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Control Unit
COMBIVERT F5-A
KEB COMBIVERT F5-A
552 pages
Manual
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9.1 - 6
COMBIVERT
F5-A, -E, -H
© KEB, 2012-10
General design
Cyclic duration factor (cdf)
Cyclic duration factor for cycle time t
Z
< 120 s
Cyclic duration factor for cycle time t
Z
> 120 s
t
B
———
t
Z
t
B
———
120 s
ED =
• 100 %
ED =
• 100 %
t
f
t
B
t
Z
493
495
Table of Contents
Main Page
Table of Contents
6
Table of Contents
5
Features of KEB COMBIVERT
17
Function Principle
17
Product Description
17
Application as Directed
18
Type Code
19
Control Units
22
3 Hardware
23
Control Circuit F5-A, -E
23
Terminal Strip X2A
23
Connection of the Control
24
Digital Inputs
24
Analog Inputs
25
Aux-Function
26
Voltage Input / External Power Supply
26
Control Circuit A-Servo
26
Terminal Strip X2A
26
Connection of the Control Terminal Block
27
4 Operation
31
Fundamentals
31
Parameters, Parameter Groups, Parameter Sets
31
Selection of a Parameter
32
Adjustment of Parameter Value
32
ENTER-Parameter
33
Non-Programmable Parameters
33
Resetting of Error Messages
33
Resetting of Peak Values
33
Acknowledgement of Status Signals
33
Password Structure
37
Password Levels
37
Passwords
38
Changing of Password Level
39
5 Selection of Operating Mode
43
6 Start-Up
47
Preparatory Measures
48
After Unpacking the Goods
48
Installation and Connection
48
Checklist Prior to Start-Up
50
Start-Up
52
Start-Up of an Asynchronous Motor
53
Initial Start-Up
53
V/F Characteristic Operation
54
Vector Controlled Operation with Encoder Feedback Without Motor Model
56
Vector Controlled Operation with Encoder Feedback with Motor Model
58
Start-Up F5H-M (ASCL/ Vector-Controlled Without Encoder Feedback with Motor Model)
61
Start-Up of a Synchronous Motor
65
Start-Up F5A-S
66
Start-Up F5E-S (SCL)
68
7 Functions
71
Operating and Appliance Data
71
Operating and Appliance Data
72
Overview of the Ru-Parameters
73
Overview of the In-Parameters
74
Overview of the Sy-Parameters
74
Description of the Ru-Parameters
75
Explanation to Parameter Description
75
Description of the In-Parameters
86
Description of the SY (System) - Parameters
90
Analog In- and Outputs
97
Analog In- and Outputs
98
Brief Description Analog Inputs
99
Interface Selection
100
AN1 / AN2 (An.00, An.10)
100
AN3 (An.20)
101
Noise Filter (An.01, An.11, An.21)
101
Noise Filter (An.01, An.11, An.21)
101
Save Mode (An.02, An.12, An.22)
101
Input Selection (An.03, An.13, An.23)
102
Zero Clamp (An.04, An.14, An.24)
103
Amplifier Of The Input Characteristic (An.05
104
Amplifier of the Input Characteristic (An.05
104
Lower- and Upper Limit (An.08, An.09, An.18, An.19, An.28, An.29)
106
Selection Refinput / aux Function (An.30)
106
Brief Description Analog Outputs
107
Output Signals
108
Analog Output / Display (Ru.33
109
ANOUT 1 / -2 / -3 / -4 / Function (An.31 / An.36 / An.41, An.47)
110
Amplifier Of The Output Characteristic (An.33
111
Amplifier of the Output Characteristic
111
Anout 1
112
Digital In- and Outputs
113
Digital In- and Outputs
114
Summary Description Digital Inputs
115
Input Signals PNP / NPN Selection (DI.00)
116
Setting of Digital Inputs by Software (DI.01, DI.02)
116
Input Terminal State (Ru.21), Internal Input State (Ru.22)
117
Delay Activation / Deactivation Digital Inputs
118
Digital Noise Filter (DI.03), Fast Digital Noise Filter (DI.23)
118
Digital Noise Filter (DI.03), Fast Digital Noise Filter (DI.23)
118
Inversion of Inputs (DI.04)
118
Input Trigger (DI.05)
119
Strobe-Dependent Inputs (DI.06, DI.07, DI.08)
120
Reset / Input Selection (DI.09) and Reset / Input Slope Selction (DI.10)
121
Assignment of the Inputs
122
Software-ST and Locking of the Control Release
125
Deactivation of the Digital Control Release
126
Short Description - Digital Outputs
127
Output Filter (Do.43, Do.44)
128
Output Filter (Do.43, Do.44)
128
Output Signals / Hardware
128
Switching Conditions (Do.00
129
Inverting Of Switching Conditions For Flags 0
134
Inverting of Switching Conditions for Flags 0
134
AND/OR Connections of the Switching Conditions (Do.24)
135
Selection Of Switching Conditions For Flags 0
135
Selection of Switching Conditions for Flags 0
135
AND Connection for Outputs (Do.41)
136
Inverting Of Flags (Do.25
136
Inverting of Flags (Do.25
136
Selection Of Flags (Do.33
136
Selection of Flags (Do.33
136
Output Terminal State (Ru.25) and Digital Output State (Ru.80)
137
Hardware Output Allocation (Do.51)
138
Programming Example
138
Setpoint, Rotation- and Ramp Setting
142
Setpoint-, Rotation- and Ramp Setting
143
Summary Description
143
Reference Source Op.00
144
Rotation Source Op.01
147
Acceleration of Speed Reversal
150
Setpoint Limits
151
Step Values (Op.18
151
Setpoint Limits
153
Setpoint Calculation
155
Ramp Generator
156
Acc Dec Mode
156
Ramp with Constant Ascent
157
Linear Ramps
158
Ramp with Constant Time
160
Ogive Run
161
Time Factor Acceleration/Deceleration (Op.62)
162
Motor Data and Controller Adjustments of the Asynchronous Motor
164
Default Chapter
165
Motor Data and Controller Adjustment of the Asynchronous Motor
165
Open Loop Operation (V/F Characteristic)
166
Rated Frequency (Uf.00), Boost (Uf.01) and Delta Boost (Uf.04 / Uf.05)
166
Maximal Voltage Mode (Uf.10)
166
Additional Rated Point (Uf.02 / Uf.03)
167
Voltage Stabilisation (Uf.09)
167
Switching Frequency (Uf.11)
169
Energy Saving Function (Uf.06
169
SMM (Sensorless Motor Management)
169
Motor Name Plate
170
Determination of the Stator Resistance (Dr.06)
170
Load Motor Dependent Para. (Fr.10), Controller Activation
171
Adjustment of the Slip Compensation (Cs.00, Cs.01, Cs.04, Cs.06, Cs.09)
172
Improved Slip Compensation (Cs.00 Bit 6 = 64, Cs.03)
172
Speed-Controlled Operation
173
Initial Settings
173
Adjustment of the Torque Compensation (Uf.16, Uf.17)
173
Motor Rating Plate Data
174
Motor Adaption
174
Speed Feedback and Selection of the Speed Direction
175
Vector Controlled Operation Without Motor Model
176
DASM Rated Speed
176
Flux Reduction in the Field Weakening Range
176
Vector Controlled Operation with Motor Model (with Encoder Feedback)
177
Electrical Parameters (Equivalent Circuit Data) of the Motor
177
Magnetisation Current Adaption
177
Motor Identification Error State Dr.66
182
Additional Trimming
183
Generally Adjustments for Operation with Motor Model
184
Magnetisation Current Adaption / with Motor Model
185
Special Functions
185
Vector Control Without Speed Feedback (ASCL)
189
ASCL / Low Speed Operation
190
Switch to Consecutive Motor
192
Model Adaption
193
Special Function: Rotor Adaption
194
KP/KI Speed Calc. ASCL (Ds.14, 15) and Speed PT1-Time ASCL (Ds.17)
194
Block Diagram
196
Motor Data and Controller Adjustments of the Synchronous Motor
202
Initial Settings
203
Adjustments of the Synchronous Motor
203
Motor Name Plate
203
Actual Value Source
204
Controller Configuration
204
Motor Adaption
205
IPM Motors (Reluctance Torque)
206
Absolute Position (Encoder 1)
208
Controller Structure
208
Speed Measurement
209
Speed-Controlled Operation Without Encoder Feedback (SCL)
209
General
209
Initial Settings for Sensorless Operation
209
Identification of the Motor Data
210
Auto-Identification
211
Single Identification
212
Dead Time Compensation (Uf.18)
214
Motor Identification Error State Dr.66
214
Standstill and Starting Phase
215
Low Speed
216
Motor Model
217
Operation with Sine-Wave Filter
219
Functions in the SCL Software
220
Block Diagram
223
Speed Control
227
Speed Control
228
Speed Controller Parameters
229
Initial Setting
229
Automatic Adjustment of the Speed Controller
229
Automatic Adjustment of the Speed Controller (Only at Operating with Motor Model)
229
Square Influence of the Controller Parameters
230
Operating State-Dependent Control Parameters
233
Determination of the Mass Moment of Inertia
234
Acceleration Dependent Pre-Control
235
Precontrol Reciprocal of Amplification / Filtering
236
Setpoint Smoothening
237
Torque Display and -Limiting
239
PT1 Output Filter
235
Torque Display and -Limiting
240
Maximum Voltage Controller, Voltage Limit
241
Physical Torque Limits ASM
242
Torque Limits in Base Speed Range
242
Physical Torque Limits DSM
244
Torque Limits in Base Speed Range (Dr.27, Dr.15)
244
Torque Limits in Base Speed Range
244
Determination of the Magnetizing Current Limit (Ds.13)
245
Definition of the Limiting Characteristic
246
Shifting of the Limiting Characteristic
248
Additionally Torque Limiting in the Field Weakening Range
249
Influence of the Current Limit
249
Adjustmentof Application-Dependent Torque Limits
250
Display of Actual Torque Values and Limits
251
Display of the Torque-Related Motor Load (Ru.90)
252
Mode 1: „Torque Reference Level" le 27 = 0
252
Mode 2: „Torque Reference Level" le 27 Unequal 0
252
Torque Control
255
Torque Reference Source
257
Rate of Change Torque Reference
257
Speed Limiting
258
Control Mode
258
Mode 1: Torque-Controlled Operation with Emergency Changeover to Speed Control
258
Mode 2: Torque-Controlled Mode with Superimposed Speed Control
259
Current Control, -Limiting and Switching Frequencies
262
Current Control
263
Current Limit
264
Current Limiting
264
Switching Frequencies and Derating
265
Switching Frequency (Uf.11, In.03, In.04, Ru.45)
265
Switching Frequencies (Uf.11, In.03, In.04, Ru.45)
265
Voltage Reserve for the Non-Prioritized Current Controller
266
Speed Measurement
267
Speed Measurement
268
Default Chapter
269
Designs
269
Encoder Interface Channel 1 (X3A)
270
TTL Incremental Encoder Input (Standard at F5-M)
270
Resolver Evaluation (Standard at F5-S)
271
Encoder Interface Channel 2 (X3B)
272
Incremental Encoder Input
272
Incremental Encoder Output
273
Voltage Supply of the Encoder
274
Selection of Encoder
275
Encoder Identifier
276
Encoder Identifier
276
Initial Setting
277
Gear Factor
280
Definition
280
Gear Factor / Analog Setting
282
Gear Factor / Set-Programming
282
Emulation Mode
283
Absolute Position (Encoder 1)
284
Position Values
284
System Offset
284
Further Parameters / Encoder
285
SSI Encoder at Channel 1
285
SSI Encoder at Channel 2
285
SSI Position Standardization Channel 1 and 2 (Ec.41)
286
Tachometer at Channel 2
287
Evaluation Intelligent Interface
287
Encoder over Gear (Ec.39)
291
Consider Deceleration Times of the Position Sensing
291
Table of Contents
294
Limit Switch
296
Hardware Limit Switch
296
Software Limit Switch
296
Posi- and Synchronous Operation
296
Approach to Reference Point
297
Approach to Reference Point / Modes
298
Approach to Reference Point / Stopping Point
300
Approach to Reference Point / Stop at Zero Signal
300
Approach to Reference Point / no Driving Free
301
Approach to Reference Point / Limit Switch
301
Reference Point / Manual Setting
302
Reference Point / Valid Position
303
With Input Function "Set Reference Point
303
Approach to Reference Point / Stop at Index 0
304
Approach to Reference Point with Overdriving of the Reference Limit Switch
305
Approach to Reference Point with Subsequent Drive to Zero Signal
305
Position Reset in the Encoder
306
Synchronous Mode
306
Synchronous Mode / Principle
306
Synchronous Mode / Premise
307
Synchronous Mode / Position Normalisation
309
Synchronous Mode / Selection of Operating Mode
310
Synchronous Mode / Activation and Synchronization
311
Principle
311
Synchronization at Limit
311
Synchronization with Constant Path
312
Synchronization with Ramp
314
Gear Factor
316
Angular Correction
317
Angular Reset
318
Posi Mode
319
Selection of Operating Mode
319
Posi Mode / Principle
319
Posi Mode / Premise
321
Position Normalisation
322
Position Control by the Motor Encoder
322
Positioning by the Output
323
Speed and Position Control by Motor Encoder/ Encoder Mounting after Gear
324
Posi Mode / Actual Position
326
Posi Mode / Set and Target Position
327
Posi Mode / Single Positioning
327
Posi Mode / Sequential Positioning
330
Posi Mode / Positioning with Set Changeover
344
Posi Mode / Rotary Table
344
Rotary Table with Path Optimization
345
Rotary Table Without Path Optimization
346
Posi Mode / Defined Stop
349
Posi Mode / Remaining Distance Positioning
350
Posi Mode / Flying Referencing with Correction
351
Posi Mode / Start Positioning
356
Posi Mode / Inaccessible Positions
360
Posi Mode / Stop Positioning
362
Analog Position Setting
362
Analog Position Output
363
Target Window
363
Backlash
364
Position Scan
364
Teach Function
364
Functions and Displays for the Positioning Mode
366
Contouring Control Mode
369
Contouring Control Mode / Premises
369
Contouring Control Mode / Settings
370
Contouring Control Mode / Write / Read Data
370
Contouring Control Mode / Speed Precontrol
371
Contouring Control Mode / Watchdog
371
Contouring Control Mode / Example
372
Position Controller
374
Protective Functions
375
Error and Warning Messages
376
Bus Error
376
External Fault
376
Inverter over Temperature
376
Limit Switch Error
376
Motor Protection with Temperature Sensor
376
Overcurrent
376
Overload
376
Overvoltage
376
Underpotential
376
Encoder Interface / Encoder Error
384
Set Selection Error
384
General Power Circuit Error
385
Maximum Acceleration Exceeded
385
Phase Loss
385
Speed Controller Limit Reached
385
Speed Limit Exceeded
385
Response to Malfunction Messages
386
Selection of the Response
386
Parametrisation of the Abnormal Stopping
388
Automatic Restart
391
Undervoltage Error (E.UP)
391
Base Block
392
Fast Stop
392
Malfunction Messages and Pre-Warnings
392
Overcurrent Error (E.OC)
392
Overvoltage Error (E.OP)
392
Quick Stop in the V/F Characteristic Operation
393
Quick Stop at Closed-Loop Systems
394
Abnormal Stopping Via Control Word
395
S-Curve for Quick Stop Ramp
395
Speed Search
395
Time Monitoring Abnormal Stopping
395
Ramp Stop
396
Speed Search at Asynchronous Motors in Closed-Loop Operation Without Encoder
396
Speed Search in Closed-Loop Operation with Encoder
396
Speed Search in Open-Loop Operation
396
Current-Dependent Ramp Stop
400
DC Link Voltage-Dependent Ramp Stop
401
Electronic Motor Protection
401
Power-Off Function
405
Activation Via Digital Input
412
GTR7-Control
412
Activation Conditions
413
Adjustment of the Activation Threshold
413
Electrical Work Via GTR7
413
Special Functions
414
Parameter Sets
419
Non-Programmable Parameters
421
Security Parameters
421
System Parameters
421
Copying of Parameter Sets Via Keyboard (Fr.01)
422
Indirect and Direct Set-Addressing
422
Copying of Parameter Sets Via Bus (Fr.01, Fr.09)
423
Select Parameter Sets
426
Locking of Parameter Sets
430
Set Activation/Deactivation Delay (Fr.05, Fr.06)
430
DC-Braking
434
V/F Characteristic Control
434
Speed-Controlled Operation Without Feedback (ASCL)
437
Energy Saving Function
438
Motorpoti Function
439
Timer / Counter Programming
441
Brake Control
445
Mode Brake Control
445
Monitoring of the Brake Control
446
Sequence of the Brake Control
446
Brake Control / Vector Controlled
448
V/F Characteristic Controlled Operation
449
Sweep Generator
450
Diameter Correction
452
Analog Setting of Parameter Values
454
Register Function
455
Technology Control
458
The PID Controller
458
PID Setpoint
460
Pidactual Value
462
Application Examples
463
CP-Parameter Definition
469
Overview
469
Assignment of CP-Parameters
470
Example
471
Display Norm
472
Variable Norm
475
8 Error Assistance
481
Troubleshooting
481
General
481
Error Messages and Their Cause
481
9 Project Design
491
General Designs
491
Control Cabinet Design Calculation
491
Design of Braking Resistors
492
Cables and Fuses
495
10 Networks
497
Network Components
498
Available Hardware
499
RS232 Cable PC / Operator 00.58.025-001D
499
HSP5 Cable / Control Board 00.F5.0C0-0010
500
Interface Operator F5 00.F5.060-2000
500
Profibus-DP Operator F5 00.F5.060-3000
501
Interbus Operator F5 00.F5.060-4000 / 4001
502
Canopen Operator F5 00.F5.060-5010 / 5011
503
Sercos Operator 00.F5.060-6000
504
Bus Parameter
505
Baud Rate Ext. Bus (SY.07)
505
Baud Rate Int. Bus (SY.11)
505
Inverter Address (SY.06)
505
Response to E.bus (Pn.05)
505
Watchdog Time (Pn.06)
505
Auto Store (Ud.05), Auto Store State (Ud.04)
506
HSP5 Watchdog Time (SY.09)
506
Status and Control Word
507
Speed Setting Via Bus
510
11 Parameter Overview
513
Parameter
513
Parameter Groups
513
Characteristics of the F5-S in a Housing
514
The Following Parameters Are Available at A-Servo
514
The Following Parameters Are Not Available at A-Servo
514
Parameter List F5-A, -E and -H
515
12 Annex
539
Index
540
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