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User's manual - Drives for electric motors

1. O 36 Actual electrical position alfa_fi 100 180 O 37 Analog input A l 1 O 38 Analog input A l 2 O 39 Analog input A 1 3 O 40 Positive speed reference limit n MAX O 41 Application speed reference value sysSpeedPercReference n MAX O 42 Application torque reference value sysTorqueReference C NOM MOT O 43 Application positive torque limit sysMaxTorque C NOM MOT o 44 Frequency speed reference value from application sysSpeedRefPulses Pulses per TPWM o 45 Overlapped space loop reference value from application sysPosRefPulses Pulses per TPWM O 46 Amplitude to the square of sine and cosine feedback signals 1 100 O 47 Sen_theta Direct resolver and Sin Cos Encoder Max amplitude 200 O 48 Cos theta Direct resolver and Sin Cos Encoder Max amplitude 200 O 49 Rotation speed not filtered n MAX O 50 Delta pulses read in PWM period in frequency input Pulses per PWM O 51 Overlapped space loop memory Isw Electrical pulses x P67 O 52 Overlapped space loop memory msw Electrical turns x P67 O 53 Incremental SIN theta Sin Cos Encoder O 54 Incremental COS theta Sin Cos Encoder O 55 End initial reset O 56 PTM motor thermal probe O 57 PTR radiator thermal probe O 58 Pulses read by sensor O 59 SENS2 Rotation speed not fil
2. Converter running on line ID_UP_POTD ne DP LV C20 REF H H L x x increases H L H x x decreases H L L x x stopped H H H x x stopped L x x x x stopped L gt H x x L L P8 L gt H x x H L REF4 L v L gt H x x L H REF4 L v L gt H x x H H REF4 L v H active x does not matter L not active L gt H From Off line to On line The digital potentiometer reference requires to be enabled activation of function 106 after allocating an input or activating connection E18 E18 1 In the parameters E15 and E16 the maximum and the minimum admitted reference values can be marked for the digital potentiometer reference MW00001E00 V_4 1 3 1 5 Frequency Speed Reference Name Description Min Max Default UM Scale Range 0 Analogic FRQ_IN_SEL C09 Frequency input setting 1 Digital Encoder 1 1 2 Digital f s 3 Digital f s 1 edge Range 0 Not enabled 1 64 ppr 2 128 ppr 3 256 ppr FRQ IN PPR SEL Sg BIGA ZS 4 512 ppr 5 1 5 1024 ppr 6 2048 ppr T 4096 ppr 8 8192 ppr 9 16384 ppr FRQ_IN_NUM F21 NUM Freguency input 16383 16383 100 1 slip ratio E22 DEN Frequency input FRQ_IN_DEN slip ratio 0 16383 100 1 REF_FRQ_IN D12 Frequency in input 0 KHz 16 Range 0 Frequency onl E24 Frequency speed p Trequencyony FRQ REF SEI eines aaa ten 1 Time decod only 0 1 2 Frequency and time decod E23 Enable fre
3. Command Reference Multiply FRQ IN NUM E21 JIN X OUT Selector Mul Reference Mul Factor ii 0 lt Frequency Multiplycator 10 LA MUL KP D73 Lo t89 MUL_AI_OUT_SEL E42 Selector Selector Multiply AS 0 00 7 2 1 Input REF FRQ IN DI2 IN 21o IN K OUT Division BR Encoder ra BASE Mul IN 7 OUT i A FRQ IN DEN E22 Di FRQ IN SEL C09 Selector FRQ IN prp get FRQIN DEN E22 Div E20 Selector Selector 0 or L 2 m FRQ REF SEL E24 Selector ID EN FRQ REF 119 L cet EN FRQ REF E23 Se TER e 9 Time_Decode FROQ_REF_SEL E24 Selector N Out Filter 1 order IN a OUTH Multiply TF_TIME_DEC_FRQ E25 TimeF Ly E IN xo KP TIME DEC FRQ E26 4 Mul 3 1 5 1 Speed Frequency Reference Management osition Reference Command Reference Pulso Speed Reference Frequency Time Decode Speed Reference PRC_SPD_REF_TIME_DEC D77 This speed reference in pulses can be provided in 4 different ways alternatives to each other that can be selected by means of connection C09 C09 Description Mode of working 0 Analogic Analog reference 10V optional 1 Digital encoder 4 track frequency reference default 2 Digital f s Frequency reference freq and up down counting all edges 3 Digital f s 1 edge Frequency reference freq and up down counting one edge
4. FIG 6 Internal Values INT 7 2 6 Logic Functions of Input Inp The visualization between 100 and 131 is the status of the logical functions that is assigned in the all digital inputs of the regulation Code of identification input logical input input logical input H active logic function identify number 0 31 L no active logic function FIG 7 Logics functions of input INP MW00001E00 V_4 1 111 7 2 7 Logic Functions Of Output Out Visualization of the status of the logical functions for example drive ready converter in run scheduled in the control that may or may not be assigned of predicted digital output Code of identification digital output 9 p H active out function identify number 0 63 L L not active out function FIG 8 Logics functions of output OUT 7 2 8 Utilities Commands UTL They are certain connections that variables approach that are of numerical value comes connected to a function or a clear command They are only in free connections The characteristics of each connection are individually recognizable of identification code as under report Nap gt 8 8 8 8 not for free connection Utilities Commands identify number O 99 FIG 9 Utilities
5. to the left of the writing A XX Y From the status of modification returns to the list of sub menu and You return operative the select made pressing S from the menu and from the sub menu You turn automatically to the status of rest after a time closed to 10 seconds 7 STATE OF RESET STOP RUN return on state of reset c00 push both and for enable disable passage to the list maba alarm modify Za alarm a H Ar d disabled SR RER Cdo GH 7 Vd increase alarm FR i i 2f enabled flashing point decrease a gt o o push twice FIG 16 Alarms ALL 116 MW00001E00 V 4 1 7 4 4 Visualization of the Input and Output Inp and Out From the INP or from the OUT You enter into corresponding list of sub menu pressing S From the corresponding list of sub menu with the keys and move to the address desired for the digital input i and the output 0 together to this in the box appear the status H if activate L if not active From this status You returns to the main menu pressing S passage to the list FIG 17 Digital input INP passage to the list FIG 18 Digital output OUT MW00001E00 V_4 1 117 7 5 PROGRAMMING KEY The programming key device allows to transfer parameters from and to the Drive inverter or
6. Estimated flux weakening voltage D18 The flux current is normalized in relation to the magnetizing current P73 the rotor flux is normalized in relation to the rated flux and is displayed as a percentage in d27 The stator voltage module is normalized in relation to the rated motor voltage P62 and is displayed as a percentage in d18 and as a value in Volt rms in d17 The constants of this regulator are established in engineering units by parameters P80 proportional gain Kp P81 time in ms of the lead time constant Ta equal to the integral regulator time constant multiplied by the gain Ta Ti Kp and P82 filter constant in ms Parameters P80 and P81 cannot be changed directly because they are considered to be perfectly calculated by the auto tuning They can only be changed by accessing BLU reserved parameter P127 Multiplication coefficient Kp and Ta flux loop The voltage flux regulator limit is normally set at rated motor current so that the total flux may be changed quickly during the transient state If the estimated flux drops below 5 of the rated flux the lower voltage regulator limit is brought to a value that will generate a flux of at least 4 This is done so as not to lose control in a zone where the flux has been weakened widely 2 2 7 1 Energy Saving This function if enabled with EN ENERGY SAVE C86 1 allows an energy saving with an automatic current reduction matched to the load reducin
7. To be used Speed reference in pulses must be enabled either by activating the function Enable reference in frequency 119 assigned an input or by means of connection E23 1 The incremental position reference is always enabled and it s possible to add an offset depending on analog and digital speed reference enable MW00001E00 V_4 1 3 1 5 2 Digital Frequency Reference About the digital frequency reference there are two working modes can be selected with C09 Setting C09 1 a reference can be provided with an encoder signal with 4 tracks of a maximum range varying between 5V and 24V and a maximum frequency of 300KHz Setting C09 2 a speed reference can be provided with an frequency signal with a maximum range varying between 5V and 24V and a maximum frequency of 300KHz setting C09 3 will be manage the same input but internally will be count only rising edge this option is useful only if it is used the time decode The number N of impulses revolution for the reference is set by connection E20 N 0 1 2 3 4 5 6 7 8 9 N of impulses revolution Disable 64 128 256 512 1024 2048 4096 8192 16384 There are the parameters E21 and E22 that permit specification of the ratio between the reference speed and input frequency as a Numerator Denominator ratio In general terms therefore if you want the speed of rotation of the rotor to be X rpm the relationship to use to de
8. Speed_Ref PRC SPD MAX PID D98 Speed Limit Ref IM Pos Speed Limit Ref sysMaxPositivePercSpeed 3 Positive Percentual speed 105 02 d limit PRC_CW_SPD_REF_MAX P18 Limit Ref i sysMaxPositivePercSpeed Positive Percentual speed limit a en Torque Command Reference r E Input R i FieldBus i i MaxTorque DN FieidBus Limit Torque J gt nl E H Percentual toraue limit PRC T MAX FLDBUS D71 i i i i ip Syaa Poanivs Torge PP_T_MAX D32 Positive torque limit PRC T MAX AN POS D70 PRC T MAX AN POS D80 Toraue Reference Torque Reference PRC_T_REF_AN D68 PID Control PID Control EN PID E71 EN REF PID E81 0 EQ SEL OUT PIDIEB2 2 IPRC_APP_SPD_REF D33 d i i i i i i H i i i H i i H H Toraue Limit Ref i i sysMaxNegativeTorque Zin Torque Un Ref pt Neg Torque Limit Ref Neaative torque limit 3 i i i i H H i i H i i H i i i H i i i i sysSpeedPercReference Percentual speed reference sysPosRefPulses H Position reference in counts PRC APP FRO SPD REF D14 i quency Reference H sysSpeedRefPulses Pulse Speed Reference Speed reference in counts PRC_APP_T_MIN D48 i MW00001E00 V_4 1 5 GENERIC PARAMETERS All parameters ET Asynchronous Parameters Name Description Min Max Default UM
9. C66 Resolver DDC bandwidth C67 Resolver carrier frequency C68 Enable PWM frequency variation C69 Enable 2nd order filter on speed regulator C70 Motor NTC or PTC resistance multiplication factor C71 Enable Braking resistance protection C72 Enable speed feedforward C73 Enable Safety STOP only like signaling C74 Enable incremental encoder time decode C75 Disable Autotuning starting from default values C76 Invert positive cyclic versus C77 Enable Pl speed gains compenstation C78 Motor speed max multiplication factor C79 Enable negative logic for digital inputs C80 Enable V f control C81 Enable dead zones C82 Enable stall alarm C83 Enable dc brake C84 Enable search during motor rotation C85 Enable open loop working state C86 Enable energy saving C87 Enable flux angle bypass frequency input C88 Calculate V f characteristic nominal knee C89 Disable minimum power circuit voltage with drive stopped C90 Enable incremental position loop on second sensor C91 Enable DC braking also in stop C92 Notch filter deep C93 Notch filter reduction C94 Drive Thermal Model C95 Enable Ali 4 20mA C96 Enable Al2 4 20mA C97 Enable Al3 4 20mA C98 Enable boot mode E00 Enable analog reference value A I 1 E01 Enable analog reference value A l 2 E02 Enable analog reference value A 1 3 E03 Meaning of analog input A 1 1 E04 Meaning of analog input A 1 2
10. 100 0 5 0 DRV_T_NOM 40 96 fly restart VF_EN_STALL_ALL C82 Enable stall alarm 0 1 1 1 VF_STALL_TIME eee 1 100 30 s 1 P187 Vs amplitude Yo PRC VF V MAX STATIC GEET 0 0 100 0 97 5 PRC MOT V MAX 327 67 VF EN ENGY C86 Enable energy saving 0 1 0 1 P188 Energy saving Ko ec regulator lead time constant 1 gt II mg P189 Energy saving A PRC_VF_FLX_MIN_ENGY admissible minimum flux 0 0 100 0 20 0 MOT_FLX_NOM 40 96 Range C85 Enable open loop 0 No VE ENTOPEN EOF working state 1 Imax in V f o l 2 Imax in V C87 Enable flux angle Ele LEN ASS bypass frequency input Q R VF TF MAX AL P190 Current alarm filter 0 0 150 0 10 0 ms 10 MW00001E00 V 4 1 FH Drive and Motor Coupling Motor Control Protections CG V F control 2 4 1 Automatic Setting of Working Voltage Frequency V f control manages the an asynchronous motor without feedback This type of control has a good dynamic performance also in flux weakening area 4 5 times base frequency and it s able to start the motor also with high load 2 times the nominal motor torque but it s no useful in that application where it s necessary to produce torque in steady state at frequency below 1Hz in this case we recommend to use a motor with feedback and a Vector control To enable the voltage frequency control set C80 characteristic The most easier way to set the voltage frequency characteristic is to use the automatic proc
11. 150 0 150 0 199 99 0 995 1200 0 100 0 100 0 200 0 798 0 100 0 100 0 100 0 120 0 100 00 120 0 3000 0 120 0 100 0 120 0 200 00 120 0 1000 120 0 500 0 120 0 30000 120 0 600 0 120 0 2000 120 0 Default 95 5000 22 0 200 80 100 400 760 730 720 10 100 100 3 5 100 90 75 80 4 0 0 98 750 100 96 00513 100 100 100 0 15 0 100 90 2 100 90 5 100 91 1 91 8 100 92 7 82 94 2 4 5 95 8 2000 98 1 1 5 100 0 720 102 0 UM Hz o Scale 32 76 PRC_MOT_V_MAX DRV NOM DV NOM 8 38 3 MOT_V_NOM MOT_T_NOM 40 96 10 10 10 10 10 10 327 67 327 67 1 10 327 67 163 84 10 163 84 10 10 10 100 1000 10 327 67 327 67 40 96 40 95 327 67 327 67 40 96 40 96 MOT_SPD_MAX 163 84 revolutions MOT_T_MOM Ohm KJoule ms KWatt 40 96 10 40 96 40 96 40 96 163 84 40 96 1 40 96 10 40 96 40 96 100 40 96 40 96 MW00001E00 V_4 1 Name KP_POS_VF PRC_DEAD_TIME_CMP_XB POS_REG_SENS2_NUM POS_REG_SENS2_DEN PW_SOFT_START_TIME OVR_LOAD_T_ENV DRV_F_PWM_CARATT DEAD_TIME_SW PRC_I_DECOUP KP_NEG_VF I_DELAY_COMP V_DELAY_COMP ID_CANOPEN ALL_ENAB KP_SINCOS1_CHN OFFSET_SIN1 OFFSET_COS1 DRV_E_CARATT SPD_REG_KD_TF2 START_TIME PRC_VF_SLIP_CMP VF_TF_SLIP_CMP PRC_VF_B
12. 40 96 MOT_V_NOM 40 96 163 84 Hz 10 Hz 1 us 10 us 10 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 V 1 Hz 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 MW00001E00 V_4 1 123 Name I_RELAY_SEL I_OVR_LOAD_SEL DRV_THERM_PRB_SEL DIS DECOUP PAR ACT BANK DEF PAR RD EEPROM PAR RD EEPROM PAR WR EN FLDBUS EN ON LINE CMP RES DDC BW RES CARR FRQ RATIO EN PWM VAR EN TF2 SPD REG MOT PRB RES THR MUL EN BRAKE R PROT EN SPD FFW EN STO ONLY SIG EN TIME DEC ENG DIS DEF START AUTO EN INV POS DIR EN SPD REG MEM CORR MOT SPD MAX MUL EN NOT LI EN VF CNTL EN DB VE EN STALL ALL VF EN DOJ VE EN SEARCH VE EN OPEN LOOP EN ENERGY SAVE VF EN BYPASS VF EN CHR AUTOSET DIS MIN VBUS EN POS REG SENS2 EN BRAKE IN STOP NOTCH DEEP NOTCH RID DRV TH MODEL EN Al1 4 20mA EN Al2 4 20mA EN A 4 20mA EN BOOT EN Alt EN Al2 EN Al3 Alt SEL Al2 SEL A SEL TF_TRQ_REF_AN EN_AI16 Al16_SEL PRC_SPD_TOT_AN DZ PRC_SPD_JOG EN_SPD_JOG PRC_START_DG_POT Description C55 Current relay output C56 Current overload C57 Enable radiator heat probe management PTC NTC C59 Disable dynamic decoupling feedfoward C60 Parameter bank active C61 Read default parameters C62 Read parameters from EEPROM C63 Save parameters in EEPROM C64 Enable fieldbus manage C65 Enable sensorless on line parameters compensation
13. E05 Meaning of analog input A 1 3 E06 Filter time constant for analog torque reference value E07 Enable analog reference value A 1 16 E08 Meaning of analog input A 1 16 E09 Analog Speed PID Error Dead zone amplitude E11 Digital speed reference value JOG1 E12 Enable jog speed reference E13 Motor potentiometer starting speed Min oj JO O O oO oO o o ojo o o IOJjo J o oO o o0 0 0 50 0 0 0 0 0I 0 oOo O0 50 0 0 0 0 0 0 0 0 0 0 0 0 0 0 o o 0 0 0 00 0 100 0 Max o IBIZIN S Iplo o are AININ 255 DT EE EAR EEN i 1 1 1 1 2 1 1 1 1 1 1 1 7 7 7 0 20 0 1 7 100 00 100 00 100 00 1 Default 0 3 lTO O O O O oO ojojo o IOJjoJo o o o0o 0 0 0 0 0 0I 0I 0 UM Scale 100 100 NG RING RANG RANG RING RANG RANG IRIS NANG INING MY ms 10 1 1 MOT SPD MAX 163 84 MOT SPD MAX 163 84 1 100 0 2 002075 MOT SPD MAX 163 84 124 MW00001E00 V 4 1 Name EN_MEM_DG_POT PRC_MAX_REF_DG_POT PRC_MIN_REF_DG_POT DG_POT_RAMPS EN_DG_POT FRQ_IN_PPR_SEL FRQ_IN_NUM FRQ_IN_DEN EN_FRQ_REF FRQ_REF_SEL TF_TIME_DEC_FRQ KP_TIME_DEC_FRQ SB_MOT_SPD_MAX SB_SPD_REG_KP SB SPD REG TI SB SPD REG TF SB CW ACC TIME SB CW DEC TIME SB CCW ACC TIME SB CCW DEC TIME SB ON EN LIN RAMP EN INV SPD REF EN CNTRL EN POS REG EN POS REG MEM CL
14. Encoder could have some problems or the motor load is too high Try to increase the test current with parameter P114 that is the percentage of rated motor current applied in the test default value 50 o TEST CONN PULSES gt P69 the real pulses counted are more than expected Could be some noise in the Encoder signals The test is successful if the drive switch off and does not trigger an alarm Now disable RUN command The subsequent tests can now be carried out 2 1 4 4 3 Sin Cos Absolute Position Starting from 12 10 revision the accuracy of absolute position is been improved Now a different behavior could be achieved using the first or the second OPDE SLOT o In the first SLOT the Sincos Zero Top is managed storing only the digital counter every turn This is the classic solution in this way the accuracy is 1 pulse o In the second SLOT the SinCos Zero Top is stored with 32 bits only in correspondence of the first edge In this case using a time stamp function is possible to increase the accuracy at less than 1 8 of pulse Wanting to use this function with the main sensor motor sensor just swap the slots with C19 Sensor presence is checked only with S T O off and power soft start completed MW00001E00 V 4 1 2 1 4 5 ENDAT 22 BISS BiSS sensor o AD36 1219 with 19 bit Single turn 12 bit Multi turn o RAB with 18 bit Single turn ENDAT 22 sensors with 17 bit Single turn or Multiturn 25 bit or 29 bit single
15. Falling TOP 0 252 Absolute position AJ sysSensorReadincr If actual speed filtered gt 0 sysActualSpeed 2ms If actual speed filtered lt 0 E69 GBOX_NUM Mechanical position E70 GBOX_DEN MW00001E00 V_4 1 3 3 4 Motor Holding Brake Asynchronous Parameters Standard Application E 0 Input Name Description Min Max Def UM Scale o e Output EN_HLD_BRAKE E89 Enable Motor Holding Brake 0 1 0 1 FH Motion Control HLD BRAKE DIS DLY E90 Motor holding brake disable 0 19999 0 ae 1 H Incremental position loop Gm Methan brake enable i aang HLD_BRAKE_EN_DLY Selay at sto 9 0 19999 0 ms 1 2s PID Control ei Motor holding brake 3 3 4 1 Motor Holding Brake Output Functions NAME OUTPUT LOGIC FUNCTIONS O 32 OD_MOTOR_HOLDING_BRAKE Motor holding brake With parameter E89 1 it s possible enable the command to open and close an external mechanical brake The parameter E90 defines the delay time at start while the parameter E91 the delay time at stop Run Command Reference Speed Motor Holding Brake Drive Running The figure shows the situation when the brake is disabled on the left and when is enabled on the rigth At time t0 Run Command is given an internal timer is activated at the same the digital output 032 goes to the high level From t0 to t0 E90 every Speed Reference is annulled the drive is in the RU
16. Maximum speed rpm x P68 2 Pul rev motor P68 2 1500 16384 6000 4096 24000 1024 With C52 2 the output is produced directly from sensor 2 signals and with C52 3 the output is equal to frequency input With C52 5 is possible to configure the frequency output signals related to second sensor choosing the number of pulse per revolution with C51 MW00001E00 V_4 1 3 2 3 1 Simulated Encoder Signals The frequency of the output signals depends on the motor revolutions the number of sensor poles and the selection made see connection C51 in the core file and their behaviour in time depends on rotation sense CW or CCW and on C50 as shown in the figures below d21 gt 0 C50 0 d21 gt 0 C50 1 d21 lt 0 C50 0 d21 lt 0 C50 1 The simulated encoder outputs are all driven by a LINE DRIVER Their level in the standard drive version is referred to 5V and then it is connected to the internal supply TTL 5V In option to be requested in the ordering there is the possibility to refer the signal level to an external supply whose value must be between 5V and 24V connection on terminal 5 and 6 In the connected device it is better to use a differential input to avoid loops with the OV wire to limit noise effects it is better to load this input 10mA max It is necessary to use a twisted shielded cable to make a proper connection WARNING the external power supply GND is connected with
17. Second Resolver DDC bandwidth C27 Rounded ramp C28 Stop with minimum speed C29 Drive software enable C30 Reset alarms C31 Disable DC Bus Ripple Alarm C32 Motor thermal switch Block drive C33 Auto ventilated thermal motors C34 Managing mains failure C35 Automatic alarm reset when mains back on C37 Enable soft start C38 Motor Magnetization selection C39 Enable speed limitation in current control C41 Enable sensor and motor phase tests C42 Enable auto tunings C44 Reset alarm counters C45 Rectification bridge C46 Enable motor thermal probe management C47 Enable smart brake C48 CAN Baud rate C49 TOP zero phase for simulated encoder C50 Invert channel B simulated encoder C51 Choose pulses ev simulated encoder C52 Simulated encoder selection C53 Supply voltage C54 Internal Simulated Encoder selection Min 0 0 0 0 0 0 0 0 1000 0 0 0 0 o o o0 0 0 0 0 0 O O Q 2 O O JOJO 9 9 9 9 9 9 9 90 9 9 9 9 9 9 oj O o Max 400 0 400 0 200 0 1000 0 16000 20 0 20 0 21 31 31 31 31 31 31 31 31 3 63 63 63 63 127 100 100 14 gt o 1 1 1 1 1 In 1 1 1 1 oa TD dii A B o m N N Default 90 0 50 0 100 0 10 0 5000 0 0 1 0 BO DN Och M oll IN IN o O O O O O O OQ D O H O O o O gt LO O oj o Ool O 0 0 0 0 0 UM Scale MOT_FLX_NOM
18. Should there be any doubts as to whether the dynamic decoupling is working properly then it can be disabled by setting C59 1 2 2 6 Drive Torque Control In the standard application is possible to enable only torque control with parameter P238 or digital input function 101 Torque control In that case speed regulator is disabled and torque refernce is taken from analog or digital signals see standard application Working in torque control are possible two different approach o Torque control with speed limit setting C39 1 EN ICNTRLSPD LIN enable the speed limitation with the speed regulator when limits are reached o Torque control with soft switch to speed control clearing C39 0 EN ICNTRLSPD LIM disable the speed limitation but enable the soft switch with speed control If on line torque control is disabled speed regulator starts its torque demand from last torque request In order to enable torque feed forward set E49 1 MW00001E00 V 4 1 2 2 7 Voltage Flux Control 6 Asynchronous Parameters E el Drive and Motor Coupling E el Motor Control Acceleration ramps and speed limit o Speed Control Torque and Current limits Current control Name Description Min Max Default UM Scale IC Voltage Flux control MOT_WAIT_DEMAGN P28 Motor demagnetization 0 3000 0 ms 1 waiting time MOT_WAIT_MAGN WEE 50 3000 300 ms 1 waiting time C38 Motor Magnetiza
19. TEST SPD SPACE MAX K FLX65 PRC MOT FRICTION K FLX75 KP REG THERM PRB K FLX82 BRAKE R K FLX88 BRAKE R MAX EN K_FLX93 BRAKE_R_MAX_EN_TIME K_FLX97 BRAKE_R_MAX_POWER K_FLX100 BRAKE_R_TF K_FLX102 Description P100 Value of access key to reserved parameters P101 PWM frequency P102 Dead time compensation P103 Drive limit current P104 Radiator time constant P105 Corrective factor for Bus voltage P106 Minimum voltage of DC Bus P107 Maximum voltage of DC Bus P108 Bus voltage threshold for brake ON P109 Bus voltage threshold for brake OFF P110 Offset A D 1 P111 Offset A D 2 P112 Display time to come back to idle state P113 Maximum drive current P114 Current in connection tests for UVW Poles and reading Rs P115 Multiplication factor for motor PTC NTC KTY84 analog reference value P116 Junction time constant P117 Multiplication factor for radiator PTC NTC analog reference value P118 Max temperature permitted by radiator PTC NTC P119 Max temperature permitted by radiator PTC NTC for start up P120 Radiator temperature threshold for logic output 0 15 P121 Test 3 and 4 acceleration time P122 Max modulation index P123 Smart brake voltage cut in level P124 Simulated encoder Kv gain multiplication coeff P125 Voltage reference function of DC bus P126 Kpl Corrective coeff estimated Kp for current loops P127 KpV Corrective
20. ACT OUT PID D91 ALS 0 KP_PID E75 KP At 8 TLPIDE77 _ TI AB TD PID E78 4 TD Multiplex All 6 ID FRZ COM 1 124 FREEZE_I PRC SPD REF TIME DEC ID EN OVR LMN 1 121 74EN OVRD 1 0 PRC_SPD_SENS2 tector OVR_LMN_I E83 j OVRD_I ee SEL_PV_PID E74 LMN_MIN_OUT_PID E79 XMin 7 LMN_MAX_OUT_PID Esoy XMax SEL_OUT_PID E82 Selector SEELECTION E82 Below is shown the functional diagram of PID block E71 EN PIDz2 4 ee ERROR Enor time tte DMax Dead band Proportional Gain Ng Seipolrt O O gt E75 E76 TF_PID_KP 118 Freeze Integral part of PID E73 SEL_SP_PID PRC_SPD_TOT_AN_DZ E72 DGT_SP_PID KP_PID Feed back PV E74 SEL_PV_PID E78 TD_PID 115 Enable PID E82 SEL OUT PID XOut e E81 EN_REF_PID Integral Time E77 TI_PID LMN I MIN E83 OVR_LMN Override Integral pa External Ref gt Speed Ref Torque Ref gt Sym Torque Limit Positive Torque Limit Negative Torque Limit Add to speed Ref gt Add to torque Ref For a better understanding of the PID function it is useful to identify three parts of the controller structure PID input signals In this section are selected the analog references Frequency reference and second sensor The output of this part can be used as input to the PID regulator block PID Regulator Block This is the PID regulator or controller with its parameter and setting as gains an
21. AUX2 400 0 400 0 100 10 P04 Corrective offset for OFFSET_AI2 analog reference 2 AUX2 100 0 100 0 0 163 84 Al2 D43 Analog Input Al2 100 100 0 163 84 E01 Enable analog ENAR reference value A 1 2 0 tl 0 l D65 Reference from REF Al2 Analog Input Al2 100 100 0 163 84 Range 0 Speed ref 1 Torque ref N 2 Symmetrical Torque limit ref Al2 SEL SC le oiana og 3 Positive Torque limit ref 1 1 paLa 4 Negative torque limit ref 5 Symmetrical Speed limit ref 6 Positive Speed limit ref 7 Negative Speed limit ref EN_AI3_4_20mA C97 Enable Al3 4 20mA 0 1 0 1 P05 Corrective factor for f 5 KP_AI3 analog reference 3 AUX3 400 0 400 0 100 o 10 P06 Corrective offset for OFFSET_AI3 analog reference 3 AUX3 100 0 100 0 0 163 84 Al3 D44 Analog Input A13 100 100 0 163 84 E02 Enable analog ENEAS reference value A 1 3 9 l S J D66 Reference from REF_AI3 Analog Input A 100 100 0 163 84 MW00001E00 V_4 1 Name Description Min Max Default UM Scale Range 2 1 Speed ref Torque ref Symmetrical Torque limit ref Positive Torque limit ref Negative torque limit ref Symmetrical Speed limit ref Positive Speed limit ref Negative Speed limit ref E05 Meaning of analog AIG SEE input A 1 3 P13 Corrective factor for 16 5 se bit analog reference AUX16 au 0g ping a in P14 Corrective offset for 16 bit analog reference AUX16 Al16 16 bit analog in
22. Al2 Factory corrective offset for analog reference 00 0 3 A13 Factory corrective factor for Bus voltage 0 0 Factory multiplication factor for motor 0 00 PTC NTC KTY84 analog reference value Factory multiplication factor for radiator 0 00 PTC NTC analog reference value DOO Software version D01 Active power delivered D02 Speed reference value before ramp 100 D03 Speed reference value after ramp 100 D04 Speed reading 100 D05 Torque request 100 D07 Request torque current Iq rif 100 D08 Request magnetizing current Id rif 100 DO9 Voltage reference value at max rev 100 D10 Torque reference value application generated 0 D11 Current module D12 Frequency in input D13 Rotor flux frequency D14 Frequency speed reference value 100 application generated D15 Current torque component 100 D16 Current magnetizing component 100 D17 Stator voltage reference value module D18 Stator voltage reference value module 100 D19 Modulation index 100 D20 Vq rif 100 D21 Motor rotation speed D22 Vd rif 100 D23 Amplitude Resolver Signals 0 D24 Bus voltage D25 Radiator temperature reading Max 200 0 200 0 20 0 19999 19999 200 0 200 0 200 0 175 0 19999 19999 80 100 00 400 00 400 00 100 0 100 0 100 0 200 0 200 00 200 00 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 800 Default 10 10 0 9 9 090 9 9 9
23. O 02 OD SPD OVR MIN Speed greater than minimum L O 4 O 03 OD_DRV_RUN Drive running L O 1 O 04 OD_RUN_CW CW CCW O 05 OD_K_I_TRQ Current torque relay O 06 OD_END_RAMP End of ramp L 0 3 O 07 OD LIM Drive at current limit O 08 OD LIM TRQ Drive at torque limit O 09 OD ERR INS Tracking incremental error 5 threshold P37 and P39 O 10 OD PREC OK Power soft start active MW00001E00 V 4 1 OD_BRK Braking active OD_PWM_SYNCH PWM synchronization output OD_HLD_BRK Motor holding brake OD_STOP_POS_ON Stop in position target reached OD_SPD_REF_RCH Speed reference reached 39 OD_EN_FANS O O 12 OD POW OFF No mains power O 13 OD BUS RIG Bus regeneration enable Support 1 O 14 OD IT OVR Motor overheating exceeds threshold P96 O 15 OD KT DRV Radiator overheating higher than P120 threshold O 16 OD SPD OK Speed reached absolute value higher than P47 O 17 OD STO ON Safe Torque Off active O 19 OD POS INI POL Regulation card supplied and DSP not in reset state O 20 OD SNS1 ABS SENS1 Absolute position available 21 OD DRV OK Drive ready and Power Soft start active O 22 OD LL ACTV LogicLab application active O 23 OD STO OK STO not dangerous failure O 24 OD TRQ CTRL Torque control O 25 OD VBUS OK DC bus voltage exceeds threshold P79 O 26 OD
24. connected externally with the appropriate precautions With this solution the Bus maximum level of voltage becomes limited through a power device that connects in parallel the resistor with the DC Bus capacitors if the voltage exceeds the threshold value in P108 the drive keeps it inserted until the voltage goes below the value of P109 in such a way the energy that the motor transfers onto the DC Bus during the braking is dissipated from the resistor This solution guarantees good dynamic behavior also in braking mode In the follow figure it s shown the Bus voltage and the speed during a dissipation on breaking resistance DC bus voltage Energy dissipation on breaking resistor A maximum voltage limit allowed exists for the DC Bus voltage This is checked by the software threshold P107 and by the hardware circuitry in case the voltage exceeds this level the drive will immediately go into an over voltage alarm A11 to protect the internal capacitors In case of A11 alarm condition starts verify the correct dimensioning of the braking resistor power Refer to the installation manual for the correct dimensioning of the outer braking resistor The braking resistor may reach high temperatures therefore appropriately place the machine to favor the heat dissipation and prevent accidental contact from the operators With connection C91 it s possible to choose if the drive has to brake also in stop The default value is
25. even in this case the list is circular At the number corresponding to the various parameters or connections appear the letter r if they are reserved t if reserved in the BLU and the letter n if it modification requires that the converter in not in run offline all the reserved parameters are of type n modifiable only by stop offline If You pressed the key S comes visualized the value of the parameter or of the connection that may be read at this point repress S once You return to the sub menu list press twice S in fast succession less 1 seconds return to the main menu The system returns automatically to the status of rest and after 10 seconds of have past inactivity To modify the value of the parameter or of connection once entered into visualization it necessary press both keys and in that moment it starts to flash the decimal point of the first figure to the left warning that from that moment the movement of the keys and modifies the value the change of value may only by stop if the parameter is of kind n and only after having set up the code of access P60 if the parameter is of the kind r only after having set up the code of P99 access for the reserved parameters BLU kind t The parameters and the reserved connections BLU doesn t appear in the list if doesn t call the code of P99 Once the value is corrected You press the key S return to the s
26. 0 2 2 ms 10 EN_NOT LI C79 Enable negative logic for digital inputs 0 255 0 1 The following table shows the logic functions managed by standard application NAME INPUT LOGIC FUNCTIONS Deine er l 00 ID_RUN Run command L 1 4 L 01 ID_CTRL_TRQ Torque control L 02 ID EN EXT External enable L 1 2 H 03 ID_EN_SPD_REF_AN Enable analog reference A LI L 1 3 L 04 ID_EN_TRQ_REF_AN Enable analog reference A 1 2 L 1 5 L 05 ID EN JOG Enable speed jog L 1 7 L 06 ID_EN_SPD_REF_POTD Enable digital potentiometer speed reference L l 07 ID EN LIM TRQ AN Enable analog reference A 1 3 L 08 ID RESET ALR Reset alarms L 1 1 L l 09 ID_UP_POTD Digital potentiometer UP L l 10 ID_DN_POTD Digital potentiometer DOWN L 11 ID_LAST_V_POTD Load last digital potentiometer value L 12 ID_INV_SPD_REF Invert speed reference value L 1 6 L l 14 ID_EN_FLDB_REF Enable FIELD BUS reference values L l 15 ID_EN_PID_REF Enable PID ref 16 ID EN PAR DB2 Enable second parameter bank L 17 ID_EN_LP_SPZ_AXE Enable space loop for electrical axis L 18 ID_FRZ_COM_ Freeze integral part of PID 19 ID_EN_SPD_REF_FRQ Enable frequency speed reference value L 20 ID_EN_AI16 Enable analog reference value Al16 L 21 ID EN OVR LMN Enable override integral part of PID 22 ID_EN_RAMP Enable liner ramps L 1 8 L 23 ID TC SWT MOT Motor termo switch L 24 ID_BLK_MEM_I SPD Freeze PI speed regulator integral memory L 25 ID_EN_OFS_LP_SPZ Enable offset on overlap position loop refe
27. 21 Biss RA18 RES POLE P68 Number of absolute sensor 1 12 2 1 poles P69 Number of encoder ENC_PPR pulses revolution 0 60000 1024 pulses rev 1 C74 Enable incremental encoder EN TIME DEC ENC NAGA 0 1 0 1 P89 Tracking loop bandwidth RES_TRACK_LOOP_BW direct decoding of resolver 100 10000 1800 rad s 1 RES_TRACK_LOOP_DAMP P90 D Traking loop bandwidth 0 00 5 00 0 71 100 Range 3 fPWM 8 2 fPWM 4 RES_CARR_FRQ_RATIO C87 Resolver carrier frequency 4 f re 2 0 1 1 fPWM x2 2 fPWM x4 3 fPWM x8 EN SENSOR TUNE U04 Enable sensor autotuning 0 2 0 1 EN INV POS DIR C76 Invert positive cyclic versus 0 1 0 1 Sensor pulses MOT TURA Pas position on current revolution 0 an 1 MOT_N_TURN D37 Number of revolutions 0 1 P164 Resolver or Incremental KP_SINCOS1_CHN Sin Cos sine and cosine signal 0 0 200 0 100 163 84 amplitude compensation P165 Resolver or Incremental OFFSET_SIN1 Sin Cos sine offset 16383 16383 0 1 P166 Resolver or Incremental OFFSET_COS1 STEEN 16383 16383 0 1 PRC_RES_AMPL D23 Amplitude resolver signals 0 800 0 ALL_THR 40 96 D38 Compensation Sin Cos OFFSET_SINCOS_ENC analog digital term 0 pulses 1 SENSOR_FRQ_IN D39 Input frequency 0 kHz 16 HW SENSOR1 D63 Sensor1 presence 0 1 SENS1 ZERO TOP D55 Sensor1 Zero Top 0 pulses 1 RES DDC BW C66 Resolver DDC bandwidth 0 1 0 Hz 1 EN SLOT SWAP C19 Enable sensor slot swap 0 1 0 1 MOTOR SENSOR RES Motor sensor re
28. 25 0 0 ms 10 PRC REG KP COEFF P126 Kpl Corrective coeff estimated Kp 0 0 200 0 100 40 96 Current regulators generate the voltage reference values required to ensure torque and flux currents that are equal to their reference values The current signals processed by these regulators are expressed according to the maximum drive current which means that they are affected by the ratio between the rated motor current and the rated drive current P61 To ensure good control this ratio should not drop below 35 40 i e Do not use a drive that is more than two and a half times larger than the motor nor a motor that is more than one and a half times larger than the drive The flux current is displayed as a percentage of the rated motor current in d16 while the torque current is displayed as a percentage of the rated motor current in d15 The constants of these regulators are established in engineering units by parameters P83 proportional gain Kp P84 time in ms of the lead time constant Ta equal to the integral regulator time constant multiplied by the gain Ta Ti Kp and P85 filter constant in ms Parameters P83 and P84 cannot be changed directly because they are considered to be perfectly calculated by the auto tuning P83 can only be changed by accessing BLU reserved parameter P126 Multiplication coefficient Kp and current loop There is dynamic decoupling between the direct axis and the orthogonal axis with a low default gain
29. 80 ms 10 DO SPD REACH THR P47 Speed threshold for logic output 0 16 0 0 100 0 0 Yo MOT SPD MAX 163 84 P48 Tracking loop bandwidth direct RES2 TRACK LOOP BW decoding of resolver2 100 10000 1800 rad s 1 RES2 TRACK LOOP DAMP P49 Damp factor Traking loop resolver2 0 00 5 00 0 71 100 DO SPD MIN THR P50 Minimum speed for relay 0 0 100 0 2 0 MOT SPD MAX 163 84 PRC MOT SPD MAX P51 Maximum speed for alarm 0 0 125 0 120 0 MOT SPD MAX 163 83 PRC FLX MIN P52 Minimum Flux admitted 0 0 100 0 2 MOT FLX NOM 40 96 DRV NOM P53 Rated drive current 0 0 3000 0 0 A 10 NOTCH FREQ P54 Notch nominal frequency 0 0 2000 0 0 Hz 10 NOTCH_BW P55 Notch bandwidth 0 0 3000 0 0 Hz 10 PRC LSE CTR MAX ERR P56 Max speed error admitted in control 0 1 400 0 400 0 MOT SPD MAX 40 96 PRC_AO1_10V P57 value of 10V for analog output A 100 0 400 0 200 10 PRC_AO2_10V P58 value of 10V for analog output B 100 0 400 0 200 10 P59 Minimum and maximum speed reached e HYST_DO_SPD output hysteresis 0 0 100 0 1 0 MOT_SPD_MAX 163 84 RES_PAR_KEY P60 Access Key to reserved parameters 0 65535 0 1 PRC_MOT_I_NOM P61 Rated motor current 10 0 100 0 100 DRV_I NOM 327 67 MOT_V_NOM P62 Rated motor voltage 100 0 1000 0 380 Volt 10 MOT_F_NOM P63 Rated motor frequency 10 0 1000 0 50 0 Hz 10 PRC_MOT_V_MAX P64 Max operating voltage 1 0 200 0 100 MOT_V_NOM 40 96 MOT_SPD_MAX P65 Max operating speed 50 60000 2000 rpm 1 MOT_
30. 9 The functions that have not been assigned assume default value for example if the function external enable is not assigned it becomes as default active H so the converter is as if there were no assent from the field 3 1 6 1 Input Logic Functions Set in Other Ways In reality the input logic functions can also be set by serial connection and by fieldbus with the following logic 100 Run stands alone it has to be confirmed by terminal board inputs by the serial and by the fieldbus though in the case of the latter the default is active and so if unaltered controls only the terminal board input 101 131 is the parallel of the corresponding functions that can be set at the terminal board the serial or the fieldbus 0 Asynchronous Parameters Tei Standard Application 3 1 7 Second Sensor E Input Name Description Min Max Default UM Scale E Analog Reference Analog Reference All Range Sa g 0 232 Analog Reference Al2 1 Encoder 2932 Analog Reference AB 2 2932 Analog Reference All6 2 Resolver 232 Analog Speed Reference 5 Resolver RDG 2s Torque Reference we en 6 p 3 2s Torque Limit Reference SENSOR2 SEL C17 Sensor2 selection 7 Bie Speed Limit Reference 8 Sin Cos incr 232 Reference Multiply Factor 2 Endat 1317 0 Digital speed Reference 11 Endat 1329 232 Digital Speed References 12 Frequency speed Reference 1
31. BLU PTC NTC analog reference value 0 00 200 00 100 169 84 5 2 1 Storage And Recall Of The Working Parameters The drive has three types of memory The non permanent work memory RAM where the parameters become used for operation and modified parameters become stored such parameters become lost due to the lack of feeding regulation The permanent work memory EEPROM where the actual working parameters become stored to be used in sequence C63 1 Save Parameters on EEPROM The permanent system memory where the default parameters are contained When switched on the drive transfers the permanent memory parameters on to the working memory in order to work If the modifications carry out on the parameters they become stored in the work memory and therefore become lost in the break of feeding rather than being saved in the permanent memory If after the work memory modifications wants to return to the previous security it is acceptable to load on such a memory a permanent memory parameter Load EEPROM Parameter C62 1 If for some reason the parameters in EEPROM change it is necessary to resume the default parameters C61 1 Load Default Parameters to make the appropriate corrections and then save them in the permanent working parameter C63 1 MW00001E00 V_4 1 Standard Application Fieldbus C Generic Parameters AG Keys 0 All parameters Asynchronous Parameters Standard Application 2 Fieldb
32. C91 0 to brake only in run state 2 3 1 4 DC Bus Ripple Alarm This function prevents the drive from rectifier bridge problems unbalanced mains and main supply phase loss Using a 100Hz pass band filter the DC Bus ripple is measured and shown in DC_BUS_RIPPLE With a DC Bus ripple over 100V the drive goes in alarm A13 2 in 100ms With a DC Bus ripple from 60V to 100V the drive goes in alarm A13 2 in 5 seconds Connection C31 can be used to disable the DC Bus Ripple Alarm MW00001E00 V_4 1 2 3 2 Thermal Protection Asynchronous Parameters 0 Drive and Motor Coupling 6 Motor Control 6 Protections Voltage limits gt Thermal protection Name Description Min Max Default UM Scale Range 0 No C46 Enable motor thermal 1 PTC E probe management PTC NTC 2 NTC 1 1 3 123 4 KTY84 130 P91 Maximum motor BIGA MENG UNK temperature if read with KTY84 tas naga bag K w C57 Enable radiator heat probe DRV_THERM_PRB_SEL management PTC NTC 0 1 1 1 P95 Motor NTC or PTC MOT_PRB_RES_THR tee au brad 0 50000 1500 Ohm 1 Range C70 Motor NTC o PTC OI lei I5 bi ul resistance multiplication factor er H P96 Motor thermal logic output PRC_MOT_DO_TEMP_THR 14 cut in threshold 0 0 200 0 100 40 96 P115 Multiplication factor for KP_MOT_THERM_PRB motor PTC NTC KTY84 analo
33. MW00001E00 V_4 1 2 1 4 Autotunig Control and Motor Measured Model e Asynchronous Parameters E Drive and Motor Coupling Drive plate Motor plate Motor Sensor gt Autotuning control Name Description Min Max Default UM Scale Range C41 Enable sensor and g No EN TEST CONN motor phase tests l Nas p 2 Yes without sensor tuning P114 Current in PRC TEST CONN connection tests for UVW 0 0 100 0 100 DRV NOM 327 67 Poles and reading Rs Range 0 No EN AUTOTUNING C42 Enable auto tunings 1 Test 1 and2 0 1 2 Test 3 and 4 3 All C75 Disable Autotuning DS E AUG starting from default values o d Q P121 Test 3 and 4 TEST3 4 ACC TIME accaler tion time 0 01 199 99 4 0 s 100 P129 Test current to e PRC_I_TEST_DELTA_VLS establish VLS 0 0 100 0 30 0 Yo 327 67 TEST CONN PULSES Connectionitos tpulses 19999 19999 0 1 counted Connection test motor and TEST_CONN_RES_RATIO sensor pole ratio 0 100 Range U01 Enable test of start up O Not enabled EN_TEST_SPD ne 1 Start up 0 1 2 Step TEST_SPD_T_MAX ka a ale 0 0 100 0 100 MOT T NOM 40 96 TEST SPD MAX A Speed during start geg 100 00 100 MOT_SPD_MAX 163 84 P134 Maximum TEST_SPD_SPACE_MAX revolutions during start up 0 00 3000 0 100 revolutions 10 test PRC_MOT_FRICTION P136 Friction torque 0 0 100 0 0 MOT_T_MOM 40 96 START_TIME P169 Start up time 0 1999
34. POT E15 4XMax Selector 0 Command Reference 0 07 Jog Speed Reference rn I if PRC_SPD_REF_JOG D76 Sel ID_EN_SPD_JOG 105 EN_SPD_JOG E12 3 1 4 1 Digital Speed Reference Jog The value programmed in parameter E11 can be used as digital speed reference either by activating the logic function Enable Jog 1 05 assigned to an input default input L I 5 or with the connection E12 1 The resolution is 1 10000 of the maximum working speed 3 1 4 2 Digital Potentiometer Speed Reference A function that makes it possible to obtain a terminal board adjustable speed reference through the use of two logic inputs to which are assigned the input functions digital potentiometer up 109 ID_UP_POTD and Digital potentiometer down 110 ID_DN_POTD The reference is obtained by increasing or decreasing an internal counter with the ID UP POTD and ID_DN_POTD functions respectively The speed of increase or decrease set by parameter E17 acceleration time of the digital potentiometer which sets how many seconds the reference takes to go from 0 to 100 keeping the ID_UP_POTD active this times is the same as to go from 100 0 to 0 0 by holding ID_DN_POTD active If ID_UP_POTD are ID_DN_POTD are activated at the same time the reference remains still The movement of the reference is only enabled when the converter is in RUN The functioning is summarised in the following table
35. Sensor1 presence 0 1 REF Alt D64 Reference from Analog Input Al1 100 100 0 Yo 40 96 REF Al2 D65 Reference from Analog Input Al2 100 100 0 Yo 40 96 REF Al3 D66 Reference from Analog Input Al3 100 100 0 40 96 PRC_SPD_REF_DG_POT D67 Digital Potentiometer Speed reference 100 100 0 MOT SPD MAX 163 84 D68 Analog Torque reference from PRC T REF AN aa 400 400 0 MOT_T_NOM 40 96 PRC_T_REF_FLDBUS D69 Fieldbus Torque reference 400 400 0 Yo MOT_T_NOM 40 96 PRC T MAX AN POS a Positive Torque Max iam 400 400 0 MOT T NOM 40 96 PRC T MAX FLDBUS D71 Fieldbus Torque Max reference 400 400 0 Yo MOT T NOM 40 96 PRC SPD TOT AN par reference from All Ale 4100 100 o MOT_SPD_MAX 163 84 MUL_KP D73 Multiplication factor 100 0 100 0 0 16 PRC_SPD_REF_AN D74 Speed reference 100 100 0 MOT SPD MAX 163 84 PRC SPD REF FLDBUS D75 Fieldbus Speed reference 100 100 0 MOT SPD MAX 163 84 PRC SPD REF JOG D76 Jog Speed reference 100 100 0 MOT SPD MAX 163 84 PRC SPD REF TIME DEC un Decode Frequency input Speed 4100 100 0 MOT_SPD_MAX 163 84 SPD REF PULS FLDBUS D78 Fieldbus Speed Reference in Pulses 0 Pulses per Tpwm 1 REF_AI16 D79 Reference from analog Input Al16 40 96 PRC_T_MAX_AN_NEG D80 Analog Negative Torque Max rom 400 400 0 MOT_T_NOM 40 96 m Application PWM_SYNC_DELAY D81 PWM SYNC delay 400 400 0 us 16 PRC_SPD_MAX_AN_POS Pa Mer from 200 200 0 96 MOT SPD NOM 40 96 MW00001E00 V
36. an emergency brake in case of mains breaks Under this circumstance the linear ramps becomes qualified and the ramp time is imposed with the parameter P30 When the minimum speed is reached alarm A10 of minimum voltage starts and the motor is left rotating in free evolution If in the meantime the mains returns the emergency brake will be not interrupted DC bus voltage 540V C34 3 Emergency brake Minimum speed P52 Break mains Return mains time 2 3 1 2 5 Alarm C34 4 With this setting immediately after a main supply loss appears alarm A10 1 MW00001E00 V_4 1 2 3 1 3 Braking Management The drive is in a position to work on four quadrants therefore is also in a position to manage the motor recovery Energy There are three different possible controls 2 3 1 3 1 Recovery Mains Energy To be able to restore the kinetic Energy into the mains it is necessary to use another OPEN drive specifically the AC DC Active Front End AFE A Power Factor Controller deals with the position to have a power factor close to unity Specific documentation is sent back from specific details This solution is adapted to those applications in which the additional cost justifies another drive with a lot of energy that is recovered in the mains or for particular thermal dissipation problems in the use of a braking resistor AC DC AFE Inductor OPENdrive OPEN drive The use of an AC DC AFE permits a con
37. between inverters The data are stored in aEPROM type memory so battery backup is not necessary The switch put on the key upper front side allows to protect the stored data against possible writing procedures FIG 19 Keypad Use method Parameter transmission from the key to the inverter Plug the key into the suitable connector Select via the keypad V and A the Load function and press S During the data transfer the RUNN indication is displayed If the key contains invalid parameters the factory preset parameters will be used and the message Err will be dispalyed for 4 s Otherwise data will be permanently stored and the confirmation message dont will be displayed for 2 s Parameter transmission from the inverter to the key Plug the key into the suitable connector Select via keypad V and A the Save function and press S If the key is write protected The control is interrupted and the message Prot is displayed for 4 s Otherwise inverter parameters are stored on the key and at the end of the operation the message RUNN and the message dont will be displayed for 2 s to confirm the operation By using the key you can store or transfer only the standard parameters The parameters of some applications positioner etc can not be saved or transferred via the programming key The programming key does not save the firmware but only the parameters 118 MW0000
38. braking with the DC Bus control C34 1 With P144 1000ms it is possible to set in P142 the Power in KWatt that could be dissipated on the resistance MW00001E00 V_4 1 In the follow figure is shown an experimental measurement of this function 30 80 AVE SE rn en Me vous had WAN he i Nk Speed op seit regulated reference H 30 V NA 2 3 3 2 New Braking Resistance Instantaneous Power Protection C71 2 Starting from 12 10 revision is available also a new braking resistance instantaneous power protection setting C71 2 In this case P144 becames the fast time constant of resistance filament With this protection the resistance is more protected especially for repeated braking The alarm A5 2 occurs when is reached 80 of max Adiabatic Energy 2 3 3 3 Braking Resistance Average Power The Energy dissipated every PWM period is used to estimate the average Power dissipated on Braking Resistance The parameters used are DESCRIPTION DEFAULT UNIT Internal rappr P140 Braking resistance value 1 1000 P146 Braking Resistance Maximum Average Power 1 30000 P148 Average Power Filter ime constant 1 200 72 s Every second the total dissipated Energy is equal to the Average dissipated Power This value is filtered with a first order filter with a time constant set in seconds in P148 the time constant depends on Braking Resistance thermal characteristics In P146 parameter is pos
39. coeff estimated Kp for voltage loops P128 Voltage motor at nominal speed with no load P129 Test current to establish VLS P130 Torque during start up test P131 Magnetic characteristic point 1 P132 Speed during start up test P133 Magnetic characteristic point 2 P134 Maximum revolutions during start up test P135 Magnetic characteristic point 3 P136 Friction torque P137 Magnetic characteristic point 4 P138 Multiplication factor for regulation card thermal probe P139 Magnetic characteristic point 5 P140 Braking resistance P141 Magnetic characteristic point 6 P142 Braking resistance Maximum adiabatic Energy P143 Magnetic characteristic point 7 P144 Time measure of Braking resistance adiabatic Energy P145 Magnetic characteristic point 8 P146 Maximum Power dissipated on Braking resistance P147 Magnetic characteristic point 9 P148 Power dissipated on Braking resistance filter time constant P149 Magnetic characteristic point 10 Min 1000 0 0 0 0 10 0 80 0 0 0 0 0 0 0 0 0 100 0 100 0 3 0 0 0 0 0 00 0 1 0 00 0 0 0 0 0 0 0 01 0 500 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 00 0 0 0 00 0 0 0 0 0 0 0 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Max 19999 16000 100 0 800 0 360 0 200 0 1200 0 1200 0 1200 0 1200 0 100 0 100 0 600 3000 0 100 0 200 00 10 0 200 00 150 0
40. in the permanent memory C60 0 bank 0 C60 1 bank 1 The commutation of the functions logic stage 116 brings an automatic variation of data of C60 and a successive automatic reading of data from the permanent memory C60 Permanent memory Indicates EEPROM the active bank RAM working memory Data bank 0 Data bank 1 On the front of commutation of 116 changes C60 and a reading from EEPROM is required For initial configuration of the input function 116 follow these steps 1 Prepare in RAM the data in bank O configuring input function 116 and holding it to a low logic level make sure C60 0 2 Save to the permanent memory with C63 1 3 Always keep 116 L prepare in RAM the data from bank 1 configuring the same input to the function 116 4 Set C60 1 and save the data in the permanent memory with C63 1 5 At this point changing the state of logic input corresponding to function 116 the bank s commutation will have automatic reading fos MW00001E00 V_4 1 5 2 1 2 Restore Factory Parameters Starting from 12 10 revision when the drive goes out from BLU its data are stored into a permanent memory like factory parameters and firmware revision also Subsequently it is possible to restore this data setting C62 2 When this function is enabled the behavior depends on the actual firmware revision o If the current firmware revision is exactly the same of when the drive left BLU FACTORY FW REV availabl
41. input default input 4 assigned RUN H Software switch on RUN C21 C21 1 is active by default Switch on RUN disable and enable from STOP offline to RUN online is given by the logic of the following table ON LINE It is mentioned that the input function Switch on RUN input can be given also via serial line or field bus See for details the Standard Application Manual 5 3 3 Drive Switch Off Stop By default the drive switch off instantaneously as soon as one of the switch on functions is disabled immediate shutdown that may also cause an almost immediate rotation shutdown if the motor is loaded and the inertia is low while coasting if the motor is without load and mechanical inertia is high Using the connection C28 it is possible to choose to switch off the drive only with motor at minimum speed With C28 1 0 immediate switch off by default when SWITCH ON RUN function is disable the speed reference is brought to zero thus the motor starts to slowdown following the ramp the drive is still switched on The system is switched off STOP offline only once the motor absolute speed goes below the threshold set in P50 2 0 default that is when the motor is almost motionless shutdown for minimum speed Calibrating P50 may coincide the drive block with the motionless motor The state of speed above the minimum is signaled from the logical output function o L 2 moreover the output function 0 L 16 is available tha
42. light loads Check the drive power circuit is intact by opening the Overcurrent alarm detected ib connections and enabling RUN if the safety switch cuts in A 10 5 AAR Power board y replace the power If the safety switch cuts in only during operation there may be a regulation problem replace along with current transducers or vibrations causing transient D C Communication alarm A 10 6 A A 6 communication fault with With this alarm contact BLU assistance Power board Alarm due to Power board e F A 10 7 A A 7 fault Micro s watchdog With this alarm contact BLU assistance Alarm due to wrong power A 10 8 AA8 supply in the Power board Set overloads even very short the 24Vdc control 15V wrong Check the connection wires on the motor side in particular A109 AAI Overcurrent alarm for leakage on the terminals in order to prevent leakages or short J S currents to ground circuits Check the motor insulation by testing the dielectric strength and replace if necessary A 10 10 AAA Reserved Check for short circuits in the connections of the braking resistors or resistor values lower than the minimum required A 10 11 A A B Brake fault alarm Disconnect the connections of the braking resistor if the problem persists contact BLU A 10 15 A A F Power board generic alarm With this alarm contact BLU assistance These alarms take the form of sub alarms of alarm A 10 to indicate that they all depend on the Power board MW00001E0
43. progress of a torque curve according to speed with the motor powered by a constant frequency Ns The same graph can also be referred to when an inverter is used reading it as torque delivered according to slip i e the difference between the rotation speed of the electrical values and the rotor Ns N in the graph IM Id starting current In rated current lo no load current Md starting torque Ma acceleration torque Mm max torque Mn rated torque Nn rated speed Ns synchronism speed Nn Ns 3 phase induction motor torque M and current I curve according to number of revolutions N The graph illustrates how the delivered torque increases according to slip up to a certain point represented by the maximum motor torque If the maximum torque is exceeded control is lost in that the torque decreases even when the current is increased It is proved that the maximum motor torque decreases during flux weakening in proportion to the square of the d bnom ratio Thus the motor has three working areas Constant torque the maximum torque is available up to the rated speed as long as the current to deliver it is available Constant power over the rated speed flux is reduced proportionally to speed the available torque also drops in proportion to speed the power delivered is constant Maximum torque after reaching the maximum torque which decreases with the square of the speed the available torque
44. the OV of the drive it is not optoisolated WARNING MiniOPDE SETTING CONTROL BOARD see the relevant installation manual WARNING the simulated encoder signals A A B B C C can exit the connector M4 card regolationto different voltage In the standard setting of dip switch SW1 as supplied by the BLU figure 1 there is the possibilty of supplying a max voltage of 24Vdc to pin M4 5 and M4 6 The signals will come to the same voltage provided at the entrance With the standard setting if you don t provide the voltage on pin M4 5 and M4 6 signals come out at 4 4V If you want to use the signals to 5V set the dip switch SW1 as shown in figure 2 without providing any voltage at the terminals M4 5 and M4 6 it may damage the drive MW00001E00 V_4 1 gt GB ununu CUTIT wuwu wo Martas ITITTIT EN seret 4R0002 0 Rev 3 STANDARD DRIVE VERSION 1 oe C5 gt SW1 1 and SW1 2 OFF You can connect max 24Vdc The channel A A B B C C 24Vdc M4 connector pin5 24Vdc pin6 OV DTD aana AAA aiia Tide SW1 1 and SW1 2 ON Not connect 24Vdc connect nothing The channel A A B B C C 5Vdc M4 connector pin5 N C pin6 N C MW00001E00 V_4 1 3 2 3 2 Configuration of the Encoder Simulation Output The two bidirectional simulation encoder channels could have a number of pulses per motor revolution selectable with C51 according to the following table that also depends on the
45. thermal current o C32 1 the thermal alarm cuts in and stops the drive immediately Internal value d28 and analog output 28 display a second by second reading of the motor thermal current as a percentage of the rated motor current When 100 is reached the motor thermal switch cuts in P96 can be set with an alarm threshold which when breached commutes logic output 0 L 14 to a high level indicating the approximation to the motor thermal limit The maximum motor thermal current depends on the operating frequency provided that the motor does not have assisted ventilation regardless of its revolutions Four permitted thermal current curves are used to reduce the current in accordance with motor operating frequency see diagram the required curve is chosen with Connection C33 as per the table Itermic Inominal 90 Curve 2 100 50 70 100 120 flav fnm 90 C33 Characteristics No reduction according to frequency to be chosen for 0 default assisted ventilation motors Choose for self ventilated high speed motors 2 poles where 1 ventilation is more efficient There is no current reduction for frequencies over 70 of the rated frequency 2 Typical curve for self ventilated motors 3 Curve for motors that heat up excessively with curve 2 MW00001E00 V_4 1 The drive can manage the motor thermal probe For the correct wiring of the probe make reference to the installation manual Th
46. torque produced 400 400 0 MOT T NOM 40 96 MOT TURN POS a a e position on 0 416384 1 MOT N TURN D37 Number of revolutions 0 1 OFFSET SINCOS ENG karag Compensation Sin Cos analog digital 0 pulses 1 SENSOR_FRQ_IN D39 Input frequency 0 kHz 16 REG_CARD_TEMP D40 Regulation card temperature 0 K 16 MOT_PRB_RES D41 Thermal probe resistance 0 KOhm 16 Ali D42 Analog Input Ali 100 100 0 40 96 Al2 D43 Analog Input Al2 100 100 0 40 96 Al3 D44 Analog Input AI3 100 100 0 40 96 IGBT_J_ TEMP D45 IGBT junction temperature 0 C 16 IGBT J TEMP MARGIN Se junction temperature margin with 0 C 16 CPLD_FW_REV D47 CPLD software version 0 1 PRC_APP_T_MIN D48 Minimum torque limit by application 100 100 0 Yo MOT_T_NOM 40 96 WORK_HOURS D49 Work Hours 0 hours 1 SENS2_SPD D51 Second sensor rotation speed 0 rpm 1 D52 Second sensor Absolute mechanical SENS2_TURN_POS position on current revolution 0 16364 1 SENS2_N_TURN D53 Second sensor Number of revolutions 0 16384 1 SENS2_FRQ_IN D54 Second sensor Frequency input 0 KHz 16 SENS1_ZERO_TOP D55 Sensor1 Zero Top 0 pulses 1 SENS2_ZERO_TOP D56 Sensor2 Zero Top 0 pulses 1 PRC_SPD_REF_MAX D57 Max positive speed ref 0 MOT SPD MAX 163 84 PRC SPD REF MIN D58 Max negative spd ref 0 MOT SPD MAX 163 84 SERIAL NUMBER D59 Drive Serial Number 0 1 FLD CARD D60 Fieldbus Card 0 1 APPL REV D61 Application Revision 0 163 84 HW_SENSOR2 D62 Sensor2 presence 0 1 HW_SENSOR1 D63
47. turn o ECI 1317 with 17 bit on turn o EO 1329 with 17 bit on turn and 12 bit multi turn o RCN 8580 with 29 bit on turn o ECN 125 with 25 bits on turn 2 1 4 5 1 Speed Sensor Test This is the first test to be carried out It is in two parts Check that the direction of rotation of the motor phases and the Endat BiSS correspond Check that the number of motor poles is written correctly in parameter P67 and the Endat BiSS used works correctly Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command with its digital input Once the test has started the motor will rotate in the positive direction at low speed and all Encoder edges are counted During the test the motor will make a complete revolution at low speed Do not worry if this revolution is a little noisy In the first step is checked if the cyclic sense of motor phases and Endat BiSS sensor is the same after 1 second parameter TEST CONN PULSES is updated with the test result and the drive consequently goes in alarm A14 or t starts the second test o TEST CONN PULSES lt 0 meaning that motor phases have opposite cyclic sense of Endat BiSS sensor o TEST CONN PULSES gt 0 everything is ok In the second part is checked the sensor reading well known that current test frequency is 0 5Hz the time needed for read a
48. used are displayed 108 MW00001E00 V_4 1 7 2 1 Parameters Par They are definite parameters of variables of setting whose numerical value has an absolute meaning for example P63 nominal frequency motor 50 Hz or they are of proportional value to the limit range for example P61 motor nominal current 100 of the drive nominal current They are distinguished in free parameters modifiable always also online reserved modifiable only offline and after access code to the reserved parameters P60 or reserved for the BLU visible after having written the access code BLU parameters P99 and modifiable only offline The characteristics of each parameter are recognizable from the code of identification as below Offline not in run Online in run De PS 8 6 8 8 not for P lt 100 not for free parameter value 1 for P gt 100 r reserved parameter parameters identification t TDE Macno parameter identify number 0 99 FIG 2 Parameters PAR For example P60 r parameter 60 reserved 1P00 t parameter 100 BLU reserved 7 2 2 Application Parameters App For their definition refer to the description of the parameters They are distinguished in free parameters some modifiable always Online other only to converter not in run offline reserved modifiable only offline and after
49. value status MONITOR only 07 Request to current loop for torque current NOM AZ 08 Request to current loop for flux current NOM AZ 09 Max voltage available VNOM MOT 10 Internal value alarms MONITOR only 11 Current module NOM AZ A 0 1 12 Motor sensor Zero Top 100 180 13 U phase current reading MAX AZ 14 Internal value inputs MONITOR only 15 Torque component of current reading NOM AZ ojoj ojojojo ojojoiojojojojojojojojojojojoj ojojojojoiojolojojojojojojlojo 16 Magnetizing component of current reading NOM AZ 17 U phase voltage duty cycle 18 Stator voltage reference value module VNOM MOT 19 Modulation index 0 lt gt 1 20 Request Q axis voltage Vq rif Jo VNOM 21 Delivered power PNOM 22 Request D axis voltage Vd rif VNOM 23 Torque produced C NOM MOT 24 DC bus voltage 100 900V 25 Radiator temperature 26 Motor temperature 27 Rotor flux NOM 28 Motor thermal current alarm threshold A6 29 Current limit MAX AZ 30 CW maximum torque Jo C NOM MOT 31 CCW maximum torque 26 C NOM MOT 32 Internal value outputs MONITOR only 33 Internal value inputs hw MONITOR only 34 V phase current reading MAX AZ 35 W phase current reading MAX AZ MW00001E00 V 4 1
50. will start to drop with the square of the speed and the power delivered will decrease in proportion to the speed Max torque Available torque Power MAXIMUM TORQUE delivered ZONE CONS TORG ZONE CONSTANT POWER ZONE 0 Nominal speed Speed To ensure regulation stability P41 must be set with the Maximum torque divided by Rated motor torque This limit will decrease during flux weakening with the square of the speed MW00001E00 V_4 1 2 2 4 3 Maximum Current Limit The drive is fitted with a maximum current limiting circuit that cuts in if exceeded restricting the maximum current delivered to the lowest value from among parameter P40 the value calculated by the drive thermal image circuit and the motor thermal protection circuit P40 is used to programme the maximum current limit delivered by the drive from 0 to the maximum authorised value which depends on the type of overload chosen with connection C56 Drive thermal image Motor thermal protection hum Inves 2 2 lum IFLUSSO gt flux current Maximum torque set by current limit Possibile limit on If the current limit exceeds the flux current then only the torque current will be limited and thus the maximum torque delivered is limited Otherwise the delivered torque is set to zero and the flux current is also limited 2 2 5 Current Control O Asynchronous Parameters for cur
51. 0 100 0 100 0 100 100 0 2000 100 0 150 0 100 0 400 0 Default 4096 5 0 100 100 500 40 5000 50 0 4096 52 142 0 65535 100 400 0 0 100 0 0 35 0 70 0 100 0 0 0 0 0 0 0 0 0 o o o o ek o o o 100 0 2 9 30 97 5 100 20 0 10 0 5 0 50 0 UM Scale DRV NOM 163 84 1 1 ms 1 C 10 Hz 1 us 10 40 96 TPWM 40 96 TPWM 40 96 Hex 1 163 84 1 1 Vrms 10 ms 10 ms 1 9 Yo PRC MOT F MAX ms 10 327 67 PRC_DELTA_VRS 40 99 DRV_I NOM 40 96 PRC_MOT_F_Max 40 96 Yo PRC MOT V MAX PRC_MOT_F_MAX PRC_MOT_V_MAX 40 96 40 96 40 96 40 96 PRC_MOT_F_MAx 42 rpm rpm rpm rpm STA 327 67 PRC_MOT_F_MAX PRC_MOT_F_MAX s 1 PRC_MOT_V_MAX 40 96 40 96 327 67 ms 1 MOT_FLX_NOM 40 96 ms 10 DRV_T_NOM 40 96 DRV_T_NOM 40 96 122 MW00001E00 V_4 1 Name PRC_FLUX_COMP_THR PRC_VS_COMP_THR DRV_K_ALTITUDE PWM_RID_F_MAX PWM_MIN DEAD_TIME_HW MIN_PULSE SENSOR_SEL LH SEL US SEL US SEL LI4 SEL Up SEL LI6_SEL LI7_SEL LI8_SEL FRQ_IN SEL LO1_SEL LO2 SEL LO3 SEL LO4 SEL DISPLAY SEL AO1 SEL AO2 SEL SENSOR SEL EN TIME DEC ENC2 EN SLOT SWAP EN INV POS2 DIR SW RUN CMD LEM SEL EN SYNC REG DC BUS FULL SCALE RES2 DDC BW EN RND RAMP EN STOP MIN SPD DRV SW EN ALL RESET DIS DCBUS RIPPLE ALL EN MOT THERMAL ALL MOT THER
52. 0 0 0 0 1 0 105 02 0 1 0 01 0 01 0 01 0 01 0 001 0 2 0 1 0 50 0 01 0 1 0 1 0 0 0 0 0 0 0 0 32767 0 0 0 0 0 0 0 0 0 400 0 Max 100 0 400 0 100 0 400 0 100 0 400 0 100 0 200 0 16383 16383 19999 200 20000 400 0 100 0 20 0 160 60000 105 02 105 02 200 0 199 99 199 99 199 99 199 99 10 0 150 0 10 0 3000 3000 199 99 400 0 3000 0 25 0 25 0 120 0 100 0 32767 100 0 32767 250 0 800 0 400 0 0 0 Default 0 100 100 100 400 100 0 2 2 2 1024 105 02 105 02 5 0 10 10 10 10 0 1 100 1 0 300 10 4 80 0 8 0 8 100 100 32767 200 400 0 400 0 400 0 UM MOT_SPD_MAX 1 100 mV o ms pulses rev MOT_SPD_MAX MOT_SPD_MAX ms ms ms MOT_FLX_NOM ppr rpm DRV_I_NOM MOT_T_NOM MOT_T_NOM MOT_T_NOM MW00001E00 V_4 1 Scale 163 84 163 84 10 1 1 163 84 163 84 10 0 100 100 100 100 1000 40 96 10 1 1 100 10 10 10 10 40 96 327 67 10 40 96 40 95 40 96 40 96 119 Name Description Min Max Default UM Scale PRC_SPD_THR_GAIN_CHG P44 End speed for speed PI gain change 0 0 100 0 0 Yo MOT SPD MAX 163 84 START SPD REG KP P45 KpV initial speed PI proportional gain 0 1 400 0 4 10 START SPD REG TI P46 TiV initial speed PI lead time constant 0 1 3000 0
53. 0 0 0 I0 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 Max 200 200 255 FFFF ninin 255 255 255 255 255 255 255 255 255 255 255 255 FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF Default UM Scale 0 MOT_SPD_NOM 40 96 163 84 163 84 163 84 163 84 163 84 163 84 163 84 0 1 0 1 0 1 0 Hex 1 0 1 0 1 0 1 4 1 1 1 1 1 0 1 50 Hz 1 0 0000 HEX 0 1 1 0000 HEX HEX HEX 192 168 0 0 255 255 255 0 0 0 0 0 1 HEX HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX 0000 HEX MW00001E00 V_4 1 Name RX7_SUB_INDEX RX8_INDEX RX8_SUB_INDEX RX9_INDEX RX9_SUB_INDEX TX0_INDEX TX0_SUB_INDEX TX1_INDEX TX1_SUB_INDEX TX2_INDEX TX2_SUB_INDEX TX3_INDEX TX3_SUB_INDEX TX4_INDEX TX4_SUB_INDEX TX5_INDEX TX5_SUB_INDEX TX6_INDEX TX6_SUB_INDEX TX7_INDEX TX7_SUB_INDEX TX8_INDEX TX8_SUB_INDEX TX9_INDEX TX9_SUB_INDEX Description F40 Receive Object7 Sub Index F41 Receive Object8 Index F42 Receive Object8 Sub Index F43 Receive Object9 Index F44 Receive Object9 Sub Index F45 Transmit Obj F46 Transmit Obj F47 Transmit Obj F48 Transmit Obj F49 Transmit Obj F50 Transmit Obj F51 Transmit Obj F52 Trans
54. 0 100 0 2 002075 MOT_SPD_MAX 163 84 E14 Load final digital EN MEM DAL POT potentiometer reference value H 0 E15 CW motor potentiometer 5 PRC_MAX_REF_DG_POT speed reference value 105 02 105 02 105 02 MOT_SPD_MAX 163 84 E16 CCW motor PRC_MIN_REF_DG_POT potentiometer speed reference 105 02 105 02 105 02 MOT_SPD_MAX 163 84 value E17 Digital potentiometer DG_POT_RAMPS een 0 3 1999 9 50 s 10 E18 Enable motor EN_DG_POT potentiometer reference value 9 1 0 1 D67 Digital Potentiometer e 9 PRC_SPD_REF_DG_POT Speed reference 100 100 0 MOT_SPD_MAX 163 84 D33 Speed reference Fi PRC APP SPD REF application generated 100 100 0 MOT_SPD_MAX 163 84 MW00001E00 V_4 1 E Asynchronous Parameters amp Standard Application E Tel Input o Analog Reference 295 Analog Reference All 232 Analog Reference Al2 232 Analog Reference AB Big Analog Reference A6 232 Analog Speed Reference 232 Torque Reference 292 Torque Limit Reference 232 Speed Limit Reference Bg Reference Multiply Factor Digital speed Reference Digital Speed References OR ID_EN_DG Pm 4 Dig Potentiometer Command Reference EN_DG_POT E18 P Digital Potentiometer Speed Enable A OUT P Reference ID_UP_POTD 109 Increases PRC_SPD_REF_DG_POT D67 ID DN POTD 110 Decrements PRC START DG POT E13 StartValue DG POT RAMPS E17 4TRamp PRC MIN REF DO POT E16 4XMin PRC MAX REF DOG
55. 0 V_4 1 107 7 DISPLAY 7 1 PHYSICAL DISPOSITION The keypad has three buttoms S selection increase reduce and a four numbers and half display with the decimal points and the sign OPDE MINIOPDE lee mies aa 2B B8B Ghe io EHEER I Ov A la BUS FEEDBACK FIG 1 Physical disposition 7 2 LAYOUT OF THE INTERNAL VARIABLES The converter is a full digital then other hardware settings are not necessary if not made in factory and the setups settings and visualizations all digital they go effect through the keypad and the display or by serial line or by fieldbus For easy access of formulations and mnemonics all the accessible greatnesses have been grouped in the following menu Parameters PAR Application Parameters APP Connections CON Internal values INT Allarms ALL Digital Input INP Digital Output OUT Utilities Commands UTL Fieldbus commands FLB In each group the variables are arranged in progressive order and only those that are actually
56. 0 Yo 163 84 Al3 D44 Analog Input Al3 100 100 0 163 84 D10 Torque reference value 7 o PRC APP T REF application generated 100 100 0 MOT T NOM 40 96 AI16 16 bit analog input optional 100 00 100 00 0 00 163 84 D33 Speed reference F o PRC_APP_SPD_REF application generated 100 100 0 MOT_SPD_MAX 163 84 P13 Corrective factor for 16 5 KP_AI16 bit analog reference AUX16 400 0 400 0 100 0 Yo 10 P14 Corrective offset for 16 S OFFSET_AI16 bit analog reference AUX16 100 0 100 0 0 Yo 163 84 aa MW00001E00 V_4 1 4 1 2 Digital Speed Reference OpenDrive Asynchronous Application 1 EI All parameters E Asynchronous Parameters Digital potentiometer speed references and digital speed reference normally are never present in the amp Application I O Parameters catalog applications some applications may be inside some similar enabling digital speed reference 5 0 Input function Analog Reference Tei Digital speed Reference Name Description Min Max Default UM Scale PRC_APP_SPD_REF D33 Speed reference 4 1 3 Frequency Speed Reference 100 The choice of the type of speed in pulses is always present 100 application generated 0 MOT_SPD_MAX Also some parameters and internal value are always present C09 Description Mode of working 0 Analogic Analog reference 10V optional 1 Digital enco
57. 00 0 MOT_T_NOM 40 96 PRC_DRV_I_MAX D29 Current limit 100 100 0 DRV_I_NOM 40 96 2 2 4 1 Choosing the Active Torque Limit The positive and negative torque limits are chosen to restrict the following values o P42 P43 maximum torque in both directions according to rated torque o Maximum torque linked to maximum motor torque according to the rated torque parameter P41 o Maximum torque set by the current limit o Maximum torque limit reference value generated by the application sysMaxTorque symmetrical sysMaxPositiveTorque and sysMaxNegativeTorque asymmetrical o Maximum torque limited by the regulator output in order to back up the bus voltage should the mains fail o Maximum torque controlled in the startup phase with the motor magnetized o by setting C47 1 sysMaxPositiveTorque sysMaxTorque Pat Maximum motor 2 torque hron Maximum torque set by current limit Vbus H Eed N PE x C341 regulator Vbus_rif S C34 1 Mns off 1P23 _ C47 V controller C47 brake sysMaxNegativeTorque Hs D30 0 Maximum torque CW gt Maximum torque CCW N MW00001E00 V_4 1 Maximum torque limited in the controlled braking phase as long as this function is enabled 2 2 4 2 Maximum Motor Torque Limit The induction motor has a maximum torque that depends on its construction characteristics The graph below illustrates the
58. 1 Speed ref E57 Enabling Stop in position after EN_STOP_POS_GBOX gearbox 0 1 0 1 Range 0 Sensor connector first sensor 1 Eighth digital input ZERO_TOP_SEL E58 Stop in position comand selection first sensor 0 1 2 Sensor connector __ second sensor 3 Eighth digital input second sensor PRC_SPD_INDEX E59 Indexing speed reference value 0 00 100 00 2 0 MOT SPD MAX 163 84 MW00001E00 V 4 1 POS_REG_KP P38 Kv position loop proportional gain 0 0 100 0 4 10 STOP_POSO E60 Target 0 Stop in position 0 00 100 00 0 360 degree 163 84 STOP_POS1 E61 Target 1 Stop in position 0 00 100 00 0 360 degree 163 84 STOP_POS2 E62 Target 2 Stop in position 0 00 100 00 0 360 degree 163 84 STOP_POS3 E63 Target 3 Stop in position 0 00 100 00 0 360 degree 163 84 ANG_MOV E64 Angular movement Stop in position 50 00 50 00 0 360 degree 163 84 POS_WINDOW E65 Position Reached window 0 00 50 00 0 15 360 degree 163 84 TIME_WINDOW E66 Time on Position Reached window 0 19999 10 ms 1 NG 7 PRC_SPD_MIN_AUTO E67 Minimum speed for automatic stop 0 00 100 00 1 0 MOT SPD MAX 163 84 Ke f SPD_MIN_HYST E68 Minimum speed hysteresis 0 00 100 00 0 0 MOT SPD MAX 163 84 GBOX NUM E69 Gearbox NUM 0 16384 100 1 GBOX DEN E70 Gearbox DEN 0 16384 100 1 E54 Disable stop in position when DS incremental posi
59. 1 and the presence of mains power supply is detected with the following logic MAINS SUPPLY PRESENCE if the presence of alternated mains supply voltage becomes noticed once at power soft start function with the logic power input MAINS OFF H from that moment the control refers only to the MAINS_OFF to check the mains presence otherwise is checked the DC Bus voltage with minimum threshould setup in P97 MAINS BREAK OUT is detected either monitoring the MAINS_OFF signal if this went to the high logic level at least one time during the power soft start either monitoring directly the DC Bus voltage with minimum threshould setup in P97 With C53 1 choice DC continuous voltage with internal power soft start the power soft start function works the same becomes active if the connection C37 1 and the presence of mains power supply is detected with the following logic MAINS SUPPLY PRESENCE AND MAINS BREAK OUT logic input MAINS OFF is ignored and it is possible to begin the power soft start if the measured voltage on the DC Bus exceeds the indicated value in P97 With this setting automatically P154 PW SOFT START TIME goes at 10 000msec 10sec NOTE In the size from 70A to 460A is not possible to set C53 1 automatically switch to C53 2 With C53 2 choice DC continuous voltage with external power soft start the OPDE drive is not concerned with power soft start of DC Bus circuit in this case the power soft start must be exter
60. 116 A 1 16 Sym Speed Limit Ref Analog Reference AIL FAL Neg Speed Limit Ref Analog Reference AD AL 2 Neg Speed Limit Ref Analog Reference AI3 AL3 Neg Speed Limit Ref Analog Reference A116 A L 16 Neg Speed Limit Ref PRC SPD TOT AN DZ E09 ___ Dead Zone E Re Multip scenes i f0 SUM Analog Speed Ref PRC_SPD_TOT_AN D72 Total Analog Speed Reference Filter 1 order N d OUT TimeF command Reference PRC_T_REF_AN D68 o SUM Torque Reference Total Analog Torque Reference TF TRQ REF AN E06 In Command Reference SS SUM Pos Torque Limit Ref mb PRC_T_MAX_AN_POS D70 Positive Torque Limit no Y Multiply y Command Reference ka IN YOUT ta Kn SUM Neg Torque Limit Ref PRC_T_MAX_AN_NEG D80 Negative Torque Limit on nd Reference 7o SUM Pos Speed Limit Ref PRC_SPD_TOT_AN_POS D82 x PI f tm Command Reference Po SUM Neg Speed Li mit Ref PRC_SPD_TOT_AN_NEG D83 MW00001E00 V_4 1 61 For example in the case of Al the result of the conditioning is given by the following equation REF1 A 1 1 10 P1 P2 By selecting a suitable correction factor and offset the most varied linear relationships can be obtained between the input signal and the reference generated as exemplified below REF REF REFI 100 pf 10V Vin 5V Vin 10V V
61. 1E00 V_4 1 8 LISTOF PARAMETERS Name PRC_START_UP_SPD_REF KP Alt OFFSET AN KP Al2 OFFSET_AI2 KP_AIS OFFSET_AI3 KP_SENS2 OFFSET_SIN_SENS2 OFFSET_COS_SENS2 OFFSET_VF SYNC_REG_KP SYNC_REG_TA KP_AI16 OFFSET_AI16 TF_LI6 7 8 RES2_POLE ENC2_PPR PRC_CW_SPD_REF_MAX PRC_CCW_SPD_REF_MAX SPD_LOOP_BW CW_ACC_TIME CW_DEC_TIME CCW_ACC_TIME CCW_DEC_TIME TF_RND_RAMP _RELAY_THR TF_I_RELAY MOT_WAIT_DEMAGN MOT_WAIT_MAGN DEC_TIME_EMCY END_SPD_REG_KP END_SPD_REG_TI END_SPD_REG_TF START_SPD_REG_TF PRC_FLX_REF V_REF_COEFF FLW_ERR_MAX_LSW POS_REG_KP FLW_ERR_MAX_MSW PRC_DRV_I_PEAK PRC MOT T MAX PRC DRV CW T MAX PRC DRV CCW T MAX Description POO Quick start application digital speed reference P01 Corrective factor for ana AUX1 og reference 1 P02 Corrective offset for analog reference 1 AUX1 P03 Corrective factor for ana AUX2 og reference 2 P04 Corrective offset for analog reference 2 AUX2 P05 Corrective factor for ana AUX3 og reference 3 P06 Corrective offset for analog reference 3 AUX3 P07 Second sensor amplitude compensation P08 Second sensor sine offset P09 Second sensor cosine offset P10 Offset for high precision analog reference value P11 CanOpen SYNC loop regulator Proportional gain P12 CanOpen SYNC loop regulator lead time constant P13 Corrective factor for 16 bit analog reference AU
62. 2_ZERO_TOP D56 Sensor2 Zero Top 0 pulses 1 C25 Second resolver DDC RES2_DDC_BW bandwidth 0 1 0 Hz 1 Range EN_SLOT_SWAP C19 Enable sensor slot swap 0 No 0 1 1 Yes SENS2_RES Second sensor resolution 0 bit 1 SENS2_POS Second sensor actual position 0 1 puses MW00001E00 V_4 1 4 2 OUTPUT 4 2 1 Digital Outputs Configurations 2 OpenDrive Asynchronous Application 1 ES All parameters om ET Asynchronous Parameters 5 Application I O Parameters 6 Input E ei Output H OpenDrive Asynchronous Application 1 o EI All parameters P59 Minimum anda maximum E Asynchronous Parameters Name Description Min Max Default UM Scale Application UO Parameters Range a Input 0 VI NOM MOT o Output eee SERGE 1 T T NOM POT S f Digital outputs configurations 2 P P NOM POT LRELAY THR P26 Current power relay cut in 0 2 150 0 100 40 96 threshold P27 Filter time constant for TF_I_RELAY current power relay 0 1 10 0 1 s 10 EE EE EE 0 0 100 0 o MOT_SPD_MAX 163 84 output 0 16 DO_SPD_MIN_THR P50 Minimum speed for relay 0 0 100 0 2 0 MOT_SPD_MAX 163 84 HYST_DO_SPD EE EE 0 0 100 0 1 0 MOT_SPD_MAX 163 84 LO1_SEL C10 Meaning of logic output 1 64 63 1 LO2_SEL C11 Meaning of logic output 2 64 63 1 LO3_SEL C12 Meaning of logic output 3 64 63 1 LO4_SEL C13 Meaning of logic output 4 64 63 1 The commons logica
63. 3 235 Frequency References 14 Endat 125 E Digital inputs configurations RES2 POLE GC Number of absolute sensor2 1 160 2 i Sica Saia ENC2_PPR P1 Number or ericodera 0 60000 1024 pulses rev 1 pulses revolution EN_TIME_DEC_ENC2 C1 8 Enable incremental encoder2 0 1 0 1 time decode EN Wu POS2 DIR C20 Invert sensor2 positive cyclic 0 1 0 1 versus EN_SENSOR2_TUNE U00 Enable sensor2 autotunig 0 1 0 1 P48 Tracking loop bandwidth direct RES2_TRACK_LOOP_BW decoding of resolver2 100 10000 1800 rad s 1 RES2_TRACK_LOOP_DA P49 Damp factor Traking loop MP Palaka Raw 0 00 5 00 0 71 100 KP SENS2 PO Sec nd senso amplitude 0 0 200 0 100 163 84 compensation OFFSET_SIN_SENS2 P08 Second sensor sine offset 16383 16383 0 1 OFFSET_COS_SENS2 P09 Second sensor cosine offset 16383 16383 0 1 HW_SENSOR2 D62 Sensor2 presence 0 1 SENS2_SPD D51 Second sensor rotation speed 0 rpm 1 MW00001E00 V_4 1 e o Asynchronous Parameters Standard Application Input E C Output Name Description Min Max Default UM Scale D52 Second sensor Absolute SENS2_TURN_POS mechanical position on current 0 16384 1 revolution D53 Second sensor Number of SENS2_N_TURN ais 0 16384 1 SENS2 FRQ IN on Second sensor Frequency 0 KHz 16 SENS2_ZERO_TOP D56 Sensor2 Zero Top 0 pulses 1 C25 Second resolver DDC RES2_DDC_BW bandwidth 0 1 0 Hz 1 Range EN_SLOT_SWAP C19 Enabl
64. 4 1 127 Name PRC_SPD_MAX_AN_NEG ACT_SP_PID ACT_PV_PID ACT_COM_P_PID ACT_COM_I_PID ACT_COM_D PID ACT_ERR_PID ACT_OUT_PID EN_SENSOR2_TUNE EN TEST SPD SPD REG SETTING MAPPING CONFIG EN SENSOR TUNE EN START UP APPL START UP SPD SEL START UP RUN SEL START UP EN REF START UP EN LIN RAMP EN VECTOR VECTOR FREQ NODE SLAVE ADDR NODE BAUD RATE DATA CONSISTANCE EN ACYCLIC DATA EN BIG ENDIAN PDP SETUP DATA FLDB ERROR CODE FLDB STATE IP ADDR 00 IP ADDR 01 IP ADDR 02 IP ADDR 03 SUBNET MASK 00 SUBNET MASK 01 SUBNET MASK 02 SUBNET MASK 03 GATEWAY 00 GATEWAY 01 GATEWAY 02 GATEWAY 03 DHCP ANYBUS EN ANYBUS STATE MAP ERROR CODE MAP ERROR OBJ RXO_INDEX RX0 SUB INDEX RX1_INDEX RX1_SUB_INDEX RX2_INDEX RX2_SUB_INDEX RX3_INDEX RX3_SUB_INDEX RX4_INDEX RX4_SUB_INDEX RX5_INDEX RX5_SUB_INDEX RX6_INDEX RX6_SUB_INDEX RX7_INDEX Description D83 Analog Negative Speed Max from Application D85 Actual Setpoint PID D86 Actual Feed back PID D87 Actual Componente P of PID D88 Actual Componente of PID D89 Actual Componente D of PID D90 Actual Errore SP PV of PID D91 Actual Output PID U00 Enable sensor2 auto tuning U01 Enable test of start up time U02 Speed regulator autosetting U03 Select the mapping configuration U04 Enable sensor auto tuning U05 Enable Quick Start Application U06 Quick Start Application Speed Reference Selection U07 Quick Start Application Run com
65. 52 is possible select the signal for the frequency output as indicated in the follow table C52 Value Description The frequency output is the simulated encoder based on motor 0 OPD ENC OUT sensor that can be configured conforming the follow paragraph 1 SENS1 The frequency output is the squared signal from the motor speed sensor 1 The frequency output is the squared signal from the speed S SENSE sensor 2 3 FRQ_IN eae output is the squared signal from the frequency The frequency output is the simulated encoder based on motor 4 OPD_ZERO_OP sensor configurable like C52 0 but only the ZeroTop is the real one from motor sensor The frequency output is the simulated encoder based on e OPD_ENC_OUT2 second sensor configured confirming the follow paragraph With the default setting C52 0 is possible to configure the frequency output signals but there will be a little jitter on the signals for the inner PLL regulation With C52 1 the output is produced directly from sensor 1 signals This option usable only with Encoder or SinCos Encode ensures a good signal stability without jitter but does not allow to choose the number of pulses per revolution in output since these are those of the sensor With C52 1 in the particular case of Resolver decoded with RDC19224 the choice of the number of pulses for revolution depends on the maximum speed and the number of sensor polar couples P68 2 in this way
66. 57 7 81 6 TYPICAL CURVE WITH QUADRATIC TORQUE LOAD If a number of points which is less than two is sufficient to define the curve just program at O the frequencies of the points which are not used P176 and or P178 so that they will not be considered in the interpolation There are some limitations on setting the characteristic Frequencies P176 and P178 must be in rising order and the distance between two adjacent points must be greater than 5 Corresponding voltages P175 and P177 must be in rising order If this limitations are not respected the system doesn t take in account the point whose component was set wrongly and it is cleared to 0 Every time one of this parameters from P175 to P178 is changed it is better to verify if the system has accepted the new value A linear type Voltage Frequency characteristic is provided for the default for which P175 P176 P177 P178 0 V Vmax_work 100 P178 P176 0 P175 P174 100 ffmax_work STANDARD CURVE FOR A MOTOR WORKING IN CONSTANT TORQUE IN ALL ITS CHARACTERISTICS MW00001E00 V_4 1 As an example we calculate the settings of the parameters in the case of a motor with a rated voltage of 380 Volts and a frequency of 50 Hz which we want to work at full flux up to 50 Hz and a constant voltage from 50 Hz to 75 Hz Having traced the desired voltage frequency we see that to program it is sufficient to use only one section point see diagram From the maxi
67. 6 and P34 to the final values in P31 P32 P33 Setting P44 0 0 disables this function so that the gains set in P31 P32 and P33 are used P45 Ta lead time constant Tf filter time constant P46 Kp proportional gain P34 speed in of max speed MW00001E00 V_4 1 2 2 3 6 Torque Feed Forward on Speed Reference It s possible to enable the Torque feed forward on speed reference using C72 connection It possible to estimate the torque reference needing for the speed variation requested with the speed reference derivative using a Il order filter time constant in P168 in ms and taking account of total inertia setting parameter P169 Startup time Speed reference C72 S Pi t rif 1 z P Nominal motor torque P169 T P168 The Startup time is the time necessary for motor and load to reach the maximum speed set in P65 with the nominal motor torque This data has to be set in milliseconds in parameter P169 It s useful to set some milliseconds of filter P168 on order to avoid too much noise on torque reference for the time derivative When it s enabled this function the torque reference produced is added to the speed regulator output The torque feed forward can be very useful in the servo drive application when the target is to follow very promptly the speed reference because it increases the bandwidth without using high gains on speed regulator Note1 torque feed forward isn t appr
68. 65 and position loop gain P38 A41 Zero TOP 4 motor revolutions completed without reading Check sensor and Sable missing Zero Top Reduce indexing speed E59 or change indexing mode selecting minimum track MW00001E00 V_4 1 Note the speed reference that is tested is the one in percent of the max speed sysSpeedPercReference in case the frequency input is used the timing signal decoding must be enabled Once this function has been activated the drive follows a ramp speed reference automatically activated to reach the indexing speed The indexing speed is programmable in E59 in percent of the max speed of the drive At this point it is possible to choose how to stop with P255 The selectable stop positions are 4 the default value is set on E60 the other on E61 E62 and E63 in percent of the revolution related to the absolute position It s possible to select the stop position using the logical function inputs 127 and 128 how it s shown in the following table Code Position selected Description 127 amp 128 0 0 E60 Stop target position 0 0 1 E61 Stop target position 1 1 0 E62 Stop target position 2 1 1 E63 Stop target position 3 with E55 1 without changing the motor rotation verse after the stop in position is commanded With parameter EN STOP POS AUTOSET E92 1 the actual position is stored on the stop target position selected 3 3 3 6 Stop In Position And Position Loop Wi
69. 80 00 180 00 0 0 A l 163 84 for multiplication factor E45 Multiplication factor MUL_KCF_MAX with max analog input 100 0 100 0 1 0 100 MUL_AI_MAX E46 Multiplication factor MUL_KCF_MIN with min analog input 100 0 100 0 1 0 100 MUL_AI_MAX PRC_SPD_TOT_ D72 Speed reference from AN Alt Al2 AD AI16 100 100 0 MOT SPD MAX 163 84 E48 Storing input in multilpicative factor 2 Q MUL_KP D73 Multiplication factor 100 0 100 0 0 16 PRC_SPD_REF_ AN D74 Speed reference 100 100 0 MOT SPD MAX 163 84 PRC APP SPD D33 Speed reference E REF application generated 100 nG 9 MOT SPD MAX 163 84 PRC SPD TOT E09 Analog speed PID Yo AN DZ error Dead zone amplitude 0 00 100 00 0 MOT SPD MAX 163 84 MW00001E00 V 4 1 3 1 2 Current Analog Reference 4 20ma If the user wants to give references in current 4 20 mA signals it s necessary to set correctly the dip switch sw1 in the display card see installation manual 5 2 17 After that for every analog input it s possible to enable with connections C95 C97 the correct software manage of these inputs When the 4 20 mA function is enabled automatically is set KP_Ax 125 and OFFSET _Aix 25 in this way with 4 mA the reference is 0 and with 20 mA the reference is 100 Furthermore there is a software lower limitation to 0 so with current reference lower than 4 mA the real reference is 0 It s po
70. 9 100 ms 1 U10 Enable Current Vector BNL MEER for Power Part Test Q Q U11 Current Vector VECTOR FREQ frequency for Power Part 0 200 50 Hz 1 Test PRC_DRV_I_PEAK P40 Current limit 0 0 250 0 200 DRV NOM 40 96 MW00001E00 V 4 1 2 1 4 1 Auto Tuning Procedures The first step for the auto tuning procedure is the sensor test After to set the correct parameters in the motor sensor section is necessary to complete the auto tuning procedure for the sensor present and selected With C41 1 it s possible to enable the sensor test with automatic sensor signals offset and gain compensation If the user prefers to compensate sensor offset and gain manually setting C41 2 it s possible to execute sensor test without signals compensation 2 1 4 1 1 Sensor Tests This is the first test to be carried out It is in three parts o Check that the direction of rotation of the motor phases and the sensor correspond o Automatic offset and gain sensor signals compensation o Check that the number of motor poles is written correctly in parameter P67 and the speed sensor used is set correctly Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test The following setting will appear on the display The drive is now ready to start the test To start reading enable RUN with its digital input or working
71. 90 9 90 9 O O O O O Q Q O O O O O O 0 0 o UM ms ms ms degrees ms ms C C DRV CONN MAX Scale 163 84 163 84 10 163 84 163 84 163 84 10 1 100 100 MOT SPD MAX 163 84 MOT T NOM MOT T NOM kW MOT_SPD_MAX MOT_SPD_MAX MOT_SPD_MAX MOT_T_NOM DRV NOM DRV NOM MOT V NOM MOT T NOM A rms KHz Hz MOT_SPD_MAX Yo DRV_I_NOM Yo DRV_I_NOM Vrms MOT_V_NOM MOT_V_NOM rpm MOT_V_NOM ALL_THR V C 40 96 40 96 163 84 163 84 163 84 10 163 84 163 84 256 16 163 84 163 84 163 84 40 96 40 96 40 96 40 96 40 96 16 16 16 163 84 40 96 40 96 16 40 96 40 96 40 96 1 40 96 40 96 16 16 126 MW00001E00 V_4 1 Name Description Min Max Default UM Scale MOT_TEMP D26 Motor temperature 0 C 16 MOT_FLX D27 Motor Flux 0 MOT_FLX_NOM 40 96 PRC_DRV_I_THERM D28 Motor thermal current 100 100 0 soglia All 40 96 PRC_DRV_I_MAX D29 Current limit 100 100 0 DRV_I NOM 40 96 PRC_DRV_T_MAX D30 Maximum torque 100 100 0 MOT_T_NOM 40 96 PRC_DRV_I_T_MAX D31 Maximum torque by current limit 100 100 0 Yo MOT_T_NOM 40 96 PRC_APP_T_MAX D32 Maximum torque limit by application 100 100 0 MOT_T_NOM 40 96 PRC_APP_SPD_REF DEE SES ee 100 100 0 96MOT SPD MAX 163 84 SOFT START STATE D34 Power Soft Start state 8 1 PRC MOT T D35 Actual
72. A and C16 for VOUTB with the number given in the table below corresponding to the relative quantities By means of the parameters P57 for VOUTA and P58 for VOUTB it is also possible to set the percentage of the variables selected to correspond to the maximum output voltage default values are P57 P58 200 so 10V in output correspond to 200 of variable selected The default for VOUTA is a signal proportional to the current supplied by converter C15 11 in VOUTB the signal is proportional to the working speed C16 4 It is also possible to have the absolute internal variable value desired to do this it is simply necessary to program the connection corresponding to the denied desired number for example taking C15 21 there will be an analog output signal proportional to the absolute value of the working frequency It is also possible to have a analog output fixed to 10V to do this it is simply necessary to program the connection corresponding to 100 MW00001E00 V_4 1 POSSIBLE CONNECTIONS THE DARKER LINE INDICATES THE DEFAULT PROGRAMMING OUTPUT ANALOG FUNCTIONS un 00 Actual mechanical position read by sensor 100 180 01 Actual electrical position read by sensor delta m 100 180 02 Reference speed value before ramps n mAX 03 Reference speed value after ramps n MAX 04 Rotation speed filtered n MAX A 0 2 05 Torque request C NOM MOT 06 Internal
73. AIN_SUPPLY gt P87 Main supply voltage Value 400 Scale 10 Int rep 4000 1 1 PARAMETERS P The parameters are drive configuration values that are displayed as a number within a set range The parameters are mostly displayed as percentages which is especially useful if the motor or drive size have to be changed in that only the reference values P61 P65 have to be modified and the rest changes automatically The parameters are split up into free reserved and BLU reserved parameters The following rules apply Free parameters black text in OPDExplorer may be changed without having to open any key even when running Reserved parameters blu text in OPDExplorer may be changed only at a standstill after having opened the reserved parameter key in P60 or the BLU reserved parameters key in P99 Reserved parameters violet_text in OPDExplorer may be changed only at a standstill after having opened the reserved parameters key in P99 While the key for these parameters is closed they will not be shown on the display Take careful note of the reference values for each parameter so that they are set correctly MW00001E00 V_4 1 1 2 CONNECTIONS C The connections are drive configuration values that are displayed as a whole number in the same way as a digital selector They are split up into free reserved and reserved connections and are changed in the same way as the parameters The internal representation base
74. BRK FLT Braking circuit fault MiniOPDE only O O O O O Enable converter fans If you wish to have the logic outputs active at the low level L you need just configure the connection corresponding to the chosen logic function but with the value denied for example if you want to associate the function end of ramp to logic output 1 active low you have to program connection 10 with the number 6 C10 6 Note if you want to configure Output logic O to active low you have to set the desired connection to value 32 3 2 2 Analog Output Configurations Asynchronous Parameters Standard Application a Input Name Description Min Max Default UM Scale A es SEH AO1_SEL C15 Meaning of programmable analog output 1 99 100 11 1 gt Analog outputs configurations AO2_SEL C16 Meaning of programmable analog output 2 99 100 4 1 PRC_AO1_10V P57 value of 10V for analog output A 100 0 400 0 200 10 PRC_AO2_10V P58 value of 10V for analog output B 100 0 400 0 200 10 OFFSET_AO1 P110 Offset A D 1 100 0 100 0 0 327 67 OFFSET_AO2 P111 Offset A D 2 100 0 100 0 0 327 67 There can be a maximum of two analog outputs VOUTA and VOUTB 10 V 2mA To each of the two outputs can be associated an internally regulated variables selected from the list here below the allocation is made by programming the connection corresponding to the output concerned C15 for VOUT
75. COS_PHI P66 Nominal power factor 0 500 1 000 0 894 1000 MOT_POLE_NUM P67 Number of motor poles 1 12 4 1 RES_POLE P68 Number of absolute sensor poles 1 12 2 1 ENC_PPR P69 Number of encoder pulses revolution 0 60000 1024 pulses rev 1 PRC MOT THERM P70 Motor thermal current 10 0 110 0 100 PRC MOT NOM 10 MOT TF THERM P71 Motor thermal time constant 1 2400 180 s 1 R Yo PRC MOT T NOM P72 Nominal torque current 5 0 100 0 95 2 PRC MOT NOM 327 67 3 PRC_MOT_I_FLX_NOM P73 Nominal flux current 5 0 100 0 30 2 PRC MOT NOM 327 67 T_ROTOR P74 Rotor time constant Tr 10 10000 200 ms 1 T_STATOR P75 Stator time constant Ts 0 0 50 0 9 1 ms 10 PRC_DELTA_VRS P76 Voltage drop due to stator resistor 1 0 25 0 2 0 MOT_V_NOM 327 67 P77 Voltage drop due to leakage A PRC_DELTA_VLS inductance 5 0 100 0 20 0 MOT V NOM 327 67 DCBUS THR P79 DC Bus threshold for logic output 025 220 0 1200 0 800 V 10 V_REG_KP P80 Kpi voltage regulator proportional gain 0 1 100 0 10 0 10 P82 Tfi voltage regulator filter time V_REG_TF constant 0 0 1000 0 12 0 ms 10 I_REG_KP P83 Kpc current regulator proportional gain 0 1 100 0 2 6 10 REG TI P84 Tic current regulator lead time constant 0 0 1000 0 9 1 ms 10 P85 Tfc current regulator filter time REG TF constant 0 0 25 0 0 ms 10 DCBUS REG KP P86 Kp3 Bus control proportional gain 0 05 10 00 3 5 100 AC MAIN SUPPLY P87 Main Supply voltage 180 0 780 0 400 V rms 10 P88 High
76. Commands UTL 112 MW00001E00 V 4 1 7 2 9 Fieldbus Parameters FLB FLB menu refers to parameters related to Fieldbuses management that was previously accessible only by OPDExplorer as they weren t associated to any standard parameter connection or extra parameter and so not accessible by keypad Now they are grouped in this new menu so they can be viewed and changed if not read only by keypad Notice that all parameters in FLB menu are not protected by any key nor by run status so they can be changed at any time Code of identification 168 68 not for free connection Utilities Commands identify number 0 64 FIG 10 Fieldbus Parametrs FLB 7 3 IDLE STATE It is the status that the display assumes right after the lighting or when none is programming P112 seconds 10 of default after the last movement except that is not is visualizing an internal variables or an input or a digital output When the keypad is on tat the status rest if the converter is not in run comes visualized STOP if the converter is in run comes visualized the internal value selected with C00 connection or the status run If the converter finds the status alarm for intervention of an or more protections the written on the keypad start to flash and they come visualized all the active alarms one by one 7 4 MAIN MENU Leavin
77. ET_AI3_BLU KP DCBUS BLU KP MOT THERM PRB BLU KP DRV THERM PRB BLU FW REV ACTV POW PRC TOT APP SPD REF PRC END SPD REF PRC MOT SPD PRC T REF PRC IO REF PRC ID REF V REF PRC APP T REF MOT REF FRQ IN EL FRQ PRC APP FRQ SPD REF PRC_IQ PRC_ID MOT_V PRC_MOT_V MOD_INDEX PRC_VQ_REF MOT_SPD PRC_VD_REF PRC RES AMPL DC BUS DRV TEMP Description Min E71 Enabling PID Control 0 E72 Digital Setpoint PID 200 0 E73 PID Setpoint selection 0 E74 PID Process value selection 0 E75 KP proportional gain 200 0 E76 Filter time constant component P PID 0 0 E77 TI Integral time 0 E78 TD Derivative time 0 E79 Limit Min value of output PID 200 0 E80 Limit Max value of output PID 200 0 E81 Enabling PID Reference 0 E82 PID Output selection 0 E83 Override Integral Part of PID 200 0 E87 Enable PWM synchronization 0 E88 PWM synchronization phase 175 0 E89 Enable Motor Holding brake 0 E90 Motor holding brake disable delay at 0 start E91 Motor holding brake enable delay at 0 stop E92 Enable autoset current position as stop 0 in position target E93 Switch on temperature of converter 30 fans Radiator temperature used by Thermal Model Drive inner connection limit Fieldbus speed reference 100 00 Fieldbus maximum torque reference 400 00 Fieldbus torque reference 400 00 Factory corrective offset for analog reference 1 Alt 100 0 Factory corrective offset for analog reference _ 00 0 2
78. F E23 isysSpeedPercR TF_TIME_DEC_FRQ E25 KP_TIME_DEC_FRQ E26 The frequency speed reference decoded in time sysSpeedPercReference has to be enabled with E23 1 o 119 H it has very good resolution also for low frequency input thus allows high speed regulator gains The pulses space reference sysPosRefPulses has to be enabled with C65 1 o 117 H from then on will not miss pulses ensuring maximum precision in the master slave electrical axes Since the overlapped position loop is enabled it is useless enable also the linear ramps on frequency speed reference decoded in time MW00001E00 V_4 1 Asynchronous Parameters 3 3 2 Pid Controller Standard Application OSO Baa Input Output Name Description Min Max Default UM Scale Motion Control EN_PID E71 Enabling PID control 0 2 0 1 Incremental position loop igi H 9 E PID Controller DGT_SP_PID E72 Digital setpoint PID 200 0 200 0 0 0 Yo 163 84 Range 0 DGT SP PID 1 Ali 2 Al2 SEL_SP_PID E73 PID setpoint selection 3 Al3 0 1 4 Al16 5 PRC_SPD_REF TIME_DEC 6 PRC_SPD_SENS2 Range 0 DGT_SP_PID 1 Ali 2 Al2 SEL_PV_PID u Gie 3 A13 1 1 4 AI16 5 PRC_SPD_REF TIME_DEC 6 PRC_SPD_SENS2 KP_PID E75 KP proportional gain 200 0 200 0 1 00 163 84 E76 Filter time constant TF_PID_KP co
79. First band P181 43 50 100 0 86 0 Second band P182 47 50 100 0 94 0 C81 2 Enables both exclusion bands MW00001E00 V_4 1 E Asynchronous Parameters O Drive and Motor Coupling E O Motor Control 2 2 2 Speed Limit Speed limits are usually set by parameters P18 and P19 but it s possible also enable analog limits In the standard application Al1 Al2 Al3 or Al16 can be configured like positive negative or symmetrical speed limit In this case will be active the lower speed limit between digital and analog values 2 2 3 Speed Control Acceleration ramps and speed limit 2 Speed Control PRC_SPD_THR_GAIN_CHG P44 End speed for speed PI gain change 0 0 100 0 0 MOT_SPD_MAX Name Description Min Max Default UM Scale END_SPD_REG_KP EE regulator 0 1 400 0 4 10 END_SPD_REG TI E SN eg regulator 0 1 3000 0 80 ms 10 END SPD REG TF en anar a rn 00 25 0 0 8 ms 10 EN_TF2_SPD_REG EE 0 1 0 1 START SPD REG TF P34 TfV initial speed regulator 0 0 25 0 08 Ge 10 filter time constant 163 84 START_SPD_REG_KP P45 KpV initial speed PI P46 TiV initial speed PI lead time 0 1 400 0 4 10 U UU proportional gain N START SPD REG TI en 0 1 3000 0 80 ms 10 EN SPD REG MEM CORR ae speed gains 0 1 0 1 EN_SPD_REG_D C72 Enable feedforward 0 1 0 1
80. IME resistance adiabatic Energy 0 30000 2000 ms 1 P146 Maximum Power BRAKE_R_MAX_POWER dissipated on Braking resistance 0 0 600 0 1 5 KWatt 100 P148 Power dissipated on BRAKE_R_TF Braking resistance filter time 1 2000 720 s 1 costant Range C71 Enable Braking resistance 0 No SEET protection 1 Classic o 1 2 New E93 Switch on temperature of TEMP_ON_CONV_FANS Geert 20 80 60 KG 1 Adiabatic Energy dissipated on BRAKE R AD ENERGY brake resistance Joule 1 BRAKE R POWER Average Power dissipated on Watt 1 brake resistance MW00001E00 V_4 1 2 3 2 1 Motor Thermal Protection Parameters P70 thermal current as a of the rated motor current P71 motor thermal constant in seconds and the current delivered by the drive are used to calculate the presumed operating temperature of the motor considering an ambient temperature equal to the permitted maximum the losses are evaluated with the square of the absorbed current and filtered with the motor thermal constant When this value exceeds the maximum thermal current set in P70 value proportional to the square of this current the thermal protection cuts in enabling logic output o L 1 and alarm A06 The action taken may be programmed via connection C32 and by enabling alarm A06 If AO6 is disabled no action will be taken If AO6 is enabled action will depend on C32 o C82 0 default value the thermal alarm will cut in and reduce the current limit to match the motor
81. In the list you are moving with the keys or till that appearing address of values wanted visualize d x x pressing S disappears the address and appear the value of the dimension From this status You go back to sub menu list repressing S and go again to the main menu repressing S twice in fast succession from the menu and from the sub menu You return automatically to the status of rest after a time of 10 seconds STATE OF RESET STOP return on state of reset RUN C00 passage to the list show the value internal dimen value FIG 15 Visualization of the internal values INT 7 4 3 Alarms ALL From ALL You enter into of sub menu list of the alarms pressing S From the corresponding sub menu with the keys and move all addresses desired for the alarms with this in the box to the right appears the status of the alarm H if active L if don t If the alarm has been disabled in this case too with the active status doesn t appear any stop of the regulation the address of the alarm is preceded by the sign To exclude the event of an alarm You must enter into the menu to modify both the keys and and when the flashing point appears of the first number You can enable or disable the alarm with the keys or if the alarm is disabled appears the sign the
82. M CURV SEL MAIN LOST SEL ALL RST ON MAIN EN PW SOFT START MAGN SEL EN CNTRL SPD LIM EN TEST CONN EN AUTOTUNING ALL COUNT RESET RECT BRIDGE SEL MOT THERM PRB SEL EN DCBUS MAX CTRL CANOPEN BAUD SEL ENC OUT ZERO TOP ENC OUT DIR ENC OUT PPR SEL ENC OUT SEL MAIN SUPPLY SEL OPD ENG OUT SEL Description P193 Maximum Flux for sensorless flux compensation P194 Minimum Voltage for sensorless flux compensation P195 Drive Derating with altitude P196 Max frequency for PWM reduction P197 Minimum PWM frequency P198 Dead time hardware duration P199 Minumum command pulse duration C00 Speed sensor C01 Meaning of logic input 1 C02 Meaning of logic input 2 C03 Meaning of logic input 3 C04 Meaning of logic input 4 C05 Meaning of logic input 5 C06 Meaning of logic input 6 C07 Meaning of logic input 7 C08 Meaning of logic input 8 C09 Frequency input setting C10 Meaning of logic output 1 C11 Meaning of logic output 2 C12 Meaning of logic output 3 C13 Meaning of logic output 4 C14 Display selection C15 Meaning of programmable analog output 1 C16 Meaning of programmable analog output 2 C17 Sensor2 selection C18 Enable incremental encoder2 time decode C19 Enable sensor slot swap C20 Invert sensor2 positive cyclic versus C21 Run software enable C22 LEM selection C23 Enable CANOpen SYNC traking loop C24 DC Voltage drive full scale C25
83. N state motor in torque and the Holding Brake can be disabled When the internal timer reaches the overflow value E90 the speed reference is enabled At time t0 Run Command is disabled and 032 goes to low level too A second timer is activate and speed reference is disabled From t1 to t1 E91 the drive stops with his deceleration ramp but remain in run state The holding brake can be enabled When the second timer reaches the overflow value E91 the Drive Running State is disabled MW00001E00 V_4 1 Bere 4 CATALOG APPLICATIONS The functions seen in previous chapter refer to the standard application in the application catalog downloadable from Brushless or Asynchrous application project these functions can not be present so please refer to the application manual itself for more details Some functions however depend on the core and are otherwise present both in the standard application and the catalog application Following be repeated all the functions seen previously noting wich ones are always present Parameters P00 P199 are common to all applications standard and catalog E00 E99 instead depend on the type of application Connections C00 C99 are common to all applications standard and catalog Internal values d00 d63 are common to all applications standard and catalog d64 d99 instead depend on the type of application 4 1 INPUTS 2 OpenDrive Asynchronous Application 1 4 1 1 Analog Referen
84. Number of revolutions per pulse selected C51 is not compatible with the maximum speed P65 See Feedback Option enclosure Check the coherence between the motor and its related defining parameters P61 P62 and P63 especially motor phase connection star or triangle See specific test description in the Feedback Option enclosure If th is alarm appeared during autotuning C41 repeat the test Otherwise check parameters P164 P165 P166 and P170 P171 P172 MW00001E00 V_4 1 6 1 3 MiniOPDE s Specific Alarms The new MiniOPDE consists of 2 fast communicating microprocessors One microprocessor is located in the Regulation board as in standard OPDE the second one is located in the Power board Thanks to this new configuration the MiniOPDE features some types of alarms that are not included in the OPDE series These alarms have been renamed so as to guarantee maximum compatibility with those who already use the OPDE series MiniOPDE s specific alarms are listed in table Alarms a 3 3 Description Corrective action Hex Dec Undervoltage may occur when the mains transformer is not powerful enough to sustain the loads or when powerful u motors are started up on the same line A400 AAO ae voltage of Power Try to stabilise the line by taking appropriate measures If necessary enable the BUS support function for mains failure C34 1 This however can only help motors with
85. OM AZ 155 NOM AZ for 30 seconds N B the overload time illustrated is calculated with the drive running steady at the rated motor current If the average delivered current is lower than the rated motor current then the overload time will increase Thus the overload will be available for a longer or identical time to the ones shown N B 3 the 200 overload is available until junction temperatures are estimated to be 95 of the rated value at the rated value the maximum limit becomes 180 For repeated work cycles BLU is available to estimate the drive s actual overload capacity 2 1 1 2 New Current Overload Function With connection C94 DRV TH MODEL 2 is possible to enable a new current overload management Please contact BLU spa for further informations 2 1 1 3 Double Update Function With connection C68 EN_PWM_VAR 2 Double Update the motor control routines have the refresh frequency set with P101 DRV F PWM but the real PWM frequency for IGBT control is half of that value for reduce power loses and consequently Drive derating When the Double Update function is enabled the second sensor is no louger managed In addiction the minimum ratio between the control frequency and the output frequency will always be 9 therefore there will be an automatic control frequency change based on output frequency MW00001E00 V_4 1 H el Asynchronous Parameters Drive and Motor Coupling Drive plate g
86. OOST PRC VF DCJ MAX PRC VF DCJ F MAX PRC VF CHR Vi PRC VF CHR F1 PRC VF CHR V2 PRC VF CHR EZ DB1 START DB1 END DB2 START DB2 END PRC VF V REG D PRC VF FSTART SEARCH PRC VF FMIN SEARCH VE STALL TIME PRC VF V MAX STATIC TI ENERGY SAVE PRC FLX MIN ENERGY VE TF MAX AL PRC VF T MAX SEARCH PRC IO COMP THR Description P150 High precision analog speed reference value VCO setting for positive voltage reference values P151 Xb cubic coupling zone amplitude P152 NUM Second sensor incremental position loop P153 DEN Second sensor incremental position loop P154 Soft start enabling time P155 Ambient temperature reference value during overload P156 PWM frequency for drive definition P157 Dead time software duration P158 Corrective coefficient for decoupling terms P159 High precision analog speed reference value VCO setting for negative voltage reference values P160 PWM delay compensation on the currents P161 PWM delay compensation on the voltages P162 CAN BUS node ID P163 Alarm enable P164 Resolver or Incremental Sin Cos sine and cosine signal amplitude compensation P165 Resolver or Incremental Sin Cos sine offset P166 Resolver or Incremental Sin Cos cosine offset P167 Characterization voltage P168 Second order feedforword filter P169 Start up time P170 Slip motor compensation P171 Slip compensation factor filter
87. P P80 Kpi voltage regulator proportional gain V_REG_TF P82 Tfi voltage regulator filter time constant REG TI P84 Tic current regulator lead time constant REG TF P85 Tfc current regulator filter time constant Ee ee PRC DELTAVLS TR is the leackage inductance measured during test 4 This value is shown only as an indication By the end of this test the current and flow regulators will have been completely self set and made compatible with the motor connected to the drive These readings also help estimate the Maximum motor torque P41 which is important if the motor flux has to be considerably weakened MW00001E00 V 4 1 If C75 0 the speed regulator gains are set with the default values so that the user can set the most suitable gains for the applications The speed loop bandwidth depends heavily on the overall load inertia thus high frequency values can only be obtained if the motor load coupling has no elasticity or mechanical play and if the speed sensor resolution is good enough not to introduce too much noise Name Description END_SPD_REG_KP P31 KpV final speed regulator proportional gain END_SPD_REG_TI P32 TiV final speed regulator lead time constant END_SPD_REG_TF P33 TfV final speed regulator filter time constant 2 1 6 Speed Test Speed test are useful for measure total system inertia and to set correctly speed regulator gains For safety reasons it s possible to limit maximum sp
88. P106 alarm A10 appears In certain applications the DC Bus is charged only if all drivers are without alarms In this case set C89 1 with the motor stopped drive will be ready also without DCBus MW00001E00 V_4 1 2 3 1 1 Power Soft Start Pre Charge Circuit The input stage of the OPDE drive is a rectifier bridge This bridge may be a diode or semi controlled diode SCR The size from 03A to 60A have the diode bridge and the power soft start function acts bypassing after some time set on the parameter P154 a soft start resistor in serieswith the output of the power bridge In sizes from 70A to 460A the rectifier bridge is a semi controlled type a nd the power soft start function unblocks this input power bridge permitting gradual charge of the DC Bus voltage capacitors NOTE The connection C45 BLU reserved parameter whose setting is by the same set the type of the rectifier bridge present in the drive 0 diode bridge rectifier 3A 60A 1 semi controlled bridge rectifier 70A 460A After checked the correct setting of C45 connection is very important to set C53 reserved parameter protected by key P60 for the choise of power supply type 0 AC three phase alternated voltage 1 DC continuous voltage with internal power soft start 2 DC continuous voltage with external power soft start With C53 0 choice AC alternated voltage the power soft start function works the same becomes active if the connection C37
89. P172 Stator voltage drop compensation P173 Current limit during continuous braking P174 Continuous breaking maximum frequency limit P175 V f characteristic point 1 voltage P176 V f characteristic point 1 frequency P177 V f characteristic point 2 voltage P178 V f characteristic poitn 2 frequency P179 Dead zone 1 initial speed P180 Dead zone 1 final speed P181 Dead zone 2 initial speed P182 Dead zone 2 final speed P183 Voltage regulator derivative coefficient multiplying term P184 Initial search frequency with rotating motor P185 Minimum search frequency with rotating motor P186 Working time during limit P187 Vs amplitude maximum static value P188 Energy saving regulator filter time constant P189 Energy saving admissible minimum flux P190 Current alarm filter P191 Torque limit during fly restart P192 Minimum Active Current for sensorless flux compensation Min 16383 0 0 16384 0 150 0 0 1000 0 0 0 0 16383 800 0 800 0 1 0 0 0 16383 16383 200 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 0 0 0 0 0 0 0 Max 16383 50 0 16384 16384 19999 150 0 16000 20 0 200 0 16383 800 0 800 2 127 65535 200 0 16383 16383 780 0 1000 0 19999 400 0 150 0 400 0 100 0 100 0 100 0 100 0 100 0 100 0 30000 30000 30000 30000 100
90. P52 The drive output current has reached a level that has set off an alarm this may be caused by an overcurrent due to leakage in the wires or the motor or to a short circuit in the phases at the drive output There may also be a regulation fault This alarm is application specific Please refer to specific documentation CORRECTIVE ACTION Check if in a transient state the active current reference is increased to high values in a short time Eventually increase the current limit regulator gain If the motor has to work in limit for a long time disable this alarm set C82 0 or lengthen the limit time admitted increasing P186 The motor is in stall because it has not been given sufficient voltage boost at low frequencies increase the parameter P172 The start up load is too high reduce it or increase the rating of motor and drive It s possible to reset this alarm but keep attention now all parameters have its default value Try rereading the values with the EEPROM The reading may have been disturbed in some way If the problem continues contact BLU as there must a memory malfunction Try rewriting the values in the EEPROM The information may have been disturbed in some way If the problem continues contact BLU as there must be a memory malfunction There are some problems with EEPROM Check that the motor is properly connected to the drive Try to increase parameter P29 machine magnetizing waiting time and redu
91. R MUL Al IN SEL MUL Al OUT SEL MUL Al MAX MUL Al MIN MUL KCF MAX MUL KCF MIN EN FLDBUS REF STR MUL Al EN FF DIS STOP POS EN STOP POS STOP POS CMD EN STOP POS GBOX ZERO TOP SEL PRC SPD INDEX STOP_POSO STOP_POS1 STOP_POS2 STOP_POS3 ANG MOV POS WINDOW TIME WINDOW PRC SPD MIN AUTO SPD MIN HYST GBOX NUM GBOX DEN Description E14 Load final digital potentiometer reference value E15 CW motor potentiometer speed reference value E16 CCW motor potentiometer speed reference value E17 Digital potentiometer acceleration time E18 Enable motor potentiometer reference value A 1 4 E20 Encoder pulses per revolution E21 NUM Frequency input slip ratio E22 DEN Frequency input slip ratio E23 Enable frequency speed reference value E24 Frequency speed reference selection E25 Filter time constant of frequency input decoded in time E26 Corrective factor for frequency input decoded in time E27 Second bank Max operating speed E28 Second bank KpV speed regulator proportional gain E29 Second bank TiV speed regulator lead time constant E30 Second bank TfV speed regulator filter time constant E31 Second bank CW acceleration time E32 Second bank CW deceleration time E33 Second bank CCW acceleration time E34 Second bank CCW deceleration time E35 Second bank active E36 Enable linear ramp E37 Invert reference signal software E38 Enable only curr
92. RC_DELTA_VLS nn 5 0 100 0 20 0 MOT_V_NOM 327 67 MOT_T_NOM Nominal motor torque 0 0 Nm 1 MOT_P_NOM Nominal motor power 0 0 Kw 10 PRC_DEAD_TIME_CMP P102 Dead time compensation 0 0 100 0 22 0 Yo PRC_MOT_V_MAX 32 76 PRC_DEAD_TIME_CMP_xB P151 7 Xb cubic coupling zone 0 0 50 0 5 0 DRV_I NOM 163 84 MOT vo PIED ee het iar SE aa MOT_V_NOM 327 67 K_FLX45 P131 Magnetic characteristic point 1 0 0 120 0 90 2 40 96 K_FLX55 P133 Magnetic characteristic point 2 0 0 120 0 90 5 40 96 K_FLX65 P135 Magnetic characteristic point 3 0 0 120 0 91 1 40 96 K_FLX75 P137 Magnetic characteristic point 4 0 0 120 0 91 8 40 96 K_FLX82 P139 Magnetic characteristic point 5 0 0 120 0 92 7 40 96 K_FLX88 P141 Magnetic characteristic point 6 0 0 120 0 94 2 40 96 K_FLX93 P143 Magnetic characteristic point 7 0 0 120 0 95 8 40 96 K_FLX97 P145 Magnetic characteristic point 8 0 0 120 0 98 1 40 96 K_FLX100 P147 Magnetic characteristic point 9 0 0 120 0 100 0 40 96 K_FLX102 P149 Magnetic characteristic point 10 0 0 120 0 102 0 40 96 PRC_DELTA_VLS_TR Ee 0 0 100 0 MOT_V_NOM 163 84 2 1 5 1 Motor Auto Tuning Parameters These parameters are extremely important for modelling the motor correctly so that it can be used to its full potential The best procedure for obtaining the correct values is the Auto tuning test which is enabled with connection C42 this test must be carried out with the motor decoupled from the load Failure to do
93. S is updated with the pulses number counted there are 65536 pulses every turn Resolver polar couples and the drive consequently goes in alarm A14 or it starts the second test o TEST_CONN_PULSES lt 0 meaning that Resolver channels are exchanged therefore A14 0 is triggered o TEST CONN PULSES 50 everything is ok In the second part is checked the Resolver channels reading At the end of the test TEST CONN RES RATIO is updated again with the measured ratio between motor and resolver polar couple number If the ratio isn t correct the alarm A15 3 is triggered In the first check if it is correct the Resolver poles number and the number of motor poles with help of TEST CONN RES RATIO The test is successful if the drive switch off and does not trigger an alarm Now disable RUN command by setting its digital input to 0 The subsequent tests can now be carried out Sensor presence is checked only with STO off and power soft start completed MW00001E00 V_4 1 2 1 4 4 Incremental SIN COS Encoder 2 1 4 4 1 Sensor Parameters It s necessary to have set correctly the parameter P69 2 1 4 4 2 Speed Sensor Test It is in three parts o Check that the direction of rotation of the motor phases and the Encoder correspond o Autotuning incremental sin cos signals o Check that the number of motor poles is written correctly in parameter P67 and the Encoder used is correctly define as pulses per revolution with parameter P69 Correct operat
94. SPD_REG_KD_TF2 A Second order feedforward 0 0 1000 0 op ms 10 NOTCH_FREQ P54 Notch nominal frequency 0 0 2000 0 0 Hz 10 NOTCH_BW P55 Notch bandwidth 0 0 3000 0 0 Hz 10 NOTCH_DEEP C92 Notch filter deep 0 1 0 1 100 NOTCH_RID C93 Notch filter reduction 0 1 1 0 100 PRC_MOT_SPD_MAX P51 Maximum speed for alarm 0 0 125 0 120 0 MOT_SPD_MAX 163 84 PRC LSE CTR MAX ERR P56 Max speed error ou 200 0 200 0 MOT SPD MAX 40 96 PRC END SPD REF SH z gosir oer om 0 MOT_SPD_MAX 163 84 PRC_MOT_SPD D04 Speed reading 100 100 0 MOT SPD MAX 163 84 PRC_T_REF DO5 Torque request 100 100 0 MOT_T_NOM 40 96 MOT_SPD D21 Motor rotation speed 0 rpm 1 SB_MOT_SPD_MAX pe bank Max operating sq soo00 ace rpm 1 SB_SPD_REG_KP et ou 400 0 6 10 SB SPD REG TI E o1 3000 0 30 ms 10 SB_SPD_REG_TF a es 00 25 0 0 4 ms 10 SB_CW_ACC_TIME Sen Gw 0 01 199 99 10 s 100 SB CW DEC TIME a em 0 01 199 99 10 s 100 SB CCW ACC TIME Ba SAU Gow 0 01 199 99 10 s 100 SB CW DEC TIME naaa a 0 01 199 99 10 s 100 SB ON E35 Second bank active 0 1 0 1 SPD_REG_SETTING U02 Speed regulator autosetting 0 4 0 1 SPD_LOOP_BW P20 Speed loop bandwidth 01 200 0 50 Hz 10 0 SPD_LOOP_BWL_MAX Max speed loop bandwidth 0 1 200 0 Hz MW00001E00 V_4 1 2 2 3 1 Managing Speed Reference Values The application generates two speed reference values o One sysSpeedReference is a percentage of the maximum speed set in paramet
95. Scale P60 Access key to reserved Ba RES PAR KEY parameters 0 65535 0 1 BLU_PAR_KEY E 0 19999 0 1 FL EEE STRESS P100 Value of access key to RES PAR KEY VAL on parameters 0 19999 0 1 P60 and P99 are two parameter that if correctly set allow some reserved parameter only at a standstill In particular if the value of P60 is the same of the key is possible to modify the reserved parameters If the value of P99 is the same of the key is possible to modify the BLU parameters 5 2 DATA STORING Name Description Min Max Default UM Scale DEF_PAR_RD C61 Read default parameters 0 1 0 1 Range 0 No EEPROM_PAR_RD C62 Read parameters from EEPROM 1 Yes 0 1 2 Restore factory par EEPROM_PAR_WR C63 Save parameters in EEPROM 0 1 0 1 PAR_ACT_BANK C60 Parameter bank active 0 1 0 1 ALL_COUNT_RESET C44 Reset alarm counters 0 2 0 1 OFFSET Alt BLU Factory corrective offset for analog 100 0 100 0 0 163 84 reference 1 All Factory corrective offset for analog 3 OFFSET_AI2_BLU reference 2 Al2 100 0 100 0 0 163 84 Factory corrective offset for analog F OFFSET Al3 BLU reference 3 A13 100 0 100 0 0 163 84 KP_DCBUS_BLU Factory corrective factor for Bus voltage 0 0 200 0 100 10 Factory multiplication factor for motor KP MOT THERM PRB PTG NTO KTY84 analog reference 0 00 200 00 100 163 84 value KP_DRV_THERM_PRB_ Factory multiplication factor for radiator
96. User s manual BLU Asynchronous Firmware version 12 1 K u SUMMARY keete 4 1 1 PARAMETERS HE geen deeg ana aan han 4 1 2 CONNECTIONS C nun eat nal 5 1 3 INPUT LOGIC FUNCTIONS OI 5 1 4 INTERNAL VALUES DY saaan AG GATA GARA 5 1 5 OUTPUT LOGIC FUNCTIONS 01 5 2 ASYNCHRONOUS PARAMETERS 11101111 mnanannnananawwwwaaaaaannnnsunnannannanaananns 6 2 1 DRIVE AND MOTOR COUPLING oserineresinicerunuinneenininue enen a ariaa AENA ERRARE 6 2lad Dive Platano AN PANULAAN na E ES 6 2 1 2 Motor d CN 8 203 de EE 9 2 1 4 Autotunig Control and Motor Measured Model 11 2 1 5 Identifying Models of Induction Motor 18 2 1 6 Speed EE 22 2 1 7 QUICK Start Up EE 24 2 2 MOTOR CONTROL EE 25 2 2 1 Acceleration Ramps and Speed Um 26 NET EE 28 229 Speed te E 28 2 24 Torque and Current Limits era 33 2 25 Gurtent Conan AA araa a RAR ARA ahah 35 2 2 6 Drive Kl ett EE 36 2 2 7 Voltage Flux Control 37 2 3 PROTECTION en KALA 40 2 31 Voltage El A0 2 3 2 Thermal re e EE 47 2 3 3 Braking Resistence Thermal Protection nennen nnnnnnnnnnnnn nennen ernennen 49 2 4 VF CONTROL ahnen ee nein 51 2 4 1 Automatic Setting of Working Voltage Frequency anan nwanawananawananananawananananananannnns 52 2 4 2 Manual Setting of Working Voltage Frequency Characteristic 2 u424444n nennen 53 2 4 3 Load Effect Compensation nn 54 24 4 Particular Control FUNCIONS nanana Na ANA e len 55 2 5 SENSORLESS i iceiveccgusacdcals
97. X16 P14 Corrective offset for 16 bit analog reference AUX16 P15 106 07 08 logical inputs digital filter P16 Number of absolute sensor2 poles P17 Number of encoder2 pulses revolution P18 Max CW speed reference value limit P19 Max CCW speed reference value limit 105 02 P20 Speed loop bandwidth P21 CW acceleration time P22 CW deceleration time P23 CCW acceleration time P24 CCW deceleration time P25 Rounded filter time constant P26 Current power relay cut in threshold P27 Filter time constant for current power relay P28 Motor demagnetization waiting time P29 Motor magnetization waiting time P30 Emergency brake deceleration time P31 KpV final speed regulator proportional gain P32 TiV final speed regulator lead time constant P33 TfV final speed regulator filter time constant P34 TfV initial speed regulator filter time constant P35 Flux Reference P36 Kv Max operating voltage multiply factor P37 Maximum tracking error less significative part P38 Kv position loop proportional gain P39 Maximum tracking error less significative part P40 Current limit P41 Maximum torque at full load P42 Maximum torque in the positive direction of rotation P43 Maximum torque in the negative direction of rotation Min 100 0 400 0 100 0 400 0 100 0 400 0 100 0 0 0 16383 16383 19999 0 400 0 10
98. _IN_SEL C09 ID_EN_FRQ_REF 119 OR EN_FRQ_REF E23 TF_TIME_DEC_FRQ E25 KP TIME DEC FRQ E26 0 sysSpeedRefP In this working mode the frequency speed reference is decoded in time with maximum linearity also for very low input frequencies In this mode is possible to create a dynamic electrical axis possibly with linear ramps enabled but that is not rigid in the sense that there is no guarantee master slave phase maintenance en MW00001E00 V 4 1 3 1 5 3 3 Pulses and Decoded in Time Reference E24 2 Selector DEN E22 FRQ IN PPR sel NG gd m E20 ID_EN_FRQ_REF 119 OR EN_FRQ_REF E23 sysSpeedPercRef Ramps ka sysSpeedRefPul KP TIME DEC FRQ E26 Ramps disabled This is the most complete and powerful mode which makes use of both references the frequency speed reference decoded in time sysSpeedPercReference has very good resolution also for low frequency input thus allows high speed regulator gains the pulses speed reference sysSpeedRefPulses going to impose a reference to the integral part of the speed regulator will not miss pulses ensuring maximum precision in the master slave electrical axes If the linear ramps are enabled will act only after the first starting then going to exclude themselves 3 1 5 3 4 High Resolution Analog Reference Optional Putting C09 0 with the optional hardware an analog signal can be provided of 10V that will be c
99. a current equal to the magnetizing current is being delivered Thus special care must be taken especially when C38 0 in that a voltage 0 may be created on terminals U V W without enabling the RUN command 2 2 7 3 Wait for Motor Demagnetizing When the drive is switched off it is dangerous to switch on immediately due to the unknown magnetic flux position that could produce a motor over current The only chance it s to wait the time needed for the magnetic flux to reduce itself with its time constant that depend on the motor type and can vary from few milliseconds to hundreds of milliseconds For this reason has been introduced the parameter P28 that set the wait time after power switch off after that it s possible to switch on the power another time also if the user gives the RUN command during this wait time the drive waits to complete it before enabling another time the power Parameter P28 is defined in time units of 100us so the default value 10000 correspond to 1 second MW00001E00 V_4 1 E Asynchronous Parameters E Motor Control ES ei Protections 6 Asynchronous Parameters Motor Control A Protections Voltage limits 2 3 PROTECTION 2 3 1 Voltage Limits Drive and Motor Coupling Name Description Min Max Default UM Scale AC_MAIN_SUPPLY P87 Main Supply voltage 180 0 780 0 400 Vrms 10 P97 Mini
100. able 0 1 1 1 Quick start up is used to help the user during commissioning Enable this function setting the utility command U05 1 At that point the application present into the drive is disabled output logical function 022 LogicaLab application active goes at low level and Quick start up take the control With the utility command U06 is possible to select the speed reference from analog inputs or digital parameter P00 The utility command U08 is used to enable the speed reference The run command is given in digital way C21 and using a physical digital input So with the utility command U07 it s possible to select the physical digital input necessary to give the run command and C21 is the software run command With U09 is possible to enable linear ramps Note at the end of commissioning remember to disable Quick start up MW00001E00 V 4 1 2 2 MOTOR CONTROL Asynchronous Parameters Drive and Motor Coupling H E Motor Control The regulation system consists of a speed regulation loop and a flux or voltage regulation loop according to drive operation These loops manage the reference values from the application and generate reference values for the internal torque and flux current loops All the loops are controlled by integral proportional regulators with an error signal filter and work with normalized signals so that the regulation constants are as independent as possible from the size of the motor in rel
101. access code to the reserved parameters P60 The characteristics of each parameter are recognizable from the code of identification as below 18 888 not for free parameter absent r reserved parameter application parameters identification identify number 0 99 FIG 3 Application Parameters PAR For example E03 r application parameter 03 reserved MW00001E00 V_4 1 109 7 2 3 Connections Con They are certain connections that variables approach that are of numerical value comes connected to a function or a clear command for example rounded ramp insertion C27 1 or no rounded ramp C27 0 or save parameters on EEPROM memory C63 1 They are in free connections some of the like modifiable always Online other with converter in stop offline and reserved modifiable only offline and after access code to the reserved parameters P60 or reserved for the BLU visible after having written the access code BLU parameters P99 and modifiable only offline The characteristics of each connection are individually recognizable of identification code as under report D o gt 8 8 8 8 not for free connection connection C r reserved connection identify number 0 99 t TDE Ma
102. active actual data In order to refine data measured it s better to execute Autotuning test the first time with C75 0 and then the second time with C75 1 2 1 5 1 1 Test 1 Reading Stator Drop and Dead Time Compensation This test establishes the voltage drop caused by the stator resistor and the IGBT It also estimates the signal amplitude required to compensate for the effects of the dead times so that the internal representation base of the stator voltage and the one actually generated match During this reading the motor remains still in its original position and a range of flux currents are emitted By reading the voltages and the correlated voltages the required values can be collected This test modifies the following parameters Name Description PRC DELTA VRS P76 Voltage drop due to stator resistor PRC DEAD TIME CMP P102 Dead time compensation MW00001E00 V 4 1 A A 2 1 5 1 2 Test 2 Learning the Total Leakage Induction Drop Reported to the Stator This test establishes the voltage drop due to the total leakage inductance reported to the stator in order to calculate the proportional gain of the current loop PI During this test the motor stays practically still in its original position Flux currents in a range of values and frequencies are emitted so that by reading the voltages and correlated voltages the required values can be collected The motor has a tendency to rotate but this phenomenon is man
103. aged in such a way that readings are only taken when the speed is equal to zero otherwise the results may be unreliable Nevertheless it is important that the motor does not rotate at a speed exceeding more than several tens of revolutions per minute If it does stop the test by disabling RUN and lower parameter P129 as this is the test current used to establish AV This test modifies the following parameters Name Description PRC_DELTA_VLS P77 Voltage drop due to leakage inductance I_REG_KP P83 Kpc current regulator proportional gain During this test the motor may start rotating but at low speed 2 1 5 1 3 Reading the Magnetizing Current and the Magnetizing Characteristic This test has the dual task of establishing the motor magnetizing current and reading its magnetic characteristic During this test the motor is rotated at high speed about 80 of the rated speed and readings are taken at a range of voltages After establishing the magnetizing value 10 points of the magnetic characteristic are taken after which linear interpolation is carried out in order to obtain a curve similar to the one below During this test the motor will rotate at a speed equal to about 80 of the rated value 45 0 55 0 65 0 75 0 82 0 88 0 93 0 97 0 100 0 1020 dnom MW00001E00 V_4 1 The term Ko is equal to Id Ip D nom i e it is the coefficient that when multiplied by the normalized flux in relation to the rated
104. ains break out tenths hundredths of milliseconds on the basis of the applied load without changing the motor operation in any way DC bus voltage 540V 400V Minimum voltage allowed P106 C34 0 Continue to work Break mains i Return time mains If the alarm condition starts there is the possibility to enable setting C35 1 the alarms to an automatic reset at the mains restore MW00001E00 V_4 1 2 3 1 2 2 Recovery of Kinetic Energy C34 1 This operating procedure is adapted to those applications in which it is temporarily possible to reduce the speed of rotation to confront the mains break This function particularly adapts in the case of fewer applied motors and with high energy The qualification of such a function is obtained setting C34 1 During the mains break out the voltage control of the DC Bus is achieved using a proportional regulator with fixed proportional gain set in P86 default 3 5 that controls the DC Bus voltage d24 compare it with the threshold in P98 default 600V and functions on the torque limits d30 of the motor that in time will slow down to work in recovery Such regulation when qualified C34 1 at mains break out 0 L 12 H or if the DC Bus voltage goes below the threshold set in P97 425V replaces the normal regulaion o L 13 H and is excluded when mains supply is on DC bus voltage 540V 400V ee Minimum voltage allowed P106 C34 1 Recovery of Kineti
105. anagement parameters of the second sensor are always present while the enable depends on the application Name Description Min Max Default UM Scale Range 0 1 Encoder 2 3 4 Resolver 5 Resolver RDC SENSOR2_SEL C17 Sensor2 selection 6 0 1 K 8 Sin Cos incr 9 10 Endat 1317 11 Endat 1329 12 13 14 Endat 125 RES2_POLE a Number of absolute sensor2 4 160 2 1 P17 Number of encoder2 ENC2 PPR pulses revolution 0 60000 1024 pulses rev 1 C18 Enable incremental encoder2 EN_TIME_DEC_ENC2 ime decode 0 1 0 1 C20 Invert sensor2 positive cyclic EN_INV_POS2_DIR Versus 0 1 0 1 EN_SENSOR2_TUNE U00 Enable sensor2 autotunig 0 1 0 1 P48 Tracking loop bandwidth direct RES2_TRACK_LOOP_BW decoding of resolver2 100 10000 1800 rad s 1 RES2_TRACK_LOOP_DA P49 Damp factor Traking loop MP eave 0 00 5 00 0 71 100 P07 Second sensor amplitude e KP_SENS2 compensation 0 0 200 0 100 Yo 163 84 OFFSET SIN SENS2 P08 Second sensor sine offset 16383 16383 0 1 OFFSET_COS_SENS2 P09 Second sensor cosine offset 16383 16383 0 1 HW_SENSOR2 D62 Sensor2 presence 0 1 SENS2_SPD D51 Second sensor rotation speed 0 rpm 1 D52 Second sensor Absolute SENS2_TURN_POS mechanical position on current 0 16384 1 revolution D53 Second sensor Number of SENS2_N_TURN Eveline 0 16384 1 SENS2 FRQ IN pana Second sensor Frequency 0 KHz 16 SENS
106. arches for positive frequency while with C84 4 the search will be made for negative frequency The C50 connection has five programming values which are selected as indicated below o C84 0 flying restart doesn t enabled o C84 1 flying restart managed with positive frequency quadrant search o C84 2 flying restart managed with negative frequency quadrant search o C84 3 flying restart managed dependently upon the sign of enabled frequency reference like C84 1 for 0 o C84 4 flying restart managed dependently upon the sign of enabled frequency reference like C84 2 for 0 The start frequency in motor flying restart can be set in parameter P184 default 100 in percentage of maximum frequency This parameter can help the search algorithm limiting the range of frequency With parameter P185 it s possible to set the minimum target frequency in order to inject an active current also if the motor is stopped If the maximum frequency is greater than 250 of nominal motor frequency could be some problems in the motor flying restart because it s difficult to inject the active current with a slip so high In that case the only possibility is to reduce the start search frequency with P184 on condition that really the motor cannot run more quickly If it s enabled the motor flying restart the power is switch on with the motor standstill and there is low load it s possible to have a transient initial state in which the motor starts running in the
107. ation to the drive and from the system mechanics An additional space loop that overlaps the speed loop can also be enabled sysMaxPositivePercSpeed _ PB sysMaxPositiveTorque sysMaxNegativeTorque Torque limit P42 and P43 parameters selection Current limit lt S sysMaxTorque sysTorqueReference Torque requpst sysOnRamps sysMaxEndPositiveTorque N 007 sysTorqueEndRef Speed ref value i sysSpeedEndPercRef sysSpeedPercReference P yea Inversion ref value NY Torque current regulator Flux current regulator Speed regulator Linear and rounded ramps sysSpeedRefPulses Modulator sysInverterSpeedRef sysPosRefPulses Inversion ref value H SYSONPOS eene Belle TC PANER AA sysMaxNegativePercSpeed __ gt Regulation controls speed by default here the application manages the speed reference values and the torque request is used as a reference value added to the speed regulator output feed forward Note that it is a torque control and not a current control consequently during flux weakening the control automatically generates the request for the active current needed to obtain the required torque MW00001E00 V_4 1 3 Asynchronous Parameters 2 2 1 Acceleration Ramps and Speed Limit EN Drive and Motor Coupling S C Motor Control Cc Acceleration ramps and sp
108. ault E36 1 the speed reference value passes across a ramp circuit that graduates its variations before it is used Parameters P21 P22 P23 and P24 can be used to establish independent acceleration and deceleration slopes in both directions of movement establishing the time required to pass from 0 to 100 in seconds In particular see diagram P21 sets the time the reference value requires to accelerate from 0 to 100 P22 sets the time the reference value requires to decelerate from 100 to 0 P23 sets the time the reference value requires to accelerate from 0 to 100 P24 sets the time the reference value requires to decelerate from 100 to 0 Setting sensitivity is 10 msec and the time must be between 0 01 and 199 99 seconds The default values are the same for all the parameters and are equal to 10 sec In the standard application ramps can be enabled via a configurable logic input 122 which works parallel to connection E36 I22 H is the same as setting E36 1 This input ensures maximum flexibility in ramp use in that the ramps are enabled only when required In the other application please refer to the specific documentation in order to enable the ramps MW00001E00 V_4 1 The ramp may also be rounded in the starting and finishing phases by setting C27 1 via the rounding time set in seconds in P25 with resolution 0 1 sec and a range from 1 to 199 9 sec default 10 sec Rounding can be enabled on its own with C27 1 wh
109. ause of safe torque off function 2 WAIT MAINS OFF disabled waiting MAINS OFF signal 3 WAIT VBUS disabled waiting DC bus greater than P97 4 C37 0 disabled because C37 0 5 DIODES SOFT START during DC bus capacitor charge with diode bridge 6 SCR SOFT START during DC bus capacitor charge with semicontrolled power bridge 7 ALARM A13 disabled after power soft start time P154 Vbus didn t reach minimum value P97 8 OK enabled 2 3 1 2 Voltage Break Control for Mains Feeding The mains break control is configurable through the following connections Name Description MAIN_LOST_SEL C34 Managing mains failure ALL_RST_ON_MAIN C35 Automatic alarm reset when mains back on 2 3 1 2 1 Continuing to Work C34 0 Default This operating procedure is adapted to those applications in which it is fundamental to have unchanged working conditions in each situation Setting C34 0 the drive even if the mains supply voltage is no longer available continues to work as though nothing has been modified over the control pulling the energy from the present capacitor to the inner drive This way making the intermediate voltage of the DC Bus will begin to go down depending on the applied load when it reaches the minimum tolerated value in parameter P106 the drive goes into alarm A10 of minimum voltage and leaves to go to the motor in free evolution Therefore this function will allow exceeding short term m
110. c Energy I 4 I I j 1 I I I I 1 I I I I 1 Break Return time mains mains If the alarm condition starts there is the possibility to enable setting C35 1 the alarms to an automatic reset at the mains restore 2 3 1 2 3 Overcoming Mains Breaks of a Few Seconds with Flyng Restart C34 2 This operating procedure is adapted to those applications in which it is fundamental to not go into alarm in the case of mains break out and is temporarily prepared to disable the power in order for the motor to resume when the mains returns The qualification of such a function is obtained setting C34 2 When there is a mains break or if the voltage of the Bus goes below the threshold set in P97r 425 V the drive is immediately switched off the motor rotates in free evolution and the Bus capacitors slowly discharges If the mains returns in a few seconds a fast recovery of the motor is carried out in a way in which the working regulation of the machine is resumed MW00001E00 V 4 1 DC bus voltage 540V 400V Minimum voltage allowed P106 i C34 2 Free motor Time of soft start Break Return time mains mains At the return of the mains it will need to wait for the time of soft start for the gradual recharging of capacitors for the motor to be able to resume 2 3 1 2 4 Emergency Brake C34 3 This particular control is adapted to those applications in which the machine may be stopped with
111. caling H OpenDrive Asynchronous Application 1 E 0 All parameters mp ET Asynchronous Parameters E el Application I O Parameters el Input el Analog Reference 6 Digital speed Reference el Frequency speed Reference CG Digital inputs configurations Name Description Min Max Default UM Scale TF LI6 7 8 P15 106 07 08 logical inputs digital filter 0 0 20 0 22 ms 10 EN_NOT_LI C79 Enable negative logic for digital inputs 0 255 0 1 LIT SEL C01 Meaning of logic input 1 1 31 1 LI2_SEL C02 Meaning of logic input 2 1 31 1 LS SEL C03 Meaning of logic input 3 1 31 1 LI4 SEL C04 Meaning of logic input 4 1 31 1 LIS SEL C05 Meaning of logic input 5 1 31 1 LI6_SEL C06 Meaning of logic input 6 1 31 1 LI7_SEL C07 Meaning of logic input 7 1 31 1 Lis SEL C08 Meaning of logic input 8 1 31 1 MW00001E00 V_4 1 8 OpenDrive Asynchronous Application 1 All parameters E 6 Asynchronous Parameters GU Application I O Parameters 5 0 Input Analog Reference Digital speed Reference Frequency speed Reference Digital inputs configuration GC Second Sensor The logic inputs always present are 100 Run command 102 External enable 108 Reset alarms Others depend on the application They can be configured and optionally deniable with C79 the same way as the present inputs for standard application 4 1 5 Second Sensor The m
112. cation negative torque limit sysMaxNegative Torque C NOM MOT O 65 Energy dissipated on breaking resistence joule O 66 IGBT junction temperature 96100 4 2 3 Frequency Output The output frequency is managed directly from the core so the catalog application have the same function of the standard application You can refer to paragraph 3 2 3 pag for the catalog application 4 3 MOTION CONTROL H OpenDrive Asynchronous Application 1 E el All parameters H o Asynchronous Parameters E fe Application I O Parameters o E Input Output o Digital outputs configurations fe Analog outputs configurations e Frequency output Incremental position loop PID controller stop in position and motor holding brake are features of the standard application so they are not present in the catalog application MW00001E00 V_4 1 Speed Command Reference Reference Mul Factor Analog Speed Reference PRC_SPD_REF_AN D74 Freauencv Reference Frequency Time Deoode Speed Reference PRC SPD REF TIME DEC 077 Diaital Speed Reference Digital Potentiometer Speed e is Reference ek PRC_SPD_REF_DG_POT D67 EN_PID E71 No Diaital Soeed Reference Jog Speed Reference EN REF PID E81 jog 0 PRC SPD REF JOG 076 EQ FieldBus SEL OUT PIDEBI e our 2 PRC SPD REF FLDBUS 075 PID Control quency Reference Add to speed Ref Position Reference PRC_SPD_REF_PID D95 PID Control
113. cause are counted the edges every sampling period TPWM and this produce a speed reference with many noise Also if the frequency input is constant between a PWM period and another could be counted a variable number of pulses one pulse This produce a low resolution reference expecially when the frequency input decreases For not use a big filter with frequency reference it s possible to use its time decode that has a good resolution It is measured the time between various edges of frequency input with resolution of 25ns reaching a percentage resolution not less than 1 8000 13 bit working to 5KHz of PWM increasing PWM resolution decreases linearly There are 3 different ways to manage frequency speed reference selectable with parameter E24 FRQ_REF_SEL E24 Description 0 Pulses reference 1 Decoded in time reference 2 Pulses and decoded in time reference Enabling the frequency speed reference can be done by the parameter E23 1 EN_FRQ_REF or bringing at active logic state input function 119 3 1 5 3 1 Pulses Reference E24 0 0 sysSpeedPercRef Selector FRQ_IN_PPR_SEL E20 sysSpeedRefPuls In this mode the speed reference is given only in pulses ensuring maximum correspondence master slave but with a strong granular signal especially for low frequency input Linear ramps are not enabled 3 1 5 3 2 Decoded In Time Reference E24 1 Selecto FRQ_IN_PPR_SEL E20 FRQ
114. ce E All parameters emm FH a Asynchronous Parameters Application I O Parameters The scaling of the analog reference can always be done P01 and P02 for Al1 the same is true for the GE Input characteristic parameters of Al2 Al3 and Al16 as well as the input value can always be viewed d42 2 Analog Reference by Al1 d43 by Al2 d44 by Al3 Also the enable current analog reference is always present The choise optional of the meaning of each input as well as the enable reference instead dependes on the type of application The parameters in the following table are also present in the catalog application Name Description Min Max Default UM Scale EN AI 4 20mA C95 Enable All 4 20mA 0 1 0 1 P01 Corrective factor for p al analog reference 1 AUX1 zu u 2 1 P02 Corrective offset for 6 OFFSET Al1 analog reference 1 AUX1 100 0 100 0 0 Yo 163 84 All D42 Analog Input Al1 100 100 0 163 84 EN Al2 4 20mA C96 Enable Al2 4 20mA 0 1 0 1 P03 Corrective factor for 5 KEANE analog reference 2 AUX2 re 400 0 100 a Io P04 Corrective offset for OFFSET_AI2 analog reference 2 AUX2 100 0 100 0 0 Yo 163 84 Al2 D43 Analog Input Al2 100 100 0 Yo 163 84 EN AD 4 20mA C97 Enable Al3 4 20mA 0 1 0 1 P05 Corrective factor for KPA analog reference 3 AUX3 u u nag Ge 1 P06 Corrective offset for OFFSET_AI3 analog reference 3 AUX3 100 0 100 0
115. ce P52 if necessary as this specifies the minimum flux alarm threshold Check d27 to ensure that the flux increases when RUN is enabled Check the connection wires on the motor side in particular on the terminals in order to prevent leakages or short circuits Check the motor insulation by testing the dielectric strength and replace if necessary Check the drive power circuit is intact by opening the connections and enabling RUN if the safety switch cuts in replace the power If the safety switch cuts in only during operation there may be a regulation problem replace along with current transducers or vibrations causing transient D C MW00001E00 V_4 1 103 ALARM 104 Motor temperature too high Radiator temperature too high Brake resistance adiabatic energy protection Brake resistance dissipated power Motor thermal probe not connected Run with T radiator too high Motor I t thermal alarm Auto tuning test unfinished Speed doesn t reached during autotuning Missing enable logic input from the field DESCRIPTION Connection C46 runs a range of motor heat probes If C46 1 or 2 a PTC NTC is being used and its Ohm value d41 has breached the safety threshold P95 If C46 3 a digital input has been configured to 123 logical input function and this input is in not active state If C46 4 a KTY84 is being used the temperature reading d26 must be higher than the maximum te
116. cno parameter FIG 4 Connections CON 7 2 4 Allarms All Overall functions of protection of the converter of the motor or in the application whose status to active alarm or not active alarm it may be visualized in the display The actived protection stops the converter and does flash the display excepted if it is disabled With a single visualization is possible have all the indications with the following For ex A03 L power fault doesn t activate The alarms are all memorized and so they remain till that is not missing the cause of the alarm and have been resetted input of resetting alarms activate or C30 1 5 m0 OD Al EEB vo H active alarm disabile alarm enable alarm L no active alarm alarm code A identify number 0 9 A E FIG 5 Allarms ALL 110 MW00001E00 V_4 1 7 2 5 Internal Values Int Overall functions of protection of the converter of the motor or in the application whose status to active alarm or non active alarm it may be visualized in the display The actived protection stops the converter and does flash the display excepted if it is disabled With a single visualization is possible have all the indications with the following Dep gt 0 81858 display inside dimensions identify number 0 127
117. ctly on the motor rating plate and P61 can be calculated with the following formula Example P61 Inom_motor 100 0 Inom_drive Drive OPEN 22 Inom_drive 22A overload 200 Motor MEC series Vn 380V f 50Hz Inom_motore 20A P61 20 100 22 90 9 P62 380 0 P63 50 0 There are also parameters that establish the maximum values for voltage thermal current and operating speed Name PRC_MOT_V_MAX Description P64 Max operating voltage MOT_SPD_MAX P65 Max operating speed n MAX PRC MOT THERM P70 Motor thermal current MOT TF THERM P71 Motor thermal time constant These important parameters must be specified alongside the exact characteristics of the feedback sensor used Once the sensor has been established the Sensor and motor pole tests can be carried out enabled with C41 which will confirm that the parameters have been set correctly MW00001E00 V 4 1 2 1 3 Motor Sensor E Asynchronous Parameters A Drive and Motor Coupling Drive plate Motor plate gt Motor Sensor Defa MOT_POS Actual position D36 Absolute mechanical Name Description Min Max ult UM Scale Range 0 Sensorless 1 Encoder 4 Resolver 5 Resolver DDC 8 Sin Cos incr SENSOR_SEL C00 Speed sensor TO Endat 1317 1 1 11 Endat 1329 14 Endat 125 15 Endat 129 20 Biss AD361219
118. d scaling factors PID output signals This section is used managing the PID regulator output signal to be used as reference input in the drive From the new software release is possible to enable some new functions e When the parameter E71 EN_PID is se to 2 Enable with Invert Output the error processed by the PID controller is defined as Error PV SP In this way the output is reversed compared to the standard behavior e Dead zone defined in the paragraph 3 1 3 pag 65 allows to put to zero the Error if its value is lower absolute value then the dead band limit E09 PRC SPD TOT AN DZ e The Logical Input 118 allows to freeze the integral part of PID e The Logical Input I21 allows to overwrite the integral part of PID with the value set in E83 OVR_LMN 1 MW00001E00 V_4 1 A Asynchronous Parameters Standard Application ei CR DI a Input 6 Output Motion Control Incremental position loop PID Controller 232 PID Control Motor holding brake Tei Stop in position PID Input signals there considers three different possible setting of OPD Explorer Set Point PID Regulator Feed back PID Regulator and Manual set point PID Controller In all the three different setting the signals coming from the analog inputs Al1 Al2 and Al3 from the frequency input as speed reference and from the second sensor are eventually either added or compared together With the exception of the
119. der 4 track frequency reference default 2 Digital f s Frequency reference freq and up down counting all edges 3 Digital f s 1 edge Frequency reference freq and up down counting one edge 163 84 i OpenDrive Asynchronous Application 1 a All parameters D 6 Asynchronous Parameters 2 Application VO Parameters Input Analog Reference Digital speed Reference Frequency speed Reference Name Description Min Max Default UM Scale Range 1 1 0 Analogic FRQ_IN_SEL C09 Frequency input setting 1 Digital Encoder 2 Digital f s 3 Digital f s 1 edge REF_FRQ_IN D12 Frequency in input 0 KHz 16 D14 Frequency speed reference S PARO APE FRC SPD BER value application generated 1w von R MOT SPD MAX we P88 High precision analog speed MAXV_VF reference value Voltage matches 2500 10000 10000 mVolt 1 max speed P10 Offset for high precision g OFFSET_VF analog reference value 19999 19999 0 1 100 mV 1 P159 High precision analog speed reference value VCO setting S KP NEG VE for negative voltage reference 16383 16383 a 1 values P150 High precision analog speed reference value VCO setting S ER for positive voltage reference 188 zes nala values The eventual enable frequency input of its meaning however depends on the type of the application 4 1 4 Digital Inputs Configurations and possible numerator denominator s
120. e P164 P165 P166 2 1 4 5 4 Fine Setup for Incremental SIN COS Encoder The fine tuning incremental sin cos encoder setup allows to set with a semiautomatic procedure any offset and a multiplicative factor to adjust the signals acquired by the incremental sin cos encoder channels in order to increase system performance The procedure begins by setting the utility command U04 EN_SENSOR_TUNE 2 and giving a reference speed that the motor can do one o two turns After stop the test is completed Automatically updates the values of P165 and P166 offset and P164 multiplication factor to adjust the amplitude P165 P166 MW00001E00 V 4 1 2 1 5 E Asynchronous Parameters Drive and Motor Coupling C Drive plate Motor plate e Motor Sensor C Autotuning control Cy Motor measured model Identifying Models of Induction Motor Name Description Min Max Default UM Scale PRC_MOT_T_MAX P41 Maximum torque at full load 0 0 800 0 400 0 MOT_T_NOM 40 95 MOT_COS_PHI P66 Nominal power factor 0 500 1 000 0 894 1000 PRC_MOT_I_T_NOM P72 Nominal torque current 5 0 100 0 95 2 PRC MOT NOM 327 67 PRC MOT FLX NOM P73 Nominal flux current 5 0 100 0 30 2 PRC MOT NOM 327 67 T ROTOR P74 Rotor time constant Tr 10 10000 200 ms 1 T STATOR P75 Stator time constant Ts 0 0 50 0 9 1 ms 10 PRC DELTA VRS EE a BEES Ee 1 0 25 0 20 MOT_V_NOM 327 67 P
121. e connection C46 selects the type of probe used C46 Description Visualization D26 0 No motor thermal protection enabled PTC management The thermal resistance is measured and 1 compared to the maximum setup in the parameter P95 If the Thermal probe resistance in KQ D41 temperature exceeds the threshold the A5 alarm starts NTC management The thermal resistance is measured and 2 compared to the minimum setup in the parameter P95 If the Thermal probe resistance in KQ D41 value is below the A5 alarm starts Termo switch management it s possible to configure a 3 logic input to 123 function in this case if this input goes oo to a low level the A5 alarm starts KTY84 it s available the motor temperature D26 If the motor temperature exceeds parameter P91 MOTOR TEMP MAX drive goes in A 5 0 The logical output function 014 goes at active level if the motor temperature is greater than threshold set with parameter P96 percent of P91 Motor temperature D26 2 3 3 Braking Resistence Thermal Protection OPDE The Braking Resistance Thermal protection protects the resistance both from Energy peaks and from average Power that have to be dissipated It s possible to enable this protection setting C71 by default this function is disabled 2 3 3 1 Braking Resistance Instantaneous Power C71 1 The quickly Energy exchange is an adiabatic process since heat diffusion on case resistance is ver
122. e on Brushelss Parameters folder of OPDExplorer all core parameters and connections are reloaded independently of keys status o If the current firmware revision is different the default core parameters and connections are loaded except some particular parameters P94 P100 P120 P154 P157 P167 P198 P199 C22 C24 C45 and C98 In every case all application parameters came back to their default values Profibus Anybus SinCos sensor table Monitor configuration data came back to their default values If the factory data are invalid alarm A1 1 appears and all default parameters are loaded 5 3 DIGITAL COMMANDS AND CONTROL a EF E Name Description Min Max Default UM Scale i SW_RUN_CMD C21 Run software enable 0 1 1 1 EN_STOP_MIN_SPD C28 Stop with minimum speed 0 1 0 1 DRV_SW_EN C29 Drive software enable 0 1 1 1 ALL_RESET C30 Reset alarms 0 1 0 1 EN STO ONLY SIG ee Safety STOP only like 0 1 0 1 EN_BOOT C98 Enable boot mode 0 1 0 1 SPD_ISR Speed routine duration 0 us 64 I_ISR Current routine duration 0 us 64 APP_ISR Application fast task duration 0 us 64 APP_AVBLE_ISR Application fast task available time 0 us 64 DRV_F_PWM_MAX Max PWM frequency available 0 Hz 1 APP_CYCLIC_ISR Application cyclic task duration 0 us 64 DISPLAY_SEL C14 Display selection 0 127 0 1 DISPLAY WAIT ge SE time to come back to 3 20 10 e 1 WORK HOURS D49 Work hours hours 1 SERIAL NUMBER D59 Drive se
123. e sensor slot swap 0 No 0 1 1 Yes SENS2_RES Second sensor resolution 0 bit 1 a sensor SENS2_POS Second sensor actual position 0 pulses 1 3 2 1 Digital Output Configurations The control can have up to 4 optically insulated digital outputs L O 1 L O 4 whose logic functions gt Digital outputs configurations can be configured as active high H by means of connection C10 C13 Name Description Min Max Default UM Scale LO1_SEL C10 Meaning of logic output 1 64 63 3 1 LO2 SEL C11 Meaning of logic output 2 64 63 0 1 LO3_SEL C12 Meaning of logic output 3 64 63 6 1 LO4_SEL C13 Meaning of logic output 4 64 63 19 1 Range I NOM MOT I_RELAY_SEL C55 Current relay output T T NOM POT 0 1 P P NOM POT P26 Current power relay cut in o RELAY THR festa 0 2 150 0 100 Yo 40 96 P27 Filter time constant for TF RELAY current power relay 0 1 10 0 1 s 10 BO SADIREAGH TR Posdihtesholdferioge 0 0 100 0 0 MOT_SPD_MAX 163 84 output 0 16 DO_SPD_MIN_THR P50 Minimum speed for relay 0 0 100 0 2 0 MOT_SPD_MAX 163 84 P59 Minimum anda maximum HYST_DO_SPD speed reached output 0 0 100 0 1 0 MOT_SPD_MAX 163 84 hysteresis The following table shows the logic functions managed by standard application NAME OUTPUT LOGIC FUNCTIONS DEFAULT OUTPUT O 00 OD DRV READY Drive ready L O 2 O 01 OD ALR KT MOT Motor thermal alarm
124. eccecensstanealosi fecugusiaddadasisecenssia cdasdeisecuansanbcalesigecensminecassidecs 56 3 STANDARD APPLICAT ION aaaaaaaaaanananaaaaaaaaaaaaaaaaaaaaaaaaaaasaaaaaaaaana 57 3 1 MIN PUSS EEA AA AA eege E 57 3 1 1 Analog Reference ea een 57 3 1 2 Current Analog Reference A 20mg enet 59 31 3 Dead EE 63 3 1 4 Digital Speed Reference 0 0 cee eeccceeseeceneeeeeeeseneeeeaeeseaeeseaeeseaeeseaeeseaeeseaeeseaeeseaeessaeeseneesaas 63 3 1 5 Frequency Speed Heterence nn 65 3 1 6 Digital Inputs Configurations 24nsnsennnnnnnnennnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnennnnnnnnnn nen 70 3 1 7 Second SENSO AABANGAN Kha eege EENS 71 MW00001E00 V_4 1 3 2 OUTPUT EE 72 3 2 1 Digital Output Conftourattons a E EEEE 72 3 2 2 Analog Output Configurations nn 73 3 2 3 Frequency QUpUl a AA en EES dee EE 76 3 3 MOTION CONTROL EE 80 3 3 1 Incremental Position Loop 80 39 27 PIA Keele lee EE 82 399 STOP IM ee TEE 84 3 3 4 Motor Holding Brake EE 89 4 CATALOGAPPUICATIONS nn nnnnnnnnnnnnnnnnnnennnnnnnnnnn 90 4 1 INPUTS senken ner ine ini ahnen reden 90 CZ WE Ee eh 90 4 1 2 Digital Speed Reference AAA 91 4 1 3 Frequency Speed Heierence nn 91 4 1 4 Digital Inputs Configurations nn 91 4 1 9 Second Sensors aa NAA mna PAA 92 4 2 OUTRUT mna ANA NGABA NGABA E 93 4 2 1 Digital Outputs Configurations nen 93 4 2 2 Analog Outputs Configurations 224s4s4snnnnnnnnnnennnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnennnnnnnnnn nn 94 4 23 Fr
125. edure First of all set the maximum motor voltage P64 and the maximum working speed P65 and then set C88 1 Name Description PRC MOT V MAX P64 Max operating voltage MOT SPD MAX P65 Max operating speed n MAX VF EN CHR AUTOSET C88 Calculate V f characteristic nominal knee Automatically the drive set the voltage frequency characteristic in two possible way Linear way In this case none characteristic points are set P174 P175 P176 P177 0 and the maximum operating voltage P64 is set max P64 nom Vmax AMD 0 fmax Characteristic FLUX WEAKENING AREA When the maximum motor frequency is greater than nominal frequency automatically is set one characteristic point into nominal knee P175 100 P176 nom x max f V max nom Vmax fnom fmax MW00001E00 V_4 1 2 4 2 Manual Setting of Working Voltage Frequency Characteristic Using the parameters P175 P176 P177 and P178 it is possible to define a three section working curve by points so as to be better able to adjust to the desired characteristics Points P176 and P178 define the frequency percentage with reference to the maximum working frequency while points P175 and P177 define the percentage voltage with reference to the maximum working voltage P64 The following curve should clarify the explanation V Vmax_lav 100 P177 66 6 P175 33 3 Yo 0 P176 P178 100 fffmax lav Yo
126. eed limit Name Description Min Max Default UM Scale w EN tee Max CW speed reference value 4105 02 105 02 105 02 MOT SPD MAX 163 84 PRC_CCW_SPD_REF P19 Max CCW speed reference 105 02 105 02 105 02 MOT SPD MAX 163 84 _MAX value limit CW_ACC_TIME P21 CW acceleration time 0 01 199 99 10 s 100 CW DEC TIME P22 CW deceleration time 0 01 199 99 10 s 100 CCW ACC TIME P23 CCW acceleration time 0 01 199 99 10 s 100 CCW DEC TIME P24 CCW deceleration time 0 01 199 99 10 s 100 TF RND RAMP P25 Rounded filter time constant 0 001 10 0 0 1 s 1000 DEC TIME EMCY ua 0 01 199 99 10 s 100 EN LIN RAMP E36 Enable linear ramp 0 1 1 1 EN RND RAMP C27 Rounded ramp 0 1 0 1 EN_INV_SPD_REF E37 Invert reference signal software 0 1 0 1 Range EN_DB C81 Enable dead zone o Hot arabia 0 1 1 Zone 1 2 Zone 2 DB1 START P179 Dead zone 1 initial speed 0 30000 0 rpm 1 DB1_END P180 Dead zone 1 final speed 0 30000 0 rpm 1 DB2_START P181 Dead zone 2 initial speed 0 30000 0 rpm 1 DB2_END P182 Dead zone 2 final speed 0 30000 0 rpm 1 PRC_TOT_APP_SPD_ D02 Speed reference value before 100 100 0 MOT_SPD_MAX 163 84 REF ramp PRC_END_SPD_REF SC SEN 100 100 0 MOT_SPD_MAX 163 84 PRC_SPD_REF_MAX D57 Max positive speed ref 0 MOT_SPD_MAX 163 84 PRC_SPD_REF_MIN D58 Max negative spd_ref 0 MOT_SPD_MAX 163 84 In the standard application by def
127. eed test with parameter P130 maximum motor torque with parameter P132 and maximum space admitted for test with P134 revolutions The drive doesn t go over these limits during test execution 2 1 6 1 Start Up Time Start up time is defined like the time needed to reach maximum speed P65 with nominal motor torque This autotest is useful to measure total system inertia and frictions for speed regulator autosetting or feed forward compensation For enable this test set the utility command U01 EN_TEST_SPD 1 Start Up In the display appears Auto Give the L I 2 command and automatically the motor starts to move and than return to zero speed At this point switch off the L I 2 command Parameter P169 is set with the start up time in milliseconds parameter P136 is set with friction measured in percent of motor nominal torque Automatically U01 EN_TEST_SPD is cleared to 0 and the test is finished If the space admitted is enough the speed profile is trapezoidal SPD_RIF TEST_SPD_ MAX P132 T RIF TEST SPD T MAX P130 time T_RIF TEST SPD T MAX P130 MW00001E00 V 4 1 Otherwise T_RIF TEST_SPD_T_MAX P130 time T_RIF TEST_SPD_T_MAX P130 2 1 6 2 Step Response Step response is a common mode to test speed loop stability and dynamic performance For enable this test set U01 EN_TEST_SPD 2 Step In the display appears Auto At this point all speed reference are ignored instead a fi
128. ef gt A 1 16 Sym Torque Limit Ref gt A 1 16 Neg Torque Limit Ref Speed Limit Ref gt A L16 Sym Speed Limit Ref gt A 1 16 Pos Speed Limit Ref gt A 1 16 Neg Speed Limit Ref MW00001E00 V_4 1 Analog Speed Reference Analog Reference All AAA Speed Ref An erence Als GA 1 2 Speed Ref A 1 16 Speed Ref Torque Reference Analog Reference All YeA L1 Torque Ref A 1 16 Torque Ref Torque Limit Ref Analog Reference All 9eA L1 Pos Torque Limit Ref Analog Reference AL A 1 2 Pos Torque Limit Ref Analog Reference AI3 A 1 3 Pos Torque Limit Ref Analog Reference A116 A 1 16 Pos Torque Limit Ref Analog Reference All GALA Sym Torque Limit Ref Analog Reference AI2 A 1 2 Sym Torque Limit Ref Reference AI ym Torque Limit Ref Analog Reference AI16 A 1 16 Sym Torque Limit Ref Analog Reference All GALA Neg Torque Limit Ref Analog Reference AI2 A 1 2 Neg Torque Limit Ref A Refe AI A 1 3 Neg Torque Limit Ref Analog Reference AI16 A 1 16 Neg Torque Limit Ref Speed Limit Ref Analog Reference ATI 9eA L1 Pos Speed Limit Ref GeA 1 2 Pos Speed Limit Ref A 1 3 Pos Speed Limit Ref Analog Reference AI16 A1 16 Pos Speed Limit Ref Analog Reference AI1 GALA Sym Speed Limit Ref alog e A L2 Sym Speed Limit Ref og A 13 Sym Speed Limit Ref Analog Reference A
129. en enabled again MW00001E00 V_4 1 Using parameters P37 65536 1 mechanical turn and P39 number of mechanical turns it s possible to set a maximum tracking error threshold if the absolute error value becomes greater than this value the logic output 0 9 Tracking error goes at high level The overlapped space loop reference value is generated by the application and regards the sysPosRefPulses value which is also expressed in pulses for a period of PWM Note that once this function has been enabled the overlapped space loop reference value will become the real position reference value while the other speed reference values will represent feed forward With digital logic function 125 ID EN OFS LP SPZ is possible to add an offset on position reference based on analog and digital speed reference The space loop regulator is a pure proportional gain and its gain can be set on P38 set a value that ensures a quick response but one that does not make the motor vibrate at a standstill The continuous position control is most commonly applied to the electric axis by taking the speed reference value from the MASTER s Simulated Encoder and taking it to the SLAVE s frequency input the motion of the two motors can be synchronised Once the overlapped space loop is enabled the two motors will always maintain the same relative position whatever their load If the SLAVE reaches its torque limit the counter will save the po
130. ent control E39 Enable overlapped space loop E40 Enable overlapped space loop memory clear in stop E41 Multiplication factor selection E42 Multiplication factor target E43 Max analog input value for multiplication factor Min 0 105 02 105 02 0 3 0 0 16383 0 0 0 0 0 0 0 0 1 0 1 0 0 0 01 0 01 0 01 0 01 oj O loJ oIlo 0 Max 1 105 02 105 02 1999 9 1 9 16383 16383 1 2 20 0 200 0 30000 400 0 3000 0 25 0 199 99 199 99 199 99 199 99 ai ch ch 1 ch 1 A 2 180 00 180 00 E44 Min analog input value for multiplication 180 00 180 00 factor E45 Multiplication factor with max analog input MUL_AI_MAX E46 Multiplication factor with min analog input MUL Al MAX E47 Enable FIELD BUS reference values E48 Storing input multilpicative factor E49 Enable feedforward torque reference in speed control E54 Disable Stop in position when incremental position loop is enabled E55 Enabling Stop in position E56 Stop in position comand selection E57 Enabling Stop in position after gearbox E58 Stop in position comand selection E59 Indexing speed reference value E60 Target O Stop in position E61 Target 1 Stop in position E62 Target 2 Stop in position E63 Target 3 Stop in position E64 Angular movement Stop in position E65 Position Reached window E66 Time on Position Reached window E67 Minimum
131. equency Output aan ABA UNAN leianenie 95 4 3 MOTION CONTROL nu ea AA 95 5 GENERIC PARAMETERS aaa aan 97 5 1 Sl Sia EE 97 5 2 DATA STORING EE 97 5 2 1 Storage And Recall Of The Working Parameierg A 97 5 3 DIGITAL COMMANDS AND CONTROL u 111111 aannnaaa nasaan 99 5 3 1 Drive Ready ae ABA BABA BAG RAR 99 5 3 2 Drive Switch On Run 100 5 3 3 Drive Switch Off StOp E 100 5 34 Safety StoP EE 100 5 4 PWM SYNCHRONIZATION STANDARD APPUICATION 17 aaannaaaaaaraaaaaaa 101 O Eegeregie 102 6 1 MAINTENANCE AND CONTROLS 10nn 102 6 1 1 Malfunctions Without An Alarm Troubleshbootng AA 102 6 1 2 Malfunctions With An Alarm Troubleshooting ur 4444ensnnnnn nennen nennen ernennen ernennen 103 6 1 3 MiniOPDE s Specific Alams nen 107 T NOPE AA Aa NAA 108 7 1 PHYSICAL DISPOSITION nennen 108 7 2 LAYOUT OF THE INTERNAL variables ccccccccccsecceeeseeeeeessneeeeessneeeseseeaeess 108 7 2 1 P rameters P r 2e 2 erkenne 109 7 2 2 Application Parameters App 109 MW00001E00 V 4 1 n EE 110 1 24 Alarms d UE 110 7 2 5 Internal Values Im en ne namen nenne 111 7 2 6 Logic Functions Of Input np 111 7 2 7 Logic Functions Of Output Ou 112 7 2 8 Utilities Commands UI 112 7 2 9 Fieldbus Parameters FEB aa NN PAPANG Ra ee ed 113 7 3 RTE ME 113 7 4 MAIN MENU aNG AA a a Kae Te In ne nn ae 113 7 4 1 Sub Menu of Parameters Application Parameters and Connections Management Par A
132. er P65 displayed in internal value d33 and on monitor 041 o The other sysSpeedRefPulses is pulses for a period of PWM This particular reference is used so as not to be lose any pulses if the frequency input is used Default internal normalization is done with 65536 pulses per mechanical revolution but it s possible to enable high revolution 32 bits per turn by application Standard application 0 24 works with 32 bits After these two reference values have been processed they are added together in order to obtain the total speed reference value 2 2 3 2 Inverting and Limiting Speed Reference Values In the standard application logic function 112 Speed reference value inversion which is assigned to an input the default is L I 6 pin2 M3 or connection E37 are used to invert the reference value according to the following logic OR exclusive 12 0E37 0 Reference value not inverted default values 112 1E37 0 Reference value inverted 112 0E37 1 Reference value inverted 112 1E37 1 Reference value not inverted The reference value is inverted before the ramp thus if the ramp is not disabled the direction of rotation changes gradually default E37 0 and 112 0 There is another chance to invert positive speed rotation setting C76 1 Enabling this function with the same speed reference and speed measured the motor rotates in reverse direction Parameters P18 and P19 are used to limit the total reference value within a
133. feedback setting the reference can be a digital set point with the appropriate configurations With the following premises o Input SP is the regulation reference with PID enabled auto TRUE displayed thru internal value ACT_SP_PID D85 o Input PV is the feedback signal of the regulator with PID enabled auto TRUE displayed thru internal value ACT_PV_PID D86 o Input KP Filter defines the time for the first order filter that acts only on the proportional part o The PID parameters are e KP proportional gain e TI integral time defined in ms if set 0 integral gain is disabled e TD derivative time defined in ms if set 0 integral gain is disabled o Thru inputs MAX parameter LMN MAX OUT PID E80 and XMIN parameter LMN MIN OUT PID E79 it is possible to limit the regulation value as XOUT When output XOUT reaches its regulation limit the integral part will be freezed and blocked PID has following value Error error value displayed in D90 SP PV LMN_P proportional part displayed in D87 filtered KP Error LMN T integral part displayed in D88 LMN_I KP Error T_DRW_PWM Tl LMN D derivative part displayed in D89 TD KP Error Error_Last T_DRW_PWM XOUT PID regulator output displayed in D91 LMN_P LMN_I LMN_D Whereas T_DRW_PWM 1000 P101 with P101 PWM frequency and Error_Last is the e
134. flux gives the normalized flux current in relation to the magnetizing current The characteristic is assumed to be constant for normalized fluxes under 45 At the end of these readings the results will be shown in the parameters below which may still be changed by the user 1 2 3 4 5 6 7 8 9 10 ANON 45 0 55 0 65 0 75 0 82 0 88 0 93 0 97 0 100 0 102 0 P131 P133 P135 P137 P139 P141 P143 P145 P147 P149 Ca e AKA Aki The magnetizing current may also be viewed in the parameter below Name Description PRC MOT FLX NOM P73 Nominal flux current 2 1 5 1 4 Test 4 Reading the Rotor Time Costant and Estimating the Stator Time Costant This test establishes the rotor time constant from the motor and helps to estimate the stator time constant by using data from other auto tuning values During the test the motor is rotated at the same speed as the previous test and then it goes in free revolution During the test the motor rotates at a speed equal to about 8096 of the rated speed and is k temporarily left to idle The following parameters are modified at the end of the test Name Description PRC_MOT_T_MAX P41 Maximum torque at full load MOT_COS_PHI P66 Nominal power factor T_ROTOR P74 Rotor time constant Tr T_STATOR P75 Stator time constant Ts MOT_T_NOM Nominal motor torque V_REG_K
135. g 0 00 200 00 100 163 84 reference value P117 Multiplication factor for KP_DRV_THERM_PRB radiator PTC NTC analog 0 00 200 00 100 163 84 reference value P118 Max temperature IRN ale permitted by radiator PTC NTC ee De no P119 Max temperature DRV START TEMP MAX permitted by radiator PTC NTC 0 0 150 0 75 C 10 for start up P120 Radiator temperature SEN DE ER ka threshold for logic output 0 15 0 0 20 0 st w C32 Motor thermal switch EN_MOT_THERMAL_ALL Block drive 0 1 1 1 Range 2 0 No reduction MOTTHERM CURVSGEL ule yentialed Mennal 1 imitative 0 1 2 Self ventilated 3 limitative P138 Multiplication factor for KP_REG_THERM_PRB regulation card thermal probe 0 00 200 00 100 163 84 DRV_TEMP D25 Radiator temperature 0 C 16 reading MOT_TEMP D26 Motor temperature 0 C 16 Radiator temperature used by DRV_TEMP_TH_MODEL daonnell meal 0 CG 100 DRV CONN TH MODEL Drive inner connection limit 0 DRV CONN MAX 100 D40 Regulation card REG CARD TEMP temperature 0 C 16 MOT_PRB_RES D41 Thermal probe resistance 0 KOhm 16 PRC_DRV_I_THERM D28 Motor thermal current 100 100 0 soglia All 40 96 IGBT_J_TEMP D45 IGBT junction temperature 0 C 16 D46 IGBT junction temperature IGBT J TEMP MARGIN margin with its limit 0 C 16 BRAKE_R P140 Braking resistance 1 1000 82 Ohm 1 P142 Braking resistance BRAKE_R_MAX_EN Maximum adiabatic Energy 0 0 500 0 4 5 KJoule 10 P144 Time measure of Braking BRAKE_R_MAX_EN_T
136. g from the status of rest pressing the S key the principal menu is gone into of circular type that contains the indication of the type of visualizable variables PAR parameters APP application parameters CON internal connections INT internal values ALL allarm INP digital input OUT digital output UTL utilities commands FLB fieldbus parameters To change from a list to another enough is necessary to use the or keys and the passage will happen in the order of figure Once select the list you pass on the relative sub menu pressing S the reentry to the mainmenu from the following visualizations will be able future through the pressure of the key S simple or double in brief succession less in a second like showed after The return to the status of rest comes instead automatically after 10 P112 seconds of inactivity is from some sub menu that goes by the main menu MW00001E00 V_4 1 113 menu passage MAIN MENU SUB MENU STATUS OF RESET STOP RUN COO return on state of reset FIG 11 Main Menu 7 4 1 Sub Menu Of Parameters Application Parameters And Connections Management Par App E Con From PAR or CON You enter into the sub menu list pressing S once entered into the list is able look through the parameters or the existing connections by pressing the keys or to move in increase or in decrement
137. g the conduction loss proportional to the current square value The basic idea is to find the best subdivision between active and reactive current because the first is proportional to the torque current the second to the magnetic field produced With reduced working load it s better to reduce the magnetic field under its nominal value and increase the torque current The energy saving is significant especially for motors with low cos and for load lower than 40 50 of nominal value for load much great of this the saving is negligible When the Energy Saving is enabled the dynamic performances decreases also if it s always guarantee a good stability in every working area MW00001E00 V_4 1 2 2 7 2 Start Up With a Motor Magnetized C38 provides 2 different ways for starting up the motor C38 0 Standard When RUN is enabled the machine is magnetized with the maximum delivered torque at zero for a time equal to P29 The flux is then checked to see whether it exceeds the minimum P52 If it does the torque is freed if it operation does not the drive triggers alarm A2 Machine not magnetized The machine is always magnetized If the flux drops below the minimum value P52 the drive triggers alarm A2 C38 2 Machine always magnetized If the drive is ready the motor will start up as soon as the Run command is enabled When the machine is magnetized it means that the motor is powered and that
138. gain the same position is equal to time test 2 Motor polar couple number seconds At the end of the test TEST CONN PULSES is updated again with the time test measured in ms o TEST CONN PULSES time test lt 500ms test is successful otherwise the alarm A15 3 is triggered In the first check if it is correct the number of motor poles with help of TEST_CONN_PULSES The test is successful if the drive switch off and does not trigger an alarm Now disable RUN command by setting its digital input to 0 The subsequent tests can now be carried out MW00001E00 V_4 1 2 1 4 5 2 Manual Fine Sensor Setup With C41 1 in the first part of autotuning is done an automatic sensor signals offset and gain compensation However every time it s possible to execute a manual sensor signal compensation In the following it s explained how to do the manual sensor setup 2 1 4 5 3 Fine Setup for Resolver The fine tuning resolver setup allows to set with a semiautomatic procedure any offset and a multiplicative factor to adjust the signals acquired by the resolver channels in order to increase system performance The procedure begins by setting the utility command U04 EN_SENSOR_TUNE 1 and giving a reference speed that the motor can run at 150 rom The motor have to run for about 30 seconds after stop the test is completed Automatically updates the values of P165 and P166 offset and P164 multiplication factor to adjust the amplitud
139. gradually rise with the ramp times to the working value the motor is first subjected to a sudden deceleration within the limit to tnen hook onto the reference and follow it with the ramp this may be undesirable from a mechanical standpoint and the process could also trigger the overvoltage alarm for converters which do not have a braking device To avoid this it is possible to suitably program connection C84 Enable motor flying restart which makes it possible to identify the speed of rotation of the motor stressing it as little as possible and to position the output reference from the ramp at a value corresponding to that rotation so as to start from that reference to then go on to working values This motor search function is primarily in one direction and thus needs to know in advance the direction of rotation of the motor positive frequency or negative frequency which must be programmed in C84 if the selection is wrong the motor is first braked to about zero speed to then follow the reference to go to working speed as if the search function had not been used If there is a passive load and the inertia keeps the motor in rotation it s possible to select a search dependently upon the sign of enabled frequency reference C84 3 4 There are two different values for C84 to enable this kind of search the only difference is for manage the case in which the frequency reference was zero in this particular situation with C84 3 the system se
140. he movement can be set in E64 in percent of the revolution In any case the motor will move on the minimum path to reach the reference position and the speed will never go over the indexing one E59 Zero TOP SSC E64 MW00001E00 V_4 1 3 3 3 7 Stop in Position Downstream Reduction Gear This function is enabled setting E57 1 and it s very important to set correctly the reduction ratio into parameters E69 and E70 corresponding to numerator and denominator with E70 E69 When this particular control is enabled the stop position and angular movement E60 e E64 are referred to the absolute position downstream reduction gear There are two different working mode for the zero TOP management downstream reduction gear selectable with E58 connection with E58 0 and only with Incremental Encoder with or without Hall sensors the zero TOP have to be connected to PC1 and PC1 channels motor sensor connector with E58 1 the zero TOP have to be connected to the eighth logic input on M3 connector It s necessary to de configure the logic function related to eighth logic input CO8 1 The zero position will be stored on rising edge 0 1 if is negative the zero position will be stored on falling edge 1 0 The situation is explained in the following scheme In both cases the zero pulse width have to be at least 26us E58 Eighth digital External TOP 0 on L I 8 Rising TOP 0 an Absolute position
141. ich will filter the overall speed reference value only Some special applications may enable the linear ramps differently See the respective instruction file for further information 2 2 1 1 Frequency Jumps to Avoid Resonances Using the parameters P179 P180 P181 and P182 it is possible to exclude as working frequencies all those frequencies falling within the two bands defined between P179 P180 and P181 P182 where P179 P77 P78 and P182 are expressed as of the maximum working frequency see diagram f_work fmax Output P179 P180 P181 P182 f work fmax Input Wherever exclusion bands are pre set the drive behaves in the following way If the set frequency reference falls within the exclusion band it is maintained at the lower value of the band if the set value is less than the mid band value while if the value is greater than the mid band value it assumes the upper value In a transitional phase however the system passes through all of the band s frequencies ramp The use or otherwise of the exclusion bands requires the setting of the corresponding connection C81 C81 0 no band C81 1 Band 1 P179 P180 C81 2 Band 1 P179 P180 and Band 2 P181 P182 For example if the working fmax 50Hz and the plant presents two resonance frequencies which are quite clear at 45Hz and 35Hz the frequencies between 43 47 Hz and 33 37 Hz could be excluded setting P179 33 50 100 0 66 0 P180 37 50 100 0 74 0
142. in P1 100 0 P1 200 0 eeng P2 0 pa ect P2 0 P1 200 0 100 P2 100 0 Default setting REFI ez P1 80 0 P1 80 0 P2 100 0 20 P2 20 0 0 10V Vin 10V Vin Note for the offset parameters P02 P04 and P06 an integer representation has been used on the basis of 16383 in order to obtain maximum possible resolution for their settings For example if P02 100 gt _ offset 100 16383 0 61 As said above the enabling of each analog input is independent and can be set permanently by using the corresponding connection or can be controlled by a logic input after it has been suitably configured For example to enable input A I 1 the connection E00 or the input logic function 103 can be used with the default allocated to logic input 3 The parameters E03 E05 and E08 are used to separately configure the analog inputs available E03 E05 and E08 Description 0 Speed ref 1 Torque ref Symmetrical Torque limit ref Positive Torque limit ref Negative Torque limit ref Symmetrical Speed limit ref Manual set point PID Positive Speed limit ref Nf OO oul Eloi rv Negative Speed limit ref Several inputs can be configured to the same meaning so that the corresponding references if enabled will be added together Note using the appropriate multiplicative coefficient for each reference it is therefore possible to execute the subtraction of two signals In the case of the torque li
143. ion requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command Once the test has started the motor will rotate in the positive direction at low speed and all Encoder edges are counted During the test the motor will make a complete revolution at low speed Do not worry if this revolution are a little noisy In the first step is checked if the cyclic sense of motor phases and Encoder channels is the same after 1 second parameter TEST CONN PULSES is updated with the test result and the drive consequently goes in alarm A14 or it starts the second test o TEST CONN PULSES 0 meaning that is missing at least one Encoder channel therefore A14 code 0 is triggered o TEST CONN PULSES lt 0 meaning that Encoder channels are exchanged therefore A14 code 0 is triggered o TEST CONN PULSES 50 everything is ok In the second part is checked the Encoder pulses reading well known from P69 parameter the number of edges in a mechanical turn At the end of the test TEST CONN PULSES is updated again with the total edges number o TEST CONN PULSES P69 P69 lt 12 5 test is successful otherwise the alarm A15 3 is triggered In the first check if it is correct the Encoder number of pulses per revolution and the number of motor poles o TEST CONN PULSES lt P69 the real pulses counted are less than expected
144. is always as whole number 1 3 INPUT LOGIC FUNCTIONS I The input logic functions are 32 commands that come from configured terminal board logic inputs from the serial line and from the fieldbus The meaning of this logical functions depend on the application so please refer to specific documentation 1 4 INTERNAL VALUES D Internal values are 128 variables within the drive that can be shown on the display or via serial on the supervisor They are also available from the fieldbus The first 64 values are referred to motor control part and are always present The second 64 values are application specific Pay close attention to the internal representation base of these values as it is important if readings are made via serial line or fieldbus 1 5 OUTPUT LOGIC FUNCTIONS O The logic functions are 64 the first 32 display drive status and second 32 are application specific All output functions can be assigned to one of the 4 logic outputs MW00001E00 V_4 1 FIRMWARE VERSION 12 1 2 ASYNCHRONOUS PARAMETERS E Asynchronous Parameters The Asyncrhonous Parameters are used to control the current or speed of a feedback vector induction motor The speed and current reference values are generated by the application See the application parameters for further information As an absolute position value is not required for the sensors managed with an optional internal electronic board incremental TTL Encoders and incrementa
145. kes it possible to quantify this wait time in milliseconds in which the system is in an on line state but the frequency reference is forcibly held at 0 The most suitable value for P29 should be chosen according to the rating of the motor and the load conditions but in any case should be from a minimum of 400ms for motors of 7 5 KW up to 1s for motors of 55KW 2 4 3 2 Slip Compensation By using parameter P170 it is possible to partly compensate for the motor s fall in speed when it takes up the load the adjustment is in fact that regulation of motor controls stator frequency and does not control the real speed This compensation is obtained by increasing the motor s working frequency by a quantity which is proportional to the percentage working torque multiplied by the percentage value set in P170 in relation to the motor s rated frequency The value to be set depends both on the motor s rating and poles in any case it can in general terms vary from 4 for a 7 5 KW motor to 1 8 2 0 for 45 KW motors In default the compensation is excluded P170 0 MW00001E00 V_4 1 2 4 4 Particular Control Functions 2 4 4 1 Motor Flying Restart Since the driver has a maximum current limit it can always be started running with no problems even if the motor is already moving for example by inertia or dragged by part of the load In that event on starting up given that normally the frequency reference starts from values close to zero to
146. l Sin Cos Encoders may be used Absolute sensors such as Resolver can also be used as can digital sensors such as Endat or Hiperface if required The Asyncrhonous Parameters also manages the auto tuning test which is crucial if the control is to adapt perfectly to the motor and to ensure excellent dynamic performance all round 2 1 DRIVE AND MOTOR COUPLING S Asynchronous Parameters RE Drive and Motor Coupling This section is usefull during motor start up to obtain the best coupling between drive and motor It s very important to follow the correct sequence explained in the next paragraphs 2 1 1 Drive Plate Asynchronous Parameters GEI Drive and Motor Coupling a Name Description Min Max Default UM Scale gt Drive plate MAIN_SUPPLY_SEL C53 Supply voltage 0 2 0 1 MAIN_SUPPLY P87 Main Supply voltage 180 0 780 0 400 V rms 10 DRV NOM P53 Rated drive current 0 0 3000 0 0 A 10 P113 Maximum drive DRV_I_PEAK Kaze 0 0 3000 0 0 A 10 OVR LOAD SEL C56 Current overload 0 3 3 1 PRC_DRV_I_MAX P103 Drive limit current 0 0 800 0 200 Yo DRV NOM 40 96 DRV F PWM P101 PWM frequency 1000 16000 5000 Hz 1 DRV_F_PWM_CARATT P156 PWMfrequenoyfor 4999 16000 5000 Hz 1 ative definition e BA DRV_E_CARATT P Sc 200 0 780 0 400 Vrms 10 EE LE ae E EE EE Se LEM_SEL C22 LEM selection 0 1 1 1 DRV_TH_MODEL C94 Drive ther
147. l connection towards the radiator heat probe has been interrupted If the reading is correct and the motor is overheating check that the drive cooling circuit is intact Check the fan its power unit the vents and the air inlet filters on the cabinet Replace or clean as necessary Ensure that the ambient temperature around the drive is within the limits permitted by its technical characteristics Check parameter P118 is set correctly Check the correct setting of parameters P140 P142 and P144 compared to the Resistance plate Check the correct dimensioning of Braking Resistance Maximum Power related to maximum speed load inertia and braking time Check the correct setting of parameters P140 P146 and P148 compared to the Resistance plate Check the correct dimensioning of Braking Resistance Average Power related to maximum speed load inertia and braking time Verify the presence of the connection of the probe and that it is correct Check the radiator temperature d25 Check the motor load Reducing it may prevent the safety switch cutting in Check the thermal current setting and correct if necessary P70 Check that the heat constant value is long enough P71 Check that the safety heat curve suits the motor type and change the curve if necessary C33 Reset the alarms and repeat the test by re enabling it Try to reapeat autotuning test The external safety switch has cut in disabling drive enable Restore and re
148. l outputs are those in the range 000 026 The other depends by application DEFAULT NAME OUTPUT LOGIC FUNCTIONS OUTPUT O 00 OD_DRV_READY Drive ready L O 2 O 01 OD_ALR_KT_MOT Moto thermal alarm O 02 OD_SPD_OVR_MIN Speed greater than minimum L O 4 O 03 OD_DRV_RUN Drive running L O 1 O 04 OD_RUN_CW CW CCW O 05 OD_K_I_TRQ Current torque relay O 06 OD END RAMP End of ramp L O 3 O 07 OD LIM Drive at current limit O 08 OD LIM TRQ Drive at torque limit O 09 OD ERR INS Tracking incremental error 5 threshold P37 ane P39 O 10 OD PREC OK Power soft start active O 11 OD BRK Braking active O 12 OD_POW_OFF No mains power O 13 OD BUS RIG Bus regeneration enable Support 1 O 14 OD IT OVR Motor overheating exceeds threshold P96 O 15 OD KT DRV Radiator overheating higher than P120 threshold O 16 OD SPD OK Speed reached absolute value higher than P47 O 17 OD SPD REF RCH Safe torque off active O 19 OD POS INI POL Regulation card supplied and DSP not in reset state O 20 OD SNS1 ABS SENS1 Absolute position available O 21 OD DRV OK Drive ready and Power Soft start active O 22 OD LL ACTV LogicLab application active O 23 OD STO OK STO not dangerous failure O 24 OD TRQ CTRL Torque control O 25 OD VBUS OK DC bus voltage exceeds threshold P79 O 26 OD BRK FLT Braking circuit faul
149. le RUN command by setting its digital input to O The subsequent tests can now be carried out MW00001E00 V 4 1 2 1 4 3 Resolver Resolver DDC 2 1 4 3 1 Sensor Parameters It s necessary have to set correctly the parameter P68 Note starting from revision 12 00 it s possible to work with any motor resolver poles combination In the internal value D23 is showed the actual resolver signals amplitude percent of minimum admitted value Try to change C67 resolver carrier frequency in order to maximize D23 2 1 4 3 2 Speed Sensor Test It is in three parts o Check that the direction of rotation of the motor phases and the Resolver correspond o Autotuning resolver signals o Check that the number of motor poles is written correctly in parameter P67 and the Resolver used is correctly define as poles number with parameter P68 Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command Once the test has started the motor will rotate in the positive direction at low speed and some measure are done on Resolver signals During the test the motor will make two revolutions at low speed Do not worry if this revolutions are a little noisy In the first step is checked if the cyclic sense of motor phases and Resolver channels is the same after 1 second parameter TEST_CONN_PULSE
150. ll During autotuning was been detected that motor phase are not connected in the same order of feedback During autotuning was been detected that drive and motor aren t connected properly Motor sensor parameters being written Simulated Encoder pulses During autotuning was been measured a magnetizing current greater than 80 of motor nominal current An error occurred during the Sensor and motor poles test It s detected error in setting related to the sensor compensation offset and gain CORRECTIVE ACTION Check the voltage of the three input phases Try switching off and then back on measuring the DC Bus level with the monitor or tester If the problem repeats contact BLU as there must be a soft start circuit malfunction Bring 24V to connector S1 If the user want to use the Safe Torque Off function without alarms it s necessary to set C73 1 If there is no present the Safe Torque Off function in the drive this alarm indicates a power board problem Verify if all three main phases are present on connector R S T and their rms value Check if the correct voltage is applied to safety connector Contact BLU assistance Contact BLU assistance for understand if the new STO function can be enabled in this drive Swap over two phases and repeat the connection tests Check motor phases Number of motor poles P67 set incorrectly or more sensor poles P68 than motor poles have been set
151. ltiply Factor Analog References A 1 16 gt Analog Input 2 ag A116 OFFSET Al16 P14 Selector NA Y Multipl oa REF AI16 D79 Ka Ka AL16 D45 IN xr 10 KP Al16 P13 Mul ID EN Al1 120 A116 SEL P208 EN Al1 P207 I Analog Speed Reference gt A I 1 Speed Ref gt Torque reference gt Yo A I 1 Torque Ref Torque Limit Ref gt A l 1 Pos Torque Limit Ref Sym Torque Limit Ref gt A l 1 Neg Torque Limit Ref Speed Limit Ref gt A I 1 Sym Speed Limit Ref gt A I 1 Pos Speed Limit Ref A LI Neg Speed Limit Ref Analog Speed Reference gt in A 1 2 Speed Ref Torque reference gt A 1 2 Torque Ref Torque Limit Ref gt Yo A 1 2 Pos Torque Limit Ref A l 2 Sym Torque Limit Ref gt Yo A 1 2 Neg Torque Limit Ref Speed Limit Ref gt A 1 2 Sym Speed Limit Ref gt A I 2 Pos Speed Limit Ref 3p A L2 Neg Speed Limit Ref Analog Speed Reference gt A 1 3 Speed Ref Torque reference gt Yo A L3 Torque Ref Torque Limit Ref gt Yo A L3 Pos Torque Limit Ref gt A L3 Sym Torque Limit Ref A 1 3 Neg Torque Limit Ref Speed Limit Ref gt A L3 Sym Speed Limit Ref gt A 1 3 Pos Speed Limit Ref gt A L3 Neg Speed Limit Ref Analog Speed Reference gt A 1 16 Speed Ref Torque reference gt A L16 Torque Ref Torque Limit Ref A 1 16 Pos Torque Limit R
152. mal model 0 2 0 1 DRV_K_ALTITUDE ee 0 0 200 0 100 0 163 84 P104 Radiator time T_RAD etter 10 0 360 0 80 s 10 P116 Junction time T JUNG Kanan 0 1 10 0 3 5 s 10 P155 Ambient OVR LOAD T ENV temperature reference 0 0 150 0 40 PG 10 value during overload C68 Enable PWM Ban frequency reduction S 1 o P196 Max frequency for PWM RID F MAX PWM reduction 0 0 1000 0 10 0 Hz 10 P197 Minimum PWM PWM_MIN frequency 1000 16000 5000 0 Hz 1 Control Routines ISR_PWM Frequency 5000 Hz 1 IGBT_PWM IGBT Frequency 5000 Hz 1 P157 Dead time software DEAD_TIME_SW airain 0 0 20 0 4 us 10 P198 Dead time hardware DEAD_TIME_HW duration 0 0 20 0 0 0 us 10 P199 Minimum command MIN_PULSE pulse duration 0 0 20 0 1 0 us 10 DC_BUS_FULL_SCAL C24 DC voltage drive full 0 2 0 v 1 E scale RECT BRIDGE SEL C45 Rectification bridge 0 1 0 1 EN NEW STO C58 Enable new STO o 1 0 1 management This parameters are related to the drive characteristic The user has to set only the main supply voltage and select the current overload 6e MW00001E00 V_4 1 2 1 1 1 Drive Current Overload Selection Four types of drive overload can be set on C56 C56 Overload type for rated drive current P53 0 120 for 30 seconds 1 150 for 30 seconds 2 200 for 30 seconds 3 200 for 3 seconds and 155 for 30 seconds NB the choice also changes the rated drive current as shown by the tables in the i
153. mand Input Selection U08 Quick Start Application Enable Reference U09 Quick Start Application Linear Ramps Enable U10 Enable Current Vector for Power Part Test U11 Current Vector frequency for Power Part Test FOO Slave address F01 Node baudrate F02 Data consistence F03 Enable acyclic data F04 Most significant bytes in multi byte data types F05 Old profibus DP setup data F06 Fieldbus error code F07 Fieldbus state F08 Anybus IP Address 00 F09 Anybus IP Address 01 F10 Anybus IP Address 02 F11 Anybus IP Address 03 F12 Anybus Subnet Mask 00 F13 Anybus Subnet Mask 01 F14 Anybus Subnet Mask 02 F15 Anybus Subnet Mask 03 F16 Anybus Gateway 00 F17 Anybus Gateway 01 F18 Anybus Gateway 02 F19 Anybus Gateway 03 F20 Anybus DHCP F21 Anybus module enabled F22 Anybus module state F23 Mapping Error Code F24 Mapping Error Object F25 Receive Object0 Index F26 Receive Object0 Sub Index F27 Receive Object1 Index F28 Receive Object1 Sub Index F29 Receive Object2 Index F30 Receive Object2 Sub Index F31 Receive Object3 Index F32 Receive Object3 Sub Index F33 Receive Object4 Index F34 Receive Object4 Sub Index F35 Receive Object5 Index F36 Receive Object5 Sub Index F37 Receive Object6 Index F38 Receive Object6 Sub Index F39 Receive Object7 Index Min 200 oO l O 2 O O O o 0000 0000 0000 oOo O0 0 0 0 0 0 0 0 0
154. mit if there is no analog input configured to the given meaning and enabled the reference is automatically put at the maximum that can be represented i e 400 In internal quantities d32 it is possible to view the torque limit imposed by the application In the case of the torque reference there is a first order filter with time constant that can be set in milliseconds in parameter E06 In the internal quantity d10 the torque reference can be viewed as set by the application MW00001E00 V_4 1 3 1 3 Dead Zone This function allows to set a zone dead zone where the analog reference is automatically set to 0 To enable the dead zone set the parameter E09 PRC SPD TOT AN D7 to a value different to zero When the analog reference is less than E09 his value is automatically set to 0 when reference is greater than E09 the value is scaled with input range from E09 0 to 100 The following scheme shows the situation The dead zone is symmetric OUT 100 PRC SPD TOT AN DZ 100 IN 100 PRC SPD TOT AN DZ aa aaa AT 100 3 1 4 Digital Speed Reference Name Description Min Max Default UM Scale PRC_SPD_JOG E11 Digital speed reference 100 00 100 00 0 MOT SPD MAX 163 84 value JOG1 E12 Enable jog speed EN_SPD_JOG an 0 1 0 1 PRC_SPD_REF_JOG D76 Jog Speed reference 100 100 0 MOT_SPD_MAX 163 84 E13 Motor potentiometer e PRC_START_DG_POT starting speed 100
155. mit Obj F53 Transmit Obj F54 Transmit Obj F55 Transmit Obj F56 Transmit Obj F57 Transmit Obj F58 Transmit Obj F59 Transmit Obj F60 Transmit Obj F61 Transmit Obj F62 Transmit Obj F63 Transmit Obj F64 Transmit Obj ect0 Index ect0 Sub Index ect1 Index ect1 Sub Index ect2 Index ect2 Sub Index ect3 Index ect3 Sub Index ect4 Index ect4 Sub Index ect5 Index ect5 Sub Index ect6 Index ect6 Sub Index ect7 Index ect7 Sub Index ect8 Index ect8 Sub Index ect9 Index ect9 Sub Index Min 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 Max FFFF FFFF FFFF FFFF FEFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF Default 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 UM HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX HEX MW00001E00 V_4 1 Scale 129
156. mperature P91 The radiator temperature d25 is higher than the maximum P118 The Adiabatic Energy dissipated on Braking resistance during the time selected in P144 has overcame the threshold set in KJoule in P142 The Average Power dissipated on Braking has overcome the threshold set in Watt in P146 Thermal probe not detected the presence RUN with Trad gt P119 The motor electronic overload safety switch has cut in due to excessive current absorption for an extensive period The RUN command was disabled during a test Run command switched off too early During autotuning speed control at the end of acceleration ramp the real speed differs by more than 20 from the theoretical value A digital input has been configured to 102 logical input function and this input is in not active state CORRECTIVE ACTION Check the temperature reading in d26 and then check the motor With a KTY84 if 273 15 appears the electrical connection towards the motor heat probe has been interrupted If the reading is correct and the motor is overheating check that the motor cooling circuit is intact Check the fan its power unit the vents and the air inlet filters on the cabinet Replace or clean as necessary Ensure that the ambient temperature around the motor is within the limits permitted by its technical characteristics Check the temperature reading on d25 and then check the radiator If 273 15 is displayed the electrica
157. mponent P PID 0 0 20 0 0 4 ms 10 TI_PID E77 Tl integral time 0 19999 0 ms 1 TD_PID E78 TD derivate time 0 19999 0 ms 1 LMN_MIN_OUT_PID Efe limiit Min value ot 200 0 200 0 100 0 163 84 output PID E80 Limit Max value of 5 k LMN_MAX_OUT_PID output PID 200 0 200 0 100 0 Yo 163 84 E81 Enabling PID EN REF PID reference 0 1 0 1 Range 0 External ref 1 Speed ref 2 Torque ref SEL_OUT_PID E82 PID output selection 3 u a Hugh 0 1 4 Positive torque limit ref 5 Negative torque limit ref 6 Add to speed ref i Add to torque ref ACT_SP_PID D85 Actual setpoint PID 163 84 ACT_PV_PID D86 Actual feed back PID 163 84 ACT_ERR PID Actual error SP PV of 163 84 ACT_COM_P_PID aaa 163 84 ACT COM I PID En Actual component of 163 84 ACT_COM_D PID D89 Actual component D 163 84 of PID ACT_DUT_PID D91 Actual output PID 163 84 OVR LMN na Ree 200 0 200 0 0 0 163 84 9 Yo E09 Analog speed PID PRC_SPD_TOT_AN_DZ error Dead zone amplitude 0 00 100 00 0 Mar SPD 163 84 MW00001E00 V_4 1 PID Control Selector DGT_SP_PID All 0 An zs AB All 6 PRC_SPD_REF_TIME_DEC PRC_SPD_SENS2 T Selector SEL_SP_PID E73 PID SP PV LMN_P ACT COM EF PID D87 LMN 1 ACT COM 1 PID D88 o k COM IL PRC SPD TOT AN DZ E091 DEAD BND LMN D ACT COM D PID D89 Selector TF_PID_KP E76 KP Filter Error ACT_ERR_PID D90 DGT_SP_PID XOut
158. mum speed frequency desired P65 and from the maximum working voltage P64 we can calculate the P177 and P178 values with reference to the maximum values while P175 and P176 will remain at 0 V Vmax_work FLUX WEAKENING AREA A P177 100 P64 380 380 100 0 100 P178 50 75 100 0 66 6 P177 380 380 100 0 100 P175 P176 0 P178 66 6 100 f fmax_work CURVE FOR MOTOR WORKING ALSO IN FLUX WEAKENING AREA 2 4 3 Load Effect Compensation 2 4 3 1 Voltage Stator Drop Compensation Start Up Under Load Using P36 parameter it is possible to increase the voltage value at low frequencies so as to compensate for the drop due to the stator resistance and so as to be able to have current and the refore torque even in the start up phase this is necessary if the motors starts up under load The value which can be set refers to the drop voltage on the Stator Resistor P66 and can be adjusted from 0 up to a maximum of 400 0 Particular care must be taken in setting the P172 value as it determines the current values fed at low speed a value too low for P30 results in limiting the torque of the motor while a value too high results in feeding high currents at low speed whatever the load condition is In the start up under load it is useful to introduce a waiting time on the common converter running so that the motor can magnetize itself so that it has from the outset the torque expected available The P29 parameter ma
159. mum voltage level for DCBUS_MIN_MAIN_LOST sad meins er 100 0 1200 0 425 V 10 DCBUS REF MAIN LOST e reference valuein 2200 1200 0 600 v 10 P86 Kp3 Bus control DCBUS_REG_KP proportional gain 0 05 10 00 35 100 P105 Corrective factor for Bus S KP_DCBUS voltage 80 0 200 0 100 10 DCBUS_MIN mE 160 0 1200 0 400 v 10 DCBUS_MAX B107 Maximum voltage ofDC a500 1200 0 760 v 10 P108 Bus voltage threshold for DCBUS_BRAKE_ON brake ON 350 0 1200 0 730 V 10 P109 Bus voltage threshold for DCBUS_BRAKE_OFF brake OFF 350 0 1200 0 720 V 10 DCBUS_REF P a ee eee eno gme 750 v 10 PW_SOFT_START_TIME P154 Soft start enabling time 150 19999 500 ms 1 Range 0 Trying to work MAIN_LOST_SEL C34 Managing mains failure 1 Recovery 0 1 2 Free 3 Emergency brake C35 Automatic alarm reset ALL_RST_ON_MAIN wine meins back em 0 1 0 1 EN_DCBUS_MAX_CTRL C47 Enable smart brake 0 1 0 1 EN_PW_SOFT_START C37 Enable soft start 0 1 1 1 DC_BUS D24 Bus voltage 0 V 16 DC_BUS_RIPPLE DC Bus Ripple at 100Hz 0 V 16 SOFT_STARTE_STATE D34 Power soft start state 8 1 STO_WAIT We 0 2000 500 ms 1 C89 Disable minimum power See circuit voltage with drive stopped o 1 o 1 P79 DC Bus threshold for logic DCBUS_THR output 025 220 0 1200 0 800 vV 10 EN BRAKE IN STOP Ee Enable DC braking also in 0 1 0 1 DIS DCBUS RIPPLE ALL ne DC Bus Ripple 0 1 0 1 If the Dc Bus exceeds its maximum value P109 alarm A11 appears If the DCBus is lower than its minimum value
160. nal As soon as the regulation card is powered 24V on connector X3 the drive closed the power soft start without any state control of the DC Bus Keep attention that this setting could damage internal drive capacitors The power fault alarm power fault A03 that intervenes in case of OPDE drive over current disables the insertion of power just as happens with the Safe Torque Off S T O The power soft start follows the following criteria C53 MAINS SUPPLY PRESENCE SOFT START ENABLE 010 corr Ten 1 DC internal PSS not managed on P97 threshold on mains supply presence 2 DC internal PSS not managed on P97 threshold instant power on of the regolation Power Soft Start MW00001E00 V_4 1 From default C37 1 thus connecting the drive to the mains supply the power is enable immediately with the soft charging of the capacitors The soft start charge of the intermediate circuit capacitors lasts a preset time set in P154 after this time the voltage level is checked to verify the voltage level reached if this is below the minimum P97 the soft start alarm starts The drive is not enabled to switch on if soft start function has not ended successfully if this happens the alarm A12 1 is activated To help the assistance starting from 12 00 asynchronous software revisions is been introduced the internal value D34 that show the power soft start state 0 A3 disabled a cause of alarm A3 1 STO ON disabled a c
161. nalog input A l 1 O 38 Analog input A l 2 O 39 Analog input A 1 3 O 40 Positive speed reference limit n MAX O 41 Application speed reference value sysSpeedPercReference n MAX O 42 Application torque reference value sysTorqueReference C NOM MOT O 43 Application positive torque limit sysMaxTorque C NOM MOT o 44 Frequency speed reference value from application sysSpeedRefPulses Pulses per TPWM o 45 Overlapped space loop reference value from application sysPosRefPulses Pulses per TPWM O 46 Amplitude to the square of sine and cosine feedback signals 1 100 O 47 Sen_theta Direct resolver and Sin Cos Encoder Max amplitude 200 O 48 Cos_ theta Direct resolver and Sin Cos Encoder Max amplitude 200 O 49 Rotation speed not filtered n MAX O 50 Delta pulses read in PWM period in frequency input Pulses per PWM O 51 Overlapped space loop memory Isw Electrical pulses x P67 O 52 Overlapped space loop memory msw Electrical turns x P67 O 53 Incremental SIN theta Sin Cos Encoder O 54 Incremental COS theta Sin Cos Encoder O 55 Ended initial reset O 56 PTM motor thermal probe O 57 PTR radiator thermal probe O 58 Pulses read by sensor O 59 SENS2 Rotation speed not filtered O 60 SENS2 Actual position O 61 SENS2 Sin theta O 62 SENS2 Cos theta O 63 SYNC delay measured O 64 Appli
162. nstallation file and the correct value is always displayed in ampere rms in P53 The delivered current is also used to calculate the operating temperature reached by the power component junctions with the drive presumed to be working with standard ventilation at the maximum ambient temperature permitted If this temperature reaches the maximum value permitted for the junctions the delivered power limit is restricted to a value that is just over the rated drive current i e the system s effective thermal current see following table Now the drive will only overload if the temperature drops below the rated value which will only occur after a period of operation at currents below the rated current The junction temperature calculation also considers the temperature increase that occurs while operating at low frequencies below 2 5 Hz due to the fact that the current is sinusoidal and thus has peak values that are higher than the average value With electrical operating frequencies lower than 2 5Hz the drive goes into maximum overload for 20 30ms after which the maximum current limit is reduced by V2 as shown by the following table C56 Max drive current Drive thermal current Limit below 2 5 Hz 0 120 NOM AZ for 30 seconds 103 NOM AZ 84 NOM AZ 1 150 NOM AZ for 30 seconds 108 NOM AZ 105 NOM AZ 2 200 INOM AZ for 30 seconds 120 NOM AZ 140 NOM AZ 200 NOM AZ for 3 seconds om 110 NOM AZ 140 N
163. number of sensor polar couples C51 Pul rev motor P68 2 0 0 1 64 128 256 512 1024 2048 4096 8192 o o nJo a UJN 16384 o 32768 65536 N 131072 WARNING The choice of the number of pulses for revolution depends on the maximum speed and the number of sensor polar couples P68 2 In the following table are reported this limitation If it is selected a number of pulses too high compared with the maximum speed it is triggered the alarm A15 code 1 Maximum speed rpm x P68 2 Pul rev motor P68 2 230 131072 460 65536 920 32768 1840 16384 3680 8192 7360 4096 14720 2048 29440 1024 32767 512 The default value is C51 5 correspond to 1024 pul rev As can be seen the number of pulses also depends on the number of sensor poles which are set in parameter P68 and in particular the above mentioned values are valid if the sensor is two pole The pulse output is controlled by a line driver ET 7272 the limitation of the number of pulses regards the maximum speed is done for limit the maximum frequency for channel to 500 KHZ MW00001E00 V_4 1 Asynchronous Parameters 0 Standard Application E el Input E Output E el Motion Control GC Incremental position loop 3 2 3 3 Simulated Encoder Meaning The C54 connection allows to select two different modes of working for simulated encode
164. of motor phases and Encoder channels is the same after 1 second parameter TEST CONN PULSES is updated with the test result and the drive consequently goes in alarm A14 or t starts the second test o TEST CONN PULSES 0 meaning that is missing at least one Encoder channel therefore A14 code 0 is triggered o TEST CONN PULSES 0 meaning that Encoder channels are exchanged therefore A14 code 0 is triggered o TEST_CONN_PULSES gt 0 everything is ok In the second part is checked the Encoder pulses reading well known from P69 parameter the number of edges in a mechanical turn o At the end of the test TEST CONN PULSES is updated again with the total edges number TEST_CONN_PULSES P69 TEST_CONN_PULSES lt 12 5 test is successful otherwise the alarm A15 3 is triggered In the first check if it is correct the Encoder number of pulses per revolution and the number of motor poles o TEST CONN PULSES lt P69 the real pulses counted are less than expected Encoder could have some problems or the motor load is too high Try to increase the test current with parameter P114 that is the percentage of rated drive current applied in the test o TEST CONN PULSES gt P69 the real pulses counted are more than expected Could be some noise in the Encoder signals Note for encoder with more than 8192 ppr the data showed in TEST CONN PULSES loses of meaning The test is successful if the drive switch off and does not trigger an alarm Now disab
165. on phase 175 0 175 0 0 degr 10 SYNC REG KP P11 CanOpen SYNC loop regulator 0 200 5 1 Proportional gain P12 CanOpen SYNC loop regulator SYNC_REG_TA eal dns Gensel 0 20000 400 1 PWM_SYNC_OFFSET PWM offset for SYNC delay control 0 pulses 1 PWM_SYNC_DELAY D81 PWM SYNC delay 400 400 0 us 16 With this function it s possible to synchronize two or more OPDE at PWM level Parameter E87 is used to select the drive function 1 Master Every PWM period the third digital output 03 is configured like PWM syncrhronization output 2 Slave Eigth physical input 108 is used to synchronize the drive 24 V MASTER 024V In the slave there is a tracking loop with gain Kp P11 e Ta P12 Its possible to set also the phase between master and slave with parameter E88 Note1 Master and slave have to be set with the same PWM frequency P101 Note2 If the PWM frequency is great than 5kHz is necessary to use a pull down 1kQ resistance 1W MW00001E00 V_4 1 101 E Asynchronous Parameters gl Standard Application E Fieldbus E Generic Parameters Keys Data storing E Digital Commands and Control E PWM Synchronization 6 ALARMS 6 1 MAINTENANCE AND CONTROLS The drive has a range of functions that cut in if there is a fault in order to prevent damage to both the drive and the motor If a protection switch cuts in the drive output is blocked and the motor coasts If one or more of the pr
166. onent of current reading NOM AZ O 17 U phase voltage duty cycle O 18 Stator voltage reference value module VNOM MOT O 19 Modulation index 0 lt gt 1 O 20 Request Q axis voltage Vo rif Jo VNOM O 21 Delivered power PNOM O 22 Request D axis voltage Vd rif VNOM O 23 Torque produced 26 C NOM MOT O 24 DC bus voltage 100 900V O 25 Radiator temperature O 26 Motor temperature O 27 Rotor flux NOM O 28 Motor thermal current alarm threshold A6 O 29 Current limit MAX AZ O 30 CW maximum torque C NOM MOT O 31 CCW maximum torque C NOM MOT O 32 Internal value outputs MONITOR only O 33 Internal value inputs_hw MONITOR only O 34 V phase current reading MAX AZ O 35 W phase current reading MAX AZ Name Description Min Max Default UM Scale AO1_SEL C15 Meaning of programmable analog output 1 99 100 1 AO2_SEL C16 Meaning of programmable analog output 2 99 100 1 PRC_AO1_10V P57 value of 10V for analog output A 100 0 400 0 200 10 PRC_AO2_10V P58 value of 10V for analog output B 100 0 400 0 200 10 OFFSET_AO1 P110 Offset A D 1 100 0 100 0 0 327 67 OFFSET_AO2 P111 Offset A D 2 100 0 100 0 0 327 67 MW00001E00 V_4 1 O 36 Actual electrical position alfa_fi 100 180 O 37 A
167. onverted into frequency while impulse counting will be taken from the high precision speed reference Parameter P10 permits compensation of any offset present in the analog input and is expressed in units of 10uV Parameter P88 permits setting of the voltage to which maximum speed will correspond default value of 10000mV or 10V REF2 Vin MW00001E00 V 4 1 3 1 6 Digital Inputs Configurations Asynchronous Parameters Standard Application E o Input i Analog Reference Sr Analog Reference All Sr Analog Reference AD The control requires up to 8 optically insulated digital inputs L I 1 L 1 8 whose logic functions can be configured by means of connection C1 C8 Sa Analog Reference AB Name Description Min Max Default UM Scale 292 Analog Reference All6 ES Analog Speed Reference LIT SEL C01 Meaning of logic 1 1 31 8 1 Sa Torque Reference LI2 SEL C02 Meaning of logic 2 1 31 2 1 an LI3_SEL C03 Meaning of logic 3 1 31 3 1 s SEE LI4 SEL C04 Meaning of logic 4 A 31 0 1 25 Digital Speed References LI5_SEL C05 Meaning of logic 5 1 31 4 1 id a zn LI6_SEL C06 Meaning of logic 6 F 31 12 1 Digital inputs configurations LI7_SEL C07 Meaning of logic 7 1 31 5 1 LI8_SEL C08 Meaning of logic 8 1 31 22 1 TF_LI6 7 8 P15 106 07 08 logical inputs digital filter 0 0 20
168. opriate in load variable inertia applications 2 2 3 7 Notch Filter Starting from 12 00 revision it s possible to enable a notch filter that works between speed regulator and current loop The Notch Filter is implemented in the control system to reduce the effect of the mechanical resonances of the plant that usually limits the speed bandwidth To configure the filter are available four parameters P54 P55 C92 C93 The NOTCH_FREQ P54 is the center filter frequency the NOTCH_BW P55 is the filter bandwidth the NOTCH_DEEP C92 is the filter amplitude and the NOTCH_RID C93 is the different filter gain over filter bandwidth In order to enable the Notch filter is enough to set the NOTCH_FREQ P54 different from zero To easy use of this filter is possible to set NOTCH FREQ NOTCH BWzfrequency to remove and leave the other two parameters to its default value NOTCH DEEP 0 10 and NOTCH_RID 1 00 no reduction Notch Amplitude NOTCH_RID C93 NOTCH_BW P55 it 26 gt 25 Notch Phase MW00001E00 V_4 1 2 2 3 8 Speed Regulator Second Bank In the standard application this function is used to change on line the speed regulator parameters P31 P33 the maximum speed P65 and the linear ramps acceleration times P21 P24 to achieve a good reference resolution working at low speed For enable the second parameters bank E27 E34 it s necessary to set the parameter E35 1 other
169. otection switches alarms cut in they are signalled on the displays which start to flash and to show a cycle of all the alarms triggered the 7 segment display shows the alarms that have been set off in hexadecimal Should the drive malfunction or an alarm be triggered check the possible causes and act accordingly If the causes cannot be traced or if parts are found to be faulty contact BLU and provide a detailed description of the problem and its circumstances The alarm indication are divide in 16 categories A0 A15 and for each alarm can be present code to identify better the alarm AXX YY 6 1 1 Malfunctions Without An Alarm Troubleshooting POSSIBLE CAUSES CORRECTIVE ACTION RUN command not given Check operating status of input 100 Ensure wiring is correct and check mains and Motor does not run Terminals L1 L21 and L3 are not Motor connection wired properly or the power voltage is disabled Check any contactors upstream and downstream of drive are closed Terminals U V and W are not wired properly Motor does not turn An alarm has been triggered See following paragraph Parameters programmed Check parameter values via the programming incorrectly unit and correct any errors Motor direction inverted Wrong Positive direction Invert positive speed rotation setting C76 1 Speed reference value inverted Invert reference value Check wiring and apply reference signal if not No reference signal be regulated Excessi
170. p an observer proportional 0 100 SLESS_Ta Sless observer laed time 0 ms 10 SLESS Tf Sless observer time filter 0 ms 10 A Sensorless control is enabled choosing C00 0 sensorless When sensorless control is enabled automatically some parameters are changed P126 40 P127 40 P157 3us P56 10 Commissioning suggested o Execute Execute QO O O O O only the first part of autotuning measure C42 1 Measure the start up time EN TEST SPD 1 Start up Set speed regulator with lower bandwidth 0 5 1Hz Disable autotuning starting from default values C75 1 the second part of autotuning measure C42 2 Increase speed regulator bandwidth up to max SPD LOOP BW MAX With sensorless control there is a lower limit on works electric frequency of 0 5 Hz At present isn t possible starts with motor in rotation It s preferable to enable a on line compensation on stator resistance and leakage inductance Leakage compensation works only if the active current request is greater than P192 if working frequency referred to nominal frequency is greater than P76 if the flux is lower than P193 and the stator voltage is greater than P194 With the default setting the leakage compensation works only in the flux weakening area to avoid wrong compensation due to saturation problem Resistance compensation can be enabled with connection C65 C65 Description 0 No never 1 VRs start During moto
171. peed loop bandwidth 2 5 Hz P31 lt 50 2 Dynamic speed loop bandwidth 20 Hz P31 lt 50 3 Max speed loop corresponding to speed loop bandwidth lt current loop bandwidth 4 P31 50 4 Manual with this selection it s possible to P31 lt 100 and speed loop bandwidth lt current set manually with parameter P20 loop bandwidth 4 Hz the speed loop bandwidth If SPD REG SETTING is O automatically are changed speed regulator gains P31 P32 P33 and than SPD REG SETTING is cleared to 0 With every selection the second order filter is enabled and variable gains disabled The SPD LOOP DW MAX internal value show the max speed bandwidth admitted with the actual current bandwidth and sensor used MW00001E00 V 4 1 2 2 4 Torque and Current Limits Asynchronous Parameters ro E Drive and Motor Coupling E Motor Control 0 Acceleration ramps and speed limit Name Description Min Max Default UM Scale Speed Control f Torque and Current limits PRC_DRV_I_ PEAK P40 Current limit 0 0 250 0 200 DRV_I_LNOM 40 96 P42 Maximum torque in the o PRC_DRV_CW_T_MAX ositive direction of rotation 0 0 400 0 400 0 MON_T_NOM 40 96 P43 Maximum torque in the pi PRC DRV COW T MAX negative direction of rotation 400 0 0 0 400 0 MOM_T_NOM 40 96 PRC_DRV_T_MAX D30 Maximum torque 100 100 0 MOT_T_NOM 40 96 D31 Maximum torque by a PRC DRV T MAX a 100 1
172. pp 6 COM EE 114 7 4 2 Visualization of the Internal Values NIT 116 1 43 Alam EE 116 7 4 4 Visualization of the Input and Output np and Out 117 7 5 PROGRAMMING KEY sssrinin nenna aK eA a nk aN EEA RAAA RAKENNA N 118 8 LIST OEPARAMETERG 0 aaaaaaaaaananaaaaaaaaaaaaaaaaaaaaaaananasasanasaaasana 119 MW00001E00 V_4 1 1 INTRODUCTION To help the customer during the configuration of the drive the manual is organized to follow faithfully the structure of the configurator OPDExplorer that allows according to a logical sequence to set all the sizes needed for the proper functioning of the drive In particular each chapter refers to a specific folder of OPDExplorer which includes all the relative parameters Also at the beginning of each chapter of the manual is showed the location of the folder in the OPDExplorer tree which the chapter refer and the complete table of sizes of the folder in question The control values are divided as follows Parameters Connections Input logic functions Internal values Output logic functions In the tables of the control value the last column on the right Scale shows the internal representation base of the parameters This value is important if the parameters have to be read or written with a serial line or fieldbus and represent the factor which to divide the value stored to obtain the real value set as following indicated Internal representation Value Scale Examples M
173. precision analog speed reference MAXV VF value Voltage matches max speed 2500 10000 10000 mVolt 1 P89 Tracking loop bandwidth direct RES_TRACK_LOOP_BW decoding of resolver 100 10000 1800 rad s 1 RES_TRACK_LOOP_DAMP P90 D Traking loop bandwidth 0 00 5 00 0 71 100 P91 Maximum motor temperature if read MOT_TEMP_MAX with KTY84 0 0 150 0 130 C 10 MODBUS_ADDR P92 Serial identification number 0 255 1 1 MODBUS_BAUD P93 Serial baud rate 192 Kbit s 1 STO_WAIT P94 Safe Torque Off waiting time 0 2000 500 ms 1 MOT PRB RES THR dee Motor NTC or PTC resistance value for 0 50000 1500 Ohm PRC MOT DO TEMP THR P96 Motor thermal logic output 14 cut in 0 0 200 0 100 40 96 threshold DCBUS MIN MAIN LOST wg Minimum voltage level for forced mains 0 0 1200 0 425 10 DCBUS REF MAIN LOST P98 Voltage reference value in Support 1 0 0 1200 0 600 10 BLU PAR KEY P99 Access key to BLU parameters 0 19999 0 1 120 MW00001E00 V_4 1 Name RES PAR KEY VAL DRV F PWM PRC DEAD TIME CMP PRC DRV 1 MAX T RAD KP DCBUS DCBUS MIN DCBUS MAX DCBUS BRAKE ON DCBUS BRAKE OFF OFFSET AO OFFSET A02 DISPLAY WAIT DRV PEAK PRC TEST CONN KP MOT THERM PRB T JUNC KP DRV THERM PRB DRV TEMP MAX DRV START TEMP MAX DRV DO TEMP THR TEST3 4 ACC TIME MOD INDEX MAX DCBUS REF PRC ENG OUT LOOP PRC V REF DCBUS PRC REG KP COEFF PRC V REG KP COEFF MOT Vo PRC TEST DELTA VLS TEST SPD T MAX K FLX45 TEST SPD MAX K FLX55
174. put optional 100 00 100 00 0 00 163 84 E07 Enable analog OFFSET_AI16 100 0 100 0 0 163 84 EN AN reference value Al16 o 1 9 1 D79 Reference from o REF A116 Analog Input AI16 Yo 163 84 DA Range 0 1 0 Speed ref 1 Torque ref R 2 Symmetrical Torque limit ref Al16_SEL E08 Meshing of anal g 3 Positive Torque limit ref input Al16 SC 4 Negative torque limit ref 5 Symmetrical Speed limit ref 6 Positive Speed limit ref 7 Negative Speed limit ref E06 Filter time constant for TF_TRQ_REF_AN analog torque reference 0 0 20 0 0 ms 10 value D68 Analog Torque 3 PRC_T_REF_AN reference from Application 400 400 0 MOT_T_NOM 40 96 D10 Torque reference z o PRC_APP_T_REF value application generated 100 100 0 MOT_T_NOM 40 96 PRC_T_MAX_AN_ D70 Analog Positive S e POS Torque Max from Application 400 o AMOTATENOM 2038 PRC_T_MAX_AN_ D80 Analog Negative S e NEG Torque Max from Application SE ae eo MOT_T_NOM HUES PRC_SPD_MAX_ D82 Analog Positive Speed S Yo AN POS Max from Application 200 an 0 MOT_SPD_NOM BE PRC_SPD_MAX_ D83 Analog Negative AN_NEG Speed Max from Application a g MOT_SPD_NOM O E41 Multiplication factor MUL Al IN SEL selection 0 4 0 1 MUL AL OUT SEL E42 Multiplication factor 0 2 0 1 target MUL Al MAX 543 Max analog input value 180 00 180 00 100 0 A l 163 84 for multiplication factor MUL_AI_MIN Eee wena MUR vele 1
175. quency speed EN_FRO_REF reference value a i 2 1 E25 Filter time constant of TF_TIME_DEC_FRQ frequency input decoded in 0 0 20 0 1 6 ms 10 time E26 Corrective factor for KP_TIME_DEC_FRQ frequency input decoded in 0 0 200 0 100 163 84 time D77 Time Decode PRC_SPD_REF_TIME_DEC Frequency input Speed 100 100 0 MOT_SPD_M 163 84 reference AX D14 Frequency speed PRC_APP_FRQ_SPD_REF reference value application 100 100 0 MOT_SPD_M 163 84 generated AX P88 High precision analog MAXV_VF speed reference value 2500 10000 10000 mVolt 1 Voltage matches max speed P10 Offset for high precision OFFSET_VF analog reference value 19999 19999 0 1 100 mV 1 P159 High precision analog speed reference value VCO 4 KP NEG VF setting for negative voltage 16383 16383 4096 1 reference values P150 High precision analog speed reference value VCO F KP POS VF setting for positive voltage 16383 16383 4096 1 reference values MW00001E00 V_4 1 el Asynchronous Parameters Standard Application 5 0 Input Analog Reference 235 Analog Reference All Se Analog Reference AR Sr Analog Reference AB Bs Analog Reference ANG 29 Analog Speed Reference Se Torque Reference 232 Torque Limit Reference 232 Speed Limit Reference Bs Reference Multiply Factor 0 Digital speed Reference Sr Digital Speed References Frequency speed Reference Frequency References
176. r Absolute Simulated Encoder C54 0 default in this mode also the third channel zero pulse is managed Incremental Simulated Encoder C54 1 in this mode the simulated encoder channels follow the motor rotation in incremental way and the third channel zero pulse looses of meaning Reference Simulated Encoder C54 2 in this mode the simulated encoder channels follow the speed reference and the third channel zero pulse looses of physical meaning If the drive doesn t work in torque limit the reference speed follows perfectly the real speed This choice is significant only for sensors with a zero pulse Encoder Encoder and Hall sensors Sin Cos Encoder in the other case Resolver Endat the Simulated Encoder is always absolute The third channel generates always one zero pulse per revolution In the case of multipolar resolver the zero pulse position depends randomly from the starting position The position of the zero pulse depends on the fit of the sensor on the drive shaft with reference to the original position decoding the zero of the sensor position this position may be changed with jumps of 90 electrical with reference to the sensor by means of connection C49 according to the following table C49 Displacement 0 0 1 90 2 180 3 270 The default value is 0 These electrical degrees correspond to the mechanical degrees if the resolver has two poles Connection C50 inver
177. r filter can be changed by using a 2nd order one To enable this function set C69 1 Parameter P33 will always set the filter time constant in milliseconds and thus its natural pulsation given that internal damping is always set to 0 8 so that the filter is quick to respond but does not overshoot Note that enabling a 2nd order filter means reducing the margin of system stability hence the filter time constant value must be thought through carefully before setting so as not to create instability x2 x2 7 a 40dB dec Useful area for 20dB dec 2nd order filter nnd m By taking as reference the 1st order filter time constant tolerated by the system the 2 order filter has to be set to double frequency half time so that it has the same phase margin The effects of the 2nd order filter will be better than the 1st order filter only when the frequency is double that of the 2nd order filter Example if a 1st order filter with a time constant P33 0 8 ms passes to a 2nd order filter P33 0 4 ms has to be set to have the same stability margin 2 2 3 5 Variable Speed Regulator Gains Speed regulator gains can be varied according to actual speed P45 is the proportional gain at zero speed P46 is the initial lead time constant and P34 is the initial filter time constant Setting P44 a percentage of the maximum speed with the end variation gain speed establishes a linear gain variation that ranges from the initial values P45 P4
178. r magnetization stator resistance is measured NB this function works well only if the motor is stopped at start 2 Vrs online Resistance compensation works only if the torque request is greater than 3096 and if working frequency referred to nominal frequency is lower than P76 3 VRs always 1 42 compensation during magnetization and on line MW00001E00 V 4 1 3 STANDARD APPLICATION 3 1 INPUTS 3 1 1 Analog Reference All parameters E Asynchronous Parameters o o Standard Application E el Input G Analog Reference Name Description Min Max Default UM Scale EN Al1 4 20mA C95 Enable Al1 4 20mA 0 1 0 1 P01 Corrective factor for KP Ali analog reference 1 AUX1 400 0 400 0 100 10 P02 Corrective offset for 3 8 OFFSET_AI analog reference 1 AUX1 100 0 100 0 0 o 163 84 AI D42 Analog Input Ali 100 100 0 163 84 E00 Enable analog EN AI reference value A LI 9 1 0 1 D64 Reference from REF Al1 Analog Input Alf 100 100 0 163 84 Range 0 Speed ref 1 Torque ref z 2 Symmetrical Torque limit ref Al1_SEL SC SEET of analog 3 Positive Torque limit ref 0 1 4 Negative torque limit ref 5 Symmetrical Speed limit ref 6 Positive Speed limit ref 7 Negative Speed limit ref EN Al2 4 20mA C96 Enable Al2 4 20mA 0 1 0 1 P03 Corrective factor for KP Al2 analog reference 2
179. range set between these two values P18 is the maximum limit positive speed and P19 is the minimum limit negative speed These two parameters may be set at a range from 10596 thus special settings may be used to limit operation within the 2 quadrants or within just one quadrant The following settings are provided by way of example P18 100 0 P19 100 0 100 0 lt speed reference value lt 100 P18 30 0 P19 20 0 20 0 lt speed reference value lt 30 P18 80 0 P19 20 0 20 0 lt speed reference value lt 80 0 P18 30 0 P19 60 0 60 0 lt speed reference value lt 30 0 P18 0 P19 100 0 speed reference value only negative P18 100 0 P19 0 speed reference value only positive 2 2 3 3 Speed Control Alarms Starting from 12 00 software revision is available a new alarm A 9 6 if the drive loses the speed control This alarm is activated if o speed reference and actual speed goes in opposite direction o the error between speed reference and actual speed is greater than parameter P56 PRC_LSE_CTR_MAX_ERR P56 default value is 200 of max speed so the alarm is disabled When sensorless control is enabled automatically P56 goes to 10 This control is disabled during Start up time autotuning Moreover there is another alarm A 9 2 that is activated if the speed is greater than P51 PRC_MOT_SPD_MAX MW00001E00 V_4 1 2 2 3 4 2nd Order Speed Regulator Filter The speed regulato
180. red to maintain the magnetic rotor flux equal to the reference value set in parameter P35 when the working area is with Constant torque Constant torque working area Voltage regulator Flux current reference value Flux reference value D27 When operating with Constant Power the regulator generates a request for the flux current required to ensure the stator voltage module is the same as the voltage reference value and thus to weaken the flux gradually as the speed increases MW00001E00 V 4 1 The active voltage reference value displayed in d09 is always the smallest of the three values which are all normalized in relation to the rated motor voltage P62 Parameter P64 Maximum operating voltage multiplied by coefficient P36 A term linked to the direct bus voltage with a margin set with P125 default 96 because the maximum stator voltage that can be delivered may not exceed the direct voltage divided by V2 A term linked to the estimated stator voltage to be applied during flux weakening based on the required current so that there is a margin with regard to the maximum voltage available and thus to be better equipped to deal with variations in the required torque Constant power working area flux weakening Voltage regulator P80 P81 and P82 Delivered voltage module Vbus x P125 V2 x Vnom Flux current reference value Voltage reference value
181. rence L 26 ID EN SB Enable speed regulator second bank L 27 ID_POS_SELO Stop in position target selection bit0 L 28 ID_POS_SELI Stop in position target selection bit1 29 ID_EN_POS Enable Stop in position function 30 ID_EN_POS_NOV Enable Stop in position movement 31 ID_PWM_SYNCH PWM synchronization input MW00001E00 V_4 1 NB pay particular attention to the fact that it is absolutely not possible to assign the same logic function to two different logic inputs after changing the connection value that sets a determined input check that the value has been accepted if not check that another has not already been allocated to that input In order to disable a logic input it s necessary to assign to it the logic function 1 this is the only value that can be assigned to more than one inputs For example to assign a specific logic function to logic input 1 you must first write the desired logic number for connection 101 101 14 gt logic input 1 can be used to enable Fieldbus references The logic functions that have been configured become active H when the input level is at high status 20V lt V lt 28V and there is a 2 2ms hardware filter With the connection C79 it s possible to enable the active logic low state for a particular digital input it s necessary to sum 2 to the power of ordinal input number For example to set digital inputs 10 and 13 to active low state set C79 2 423
182. rent loops LOOP BAND Current loop bandwidth 0 Hz 1 PRC DECOUP m Een coefficient for 00 2000 50 0 40 96 DIS DECOUP e dynamic decoupling 0 1 0 1 DELAY COMP a ee eon 40 96 TPWM 40 96 PRC IQ REF D07 Request torque current Iq rif 100 100 0 Yo DRV NOM 40 96 PRC ID REF D08 Request magnetizing current Id rif 100 100 0 DRV NOM 40 96 PRC_IQ D15 Current torque component 100 100 0 Yo DRV NOM 40 96 PRC ID D16 Current magnetizing component 100 100 0 DRV NOM 40 96 PRC VQ REF D20 Vq rif 100 100 0 MOT V NOM 40 96 PRC VD REF D22 Vd rif 100 100 0 MOT V NOM 40 96 MOT D11 Current module 0 A rms 16 EL FRQ D13 Rotor flux frequency 0 Hz 16 ACTV POW D01 Active power delivered 0 kw 16 PRC_MOT_T D35 Actual torque produced 400 400 0 MOT_T_NOM 40 96 MW00001E00 V_4 1 e E Drive and Motor Coupling 3 6 Motor Control 0 Acceleration ramps and speed limit Speed Control Torque and Current limits Name Description Min Max Default UM Scale Current control EN CNTRL E38 Enable only current control 0 1 0 1 E49 Enable feed forward torque ENLILAP reference in speed control 0 0 l EN CNTRL SPD LIM SE speed limitation in current 0 1 0 1 LREG KP Ge Kpc current regulator proportional ni 100 0 26 10 LREG TI P84 Tic current regulator lead time 0 0 1000 0 94 ms 10 constant P85 Tfc current regulator filter time I_REG_TF Samen 0 0
183. rial number 0 1 PWM COUNTER ISR counter 0 0 1 ALL ENAB P163 Alarm enable 0 65535 65535 Hex 1 SW RESET CNT Software reset occours 0 1 The DRV F PWM MAX is the maximum PWM frequency allowed with the functions enabled 5 3 1 Drive Ready The Drive Ready condition 0 L 0 H is given by alarms are not active and at the same time both the software and hardware enables The software enable given by state of the connection C29 C29 1 of default The external enable the function of the input is assigned to the default input L I 2 If an enable is missing or an alarm is active the ready drive signal goes into an non active state 0 L 0 L and this state remains until the causes that brought about the alarm conditions are removed and the alarms are reset An alarm reset can be achieved by activating the function Alarm reset that by default is assigned to input L 1 or setting C30 1 Keep in mind that the Alarm reset is achieved by the active front of the signal not on the active level MW00001E00 V 4 1 E Asynchronous Parameters Standard Application Fieldbus Generic Parameters Keys Data storing Digital Commands and Control 5 3 2 Drive Switch On Run When the drive is Ready to switch on RUN 0 L 0 H motor may start running Drive switch on run 0 L 3 H by activating both the hardware and software switch on enables Function Logic switch on RUN
184. rror value of the previous control cycle N B In the folder PID Controller with the parameter EN_PID E71 Enabling Genera PID Conirol is possible to disable the PID control function If this parameter is disabled the PID control is not active 3 3 3 Stop In Position If the drive is working in speed control this particular function gives the chance to stop in a specific and absolute position of the rotation revolution stop target position Once the stop position has been reached it is possible to command a relative movement of 180 Moreover there is the chance of choosing the indexing speed and if to stop without inverting the rotation direction or not The sensor needs to have an absolute indication of the mechanical position so if it is an Incremental Encoder zero TOP is necessary obviously it is essential to run at least a one complete revolution before entering the stop order If Resolver feedback is used this must be a single pole pair one The stop in position can optionally be referred to a mechanical turn after a reduction gear using the zero TOP on the load The typical stop in position application is the indexing for the tool changing system Name Description Min Max Def UM Scale Range a R Si 0 No EN STOP POS E55 Enabling Stop in position Same direction 0 1 2 Minimum track Range STOP_POS_CMD E56 Stop in position comand selection 0 Input 129 0 1
185. searching sense If the flying restart doesn t work correctly it s possible to increase the reserved parameter P191 default value 5 for increase the admitted search window In default the flying restart isn t managed C84 0 2 4 4 2 Dc Injection The DC Injection if enabled with VF EN DCJ C83 1 keeps the motor stopped in torque by injecting a continuous current if the frequency reference is under the intervention threshold express in PRC_VF_DCJ_F_MAX P174 With this function is possible to obtain only a low torque lt 10 of nominal value at zero speed for the asynchronous motor characteristics if the active load torque is greater than this value the motor runs at slip frequency correspondent to the load applied When the DC Injection is active the amplitude of the current depends on parameter PRC VF DCJ I MAX P173 which is the current limit in this situation Remember that if is active the VF EN STALL ALL C82 1 after the time express in VF STALL TIME P186 the converter will be in alarm A 0 1 MW00001E00 V 4 1 Asynchronous Parameters Drive and Motor Coupling 2 4 4 3 Energy Saving This function if enabled with EN_ENERGY_SAVE C86 1 allows an energy saving with an automatic current reduction matched to the load reducing the conduction loss proportional to the current square value The basic idea is to find the best subdivision between active and reactive c
186. set The connection has been broken Check and eliminate the fault Input function has been assigned but enable has not been given Authorise or do not assign the function MW00001E00 V_4 1 Watchdog alarm LogicLab Fast task LogicLab too long Application out of service Hardware board and firmware are incompatible Sensor presence Overspeed more than 10 consecutive Tpwm Loose speed control DC Bus under minimum threshold admitted Emergency bracking on main supply lost HW detection SW detection HW SW detection Software alarm Run whitout power soft start DESCRIPTION A LogicLab watchdog alarm on slow cycle appears The logicLab fast task is too long in time There is no valid application running in the drive Feedback option card and drive firmware incompatible Sensor not connected Overspeed speed reading higher than threshold set in P51 Too big error between speed reference and actual speed Intermediate drive circuit voltage DC Bus see d24 has dropped below the minimum value P106 With connection C34 3 was been select the emergency brake when main supply is lost This has occurred Intermediate drive circuit voltage DC Bus see d24 has exceeded the maximum analog thresold value Intermediate drive circuit voltage DC Bus see d24 has exceeded the maximum value P107 A11 0 and A11 1 appears C29 different from 1 RUN without Power Sof
187. sible to set the maximum average power In the internal value BRAKE R POWER it s possible to see the Average Dissipated Power in Watt if this value becomes greater than the threshold P146 the alarm A5 3 Average Power Braking Resistance becomes active 2 3 4 Braking Resistance Thermal Protection MiniOPDE In the MiniOPDE this protection by default is already enabled with the same connection C71 2 The parameters use to define the braking resistance characteristics are the same of OPDE In the OPDExplorer Default section shows only the OPDE values to see the real values of MiniOPDE select those concerned and do a reading R The parameters shown are relative to the internal resistance of MiniOPDE The parameters used are reported in the following table DESCRIPTION DEFAULT DEFAULT UNIT Internal 230V 400V rappr P140 Brakingresistance 4 700 4 m om P5 1 P142 Braking resistance Maximum Adiabatic 0 0 500 0 Energy 50 MW00001E00 V 4 1 1 P144 Time measure of Braking resistance 1 30000 1000 1000 Per adiabatic Energy P146 Maximum Power dissipated on Braking 0 0 6000 0 resistance 0 03 0 03 KWatt 100 P148 Power dissipated on Braking resistance 1 2000 filter time constant 2 4 V F CONTROL C Asynchronous Parameters Name Description Min Max Defaul
188. sition error and then correct it as long as the internal counter limit has not been reached in which case the synchronisation will be lost If EN POS REG MEM CLR E40 is set to 1 when the drive is in stop the error memory is cleared With connection C90 EN_POS_REG_SENS2 it s possible to enable the use of second sensor to close the incremental position loop Parameters P152 and P153 are used to set the reduction ration between second sensor and motor sensor CURRENT POSITION SPEED LOOP LOOP PID PID LOOP PID ENCODER ON MACHINE FREQUENCY INPUT BELT OR GEARBOX MOTOR E ENCODER c90 3 3 1 1 Frequency Space Reference Electrical Axes Managing a frequency space reference means always guarantee the same phase angle between master and slave To do this work is necessary to enable the overlapped position loop with parameter E39 or bringing at active state input function 117 It should then provide a speed feed forward reference the best solution is to use the frequency speed reference decoded in time E24 1 and E19 0 alternatively wanting to work in pulses clear E24 0 Note Wanting to manage in space the frequency reference it s not possible to enable pulses and decoding in time reference E24 2 The recommended block diagram is Selector Multipl sysPosRefPuls 16 Fred RQ IN DEN E22 FRQ_IN_PPR_SEI E20 FRQ IN SEL C09 ID EN FRQ BEE 119 OREN FRQ RE
189. so may invalidate the results If the tests cannot be carried out for any reason these values will have to estimated by reading the motor plate and following these points The magnetizing current value is sometimes shown on the motor plate under lo In this case P73 lo Inom motore If this value is not available it will have to be estimated set P73 to a value that supplies a no load motor running at rated speed with a three phase alternate voltage which is effective but slightly lower than the rated motor voltage Then change P73 until d18 displays a value of about 96 97 Once P73 is established rated torque current P72 can be established as 100 P73 The rotor time constant in seconds can be calculated with the following formula 1 1 P72 Tr 6 28 fs P73 Establish fs by reading the rated slip value usually in rpm on the motor plate then compare it with the rated speed and multiply everything by the rated motor frequency Check P74 by forcing the motor to request a torque current with fs rated slip frequency P74 Tr in milliseconds MW00001E00 V_4 1 changing the speed reference value brusquely applying different loads to the motor and observing the behaviour of the stator voltage module If this value is correct the voltage should only vary slightly in the transient phase These other parameters are not as important and the default values may be left if more reliable data are unavailable This te
190. solution 0 1 MW00001E00 V 4 1 For correct motor sensor setup is necessary to set the motor sensor present Name Description SENSOR_SEL C00 Speed sensor and for the specific sensor present the following parameters For the TTL encoder and the incremental sin cos encoder Name Description ENC_PPR P69 Number of encoder pulses revolution And for the resolver Name Description RES_POLE P68 Number of absolute sensor poles RES_CARR_FRQ_RATIO C67 Resolver carrier frequency After that is necessary proceed with the auto tuning procedure NOTE usually SLOT1 is used to connect motor sensor and SLOT2 for other sensors With connection C19 is possible to swap the slot meaning and use Slot2 to read motor sensor SLOT 1 SLOT2 SLOT 3 Resolver 450013 Resolver 450013 BUS 1 BUS 2 TTL Hall sensor encoder 450017 TTL Hall sensor encoder 450017 CANbus CANbus 480001 SinCos encoder 450011 SinCos encoder 4S0011 CANbus Profibus 4B0002 Endat Biss encoder 450012 Endat Biss encoder 450012 Ethercat 480004 High resolution resolver 450014 High resolution resolver 450014 CANbus anybus CANbus anybus High resolution frequency input 450015 High resolution analog input 450015 4B0000 4B0000 CANbus SPI 4B0005
191. speed for automatic stop E68 Minimum speed hysteresis E69 Gearbox NUM E70 Gearbox DEN 100 0 100 0 0 0 0 0 0 0 0 0 0 00 0 00 0 00 0 00 0 00 50 00 0 00 0 0 00 0 00 0 0 100 0 100 0 1 2 pe wj N 100 00 100 00 100 00 100 00 100 00 50 00 50 00 19999 100 00 100 00 16384 16384 Default 0 105 02 105 02 50 0 5 100 100 1 6 100 3000 30 0 4 10 10 10 10 0 0 0 0 0 0 100 0 0 0 1 0 1 0 o ol o o o 2 0 oOo olo Jo o 0 15 10 1 0 0 0 100 100 UM Scale 1 MOT SPD MAX 163 84 MOT SPD MAX 163 84 s 10 1 1 1 1 1 1 ms 10 163 84 rpm 1 10 ms 10 ms 10 s 100 s 100 s 100 s 100 1 1 1 1 1 1 1 1 A l 163 84 A l 163 84 100 100 1 1 1 1 1 1 1 1 MOT_SPD_MAX 163 84 360 degree 1163 84 360 degree 163 84 360 degree 1163 84 360 degree 1163 84 360 degree 163 84 360 degree 163 84 ms 1 MOT_SPD_MAX 163 84 MOT_SPD_MAX 163 84 1 1 MW00001E00 V_4 1 125 Name EN_PID DGT_SP_PID SEL_SP_PID SEL_PV_PID KP_PID TF_PID_KP TI_PID TD_PID LMN_MIN_OUT_PID LMN_MAX_OUT_PID EN_REF_PID SEL_OUT_PID OVR LMN EN PWM SYNC PWM SYNC PHASE EN HLD BRAKE HLD BRAKE DIS DLY HLD BRAKE EN DLY EN STOP POS AUTOSET TEMP ON CONV FANS DRV TEMP TH MODEL DRV CONN TH MODEL PRC FLD SPD REF PRC FLD T MAX PRC FLD T REF OFFSET Alt BLU OFFSET Al2 BLU OFFS
192. ssible to enable separately all references using connections or logic input functions For speed and torque references the active reference is the sum of all enabled references for torque and speed limit prevails the more constrain active reference between the sum of analog and the Fieldbus references There can be up to 4 differential analog inputs A l 1 A I 16 10V which after being digitally converted with a resolution of 14 bits can be conditioned by digital offset and a multiplicative coefficient enabled independently through configurable logic inputs or connections configured as meaning through the corresponding connection E03 E05 added together for the references with the same configuration Or 10 Ee MW00001E00 V_4 1 Reference Multiply Factor P Analog Input 1 Multiplex Selector amg REF AD D64 g ID EN AlI1 I03 All SEL P203 EN_AII P200 mp3 Analog References A I 1 All OFFSET_AII P2 Atv Ka Multipl A 3 A IN vk Mul KP All Reference Multiply Factor Analog References A l 2 9 Analog Input 2 Multiplex A12 OFFSET_AI2 P4 Selector KA u 0 0 REF Al2 D65 10V P R A In KP_AI2 P3 M OR ID_EN_AI1 104 H AU SEL P204 EN_AII P201 lL Reference Multiply Factor o gt Analog Input 3 Multiplex Analog References A 1 3 A1 OFFSET AB P6 Selector Multipl w REF_AI3 D66 Am FA ply mon IN YX OUT KP AB P5 Mul Du AI SEL P205 EN Al1 P203 mpa Reference Mu
193. st reads the basic electrical parameters that characterise the induction motor being used so that it can be modelled according to the rotor magnetic flux After these values have been established the PI regulators in the current and flux loops are self set There are 4 test functions Each requires a no load motor i e decoupled from the load if they are to function correctly Connection C42 is used to enable these tests See the table below C42 Enabled function 0 No test enabled 1 Only Tests 1 and 2 enabled Motor does not need to be rotating Only Tests 3 and 4 enabled Motor needs to be 2 rotating 3 All tests enabled Tests carried out in quick succession The display will show the following setting The drive is now ready to start the test Start reading by enabling L I 2 with its digital input and setting C21 1 command in series Once the tests have started this setting will appear alongside The test finishes successfully if this setting appears the following indication and the drive does not trigger an alarm Wei Now disable L I 2 by setting its digital input to O or clearing C21 0 The tests may be halted at any moment by disabling L I 2 the drive will trigger an alarm A7 but any results will be saved NB Once C42 0 has been set again if C75 0 the default values of the parameters being tested will be automatically reloaded also speed regulator gains on the contrary if C75 1 remain
194. t MiniOPDE only MW00001E00 V 4 1 OpenDrive Asynchronous Application 1 B a All parameters H e Asynchronous Parameters B Application I O Parameters Input el Output o Digital outputs configurations CG Analog outputs configurations 4 2 2 Analog Outputs Configurations The configuration parameters are the same While the analog outputs selectable are common only in the range 000 066 the other depends by application OUTPUT ANALOG FUNCTIONS SLUR O 00 Actual mechanical position read by sensor 100 180 O 01 Actual electrical position read by sensor delta m 100 180 O 02 Reference speed value before ramps n mAX O 03 Reference speed value after ramps n MAX O 04 Rotation speed filtered n MAX A 0 2 O 05 Torque request C NOM MOT O 06 Internal value status MONITOR only O 07 Request to current loop for torque current NOM AZ O 08 Request to current loop for flux current NOM AZ O 09 Max voltage available VNOM MOT O 10 Internal value alarms MONITOR only O 11 Current module NOM AZ A 0 1 O 12 Motor sensor Zero Top 100 180 O 13 Uphase current reading MAX AZ O 14 Internal value inputs MONITOR only O 15 Torque component of current reading NOM AZ O 16 Magnetizing comp
195. t Motor plate 2 1 2 Motor Plate Name Description Min Max Default UM Scale P61 Rated motor 9 PRC_MOT_I_NOM current I NOM MOT 10 0 100 0 100 DRV NOM 327 67 P62 Rated motor MOT V NOM voltage 100 0 1000 0 380 Volt 10 P63 Rated motor MOT F NOM frequency 10 0 800 0 50 0 Hz 10 PRC MOT V MAX gt ees SES 1 0 200 0 100 MOT_V_NOM 40 96 P65 Max operating MOT_SPD_MAX speed n MAX 50 60000 2000 RPM 1 Range C78 Motor speed max MOT al a al multiplication factor Le 1 1 X10 MOT COS PHI nenn 0 500 1 000 0 894 1000 MOT_POLE NUM P67 Number of motor 1 12 4 1 ae ee Ll GE ee P70 Motor thermal PRC MOT THERM c rrent 10 0 110 0 100 PRC_MOT_I_NOM 10 P71 Motor thermal time MOT_TF_THERM Gana 30 2400 180 s 1 MOT N NOM Motor nominal speed 0 rpm 1 MOT_F_MAX Motor max frequency 0 Hz 10 Setting the parameters that establish the exact type of motor used is important if the drive is to run correctly These parameters are Name Description PRC_MOT_I_NOM MOT_V_NOM P61 Rated motor current NOM MOT P62 Rated motor voltage MOT_F_NOM P63 Rated motor frequency MOT_POLE_NUM P67 Number of motor poles These parameters are fundamental in that they are the basis of all the motor operating characteristics frequency speed voltage current torque and thermal protection P62 and P63 can be read dire
196. t UM Scale EN_VF_CNTL C80 Enable V f control 0 1 0 1 C88 Calculate V f VELEN CHR AUTOSET characteristic nominal knee a i 2 1 P170 Slip motor PRC_VF_SLIP_CMP compensation 0 0 400 0 0 0 PRC MOT E MAX 327 67 P171 Slip compensation VF_TF_SLIP_CMP factor filter 0 0 150 0 35 0 ms 10 P172 Stator voltage drop PRC_VF_BOOST compensation 0 0 400 0 70 0 PRC DELTA VRS 40 96 VF_EN_DCJ C83 Enable dc brake 0 1 0 1 P173 Current limit during 8 PRC VF DCJ MAX continuous braking 0 0 100 0 100 0 DRV NOM 40 96 P174 Continuous breaking Yo PAG NE Dot ae maximum frequency limit 0o 10080 0 0 PRC MOT F MAX 40 96 P175 V f characteristic Yo PRC VF CHR V1 point 1 voltage 0 0 100 0 0 0 PRC MOT V MAX 40 96 P176 V f characteristic Yo PRC VF CHR F1 point 1 frequency 0 0 100 0 0 0 PRC MOT E MAX 40 96 P177 V f characteristic Yo PRC VF CHR V2 point 2 voltage 0 0 100 0 0 0 PRC MOT V MAX 40 96 P178 V f characteristic PRC_VF_CHR_F2 poitn 2 frequency 0 0 100 0 0 0 PRC MOT F MAX 40 96 P183 Voltage regulator PRC VF V REG D derivative coefficient 0 0 100 0 100 0 Yo 327 67 multiplying term Range 0 No C84 Enable search during 1 Freg San SEARO motor rotation 2 Freq 3 Rif 0 4 Rif 0 P184 Initial search PRC_VF_FSTART_SEARCH nn with rotating 0 0 100 0 100 0 PRC MOT F MAX 40 96 P185 Minimum search PRC_VF_FMIN_SEARCH frequency with rotating 0 0 100 0 29 PRC_MOT_F_MAX 40 96 motor PRC_VF_T_MAX_SEARCH P191 Torque limit during 0 0
197. t signals the drive speed absolute value is above the threshold speed level P47 In every way whichever is the chosen type of shutdown there is an immediate drive block in presence of any alarm condition oL 0 L 5 3 4 Safety Stop The OPEN drive converters have the possibility to give the separated IGBT supply This supply voltage can be see like safety STOP input and there are two different managements for this input selectable with C73 connection For OPEN DRIVE versions with Safe Torque Off safety function STO according to EN 61800 5 2 and EN 13849 1 see STO installation manual 5 3 4 1 Machine Safety C73 0 Setting C73 0 default the Safety STOP is compatible with EN945 1 specification against accidental starts When this input is at low logical level the IGBT power bridge isn t supplied and the motor couldn t run more than 180 motor poles couple for brushless motor for asynchronous motors the movement is zero also if there is a brake in the power bridge The converter signals this state with the alarm A13 1 the output 017 Power electronic not supplied goes at high level the output 00 Drive ready goes at low level and the Power Soft start command is taken off To recover the normal converter state follow this steps Give 24V to the IGBT driver supply input Safety STOP At this point the converter goes at low level the output 017 Power electronic not supplied Reset the converter alarms for eliminate
198. t start CORRECTIVE ACTION Check if the LogicLab slow task duration is greater than 500 ms and try to reduce this execution time Try to reduce the LogicLab fast task execution time under admitted limit Please refer to the specific documentation Reload the application using OPDExplorer Check internal values d62 and d63 for the firmware and option card codes There must be some irregularity Check the connection towards the sensor In a transient state the speed reading has exceeded the permitted limit Adjust the speed regulator gains or raise the limit in P51 In a transient state the speed read was different more than P56 from reference and also with different sign Undervoltage may occur when the mains transformer is not powerful enough to sustain the loads or when powerful motors are started up on the same line Try to stabilise the line by taking appropriate measures If necessary enable the BUS support function for mains failure C34 1 This however can only help motors with light loads Try to understand why main supply is lost The safety switch cuts in mainly due to excessively short braking times The best solution is to lengthen the braking times An overvoltage in the mains may also trigger the safety switch If the drive is fitted with a braking circuit check that the resistance value is not too high to absorb the peak power If the resistor is not too hot check the resistor and connection continuit
199. tered O 60 SENS2 Actual position O 61 SENS2 Sin_theta O 62 SENS2 Cos_theta O 63 SYNC delay measured O 64 Application negative torque limit sysMaxNegativeTorque C NOM MOT O 65 Energy dissipated on breaking resistance joule O 66 IGBT junction temperature 100 O 67 Negative speed reference limit Y nMAX O 68 Stop in position target 100 180 O 69 Stop in position actual position 100 180 O 70 Stop in position error 100 180 O 71 Stop in position 033 timer ms O 85 Setpoint PID O 86 Process value PID O 87 Component P of PID O 88 Component of PID O 89 Component D of PID O 90 Error SP PV of PID O 91 Output PID MW00001E00 V_4 1 el Asynchronous Parameters 3 2 3 Frequency Output Standard Application EC Input GEI Output Name Description Min Max Default UM Scale E Digital outputs configurations Analog outputs configurations ENG OUT ZERO TOP C49 TOP zero phase for simulated encoder 0 3 0 1 Frequency output ENC_OUT_DIR C50 Invert channel B simulated encoder 0 1 0 1 ENC_OUT_PPR_SEL C51 Choose pulses rev simulated encoder 0 12 5 1 ENC_OUT_SEL C52 Simulated encoder selection 0 5 0 1 OPD_ENC_OUT_SEL C54 Internal simulated encoder selection 0 2 0 1 P124 Simulated encoder Kv gain o PRC_ENC_OUT_LOOP multiplication coeff 0 0 100 0 100 327 67 With C
200. termine the input frequency is the following f Xx Ne revolution x E22 X fx 60 X E21 60 x E21 and vice versa N utse revotation X E22 Let us now look at a few examples of cascade activation MASTER SLAVE with frequency input according to a standard encoder By a MASTER drive the simulated encoder signals A A B B are picked up to be taken to the frequency input of the SLAVE By means of parameters E21 and E22 the slipping between the two is programmed Master Slave N of pulses revolution 512 N of pulses revolution 512 P65 2500 rpm P65 2500 rpm E21 E22 100 Master Slave N of pulses revolution 512 N of pulses revolution 512 P65 2500 rpm P65 2500 rpm E21 50 E22 100 The slave goes at the half speed as the master Master Slave N of pulses revolution 512 N of pulses revolution 512 P65 2500 rpm P65 2500 rpm E21 100 E22 50 The slave goes at the double speed as the master To obtain good performance at low speed it is necessary to select an encoder resolution for the master that sufficiently high More precisely the signal coming from the encoder can be adapted according to the report E21 E22 and if necessary one of the analog input MW00001E00 V 4 1 3 1 5 3 Frequency Speed Reference Management The speed reference in pulses is very accurate no pulses is lost but for its nature it has an irregular shape be
201. th parameter E54 DIS STOP POS is possible to disable the stop in position function when incremental position loop is enabled speed Indexing speed has been reached motor keeps running stop in position until it is near the rate command then position control is activated E59 Indexing speed time NB in this modality to activate position control it is necessary that the max position error 180 multiplied by the position loop gain P38 being greater than the indexing speed E59 thus MO 100 P65 E g P38 4 0 P65 1500 CD E5928 9 maximum speed If this condition isn t true appears alarm A4 0 Be MW00001E00 V_4 1 if E55 2 always following the minimum track speed When indexing speed is reached space control is immediately activated Stop in position order Speed sign depends on position error sign Indexing speed time Anyway the speed reference generated by the position control can never exceed the indexing speed in absolute value set on E59 Once the drive is stopped in position for a time programmable in E66 the logic output function 033 becomes active It is possible to set the uncertain area of the logic output on parameter E65 in percent on the revolution as max distance or from the correct position At this point it is possible to command another movement by activating the input function 130 execute the angular movement The amplitude of t
202. the Encoder By default C74 0 the speed is measuring counting the number of pulses in the PWM period This produces a poor resolution especially at low speed and the consequent need of signal filtering see the related core document P33 parameter of speed regulator Setting C74 1 the speed calculation is done measuring the time between one Encoder pulse to the other This technique has a maximum resolution of 12 5 ns so the measure can be very accurate The Encoder time decode needs Incremental Encoder pulses with duty cycle of 50 a correct pulses time distribution and the cables would be shielded very well 2 1 4 2 2 Speed Sensor Test It is in two parts o Check that the direction of rotation of the motor phases and the Encoder correspond o Check that the number of motor poles is written correctly in parameter P67 and the Encoder used is correctly define as pulses per revolution with parameter P69 Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command with its digital input Once the test has started the motor will rotate in the positive direction at low speed and all Encoder edges are counted During the test the motor will make a complete revolution at low speed N Do not worry if this revolution is a little noisy In the first step is checked if the cyclic sense
203. the alarm A13 The normal converter state is recovered After P94 STO WAIT ms the converter is able to start the Soft start sequence 100 MW00001E00 V_4 1 5 3 4 2 Power Part Enable Input C73 1 Setting C73 1 the Safety STOP is like a Power part enable input Like in the preceding case when this input is at low logical level the IGBT power bridge isn t supplied and the motor couldn t run more than 180 motor poles couple for brushless motor for asynchronous motors the movement is zero also if there is a brake in the power bridge The converter signals this state with the output 017 Power electronic not supplied that goes at high level the Power Soft start command is taken off but unlike before no alarms goes at active state To recover the normal converter state follow this steps Give 24V to the IGBT driver supply input Safety STOP At this point the converter goes at low level the output 017 Power electronic not supplied After P94 STO_WAIT ms the converter is able to start the Soft start sequence In this case it isn t necessary to reset the alarms after take back at high level the Safety STOP input it will be sufficient to wait P94 STO_WAIT ms soft start time after that the converter could be goes on run 5 4 PWM SYNCHRONIZATION STANDARD APPLICATION Name Description Min Max Default UM Scale EN_PWM_SYNC E87 Enable PWM synchronization 0 2 0 1 PWM_SYNC_PHASE E88 PWM synchronizati
204. tion MAGN_SEL selection 0 2 0 1 PRC_FLX_REF P35 Flux Reference 0 0 120 0 100 MOT_FLX_NOM 40 96 P36 Kv Max operating voltage V_REF_COEFF multiply factor 0 0 100 0 100 327 67 PRC_FLX_MIN P52 Minimum Flux admitted 0 0 100 0 2 MOT_FLX_NOM 40 96 V_REG_KP EE 0 1 100 0 10 0 10 proportional gain VF_V_REG_TA PEN US Der 0 0 1000 0 20 0 ms 10 lead time constant V_REG_TF P82 Tfi voltage regulator filter 0 0 1000 0 12 0 ms 10 time constant MOD_INDEX_MAX P122 Max modulation index 0 500 0 995 0 98 1000 P125 Voltage reference e PRC_V_REF_DCBUS function of DC bus 0 0 100 0 96 00513 Yo 327 67 P127 KpV Corrective coeff PRC_V_REG_KP_COEFF estimated Kp for voltage loops 0 0 798 0 100 Yo 40 96 P161 PWM delay 2 V_DELAY_COMP compensation on the voltages 800 0 800 2 125 0 TPWM 40 96 EN_ENERGY_SAVE C86 Enable energy saving 0 1 0 1 TILENERGY_SAVE P188 Energy saving regulator 100 2000 100 ms 1 filter time constant PRC_FLX_MIN_ENERGY P189 Energy saving admissible zen 100 0 20 0 MOT_FLX NOM 40 96 minimum flux V_REF DO9 Voltage reference value at 100 100 0 MOT_V_NOM 40 96 max rev MOT_V D17 Stator voltage reference 0 Warne 16 value module PRC_MOT_V D13 Stator voltage reference 100 100 0 MOT_V_NOM 40 96 value module MOD_INDEX D19 Modulation index 100 100 0 40 96 MOT_FLX D27 Motor Flux 0 MOT_FLX_NOM 40 96 The flux regulator generates the request for the flux current requi
205. tion loop is enable g 1 S E92 Enable autoset current position as EN_STOP_POS_AUTOSET stop in position target 0 1 0 1 3 3 3 1 Stop in Position Logic Input Functions NAME INPUT LOGIC FUNCTIONS I 27 ID_POS_SELO Stop in position target selection bit0 I 28 ID_POS_SEL1 Stop in position target selection bit1 l 29 ID_EN_POS Enable Stop in position function l 30 ID_EN_POS_NOV Enable Stop in position movement 3 3 3 2 Stop in Position Logic Output Functions NAME OUTPUT LOGIC FUNCTIONS O 33 OD_STOP_POS_ON Stop in position target reached 3 3 3 3 Stop in Position Analog Output and Monitor OUTPUT ANALOG FUNCTIONS O 68 Stop in position target 100 180 O 69 Stop in position actual position 100 180 O 70 Stop in position error 100 180 O 71 Stop in position 033 timer ms 3 3 3 4 Stop in Position Alarm ALARM DESCRIPTION CORRECTIVE ACTION In equiverse indexing the indexing speed has Excessive GH indexing speed 3 3 3 5 Working Mode With the drive working in speed control there is the chance of enabling the function Stop in position in two different ways based on E56 if E56 0 the input function 129 Stop in position command Stop in position command is taken when the speed reference goes below of the threshold value preset on E67 on E68 the hysteresis on the stop must be set to high logic level if P256 1 activation can be set a maximum value admitted depending on max speed P
206. trolled voltage level of the intermediate power DC Bus and raises to best control the motors winded to a voltage close to the line voltage The drive s dynamic behavior results in a way that optimizes the work as motor or generator There is a possibility to connect more than one drive to the DC Bus with the advantage of energy exchange between drives in case of contemporary movements and only one energy exchange with the mains Recovery of mains energy 2 3 1 3 2 Braking with Dc Bus Control C47 1 A further possibility of recovery control of kinetic energy exists if the outer braking resistance is not present or is not working properly it is possible to enable setting C47 1 the braking with DC Bus control This function when the Bus voltage reaches the threshold set in P123 limits the maximum admitted regenerated torque slowing down the motor In practice the motor will slow down in minimum time so the over voltage alarm does not start exploiting the total losses of the motor and drive This function is not active by default C47 0 in a way to leave the intervention of the braking circuit DC bus Controlled braking of the DC Bus MW00001E00 V_4 1 2 3 1 3 3 Kinetic Energy Dissipation on Breaking Resistance The standard solution for the OPDE drive is the dissipation of kinetic Energy on braking resistor All the OPEN drives could be equipped with an internal braking circuit while the braking resistor must be
207. ts the encoder B channel thus inverting its phase with respect to channel A with the same motor rotation direction By default C50 0 By P124 default 100 is possible to reduce the loop gain This can increase the stability of the system but reduce the speed response 3 3 MOTION CONTROL 3 3 1 Incremental Position Loop loo Name Description Min Max Default UM Scale FLW ERR MAX LSW Maximum tracking error less significative 32767 32767 32767 ppr 1 POS REG KP P38 Kv position loop proportional gain 0 0 100 0 4 10 FLW ERR MAX MSW Gg Maximum tracking error less significative 0 32767 0 rpm 1 EN_POS_REG E39 Enable overlapped space loop 0 1 0 1 EN POS REG MEM CLR eae overlapped space loop memory clear 0 1 0 1 EN POS REG SENS2 SO aa Incremental Position Loop on second 0 1 0 1 POS REG SENS2 NUM Ge NUM Second sensor incremental position 46384 16384 100 1 POS REG SENS DEN P153 DEN Second sensor incremental position 0 16384 100 1 Continuous position control during rotation is used to synchronise both speed and space with the speed reference value used To enable this function set input function 117 Enable overlapped space loop to high logic level or set C239 1 From then on an internal counter will be save any position errors regarding the space crossed by the reference value If the drive RUN command is disabled the error will be accumulated until it can be corrected once RUN has be
208. ub menu list making operational the parameter or the corrected connection if after correct the value want go out without change the values wait 10 seconds if the value is no touched for the exit press again the S key it is operative the same original value About parameters and connections the return to the status of rest display is in automatically way after 10 seconds from any kind of visualization 114 MW00001E00 V_4 1 STATE OF RESET STOP m return on state of reset display without changing value RUN COO push both and passage ER FIG 12 Sub menu management parameters PAR N STOP return on state of reset display without changing value RUN C00 push both and passage to the list parameter value modify value ris D I D I ll increase decrease A FIG 13 Sub menu management application parameters APP STATE OF RESET STOP return on state of reset display without changing value RUN C00 push both and passage show the to the list parameter value modify value OO VENU increase decrease FIG 14 Sub menu management connections CON MW00001E00 V_4 1 115 7 4 2 Visualization of the Internal Values INT From INT You enter into the list of sub menu of the internal values pressing S
209. urrent because the first is proportional to the torque current the second to the magnetic field produced With reduced working load it s better to reduce the magnetic field under its nominal value and increase the torque current The energy saving is significant especially for motors with low cos and for load lower than 40 50 of nominal value for load much great of this the saving is negligible When the Energy Saving is enabled the dynamic performances decreases also if it s always guarantee a good stability in every working area 2 5 SENSORLESS 6 Motor Control Protections 6 V F control CG Sensorless Name Description Min Max Default UM Scale Range C65 Enable sensorless on 0 No EN_ON_LINE_CMP 7 alle Sensoness ON 1 VRs_start 1 1 line parameters compensation 2 VRs_online 3 VRs_always SLESS KRs Sensorless on line Stator 100 Yo 40 96 Resistance compensation term SLESS KLs Sensorless on line Leakage Sensorless voltage and current t00 40 96 Inductance compensation term SLESS EHS ERR Green 0 0 MOT_FLX_NOM 4096 P192 Minimum active current PRC IQ COMP THR for sensorless flux 0 0 400 0 50 0 Yo DRV T NOM 40 96 compensation P193 Maximum flux for 5 PRC FLUX COMP THR sensorless flux compesation 0 0 400 0 90 0 MOT FLUX NOM 40 96 P194 Minimum voltage for ei PRC_VS_COMP_THR sensorless flux compesation 0 0 400 0 50 0 MOT_V_NOM 40 96 SLESS_K
210. us E Generic Parameters Keys gt Data storing 1 It is possible to save the data in the permanent memory also at drive switched on RUN while the loading may only be affected aside with drive switched off STOP after having opened the key to reserved parameters Starting from 12 10 revision during permanent memory writing C63 1 the data are immediately read after its writing If any inconsistency is detect alarm A1 2 appears In this case resets the alarm and try again to store the data Restore the default parameters System permanent Non permanent memory with default memory RAM parameters FLASH Save parameters in FLASH Reading parameters and C63 1 C62 1 Permanent memory connections at start EEPROM up Loading the EEPROM parameters Because the default parameters are standard to be different than those that are personalized it is correct that after the installation of each drive there is an accurate copy of permanent memory parameters to be in the position to reproduce them on an eventual drive exchange 5 2 1 1 Active Bank Parameters This function allows to switch over the internal sets of parameters and connections between two distinct memory banks drive must be switched off no RUN To activate this function it is necessary to use the logic input 116 configuring it on a logic input on both banks The connection C60 indicates the actual data bank
211. ustic and electrical motor noise 3 Reduce lead time constant P32 up to minimum value without increase the overshoot MW00001E00 V_4 1 D All parameters E 0 Asynchronous Parameters E 6 Drive and Motor Coupling Drive plate Motor plate Motor Sensor el Autotuning control el Motor measured model ei Quick Start up Final Value Amplitude Overshoot Undershoot Rise Time Settling Time The first step for the auto tuning procedure is the sensor test After to set the correct parameters in the Motor sensor section is necessary to complete the auto tuning procedure for the sensor present and selected 2 1 7 Quick Start Up Settling EE Time Name Description Min Max Default UM Scale EN_START_UP_APPL U05 Enable quick start U06 Quick start application 0 1 0 U application N N 1 STAR UPSD SL speed reference selection g S g 4 P00 Quick start application 3 PRC_START_UP_SPD_REF digital speed reference 100 0 100 0 0 MOT_SPD_MAX 163 84 U08 Quick start application START_UP_EN_REF EO Cana 0 1 0 1 D33 Speed reference PRC_APP_SPD_REF application generated 100 100 0 MOT_SPD_MAX 163 84 U07 Quick start application START_UP_RUN_SEL run command input 0 8 0 1 selection START UPEN LIN RAMP u09 Quick start application 0 1 0 1 linear ramps enable SW RUN CMD C21 Run software en
212. ve load Reduce motor load Check parameters and change if necessary Irregular motor Acceleration deceleration time times is are too low acceleration and braking Load too high Reduce load Rated motor speed minimum or maximum speed offset or Check parameters and compare setting with reference gain value are set motor rating plate incorrectly Excessive load Reduce load Reduce load points Number of motor revolutions too high or too low Motor does not turn Motor load changes a lot or smoothly displays excessive load points Increase motor size or use a larger frequency drive 102 MW00001E00 V_4 1 6 1 2 Malfunctions With An Alarm Troubleshooting Over current alarm Motor in stall Loaded default parameters EEPROM Read failure EEPROM Write failure EEPROM Read and write failure A 1 3 H A 2 0 H A 3 0 H A 4 0 H Motor not fluxed Power fault Application alarm DESCRIPTION It has been measured a current greater than its limit Drive work in torque or current limit for a time equal to P186 seconds EEPROM data related to a different core A Check Sum error occurred while the EEPROM was reading the values Default values loaded automatically When data is being written in the EEPROM the required values are always shown afterwards an alarm triggers if differences are detected Alarms A1 1 and A1 2 appears Magnetic flux d27 is below the minimum flux set in
213. wise to bring at high level the logical function 126 using one of the 8 logical inputs When the function is activated the standard data P31 P33 P65 and P21 P24 are automatically exchanged with the second bank E27 E34 and the connection E35 is set to 1 The exchange will be executed only if the working speed is lower than the new maximum speed this is useful to avoid the over speed alarm A 9 2 H 126 L gt H Speed regulator W lt d I26H gt L If the speed is greater than new maximum speed the activation command is ignored If the speed ramps are active your value will be automatically calculated to avoid sharp transitory The parameter E35 keep memory of second parameters bank activation When the drive is switched on the parameter E35 and the logical input 126 are tested if there is coherence no action is taken otherwise the parameter E35 is automatically changed to line up with logical input 126 and the data are exchanged When the function is disabled bringing 126 to low level or clearing E35 0 data are automatically exchanged with initial value restore 2 2 3 9 Speed Regulator Autosetting In order to use this function is necessary to measure the start up time P169 one way is execute Start up time test see par 2 1 6 1 for At that point is possible to enable speed regulator auto setting with parameter SPD REG SETTING Description Limitation 0 No 1 Stable s
214. with connection C21 commands in series Once the test has started this setting will appear on the display and the motor will rotate in the positive direction first to ensure the direction matches and will then rotate again to ensure the motor phases and the sensor are set correctly During the test the motor will make at last two revolution at low speed Do not worry if these revolutions are a little noisy If the drive sets off an alarm during the test an error has occurred Check to see which alarm has been triggered and deal with the problem accordingly o If A14 code 1 is enabled the test current is too low check if the motor phases are correctly connected to the drive o If A14 code 0 is enabled connections U V W do not match the internal phases of the drive Invert two phases and repeat the test o If A15 code 3 is enabled the values set do not comply with the motor pole and sensor settings At the end of the test check parameter TEST CONN PULSES and TEST CONN RES RATIO as it may give some indication as to the problem The test is successful if this setting appears on the display and the drive does not trigger an alarm Now disable RUN by setting its digital input to O or clearing C21 The subsequent tests can now be carried out MW00001E00 V 4 1 2 1 4 2 TTL Encoder 2 1 4 2 1 Sensor Parameters It s necessary to have set correctly the parameter P69 Encoder pulses per revolution in order to define
215. xed speed reference is calculated equals to maximum test torque P130 divided by speed regulator proportional gain In this way giving this step speed reference the torque requested doesn t go over maximum torque admitted Linear ramps are automatically disabled Giving the run command motor starts and try to follow the reference with its dynamic performance Evaluating the speed response it s possible to understand the system stability and speed loop bandwidth With Real Time Graph is possible to see the motor speed response Set Post Trigger Points 90 Trigger Type standard 03 Speed Reference Trigger level 1 Trigger slope ascending Sample Time 1 Channels 2 Channel A Standard 003 Reference speed value after ramps Channel B Standard 049 Rotation speed not filtered Set speed regulator gain and look the step response Try and repeat until the speed response has good stability and bandwidth Motor runs at constant speed until the run command is on Switch off the run command to stop the motor and start a new test Step response test is finished only when U01 EN_TEST_SPD is manually clear to 0 2 1 6 2 1 Speed Regulator Gain Setting Suggestions 1 First of all disable integral part setting lead time constant P32 with a big value gt 500ms 2 Try to find the best proportional gain P31 and filter time constant P33 to obtain a step response with max overshoot of 20 It s important to evaluate also the aco
216. y slow in the meantime the resistance is dimensioning for a maximum energy overload This protection is based on the follow parameters DESCRIPTION DEFAULT UNIT Internal rappr 82 Ohm 1 P140 Braking resistance value 1 1000 P142 Braking resistance Maximum Adiabatic Energy 0 0 500 0 P144 Time to test the Maximum Adiabatic Energy 1 30000 2000 After the first Braking resistance activation the dissipated Energy is accumulated knowing the DC bus voltage the Braking resistance value and the activation time This accumulation is done for a time set in milliseconds in P144 parameter if in this period the Energy becomes greater than maximum threshold set in KJoule into P142 parameter the control disables the Braking resistance At that point if it is enables the braking with DC Bus control C34 1 see par 2 3 1 2 2 it starts to work otherwise the alarm A5 2 Instantaneous Power Braking Resistance becomes active At the end of every accumulation period it is possible to show the total dissipated Energy on the period in KJoule in the internal value BRAKE_R_AD_ENERGY than can start a new period the Braking resistance is enabled again and the speed reference is aligned with the real speed NB this function has two possible uses It takes the converter in alarm if the Instantaneous Power is too high C34 0 It is possible to choose how many Energy could be dissipated on Braking resistance and in the remaining time
217. y and ensure that the circuit functions correctly Check and enable connection C29 Drive software enable Check why the Power Soft start isn t enabled With DC input continuous voltage input DC BUS check that the connection C53 MAIN SUPPLY SEL is correct MW00001E00 V_4 1 105 ALARM BS ES EES 106 A13 1 Rectifier bridge problem Safe Torque Off Power board fault Excessive Ripple on DC Bus New STO only one STO channel activated New STO Fault on at least one safety channel New STO monitor failure Motor phase inverted Motor not connected Wrong number of Motor Sensor poles Simulated encoder pulses Excessive magnetizing current measured Wrong Sensor pulses number read in Autotest Sensor tune failed DESCRIPTION The bridge that enables the line by gradually loading the DC bus condensers has not managed to load the intermediate drive circuit sufficiently within the time set P154 Safe Torque Off 24V are missing in connector S1 For this reason it s enabled certified STOP function Power board fault problem to the power board It was detect a big variation on DC bus Only one STO channel is working The drive is waiting the second one in the meantime isn t possible to enable the power stage At least one safety channel doesn t work well The new STO management was been enable with C58 1 but the monitor channel doesn t work we

User's manual - Drives for electric motors

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