Emerson E300 Series - Page 446

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446 E300 Design Guide
Issue Number: 1
2
De-bounce output motor contactors:
Wait until 100 ms has elapsed to de-bounce the motor contactors. This prevents the drive from being enabled while the motor contactors bounce
when closing which could cause an OI ac trip.
Exit to state 3:
• When the motor contactors de-bounce delay is completed.
On exit to state 3:
• Sample the final load cell compensation torque value to provide as a torque feed forward reference if Load Cell Compensation Enable (E10) =
On (1).
Exit to state 14:
• If digital speed selection is removed
• If direction signal is removed (dual direction inputs)
• If the Safe Torque Off (STO), Drive enable and Fast disable input (if used) are removed
• If an autotune completes
• If the drive trips
3
Ramp torque producing current limit and position lock:
Ramp Torque Producing Current (J24) to full limit over the Motor Torque Ramp Time (D02) in ms.
The brake controller is engaged once the torque ramp has completed. When Brake Control Output (D03) = On transition to state 4. This checks that
the motor is magnetized, and for open loop that the minimum starting frequency has been reached.
If Start Lock Enable (I22) =1, enable the position loop, and if at least 1 travel has been completed, prime the position loop with the position of the
motor when the brake was closed but before the drive is disabled and the Torque Producing Current (J24) ramped to 0, from the previous travel.
If the autotune value sampled on exit from state 0 is > 0 then apply the run signal in the direction specified by the CW / CCW terminals.
For open loop operation, the start optimizer parameters are applied and motion controller enabled before the brake is released to provide holding
torque on start.
Exit to state 4:
• Brake Control Output (D03) = On (1) AND
• When the torque producing current limit has been ramped to Symmetrical Current Limit (B16).
• If an Autotune >=2 <=5 is in progress to release the brake.
On exit to state 4:
• Sample the start time for brake release.
Exit to state 13:
• If digital speed selection is removed
• If direction signal is removed (dual direction inputs)
• If the Safe Torque Off (STO), Drive enable and Fast disable input (if used) are removed
• If an autotune completes
• If the drive trips
• If the brake controller takes longer than 6 s to complete.