296 Unidrive SPM User Guide
www.controltechniques.com Issue Number: 3
Figure 6-14 Cable construction influencing the capacitance 76
Figure 6-15 Preferred chain connection for multiple motors 76
Figure 6-16 Alternative connection for multiple motors .......77
Figure 6-17 Typical protection circuit for a braking resistor .78
Figure 6-18 Installation of grounding bracket (master/
slave) ................................................................79
Figure 6-19 Removal of internal EMC filter ..........................80
Figure 6-20 General EMC enclosure layout showing
ground connections ..........................................81
Figure 6-21 Drive cable clearances .....................................82
Figure 6-22 Feedback cable, twisted pair ............................83
Figure 6-23 Feedback cable connections ............................83
Figure 6-24 Supply and ground cable clearance .................84
Figure 6-25 Sensitive signal circuit clearance .....................84
Figure 6-26 Grounding the drive, motor cable shield and
filter ...................................................................85
Figure 6-27 Grounding the motor cable shield ....................85
Figure 6-28 Shielding requirements of optional external
braking resistor .................................................85
Figure 6-29 Grounding of signal cable shields using the
grounding bracket .............................................86
Figure 6-30 Grounding of SPMC/U signal cables ................86
Figure 6-31 Connecting the motor cable to a terminal
block in the enclosure .......................................86
Figure 6-32 Connecting the motor cable to an isolator/
disconnect switch .............................................86
Figure 6-33 Surge suppression for digital and unipolar
inputs and outputs ............................................87
Figure 6-34 Surge suppression for analog and bipolar
inputs and outputs ............................................87
Figure 6-35 Location of SPMC (rectifier) control terminals ..87
Figure 6-36 Single module control terminals and
descriptions ......................................................88
Figure 6-37 Parallel rectifier control terminals and
descriptions ......................................................89
Figure 6-38 Status LED location ..........................................90
Figure 6-39 Location of the SPMA/D low voltage DC
mode enable connections ................................90
Figure 6-40 SPMA low voltage DC mode enable
connections ......................................................90
Figure 6-41 SPMD low voltage DC mode enable
connections ......................................................91
Figure 6-42 Location of the RJ45 serial comms connector 92
Figure 6-43 Default terminal functions .................................93
Figure 6-44 Location of encoder connector .........................96
Figure 6-45 Start / stop control EN954-1 category B -
replacement of contactor ................................100
Figure 6-46 Category 3 interlock using electromechanical
safety contactors ............................................100
Figure 6-47 Category 3 interlock using SAFE TORQUE
OFF (SECURE DISABLE) with protected
wiring ..............................................................100
Figure 6-48 Use of contactor and relay to avoid the
need for protected wiring ................................100
Figure 7-1 SM-Keypad .....................................................101
Figure 7-2 SM-Keypad Plus .............................................101
Figure 7-3 Display modes ................................................102
Figure 7-4 Mode examples ..............................................102
Figure 7-5 Parameter navigation .....................................103
Figure 7-6 Menu structure ...............................................103
Figure 7-7 Menu 0 copying ..............................................103
Figure 8-1 Menu 0 logic diagram .....................................112
Figure 8-2 Fixed and variable V/f characteristics .............116
Figure 9-1 Minimum connections to get the motor
running in any operating mode .......................126
Figure 10-1 Motor thermal protection (Heavy Duty) ...........146
Figure 10-2 Motor thermal protection (Normal Duty) .........146
Figure 10-3 Torque and rated voltage against speed ........147
Figure 11-1 Installation of the SMARTCARD .....................149
Figure 11-2 Basic SMARTCARD operation .......................149
Figure 12-1 Onboard PLC program scheduling .................155
Figure 12-2 Programming options for Unidrive SP ............156
Figure 13-1 Menu 1 logic diagram .....................................166
Figure 13-2 Menu 2 logic diagram .....................................170
Figure 13-3 Menu 3 Open-loop logic diagram ....................173
Figure 13-4 Menu 3 Closed loop logic diagram .................174
Figure 13-5 Menu 4 Open loop logic diagram ....................178
Figure 13-6 Menu 4 Closed-loop vector logic diagram ......179
Figure 13-7 Menu 4 Servo logic diagram ...........................180
Figure 13-8 Menu 5 Open-loop logic diagram ....................182
Figure 13-9 Menu 5 Closed-loop logic diagram .................184
Figure 13-10 Menu 6 logic diagram .....................................187
Figure 13-11 Menu 7 logic diagram .....................................189
Figure 13-12 Menu 8 logic diagram .....................................192
Figure 13-13 Menu 9 logic diagram: Programmable logic ...195
Figure 13-14 Menu 9 logic diagram: Motorized pot and
binary sum ......................................................196
Figure 13-15 Menu 12 logic diagram ...................................200
Figure 13-16 Menu 12 logic diagram (continued) ................201
Figure 13-17 Open-loop brake function ...............................202
Figure 13-18 Open-loop brake sequence ............................202
Figure 13-19 Closed-loop brake function .............................203
Figure 13-20 Closed-loop brake sequence ..........................203
Figure 13-21 Menu 13 Open-loop logic diagram ..................206
Figure 13-22 Menu 13 Closed-loop logic diagram ...............208
Figure 13-23 Menu 14 Logic diagram ..................................212
Figure 13-24 Location of Solutions Module slots and their
corresponding menu numbers ........................215
Figure 13-25 SM-Universal Encoder Plus logic diagram .....216
Figure 13-26 SM-Resolver logic diagram .............................220
Figure 13-27 SM-Encoder Plus logic diagram .....................222
Figure 13-28 SM-Encoder Output Plus logic diagram ..........224
Figure 13-29 SM-I/O Plus analog logic diagram ..................227
Figure 13-30 SM-I/O Plus digital logic diagram 1 .................228
Figure 13-31 SM-I/O Plus digital logic diagram 2 .................229
Figure 13-32 SM-I/O Lite & SM-I/O Timer digital I/O logic
diagram ...........................................................231
Figure 13-33 SM-I/O Lite & SM-I/O Timer analog I/O logic
diagram 232
Figure 13-34 SM-I/O Timer real time clock logic diagram ....232
Figure 13-35 SM-I/O PELV digital I/O logic diagram ............234
Figure 13-36 SM-I/O PELV digital input logic diagram .........235
Figure 13-37 SM-I/O PELV relay logic diagram ...................235
Figure 13-38 SM-I/O PELV analog input logic diagram .......235
Figure 13-39 SM-I/O PELV analog output logic diagram .....236
Figure 13-40 SM-I/O 24V Protected digital I/O logic
diagram ...........................................................238
Figure 13-41 SM-I/O 24V Protected digital I/O logic
diagram ...........................................................239
Figure 13-42 SM-I/O 24V Protected relay logic diagram .....239
Figure 13-43 SM-I/O 24V Protected analog output logic
diagram ...........................................................240
Figure 13-44 SM-I/O 120V digital input logic diagram .........241
Figure 13-45 SM-I/O 120V relay diagram ............................242
Figure 13-46 SM-SLM logic diagram ...................................248
Figure 13-47 Digital input connections when Pr 6.04 is
set to 0 to 3 .....................................................260
Figure 15-1 Keypad status modes .....................................275
Figure 15-2 Location of the status LED .............................275
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