Home

NXP application package

1. 3 G 2 2 5 ANALOG INPUT 4 G 2 2 6 DIGITAL INPUTS Fault DigOUT 4 1 DigO0UT 0 1 DigOUT E 10 A P 2 3 1 4 Fault Inverted DigQUT 0 1 DigOUT 0 1 igQUT E 10 Gy 6 230UTPUT SIGNALS P231 5 Waming DigOUT 0 1 DigQUT 0 1 Dig0UT E 10 2 4 G 2 3 1 DIG OUT SIGNALS P 2 3 1 6 Extemal Fault DigQUT 0 1 DigOUT E 10 P 2 3 1 7 Al Ref Faul wam DigQUT 0 1 DigOUT E 10 P 2 3 1 1 Ready P 2 3 1 2 Run P 2 3 1 3 Fault il P 2 3 1 4 Fault Inverted P 2 3 1 5 Waming P 2 3 1 9 Reserved P 2 3 1 10 Direct Differenc P 2 3 1 11 At Ref Speed P 2 3 1 12 Jogging Speed P 2 3 1 13 ExtControl Place P 2 3 1 14 Ext Brake Contrl P 23 1 15 ExtBrakeCtilInv P 2 3 1 16 FreqOut SupvLim1 P 2 3 1 17 FreqQut SupvLim2 P 2 3 1 18 Ref Lim Superv y Figure 1 Screenshot of NCDrive programming tool Entering the address code Be ABSOLUTELY sure not to connect two functions to one and same output in order to avoid function overruns and to ensure flawless WARNING operation Note Configuration of the nputs unlike that of the outputs cannot be changed in RUN state 3 3 Defining unused inputs outputs All unused inputs and outputs must be given the board slot value 0 and the value 1 also for the ter minal number The value 0 0 is also the default value for most of the functions However if you want to use the values o
2. Column explanation Code Location indication on the keypad Shows the operator the present param number Parameter Name of parameter Min Minimum value of parameter Max Maximum value of parameter Unit Unit of parameter value given if available default value preset by factory Cust Customer s own setting ID Index number of the parameter used with Pc tools fieldbus etc En Parameter value can only be changed after the FC has been stopped Apply the Terminal to Function method TTF to these parameters see chapter 3 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 12 0 VACON PARAMETER LISTS 5 1 Monitoring values Control keypad menu M1 The monitoring values are the actual values of the parameters and signals as well as statuses and measurements Monitoring values cannot be edited See the product s User s Manual Chapter 7 for more information Code Value Unit ID Description V1 1 Output frequency 1 Output frequency to the motor V1 2 Frequency reference 25 Frequency reference to motor control V1 3 Motor speed Rpm 2 Motor speed in rpm V1 4 Motor current A 3 Output current rms V1 5 Motor torque 4 In of nominal motor torque V1 6 Motor power 5 Motor shaft power in of motor nominal power V1 7 Motor voltage V 6 Voltage to the motor rms V1 8 DC link voltage V 7 Voltage to the D
3. Min position 5000 pPz871 U 500 1581 Axis minimum position proportional gain of mission Limit for static distance Staticerror error 32767 pu fom 1584 error fault F62 Settling time for transi tion from dynamic error Settling time 1585 supervision to static error supervision at end of mission Limit for dynamic Dynamic error_ error P28 75 8 7 5 32767 u 1000 a 1586 distance error fault F61 Calibration operation ai before home mission 1 1587 O 0nly the first time Home 1 At every home command Position commands Trig Mode 1 1 1588 O Pulse edge 1 Permanent level Positioning speed 0 By parameters 1 By analogue input Al1 P2 8 7 10 Speed Reference 2 1589 2 By iak a Al the full scale range is up to P2 8 5 Distance in user unit u Distance ExtEnc 1 32767 u s 100 4576 corresponding to the number of turns speci fied by P2 8 7 12 External Encoder CH2 Turns ExtEncoder 1 163 turn 1 1577 turns corresponding k the distance specified by P2 8 7 11 Table 21 Position control parameters Advanced functions G2 8 7 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 28 0 VACON PARAMETER LISTS 5 9 2 Calibration home parameters Control keypad Menu M2 gt G2 8 8 Parameter Zero setting mode 0 Actual position manual 1 Reference position incr 2 Z pulse posit direction 3 Z pulse neg direction Calibration type 1 1595 4 Sensor FWD fast REV slow 5 Sensor
4. Home command will start with P2 2 5 19 Run Home Pos DigIN 0 1 DigIN A 6 1522 calibration cycle automatically if calibration is not already done Jog forward DigiN 0 1 DigiN A2 1523 Jogforward Jogreverse DigiN 0 1 DigIN A 3 1524 Jogreverse Jog forwardinc DigiN 0 1 DigiN 0 1 1525 Incrementaljog forward Jog reverse Inc PosCont Enable Automatic cycle selector 0 Normal 1 Automatic cycle See chapters 5 9 5 and 6 2 10 Trigger for automatic cycle and Go to position Command binary positions a Bit 0 selector for Go to position 530 command a Bit 1 selector for Go to position 531 command Automatic enable DigIN 0 1 DigIN 0 1 Trigger DigIN 0 1 DigIN 0 1 Binary Pos BO DigIN 0 1 DigIN 0 1 Binary Pos B1 DigIN 0 1 DigIN 0 1 Binary Pos B2 DigIN 0 1 DigIN 0 1 Calibration type 2 DigIN 0 1 DigIN 0 1 ree ae RG Min Limit stop possible to run Min end limit DigIN 0 1 DigIN 0 1 FWD When activel are ENT E Max Limit stop possible to run Max End Limit DigIN 0 1 DigIN 0 1 REV whentactival Table 8 Digital input signals 62 2 5 cc Contact closed oc Contact onen Bit 2 selector for Go to position command Select alternative calibration type 2 selected by dig input 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 18 0 VACON PARAMETER LISTS 5 4 Output signals 5 4 1 Delayed digital output 1 Keypad Menu M2 gt
5. Settling time 1D1585 Time for changing from dynamic to static error supervision at the end of the position mission Dynamic error ID1586 Accepted dynamic error during movement during positioning Response to this error can be selected by P2 6 15 Calibration on Home 1D1587 Setting this parameter to 1 performs calibration cycle at every Home command After calibration cycle is done the drive starts moving to the Home position Trig mode 1D1588 Selection of level or pulse logic for trig commands from digital inputs See chapter 6 2 2 The control sequencer commands for details Speed reference 1D1589 With this parameter it is possible to select if the positioning speed reference is taken from parameters or from Analogue input 1 or Analogue input 2 The speed reference from analogue inputs is scaled from 0 to maximum positioning speed Note Analogue speed reference is read before start mission not updated during running 108 0 VACON DESCRIPTION OF POSITION CONTROL PARAMETERS 2 8 7 11 2 8 7 12 Distance external encoder ID1576 Distance in user units corresponding to the amount of external CH2 encoder turns given by P2 8 7 12 This allows the user to work only with engineering units for positioning For example in millimetres or in degrees for a rotating table This parameter has to be set correctly if external encoder is selected by P2 8 2 Option boards OPT A7 and OPT BC supports external encoder CH2 Turns 1D1
6. Application free of charge from version 1 11 earlier was license required 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 6 0 VACON INTRODUCTION 1 2 Other documentation For more general information about the frequency converter installation use keypad interface etc see e Vacon NX Frequency Converter User Manual code UDOO701 For more information about the general function of speed regulation and software see e Vacon NX Multipurpose Application code UDOO885 This manual contains the parameter descriptions of the positioning function only For all other parameter descriptions see e Vacon NX Multipurpose Application code UDOO885 For more information about the option boards see the respective user s manual NOTE You can download the English and French product manuals with applicable safety warning and caution information from www vacon com downloads REMARQUE Vous pouvez t l charger les versions anglaise et francaise des manuels produit contenant l ensemble des informations de s curit avertissements et mises en garde applicables sur le site www vacon com downloads Tel 358 0 201 2121 e Fax 358 0 201 212 205 INTRODUCTION VACON 7 2 COMMISSIONING NOTES 2 1 Application selection through the control keypad During commissioning set the application PositionCtrl in M6 menu at the location S6 2 see User s Manual UD00701 chapter 7 chapter 7 3 6 2
7. vacon DRIVEN BY DRIVES NX FREQUENCY CONVERTERS POSITION CONTROL APPLICATION APFIFF12 USER S MANUAL 2 0 VACON ABOUT THE POSITION CONTROL APPLICATION MANUAL Congratulations for choosing the Smooth Control provided by Vacon NX Frequency Converters This manual is available in both paper and electronic editions We recommend you to use the elec tronic version if possible If you have the electronic version at your disposal you will be able to bene fit from the following features The manual contains several links and cross references to other locations in the manual which makes it easier for the reader to move around to check and find things faster The manual also contains hyperlinks to web pages To visit these web pages through the links you must have an internet browser installed on your computer Tel 358 01201 2121 e Fax 358 0 201 212 205 POSITION CONTROL APPLICATION VACON 3 VACON POSITION CONTROL APPLICATION MANUAL INDEX Document code ud01116B Date 16 05 2008 1 o A A iota A T E EA A 5 1 1 REQUIRE MENS O o e 5 1 2 Other documentatia anser a e AI tadas 6 2 Commissioning NOS AA ah ange pan cuts aa a aiaee 7 2 1 Application selection through the control keypad oocccoonoccccnonococcccnonocnnnononnnnononnncnnnonannnncnnnnnnnno 7 2 2 Preliminar check dd O 7 2 3 POSITION CONTO ESCENAS de dde 7 2 3 1 A A A ne er ce ee ee ee 7 3 Terminal To Function TTF programming principle o
8. 2 8 4 2 8 5 2 8 6 Position control enable D1570 The position controller can be enabled by setting this parameter to 1 By setting the parameter to 2 enable from FB the enable is taken care of by the Fieldbus master Encoder selection 1D1571 Selection of encoder to be used for the position control loop Motor encoder is the same as the one used for the closed loop speed control In most cases motor encoder can be used for the position control loop Parameters 2 8 3 and 2 8 4 have to be set correctly when external encoder is used External encoder can be used to avoid drifting in case of slip between motor and the process Parameters 2 8 3 2 8 4 2 8 7 11 and P2 8 7 12 have to be set correctly when external encoder is used Not all encoder boards support an external encoder Support is provided for example by the OPT A7 board and OPT BC Distance 1D1572 Motor encoder distance in user units corresponding to the amount of turns given by P2 8 4 This allows the user to work only with engineering units for positioning For example in millimetres or in degrees for a rotating table This parameter has to be set even if External encoder is selected by P2 8 2 for the positioning loop Turns ID1573 Motor encoder turns corresponding to the distance given by P2 8 3 This parameter has to be set even if External encoder is selected by P2 8 2 for the positioning loop Maximum speed 1D1574 Maximum positioning speed in user uni
9. 62 3 1 Parameter i i Note Digital output 1 signal Digital output signal selection i selection 0 Not used 1 Ready 2 Run 3 Fault 4 Fault inverted 5 FC overheat warning 6 External fault or warning 7 lt Not used gt 8 Warning 9 Reverse 10 lt Not used gt 11 At speed 12 Undervoltage Over voltage reg active 13 Freq limit 1 superv 14 Freq limit 2 superv 15 Torque limit superv 16 Ref limit superv 17 External brake control 18 Control place 1 0 terminal active 19 FC temp limit superv 20 Reference inverted 21 External brake control inverted 22 Therm fault or warning 23 lt Not used gt 24 Fieldbus input data 1 25 Fieldbus input data 2 26 Fieldbus input data 3 P2 3 1 3 Digital output 1 on delay 0 00 320 00 s 000 487 0 00 delaynotused P2 3 1 4 Digital output 1 offdelay 0 00 320 00 s 000 488 000 delaynotused Table 9 Delayed digital output 1 parameters 62 3 1 P2 3 1 2 Digital output 1 function 5 4 2 Delayed digital output 2 Keypad Menu gt G2 3 2 Parameter i i Note Digital output 2 signal Digital output 2 signal _ selection selection mace o fern selection P2 3 2 3 Digital output 2 on delay 0 00 320 00 s 000 491 0 00 delay not used P2 3 2 4 Digital output 2 offdelay 0 00 320 00 s 000 492 0 00 delaynot used Table 10 Digital output 2 parameters G2 3 2 Tel 358 01201 2121 Fax 358 0 201 212 205
10. overvoltage trip overvoltage trip Number of tries after Max number of tries after overcurrent trip overcurrent trip Number of tries after Max number of tries after motor temperature motor temperature fault fault trip trip Number of a after Number of tries after 725 external fault external fault Table 19 Automatic restart parameters 62 7 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 26 0 VACON PARAMETER LISTS 5 9 Position control parameters Control keypad Menu M2 gt G2 8 Parameter O Disabled or enabled by digital input 1 Enabled 2 Enable by fieldbus only with OPT A7 OPT BC option board 0 Enc1 motor 1 Enc2 auxiliary Distance in user unit u Distance 32767 100 igra Tepaning ig e number of turns speci fied by P2 8 4 Encoder turns corre Turns 163 Turns 1573 sponding to the distance specified by P2 8 3 user unit sec Maximum acceleration in user unit sec ao u ss 1200 Acceleration time is yelded by P2 8 5 P2 8 6 PosControllerEn EncoderSelection 62 8 7 ADVANCED FUNCTIONS 62 8 8 ZERO HOME 62 8 11 AUTOMATIC CYCLE Table 20 Position control parameters and submenu 62 8 G2 8 7 G2 8 8 G2 8 9 G2 8 10 G2 8 11 Tel 358 01201 2121 e Fax 358 0 201 212 205 PARAMETER LISTS VACON 27 5 9 1 Advanced functions Control keypad Menu M2 gt G2 8 7 Parameter F Maxpesiton P2872 0000 U 40000 1580 Axis maximum postion
11. remove the jumper for external 24V voltage reference or with negative logic 12 24V Control voltage ouput Voltage for switches see 6 l 7 13 GND 1 0 ground Ground for references and controls a 14 DIN4 Digital input 4 programmable on 1 15 DIN5 Digital input 5 programmable a FTE O N a 16 DIN6 Digital input 6 Home programmable B A Contact closed start Homing 17 CMB Common for DIN4a DIN6 Connected to ground with X3 jumper remove the jumper for external 24V voltage reference or with negative logic 18 AO1 Analogue output range Output frequency programmable ma 19 AOT Voltage 0 10V DC R gt 1kohm Current 0 4 20 mA l R lt 5000hm TO PLC 20 DO1 Open collector digital output AXIS READY programmable PR ias eee I lt 50mA U lt 48 VDC OPT A2 21 RO1 Relay output 1 Run programmable y outp prog RUN L 27 Ro as Q a 2 23 R0 4 24 RO2 ry Relay output 2 FAULT programmable 20S Sa fio SS 25 RO2 vac ho 26 rR02 Table 1 Position Control Application default I O configuration and connections Tel 358 01201 2121 Fax 358 0 201 212 205 PARAMETER LISTS VACON 11 5 PARAMETER LISTS On the next pages you will find the lists of parameters within the respective parameter groups The parameter descriptions are given on chapter 6
12. 1 DigIN A 2 Digital inputs A 1 A 6 1513 DOI bit 4 DigIN A 5 bit 5 DigIN A 6 bit 6 15 0 Pos Status Register 1514 Status register of position control Table 36 Variable selection for process data out Tel 358 0 201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 61 6 4 SystemBus configuration The use of SystemBus requires usage of the option board OPT D1 or OPT D2 see description in chapter 0 In this application the SystemBus is used only for the transmission of a speed reference from a drive master to a drive follower through the process channel PD1 Parameter P2 10 1 System Bus Mode must be set to 3 for the master or to 2 for the follower or left to 0 when not in use The other values are only meant for future use Communication speed and node number s set up for used system bus card in the expander board menu M7 Also remember to set the Next ID for next node on the system bus The master drive parameter P2 10 2 1 Master Output allows the selection of the reference signal that will be transmitted For the follower drive parameters P2 10 3 1 and P2 10 3 2 allow to apply reference scaling The reference coming from System Bus can be selected as the active speed reference setting parameters P2 1 12 or P2 1 13 or P2 1 14 to value 2 depending on which is the active control place 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 62 0 VACON FUNCTIONAL
13. 2 The jogging speed has been selected with digital 10 Jogging speed Applications 3456 input 11 At speed The output frequency has reached the set reference 12 Motor regulator activated Overvoltage or overcurrent regulator was activated The output frequency goes outside the set 13 Output frequency limit supervision supervision low limit high limit see parameter ID s 315 and 316 below 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 72 0 VACON DESCRIPTION OF STANDARD PARAMETERS 14 Control from I O terminals Appl 2 14 Output freg limit 2 supervision Applications 3456 1 0 control mode selected in menu M3 The output frequency goes outside the set supervision low limit high limit see parameter ID s 346 and 347 below 15 Thermistor fault or warning Appl 2 15 Torque limit supervision Appl 3456 16 Fieldbus input data Application 2 16 Reference limit supervision 17 External brake control Appl 3456 18 Control from I O terminals Appl 3456 19 Frequency converter temperature limit supervision Appl 3456 20 Unrequested rotation direction Appl 345 20 Reference inverted Appl 6 21 External brake control inverted Appl 3456 22 Thermistor fault or warning Appl 3456 23 Fieldbus input data Application 5 23 On Off control Application 6 24 Fieldbus input data 1 Application 6 25 Fieldbus input data 2 Application 6 2
14. 6 2 7 The command sequencer Fieldbus interfaCe ooooconoococcnonoccccnononccnnonnnnnnnnnanonnnnninnncno 49 6 2 8 The command sequencer Calibration Mode ooccccconoccccnononcncnnononcncnononnncnnonnnncnnnnnnnno 52 6 2 9 MAG regulatoria E hes Ge oie tated or ih oe sinh e o do Ll 56 6 2 10 Special function Automatic CYCLO oooocoooococcnonocococononnnononononnnononnnnnnnonnnnnnconannnnnnnannnnnnnos 57 6 3 Fieldbus CONFIQUATION eee a RE E EE EE e aTa a NE EEE 59 6 4 SystemBus configuration oococcononcccnnonoonnnnonononnnnnnnnnnnnnnnnnnnn EAEE E EAEE EEAEEEEEEEEEEEEEE EEEE EErEE EErEE EEEE EE 61 7 Description of standard parameters ccccccccceeceeceeeeceeeeeceeeeeeeeeeceneeeeaeeeseeeeeneeeessneesees 62 8 Keypad controliparam ters ii RU 97 9 APP CE ai 98 9 1 Closed loop parameters ID s 612 to ies 100 9 2 Advanced Open Loop parameters ID s 622 to 625 632 635 oononoiccnnnncnncnncnnccncncencnnnnnoos 100 9 3 Parameters of motor thermal protection ID s 704 to 708B oocoococicnccnicnicnncccccconcononncnnonnnnos 101 9 4 Parameters of Stall protection ID s 709 to 712 oooonncccicunccccnconnonoonconnononnnonconnnnnnononnonnnnnons 101 9 5 Parameters of Underload protection ID s 713 to Tl6 ooocconncccicnncnncnncncnnnonconnoncnoncononnnnnoos 102 9 6 Fieldbus control parameters ID S 850 to 859 iii ii 102 10 DESCRIPTION OF PARAMETERS SPECIFIC for position control application 103 TONG Diga kin putsi att
15. 9 1 CL Current control P gain Sets the gain for the current controller This controller is active only in closed loop and advanced open loop modes The controller generates the voltage vector reference to the modulator See chapter 9 1 CL Encoder filter time Sets the filter time constant for speed measurement The parameter can be used to eliminate encoder signal noise Too high a filter time reduces speed control stability See chapter 9 1 CL Slip adjust The motor name plate speed is used to calculate the nominal slip This value is used to adjust the voltage of motor when loaded The name plate speed is sometimes a little inaccurate and this parameter can therefore be used to trim the slip Reducing the slip adjust value increases the motor voltage when the motor is loaded See chapter 9 1 CL Load drooping The drooping function enables speed drop as a function of load This parameter sets that amount corresponding to the nominal torque of the motor See chapter 9 1 CL Startup torque Choose here the startup torque Torque Memory is used in crane applications Startup Torque FWD REV can be used in other applications to help the speed controller See chapter 9 1 0 Not Used 1 TorqMemory 2 Torque Ref 3 Torg Fwd Rev 88 0 VACON DESCRIPTION OF STANDARD PARAMETERS 631 649 Identification Identification Run is a part of tuning the motor and the drive specific parameters lt is a tool for co
16. 9 Motor temperature 32 AO2 expander board 13 All 37 Active fault 1 14 Al2 Table 46 Axis ready Position controller is ready for the next command Signal goes low during positioning Axis ready is not the same as In Position Calibration OK Indication that the calibration cycle is done Position commands except Jog are not allowed if axis is not calibrated In home position Motor is positioned in home position In position Goes high when axis arrives to the target position Home Pos or In Position OR function of 1D1542 and 1D1543 Signal is high if Position controller is in Home position or in Position Fault and stopped Output for that a fault has occurred and the drive is stopped for mech brake control 96 0 VACON DESCRIPTION OF STANDARD PARAMETERS 1546 1822 1823 1824 Fault and stopped inverted logic Same as above but inverted logic Speed controller f0 point The speed level in Hz below which the speed controller gain is equal to par ID1824 Speed controller f1 point The speed level in Hz above which the speed controller gain is equal to par D613 From the speed defined by par ID1822 to speed defined by par D1823 the speed controller gain changes linearly from par ID1824 to D613 and vice versa Speed controller gain f0 The relative gain of the speed controller as a percentage of par D613 when the speed is below the level defined by 1D1822 Tel 358 0 201 2
17. Automatic restart Number of tries after external fault trip This parameter determines how many automatic restarts can be made during the trial time set by 1D718 0 gt 0 No automatic restart after External fault trip Number of automatic restarts after External fault trip 94 0 VACON DESCRIPTION OF STANDARD PARAMETERS 726 727 730 732 733 734 Automatic restart Number of tries after motor temperature fault trip This parameter determines how many automatic restarts can be made during the trial time set by 1D718 0 No automatic restart after Motor temperature fault trip gt 0 Number of automatic restarts after the motor temperature has returned to its normal level Response to undervoltage fault 1 Warning 2 Fault stop mode after fault according to ID506 3 Fault stop mode after fault always by coasting For the undervoltage limits see Vacon NX User s Manual Table 4 2 Input phase supervision 0 No response 1 Warning 2 Fault stop mode after fault according to ID506 3 Fault stop mode after fault always by coasting The input phase supervision ensures that the input phases of the frequency converter have an approximately equal current Response to thermistor fault 0 No response 1 Warning 2 Fault stop mode after fault according to ID506 3 Fault stop mode after fault always by coasting Setting the parameter to 0 will deactivate the protection Response to fieldbus
18. PARAMETER LISTS VACON 19 5 4 3 Digital output signals Control keypad Menu M2 gt G2 3 3 Code Parameter Min Default Cust Generic function input selectors PISI P2 3 3 2 P2 3 3 3 N E AAA E A T P2 3 3 4 Faultinverted_ 01 01 E ERE HEEE Fault inverted EAS EAN External fault P2 3 3 6 External fault warning P2 3 3 8 po ee PAS Unrequested direction Unrequested direction P233 10 Atspeed 01 01 42 ____________ P2 3 3 11 External control place 0 1 01 444 External control place active P2 3 3 12 External brake 01 01 445 External brake control output control active Brake closed P2 3 3 13 External brake 01 0 1 446 Ext brake control inverted control inverted output active Brake open P23 3 14 Output frequency 0 1 0 1 447 Output frequency limit 1 limit 1 supervision supervision P2 3 3 15 Output frequency 0 1 448 Output frequency limit 2 limit 2 supervision supervision P2 3 3 16 EN Reference limit supervision supervision P2 3 3 17 480 Temperature limit supervision supervision e 0 1 SS 0 0 0 0 0 0 P2 3 3 18 Torque limit supervision supervision P2 3 3 19 Motor thermal 452 Warning or fault motor thermal protection protection Undervoltage Overvoltage 454 7 regulator active 1 1 449 1 450 1 451 il 452 Motor regulator 455 456 457 1540 1541 1542 1543 1544 P2 3 3 21 Fieldbus input data 1 P2 3 3 22 Fieldbus input data 2 P2 3 3 23 Fieldbus
19. REV fast FWD slow 6 Cam positive direction 7 Cam negative direction P2 8 8 2 Calibration speed 1 P2 85 u s 100 1596 Calibration setting speed i f Calibration approach fast nigh 1 P28 5 u s 500 1597 speed during first phase in p calibration modes 4 5 P2 8 8 4 Calib preset P2 8 7 2 P2 8 7 1 10000 1598 Calibration position offset P2 8 8 5 P2 8 5 1200 1599 Home positioning speed Homing acceleration de celeration During Home Home acceleration 1 P2 8 6 u ss 1200 positioning the accelera tion time is P2 8 8 4 P2 8 8 5 P2 8 8 7 Home position P2 8 7 2 P2871 u 10000 101 Alternate calibration op r eration mode selected by Calibration type 2 digital input Values same as P2 8 8 1 Max moving distance dur Max calib travel u 1603 ing calibration cycle Ignored if 0 Table 22 Position control parameters calibration setting and Home G2 8 8 5 9 3 Jog parameters Control keypad Menu M2 gt G2 8 9 Parameter Foggingspeed 1 ezas ue 120 io ooo Jog acceleration and de celeration The accele Jog acceleration 1 P2 8 6 u ss 1200 1611 ration time is P2 8 9 1 P2 8 9 2 Table 23 Position control parameters jog 62 8 9 Tel 358 01201 2121 Fax 358 0 201 212 205 PARAMETER LISTS VACON 29 5 9 4 Positions parameters Control keypad Menu M2 gt G2 8 10 Code Parameter ax Unit Default Cust Note Position selected by
20. This condition can be different from Axis in Motion 0 The latter can be temporarily true during the execution of a complex command Home while the first is true only when the execution of a command is finished Tel 358 01201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 51 Fieldbus scan Mission control Interpolator time 10 ms scan time 5 ms position regulator scan time 5 ms Command ist ae 4 P2 8 11 1 PositControl Mode ID1650 Point 1 2 Automatic mode command Position Move point Speed 4 Position Acceleration Deceleration e ee Speed 4 y Acceleration Automatic i mode table Calibration Deceleration ats cycle OK Command n Start Pause n Stop Trip mode n v D Command n 1 5 Pause n 1 z Status register 3 Trip mode n 1 2 o LL r o a lt Actual position 1D1504 Reference position 1D1503 Position error ID1505 diag8 fh8 Figure 8 Position 1 Block diagram Position mission control with fieldbus interface 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 52 0 VACON FUNCTIONAL DESCRIPTION 6 2 8 The command sequencer Calibration mode There are several types of calibration cycles available suitable for different applications This functi
21. be in any case updated After a power down the calibration cycle must be repeated To avoid this an external backup 24V supply should be fed to the control terminals so that position data is preserved even if the power unit is disconnected emergency protec tions trip etc Observe wiring requirements specified in NX frequency converter user manual interlock diode etc Tel 358 0 201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 49 6 2 7 The command sequencer Fieldbus interface Position control can be enabled in three different and mutually exclusive ways not concurrently used From parameter P2 8 1 PosControllerEn 1 From digital input with P2 8 1 PosControllerEn 0 and digital input selected with P2 2 5 24 PositCntrEn sel From fieldbus with P2 8 1 PosControllerEn 2 and writing 1 on bit 15 of the command register see Table 33 The predefined control and status words of the specific fieldbus profile in use or the native control and status words of the drive if using Bypass mode are used to operate drive RUN STOP and Fault reset and supervise generic operating conditions Predefined Reference channel is not used when position control is active The process data must be configured and used for position control as follows Process data in master to follower P2 9 9 to configure a channel for Command register for position control Table 33 default is PD1 P2 9 10 to configure a c
22. fault Set here the response mode for the fieldbus fault if a fieldbus board is used For more information see the respective Fieldbus Board Manual See parameter 1D732 Response to slot fault Set here the response mode for a board slot fault due to missing or broken board See parameter 1D732 Tel 358 01201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 95 738 852 to 859 1540 1541 1542 1543 1544 1545 24 hour support 358 0 40 837 1150 e Email vaconldvacon com Automatic restart Number of tries after underload fault trip This parameter determines how many automatic restarts can be made during the trial time set by parameter 1D718 0 gt 0 No automatic restart after Underload fault trip Number of automatic restarts after Underload fault trip Fieldbus data out selections 1 to 8 Using these parameters you can monitor any monitoring or parameter from the fieldbus Enter the ID number of the item you wish to monitor for the value of these parameters See chapter 9 6 Some typical values 1 Output frequency 15 Digital inputs 1 2 3 statuses 2 Motor speed 16 Digital inputs 4 5 6 statuses 3 Motor current 17 Digital and relay output statuses 4 Motor torque 25 Frequency reference 5 Motor power 26 Analogue output current 6 Motor voltage 27 Al3 7 DC link voltage 28 Al4 8 Unit temperature 31 AO1 expander board
23. frequency converter controls the motor speed very accurately comparing the actual speed received from the tachometer to the speed reference accuracy 0 01 Torque ctrl closed loop The I O terminal and keypad references are torque references and the frequency converter controls the motor torque Frequency control advanced open loop Frequency control with better performance at lower speeds Speed control advanced open loop Speed control with better performance at lower speeds Switching frequency Motor noise can be minimised using a high switching frequency Increasing the switching frequency reduces the capacity of the frequency converter unit The range of this parameter depends on the size of the frequency converter Min kHz Max kHz Default 0003 0061 NX5 0072 0300 NX5 Table 45 Size dependent frequencies Field weakening point The field weakening point is the output frequency at which the output voltage reaches the set 1D603 maximum value 86 0 VACON DESCRIPTION OF STANDARD PARAMETERS 603 604 605 606 607 608 609 612 Voltage at field weakening point Above the frequency at the field weakening point the output voltage remains at the set maximum value Below the frequency at the field weakening point the output voltage depends on the setting of the U f curve parameters See parameters 1D109 1D108 ID604 and ID605 When the parameters 1D110 and 1D111 nominal vo
24. high current there is a risk that the motor will be thermally overloaded This is the case especially at low frequencies At low frequencies the cooling effect of the motor is reduced as well as its capacity If the motor is equipped with an external fan the load reduction at low speeds is small The motor thermal protection is based on a calculated model and it uses the output current of the drive to determine the load on the motor The motor thermal protection can be adjusted with parameters The thermal current ly specifies the load current above which the motor is overloaded This current limit is a function of the output frequency The thermal stage of the motor can be monitored on the control keypad display See Vacon NX User s Manual Chapter 7 3 1 CAUTION The calculated model does not protect the motor if the airflow to the motor is reduced by blocked air intake grill 9 4 Parameters of Stall protection ID s 709 to 712 General The motor stall protection protects the motor from short time overload situations such as one caused by a stalled shaft The reaction time of the stall protection can be set shorter than that of motor thermal protection The stall state is defined with two parameters ID710 Stall current and 1D712 Stall frequency limit If the current is higher than the set limit and output frequency is lower than the set limit the stall state is true There is actually no real indication of the shaft rotat
25. must be given the value 3 Brake off In order for the brake to release three conditions must be fulfilled 1 the drive must be in Run state 2 the torque must be over the set limit if used and 3 the output frequency must be over the set limit if used Tel 358 0 201 2121 e Fax 358 0 201 212 205 APPENDICES VACON 99 Brake on Stop command activates the brake delay count and the brake is closed when the output frequency falls below the set limit ID315 or D346 As a precaution the brake closes when the brake on delay expires at the latest Note A fault or Stop state will close the brake immediately without a delay See Figure 38 It is strongly advisable that the brake on delay be set longer than the ramp time in order to avoid damaging of the brake No brake off control 0 2 Brake off ctrl 2 limits 3 Brake on off crtl 1 limit 4 TRUE a 0 2 Output frequency gt 1D347 3 4 No brake off control 0 2 Brake off ctrl 3 torque limit 04 U09 Jjo ayeig TRUE 002 Motor torque gt ID349 3 Brake off Brake on Run state No Run request Reversing gt No run request No brake on control 02 1 Brake on ctrl 2 limits E No brake on control 03 __ Brake on off crtl 1 limit E 1 is ID316 0 3 1D347 4 Output frequency 4 O 1JUO9 uo ye1g NX12k114 fh8 Figure 38 Brake c
26. provide for speed control position control switching and vice versa e if the control is selected by a digital input set the position control enable input in P2 2 5 24 e ifthe control is selected by fieldbus set P2 8 1 PosControllerEn 2 Enable by FB and set the control by fieldbus in the Menu 3 P3 1 see chapter 6 2 7 e ifthe position control is always enabled set P2 8 1 PosControllerEn 1 enabled 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 8 VACON TERMINAL TO FUNCTION PROGRAMMING PRINCIPLE 3 TERMINAL TO FUNCTION TTF PROGRAMMING PRINCIPLE In the conventional programming method Function to Terminal Programming Method FTT you have a fixed input or output that you define a certain function for The applications mentioned above however use the Terminal to Function Programming method TTF in which the programming process is carried out the other way round Functions appear as parameters which the operator defines a certain input output for See Warning in chapter 3 2 3 1 Defining an input output for a certain function on keypad Connecting a certain input or output with a certain function parameter is done by giving the parameter an appropriate value The value is formed of the Board slot on the Vacon NX control board see the product s User s Manual Chapter 6 2 and the respective signal number see below ean P23 31 0D Al Ref Faul Warn Function name__________ y DigOUT B
27. the range and the default values of parameters 1D107 and 1D113 for your converter min max default default NX 0004 5 1 00 6 20 4 00 3 10 4 00 5 40 wows SOS SS 7 0 9 0 12 0 16 0 NX 0031 5 22 0 NX00385 90 620 380 31 0 NX 0045 5 38 0 Nxo0615 160 900 TO NX 0072 5 122 0 61 0 72 0 87 0 105 0 NX 0168 5 61 0 280 0 168 0 140 0 NX 0205 5 336 0 205 0 NX 0261 5 360 0 261 0 NX 0300 5 Table 38 Size dependent values of parameters ID107 and 1D113 108 U f ratio selection Linear The voltage of the motor changes linearly with the frequency in the constant 0 flux area from 0 Hz to the field weakening point where the nominal voltage is supplied to the motor Linear U f ratio should be used in constant torque applications This default setting should be used if there is no special need for another setting Squared The voltage of the motor changes following a squared curve form 1 with the frequency in the area from 0 Hz to the field weakening point where the nominal voltage is also supplied to the motor The motor runs under magnetised below the field weakening point and produces less torque and electromechanical noise Squared U f ratio can be used in applications where torque demand of the load is proportional to the square of the speed e g in centrifugal fans and pumps 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 64 0 VACON DESCRIPTION OF STANDARD PARAMETERS Field wea
28. vaconldvacon com 98 0 VACON APPENDICES 9 APPENDICES In this chapter you will find additional information on special parameter groups Such groups are Parameters of External brake control with additional limits Chapter 1 Closed Loop parameters Chapter 9 1 Advanced Open Loop parameters Chapter 9 2 Parameters of Motor thermal protection Chapter 9 3 Parameters of Stall protection Chapter 9 4 Parameters of Underload protection Chapter 9 5 Fieldbus control parameters Chapter 9 6 1 EXTERNAL BRAKE CONTROL WITH ADDITIONAL LIMITS ID S 315 316 346 TO 349 352 353 The external brake used for additional braking can be controlled through parameters D315 ID316 1D346 to 1D349 and 1D352 1D353 Selecting On Off Control for the brake defining the frequency or torque limit s the brake should react to and defining the Brake On Off delays will allow an effective brake control See Figure 37 Torque limit ID349 START STOF Brake on delay T L D353 Brake off ID352 Brake on NX12k115 fh8 Figure 37 Brake control with additional limits In Figure 37 above the brake control is set to react to both the torque supervision limit par 1D349 and frequency supervision limit 1D347 Additionally the same frequency limit is used for both brake off and brake on control by giving parameter ID346 the value 4 Use of two different frequency limits is also possible Then parameters ID315 and ID346
29. 1 Slot Terminal number Terminal type Example You want to connect the digital output function Reference fault warning parameter 2 3 3 7 to the digital output DO1 on the basic board NXOPTA1 see the product s User s Manual Chapter 6 2 First find the parameter 2 3 3 7 on the keypad Press the Menu button right once to enter the edit mode On the value line you will see the terminal type on the left DigIN DigOUT An IN An OUT and on the right the present input output the function is connected to B 3 A 2 etc or if not connected a value 0 When the value is blinking hold down the Browser button up or downto find the desired board slot and signal number The program will scroll the board slots starting from 0 and proceeding from A to E and the 1 0 selection from 1 to 10 Once you have set the desired value press the Enter button once to confirm the change Pesa Al Ref Faul Warn DigOUT 0 0 Tel 358 0 201 2121 Fax 358 0 201 212 205 TERMINAL TO FUNCTION PROGRAMMING PRINCIPLE VACON 9 3 2 Defining a terminal for a certain function with NCDrive programming tool If you use the NCDrive Programming Tool to set drive parameters you will have to establish the connection between the function and input output in the same way as with the control panel Just pick the address code from the drop down menu in the Value column see the Figure below E 101 x Parameter Window LOADED Compare
30. 103 A LA Su vad paca a Mite ede MS ards stad a a ra cdl eT 105 10 37 APOSIUOM C ONTROL TAs a a a do ah ae a acta at A Sete ol 106 IAN A 107 10 5 Calibration Home cecccccccceeecececececeeeeeceeeeeeeceeeeeeeeeeaeeeecaueeeeseceeeeeeeceaeeeesseneaeeeessseeeesenieeeeeoes 108 AR A O A NOR 109 10 7 POSI Si abet een e a a e emetic td Ga ten a e d a 110 108 Automatic Uli A A 111 10 9 RL US td o a ll 112 A E A AE O E EN O AT E 113 10 10 1 Master rt e e ress haan arte ee Os n A 113 10 10 2 Ed ai 113 TOMA JOG A das 113 11 Specific fault codes of Position Control ApplicatiON oocccooonnccnononcnonononanoncnonannnnnnnnnrenonnno 114 Tel 358 01201 2121 Fax 358 0 201 212 205 INTRODUCTION VACON 5 POSITION CONTROL APPLICATION aprirri2 v1 11 OR HIGHER 1 INTRODUCTION The APFIFF12 application Position Control Application is designed to control an operating axis with these functions e single axis trapezoidal interpolator e linear ramp e programmable distance turns in engineering unit makes it possible to work only with engineering units e using of motor encoder or auxiliary encoder for the positioning loop 7 possible calibration modes manual Calibration sensor Z Pulse with or without backlash compensation positioning commands jog incremental jog calibration homing static and dynamic distance error supervision software limit stop positioning range hardware limit stop min max by digital input control w
31. 109 10 6 Jog 2 8 9 1 Jog speed D1610 Speed in user unit used during Jog and Jog increment commands 2 8 9 2 Jog acceleration D16717 Acceleration Deceleration used during Jog and Jog increment commands 28 93 Jog increment distance ID1612 Incremental relative distance in user units used for Jog increment commands 24 hour support 358 0 40 837 1150 e Email vaconfavacon com 110 0 VACON DESCRIPTION OF POSITION CONTROL PARAMETERS 10 7 Positions The absolute target position and the corresponding speed and acceleration is selected with pro grammable digital inputs with parameters 2 2 5 27 to 2 2 5 29 The drive starts running to the se lected target position when the trigger input goes high It is also possible to activate these positions from the automatic sequence If the speed and or acceleration for Position 001 Position 111 is set to O the same speed and or acceleration as for Position 000 is used See chapter 6 2 2 7 Go to Position 2 8 10 1 2 8 10 2 2 8 10 3 2 8 10 4 2 8 10 5 2 8 10 6 000 Position D1620 Absolute position in user unit for the position 000 selected by binary inputs P2 2 5 27 P2 2 5 29 000 Speed 1D1621 Speed in user unit s used during positioning 000 Acceleration 1D1622 Acceleration in user unit s used during positioning 001 Position 1D1623 Absolute position in user unit for the position 001 selected by binary inputs P2 2 5 27 P2 2 5 29 001 Speed 1D1624 Speed in us
32. 121 e Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 97 8 KEYPAD CONTROL PARAMETERS Unlike the parameters listed above these parameters are located in the M3 menu of the control keypad The reference parameters do not have an ID number 114 Stop button activated 3 4 If you wish to make the Stop button a hotspot which always stops the drive regardless of the selected control place give this parameter the value 1 See also parameter 1D125 125 Control Place 3 7 The active control place can be changed with this parameter For more information see Vacon NX User s Manual Chapter 7 3 3 1 Pushing the Start button for 3 seconds selects the control keypad as the active control place and copies the Run status information Run Stop direction and reference 123 Keypad Direction 3 3 0 Forward The rotation of the motor is forward when the keypad Is the active control place 1 Reverse The rotation of the motor is reversed when the keypad is the active control place For more information see Vacon NX User s Manual Chapter 7 3 3 3 R3 2 Keypad Reference 3 2 The frequency reference can be adjusted from the keypad with this parameter The output frequency can be copied as the keypad reference by pushing the Stop button for 3 seconds when you are on any of the pages of menu M3 For more information see Vacon NX User s Manual Chapter 7 3 3 2 24 hour support 358 0 40 837 1150 e Email
33. 2 4 Tel 358 01201 2121 Fax 358 0 201 212 205 PARAMETER LISTS VACON 23 5 6 Motor control parameters Control keypad Menu M2 gt G2 5 Parameter ax Unit Default Cust Motor control mode U f ratio selection U f curve midpoint par y val a E ji i ar pe H voltage Output voltage at E 40 00 AED IEE zero frequency frequency Overvoltage controller 30000 Varies 662 O Table 15 Motor control parameters and submenus 62 5 G2 5 14 G2 5 15 Undervoltage controller Rs voltage drop Identification 24 hour support 358 0 40 837 1150 e Email vaconf vacon com O Frequency control 1 Speed control 2 lt Not used gt 3 CL speed control 4 lt Not used gt 5 Advanced OL frequency control 6 Advanced OL speed control er 0 Not used O Linear 1 Squared 2 Programmable 3 Linear with flux optim point weakening point n xX Unmot Parameter max value par 2 6 5 n x U nmot Ca controller 0 Not enabled 1 Enabled Undervoltage controller 0 Not enabled 1 Enabled 0 No Action 1 ID No Run 2 ID With Run 3 Enc ID Run 4 No Action 5 1D run failed 24 0 VACON PARAMETER LISTS 5 6 1 Closed loop Control keypad Menu M2 gt G2 5 13 Parameter ns A o wm a aie pegas current P2 5 14 2 SpeedcontrolKp 0 1000 30 613 Speed control prop gain Speed control time P2 5 14 3 Speed control Ti 500 0 constant O integr ac
34. 201 2121 e Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 67 300 Start Stop logic selection O DIN1 closed contact start forward DIN2 closed contact start reverse A Output Stop function frequency ID506 coasting a NX12K09 The first selected direction has the highest priority Figure 17 Start forward Start reverse When the DIN1 contact opens the direction of rotation starts the change OOO If Start forward DIN1 and Start reverse DIN2 signals are active simultaneously the Start forward signal DIN1 has priority 1 DIN1 closed contact start open contact stop DIN2 closed contact reverse open contact forward See below A Output Stop function frequency ID506 coasting NX12K10 Figure 18 Start Stop Reverse 2 DIN1 closed contact start open contact stop DIN2 closed contact start enabled open contact start disabled and drive stopped if running 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 68 0 VACON DESCRIPTION OF STANDARD PARAMETERS 3 3 wire connection pulse control DIN1 closed contact start pulse DIN2 open contact stop pulse DIN3 can be programmed for reverse command See Figure 19 A Output Stop function If Start and Stop pulses are frequency ID506 simultaneous the Stop pulse coasting overrides the Start pulse Figure 19 Start pulse Stop pulse The selections including the te
35. 577 Encoder turns corresponding to the distance given by P2 8 7 11 This parameter has to be set correctly if external encoder is selected by P2 8 2 10 5 Calibration Home See chapter 6 2 5 for more detailed information about calibration 2 8 8 1 2 8 8 2 2 8 8 3 2 8 8 4 2 8 8 5 2 8 8 6 2 8 8 7 2 8 8 8 2 8 8 9 Calibration type 1 ID1595 Selection of calibration mode to be used for calibration mode type 1 Calibration speed 1D1596 Speed used during calibration cycle Calibration high speed 1D1597 High speed used during first phase of calibration modes 4 and 5 Calibration preset 1D1598 Preset absolute position assigned to the calibration point in user units Home speed ID1599 Speed used during the Home command running to the Home position Home acceleration D1600 Acceleration Deceleration used during Home command Home position D1601 Absolute home position in user unit The home position is often used as an initial position from where the normal operation starts Calibration type 2 D1602 Selection of mode for calibration Type 2 This is an alternative calibration mode that can be selected by a programmable digital input with P2 2 5 30 This mode is normally not needed Maximum calibration travel 1D1603 The maximum allowed travel distance in user units during the calibration cycle Tel 358 0 201 2121 e Fax 358 0 201 212 205 DESCRIPTION OF POSITION CONTROL PARAMETERS VACON
36. 58 0 201 2121 e Fax 358 0 201 212 205 DESCRIPTION OF POSITION CONTROL PARAMETERS VACON 103 10 DESCRIPTION OF PARAMETERS SPECIFIC FOR POSITION CONTROL APPLICATION 10 1 Digital inputs General for all the inputs with functions related to the position controller is that the Position controller has to be enabled to accept them 2 2 5 17 2 2 5 18 2 2 5 19 2 2 5 20 2 2 5 21 2 2 9 22 2 2 5 23 2 2 5 24 2 2 5 25 24 hour support 358 0 40 837 1150 e Email vaconldvacon com Calibrate sensor 1D7520 Selection of digital input for the calibration sensor The calibration sensor is used during several calibration modes Depends on which calibration mode is used See chapter 6 2 7 and Figure 8 Position 1 Block diagram Position mission control with fieldbus interface for details Run calibration 1D1521 Selection of digital input for start of the calibration cycle Run Home position 1D1522 Selection of digital input for run to home position command The home position is normally a start position for the positioning performed after the calibration cycle Jog forward 1D1523 Selection of digital input for the Jog forward command The motor runs forward with the Jog speed seleted by P2 8 9 1 as long as the input is high The function is limited by the max software limit P2 8 7 1 Jog reverse 1D1524 Same as 2 2 5 20 but in reverse direction The function is limited by the min software limit P2 8 7 2 Jo
37. 6 0 Stop function Coasting After the stop command the motor coasts to a stop without control of the frequency converter With DC injection the motor can be electrically stopped in the shortest possible time without using an optional external braking resistor The braking time is scaled according to the frequency when the DC braking starts If the frequency is gt the nominal frequency of the motor the set value of parameter 1D508 determines the braking time When the frequency is lt 10 of the nominal the braking time is 10 of the set value of parameter ID508 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 84 0 VACON DESCRIPTION OF STANDARD PARAMETERS Output frequency N Nor Motor speed N Nu Output frequency N Motor speed DC braking ON e e O aa DC braking ON Y t gt f P t 1 x Par ID508 l pits 0 1 x Par ID508 NX12K21 Figure 32 DC braking time when Stop mode Coasting Par 1D506 1 Stop function Ramp After the Stop command the speed of the motor is reduced according to the set deceleration parameters as fast as ___ Motor speed possible to the speed defined with Output frequency parameter ID515 where the DC braking starts The braking time is defined with Be praking parameter ID508 If high inertia exists par ID515 it is recommended to use an external braking resistor for faster L t Par ID508 d
38. 6 Fieldbus input data 3 Application 6 The thermistor input of option board indicates overtemperature Fault or warning depending on par 1D732 The motor torque goes beyond the set supervision low limit high limit par ID348 and 1D349 Fieldbus input data FBFixedControlWord to DO RO Active reference goes beyond the set supervision low limit high limit par 1D350 and 1D351 External brake ON OFF control with programmable delay par 1D352 and 1D353 External control mode Menu M3 1D125 Frequency converter heatsink temperature goes beyond the set supervision limits par ID354 and 1D355 Rotation direction is different from the requested one External brake ON OFF control par 1D352 and 1D353 Output active when brake control is OFF The thermistor input of option board indicates overtemperature Fault or warning depending on parameter D732 Fieldbus input data FBFixedControlWord to DO RO Selects the analogue input to be monitored See par 1D356 ID357 1D358 and ID463 Fieldbus data FBFixedControlWord to DO RO Fieldbus data FBFixedControlWord to DO RO Fieldbus data FBFixedControlWord to DO RO Table 42 Output signals via DO and output relays RO1 and ROZ2 315 O No supervision Low limit supervision High limit supervision ON Output frequency limit supervision function Brake on control see chapter 1 on page 98 If the output frequency goes under over the set limit ID316 this fu
39. Application Selection 2 2 Preliminary checking The general procedure of commissioning is described in chapters 6 7 and 8 of the User s Manual see chapter 0 In Position Control Application it is necessary to use the closed loop speed control For settings and tuning of closed loop speed control see chapter 5 6 1 Closed loop parameter group in Multipurpose Application manual see chapter 0 2 3 Position control settings 1 Choose the encoder type used as position s feedback P2 8 2 2 Define the position unit using parameters P2 8 3 Distance and P2 8 4 Turns see chapter 6 2 5 3 If external encoder Channel 2 on OPTA7 board is used for position feedback it is necessary to also set parameters P2 8 7 11 Distance ext encoder and P2 8 7 12 Turns ext encoder Use of external encoder requires also correct setting of parameters for motor encoder P2 8 3 and P2 8 4 4 Define the calibration cycle that is to be used see chapter 6 2 2 1 5 Configure digital inputs for position control using parameters in the G2 2 5 group for the setting see chapter 3 6 Donormal Closed loop commissioning with position control disabled to check that drive works normally in closed loop speed control before trying to run in position control mode 7 Enable the position control and start tests with slow speed 2 3 1 Control 1 0 Configure the I O commands using the parameters in group G2 2 for the setting see chapter 3 For applications that
40. C link v1 9 Unit temperature C 8 Heatsink temperature V1 10 Analogue input 1 V mA 13 All v1 11 Analogue input 2 V mA 14 Al2 V1 12 DIN1 DIN2 DIN3 15 Digital input statuses V1 13 DIN4 DIN5 DIN6 16 Digital input statuses V1 14 Analogue output mA 26 A01 V1 15 ID Run Status 49 Status of ID run made V1 16 Pole pair number 58 Calculated pole pair number based on given motor data V1 17 PositLoopClosed 1500 Position control Enabled V1 18 Axis moving 1501 Axis in movement V1 19 Calibration OK 1502 Calibration done V1 20 Positioning reference U 1503 Position reference in axis unit V1 21 Actual position U 1504 Actual position in axis unit V1 22 Positioning error U 1505 Positioning error in axis unit V1 23 PosCtriFreq Ref Hz 1504 Frequency reference generated by position controller Encoder speed 1 in Hz filtered by V1 24 Encoder 1 Freq 1124 Enc1FiltTime V1 25 Encoder 2 Freq Bas P Encoder speed Sin V1 26 Torque mode CL 1510 Torque generated in open loop control V1 27 Torque ref mode 3 1511 Torque ref in closed loop speed control V1 28 Torque ref mode 4 1512 Torque ref in closed loop torque control FIELDBUS V1 30 1 Fault History 37 Last active fault Status for digital inputs A 1 A 6 V1 30 2 DI Status A 1 A 6 1513 Al LSB V1 30 3 PositCtrl Status 1514 Status of position controller Table 2 Monitor values Tel 358 0 201 2121 Fax 358 0 201 212 205 PARAMETER LISTS VACON 13 5 2 Ba
41. DESCRIPTION 7 DESCRIPTION OF STANDARD PARAMETERS On the following pages you will find the parameter descriptions arranged according to the individual ID number of the parameter A shaded parameter ID number e g 478 Motor potentiometer UP indicates that the 77F programming method shall be applied to this parameter 102 Maximum frequency Defines the frequency limits of the frequency converter The maximum value for these parameters is 320 Hz The software will automatically check the values of parameters 1D105 ID106 ID315 and 1D728 103 Acceleration time 1 104 Deceleration time 7 These limits correspond to the time required for the output frequency to accelerate from the zero frequency to the set maximum frequency par 1D102 105 Preset speed 7 106 Preset speed 2 Parameter values are automatically limited between the minimum and maximum frequencies par 1D101 1D102 Note the use of TTF programming method in the Multi purpose Control Application See parameters D419 ID420 and 1D421 Multi step speed Multi step speed mR sel 1 DINA sel 2 DIN5 Basic speed 0 0 1D105 1 0 1D106 0 1 Table 37 Preset speed Tel 358 01201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 63 107 Current limit This parameter determines the maximum motor current from the frequency converter The parameter value range differs from size to size See the table below for
42. ETER LISTS VACON 25 5 7 Protections Control Keypad Menu M2 gt G2 6 Codice Parameter O No response 1 Warning 2 Fault stop acc to P2 4 3 3 fault stop by coasting P2 6 2 Input phases supervision O roo 730 As P2 6 1 Response to undervoltage 727 As P2 6 1 fault Output phases 702 As P2 6 1 supervision Earth fault protection 2 703 As P2 6 1 Thermal protection of 704 As P2 61 the motor temperature factor MTP Cooling factor at 0 150 0 40 0 706 MTP Cooling factor at 0 speed speed N x lao constant 10 o re oe a a Response to thermistor 732 As P2 6 1 fault Response to fieldbus 733 As P2 6 1 fault 13 Response to slotfault 0 3 2 734 AsP2 6 1 Exceeding positioning Position range error 2 1560 range error 32000 u from zero point As P2 6 1 Position error exceeding Dynamic error 2 1561 dynamic limit P2 8 7 7 As P2 6 1 Position error exceeding Static error 2 1562 static limit P2 8 7 5 As P2 6 1 Table 18 Protections 62 6 External fault 5 8 Autorestart parameters Control keypad Menu M2 gt G2 7 a E JEANIE peer matic restart The max time in which it Trial time 60 00 30 00 is possible to restart the drive 0 Ramping Start function 1 Flying start 2 Fault stop acc to P2 4 3 Number of tries after Max number of tries after 10 720 undervoltage trip undervoltage trip Number of tries after 791 Max number of tries after
43. Home acceleration 1D 1600 patna ile Sb position i Zero position Position error C Home point 1D1601 Zero position A Inputs scan time Zero 5 ms Position O as Zero a Home Move Home Speed Interpolator Acceleration Home Deceleration Calib cycle sel gt Start Ta Stop Outputs scan time 10 ms __ Status register 4 At home Figure 4 Position 1 Block diagram Home zero mission control 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 40 0 VACON FUNCTIONAL DESCRIPTION Jog forward towards the positive direction of the position coordinate Jog forward motion stops if the input or command bit are disabled permanent logic If calibration has been performed Jog forward stops when the axis reaches its maximum position P2 8 7 1 Note If calibration has not been performed the operator is responsible for the holding of the axis in the safety area Proper safety measures must be taken providing end run cams to trip the emergency brake or to be connected to digital inputs and handled as stop limit contacts P2 2 5 31 P2 2 5 32 Parameters for the jog e Jogging speed P2 8 9 1 e Jog acceleration deceleration time P2 8 9 2 Acceleration time s is determined by P2 8 9 1 P2 8 9 2 parameters Jog towards the negative direction of the position coordinate Similar to jog forward After the cali bration cycle ha
44. Motor torque 2x 2xXT ymot 13 Motor power 2x 2xTymot 14 Frequency ref from position control 0 f 15 Encoder frequency 0 f Analogue output Analogue output 1 filter TA 10 00 1 filter time constant Analogue output 0 Not inverted 1 inversion 1 Inverted Analogue output 1 310 0 0 mA 1 minimum 1 4 mA oo 1000 a too an Analogue output 1 scale factor Table 13 Analogue output 1 parameters 62 3 5 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 22 0 VACON PARAMETER LISTS 5 5 Drive control Control keypad Menu M2 gt G2 4 Code Parameter Min Max Unit Default Cust ID Note Brake chopper 0 Disabled 1 Enabled in RUN state 2 External brake chopper P2 4 1 Brake chopper 0 3 0 504 3 Enabled in RUN and STOP state 4 Enabled in RUN state no supervision test 4 0 Ramping 1 Ramping Current for DC braking DC braking current 0 3 x ly 2x ly A la 507 NOTE The formulas are approximate a DC brake time at stop DC brake time at stop 0 000 60 000 0 000 a 508 0 DC brake is off at stop Frequency to start DC braking duringramp 0 10 10 00 1 50 Big ear 10 SAT DE st p braking during ramp stop a DC brake time at start DC brake time at start 0 000 60 000 0 000 Oo 516 0 DC brake is off at start Flux brake Flux brake 1 520 0 Not active 1 Active Flux braking current Flux braking current 0 3 x l4 2xly A la 519 NOTE The formulas are approximate Table 14 Drive control parameters G
45. Over undervoltage trips may occur when controllers are switched out of operation 0 Controller switched off 1 Controller switched on Torque limit With this parameter you can set the torque limit control between 0 0 400 0 CL Magnetizing current Set here the motor magnetizing current no load current See chapter 9 1 Tel 358 0 201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 87 613 614 615 616 617 678 619 620 621 24 hour support 358 0 40 837 1150 e Email vaconf vacon com CL Speed control P gain Sets the gain for the speed controller in per Hz See chapter 9 1 CL Speed control time Sets the integral time constant for the speed controller Increasing the time increases stability but lengthens the speed response time See chapter 9 1 CL Zero speed time at start After giving the start command the drive will remain at zero speed for the time defined by this parameter The ramp will be released to follow the set frequency speed reference after this time has elapsed from the instant where the command is given See chapter 9 1 Motor should be magnetized during this time CL Zero speed time at stop The drive will remain at zero speed with controllers active for the time defined by this parameter after reaching the zero speed when a stop command is given This parameter has no effect if the selected stop function ID506 is Coasting See chapter
46. P2 8 10 1 000 position P2 8 7 2 P2 8 7 1 EN 12000 HE 1620 B2 0 B1 0 BO 0 P2 8 10 2 O00speed 1 P285 1200 1621 Positioning speed Positioning acceleration P2 8 10 3 000 accel P2 8 6 u ss 1200 1622 The acceleration time is P2 8 10 1 P2 8 10 2 Position selected by P2 8 10 4 001 ene P287 2 P2 8 7 1 EN 14000 NN 1623 B2 0 B1 0 BO 1 If parameter is set to 0 the P2 8 10 5 001 oot speed P2 8 5 pzas us oo 1624 P2 8 10 2 speed is used If parameter is set to 0 the P2 8 10 6 001 accel P2 8 6 u ss 1625 P2 8 10 3 acceleration is used Position selected by P2 8 10 7 a P287 2 P2 8 7 1 ENS 16000 1626 B2 0 B1 1 BO 0 If parameter is set to 0 the P2 8 10 8 010 010 speed P2 8 5 ape 1627 P2 8 10 2 speed is used If parameter is set to 0 the P2 8 10 9 010 accel P2 8 6 u ss 1628 P2 8 10 3 acceleration is used Position selected by P2 8 10 10 011 position ian P287 2 P28 7 1 EN 18000 1629 B2 0 B1 1 BO 1 If parameter is set to O the P2 8 10 11 011 011 speed P2 8 5 AREE 1630 P2 8 10 2 speed is used If parameter is set to 0 the P2 8 10 12 011 accel P2 8 6 u ss 1631 P2 8 10 3 acceleration is used Position selected by P2 8 10 13 100 E P287 2 P2 8 7 1 CN 20000 1632 B2 1 B1 0 BO 0 If parameter is set to 0 the P2 8 10 14 100 100 speed P2 8 5 apem 1633 P2 8 10 2 speed is used If parameter is set to 0 the P2 8 10 15 100 accel P2 8 6 u ss 1634 P2 8 10 3 acceleration is used P
47. Position deceleration 1D1628 c actual position settling time 2 010 position ID1626 Reference Le position DS AS lt Actual c ZA position Position Time MRE gt Time Mission Ro a completed Mission aborted At position ooo Axis ready B B1 B2 y 010 C O O Trigger Le ajb a ib 1b EA o Figure 2 Go to position command with permanent logic O Position acceleration 1D1628 a cmd settling time gt 20 ms O Position speed 1D1627 b latency time lt 15 ms Position deceleration ID1628 c actual position settling time 4 010 position ID1626 A 5 100 position 1D1632 ee Sy f c Reference fo N osition 4 RON SA i Tp la Actual cl position Position Time 9 NX Speed N 7i Time At position HE o EE E Axis ready B2 B1 B2 a a Trigger w lalb No mission queuing la jb diag4 fh8 A this cmd ignored A DE AE Figure 3 Go to position command with pulse logic 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 38 0 VACON FUNCTIONAL DESCRIPTION The calibration is needed to calibrate the axis to an absolute position at first start up and after a power down This is always needed when an incremental encoder is used The calibration preset value P2 8 8 4 is initiated to the calibra
48. TS VACON 17 5 3 5 Digital inputs Control keypad Menu M2 gt G2 2 5 Parameter i Default Generic function input selectors DigIN 0 1 DigIN A 1 403 See P2 2 1 1 Dig N 0 1 DigIN 0 1 404 See P2 2 1 1 DigIN 0 1 DigIN 0 2 407 Motor start enabled cc Reverse DigIN 0 1 DigIN 0 1 ag oe onsen lod Direction reverse cc Preset speed 1 DigiN 0 1 DigiN 0 1 49 Preset speed2 DigiN 0 1 Digno 420 SS Motor potentiometer fis ee ONN DigIN 0 1 DigIN 0 1 417 Mot pot reference decreases cc Metar potentiometer DigIN 0 1 DigIN 0 1 418 Mot pot reference increases cc reference UP DigIN 0 1 DigIN 0 1 414 All faults reset cc External fault close DigIN 0 1 DigIN 0 1 405 Ext fault displayed cc External fault open DigIN 0 1 DigIN 0 2 406 Ext fault displayed oc A Reference Al1 oc Al1 Al2 selection DigIN 0 1 DigIN 0 1 E Reference ANE e Control from 1 0 DigIN 0 1 DigIN 0 1 409 Force control place to I O terminal terminal cc Control from keypad DigIN 0 1 DigIN 0 1 410 Force control place to keypad cc Control from fieldbus DigIN 0 1 DigIN 0 1 Prat Force control place to fieldbus cc remer seni Parameter set selection DigIN 0 1 DigIN 0 1 496 Set 1 selected oc selection Set 2 selected oc Input signals for Position Control selectors DigIN 0 1 DigIN 0 1 1520 Input for calibration sensor used DigIN 0 1 DigIN 0 1 1521 Calibration command
49. also in READY state 2 External brake chopper no testing 3 Used and tested in READY state and when running 4 Used when running no testing When the frequency converter is decelerating the motor the inertia of the motor and the load are fed into an external brake resistor This enables the frequency converter to decelerate the load with a torque equal to that of acceleration provided that the correct brake resistor has been selected See separate Brake resistor installation manual Start function Ramp 0 The frequency converter starts from 0 Hz and accelerates to the set reference frequency within the set acceleration time Load inertia or starting friction may cause prolonged acceleration times Flying start 1 The frequency converter is able to start into a running motor by applying a small torque to motor and searching for the frequency corresponding to the speed the motor is running at Searching starts from the maximum frequency towards the actual frequency until the correct value is detected Thereafter the output frequency will be increased decreased to the set reference value according to the set acceleration deceleration parameters Use this mode if the motor is coasting when the start command is given With the flying start it is possible to ride through short mains voltage interruptions Tel 358 0 201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 83 506 Stop function Coas
50. arting with low signal from the calibration sensor the searching direction is positive for type 10 Figure 12 negative for type 11 The calibration posi tion is taken at the first rising edge of Z pulse AND when the calibration sensor signal ENC1Q is high On the contrary if the signal from the calibration sensor is high at start the motion direction is negative for type 10 positive for type 11 until the calibration sensor signal goes low at this point the direction is reversed and the calibration position is determined as described above Time L i Calibration start pulse l L Encoder i Q input Encoder Z input Calibration Type10 position found Figure 12 Timing diagram for methods 10 and 11 OPT A4 A5 A7 Figure 13 Example of calibration sensor input wiring 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 56 0 VACON FUNCTIONAL DESCRIPTION 6 2 9 The regulator In the regulator section Figure 14 an interpolator block provides the speed profile necessary to generate the positioning mission Such profile is trapezoidal namely with linear ramp and constant speed and usually symmetric in other words the deceleration ramp has the same slope as the ac celeration one lan asymmetrical profile can be obtained through fieldbus using deceleration chan nel The acceleration time can be calculated as follows T acc s speed u s acceleration u s Not
51. brate Sensor without sequence of back lash compensation Start searching for the calibration sensor input with Calibration speed P2 8 8 2 The searching direc tion is positive for type 6 negative for type 7 Calibration position is taken on the calibration sensor rising edge On the contrary if at first the switch is closed the searching direction is opposite and the calibration position is is taken on the calibration sensor falling edge The input for the calibration sensor used can be selected with parameter P2 2 5 77 Calibrate Sensor For this type of calibration the calibration speed P2 8 8 2 must be limited in order to minimize the measuring error due to digital input software sampling at a 5 ms rate Note The procedure can take a long time to perform if the positioning unit is far away from the calibration sensor at start Better use method 4 or 5 if possible Calibration speed l i i Calibration i start pulse Calibration sensor input Calibration position found Figure 11 Timing diagram for methods 6 and 7 Tel 358 01201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 55 Calibration based on Calibration sensor Encoder Z pulse The signal of the calibration sensor must be connected to a digital input that can be selected with parameter P2 2 5 17 Calibrate sensor Furthermore it must be connected to the dedicated input ENC1Q of the encoder board see Figure 13 St
52. calibration homing e The interpolating position regulator that generates the mission trajectory and the speed reference for the drive 6 2 1 PosControllerEn The parameter P2 8 1 PosControllerEn enables the position control 0 Disabled speed control active 1 Enabled position control enabled commands either from digital inputs or fieldbus 2 Enabled from fieldbus position control dynamically enabled and disabled from FB Alternatively to Parameter or fieldbus it is possible to use a digital input selected by P2 2 5 24 PositCntrEn Sel parameter Switching the enable while the inverter is running either from digital input or fieldbus the transition from speed control to position control takes place as follows 1 the drive is stopped using the speed control mode ramp P2 1 4 2 activation of the position controller The reverse transition from position to speed control is immediate 6 2 2 The control sequencer commands The 1 0 terminals or fieldbus provide the commands For safety the default mode of positioning commands is permanent instead of pulse P2 8 7 9 Trig Mode 1 Permanent This means the command must be kept active high input level or high register s bit up to the completion of the execution that can be detected from the output terminals or from bits in the status register If the input or the bit changes to low level during command execution the axis is immediately stopped with the programmed deceleratio
53. ccesecsesseteceetsseteeeeesees 20 5 4 5 Analogue output 1 Control keypad Menu M2 gt 62 3 5 ooooconccicccoccconococnninconnnnnnnooo 21 5 5 Drive control Control keypad Menu M2 gt G2 4 ccccccccccescsscsscsecesecsessesseeeccsecsesseeseeaeeseesees 22 5 6 Motor control parameters Control keypad Menu M2 gt G2 5 ccccccecesseecesecsecssetecseeeeseenees 23 5 6 1 Closed loop Control keypad Menu M2 gt 62 5 13 ccccccccccscceccsecesessesecsecesecsetseeees 24 5 6 2 PMSM settings Control keypad Menu M2 G2 5 15 cecccccsccsecseeseessesseteceeeesees 24 5 7 Protections Control Keypad Menu M2 G2 6b econo cenit ertecetnepirtas 25 5 8 Autorestart parameters Control keypad Menu M2 gt G2 7 ococccccicnccniccncnncnccnoonnancnncnonnos 25 5 9 Position control parameters Control keypad Menu M2 gt G28B ocooncoconicnicnconoccconinccnncnnnnoso 26 5 9 1 Advanced functions Control keypad Menu M2 gt 62 8 7 oooococccccccccccocnciccononnnonoso 27 5 9 2 Calibration home parameters Control keypad Menu M2 gt G62 8 8 28 5 9 3 Jog parameters Control keypad Menu M2 gt gt 62 8 9 cooccccccciccconccocccocnconcononnnonooo 28 5 9 4 Positions parameters Control keypad Menu M2 gt G2 8 T0 o ooccocccccnoniconcccinccnos 29 5 9 5 Automatic cycle parameters Control Keypad Menu M2 gt 62 8 11 30 5 10 Fieldbus parameters Control keypad Menu M2 gt G2 9 ccccccceccsecsses
54. com 58 0 VACON FUNCTIONAL DESCRIPTION Through a manual command the axis is carried out to zero manual commands are enabled by P2 8 11 2 1 The trigger pulse controls the cutting stroke P2 8 11 3 Position 000 and immedi ately after with no dwell P2 8 11 4 0 and without a new trigger pulse P2 8 11 5 1 Auto the axis is carried out to zero and repositioned to start the next cutting stroke sequence P2 8 11 6 5 re quires homing and P2 8 7 8 1 forces repetition of calibration cycle prior to homing The sequence is finished because P2 8 11 9 0 The subsequent cutting stroke depends on a new trigger pulse be cause P2 8 11 8 0 Normal on trigger front the execution is redirected to the first command of the new cycle as the third command has not been programmed Tel 358 0 201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 59 6 3 Fieldbus configuration The input process data master to follower configuration is controlled by parameters P2 9 9 to P2 9 15 For each reference signal the desired data channel is allocated References to be configured are P2 9 9 Position command register P2 9 10 Speed for positioning P2 9 11 Acceleration for positioning P2 9 12 Position argument P2 9 13 Deceleration for positioning deceleration is same as acceleration if this is not used P2 9 14 Torque reference this can be used for torque control mode with position control disabled P2 9 15 Free signal
55. ct the Al1 signal to the analogue input of your choice with this parameter For more information about the TTF programming method see chapter 2 Al2 signal selection Connect the Al2 signal to the analogue input of your choice with this parameter For more information about the TTF programming method see chapter 2 Al2 reference scaling minimum value Al2 reference scaling maximum value See ID s 303 and 304 Scaling of current limit 0 Not used 1 Al1 2 Al2 3 Al3 4 Al4 5 Fieldbus FBProcessDatalN2 This signal will adjust the maximum motor current between 0 and max limit set with parameter 1D107 Start signal 7 Signal selection 1 for the start stop logic Default programming A 1 Start signal 2 Signal selection 2 for the start stop logic Default programming A 2 External fault close Contact closed Faultis displayed and motor stopped 78 0 VACON DESCRIPTION OF STANDARD PARAMETERS 406 External fault open Contact open Fault is displayed and motor stopped 407 Run enable Contact open Start of motor disabled Contact closed Start of motor enabled 409 Control from I 0 terminal Contact closed Force control place to 1 0 terminal 410 Control from keypad Contact closed Force control place to keypad 411 Control from fieldbus Contact closed Force control place to fieldbus NOTE When the control place is forced to change the values of Start Stop Direction and Reference valid in the re
56. ction Automatic cycle The automatic cycle is used to operate a pre defined sequence of commands controlled by one or more trigger pulses There are three different ways to enable it which cannot be used concurrently e Parameter P2 8 77 7 Posit Control Mode 1 automatic cycle e Digital input with an high level on relative input P2 2 5 25 Automatic Enable e Fieldbus writing 1 on bit 8 of the command register see Table 33 It is possible to define a command sequence up to a maximum of 6 steps with dwells time that can be programmed between one command and the following one The next step can be trigged auto matically after dwell time or by trigger input Each single command from the sequence can be selected among the following ones Position 000 to Position 111 incremental Jog forward incremental Jog reverse Home Command parameters are the same as used when the programmed command is performed sepa rately also when the sequence is controlled from the fieldbus A digital input is used as trigger and it can be selected through P2 2 5 26 Trigger Input or via fieldbus as bit 9 in the command register Note Trigger pulse duration must exceed the minimum of 20 ms With the drive running and the position controller enabled the sequence must be always started by a trigger After each command a dwell can be programmed from 0 0 to 10 0 s during which the trigger pulses that might occur are ignored The subsequent command or
57. d via the relay output RO1 or RO2 depending on to which output the supervision signals par ID447 and 1D448 are connected Output frequency limit 2 supervision value Selects the frequency value supervised by parameter ID346 See Figure 24 76 0 VACON DESCRIPTION OF STANDARD PARAMETERS 348 349 350 351 352 353 354 Torque limit supervision function 0 No supervision 1 Low limit supervision 2 High limit supervision 3 Brake off control see chapter 1 on page 98 If the calculated torque value falls below or exceeds the set limit ID349 this function generates a warning message via the digital output DO1 or via a relay output RO1 or RO2 depending on to which output the supervision signal par 1D451 is connected Torque l mit supervision value Set here the torque value to be supervised by parameter ID348 Reference limit supervision function 0 No supervision 1 Low limit supervision 2 High limit supervision If the reference value falls below or exceeds the set limit ID351 this function generates a warning message via the digital output DO1 or via a relay output RO1 or RO2 depending on to which output the supervision signal par ID449 is connected The supervised reference is the selected active reference Reference limit supervision value The frequency value to be supervised with the parameter 1D350 External brake off delay External brake on delay The function o
58. e Acceleration times used in speed control P2 1 3 P2 1 4 do not affect the position control The position reference trajectory is generated by the interpolator by discrete integration of the speed profile The position reference is then tracked by a proportional regulator that generates the necessary speed reference for the drive The end of the mission is determined when the reference position equals the target position A tole rance for end of mission detection may be defined with P2 8 7 4 TargetDelta default 0 During mission execution the block Error supervisor controls that the position error does not exceed the value determined by P2 8 7 7 Dynamic error where a Fault F61 Dynamic Position Erroris generated and the mission is stopped immediately When the mission is completed after the time determined by parameter P2 8 7 6 Settling Time has expired the Error supervisor checks that the position error does not exceed the value determined by P2 8 7 5 Static Error where it generates a Fault F62 Static Position Error The Controller block develops the proportional adjustment of position providing the frequency reference according to position error signal The gain is adjustable with parameter P2 8 7 3 The position control requires closed loop speed control P2 5 1 3 CL Speed For the optimization of the position control first of all speed controller must be optimized P2 5 14 2 P2 5 14 3 Note In case of an
59. e chapter 6 2 7 Inputs scan Mission control Cycle zero OK Interpolator time 5 ms scan time 5 ms AND Move point position regulator N scan time 5 ms B P2 8 11 1 PositControl Mode ID1650 Position B1 naer df OSS O Speed Se Acceleration Automatic z mode table Deceleration Start Command n PES Pause n Stop Trip mode n Command n 1 Pause n 1 Outputs scan Trip mode n 1 time 10 ms Status register Axis ready At position Asynchronous interface Figure 5 Position 1 Block diagram Position mission control with I O interface All digital inputs are individually programmable for configuration mode see chapter 3 An input for drive RUN command must be used Such input is programmable through P2 2 5 1 Start signal 1 default settings DigIN A 1 terminal 8 OPT A1 board Command inputs can be configured with the following parameters P2 2 5 18 Calibration command input selection P2 2 5 19 Home command input selection default Dig N A 6 terminal 16 board A1 P2 2 5 20 Jog forward command input selection default DigIN A 2 terminal 9 board A1 P2 2 5 21 Jog reverse command input selection default Dig N A 3 terminal 10 board A1 P2 2 5 22 Incremental jog forward command input selection P2 2 5 23 Incremental jog reverse command input selection P2 2 5 26 Trigger for
60. e f Analogue L Min freq ID101 input V k input V gt 1 gt 0 NX12K13 Figure 20 Left Reference scaling Right No scaling used par 1D303 0 307 Analogue output function This parameter selects the desired function for the analogue output signal 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 70 0 VACON DESCRIPTION OF STANDARD PARAMETERS 308 Analogue output filter time Defines the filtering time of the analogue output signal Setting this parameter value 0 will pidio di deactivate filtering t s gt NX12K16 Figure 21 Analogue output filtering 309 Analogue output inversion Inverts the analogue output signal E nalog output current Maximum output signal Minimum set value 20 MA W lt Minimum output signal Maximum set value See parameter 1D311 below Max value of signal selected with ID307 gt NX12K17 Figure 22 Analogue output invert 310 Analogue output minimum Defines the signal minimum to either 0 mA or 4 mA living zero Note the difference in analogue output scaling in parameter 1D311 Figure 8 15 0 Set minimum value to 0 mA 1 Set minimum value to 4 mA Tel 358 01201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 71 311 Analogue output scale Scaling factor for analogue output Signal ax value of the Analogue sig
61. e iden tification run can be stopped any time with normal stop command and the parameter is reset to its default setting In case identification run detects fault or other problems the identification run is completed if possible After the identification is finished the applica tion checks the status of the identification and generates fault warning if any During Identification Run the brake control is disabled see chapter 1 3 Encoder identification run For PMS motor drive will make angle identification run when absolute encoder is in use 4 No Action 5 Identification failed PMS motor shaft position 6 2 5 28 4 Identified zero shaft position when using absolute encoder for PMS motor Tel 358 01201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 89 650 651 652 654 655 662 701 702 703 24 hour support 358 0 40 837 1150 e Email vaconf vacon com Motor type Selection of motor type drive must be in stop state to edit 0 Asynchronous induction motor 1 Permanent magnet synchronous motor AC brushless control Flux current Kp Defines the gain for the flux current controller when a PMS motor is used Flux current Ti Defines the integration time for the flux current controller when a PMS motor is used Enable Rs identification With this parameter its possible to disable Rs identification during DC brake start Modulator index limit Defines u
62. e motor will not track the speed reference and the position control trips with a F61 fault Dynamic position error see chapter 6 2 9 The acceleration time s at maximum speed depending on maximum acceleration can be calcu lated as T acc s speed u s acceleration u s P2 8 5 P2 8 6 WARNING In the resolution selection the following relation must be verified P2 8 3 Distance P2 8 4Turns gt K For high dynamic applications the recommended minimum value of the ratio is P2 8 3 Distance P2 8 4Turns gt 20 For high accuracy low speed applications the recommended minimum is P2 8 3 Distance P2 8 4Turns gt 100 Upper numerical limits for P2 8 5 Max Speed max 18101 u s and for P2 8 6 Max Acceleration max 25500 u s can be a constraint when a very high resolution is defined high value of K al though the speed limit calculated by 6 2 5 1 and the acceleration limit calculated by 6 2 5 2 are not reached On the other hand the smaller the selected unit resolution is the better is the absolute position accuracy within mechanical limits Tel 358 0 201 2121 e Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 47 A limit to resolution accuracy comes also from the numerical position range which cannot exceed 55000 units 5000 to 60000 Example consider an axis driven by a 50 Hz 4 pole motor through a 2 mm screw The total position ing length is 0 3 m 300 mm The accurac
63. e than the physical limit In other words setting P2 8 6 to 25500 u s the drive accelerates in 186 ms 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 48 0 VACON FUNCTIONAL DESCRIPTION 6 2 6 The command sequencer mission supervision The sequence of operation that carries out a position command is defined a mission When a mission is executed the following supervision operations are performed e Dynamic error monitoring fault 61 Dynamic position error occurrence in case of corre sponding limit overriding e V1 21 Actual position monitoring measured with encoder and turned into axis units V7 20 Position reference monitoring generated by the trapezoidal interpolator V7 22 Position error monitoring All these values are reached through keypad menu M1 and fieldbus e Status register and signalling update The end of the mission is notified by digital outputs Axis ready In Position At Home or fieldbus status register When the mission is finished the following supervision operations are performed e Static error monitoring fault 62 Static position error occurrence in case of corresponding threshold limit overriding e V1 21 Actual position V1 20 Position reference and V1 22 Position error monitoring las above mentioned e Status register and signalling update Note Even with the position control not enabled or drive not running the reading of the actual position V1 21 will
64. eceleration See Figure 33 RUN STOP NX12K23 Figure 33 DC braking time when Stop mode Ramp 515 DC braking frequency at stop The output frequency at which the DC braking is applied See Figure 33 516 DC braking time at start DC brake is activated when the start command is given This parameter defines the time before the brake is released After the brake is released the output frequency increases according to the set start function by parameter ID505 519 Flux braking current Defines the flux braking current value This value can be set between 0 1 l qoo and the Current limit Tel 358 01201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 85 520 600 601 602 24 hour support 358 0 40 837 1150 e Email vaconf vacon com Flux brake The flux braking can be set ON or OFF 0 Flux braking OFF 1 Flux braking ON Motor control mode Frequency control The 1 0 terminal and keypad references are frequency references and the frequency converter controls the output frequency output frequency resolution 0 01 Hz Speed control The 1 0 terminal and keypad references are speed references and the frequency converter controls the motor speed compensating the motor slip accuracy 0 5 Torque control In torque control mode the references are used to control the motor torque Speed ctrl closed loop The 1 0 terminal and keypad references are speed references and the
65. ecsecseesecteeseesseeeeeeeeaes 5 11 SystemBus parameters Control keypad Menu M2 gt G2 10 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 4 0 VACON POSITION CONTROL APPLICATION 5 11 1 Master Control keypad Menu gt 62 102 luatnnoncnciitamsicnncoa cnn 33 5 11 2 Follower Control keypad Menu gt G2 10 3 ccccccsccceesssstesesssessessestesssescseesseseeeneas 33 5 12 Keypad control Control keypad Menu M3 yardas 34 DNS gt JOA ias aa bes bes 34 5 14 System menu Control keypad Menu M encino dotadas delata 34 5 15 Expander boards Control board Menu M7 aia de ab 34 6 Functional GESCrIPUIOM ccsiiicatseuccesrte tea iria io Oe da e tea 35 6 1 Generical functions and speed regulation ccccccccecececeeceeeeeeeceneceeeseeaeecesseneeeeesceeeeeessnatees 35 6 2 Aek elnoke E E E aia 35 6 2 1 PosControll erEn tcs dt ed o dal dos dle le o O A AE 35 6 2 2 The control sequencer COMMANAS ccccccooocccocononcncnononcnnnononnnnnnnnnnncncnonnnnnnnnannnnnnninnnnns 35 6 2 3 The control sequencer IMputS ocoococooccccnonooccnnonnncnnconnnnnnnnconnnnnnconnnnncnonnnnnnnnnnnnnnnninnnnns 42 6 2 4 The command sequencer limit switch handling oococconcoccccnoconaccccnoonnncnnonanccononnncno 45 6 2 5 User unit definition and dimensioning considerations coooooocccnionoccnnonoonnncnnnnnncnnnnnnos 45 6 2 6 The command sequencer mission SUPEFVISION ooocoococncoccnonconnonnnnnnonnnonnconncnnnnnos 48
66. ed Ref after ramp 2 Freq speed Ref before ramp Table 28 System Bus parameters Master G2 10 5 5 11 2 Follower Control keypad Menu gt G2 10 3 Parameter i Default Note P2 10 3 1 Rererencematp 1 azer 1 ue Reference multiplier P2 10 3 2 ReferenceDivid 1 32787 1 1688 Reference divider Table 29 System Bus parameters Follower G2 10 3 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 34 0 VACON PARAMETER LISTS 5 12 Keypad control Control keypad Menu M3 The parameters for the selection of control place and for control from the keypad are listed below See the Keypad control menu in the product s User s Manual Parameter Default 0 RS 232 serial link Control place 1 0 terminal 2 Keypad 3 Fieldbus Keypad reference only in Direction E 123 0 Forward keypad 1 Reverse O Limited function of stop button Stop button active 1 1 114 1 Stop button always enabled Table 30 Keypad control parameters M3 5 13 Jog teach In this menu it is possible to jog the motor in forward and reverse direction to a position The motor will run as long as the enter button is pressed if no software limit or programmed input limit switch is reached when parameter B3 5 2 or B3 5 3 is selected Button function The actual position can be copied to a parameter selected by P3 5 4 NOTE The calibration cycle has to be done to be able to perform Teach The position c
67. ediately Possible to run in forward direction If the axis runs over the maximum limit stop a warning W64 Max Limit Stop occurs Possible to run in reverse direction Jog operation at boundary condition OL acceleration ID1611 2 og speed 1D1610 a Latency time lt 15ms Jog increment ID1612 Max position 444e5 2cus ec stoshetoc se ata ee bec eee sete ria Position Speed On Drive starts deceleratir automatically to stop at 1 1 i nS max position I I I I Axis ready j Incr jog fwd AA AA a l i The command is not executed Jog reverse l l because distance to max is i i shorter than Jog increment Jog forward per PER Figure 7 Jog operation at boundary condition 6 2 5 User unit definition and dimensioning considerations Specification unit for axis distance in user unit is defined by two parameters that describe the ratio between the axis displacement in the preferred unit P2 8 3 Distance and the corresponding number of turns of the shaft on which the encoder used for position control is mounted P2 8 4 Turns The distance unit can be linear or angular The choice of the unit is affected by the accuracy and dynamic optimization required for the specific application 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 46 0 VACON FUNCTIONAL DESCRIPTION The maximum value of the motor frequency constrains the choice of the maximum s
68. eleration If the speed or acceleration for a binary command is set to 0 the corresponding parameter for binary command 0 is used See timing diagrams on pages 52 to 55 Tel 358 0 201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 41 B2 input B1 input BO input Position argument Low Low Low P2 8 10 1 Position 000 Low Low High P2 8 10 4 Position 001 Low High Low P2 8 10 7 Position 010 Low High High P2 8 10 10 Position 011 High Low Low P2 8 10 13 Position 100 High Low High P2 8 10 16 Position 101 High High Low P2 8 10 19 Position 110 High High High P2 8 10 22 Position 111 Table 32 Position argument vs Selection inputs When controlling the drive from the fieldbus position speed acceleration and deceleration data are given using the process data channels See chapter 6 2 7 Note The Home and Position parameters can be interactively teached using the Jog teach func tion See chapter 10 11 Note The speed and acceleration deceleration for Home and Position commands can be alter natively modulated by an analogue input see chapter 6 2 3 3 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 42 0 VACON FUNCTIONAL DESCRIPTION 6 2 3 The control sequencer inputs A description of inputs for commands and service functions is herewith provided Alternatively to 1 0 terminals the fieldbus command supervision interface is also available Se
69. equency that scaling minimum 320 00 corresponds to the min value reference signal All reference Select the frequency that scaling maximum 320 00 304 corresponds to the max value reference signal Table 5 Analogue input 1 parameters 62 2 2 5 3 3 Analogue input 2 Control keypad Menu M2 gt G2 2 3 Parameter Default selection arziitertime M2fitertime ooo E 00 Al2 signal filter time constant 0 no filtering 0 0 100 Al2 signal range 1 4mA 20 100 eae Custom range eee custom me i 10000 00 326 Custom minimum setting minimum a E AOO maximum setting Al2 reference EJES the frequency that scaling minimum 320 00 corresponds to the min value reference signal Al2 reference Select the frequency that scaling maximum 320 00 394 corresponds to the max value reference signal Table 6 Analogue input 2 parameters G2 2 3 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 16 0 VACON PARAMETER LISTS 5 3 4 Free analogue input signal Control keypad Menu M2 gt G2 2 4 Parameter Max Default l Min a D 0 Not used 1 Al1 a 2 A12 ee 5 399 3 Not used 4 Not used 5 Fieldbus 0 10000 full scale defined by P2 1 5 0 Not used 1 Al1 2 Al2 Torque limit 5 485 3 Not used 4 Not used 5 Fieldbus 0 10000 full scale defined by P2 5 14 11 Table 7 Free analogue input signal selection parameters G2 2 4 Tel 358 0 201 2121 Fax 358 0 201 212 205 PARAMETER LIS
70. er unit s used during positioning If the speed is set to O default the same speed as for 000 speed is used 001 Acceleration 1D1625 Acceleration in user unit s used during positioning If the Acceleration is set to 0 default the same acceleration as for 000 Aceleration is used 2 8 10 7 2 8 10 24 Position 010 111 parameters ID1626 1D1643 Same settings as for Parameters 2 8 10 4 P2 8 10 6 See Table 32 in chapter 6 2 2 7 Go to Position Tel 358 01201 2121 e Fax 358 0 201 212 205 DESCRIPTION OF POSITION CONTROL PARAMETERS VACON 111 10 8 Automatic cycle See chapter 6 2 10 Special function Automatic cycle for details 2 8 11 1 2 8 11 2 2 8 11 3 2 8 11 4 2 8 11 5 2 8 11 6 2 8 11 7 2 8 11 8 Position control mode 1D1650 Selection of the position control mode The automatic mode enables the automatic sequence It is also possible to enable the automatic mode by digital input P2 2 5 25 Enable manual commands D16517 With this parameter enabled it is possible to activate manual position commands when the automatic mode is enabled by P2 8 11 1 Command 1 1D1652 First command for the automatic sequence Commands available are Position 000 to Position 111 incremental Jog forward incremental Jog reverse Home The first com mand is always activated by trigger input P2 2 5 26 Pause 7 1D1653 Dwell time before next command is performed Trig mode 1 2 ID1654 Selection of trig mode fo
71. erature exceeds 70 C 440 Reverse The Reverse command has been selected 441 Unrequested direction Motor rotation direction is different from the requested one 442 At speed The output frequency has reached the set reference 444 External control place Control from 1 0 terminal selected Menu M3 par 1D125 445 External brake control External brake ON OFF control with programmable delay 446 External brake control inverted External brake ON OFF control Output active when brake control is OFF 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 80 e VACON DESCRIPTION OF STANDARD PARAMETERS 447 448 449 450 451 452 454 455 456 457 464 485 486 Output frequency limit 1 supervision The output frequency goes outside the set supervision low limit high limit see parameters 1D315 and ID316 Output frequency limit 2 supervision The output frequency goes outside the set supervision low limit high limit see parameters ID346 and 1D347 Reference limit supervision Active reference goes beyond the set supervision low limit high limit see parameters 1D350 and 1D351 Temperature limit supervision Frequency converter heatsink temperature goes beyond the set supervision limits see parameters 1D354 and ID355 Torque limit supervision The motor torque goes beyond the set supervision limits see parameters ID348 and ID349 Motor thermal protection Motor th
72. ermistor initiates a overtemperature signal which can be led to a digital output NOTE This parameter will not work unless you have Vacon NXOPTA3 or NXOPTB2 thermistor relay board connected Motor regulator activation Overvoltage or overcurrent regulator has been activated Fieldbus input data 1 FBFixedControlWord bit 3 Fieldbus input data 2 FBFixedControlWord bit 4 Fieldbus input data 3 FBFixedControlWord bit 5 The data from the fieldbus FBFixedControlWord can be led to frequency converter digital outputs Analogue output 1 signal selection Connect the AO1 signal to the analogue output of your choice with this parameter For more information about the TTF programming method see chapter 0 Torque limit See par 1D399 for the selections Digital output 1 signal selection Connect the delayed DO1 signal to the digital output of your choice with this parameter For more information about the TTF programming method see chapter 2 Tel 358 01201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 81 487 Digital output 1 on delay 488 Digital output 1 off delay With these parameters you can set on and off delays to digital outputs Signal programmed to OOOO digital output l l i i DO1 or DO2 output l I _ _ 1 ON delay OFF delay NX12k102 Figure 30 Digital outputs 1 and 2 on and off delays 489 Digital output 2 signal selection See ID486 490 Dig
73. f a digital input signal for e g testing purposes only you can set the board slot value to 0 and the terminal number to any number between 2 10 to place the input to a TRUE state In other words the value 1 corresponds to open contact and values 2 to 10 to closed contact In case of analogue inputs giving the value 1 for the terminal number corresponds to 0 value 2 corresponds to 20 and any value between 3 and 10 corresponds to 100 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 10 0 VACON TERMINAL TO FUNCTION PROGRAMMING PRINCIPLE 4 CONTROL I O OPT A1 Terminal Signal Description 1 10V ros Reference output max 10 mA Reference potentiometer etc 2 Al1 Analogue input voltage range Frequency reference for speed control 3 Al1 0 10V DC position control not used Voltage 10 10V DC programmable Current 0 4 20mA 4 Al2 Analogue input voltage range Programmable input not used 5 Al2 0 10V DC Voltage 10 10V DC Current 0 4 20mA 6 24V Control voltage output max Voltage for switches etc 0 25A 7 GND 1 0 ground Ground for references and controls 8 DIN1 Digital input 1 Run programmable Contact closed Run 9 DIN2 Digital input 2 Jog forward programmable Contact closed jog forward 10 DIN3 Digital input 3 Jog reverse programmabile Contact closed jog reverse 11 CMA Common for DIN 1 DIN 3 Connected to ground with X3 jumper
74. f the command have no effect See Figure 6 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 44 0 VACON FUNCTIONAL DESCRIPTION C 80 of P2 8 6 Max Acceleration 40 of P2 8 6 a cmd settling time O 80 of P2 8 5 Max Speed 40 of P2 8 5 b latency time 3 P2 8 10 4 Position 001 4 P2 8 10 7 Position 010 Position a Speed Time Acquire at start wvf aw as oy 4V J Al1 y At position Axis ready BO 81 82 oo rr OO a Trigger o a a aj b a ib diag5 fh8 Figure 6 Go to position command with speed acceleration and deceleration modulated with analogue input A 1 0 10V Tel 358 0 201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 45 6 2 4 The command sequencer limit switch handling After the calibration cycle the position controller limits the positioning area within the boundaries defined by P2 8 7 2 Minimum position and P2 8 7 1 Maximum position and rejects position com mands also those coming from fieldbus with position argument not included in this range To avoid accidents during jog operations before calibration cycle or to limit the positioning area of the axis also after the calibration for example for maintenance one or two limit stop inputs can be activated minimum and maximum If the axis runs over the minimum limit stop a warning W63 Min Limit Stop occurs and the axis stops imm
75. f the external brake can be timed to the start and stop control signals with these parameters See Figure 29 and chapter 1 on page 98 a b torr 1D352 toy 1D353 torr 1D352 toy Par ID353 External i External BRAKE OFF 1 DO1 RO1 BRAKE OFF 1 DO1 RO1 ON RO2 ON i RO2 i i i i i DIN1 RUN FWD DIN1 START i STOP PULSE i DIN2 RUN REV STOP t DIN2 STOP PULSE NX12K45 t Ch LY Figure 29 External brake control a Start Stop logic selection D300 0 1 or 2 b Start Stop logic selection ID300 3 Frequency converter temperature limit supervision 0 No supervision 1 Low limit supervision 2 High limit supervision Tel 358 0 201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 77 355 367 377 388 3923 394 IPP 403 404 405 24 hour support 358 0 40 837 1150 e Email vaconldvacon com If the temperature of the frequency converter unit falls below or exceeds the set limit 1D355 this function generates a warning message via the digital output DO1 or via a relay output RO1 or RO2 depending on to which output the supervision signal par 1D450 is connected Frequency converter temperature limit value This temperature value is supervised by parameter ID354 Motor potentiometer memory reset Frequency reference O No reset 1 Memory reset in stop and powerdown 2 Memory reset in powerdown Al1 signal selection Conne
76. forward Cycle Table 33 Command register for position control For convenience two bits for position command 6 and 7 are available in the command register In case of permanent commands the bit must be held on up to the completion of the mission Two bus cycles write 0 and write 1 would be needed to generate the positive edge required to issue a new 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 50 0 VACON FUNCTIONAL DESCRIPTION position command if only one bit was available With two bits a single write cycle can be used to clear one bit and set the other to generate a new command This may save time for the case of time critical applications Position control activation through bit 15 in the command register can be used instead of the one by digital input do not use them concurrently and requires the setting of P2 8 1 PosControllerEn 2 The automatic cycle selection and the trigger for its activation bits 8 and 9 enable the Automatic cycle as shown in chapter 5 9 5 Note When the automatic cycle is used the arguments for automatic cycle commands are not those written on process data channels on the contrary they are the values of the relative parameters The manual or individual commands defined by bits 0 to 7 that use arguments from process data channels are enabled only when parameter P2 8 11 2 EnManualCommands 1 The execution of the commands starts with the transi
77. g forward increment 1D1525 Selection of digital input for Jog forward increment command The calibration cycle has to be done to enable this command This position command uses the parameters in the G2 8 9 JOG The command is not performed if the end position exceeds the max software limit P2 8 7 1 Jog reverse increment 1D1526 Same as 2 2 5 23 but in reverse direction The command is not performed if the end position exceeds the min software limit P2 8 7 2 Position controller enable 1D1527 Selection of input for enabling the position controller Position controller commands will be enabled with this input high If the input is low the drive is in normal speed control mode It is also possible to enable the position controller by P2 8 1 Automatic enable 1D1528 Selection of input for enabling the programmable automatic positioning sequence The automatic sequence can also bee enabled by parameter P2 8 11 1 See chapter 6 2 10 Special function Automatic cycle for details 104 0 VACON DESCRIPTION OF POSITION CONTROL PARAMETERS 2 2 5 26 2 2 5 27 2 2 5 28 2 2 5 29 2 2 5 30 2 2 5 31 2 2 5 32 Trigger 1D1529 Selection of trigger input for running to binary position command selected by P2 2 5 27 P2 2 5 29 or for activating the automatic sequence Binary pos BO 1D 1530 Input selection for binary position BO Binary pos B1 1D1531 Input selection for binary position B1 Binary pos B2 1D1532 Input select
78. gh limit supervision limit 2 supervision 3 External brake control 4 External opening closure brake control Threshold ae es Threshold supervision supervision output P2 1 2 347 itequency 2 output frequency 2 0 Not used Torque limit 1 Low limit supervision oe 3 348 NE ee supervision 2 High limit supervision 3 External brake control Threshold torque 00 000 ENS 0 ES 100 0 Threshold torque supervision supervision Reference limit Bape aed supervision i Lower Um P ras Pie limi Reference limit 1000 0 Reference limit supervi supervision value as Ret value of P2 1 External Brake an 100 0 S 0 5 352 External brake on delay delay paola 1000 0 External brake off delay delay used P2 3 4 11 dera 1 Lower limi P 2 Upper limit P2 3 4 12 FC temperature FC temperature supervision value supervision value Table 12 Limit settings 62 3 4 Tel 358 0 201 2121 e Fax 358 0 201 212 205 PARAMETER LISTS VACON 21 5 4 5 Analogue output 1 Control keypad Menu M2 gt G2 3 5 Parameter Analogue output 1 0 1 E10 A1 Analogue output 1 signal signal selection selection Analogue output 1 function 0 Not used 1 0utput freq 0 f max 2 Freq reference 0 f 3 Motor speed 0 Vel nomin 4 Output current 0 l ijt 5 Motor torque 0 T mot 6 Motor power 0 P yo Analogue output 1 7 Motor voltage 0 U yo function 8 DC link voltage 0 1000V 9 AI1 10 Al2 11 Output freq fmin fmax 12
79. hannel for Positioning speed lu s default is PD2 P2 9 11 to configure a channel for Positioning acceleration lu ss default is PD3 P2 9 12 to configure a channel for Position u default is PD4 P2 9 13 to configure a channel for Positioning deceleration u ss default is none Note If Positioning deceleration channel is not configured the value from Acceleration channel is used also for deceleration Process data out follower to master All process data out are programmable as shown in chapter 6 4 The default setting is listed below PD1 status register for position control Table 6 3 PD2 position reference u PD3 actual position u PD4 position error signed u PD5 speed of the motor measured with encoder Hz PD motor current resolution is size depending 1 unit 0 01 A or 0 1 A or 1 A The value V1 4 in Monitor Menu has the same resolution PD7 torque positive torque torque acting in the positive direction of the axis coordinate 1 unit 0 1 of nominal motor torque PD8 Last active fault or warning code bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 Enable Reserved Reserved Reserved Reserved Reserved Trigger for Mode Sel Position automatic cycle 0 normal control 1 automatic cycle bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Position 2 Position 1 Home Incremental Incremental Jog reverse Jog forward Calibration Jog reverse Jog
80. ines the time before the frequency converter tries to automatically restart the motor after the fault has disappeared 718 Automatic restart Trial time The Automatic restart function restarts the frequency converter when the faults selected with parameters 1D720 to ID725 have disappeared and the waiting time has elapsed Fault trigger Wait time Wait time Wait time Par ID717 gt Par ID717 E 7 Motor stop signal Motor start signal Restart 1 i Restart 2 Supervision lt Fault active Trial time Par ID718 RESET Fault reset NX12k67 Autoreset function Trials 2 Figure 36 Example of Automatic restart with two restarts Tel 358 0 201 2121 e Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 93 719 720 721 722 725 24 hour support 358 0 40 837 1150 e Email vaconf vacon com Parameters ID720 to ID725 determine the maximum number of automatic restarts during the trial time set by parameter ID718 The time count starts from the first autorestart If the number of faults occurring during the trial time exceeds the values of parameters D720 to D725 the fault state becomes active Otherwise the fault is cleared after the trial time has elapsed and the next fault starts the trial time count again If a single fault remains during the trial time a fault
81. input data 3 Output signals for position control selectors P2 3 3 26 0 1 P2 3 3 27 0 1 0 1 1 P2 3 3 20 E 1 active Digital input 2 from fieldbus Digital input 3 from fieldbus Output active Positioning operation is performed 455 456 457 1541 Output active Calibration cycle is done 1542 Output active Home mission completed 1543 Output active Position mission completed Output active Position mission OR Home mission completed Output active Drive faulted and 1545 ramp stopped Useful for syn chronization of emergency brake Output not active Drive faulted and ramp stopped Useful for 1546 eas synchronization of emergency brake P2 3 3 28 HomePos OR InPos P2339 Fault and stopped 0 o and toppen 0 1 0 1 inverted logic Table 11 Output digital signals G2 3 3 Be ABSOLUTELY sure not to connect two functions to one and same output in order to avoid function overruns and to ensure WARNING flawless operation 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 20 0 VACON PARAMETER LISTS 5 4 4 Limit settings Control keypad Menu M2 gt G2 3 4 Parameter 0 Not used Output frequency 1 Low limit supervision limit 1 supervision 2 High limit supervision 3 External brake control Output frequency limit 1 Supervised value Threshold supervision output frequency 1 0 Not used 1 Low limit supervision Output frequency 2 Hi
82. ion Stall protection is a type of overcurrent protection 24 hour support 358 0 40 837 1150 Email vaconfavacon com 102 VACON APPENDICES 9 5 Parameters of Underload protection ID s 713 to 716 General The purpose of the motor underload protection is to ensure that there is load on the motor when the drive is running If the motor loses its load there might be a problem in the process e g a broken belt or a dry pump Motor underload protection can be adjusted by setting the underload curve with parameters ID714 Field weakening area load and 1D715 Zero frequency load see below The underload curve is a squared curve set between the zero frequency and the field weakening point The protection is not active below 5Hz the underload time counter is stopped The torque values for setting the underload curve are set in percentage which refers to the nominal torque of the motor The motor s name plate data parameter motor nominal current and the drive s nominal current l4 are used to find the scaling ratio for the internal torque value If other than nominal motor is used with the drive the accuracy of the torque calculation decreases 9 6 Fieldbus control parameters ID s 850 to 859 The Fieldbus control parameters are used when the frequency or the speed reference comes from the fieldbus Modbus Profibus DeviceNet etc With the Fieldbus Data Out Selection 1 8 you can monitor values from the fieldbus Tel 3
83. ion for binary position B2 Calibration type 2 ID1533 Input selection for using the Calibration type 2 instead of Calibration type 1 according to P2 8 8 8 Minimum end limit ID1534 Input selection for electromechanical switch placed in the minimum end of the position ing unit Normally the software limit P2 8 7 2 takes care of the minimum limit of the positioning area This input is an additional limit input See chapter 6 2 4 1 Minimum limit stop for details Maximum end limit ID1535 Input selection for electromechanical switch placed in the max end of the positioning unit Normally the software limit P2 8 7 1 takes care of the max limit of the positioning area This input is an additional limit input See chapter 6 2 4 2 Maximum limit stop for details Tel 358 0 201 2121 e Fax 358 0 201 212 205 DESCRIPTION OF POSITION CONTROL PARAMETERS VACON 105 10 2 Protections 2 6 14 2 6 15 2 6 16 24 hour support 358 0 40 837 1150 e Email vaconldvacon com Position range error D1560 Response to out of position range The range is specified by parameters P2 8 7 1 and P2 8 7 2 Dynamic error 1D1567 Response to dynamic position error during movement The error threshold is specified by P2 8 7 7 Static error 1D1562 Response to static error in standstill The error threshold is specified by P2 8 7 5 106 0 VACON DESCRIPTION OF POSITION CONTROL PARAMETERS 10 3 Position control 2 8 1 2 8 2 2 8 3
84. ital output 2 function See 1D312 491 Digital output 2 on delay See 1D487 492 Digital output 2 off delay See 1D488 493 Adjust input With this parameter you can select the signal according to A Adjust f Hz maximum which the frequency reference Adjusted ID495 10 to the motor is fine adjusted Adjust 0 Not used Analogue input 1 Analogue input 2 Analogue input 3 Analogue input 4 Signal from fieldbus FBProcessDatalN 1D494 10 oR WN gt Analogue input NX12K108 Figure 31 An example of adjust input 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 82 0 VACON DESCRIPTION OF STANDARD PARAMETERS 494 495 496 504 505 Adjust minimum Adjust maximum These parameters define the minimum and maximum of adjusted signals See Figure 31 Parameter Set 1 Set 2 selection With this parameter you can select between Parameter Set 1 and Set 2 The input for this function can be selected from any slot The procedure of selecting between the sets is explained in Vacon NX User s Manual Chapter 7 3 6 3 Digital input FALSE The active set is saved to set 2 Set is loaded as the active set Digital input TRUE The active set is saved to set 1 Set 2 is loaded as the active set Note The parameter values can be changed in the active set only Brake chopper O No brake chopper used 1 Brake chopper in use and tested when running Can be tested
85. ith alarm position control enable by parameter digital input or by fieldbus switching from speed control to position control and vice versa jog and teach of positions from the keypad Jog Teach menu preset positioning speed or adjustable speed by analogue input programmable automatic cycle up to 6 targets with programmable dwell time and trigger support of either induction motor or permanent magnet synchronous motor AC brushless Control interface e 1 0 terminals e Profibus DP CANOpen Modbus or Modbus TCP fieldbus When the position control is not enabled the application implements a standard speed torque control with several programmable functions as a subset of the Multipurpose application in the All in One package open loop or closed loop motor control with torque current limit adjust analogue references configuration programmable digital references motor potentiometer etc System bus support is also available for speed reference synchronization in master follower schemes 1 1 Requirements e NXP drive with standard I O equipment OPT A1 OPT A2 boards e Speed feedback board OPT A4 OPT A5 or OPT A7 encoder board for induction motor OPT BC OPT BB board for AC brushless motor Optional OPT B1 board for digital inputs expansion Optional fieldbus board Optional System Bus board OPT D1 or OPT D2 Asynchronous three phase motor with incremental encoder or AC brushless motor with either resolver or Endat encoder
86. kening point Linear Squared Default Nominal frequency of the motor 1 Hz gt NX12K07 Figure 15 Linear and squared change of motor voltage Programmable U f curve 2 The U f curve can be programmed with three different points Programmable U f curve can be used if the other settings do not satisfy the needs of the application Default Nominal voltage of the motor Field weakening point ID605 _ O et Default Nominal ID606 frequency of the motor Def 1 3 Ha ID602 Def 5 Hz NX12K08 Figure 16 Programmable U f curve Linear with flux optimisation 3 The frequency converter starts to search for the minimum motor current in order to save energy lower the disturbance level and the noise This function can be used in applications with constant motor load such as fans pumps etc Tel 358 0 201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 65 109 110 111 112 113 24 hour support 358 0 40 837 1150 e Email vaconf vacon com U f optimisation Automatic The voltage to the motor changes automatically which makes the torque boost motor produce sufficient torque to start and run at low frequencies The voltage increase depends on the motor type and power Automatic torque boost can be used in applications where starting torque due to starting friction is high e g in conveyors EXAMPLE What changes are required to start
87. l stop and activate the fault stage Deactivating the protection i e setting parameter to 0 will reset the thermal stage of the motor to 0 See chapter 9 3 Motor thermal protection Motor ambient temp factor The factor can be set between 100 0 100 0 See chapter 9 3 Tel 358 01201 2121 e Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 91 706 707 24 hour support 358 0 40 837 1150 e Email vaconf vacon com Motor thermal protection Motor cooling factor at zero speed The current can be set between 0 150 0 x Inmotor This parameter sets the value for thermal current at zero frequency See Figure 34 The default value is set assuming that there is no external fan cooling the motor If an external fan is used this parameter can be set to 90 or even higher Note The value is set as a percentage of the motor name plate data par 1D113 Nominal current of motor not the drive s nominal output current The motor s nominal current is the current that the motor can withstand in direct on line use without being overheated If you change the parameter Nominal current of motor this parameter is automatically restored to the default value Setting this parameter does not affect the maximum output current of the drive which is determined by parameter 1D107 alone See chapter 9 3 P cooling A Overload area Par ID706 40 F l n NX12k62 Figure 34 Motor thermal curre
88. lt position reference Specify ID of variable to be associ ated with PD out 3 channel Default actual position Specify ID of variable to be associ ated with PD out 4 channel Default position error Specify ID of variable to be associ ated with PD out 5 channel Default encoder 1 speed Specify ID of variable to be associ ated with PD out 6 channel Default motor current Specify ID of variable to be associ ated with PD out 7 channel Default torque in CL mode Specify ID of variable to be associ ated with PD out 8 channel Default last fault warning code Select PD in channel for command register Select PD in channel for speed Select PD in channel for acceleration Select PD in channel for position Select PD in channel for deceleration Select PD in channel for torque reference Select PD in channel for free signal Can be used for torque or current limit See G2 2 4 Tel 358 01201 2121 Fax 358 0 201 212 205 PARAMETER LISTS VACON 33 5 11 SystemBus parameters Control keypad Menu M2 gt G2 10 Parameter Default Note Node operating mode O Idle System Bus Mode 1 Normal 2 Follower 3 Master Table 27 System Bus parameters and submenus G2 10 G2 10 2 G2 10 3 5 11 1 Master Control keypad Menu gt G2 10 2 Parameter Default Note Master output signal selection 0 Frequency speed P2 10 2 1 Master output 1686 1 Freq lspe
89. ltage and nominal frequency of the motor are set the parameters ID602 and ID603 are automatically given the corresponding values If you need different values for the field weakening point and the maximum output voltage change these parameters after setting the parameters ID110 and 1D111 U f curve middle point frequency If the programmable U f curve has been selected with parameter 1D108 this parameter defines the middle point frequency of the curve See Figure 15 U f curve middle point voltage If the programmable U f curve has been selected with the parameter 1D108 this parameter defines the middle point voltage of the curve See Figure 15 Output voltage at zero frequency If the programmable U f curve has been selected with the parameter 1D108 this parameter defines the zero frequency voltage of the curve See Figure 15 Overvoltage controller These parameters allow the under overvoltage controllers to be switched out of operation This may be useful for example if the mains supply voltage varies more than 15 to 10 and the application will not tolerate this over undervoltage In this case the regulator controls the output frequency taking the supply fluctuations into account 0 Controller switched off 1 Controller switched on no ramping Minor adjustments of OP frequency are made 2 Controller switched on with ramping Controller adjusts OP freq up to max freq Undervoltage controller See par ID607 Note
90. me position mission Note Unconditioned execution of the calibration cycle can be forced whenever the Home command is performed with the following parameter P2 8 7 8 Calib On Home 1 Yes The parameters for the Home command are the sum of calibration parameters and positioning parameters e P28 8 2 Calibration speed P2 8 8 3 Calibration high speed P2 8 8 4 Calibration Preset P2 8 8 5 Home speed P2 8 8 6 Home acceleration deceleration P2 8 8 7 Home position The home acceleration time s is determined by parameters P2 8 8 5 P2 8 8 6 Note Home and Position XXX position values can be interactively teached see Jog Teach function Note Home and Position XXX missions can alternatively use speed from the analogue inputs see chapter 6 2 3 3 Tel 358 01201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 39 Calibration speed ID1596 espia Fieldbus Calibration cycle selection Calib preset 1D1598 position reg scan time scan time 5 ms 10 ms Calib cycle type 1D1595 Max calib travel 1D1603 Teer Calib cycle type 2 1D1602 register OR Position ae C cycle zero Speed P cycle zero Cycle zero ON 7 a Acc Dec Force zero ON home 101587 Start y Status Stop register ot A C Home speed 101599 Arm capture e 3 position cm pace
91. me makes the regulation response slower See Figure 27 Al custom ID322 100 NX12K71 Unfiltered signal Filtered signal gt NX12K74 Figure 27 Al signal filtering Tel 358 0 201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 75 325 326 327 329 331 346 347 24 hour support 358 0 40 837 1150 e Email vaconf vacon com Analogue input A 2 signal range Selection Range 0 0 20mA 1 4 20mA 2 Customised Table 44 Selections for parameter 1D325 A Output frequency ID304 gt ono po 1D325 Custom 1D325 0 Al2 0 100 1D325 1 ID303 7 1 Al2 20 100 0 1D326 1D327 NX12K75 Figure 28 Analogue input A 2 scaling Analogue input Al2 custom setting min Analogue input Al2 custom setting max These parameters set Al2 for any input signal span within 0 100 Analogue input A 2 1 filter time See ID324 Motor potentiometer ramp time Defines the speed of change of the motor potentiometer value Output freq limit 2 supervision function No supervision Low limit supervision High limit supervision Brake on control See chapter 1 on page 98 Brake on off control See chapter 1 on page 98 Ono If the output frequency goes under over the set limit ID347 this function generates a warning message via the digital output DO1 an
92. mmissioning and service of the drive with the aim to find as good parameter values as possible for most drives The automatic motor identification calculates or measures the motor parameters that are needed for optimum motor and speed control 0 No action No identification requested 1 Identification without motor run The drive is run without speed to identify the motor parameters The motor is supplied with current and voltage but with zero frequency 2 Identification with motor run The drive is run with speed to identify the motor parameters Note It is recommended to do the this identification test with no load on the motor for best results The basic motor name plate data has to be set correctly before performing the identifi cation run D110 Nominal voltage of the motor par 2 1 5 1D117 Nominal frequency of the motor par 2 1 6 1D112 Nominal speed of the motor par 2 1 7 D113 Nominal current of the motor par 2 1 8 1D120 Motor cos phi par 2 1 9 When in closed loop and with an encoder installed also the parameter for pulses revolutions in Menu M7 has to be set The automatic identification is activated by setting this parameter to the appropriate value followed by a start command in the requested direction The start command to the drive has to be given within 20 s If no start command is given within 20 s the identifi cation run is cancelled and the parameter will be reset to its default setting Th
93. n for the current target Alternatively pulse logic can be used by setting P2 8 7 9 Trig Mode 0 Pulse This way the command execution is started by an impulse which has to be longer than 20 ms The execution will be completed even after the zero recovering of input level or command bit see figures on page 37 Note Regardless of parameter P2 8 7 9 jog commands always use permanent logic incremental jog and home commands always use pulse logic Note Aside from parameter P2 8 7 9 no command is acknowledged as long as the mission execu tion referred to the previous command has not been completed This also applies to the fieldbus interface 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 36 0 VACON FUNCTIONAL DESCRIPTION Note Incremental jog commands and Go to Position XXX commands are enabled only after the calibration cycle has been performed Commands use a few arguments they are usually specified through parameters or analogue input see 6 2 3 3 When using fieldbus control and the automatic cycle is not active process channels provide arguments of Go to Position command see chapter 6 2 7 The other command argu ments are always specified by parameters Tel 358 0 201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 37 O Position acceleration ID1628 a cmd settling time gt 20 ms O Position speed 1D1627 b latency time lt 15 ms
94. nal gulp Output ax frequency frequency par ID102 20 mA Freq ax frequency Reference par ID102 Motor speed otor nom speed 1 XNmMotor Output otor nom current current Lx awake Motor torque otor nom torque Li Tamotor Max value of signal Motor power otor nom power selected by ID307 1xP motor 1 0 gt Motor voltage 100 X Unmotor DC 1ink 1000 Vv ee voltage 100 x ref value PI ref value max PI act value 100 x actual value 1 max PI act value 100 x actual value 2 max PI error 100 x error value value max PI output 100 x output max Table 41 Analogue output scaling Figure 23 Analogue output scaling 312 Digital output function Setting value Signal content 0 Not used Out of operation Digital output DO1 sinks the current and programmable relay R01 RO2 is activated when 1 Ready The frequency converter is ready to operate 2 Run The frequency converter operates motor is running 3 Fault A fault trip has occurred 4 Fault inverted A fault trip not occurred 5 Vacon overheat warning The heat sink temperature exceeds 70 C 6 External fault or warning Fault or warning depending on par ID701 Fault or warning depending on par ID700 RIE ENE AOS if analogue reference is 4 20 mA and signal is lt 4mA 8 Warning Always if a warning exists 9 Reversed The reverse command has been selected The preset speed has been selected with digital input nda Applications
95. nction generates a warning message via the digital output DO1 or via the relay output RO1 or RO2 depending on the settings of parameters 1D312 1D314 316 Output frequency limit supervision value Selects the frequency value supervised by parameter 1D315 See Figure 24 Tel 358 01201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 73 A A Output Output frequency frequency t ss MN RUN STOP NX12K32 Figure 24 Output frequency supervision A A Output Output frequency frequency t owe PL NX12K32 Figure 25 DC braking command selection 12 selected for DINZ Left Stop mode Ramp Right Stop mode Coasting 320 Al1 signal range Selection Range 0 0 100 1 20 100 2 Customised Table 43 Selections for parameter 1D320 For selection Customised see parameters 1D321 and ID322 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 74 0 VACON DESCRIPTION OF STANDARD PARAMETERS 321 AIT custom setting minimum 322 Al custom setting maximum These parameters set the analogue input signal for any input signal span within 0 100 324 Al1 signal filter time When this parameter is given a value 4 output greater than 0 the function that filters out Tene disturbances from the incoming analogue Signal is activated 1D320 0 Al 0 100 Long filtering ti
96. nt curve Motor thermal protection Time constant This time can be set between 1 and 200 minutes This is the thermal time constant of the motor The bigger the motor the bigger the time constant The time constant is the time within which the calculated thermal stage has reached 63 of its final value The motor thermal time is specific to the motor design and it varies between different motor manufacturers If the motor s t6 time t6 is the time in seconds the motor can safely operate at six times the rated current is known given by the motor manufacturer the time constant parameter can be set basing on it As a rule of thumb the motor thermal time constant in minutes equals to 2xt6 If the drive is in stop stage the time constant is internally increased to three times the set parameter value The cooling in the stop stage is based on convection and the time constant is increased See also Figure 35 92 0 VACON DESCRIPTION OF STANDARD PARAMETERS 708 Motor thermal protection Motor duty cycle Defines how much of the nominal motor load is applied The value can be set to 0 100 See chapter 9 3 A Motor temperature Motor j current Fault warning par ID704 Ti T ime constant ae Motor temperature Utpy x 1 0 UT Time gt Changes by motor size and adjusted with parameter ID707 NX12k82 Figure 35 Motor temperature calculation 717 Automatic restart Wait time Def
97. on is selected with parameter P28 8 7 CalibrationType lt is possible to select an alternative calibration mode specified by parameter P2 8 8 8 Calibration Type 2 by means of a digital input configured with parameter P2 2 5 30 Calibration Type 2 Manual calibration setting The Calibration offset coordinate P2 8 8 4 is assigned to axis Actual position V1 27 Prior to issuing this command the axis shall be driven to the required position either using the jog command or even manually The command is accepted also with the drive in STOP state 6 2 8 2 Typel Calibration useful for repeated incremental motion of a circular axis in the same direction eg Ro tating platforms The Offset coordinate P2 8 8 4 is assigned to axis Reference position V1 20 As signment to the reference position avoids accumulation of numerical truncation errors resulting in drift of axis position This calibration method is equivalent to a strictly integer coordinate transla tion Calibration based on the reading of the encoder Z pulse The searching direction is positive increasing coordinate for type 2 Figure 9 negative for type 3 This method gives a very accurate calibration position independent of calibration speed The method can be used when the total calibration movement is within 1 encoder turn 360 rotation table Calibration speed P2 8 8 2 is used i i Calibration i start pulse Encoder Z pulse Calibration position found Fig
98. ontrol logic 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 100 6 VACON APPENDICES 9 1 Closed loop parameters ID s 612 to 621 Select the Closed loop control mode by setting value 3 or 4 for parameter ID600 Closed loop control mode see page 85 is used when enhanced performance near zero speed and better static speed accuracy with higher speeds are needed Closed loop control mode is based on rotor flux oriented current vector control With this controlling principle the phase currents are divided into a torque producing current portion and a magnetizing current portion Thus the squirrel cage induction machine can be controlled in a fashion of a separately excited DC motor Note These parameters can be used with Vacon NXP drive only EXAMPLE Motor Control Mode 3 Closed loop speed control This is the usual operation mode when fast response times high accuracy or controlled run at zero frequencies are needed Encoder board should be connected to slot C of the control unit Set the encoder P R parameter P7 3 1 1 Run in open loop and check the encoder speed and direction V7 3 2 2 Change the direction parameter P7 3 1 2 or switch the phases of motor cables if necessary Do not run if encoder speed is wrong Program the no load current to parameter 1D612 and set parameter 1D619 Slip Adjust to get the voltage slightly above the linear U f curve with the motor frequency at about 66 of the nominal mot
99. ontroller has to be enabled to be able to run Jog from this menu Parameter i i Default PH ei Jog Forward Button for Jog forward a E I eo 0 Select ready for teach 1 Home position 2 000 position 3 001 position 4 010 position Teach position 1696 5 011 position 6 100 position 7 101 position 8 110 position 9 111 position Table 31 Jos teach parameters 5 14 System menu Control keypad Menu M For parameters and functions related to the general use of the frequency converter such as appli cation and language selection customised parameter sets or information about the hardware and software see Chapter 7 3 6 in the product s User s Manual 5 15 Expander boards Control board Menu M7 The M7 menu shows the expander and option boards attached to the control board and board related information For more information see Chapter 7 3 7 in the product s User s Manual and the specific option reference manual Tel 358 01201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 35 6 FUNCTIONAL DESCRIPTION 6 1 Generical functions and speed regulation For further information on general functions of software and speed control see manual e Vacon NX Allin One Application Manual code UD00885 6 2 Position control The position control consists of the following functions e Control sequencer that manages commands error conditions axis state e The initialization of absolute position
100. oooocccnnnoccnononononcnnnononononcnnnonnnnonns 8 3 1 Defining an input output for a certain function on keypad ceceecescesceseeeeeseeseseeeteeneeeeeeeees 8 3 2 Defining a terminal for a certain function with NCDrive programming tool ceeeeee 9 3 3 Defining unused UES OUT BUTS da ate 9 4 ON A Stans deh hc dade ae pupae Teta 10 5 AA O 11 5 1 Monitoring values Control keypad menu M1 cccccccsecsscsscseesecseeeccsessesecceecsesseceeeaeeseenees 12 5 2 Basic parameters Control keypad Menu M2 gt G2 1 oococcnccncocccanococononocanonooncnnnononanncnnnnnos 13 5 3 Inpubsidnal Susini taa aa 14 5 3 1 Basic settings Control keypad menu M2 gt G2 2 1 cccccccccceccescssesseeeceeecseteeeeeaees 14 5 3 2 Analogue input 1 Control keypad Menu M2 gt gt 62 2 2 15 5 3 3 Analogue input 2 Control keypad Menu M2 gt 62 2 3 15 5 3 4 Free analogue input signal Control keypad Menu M2 gt G2 2 4 nsee 16 5 3 5 Digital inputs Control keypad Menu M2 gt 62 2 5 oooocnocccnicconocnnonoonconncnonnnonncnnonoso 17 DA Output signals ke iaa O a a 18 5 4 1 Delayed digital output 1 Keypad Menu M2 gt G2 3 1 oococccccnicicononcconononnnincononnnonooo 18 5 4 2 Delayed digital output 2 Keypad Menu gt 62 3 2 ooococociccccccccocnconconccnnonononononnnonono 18 5 4 3 Digital output signals Control keypad Menu M2 gt G2 3 3 oaeee 19 5 4 4 Limit settings Control keypad Menu M2 gt G2 3 4 cccccccccccc
101. or frequency The Motor Nominal Speed parameter 1D112 is critical The Current Limit parameter 1D107 controls the available torque linearly in relative to motor nominal current 9 2 Advanced Open Loop parameters ID s 622 to 625 632 635 Select the Advanced Open Loop control mode by setting value 5 or 6 for parameter ID600 The Advanced Open Loop control mode finds similar implementations as the Closed Loop control mode above However the control accuracy of the Closed Loop control mode is higher than that of the Advanced Open Loop control mode EXAMPLE Motor Control Mode 5 Frequency control Advanced open loop and 6 Speed control Advanced open loop The motor is running at current vector control at low frequencies At frequencies above the frequency limit the motor is in frequency control The default current value is 120 at zero frequency Use linear U f curve D108 120 starting torque should now be possible Sometimes increasing the frequency limit 1D635 will improve the run The Frequency limit is the critical point Increase the zero frequency point to get enough current at frequency limit Tel 358 0 201 2121 e Fax 358 0 201 212 205 APPENDICES VACON 101 9 3 Parameters of motor thermal protection ID s 704 to 708 General The motor thermal protection is to protect the motor from overheating The Vacon drive is capable of supplying higher than nominal current to the motor If the load requires this
102. osition selected by P2 8 10 16 101 rs P287 2 P2 8 7 1 CN 22000 1635 B2 1 B1 0 BO 1 If parameter is set to O the P2 8 10 17 101 101 speed P2 8 5 eee ef 1636 P2 8 10 2 speed is used If parameter is set to O the P2 8 10 18 101 accel P2 8 6 u ss 1637 P2 8 10 3 acceleration is used Position selected by P2 8 10 19 110 ca P287 2 P2 8 7 1 CN 24000 1638 B2 1 B1 1 BO 0 If parameter is set to O the P2 8 10 20 110 110speed P2 8 5 ea Le 1639 P2 8 10 2 speed is used If parameter is set to O the P2 8 10 21 110 accel P2 8 6 u ss 1640 P2 8 10 3 acceleration is used Position selected by P2 8 10 22 111 position 111 position P287 2 8 7 2 P28 7 8 7 1 EN 26000 1641 B2 1 B1 1 BO 1 If parameter is set to 0 the P2 8 10 23 111 speed 111 speed P285 8 5 ee ee 1642 P2 8 10 2 speed is used If parameter is set to O the P2 8 10 24 111 accel P2 8 6 u ss 1643 P2 8 10 3 acceleration is used Table 24 Position control parameters Positions G2 8 10 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 30 6 VACON PARAMETER LISTS 5 9 5 Automatic cycle parameters Control Keypad Menu M2 gt G2 8 11 Code Parameter ax Unit Default Cust Note Operating mode P2 8 11 1 PositControlMode 1650 O Normal 1 Automatic cycle Enable normal com EnManual mands in automatic P2 8 11 2 1 1651 cycle Commands 0 No 1 Yes First command of automatic cycle O Nonelend cycle 1 Go to 000
103. ositive direction or use Jog forward command Alter natively if you need a manual recovering set P2 8 7 11 0 switch off the inverter perform manual movement switch on the inverter and reset P2 8 7 11 to the original value Move in negative direction or use Jog reverse command See code 63 Tel 358 0 201 2121 e Fax 358 0 201 212 205
104. peed maximum speed limited by parameter P2 8 5 can not exceed the value which corresponds to the maximum frequency set for the motor P2 1 2 minus an appropriate dynamic margin usually 5 higher values for more dynamic applications Maximum value for P2 8 5 Max Speed can be calculated as follows P2 8 5 kan x P2 1 2x 2 p x t x P2 8 3 P2 8 4 Where P2 8 5 axis maximum speed u s Kgin 0 9 0 95 dynamic margin factor Value 0 95 allows a margin of 5 and is sufficient for most applications P2 1 2 Max frequency Hz margin for motor slip is accounted for by the controller internally p number of poles of the motor t gear ratio between encoder turns and motor turns encoder turns motor turns Note If the encoder is directly coupled to the motor P2 8 2 Encoder selection 0 Enc1 motor J t 1 Maximum acceleration has a physical limit which depends on the ratio between the maximum torque given by the motor breakdown limit for high frequencies or maximum current of frequency converter for lower frequencies and total inertia reflected to the motor shaft Maximum value for P2 8 6 Max Acceleration in order not to exceed such limit can be calculated as follows P2 8 6 u s Cr Ser x 2x xt x P2 8 3 P2 8 4 Where Cmax Maximum available torque J inertia on motor shaft motor side total equivalent inertia n 3 1415926 t gear ratio between encoder and motor Beyond this value th
105. position 2 Go to 001 position 3 Go to 010 position 4 Go to 011 position P2 8 11 3 First command 1652 5 Go to 100 position 6 Go to 101 position 7 Go to 110 position 8 Go to 111 position 9 Incremental jog fwd 10 Increm Jog reverse 11 Home P2 8 11 4 Pause 00 1653 Dwell after 1st command Trigger mode for 2nd command execution P2 8 11 5 TrigMode 1 2 1654 0 Normal wait for trigger 1 Auto start after dwell 1655 2nd cmd of automatic P2 8 11 7 E IE E 1656 Dwellafter2ndcmd Trigger mode for 3rd command execution P2 8 11 8 TrigMode 2 3 1 0 Normal wait for trigger 1 Auto start after dwell A 3rd cmd of automatic P2 8 11 9 Third command command cycle see P2 8 11 3 P2 8 11 10 Pauses od command Trigger mode for 4th command execution P2 8 11 11 TrigMode 3 4 1 0 Normal wait for trigger 1 Auto start after dwell 4th cmd of automatic command Trigger mode for 5th command execution P2 8 11 14 TrigMode 4 5 1663 O Normal wait for trigger 1 Auto start after dwell 5th command of auto P2 8 11 15 Fifth command 1664 matic cycle see P2 8 11 3 command Tel 358 01201 2121 Fax 358 0 201 212 205 PARAMETER LISTS VACON 31 Trigger mode for th command execution P2 8 11 17 TrigMode 5 6 0 Normal wait for trigger 1 Auto start after dwell i th cmd of automatic P2 8 11 19 Pause 6 10 0 s ma PWell atter eth command Trigger mode fo
106. position command and for automatic mode sequence see also chapter 6 2 10 P2 2 5 27 Bit 0 of encoded position selector P2 2 5 28 Bit 1 of encoded position selector P2 2 5 29 Bit 2 of encoded position selector Tel 358 0 201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 43 Calibration sensor used for the calibration cycles chapter 6 2 8 P2 2 5 17 CalibrateSensor Selector for alternative calibration mode P2 2 5 32 Calibration Type Cam switch for limit stop signals handling chapter 6 2 4 P2 2 5 31 Min End Limit P2 2 5 32 Max End Limit Selector to enable position control chapter 6 2 1 P2 2 5 24 PositCntrEn Sel Selector to enable automatic positioning mode chapter 6 2 10 P2 2 5 25 Automatic mode Alternatively to the fixed setting through parameters Position and Home commands positioning speed and acceleration deceleration can be modulated by analogue input For this purpose the following parameter is used P2 8 7 10 Speed Reference 0 Speed and acc dec from parameters 1 Speed and acc dec from analogue input Al1 2 Speed and acc dec from analogue input Al2 Note The full scale range of analogue input corresponds to the value set with the parameters P2 8 5 Max Speedand P2 8 6 Max Accel Note The analogue value to calculate speed and acceleration deceleration for the command execution is read and stored at the beginning of the mission execution subsequent variations during the execution o
107. r next command In the normal mode the next command will be performed when the trigger input goes high and the dwell time has expired The trigger input is ignored if the dwell time has not expired In the automatic mode the next command will be performed after the dwell time has expired If next command is No command end the sequence will start from beginning Command 2 ID1654 Second command See P2 8 11 3 Pause 2 ID1655 See parameter 2 8 11 4 Trig mode 2 3 1D1656 See parameter 2 8 11 5 2 8 11 9 2 8 11 20 1D1657 ID1669 24 hour support 358 0 40 837 1150 e Email vaconfavacon com Same settings as for corresponding parameters 2 8 11 6 2 8 11 8 112 6 VACON DESCRIPTION OF POSITION CONTROL PARAMETERS 10 9 Fieldbus P2 9 9 P2 9 10 P2 9 11 P2 9 12 P2 9 13 P2 9 14 P2 9 15 Command register 1D1675 Selection of process data PD In 1 PD In 8 used for the command register for positioning commands from fieldbus Speed 1D1676 Selection of process data PD In 1 PD In 8 used for the speed register for positioning commands from fieldbus Acceleration 1D1677 Selection of process data PD In 1 PD In 8 used for the acceleration register for position ing commands from fieldbus Position 1D1678 Selection of process data PD In 1 PD In 8 used for the position register for positioning commands from fieldbus Deceleration 1D1679 Selection of process data PD In 1 PD In 8 used for the Deceleration register fo
108. r position ing commands from fieldbus If this is not used the deceleration time will be the same as that of acceleration Torque reference 1D1680 Selection of process data PD In 1 PD In 8 used for the Torque reference This can be used for torque control mode with position control disabled Free signal D1681 Selection of process data PD In 1 PD In 8 used for the Free signal This can be used for the current or torque limiting according to functionality of the Multipurpose application Tel 358 0 201 2121 e Fax 358 0 201 212 205 DESCRIPTION OF POSITION CONTROL PARAMETERS VACON 113 10 10 SystemBus P2 10 1 System bus mode ID1685 Selection of system bus mode in use The System Bus parameter must be set to 3 for the master or to 2 for the follower or left to 0 when not in use 10 10 1 Master P2 10 2 1 Master output 1D1686 Selection of signal to be sent from master to follower drives 10 10 2 Follower P2 10 3 1 Reference multiplier 1D1687 Multiplier for the reference received from the master Allows scaling of the reference on the follower side P2 10 3 2 Reference divider 1D1688 Divider for the reference received from the master Allows scaling of the reference on the follower side 10 11 Jog teach P3 5 1 Jog speed D1610 Jog speed in user unit s during Jog command P3 5 4 Teach position 1D1696 After running to a certain position by Jog command the position can be copied to a target position selected by
109. r se quence repetition 1st P2 8 11 20 TrigMode 6 1 1 1669 cmd A 0 Normal wait for trigger 1 Auto start after dwell Table 25 Position control parameters Automatic cycle G2 8 11 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 32 0 VACON PARAMETER LISTS 5 10 Fieldbus parameters Control keypad Menu M2 gt G2 9 Code P2 9 1 P2 9 2 P2 9 3 P2 9 4 P2 9 5 P2 9 6 P2 9 7 P2 9 8 P2 9 9 P2 9 10 P2 9 11 P2 9 12 P2 9 13 P2 9 14 P2 9 15 Table 26 Fieldbus parameters 62 9 Parameter Fieldbus data out 1 sel Fieldbus data out 2 sel Fieldbus data out 3 sel Fieldbus data out 4 sel Fieldbus data out 5 sel Fieldbus data out 6 sel Fieldbus data out 7 sel Fieldbus data out 8 sel Cmd Register Sel Speed Sel Acceleration Sel Position Sel Deceleration Sel Torque Ref Sel Free Signal Sel Min o jo o JO O Max 10000 10000 10000 10000 10000 10000 10000 10000 o oo co Unit Default 1514 1503 1504 1505 1124 1510 37 1 PDin1 2 Pdin2 3 Pdin3 4 Pdin4 0 None 0 None 0 None Cust ID 852 853 854 855 856 857 858 859 1675 1676 1677 1678 1679 1680 1681 Note Specify ID of variable to be associ ated with PD out 1 channel Default status register pos control Specify ID of variable to be associ ated with PD out 2 channel Defau
110. s taken place the minimum position of the axis P2 8 7 2 limits the run Arguments The same as jog forward command Jog forward towards the positive direction of the position coordinate with increase of determined distance Input or command bit is carried out with pulse mode The command is not enabled until the calibration cycle has taken place If the final position of the incremental jog command exceeds the maximum position P2 8 7 1 the command is not executed Parameters e Jogging speed P2 8 9 1 e Jog acceleration deceleration time P2 8 9 2 e Jog increment distance P2 8 9 3 Similar to incremental jog forward in the reverse direction If the final position of the command exceeds the minimum position P2 8 7 2 the command is not executed 6 2 2 7 Goto Position Up to 8 positions with separate speed and acceleration can be selected by 3 digital inputs This command is enabled only after the successful performance of the calibration cycle The following parameters are used when controlling from terminal inputs e Position for selected binary command 000 111 according to Table 32 e Speed for selected binary command 000 111 e Acceleration for selected binary command 000 111 One of 8 position parameters Is selected by up to three encoded digital inputs configured with P2 2 5 27 P2 2 5 28 P2 2 5 29 A trigger digital input configured by P2 2 5 26 must be used to start the mission The acceleration time in s is given by speed acc
111. sed 5 Not used 6 Al1 Joystick 7 Al2 Joystick 8 Keypad 9 fieldbus Unit Default Cust 14 0 VACON PARAMETER LISTS Speed reference with fieldbus control place see P2 1 13 Preset speed 1 y Preset speed 1 P21 14 Presetspeed2 0 00 P21 15 00 106 Presetspeed2 Table 3 Basic parameters G2 1 Fieldbus control reference 5 3 Input signals 5 3 1 Basic settings Control keypad menu M2 gt G2 2 1 Parameter eee Default A 1 Start fwd Start rev Start Stop Reverse Start Stop Logic Start Stop Run Enable selection Start pulse Stop pulse Start Motopot UP Fwd Pulse Rev pulse Start pulse Rev pulse Start pulse Enable pulse P2212 wwo has o a ramp time Reset motopotentiometer ref 0 N0 reset stored MotopMemRifFreq 2 1 367 1 Reset if stopped or powered down 2 Reset if powered down Adjust input 0 Not used 1 Al1 2 Al2 djust input 3 lt Not used gt 4 lt Not used gt 5 Fieldbus PD8 0 P2 2 1 5 10000 P2 2 1 b P2 2 1 6 Fe er a Le Be Table 4 Input signals Basic settings 62 2 1 Nook WON Tel 358 0 201 2121 Fax 358 0 201 212 205 PARAMETER LISTS VACON 15 5 3 2 Analogue input 1 Control keypad Menu M2 gt G2 2 2 Parameter selection Alt fter time filter time 10 00 00 Al1 signal filter time constant O no filtering 0 0 100 Al1 signal range 1 4mA 20 100 EXE Custom range i maximum setting Al reference a the fr
112. sed voltage ration in field weakening area with PMS motors Rs voltage drop Measured Voltage drop at stator resistanse between two phases with nom current of motor Response to external fault 0 No response 1 Warning 2 Fault stop mode after fault according to ID506 3 Fault stop mode after fault always by coasting A warning or a fault action and message is generated from the external fault signal in the programmable digital inputs DIN3 The information can also be programmed into digital output DO1 and into relay outputs RO1 and R02 Output phase supervision 0 No response 1 Warning 2 Fault stop mode after fault according to ID506 3 Fault stop mode after fault always by coasting Output phase supervision of the motor ensures that the motor phases have an approximately equal current Earth fault protection 0 No response 1 Warning 2 Fault stop mode after fault according to ID506 3 Fault stop mode after fault always by coasting 90 0 VACON DESCRIPTION OF STANDARD PARAMETERS 704 705 Earth fault protection ensures that the sum of the motor phase currents Is zero The overcurrent protection is always working and protects the frequency converter from earth faults with high currents Motor thermal protection 0 No response 1 Warning 2 Fault stop mode after fault according to ID506 3 Fault stop mode after fault always by coasting If tripping is selected the drive wil
113. selection Defines which frequency reference source is selected when controlled from the 1 0 control place Selection Reference Source 0 Analogue volt ref Terminals 2 3 Analogue curr ref Terminals 4 5 Al1 Al2 Al1 Al2 Al2 Al1 Al1 Al2 Al1 joystick Al2 joystick Keypad reference Menu M3 Fieldbus reference Potentiometer reference controlled with DIN5 TRUE increase and DIN6 TRUE decrease 11 Al1 or Al2 whichever is lower 12 Al1 or Al2 whichever is greater 13 Max frequency recommended in torque control only 14 AI1 Al2 selection Table 39 Selections for parameter ID117 SO 00 SJ O 01 Go o 120 Motor cos phi Find this value cos phi on the rating plate of the motor 121 Keypad frequency reference selection Defines which frequency reference source Is selected when controlled from the keypad Selection Reference Source 0 Analogue volt ref Terminals 2 3 Analogue curr ref Terminals 4 5 Al A12 Al1 Al2 Al2 Al1 Al1 Al2 Al1 joystick Al2 joystick Keypad reference Menu M3 9 Fieldbus reference Table 40 Selections for parameter ID121 00 JI Os OT PE ON FBSpeedReference 122 Fieldbus frequency reference selection Defines which frequency reference source is selected when controlled from the fieldbus For selections see 1D121 Tel 358 01
114. sic parameters Control keypad Menu M2 gt G2 1 Code Parameter Min P2 1 1 Max Frequency Acceleration time 1 Deceleration time 1 Nominal Voltage of the motor Nominal frequency 30 00 of the motor Nominal speed of 300 the motor Nominal current of the motor Motor CosPhi 1 0 reference Keypad control reference 0 3 xl 24 hour support 358 0 40 837 1150 e Email vaconf vacon com 2xly 690 320 00 20 000 Note NOTE If P2 1 2 gt P2 1 7 check if the motor is suitable Acceleration time for speed control not used with position control enabled Deceleration time for speed control not used with position control enabled NOTE The formulas apply for inverter up to FR7 sizes For higher sizes contact the manufacturer 400V 110 Check the rating plate of the motor 50 00 111 Check the rating plate of the motor motor Check the rating plate of the motor NOTE even if 113 the default is fair confirm H the value with edit enter button to automatic set of magnetizing current Power factor Check the pal E a Speed reference with 1 0 terminal control place 0 Al1 1 Al2 2 System Bus PD1 3 Not used 4 Not used 5 Not used 6 Al1 Joystick 7 Al2 Joystick 8 Keypad 9 fieldbus 10 Motor potentiometer 11 Min Al1 Al2 12 Max AI1 Al2 13 Max Frequency 14 Sel Al1 Al2 Speed reference with Keypad control place 0 Al1 1 Al2 2 System Bus PD1 3 Not used 4 Not u
115. spective control place are used The value of parameter ID125 Keypad Control Place does not change When the input opens the control place is selected according to keypad control parameter 1D125 412 Reverse Contact open Direction forward Contact closed Direction reverse 414 Fault reset Contact closed All faults are reset 416 DC braking Contact closed In STOP mode the DC braking operates until the contact is opened 417 Motor potentiometer DOWN Contact closed Motor potentiometer reference DECREASES until the contact is opened 418 Motor potentiometer UP Contact closed Motor potentiometer reference INCREASES until the contact is opened 419 Preset speed 7 420 Preset speed 2 Parameter values are automatically limited between the minimum and maximum frequencies parameters ID101 and 1D102 Tel 358 0 201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 79 422 AIT AI2 selection With this parameter you can select either Al1 or Al2 signal for frequency reference 432 Ready The frequency converter is ready to operate 433 Run The frequency converter operates the motor is running 434 Fault A fault trip has occurred Default programming A 1 435 Inverted fault No fault trip has occurred 436 Warning General warning signal 437 External fault or warning Fault or warning depending on par 1D701 439 Overtemperature warning The heatsink temp
116. state is true Automatic restart Start function The Start function for Automatic restart is selected with this parameter The parameter defines the start mode 0 Start with ramp 1 Flying start 2 Start according to ID505 Automatic restart Number of tries after undervoltage fault trip This parameter determines how many automatic restarts can be made during the trial time set by parameter 1D718 after an undervoltage trip 0 No automatic restart after undervoltage fault trip gt 0 Number of automatic restarts after undervoltage fault The fault is reset and the drive is started automatically after the DC link voltage has returned to the normal level Automatic restart Number of tries after overvoltage trip This parameter determines how many automatic restarts can be made during the trial time set by 1D718 after an overvoltage trip 0 No automatic restart after overvoltage fault trip gt 0 Number of automatic restarts after overvoltage fault The fault is reset and the drive is started automatically after the DC link voltage has returned to the normal level Automatic restart Number of tries after overcurrent trip NOTE IGBT temp Fault also included This parameter determines how many automatic restarts can be made during the trial time set by 1D718 0 No automatic restart after overcurrent fault trip gt 0 Number of automatic restarts after overcurrent trip saturation trip and IGBT temperature faults
117. the repetition of the sequence may be conditioned to a new trigger pulse through a Trigger Mode parameter which can undertake value Auto after the dwell the sub sequent command is carried out unconditionally or value Normal the subsequent command is carried out with the arrival of a new trigger pulse The first command not programmed is considered as the end of the sequence In such case the execution must be restarted from the first command Trigger pulses during the execution of a command or the relative dwell are ignored Setting the trigger input selector to Digln 0 2 namely forcing the input to TRUE state the trigger is considered always active in this case as soon as a drive RUN command Is given the sequence will start Mixed cycles can be defined where a number of commands are performed in sequence trigger auto and others are conditioned by an impulse trigger normal Example Shear Parameter Value P2 8 1 PosControllerEn 1 Enabled P2 8 7 8 Calib On Home 1 Yes P2 8 8 1 CalibrationType1 7 Cam reverse P2 8 11 1 Posit Control Mode 1 Automatic cycle P2 8 11 2 EnManualCommands 1 Yes P2 8 11 3 First command 1 Position 000 P2 8 11 4 Pause 1 0 0s P2 8 11 5 Trig Mode 1 2 1 Auto P2 8 11 6 Second command 5 Home P2 8 11 7 Pause 2 0 0s P2 8 11 8 Trig Mode 2 3 0 Normal P2 8 11 9 Third command 0 No command Table 35 24 hour support 358 0 40 837 1150 e Email vaconf vacon
118. this can be used for current or torque limiting according to functionality of the Multipurpose application See chapter 6 2 7 for process data description All Process data out follower to master are programmable through 8 parameters from P2 9 1 to P2 9 8 Through these parameters it is possible to monitor any variable from the fieldbus The list of the variables with resolution or bits map indication is in Table 36 The variable selection can be done setting the ID number identifier of the item you wish to monitor to the parameter selector The default parameter selectors are the following PD1 status register of position control Table 6 3 PD2 position reference u PD3 actual position u PD4 position error signed u PD5 motor speed measured with encoder in electric Hz depending on poles number of the motor 1 unit 0 01 Hz PD6 motor current e PD7 Torque in CL e PD8 Last warning or fault code 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 60 0 VACON FUNCTIONAL DESCRIPTION Variable Resolution Unit 1D Description Output frequency 0 01 1 Output frequency to the motor Frequency reference 0 01 25 Frequency reference to motor control Motor speed 1 Rpm 2 Motor speed in rpm Motor current 0 01 0 1 1 A 3 Output current rms size depending Motor torque 0 1 4 In of nominal motor torque Mo
119. this parameter 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 114 0 VACON DESCRIPTION OF POSITION CONTROL PARAMETERS 11 SPECIFIC FAULT CODES OF POSITION CONTROL APPLICATION The Position Control Application includes other warnings and faults in addition to those described in the product s User s Manual The fault codes their causes and correcting actions are presented in Table 47 W warning F fault Stored in Possible causes history fault Posit Program RangeErr mable Dyn Program PositErr mable The position displace ment during zero search exceeds 32767 Positioning dynamic error positioning error exceeded the admitted limit value during the movement MinEnd Cam W The axis reached stored minimum limit stop posi tion min limit switch reached MaxEnd W The axis reached stored Cam maximum limit stop posi tion max limit switch reached Stat Program Yes Positioning static error PositErr mable position error exceeded the admitted static limit value Table 47 APFIFF12 specific fault codes Correcting actions Cycle power and repeat zero set ting cycle Verify mechanical conditions position control calibration P2 8 5 Max speed P2 8 6 Max acceleration P2 8 7 7 Dynamic error limit Verify the possible reasons for axis overriding the limit P2 8 7 5 Static error If this fault occurred exactly at the end of positioning increase the settling time P2 8 7 6 Move in p
120. ting 0 The motor coasts to a halt without any control from the frequency converter after the Stop command Ramp 1 After the Stop command the speed of the motor is decelerated according to the set deceleration parameters If the regenerated energy is high it may be necessary to use an external braking resistor for faster deceleration Normal stop Ramp Run Enable stop coasting 2 After the Stop command the speed of the motor is decelerated according to the set deceleration parameters However when Run Enable is selected the motor coasts to a halt without any control from the frequency converter Normal stop Coasting Run Enable stop ramping 3 The motor coasts to a halt without any control from the frequency converter However when Run Enable signal is selected the speed of the motor is decelerated according to the set deceleration parameters lf the regenerated energy is high it may be necessary to use an external braking resistor for faster deceleration 507 DC braking current Defines the current injected into the motor during DC braking 508 DC braking time at stop Determines if braking is ON or OFF and the braking time of the DC brake when the motor is stopping The function of the DC brake depends on the stop function parameter ID506 0 DC brake is not used gt 0 DC brake is in use and its function depends on the Stop function param 1D506 The DC braking time is determined with this parameter Par 1D50
121. tion not active P2 5 14 4 StartO speedtime 0 32000 0 615 0 speedtimeatstart P2 5 14 5 Stop 0 speed time 0 32000 ms 0 616 Jo pi time at stop P2 5 14 6 Current control Kp 0 00 300 00 40 00 MEA ER P2 5 14 8 Slipadjust 0 500 100 619 Slipadjust_ Drooping at nominal load P2 5 14 9 Load drooping 100 00 droop n x Motor Nom Speed 0 Not used P2 5 14 11 i Limit NN 0 400 0 Torque Ao tul Scale for free analogue input Higher limit for speed P2 5 14 12 a P2 6 7 14 320 00 1823 proportional gain P variation Lower limit for speed P2 5 14 13 e P2 6 7 13 1 00 1822 proportional gain P variation 0 p P2 5 14 14 Zo of speed control 100 50 1824 Variation of speed P gain P gain at FO at zero frequency Table 16 Motor control parameters closed loop G2 5 14 5 6 2 PMSM settings Control keypad Menu M2 gt G2 5 15 Parameter 0 Asynchronous motor P2 5 15 1 Motor type 1 PMSM motor AC brushless a ti Een 2000 Gain for flux current control FluxCurrent Th Ti ETE Integral time for flux control PMSM Low word of encoder ShaftPosition 65535 angle corresponding to the shaft 0 position Enable Rs identification EnableRsldentific 0 ao deoe Ei during DC brake at start ModindexLimit 200 100 a E e nae tea field weakening point Table 17 Parameters for permanent magnet synchronous motor 62 5 15 Tel 358 0 201 2121 e Fax 358 0 201 212 205 PARAM
122. tion of the relative bit in the command register The values of speeds acceleration and position must be valid in such instant and are memorized The command bit must be set to zero before or at the same time in which the bit for the next com mand execution is set Note Also for fieldbus interface parameter P2 8 7 9 determines impulsive or permanent logic for command bits Anyway no command is accepted until the execution of the mission concerning the previous command is finished bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 Command status Reserved 1 Axis ready 1 Axisin 1 Calibration 1 Position Mode Sel 00 readylintial status motion cycle done regulator active O normal 01 executing 1 Autom 10 aborted cycle 11 completed bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit O Position 2 Position Home Incremental Incremental Jog Jog Calibration Jog reverse Jog forward reverse forward Table 34 Status register for position control The bits from 0 to 7 are the state flags of commands Only one of them at a time can be high value 1 This is set to 1 when the execution of the relative command starts The field Command Status refers to the command whose flag is high The flag of a command is reset when the execution of another command starts Note Axis Ready 1 means that the axis is not in motion and is ready for the execution of com mands
123. tion position The position actual count starts from this value when calibration is done The calibration mode is selected by P2 8 8 1 An alternative calibration Type 2 can be specified with parameter P2 8 8 8 Calibration type 2 and selected by digital input to be configured with P2 2 5 30 Calibration Type 2 See chapter 6 2 8 Calibration Parameters e P28 8 2 Calibration speed e P28 8 3 Calibration High Speed only used in first phase of mode 4 5 e P28 8 4 Calibration Preset the value of calibration position Acceleration and deceleration for the calibration cycle are set to 50 of the maximum P2 8 6 The axis stops soon after the acknowledgement of calibration signal Note The position reached at the end of the calibration cycle is not predetermined After calibration Home command can be used to move the axis up to a predetermined position After the successful execution of calibration cycle Go to Position XXX and Incremental jog com mands are enabled Execution of calibration cycle can be monitored by either keypad variable V1 19 in the Monitoring menu or a digital output configured with P2 3 3 25 Calibration OK or status register bit 10 If the calibration cycle has not been performed V1 19 0 bit 10 0 in the status register this com mand first performs the calibration cycle and secondly a Go to Home position mission If calibration has already been performed the Home command performs only the Go to Ho
124. tor power 0 1 5 Motor shaft power in of motor nominal power Motor voltage 0 1 V 6 Motor voltage rms DC link voltage 1 V 7 Measured DC link voltage Unit temperature 1 E 8 Heatsink temperature Analogue input 1 0 01 V mA 13 Al Analogue input 2 0 01 V mA 14 Al2 Digital input statuses bit 0 DigIN A 3 DIN1 DIN2 DIN3 15 bit 1 DigIN A 2 bit 2 DigIN A 1 bit 3 15 0 Digital input statuses bit 0 DigIN A 6 DIN4 DIN5 DIN6 16 bit 1 DigIN A 5 bit 2 DigIN A 4 bit3 15 0 Analogue output 0 01 mA 26 A01 ID Run Status 49 Status of identification run made Pole pair number 58 Pole pair number calculated based on given motor data Pos Control Active 1500 1 position control enabled Axis in Motion 1501 1 Axis running Calib cycle Done 1502 1 zero setting performed Pos Reference 1 U 1503 Position reference in unit axis Current Position 1 U 1504 Current position in unit axis Positioning error 1 U 1505 Position error in unit axis PositContFreqRef 0 01 Hz 1506 Freq Ref generated by position control Encoder 1 Freq 0 01 Hz 1124 Encoder speed 1 in electric Hz filtered by Enc1FiltTime Encoder 2 Freq 0 01 Hz 53 Torque mode CL 0 1 1510 Torque generated in open loop control Torque ref mode 3 0 1 1511 Torque ref In closed loop speed control Torque ref mode 4 0 1 1512 Torque ref In closed loop torque control History fault 37 Last Warning or Fault code Digital input statuses bit 0 DigIN A 1 bit
125. ts s This is the highest allowed positioning speed All parameters for positioning speed are limited to this value Maximum acceleration ID1575 The maximum acceleration deceleration allowed during positioning This is the highest allowed acceleration during positioning All parameters for positioning acceleration are limited to this value Tel 358 0 201 2121 e Fax 358 0 201 212 205 DESCRIPTION OF POSITION CONTROL PARAMETERS VACON 107 10 4 Advanced functions 2 8 7 1 2 8 7 2 2 8 7 3 2 8 7 4 2 8 7 5 2 8 7 6 2 8 7 7 2 8 7 8 2 8 7 9 2 8 7 10 24 hour support 358 0 40 837 1150 e Email vaconfavacon com Max position D1580 Maximum end of the positioning range in user units This is a software range that limits the motion in the upper end If for example a Jog increment command is requested that will result in an end position over this software maximum range the command will not be executed Jog forward command will also stop on this range Min Position 1D1587 Same as P2 8 7 1 but in the minimum end of positioning range Proportional gain 1D1582 Proportional gain for the position loop Target delta 1D1583 Target delta for final position The position controller will bring the axis to the position given from the actual position command the value of this parameter Static error ID1584 Accepted static error in standstill in user unit Response to this error can be selected by P2 6 16
126. ure 9 Timing diagram for methods 2 and 3 Calibration based on digital input P2 2 5 77 Calibrate Sensor with sequence of backlash compensa tion e Start searching for the calibration sensor input with calibration high speed P2 8 8 3 the searching direction is positive for type 4 negative for type 5 Tel 358 01201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 53 e Stops when the calibration sensor goes high e The axis reverses its direction and uses the calibration low speed P2 8 8 2 and establishes the calibration position when the sensor signal goes low falling edge e f initial state of the calibration sensor is high the start searching direction is opposite with calibration low speed P2 8 8 2 and calibration position is always associated with falling edge so that the mechanical backlash acts always in the same direction and repetitivity error is minimized For this type of calibration the calibration speed P2 8 8 2 must be limited in order to minimize the measuring error due to digital input software sampling at a 5 ms rate Approach speed Creep speed i aa Calibration i start pulse i Calibration sensor input Calibration type4 fh8 position found Figure 10 Timing diagram for methods 4 and 5 24 hour support 358 0 40 837 1150 e Email vaconldvacon com 54 0 VACON FUNCTIONAL DESCRIPTION Calibration based on digital input parameter P2 2 5 17 Cali
127. with load from 0 Hz o First set the motor nominal values Parameter group 2 1 Option 1 Activate the Automatic torque boost Option 2 Programmable U f curve To get torque you need to set the zero point voltage and midpoint voltage frequency in parameter group 2 6 so that the motor takes enough current at low frequencies First set par 1D108 to Programmable U F curve value 2 Increase zero point voltage 1D606 to get enough current at zero speed Set then the midpoint voltage ID605 to 1 4142 1D606 and midpoint frequency ID604 to value 1D605 100 1D111 NOTE In high torque low speed applications it is likely that the motor will overheat If the motor has to run a prolonged time under these conditions special attention must be paid to cooling the motor Use external cooling for the motor if the temperature tends to rise too high Nominal voltage of the motor Find this value U on the rating plate of the motor This parameter sets the voltage at the field weakening point ID603 to 100 x U nmotor Nominal frequency of the motor Find this value f on the rating plate of the motor This parameter sets the field weakening point ID602 to the same value Nominal speed of the motor Find this value n on the rating plate of the motor Nominal current of the motor Find this value on the rating plate of the motor See Table 38 66 0 VACON DESCRIPTION OF STANDARD PARAMETERS 117 W O frequency reference
128. xt Rising edge required to start shall be used to exclude the possibility of an unintentional start when for example power is connected re connected after a power failure after a fault reset after the drive is stopped by Run Enable Run Enable False or when the control place is changed The Start Stop contact must be opened before the motor can be started 4 DIN1 closed contact start forward DIN2 closed contact reference increases motor potentiometer reference this parameter is automatically set to 4 if par 1D117 is set to 3 or 4 5 DIN1 closed contact start forward Rising edge required to start DIN2 closed contact start reverse Rising edge required to start 6 DIN1 closed contact start Rising edge required to start open contact stop DIN2 closed contact reverse open contact forward 7 DIN1 closed contact start Rising edge required to start open contact stop DIN2 closed contact start enabled open contact start disabled and drive stopped if running Tel 358 0 201 2121 Fax 358 0 201 212 205 DESCRIPTION OF STANDARD PARAMETERS VACON 69 303 Reference scaling minimum value 304 Reference scaling maximum value Setting value limits 0 lt par ID303 lt par ID304 lt par 1D102 If parameter ID303 0 scaling is set off The minimum and maximum frequencies are used for scaling A Output A Output frequency frequency Max freq ID102 Max freq 1D102 Analogu
129. y fault including dynamic distance error the position control is disabled and the drive stops using the ramp defined by P2 1 4 or by coast for time critical faults Therefore P2 1 4 Deceleration time should be tuned to achieve the required stop distance in case of fault P2 1 2 Max Frequency 1D102 Motor control Mission Interpolator P2 8 3 Distance layer control position regulator P2 8 7 3 Proportional 1D1572 gain ID1582 P2 8 1 Position scan time 5 ms ee iti P2 8 4 Turns Controller Enable 5 ms ime position 101573 hie ay AA Interpolator ke Kp Scaling Z FreqRef Position Speed Axis moving Test F61 Dynamic error error gt F62 Static error Acceleration Deceleration y Start Stop V1 22 Position error P2 8 7 5 Static error 1D1505 D1584 T V1 21 Actual position P2 8 7 6 Settling time Status register 1D1504 D1585 P2 8 3 Distance P2 8 7 7 Dynamic error 1D1572 D1586 v Axis moving 1 0 interface P2 8 4 Turns P2 6 15 Dynamic error S 1D1573 D1561 E u P2 8 8 4 Preset P2 6 16 Static error 2 1D1598 D1562 2 Scaling Encoder gt An age 5 offset position Figure 14 Position interpolator regulator block diagram Tel 358 01201 2121 Fax 358 0 201 212 205 FUNCTIONAL DESCRIPTION VACON 57 6 2 10 Special fun
130. y required is 0 1 mm An encoder directly coupled to the motor is employed Case A high dynamic solution Choose the maximum possible resolution value that is equal to the error half band namely 0 1 mm The number of distance units for driving area is 300 0 1 3000 u The corresponding number of turns is 300 2 150 Set P2 8 3 Distance 3000 P2 8 4 Turns 150 The relation 6 2 5 3 is fulfilled Starting from 6 2 5 1 with P2 1 2 50 Hz and kan 0 95 the maximum speed results 475 u s Considering 50 ms as the physical limit to accelerate from zero to maximum speed the maximum acceleration P2 8 6 must be limited to 475 u s 0 05s 9500 u s Case B solution with high precision of motion profile also at low speed Choose a resolution one decade lower that the accuracy required namely 0 01 mm The number of distance units for the driving area is 300 0 01 30000 u The number of turns as in case A is 300 2 150 Set P2 8 3 Distance 30000 P2 8 4Turns 150 Besides 6 2 5 3 the relation 6 2 5 4 is also fulfilled Starting from 6 2 5 1 with P2 1 2 50 Hz and kan 0 95 the maximum speed results 4750 u s Considering 50 ms as the physical limit to accelerate from zero to maximum speed the maximum acceleration P2 8 6 must be limited to 4750 u s 0 05s 95000 u s As the numerical limit is 25500 u s the drive reaches its maximum speed in 186 ms In this case the numerical limit is more restrictiv

NXP application package

Contents

Download Pdf Manuals

Related Search

Related Contents