Optidrive P2 Advanced User Guide Rev 2.00
Optidrive P2 Parameter Set Overview
1.3.4. Parameter Group 4 – High Performance Motor Control
Incorrect adjustment of parameters in menu group 4 can cause unexpected behaviour of the motor and any connected machinery.
It is recommended that these parameters are only adjusted by experienced users.
Selects the motor control method. An autotune must be performed if setting 0 or 1 is used.
0 : IM Motor Vector Speed Control with Torque Limit. Suitable for use with AC induction motors, Vector Speed Control Mode provides
greater low speed torque, and improved motor speed regulation with respect to load changes. The drive primarily operates in Speed
Control Mode, where the motor speed is controlled by the chosen setpoint source. When the output torque level approaches the
maximum limit, the drive will reduce the motor speed in attempt to reduce the torque demand required. The factory parameter
settings allow a fixed maximum torque limit of 200% set in parameter P4-07. Alternative torque limit settings and variable torque
limits may be selected using P4-06 and P4-07.
1 : IM Motor Vector Torque Control with Speed Limit. Suitable for use with AC induction motors, when Vector Torque Control Mode is
selected, the drive primarily operates in Torque Control Mode, where the motor attempt to generate the output torque level required
by the torque setpoint source. This will generally cause the motor to accelerate in speed. When the output speed approaches the
maximum limit, the drive will not accelerate beyond this point. The speed limit source should be selected by using P1-12 and P1-13,
and the torque reference source should be set in P4-06.
2 : Speed Control (Enhanced V/F). This operating mode is suitable for general purpose operation of standard induction motors.
3 : PM Motor Vector Speed Control. Equivalent to setting 0, but intended for operation of Permanent Magnet motors.
4 : PM Motor Vector Torque Control. Equivalent to setting 1, but intended for operation of Permanent Magnet motors.
5 : BLDC Motor Speed Control. For operation of Brushless DC Motors.
6 : SynRel Motor Speed Control. For operation of Synchronous Reluctance Motors.
Note
Options 3 to 6 are only available when Advanced Parameter Access has been set.
Motor Parameter Auto-tune Enable
When set to 1, the drive immediately carries out an autotune to measure the motor parameters for optimum control and efficiency.
Following completion of the autotune, the parameter automatically returns to 0.
Note
All motor nameplate data should be programmed into the drive, e.g. P1-07, P1-08, P1-09 and P4-05 prior to starting the autotune
Whilst the autotune does not require the motor to rotate, it may still cause some movement of the motor shaft,
thereby it is important to ensure that the motor and load are safe to operate prior to starting the autotune.
The autotune does not require the load to be removed from the motor, however the motor brake should be
released providing it is safe to do so.
Vector Speed Controller Proportional Gain
Sets the proportional gain value for the speed controller when operating in Vector Speed or Vector Torque motor control modes (P4-
01 = 0 or 1). Higher values provide better output frequency regulation and response. Too high a value can cause the speed to
overshoot the setpoint during acceleration, and may also cause speed instability and possibly over current trips. For applications
requiring best possible performance, the value should be adjusted to suit the connected load by gradually increasing the value and
monitoring the actual output speed of the load until the required dynamic behaviour is achieved with little or no overshoot of the
target speed during acceleration and deceleration.
In general, higher friction loads can tolerate higher values of proportional gain, and high inertia, low friction loads may require the gain
to be reduced.
Vector Speed Controller Integral Time Constant
Sets the integral time for the speed controller. Smaller values provide a faster response in reaction to motor load changes, at the risk
of introducing instability. For best dynamic performance, the value should be adjusted to suit the connected load.
When operating in Vector Speed or Vector Torque motor control modes, this parameter must be set to the motor nameplate power
factor before an autotune is carried out.
Torque Control Reference / Limit Source
When P4-01 = 0, this parameter defines the source for the maximum output torque limit.
When P4-01 = 1, this parameter defines the source for the torque reference (setpoint).
0 : Fixed Digital. The torque controller reference / limit is set in P4-07
1 : Analog Input 1. The output torque is controlled based on the signal applied to Analog Input 1, whereby 100% input signal level will
result in the drive output torque being limited by the value set in P4-07.
2 : Analog Input 2. The output torque is controlled based on the signal applied to Analog Input 2, whereby 100% input signal level will
result in the drive output torque being limited by the value set in P4-07.
3 : Fieldbus. The output torque is controlled based on the signal from the communications Fieldbus, whereby 100% input signal level
will result in the motor output torque being set or limited to motor rated torque.
4 : Master. The output torque is controlled based on the signal from the Master when operating in Master / Slave mode.
5 : PID Controller Output. The output torque is controlled based on the output of the PID controller, whereby 100% input signal level
will result in the drive output torque being limited by the value set in P4-07.
Maximum Motoring Torque Limit
When operating in Vector Speed or Vector Torque motor control modes (P4-01 = 0 or 1), this parameter defines the maximum torque
limit or reference used by the drive in conjunction with P4-06.
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