and Pr 5.30) are modified by the drive. The power factor is also modified for user information only,
but is not used after this point as the stator inductance is used in the vector control algorithm instead. To perform a Rotating autotune, set Pr
0.40 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop
gains) and to provide torque feed-forwards when required during acceleration.
During the inertia measurement test the drive attempts to accelerate the motor in the direction selected up to 3/4 x rated load rpm and then back
to standstill. The drive uses rated torque/16, but if the motor cannot be accelerated to the required speed the drive then increases the torque
progressively to x1/8, x1/4, x1/2 and x1 rated torque. If the required speed is not achieved on the final attempt the test is aborted and a tunE1 trip
is initiated. If the test is successful the acceleration and deceleration times are used to calculate the motor and load inertia which is then written
to Pr 3.18. The motor map parameters must be set up correctly including the power factor before performing an inertia measurement test.
To perform an Inertia measurement autotune, set Pr 0.40 to 3, and provide the drive with both an enable signal (on terminal 31) and a run signal
(on terminal 26 or 27).
Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition
before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the SAFE
TORQUE OFF signal from terminal 31, setting the drive enable parameter Pr 6.15 to OFF (0) or disabling the drive via the control word (Pr 6.42 &
Pr 6.43).
Pr 0.38 {4.13} / Pr 0.39 {4.14} Current loop gains
The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The
default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to
change the gains to improve the performance. The proportional gain (Pr 4.13) is the most critical value in controlling the performance. The values
for the current loop gains can be calculated by one of the following:
• During a stationary or rotating autotune (see Autotune Pr 0.40, earlier in this table) the drive measures the stator resistance (Pr 5.17) and
transient inductance (Pr 5.24) of the motor and calculates the current loop gains.
• By setting Pr 0.40 to 4 the drive will calculate the current loop gains from the values of stator resistance (Pr 5.17) and transient inductance
(Pr 5.24) set in the drive.
This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor
of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5% overshoot. The equation for the integral
gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux
very closely (i.e. high speed RFC induction motor applications) the integral gain may need to have a significantly higher value.
Pr 3.42 Drive encoder filter
In RFC mode Pr 3.42 defines a filter on the output of the speed estimator which is used as the speed feedback. A filter with a 4ms time constant is
always present on the output of the speed estimator, but this filter may be extended as follows:
0 = 4ms, 1 = 8ms, 2 = 16ms, 3 = 32ms, 4 = 64ms, 5 = 128ms.
The output of the speed estimator can include some ripple, which increases as the drive passes into field weakening and the filter can be used to
remove this ripple. This is particularly useful when using standard ramp or spinning start with a low friction, high inertia load, and can prevent over
voltage trips when the drive has no braking resistor.
Pr 5.40 Spin start boost
If Pr 6.09 is set to enable the catch a spinning motor function in open-loop mode or RFC modes, this parameter defines a scaling function used by
the algorithm that detects the speed of the motor. It is likely that for smaller motors (~4kW) the default value of 1.0 is suitable, but for larger motors
this parameter may need to be increased. If the value of this parameter is too large the motor may accelerate from standstill when the drive is
enabled. If the value of this parameter is too small the drive will detect the motor speed as zero even if the motor is spinning.
Speed loop gains (Pr 0.07 {3.10}, Pr 0.08 {3.11}, Pr 0.09 {3.12})
The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp)
and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for
use by the speed controller with Pr 3.16. If Pr 3.16 = 0, gains Kp1, Ki1 and Kd1 (Pr 0.07 to Pr 0.09) are used, and if Pr 3.16 = 1, gains Kp2, Ki2 and
Kd2 (Pr 3.13 to Pr 3.15) are used. Pr 3.16 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and
constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of
Pr 3.17.
Proportional gain (Kp), Pr 0.07 {3.10} and Pr 3.13
If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed
error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This
effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the
proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is
reached.
Integral gain (Ki), Pr 0.08 {3.11} and Pr 3.14
The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque
demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the
integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by
increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the
application. For RFC mode, it is unlikely that the integral gain can be increased much above 0.50.
Differential gain (Kd), Pr 0.09 {3.12} and Pr 3.15
The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that
does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced
by under-damping, however, for most applications the proportional and integral gains alone are sufficient.
There are three methods of tuning the speed loop gains dependant on the setting of Pr 3.17:
1. Pr 3.17 = 0, User set-up.
This involves the connecting of an oscilloscope to analog output 1 to
monitor the speed feedback.
Give the drive a step change in speed reference and monitor the
response of the drive on the oscilloscope.
The proportional gain (Kp) should be set up initially. The value
should be increased up to the point where the speed overshoots and Speed demand
then reduced slightly.
The integral gain (Ki) should then be increased up to the point where
the speed becomes unstable and then reduced slightly.
It may now be possible to increase the proportional gain to a higher
value and the process should be repeated until the system response Insufficient proportional
matches the ideal response as shown. gain [0.07]
The diagram shows the effect of incorrect P and I gain settings as
well as the ideal response.
2. Pr 3.17 = 1, Bandwidth set-up
If bandwidth based set-up is required, the drive can calculate Kp and
Excessive proportional
Ki if the following parameters are set up correctly: gain [0.07]
Pr 3.20 - Required bandwidth,
Pr 3.21 - Required damping factor,
Pr 3.18 - Motor and load inertia. The drive can be made to
measure the motor and load inertia by performing an inertia
Excessive integral gain
measurement autotune (see Autotune Pr 0.40, earlier in this [0.08]
table).
3. Pr 3.17 = 2, Compliance angle set-up
If compliance angle based set-up is required, the drive can calculate
Kp and Ki if the following parameters are set up correctly:
Ideal response
Pr 3.19 - Required compliance angle,
Pr 3.21 - Required damping factor,
Pr 3.18 - Motor and load inertia The drive can be made to
measure the motor and load inertia by performing an inertia
measurement autotune (see Autotune Pr 0.40, earlier in this
table).
Pr 0.47 {5.06} Motor rated frequency Defines the frequency at which rated voltage is applied
The motor rated voltage Pr 0.44 and the motor rated frequency Pr 0.47
Output voltage characteristic
are used to define the relationship between the voltage and frequency Output
voltage
applied to the motor, as shown.
The motor rated voltage is used by the field controller to limit the voltage Pr 0.44
applied to the motor. Normally this is set to the nameplate value. To allow
current control to be maintained, it is necessary for the drive to leave
some 'headroom' between the motor terminal voltage and the maximum
available drive output voltage. For good transient performance at high
Pr 0.44 / 2
speed, the motor rated voltage should be set below 95% of the minimum
supply voltage to the drive.
The motor rated voltage and motor rated frequency are also used during
the rotating autotune test (see Autotune Pr 0.40 later in this table) and in
the calculations required for automatic optimization of the motor rated
Output
speed (see Motor rated speed optimization Pr 5.16, later in this table). Pr 0.47 / 2 Pr 0.47
frequency
Therefore, it is important that the correct value for motor rated voltage is
used.
Pr 0.45 {5.08} Motor rated speed Defines the full load rated speed of the motor
Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles
The motor rated speed and motor rated frequency are used to determine the full load slip of the motor which is used by the vector control algorithm.
Incorrect setting of this parameter has the following effects:
• Reduced efficiency of motor operation
• Reduction of maximum torque available from the motor
• Reduced transient performance
• Inaccurate control of absolute torque in torque control modes
The nameplate value is normally the value for a hot motor; however, some adjustment may be required when the drive is commissioned if the
nameplate value is inaccurate. Either a fixed value can be entered in this parameter or an optimization system may be used to automatically adjust
this parameter (see Motor rated speed autotune Pr 5.16, later in this table).
When Pr 0.42 is set to ‘Auto’, the number of motor poles is automatically calculated from the motor rated frequency Pr 0.47, and the motor rated
speed Pr 0.45
Number of poles = 120 x (Motor rated frequency Pr 0.47 / Motor rated speed Pr 0.45) rounded to the nearest even number
Pr 0.43 {5.10} Motor rated power factor Defines the angle between the motor voltage and current
The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. If the stator inductance is set to zero (Pr
5.25) then the power factor is used in conjunction with the motor rated current Pr 0.46 and other motor parameters to calculate the rated active and
magnetising currents of the motor, which are used in the vector control algorithm. If the stator inductance has a non-zero value this parameter is not
used by the drive, but is continuously written with a calculated value of power factor. The stator inductance can be measured by the drive by
performing a rotating autotune (see Autotune Pr 0.40, later in this table).
Speed loop gains (Pr 0.07 {3.10}, Pr 0.08 {3.11}, Pr 0.09 {3.12})
The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp)
and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for
use by the speed controller with Pr 3.16. If Pr 3.16 = 0, gains Kp1, Ki1 and Kd1 (Pr 0.07 to Pr 0.09) are used, and if Pr 3.16 = 1, gains Kp2, Ki2 and
Kd2 (Pr 3.13 to Pr 3.15) are used. Pr 3.16 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and
constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of
Pr 3.17.
Proportional gain (Kp), Pr 0.07 {3.10} and Pr 3.13
If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed
error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This
effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the
proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the closed-loop stability
limit is reached.
Integral gain (Ki), Pr 0.08 {3.11} and Pr 3.14
The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque
demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the
integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by
increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the
application.
Differential gain (Kd), Pr 0.09 {3.12} and Pr 3.15
The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that
does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced
by under-damping, however, for most applications the proportional and integral gains alone are sufficient.
There are three methods of tuning the speed loop gains dependant on the setting of Pr 3.17:
1. Pr 3.17 = 0, User set-up.
This involves the connecting of an oscilloscope to analog output 1 to
monitor the speed feedback.
Give the drive a step change in speed reference and monitor the
response of the drive on the oscilloscope.
The proportional gain (Kp) should be set up initially. The value
should be increased up to the point where the speed overshoots and Speed demand
then reduced slightly.
The integral gain (Ki) should then be increased up to the point where
the speed becomes unstable and then reduced slightly.
It may now be possible to increase the proportional gain to a higher
value and the process should be repeated until the system response Insufficient proportional
matches the ideal response as shown. gain [0.07]
The diagram shows the effect of incorrect P and I gain settings as
well as the ideal response.
2. Pr 3.17 = 1, Bandwidth set-up
If bandwidth based set-up is required, the drive can calculate Kp and
Excessive proportional
Ki if the following parameters are set up correctly: gain [0.07]
Pr 3.20 - Required bandwidth,
Pr 3.21 - Required damping factor,
Pr 3.18 - Motor and load inertia. The drive can be made to
measure the motor and load inertia by performing an inertia
Excessive integral gain
measurement autotune (see Autotune Pr 0.40, earlier in this [0.08]
table).
3. Pr 3.17 = 2, Compliance angle set-up
If compliance angle based set-up is required, the drive can calculate
Kp and Ki if the following parameters are set up correctly:
Ideal response
Pr 3.19 - Required compliance angle,
Pr 3.21 - Required damping factor,
Pr 3.18 - Motor and load inertia The drive can be made to
measure the motor and load inertia by performing an inertia
measurement autotune (see Autotune Pr 0.40, earlier in this
table).
• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop
gains) and to provide torque feed-forwards when required during acceleration.
During the inertia measurement test the drive attempts to accelerate the motor in the direction selected up to 3/4 x rated load rpm and then back to
standstill. The drive uses rated torque/16, but if the motor cannot be accelerated to the required speed the drive then increases the torque progressively
to x1/8, x1/4, x1/2 and x1 rated torque. If the required speed is not achieved on the final attempt the test is aborted and a tunE1 trip is initiated. If the test
is successful the acceleration and deceleration times are used to calculate the motor and load inertia which is then written to Pr 3.18. The value of the
value of motor torque per amp in Pr 5.32 and the motor rated speed in Pr 5.08 must be set up correctly before performing an inertia measurement test.
To perform an Inertia measurement autotune, set Pr 0.40 to 3, and provide the drive with both an enable signal (on terminal 31) and a run signal
(on terminal 26 or 27).
• The stationary test to set up current controller gains measures the stator resistance and the transient inductance of the motor, calculates the
current loop gains and updates the current loop gain parameters. This test does not measure the encoder phase angle. This test should only be
performed when the correct phasing angle has been set in Pr 0.43. If the phasing angle is not correct the motor may move and the results may
be incorrect. To perform a stationary test to set up current controller gains, set Pr 0.40 to 4, and provide the drive with both an enable signal (on
terminal 31) and a run signal (on terminal 26 or 27).
• A minimal movement phasing test can measure the encoder phase offset by moving the motor through a small angle. Short current pulses are
applied to the motor to produce a small movement and then to move the motor back to the original position. The size and length of the pulses
are gradually increased (up to a maximum of motor rated current) until the movement is approximately at the level defined by Pr 5.38 electrical
degrees. The resulting movements are used to estimate the phase angle. To perform a minimal movement phasing test, set Pr 0.40 to 5, and
provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive
can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the SAFE TORQUE OFF signal from
terminal 31, setting the drive enable parameter Pr 6.15 to OFF (0) or disabling the drive via the control word (Pr 6.42 & Pr 6.43).
Current loop gains (Pr 0.38 {4.13} / Pr 0.39 {4.14})
The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The
default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to
change the gains to improve the performance. The proportional gain (Pr 4.13) is the most critical value in controlling the performance. The values
for the current loop gains can be calculated by one of the following:
• During a stationary or rotating autotune (see Autotune Pr 0.40, earlier in this table) the drive measures the stator resistance (Pr 5.17) and
transient inductance (Pr 5.24) of the motor and calculates the current loop gains.
• By setting Pr 0.40 to 6 the drive will calculate the current loop gains from the values of stator resistance (Pr 5.17) and transient inductance
(Pr 5.24) set in the drive.
This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor
of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5% overshoot. The equation for the integral
gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux
very closely (i.e. high speed closed-loop induction motor applications) the integral gain may need to have a significantly higher value.
Speed loop gains (Pr 0.07 {3.10}, Pr 0.08 {3.11}, Pr 0.09 {3.12})
The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp)
and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for
use by the speed controller with Pr 3.16. If Pr 3.16 = 0, gains Kp1, Ki1 and Kd1 (Pr 0.07 to Pr 0.09) are used, and if Pr 3.16 = 1, gains Kp2, Ki2 and
Kd2 (Pr 3.13 to Pr 3.15) are used. Pr 3.16 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and
constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of
Pr 3.17.
Proportional gain (Kp), Pr 0.07 {3.10} and Pr 3.13
If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed
error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This
effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the
proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the closed-loop stability
limit is reached.
Integral gain (Ki), Pr 0.08 {3.11} and Pr 3.14
The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque
demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the
integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by
increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the
application.
Differential gain (Kd), Pr 0.09 {3.12} and Pr 3.15
The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that
does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced
by under-damping, however, for most applications the proportional and integral gains alone are sufficient.
There are three methods of tuning the speed loop gains dependant on the setting of Pr 3.17:
1. Pr 3.17 = 0, User set-up.
This involves the connecting of an oscilloscope to analog output 1 to
monitor the speed feedback.
Give the drive a step change in speed reference and monitor the
response of the drive on the oscilloscope.
The proportional gain (Kp) should be set up initially. The value
should be increased up to the point where the speed overshoots and
Speed demand
then reduced slightly.
The integral gain (Ki) should then be increased up to the point where
the speed becomes unstable and then reduced slightly.
It may now be possible to increase the proportional gain to a higher
value and the process should be repeated until the system response
matches the ideal response as shown. Insufficient proportional
gain [0.07]
The diagram shows the effect of incorrect P and I gain settings as
well as the ideal response.
2. Pr 3.17 = 1, Bandwidth set-up
If bandwidth based set-up is required, the drive can calculate Kp and
Ki if the following parameters are set up correctly:
Excessive proportional
Pr 3.20 - Required bandwidth, gain [0.07]
Pr 3.21 - Required damping factor,
Pr 5.32 - Motor torque per amp (Kt).
Pr 3.18 - Motor and load inertia. The drive can be made to
measure the motor and load inertia by performing an inertia
measurement autotune (see Autotune Pr 0.40, earlier in this Excessive integral gain
table). [0.08]
3. Pr 3.17 = 2, Compliance angle set-up
If compliance angle based set-up is required, the drive can calculate
Kp and Ki if the following parameters are set up correctly:
Pr 3.19 - Required compliance angle, Ideal response
Pr 3.21 - Required damping factor,
Pr 5.32 - Motor torque per amp (Kt).
Pr 3.18 - Motor and load inertia The drive can be made to
measure the motor and load inertia by performing an inertia
measurement autotune (see Autotune Pr 0.40, earlier in this
table).
10.2 Maximum motor rated current Figure 10-1 Motor thermal protection (Heavy Duty)
The maximum motor rated current allowed by the drive is greater than
1.05
the maximum Heavy Duty current rating in Pr 11.32. The ratio between 1.00
the Normal Duty rating and the Heavy Duty rating (Pr 11.32) varies
between drive sizes. The values for the Normal and Heavy Duty rating 0.70 Pr 4.25 = 0
can be found in section 3.2 Operating modes on page 19. Pr 4.25 = 1
K
If the motor rated current (Pr 0.46) is set above the maximum Heavy
Duty current rating (Pr 11.32), the current limits and the motor thermal
protection scheme are modified (see section 10.3 Current limits and
section 10.4 Motor thermal protection , for more information).
0.00
10.3 Current limits
50% of base Base speed/
The default settings for the current limit parameters for Unidrive SPMA/D speed/frequency frequency
are:
• 138.1% x motor rated current for open loop mode If Pr 4.25 is 0 the characteristic is for a motor which can operate at rated
• 165.7% x motor rated current for closed loop vector mode current over the whole speed range. Induction motors with this type of
• 150% x motor rated current for servo mode characteristic normally have forced cooling. If Pr 4.25 is 1 the
characteristic is intended for motors where the cooling effect of motor
There are three parameters which control the current limits: fan reduces with reduced motor speed below 50% of base speed/
• Motoring current limit: power flowing from the drive to the motor frequency. The maximum value for K is 1.05, so that above the knee of
• Regen current limit: power flowing from the motor to the drive the characteristics the motor can operate continuously up to 105%
• Symmetrical current limit: current limit for both motoring and regen current.
operation Figure 10-2 Motor thermal protection (Normal Duty)
The lowest of either the motoring and regen current limit, or the
symmetrical current limit applies.
1.00 1.01
The maximum setting of these parameters depends on the values of
motor rated current, drive rated current and the power factor.
0.70 Pr 4.25 = 0
Increasing the motor rated current (Pr 0.46/5.07) above the Heavy Duty Pr 4.25 = 1
rating (default value), will automatically reduce the current limits in K
Pr 4.05 to Pr 4.07. If the motor rated current is then set to or below the
Heavy Duty rating, the current limits will be left at their reduced values.
The drive can be oversized to permit a higher current limit setting to
provide higher accelerating torque as required up to a maximum of 0.00
1000%.
15% of 50% of Base speed/
10.4 Motor thermal protection base speed/ base speed/ frequency
frequency frequency
The drive models the temperature of the motor using the motor rated
current (Pr 5.07), the thermal time constant (Pr 4.15), whether low speed Both settings of Pr 4.25 are intended for motors where the cooling effect
thermal protection mode has been enabled (Pr 4.25) and the actual of the motor fan reduces with reduced motor speed, but with different
current flowing at any point in time. Pr 4.19 gives the estimated motor speeds below which the cooling effect is reduced. If Pr 4.25 is 0 the
temperature as a percentage of maximum temperature. characteristic is intended for motors where the cooling effect reduces
The temperature of the motor (Pr 4.19) as a percentage of maximum with motor speed below 15% of base speed/frequency. If Pr 4.25 is 1 the
temperature, with a constant current magnitude of I, constant value of K characteristic is intended for motors where the cooling effect reduces
and constant value of Motor rated current (Pr 5.07) after time t is given with motor speed below 50% of base speed/frequency. The maximum
by: value for K is 1.01, so that above the knee of the characteristics the
motor can operate continuously up to 101% current.
Percentage motor temperature (Pr 4.19) = [I2 / (K x Motor rated
When the estimated temperature in Pr 4.19 reaches 100% the drive
current)2] (1 - e-t/τ) x 100%
takes some action depending on the setting of Pr 4.16. If Pr 4.16 is 0, the
This assumes that the maximum allowed motor temperature is produced drive trips when Pr 4.19 reaches 100%. If Pr 4.16 is 1, the current limit is
by K x Motor rated current and that τ is the thermal time constant of the reduced to (K - 0.05) x 100% when Pr 4.19 reaches 100%. The current
point in the motor that reaches its maximum allowed temperature first. τ limit is set back to the user defined level when Pr 4.19 falls below 95%.
is defined by Pr 4.15. If Pr 4.15 has a value between 0.0 and 1.0 the The thermal model temperature accumulator is reset to zero at power-up
thermal time constant is taken as 1.0. and accumulates the temperature of the motor while the drive remains
The value of K is defined as shown in Figure 10-1 and Figure 10-2. powered-up. If the rated current defined by Pr 5.07 is altered, the
accumulator is reset to zero.
For both Heavy and Normal duty ratings, Pr 4.25 can be used to select
two alternative protection characteristics. The default setting of the thermal time constant (Pr 4.15) is 89s for an
induction motor (open loop and closed loop vector), which is equivalent
to an overload of 150% for 60s from cold. The default value for a servo
motor is 20s, which is equivalent to an overload of 175% for 9s from
cold.
The time for the drive to trip from cold with constant motor current is
given by:
Ttrip = -(Pr 4.15) x ln(1 - (K x Pr 5.07 / Pr 4.01)2)
Alternatively the thermal time constant can be calculated from the trip This maximum speed limit is defined by the device selected with the
time with a given current from: speed feedback selector (Pr 3.26), and the ELPR set for the position
feedback device. In closed-loop vector mode it is possible to disable this
Pr 4.15 = -Ttrip / ln(1 - (K / Overload)2)
limit via Pr 3.24, so that the drive can be switched between operation
The maximum value for the thermal time constant can be increased up with and without feedback when the speed becomes too high for the
to a maximum value of 3000s to allow an increased overload if the motor feedback device. The maximum speed limit is defined as above when
thermal characteristics permit. Pr 3.24 = 0 or 1, and is 40,000rpm when Pr 3.24 = 2 or 3.
For applications using CT Dynamics Unimotors the thermal time 10.6.2 Field weakening (constant power) operation
constants can be found in the Unimotor manual. (Open loop and closed loop vector mode only)
The drive can be used to run an induction machine above synchronous
10.5 Switching frequency speed into the constant power region. The speed continues to increase
The default switching frequency is 3kHz (6kHz in Servo mode), however and the available shaft torque reduces. The characteristics below show
this can be increased up to a maximum of 16kHz by Pr 5.18 (dependent the torque and output voltage characteristics as the speed is increased
on drive size). The available switching frequencies are shown below. above the rated value.
Table 10-1 Available switching frequencies Figure 10-3 Torque and rated voltage against speed
11 SMARTCARD operation
11.1 Introduction Be aware of possible live terminals when inserting or removing
the SMARTCARD.
This is a standard feature that enables simple configuration of WARNING
parameters in a variety of ways. The SMARTCARD can be used for:
• Parameter copying between drives
• Saving whole drive parameter sets Figure 11-1 Installation of the SMARTCARD
• Saving ‘differences from default‘ parameter sets Installing the SMARTCARD SMARTCARD installed
• Storing Onboard PLC programs rE
Par
am
The SMARTCARD is located at the top of the module under the drive
display (if installed) on the left-hand side. Ensure the SMARTCARD is Par
The SMARTCARD has 999 individual data block locations. Each 11.2.1 Writing to the SMARTCARD
individual location from 1 to 499 can be used to store data until the 3yyy - Transfer data to the SMARTCARD
capacity of the SMARTCARD is used. With software V01.07.00 and later The data block contains the complete parameter data from the drive, i.e.
the drive can support SMARTCARDs with a capacity of between 4kB all user save (US) parameters except parameters with the NC coding bit
and 512kB. With software V01.06.02 and earlier the drive can support set. Power-down save (PS) parameters are not transferred to the
SMARTCARDs with a capacity of 4kB. SMARTCARD.
The data block locations of the SMARTCARD are arranged to have the With software V01.06.02 and earlier, a save must have been performed
following usage: on the drive to transfer the parameters from the drive RAM to the
Table 11-1 SMARTCARD data blocks EEPROM before the transfer to the SMARTCARD is carried out.
4yyy - Write default differences to a SMARTCARD
Data Block Type Example Use The data block only contains the parameter differences from the last
1 to 499 Read / Write Application set ups time default settings were loaded.
500 to 999 Read Only Macros Six bytes are required for each parameter difference. The data density is
not as high as when using the 3yyy transfer method as described in the
‘Differences from default‘ parameter sets will be much smaller than previous section, but in most cases the number of differences from
whole parameter sets and thus take up a lot less memory as most default is small and the data blocks are therefore smaller. This method
applications only require a few parameters to be changed from the can be used for creating drive macros. Power-down save (PS)
default setting. parameters are not transferred to the SMARTCARD.
The whole card may be protected from writing or erasing by setting the The data block format is different depending on the software version.
read-only flag as detailed section 11.2.9 9888 / 9777 - Setting and The data block holds the following parameters:
clearing the SMARTCARD read only flag on page 153.
Software V01.06.02 and earlier
Data transfer to or from the SMARTCARD is indicated by one the All user save (US) parameters, except those with the NC (Not copied)
following: coding bit set or those that do not have a default value, can be
• SM-Keypad: The decimal point after the fourth digit in the upper transferred to the SMARTCARD.
display will flash. Software V01.07.xx
• SM-Keypad Plus: The symbol 'CC' will appear in the lower left hand All user save (US) parameters, except those with the NC (Not copied)
corner of the display coding bit set or those that do not have a default value, can be
The card should not be removed during data transfer, as the drive will transferred to the SMARTCARD. In addition to these parameters all
produce a trip. If this occurs then either the transfer should be menu 20 parameters (except Pr 20.00), can be transferred to the
reattempted or in the case of a card to drive transfer, default parameters SMARTCARD even though they are not user save parameters and have
should be loaded. the NC coding bit set.
Software V01.08.00 onwards
11.2 Transferring data All user save (US) parameters including those that do not have a default
Data transfer, erasing and protecting the information is performed by value (i.e. Pr 3.25 or Pr 21.20 Encoder phase angle), but not including
entering a code in Pr xx.00 and then resetting the drive as shown in those with the NC (Not copied) coding bit set can be transferred to the
Table 11-2. SMARTCARD. In addition to these parameters all menu 20 parameters
(except Pr 20.00), can be transferred to the SMARTCARD even though
Table 11-2 SMARTCARD codes they are not user save parameters and have the NC coding bit set.
Code Action It is possible to transfer parameters between drives with each of the
Transfer drive parameters as difference from defaults to a different formats, however, the data block compare function does not
2001
bootable SMARTCARD block in data block number 001 work with data produced by different formats.
3yyy Transfer drive parameters to a SMARTCARD block number yyy Writing a parameter set to the SMARTCARD (Pr 11.42 = Prog
Transfer drive data as difference from defaults to SMARTCARD (2))
4yyy Setting Pr 11.42 to Prog (2) and resetting the drive will save the
block number yyy
Transfer drive Onboard PLC program to SMARTCARD block parameters to the SMARTCARD, i.e. this is equivalent to writing 3001 to
5yyy Pr xx.00. All SMARTCARD trips apply except 'C.Chg'. If the data block
number yyy
already exists it is automatically overwritten. When the action is
6yyy Transfer SMARTCARD data block yyy to the drive
complete this parameter is automatically reset to nonE (0).
7yyy Erase SMARTCARD data block yyy
11.2.2 Reading from the SMARTCARD
8yyy Compare drive parameters with block yyy
6yyy - Read default differences from a SMARTCARD
Clear SMARTCARD warning suppression flag (V01.07.00 and When the data is transferred back to a drive, using 6yyy in Pr xx.00, it is
9555
later) transferred to the drive RAM and the drive EEPROM. A parameter save
Set SMARTCARD warning suppression flag (V01.07.00 and is not required to retain the data after power-down. Set up data for any
9666
later) Solutions Modules installed are stored on the card and are transferred to
9777 Clear SMARTCARD read-only flag the destination drive. If the Solutions Modules are different between the
9888 Set SMARTCARD read-only flag source and destination drive, the menus for the slots where the
Solutions Module categories are different are not updated from the card
9999 Erase SMARTCARD
and will contain their default values after the copying action. The drive
Where yyy indicates the block number 001 to 999. See Table 11-1 for will produce a 'C.Optn' trip if the Solutions Modules installed to the
restrictions on block numbers. source and destination drive are different or are in different slots. If the
data is being transferred to a drive of a different voltage or current rating
NOTE N a 'C.rtg' trip will occur.
If the read only flag is set then only codes 6yyy or 9777 are effective.
The following drive rating dependant parameters (RA coding bit set) will
not be transferred to the destination drive by a SMARTCARD when the
rating of the destination drive is different from the source drive and the
file is a parameter file (i.e. created using the 3yyy transfer method).
However, with software V01.09.00 and later drive rating dependent • A card is inserted in the drive
parameters will be transferred if only the current rating is different and • Parameter data block 1 exists on the card
the file is a differences from default type file (i.e. created using the 4yyy • The data in block 1 is type 1 to 5 (as defined in Pr 11.38)
transfer method). If drive rating dependant parameters are not • Pr 11.42 on the card set to boot (4)
transferred to the destination drive they will contain their default values. The drive will display 'boot' during this operation. If the drive mode is
Pr 2.08 Standard ramp voltage different from that on the card, the drive gives a 'C.Typ'. trip and the data
Pr 4.05 to Pr 4.07 and Pr 21.27 to Pr 21.29 Current limits is not transferred.
Pr 4.24, User current maximum scaling If 'boot' mode is stored on the copying SMARTCARD this makes the
Pr 5.07, Pr 21.07 Motor rated current copying SMARTCARD the master device. This provides a very fast and
Pr 5.09, Pr 21.09 Motor rated voltage efficient way of re-programming a number of drives.
Pr 5.10, Pr 21.10 Rated power factor
If data block 1 contains a bootable parameter set and data block 2
Pr 5.17, Pr 21.12 Stator resistance contains an Onboard PLC program (type 17 as defined in Pr 11.38), then
Pr 5.18 Switching frequency
if the drive software version is V01.07.00 and later, the onboard PLC
Pr 5.23, Pr 21.13 Voltage offset
program will be transferred to the drive at power up along with the
Pr 5.24, Pr 21.14 Transient inductance parameter set in data block 1.
Pr 5.25, Pr 21.24 Stator inductance
Pr 6.06 DC injection braking current NOTE N
Pr 6.48 Line power supply loss ride through detection level ‘Boot’ mode is saved to the card, but when the card is read, the value of
Reading a parameter set from the SMARTCARD (Pr 11.42 = Pr 11.42 is not transferred to the drive.
rEAd (1)) 11.2.5 Booting up from the SMARTCARD on every
Setting Pr 11.42 to rEAd (1) and resetting the drive will transfer the power up (Pr xx.00 = 2001), software V01.08.00
parameters from the card into the drive parameter set and the drive and later
EEPROM, i.e. this is equivalent to writing 6001 to Pr xx.00. All
It is possible to create a difference from default bootable file by setting
SMARTCARD trips apply. Once the parameters are successfully copied
Pr xx.00 to 2001 and resetting the drive. This type of file causes the
this parameter is automatically reset to nonE (0). Parameters are saved drive to behave in the same way at power-up as a file created with boot
to the drive EEPROM after this action is complete.
mode set up with Pr 11.42. The difference from the default file is that it
NOTE N has the added advantage of including menu 20 parameters.
This operation is only performed if data block 1 on the card is a full Setting Pr xx.00 to 2001 will overwrite data block 1 on the card if it
parameter set (3yyy transfer) and not a default difference file (4yyy already exists.
transfer). If block 1 does not exist a 'C.dAt' trip occurs. If a data block 2 exists and contains an Onboard PLC program (type 17
11.2.3 Auto saving parameter changes (Pr 11.42 = as defined in Pr 11.38), this will also be loaded after the parameters have
Auto (3)) been transferred
This setting causes the drive to automatically save any changes made to A bootable difference from default file can only be created in one operation
menu 0 parameters on the drive to the SMARTCARD. The latest menu 0 and parameters cannot be added as they are saved via menu 0.
parameter set in the drive is therefore always backed up on the
SMARTCARD. Changing Pr 11.42 to Auto (3) and resetting the drive will
11.2.6 8yyy - Comparing the drive full parameter set
immediately save the complete parameter set from the drive to the card,
with the SMARTCARD values
Setting 8yyy in Pr xx.00, will compare the SMARTCARD file with the
i.e. all user save (US) parameters except parameters with the NC coding
bit set. Once the whole parameter set is stored only the individual data in the drive. If the compare is successful Pr xx.00 is simply set to 0.
If the compare fails a ‘C.cpr’ trip is initiated.
modified menu 0 parameter setting is updated.
Advanced parameter changes are only saved to the card when Pr xx.00 11.2.7 7yyy / 9999 - Erasing data from the
is set to a 1000 and the drive reset. SMARTCARD
All SMARTCARD trips apply, except ‘C.Chg’. If the data block already Data can be erased from the SMARTCARD either one block at a time or
contains information it is automatically overwritten. all blocks in one go.
• Setting 7yyy in Pr xx.00 will erase SMARTCARD data block yyy.
If the card is removed when Pr 11.42 is set to 3 Pr 11.42 is then
• Setting 9999 in Pr xx.00 will erase all SMARTCARD data blocks
automatically set to nonE (0).
When a new SMARTCARD is installed Pr 11.42 must be set back to 11.2.8 9666 / 9555 - Setting and clearing the
Auto (3) by the user and the drive reset so the complete parameter set is SMARTCARD warning suppression flag
rewritten to the new SMARTCARD if auto mode is still required. (V01.07.00 and later)
When Pr 11.42 is set to Auto (3) and the parameters in the drive are If the Solutions Modules installed to the source and destination drive are
different or are in different slots the drive will produce a 'C.Optn' trip. If
saved, the SMARTCARD is also updated, therefore the SMARTCARD
the data is being transferred to a drive of a different voltage or current
becomes a copy of the drives stored configuration.
rating a 'C.rtg' trip will occur. It is possible to suppress these trips by
At power up, if Pr 11.42 is set to Auto (3), the drive will save the setting the warning suppression flag. If this flag is set the drive will not
complete parameter set to the SMARTCARD. The drive will display
trip if the Solutions Module(s) or drive ratings are different between the
‘cArd’ during this operation. This is done to ensure that if a user puts a
source and destination drives. The Solutions Module or rating
new SMARTCARD in during power down the new SMARTCARD will dependent parameters will not be transferred.
have the correct data.
• Setting 9666 in Pr xx.00 will set the warning suppression flag
NOTE N • Setting 9555 in Pr xx.00 will clear the warning suppression flag
When Pr 11.42 is set to Auto (3) the setting of Pr 11.42 itself is saved to 11.2.9 9888 / 9777 - Setting and clearing the
the drive EEPROM but NOT to the SMARTCARD. SMARTCARD read only flag
11.2.4 Booting up from the SMARTCARD on every The SMART CARD may be protected from writing or erasing by setting
power up (Pr 11.42 = boot (4)) the read only flag. If an attempt is made to write or erase a data block
When Pr 11.42 is set to boot (4) the drive operates the same as Auto when the read only flag is set, a 'C.rdo' trip is initiated. When the read
mode except when the drive is powered-up. The parameters on the only flag is set only codes 6yyy or 9777 are effective.
SMARTCARD will be automatically transferred to the drive at power up if • Setting 9888 in Pr xx.00 will set the read only flag
the following are true: • Setting 9777 in Pr xx.00 will clear the read only flag.
This parameter shows the number of the data block last transferred from
a SMARTCARD to the drive.
This parameter should have the data block number entered for which the
user would like information displayed in Pr 11.38, Pr 11.39 and Pr 11.40.
175 Erase all data on the SMARTCARD by setting Pr xx.00 to 9999 and pressing the red reset button
Replace SMARTCARD
C.rdo SMARTCARD trip: SMARTCARD has the Read only bit set
Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access
181
Ensure the drive is not writing to data locations 500 to 999 on the card
12.3 Limitations
Compared with the Applications Modules (SM-Applications, SM-
Applications Lite and SM-Applications Plus) when programmed with
SYPT, the Onboard PLC program has the following limitations:
• The maximum program size is 4032 bytes including header and
optional source code.
• The drive is rated for 100 program downloads. This limitation is
imposed by the flash memory used to store the program within the
drive.
• The user cannot create user variables. The user is only able to
manipulate the drive parameter set.
• The program cannot be downloaded or monitored over CTNet. The
program is only accessible via the drives RJ45 serial
communications port.
• There are no real-time tasks, i.e. the scheduling rate of the program
cannot be guaranteed. Applications Modules tasks such as Clock,
Event, Pos0 or Speed are not available. The Onboard PLC should
The Onboard PLC and SYPTLite form the first level of functionality in a
range of programmable options for Unidrive SP.
Figure 12-2 Programming options for Unidrive SP
FUNCTIONALITY
Level 4
SM-Applications or
SM-Applications
Plus with SYPT
software
Level 3
SM-Applications Lite with
SYPT software
Level 2
SM-Applications Lite with
SYPTLite software
Level 1
Onboard PLC with SYPTLite software
CAPABILITY
SYPTLite can be used with either the Onboard PLC in the Unidrive SP 12.5 Onboard PLC parameters
or with SM-Applications Lite to create ladder logic programs.
The following parameters are associated with the Onboard PLC
SYPT can be used with any of the Applications Modules to create fully
program.
flexible programs using ladder logic, function blocks or DPL script.
The drive Onboard PLC program status parameter indicates to the user
the actual state of the drive Onboard PLC program.
11.50 Drive Onboard PLC program average scan time Onboard PLC program attempted access to a non-
UP PAr
existent parameter
RO Uni NC PT
91 Check program
Ú 0 to 65,535 ms Ö
Onboard PLC program attempted write to a read-
UP ro
This parameter is updated once per second or once per Onboard PLC only parameter
program scan whichever is the longest. If more than one program scan 92 Check program
occurs within the one second update period the parameter shows the
average scan time. If the program scan time is longer than one second Onboard PLC program attempted read of a write-
UP So
the parameter shows the time for the last program scan. only parameter
93 Check program
11.51 Drive Onboard PLC program first run UP udF Onboard PLC program undefined trip
RO Bit NC PT 97 Check program
Ú OFF (0) or On (1) Ö UP uSEr Onboard PLC program requested a trip
The Drive Onboard PLC program first run parameter is set for the 96 Check program
duration of program scan from the stopped state. This enables the user
to perform any required initialization every time the program is run. This
parameter is set every time the program is stopped. 12.7 Onboard PLC and the SMARTCARD
The Onboard PLC program in a drive may be transferred from the drive
to a SMARTCARD and vice versa.
• To transfer an Onboard PLC program from the drive to a
SMARTCARD, set Pr xx.00 to 5yyy and reset the drive
• To transfer an Onboard PLC program from the SMARTCARD to a
drive, set Pr xx.00 to 6yyy and reset the drive.
(Where yyy is the data block location, see Table 11-1 SMARTCARD data
blocks on page 152 for restrictions on block numbers).
If an attempt is made to transfer an Onboard PLC program from a drive
to the SMARTCARD when the drive contains no program, the block is
still created on the SMARTCARD but it will contain no data. If this data
block is then transferred to a drive, the destination drive will then have
no Onboard PLC program.
The smallest SMARTCARD compatible with Unidrive SP has a capacity
of 4064 bytes and each block can be up to 4064 bytes in size. The
maximum size of a user program is 4032 bytes so it is guaranteed that
any Onboard PLC program downloaded to a Unidrive SP will fit on to an
empty SMARTCARD. A SMARTCARD can contain a number of
Onboard PLC programs until the capacity of the card is used.
Coding Attribute
This is a quick reference to all parameters in the drive showing units,
RW Read/write: can be written by the user
ranges limits etc, with block diagrams to illustrate their function. Full
descriptions of the parameters can be found in the Advanced User RO Read only: can only be read by the user
Guide on the supplied CD ROM. Bit 1 bit parameter. ‘On’ or ‘OFF’ on the display
Bi Bipolar parameter
These advanced parameters are listed for reference Uni Unipolar parameter
purposes only. The lists in this chapter do not include Txt Text: the parameter uses text strings instead of numbers.
sufficient information for adjusting these parameters. Filtered: some parameters which can have rapidly changing
Incorrect adjustment can affect the safety of the system, and
WARNING FI values are filtered when displayed on the drive keypad for
damage the drive and or external equipment. Before
easy viewing.
attempting to adjust any of these parameters, refer to the
Advanced User Guide. Destination: This parameter selects the destination of an
DE
input or logic function.
Table 13-1 Menu descriptions Rating dependent: this parameter is likely to have different
values and ranges with drives of different voltage and
Menu current ratings. Parameters with this attribute will not be
Description
number transferred to the destination drive by SMARTCARDs when
Commonly used basic set up parameters for quick / easy RA the rating of the destination drive is different from the
0 source drive and the file is a parameter file. However, with
programming
software V01.09.00 and later the value will be transferred if
1 Frequency / speed reference
only the current rating is different and the file is a
2 Ramps differences from default type file.
3 Frequency slaving, speed feedback and speed control Not copied: not transferred to or from SMARTCARDs
NC
4 Torque and current control during copying.
5 Motor control PT Protected: cannot be used as a destination.
6 Sequencer and clock User save: parameter saved in drive EEPROM when the
US
7 Analog I/O user initiates a parameter save.
8 Digital I/O Power-down save: parameter automatically saved in drive
9 Programmable logic, motorized pot and binary sum EEPROM when the under volts (UV) trip occurs. With
PS software version V01.08.00 and later, power-down save
10 Status and trips
parameters are also saved in the drive when the user
11 General drive set-up initiates a parameter save.
12 Threshold detectors and variable selectors
13 Position control
14 User PID controller
15, 16, 17 Solutions Module slots
18 Application menu 1
19 Application menu 2
20 Application menu 3
21 Second motor parameters
22 Additional Menu 0 set-up
NOTE
Parameter numbers shown in brackets {...} are the equivalent Menu 0
parameters. Some Menu 0 parameters appear twice since their function
depends on the operating mode.
The Range - CL column applies to both Closed-loop Vector and Closed-
loop Servo. For some parameters, this column applies only to one of
these modes; this is indicated accordingly in the Default columns.
In some cases, the function or range of a parameter is affected by the
setting of another parameter; the information in the lists relates to the
default condition of such parameters.
Maximum Definition
SPEED_FREQ_MAX Maximum speed (closed-loop mode) reference or frequency (open-loop mode) reference
[Open-loop 550.0 Hz, If Pr 1.08 = 0: SPEED_FREQ_MAX = Pr 1.06
Closed-loop vector and Servo If Pr 1.08 = 1: SPEED_FREQ_MAX is Pr 1.06 or – Pr 1.07 whichever is the largest
40000.0rpm] (If the second motor map is selected Pr 21.01 is used instead of Pr 1.06 and Pr 21.02 instead of Pr 1.07)
Maximum applied to speed reference limits
A maximum limit may be applied to the speed reference to prevent the nominal encoder frequency from
exceeding 500kHz (410kHz for software version V01.06.00 and earlier). The maximum is defined by
SPEED_LIMIT_MAX (in rpm) = 500kHz x 60 / ELPR = 3.0 x 107 / ELPR subject to an absolute maximum of
40,000 rpm.
ELPR is equivalent encoder lines per revolution and is the number of lines that would be produced by a
SPEED_LIMIT_MAX quadrature encoder.
[40000.0rpm] Quadrature encoder ELPR = number of lines per revolution
F and D encoder ELPR = number of lines per revolution / 2
Resolver ELPR = resolution / 4
SINCOS encoder ELPR = number of sine waves per revolution
Serial comms encoder ELPR = resolution / 4
This maximum is defined by the device selected with the speed feedback selector (Pr 3.26) and the ELPR set
for the position feedback device.
In closed-loop vector RFC mode SPEED_LIMIT_MAX = 40,000rpm.
Maximum speed
SPEED_MAX This maximum is used for some speed related parameters in menu 3. To allow headroom for overshoot etc. the
[40000.0rpm] maximum speed is twice the maximum speed reference.
SPEED_MAX = 2 x SPEED_FREQ_MAX
Maximum motor rated current
RATED_CURRENT_MAX = 1.36 x KC.
RATED_CURRENT_MAX
The motor rated current can be increased above KC up to a level not exceeding 1.36 x KC). (Maximum motor
[9999.99A]
rated current is the maximum normal duty current rating.)
The actual level varies from one drive size to another, refer to Table 13-5.
Maximum drive current
DRIVE_CURRENT_MAX
The maximum drive current is the current at the over current trip level and is given by:
[9999.99A]
DRIVE_CURRENT_MAX = KC / 0.45
Maximum output voltage set-point
AC_VOLTAGE_SET_MAX Defines the maximum motor voltage that can be selected.
[690V] 200V drives: 240V, 400V drives: 480V
575V drives: 575V, 690V drives: 690V
Maximum AC output voltage
This maximum has been chosen to allow for maximum AC voltage that can be produced by the drive including
AC_VOLTAGE_MAX
quasi-square wave operation as follows:
[930V]
AC_VOLTAGE_MAX = 0.78 x DC_VOLTAGE_MAX
200V drives: 325V, 400V drives: 650V, 575V drives: 780V, 690V drives: 930V
Maximum DC voltage set-point
DC_VOLTAGE_SET_MAX
200V rating drive: 0 to 400V, 400V rating drive: 0 to 800V
[1150V]
575V rating drive: 0 to 955V, 690V rating drive: 0 to 1150V
Maximum DC bus voltage
DC_VOLTAGE_MAX
The maximum measurable DC bus voltage.
[1190V]
200V drives: 415V, 400V drives: 830V, 575V drives: 990V, 690V drives: 1190V
Maximum Definition
Maximum current limit settings for motor map 1
This maximum current limit setting is the maximum applied to the current limit parameters in motor map 1.
Open Loop
Maximum
current limit
= √[[ Maximum current
Motor rated current
] 2
+ PF2 - 1 ] x 100%
PF
Where:
The Maximum current is either (1.5 x KC) when the motor rated current set in Pr 5.07 is less than or equal to the
maximum Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x Normal Duty rating).
Motor rated current is given by Pr 5.07
PF is motor rated power factor given by Pr 5.10
Closed Loop vector
Maximum
current limit
= √[[ Maximum current
Motor rated current
] 2
+ cos(ϕ1)2 - 1 ] x 100%
MOTOR1_CURRENT_LIMIT_MAX
cos(ϕ1)
[1000.0%]
Where:
The Maximum current is either (1.75 x KC) when the motor rated current set in Pr 5.07 is less than or equal to the
maximum Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x Normal Duty rating).
Motor rated current is given by Pr 5.07
ϕ1 = cos-1(PF) - ϕ2. This is measured by the drive during an autotune. See Menu 4 in the Advanced User
Guide for more information regarding ϕ2.
PF is motor rated power factor given by Pr 5.10
Servo
Maximum
current limit
= [ Maximum current
Motor rated current
] x 100%
Where:
The Maximum current is either (1.75 x KC) when the motor rated current set in Pr 5.07 is less than or equal to the
maximum Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x Normal Duty rating).
Motor rated current is given by Pr 5.07
Maximum current limit settings for motor map 2
MOTOR2_CURRENT_LIMIT_MAX This maximum current limit setting is the maximum applied to the current limit parameters in motor map 2.
[1000.0%] The formulae for MOTOR2_CURRENT_LIMIT_MAX are the same for MOTOR1_CURRENT_LIMIT_MAX
except that Pr 5.07 is replaced with Pr 21.07 and Pr 5.10 is replaced with Pr 21.10.
Maximum torque producing current
TORQUE_PROD_CURRENT_MAX This is used as a maximum for torque and torque producing current parameters. It is
[1000.0%] MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is
currently active.
Current parameter limit selected by the user
The user can select a maximum for Pr 4.08 (torque reference) and Pr 4.20 (percentage load) to give suitable
USER_CURRENT_MAX
scaling for analog I/O with Pr 4.24. This maximum is subject to a limit of MOTOR1_CURRENT_LIMIT_MAX. or
[1000.0%]
MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is currently active.
USER_CURRENT_MAX = Pr 4.24
Maximum power in kW
The maximum power has been chosen to allow for the maximum power that can be output by the drive with
POWER_MAX
maximum AC output voltage, maximum controlled current and unity power factor. Therefore:
[9999.99kW]
Software V01.07.01 and earlier: POWER_MAX = √3 x AC_VOLTAGE_MAX x RATED_CURRENT x 1.75
Software V01.08.00 and later: POWER_MAX = √3 x AC_VOLTAGE_MAX x DRIVE_CURRENT_MAX
The values given in square brackets indicate the absolute maximum value allowed for the variable maximum.
Up to 10 SPMAXXXX or SPMDXXXX drive modules can be connected in parallel to make a larger drive, provided all power modules are of the same
type, and have the same voltage and current ratings. The currents are then defined as follows:
Current scaling (Kc)
Kc is the sum of Kc for all the modules.
Maximum Heavy Duty current rating
Maximum Heavy Duty current rating = 0.95 x the sum of maximum
Heavy Duty current rating for all the modules.
Maximum Normal Duty rated current
Maximum Normal Duty rated current = 0.95 x the sum of maximum
Normal Duty rated current for all the modules.
LOCAL/REMOTE
Analog reference
Analog input 1
Analog Menu 8
reference 1
1.36
Analog reference 2
Menu 7 1.41 select
1.37
Preset reference
Preset reference 1.43 Keypad reference
1.15 select
selector*
Preset reference select bits 1 ~ 3
Reference selected
indicator
1.49
1.21 ~ 1.28
Preset +
references
1 to 8
+
Scan timer
1.38 1.01
1.20
Preset Reference
reference Pr 1.50 set to percentage Level of
selected 1.50
greater than 1 trim reference
1.16 indicator selected
Preset 1.04
reference
scan time Reference
offset
1.48 Pr 1.49 Pr 1.50 Reference being used
1 1 Analog reference 1 1.09
Preset reference 1 >1 Preset reference defined by Pr 1.50
Scan-timer reset 2 1 Analog reference 2 Reference
2 >1 Preset reference defined by Pr 1.50 offset mode
Keypad reference Power-up keypad 3 x Preset reference defined by Pr 1.50 select
1.51 control mode 4 x Keypad reference
reference 5 x Precision reference
1.17
Keypad
Reference
Precision reference
Precision-reference
update disable Key
1.20
Input Read-write (RW)
terminals 0.XX
parameter
Precision
reference
Output 0.XX Read-only (RO)
1.18 Memory terminals parameter
1.19
Precision The parameters are all shown in their default settings
reference trim
*For more information, refer to section 13.21.1 Reference modes on page 254
Menu 8
Menu 6
Sequencer
Sequencer (Menu 6)
Jog selected 1.13 Reference in skip
indicator freq./speed band
indicator
Menu 13
Bipolar Position control Reference
reference 1.10 1.35
1.11 enabled
select indicator
Pre-ramp
reference
Feed-forward Pre-filter
selected 1.06 1.02 reference 1.03
indicator Maximum
Reverse freq./speed
selected 1.12 1.40 "clamp"
indicator
1.07
Menu 2
Minimum
Negative freq./speed
minimum "clamp"
speed (Maximum
select reverse
1.08 freq./speed)
[1.06]
[1.07]
[1.07]
[1.06]
x(-1)
[1.07]
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
Frequency / speed reference
1.01 ±SPEED_FREQ_MAX Hz/rpm RO Bi NC PT
selected
1.02 Pre-skip filter reference ±SPEED_FREQ_MAX Hz/rpm RO Bi NC PT
1.03 Pre-ramp reference ±SPEED_FREQ_MAX Hz/rpm RO Bi NC PT
1.04 Reference offset ±550.0 Hz ±40,000.0 rpm 0.0 RW Bi US
1.05 Jog reference {0.23} 0 to 400.0 Hz 0 to 4,000.0 rpm 0.0 RW Uni US
SPEED_LIMIT_MAX EUR> 50.0 EUR> 1,500.0
1.06 Maximum reference clamp {0.02} 0 to 550.0 Hz 3,000.0 RW Uni US
rpm USA> 60.0 USA> 1,800.0
±SPEED_LIMIT_MAX
1.07 Minimum reference clamp {0.01} ±550.0 Hz 0.0 RW Bi PT US
rpm
Negative minimum reference
1.08 OFF (0) or On (1) OFF (0) RW Bit US
clamp enable
1.09 Reference offset select OFF (0) or On (1) OFF (0) RW Bit US
1.10 Bipolar reference enable {0.22} OFF (0) or On (1) OFF (0) RW Bit US
1.11 Reference enabled indicator OFF (0) or On (1) RO Bit NC PT
1.12 Reverse selected indicator OFF (0) or On (1) RO Bit NC PT
1.13 Jog selected indicator OFF (0) or On (1) RO Bit NC PT
A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), PAd (4),
1.14 Reference selector {0.05} A1.A2 (0) RW Txt US
Prc (5)
1.15 Preset reference selector 0 to 9 0 RW Uni US
Preset reference selector
1.16 0 to 400.0s 10.0 RW Uni US
timer
Keypad control mode
1.17 ±SPEED_FREQ_MAX Hz/rpm 0.0 RO Bi NC PT PS
reference
1.18 Precision reference coarse ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.19 Precision reference fine 0.000 to 0.099 Hz 0.000 to 0.099 rpm 0.000 RW Uni US
Precision reference update
1.20 OFF (0) or On (1) OFF (0) RW Bit NC
disable
1.21 Preset reference 1 {0.24} ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.22 Preset reference 2 {0.25} ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.23 Preset reference 3 {0.26} ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.24 Preset reference 4 {0.27} ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.25 Preset reference 5 ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.26 Preset reference 6 ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.27 Preset reference 7 ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.28 Preset reference 8 ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.29 Skip reference 1 0.0 to 550.0 Hz 0 to 40,000 rpm 0.0 0 RW Uni US
1.30 Skip reference band 1 0.0 to 25.0 Hz 0 to 250 rpm 0.5 5 RW Uni US
1.31 Skip reference 2 0.0 to 550.0 Hz 0 to 40,000 rpm 0.0 0 RW Uni US
1.32 Skip reference band 2 0.0 to 25.0 Hz 0 to 250 rpm 0.5 5 RW Uni US
1.33 Skip reference 3 0.0 to 550.0 Hz 0 to 40,000 rpm 0.0 0 RW Uni US
1.34 Skip reference band 3 0.0 to 25.0Hz 0 to 250 rpm 0.5 5 RW Uni US
1.35 Reference in rejection zone OFF (0) or On (1) RO Bit NC PT
1.36 Analog reference 1 ±SPEED_FREQ_MAX Hz/rpm RO Bi NC
1.37 Analog reference 2 ±SPEED_FREQ_MAX Hz/rpm RO Bi NC
1.38 Percentage trim ±100.00% 0.00 RW Bi NC
1.39 Velocity feed-forward ±550.0 Hz ±40,000.0 rpm RO Bi NC PT
1.40 Velocity feed-forward select OFF (0) or On (1) RO Bit NC PT
1.41 Analog reference 2 select OFF (0) or On (1) OFF (0) RW Bit NC
1.42 Preset reference select OFF (0) or On (1) OFF (0) RW Bit NC
1.43 Keypad reference select OFF (0) or On (1) OFF (0) RW Bit NC
1.44 Precision reference select OFF (0) or On (1) OFF (0) RW Bit NC
1.45 Preset reference 1 select OFF (0) or On (1) OFF (0) RW Bit NC
1.46 Preset reference 2 select OFF (0) or On (1) OFF (0) RW Bit NC
1.47 Preset reference 3 select OFF (0) or On (1) OFF (0) RW Bit NC
1.48 Reference timer reset flag OFF (0) or On (1) OFF (0) RW Bit NC
1.49 Reference selected indicator 1 to 5 RO Uni NC PT
Preset reference selected
1.50 1 to 8 RO Uni NC PT
indicator
Power-up keyboard control
1.51 rESEt (0), LASt (1), PrS1 (2) rESEt (0) RW Txt US
mode reference
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
Acceleration rates 1 ~ 8
Jog acceleration
1 2.19
rate
2
3
4 Jog selected
1.13
indicator
5
6
7 Reverse Forward
8 accel. rate accel. rate
N N
t t
Acceleration
Ramp control
*For more information, refer to section 13.21.2 Braking Modes on page 255.
**For more information, refer to section 13.21.3 S ramps on page 255.
Deceleration
rate selector
2.20
Preset reference
1.50
selected indicator
Forward Reverse
Decel. rate Decel. rate
N N
Current control
t t Menu 4
(Open-loop only) Ramp enable
2.02 (Closed- loop only)
Deceleration
_ Ramps always enabled Post-ramp
Ramp control in Open-loop reference
+
2.06 S-Ramp enable**
2.01
S-Ramp acceleration
2.07
limit
d/dt 2.38
Inertia compensation
torque
(Closed-loop only)
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
2.01 Post ramp reference ±SPEED_FREQ_MAX Hz/rpm RO Bi NC PT
2.02 Ramp enable {0.16} OFF (0) or On (1) On (1) RW Bit US
2.03 Ramp hold OFF (0) or On (1) OFF (0) RW Bit US
FASt (0)
FASt (0)
2.04 Ramp mode select {0.15} Std (1) Std (1) RW Txt US
Std (1)
Std.hV (2)
2.06 S ramp enable OFF (0) or On (1) OFF (0) RW Bit US
0.0 to 300.0 0.000 to 100.000
2.07 S ramp acceleration limit 3.1 1.500 0.030 RW Uni US
s2/100Hz s2/1000rpm
200V drive: 375
400V drive: EUR> 750
2.08 Standard ramp voltage 0 to DC_VOLTAGE_SET_MAX V USA> 775 RW Uni RA US
575V drive: 895
690V drive: 1075
2.09 Deceleration failure detection OFF(0) or On(1) OFF(0) RW Bit US
2.10 Acceleration rate selector 0 to 9 0 RW Uni US
0.0 to 3,200.0 0.000 to 3,200.000
2.11 Acceleration rate 1 {0.03} 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.12 Acceleration rate 2 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.13 Acceleration rate 3 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.14 Acceleration rate 4 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.15 Acceleration rate 5 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.16 Acceleration rate 6 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.17 Acceleration rate 7 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.18 Acceleration rate 8 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.19 Jog acceleration rate 0.2 0.000 RW Uni US
s/100Hz s/1,000rpm
2.20 Deceleration rate selector 0 to 9 0 RW Uni US
0.0 to 3,200.0 0.000 to 3,200.000
2.21 Deceleration rate 1 {0.04} 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.22 Deceleration rate 2 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.23 Deceleration rate 3 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.24 Deceleration rate 4 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.25 Deceleration rate 5 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.26 Deceleration rate 6 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.27 Deceleration rate 7 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.28 Deceleration rate 8 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.29 Jog deceleration rate 0.2 0.000 RW Uni US
s/100Hz s/1,000rpm
2.32 Acceleration select bit 0 OFF (0) or On (1) OFF (0) RW Bit NC
2.33 Acceleration select bit 1 OFF (0) or On (1) OFF (0) RW Bit NC
2.34 Acceleration select bit 2 OFF (0) or On (1) OFF (0) RW Bit NC
2.35 Deceleration select bit 0 OFF (0) or On (1) OFF (0) RW Bit NC
2.36 Deceleration select bit 1 OFF (0) or On (1) OFF (0) RW Bit NC
2.37 Deceleration select bit 2 OFF (0) or On (1) OFF (0) RW Bit NC
2.38 Inertia compensation torque ± 1,000.0 % RO Bi NC PT
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
Slip
compensation
Menu 5 Motor
Post ramp frequency
reference 1
+
5.01
+ 0
Menu 2 2.01
15 way sub-D
Select x2048 connector
output
3.17
Enable
3.16 frequency 7 F (A)
0 slaving 8 F (A)
output 9 D (B)
x 2048 1 10
Select D (B)
3.18 F and D
output
Minimum
speed 1
1.07 +0.5Hz + 10.04
0
_
At or below min.
speed indicator
+
Overspeed trip
1.06 +20% _ (O.SPd)
Max.
frequency
At speed
lower limit Below at-speed
window indicator
3.06 + Key
Pre ramp
10.05
reference _ At speed
1 _ indicator X Input
X 0.XX Read-write (RW)
1.03 terminals parameter
+
0 NOR 10.06
X Output 0.XX Read-only (RO)
X
terminals parameter
3.09
+
10.07
Absolute at-speed 3.07
_
Above at-speed The parameters are all shown at their default settings
detect mode window indicator
At speed
upper limit
Hard speed
reference 3.22
Hard speed
reference
selector
3.23
Reference
enabled
indicator
1.11
Post-ramp Final speed
reference + reference
2.01
+ 3.01
15 way sub-D
connector Drive encoder
Drive encoder speed feedback
ENCODER INTERFACE
filter
Drive encoder
3.38 type 3.42 3.27
Speed feedback
Drive encoder lines selector
A 3.34 per revolution
1 3.26
A Drive encoder
Encoder 2 3.39 termination disable
B Feedback from the
3 Drive encoder
B option modules set-up
4 3.36 supply voltage** in Menus 15, 16 and 17 Closed-loop
Z Encoder phase
5 vector mode
Z 3.25 angle*
6 Speed feedback
U from option 3.24
7 15.03
U DRIVE ENCODER POSITION module in slot 1
8
V 9 Position feedback
3.50 lock
V 10 Speed feedback
W from option 16.03
11 Drive encoder
W 3.28 module in slot 2
12 revolution counter
Speed feedback
Drive encoder from option 17.03
3.29 position module in slot 3
Any unprotected
variable parameter
Drive encoder
reference scaling ??.??
Drive
encoder 3.45 3.44
reference
??.??
NOTE **If output voltage from the encoder is >5V, then the termination resistors must be disabled Pr 3.39 to 0.
Speed controller
gain select
3.16
3.14 (Ki2)
(Kd1) (Kd2)
Speed controller
differential 3.12 3.15
feedback gains
+
Max reference clamp Overspeed trip
1.06 +20%
_ (O.SPd)
Overspeed threshold
3.08
3.08 >0
Below at-speed
At speed window indicator
Pre ramp lower limit 3.06 +
10.05
reference _ At speed
_ indicator
1.03
+
NOR 10.06
+
3.09 10.07
3.07
_ Above at-speed
Absolute at-speed
detect mode window indicator
At speed
upper limit Key
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
OL> Frequency slaving demand ±550.0 Hz RO Bi FI NC PT
3.01
CL> Final speed reference ±SPEED_MAX rpm RO Bi FI NC PT
3.02 Speed feedback {0.10} ±SPEED_MAX rpm RO Bi FI NC PT
3.03 Speed error ±SPEED_MAX rpm RO Bi FI NC PT
±Torque_prod_
3.04 Speed controller output RO Bi FI NC PT
current_max %
3.05 Zero speed threshold 0.0 to 20.0 Hz 0 to 200 rpm 1.0 5 RW Uni US
3.06 At speed lower limit 0.0 to 550.0 Hz 0 to 40,000 rpm 1.0 5 RW Uni US
3.07 At speed upper limit 0.0 to 550.0 Hz 0 to 40,000 rpm 1.0 5 RW Uni US
3.08 Overspeed threshold {0.26} 0 to 40,000 rpm 0 RW Uni US
3.09 Absolute ‘at speed’ detect OFF (0) or On (1) OFF (0) RW Bit US
0.0000 to 6.5535
3.10 Speed controller proportional gain (Kp1) {0.07} 0.0300 0.0100 RW Uni US
1/rad s-1
3.11 Speed controller integral gain (Ki1) {0.08} 0.00 to 655.35 s/rad s-1 0.10 1.00 RW Uni US
Speed controller differential feedback gain 0.00000 to 0.65535
3.12 {0.09} 0.00000 RW Uni US
(Kd1) s-1/rad s-1
OL> Enable frequency slaving OFF (0) or On (1) OFF (0) RW Bit US
3.13 CL> Speed controller proportional gain 0.0000 to 6.5535
0.0300 0.0100 RW Uni US
(Kp2) 1/rad s-1
OL> Slaving ratio numerator 0.000 to 1.000 1.000 RW Uni US
3.14
CL> Speed controller integral gain (Ki2) 0.00 to 655.35 1/rad 0.10 1.00 RW Uni US
OL> Slaving ratio denominator 0.001 to 1.000 1.000 RW Uni US
3.15 CL> Speed controller differential feedback
0.00000 to 0.65535 s 0.00000 RW Uni US
gain (Kd2)
OL> Enable frequency slaving output OFF (0) or On (1) OFF (0) RW Bit US
3.16
CL> Speed controller gain select OFF (0) or On (1) OFF (0) RW Bit US
OL> Select x2048 output OFF (0) or On (1) On (1) RW Bit US
3.17
CL> Speed controller set-up method 0 to 3 0 RW Uni US
OL> Select F and D frequency slaving
OFF (0) or On (1) OFF (0) RW Bit US
output
3.18
0.00010 to 90.00000
CL> Motor and load inertia 0.00000 RW Uni US
kg m2
3.19 Compliance angle 0.0 to 359.9 ° 4.0 RW Uni US
3.20 Bandwidth 0 to 255 Hz 10 RW Uni US
3.21 Damping factor 0.0 to 10.0 1.0 RW Uni US
±SPEED_FREQ_
3.22 Hard speed reference 0.0 RW Bi US
MAX rpm
3.23 Hard speed reference selector OFF (0) or On (1) OFF (0) RW Bit US
3.24 Closed-loop vector mode VT> 0 to 3 0 RW Uni US
3.25 Encoder phase angle* {0.43} SV> 0.0 to 359.9 ° 0.0 RW Uni US
drv (0), SLot1 (1),
3.26 Speed feedback selector drv (0) RW Txt US
SLot2 (2), SLot3 (3)
3.27 Drive encoder speed feedback ±40,000.0 rpm RO Bi FI NC PT
3.28 Drive encoder revolution counter 0 to 65,535 revolutions RO Uni FI NC PT
3.29 Drive encoder position {0.11} 0 to 65,535 1/216ths of a revolution RO Uni FI NC PT
3.30 Drive encoder fine position 0 to 65,535 1/232nds of a revolution RO Uni FI NC PT
Drive encoder marker position reset
3.31 OFF (0) or On (1) OFF (0) RW Bit US
disable
3.32 Drive encoder marker flag OFF (0) or On (1) OFF (0) RW Bit NC
Drive encoder turn bits / Linear encoder
3.33 0 to 255 16 RW Uni US
comms to sine wave ratio
3.34 Drive encoder lines per revolution {0.27} 0 to 50,000 1024 4096 RW Uni US
Drive encoder single turn comms bits /
3.35 0 to 32 bits 0 RW Uni US
Linear encoder comms bits / Marker mode
3.36 Drive encoder supply voltage** 5V (0), 8V (1), 15V (2) 5V (0) RW Txt US
100 (0), 200 (1), 300 (2), 400 (3), 500 (4),
3.37 Drive encoder comms baud rate 300 (2) RW Txt US
1000 (5), 1500 (6), 2000 (7) kBaud
Ab (0), Fd (1), Fr (2), Ab.SErvo (3),
Fd.SErvo (4), Fr.SErvo (5), SC (6), Ab.SErvo
3.38 Drive encoder type Ab (0) RW Txt US
SC.Hiper (7), EndAt (8), SC.EndAt (9), (3)
SSI (10), SC.SSI (11)
Drive encoder termination select / Rotary
3.39 encoder select / Comms only encoder 0 to 2 1 RW Uni US
mode
Bit 0 (LSB) = Wire break detect
Bit 1 = Phase error detect
3.40 Drive encoder error detection level 0 1 RW Uni US
Bit 2 (MSB) = SSI power supply bit monitor
Value is binary sum
Drive encoder auto-configuration / SSI
3.41 OFF (0) or On (1) OFF (0) RW Bit US
binary format select
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
3.42 Drive encoder filter 0 (0), 1 (1), 2 (2), 4 (3), 8 (4), 16 (5) ms 0 RW Txt US
3.43 Maximum drive encoder reference 0 to 40,000 rpm 1500 3000 RW Uni US
3.44 Drive encoder reference scaling 0.000 to 4.000 1.000 RW Uni US
3.45 Drive encoder reference ±100.0% RO Bi FI NC PT
3.46 Drive encoder reference destination Pr 0.00 to 21.50 Pr 0.00 RW Uni DE PT US
3.47 Re-initialise position feedback OFF (0) or On (1) OFF (0) RW Bit NC
3.48 Position feedback initialised OFF (0) or On (1) RO Bit NC PT
Full motor object electronic nameplate
3.49 OFF (0) or On (1) OFF (0) RW Bit US
transfer
3.50 Position feedback lock OFF (0) or On (1) OFF (0) RW Bit NC
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
NOTE
**If output voltage from the encoder is >5V, then the termination resistors
must be disabled Pr 3.39 to 0.
10.09
Current
limit
active Current loop
4.13 P gain
4.14 I gain
Active
current Current
magnitude
_
4.02
4.01
4.20
+
4.02 - Active
Motor Motor current
frequency rated (Amp)
frequency
4.20 - Percentage 4.17 Magnetising
5.01 5.06
torque current
Percentage
Torque current current
demand demand
Torque + Torque to +
4.08 4.03 current 4.04
reference*
conversion _
+
Torque
reference
4.10
offset
enable
4.09
Torque reference
offset
Overload detection
Key
For more information, refer to section 13.21.4 Torque modes on page 256.
Inertia
compensation
torque
2.38
Speed Motor
Current Current
feedback Inertia Motor rated
demand demand
3.02 compensation rated power Speed
4.22 filter 1 filter 2
enable current factor controller
5.07 5.10 gain 4.12 4.23
Torque mode select
Speed loop 4.11
_ output selector* 3.16
+
Final + +
speed 3.01 3.04 0 Torque Current controller
demand demand
1 Current loop
+ 4.13 P gain
2 4.03 4.04
+ Current loop
3 _ 4.14 I gain
Current Filter
4 demand
Speed +
Pre-
ramp 1.03 over-ride
reference level
Coiler/uncoiler
speed
Zero over-ride Active
speed 3.05 level current Current
threshold (Amp) magnitude
Torque +
reference 4.08
4.02 4.01
+
Torque
reference
4.10
offset
enable
4.09 Magnetising
4.17
Torque reference current
offset User current max scaling 4.24
Overload detection
Key
*For more information, refer to section 13.21.4 Torque modes on page 256.
Inertia
compensation
torque
Current Current
2.38 demand demand
Speed
filter 1 filter 2
feedback
Inertia 4.12 4.23
3.02 4.22 compensation
enable
Speed controller
gain select
Speed loop Torque mode
4.11 3.16
_ output selector
+
Final + +
speed 3.01 3.04 0 Torque Current Current controller
demand demand demand
1 Current loop
+ 4.13 P gain
2 4.03 4.04
+ + Current loop
3 _ 4.14 I gain
4 Filter
Speed +
Pre-
ramp 1.03 over-ride
reference level
Coiler/uncoiler
speed
Zero over-ride
speed 3.05 level
threshold User current
Percentage max scaling Motor active
load current
Torque + 4.20 4.24 4.02
reference* 4.08
+
Torque
reference
4.10
offset
enable
4.09
Torque reference
offset
Overload detection
Key
*For more information, refer to section 13.21.4 Torque modes on page 256.
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
4.01 Current magnitude {0.12} 0 to DRIVE_CURRENT_MAX A RO Uni FI NC PT
4.02 Active current {0.13} ±DRIVE_CURRENT_MAX A RO Bi FI NC PT
4.03 Torque demand ±TORQUE_PROD_CURRENT_MAX % RO Bi FI NC PT
4.04 Current demand ±TORQUE_PROD_CURRENT_MAX % RO Bi FI NC PT
4.05 Motoring current limit 0 to MOTOR1_CURRENT_LIMIT_MAX % 138.1 165.7 150.0 RW Uni RA US
4.06 Regen current limit 0 to MOTOR1_CURRENT_LIMIT_MAX % 138.1 165.7 150.0 RW Uni RA US
4.07 Symmetrical current limit {0.06} 0 to MOTOR1_CURRENT_LIMIT_MAX % 138.1 165.7 150.0 RW Uni RA US
4.08 Torque reference ±USER_CURRENT_MAX % 0.00 RW Bi US
4.09 Torque offset ±USER_CURRENT_MAX % 0.0 RW Bi US
4.10 Torque offset select OFF (0) or On (1) OFF (0) RW Bit US
4.11 Torque mode selector {0.14} 0 to 1 0 to 4 0 RW Uni US
4.12 Current demand filter 1 {0.17} 0.0 to 25.0 ms 0.0 RW Uni US
200V drive: 75
400V drive: 150
4.13 Current controller Kp gain {0.38} 0 to 30,000 20 RW Uni US
575V drive: 180
690V drive: 215
200V drive: 1000
400V drive: 2000
4.14 Current controller Ki gain {0.39} 0 to 30,000 40 RW Uni US
575V drive: 2400
690V drive: 3000
4.15 Thermal time constant {0.45} 0.0 to 3000.0 89.0 89.0 20.0 RW Uni US
4.16 Thermal protection mode 0 to 1 0 RW Bit US
4.17 Reactive current ±DRIVE_CURRENT_MAX A RO Bi FI NC PT
4.18 Overriding current limit ±TORQUE_PROD_CURRENT_MAX % RO Uni NC PT
4.19 Overload accumulator 0 to 100.0 % RO Uni NC PT
4.20 Percentage load ±USER_CURRENT_MAX % RO Bi FI NC PT
4.22 Inertia compensation enable OFF (0) or On (1) OFF (0) RW Bit US
4.23 Current demand filter 2 0.0 to 25.0 ms 0.0 RW Uni US
User current maximum
4.24 0.0 to TORQUE_PROD_CURRENT_MAX % 165.0 175.0 RW Uni RA US
scaling
Low speed thermal protection
4.25 OFF (0) or On (1) OFF (0) RW Bit US
mode
±USER_CURRENT_
4.26 Percentage torque RO Bi FI NC PT
MAX %
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
L1 L2 L3
Voltage
5.14 mode
Autotune
5.12 DC Bus
voltage
Dynamic V/f
5.13 select
Frequency 5.05
slaving Motormap 5.15 Voltage boost
Slave frequency enable
Motor rated
demand 5.06 Stator
3.13 frequency 5.17
resistance
Motor rated Motor
3.01 5.07 current 5.23 Voltage offset voltage
Motor rated Transient
5.08 full load RPM 5.24
inductance 5.02 Volt
Motor rated
5.09 voltage
Post ramp Motor rated
reference 5.10 power factor
+ Motor number 5.01 Hertz
2.01 5.11 of poles Motor
frequency
PWM
+ 5.18 switching
Slip frequency
compensation 5.04 High stability
enable Estimated 5.19 space vector
Total motor motor speed modulation
5.27 5.03 √3xVxI
power (kW)
Quasi square
5.20
wave enable
Disable auto
switching
5.35 frequency
Slip change
compensation Voltage
5.31 controller
Motor gain
Motor active current
current magnitude
4.02
4.01
4.20
Percentage
active current
Key 4.17
Motor magnetising
current
Input Read-write (RW)
terminals 0.XX
parameter
5.01
Flux Calculator
Motor rated
5.07 current
Motor number
5.11 of poles
5.17 Motor stator
resistance
5.24 Motor transient
inductance
Closed-Loop Vector
Position Motor rated
5.06 frequency Reference
feedback Flux angle
∫
Speed
3.02 Motor full load frame
feedback 5.08 rated speed transformation
Motor rated
5.09 voltage
Motor rated
5.10 power factor
5.25 Motor stator
inductance
Motor saturation
5.29 break-point 1
Motor saturation
5.30 break-point 2
Servo
Encoder phase
3.25 angle
Current Flux
references magnitude
Current control
Menu 4
Speed-loop
controller 3.04 Current limits
output Overload detection
Current loop gains
Current demand filter
Torque reference
Current
feedback
5.12 Auto-tune
DC bus
voltage
5.05
Voltage reference
Modulator U
Maximum switching
5.18 frequency V
Disable auto W
5.35 switching
frequencychange
Flux Controller
Motor rated
5.09 voltage
Field gain
5.21 reduction
Output
Closed-Loop Vector 5.02
voltage
Dynamic V/f / Output
5.13 flux optimisation power
enable
Motor full load
5.16 rated speed Power calculation (V x 1) 5.03
optimiser enable
Servo
High speed
5.22 servo mode Motor
enable Motor active current
current magnitude
4.02 4.01
4.17
Motor magnetising
current
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
±SPEED_FREQ_
5.01 Output frequency {0.11} ±550.0 Hz RO Bi FI NC PT
MAX Hz
5.02 Output voltage 0 to AC_voltage_max V RO Uni FI NC PT
5.03 Output power ±Power_max kW RO Bi FI NC PT
5.04 Motor rpm {0.10} ±180,000 rpm RO Bi FI NC PT
5.05 D.C bus voltage 0 to +DC_voltage_max V RO Uni FI NC PT
5.06 Rated frequency {0.47} 0 to 550 Hz VT> 0 to 550.0 Hz EUR> 50.0, USA> 60.0 RW Uni US
5.07 Motor rated current {0.46} 0 to Rated_current_max A Drive rated current [11.32] RW Uni RA US
EUR> 1,500 EUR> 1,450.00
5.08 Rated load rpm / rated speed {0.45} 0 to 180,000 rpm 0.00 to 40,000.00 rpm 3,000.00 RW Uni US
USA> 1,800 USA> 1,770.00
200V drive: 230
400V drive: EUR> 400, USA> 460
5.09 Rated voltage {0.44} 0 to AC_VOLTAGE_SET_MAX V RW Uni RA US
575V drive: 575
690V drive: 690
5.10 Rated power factor {0.43} OL & VT> 0.000 to 1.000 0.850 RW Uni RA US
5.11 Number of motor poles {0.42} Auto to 120 Pole (0 to 60) Auto (0) 6 POLE (3) RW Txt US
VT> 0 to 4
5.12 Autotune {0.40} 0 to 2 0 RW Uni NC
SV> 0 to 6
Dynamic V/F / flux optimise
5.13 {0.09} OFF (0) or On (1) VT> OFF (0) or On (1) OFF (0) RW Bit US
select
Ur_S (0), Ur (1),
Voltage mode select {0.07} Fd (2), Ur_Auto (3), Ur_I (4) RW Txt US
5.14 Ur_I (4), SrE (5)
SV> nonE (0),
Action on enable nonE(0) RW Txt US
Ph EnL (1), Ph Init (2)
5.15 Low frequency voltage boost {0.08} 0.0 to 25.0 % of motor rated voltage 1.0 RW Uni US
5.16 Rated rpm autotune {0.33} VT> 0 to 2 0 RW Uni US
5.17 Stator resistance 0.000 to 65.000 x 10 mΩ 0.0 RW Uni RA US
Maximum switching
5.18 {0.41} 3 (0), 4 (1), 6 (2) 3 (0) 6 (2) RW Txt RA US
frequency
High stability space vector
5.19 OFF (0) or On (1) OFF (0) RW Bit US
modulation
5.20 Quasi-square enable OFF (0) or On (1) OFF (0) RW Bit US
5.21 Field gain reduction OFF (0) or On (1) OFF (0) RW Bit US
5.22 High speed servo mode enable SV> OFF (0) or On (1) 0 RW Bit US
5.23 Voltage offset 0.0 to 25.0 V 0.0 RW Uni RA US
5.24 Transient inductance (σLs) 0.000 to 500.000 mH 0.000 RW Uni RA US
5.25 Stator inductance (Ls) VT> 0.00 to 5,000.00 mH 0.00 RW Uni RA US
High dynamic performance
5.26 OFF (0) or On (1) OFF (0) RW Bit US
enable
5.27 Enable slip compensation OFF (0) or On (1) On (1) RW Bit US
Field weakening
5.28 VT> OFF (0) or On (1) OFF (0) RW Bit US
compensation disable
VT> 0 to 100% of rated
5.29 Motor saturation breakpoint 1 50 RW Uni US
flux
VT> 0 to 100% of rated
5.30 Motor saturation breakpoint 2 75 RW Uni US
flux
5.31 Voltage controller gain 0 to 30 1 RW Uni US
VT> 0.00 to 500.00
RO Uni US
N m A-1
5.32 Motor torque per amp, Kt
SV> 0.00 to 500.00
1.60 RW Uni US
N m A-1
5.33 Motor volts per 1,000 rpm, Ke SV> 0 to 10,000 V 98 RW Uni US
Disable auto switching
5.35 OFF (0) or On (1) OFF (0) RW Bit US
frequency change
5.36 Motor pole pitch 0 to 655.35 mm 0.00 RW Uni US
3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5), 6 rEd (6),
5.37 Actual switching frequency RO Txt NC PT
12 rEd (7)
5.38 Minimal movement phasing test angle SV> 0.0 to 25.5° 5.0 RW Uni US
Minimal movement phasing
5.39 SV> 0 to 3 0 RW Uni US
test pulse length
5.40 Spin start boost 0.0 to 10.0 VT> 0.0 to 10.0 1.0 RW Uni US
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
Hardware
enable 6.29
1.13 Jog selected
indicator
Limit switch 1 6.35
Logic RUN
1
Inverter enable
STOP/ RESET
RESET
Key
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
COASt (0), rP (1),
COASt (0), rP (1),
6.01 Stop mode rP.dcl (2), dcl (3),
no.rP (2)
rP (1) no.rP (2) RW Txt US
td.dcl (4), diSAbLE (5)
6.03 Line power supply loss mode diS (0), StoP (1), ridE.th (2) diS (0) RW Txt US
6.04 Start / stop logic select 0 to 4 4 RW Uni US
6.06 Injection braking level 0 to 150.0% 100.0% RW Uni RA US
6.07 Injection braking time 0.0 to 25.0s 1.0 RW Uni US
6.08 Hold zero speed OFF (0) or On (1) OFF (0) On (1) RW Bit US
6.09 Catch a spinning motor {0.33} 0 to 3 0 to 1 0 1 RW Uni US
6.12 Enable stop key OFF (0) or On (1) OFF (0) RW Bit US
6.13 Enable forward / reverse key {0.28} OFF (0) or On (1) OFF (0) RW Bit US
6.15 Drive enable OFF (0) or On (1) On (1) RW Bit US
6.16 Electricity cost per kWh 0.0 to 600.0 currency units per kWh 0 RW Uni US
6.17 Reset energy meter OFF (0) or On (1) OFF (0) RW Bit NC
6.18 Time between filter changes 0 to 30,000 hrs 0 RW Uni US
Filter change required /
6.19 OFF (0) or On (1) OFF (0) RW Bit PT
change done
6.20 Powered-up time: years.days 0 to 9.364 years.days RW Uni NC PT
Powered-up time:
6.21 0 to 23.59 hours.minutes RW Uni NC PT
hours.minutes
6.22 Run time: years.days 0 to 9.364 years.days RO Uni NC PT PS
6.23 Run time: hours.minutes 0 to 23.59 hours.minutes RO Uni NC PT PS
6.24 Energy meter: MWh ±999.9 MWh RO Bi NC PT PS
6.25 Energy meter: kWh ±99.99 kWh RO Bi NC PT PS
6.26 Running cost ±32,000 RO Bi NC PT
6.27 Time before filter change due 0 to 30,000 hrs RO Uni NC PT PS
Select clock for trip log time
6.28 OFF (0) or On (1) OFF (0) RW Bit US
sampling
6.29 Hardware enable OFF (0) or On (1) RO Bit NC PT
6.30 Sequencing bit: Run forward OFF (0) or On (1) OFF (0) RW Bit NC
6.31 Sequencing bit: Jog forward OFF (0) or On (1) OFF (0) RW Bit NC
6.32 Sequencing bit: Run reverse OFF (0) or On (1) OFF (0) RW Bit NC
Sequencing bit: Forward /
6.33 OFF (0) or On (1) OFF (0) RW Bit NC
reverse
6.34 Sequencing bit: Run OFF (0) or On (1) OFF (0) RW Bit NC
6.35 Forward limit switch OFF (0) or On (1) OFF (0) RW Bit NC
6.36 Reverse limit switch OFF (0) or On (1) OFF (0) RW Bit NC
6.37 Sequencing bit: Jog reverse OFF (0) or On (1) OFF (0) RW Bit NC
6.39 Sequencing bit: Not stop OFF (0) or On (1) OFF (0) RW Bit NC
6.40 Enable sequencer latching OFF (0) or On (1) OFF (0) RW Bit US
6.41 Drive event flags 0 to 65,535 0 RW Uni NC
6.42 Control word 0 to 32,767 0 RW Uni NC
6.43 Control word enable OFF (0) or On (1) OFF (0) RW Bit US
6.44 Active supply OFF (0) or On (1) RO Bit NC PT
Force cooling fan to run at full
6.45 OFF (0) or On (1) OFF (0) RW Bit US
speed*****
6.46 Nominal low voltage supply 48V to 96V 48 RW Uni PT US
Disable line power supply /
6.47 phase loss detection from OFF (0) or On (1) OFF (0) RW Bit US
input rectifier
Line power supply loss ride 200V drive: 205, 400V drive: 410,
6.48 0 to DC_VOLTAGE_SET_MAX V RW Uni RA US
through detection level 575V drive: 540, 690V drive: 540
Disable multi-module drive
6.49 OFF (0) or On (1) OFF (0) RW Bit US
module number storing on trip
6.50 Drive comms state drv (0), SLot 1(1), SLot 2 (2), SLot 3 (3) RO Txt NC PT
6.51 External rectifier not active OFF (0) or On (1) OFF (0) RW Bit
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*For more information, refer to section 13.21.5 Stop modes on motor on page 260.
page 257. *****The drive thermal model system normally controls the fan speed,
**For more information, refer to section 13.21.6 Line power supply loss however the fan can be forced to operate at full speed if this parameter
modes on page 258. is set to 1. When this is set to 1 the fan remains at full speed until 10s
***For more information, refer to section 13.21.7 Start / stop logic after this parameter is set to zero. Note that the fan will only run at full
modes on page 259. speed if the drive is not in a UU condition.
Analog
input 1 Analog input 1
Analog input Analog input destination
1 offset trim 1 offset parameter Any
7.01 unprotected
Analog input 1 7.07 7.30 7.10
variable
parameter
+ + Analog
??.?? ref. 1
+ + 7.08
V/f
1.36
Analog
7.26 input 1 x(-1) ??.??
scaling
V/f sample
7.09 Analog
time
input 1 invert
7.25
Analog input 2
Calibrate current loop loss Analog
analog input 1 input 2 Analog input 2
full scale destination
Analog input
7.28 2 offset parameter
7.02 Any
7.14 unprotected
7.31
Analog input 2 variable
parameter
+ Analog
??.?? ref. 2
7.11 + 7.12
A/D
1.37
Analog input 2 Analog
mode selector input 2 x(-1) ??.??
scaling
7.13 Analog
input 2 invert
Analog input 3
Analog
current loop loss Analog input 3
input 3
Analog input destination
7.29 3 offset parameter
7.03 Any
7.18 unprotected
7.31
7.32
Analog input 3 variable
parameter
+ ??.??
7.15 + 7.16
A/D
Analog input 3 Analog
mode selector input 3 x(-1) ??.??
Analog Analog output 1 scaling
7.17 Analog
output 1 control source parameter input 3 invert
7.33 7.19
Any variable Analog output 1
Motor parameter
frequency ??.??
OL> 5.01
7.20 7.21
CL> 3.02
??.?? Analog Analog
Speed
output 1 output 1
feedback
scaling mode
selector
Analog output 2
source parameter Key
Any 7.22
variable Input Read-write (RW)
Analog output 2 0.XX
Motor parameter terminals parameter
active ??.??
current Read-only (RO)
Output 0.XX
4.02 7.23 7.24 terminals parameter
??.?? Analog Analog
output 2 output 2
scaling mode The parameters are all shown at their default settings
selector
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
7.01 T5/6 analog input 1 level ±100.00 % RO Bi NC PT
7.02 T7 analog input 2 level ±100.0 % RO Bi NC PT
7.03 T8 analog input 3 level ±100.0 % RO Bi NC PT
7.04 Power circuit temperature 1 -128 to 127 °C RO Bi NC PT
7.05 Power circuit temperature 2 -128 to 127 °C RO Bi NC PT
7.06 Control board temperature -128 to 127 °C RO Bi NC PT
7.07 T5/6 analog input 1 offset trim {0.13} ±10.000 % 0.000 RW Bi US
7.08 T5/6 analog input 1 scaling 0 to 4.000 1.000 RW Uni US
7.09 T5/6 analog input 1 invert OFF (0) or On (1) OFF (0) RW Bit US
T5/6 analog input 1
7.10 Pr 0.00 to 21.51 Pr 1.36 RW Uni DE PT US
destination
0-20 (0), 20-0 (1), 4-20.tr (2), 20-4.tr (3),
7.11 T7 analog input 2 mode {0.19} VOLt (6) RW Txt US
4-20 (4), 20-4 (5), VOLt (6)
7.12 T7 analog input 2 scaling 0 to 4.000 1.000 RW Uni US
7.13 T7 analog input 2 invert OFF (0) or On (1) OFF (0) RW Bit US
7.14 T7 analog input 2 destination {0.20} Pr 0.00 to 21.51 Pr 1.37 RW Uni DE PT US
0-20 (0), 20-0 (1), 4-20.tr (2), 20-4.tr (3),
7.15 T8 analog input 3 mode {0.21} 4-20 (4), 20-4 (5), VOLt (6), th.SC (7), th (8) RW Txt US
th (8), th.diSP (9)
7.16 T8 analog input 3 scaling 0 to 4.000 1.000 RW Uni US
7.17 T8 analog input 3 invert OFF (0) or On (1) OFF (0) RW Bit US
7.18 T8 analog input 3 destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
7.19 T9 analog output 1 source Pr 0.00 to 21.51 Pr 5.01 Pr 3.02 RW Uni PT US
7.20 T9 analog output 1 scaling 0.000 to 4.000 1.000 RW Uni US
7.21 T9 analog output 1 mode VOLt (0), 0-20 (1), 4-20 (2), H.SPd (3) VOLt (0) RW Txt US
7.22 T10 analog output 2 source Pr 0.00 to 21.51 Pr 4.02 RW Uni PT US
7.23 T10 analog output 2 scaling 0.000 to 4.000 1.000 RW Uni US
7.24 T10 analog output 2 mode VOLt (0), 0-20 (1), 4-20 (2), H.SPd (3) VOLt (0) RW Txt US
Calibrate T5/6 analog input 1
7.25 OFF (0) or On (1) OFF (0) RW Bit NC
full scale
T5/6 analog input 1 sample
7.26 0 to 8.0 ms 4.0 RW Uni US
time
T7 analog input 2 current loop
7.28 OFF (0) or On (1) RO Bit NC PT
loss
T8 analog input 3 current loop
7.29 OFF (0) or On (1) RO Bit NC PT
loss
7.30 T5/6 analog input 1 offset ±100.00 % 0.00 RW Bi US
7.31 T7 analog input 2 offset ±100.0 % 0.0 RW Bi US
7.32 T8 analog input 3 offset ±100.0 % 0.0 RW Bi US
7.33 T9 analog output 1 control Fr (0), Ld (1), AdV (2) AdV (2) RW Txt US
7.34 IGBT junction temperature ±200 °C RO Bi NC PT
Drive thermal protection
7.35 0 to 100.0 % RO Uni NC PT
accumulator
7.36 Power circuit temperature 3 -128 to 127 °C RO Bi NC PT
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
T24 digital
I/O 1 state At zero
T24 output ??.?? speed
select
8.01 8.31 10.03
x(-1) ??.??
Any bit
T24 digital I/O 1 T24 digital parameter
8.21
I/O 1 source/
destination
8.29 8.30
8.11 T24 digital
I/O polarity Open collector Any
I/O 1 invert
select output unprotected
bit parameter
??.??
x(-1) ??.??
Any bit
T25 digital parameter
I/O 2 state T25 output
select ??.??
8.02 8.32
x(-1) ??.??
Any bit
T26 digital parameter
I/O 3 state T26 output
??.??
select
8.03 8.33
x(-1) ??.??
*For more information, refer to section 13.21.1 Reference modes on page 254.
T29 digital
T29 digital input 6
T29 digital input 6 invert destination
input 6 state
8.06 8.16 8.26 Any
unprotected
bit
T29 digital input 6 parameter
??.?? Jog forward
29 8.29
6.31
I.O polarity x(-1)
select ??.??
0.00
22
x(-1) ??.??
Drive enable
Drive enable mode select
indicator 8.09 8.10
Key
Drive enable
External trip
X X Input Read-write (RW)
x(-1) 10.32 terminals 0.XX
parameter
31
Drive enable
X Output 0.XX Read-only (RO)
X
terminals parameter
Relay source Relay
invert source
8.17 8.27 This logic diagram applies only when all
parameters are at their default settings
Any bit
parameter
Relay Drive
state ??.?? Healthy
10.01
41 8.07
x(-1) ??.??
42
0V
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
8.01 T24 digital I/O 1 state OFF (0) or On (1) RO Bit NC PT
8.02 T25 digital I/O 2 state OFF (0) or On (1) RO Bit NC PT
8.03 T26 digital I/O 3 state OFF (0) or On (1) RO Bit NC PT
8.04 T27 digital input 4 state OFF (0) or On (1) RO Bit NC PT
8.05 T28 digital input 5 state OFF (0) or On (1) RO Bit NC PT
8.06 T29 digital input 6 state OFF (0) or On (1) RO Bit NC PT
8.07 Relay state OFF (0) or On (1) RO Bit NC PT
8.08 T22 24V output state OFF (0) or On (1) RO Bit NC PT
8.09 Drive enable indicator OFF (0) or On (1) RO Bit NC PT
8.10 Drive enable mode select OFF (0) or On (1) OFF (0) RW Bit US
8.11 T24 digital I/O 1 invert OFF (0) or On (1) OFF (0) RW Bit US
8.12 T25 digital I/O 2 invert OFF (0) or On (1) OFF (0) RW Bit US
8.13 T26 digital I/O 3 invert OFF (0) or On (1) OFF (0) RW Bit US
8.14 T27 digital input 4 invert OFF (0) or On (1) OFF (0) RW Bit US
8.15 T28 digital input 5 invert OFF (0) or On (1) OFF (0) RW Bit US
8.16 T29 digital input 6 invert OFF (0) or On (1) OFF (0) RW Bit US
8.17 Relay source invert OFF (0) or On (1) OFF (0) RW Bit US
8.18 T22 24V output source invert OFF (0) or On (1) On (1) RW Bit US
8.20 Digital I/O read word 0 to 511 RO Uni NC PT
T24 digital I/O 1 source/
8.21 Pr 0.00 to 21.51 Pr 10.03 RW Uni DE PT US
destination
T25 digital I/O 2 source/
8.22 Pr 0.00 to 21.51 Pr 10.33 RW Uni DE PT US
destination
T26 digital I/O 3 source/
8.23 Pr 0.00 to 21.51 Pr 6.30 RW Uni DE PT US
destination
8.24 T27 digital input 4 destination Pr 0.00 to 21.51 Pr 6.32 RW Uni DE PT US
8.25 T28 digital input 5 destination Pr 0.00 to 21.51 Pr 1.41 RW Uni DE PT US
8.26 T29 digital input 6 destination {0.17} Pr 0.00 to 21.51 Pr 6.31 RW Uni DE PT US
8.27 Relay source Pr 0.00 to 21.51 Pr 10.01 RW Uni PT US
8.28 T22 24V output source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
8.29 Positive logic select {0.18} OFF (0) or On (1) On (1) RW Bit PT US
8.30 Open collector output OFF (0) or On (1) OFF (0) RW Bit US
8.31 T24 digital I/O 1 output select OFF (0) or On (1) On (1) RW Bit US
8.32 T25 digital I/O 2 output select OFF (0) or On (1) OFF (0) RW Bit US
8.33 T26 digital I/O 3 output select OFF (0) or On (1) OFF (0) RW Bit US
T28 & T29 digital input auto-
8.39 {0.16} OFF (0) or On (1) OFF (0) RW Bit US
selection disable
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
13.9 Menu 9: Programmable logic, motorized pot, binary sum and timers
Figure 13-13 Menu 9 logic diagram: Programmable logic
9.09
Any bit Function-1
parameter 9.07 x(-1) Function-1
input-2 invert ??.??
delay
??.??
??.?? x(-1)
9.19
Any bit Function-2
parameter 9.17 x(-1) Function-2
input-2 invert ??.??
delay
??.??
??.?? x(-1)
Key
Figure 13-14 Menu 9 logic diagram: Motorized pot and binary sum
Motorized
pot. bipolar Motorized pot. Motorized pot.
Motorized output indicator destination
select
pot. rate parameter
9.22
9.23 9.03 9.25
Motorized pot. Any
up unprotected
variable
9.26 parameter
??.??
M 9.24
Motorized pot. ??.??
output scale
9.27 Function disabled if set
to a non valid destination
Motorized pot.
down
Binary-sum
logic output Binary-sum
Binary-sum value logic destination
offset parameter
9.34 9.32 9.33
9.29
Any
unprotected
Binary-sum bit
logic ones (LSB) parameter
+ ??.??
+
9.30 Σ
??.??
Binary-sum
logic twos Function disabled if set
to a non valid destination
9.31
Key
Binary-sum
logic fours (MSB)
Input Read-write (RW)
terminals 0.XX
parameter
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
9.01 Logic function 1 output OFF (0) or On (1) RO Bit NC PT
9.02 Logic function 2 output OFF (0) or On (1) RO Bit NC PT
9.03 Motorized pot output ±100.00 % RO Bi NC PT PS
9.04 Logic function 1 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 1 source 1
9.05 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.06 Logic function 1 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 1 source 2
9.07 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.08 Logic function 1 output invert OFF (0) or On (1) OFF (0) RW Bit US
9.09 Logic function 1 delay ±25.0 s 0.0 RW Bi US
9.10 Logic function 1 destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.14 Logic function 2 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 2 source 1
9.15 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.16 Logic function 2 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 2 source 2
9.17 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.18 Logic function 2 output invert OFF (0) or On (1) OFF (0) RW Bit US
9.19 Logic function 2 delay ±25.0 s 0.0 RW Bi US
9.20 Logic function 2 destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.21 Motorized pot mode 0 to 3 2 RW Uni US
9.22 Motorized pot bipolar select OFF (0) or On (1) OFF (0) RW Bit US
9.23 Motorized pot rate 0 to 250 s 20 RW Uni US
9.24 Motorized pot scale factor 0.000 to 4.000 1.000 RW Uni US
9.25 Motorized pot destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.26 Motorized pot up OFF (0) or On (1) OFF (0) RW Bit NC
9.27 Motorized pot down OFF (0) or On (1) OFF (0) RW Bit NC
9.28 Motorized pot reset OFF (0) or On (1) OFF (0) RW Bit NC
9.29 Binary sum ones input OFF (0) or On (1) OFF (0) RW Bit NC
9.30 Binary sum twos input OFF (0) or On (1) OFF (0) RW Bit NC
9.31 Binary sum fours input OFF (0) or On (1) OFF (0) RW Bit NC
9.32 Binary sum output 0 to 255 RO Uni NC PT
9.33 Binary sum destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.34 Binary sum offset 0 to 248 0 RW Uni US
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*The value given for the range is that obtained via serial communication.
For the text string displayed on the drive, see Chapter 15 Diagnostics on
page 276.
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
13.12 Menu 12: Threshold detectors, variable selectors and brake control function
Figure 13-15 Menu 12 logic diagram
Threshold Threshold Threshold
Detector 1 Threshold Detector 1 Detector 1
Detector 1 output indicator output
threshold level destination
parameter Any
Any variable 12.04 12.01 unprotected
Threshold 12.07
parameter Detector 1 bit parameter
??.?? ??.??
Key
Hysteresis
Input Read-write (RW) Threshold
terminals 0.XX
parameter level
t
Output 0.XX Read-only (RO)
terminals parameter
Threshold
output
t
Variable selector 1
12.09
input 2 source
Variable Selector 2
Any variable Variable
parameter selector 2 Variable
Variable selector 2 output selector 2
??.?? input 1 scaling Any
indicator output
destination unprotected
12.33
variable
12.32 12.31 parameter
??.??
Variable selector 2 ??.??
Variable selector 2 12.30
12.28 mode
input 1 source
Any variable Variable selector 2
12.35 ??.??
parameter control
Variable selector 2
??.?? input 2 scaling
12.34
??.??
Variable selector 2
12.29
input 2 source
Key
The brake control functions are provided to allow well co-ordinated operation of an external brake with the drive. While both hardware and
software are designed to high standards of quality and robustness, they are not intended for use as safety functions, i.e. where a fault or
failure would result in a risk of injury. In any application where the incorrect operation of the brake release mechanism could result in
WARNING injury, independent protection devices of proven integrity must also be incorporated.
The control terminal relay can be selected as an output to release a brake. If a drive is set up in this manner and a drive replacement takes
place, prior to programming the drive on initial power up, the brake may be released.
When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered. The use of
WARNING
a Smartcard in boot mode or an SM-Applications module can ensure drive parameters are immediately programmed to avoid this situation.
Key
Current
magnitude
X Input Read-write (RW)
X terminals 0.XX
4.01 + parameter
Drive
_ active
X Output 0.XX Read-only (RO)
X
terminals parameter
10.02
Upper current
threshold
12.42
Post-brake
release
12.43 delay
Lower current 12.47
threshold
Ramp
hold
Output 2.03
frequency
2
5.01 + 12.40
i o 3
_
LAT Brake
Brake
controller 12.41
r 12.46 release
Brake release enable
frequency Pre-brake
release
12.44 T25 digital
8.12 delay
I/O 2 invert
Relay source
8.17
invert
Brake apply T25 digital I/O 2
frequency 8.22
source / destination
12.45 + input output
8.27 Relay source i o
_
T25 digital I/O 12 LAT
8.32 reset
output select r
Reference
on
If the reset input is 1, the output is 0.
1.11 If the reset input is 0, the output
latches at 1 if the input is 1.
1 2 3 4 5 6
Pr 12.46 Pr 12.47
The brake control functions are provided to allow well co-ordinated operation of an external brake with the drive. While both hardware and
software are designed to high standards of quality and robustness, they are not intended for use as safety functions, i.e. where a fault or
failure would result in a risk of injury. In any application where the incorrect operation of the brake release mechanism could result in
WARNING injury, independent protection devices of proven integrity must also be incorporated.
The control terminal relay can be selected as an output to release a brake. If a drive is set up in this manner and a drive replacement takes
place, prior to programming the drive on initial power up, the brake may be released.
When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered. The use of
WARNING
a Smartcard in boot mode or an SM-Applications module can ensure drive parameters are immediately programmed to avoid this situation.
1
Brake
12.43 12.40
10.02 Brake apply release
Lower current 1 12.48
delay
threshold
Drive active Brake
Closed-loop Hold zero
controller 12.41 6.08
Reference vector = 0 speed
on enable
Servo = 1
1 2 3 4 5
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
12.01 Threshold detector 1 output OFF (0) or On (1) RO Bit NC PT
12.02 Threshold detector 2 output OFF (0) or On (1) RO Bit NC PT
12.03 Threshold detector 1 source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.04 Threshold detector 1 level 0.00 to 100.00 % 0.00 RW Uni US
Threshold detector 1
12.05 0.00 to 25.00 % 0.00 RW Uni US
hysteresis
Threshold detector 1 output
12.06 OFF (0) or On (1) OFF (0) RW Bit US
invert
Threshold detector 1
12.07 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.08 Variable selector 1 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.09 Variable selector 1 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Select input 1 (0), select input 2 (1), add (2),
subtract (3), multiply (4), divide (5),
12.10 Variable selector 1 mode time constant (6), linear ramp (7), modulus (8), Select input 1 (0) RW Uni US
powers (9), sectional control (10),
external rectifier monitor (11)
Variable selector 1
12.11 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.12 Variable selector 1 output ±100.00 % RO Bi NC PT
Variable selector 1 source 1
12.13 ±4.000 1.000 RW Bi US
scaling
Variable selector 1 source 2
12.14 ±4.000 1.000 RW Bi US
scaling
12.15 Variable selector 1 control 0.00 to 100.00 s 0.00 RW Uni US
12.23 Threshold detector 2 source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.24 Threshold detector 2 level 0.00 to 100.00 % 0.00 RW Uni US
Threshold detector 2
12.25 0.00 to 25.00 % 0.00 RW Uni US
hysteresis
Threshold detector 2 output
12.26 OFF (0) or On (1) OFF (0) RW Bit US
invert
Threshold detector 2
12.27 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.28 Variable selector 2 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.29 Variable selector 2 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Select input 1 (0), select input 2 (1), add (2),
subtract (3), multiply (4), divide (5),
12.30 Variable selector 2 mode time constant (6), linear ramp (7), modulus (8), Select input 1 (0) RW Uni US
powers (9), sectional control (10),
external rectifier monitor (11)
Variable selector 2
12.31 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.32 Variable selector 2 output ±100.00 % RO Bi NC PT
Variable selector 2 source 1
12.33 ±4.000 1.000 RW Bi US
scaling
Variable selector 2 source 2
12.34 ±4.000 1.000 RW Bi US
scaling
12.35 Variable selector 2 control 0.00 to 100.00 s 0.00 RW Uni US
The brake control functions are provided to allow well co-ordinated operation of an external brake with the drive. While both hardware
and software are designed to high standards of quality and robustness, they are not intended for use as safety functions, i.e. where a
fault or failure would result in a risk of injury. In any application where the incorrect operation of the brake release mechanism could
WARNING
result in injury, independent protection devices of proven integrity must also be incorporated.
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
Relative Relative
jog reverse jog enable
13.19 13.18
Relative
jog reference
Position control reference position
13.17 0
1
1
Revolution Position
Position x(-1)
counter fine 0
Drive Position
Encoder 3.28 3.29 3.30 controller
reference 13.04 Position
source reference
invert
Slot 1 15.04 15.05 15.06 13.06
0
1 D Position Ratio +
Slot 2 16.04 16.05 16.06 2 0
3 1
13.07
13.08
+
ò +
x(-1) _
4
Slot 3 17.04 17.05 17.06
Position
error reset 13.16
*For more information, refer to section 13.21.9 Position modes on page 261.
Frequency/speed
reference Pre-ramp Post-ramp
selected reference reference
1.01 0
Menu 2
1.03 Ramp Control 2.01
1
Position loop
disabled 0
1 +
2 _
Position
Position loop error
controller
P gain
13.01 13.02 13.03 13.09
Key
Relative Relative
jog reverse jog enable
13.19 13.18
Relative
jog reference
Position control reference position
13.17 0
1
1
Revolution Position
Position x(-1)
counter fine 0
Drive Position
Encoder 3.28 3.29 3.30 controller
reference 13.04 Position
source reference
invert
Slot 1 15.04 15.05 15.06 13.06
0
1 D Position Ratio +
Slot 2 16.04 16.05 16.06 2 0
3 1
13.07
13.08
+
ò +
x(-1) _
4
Slot 3 17.04 17.05 17.06
Position
error reset 13.16
*For more information, refer to section 13.21.9 Position modes on page 261.
Pre-ramp Post-ramp
Frequency/speed reference reference Final speed
reference 1.01 0 reference
selected Menu 2 +
1.03 2.01 3.01
Ramp Control
1
+
Velocity
feed- 1.39
forward Velocity feed
1.40 -forward
select
Position Hard speed
controller reference
mode* selector
13.10 = 13.10 = 13.10 =
13.10 3.23
5 or 6 1 or 3 1 to 6
1 0
Position loop
disabled 0
1
2 0
3
1 1
4
1 5
6
0
Hard speed
reference 3.22
Hold zero
6.08
speed
Position
0 Position loop error
controller
1 P gain
1 13.01 13.02 13.03 13.09
0
Revolution Position Fine
Position
13.12
Position
Position loop controller
enabled* speed clamp
Orientation
acceptance
window
13.14
Key
Orientation
X Input Read-write (RW)
X terminals 0.XX
parameter
* The position controller is disabled and the error integrator is also reset
under the following conditions:
1. If the drive is disabled (i.e. inhibited, ready or tripped)
2. If the position controller mode (Pr 13.10) is changed. The position
controller is disabled transiently to reset the error integrator.
3. The absolute mode parameter (Pr 13.11) is changed. The position
controller is disabled transiently to reset the error integrator.
4. One of the position sources is invalid.
5. The position feedback initialised parameter (Pr 3.48) is zero.
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
13.01 Revolutions error -32,768 to +32,767 RO Bi NC PT
13.02 Position error -32,768 to +32,767 RO Uni NC PT
13.03 Fine position error -32,768 to +32,767 RO Uni NC PT
drv (0), Slot1 (1), Slot2 (2), Slot3 (3),
13.04 Position controller reference source drv (0) RW Uni US
LocAL (4)
13.05 Position controller feedback source drv (0), Slot1 (1), Slot2 (2), Slot3 (3) drv (0) RW Uni US
13.06 Position reference invert OFF (0) or On (1) OFF (0) RW Bit US
13.07 Ratio numerator 0.000 to 4.000 1.000 RW Uni US
13.08 Ratio denominator 0.000 to 1.000 1.000 RW Uni US
13.09 Position controller P gain 0.00 to 100.00 rad s-1/rad 25.00 RW Uni US
Position controller
disabled (0)
Rigid position control -
Position controller feed fwd (1)
disabled (0) Rigid position control (2)
Rigid position control - Non-rigid position
13.10 Position controller mode Position controller disabled (0) RW Uni US
feed fwd (1) control - feed fwd (3)
Rigid position control Non-rigid position
(2) control (4)
Orientation on stop (5)
Orientation on stop and
when drive enabled (6)
13.11 Absolute mode enable OFF (0) or On (1) OFF (0) RW Bit US
13.12 Position controller speed clamp 0 to 250 rpm 150 RW Uni US
13.13 Orientation position reference 0 to 65,535 0 RW Uni US
13.14 Orientation acceptance window 0 to 4,096 256 RW Uni US
13.15 Orientation position complete OFF (0) or On (1) RO Bit NC PT
13.16 Position error reset OFF (0) or On (1) OFF (0) RW Bit NC
13.17 Relative jog reference 0.0 to 4,000.0 rpm 0.0 RW Uni NC
13.18 Relative jog enable OFF (0) or On (1) OFF (0) RW Bit NC
13.19 Relative jog reverse OFF (0) or On (1) OFF (0) RW Bit NC
13.20 Local reference turns 0 to 65,535 0 RW Uni NC
13.21 Local reference position 0 to 65,535 0 RW Uni NC
13.22 Local reference fine position 0 to 65,535 0 RW Uni NC
13.23 Local reference disable OFF (0) or On (1) OFF (0) RW Bit NC
13.24 Ignore local reference turns OFF (0) or On (1) OFF (0) RW Bit US
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
Main reference
source parameter
14.02
Any variable
parameter PID Main
reference
??.??
14.19
??.??
PID reference
source parameter PID reference
14.03 source invert
PID
enable
14.08
Drive normal
indicator
10.01 &
Logic 1
Any bit
parameter
??.??
??.??
Source
14.09
not used
Optional PID
enable source
parameter
PID output
14.13
high limit
PID hold PID output
integrator enable PID output
14.14 destination
low limit
14.17 parameter*
14.10
PID symmetrical 14.16 Any
PID proportional 14.18 unprotected
gain limits enable
variable
14.11 PID controller parameter
output PID output
scale factor
+ ??.??
PID integral
gain +
14.01 14.15
14.12
??.??
PID derivative
gain
Key
Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
14.01 PID control output ±100.00 % RO Bi NC PT
14.02 PID main reference source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.03 PID reference source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.04 PID feedback source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.05 PID reference source invert OFF (0) or On (1) OFF (0) RW Bit US
14.06 PID feedback source invert OFF (0) or On (1) OFF (0) RW Bit US
14.07 PID reference slew-rate limit 0.0 to 3,200.0 s 0.0 RW Uni US
14.08 PID enable OFF (0) or On (1) OFF (0) RW Bit US
14.09 PID optional enable source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.10 PID proportional gain 0.000 to 4.000 1.000 RW Uni US
14.11 PID integral gain 0.000 to 4.000 0.500 RW Uni US
14.12 PID derivative gain 0.000 to 4.000 0.000 RW Uni US
14.13 PID upper limit 0.00 to 100.00 % 100.00 RW Uni US
14.14 PID lower limit ±100.00 % -100.00 RW Bi US
14.15 PID output scaling factor 0.000 to 4.000 1.000 RW Uni US
14.16 PID output destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
14.17 PID hold integrator enable OFF (0) or On (1) OFF (0) RW Bit NC
14.18 PID symmetrical limits enable OFF (0) or On (1) OFF (0) RW Bit US
14.19 PID main reference ±100.00 % RO Bi NC PT
14.20 PID reference ±100.00 % RO Bi NC PT
14.21 PID feedback ±100.00 % RO Bi NC PT
14.22 PID error ±100.00 % RO Bi NC PT
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
Solutions Module
slot 1 (Menu 15)
Solutions Module
slot 2 (Menu 16)
Solutions Module
slot 3 (Menu 17)
Encoder setup
Incremental
SC EnDAt
xx.SErVO
SC.Hiper
encoder
encoder
encoder
encoder
Comms
SC SSI
Fine
SC
Parameter Position Revolution
feedback counter Position position
Error
detection initialised
Solutions x.29 x.30 x.31
Module x.17 x.09 Encoder turns / Linear encoder 9 9 9 9 9 9 x.45
comms to sinewave ratio
15-way x.10 Equivalent lines per rev 9 9 9 9 9
D-type Single turn comms resolution /
x.11 9 9 9 9 9
.. .. .. .. .. Linear encoder comms bits
SK1 ..... x.13 Encoder supply voltage 9 9 9 9 9 9 Marker position information
x.14 Encoder comms baud rate 9 9
x.15 Encoder type 9 9 9 9 9 9 Revolution Fine
Comms encoder mode / counter Position position
x.16 9 9 9 9
Rotary select / Terminations
x.16 x.18 Auto-config / SSI format # # # x.32 x.33 x.34
x.44 Disable encoder position check 9 9 9 9 9
Termination x.45 Position feedback initialised X X X X X X
disable x.46 Lines per revolution divider # # # # #
Key:
9 - Information required from user x.07
# - Configuration dependant / User selectable
X - Parameter can be set-up by the user or the drive automatically Marker Encoder type Marker
flag x.08 position
Pr x.15 = 0 to 12
disable
Marker
input
Solutions
Module
15-way Encoder
D-type SK1
Term Ab Fd Fr Ab.SErVO Fd.SErVO Fr.SErVO SC SC.HIPEr EndAt SC.EndAt SSI SC.SSI SC.SErVO
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12)
.. .. .. .. .. 1 A F F A F F Cos Cos Cos
..... 2 A\ F\ F\ A\ F\ F\ Cosref Cosref Cosref
3 B D R B D R Sin Sin Sin
4 B\ D\ R\ B\ D\ R\ Sinref Sinref Sinref
5 Z Encoder input - Data (input/output)
6 Z\ Encoder input - Data\ (input/output)
7 Aout, Fout, Data SSI (output) U Simulated encoder: Aout, Fout, Data SSI (output) U 7
8 Aout\, Fout\, Data\ SSI (output) U\ Simulated encoder: Aout\, Fout\, Data\ SSI (output) U\ 8
9 Bout, Dout,Clock\ SSI (input) V Simulated encoder: Bout, Dout,Clock\ SSI (input) V 9
10 Bout\, Dout\, Clock SSI (input) V\ Simulated encoder: Bout\, Dout\, Clock SSI (input) V\ 10
11 W Encoder input - Clock (output) W
12 W\ Encoder input - Clock\ (output) W\
13 +V
14 0V common
15 th
Solutions
Module Freeze inputs / Encoder outputs
Freeze input
terminal PL2 Term Freeze RS485 Freeze +24V mode selection
block Ab output Fd output SSI output Marker output
input input x.38
1 Freeze
2 0V common
24V
3 A F Data
4 A\ F\ Data\
9-Way
5 B D Clock\ (input) RS485
6 B\ D\ Clock (input)
7 0V common Drive /slot
8 Freeze Z bus input
9 Freeze\ Z\
Speed feedback
selector
3.26
Speed feedback
selector
Motor map 2
21.21
Feedback Speed
+ filter 16ms
x.19 internal x.03
_ filter
x.49
Lock position Feedback
feedback reference
Feedback destination
reference/ x.23
motor
Revolution Fine Maximum thermistor Feedback
counter Position position feedback resistance reference
reference (rpm) scaling xx.xx
x.04 x.05 x.06 x.20 x.21 x.22
xx.xx
Positional information
H.drv .. .. .. .. ..
.....
H.int
Drive or
Solutions
Module
Freeze
input mode
selection Freeze input
x.38
SM-Applications
SM-Encoder Plus
Drive / Slot Main drive
24V input 485 input Pass freeze
bus input
to drive and
Marker output other slots
Yes x.40
Yes
Marker
Yes Freeze
Marker output Yes flag
Freeze x.35 Freeze revolution counter
Yes x.39 x.36 Freeze position
Marker output Yes
x.37 Freeze fine position
x(-1)
Yes
Yes
x.41
Freeze
invert
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*See trip SLX.Er, Feedback module category on page 285.
x.17
Error detection
level
Freeze positional
information
Freeze input Freeze
Freeze
flag x.35 revolution
SM-Applications
counter
SM-Universal x.39
Encoder Plus Freeze
x.36 position
Positional information
Key
Revolution
counter Position Input Read-write (RW)
terminals 0.XX
parameter
x.04 x.05
Output 0.XX Read-only (RO)
Resolver terminals parameter
selected as
drive feedback
Lock position (Pr 3.26) The parameters are all shown at their default settings
feedback
x.49
Speed
Feedback feedback
filter
x.19 x.03
Revolution
counter Position
x.29 x.30
Encoder
simulation
Non marker reset source
positional information
Position Ratio x.24
numerator
Resolver Simulated encoder
x.05 x.25 Term
source output connections
1 A
2 A\
3 0V
Encoder 4 B
3.29
source 5 B\
6 0V
7 Z
8 Z\
x.xx
SM-Resolver parameters
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*See trip SLX.Er, Feedback module category on page 285.
Position Revolution
feedback counter Position
initialised
Term Encoder x.29 x.30
connections
x.45
1 A Equivalent
2 A\ x.10 lines per
3 B
+
revolution
4 B\
9-Way Encoder Marker position information _
5 Z x.16
6 Z\ termination
7 0V Encoder Revolution
x.15 counter Position
8 Not used type
x.32 x.33
Freeze positional
information
Freeze input Freeze
Freeze
flag x.35 revolution
SM-Applications
counter
SM-Universal x.39
Encoder Plus Freeze
x.36 position
Feedback Speed
filter
x.19 x.03
x.49
Lock position
feedback
Revolution
counter Position
x.04 x.05
Positional information
Key
Position Revolution
Solutions feedback counter Position
Module initialised
terminal Term Encoder x.29 x.30
block connections
x.45
1 A Equivalent
2 A\ x.10 lines per
3 B
+
revolution
9-Way 4 B\
5 Z x.16 Encoder Marker position information _
6 Z\ termination
7 0V Encoder Revolution
x.15 counter Position
8 +V type
x.32 x.33
x.13
Encoder supply
voltage
Marker x.08 x.07
input
Marker Marker
flag position
disable
Freeze positional
information
Freeze input
Freeze
SM-Applications x.35 revolution
x.39 counter
SM-Universal
Encoder Plus Freeze Freeze
x.36 position
flag
Encoder Encoder
simulation simulation
source mode
Position
Encoder
Module encoder simulation
port x.05 ratio numerator Ab
Fd
Drive encoder Fr
port 3.29
Ab.L
Feedback Speed
filter
x.19 x.03
x.49
Lock position
feedback
Revolution
counter Position
x.04 x.05
Positional information
Key
Solutions
Module
terminal
Ab Fd Fr Ab.L Fd.L PL2 term
block
0V 1
0V 2
A F F A F 3
A\ F\ F\ A\ F\ 4
R\
9-Way
B D B D 5
B\ D\ R\ B\ D\ 6
0V 7
Z 8
Z\ 9
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*Pr x.13, Pr x.24, Pr x.25 and Pr x.28 are only used when operating with a SM-Encoder Output Plus module. These parameters are not used when
operating with a SM-Encoder Plus module
**See trip SLX.Er, Feedback module category on page 285.
T12 Analog
output 1
Key
T2 digital
I/O 1 state T2 output ??.??
select
X.09 X.31
x(-1) ??.??
Any bit
T2 digital I/O 1 T2 digital I/O parameter
X.21
1 destination
/ source
X.11 T2 digital
I/O 1 invert Any
unprotected
Positive bit parameter
X.29
logic select
??.??
x(-1) ??.??
Any bit
T3 digital parameter
I/O 2 state T3 output ??.??
select
X.10 X.32
x(-1) ??.??
x(-1)
??.??
Any bit
T4 digital parameter
I/O 3 state T4 output ??.??
select
X.03 X.33
x(-1) ??.??
T4 digital I/O 3
T4 digital I/O X.23
3 destination
/ source
T4 digital Any
X.13
I/O 3 invert unprotected
bit
Positive X.29 parameter
logic select
??.??
Key
x(-1)
??.??
Input Read-write (RW)
terminals 0.XX
parameter
T6 digital input 4
state indicator T6 digital T6 digital input 4
input 4 invert destination
X.04 X.14 X.24 Any
unprotected
bit
T6 digital input 4 parameter
??.??
X.29
Positive
logic select x(-1) ??.??
T7 digital input 5
state indicator T7 digital T7 digital input 5
input 5 invert destination
X.05 X.15 X.25 Any
unprotected
bit
T7 digital input 5 parameter
??.??
X.29
Positive
logic select x(-1) ??.??
T8 digital input 6
state indicator T8 digital T8 digital input 6
input 6 invert destination
X.06 X.16 X.26 Any
unprotected
bit
T8 digital input 6 parameter
??.??
X.29
Positive
logic select x(-1) ??.??
X.17
Relay 1
Key
Input
terminals
Output
terminals
Read-write
0.XX (RW)
Relay 2 parameter
Read-only
0.XX (RO)
parameter
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*See trip SLX.Er, Automation (I/O Expansion) module category on page 287.
Figure 13-32 SM-I/O Lite & SM-I/O Timer digital I/O logic diagram
Destination
Invert
x.24
x.14
Monitor
0.00
5 x.04 Default
destination
Pr 0.00
21.51
Destination
Invert
x.25
x.15
Monitor
0.00
6 x.05 Default
destination
Pr 0.00
21.51
Destination
Invert
x.26
x.16
Monitor
0.00
7 x.06 Default
destination
Pr 0.00
21.51
Relay
source
x.27 Invert
x.17
0.00 Monitor
Default
source
Pr 0.00 x.07 21
21.51
22
23
0V
Key
Figure 13-33 SM-I/O Lite & SM-I/O Timer analog I/O logic diagram
Destination
Invert
x.43
T2 Analog Input 1 x.42
Level
Mode Scaling 0.00
x.38 x.40 x.41 Default
destination
Current Pr 0.00
x(-1) 21.51
mode and
protection
x.03
200R
Current loop
0V loss indicator
Source
x.48
Key
Key
SM-I/O
Parameter Range(Ú) Default(Ö) Type
Lite Timer
SM-I/O Timer: 203
x.01 Solutions Module ID 0 to 599 RO Uni PT US 9 9
SM-I/O Lite: 207
x.02 Solutions Module software version 0.00 to 99.99 RO Uni NC PT 9 9
x.03 Current loop loss indicator OFF (0) or On (1) RO Bit NC PT 9 9
x.04 T5 digital input 1 state OFF (0) or On (1) RO Bit NC PT 9 9
x.05 T6 digital input 2 state OFF (0) or On (1) RO Bit NC PT 9 9
x.06 T7 digital input 3 state OFF (0) or On (1) RO Bit NC PT 9 9
x.07 Relay 1 state OFF (0) or On (1) RO Bit NC PT 9 9
x.14 T5 digital input 1 invert OFF (0) or On (1) OFF (0) RW Bit US 9 9
x.15 T6 digital input 2 invert OFF (0) or On (1) OFF (0) RW Bit US 9 9
x.16 T7 digital input 3 invert OFF (0) or On (1) OFF (0) RW Bit US 9 9
x.17 Relay 1 invert OFF (0) or On (1) OFF (0) RW Bit US 9 9
x.19 Real time clock daylight saving mode OFF (0) or On (1) OFF (0) RW Bit US 9
x.20 Digital I/O read word 0 to 255 RO Uni NC PT 9 9
x.24 T5 digital input 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US 9 9
x.25 T6 digital input 2 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US 9 9
x.26 T7 digital input 3 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US 9 9
x.27 Relay 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US 9 9
x.30 Real time clock update mode 0 to 2 0 RW Uni NC 9
x.34 Real time clock time: minutes.seconds 0.00 to 59.59 RW Uni NC PT 9
x.35 Real time clock time: days.hours 1.00 to 7.23 RW Uni NC PT 9
x.36 Real time clock time: months.days 0.00 to 12.31 RW Uni NC PT 9
x.37 Real time clock time: years 2000 to 2099 RW Uni NC PT 9
0-20 (0), 20-0 (1), 4-20.tr (2),
x.38 Analog input 1 mode 20-4.tr (3), 4-20 (4), 20-4 (5), 0-20 (0) RW Txt US 9 9
VOLt(6)
0-20 (0), 20-0 (1), 4-20 (2), 20-4 (3),
x.39 Analog output mode 0-20 (0) RW Txt US 9 9
VOLt (4)
x.40 Analog input 1 ±100.0% RO Bi NC PT 9 9
x.41 Analog input 1 scaling 0 to 4.000 1.000 RW Uni US 9 9
x.42 Analog input 1 invert OFF (0) or On (1) OFF (0) RW Bit US 9 9
x.43 Analog input 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US 9 9
x.48 Analog output 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US 9 9
x.49 Analog output 1 scaling 0.000 to 4.000 1.000 RW Uni US 9 9
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT 9 9
x.51 Solutions Module software sub-version 0 to 99 RO Uni NC PT 9 9
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*See trip SLX.Er, Automation (I/O Expansion) module category on page 287.
x(-1) ??.??
Any bit or
T3 digital I/O 1 T3 digital I/O integer
X.21
1 source/ parameter
destination
X.11 T3 digital
I/O 1 invert Any
unprotected
bit parameter
??.??
x(-1) ??.??
T4 digital
I/O 2 state T4 digital I/O ??.??
2 output select
X.10 X.32
x(-1) ??.??
Any bit or
T4 digital I/O 2 T4 digital I/O integer
X.22
2 source/ parameter
destination
T4 digital
X.12
I/O 2 invert Any
unprotected
bit parameter
??.??
x(-1) ??.??
T5 digital
I/O 3 state T5 digital I/O ??.??
3 output select
X.03 X.33
x(-1) ??.??
Any bit or
T5 digital I/O 3 integer
T5 digital I/O X.23 parameter
3 source/
destination
X.13 T5 digital
I/O 3 invert Any
unprotected
bit parameter
??.??
x(-1) ??.??
T6 digital
I/O 4 state T6 digital I/O ??.??
4 output select
X.04 X.29
x(-1) ??.??
Any bit or
T6 digital I/O 4 integer
T6 digital I/O X.24 parameter
4 source/
destination
X.14 T6 digital
I/O 4 invert Any
unprotected
bit parameter
??.??
Key
x(-1) ??.??
Input Read-write (RW)
terminals 0.XX
parameter
x(-1) ??.??
X.17
Relay 1
Relay 2
Key
8 + ??.??
X.38 X.41
_
9 Analog Analog
input 1 input 1 x(-1) ??.??
mode selector scaling
X.42
Analog input 1
invert
10
Key
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*See trip SLX.Er, Automation (I/O Expansion) module category on page 287.
T3 digital
I/O 1 state T3 digital I/O ??.??
1 output select
X.09 X.31
x(-1) ??.??
Any valid
T3 digital I/O 1 T3 digital I/O parameter
X.21
1 source/
destination
X.11 T3 digital
I/O 1 invert
Any unprotected
parameter
??.??
x(-1) ??.??
T4 digital
I/O 2 state T4 digital I/O ??.??
2 output select
X.10 X.32
x(-1) ??.??
Any valid
T4 digital I/O 2 T4 digital I/O parameter
X.22
2 source/
destination
T4 digital
X.12
I/O 2 invert
Any unprotected
parameter
??.??
x(-1) ??.??
T5 digital
I/O 3 state T5 digital I/O ??.??
3 output select
X.03 X.33
x(-1) ??.??
Any valid
T5 digital I/O 3 parameter
T5 digital I/O X.23
3 source/
destination
X.13 T5 digital
I/O 3 invert
Any unprotected
parameter
??.??
x(-1)
??.??
T6 digital
I/O 4 state T6 digital I/O ??.??
4 output select
X.04 X.29
x(-1) ??.??
Any valid
T6 digital I/O 4 parameter
T6 digital I/O X.24
4 source/
destination
X.14 T6 digital
I/O 4 invert
Any unprotected
parameter
??.??
Key
x(-1)
??.??
Input Read-write (RW)
terminals 0.XX
parameter
??.??
x(-1) ??.??
T8 digital
input 6 state T8 digital T8 digital input 6
input 6 invert destination
X.06 X.16 X.26
Any
unprotected
T8 digital input 6 parameter
??.??
x(-1) ??.??
T9 digital
input 7 state T9 digital T9 digital input 7
input 7 invert destination
X.07 X.17 X.27
Any
unprotected
T9 digital input 7 parameter
??.??
x(-1) ??.??
Any bit or
integer
parameter
Relay 1
Any bit or
integer
parameter
Relay 2
Key
10
Key
State
0.00
1 x.09 Any
unprotected
parameter
x(-1) 21.51
Destination
Invert
x.22
T2 digital Input 2 x.12
State
0.00
2 x.10 Any
unprotected
parameter
x(-1) 21.51
Destination
Invert
x.23
T4 digital Input 3 x.13
State
0.00
4 x.03 Any
unprotected
parameter
x(-1) 21.51
Destination
Invert
x.24
T5 digital Input 4 x.14
State
0.00
5 x.04 Any
unprotected
parameter
x(-1) 21.51
Destination
Invert
x.25
T7 digital Input 5 x.15
State
0.00
7 x.05 Any
unprotected
parameter
x(-1) 21.51
Destination
Invert
x.26
T8 digital Input 6 x.16
State
0.00
8 x.06 Any
unprotected
parameter
x(-1) 21.51
Key
x.17 Any
parameter
Relay 1
Relay 1 state ??.??
10 x.07
x(-1)
??.??
11
0V
Relay 2
source
Relay 2
invert x.28
x.18 Any
parameter
Relay 2
Relay 2 state ??.??
12 x.08
x(-1)
??.??
11
0V
Key
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*See trip SLX.Er, Automation (I/O Expansion) module category on page 287.
Key
Input x(-1)
X.XX Read-write (RW)
terminals parameter
SM-I/O 32 parameters
Parameter Range(Ú) Default(Ö) Type
x.01 Solutions Module ID code 0 to 599 208 RO Uni PT US
x.02 Solutions Module main software version 0.00 to 99.99 99.00 RO Uni NC PT
x.03 Digital I/O 3 state OFF(0) or On(1) OFF (0) RO Bit NC PT
x.04 Digital I/O 4 state OFF(0) or On(1) OFF (0) RO Bit NC PT
x.05 Digital I/O 5 state OFF(0) or On(1) OFF (0) RO Bit NC PT
x.06 Digital I/O 6 state OFF(0) or On(1) OFF (0) RO Bit NC PT
x.07 Digital I/O 7 state OFF(0) or On(1) OFF (0) RO Bit NC PT
x.08 Digital I/O 8 state OFF(0) or On(1) OFF (0) RO Bit NC PT
x.09 Digital I/O 1 state OFF(0) or On(1) OFF (0) RO Bit NC PT
x.10 Digital I/O 2 state OFF(0) or On(1) OFF (0) RO Bit NC PT
x.11 Digital I/O 1 invert OFF(0) or On(1) OFF (0) RW Bit US
x.12 Digital I/O 2 invert OFF(0) or On(1) OFF (0) RW Bit US
x.13 Digital I/O 3 invert OFF(0) or On(1) OFF (0) RW Bit US
x.14 Digital I/O 4 invert OFF(0) or On(1) OFF (0) RW Bit US
x.15 Digital I/O 5 invert OFF(0) or On(1) OFF (0) RW Bit US
x.16 Digital I/O 6 invert OFF(0) or On(1) OFF (0) RW Bit US
x.17 Digital I/O 7 invert OFF(0) or On(1) OFF (0) RW Bit US
x.18 Digital I/O 8 invert OFF(0) or On(1) OFF (0) RW Bit US
x.20 Digital I/O read word 0 to 255 0 RO Uni NC PT
x.21 Digital I/O 1 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.22 Digital I/O 2 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.23 Digital I/O 3 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.24 Digital I/O 4 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.25 Digital I/O 5 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.26 Digital I/O 6 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.27 Digital I/O 7 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.28 Digital I/O 8 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.29 Digital I/O 4 output select OFF(0) or On(1) On(1) RW Bit PT US
x.31 Digital I/O 1 output select OFF(0) or On(1) OFF (0) RW Bit US
x.32 Digital I/O 2 output select OFF(0) or On(1) OFF (0) RW Bit US
x.33 Digital I/O 3 output select OFF(0) or On(1) OFF (0) RW Bit US
x.43 First update method direction register Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.47 Fast update method read register Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.48 Fast update method write register Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT
x.51 Solutions Module software sub-version 0 to 99 RO Uni NC PT
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*See trip SLX.Er, Automation (I/O Expansion) module category on page 287.
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
Host mode
performance
Normal
performance
Normal
High performance
5-way terminal
Host mode
Idle
set externally
Parameters valid or
Pulse test tuning
Full tuning
Reset
connection
Battery 24Vdc input 4 (if required) 0 1 2 Parameters
transferred
Isolated 0V / screen (SLM) 3
x.28
Not used 2
Not used 1
Idle
performance
Normal
High performance
EEPROM (CT Coder)
SAVE
Key
Sequencer
state x.14
0 Power-up
1 Normal comms mode set-up
2 Normal comms mode set-up wait
3 Axis initialisation
4 Axis initialisation wait
5 SP comms mode set-up
6 SP comms mode set-up wait
7 Wait for hardware enable
8 Auto flux angle
9 Auto flux angle wait
10 Complete autoflux angle
11 Auto L's Option module SLM converted Axis Marker pulse
12 Auto L's wait error status flux offset initialised received
13 Auto current loop gains
14 Auto current loop gains wait
15 Running x.50 x.09 x.45 x.08
16 Trip
Speed
x.03
Lock position
feedback
1 0 x.49
x.29 1 0
0 1 2 3 4
Encoder only mode
Idle
Parameters
transferred
x.28
0 1 2
Encoder only mode
performance
Normal
performance
Normal
High performance
LOAD
SM-SLM parameters
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
* Some of the parameters which are not used will be introduced in scheduled product enhancement.
**See trip SLX.Er, SLM module category on page 288.
With software V01.07.00 and later, all menu 20 parameters are transferred to the SMARTCARD when a 4yyy transfer is performed. See section
11.2.1 Writing to the SMARTCARD on page 152 for more information.
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
* The menu 0 references are only valid when the second motor map parameters have been made active by setting Pr 11.45 to 1. (The second motor
map only becomes effective when the output stage of the drive is not enabled, i.e. inh, rdY, or trip states.)
When the second motor map parameters are active, the symbol ‘Mot2’ will appear in the lower left hand corner of the LCD display or the decimal point
that is second from the right on the first row of the LED display is lit.
RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
Preset references
Preset references 1 to 8 are contained in Pr 1.21 to Pr 1.28. Controller
operational
Keypad reference
If Keypad reference is selected the drive sequencer is controlled directly
DC Bus voltage
by the keypad keys and the keypad reference parameter (Pr 1.17) is
selected. The sequencing bits, Pr 6.30 to Pr 6.34, and Pr 6.37 have no
effect and jog is disabled.
Precision reference
If Precision reference is selected the speed reference is given Pr 1.18
Motor Speed
and Pr 1.19.
Programmed
deceleration
rate
13.21.2 Braking Modes
2.04 Ramp mode select
RW Txt US
t
FASt (0), Std (1),
OL
Ú Std.hV (2) Ö Std (1) 2: Standard ramp with motor voltage boost
CL FASt (0), Std (1) This mode is the same as normal standard ramp mode except that the
motor voltage is boosted by 20%. This increases the losses in the motor
This parameter does not affect the acceleration ramp, as the ramp giving faster deceleration.
output always rises at the programmed acceleration rate subject to the
current limits. It is possible in under some unusual circumstances in
open-loop mode (i.e. highly inductive supply) for the motor to reach a low 2.08 Standard ramp voltage
speed in standard ramp mode, but not completely stop. It is also RW Uni RA US
possible if the drive attempts to stop the motor with an overhauling load 200V drive: 375
in any mode that the motor will not stop when standard ramp mode or 400V drive: EUR> 750
fast ramp mode is used. If the drive is in the deceleration state the rate of 0 to
Ú DC_VOLTAGE_SET_MAX V
Ö USA> 775
fall of the frequency or speed is monitored. If this does not fall for 10 575V drive: 895
seconds the drive forces the frequency or the speed reference to zero. 690V drive: 1075
This only applies when the drive is in the deceleration state and not
when the reference is simply set to zero. This voltage is used as the control level for standard ramp mode. If this
parameter is set too low the machine will coast to rest, and if it is set too
0: Fast ramp
high and no braking resistor is used the drive may give an over-volt ‘OV’
Fast ramp is used where the deceleration follows the programmed trip. The minimum level should be greater than the voltage produced on
deceleration rate subject to current limits. the DC Bus by the highest supply voltage. Normally the DC Bus voltage
1: Standard ramp will be approximately the rms supply line voltage x √2.
Standard ramp is used. During deceleration, if the voltage rises to the Care should be taken in the setting of this parameter. It is
standard ramp level (Pr 2.08) it causes a controller to operate, the output recommended that the setting should be at least 50V higher
of which changes the demanded load current in the motor. As the than the maximum expected level of the DC Bus voltage. If
controller regulates the link voltage, the motor deceleration increases as this is not done, the motor may fail to decelerate on a STOP
the speed approaches zero speed. When the motor deceleration rate WARNING command.
reaches the programmed deceleration rate the controller ceases to
operate and the drive continues to decelerate at the programmed rate. If
the standard ramp voltage (Pr 2.08) is set lower than the nominal DC 13.21.3 S ramps
Bus level the drive will not decelerate the motor, but it will coast to rest.
2.06 S ramp enable
The output of the ramp controller (when active) is a current demand that
is fed to the frequency changing current controller (Open-loop modes) or RW Bit US
the torque producing current controller (Closed-loop vector or Servo Ú OFF (0) or On (1) Ö OFF (0)
modes). The gain of these controllers can be modified with Pr 4.13 and
Pr 4.14. Setting this parameter enables the S ramp function. S ramp is disabled
during deceleration using standard ramp. When the motor is accelerated
again after decelerating in standard ramp the acceleration ramp used by
the S ramp function is reset to zero.
1: Torque control
Demanded Speed The torque demand is given by the sum of the torque reference and
Acceleration
Actual Speed the torque offset, if enabled. The speed is not limited in any way,
however, the drive will trip at the overspeed threshold if runaway
occurs.
2: Torque control with speed override
The output of the speed loop defines the torque demand, but is
Programmed limited between 0 and the resultant torque reference (Pr 4.08 and
ramp rate
Pr 4.09 (if enabled)). The effect is to produce an operating area as
S ramp shown below if the final speed demand and the resultant torque
acceleration reference are both positive. The speed controller will try and
ramp
accelerate the machine to the final speed demand level with a
torque demand defined by the resultant torque reference. However,
T/2 T/2 T/2 T/2 t
the speed cannot exceed the reference because the required torque
T T
would be negative, and so it would be clamped to zero.
Since the ramp rate is defined in s/100Hz or s/1000rpm and the S ramp Current
parameter is defined in s2/100Hz or s2/1000rpm, the time T for the
'curved' part of the S can be determined from:
Pr 4.08 +
T = S ramp rate of change / Ramp rate Pr 4.09 (if enabled)
Enabling S ramp increases the total ramp time by the period T since an
additional T/2 is added to each end of the ramp in producing the S.
Speed
13.21.4 Torque modes Pr 3.01
4.08 Torque reference
RW Bi US Depending on the sign of the final speed demand and the resultant
torque the four areas of operation shown below are possible.
Ú ±USER_CURRENT_MAX % Ö 0.00
+ final speed demand - final speed demand
Parameter for main torque reference. The normal update rate for the + resultant torque + resultant torque
torque reference is 4ms. However if analog inputs 2 or 3 on the drive are
used as the source of the reference, the drive is in closed-loop vector or
servo mode and the analog inputs are in voltage mode with zero offset,
the sample time is reduced to 250μs.
Open loop
If this parameter is 0 normal frequency control is used. If this parameter This mode of operation can be used where torque control is required, but
is set to 1 the current demand is connected to the current PI controller the maximum speed must be limited by the drive.
giving closed loop torque/current demand as shown below. The current 3: Coiler/uncoiler mode
error is passed through proportional and integral terms to give a Positive final speed demand:
frequency reference which is limited to the range: -SPEED_FREQ_MAX A positive resultant torque will give torque control with a positive
to +SPEED_FREQ_MAX. speed limit defined by the final speed demand. A negative resultant
torque will give torque control with a negative speed limit of -5rpm.
Current Frequency Negative final speed demand:
demand + reference A negative resultant torque will give torque control with a negative
P Pr 4.13
I Pr 4.14 speed limit defined by the final speed demand. A positive resultant
torque will give torque control with a positive speed limit of +5rpm.
-
Example of coiler operation:
Active
This is an example of a coiler operating in the positive direction. The final
current
speed demand is set to a positive value just above the coiler reference
speed. If the resultant torque demand is positive the coiler operates with
Closed loop vector and Servo a limited speed, so that if the material breaks the speed does not exceed
When this parameter is set to 1, 2 or 3 the ramps are not active while the a level just above the reference. It is also possible to decelerate the
drive is in the run state. When the drive is taken out of the run state, but coiler with a negative resultant torque demand. The coiler will decelerate
not disabled, the appropriate stopping mode is used. It is recommended down to -5rpm until a stop is applied. The operating area is shown in the
that coast stopping or stopping without ramps are used. However, if following diagram.
ramp stop mode is used the ramp output is pre-loaded with the actual
speed at the changeover point to avoid unwanted jumps in the speed
reference.
0: Speed control mode
The torque demand is equal to the speed loop output.
Stopping
Area for coiler operation, speed Phase 1 Phase 2 Comments
limited to ref and positve torque Mode
6.07 Injection braking time Voltage level 200V drive 400V drive 575V drive 690V drive
RW Uni US Vuu 175 330 435
OL Ú 0.0 to 25.0 s Ö 1.0 Vml1 205* 410* 540*
Defines the time of injection braking during phase 1 with stopping modes Vml2 Vml1 - 10V Vml1 - 20V Vml1 - 25V
3 and 4, and during phase 2 with stopping mode 2 (see Pr 6.01).
Vml3 Vml1 + 10V Vml1 + 15V Vml1 + 50V
Vuu Restart 215 425 590
6.08 Hold zero speed
* Vml1 is defined by Pr 6.48. The values in the table above are the
RW Bit US
default values.
OL
OFF (0)
VT Ú OFF (0) or On (1) Ö 6.48 Line power supply loss ride through detection level
SV On (1) RW Uni RA US
200V drive: 205
When this bit is set the drive remains active even when the run 0 to 400V drive: 410
command has been removed and the motor has reached standstill. The Ú DC_VOLTAGE_SET_MAX V
Ö 575V drive: 540
drive goes to the 'StoP' state instead of the 'rdy' state. 690V drive: 540
13.21.6 Line power supply loss modes
The line power supply loss detection level can be adjusted using this
6.03 Line power supply loss mode parameter. If the value is reduced below the default value, the default
value is used by the drive. If the level is set too high, so that the line
RW Txt US
power supply loss detection becomes active under normal operating
Ú diS (0), StoP (1), ridE.th (2) Ö diS (0) conditions, the motor will coast to a stop.
weakening begins. These oscillations can be reduced by increasing is carried out. If σLs cannot be measured it can be calculated from
the proportional gain. A system has been included to prevent the steady state per-phase equivalent circuit of the motor as follows:
regulation because of the opposite actions of the ramps and the 2
⎛ Lm ⎞
current limit. This can reduce the actual level that the current limit σL s = L s – ⎜ ----------⎟
becomes active by 12.5%. This still allows the current to increase up ⎝ Lr ⎠
to the current limit set by the user. However the current limit flag Ifs is the peak full scale current feedback = KC x √2 / 0.45. Where KC
(Pr 10.09) could become active up to 12.5% below the current limit is defined in Table 13-5.
depending on the ramp rate used.
Vfs is the maximum DC bus voltage.
Torque control:
Again the controller will normally operate with an integral term only, Therefore:
particularly below the point where field weakening begins. The first Pr 4.13 = Kp = (L / 167μs) x (KC x √2 / 0.45 / Vfs) x (256 / 5)
signs of instability will appear around base speed, and can be = K x L x KC
reduced by increasing the proportional gain. The controller can be Where:
less stable in torque control mode rather than when it is used for K = [√2 / (0.45 x Vfs x 167μs)] x (256 / 5)
current limiting. This is because load helps to stabilise the controller,
Drive voltage rating Vfs K
and under torque control the drive may operate with light load.
Under current limit the drive is often under heavy load unless the 200V 415V 2322
current limits are set at a low level. 400V 830V 1161
Line power supply loss and controlled standard ramp: 575V 990V 973
The DC bus voltage controller becomes active if line power supply 690V 1190V 809
loss detection is enabled and the drive supply is lost or controlled
This set-up will give a step response with minimum overshoot after a
standard ramp is being used and the machine is regenerating. The
step change of current reference. The approximate performance of the
DC bus controller attempts to hold the DC bus voltage at a fixed
current controllers will be as given below. The proportional gain can be
level by controlling the flow of current from the drive inverter into its
increased by a factor of 1.5 giving a similar increase in bandwidth,
DC bus capacitors. The output of the DC bus controller is a current
however, this gives at step response with approximately 12.5%
demand which is fed into the current PI controller as shown in the
overshoot.
following diagram.
Closed-loop vector and Servo The above equation gives a conservative value of integral gain. In some
The Kp and Ki gains are used in the voltage based current controller. applications where it is necessary for the reference frame used by the
The default values give satisfactory operation with most motors. drive to dynamically follow the flux very closely (i.e. high speed closed-
However it may be necessary to change the gains to improve the loop induction motor applications) the integral gain may need to have a
performance. The proportional gain (Pr 4.13) is the most critical value in significantly higher value.
controlling the performance. Either the value can be set by auto-tuning
(see Pr 5.12) or it can be set by the user so that 13.21.7 Start / stop logic modes
Pr 4.13 = Kp = (L / T) x (Ifs / Vfs) x (256 / 5)
6.04 Start / stop logic select
Where: RW Uni US
T is the sample time of the current controllers. The drive
compensates for any change of sample time, and so it should be Ú 0 to 4 Ö 0
assumed that the sample time is equivalent to the lowest sample
rate of 167μs. This parameter is provided to allow the user to select several predefined
L is the motor inductance. For a servo motor this is half the phase to digital input routing macros to control the sequencer. When a value
phase inductance that is normally specified by the manufacturer. For between 0 and 3 is selected the drive processor continuously updates
an induction motor this is the per phase transient inductance (σLs). the destination parameters for digital I/O T25, T26 and T27, and the
enable sequencer latching bit (Pr 6.40). When a value of 4 is selected
This is the inductance value stored in Pr 5.24 after the autotune test
the destination parameters for these digital I/O and Pr 6.40 can be
modified by the user.
If Pr 6.04 is changed then a drive reset is required before the function of 13.21.8 Catch a spinning motor
T25, T26 or T27 will become active.
6.09 Catch a spinning motor
Pr 6.04 T25 T26 T27 Pr 6.40
RW Uni US
Pr 6.30 Pr 6.32 0
0 No Function OL 0 to 3 0
(Run Forward) (Run Reverse) (Non Latching)
Ú Ö
Pr 6.39 Pr 6.30 Pr 6.32 1 CL 0 to 1 1
1
(Run Permit) (Run Forward) (Run Reverse) (Latching)
Pr 6.34 Pr 6.33 0 Open-loop
2 No Function
(Run) (Fwd/Rev) (Non Latching) When the drive is enabled with this parameter at zero, the output
Pr 6.39 Pr 6.34 Pr 6.33 1 frequency starts at zero and ramps to the required reference. When the
3
(Run Permit) (Run) (Fwd/Rev) (Latching) drive is enabled with this parameter at a non-zero value, the drive
User User User User performs a start-up test to determine the motor speed and then sets the
4 initial output frequency to the synchronous frequency of the motor.
programmable programmable programmable programmable
The test is not carried out and the motor frequency starts at zero if one of
Figure 13-47 Digital input connections when Pr 6.04 is set to 0 to 3 the following is true.
Pr 6.04 is set to 0 Pr 6.04 is set to 1 • The run command is given when the drive is in the stop state
• The drive is first enabled after power-up with Ur_I voltage mode
21 21 (Pr 5.14 = Ur_I).
+24V 22 +24V 22 • The run command is given with Ur_S voltage mode (Pr 5.14 =
23 23 Ur_S).
24 24 With default parameters the length of the test is approximately 250ms,
25 25
however, if the motor has a long rotor time constant (usually large
Run Permit
motors) it may be necessary to extend the test time. The drive will do this
Run Fwd 26 Run Fwd 26
automatically if the motor parameters including the rated load rpm are
Run Rev 27 Run Rev 27 set up correctly for the motor.
28 28 For the test to operate correctly it is important that the stator resistance
29 29 (Pr 5.17 or Pr 21.12) is set up correctly. This applies even if fixed boost
30 30 (Pr 5.14 = Fd) or square law (Pr 5.14 = SrE) voltage mode is being used.
31 31
The test uses the rated magnetizing current of the motor during the test,
therefore the rated current (Pr 5.07, Pr 21.07 and Pr 5.10, Pr 21.10) and
power factor should be set to values close to those of the motor,
Pr 6.04 is set to 2 Pr 6.04 is set to 3
although these parameters are not as critical as the stator resistance.
For larger motors it may be necessary to increase Pr 5.40 Spin start
boost from its default value of 1.0 for the drive to successfully detect the
21 21
motor speed.
+24V 22 +24V 22
It should be noted that a stationary lightly loaded motor with low inertia
23 23
might move slightly during the test. The direction of the movement is
24 24 undefined. Restrictions may be placed on the direction of this movement
25 Run Permit 25 and on the frequencies detected by the drive as follows:
Run 26 Run 26
Pr 6.09 Function
Fwd/Rev 27 Fwd/Rev 27
0 Disabled
28 28
1 Detect all frequencies
29 29
2 Detect positive frequencies only
30 30
3 Detect negative frequencies only
31 31
This parameter enables sequencer latching. When sequencer latching is When closed-loop vector mode is used without position feedback, and
used, a digital input must be used as a run permit or not stop input. The catch a spinning motor is not required, this parameter should be set to
digital input should write to Pr 6.39. The run permit or not stop input must zero as this avoids unwanted movement of the motor shaft when zero
be made active to allow the drive to run. Making the run permit or not speed is required. When closed-loop vector mode without position
stop input inactive resets the latch and stops the drive. feedback is used with larger motors it may be necessary to increase
Pr 5.40 Spin start boost from its default value of 1.0 for the drive to
successfully detect the motor speed.
Equal Areas
The stop mode selected by Pr 6.01 has no effect if orientation is
enabled.
t
14 Technical Data
14.1 Drive
14.1.1 Power and current ratings (Derating for switching frequency and temperature)
For a full explanation of ‘Normal Duty’ and ‘Heavy Duty’ refer to section 3.1 Ratings on page 14.
Table 14-1 Maximum permissible continuous output current @ 40°C (104°F) ambient (SPMD drives in docked condition)
Normal Duty Heavy Duty
Maximum permissible continuous Maximum permissible continuous
Model Nominal rating output current (A) for the following Nominal rating output current (A) for the following
switching frequencies switching frequencies
kW hp 3kHz 4kHz 6kHz kW hp 3kHz 4kHz 6kHz
SPMA14X1 110 150 205 164 90 150 180 174 135
SPMA14X2 132 200 236 210 158 110 150 210 175 130
SPMA16X1 110 125 125 100 74 90 100 100 100 74
SPMA16X2 132 150 144 100 74 110 125 125 100 74
SPMD12X1 55 75 192 187 143 45 60 156 150 110
SPMD12X2 75 100 248 225 172 55 75 192 175 128
SPMD12X3 90 125 312 264 202 75 100 250 206 151
SPMD12X4 90 125 335 305 233 90 125 290 241 177
SPMD14X1 110 150 205 187 143 90 150 180 150 110
SPMD14X2 132 175 248 225 172 110 150 210 175 128
SPMD14X3 160 200 290 264 202 132 175 248 206 151
SPMD14X4 185 300 335 305 233 160 200 290 241 177
SPMD16X1 110 125 125 103 74 90 100 100 90 65
SPMD16X2 132 150 140 118 89 110 125 125 112 84
SPMD16X3 160 150 158 133 100 132 150 142 119 89
SPMD16X4 160 200 165 140 106 150 150 160 135 102
Table 14-2 Maximum permissible continuous output current @ 40°C (104°F) ambient (SPMD drives in undocked condition)
Normal Duty Heavy Duty
Maximum permissible continuous Maximum permissible continuous
Model Nominal rating output current (A) for the following Nominal rating output current (A) for the following
switching frequencies switching frequencies
kW hp 3kHz 4kHz 6kHz kW hp 3kHz 4kHz 6kHz
SPMD12X1 55 75 192 187 143 45 60 156 150 110
SPMD12X2 75 100 248 225 172 55 75 192 175 128
SPMD12X3 90 125 312 264 202 75 100 250 206 151
SPMD12X4 110 150 350* 312 240 90 125 290 255 190
SPMD14X1 110 150 205 187 143 90 150 180 150 110
SPMD14X2 132 175 248 225 172 110 150 210 175 128
SPMD14X3 160 200 290 264 202 132 175 248 206 151
SPMD14X4 200 300 350* 312 240 160 200 290 255 190
SPMD16X1 110 125 125 109 79 90 100 100 95 68
SPMD16X2 132 150 144 128 96 110 125 125 119 89
SPMD16X3 160 150 168 1142 107 132 150 144 126 99
SPMD16X4 160 200 192 158 119 150 150 168 144 102
* Rating at 35°C.
NOTE N
For the definition of ambient temperature, see section 5.8.2 Enclosure ambient temperature on page 54.
NOTE N
An additional derating of 5% is required for parallel applications.
Table 14-3 Maximum permissible continuous output current @ 50°C (122°F) ambient (SPMD drives in docked condition)
Normal Duty Heavy Duty
Maximum permissible continuous output current (A) for Maximum permissible continuous output current (A)
Model
the following switching frequencies for the following switching frequencies
3kHz 4kHz 6kHz 3kHz 4kHz 6kHz
SPMA14X1 191 190 148 180 158 122
SPMA14X2 198 181 138 190 158 116
SPMA16X1 98 81 59 98 81 59
SPMA16X2 98 81 59 98 81 59
SPMD12X1 172 157 120 156 135 100
SPMD12X2 208 189 145 190 158 116
SPMD12X3 244 222 170 224 186 137
SPMD12X4 282 256 196 262 218 160
SPMD14X1 172 157 120 163 135 100
SPMD14X2 208 189 145 190 158 116
SPMD14X3 244 222 170 224 186 137
SPMD14X4 282 256 196 262 218 160
SPMD16X1 114 93 67 100 82 59
SPMD16X2 122 102 75 121 101 75
SPMD16X3 138 117 86 129 108 80
SPMD16X4 138 117 85 137 110 77
Table 14-4 Maximum permissible continuous output current @ 50°C (122°F) ambient (SPMD drives in undocked condition)
NOTE N
For the definition of ambient temperature, see section 5.8.2 Enclosure ambient temperature on page 54.
NOTE N
An additional derating of 5% is required for parallel applications.
NOTE N
Loss figures for the SPMD docked drives represent losses for the IGBT, rectifier and control master pod at the maximum current given.
Table 14-7 Losses @ 40°C (104°F) ambient (SPMD drives in undocked condition)
Drive losses (W) taking into consideration any current derating for the given conditions
Normal Duty Heavy Duty
Model
Nominal rating Nominal rating
3kHz 4kHz 6kHz 3kHz 4kHz 6kHz
kW hp kW hp
SPMD12X1 55 75 1490 1680 2050 45 60 1220 1380 1700
SPMD12X2 75 100 1920 2180 2700 55 75 1510 1720 2150
SPMD12X3 90 125 2420 2730 2820 75 100 1940 2200 2450
SPMD12X4 110 150 2730 2890 2810 90 125 2250 2500 2440
SPMD14X1 110 150 1800 2060 2420 90 150 1580 1820 2060
SPMD14X2 132 175 2210 2570 3110 110 150 1900 2210 2760
SPMD14X3 160 200 2600 3020 3110 132 175 2210 2570 2760
SPMD14X4 185 300 3080 3090 3100 160 200 2600 2760 2760
SPMD16X1 110 125 2420 2900 2990 90 100 1920 2310 2660
SPMD16X2 132 150 2820 2980 2990 110 125 2420 2870 2680
SPMD16X3 160 150 2470 2340 2210 132 150 2150 2040 1940
SPMD16X4 160 200 3110 3030 2830 150 150 2830 2670 2480
NOTE N
Loss figures for the SPMD undocked drives represent losses for the IGBT and control master pod at the maximum current given.
NOTE N
For the definition of ambient temperature, see section 5.8.2 Enclosure ambient temperature on page 54.
Table 14-8 Losses @ 50°C (122°F) ambient (SPMD drives in docked condition)
Drive losses (W) taking into consideration any current derating for the given conditions
Model Normal Duty Heavy Duty
3kHz 4kHz 6kHz 3kHz 4kHz 6kHz
SPMA14X1 1942 2118 1939 1817 1747 1610
SPMA14X2 2068 2108 1997 1979 1851 1715
SPMA16X1 2084 2036 1978 2084 2036 1978
SPMA16X2 2084 2036 1978 2084 2036 1978
SPMD12X1 2020 2210 2580 1630 1790 2110
SPMD12X2 2650 2910 2960 2030 2240 2630
SPMD12X3 3320 3170 3960 2670 2870 2630
SPMD12X4 3190 3060 2860 2940 2760 2560
SPMD14X1 2380 2650 2520 2070 2260 2150
SPMD14X2 2930 3000 2810 2490 2800 2800
SPMD14X3 3150 3010 2810 2930 2980 2810
SPMD14X4 3050 2920 2760 3030 2850 2720
SPMD16X1 2670 2610 2530 2160 2550 2430
SPMD16X2 2670 2600 2520 2670 2610 2420
SPMD16X3 2720 2650 2530 2710 2530 2310
SPMD16X4 2720 2650 2500 2710 2510 2280
NOTE N
Loss figures for the SPMD docked drives represent losses for the IGBT, rectifier and control master pod at the maximum current given.
Table 14-9 Losses @ 50°C (122°F) ambient (SPMD drives in undocked condition)
Drive losses (W) taking into consideration any current derating for the given conditions
Model Normal Duty Heavy Duty
3kHz 4kHz 6kHz 3kHz 4kHz 6kHz
SPMD12X1 1490 1680 2050 1220 1380 1700
SPMD12X2 1920 2180 2570 1510 1720 2150
SPMD12X3 2420 2630 2550 1940 2200 2240
SPMD12X4 2670 2620 2530 2250 2270 2230
SPMD14X1 1800 2060 2210 1580 1820 1880
SPMD14X2 2210 2570 2700 1900 2210 2520
SPMD14X3 2600 2700 2700 2210 2520 2520
SPMD14X4 2700 2680 2700 2520 2510 2510
SPMD16X1 2420 2640 2630 1920 2310 2410
SPMD16X2 2640 2630 2640 2420 2600 2430
SPMD16X3 2700 2700 2530 2460 2420 2250
SPMD16X4 2700 2700 2550 2550 2420 2250
NOTE N
Loss figures for the SPMD undocked drives represent losses for the IGBT and control master pod at the maximum current given.
Table 14-10 Unidrive SPMC/U losses @ 40/50°C (104/122°F) Table 14-11 Power losses from the front of the drive when
ambient through-panel mounted
Maximum Losses Power losses
Model Model
W W
SPMU1401 442 SPMA ≤480
SPMU1402 765 SPMD ≤300
SPMU2402 1524 SPMC/U ≤50
SPMC1401 525
SPMC1402 871
SPMC2402 1737
SPMU1601 481
SPMU2601 956
SPMC1601 503
SPMC2601 1001
Table 14-12 Input line reactor losses @ 40/50°C (104/122°F) ambient SPMD16X1 and 16X2 4A fast blow (I2t <20A2s)
Maximum Losses SPMD16X3 and 16X4 6.3A fast blow (I2t <100A2s)
Part number Model Unidrive SPMC/U external 24V supply requirements
W Nominal voltage: 24V
4401-0181 INL401 148 Minimum voltage: 23V
4401-0182 INL402 205 Maximum voltage: 28V
4401-0183 INL601 88 Current drawn: 3A
Minimum start-up voltage: 18V
4401-0184 INL602 116
Recommended power supply: 24V, 100W, 4.5A
4401-0206 INL411 252
Recommended fuse: 4A fast blow (I2t <20A2s)
4401-0207 INL412 270
4401-0190 INL611 241 NOTE N
4401-0191 INL612 269 If the Unidrive SPM 24V power supply (CT part number 8510-0000) is
used to supply the Unidrive SPMA/D or SPMC/U fusing is not required.
Table 14-13 Output sharing choke losses @ 40/50°C (104/122°F) ambient 14.1.4 Unidrive SPM 24V power supply
Maximum Losses CT part number: 8510-0000
Part number Model Current rating: 10A
W
Input voltage: 85 to 123 / 176 to 264Vac auto switching
4401-0197 OTL401 113
Cable size: 0.5mm2 (20AWG)
4401-0198 OTL402 145
Fuse: 5A slow-blow from supply
4401-0199 OTL403 122
4401-0200 OTL404 156 14.1.5 Additional line reactors
4401-0201 OTL601 63 Reactor current ratings
See section 6.2.3 Supplies requiring additional line reactance on
4401-0202 OTL602 74
page 71.
4401-0203 OTL603 61
The current rating of the line reactors should be as follows:
4401-0204 OTL604 70 Continuous current rating:
4401-0188 OTL411 71 Not less than the continuous input current rating of the drive
4401-0189 OTL412 85 Repetitive peak current rating:
4401-0192 OTL413 83 Not less than twice the continuous input current rating of the drive
4401-0186 OTL414 100 14.1.6 Motor requirements
4401-0193 OTL611 74 No. of phases: 3
4401-0194 OTL612 85 Maximum voltage:
4401-0195 OTL613 88 Unidrive SPM (200V): 240V
4401-0196 OTL614 100 Unidrive SPM (400V): 480V
Unidrive SPM (690V): 690V
14.1.3 Supply requirements 14.1.7 Temperature, humidity and cooling method
Voltage: Ambient temperature operating range:
SPMXX20X 200V to 240V ±10% 0°C to 50°C (32°F to 122°F).
SPMXX40X 380V to 480V ±10% Output current derating must be applied at ambient temperatures
SPMXX60X 500V to 690V ±10% >40°C (104°F).
Number of phases: 3 Minimum temperature at power-up:
-15°C (5°F), the supply must be cycled when the drive has warmed
Maximum supply imbalance: 2% negative phase sequence (equivalent up to 0°C (32°F).
to 3% voltage imbalance between phases).
Cooling method: Forced convection
Frequency range: 48 to 65 Hz
Maximum humidity: 95% non-condensing at 40°C (104°F)
For UL compliance only, the maximum supply symmetrical fault current
must be limited to 100kA 14.1.8 Storage
-40oC (-40oF) to +50oC (122oF) for long term storage, or to +70°C
Unidrive SPMA/D heatsink fan supply requirements
Nominal voltage: 24V (158°F) for short term storage.
Minimum voltage: 23.5V Storage time is 2 years.
Maximum voltage: 27V Electrolytic capacitors in any electronic product have a storage period
Current drawn: after which they require reforming or replacing.
SPMA (all) 3.3A
The DC bus capacitors have a storage period of 10 years.
SPMD12X1 to 12X4 3.3A
SPMD14X1 and 14X2 3.3A The low voltage capacitors on the control supplies typically have a
SPMD14X3 and 14X4 4.5A storage period of 2 years and are thus the limiting factor.
SPMD16X1 and 16X2 3.3A Low voltage capacitors cannot be reformed due to their location in the
SPMD16X3 and 16X4 4.5A circuit and thus may require replacing if the drive is stored for a period of
Recommended power supply: 24V, 5A 2 years or greater without power being applied.
Recommended fuse: It is therefore recommended that drives are powered up for a minimum
SPMA (all) 4A fast blow (I2t <20A2s) of 1 hour after every 2 years of storage.
SPMD12X1 to 12X4 4A fast blow (I2t <20A2s) This process allows the drive to be stored for a further 2 years.
SPMD14X1 and 14X2 4A fast blow (I2t <20A2s)
SPMD14X3 and 14X4 6.3A fast blow (I2t <100A2s)
14.1.17 Acoustic noise 14.1.20 Input current, fuse and cable size ratings
The heatsink fan generates the majority of the acoustic noise produced The input current is affected by the supply voltage and impedance.
by the drive. The heatsink fan on Unidrive SPMA and SPMD is a Typical input current
variable speed fan. The drive controls the speed at which the fan runs The values of typical input current are given to aid calculations for power
based on the temperature of the heatsink and the drive's thermal model flow and power loss.
system. The Unidrive SPMA and SPMD are also installed with variable
The values of typical input current are stated for a balanced supply.
speed fan to ventilate the capacitor bank.
Table 14-16 gives the acoustic noise produced by the drive for the Maximum continuous input current
The values of maximum continuous input current are given to aid the
heatsink fan running at the maximum and minimum speeds.
selection of cables and fuses. These values are stated for the worst case
Table 14-16 Acoustic noise condition with the unusual combination of stiff supply with bad balance.
Maximum pressure level at 1m (dBA) The value stated for the maximum continuous input current would only
Size be seen in one of the input phases. The current in the other two phases
Max speed Min speed
would be significantly lower.
SPMA
The values of maximum input current are stated for a supply with a 2%
SPMD12X1 to 12X4 negative phase-sequence imbalance and rated at the maximum supply
72
SPMD14X1 to 14X2 fault current given in Table 14-19.
SPMD16X1 to 16X2 43
Table 14-19 Supply fault current used to calculate maximum input currents
SPMD14X3 to 14X4
75
SPMD16X3 to 16X4 Model Symmetrical fault level (kA)
SPMC/U 53
SPMA
14.1.18 Overall dimensions SPMD 100
H Height including surface mounting brackets SPMC/U
W Width
D Projection forward of panel when surface mounted
F Projection forward of panel when through-panel mounted
R Projection rear of panel when through-panel mounted
Table 14-17 Overall drive dimensions
Dimension
Size
H W D F R
1169mm 200mm ≤98mm
SPMA
(46.016in) (7.874in) (3.858in)
795.5mm 310mm 298mm
SPMD
31.319in (12.205in) (11.732in) 202mm ≤95mm
399.1mm (7.953in) (3.740in)
SPMC/U
15.731in
14.1.19 Weights
Table 14-18 Overall drive weights
Size kg lb
SPMA 80 176.4
SPMD 42 92.6
SPMC/U 20 44
Fuses
The AC supply to the drive must be installed with suitable protection against overload and short-circuits. Table 14-20, Table 14-21, Table
14-22 and Table 14-23 show recommended fuse ratings. Failure to observe this requirement will cause risk of fire.
WARNING
Table 14-20 Unidrive SPMA input current, fuse and cable size ratings
Fuse option 1 Fuse option 2
Typical cable size
Typical Maximum IEC class gR OR Ferraz HSJ HRC AND Semi-conductor
input input North HRC Semi-
Model current current IEC class Cable
America: IEC class gG conductor AC input Motor output
gR installation
Ferraz HSJ UL class J IEC class aR
method
A A A A A A mm2 AWG mm2 AWG
SPMA14X1 224 241 315 300 250 315 2 x 70 2 x 2/0 2 x 70 2 x 2/0 B2
SPMA14X2 247 266 315 300 315 350 2 x 120 2 x 4/0 2 x 120 2 x 4/0 B2
SPMA16X1 128 138 200 200 200 200 2 x 50 2 x 1 2 x 50 2 x 1 B2
SPMA16X2 144 156 200 200 200 200 2 x 50 2 x 1 2 x 50 2 x 1 B2
Table 14-21 Unidrive SPMD input current, fuse and cable size ratings
Typical DC Maximum DC Typical cable size
Maximum DC DC fuse
input input voltage for Cable
Model input current IEC class aR DC input Motor output
current cable rating installation
A A V A mm2 AWG mm2 AWG method
SPMD12X1 202 343 400 400 2 x 70 2 x 2/0 2 x 70 2 x 2/0 B2
SPMD12X2 261 400 400 560 2 x 95 2 x 4/0 2 x 120 2 x 4/0 B2
SPMD12X3 338 457 400 560 2 x 120 2 x 4/0 2 x 120 2 x 4/0 B2
SPMD12X4 372 552 400 560 2 x 120 2 x 4/0 2 x 120 2 x 4/0 B1 or C
SPMD14X1 222 343 800 400 2 x 70 2 x 2/0 2 x 70 2 x 2/0 B2
SPMD14X2 268 400 800 560 2 x 95 2 x 4/0 2 x 120 2 x 4/0 B2
SPMD14X3 314 457 800 560 2 x 120 2 x 4/0 2 x 120 2 x 4/0 B2
SPMD14X4 379 552 800 560 2 x 120 2 x 4/0 2 x 120 2 x 4/0 B1 or C
SPMD16X1 135 191 1150 250 2 x 95 2 x 4/0 2 x 50 2x1 B2
SPMD16X2 157 240 1150 315 2 x 120 2 x 4/0 2 x 50 2x1 B2
SPMD16X3 184 275 1150 350 2 x 120 2 x 4/0 2 x 50 2x1 B2
SPMD16X4 209 323 1150 400 2 x 120 2 x 4/0 2 x 50 2x1 B2
NOTE N
Fuse ratings are for a DC supply or paralleled DC bus arrangements. When supplied by a single SPMC or SPMU of the correct rating, the AC input
fuses provide protection for the drive and no DC fuse is required.
Table 14-22 Unidrive SPMC/U 400V input current, fuse and cable size rating
Semiconductor fuse in
Typical Typical cable size
Maximum series with HRC fuse
DC
input HRC IEC Semi-
Model output Cable
current Class gG UL conductor AC input DC output cable
current installation
class J IEC class aR
method
A A A A mm2 AWG mm2 AWG
Table 14-23 Unidrive SPMC/U 690V input current, fuse and cable size ratings
Semiconductor fuse in
Typical Typical cable size
Maximum series with HRC fuse
DC
input HRC IEC Semi-
Model output Cable
current Class gG UL conductor AC input DC output cable
current installation
class J IEC class aR
method
A A A A mm2 AWG mm2 AWG
NOTE N
The cable sizes noted in Table 14-20, Table 14-21, Table 14-22 and Table 14-23 are typical cable sizes based on UL508C and IEC60364-5-52:2001.
Maximum cable sizes are 2 x 240mm2 or 2 x 400kcmil per pole. The user will have to decide what size of cable to use in any given application based
on the local wiring regulations. Use of high temperature cables that are thinner than those stated in the typical cable chart maybe possible, contact the
supplier of the drive for advice.
14.1.21 Line reactor ratings
Table 14-24 400V input line reactor ratings
Current Inductance Overall Overall Overall Weight Max ambient Min
Quantity
Model width (W) depth (D) height (H) temp airflow Part No
required
A μH mm mm mm kg °C m/s
INL 401 245 63 240 190 225 32 50 1 1 4401-0181
INL 402 339 44 276 200 225 36 50 1 1 4401-0182
INL 401W* 245 63 255 235 200 27 40 3 1 4401-0208
INL 402W* 339 44 255 235 200 27 40 3 1 4401-0209
*May represent a more economic solution where operating temperature and cooling requirements are observed.
Table 14-25 400V dual input line reactor ratings
Current Inductance Overall Overall Overall Weight Max ambient Min
Quantity
Model width (W) depth (D) height (H) temp airflow Part No.
required
A μH mm mm mm kg °C m/s
INL411 2 x 245 2 x 31.5 320 220 360 55 50 1 1 4401-0206
INL412 2 x 339 2 x 22 320 220 360 55 50 1 1 4401-0207
NOTE N
The INLX1X parallel line reactors have been designed to work in conjunction with the Unidrive SPMC/U, allowing one reactor to be used with the dual
rectifier model or two separate rectifier units.
The OTLX1X parallel output sharing chokes can only be used when two Unidrive SPM drives are paralleled together. For all other
combinations the OTLX0X output sharing choke must be used.
CAUTION
Table 14-41 SPMD (690V only) emission compliance Table 14-43 EMC filters for multiple drive combinations
Switching frequency (kHz) Epcos
Motor cable length (m) Combination
3 4 6 CT part no. Weight
Using internal filter: 2 x SPMD1401
0 to 100 E2U E2U E2U 2 x SPMD1402 4200-6801 22kg (48.5lb)
Using external filter: 2 x SPMD1403
0 to 25 I I I 2 x SPMD1404
25 to 100 I I - 4 x SPMD1401
4200-6802 28kg (61.7lb)
3 x SPMD1403
14.2 Optional external EMC filters 4 x SPMD1402
Table 14-42 Unidrive SPM and EMC filter cross reference 4 x SPMD1403
4200-6803 34kg (75lb)
4 x SPMD1404
Schaffner Epcos
Drive
CT part no. Weight CT part no. Weight
SPMA14X1 to 5.25 kg 8.6 kg
4200-6603 4200-6601
SPMA14X2 (11.6 lb) (19.1 Ib)
SPMA16X1 to 5.25 kg 8.6 kg
4200-6604 4200-6602
SPMA16X2 (11.6 lb) (19.1 Ib)
SPMD12X1 to 5.5 kg 8.6 kg
4200-6315 4200-6313
SPMD12X4 (12.11 Ib) (19.1 Ib)
SPMD14X1 to 5.5 kg 8.6 kg
4200-6315 4200-6313
SPMD14X4 (12.11 Ib) (19.1 Ib)
SPMD16X1 to 5.5 kg 8.5 kg
4200-6316 4200-6314
SPMD16X4 (12.11 Ib) (18.7 Ib)
NOTE N
1. 1MΩ in a connection between phases, with the point connected by a 680kΩ resistor to ground (i.e. line to line 2MΩ, line to ground 1.68MΩ)
2. Line to line 3.6MΩ, line to ground 3.3MΩ
Status Mode
The display on the drive gives various information about the status of the
drive. These fall into three categories:
Healthy Status Alarm Status Trip Status
• Trip indications
• Alarm indications Drive status
= tripped
• Status indications
Trip type (UU
= undervolts)
Users must not attempt to repair a drive if it is faulty, nor
carry out fault diagnosis other than through the use of the
diagnostic features described in this chapter.
If a drive is faulty, it must be returned to an authorized
WARNING Control Techniques distributor for repair.
Figure 15-2 Location of the status LED
15.1 Trip indications Status LED
If the drive trips, the output of the drive is disabled so that the drive stops
controlling the motor. The upper display indicates that a trip has
occurred and the lower display shows the trip. If this is a multi-module
drive and a power module has indicated a trip, then the lower display will
alternate between the trip string and the module number.
Trips are listed alphabetically in Table 15-1 based on the trip indication
shown on the drive display. Refer to Figure 15-1.
If a display is not used, the drive LED Status indicator will flash if the
drive has tripped. Refer to Figure 15-2.
The trip indication can be read in Pr 10.20 providing a trip number. Trip
numbers are listed in numerical order in Table 15-2 so the trip indication Non flashing: Flashing:
Normal status Trip status
can be cross referenced and then diagnosed using Table 15-1.
Example
1. Trip code 3 is read from Pr 10.20 via serial communications.
2. Checking Table 15-2 shows Trip 3 is an OI.AC trip.
Trip Diagnosis
OI.AC Instantaneous output over current detected: peak output current greater than 225%
Acceleration / deceleration rate is too short.
If seen during autotune reduce voltage boost Pr 5.15
Check for short circuit on output cabling
Check integrity of motor insulation
Check feedback device wiring
Check feedback device mechanical coupling
3
Check feedback signals are free from noise
Is motor cable length within limits for that frame size?
Reduce the values in speed loop gain parameters – Pr 3.10, Pr 3.11 and Pr 3.12 (closed loop vector and servo
modes only)
Has offset measurement test been completed? (servo mode only)
Reduce the values in current loop gain parameters - Pr 4.13 and Pr 4.14 (closed loop vector and servo modes only)
Trip Diagnosis
br.th Internal braking resistor thermistor temperature monitoring fail (size 0 only)
If no internal brake resistor is installed, set Pr 0.51 (or Pr 10.37) to 8 to disable this trip.
If an internal brake resistor is installed:
10 • Ensure that the internal braking resistor thermistor is connected correctly
• Ensure that the fan in the drive is working correctly
• Replace the internal braking resistor
C.Acc SMARTCARD trip: SMARTCARD Read / Write fail
Check SMARTCARD is installed / located correctly
185 Ensure SMARTCARD is not writing data to data location 500 to 999
Replace SMARTCARD
SMARTCARD trip: The menu 0 parameter modification cannot be saved to the SMARTCARD because the necessary file has
C.boot
not been created on the SMARTCARD
A write to a menu 0 parameter has been initiated via the keypad with Pr 11.42 set to auto(3) or boot(4), but the necessary file on the
SMARTCARD has not bee created
177
Ensure that Pr 11.42 is correctly set and reset the drive to create the necessary file on the SMARTCARD
Re-attempt the parameter write to the menu 0 parameter
C.bUSY SMARTCARD trip: SMARTCARD can not perform the required function as it is being accessed by a Solutions Module
178 Wait for the Solutions Module to finish accessing the SMARTCARD and then re-attempt the required function
C.Chg SMARTCARD trip: Data location already contains data
Erase data in data location
179
Write data to an alternative data location
C.cPr SMARTCARD trip: The values stored in the drive and the values in the data block on the SMARTCARD are different
188 Press the red reset button
C.dAt SMARTCARD trip: Data location specified does not contain any data
183 Ensure data block number is correct
C.Err SMARTCARD trip: SMARTCARD data is corrupted
Ensure the card is located correctly
182 Erase data and retry
Replace SMARTCARD
C.Full SMARTCARD trip: SMARTCARD full
184 Delete a data block or use different SMARTCARD
cL2 Analog input 2 current loss (current mode)
28 Check analog input 2 (terminal 7) current signal is present (4-20mA, 20-4mA)
cL3 Analog input 3 current loss (current mode)
29 Check analog input 3 (terminal 8) current signal is present (4-20mA, 20-4mA)
CL.bit Trip initiated from the control word (Pr 6.42)
35 Disable the control word by setting Pr 6.43 to 0 or check setting of Pr 6.42
ConF.P The number of power modules installed no longer matches the value stored in Pr 11.35
Ensure that all power modules are correctly connected
111 Ensure that all power modules have powered up correctly
Ensure that the value in Pr 11.35 matches the number of power modules connected
C.OPtn SMARTCARD trip: Solutions Modules installed are different between source drive and destination drive
Ensure correct Solutions Modules are installed
180 Ensure Solutions Modules are in the same Solutions Module slot
Press the red reset button
C.Prod SMARTCARD trip: The data blocks on the SMARTCARD are not compatible with this product
175 Erase all data on the SMARTCARD by setting Pr xx.00 to 9999 and pressing the red reset button
Replace SMARTCARD
C.rdo SMARTCARD trip: SMARTCARD has the Read Only bit set
Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access
181
Ensure the drive is not writing to data locations 500 to 999 on the card
Trip Diagnosis
C.rtg SMARTCARD trip: The voltage and/or current rating of the source and destination drives are different
Drive rating dependent parameters (parameters with the RA coding) are likely to have different values and ranges with drives of
different voltage and current ratings. Parameters with this attribute will not be transferred to the destination drive by SMARTCARDs
when the rating of the destination drive is different from the source drive and the file is a parameter file. However, with software
V01.09.00 and later drive rating dependent parameters will be transferred if only the current rating is different and the file is a
differences from default type file.
Press the red reset button
Drive rating parameters are:
Parameter Function
2.08 Standard ramp voltage
4.05/6/7, 21.27/8/9 Current limits
4.24 User current maximum scaling
186 5.07, 21.07 Motor rated current
5.09, 21.09 Motor rated voltage
5.10, 21.10 Rated power factor
5.17, 21.12 Stator resistance
5.18 Switching frequency
5.23, 21.13 Voltage offset
5.24, 21.14 Transient inductance
5.25, 21.24 Stator inductance
6.06 DC injection braking current
6.48 Line power supply loss ride through detection level
The above parameters will be set to their default values.
C.TyP SMARTCARD trip: SMARTCARD parameter set not compatible with drive
Press the reset button
187
Ensure destination drive type is the same as the source parameter file drive type
dESt Two or more parameters are writing to the same destination parameter
199 Set Pr xx.00 = 12001 check all visible parameters in the menus for duplication
EEPROM data corrupted - Drive mode becomes open loop and serial comms will timeout with remote keypad on the drive
EEF
RS485 comms port.
31 This trip can only be cleared by loading default parameters and saving parameters
EnC1 Drive encoder trip: Encoder power supply overload
Check encoder power supply wiring and encoder current requirement
189
Maximum current = 200mA @ 15V, or 300mA @ 8V and 5V
Enc2 Drive encoder trip: Wire break (Drive encoder terminals 1 & 2, 3 & 4, 5 & 6)
Check cable continuity
Check wiring of feedback signals is correct
190 Check encoder power is set correctly
Replace feedback device
If wire break detection on the main drive encoder input is not required, set Pr 3.40 = 0 to disable the Enc2 trip
EnC3 Drive encoder trip: Phase offset incorrect while running
Check the encoder signal for noise
Check encoder shielding
191
Check the integrity of the encoder mechanical mounting
Repeat the offset measurement test
EnC4 Drive encoder trip: Feedback device comms failure
Ensure encoder power supply is correct
Ensure baud rate is correct
192
Check encoder wiring
Replace feedback device
EnC5 Drive encoder trip: Checksum or CRC error
Check the encoder signal for noise
193 Check the encoder cable shielding
With EnDat encoders, check the comms resolution and/or carry out the auto-configuration Pr 3.41
EnC6 Drive encoder trip: Encoder has indicated an error
Replace feedback device
194
With SSI encoders, check the wiring and encoder supply setting
Trip Diagnosis
EnC7 Drive encoder trip: Initialisation failed
Re-set the drive
Check the correct encoder type is entered into Pr 3.38
Check encoder wiring
195
Check encoder power supply is set correctly
Carry out the auto-configuration Pr 3.41
Replace feedback device
EnC8 Drive encoder trip: Auto configuration on power up has been requested and failed
Change the setting of Pr 3.41 to 0 and manually enter the drive encoder turns (Pr 3.33) and the equivalent number of lines per
196 revolution (Pr 3.34)
Check the comms resolution
Drive encoder trip: Position feedback selected is selected from a Solutions Module slot which does not have a speed /
EnC9
position feedback Solutions Module installed
197 Check setting of Pr 3.26 (or Pr 21.21 if the second motor parameters have been enabled)
EnC10 Drive encoder trip: Servo mode phasing failure because encoder phase angle (Pr 3.25 or Pr 21.20) is incorrect
Check the encoder wiring.
Perform an autotune to measure the encoder phase angle or manually enter the correct phase angle into Pr 3.25 (or Pr 21.20).
198 Spurious Enc10 trips can be seen in very dynamic applications. This trip can be disabled by setting the overspeed threshold in
Pr 3.08 to a value greater than zero. Caution should be used in setting the over speed threshold level as a value which is too large
may mean that an encoder fault will not be detected.
Drive encoder trip: A failure has occurred during the alignment of the analog signals of a SINCOS encoder with the digital
Enc11 count derived from the sine and cosine waveforms and the comms position (if applicable). This fault is usually due to noise
on the sine and cosine signals.
Check encoder cable shield.
161
Examine sine and cosine signals for noise.
Enc12 Drive encoder trip: Hiperface encoder - The encoder type could not be identified during auto-configuration
Check encoder type can be auto-configured.
162 Check encoder wiring.
Enter parameters manually.
Drive encoder trip: EnDat encoder - The number of encoder turns read from the encoder during auto-configuration is not a
Enc13
power of 2
163 Select a different type of encoder.
Drive encoder trip: EnDat encoder - The number of comms bits defining the encoder position within a turn read from the
Enc14
encoder during auto-configuration is too large.
Select a different type of encoder.
164
Faulty encoder.
Drive encoder trip: The number of periods per revolution calculated from encoder data during auto-configuration is either
Enc15
less than 2 or greater than 50,000.
Linear motor pole pitch / encoder ppr set up is incorrect or out of parameter range
165 i.e. Pr 5.36 = 0 or Pr 21.31 = 0.
Faulty encoder.
Enc16 Drive encoder trip: EnDat encoder - The number of comms bits per period for a linear encoder exceeds 255.
Select a different type of encoder.
166
Faulty encoder.
Drive encoder trip: The periods per revolution obtained during auto-configuration for a rotary SINCOS encoder is not a
Enc17
power of two.
Select a different type of encoder.
167
Faulty encoder.
ENP.Er Data error from electronic nameplate stored in selected position feedback device
176 Replace feedback device
Et External trip from input on terminal 31
Check terminal 31 signal
Check value of Pr 10.32
6
Enter 12001 in Pr xx.00 and check for parameter controlling Pr 10.32
Ensure Pr 10.32 or Pr 10.38 (=6) are not being controlled by serial comms
HF01 Data processing error: CPU address error
Hardware fault - return drive to supplier
Trip Diagnosis
HF02 Data processing error: DMAC address error
Hardware fault - return drive to supplier
HF03 Data processing error: Illegal instruction
Hardware fault - return drive to supplier
HF04 Data processing error: Illegal slot instruction
Hardware fault - return drive to supplier
HF05 Data processing error: Undefined exception
Hardware fault - return drive to supplier
HF06 Data processing error: Reserved exception
Hardware fault - return drive to supplier
HF07 Data processing error: Watchdog failure
Hardware fault - return drive to supplier
HF08 Data processing error: Level 4 crash
Hardware fault - return drive to supplier
HF09 Data processing error: Heap overflow
Hardware fault - return drive to supplier
HF10 Data processing error: Router error
Hardware fault - return drive to supplier
HF11 Data processing error: Access to EEPROM failed
Hardware fault - return drive to supplier
HF12 Data processing error: Main program stack overflow
Hardware fault - return drive to supplier
HF13 Data processing error: Software incompatible with hardware
Hardware or software fault - return drive to supplier
HF17 Multi-module system thermistor short circuit or open circuit
217 Hardware fault - return drive to supplier
HF18 Multi-module system interconnect cable error
Parallel cable in wrong port. (Note in multi module systems, the drive with the trip code displayed indicates that the subsequent drive
218 in the sequence has the physical fault)
Hardware fault - return drive to supplier
HF19 Temperature feedback multiplexing failure
219 Hardware fault - return drive to supplier
HF20 Power stage recognition: serial code error
220 Hardware fault - return drive to supplier
HF21 Power stage recognition: unrecognised frame size
221 Hardware fault - return drive to supplier
HF22 Power stage recognition: multi module frame size mismatch
222 Hardware fault - return drive to supplier
HF23 Power stage recognition: multi module voltage rating mismatch
223 Hardware fault - return drive to supplier
HF24 Power stage recognition: unrecognised drive size
224 Hardware fault - return drive to supplier
HF25 Current feedback offset error
225 Hardware fault - return drive to supplier
HF26 Soft start relay failed to close, soft start monitor failed or braking IGBT short circuit at power up
226 Hardware fault - return drive to supplier
Trip Diagnosis
HF27 Power stage thermistor 1 fault
227 Hardware fault - return drive to supplier
HF28 Power stage thermistor 2 fault
228 Hardware fault - return drive to supplier
HF29 Control board thermistor fault
229 Hardware fault - return drive to supplier
HF30 DCCT wire break trip from power module
230 Hardware fault - return drive to supplier
HF31 Internal capacitor bank fan failure or a module has not powered up in a multi-module parallel drive
Check the AC or DC power supply to all modules in a multi-module parallel drive
231
If the AC or DC power supply is present, or if this is a single drive, then there is a hardware fault - return drive to the supplier
HF32 Power stage - Identification and trip information serial code error
232 Hardware fault - return drive to the supplier
It.AC Output current overload timed out (I2t) - accumulator value can be seen in Pr 4.19
Ensure the load is not jammed / sticking
Check the load on the motor has not changed
If seen during an autotune in servo mode, ensure that the motor rated current Pr 0.46 (Pr 5.07) or Pr 21.07 is ≤Heavy Duty current
20 rating of the drive
Tune the rated speed parameter (closed loop vector only)
Check feedback device signal for noise
Check the feedback device mechanical coupling
It.br Braking resistor overload timed out (I2t) – accumulator value can be seen in Pr 10.39
Ensure the values entered in Pr 10.30 and Pr 10.31 are correct
Increase the power rating of the braking resistor and change Pr 10.30 and Pr 10.31
19
If an external thermal protection device is being used and the braking resistor software overload is not required, set Pr 10.30 or
Pr 10.31 to 0 to disable the trip
L.SYnC Drive failed to synchronize to the supply voltage in Regen mode
39 Refer to the Diagnostics chapter in the Unidrive SP Regen Installation Guide.
O.CtL Drive control board over temperature
Check enclosure / drive fans are still functioning correctly
Check enclosure ventilation paths
23 Check enclosure door filters
Check ambient temperature
Reduce drive switching frequency
O.ht1 Power device over temperature based on thermal model
Reduce drive switching frequency
Reduce duty cycle
21
Decrease acceleration / deceleration rates
Reduce motor load
O.ht2 Heatsink over temperature
Check enclosure / drive fans are still functioning correctly
Check enclosure ventilation paths
Check enclosure door filters
Increase ventilation
22
Decrease acceleration / deceleration rates
Reduce drive switching frequency
Reduce duty cycle
Reduce motor load
Oht2.P Power module heatsink over temperature
Check enclosure / drive fans are still functioning correctly
Check enclosure ventilation paths
Check enclosure door filters
Increase ventilation
105
Decrease acceleration / deceleration rates
Reduce drive switching frequency
Reduce duty cycle
Reduce motor load
Trip Diagnosis
O.ht3 Drive over-temperature based on thermal model
The drive will attempt to stop the motor before tripping. If the motor does not stop in 10s the drive trips immediately.
Check enclosure / drive fans are still functioning correctly
Check enclosure ventilation paths
Check enclosure door filters
27
Increase ventilation
Decrease acceleration / deceleration rates
Reduce duty cycle
Reduce motor load
Oht4.P Power module rectifier over temperature or input snubber resistor over temperature (size 4 and above)
Check for supply imbalance
Check for supply disturbance such as notching from a DC drive
Check enclosure / drive fans are still functioning correctly
Check enclosure ventilation paths
Check enclosure door filters
102
Increase ventilation
Decrease acceleration / deceleration rates
Reduce drive switching frequency
Reduce duty cycle
Reduce motor load
OI.AC Instantaneous output over current detected: peak output current greater than 225%
Acceleration /deceleration rate is too short.
If seen during autotune reduce voltage boost Pr 5.15
Check for short circuit on output cabling
Check integrity of motor insulation
Check feedback device wiring
3 Check feedback device mechanical coupling
Check feedback signals are free from noise
Is motor cable length within limits for that frame size?
Reduce the values in speed loop gain parameters – Pr 3.10, Pr 3.11 and Pr 3.12 (closed loop vector and servo modes only)
Has offset measurement test been completed? (servo mode only)
Reduce the values in current loop gain parameters - Pr 4.13 and Pr 4.14 (closed loop vector and servo modes only)
OIAC.P Power module over current detected from the module output currents
Acceleration /deceleration rate is too short.
If seen during autotune reduce voltage boost Pr 5.15
Check for short circuit on output cabling
Check integrity of motor insulation
Check feedback device wiring
104 Check feedback device mechanical coupling
Check feedback signals are free from noise
Is motor cable length within limits for that frame size?
Reduce the values in speed loop gain parameters – Pr 3.10, Pr 3.11 and Pr 3.12 (closed loop vector and servo modes only)
Has offset measurement test been completed? (servo mode only)
Reduce the values in current loop gain parameters - Pr 4.13 and Pr 4.14 (closed loop vector and servo modes only)
OI.br Braking transistor over-current detected: short circuit protection for the braking transistor activated
Check braking resistor wiring
4 Check braking resistor value is greater than or equal to the minimum resistance value
Check braking resistor insulation
OIbr.P Power module braking IGBT over current
Check braking resistor wiring
103 Check braking resistor value is greater than or equal to the minimum resistance value
Check braking resistor insulation
OIdC.P Power module over current detected from IGBT on state voltage monitoring
Vce IGBT protection activated.
109
Check motor and cable insulation.
O.Ld1 Digital output overload: total current drawn from 24V supply and digital outputs exceeds 200mA
26 Check total load on digital outputs (terminals 24,25,26)and +24V rail (terminal 22)
Trip Diagnosis
O.SPd Motor speed has exceeded the over speed threshold
Increase the over speed trip threshold in Pr 3.08 (closed loop vector and servo modes only)
7 Speed has exceeded 1.2 x Pr 1.06 or Pr 1.07 (open loop mode)
Reduce the speed loop P gain (Pr 3.10) to reduce the speed overshoot (closed loop vector and servo modes only)
OV DC bus voltage has exceeded the peak level or the maximum continuous level for 15 seconds
Increase deceleration ramp (Pr 0.04)
Decrease braking resistor value (staying above the minimum value)
Check nominal AC supply level
Check for supply disturbances which could cause the DC bus to rise – voltage overshoot after supply recovery from a notch induced
by DC drives
Check motor insulation
2
Drive voltage rating Peak voltage Maximum continuous voltage level (15s)
200 415 410
400 830 815
575 990 970
690 1190 1175
If the drive is operating in low voltage DC mode the overvoltage trip level is 1.45 x Pr 6.46.
OV.P Power module DC bus voltage has exceeded the peak level or the maximum continuous level for 15 seconds
Increase deceleration ramp (Pr 0.04)
Decrease braking resistor value (staying above the minimum value)
Check nominal AC supply level
Check for supply disturbances which could cause the DC bus to rise – voltage overshoot after supply recovery from a notch induced
by DC drives
Check motor insulation
106
Drive voltage rating Peak voltage Maximum continuous voltage level (15s)
200 415 410
400 830 815
575 990 970
690 1190 1175
If the drive is operating in low voltage DC mode the overvoltage trip level is 1.45 x Pr 6.46.
PAd Keypad has been removed when the drive is receiving the speed reference from the keypad
Install keypad and reset
34
Change speed reference selector to select speed reference from another source
PH AC voltage input phase loss or large supply imbalance detected
Ensure all three phases are present and balanced
Check input voltage levels are correct (at full load)
32 NOTE N
Load level must be between 50 and 100% for the drive to trip under phase loss conditions. The drive will attempt to stop the motor
before this trip is initiated.
PH.P Power module phase loss detection
Ensure all three phases are present and balanced
107
Check input voltage levels are correct (at full load)
PS Internal power supply fault
Remove any Solutions Modules and reset
5
Hardware fault - return drive to supplier
PS.10V 10V user power supply current greater than 10mA
Check wiring to terminal 4
8
Reduce load on terminal 4
PS.24V 24V internal power supply overload
The total user load of the drive and Solutions Modules has exceeded the internal 24V power supply limit.
The user load consists of the drive’s digital outputs, the SM-I/O Plus digital outputs, the drive’s main encoder supply and the SM-
Universal Encoder Plus encoder supply.
9
• Reduce load and reset
• Provide an external 24V >50W power supply
• Remove any Solutions Modules and reset
PS.P Power module power supply fail
Remove any Solutions Modules and reset
108
Hardware fault - return drive to supplier
Trip Diagnosis
PSAVE.Er Power down save parameters in the EEPROM are corrupt
Indicates that the power was removed when power down save parameters were being saved.
The drive will revert back to the power down parameter set that was last saved successfully.
37
Perform a user save (Pr xx.00 to 1000 or 1001 and reset the drive) or power down the drive normally to ensure this trip does or occur
the next time the drive is powered up.
rS Failure to measure resistance during autotune or when starting in open loop vector mode 0 or 3
33 Check motor power connection continuity
SAVE.Er User save parameters in the EEPROM are corrupt
Indicates that the power was removed when user parameters were being saved.
The drive will revert back to the user parameter set that was last saved successfully.
36
Perform a user save (Pr xx.00 to 1000 or 1001 and reset the drive) to ensure this trip does or occur the next time the drive is
powered up.
SCL Drive RS485 serial comms loss to remote keypad
Reinstall the cable between the drive and keypad
Check cable for damage
30
Replace cable
Replace keypad
SLX.dF Solutions Module slot X trip: Solutions Module type installed in slot X changed
204,209,214 Save parameters and reset
Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Feedback module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the SM-Universal Encoder Plus, SM-Encoder
Plus and SM-Resolver. See the Diagnostics section in the relevant Solutions Module User Guide for more information.
Error code Module Trip Description Diagnostic
0 All No trip No fault detected
SM-Universal Check encoder power supply wiring and encoder current
Encoder Plus & Encoder power supply overload requirement Maximum current = 200mA @ 15V, or 300mA
1
SM-Encoder Plus @ 8V and 5V
SM-Resolver Excitation output short circuit Check the excitation output wiring.
Check cable continuity
SM-Universal
Check wiring of feedback signals is correct
2 Encoder Plus & Wire break
Check supply voltage or excitation output level
SM-Resolver
Replace feedback device
Check the encoder signal for noise
SM-Universal Phase offset incorrect while Check encoder shielding
3
Encoder Plus running Check the integrity of the encoder mechanical mounting
Repeat the offset measurement test
Ensure encoder power supply is correct
SM-Universal Feedback device communications Ensure baud rate is correct
4
Encoder Plus failure Check encoder wiring
Replace feedback device
SM-Universal Check the encoder signal for noise
5 Checksum or CRC error
Encoder Plus Check the encoder cable shielding
SM-Universal
6 Encoder has indicated an error Replace encoder
Encoder Plus
Check the correct encoder type is entered into Pr 15/16/17.15
SM-Universal Check encoder wiring
7 Initialisation failed
Encoder Plus Check supply voltage level
Replace feedback device
Change the setting of Pr 15/16/17.18 and manually enter
202,207,212 SM-Universal Auto configuration on power up
8 the number of turns bits (Pr 15/16/17.09) and the equivalent
Encoder Plus has been requested and failed
number of lines per revolution (Pr 15/16/17.10)
SM-Universal Check motor temperature
9 Motor thermistor trip
Encoder Plus Check thermistor continuity
SM-Universal Check motor thermistor wiring
10 Motor thermistor short circuit
Encoder Plus Replace motor / motor thermistor
Failure of the sincos analog
SM-Universal Check encoder cable shield.
position alignment during encoder
Encoder Plus Examine sine and cosine signals for noise.
11 initialisation
Check that the correct number of resolver poles has been
SM-Resolver Poles not compatible with motor
set in Pr 15/16/17.15.
Check encoder type can be auto-configured.
SM-Universal Encoder type could not be
12 Check encoder wiring.
Encoder Plus identified during auto-configuration
Enter parameters manually.
Number of encoder turns read from
SM-Universal
13 the encoder during auto- Select a different type of encoder.
Encoder Plus
configuration is not a power of 2
Number of comms bits defining the
SM-Universal encoder position within a turn read Select a different type of encoder.
14
Encoder Plus from the encoder during auto- Faulty encoder.
configuration is too large.
The number of periods per
Linear motor pole pitch / encoder ppr set up is incorrect or
SM-Universal revolution calculated from encoder
15 out of parameter range i.e. Pr 5.36 = 0 or Pr 21.31 = 0.
Encoder Plus data during auto-configuration is
Faulty encoder.
either <2 or >50,000.
The number of comms bits per
SM-Universal Select a different type of encoder.
16 period for a linear encoder
Encoder Plus Faulty encoder.
exceeds 255.
Check ambient temperature
74 All Solutions Module has overheated
Check enclosure ventilation
Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Automation (Applications) module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the SM-Applications and SM-Applications Lite.
See the Diagnostics section in the relevant Solutions Module User Guide for more information.
Error Code Trip Description
39 User program stack overflow
40 Unknown error - please contact supplier
41 Parameter does not exist
42 Attempt to write to a read-only parameter
43 Attempt to read from a write-only parameter
44 Parameter value out of range
45 Invalid synchronisation modes
46 Unused
47 Synchronisation lost with CTSync Master
48 RS485 not in user mode
49 Invalid RS485 configuration
50 Maths error - divide by zero or overflow
51 Array index out of range
52 Control word user trip
53 DPL program incompatible with target
54 DPL task overrun
55 Unused
56 Invalid timer unit configuration
57 Function block does not exist
58 Flash PLC Storage corrupt
59 Drive rejected application module as Sync master
202,207,212
60 CTNet hardware failure. Please contact your supplier
61 CTNet invalid configuration
62 CTNet invalid baud-rate
63 CTNet invalid node ID
64 Digital Output overload
65 Invalid function block parameter(s)
66 User heap too large
67 RAM file does not exist or a non-RAM file id has been specified
68 The RAM file specified is not associated to an array
69 Failed to update drive parameter database cache in Flash memory
70 User program downloaded while drive enabled
71 Failed to change drive mode
72 Invalid CTNet buffer operation
73 Fast parameter initialisation failure
74 Over-temperature
75 Hardware unavailable
76 Module type cannot be resolved. Module is not recognised.
77 Inter-option module comms error with module in slot 1
78 Inter-option module comms error with module in slot 2
79 Inter-option module comms error with module in slot 3
80 Inter-option module comms error with module unknown slot
81 APC internal error
82 Communications to drive faulty
Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Automation (I/O Expansion) module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the SM-I/O Plus, SM-I/O Lite, SM-I/O Timer, SM-
I/O PELV, SM-I/O 120V and SM-I/O 24V Protected. See the Diagnostics section in the relevant Solutions Module User Guide for
more information.
Error code Module Reason for fault
0 All No errors
1 All Digital output overload
202,207,212 SM-I/O Lite, SM-I/O Timer Analog input 1 current input too high (>22mA) or too low (<3mA)
2
SM-I/O PELV, SM-I/O 24V Protected Digital input overload
SM-I/O PELV, SM-I/O 24V Protected Analog input 1 current input too low (<3mA)
3
SM-I/O 24V Protected Communications error
4 SM-I/O PELV User power supply absent
5 SM-I/O Timer Real time clock communication error
74 All Module over temperature
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Fieldbus module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the Fieldbus modules. See the Diagnostics
section in the relevant Solutions Module User Guide for more information.
Error code Module Trip Description
0 All No trip
SM-PROFIBUS-DP-V1, SM-INTERBUS,
52 User control word trip
SM-DeviceNet, SM-CANOpen
58 SM-LON Incorrect non-volatile storage
SM-PROFIBUS-DP-V1, SM-INTERBUS,
61 SM-DeviceNet, SM-CANOpen, Configuration error
SM-SERCOS, SM-LON
64 SM-DeviceNet Expected packet rate timeout
SM-PROFIBUS-DP-V1, SM-INTERBUS,
65 SM-DeviceNet, SM-CANOpen, Network loss
SM-SERCOS, SM-LON
SM-PROFIBUS-DP-V1 Critical link failure
66
SM-CAN, SM-DeviceNet, SM-CANOpen Bus off error
202,207,212 69 SM-CAN No acknowledgement
All (except SM-Ethernet and SM-LON) Flash transfer error
70
SM-Ethernet, SM-LON No valid menu data available for the module from the drive
74 All Solutions module over temperature
75 SM-Ethernet The drive is not responding
76 SM-Ethernet The Modbus connection has timed out
80 All (except SM-SERCOS) Inter-option communications error
81 All (except SM-SERCOS) Communications error to slot 1
82 All (except SM-SERCOS) Communications error to slot 2
83 All (except SM-SERCOS) Communications error to slot 3
84 SM-Ethernet Memory allocation error
85 SM-Ethernet File system error
86 SM-Ethernet Configuration file error
87 SM-Ethernet Language file error
98 All Internal watchdog error
99 All Internal software error
Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
SLM module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the SM-SLM. See the Diagnostics section in the
SM-SLM User Guide for more information.
Error Code Trip Description
0 No fault detected
1 Power supply overloaded
2 SLM version is too low
3 DriveLink error
4 Incorrect switching frequency selected
5 Feedback source selection incorrect
6 Encoder error
7 Motor object number of instances error
202,207,212 8 Motor object list version error
9 Performance object number of instances error
10 Parameter channel error
11 Drive operating mode incompatible
12 Error writing to the SLM EEPROM
13 Motor object type incorrect
14 Unidrive SP object error
15 Encoder object CRC error
16 Motor object CRC error
17 Performance object CRC error
18 Unidrive SP object CRC error
19 Sequencer timeout
74 Solutions module over temperature
Trip Diagnosis
t216 User trip defined in 2nd processor Solutions Module code
216 SM-Applications program must be interrogated to find the cause of this trip
th Motor thermistor trip
Check motor temperature
24 Check thermistor continuity
Set Pr 7.15 = VOLt and reset the drive to disable this function
thS Motor thermistor short circuit
Check motor thermistor wiring
25 Replace motor / motor thermistor
Set Pr 7.15 = VOLt and reset the drive to disable this function
tunE* Autotune stopped before completion
The drive has tripped out during the autotune
18 The red stop key has been pressed during the autotune
The SAFE TORQUE OFF signal (terminal 31) was active during the autotune procedure
tunE1* The position feedback did not change or required speed could not be reached during the inertia test (see Pr 5.12)
Ensure the motor is free to turn i.e. brake was released
Check feedback device wiring is correct
11
Check feedback parameters are set correctly
Check encoder coupling to motor
tunE2* Position feedback direction incorrect or motor could not be stopped during the inertia test (see Pr 5.12)
Check motor cable wiring is correct
12 Check feedback device wiring is correct
Swap any two motor phases (closed loop vector only)
tunE3* Drive encoder commutation signals connected incorrectly or measured inertia out of range (see Pr 5.12)
Check motor cable wiring is correct
13
Check feedback device U,V and W commutation signal wiring is correct
tunE4* Drive encoder U commutation signal fail during an autotune
Check feedback device U phase commutation wires continuity
14
Replace encoder
tunE5* Drive encoder V commutation signal fail during an autotune
Check feedback device V phase commutation wires continuity
15
Replace encoder
tunE6* Drive encoder W commutation signal fail during an autotune
Check feedback device W phase commutation wires continuity
16
Replace encoder
tunE7* Motor number of poles set incorrectly
Check lines per revolution for feedback device
17
Check the number of poles in Pr 5.11 is set correctly
Unid.P Power module unidentified trip
Check all interconnecting cables between power modules
110
Ensure cables are routed away from electrical noise sources
UP ACC Onboard PLC program: cannot access Onboard PLC program file on drive
Disable drive - write access is not allowed when the drive is enabled
98
Another source is already accessing Onboard PLC program - retry once other action is complete
UP div0 Onboard PLC program attempted divide by zero
90 Check program
UP OFL Onboard PLC program variables and function block calls using more than the allowed RAM space (stack overflow)
95 Check program
UP ovr Onboard PLC program attempted out of range parameter write
94 Check program
UP PAr Onboard PLC program attempted access to a non-existent parameter
91 Check program
UP ro Onboard PLC program attempted write to a read-only parameter
92 Check program
Trip Diagnosis
UP So Onboard PLC program attempted read of a write-only parameter
93 Check program
UP udF Onboard PLC program un-defined trip
97 Check program
UP uSEr Onboard PLC program requested a trip
96 Check program
UV DC bus under voltage threshold reached
Check AC supply voltage level
Drive voltage rating (Vac) Under voltage threshold (Vdc) UV reset voltage (Vdc)
1 200 175 215V
400 330 425V
575 & 690 435 590V
*If a tunE through tunE 7 trip occurs, then after the drive is reset the drive cannot be made to run unless it is disabled via the SAFE TORQUE OFF
input (terminal 31), drive enable parameter (Pr 6.15) or the control word (Pr 6.42 and Pr 6.43).
The trips can be grouped into the following categories. It should be noted that a trip can only occur when the drive is not tripped or is already tripped
but with a trip with a lower priority number.
Although the UV trip operates in a similar way to all other trips, all drive
functions can still operate but the drive cannot be enabled. The following
differences apply to the UV trip:
1. Power-down save user parameters are saved when UV trip is
activated except when the main high voltage supply is not active
(i.e. operating in Low Voltage DC Supply Mode, Pr 6.44 = 1).
2. The UV trip is self-resetting when the DC bus voltage rises above
the drive restart voltage level. If another trip is active instead of UV at
this point, the trip is not reset.
3. The drive can change between using the main high voltage supply
and low voltage DC supply only when the drive is in the under
voltage condition (Pr 10.16 = 1). The UV trip can only be seen as
active if another trip is not active in the under voltage condition.
4. When the drive is first powered up a UV trip is initiated if the supply
voltage is below the restart voltage level and another trip is not
active. This does not cause save power down save parameters to be
saved at this point.
Lower
Description
display
boot
A parameter set is being transferred from the SMARTCARD to the
drive during power-up. For further information, please refer to section
11.2.4 Booting up from the SMARTCARD on every power up (Pr 11.42
= boot (4)) on page 153.
cArd
The drive is writing a parameter set to the SMARTCARD during power-
up.
For further information, please refer to section 11.2.3 Auto saving
parameter changes (Pr 11.42 = Auto (3)) on page 153.
loAding
The drive is writing information to a Solutions Module.
Parameter Description
1.01 Frequency/speed reference
1.02 Pre-skip filter reference
1.03 Pre-ramp reference
2.01 Post-ramp reference
3.01 Frequency slaving demand/Final speed ref
3.02 Speed feedback
3.03 Speed error
3.04 Speed controller output
4.01 Current magnitude
4.02 Active current
4.17 Reactive current
5.01 Output frequency
5.02 Output voltage
5.03 Power
5.05 DC bus voltage
7.01 Analog input 1
7.02 Analog input 2
7.03 Analog input 3
A AWG ˚C m/s
INL401 245 4 50 1 4401-0181-00
INL401W 245 4 40 3 4401-0208-00
INL402 339 3 50 1 4401-0182-00
INL402W 339 3 40 3 4401-0209-00
INL411 2 x 245 4 50 1 4401-0206-01
INL412 2 x 339 3 50 1 4401-0207-01
INL601 145 6 50 1 4401-0183-00
INL602 192 6 50 1 4401-0184-00
INL611 2 x 145 6 50 1 4401-0190-03
INL612 2 x 192 6 50 1 4401-0191-03
A AWG ˚C m/s
OTL401 221 4 50 1 4401-0197-00
OTL402 267 4 50 1 4401-0198-00
OTL403 313 3 50 1 4401-0199-00
OTL404 378 3 50 1 4401-0200-00
OTL405 532 1 50 1 4401-0122-00
OTL411 390 3 50 1 4401-0188-02
OTL412 470 2 50 1 4401-0189-02
OTL413 551 1 50 1 4401-0192-02
OTL414 665 0 50 1 4401-0186-02
OTL601 135 6 50 1 4401-0201-00
OTL602 156 6 50 1 4401-0202-00
OTL603 181 6 50 1 4401-0203-00
OTL604 207 4 50 1 4401-0204-00
OTL611 238 3 50 1 4401-0193-02
OTL612 274 4 50 1 4401-0194-02
OTL613 319 3 50 1 4401-0195-02
OTL614 365 3 50 1 4401-0196-02
3 x OTL004 - - 50 1 4400-0044-00
G
Getting Started ......................................................................105
Ground connections ......................................................... 78, 84
Ground leakage .......................................................................82
Ground terminals .....................................................................65
Grounding bracket ...................................................................82
T
Technical data .......................................................................263
Temperature .........................................................................267
Terminal block in the enclosure ..............................................89
Terminal cover removal ..........................................................36
Terminal sizes .........................................................................66
Thermal protection circuit for the braking resistor ...................81
Torque modes .......................................................................256
Torque settings .............................................................. 66, 272
Trip ........................................................................................276
Trip categories ......................................................................292
Trip History ............................................................................294
Trip Indications ......................................................................276
U
UL Listing Information ...........................................................295
User Security ........................................................................110
V
Variable maximums ..............................................................164
Ventilation ...............................................................................57
Vibration ................................................................................268
Voltage boost ........................................................................117
Voltage mode ........................................................................139