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sinus penta synchronous motor en

1. C008 Rated mains voltage BASIC 1008 2 380 480V C009 N of configured motors ENGINEERING 1009 1 C010 1010 C053 Type of control algorithm BASIC 1053 1 SYN C096 Ma 1096 C011 M1 1011 C054 M2 Type of reference ADVANCED 1054 0 Speed MASTER mode C097 M3 1097 MI Forward Actions over Torque 594 054 M2 control 906 ADVANCED 636 0 No C097a M3 638 C011b M1 635 54 2 BEMF Compensation ADVANCED 637 0 No C097b M3 639 C012 1 1012 55 2 Encoder resolver present BASIC 1055 0 No C098 M3 1098 C013 MI 1013 Depending on the model C056 M2 Type of V f pattern BASIC 1056 See tables in the C099 M3 1099 Programming Guide C014 M1 1014 C057 M2 Phase rotation ENGINEERING 1057 0 No C100 M3 1100 C015 1 1015 58 2 Rated motor frequency BASIC 1058 50 0 Hz C101 M3 1101 15 1 753 58 2 BEMF constant ENGINEERING 764 0 00 V rad s C101a M3 1236 C016 M1 1016 C059 M2 Motor rom BASIC 1059 1500 rpm C102 M3 1102 C017 M1 1017 Depending the model C060 M2 Rated motor power BASIC 1060 See tables in the C103 M3 1103 Programming Guide C018 MI 1018 Depending on the model C061 M2 Rated motor current BASIC 1061 See tables in the C104 M3 1104 Programming Guide C019 1 1019 D d C062 M2 Rated motor voltage BASIC 1062 105 1105 voltage class C020 1
2. 50 Td Na 50 7 7 2 When the Optional Board is not Used 50 7 7 3 When Using ES836 or ES9 L3 EYE ERRAT PRAEERAT PER ERRR ER 51 7 7 4 With Optional Boards for Absolute Position 52 7 7 5 List of Parameters C189 to 199 53 7 8 EXPANSION BOARD CONFIGURATION nnn 59 7 8 1 HOW OVW setae css DIL 59 7 8 2 List of Parameters RO21 to R024 and 92 to ROOT 61 7 9 ALARMS SPECIFIC TO SYN APPLICATION eeeseeeeeeeeee nennen nennen nnn nnnn nn nnn nnn n nnn nnn n nnns nns a nnns snas 67 7 9 1 PEE EEEE PEPEE E EE EESE E ETA TE EEE E EE ET 67 7 9 2 List of the Alarm Codes sssssseeeeeee eee 67 2 68 GUIDE TO THE SYNCHRONOUS 9 MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP 0 1 Index of Figures Figure 1 Figure 2 Figure 3 Menu tree of the Synchronous Motor application 9 Dual Parameterization function example 18 Torque control with speed limit eene eene eeeerrne enne nennen eren 36 0 2 Index of Tables 125 E 16 Table 2 List of parameters P125 P152 esent 19 Table 3
3. 52000 32000 32000 32000 rpm Default 0 Level BASIC 1028 1071 1114 rpm This parameter defines the minimum speed of the connected motor When references forming the total reference are at their min relative value the total reference equals the min speed of the connected motor Example CONTROL METHOD MENU C143 1 REF Selection of reference 1 source C144 gt 2 AINT Selection of reference 2 source C145 gt 0 Disable Selection of reference source C146 gt 0 Disable Selection of reference 4 source INPUTS FOR REFERENCES MENU P057 gt 5 V P050 0 10 Type of reference for REF input P051 10V Value of the min reference for REF input P052 10V Value of the max reference for REF input P055 0 10 Type of reference for AINT input PO56 5 V Value of min reference for AINT input Value of max reference for AINT input The speed reference is the min speed set in C028 motor 1 when both REF input and AINT input values are lower than or equal to the minimum values set in PO51 and 56 respectively The maximum allowable value as an absolute value for C028 and C029 minimum and maximum motor speed also depends on the preset maximum carrier frequency see Table 63 in the Programming Guide R 07 can be max 4 times the rated speed of the connected motor NOTE NOTE The value set as the min speed is
4. C008 Rated Mains Voltage 0 200 240 V 2T Regen 380 480 V 481 500 V AT Regen 500 600 V 5T Regen 600 690 V 6T Regen 380 480 V Default Level 55 This parameter defines the rated voltage of the mains powering the drive thus allowing obtaining voltage ranges to be used for the drive operation The value set in this parameter depends on the Drive voltage class To supply the drive via a non stabilized DC source the corresponding AC voltage range must be used see Table 7 DO NOT USE T Regen settings in this case Function Table 7 Equivalence between AC mains range and DC range AN NOTE 34 68 200 240 Vac 280 338 380 480 Vac 530 678 Vdc 481 500 Vac 680 705 Vdc 500 600 705 810 600 690 Vac 810 970 Vdc Select xT Regen where x relates to the voltage class of the drive if the drive is DC supplied through a regenerative Sinus Penta or a different drive used to stabilize the DC bus to a higher level than the stabilization level obtained when rectifying the 3 phase mains MOTOR APPLICATION CARRARO GROUP GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS C009 of Configured Motors Range 1 3 1 3 Defaut CE Level ENGINEERING Address 1009 This parameter determines the number of motors to be configured The active motor is selected
5. 0 200 0 Disabled 200 9 5 1 O Disobled Level ADVANCED 1039 1082 1125 Control This parameter represents the rated motor slip expressed as a value percent If set to O this function is disabled Function 47 68 SINUS PENTA SANTERNO 0O y CARRARO GROUP C040 C083 C126 Voltage Drop at Rated Current Range 0 500 0 50 0 Default O 0 Disabled Level ADVANCED 1040 1083 1126 tere NN Defines the increase in voltage in terms of the corresponding produced frequency when the current produced by the motor is greater than or equal to the rated current For example C040 10 Voltage drop at rated current EUnciton C013 Constant Torque of V f pattern C015 50 Hz Rated frequency C019 380 V Rated voltage If the drive output frequency is 25 Hz it must deliver 190V When the output current is equal to the rated current of the motor CO18 the voltage actually produced is Vout 190 1 C040 100 209V C042 C085 C0128 Vout Saturation Percentage 10 120 10 120 Default Level ENGINEERING Address 1042 1085 1128 This parameter sets the bus voltage value percent used to generate the output voltage of the drive Changes made to this parameter affect the motor performance in terms of defluxing Function 48 68 GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS MOTOR APPLI
6. 97 BEMF Compensation Level ADVANCED 635 637 639 Control When in speed control mode or position control mode this parameter indicates if the back electromotive force BEMF is compensated in the current loop starting from the speed reference This parameter is ignored in torque control mode If the motor is known parameter 15 it is advisable to keep the relevant parameter set to Yes otherwise BEMF compensation may be kept disabled but this will slightly affect the system performance C012 C055 C098 Feedback from Encoder Resolver Level Perm 1012 1055 1098 e rd NE SYN Enables using the position transducer See the ENCODER FREQUENCY INPUTS MENU in order to define the characteristics of the position transducer and to define whether encoder A terminal board MDI6 and MDI7 encoder B optional board or the absolute encoder resolver is used for the speed feedback If CO10 1 SYN this parameter is automatically set to 1 Yes and cannot be changed because the SYN control requires a position transducer 37 68 SINUS PENTA Z SANTERNO O SOEN CARRARO GROUP C013 C056 C099 Type of V F Pattern 0 Constant Torque LOUGE 2 1 Quadratic 2 Free Setting See relevant Tables in the Programming Guide Level BASIC ACCES 1013 1056 1099 Control Enables selecting different types of V f patterns If C013 C0
7. is sufficient Reset the board Access the ENCODER FREQUENCY INPUTS MENU in C189 set the source of the encoder signal used as the speed feedback in Encoder A e g 1 A Feedback B Unused enter the number of pulses per revolution C190 and C191 and the number of encoder channels C197 consult the relevant section in the Installation Guide for more details Absolute digital encoders EnDat BiSS HIPERFACE In the EXPANSION BOARD CONFIGURATION MENU set parameter RO23a to 2 3 4 EnDat BiSS HIPERFACE Set the other parameters relating to the type of encoder being used Reset the board SinCos encoder 3 channel SinCos encoder In the EXPANSION BOARD CONFIGURATION MENU set parameter RO23b to 3 and parameter RO23a to Reset the board Access the ENCODER FREQUENCY INPUTS MENU in C189 set the source of the encoder signal used as the speed feedback in Encoder B e g 3 A Unused B Feedback In C191 set the number of pulses per revolution For more details refer to the relevant section in the Installation Guide Five channel SinCos encoder In the EXPANSION BOARD CONFIGURATION MENU set parameter RO23b to and parameter RO23a to 5 In RO97 set the number of sinusoids per revolution e g 3 A Unused B Feedback In C191 set the number of pulses per revolution Reset the board Resolver In the EXPANSION BOARD CONFIGURATION MENU set parameter RO23a to 1 Resolver Reset the board Access the ENCODER FRE
8. CARRARO GROUP 7 4 3 CHECKING THE ENCODER OPERATION Set 1073 as Encoder Tune to check the correct operation of the encoder selected as a speed feedback see the ENCODER FREQUENCY INPUTS MENU and to automatically set the correct direction of rotation Before checking the correct operation of the encoder used as a speed feedback enter AN NOTE the motor ratings and the encoder ratings Refer to the MOTOR CONTROL MENU and ENCODER FREQUENCY INPUTS MENU Once 1073 is set as Encoder Tune and the ENABLE and START commands are enabled the connected motor attains a speed of rotation of approx 150 rpm its speed of rotation is detected by the encoder then the drive is disabled The following messages can be displayed on the display keypad A059 Encoder Fault W31 Encoder Then the following message is always displayed W32 OPEN ENABLE If alarm A059 Encoder Fault trips in the encoder input the value measured by the drive does not match with the real speed of rotation of the motor Check if the encoder is properly set up see the ENCODER FREQUENCY INPUTS MENU and wired if the Encoder B input is used check the Configuration of the DIP switches located on optional board ES836 or ES913 see the Sinus Penta s Installation Guide If W31 Encoder OK appears the speed feedback from encoder is correct In addition the autotune sets the encoder signal as feedback with parameter C199 28 68 GUIDE TO THE SYNCHRONOUS 9x MOTOR APPLICATIO
9. Select Firmware Upgrade from the File drop down menu Enter the path for the PXxxxxFO mot and PXxxxxF 1 files to be downloaded If only one of the firmware files or MMI tables is to be updated go to step 7 If an application shall be downloaded to PXxxxx select the PXxxxxFO mot file and click the Open button 6 68 GUIDE TO THE SYNCHRONOUS 9x MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP Send the Autodet command to allow the Remote Drive to detect the type of equipment Once the product is detected PXxxxx will appear in the Equipment Type window ol Remote Drive C AA_ES821_PR Texas PR1650F0 MOT OK Bx File Chat Tools Config Data Activity Tracker Window 4 eej Back Next Browse Send Close Device parameters Firmware downloader parameters of device Address Baud rate download 115200 v E PD165 v f Flash Erasing T out 5 20 Dev USB RS485 2 wires Connected to COM4 Press the Send button confirmation for the Flash clearing will appear Click Yes to start downloading Once download is complete go to step 6 Click Browse to select the PxxxxF1 mot file al Remote Drive C AA_ES821_PR Texas PR1650F1 MOT gj Ele Chat Tools Config Data Activity Tracker Window Help Doc m 4 4B En Aca Eng EE Next Browse Send tab Close Device parameter
10. 1 1031 74 2 Maximum speed alarm ADVANCED 1074 0 Disabled C117 M3 1117 2032 M Quadratic torque curve 1082 075 2 m ADVANCED 1075 30 C118 M3 1118 C033 1 Rated revolutions referring 1033 C076 M2 to quadratic torque curve ADVANCED 1076 2096 C119 M3 decrease 1119 C034 MI 1034 Depending on the model C077 M2 Voltage preboost for IFD BASIC 1077 See tables in the C120 M3 1120 Programming Guide C035 1 R 1035 Depending on the model C078 M2 vorege Boost 915 ofthe ADVANCED 1078 See tables in the C121 1121 Programming Guide C036 MI Volt Baccho 1036 Depending on the model C079 M2 ADVANCED 1079 See tables in the C122 M3 bi ib dup c 1122 Programming Guide C037 1 Frequency for application of 1037 Depending on the model C080 M2 voltage Boost at ADVANCED 1080 See tables in the C123 M3 programmable frequency 1123 Programming Guide 33 68 9 GUIDE TO THE SYNCHRONOUS SINUS PENTA A SANTERNO MOTOR APPLICATION C038 1 1038 Depending on the model C081 M2 Autoboost 1081 See tables in the C124 M3 1124 Programming Guide C039 1 1039 82 2 Slip compensation 1082 0 Disabled C125 M3 1125 C040 MI 1040 C083 M2 by drap atraia 1083 0 Disabled C126 M3 1126 C042 MI 1042 C085 M2 Vout saturation percentage 2 1085 10096 C128 M3 1128
11. RO23b Incremental Sensor on Expansion Board 0 None 1 Incr Enc on Exp Board 2 Resolver to Encoder 3 SinCos 3 Ch Default 0 0 None Level ENGINEERING Address 605 The parameter defines the type of incremental position sensor acquired by optional board fitted into slot ES861 ES950 5966 or by SinCos board ES860 fitted into slot A 0 None The incremental sensor on boards 5950 ES966 is acquired as encoder A 1 Enc Incr on Exp Board The incremental encoder on optional board ES861 is acquired as encoder A Function 2 Resolver to Encoder The incremental encoder obtained by the resolver signal on optional board ES861 is acquired as encoder A 3 SinCos 3 Ch The 3 channel SinCos encoder on optional board ES860 or ES966 is acquired as encoder B Refer to Table 17 The sensor set in this parameter will be used based on the setting in C189 see ENCODER FREQUENCY INPUTS MENU In order to be used as motor feedback sensor parameter RO23a must be set to 0 0 3 Table 17 Optional boards and parameter RO23b Any value 3 Line driver encoder any 1 Enc Incr on Exp Board Encoder from resolver 2 Resolver to Encoder 3 channel SinCos encoder 3 SinCos 3 Ch RO24 Incremental Encoder Frequency Divider on Resolver Board Default Level ENGINEERING Address Defines the frequency division factor applied to the encoder fed
12. 15Q0102B200 SINUS PENTA MULTIFUNCTION AC DRIVE GUIDE TO THE SYNCHRONOUS MOTOR APPLICATION Issued on 13 07 2012 English R 00 Software Version 4 01x e This manual is integrant and essential to the product Carefully read the instructions contained herein as they provide important hints for use and maintenance safety e This device is to be used only for the purposes it has been designed to Other uses should be considered improper and dangerous The manufacturer is not responsible for possible damages caused by improper erroneous and irrational uses e Elettronica Santerno is responsible for the device in its original setting e Any changes to the structure or operating cycle of the device must be performed or authorized by the Engineering Department of Elettronica Santerno e Elettronica Santerno assumes no responsibility for the consequences resulting by the use of non original spare parts e Elettronica Santerno reserves the right to make any technical changes to this manual and to the device without prior notice If printing errors or similar are detected the corrections will be included in the new releases of the manual e The information contained herein is the property of Elettronica Santerno and cannot be reproduced Elettronica Santerno enforces its rights on the drawings and catalogues according to the law SANTERNO CARRARO GROUP Elettronica Santerno S p A Strada Statale Selice 47 40026 Imol
13. List of Parameters P174a to P174c3 and input 027 23 Table 4 Programmable Motor Tune 27 Table 5 Description of the parameters classified by motor ccccccccccccsssssseeeeececceesesssseeeeeeeeeseesssseeeeeeeeeeeeeas 30 Table 6 List of Parameters to 128 2222 32 Table 7 Equivalence between AC mains range and DC range ssssssssssseeeeee eene 34 Table 8 List of Parameters C189 C199 sssssssssssssssssssseeeseeene nennen enne 53 Table 9 Matching between physical encoders and logic encoder sssssssssseeeenees 54 Table 10 Matching between physical encoders and logic encoder B 55 Table eCodmg or p e 55 Table 12 Coding oFC 199 rr 58 Table 13 Possible encoder configurations 59 Table 14 List of Parameters R021 to R024 R092 to 61 Table 15 Optional boards and parameter R023 62 Table 16 Optional boards and parameter R023a 62 Table 17 Optional boards and parameter R023b 63 Table 18 List of the Alarms specific to the S
14. NOTE C023 From the resulting value manually subtract the value in mH of the output By means of the Autotuning function calculate the value of the leakage inductance inductance if any GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS MOTOR APPLICATION CARRARO GROUP C024 C067 C110 Mutual Inductance Range 0 65000 0 00 650 00mH Default 250 00mH Level ADVANCED 1024 1067 1110 Control This parameter defines the mutual inductance of the connected motor The approximate value of the mutual inductance results from no load current according to the formula below M Vmot Rstat lo 2rfmot lo Function Parameter C024 mutual inductance is automatically calculated based on the preset no load current value C021 whenever parameters 1073 and 1074 are set as follows NOTE 1073 1 Motor Tune 1074 All no rotation whether current loop tuning is performed or not gt C026 C069 C112 Time Constant of Bus Voltage Low pass Filter EN O 32000 0 0 3200 0 ms ooms ENGINEERING 1026 1069 1112 This parameter defines the time constant of the low pass filter of the bus voltage readout Changing this value can avoid motor oscillations especially when no load is connected to the motor Function 43 68 GUIDE TO THE SYNCHRONOUS SINUS PENTA MOTOR APPLICATION Z SANTERNO CARRARO GROUP C028 71 C114 Minimum Motor Speed
15. P129 motor 2 P135 to P139 motor 3 P145 to P149 Because the result depends on the load inertia make sure that parameters CO22b and 2 SYN Update C022c motor 2 65 and 5 motor 3 C108b and C108c are 0 IFD ctrl no rotation 1 SYN Update current loop speed loop properly set If those parameters are not known the gains for speed loop and position loop are to be manually set up Manual adjustment might be required anywoy 3 SYN autotune 4 SYN BEMF tune In order to perform the procedure close the ENABLE signal after setting 1074 Automatic estimation of the stator resistance and the phase inductance of the synchronous motor SYN algorithm automatic tune of the gains for speed loop and position loop the position tune is the same as the one obtained with 1 SYN Update current loop In order to perform the procedure close the ENABLE signal and the START signal after setting 1074 accordingly When the procedure is complete parameters P174b1 P174c1 C22 C22a motor 2 P174b2 P174c2 C065 C065a motor 3 P174b3 P174c3 C108 C108a will automatically be updated Automatic tune of the BEMF This procedure causes the motor to rotate at high speed and enables estimating parameter 15 C058a and 097 respectively for motor 2 and motor 3 In order to perform the procedure close the ENABLE and the START signal after setting 1074 accordingly 27 68 SINUS Z SANTERNO O ion
16. Reading both encoders A and B can be programmed parameter C189 defines the encoder to be used as a reference source if set as a speed torque reference source in the MOTOR CONTROL MENU or as a reference source of the PID CONFIGURATION MENU in the Programming Guide and the encoder to be used as a speed feedback Configuration allowed for quick acquisition digital inputs is given in Table 11 Function The matching between the different physical encoders and logic encoders A and B is given in Table 9 and Table 10 If the encoder is used as a reference source the detected speed value will be saturated and scaled based on the values set in PO73 and 74 respectively minimum and maximum value for the encoder Example C189 A Reference B Unused 73 1500rpm 74 1500rpm if the encoder is used as a PID reference the reference measure is expressed as a percentage of the max value 73 74 If a frequency input is selected its readout is saturated and scaled based on parameters PO71 and P072 respectively minimum and maximum value for the frequency input If parameter 2 is gt 0 the transducer selected by that parameter will be used as the motor feedback regardless of the value in C189 NOTE In that case encoder A or B selected as the feedback encoder in parameter C189 will act as the PID feedback only see the PID CONFIGURATION MENU in the Programming Guide If a board acquiring absolute p
17. 0 V 2300 for class 2T drives 230 0V for class 2T drives 4000 for class 4T drives 400 0V for class drives 5750 for class 5T drives 575 0V for class 5T drives 6900 for class 6T drives 690 0V for class 6T drives Default 1019 1062 1105 Aai This parameter defines the rated motor voltage nameplate rating 0 0 100 0 Default Level Address Control This parameter defines the power absorbed by the motor at rated voltage and rated rpm when no load is connected to the motor It is expressed as a percentage of the value in parameter 17 C021 C064 C107 No load Motor Current Default Level ADVANCED 1021 1064 1107 Control This parameter defines the current absorbed by the motor at rated voltage and rated rpm when no load is connected to the motor It is expressed as a percentage of the rated motor current C018 C061 C104 Function 40 68 GUIDE TO THE SYNCHRONOUS MOTOR APPLICATION Z SANTERNO SINUS PENTA CARRARO GROUP C022 C065 C108 Motor Stator Resistance Range Default Level Address Function 0 32000 0 000 32 0000 See relevant tables in the Programming Guide ENGINEERING 1022 1065 1108 This parameter defines stator resistance Rs If a star connection is used it matches with the value of the resistance of one phase half the resistance measured between two terminals if a delta connection is used it matches with 1 3 of the resist
18. 1020 C063 M2 No load motor power ADVANCED 1063 0 0 C106 M3 1106 GUIDE TO THE SYNCHRONOUS MOTOR APPLICATION 2 SANTERNO SINUS PENTA 21 1 1021 C064 M2 No load motor power ADVANCED 1064 0 C107 M3 1107 C022 1 1022 Depending the model C065 M2 Motor stator resistance ENGINEERING 1065 See tables in the C108 M3 1108 Programming Guide C022a 1 754 C065a M2 Phase inductance ENGINEERING 765 0 00 mH C108a M3 1237 022 1 755 C065b M2 Load inertia ENGINEERING 766 0 000 kgm C108b M3 1238 22 1 756 C065c M2 Rotor inertia ENGINEERING 767 300 C108c M3 1239 C022d 1 757 C065d M2 Viscous friction coefficient ENGINEERING 768 0 00 mNm rad s C108d M3 1240 C023 1 1023 Depending on the model C066 M2 Leakage inductance ENGINEERING 1066 See tables in the C109 M3 1109 Programming Guide C024 M1 1024 C067 M2 Mutual inductance ADVANCED 1067 250 00mH C110 M3 1110 MI Time constant of bus voltage 1926 C069 M pass filter I ENGINEERING 1069 0 ms C112 M3 1112 C028 MI 1028 C071 M2 Minimum motor speed BASIC 1071 0 rpm C114 M3 1114 C029 1 1029 C072 M2 Maximum motor speed BASIC 1072 1500 rpm C115 M3 1115 C031
19. C189 C190 C191 1073 1074 C265 C267 Rated mains voltage Type of control algorithm Type of V f pattern Rated motor frequency Rated motor rpm Rated motor power Rated motor current Rated motor voltage Min motor speed Max motor speed Voltage preboost Acceleration ramp time Deceleration ramp time Current limit while accelerating Current limit at constant rpm Current limit while decelerating Torque limit Encoder operating mode Encoder A pls rev Encoder B pls rev Autotuning selection Motor tuning selection Motor thermal protection Motor thermal time constant SINUS PENTA only if IFD is active only if IFD is active only if IFD is active only if IFD is active only if IFD is active only if SYN is active only if SYN is active only if SYN is active only if SYN is active only if SYN is active only if SYN is active only if protection is active After setting the last parameter and moving the cursor forward the following screen appears Press UP ARROW to qu it DOWN ARROW to continue Press A to quit the Start up menu The default page of the system will be displayed 11 68 SINUS 9 GUIDE TO THE SYNCHRONOUS A SANTERNO MOTOR APPLICATION CARRARO GROUP 6 FIRST STARTUP PROCEDURE SYNCHRONOUS MOTOR 1 Wiring 2 Power on 3 Parameter modifications 4 Supply voltage 5 Encoder parameters 12 68 Follow the instructions stated in the Caution Stat
20. PARAMETERS C189 C199 Table 8 List of Parameters C189 C199 Encoder Frequency input operating mode SINUS PENTA Not used Number of pls rev for encoder A Number of pls rev for encoder B BASIC 1024 1024 Speed searching error timeout ENGINEERING 5 00 sec Error between reference and speed ENGINEERING 300 rpm Tracking error alarm enable ENGINEERING 1 Active Filter time constant over value of feedback ENGINEERING from encoder 5 0 ms Filter time constant over value of reference from encoder ENGINEERING 5 0 ms Number of channels of Encoder A ENGINEERING 0 2 Squaring channels Number of channels of Encoder B ENGINEERING 0 2 Squaring channels Encoder sign reversal ENGINEERING O Fdbk NO Ref NO Resolver excitation frequency ENGINEERING 1 10kHz EXC Adjustment ENGINEERING 75 EXC Adjustment ENGINEERING 75 53 68 SINUS PENTA Z SANTERNO O SOGNO CARRARO GROUP C189 Encoder Frequency Input Operating Mode 0 14 See Table 11 Default lo Not used Not used Level BASIC 1189 This parameter determines the operating mode of quick acquisition digital inputs or encoders connected to optional boards If MDI8 is used as a frequency input the option board for encoder B is not required MDI6 digital input may be used as a frequency input if used along with MDI7 it can be used for encoder A reading
21. User Manual of the Remote Drive software for more details The software of the Sinus Penta drives consists of two files one containing the firmware and one containing the MMI table for the keypad interface Both files use hexadecimal files with the MOT format The filenames ending with FO relate to the firmware the filenames ending with F1 relate to the MMI table 5 68 SINUS Z SANTERNO O SOEN CARRARO GROUP 3 1 FIRMWARE UPGRADE This section covers firmware upgrade and application download In case of multidrop connection RS485 only the equipment to be upgraded NOTE shall be connected to the network Launch the Remote Drive Select the dialog language click a flag and press Next In the Connection Parameters window select the Local mode In the Serial Configuration Parameters window set the interface device the COM port being used and the baud rate 38400bps click Connect then click Next In the example below USB RS485 converter is used Remote Drive Connection parameters m T Serial link Luminous panel serial link Mode Serial configuration parameters Type of connection Device port USB RS485 2 wires PC Port COM4 Baud rate bps 38400 v D Parity pNone Iv Interm Delay ms 10 v Rem Host TimeOut ms 500 v TimeOut ms 300 V TCP IP Port Rem TimeOut s Mode Local Dev USB RS485 2 wires Not Connected
22. installed on the motor EnDat encoder BiSS encoder 5 channel SinCoS encoder or Resolver only once at first startup if alarm A132 trips if a mechanical displacement between the motor shafts and the position sensor has occurred If an incremental position sensor is installed on the motor incremental encoder 3 channel SinCos encoder as in the case above every time the drive is powered on or reset After setting 1027 to 1 close the ENABLE and START inputs to start the alignment procedure Wait for W32 Open Enable then open the ENABLE and START inputs The offset angle is displayed in measure M129 Function The alignment procedure will make the motor run Make sure that the motor can CAUTION rotate freely no mechanical constraints or heavy loads 174 1 P174a2 P174a3 Maximum Time for Encoder Alignment Default Level ENGINEERING 760 771 1251 Control Duration of the alignment procedure for synchronous motors The alignment algorithm will perform the procedure within the set time If the alignment procedure time is increased the rotor will run more slowly thus reducing acceleration and load stress The time set in this parameter shall be exceedingly longer than the mechanical motor load time constant Function 24 68 GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS MOTOR APPLICATION CARRARO GROUP P174b1 P174b2 P74b3 Proportional Constant of Current Regulato
23. relevant parameter this parameter enables Function controlling digital I Os XMDI Os analog inputs XAIN and PT100 probes located on optional control boards Refer to Table 15 61 68 SINUS Z SANTERNO O ion CARRARO GROUP Table 15 Optional boards and parameter RO23 1 8l 60 2 8l 6O 3 8l 6O PT100 A 81 XAIN PT100 Relay Expansion 1 8l 60 Resolver BiSS EnDat Encoder 5 31 30 HIPERFACE Encoder I O Expansion RO23a Absolute Sensor for Motor Control None Resolver EnDat BiSS HIPERFACE 5 channel Sin Cos Range Default Level Address Defines the type of absolute position sensor used for motor control Refer to Table 16 The sensor set in this parameter is used for motor control regardless of the value set in C189 Function Table 16 Optional boards and parameter RO23a Resolver ES861 1 Resolver Encoder BiSS ES950 Part Number 2 EnDat 220101880 Encoder EnDat ES950 Part Number 3 BiSS 220101890 i Encoder HIPERFACE 5966 4 HIPERFACE 5 5 channel SinCos encoder 5 5 channel SinCos encoder 5 channel SinCos encoder Board ES950 may be supplied as BiSS or EnDat The two versions have different AN NOTE purchase codes see table above The desired version must be specified when ordering the product 62 68 GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS MOTOR APPLICATION CARRARO GROUP
24. used as the saturation of the total reference the speed reference will never be lower than the value set as minimum speed The minimum speed is not respected only when the REV command or the CW CCW command is sent after setting a value for max speed exceeding the minimum value C029 gt C028 for motor 1 and with the maximum reference to the drive The motor rpm will be C029 C028 44 68 GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS MOTOR APPLICATION CARRARO GROUP C029 C072 C115 Maximum Motor Speed 32000 note in O 32000 rpm see note in parameter rameter C028 C028 1500 1500 rpm Level BASIC 1029 1072 1115 This parameter defines the maximum speed of the connected motor When references forming the global reference are at their maximum relative value the global reference equals the max speed of the connected motor If C011 C054 C097 2 Torque with speed limit this parameter is used to limit the motor rotation Function In the CONTROL METHOD MENU if an external speed torque limit source C147 is selected the speed limit value set with this parameter is the upper limit that can be reduced by adjusting the external source Also the ramp times set in the RAMPS MENU P009 P025 are applied to this limit C031 C074 C117 Maximum Speed Alarm 0 32000 0 Disabled 32000 rpm Disabled Level ADVANCED N
25. 3 2 LIST OF PARAMETERS P174A1 P174c3 AND INPUT 1027 Table 3 List of Parameters P174a to P174c3 and input 1027 1027 SYN Controls BASIC 1414 174 1 Maximum Time for Encoder Alignment Mot 1 ENGINEERING 105 760 174 1 Proportional Constant of Current Regulator for ENGINEERING 3 00 761 Mot 1 P174cl Integral Time of Current Regulator for Mot 1 ENGINEERING 2 0 ms 762 174 2 Maximum Time for Encoder Alignment Mot 2 ENGINEERING 10s 771 P174b2 Proportional Constant of Current Regulator for ENGINEERING 3 00 772 Mot 2 174 2 Integral Time of Current Regulator for Mot 2 ENGINEERING 2 0 ms 773 174 3 Maximum Time for Encoder Alignment Mot 3 ENGINEERING 10 5 1251 P174b3 Proportional Constant of Current Regulator for ENGINEERING 3 00 1252 Mot 3 P174c3 Integral Time of Current Regulator for ENGINEERING 2 0 ms 1253 23 68 SINUS PENTA Z SANTERNO 0T Ty CARRARO GROUP 1027 SYN Controls 0 Disable 1 Encoder Align 0 1 This is not a parameter the input is set to zero whenever the drive is Default f powered on and whenever the command is executed Level BASIC Address 1414 Selects the command for the synchronous motor 1 Encoder Align The motor alignment procedure is required The rotor is run in order to detect the offset angle between the encoder and the motor phases The alignment procedure must be performed If an absolute position sensor is
26. 56 C099 Constant torque voltage at zero frequency can be selected Preboost C034 C077 C120 If C013 56 99 Quadratic you can select voltage at zero frequency preboost C034 77 120 maximum voltage drop with respect to the theoretical V f pattern 2 C075 C118 and the frequency allowing implementing max voltage drop C033 76 C119 If C013 C056 C099 Free setting you can select voltage at zero frequency preboost C034 C077 C120 voltage increase to 20 of the rated frequency Boost0 C035 C078 C121 voltage increase to a programmed frequency Boost1 C036 C079 C122 frequency for Boost C037 C080 C123 C014 C057 C100 Phase rotation Default Level ENGINEERING REESI 1014 1057 1100 Allows reversing the mechanical rotation of the connected motor DANGER The activation of C014 C057 C100 causes the mechanical rotation of the motor and the connected load to reverse accordingly 38 68 GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS MOTOR APPLICATION CARRARO GROUP C015 C058 C101 Rated Motor Frequency 10 10000 1 0 Hz 1000 0 Hz See upper limits according to the relevant Table in the Programming Guide DECU 500 Level BASIC CESI 1015 1058 1101 This parameter defines the rated motor frequency nameplate rating For SYN control it is to be calculated as follows fmot rpmnom 60 p where r
27. 7 1 MEASIJRES MENU 26 52 cert 15 7 1 1 15 7 1 2 Encoder Measures Hee e me ee hn eene nnn erer rere e essen ee esse annee nnn 15 7 1 3 BS Ce ome tM M E 17 7 2 SPEED LOOP POSITION AND CURRENT BALANCING MENU 18 7432 1 OaE 18 7 2 2 List of Parameters P125 to P152 19 7 3 SYN REGULATORS MENU eiiie R 23 7 3 1 a TS 23 7 3 2 List of Parameters P174a1 to P174c3 and Input 1027 23 7 4 AUTOTUNE MENU eae tL ME 26 7 4 1 VIG W 5 seins Ee cte DC 26 7 4 2 Motor Autotune and Adjusting 26 7 4 3 Checking the Encoder Operation 28 7 5 MOTOR CONTROL MENU MM 29 723 1 29 7 5 2 Torque Control SYN Only 31 7 5 3 List of Parameters to 128 32 7 6 DIGITALE INPUTS MENU 3 0 3 e o P TN 49 7 7 ENCODER FREQUENCY INPUTS
28. 767 1239 eT Moment of inertia of the rotor If summed to the value in parameter 22 65 C108b the value in this parameter determines the total moment of inertia of the system In order for the tuning procedure of the speed loop gains selected by 1074 2 SYN update speed loop to be performed correctly the total moment of inertia shall be as close as possible to the actual value The value of this parameter determines the forward action enabled by 11 Function Parameters CO22b CO65b C108b and 22 CO65c C108c are expressed N CAUTION in two different units of measure 22 is in kgm 22 is in kgmm The relation between the two units of measure is 1 kgm 1000000 kgmm C022d 654 C108d Viscous Friction Coefficient Synchronous Motor Range 0 65000 0 00 650 00 mNm rad s Default O 0 00 mNm rad s Level ENGINEERING 757 768 1240 Control SYN Aaa Sets the viscous friction coefficient C023 C066 C109 Motor Leakage Inductance Range 0 32000 0 00 320 00mH See relevant tables in the Programming Guide Level ENGINEERING 1023 1066 1109 ter NM Sets the total leakage inductance of the connected motor If a star connection is used it matches with the value of the inductance of one phase if a delta connection is used it matches with 1 3 of the inductance of one phase Autotune is always recommended
29. 913 are fitted into slot A incremental encoders on ES836 and ES9 13 Motor control encoder Defined by C189 Encoder Incremental encoder simulated from resolver on ES861 Encoder B Frequency input MDI8 if ES836 or ES913 are fitted into slot A incremental encoders on ES836 and ES913 Motor control encoder Defined by C189 Encoder M Resolver on ES861 Encoder Encoder B Frequency input MDI8 if ES836 or ES913 are fitted into slot A incremental encoders on ES836 and ES913 Motor control encoder Encoder M resolver Encoders A and B may be used as a PID feedback or reference based on ES861 C the configuration of C189 Encoder M Resolver on ES861 Encoder Incremental encoder on ES861 Encoder B Frequency input MDI8 if ES836 or ES913 are fitted into slot A incremental encoders on ES836 and ES913 Motor control encoder Encoder M resolver Encoders A and B may be used as a PID feedback or reference based on the configuration of C189 Encoder M Resolver on ES861 Encoder A Incremental encoder simulated from resolver on ES861 Encoder B Frequency input MDIB8 if ES836 or ES913 are fitted into slot A incremental encoders on ES836 and ES913 Motor control encoder Encoder M resolver Encoders A and B may be used as a PID feedback or reference based on the configuration of C189 ES860 A 59 68 SINUS PENTA ES950 C 22 SANTERNO 2005 TO THE SYNCHRONOUS CARRARO GROUP MO
30. C054 for motor 2 97 for motor 3 In this way the main reference corresponds to the motor torque demand and may range from C047 to C048 see the LIMITS MENU in the Programming Guide for motor 1 minimum and maximum torque expressed as a percentage of the rated motor torque For motors 2 and 3 the parameters relating to the minimum and maximum torque C090 C091 and C133 C134 are included in the Limits Menu 2 and Limits Menu When using a Sinus Penta drive model 0020 connected to 15kW motor C048 is factory set to 120 of the rated motor torque If the max reference is applied C143 REF the torque reference will be 120 If 7 5kW motor is connected C048 may exceed 20096 torque values exceeding 20096 may be obtained based on the value set in C048 The rated motor torque results from the following formula where is the rated power expressed W and is the rated speed of rotation expressed in radiants sec Example the rated torque of a 15kW motor at 1420rpm is equal to 15000 C 100 9 Nm 1420 21 60 The starting torque is rated torque 12096 121 1 Nm 31 68 GUIDE TO THE SYNCHRONOUS SINUS PENTA MOTOR APPLICATION Z SANTERNO CARRARO GROUP 7 5 3 LIST OF PARAMETERS 8 ro C128 Table 6 List of Parameters to C128
31. CATION CARRARO GROUP 7 6 DIGITAL INPUTS MENU The following parameter has been added to the Digital Inputs menu for the Synchronous Motor application C188d MDI for SYN Alignment Request gt Inactive 1 8 MDI8 9 12 1 MPL4 13 16 gt TFL1 TFL4 17 24 XMDI1 XMDI8 Inactive 0 16 Uil o 24 if ES847 or ES870 is fitted Default O Level ADVANCED eet 1149 Request for performing the synchronous motor alignment procedure Do the following enable the input specified by the parameter then close the ENABLE and START input The alignment procedure will make the motor run Make sure that the motor can CAUTION rotate freely no mechanical constraints or heavy loads 49 68 SINUS PENTA Z SANTERNO ToO CARRARO GROUP 7 7 ENCODER FREQUENCY INPUTS MENU 7 7 1 OVERVIEW Three quick acquisition digital inputs are available in the Sinus Penta control board e MDI6 ECHA FINA e MDI7 ECHB e MDI8 FINB These inputs can be used as incremental encoder reading encoder A or as frequency inputs In addition if optional board 5836 or 5913 is used see the Sinus Penta s Installation Guide an additional encoder reading encoder B is allowed Optional boards 5860 3 channel or 5 channel SinCos encoder ES861 resolver ES950 EnDat encoder or BiSS absolute encoders ES966 HIPERFACE absolute encoder make it possible to interface with that type of transd
32. D PRODUCT MEA PAR DIGITAL INPUTS RAMPS Si 1 MEA PAR REFERENCES INPUTS FOR REFERENCES MEA PAR OUTPUTS MULTISPEED MEA PAR TEMPERATURES PID MULTIREFERENCES FROM PT100 MEA PAR AUTODIAGNOSTICS PROHIBIT SPEEDS MEA PAR DATA LOGGER REFERENCE VARIATION MEASURES PERCENT END MEA PAR DIGITAL INPUTS SPEED LOOP AND PROGRAMMING CURRENT BALANCE MEA PAR FAULT LIST SYN REGULATOR EET MEA PAR MEASURE HISTORY AT ANALOG OUTPUTS POWER OFF AND FREQUENCY OUTPUTS GUIDE TO THE SYNCHRONOUS MOTOR APPLICATION Figure 1 Menu tree of the Synchronous Motor application Z SANTERNO CARRARO GROUP TIMERS p PAR PAR PID PARAMETERS PAR PID2 PARAMETERS PAR DIGITAL OUTPUTS PAR AUXILIARY DIGITAL OUTPUTS PAR MEASURES SETTING FROM PT100 FIELDBUS PARAMETERS PAR o PAR VIRTUAL DIGITAL OUTPUTS PAR INPUTS FOR REFERENCES FROM ES847 SINUS PENTA 9 68 SINUS PENTA Z SANTERNO O OTOR APPLICATION CARRARO GROUP 5 START UP MENU 5 1 Overview For easier start up of the Sinus Penta drive you can activate the Start Up Menu The Start Up Menu is a wizard allowing programming the main parameters for the connected motor and the parameters for PID control The parameters in this menu are the same as described in the FIRST STARTUP PROCEDURE SYNCHRONOUS MOTOR secti
33. Hz 0 63 MHz 0 5 MHz 0 33 MHz 0 25 MHz 0 2 MHz 0 17 MHz 0 14 MHz 0 13 MHz 0 11 MHz 0 1 MHz 0 09 MHz 0 08 MHz 0 08 MHz 0 07 MHz 0 07 MHz 0 06 MHz Jo to Level ENGINEERING Address 529 Sets the clock frequency of the BiSS protocol in sensor mode for a BiSS encoder on optional board ES950 Function 65 68 SINUS PENTA Z SANTERNO tepore CARRARO GROUP RO96 BiSS Frequency Divider in Register Mode 2 4 8 16 32 64 128 256 64 OS Oo IS CN Default 5 Level ENGINEERING Address 530 Divider of the selected frequency for BiSS in Sensor Mode The result ponen defines the working frequency for Register Mode transmissions R097 Sinusoids per turn of 5 Ch HIPERFACE SinCos Encoder Range 0 16384 0 16384 sinusoids turn Default 1024 1024 sinusoids turn Level ENGINEERING Address Defines the number of sinusoids turn of the HIPERFACE encoder on Function optional board 5966 or of 5 channel SinCos encoder on optional board ES966 or ES861 For 3 channel SinCos encoder on optional board ES966 or ES861 the number AN NOTE of sinusoids per turn is defined by parameter 191 in the ENCODER FREQUENCY INPUTS MENU 66 68 GUIDE TO THE SYNCHRONOUS 9x MOTOR APPLICATION A SANTERNO SINUS PENTA 7 9 ALARMS SPECIFIC TO SYN APPLICATION 7 9 1 OVERVIEW This section covers only the alarms specific to the SYN applicatio
34. LOOPS Set 1073 as Motor Tune to enable autotune functions that can be selected with 1074 ratings of the encoder used as a speed feedback Please refer to the MOTOR For the correct operation of the tuning algorithms enter the motor ratings and the A NOTE CONTROL MENU and ENCODER FREQUENCY INPUTS MENU 26 68 GUIDE TO THE SYNCHRONOUS 9 MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP Table 4 Programmable Motor Tune functions 1074 Setting Type of Tune Automatic estimation of the stator resistance and the leakage inductance that can be performed only on asynchronous motors controlled IFD algorithm If no load current CO21 is zero no load current values are computed based on the rated power of the connected motor This tuning mode is required for the correct operation of the control algorithms Automatic autotune of the current loop Tuning mode required for the correct operation of the SYN algorithm During autotune it is possible to monitor the reference current and the reference obtained on analog output AO2 and AOI In order to perform the procedure close the ENABLE signal after setting 1074 accordingly When the procedure is complete parameters P174b1 and P174c1 motor 2 P174b2 and P174c2 motor 3 P174b3 and P174c3 will automatically be updated Automatic autotune of the speed loop and position loop SYN algorithm This procedure automatically calculates parameters P125 P126 P127 P128
35. MENU 7 1 1 OVERVIEW This section covers the specific measures of the Synchronous Motor application 7 1 2 ENCODER MEASURES MENU M120 Incremental Encoder A Value 0 65535 65535 Note The actual range of this measure may depend on the type of encoder being used Active Always active Address 1743 This is the count value of encoder A see ENCODER FREQUENCY INPUTS MENU M121 Incremental Encoder B Value 0 65535 0 65535 Note The actual range of this measure may depend on the type of encoder being used Active Always active Address This is the count value of encoder B see ENCODER FREQUENCY INPUTS MENU M122 Absolute Encoder Value 0 65535 65535 Note The actual range of this measure may depend on the type of encoder being used Active Active only if the absolute encoder is enabled via parameter RO23a Address This is the count value of absolute encoder or encoder see ENCODER FREQUENCY INPUTS MENU Function 15 68 SINUS PENTA Z SANTERNO 2005 TO THE SYNCHRONOUS CARRARO GROUP MOTOR APPLICATION M123 Absolute Encoder Value Singleturn ST 0 65535 65535 Note The actual range of this measure may depend on the type of encoder being used Active Active only if the absolute encoder is enabled via parameter RO23a Ade M123a LO first 16 bits 3367 M123b HI second 16 bits 3368 Shows the values
36. N A SANTERNO SINUS PENTA CARRARO GROUP 7 5 MOTOR CONTROL MENU 7 5 1 OVERVIEW The Sinus Penta allows configuring three different types of motors and two different types of control algorithms at the same time The two types of control algorithms are identified with the acronyms Y IFD Voltage Frequency Control Y SYN Synchronous Motor The Voltage Frequency control allows controlling asynchronous motors by producing voltage depending on frequency The Synchronous Motor control allows controlling torque speed position of permanent magnet synchronous motors PMSMs The parameter set for the selected motor is included in the Motor Control menu Y Motor Control 1 Menu concerns motor 1 Y Motor Control 2 Menu concerns motor 2 Y Motor Control 3 Menu concerns motor 3 Factory setting allows configuring only one motor To access the Configuration menus of the other connected motors simply enter the number of the selected motor in C009 Number of Configured Motors in the Motor Control 1 Menu To select the connected motor use digital inputs programmed via parameters C173 and C174 Digital Input for Motor 2 Activation and Digital Input for Motor 3 Activation respectively see also the DIGITAL INPUTS MENU in the Programming Guide The parameters included in the Motor Control Menus are detailed in Table 5 Different SYN control parameter sets must refer to the same physical motor NOTE du Controlling multiple mo
37. QUENCY INPUTS MENU properly set parameter C201 Excitation Frequency C202 and C203 Excitation Signal Amplitude Adjustment An GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS MOTOR APPLICATION 6 Motor parameters 7 Autotune of stator resistor phase reactor current loop 8 Alignment procedure 9 Speed loop CARRARO GROUP indicative value for both C202 and C203 may be 75 but optimum values are found by connecting the drive to the Remote Drive application Access the ENCODER FREQUENCY INPUTS MENU and monitor the status of the two LEDs of measure M100 Resolver Signal Status When the optimum value is set for C202 and C203 the two LEDS turn green otherwise they turn red Access the MOTOR CONTROL MENU and set C010 Control Algorithm as SYN Synchronous Motor Parameter C012 Type of Speed Feedback from Encoder will automatically be set to Yes Set the motor ratings as follows C015 fmot1 rated motor frequency computed as follows fmotl rpmnom 60 p where rpmnom is the rated motor speed in rpm p is the number of pole pairs of the motor Example rpmnom 3000rpm p 3 pole pairs poles fmotl 3000 60 3 150 C016 1 rated rpm C017 Pmot1 rated power C018 Imot1 rated current C019 Vmot1 rated voltage C029 Speedmax1 desired maximum speed If it is known also set the following parameter C015a it may also be obtained during auto
38. TOR APPLICATION Encoder Incremental encoder 5950 Encoder B Frequency input MDI8 if ES836 or 5913 are fitted into slot A incremental encoders on ES836 and 5913 Motor control encoder Defined by C189 2 3 Encoder M EnDat BiSS encoder on ES861 Encoder A Incremental encoder on ES950 Encoder B Frequency input MDI8 if ES836 or ES913 are fitted into slot A incremental encoders on ES836 and ES913 Motor control encoder Encoder M EnDat BiSS Encoders A and B may be used as a PID feedback or reference based on the configuration of C189 ES966 60 68 Encoder Incremental encoder on ES966 Encoder B Frequency input MDI8 if ES836 or ES913 are fitted into slot A incremental encoders on ES836 and 5913 Motor control encoder Defined by C189 Encoder M HIPERFACE encoder on ES966 Encoder Incremental encoder on ES966 Encoder B Frequency input MDI8 if ES836 or ES913 are fitted into slot A incremental encoders on ES836 and ES9 13 Motor control encoder Encoder M HIPERFACE Encoders A and B may be used as a PID feedback or reference based on the configuration of C189 Encoder M 5 channel Sin Cos encoder on ES966 Encoder Incremental encoder on ES966 Encoder B Frequency input MDI8 if ES836 or ES913 are fitted into slot A incremental encoders on ES836 and ES913 Motor control encoder Encoder M 5 channel Sin Cos encoder Encoders A and B may be used as a PID feedback o
39. US MOTOR APPLICATION CARRARO GROUP P128 P138 P148 Proportional Coefficient for Minimum Error 0 65000 0 00 650 00 Level 728 738 748 Control This parameter sets the minimum proportional coefficient for the speed regulator used when the error is lower than the minimum threshold If the minimum and maximum error thresholds are the same P130 P131 for Motl P140 P141 for Mot2 P150 P151 for Mot3 this is the proportional coefficient of the speed regulator Default value 10 if a speed error of 196 occurs the regulator will require 1096 of the rated motor torque P129 P139 P149 Proportional Coefficient for Maximum Error 0 65000 0 00 650 00 Default 1000 10 00 Level BASIC LECS 729 739 749 tero EE SYN This parameter sets the proportional coefficient for the speed regulator used when the error is higher than the maximum threshold Default value 10 if a speed error of 196 occurs the regulator will require 1096 of the rated motor torque This parameter may be accessed only if the min and max error thresholds are different P130 P131 for Motor P140 P141 for Motor2 P150 P151 for Motor3 Function P130 P140 P150 Minimum Error Threshold 0 32000 0 00 320 00 1 Level 730 740 750 Control This parameter sets the minimum error threshold expressed as a percentage of the
40. YN application 67 3 68 SINUS Z SANTERNO O ion CARRARO GROUP 1 SCOPE OF THIS MANUAL Elettronica Santerno is committed to update its User Manuals available for download from santerno com with the latest software version officially released Please contact Elettronica Santerno if you require technical documents related to previous software versions 2 OVERVIEW Special software that can be used for particular applications is supplied with the drives of the Sinus Penta series The menu tree the programming mode and navigation mode of the Sinus Penta are used parameters or menus will be added removed whether required not required for your application This manual covers the wiring diagrams and the parameters relating to the Synchronous Motor application Accessory boards are covered in the Sinus Penta Installation Guide The parameters shared with the standard Sinus Penta are covered in the Sinus Penta Programming Guide The FIRMWARE UPGRADE section explains how to download the files for the Sinus Penta applications to the standard drive this download procedure is to be performed only when a drive programmed with standard firmware not with Synchronous Motor firmware needs to be updated The procedure above is not required if the drive is factory set with the Synchronous Motor firmware 2 1 SYNCHRONOUS MOTOR APPLICATION The Sinus Penta drive featuring Synchronous Motor application enables torque cont
41. a BO Italy Tel 39 0542 489711 Fax 39 0542 489722 santerno com sales santerno com SINUS Z SANTERNO O SOGNO NE m a gt A CARRARO GROUP 0 TABLE OF CONTENTS TABLE OF CONTENTS 5 estes eese aue Eee PETER NN EE EE NV ER OUR a E PE ERR SEE eSa EE NEEESE 2 0 1 Idex of FIQUIeS re rer tert rn a ER 3 0 2 Index or Tables sssrini ede dece dese eben 3 SCOPE OFTHIS MANUAL M 4 OVERVIEW 4 2 1 SYNCHRONOUS MOTOR APPLICATION ccccccccccccccccccceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeess 4 SOFTWARE DOWNLOAD FOR APPLICATION 5 3 1 FIRMWARE UPGRADE 0cccccccccccccceeesececccccsecususesececccssecuussscececcssseuuueseeeecssseeuuuseseeeecssseuuanenesess 6 MENU TREE 8 gg 10 5 1 OVerVIBW AR Eee Foe EA e Pede be NE 10 FIRST STARTUP PROCEDURE SYNCHRONOUS MOTOR e cernere eee ee netten ene eorr 12 PARAMETERS FOR SINUS PENTA DRIVES FEATURING SYNCHRONOUS MOTOR APPLICATION M J E 15
42. ance of one phase Autotune is always recommended This parameter may automatically be updated by the relevant tuning command SYN Control 1074 4 SYN BEMF tune IFD Control 1074 0 IFD Control Auto no Rot 022 C065a C108a Phase Inductance Synchronous Motor Range Default Level Address Control Function 0 65000 0 00 65 000 mH 0 0 00 mH ENGINEERING 754 765 1237 SYN Single phase inductance of the synchronous motor This parameter may automatically be updated by the relevant tuning command 1074 4 SYN BEMF tune 22 CO65b C108b Load Inertia Synchronous Motor Range Default Level Address Control Function 0 65000 0 000 65 000 0 0 000 kgm ENGINEERING 755 766 1238 SYN Moment of inertia of the load If summed to the value in parameter 22 65 C108c the value in this parameter determines the total moment of inertia of the system In order for the tuning procedure of the speed loop gains selected by 1074 2 SYN update speed loop to be performed correctly the total moment of inertia shall be as close as possible to the actual value The value of this parameter determines the forward action enabled by COlla 41 68 SINUS PENTA Z SANTERNO roO CARRARO GROUP 22 C065c C108c Rotor Inertia Synchronous Motor 65000 0 65000 kgmm 300 300 Level ENGINEERING 756
43. back as an output on the terminals of the optional board pins 15 to 20 On ES861 applied on the simulated encoder signal fed back on the terminal board On ES950 and ES966 applied to the signal of the incremental encoder wired on the terminal board and fed back on the terminal board itself Function 63 68 SINUS PENTA Z SANTERNO O SONON CARRARO GROUP RO92 EnDat Protocol Frequency 0 8 MHz 1 4 MHz 2 2 MHz 3 1 MHz 4 200 kHz 2 2 MHz Default 2 Level ENGINEERING Address 526 Sets the clock frequency of the EnDat protocol for an EnDat encoder on optional board ES950 RO93 Number of Multiturn Bits for Absolute Digital Encoder Range Default 12 bit Level ENGINEERING Address EM Sets the number of multiturn MT bits of absolute digital encoders EnDat 155 HIPERFACE on optional boards ES950 and 5966 RO94 Number of Singleturn Bits for Absolute Digital Encoder Range Default 12 Level ENGINEERING Address Fundi Sets the number of singleturn ST bits of absolute digital encoders EnDat 155 HIPERFACE on optional board ES950 and ES966 64 68 GUIDE TO THE SYNCHRONOUS 9x MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP RO95 BiSS Frequency in Sensor Mode 0 10 MHz 5 MHz 3 33 MHz 2 5 MHz 2 MHz 1 67 MHz 1 43 MHz 1 25 MHz 1 11 MHz 1 MHz 0 91 MHz 0 83 MHz 0 77 MHz 0 71 MHz 0 67 M
44. e motor currents any control algorithm see P152 The speed regulator for each motor has a dual parameter setting capability two integral terms two proportional terms and two speed error thresholds expressed as a percentage of the rated motor speed The response of the speed regulator can be dynamically linked with the speed error in this way the speed regulator will be more sensitive to remarkable speed errors and less sensitive to negligible speed errors Factory setting because two identical error thresholds are set only two parameters are used P126 Maximum Integral Time and P128 Minimum Proportional Constant The setup of min integral time and max proportional constant is enabled provided that two different error thresholds are used Example P125 100 ms Minimum integral time for maximum error P126 500 ms Integral time for minimum error P128 10 00 Proportional constant for minimum error P129 25 00 Proportional constant for maximum error P130 2 96 Minimum error threshold P131 20 96 Maximum error threshold Error x P130 For speed errors lower than or equal to 296 of the rated motor speed the speed regulator adopts parameters P126 and P128 Error 2 P131 If the speed error exceeds the second error threshold the speed regulator adopts parameters P125 and P129 P130 Errorc P131 When the speed error is included between the two error thresholds the speed regulator will use coefficients that are dynamically linked
45. eedback MDI8 Frequency Input Values 7 8 the same encoder can be used both as a reference source and as a reference feedback Value 7 encoder A can be used both as a speed feedback for the motor control and as a PID regulator reference C190 Number of Pls Rev for Encoder A 256 10000 256 10000 pulses rev Default 1024 1024 pulses rev Level Address Defines the number of pulses per revolution of encoder A see Table 9 C191 Number of Pls Rev for Encoder B 256 10000 256 10000 pulses rev Default 1024 1024 pulses rev Level Address Defines the number of pulses per revolution of encoder B see Table 10 55 68 SINUS PENTA Z SANTERNO O SOEN CARRARO GROUP C192 Timeout for Speed Alarm O 65000 0 00 650 00 sec Default 5 00 sec Level ENGINEERING DOCE 1192 If the speed alarm C194 is enabled and the speed error exceeds the speed threshold C193 this parameter determines the speed error timeout Even if the alarm speed is disabled the time set in C192 and the error threshold set in C193 are used to signal a speed searching error to digital outputs set with BRAKE or LIFT mode Digital outputs are then disabled C193 Speed Error Threshold TIS O 32000 0 32000 rpm 300 300 Level ENGINEERING Address If the speed alarm C194 is enabled and the speed error exceeds the speed threshold C193 this parameter dete
46. ements and Installation sections Installation Guide Power on the drive and do not close the link to the START input and the ENABLE input to prevent the motor from running Access parameter POOO Key parameter and enter its code default value 00001 Set user level POO Eng Use the ESC A W and SAVE ENTER keys to access the programming parameters Also refer to the MENU TREE Set the real supply voltage for the drive You can set either the mains voltage range or the DC supply stabilized by a Regenerative Penta drive To set the type of power supply for the drive access the MOTOR CONTROL MENU and set configuration parameter C008 to the value corresponding to the installation concerned Incremental encoders on optional boards ES836 or ES913 slot A or terminal boards MDI6 MDI7 In the EXPANSION BOARD CONFIGURATION MENU set parameters RO23a and RO23b to Reset the board Access the ENCODER FREQUENCY INPUTS MENU in C189 set the source of the encoder signal used as the speed feedback Encoder A in the terminal board Encoder B in optional board ES836 or ES913 enter the number of pulses per revolution C190 and C191 and the number of encoder channels C197 refer to the relevant section in the Installation Guide for more details Incremental encoders on optional boards ES861 ES950 ES966 slot C In the EXPANSION BOARD CONFIGURATION MENU set parameter RO23a to and RO23b to 1 for ES950 or ES966 any value
47. es 1031 1074 1117 If it is not set to zero this parameter determines the speed value to be entered for the maximum speed alarm A076 Function 0 1000 0 100 0 Default Level ADVANCED 1032 1075 1118 Control If the V f curve pattern C013 C056 C099 Quadratic this parameter defines the maximum voltage reduction in terms of theoretical V f pattern which is implemented at the frequency programmed in C033 C076 C119 Function 45 68 SINUS PENTA Z SANTERNO O SOEN CARRARO GROUP C033 C076 C119 Frequency for Maximum Reduction in Quadratic Torque Curve Default Level Address Control If the V f pattern C013 C056 C099 Quadratic this parameter Fundion defines the frequency implementing the maximum torque reduction in terms of theoretical V f pattern set in C032 C075 C120 see section V F Pattern Parameters in the Programming Guide C034 C077 C120 Torque Curve Increment Preboost Range 0 50 0 0 5 0 96 Default See relevant tables in the Programming Guide Level BASIC 1034 1077 1120 ler NN Torque compensation at minimum frequency produced by the drive idus nisus Determines the increase of the output voltage at OHz 100 100 See relevant tables in the Programming Guide ADVANCED 1035 1078 1121 Torque compensation at low rpm Determines how output voltage varies cif 5 of t
48. he rated motor frequency with respect to the voltage obtained with a constant V f pattern constant voltage frequency 46 68 GUIDE TO THE SYNCHRONOUS 9x MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP C036 79 C122 Torque Curve Increment Boost 1 100 400 100 400 See relevant tables in the Programming Guide Level ADVANCED 1036 1079 1122 Control Torque compensation at preset frequency parameter C037 for motor 1 C080 for motor 2 and C123 for motor 3 Determines how output voltage varies at preset frequency with respect to voltage obtained with a constant V f pattern constant voltage frequency Function C037 C080 C123 RPM Relating to C36 C079 C122 Frequency for Application of Boost 1 See relevant tables in the Programming Guide Level ADVANCED 1037 1080 1123 Control Frequency for application of voltage Boost with parameter C036 for motor 1 parameter C079 for motor 2 and parameter C122 for motor 3 This is expressed as a percentage of the rated motor frequency C038 C081 C124 Torque Curve Automatic Increment See relevant tables in the Programming Guide Level ADVANCED 1038 1081 1124 lere NM Variable torque compensation expressed as a percentage of the rated motor voltage The preset value expresses the voltage increase when the motor is running at its rated torque
49. ine whether encoders are read by means of squaring channels or by channel A only while the direction of rotation will be defined by channel B ChB low level negative rotation ChB high level positive rotation 51 68 SINUS PENTA Z SANTERNO O SENON CARRARO GROUP 7 7 4 WITH OPTIONAL BOARDS FOR ABSOLUTE POSITION TRANSDUCERS 7 7 4 1 BOARDS INTO SLOT C Acquisition boards for absolute encoders may be inserted into slot C Some of these boards enable interfacing with one incremental line driver encoder ES861 Resolver Incremental encoder ncr encoder simulated from resolver ES950 E Encoder Incremental encoder BiSS Encoder ES966 HIPERFACE Encoder Incremental encoder 5 channel Sin Cos Encoder 3 channel Sin Cos encoder The type of absolute transducer is selected by parameter RO23a see EXPANSION BOARD CONFIGURATION MENU If RO23a gt 0 the selected absolute transducer will automatically be used for the motor feedback regardless of the value set in parameter C189 On board 5861 the type of incremental transducer acquired as encoder is selected by parameter RO23b e RO23b 1 Enc incr on Exp Board incremental line driver encoder e RO23b 2 Resolver to Encoder conversion from resolver to encoder On the other boards regardless of RO23b the incremental encoder if any is encoder A and may be programmed by way of parameters C189 and C190 In the event of an encoder simulated from a re
50. loses except for the autotuning and alignment procedures the system detects that the rotor is not aligned with the position sensor so the motor cannot be properly controlled If a relative position sensor is used incremental encoder or 3 channel Sin Cos encoder the alignment procedure shall be performed whenever the drive is powered on The started motor has not been aligned with the position sensor or the latest alignment procedure has failed 1 Remove the Enable command and reset the alarm 2 Performed an alignment procedure as described in this manual 3 If the alarm persists contact the CUSTOMER SERVICE of ELETTRONICA SANTERNO 68 68
51. m 082 Illegal Encoder Configuration will trip when ENABLE closes If encoder B is selected and ES836 or ES913 option board is not detected by the drive alarm A082 Illegal Encoder Configuration will trip when ENABLE closes e Reading a Frequency Input Only MDI6 digital input FINA can be used as a frequency input if MDI8 is programmed as a frequency input FINB with C189 if the option board is installed alarm A101 MDI8 Illegal Configuration trips No additional function must be assigned to MDI6 otherwise alarm A100 MDI6 Illegal Configuration will trip when ENABLE closes e Reading a Frequency Input and an Incremental Encoder MDI6 Digital input FINA is used as a frequency input and Encoder is used because 5836 or ES913 board avoids reading frequency input FINB through MDI8 If additional functions are programmed for digital input MDI6 alarm A100 MDI6 Illegal Configuration will trip when ENABLE closes If alarm A082 Illegal Encoder Configuration trips this means that the drive has not detected ES836 or 5913 board check the board wiring Parameter C189 defines whether quick acquisition digital inputs are used to read a frequency input or an encoder and if the encoder is a reference source or a feedback source In the Encoder Menu you can also do the following e define the number of pls rev for the encoder being used e enable or disable the speed alarm e define a time constant applied to read filtering e def
52. n Refer to the Programming Guide for the whole list of the Sinus Penta alarms 7 9 2 LisT OF THE ALARM CODES Table 18 List of the Alarms specific to the SYN application A130 SYN Align KO Motor alignment procedure failed A131 ABS Encoder Fault Absolute encoder malfunction A132 Motor not Aligned No alignment between rotor position sensor A130 SYN Alignment KO The motor alignment procedure has failed before being completed The motor alignment procedure has failed Wrong power and or signal wiring Possible Causes Wrong parameterization Electrical failure on inverter board Reset the alarm and the board Perform the alignment procedure again 2 3 Ifthe alarm persists contact the CUSTOMER SERVICE of ELETTRONICA SANTERNO Solutions Absolute encoder malfunction No position information from the absolute encoder Wrong wiring Wrong parameterization Possible Causes Electrical failure on optional acquisition board Sensor failure Communication channel disturbance Power off the equipment and check wiring Check the board parameterization 2 Solutions 3 Restart the equipment 4 If the alarm persists contact the CUSTOMER SERVICE of ELETTRONICA SANTERNO 67 68 SINUS PENTA A132 Motor not Aligned Description Possible Causes Solutions 5 SANTERNO GUIDE TO THE SYNCHRONOUS CARRARO GROUP MOTOR APPLICATION No alignment between rotor position sensor When the ENABLE c
53. of the least significant word LO first 16 bits and the most significant word HI second 16 bits of the single turn measure of the absolute encoder M124 Absolute Encoder Value Multiturn ST 0 65535 Note The actual range of this measure may depend on the type of encoder being used M124a LO first 16 bits 3369 M124b HI second 16 bits 3370 Shows the values of the least significant word LO first 16 bits and the most significant word HI second 16 bits of the single turn measure of the absolute encoder See Table 1 Active only if the absolute encoder is enabled via parameter RO23a Address Quality of the sensor signal The sensor operation is correct if both signals DOS degradation of signal and LOT loss of tracking are OK KO if the signals are poor quality Table 1 Coding of M125 Degradation of Signal DOS 0 OK Loss of Tracking LOT 1 KO M126 Shaft Absolute Position 3 1416 3 1416 3 1416 3 1416 Active Active for the SYN control 2619 float This is the absolute position of one turn of the rotor adopted for the control of the synchronous motor The measure is expressed in radiants Function 16 68 GUIDE TO THE SYNCHRONOUS 9x MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP M127 Motor Aligned 0 No 1 Yes Active Active for the SYN control SG 224 Status of the motor aligned flag If the val
54. on The Start Up Menu is displayed when the Penta drive is first started The Start Up Menu can be reactivated at any time To do so set P265 in Start Up mode see the DISPLAY KEYPAD MENU in the Programming Guide and power on the Penta drive again The following is the root page of the Start Up menu DP SINUS P PENTA START UP MENU Press ENTER to start _ Press ENTER to enter the wizard Before entering the control parameters you are asked to choose a dialogue language P263 Language Q GO O O Then you are asked to choose the display mode of the Start up Menu When does the Start Up Menu activate 9 2 Q2 O O 2 Q O Choose one of the following 1 EV ERY START 2 ONLY NOW 3 NEXT START If you select EVERY START UP the wizard appears whenever the Sinus Penta drive is powered if you select ONLY NOW you can scroll through the menu and the wizard is disabled as soon as you quit the menu if you select NEXT START UP the menu is displayed only when the Penta drive is next started up if you select NEVER the Start up menu is disabled 10 68 GUIDE TO THE SYNCHRONOUS MOTOR APPLICATION Z SANTERNO CARRARO GROUP Parameters included in the Start up menu Visibility C008 C010 C013 C015 C016 C017 C018 C019 C028 C029 C034 P009 P010 C043 C044 C045 C048
55. on sensor RO23a 1 Adjustment value of the potentiometer for the resolver excitation signal Adjustment is manual Measure M125 is a useful feedback C203 Adjustment Default Level ENGINEERING Address This parameter is active if the resolver is selected as a position sensor RO23a 1 Adjustment value of the potentiometer for the resolver excitation signal Adjustment is manual Measure M125 is a useful feedback 58 68 GUIDE TO THE SYNCHRONOUS 9x MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP 7 8 EXPANSION BOARD CONFIGURATION MENU 7 8 1 OVERVIEW The parameters in this menu configure the expansion boards In particular parameters RO23a and RO23b along with C189 see ENCODER FREQUENCY INPUTS MENU define the function of the position sensors encoders The encoder configurations are given in the table below Parameter C189 is referred to logic encoders and Encoder M is the absolute encoder used for motor control Table 13 Possible encoder configurations Encoder A Inputs MDI6 and MDI7 Encoder B 3 channel Sin Cos on ES860 Motor control encoder Defined by C189 Encoder M 5 channel Sin Cos encoder on ES860 if ES966 is not fitted into slot C Encoder A Inputs MDI6 and MDI7 Encoder B Motor control encoder Encoder M 5 channel SinCos encoder Encoder A Incremental encoder on ES861 Encoder B Frequency input MDI8 if ES836 or ES
56. or heavy loads Access the SYN REGULATORS MENU Set 1027 1 Encoder Align Close the ENABLE and START inputs Wait for W32 Open Enable open the ENABLE and START inputs This procedure is optional It enables calculating the speed loop gains before performing 13 68 SINUS autotune 10 BEMF autotune 11 Startup 12 Speed regulator adjustment 14 68 9 GUIDE TO THE SYNCHRONOUS A SANTERNO MOTOR APPLICATION CARRARO GROUP the speed loop autotune set up parameter 22 Load Inertia MOTOR CONFIGURATION menu this parameter is to be expressed in Kgm Parameters P126 and P128 may also be entered while performing a manual tune procedure Open the ENABLE input then access the AUTOTUNE MENU and set 1073 1 Motor Tune and 1074 7 SYN Update Speed Loop Press ESC to confirm Close the ENABLE input and wait until tune is complete Warning W32 Open Enable is displayed The drive has calculated and saved the values of P126 P128 NOTE Later on it could be necessary to manually change parameters P126 P128 above to optimize dynamic response of the motor If the value of the motor BEMF is known set it in parameter 15 this parameter is expressed in V rad s If the BEMF value is not known it may be obtained through autotune This procedure will make the motor run Make sure that the N CAUTION motor can rotate freely no mechanical constraints or heavy loads O
57. osition transducer is fitted such as ES861 5950 ES966 inputs MDI6 and MDI7 cannot be used as push pull encoder inputs Consequently encoder will be the incremental encoder connected to the acquisition board NOTE gt gt Table 9 Matching between physical encoders and logic encoder A 1 Incremental encoder on optional board ES861 2 Simulated encoder from resolver on optional board ES861 e Incremental encoder on optional boards ES950 ES966 any e Incremental encoder on optional boards MDI6 MDIT7 if no board is fitted into slot C 54 68 GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS MOTOR APPLICATION CARRARO GROUP Table 10 Matching between physical encoders and logic encoder B SinCos encoder on optional board ES860 e Incremental encoder on optional board ES836 ES913 any e Frequency input MDIB if no optional board is fitted into slot A Table 11 Coding of C189 0 Not used Not used 1 EncA Feedback Not used 2 EncA Reference Not used 3 Not used EncB Feedback 4 Not used EncB Reference 5 EncA Feedback EncB Reference 6 EncB Feedback 7 EncA Reference and Feedback Not used 8 Not used EncB Reference and Feedback 9 MDI6 Frequency Input Not used 10 Not used MDI8 Frequency Input 11 MDI6 Frequency Input EncB Reference 12 EncA Reference MDI8 Frequency Input 13 MDI6 Frequency Input EncB Feedback 14 EncA F
58. pen the ENABLE input then access the AUTOTUNE MENU and set 1073 1 Motor Tune and 1074 9 SYN BEMF Tune Press ESC to confirm Close the ENABLE and START inputs and wait for W32 Open Enable The drive has calculated and saved the values of 15 Activate the ENABLE input terminal 15 and the START input terminal 14 and send a speed reference The RUN LED and REF LED will come on and the motor will start rotating Make sure that the motor is rotating in the correct direction If not set parameter C014 Phase Rotation to 1 Yes or open the ENABLE and START inputs remove voltage from the drive and after waiting at least 15 minutes swap two of the motor phases If overshoot occurs when the speed setpoint is attained or if system instability is detected the motor does not run smoothly adjust the parameters relating to the speed loop SPEED LOOP AND CURRENT BALANCING MENU Set parameter P126 integral time as Disabled and set a low value for the proportional gain P128 Then increase P128 until overshoot takes place when the setpoint is achieved Decrease P128 by approx 30 then decrease the high values set for integral time in P126 until acceptable setpoint response is obtained Check to see if the motor runs smoothly at constant speed GUIDE TO THE SYNCHRONOUS 9x MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP 7 PARAMETERS FOR SINUS PENTA DRIVES FEATURING SYNCHRONOUS MOTOR APPLICATION 7 1 MEASURES
59. pmnom is the rated motor speed in rpm p is the number of pole pairs of the connected motor Example repmnom 3000rpm p 3 pole pairs 6 poles fmot 3000 60 3 150 50 0 Hz Function 15 C058a 101 Back Electromotive Force Constant Range 0 65000 0 00 650 00 V rad s Default 00 V rad s Level 753 764 1236 Control BEMF of the synchronous motor This parameter may automatically be updated by the relevant tuning command 1074 4 SYN BEMF tune C016 C059 C102 Rated motor RPM Range 1 32000 1 32000 rpm Default 1500 Level 1016 1059 1102 This parameter defines the rated motor rpm nameplate rating C017 C060 C103 Rated Motor Power 1 32000 0 1 3200 0 kW R 2 i e Upper limited to twice the default value DACW See relevant tables in the Programming Guide Level BASIC 1017 1060 1103 This parameter defines the rated motor power nameplate rating 39 68 SINUS PENTA Z SANTERNO O SOEN CARRARO GROUP C018 C061 C104 Rated Motor Current 1 32000 0 1 3200 0A See twice the upper values in Inom column in Table 73 and Table 77 in the Programming Guide R07 DACW See relevant tables in the Programming Guide Level NECESI 1018 1061 1104 This parameter defines the rated motor current nameplate rating C019 C062 C105 Rated Motor Voltage 50 12000 5 0 1200
60. r 0 65000 0 00 650 00 Default 3 00 Level ENGINEERING PSI 761 772 1252 tero MEE SYN Proportional coefficient Kp of current regulator PI for motor n 1 P174b2 and P174b3 are the equivalent parameters for motor 2 and motor 3 The regulator has the typical structure error set point measure integral status integral status error Ki Ts output Kp error integral status where Kp is the proportional coefficient Ki is the integral coefficient 1 Ti where Ti is the integral time Ts is the execution time of the regulator may range from 200 to 400 microseconds based on the carrier frequency NOTE The parameter above is automatically computed and saved with the Autotune procedure see AUTOTUNE MENU 174 1 P174c2 P74c3 Integral Time of Current Regulator 1 32000 1 0 3200 0 Disabled ms Default 20 2 0 ms Level ENGINEERING 762 773 1253 lero SYN Integral time Ti of current regulator for motor n 1 P174c2 and P174c3 are the equivalent parameters for motor 2 and motor 3 The regulator has the typical structure error set point measure integral status integral status error Ki Ts output integral status where is the proportional coefficient Ki is the integral coefficient 1 Ti where Ti is the integral time Ts is the execution time of the regulator may range from 200 to 400 microseconds ba
61. r reference based on the configuration of C189 Parameters in this menu are Rxxx parameters Once changed and saved Rxxx parameters become active only after the drive has been switched off and switched on again or after resetting its control board by pressing the RESET button for more than 5 seconds GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS MOTOR APPLICATION CARRARO GROUP 7 8 2 LIST OF PARAMETERS R021 R024 AND R092 R097 Table 14 List of Parameters RO21 to RO24 and 92 to R097 Data Logger setting gt Disable board setting None Absolute sensor for motor 0 control Incremental sensor on I 0 None expansion board Incremental encoder frequency divider on resolver ENGINEERING 0 None board EnDat protocol frequency Number of multiturn bits for absolute digital encoder Number of singleturn bits for absolute digital encoder BiSS frequency in Sensor Mode BiSS frequency divider in Register Mode Sinusoids per turn of 5 Ch HIPERFACE SinCos Encoder RO21 Data Logger Setting Range 1 Disable 2 Enable Pee 1 Disable Level ENGINEERING Address This parameter enables or disables Data Logger initialization if the Function Data Logger board is fitted None 8l 60 Range 8l 6O 8l 6O PT100 8l 6O XAIN PT100 31 30 Default Level Address Based on the settings in the
62. rated motor speed If P130 P131 or in case of speed errors lower than or equal to the min threshold parameters P126 and P128 will be used Function 21 68 SINUS PENTA Z SANTERNO O SOEN CARRARO GROUP P131 P141 P151 Maximum Error Threshold 0 32000 0 00 320 00 9 Default 100 1 0096 Level Pelei 731 741 751 Control This parameter sets the maximum error threshold expressed as a percentage of the rated motor speed In case of speed errors greater than or equal to the maximum threshold the regulator uses parameters P125 and P129 Function P152 Symmetry Regulation of Three phase Current P552 100 Defout o Level ENGINEERING Addres 752 This parameter affects three phase current balancing It must be used when dissymmetry of the motor currents occurs especially when no load currents are delivered and the motor rotates at low rpm Function 22 68 GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS MOTOR APPLICATION CARRARO GROUP 7 3 SYN REGULATORS MENU 7 3 1 OVERVIEW NOTE This menu may be accessed only if one of the two motors is set up as SYN CO10 1 for motor n 1 C053 1 for motor n 2 CO96 1 for motor n 3 This menu includes the parameters for Pl current regulators and the command to perform the motor alignment procedure which is required if the motor is not provided with an absolute position transducer 7
63. rmines the error threshold for the speed error timeout Even if the alarm speed is disabled the time set in C192 and the error threshold set in C193 are used to signal a speed searching error to digital outputs set with BRAKE or LIFT mode Digital outputs are then disabled Function C194 Speed Error Enable 0 Disabled Ronge K 1 Enabled Default 1 1 Enabled Level ENGINEERING EC 1 194 a This parameter enables the speed error alarm C195 Filter Time Constant over Value of Feedback from Encoder Range 5 3000 0 ms Default Level ENGINEERING 55 This parameter defines the time constant used for filtering the reading of Function the encoder used as a speed feedback C196 Filter Time Constant over Value of Reference from Encoder 5 3000 0 ms Default Level ENGINEERING Address Function This parameter defines the time constant used for filtering the reading of the encoder used as a reference 56 68 GUIDE TO THE SYNCHRONOUS 2 SANTERNO SINUS PENTA MOTOR APPLICATION CARRARO GROUP C197 Number of Channels of Encoder 0 2 Squaring Channels Ronge am 1 Channel only Default O 0 2 Squaring Channels Level ENGINEERING D 1197 This parameter defines the number of channels used for encoder reading Factory setting 15 2 Squaring channels Speed can be read through one channel only as for phonic wheel channel 2 can define the direction of ro
64. rol and speed control of permanent magnet synchronous motors PMSMs Controlling a synchronous motor requires a position transducer encoder resolver etc Also the offset angle between the position sensor and the rotor must be known because the power supply current fed to the stator windings must be kept in phase with the rotor magnetic field generated by permanent magnets The alignment procedure permits to estimate the offset angle Using absolute position sensors avoids repeating the alignment procedure every time the drive is powered on The Sinus Penta application for synchronous motors covers any issues typical of synchronous motors and features number of procedures to pinpoint the electromechanical characteristics of the motor to be controlled and to perform autotuning of the fundamental control parameters 4 68 GUIDE TO THE SYNCHRONOUS 9 MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP 3 SOFTWARE DOWNLOAD FOR APPLICATION PROGRAMMING The Remote Drive software and the PXxxxxFO mot PXxxxxFl mot files of the application are required to download the Synchronous Motor application to a Sinus Penta drive The download procedure is detailed in the following section The PRxxxxFO mot and PRxxxxF1 mot files are required for the regenerative application For different applications please refer to the relevant manuals and to the updates available on Elettronica Santerno s website santerno com NOTE Please refer to the
65. rol with speed limit mode is used the drive will limit the motor rotation to the rpm set in parameter C029 C072 C115 This function can be used to automatically toggle from the torque control mode to the speed control mode when the torque control mode is implemented the motor speed can reach any value included in the AB zone see Figure 3 If the limit speed is attained due to particular load conditions the drive will automatically switch to the speed control BC zone The controlled torque is no longer maintained If the torque returns to its setpoint value the drive will automatically switch to the torque control again AB zone TORQUE TORQUE CONTROL ZONE FC 2 A B SPEED CONTROL ZONB AB z Torque Set Point BC z Speed Limit C SPEED P000665 b Figure 3 Torque control with speed limit 36 68 GUIDE TO THE SYNCHRONOUS 9x MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP C0114 54 097 Enable Forward Actions over Torque Control Ran 0 No ange 1 Yes Default 0 No Level ADVANCED 634 636 638 SYN If the speed control is active C011 0 this parameter enables forward actions over torque regulation during acceleration deceleration The Aaa forward action depends on the load set in CO22b and CO22c It is advisable to set parameter CO11a 54 97 to 1 only if parameters 22 and 022 are set to correct values C011b 54
66. rror Mot3 Prop coefficient for maximum BASIC error Mot3 Min error threshold BASIC Mot3 Max error threshold BASIC Symmetry regulation of three phase ENGINEERING current 19 68 SINUS PENTA Z SANTERNO tepore CARRARO GROUP P125 P135 P145 Integral Time for Maximum Error 1 32000 1 32000 Disable ms Default 500 500 ms Level 725 735 745 Control This parameter sets the integral time for the speed regulator when the error is over the maximum threshold It may be accessed only if the minimum and maximum error thresholds are different PI30zP131 for Motorl P1404P141 for Motor2 P150zP151 for Motor3 P126 P136 P146 Integral Time for Minimum Error 1 32000 1 32000 Disable ms This parameter sets the integral time for the speed regulator used when the error is under the maximum threshold the minimum and maximum error thresholds are the same P130 P131 for Motl 140 141 for Mot2 150 151 for Mot3 this is the integral time of the speed regulator 0 65000 Default 300 Level ENGINEERING 727 737 747 Control Default Level Address Control Proportional constant of the position control loop Applicable to synchronous motors only may automatically be updated by means of the relevant adjusting command see AUTOTUNE MENU 1074 2 SYN Update Speed Loop 20 68 GUIDE TO THE SYNCHRONOUS 2 SANTERNO SIN
67. s gt Firmware downloader parameters Type of device Address Baud rate download 115200 E PD165x f Flash Erasing T out o0 v Autodet Mode Local Dev USB RS485 2 wires Connected to COM4 Click SendTab Once this file is downloaded the application download is complete end of the download procedure Click Browse to select the file to be updated PXxxxxFO mot for the firmware and PxxxxF 1 mot for the MMI table first click Open then click Send or SendTab Confirm flash clearing The Upgrade procedure is finished 7 68 SINUS Z SANTERNO GUIDE TO THE SYNCHRONOUS MOTOR APPLICATION Co CARRARO GROUP MEASURES COMMANDS PARAMETERS CONFIGURATION PRODUCT ID INVERTER OK INVERTER OK INVERTER OK INVERTER OK 00 0 00 MOO 0 00rpm M00 4 0 00rpm MOO 0 00rpm M02 0 00rpm M02 0 00rpm M02 0 00rpm M02 0 00 pm MEA PAR CF IDP MEA PAR CF IDP MEA PAR CF IDP MEA PAR CF ID MEASURES MENU PARAMETERS MENU PRODUCT MENU M Parameters P Par that can Language cannot be changed be modified with selection and motor running inverter data MEA PAR IDP SINUS PENTA MOTOR MEASURES PASSWORD START UP Menu AND USER LEVEL Press ENTER to start E MEA PAR IDP PID REGULATOR DISPLAY KEYPA
68. sed on the carrier frequency NOTE The parameter above is automatically computed and saved with the Autotune procedure see AUTOTUNE MENU 25 68 SINUS PENTA 2 SANTERNO 20 TO THE SYNCHRONOUS CARRARO GROUP MOTOR APPLICATION 7 4 AUTOTUNE MENU 7 4 1 OVERVIEW See the FIRST STARTUP PROCEDURE SYNCHRONOUS MOTOR section for tuning based on the control algorithm to be used NOTE NOTA At the end of the Autotune procedure the system automatically saves the whole parameter set of the drive Autotune must be performed only after entering the motor ratings or the ratings of the NOTA encoder used as a speed feedback Please refer to the MOTOR CONTROL MENU and ENCODER FREQUENCY INPUTS MENU gt gt gt The selected motor may be tuned in order to obtain the equipment ratings or the parameterization required for the correct operation of the control algorithms The user can also check the proper operation wiring of the encoder used as a speed feedback The Autotune menu includes two programming inputs 1073 and 1074 Input 1073 allows enabling and selecting the type of autotune Input 1074 which can be programmed only if 1073 Motor Tune describes the type of autotune which is performed Because the values set in 1073 or 1074 cannot be changed permanently and are automatically reset after autotuning the ENABLE signal must be disabled and the ESC key must be used to accept the new value 7 4 2 MOTOR AUTOTUNE AND ADJUSTING
69. solver the number of pulses will be 1024 regardless of the value set in C190 If that encoder is set as feedback C189 1 5 7 14 e If RO23a 0 encoder A will be used as the motor feedback e f RO23a gt 0 encoder A will be used only as PID feedback refer to the PID CONFIGURATION MENU in the Programming Guide because the motor feedback is assigned to the absolute transducer selected by RO23a On board ES966 the 3 channel Sin Cos encoder is acquired as encoder B by setting parameter RO23b to 3 SinCos 3 Ch If that encoder is set as feedback C189 3 6 8 13 e If RO23a 0 encoder B will be used as the motor feedback e f RO23a gt 0 encoder B will be used only as PID feedback refer to the PID CONFIGURATION MENU in the Programming Guide because the motor feedback is assigned to the absolute transducer selected by RO23a 7 7 4 2 ES860 OPTIONAL BOARD INTO SLOT An acquisition board for 3 channel or 5 channel Sin Cos encoder board ES860 may be fitted into slot A The type of encoder is selected e parameter 023 5 SinCos 5 Ch for 5 channel Sin Cos encoder absolute sensor In that case the sensor is used as a motor feedback for parameter C189 e by parameter 0236 3 SinCos Ch for 3 channel Sin Cos incremental sensor In that case the sensor is used as the motor feedback only if RO23a 0 and C189 3 6 8 13 52 68 GUIDE TO THE SYNCHRONOUS 9 MOTOR APPLICATION A SANTERNO CARRARO GROUP 7 7 5 LIST OF
70. tation low level negative rotation high level positive rotation C198 Number of Channels of Encoder B 0 2 Squaring channels tence Default Oo 0 2 Squaring channels Level ENGINEERING Address Function This parameter defines the number of channels used for encoder B reading see parameter C197 C199 Encoder Sign Reversal Range See Table 12 OlFdbk NO Ref NO Level ENGINEERING Address Function This parameter permits to reverse the speed sign measured by encoder inputs 1 NOTE When tuning the encoder the encoder sign used as feedback is automatically adjusted to the direction of rotation of the connected motor If a sign reversal of the encoder feedback is selected C199 1 or 3 this will only AN NOTE affect the encoder set as feedback through C189 and will not affect the absolute encoder on optional board defined by RO23a 57 68 SINUS PENTA Z SANTERNO Tor CARRARO GROUP Table 12 Coding of C199 Fdbk NO Fdbk YES Fdbk NO Fdbk YES C201 Resolver Excitation Frequency Default Level Address This parameter is active if the resolver is selected as a position sensor RO23a 1 Sets the value of the excitation frequency based on the sensor ratings C202 EXC Adjustment 0o 79 O 255 0 255 Default 75 Level ENGINEERING 1202 This parameter is active if the resolver is selected as a positi
71. through digital inputs programmed with C173 and C174 see DIGITAL INPUTS MENU in the Programming Guide The programming parameters of the Motor Control 2 Menu can be accessed only if 9 2 or 3 the programming parameters of the Motor Control 3 Menu can be accessed only if C009 3 C010 C053 C096 Type of Control Algorithm SYN 1010 1053 1096 This parameter sets the type of control algorithm to be used Types of control 0 IFD V f control for asynchronous motor 1 SYN Synchronous motor control Uem The V f control allows controlling the motor by producing voltage depending on frequency It is possible to configure several types of patterns see V f pattern parameters in the Programming Guide The synchronous motor control enables speed control and torque control of a permanent magnet synchronous motor PMSM NOTE The SYN control requires a position transducer such as en encoder 35 68 SINUS PENTA Z SANTERNO O SENON CARRARO GROUP C011 C054 C097 Type of Reference Master Slave 0 Speed MASTER mode Den O 2 1 Torque SLAVE mode 2 Torque with speed limit SLAVE mode rema O 0 Speed MASTER mode Level ADVANCED 1011 1054 1097 erm Ml SYN This parameter defines the type of reference to be used The torque control may be set up see section Torque Control VTC and FOC Only as well in the Programming Guide When the Torque cont
72. tors with the same drive is not possible 29 68 SINUS PENTA Z SANTERNO CARRARO GROUP GUIDE TO THE SYNCHRONOUS MOTOR APPLICATION Table 5 Description of the parameters classified by motor e Rated mains voltage e Control algorithm being used e Type of reference being used speed torque SYN algorithm only e SYN control compensations C011a C011b C054a C054b C097a C097b Presence of the speed feedback from encoder C012 C055 C098 e Electric ratings of the connected motor e Load characteristics SYN algorithm only C015 C025 22 224 C058 C068 C065b C065d C101 C111 C108b C108d e Minimum and maximum speed required speed at the beginning of defluxing overspeed alarm C028 C031 C071 C074 C114 C117 enable and threshold Vik C013 C056 C099 si eee cee C032 C038 075 081 C118 C124 e Slip compensation activation C039 C082 C125 Voltage drop at rated current C040 C083 C126 The parameters that can be modified depend on the type of control that has been selected 30 68 GUIDE TO THE SYNCHRONOUS 9 MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP 7 5 2 TORQUE CONTROL SYN ONLY The SYN algorithm enables controlling the drive with a torque reference instead of a speed reference To do so set 1 Torque or 2 Torque with Speed Limit FOC only in the relevant parameter CO11 for motor 1
73. tuning Open the ENABLE input then access the AUTOTUNE MENU and set 1073 1 Motor Tune and 1074 8 SYN Autotune Press ESC to confirm Close the ENABLE and START inputs and wait until tune is complete Warning W32 Open Enable is displayed The drive has computed and saved the values for C022 22 P174a 174 If the values of parameters C022 and 022 are known they may manually be entered By setting 1074 6 SYN Update Current Loop only parameters P174a and 174 will be defined If alarm A097 Motor Wires KO trips check the motor wiring If alarm A065 Autotune KO trips this means that the ENABLE command has opened before autotune was complete In this case reset the drive sending a command from terminal MDI3 or press the RESET key in the display keypad and perform the autotune procedure again The alignment procedure must be performed If an absolute position sensor is installed on the motor encoder type EnDat BiSS 5 channel SinCoS encoder or Resolver only once at first startup if alarm A132 trips if a mechanical displacement between the motor shafts and the position sensor has occurred If an incremental position sensor is installed on the motor incremental encoder 3 channel SinCos encoder as in the case above every time the drive is powered on or reset This procedure will make the motor run Make sure that the CAUTION motor can rotate freely no mechanical constraints
74. ucers for motor control purposes NOTE If MDI6 and MDI7 are used for encoder reading only Push Pull encoders can be used For the reversal of the incremental encoder speed measure properly set up parameter NOTE gt gt 7 7 2 WHEN THE OPTIONAL BOARD IS NOT USED Incremental Encoder reading Digital inputs MDI6 and are used for reading the two channels of a 24V push pull encoder powered directly by the Sinus Penta control board see the Sinus Penta s Installation Guide No function can be programmed for MDI6 and MDI7 when trying to program MDI6 and alarm A082 Illegal Encoder Configuration will trip when ENABLE closes e Reading a Frequency Input Digital inputs MDI6 or MDI8 can be used If MDI6 is programmed as a frequency input FINA with C189 no other function can be programmed otherwise alarm A100 MDI6 Illegal Configuration trips when ENABLE closes If MDI8 is programmed as a frequency input FINB with C189 no other function can be allocated to MDI8 and ES836 or ES913 option board must not be applied to the power drive otherwise alarm A101 MDI8 Illegal Configuration trips when ENABLE closes e Reading a Frequency Input and an Encoder MDI6 and MDI7 are used to read the push pull encoder and MDIB8 is used to read the frequency input The following alarms may trip e A082 Illegal Encoder Configuration if additional functions are allocated to MDI6 or MDI7 e A101 MDI8 Illegal Config
75. ue is 0 alarm A132 Motor not aligned will trip when the ENABLE input closes The system sets the flag to 1 when the alignment procedure is complete 0 1 M128 Phases Swapped Address Status of the phases swapped flag When the alignment procedure is complete see section FIRST STARTUP PROCEDURE SYNCHRONOUS MOTOR the flag is set to 1 Yes if the phases are swapped so that the direction of rotation of the motor and the encoder is the same Function M129 Alignment Value 3 1416 3 1416 3 1416 3 1416 rad Active Active for the SYN control 2031 float This is the offset value between the rotor and the encoder detected during the alignment stage The measure is expressed in radiants Function 7 1 3 STATUS LIST The Status List is the same as the standard Sinus Penta s see the Status List table in the Sinus Penta s Programming Guide except for the following e 36 SYN ALIGNING alignment in progress e 38 DRIVE ENABLED replaces status 18 MOTOR FLUXED e 39 DRIVE OK replaces status 16 INVERTER 17 68 SINUS PENTA 2 SANTERNO 20 TO THE SYNCHRONOUS CARRARO GROUP MOTOR APPLICATION 7 2 SPEED LOOP POSITION AND CURRENT BALANCING MENU 7 2 1 OVERVIEW The SPEED LOOP POSITION AND CURRENT BALANCING MENU allows setting the parameter values of the speed regulators for the three programmable connected motors SYN control it also enables manual balancing of th
76. uration if additional functions are allocated to MDI8 or if the power drive detects the presence of optional board ES836 or ES913 NOTE If an optional board for absolute encoder resolver is fitted into slot C digital inputs MDI6 and MDI7 may not be used for encoder acquisition 50 68 GUIDE TO THE SYNCHRONOUS 9 MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP 7 7 3 WHEN USING ES836 5913 e Reading 1 or 2 Incremental Encoders To read one Encoder use the optional board or digital inputs MDI and if a push pull encoder is used Both the optional board and digital inputs MDI and MDI7 can be used to read two encoders at a time Use parameter C189 to set the readout of the speed measure of the controlled motor or to read reference values You can use encoder or encoder B as a speed feedback or a reference source speed reference torque reference or PID reference For example If you want to use encoder as a speed reference source and encoder B as a speed feedback set C189 as 6 A Ref B Fbk use 73 and 74 INPUTS FOR REFERENCES MENUJ to define the minimum speed and the maximum speed read for scaling and saturation of encoder selected as a reference source in one of parameters C144 C147 CONTROL METHOD MENU set parameter 12 motor 1 to Yes to enable the Speed Feedback from Encoder function If encoder A is selected no function can be programmed for MDI6 and MDI7 otherwise alar
77. with the speed error see figure below Integral coefficient 1 P126 err P130 1 125 1 P126 P131 P130 Proportional coefficient P128 err P130 P129 P128 P131 P130 Integral Proportional P000264 B coefficient coefficient 1 125 r P129 P128 1 P126 error error Irem rpm P130 P131 P130 P131 Figure 2 Dual Parameterization function example 18 68 GUIDE TO THE SYNCHRONOUS 9 MOTOR APPLICATION A SANTERNO SINUS PENTA CARRARO GROUP 7 2 2 LIST OF PARAMETERS P125 TO P152 Table 2 List of parameters P125 P152 Motl Integral time for maximum error BASIC Motl Integral time for minimum error BASIC Motl Prop coefficient of the position ENGINEERING regulator for synchronous motors Motl Prop coefficient for minimum error Motl Prop coefficient for maximum error Motl Minimum error threshold Motl Maximum error threshold BASIC BASIC Mot2 Integral time for maximum error Mot2 Integral time for minimum error Mot2 Prop coefficient of the position regulator for synchronous motors ENGINEERING Mot2 Prop coefficient for minimum BASIC error Mot2 Prop coefficient for maximum BASIC error Mot2 Minimum error threshold Mot2 Maximum error threshold Mot3 Integral time for maximum error BASIC Mot3 Integral time for minimum error BASIC Mot3 Prop coefficient of the position ENGINEERING regulator for synchronous motors Mot3 Prop coefficient for minimum BASIC e

sinus penta synchronous motor en

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