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Control Techniques unidrive sp User Manual
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www.controltechniques.com
Advanced User Guide
U
Universal V
ariable S
peed AC
Drive for induction and servo
motors
Part Number: 0471-0002-07
Issue: 7
http://nicontrols.com
2
Table of Contents
Default Chapter
3
Drive Software Version
3
General Information
3
Table of Contents
4
1 Parameter Structure
6
Menu Structure
6
Parameter Navigation
6
Advanced Menus
9
Solutions Modules
9
2 Keypad and Display
10
Understanding the Display
10
SM-Keypad
10
SM-Keypad Plus
10
Keypad Operation
10
Display Modes
11
Status Mode
11
Parameter View Mode
11
Edit Mode
11
SM-Keypad Plus Advanced Operation
12
Parameter Access Level and Security
12
Browsing Filter
12
'Hardware Key' Feature
12
Access Level
13
User Security
13
Changing the Access Level
13
Setting User Security
13
Alarm and Trip Display
14
Keypad Control Mode
14
Drive Reset
14
Second Motor Parameters
14
Special Display Functions
14
SM-Keypad Plus: Menus 41 and 42
15
Keypad Configuration Menu
15
Zero Parameter
15
Language Select
15
Keypad Serial Address
16
Keypad Memory Size
16
Browsing Filter Fnn Source
16
Saving Parameters
17
Loading Defaults
17
US Default Differences (1244)
17
3 Parameter X.00
17
SMARTCARD Transfers
17
Electronic Nameplate Transfers
17
Display Non-Default Values or Destination Parameters
17
4 Parameter Description Format
18
Drive Modes
18
Definition of Parameter Ranges & Variable Maximums
19
Parameter Ranges and Variable Maximums
19
Maximum Motor Rated Current
21
Second Motor Parameter
21
Sources and Destinations
21
Update Rates
22
Hard Speed Reference Update Rate
22
5 Advanced Parameter Descriptions
23
Overview
23
Menu 1: Frequency/Speed Reference
25
Menu 1 Logic Diagram
25
Frequency/Speed Reference Selected
27
Pre-Skip Filter Reference
27
Pre-Ramp Reference
27
Reference Offset
27
Maximum Reference Clamp
28
Minimum Reference Clamp
28
Negative Minimum Reference Clamp Enable
28
Analog Input Scaling
29
Reference Limits
29
Reference Offset Select
29
Bipolar Reference Enable
30
Reference Enabled Indicator
30
Reverse Selected Indicator
30
Jog Selected Indicator
30
Keypad Reference
31
Preset Selector
31
Preset Reference Selector Timer
31
Keypad Control Mode Reference
32
Precision Reference Coarse
32
Precision Reference Fine
32
Precision Reference Update Disable
32
Reference in Rejection Zone
34
Percentage Trim
34
Velocity Feed Forward
34
Velocity Feed Forward Select
34
Reference Timer Reset Flag
35
Reference Selected Indicator
35
Preset Reference Selected Indicator
35
Power-Up Keypad Control Mode Reference
36
Menu 2: Ramps
37
Menu 2 Logic Diagram
37
Post Ramp Reference
39
Ramp Enable
39
Ramp Hold
39
Ramp Mode Select
39
S Ramp Enable
40
S Ramp Acceleration Limit
40
Standard Ramp Voltage
41
Acceleration Rate Selector
41
Jog Acceleration Rate
42
Deceleration Rate Selector
42
Jog Deceleration Rate
43
Inertia Compensation Torque
44
Frequency/Speed Accuracy and Resolution
45
Digital Reference Resolution
45
Analog Reference Resolution
45
Accuracy
45
Menu 3: Slave Frequency, Speed Feedback, Speed Control and Regen Operation
45
Parameter Descriptions: Open-Loop
46
Frequency Slaving Demand
47
Zero Speed Threshold
47
At Speed Lower Limit
47
At Speed Upper Limit
47
Absolute “At Speed” Select
48
Enable Frequency Slaving
48
Slaving Ratio Numerator
48
Slaving Ratio Denominator
48
Select X2048 Output
49
F and D Frequency Slaving Output
49
Parameter Descriptions: Closed-Loop Vector and Servo
51
Final Speed Reference
53
Speed Feedback
53
Speed Error
53
Overspeed Threshold
55
Absolute “At Speed” Detect
55
Speed Controller Proportional Gain (Kp1)
55
Speed Controller Proportional Gain (Kp2)
55
Speed Controller Differential Feedback Gain (Kd1)
56
Speed Controller Differential Feedback Gain (Kd2)
56
Speed Controller Gain Select
56
Speed Controller Set-Up Method
58
Motor and Load Inertia
58
Compliance Angle
58
Bandwidth
59
Damping Factor
59
Hard Speed Reference
59
Hard Speed Reference Selector
59
Encoder Phase Angle
60
Encoder with Commutation Signals (Ab.servo, Fd.servo, Fr.servo)
60
Speed Feedback Selector
61
Drive Encoder Speed Feedback
62
Drive Encoder Revolution Counter
62
Drive Encoder Position
62
Drive Encoder Fine Position
62
Drive Encoder Marker Flag
63
Drive Encoder Turns Bits / Linear Encoder Comms to Sine Wave Ratio
63
Drive Encoder Lines Per Revolution
63
Drive Encoder Supply Voltage
65
Drive Encoder Comms Baud Rate
65
Endat Comms
66
SSI Comms
66
Drive Encoder Type
66
Endat, SSI - Comms Only Encoder Mode
68
Drive Encoder Error Detection Level
68
Encoder Trips
68
Wire-Break Detection
69
Encoder Initialisation
69
Encoder Power Supply Trips
70
Sc.hiper, Sc.endat, Endat
70
Linear Endat Encoders
70
Hiperface Encoders
70
Maximum Drive Encoder Reference
71
Drive Encoder Reference Scaling
71
Drive Encoder Reference Destination
71
Re-Initialise Position Feedback
71
Position Feedback Initialised
72
Full Motor Object Electronic Nameplate Transfer
72
Position Feedback Lock
72
Communication with Hiperface and Endat Encoders
72
Sc.hiper Type Encoders
73
Example of a Hiperface Transfer: Read Position
73
Example of Hiperface Transfer: Delete Data Field
74
Sc.endat
74
Example of Endat Transfer: Read Position
75
Example of Endat Transfer: Encoder Send Parameter
75
Parameter Descriptions: Regen
76
Reactive Power
77
Input Inductance
77
Regen Status
77
Regen Restart Mode
77
Voltage Set-Point
78
Voltage Controller Kp Gain
78
Setting the Current Controller Gains
78
Setting the Voltage Controller Gain
78
Close Soft-Start Contactor
79
Soft-Start Contactor Closed
80
Enable Motor Drive
80
Power Feed-Forward Compensation
80
Menu 4: Torque and Current Control
81
Maximum Heavy Duty Current Rating
82
Maximum Rated Current
82
Open-Loop
82
Closed-Loop Vector
83
Servo
84
Regen
85
Current Magnitude
90
Active Current
90
Open-Loop, Closed-Loop Vector and Servo
90
Torque Demand
91
Current Demand
91
Motoring Current Limit
91
Regen Current Limit
91
Symmetrical Current Limit
92
Torque Reference
92
Reactive Current Reference
93
Torque Offset
93
Torque Offset Select
93
Torque Mode Selector
93
Example of Coiler Operation
94
Example of Uncoiler Operation
94
Current Demand Filter 1
95
Current Controller Kp Gain
95
Current Controller Ki Gain
96
Current Limit Operation
96
Mains Loss and Controlled Standard Ramp
96
Closed-Loop Vector and Servo
97
Thermal Time Constant
98
Thermal Protection Mode
98
Reactive Current
100
Overriding Current Limit
100
Overload Accumulator
100
Percentage Load
100
Current Demand Filter 2
101
User Current Maximum Scaling
101
Low Speed Thermal Protection Mode
101
Percentage Torque
101
Menu 5: Motor Control
102
Output Frequency
106
Output Voltage
106
Output Power
106
Motor Rpm
106
DC Bus Voltage
107
Rated Frequency
107
Motor Rated Current (Regen Mode: Regen Unit Rated Current)
107
Rated Load Rpm / Rated Speed
108
Rated Voltage
108
Open Loop
108
Fixed Boost Mode: Fd
109
Square Law Mode: Sre
109
Closed Loop Vector
109
Rated Power Factor
110
Number of Motor Poles
110
Autotune
110
Dynamic V to F / Flux Optimise Select
114
Voltage Mode Select
115
Action on Enable
115
Low Frequency Voltage Boost
116
Rated Rpm Auto-Tune
116
Stator Resistance
116
Maximum Switching Frequency
116
High Stability Space Vector Modulation
117
Quasi-Square Enable
117
Field Gain Reduction
117
Enable High Speed Servo Mode
118
Voltage Offset
118
High Dynamic Performance Enable
119
Enable Slip Compensation
119
Field Weakening Compensation Disable
120
Motor Saturation Breakpoint 1
120
Motor Saturation Breakpoint 2
120
Voltage Controller Gain
121
Motor Torque Per Amp (Kt)
121
Motor Volts Per 1000Rpm (Ke)
121
Disable Auto-Switching Frequency Change
122
Motor Pole Pitch
122
Actual Switching Frequency
122
Menu 6: Sequencer and Clock
123
Stop Mode
124
Mains Loss Mode
124
Start/Stop Logic Select
125
Injection Braking Level
125
Injection Braking Time
125
Hold Zero Speed
126
Catch a Spinning Motor
126
Enable Stop Key
126
Sequencer Latching Not Enabled (Pr 6.40 = 0)
127
Sequencer Latching Enabled (06.40 = 1)
127
Enable Forward/Reverse Key
127
Electricity Cost Per Kwh
127
Time between Filter Changes
128
Filter Change Required / Change Done
128
Powered-Up Time: Years.days
128
Powered-Up Time: Hours.minutes
128
Run Time: Hours.minutes
129
Energy Meter: Mwh
129
Energy Meter: Kwh
129
Running Cost
129
Select Clock for Trip Log Time Stamping
130
Hardware Enable
130
Sequencing Bit: Run Forward
130
Sequencing Bit: Jog
130
Sequencing Bit: Run
131
Forward Limit Switch
131
Reverse Limit Switch
131
Sequencing Bit: Jog Reverse
131
Sequencing Bit: Not Stop
132
Enable Sequencer Latching
132
Drive Event Flags
132
Control Word
132
Active Supply
133
Bit 8: Analog/Preset Reference
133
Bit12: Trip Drive
133
Bit 13: Reset Drive
133
Force Cooling Fan to Run at Full Speed
134
Nominal Low Voltage Battery Supply
134
Disable Mains/Phase Loss Detection from Input Rectifier
134
Mains Loss Ride through Detection Level
135
Disable Multi-Module Drive Module Number Storing on Trip
135
Drive Comms State
135
Menu 7: Analog I/O
136
T5/6 Analog Input 1 Level
138
Stack Temperature 1
138
Control Board Temperature
138
T5/6 Analog Input 1 Offset Trim
139
T5/6 Analog Input 1 Scaling
139
T5/6 Analog Input 1 Invert
139
T5/6 Analog Input 1 Destination
139
T7 Analog Input 2 Mode
140
T7 Analog Input 2 Scaling
140
T7 Analog Input 2 Invert
140
T7 Analog Input 2 Destination
140
T8 Analog Input 3 Mode
141
T8 Analog Input 3 Scaling
141
T8 Analog Input 3 Invert
141
T8 Analog Input 3 Destination
141
T9 Analog Output 1 Source
142
T9 Analog Output 1 Scaling
142
T9 Analog Output 1 Mode
142
T10 Analog Output 2 Source
142
T10 Analog Output 2 Scaling
143
T10 Analog Output 2 Mode
143
Calibrate T5/6 Analog Input 1 Full Scale
143
T5/6 Analog Input 1 Sample Time
143
T5/6 Analog Input 1 Current Loop Loss
144
T7 Analog Input 2 Current Loop Loss
144
T5/6 Analog Input 1 Offset
144
IGBT Junction Temperature
145
Drive Thermal Protection Accumulator
145
Menu 8: Digital I/O
146
Relay Source
151
T22 24V Output Source
151
Positive Logic Select
151
Open Collector Output
151
T28 & T29 Digital Input Auto-Selection Disable
152
Menu 9: Programmable Logic, Motorised Pot and Binary Sum
153
Motorised Pot Output
155
Logic Function 1 Source 1 Invert
155
Menu 10: Status and Trips
161
Drive Healthy
161
Drive Active
161
Zero Speed
161
Above Set Speed
162
Load Reached
162
Drive Output Is at Current Limit
162
Braking IGBT Active
162
Direction Commanded
163
Direction Running
163
Mains Loss
163
Under Voltage Active
163
Drive Warning
164
Power Module Mains Loss Detection
164
Drive Encoder Trip: Feedback Device Comms Failure
166
Drive Encoder Trip: Checksum or CRC Error
166
Drive Encoder Trip: Encoder Has Indicated an Error
166
Drive Encoder Trip: Initialisation Failed
166
Data Processing Error: CPU Address Error
167
Data Processing Error: DMAC Address Error
167
Data Processing Error: Illegal Instruction
167
Data Processing Error: Illegal Slot Instruction
167
Menu 11: General Drive Set-Up
182
Menu 12: Threshold Detectors, Variable Selectors and Brake Control Function
193
Menu 13: Position Control
207
Revolutions Error
213
Position Error
213
Fine Position Error
213
Position Controller Reference Source
213
Position Reference Invert
214
Ratio Numerator
214
Ratio Denominator
214
Position Controller P Gain
214
Rigid Position Control
215
Non-Rigid Position Control
215
Relative Jogging
215
Absolute Mode Enable
216
Position Controller Speed Clamp
216
Orientation Position Reference
216
Orientation Acceptance Window
216
Orientation Position Complete
217
Position Error Reset
217
Relative Jog Reference
217
Relative Jog Enable
217
Local Reference Turns
218
Local Reference Position
218
Local Reference Fine Position
218
Local Reference Disable
218
Menu 14: User PID Controller
219
PID Output
221
PID Main Reference Source
221
PID Reference Source
221
PID Feedback Source
221
PID Enable
222
PID Optional Enable Source
222
PID P Gain
222
PID I Gain
222
PID Upper Limit
223
PID Lower Limit
223
PID Scaling
223
PID Destination
223
PID Symmetrical Limit Enable
224
PID Main Reference
224
PID Reference
224
Menus 15, 16 and 17: Solutions Module Slots
225
SM-Universal Encoder Plus
226
Solutions Module Error Status Values
226
SM-Universal Encoder Plus Logic Diagram
227
Reference / Feedback Encoder Input
227
Option ID Code
229
Option Software Version
229
Speed
229
Revolution Counter
230
Position
230
Fine Position
230
Marker Position Reset Disable
230
Encoder Turns
231
Equivalent Lines Per Revolution
231
Encoder Single Turn Comms Resolution
232
Motor Thermistor Check Enable
232
Encoder Supply Voltage
232
Encoder Comms Baud Rate
232
Encoder Type
234
SSI: Absolute SSI Only Encoder
234
SC.SSI Sincos Encoder Using SSI Comms Protocol
234
Encoder Termination
235
Error Detection Level
235
Auto Configuration Enable / SSI Binary Format Select
235
Feedback Filter
236
Maximum Feedback Reference
236
Feedback Reference
236
Feedback Reference Scaling
236
Feedback Reference Destination
237
Encoder Simulation Source
237
Encoder Simulation Ratio Denominator
237
Encoder Simulation Resolution Select
237
Encoder Simulation Mode
238
AB or FD Modes
238
Software Simulation: High Resolution Encoder
238
Software Simulation: any Other Condition
238
Marker Output
239
Non-Marker Reset Revolution Counter
239
Non-Marker Reset Position
239
Non-Marker Reset Fine Position
239
Marker Revolution Counter
240
Marker Position
240
Marker Fine Position
240
Freeze Revolution Counter
240
Freeze Input Mode Selection
241
Freeze Flag
241
Freeze Main Drive Position
241
Freeze Falling Edge Select
241
Encoder Comms Transmit Register
242
Encoder Comms Receive Register
242
Disable Encoder Position Check
242
Sc.hiper
243
Example of a HIPERFACE Transfer
243
Example of a Endat Transfer
245
Line Per Revolution Divider
246
SSI Output Turns
246
SSI Output Comms Resolution
246
Lock Position Feedback
247
Solutions Module Error Status
247
Option Software Sub-Version
247
SM-Resolver
249
SM-Resolver Logic Diagram
249
Position/Speed Feedback Update Rate
251
SM-Encoder Plus
257
SM I/O Plus
264
SM-Ezmotion
272
Fieldbus Module Category Parameters
278
SM-Applications
289
Sm-Slm
302
SM-SLM Logic Diagram
303
Sequencer Flow Diagram
309
Autotune Mode
311
Saving Mode
312
Parameters Transferred
312
Action the Tuning and Saving Parameters
313
Automatic Basic Drive Set-Up Request
313
Axis Initialised
313
Position Lock
313
Application Menu 1 Power-Down Saved Integer
315
Application Menu 1 Read-Only Integer
315
Application Menu 1 Read-Write Integer
315
Application Menu 1 Read-Write Bit
315
Menu 18: Application Menu 1
315
Application Menu 2 Power-Down Saved Integer
316
Application Menu 2 Read-Only Integer
316
Application Menu 2 Read-Write Integer
316
Menu 19: Application Menu 2
316
Application Menu 3 Read-Write Integer
317
Application Menu 3 Read-Write Long Integer
317
Menu 20: Application Menu 3
317
Menu 21: Second Motor Parameters
318
Acceleration Rate
319
Deceleration Rate
319
Menu 22: Additional Menu 0 Set-Up
326
Introduction
327
Fundamental Differences between Unidrive SP and Unidrive Classic
329
Macro 1 - Easy Mode
330
Macro 1 Specific Parameters
330
Macro 2 - Motorised Potentiometer
333
Macro 3 - Preset Speeds
337
Macro 4 - Torque Control
341
Macro 5 - PID Control
345
Macro 6 - Axis Limit Control
349
Macro 7 - Brake Control
353
Macro 8 - Digital Lock
357
7 Serial Communications Protocol
361
ANSI Communications Protocol
361
Physical Layer and UART
361
Reading a Parameter
361
CT Modbus RTU Specification
362
Short Commands
362
Modbus Rtu
363
Physical Layer
363
RTU Framing
363
Slave Address
363
Data Consistency
364
Data Encoding
364
Function Codes
364
FC03 Read Multiple
364
FC23 Read/Write Multiple
365
Fc64 Cmp
365
FC64 Message Routing Capability
365
Communications Timeouts
366
Extended Data Types
367
Exceptions
368
Device Compatibility Parameters
368
Parameter over Range During Block Write FC16
368
Parameter over Range During Block Read/Write FC23
368
8 Electronic Nameplate
369
Loading/Storing Object Parameters
369
Motor Object Parameters
369
Performance Object Parameters
369
Motor Object
370
Performance Objects
371
Analog Outputs
373
Analog Reference
373
Digital Inputs and Outputs
373
Digital Speed Reference
373
Bandwidth
374
Current Feedback
374
10 Feature Look-Up Table
375
Index
379
5
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Control Techniques unidrive sp Specifications
General
Brand
Control Techniques
Model
unidrive sp
Category
Controller
Language
English
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