Control Techniques Mentor MP

4 Mentor MP Advanced User Guide
www.controltechniques.com Issue Number: 4
5 Advanced parameter descriptions ............................................................................ 21
5.1 Overview ............................................................................................................................................. 21
5.2 Menu 1: Speed reference ................................................................................................................... 22
5.3 Menu 2: Ramps .................................................................................................................................. 34
5.4 Menu 3: Speed feedback and speed control ...................................................................................... 41
5.5 Menu 4: Torque and current control ................................................................................................... 58
5.6 Menu 5: Motor and field control .......................................................................................................... 70
5.7 Menu 6: Sequencer and clock ............................................................................................................ 97
5.8 Menu 7: Analog I/O ........................................................................................................................... 108
5.9 Menu 8: Digital I/O ............................................................................................................................ 115
5.10 Menu 9: Programmable logic, motorized pot and binary sum .......................................................... 122
5.11 Menu 10: Status and trips ................................................................................................................. 130
5.12 Menu 11: General drive setup .......................................................................................................... 145
5.13 Menu 12: Threshold detectors, variable selectors and brake control function .................................. 160
5.13.1 Threshold detectors function ................................................................................................................................... 160
5.13.2 Variable selectors function ...................................................................................................................................... 162
5.13.3 Brake control function .............................................................................................................................................. 165
5.14 Menu 13: Position control ................................................................................................................. 172
5.15 Menu 14: User PID controller ........................................................................................................... 180
5.16 Menus 15, 16 and 17: Solutions Module slots .................................................................................. 186
5.17 Menu 18: Application menu 1 ........................................................................................................... 187
5.18 Menu 19: Application menu 2 ........................................................................................................... 188
5.19 Menu 20: Application menu 3 ........................................................................................................... 189
5.20 Menu 21: Second motor parameters ................................................................................................ 190
5.21 Menu 22: Additional menu 0 setup ................................................................................................... 198
5.22 Menu 23 Header definitions .............................................................................................................. 199
5.23 Pre-Defined Sub Blocks .................................................................................................................... 201
5.24 Menu 0 (linear) .................................................................................................................................. 202
5.25 Menu structure .................................................................................................................................. 202
5.26 32 bit parameters .............................................................................................................................. 203
5.26.1 Drive parameters ..................................................................................................................................................... 203
5.26.2 Solutions Module parameters .................................................................................................................................. 203
6 Serial communications protocol ............................................................................. 204
6.1 ANSI communications protocol ......................................................................................................... 204
6.1.1 Introduction .............................................................................................................................................................. 204
6.1.2 Physical layer and UART ......................................................................................................................................... 204
6.1.3 Reading a parameter ............................................................................................................................................... 204
6.1.4 Writing to a parameter ............................................................................................................................................. 204
6.1.5 Drive address .......................................................................................................................................................... 205
6.1.6 Short commands ..................................................................................................................................................... 205
6.1.7 Summary of control characters ................................................................................................................................ 205
6.2 CT Modbus RTU specification .......................................................................................................... 206
6.2.1 MODBUS RTU ........................................................................................................................................................ 206
6.2.2 Slave address .......................................................................................................................................................... 207
6.2.3 MODBUS registers .................................................................................................................................................. 207
6.2.4 Data consistency ..................................................................................................................................................... 207
6.2.5 Data encoding ......................................................................................................................................................... 207
6.2.6 Function codes ........................................................................................................................................................ 207
6.2.7 Extended data types ................................................................................................................................................ 208
6.2.8 Exceptions ............................................................................................................................................................... 209
6.2.9 CRC ......................................................................................................................................................................... 210
6.2.10 Device compatibility parameters .............................................................................................................................. 210
7 Performance .............................................................................................................. 211
7.1 Digital speed reference ..................................................................................................................... 211
7.2 Analog reference .............................................................................................................................. 211
7.3 Analog outputs .................................................................................................................................. 211
7.4 Digital inputs and outputs ................................................................................................................. 211
7.5 Current feedback .............................................................................................................................. 211
7.6 Bandwidth ......................................................................................................................................... 211
7.6.1 Speed loop .............................................................................................................................................................. 211
7.6.2 Current loop ............................................................................................................................................................. 211