Control Techniques Mentor MP User Guide

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User Guide

Mentor MP

High performance DC drive 25A to 7400A, 480V to 690V Two or four quadrant operation

Part Number: 0476-0000-04 Issue: 4

www.controltechniques.com

General Information

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed drive with the motor.

The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the contents of the guide, without notice.

All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher.

Drive software version

This product is supplied with the latest software version. If this drive is to be connected to an existing system or machine, all drive software versions should be verified to confirm the same functionality as drives of the same model already present. This may also apply to drives returned from a Control Techniques Service Centre or Repair Centre. If there is any doubt please contact the supplier of the product.

The software version of the drive can be checked by looking at Pr 11.29 (di14/0.49) and Pr 11.34. This takes the form of xx.yy.zz where Pr 11.29 (di14/0.49) displays xx.yy and Pr 11.34 displays zz. (e.g. for software version 01.01.00, Pr 11.29 (di14/0.49) = 1.01 and Pr 11.34 displays 0).

Environmental statement

Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other relevant information is available on request, or can be found at www.greendrives.com.

The electronic variable-speed drives manufactured by Control Techniques have the potential to save energy and (through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product manufacture and end-of-life disposal.

Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the products easy to dismantle into their major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools, while other parts are secured with conventional fasteners. Virtually all parts of the product are suitable for recycling.

Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these containers can be recycled. Polythene, used on the protective film and bags for wrapping product, can be recycled in the same way. Control Techniques' packaging strategy prefers easily-recyclable materials of low environmental impact, and regular reviews identify opportunities for improvement.

When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

REACH legislation

EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation.

For current information on how this requirement applies in relation to specific Control Techniques products, please approach your usual contact in the first instance. Control Techniques position statement can be viewed at:

http://www.controltechniques.com/REACH

Issue Number: 4

Software: 01.05.01 onwards

Contents

1 Safety Information .................................5

1.1 Warnings, Cautions and Notes .............................5

1.2 Electrical safety - general warning ........................5

1.3 System design and safety of personnel ................5

1.4 Environmental limits ..............................................5

1.5 Access ..................................................................5

1.6 Fire protection .......................................................5

1.7 Compliance with regulations .................................5

1.8 Motor .....................................................................5

1.9 Adjusting parameters ............................................5

1.10 Electrical installation .............................................5

2 Product information ..............................6

2.1 Ratings ..................................................................6

2.2 Model number .......................................................7

2.3 Compatible encoders ............................................8

2.4 Nameplate description ..........................................8

2.5 Drive features and options ....................................9

2.6 Items supplied with the drive ...............................12

3 Mechanical Installation .......................13

3.1 Safety ..................................................................13

3.2 Planning the installation ......................................13

3.3 Terminal cover removal ......................................14

3.4 Mounting method ................................................17

3.5 Installing and removing the terminal shrouds .....24

3.6 Enclosure ............................................................26

3.7 Heatsink fan operation ........................................27

3.8 IP rating (Ingress Protection) ..............................27

3.9 Electrical terminals ..............................................28

3.10 Routine maintenance ..........................................31

4 Electrical installation ..........................32

4.1 Electrical connections .........................................33

4.2 Ground connections ............................................35

4.3 AC supply requirements ......................................36

4.4 Line reactors .......................................................37

4.5 Control 24Vdc supply ..........................................37

4.6 Cable and fuse size ratings .................................38

4.7 External suppressor resistor ...............................44

4.8 Ground leakage ..................................................46

4.9 EMC (Electromagnetic compatibility) ..................46

4.10 Serial communications connections ....................48

4.11 Shield connections ..............................................49

4.12 Connecting the fan on size 2C and 2D drives .....49

4.13 Control connections ............................................50

4.14 General ...............................................................51

4.15 Connecting an encoder .......................................54

5 Getting started .....................................56

5.1 Understanding the display ..................................56

5.2 Keypad operation ................................................56

5.3 Menu 0 (sub block) .............................................58

5.4 Pre-defined sub blocks .......................................59

5.5 Menu 0 (linear) ....................................................60

5.6 Menu structure ....................................................60

5.7 Advanced menus ................................................61

5.8 Saving parameters ..............................................61

5.9 Restoring parameter defaults ..............................61

5.10 Differences between European and

USA defaults .......................................................62

5.11 Displaying parameters with non-default

values only ..........................................................62

5.12 Displaying destination parameters only ..............62

5.13 Parameter access level and security ..................62

5.14 Serial communications ........................................63

6 Basic parameters ................................64

6.1 Full descriptions ..................................................65

7 Running the motor ..............................72

7.1 Quick start commissioning / start-up (from

European defaults) ..............................................73

7.2 Quick start commissioning / start-up

(from USA defaults) ............................................75

7.3 CTSoft software commissioning /

start-up tool .........................................................76

7.4 Setting up a feedback device ..............................77

8 Optimization .........................................78

8.1 Armature current .................................................78

8.2 Speed feedback ..................................................78

8.3 Field current ........................................................78

8.4 Current loop gains self-tuning .............................78

8.5 Speed loop gains tuning .....................................79

8.6 Current limit tapers ..............................................80

9 SMARTCARD operation ......................81

9.1 Introduction .........................................................81

9.2 Easy saving and reading .....................................81

9.3 Transferring data .................................................81

9.4 Data block header information ............................83

9.5 SMARTCARD parameters ..................................83

9.6 SMARTCARD trips .............................................84

10 Onboard PLC .......................................86

10.1 Onboard PLC and SYPT Lite ..............................86

10.2 Benefits ...............................................................86

10.3 Limitations ...........................................................86

10.4 Getting started ....................................................87

10.5 Onboard PLC parameters ...................................87

10.6 Onboard PLC trips ..............................................88

10.7 Onboard PLC and the SMARTCARD .................88

Mentor MP User Guide 3 Issue : 4 www.controltechniques.com

11 Advanced parameters .........................89

11.1 Menu 1: Speed reference ....................................94

11.2 Menu 2: Ramps ...................................................98

11.3 Menu 3: Speed feedback and speed control .....101

11.4 Menu 4: Torque and current control ..................104

11.5 Menu 5: Motor and field control .........................108

11.6 Menu 6: Sequencer and clock ...........................112

11.7 Menu 7: Analog I/O ...........................................114

11.8 Menu 8: Digital I/O ............................................116

11.9 Menu 9: Programmable logic, motorized

pot and binary sum ............................................120

11.10 Menu 10: Status and trips .................................123

11.11 Menu 11: General drive set-up ..........................124

11.12 Menu 12: Threshold detectors,

variable selectors and brake control function ....125

11.13 Menu 13: Position control ..................................130

11.14 Menu 14: User PID controller ............................134

11.15 Menus 15, 16 and 17: Solutions Module slots ..137

11.16 Menu 18: Application menu 1 ............................138

11.17 Menu 19: Application menu 2 ............................138

11.18 Menu 20: Application menu 3 ............................138

11.19 Menu 21: Second motor parameters .................139

11.20 Menu 22: Additional Menu 0 set-up ..................139

11.21 Menu 23: Header selections .............................139

11.22 Advanced features ............................................140

12 Technical data ....................................145

12.1 Drive technical data ...........................................145

12.2 Cable and fuse size ratings ...............................151

12.3 Optional external EMC filters ............................166

13 Diagnostics ........................................167

13.1 Trip indications ..................................................167

13.2 Trip categories ..................................................174

13.3 Alarm indications ...............................................175

13.4 Status indications ..............................................175

13.5 Displaying the trip history ..................................175

13.6 Behavior of the drive when tripped ....................175

13.7 Trip masking ......................................................175

14 UL information ...................................176

14.1 Common UL Information ...................................176

14.2 AC supply specification .....................................176

14.3 Maximum continuous output current .................176

14.4 Safety label .......................................................176

14.5 UL Listed accessories .......................................176

4 Mentor MP User Guide

www.controltechniques.com Issue: 4

Safety

WARNING

CAUTION

NOTE

Information

Product

information

Mechanical

Installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

data

Diagnostics

information

1 Safety Information

1.1 Warnings, Cautions and Notes

A Warning contains information which is essential for avoiding a safety hazard.

A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment.

A Note contains information which helps to ensure correct operation of the product.

1.2 Electrical safety - general warning

The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive.

Specific warnings are given at the relevant places in this Guide.

1.3 System design and safety of

The drive is intended as a component for professional incorporation into complete equipment or system. If installed incorrectly, the drive may present a safety hazard.

The drive uses high voltages and currents, carries a high level of stored electrical energy, and is used to control equipment which can cause injury.

System design, installation, commissioning / start-up and maintenance must be carried out by personnel who have the necessary training and experience. They must read this safety information and this guide carefully.

The STOP and START controls or electrical inputs of the drive must not be relied upon to ensure safety of personnel. They do not isolate dangerous voltages from the output of the drive or from any external option unit. The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections.

The drive is not intended to be used for safety-related functions.

Careful consideration must be given to the function of the drive which might result in a hazard, either through its intended behaviour or through incorrect operation due to a fault. In any application where a malfunction of the drive or its control system could lead to or allow damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk - for example, an over-speed protection device in case of failure of the speed control, or a fail-safe mechanical brake in case of loss of motor braking.

personnel

1.4 Environmental limits

Instructions within the supplied data and information within the Mentor MP User Guide regarding transport, storage, installation and the use of

the drive must be complied with, including the specified environmental limits. Drives must not be subjected to excessive physical force.

1.5 Access

Access must be restricted to authorized personnel only. Safety regulations which apply at the place of use must be complied with.

1.6 Fire protection

The drive enclosure is not classified as a fire enclosure. A separate fire enclosure must be provided.

1.7 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national wiring regulations, accident prevention regulations and electromagnetic compatibility (EMC) regulations. Particular attention must be given to the cross-sectional areas of conductors, the selection of fuses and other protection, and protective ground (earth) connections.

The Mentor MP User Guide contains instructions for achieving compliance with specific EMC standards.

Within the European Union, all machinery in which this product is used must comply with the following directives:

2006/42/EC: Safety of machinery

2004/108/EC: Electromagnetic compatibility

1.8 Motor

Ensure the motor is installed in accordance with the manufacturer's recommendations. Ensure the motor shaft is not exposed.

Low speeds may cause the motor to overheat because the cooling fan becomes less effective. The motor should be installed with a protection thermistor. If necessary, an electric forced ventilation fan should be used.

The values of the motor parameters set in the drive affect the protection of the motor. The default values in the drive should not be relied upon.

It is essential that the correct value is entered into Pr 5.07 (SE07, 0.28), Motor rated current. This affects the thermal protection of the motor.

1.9 Adjusting parameters

Some parameters have a profound effect on the operation of the drive. They must not be altered without careful consideration of the impact on the controlled system. Measures must be taken to prevent unwanted changes due to error or tampering.

1.10 Electrical installation

1.10.1 Electric shock risk

The voltages present in the following locations can cause severe electric shock and may be lethal:

• AC supply cables and connections

• Output cables and connections

• Many internal parts of the drive, and external option units

Unless otherwise indicated, control terminals are single insulated and must not be touched.

1.10.2 Stored charge

The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energized, the AC supply must be isolated at least ten minutes before work may continue.

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Safety

NOTE

Information

Product

information

Mechanical

Installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

data

Diagnostics

information

2 Product information

Table 2-1 Model to frame size cross reference

Model

480V

EN/IEC

cULus

MP25A4(R) MP25A5(R)

MP75A4(R) MP75A5(R)

MP105A4(R) MP105A5(R)

MP210A4(R) MP210A5(R)

MP350A4(R) MP350A5(R) MP350A6(R)

MP420A4(R)

MP550A4(R)

MP700A4(R) MP700A5(R) MP700A6(R)

MP900A4(R)

MP1200A4 MP1200A5 MP1200A6

MP1850A4 MP1850A5 MP1850A6

MP1200A4R MP1200A5R MP1200A6R

MP1850A4R MP1850A5R MP1850A6R

2.1 Ratings

The power ratings for the 480V, 575V and 690V configurations are shown in Table 2-2, Table 2-3 and Table 2-4.

The continuous current ratings given are for a maximum ambient temperature of 40°C (104°F) and an altitude of 1000m. For operation at higher temperatures and altitudes de-rating is required.

For further information see Chapter 12 Technical data on page 145.

Table 2-2 480V current ratings

AC input

current

Model

MP25A4(R) 22 25 37.5 9 15

MP45A4(R) 40 45 67.5 15 27

MP75A4(R) 67 75 112.5 27 45

MP105A4(R) 94 105 157.5 37.5 60

MP155A4(R) 139 155 232.5 56 90

MP210A4(R) 188 210 315 75 125

MP350A4(R) 313 350 525 125 200

MP420A4(R) 376 420 630 150 250

MP550A4(R) 492 550 825 200 300

MP700A4(R) 626 700 1050 250 400

MP825A4(R) 738 825 1237.5 300 500

MP900A4(R) 805 900 1350 340 550

MP1200A4(R) 1073 1200 1800 450 750

MP1850A4(R) 1655 1850 2775 700 1150

Continuous Continuous

575V

EN/IEC

cULus to 600V

690V

EN/IEC

Frame

1AMP45A4(R) MP45A5( R)

1BMP155A4(R) MP155A5(R)

MP470A5(R) MP470A6(R)

2BMP825A4(R) MP825A5(R) MP825A6(R)

DC output current

150%

overload

AAAkWhp

Typ i cal m otor

power

400Vdc@ 500Vdc

Table 2-3 575V current ratings

AC input

current

Model

MP25A5(R) 22 25 37.5 14 18

MP45A5(R) 40 45 67.5 25 33

MP75A5(R) 67 75 112.5 42 56

MP105A5(R) 94 105 157.5 58 78

MP155A5(R) 139 155 232.5 88 115

MP210A5(R) 188 210 315 120 160

MP350A5(R) 313 350 525 195 260

MP470A5(R) 420 470* 705 265 355

MP700A5(R) 626 700 1050 395 530

MP825A5(R) 738 825* 1237.5 465 620

MP1200A5(R) 1073 1200 1800 680 910

MP1850A5(R) 1655 1850 2775 1045 1400

Continuous Continuous

AAAkWhp

DC output current

150%

overload

Typ i cal m oto r

power

(With Vdc =

630V)

* For this rating at 575V, 150% overload time is 20s at 40°C and 30s at 35°C.

Table 2-4 690V current ratings

AC input

current

Model

MP350A6(R) 313 350 525 240 320

MP470A6(R) 420 470* 705 320 425

MP700A6(R) 626 700 1050 480 640

MP825A6(R) 738 825* 1237.5 650 850

MP1200A6(R) 1073 1200 1800 850 1150

MP1850A6(R) 1655 1850 2775 1300 1750

Continuous Continuous

AAAkWhp

DC output Current

150%

Overload

Typ i cal m otor

power (With Vdc = 760V)

* For this rating at 690V, 150% overload time is 20s at 40°C and 30s at 35°C.

Maximum continuous input current

The values of maximum continuous input current are given to aid the selection of cables and fuses. These values are stated for worst-case condition.

For current ratings above 1850A then parallel connection of the drives is required. However, this function is not implemented on firmware versions V01.05.01 and earlier.

6 Mentor MP User Guide

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Safety

100

105

110

115

120

125

130

135

140

145

150

155

160

100

110

120

130

140

150

160

170

180

200

overload duration (seconds)

overload

(%)

NOTE

Mentor product line

Continuous armature current rating (A)

Vol t age r a t ing

4 = 480V 24V to 480V -20% +10% 5 = 575V 500V to 575V -10% +10% 6 = 690V 500V to 690V -10% +10%

Mentor Platform

MP 2 0 01 4 R

R Blank

4 quadrant operation

- 2 quadrant operation

Information

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information

Mechanical

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Electrical

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Getting started

Basic

parameters

Running the

motor

2.1.1 Typical short-term overload limits

The maximum percentage overload limit changes depending on the selected motor.

Variations in motor rated current will result in changes in the maximum possible overload as detailed in the Mentor MP Advanced User Guide.

Figure 2-1 can be used to determine the maximum overload duration available for overloads between 100% and 150%. For example the maximum overload available for a period of 60 seconds is 124%.

Figure 2-1 Maximum overload duration available

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

data

Diagnostics

information

Overload of 150% for 30s is available up to a maximum of 10 repetitions per hour.

2.2 Model number

The way in which the model numbers for the Mentor MP range are formed is described in Figure 2-2.

Figure 2-2 Model number

Mentor MP User Guide 7 Issue: 4 www.controltechniques.com

Safety

Model

Auxiliary input voltage/ frequency/current

Field output

voltage current

Line input voltage/

frequency/current

Armature output voltage/

current/overload

Rating

Customer and date code

Approvals

Serial number

IP Rating

Key to approvals

UL approval Worldwide

CE approval Europe

C Tick approval Australia

RoHS compliant Europe

Information

Product

information

Mechanical

Installation

Electrical

installation

Getting started

2.3 Compatible encoders

Table 2-5 Encoders compatible with Mentor MP

Encoder type

Quadrature incremental encoders with or without marker pulse

Frequency and direction incremental encoders with or without marker pulse

Forward / reverse incremental encoders with or without marker pulse

2.4 Nameplate description

Figure 2-3 Typical drive rating label

Basic

parameters

Pr 3.38

(Fb07, 0.77)

setting

Running the

Ab (0)

Fd (1)

Fr (2)

motor

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

data

Diagnostics

information

2.4.1 Output current

The continuous output current ratings given on the rating label are for maximum 40°C (104°F) and 1000m altitude. Derating is required for higher ambient temperatures >40°C (104°F) and higher altitude. For derating information, refer to section 12.1.12 Altitude on page 150.

2.4.2 Input current

The input current is affected by the supply voltage, frequency and load inductance. The input current given on the rating label is the typical input current.

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Safety

SM-Keypad / MP-Keypad

Automation Fieldbus

Feedback

SMARTCARD*

Keypad connection

Slot 1

Slot 2

Slot 3

Solutions Modules

Serial port connector

Control terminals

FXMP25 connection

Auxiliary connections and field

Field fuses

terminals

AC terminals

CT Comms cable

Identification marker rail

Machine feedback terminals

FXMP25

STORED CHARGE

10 min

Mode /Reset

FXMP25 Field regulator

Automation

Fieldbus

Feedback

SMARTCARD*

SM-Keypad / MP-Keypad

Keypad connection

Slot 1

Slot 2

Slot 3

Solutions Modules

Serial port connector

Control terminals

FXMP25 connection

Auxiliary connections

and field

Field fuses

AC terminals

CT Comms cable

Identification marker rail

Machine feedback terminals

terminals

Paralleling port

FXMP25

STORED CHARGE

10 min

Mode /Reset

Internal

fans

FXMP25 Field regulator

Information

Product

information

Mechanical

Installation

Electrical

installation

Getting started

2.5 Drive features and options

Figure 2-4 Drive features and options on size 1

Basic

parameters

Running the

motor

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

data

Diagnostics

information

Figure 2-5 Drive features and options for size 2

* A SMARTCARD is provided as standard. For further information, refer to Chapter 9 SMARTCARD operation on page 81.

Mentor MP User Guide 9 Issue: 4 www.controltechniques.com

Safety

Inputs Outputs

• Incremental encoders • Quadrature

• SinCos encoders • Frequency and direction

• SSI encoders • SSI simulated outputs

• EnDat encoders

• Digital inputs x 3

• Analog output (voltage) x 1

• Digital I/O x 3 • Relay x 2

• Analog inputs (voltage) x 2

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Onboard

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Advanced

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Diagnostics

information

2.5.1 Options available for Mentor MP

All Solutions Modules are color-coded in order to make identification easy. The following table shows the color-code key and gives further details on their function.

Table 2-6 Solutions Module identification

Type Solutions Module Color Name Further Details

Universal Feedback interface

Feedback interface for the following devices:

Light Green

Brown SM-Encoder Plus

Feedback

Dark Brown

N/A

Yellow SM-I/O Plus

SM-Universal Encoder Plus

SM-Encoder Output Plus

15-way D-type converter

Single ended encoder interface (15V or 24V)

Incremental encoder interface

Feedback interface for incremental encoders without commutation signals. No simulated encoder outputs available

Incremental encoder interface

Feedback interface for incremental encoders without commutation signals. Simulated encoder output for quadrature, frequency and direction signals

Drive encoder input converter

Provides screw terminal interface for encoder wiring and spade terminal for shield

Single ended encoder interface

Provides an interface for single ended ABZ encoder signals, such as those from hall effect sensors. 15V and 24V versions are available.

Extended I/O interface

Increases the I/O capability by adding the following to the existing I/O in the drive:

Automation

(I/O

Expansion)

Yellow SM-I/O 32

Dark Yellow SM-I/O Lite

Dark Red SM-I/O Timer

Turquoise SM-I/O PELV

Olive SM-I/O 120V

Cobalt Blue

SM-I/O 24V Protected

Extended I/O interface

Increase the I/O capability by adding the following to the existing I/O in the drive:

• High speed digital I/O x 32

• +24V output

Additional I/O

1 x Analog input (± 10V bi-polar or current modes) 1 x Analog output (0 to 10V or current modes) 3 x Digital input and 1 x Relay

Additional I/O with real time clock

As per SM-I/O Lite but with the addition of a Real Time Clock for scheduling drive running

Isolated I/O to NAMUR NE37 specifications

For chemical industry applications 1 x Analog input (current modes) 2 x Analog outputs (current modes) 4 x Digital input / outputs, 1 x Digital input, 2 x Relay outputs

Additional I/O conforming to IEC 61131-2 120Vac

6 digital inputs and 2 relay outputs rated for 120Vac operation

Additional I/O with overvoltage protection up to 48V

2 x Analog outputs (current modes) 4 x Digital input / outputs, 3 x Digital inputs, 2 x Relay outputs

10 Mentor MP User Guide

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Safety

FXMP25

STORED CHARGE

10 min

Mode /Reset

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Onboard

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Advanced

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Table 2-6 Solutions Module identification

Type Solutions Module Color Name Further Details

Applications Processor (with CTNet)

Moss Green

SM-Applications Plus

processor for running pre-defined and /or customer created application software with CTNet support. Enhanced performance over SM-Applications

Applications Processor

Automation

(Applications)

White

SM-Applications Lite V2

processor for running pre-defined and /or customer created application software. Enhanced performance over SMApplications Lite

Applications Processor

Golden brown SM-Register

processor for running position capture functionality with CTNet support.

Technical

data

Diagnostics

information

Fieldbus

Table 2-7 Keypad identification

Keypad Name Further Details

SM-Keypad

Purple

SM-PROFIBUS DP-V1Profibus option

Medium Grey SM-DeviceNet

Dark Grey SM-INTERBUS

Light Grey SM-CANopen

Beige SM-Ethernet

Brown Red SM-EtherCAT

LED keypad option

Keypad with a LED display

PROFIBUS DP adapter for communications with the drive

DeviceNet option

Devicenet adapter for communications with the drive

Interbus option

Interbus adapter for communications with the drive

CANopen option

CANopen adapter for communications with the drive

Ethernet option

10 base-T / 100 base-T; Supports web pages, SMTP mail and multiple protocols: DHCP IP addressing; Standard RJ45 connection

EtherCAT option

EtherCAT adapter for communications with the drive

MP-Keypad

LCD keypad option

Keypad with an alpha-numeric LCD display with Help function

Table 2-8 Serial comms lead

Serial comms lead Name Further Details

CT Comms cable

CT EIA (RS) -232 (4500-0087) CT USB (4500-0096)

Table 2-9 External field control

External field controller Name Further Details

FXMP25

Mentor MP User Guide 11

For external control of field windings up to 25A, with field reversal capability. For further information, please see the FXMP25 User Guide.

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Safety

CAUTION

Risk of Electric Shock

Power down unit 10minutes

before removing cover

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2.6 Items supplied with the drive

The drive is supplied with a printed manual, a SMARTCARD, a safety information booklet, the Certificate of Quality, an accessory kit box including the items shown in Table 2-10, and a CD ROM containing all related product documentation and software tools.

Table 2-10 Parts supplied with the drive

Description Size 1 Size 2A / 2B Size 2C / 2D

Control connectors

Tacho connector

Relay connectors

UL warning label

UL warning label for heatsink temperature

Diagnostics

information

Grounding bracket

Terminal cover grommets

Terminal shrouds

Terminal shroud base covers

M4 Screws

Mounting feet bracket

12 Mentor MP User Guide

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3 Mechanical Installation

3.1 Safety

Follow the instructions

The mechanical and electrical installation instructions must be adhered to. Any questions or doubt should be referred to the supplier of the equipment. It is the responsibility of the owner or user to ensure that the installation of the drive and any external option unit, and the way in which they are operated and maintained, comply with the requirements of the Health and Safety at Work Act in the United Kingdom or applicable legislation and regulations and codes of practice in the country in which the equipment is used.

Competence of the installer

The drive must be installed by professional assemblers who are familiar with the requirements for safety and EMC. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used.

If the drive has been used at high load levels for a period of time, the heatsink can reach temperatures in excess of 70°C (158°F). Human contact with the heatsink should be prevented.

Enclosure

The drive is intended to be mounted in an enclosure which prevents access except by trained and authorized personnel, and which prevents the ingress of contamination. It is designed for use in an environment classified as pollution degree 2 in accordance with IEC 60664-1. This means that only dry, non-conducting contamination is acceptable.

3.2.3 Cooling

The heat produced by the drive must be removed without its specified operating temperature being exceeded. Note that a sealed enclosure gives much reduced cooling compared with a ventilated one, and may need to be larger and/or use internal air circulating fans.

For further information, refer to section 3.6.2 Enclosure sizing on page 26.

3.2.4 Electrical safety

The installation must be safe under normal and fault conditions. Electrical installation instructions are given in Chapter 4 Electrical installation on page 32.

3.2.5 Electromagnetic compatibility

If it is necessary to meet strict emission limits, or if it is known that electromagnetically sensitive equipment is located nearby, then full precautions must be observed. The use of an external EMC filter may be required at the drive inputs, which must be located very close to the drives.

Space must be made available for the filters and allowance made for carefully segregated wiring. Both levels of precautions are covered in Table 12-42 Drive power stage terminals on size 2 drives on page 164.

3.2.6 Hazardous areas

The drive must not be located in a classified hazardous area unless it is installed in an approved enclosure and the installation is certified.

The drive enclosure is not classified as a fire enclosure. A separate fire enclosure must be provided.

Many of the drives in this product range weigh in excess of 15kg (33lb). Use appropriate safeguards when lifting these models. See section 3.4 Mounting method on page 17.

3.2 Planning the installation

The following considerations must be made when planning the installation:

3.2.1 Access

Access must be restricted to personnel only. Safety regulations which apply at the place of use must be complied with.

3.2.2 Environmental protection

The drive must be protected from:

• moisture, including dripping water or spraying water and condensation. An anti-condensation heater may be required, which must be switched off when the drive is running

• contamination with electrically conductive material

• contamination with any form of dust which may restrict the fan, or impair airflow over various components

• temperature beyond the specified operating and storage ranges

• corrosive gasses

Mentor MP User Guide 13 Issue: 4 www.controltechniques.com

Safety

WARNING

Pozi Pz2

All sizes

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3.3 Terminal cover removal

Isolation device The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed.

Stored charge The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energized, the AC supply must be isolated at least ten minutes before work may continue.

3.3.1 Removing the terminal covers

The drive is installed with one control terminal cover.

Figure 3-1 Removing the control terminal cover (size 1 shown)

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To remove the terminal cover, undo the screw and slide the terminal cover downwards.

When replacing the terminal covers the screw should be tightened with a maximum torque of 1 Nm (0.7 Ib ft).

3.3.2 Removing the finger-guard and break-outs

Figure 3-2 Removing the finger-guard break-outs

Place finger-guard on a flat solid surface and hit relevant break-outs with hammer as shown (1). Continue until all required break-outs are removed (2). Remove any flash / sharp edges once the break-outs are removed.

14 Mentor MP User Guide

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Safety

CAUTION

Solutions Module

in slot 1

Solutions Module

in slot 2

Solutions Module

in slot 3

NOTE

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3.3.3 Installation and removal of a Solutions Module

Please power down the drive before removing / installing the Solutions Module. Failure to do so may cause damage to product

Figure 3-3 Installation and removal of the Solutions Module

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1. To install the Solutions Module, press down in the direction shown above until it clicks into place.

2. To remove the Solutions Module, press inwards at the points shown (A) and pull in the direction shown (B).

3. The drive has the facility for all three Solutions Module slots to be used at the same time, as illustrated.

It is recommended that the Solutions Module slots are used in the following order: slot 3, slot 2 and slot 1.

Mentor MP User Guide 15 Issue: 4 www.controltechniques.com

Safety

NOTE

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Figure 3-4 Removal and installation of a keypad

To fit, align the MP-Keypad and press gently in the direction shown until it clicks into position (A).

To remove, while pressing the tabs inwards (B), gently lift the MPKeypad in the direction indicated (C).

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The keypad can be installed / removed while the drive is powered up and running a motor, providing that the drive is not operating in keypad mode.

16 Mentor MP User Guide

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Safety

WARNING

293mm (11.54in)

250mm (9.84in)

444mm (17.48in)

222mm (8.74in)

95mm

(3.74in)

222mm (8.74in)

170mm (6.69in)

6.5mm (0.26in)

250mm (9.84in)

40mm

(1.58in)

22mm

(0.87in)

380mm

(14.96in)

4 holes to suit M6

MA1

MA2

NOTE

Information

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information

Mechanical Installation

Electrical

installation

3.4 Mounting method

The Mentor MP can only be surface mounted.

If the drive has been used at high load levels for a period of time, the heatsink can reach temperatures in excess of 70°C (158°F). Human contact with the heatsink should be prevented.

Many of the drives in this product range weigh in excess of 15kg (33lb). Use appropriate safeguards when lifting these models.

Figure 3-5 Overall size 1A dimensions

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1. The two outer holes must be used for mounting the Mentor MP.

With the SMARTCARD installed to the drive, the depth measurement increases by 7.6mm (0.30 in).

Fans are only installed to the MP75A4(R) and MP75A5(R).

Mentor MP User Guide 17 Issue: 4 www.controltechniques.com

Safety

293mm (11.54in)

250mm (9.84in)

444mm (17.48in)

251mm (9.88in)

124mm (4.88in)

170mm (6.69in)

6.5mm (0.26in)

250mm (9.84in)

40mm

(1.58in)

22mm

(0.87in)

380mm

(14.96in)

4 holes to suit M6

MA1

MA2

NOTE

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Electrical

installation

Figure 3-6 Overall size 1B dimensions

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1. The two outer holes must be used for mounting the Mentor MP.

With the SMARTCARD installed to the drive, the depth measurement increases by 7.6mm (0.30 in).

18 Mentor MP User Guide

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Safety

MA1

MA2

453mm (17.84in)

495mm (19.49in)

640mm (25.20in)

85mm

(3.35in)

301mm (11.85in)

472mm (18.58)

68mm

(2.68in)

126mm (4.96in)

11.5mm (0.45in)

495mm (19.49in)

80mm (3.15in)

65mm (2.56in)

8 holes to suit M8

302mm (11.89in)

93mm (3.66in)

NOTE

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Figure 3-7 Installing the mounting feet bracket on size 1 drives

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The bottom mounting bracket (1) should be installed to the back plate first with the screws fully tightened. The drive should then be lowered onto the bracket and slotted in. The top mounting bracket (2) should then be slotted into the drive and the top holes marked for mounting (380mm [14.96 in] from the centre of the holes on the bottom mounting bracket). Once the holes have been drilled, fix the top mounting bracket accordingly and tighten the screws.

It is not necessary to tighten the bottom mounting brackets with the drive in place. The brackets are designed to clamp the drive heatsink against the back plate.

information

Figure 3-8 Overall size 2A / 2B dimensions

With the SMARTCARD installed to the drive, the depth measurement increases by 7.6mm (0.30 in).

Mentor MP User Guide 19 Issue: 4 www.controltechniques.com

Safety

6mm (0.24in)

175mm (6.9in)

5mm

(0.2in)

175mm (6.9in)

405mm (15.94)

248mm (9.76in)

202mm (7.95in)

321mm (12.64in)

605mm (23.82in)

124mm

(4.89in)

175mm (6.9in)

555mm (21.85in)

452mm (17.8in)

mm (7.95in)

390mm (15.35in)

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Figure 3-9 Size 2C front view and mounting dimensions

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20 Mentor MP User Guide

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Safety

394mm (15.51in)

605mm

(23.82in)

53mm

(2.09in)

288mm

(11.34in)

450mm (17.72in)

1050mm (41.34in)

306mm (12.05in)

611mm (24.05in)

35mm

(1.38in)

38mm (1.5in)

59mm (2.32in)

270mm

(10.63in)

4 holes

to suit M10

260mm

(10.24in)

180mm (7.09in)

90mm

(3.54in)

90mm

(3.54in)

68.5mm

(2.70in)

50mm

(1.97in)

190mm

(7.48in)

240mm

(9.45in)

333mm (13.11in)

83.5

(3.29in)

210mm

(8.27in)

Rear

Front

8 holes

∅

7mm

NOTE

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Figure 3-10 Size 2C back-plate and mounting detail

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1. M10 eye-bolts can be inserted in the location shown for lifting the drive. These are not supplied with the drive.

With the SMARTCARD installed in the drive, the depth measurement increases by 7.6mm (0.30 in).

Mentor MP User Guide 21 Issue: 4 www.controltechniques.com

Safety

124m

(4.88

in)

6mm

(0.24in)

1065mm (41.93in)

356mm (14.02in)

248mm (9.76in)

405mm (15.94in)

4mm (0.16in)

321mm (12.64in)

330mm (13.0in)

555mm (21.85in)

330mm (13.0in)

452mm (17.8in)

202mm (7.95in)

390mm (15.35in)

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Figure 3-11 Size 2D front view and mounting dimensions

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22 Mentor MP User Guide

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Safety

53mm

(2.09in)

1065mm (41.93in)

288mm (11.34in)

450mm (17.72in)

394mm (15.51in)

1510mm (59.45in)

611mm (24.06in)

306mm (12.05in)

4 holes

to suit M10

35mm

(1.38in)

260mm

(10.24in)

180mm (7.09in)

90mm

(3.54in)

90mm

(3.54in)

68.5mm (2.70in)

50mm (1.97in)

190mm (7.48in)

240mm (9.45in)

333mm (13.11in)

8 holes

∅

7mm

83.5mm (3.29in)

210mm (8.27in)

NOTE

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Figure 3-12 Size 2D back-plate and mounting detail

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1. M10 eye-bolts can be inserted in the location shown for lifting the drive. These are not supplied with the drive.

With the SMARTCARD installed to the drive, the depth measurement increases by 7.6mm (0.30 in).

Mentor MP User Guide 23 Issue: 4 www.controltechniques.com

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NOTE

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Figure 3-13 Mounting methods of size 2C / 2D air duct The Mentor MP size 2C and 2D air duct can be turned 180° to suit the

customers infrastructure.

There is no seal provided with this product for sealing off the gap around the air duct when mounted.

3.5 Installing and removing the terminal shrouds

Figure 3-14 Installing the terminal shrouds on size 1 drives

1. Thread the AC supply and DC output connectors through the grommets provided and connect them to the drive.

2. Place the terminal shroud over the top of the connectors and click into place (3).

24 Mentor MP User Guide

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Safety

L1 L2

A1 A2

NOTE

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Figure 3-15 Removing the terminal shrouds on size 1 drives

1. Insert the screwdriver as shown.

2. Lever in the direction shown to unclip the terminal shroud and remove.

Figure 3-16 Installing the terminal shrouds on size 2 drives

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1. Assemble the cable to the busbar.

2. Place the terminal shroud base cover underneath the cable in the orientation shown.

3. Place the terminal shroud over the cable in the orientation shown, slide the terminal shroud on to the base cover in the direction shown until it clicks in to place.

4. For all power connections slide in the terminal shroud sub-assembly in the direction as shown.

5. Insert the 2 x M4 x 16 screws using a pozi drive screwdriver.

To remove the terminal shrouds, please reverse the process above.

Mentor MP User Guide 25 Issue: 4 www.controltechniques.com

Safety

Enclosure

AC supply contactor,

line chokes and fuses

External controller

Ensure minimum clearances are maintained for the drive. Forced or convection air-flow must not be restricted by any object or cabling

Auxillary

supply

Signal cables Plan for all signal cables to be routed at least 300mm (12in) from the drive and any power cable

Armature connection cable

Field

connection cable

≥

100mm(4in)

≥

100mm

(4in)

MA1

MA2

Note

For EMC compliance:

1) Power cabling must be at

least 100mm (4in) from the

drive in all directions

2) Ensure direct metal contact

at drive and filter mounting

points (any paint must be removed)

100mm for Size 1 drives 200mm for Size 2A/2B drives

Note

For Size 2C/2D drives

leave a clearance of 100mm

around the drive.

intText

–()

----------------------------------------

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3.6 Enclosure

3.6.1 Enclosure layout

Please observe the clearances in the diagram below taking into account any appropriate notes for other devices / auxiliary equipment when planning the installation.

Figure 3-17 Enclosure layout

3.6.2 Enclosure sizing

Refer to section 12.1.2 Typical short-term overload limits on page 145 for drive losses.

Add the dissipation figures for each drive that is to be installed in the enclosure.

Add the power dissipation figures for each EMC filter that is to be installed in the enclosure.

Calculate the total heat dissipation (in Watts) of any other equipment to be installed in the enclosure.

Add the figures of all of the above to get a total heat dissipation figure (in Watts) for the equipment in the enclosure.

Calculating the size of a sealed enclosure

The enclosure transfers internally generated heat into the surrounding air by natural convection. The larger the surface area of the enclosure walls, the better is the dissipation capability. Only the surfaces of the enclosure that are not in contact with a wall or floor can dissipate heat.

Calculate the minimum required unobstructed surface area A enclosure from:

for the

Where:

Unobstructed surface area in m2 (1 m2 = 10.9 ft2)

ext

Maximum expected temperature in oC outside the

enclosure

int

P Power in Watts dissipated by all heat sources in the

k Heat transmission coefficient of the enclosure material

Example

To calculate the size of an enclosure for the following:

enclosure

2/o

in W/m

Maximum permissible temperature in oC inside the

• Two MP25A4 models operating under full load conditions

• Maximum ambient temperature inside the enclosure: 40°C

• Maximum ambient temperature outside the enclosure: 30°C

Dissipation of each drive: 125W

Dissipation from other heat generating equipment in the enclosure. 11W (max).

Total dissipation: 2 x (125 + 11) = 272W

26 Mentor MP User Guide

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Safety

272W

5.5 40 30–()

---------------------------------

2HD–

HD+

--------------------------

4.945 2 2× 0.6×()–

20.6+

-----------------------------------------------------

3kP

intText

–

---------------------------

-------

31.3× 549×

40 30–

----------------------------------

WARNING

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The enclosure is to be made from painted 2mm (0.079in) sheet steel

having a heat transmission coefficient of 5.5 W/m

2/o

C. Only the top,

front, and two sides of the enclosure are free to dissipate heat.

The value of 5.5 W/m

/ºC can generally be used with a sheet steel enclosure (exact values can be obtained by the supplier of the material). If in any doubt, allow for a greater margin in the temperature rise.

Figure 3-18 Enclosure having front, sides and top panels free to

dissipate heat

Insert the following values:

40°C

int

30°C

ext

k 5.5 P 272W

The minimum required heat conducting area is then:

= 4.945 m

(53.90 ft2) (1 m2 = 10.9 ft2)

Estimate two of the enclosure dimensions - the height (H) and depth (D), for instance. Calculate the width (W) from:

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Where:

is the air pressure at sea level

is the air pressure at the installation

Typically use a factor of 1.2 to 1.3, to allow also for pressure-drops in dirty air-filters.

Example

To calculate the size of an enclosure for the following:

• Three MP45A4 models operating under full load conditions

• Maximum ambient temperature inside the enclosure: 40°C

• Maximum ambient temperature outside the enclosure: 30°C

Dissipation of each drive: 168W

Dissipation from other heat generating equipment. 15 W

Total dissipation: 3 x (168 + 15) = 549W

Insert the following values:

40°C

int

30°C

ext

k 1.3 P 549W

Then:

= 214.1 m

/hr (126.3 ft3 /min) (1 m3/ hr = 0.59 ft3/min)

3.7 Heatsink fan operation

Mentor MP drive rated 75A and above are ventilated by internally supplied fans.

Ensure the minimum clearances around the drive are maintained to allow the air to flow freely.

The drive controls the fan operation based on the temperature of the heatsink and the drives thermal model system.

Inserting H = 2m and D = 0.6m, obtain the minimum width:

=0.979 m (38.5 in)

If the enclosure is too large for the space available, it can be made smaller only by attending to one or all of the following:

• Reducing the ambient temperature outside the enclosure, and/or

applying forced-air cooling to the outside of the enclosure

• Reducing the number of drives in the enclosure

• Removing other heat-generating equipment

Calculating the air-flow in a ventilated enclosure

The dimensions of the enclosure are required only for accommodating the equipment. The equipment is cooled by the forced air flow.

Calculate the minimum required volume of ventilating air from:

Where:

V Air-flow in m T

Maximum expected temperature in °C outside the

ext

enclosure

Maximum permissible temperature in °C inside the

int

enclosure

P Power in Watts dissipated by all heat sources in the

enclosure

per hour (1 m3/hr = 0.59 ft3/min)

3.8 IP rating (Ingress Protection)

IP rating

It is the installer’s responsibility to ensure that any enclosure which allows access to drives from frame sizes 2A to 2D while the product is energized, provides protection against contact and ingress to the requirements of IP20.

An explanation of IP rating is provided in section 12.1.13 IP rating on page 150.

Mentor MP User Guide 27 Issue: 4 www.controltechniques.com

k Ratio of

Safety

M8 nut / 13 mm AF

AC input

M8 nut 13mm AF

DC output

T25 Torx

Ground

connections

Tac h o

connections

3.5 mm

Relay

connections

3.5mm

5mm

Auxiliary

connections

Control and

encoder

connections

2.5 mm

5mm

Machine feedback terminals

MA1

MA2

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3.9 Electrical terminals

3.9.1 Location of the power and ground terminals

Figure 3-19 Location of the power and ground terminals on size 1 drives

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28 Mentor MP User Guide

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Safety

5mm

Machine

feedback

terminals

Tac h o

connections

5mm

Auxiliary

connections

Control and

encoder

connections

2.5 mm

Relay

connections

3.5mm

3.5 mm

T25 Torx

Ground

connections

M12 nut 19

mm AF

DC output

Size 2A:

Size 2B:

M10 nut 17

mm AF

AC input

M12 nut 19mm AF

Size 2A:

Size 2B:

M10 nut 17mm AF

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Figure 3-20 Location of the power and ground terminals on size 2A and 2B drives

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Mentor MP User Guide 29 Issue: 4 www.controltechniques.com

Safety

Control and

encoder

connections

2.5mm

Size 2C / 2D:

M12 nut 19mm AF

5mm

Machine

feedback

terminals

5mm

Auxiliary

connections

Relay

connections

3.5mm

T25 Torx

Ground

connections

Ta ch o

connections

3.5mm

Size 2C / 2D:

M12 nut 19mm AF

AC Input

DC Output

WARNING

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Figure 3-21 Location of the power and ground terminals on size 2C and 2D drives

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3.9.2 Terminal sizes and torque settings

To avoid a fire hazard and maintain validity of the UL listing, adhere to the specified tightening torques for the power and ground terminals. Refer to the following tables.

Table 3-4 Drive power stage terminals on size 2 drives

Model Connection type Torque setting

Size 2A M10 stud 15 Nm (133.0 lb in)

Size 2B

M12 stud 30 Nm (266.0 Ib in)Size 2C

3.9.3 Torque settings

Size 2D

Table 3-1 Drive control, status relay and encoder terminal data

Model Connection type Torque setting

All Plug-in terminal block 0.5 Nm 4.5 lb in

Table 3-2 Drive auxiliary and machine armature terminal data

Model Connection type Torque setting

All Terminal block 0.5 Nm 4.5 lb in

Table 3-3 Drive power stage terminals on size 1 drives

Model Connection type Torque setting

All M8 stud 10 Nm 89.0 lb in

30 Mentor MP User Guide

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3.10 Routine maintenance

The drive should be installed in a cool, clean, well ventilated location. Contact of moisture and dust with the drive should be prevented.

Regular checks of the following should be carried out to ensure drive / installation reliability are maximized:

Environment

Ambient temperature

Dust

Moisture

Enclosure

Enclosure door filters

Electrical

Screw connections Ensure all screw terminals remain tight

Crimp terminals

Cables Check all cables for signs of damage

Ensure the enclosure temperature remains at or below maximum specified

Ensure the drive remains dust free – check that the heatsink and drive fan are not gathering dust. The lifetime of the fan is reduced in dusty environments.

Ensure the drive enclosure shows no signs of condensation

Ensure filters are not blocked and that air is free to flow

Ensure all crimp terminals remains tight – check for any discoloration which could indicate overheating

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4 Electrical installation

Many cable management features have been incorporated into the product and accessories, this chapter shows how to optimize them. Key features include:

• EMC compliance

• Product rating, fusing and cabling information

• External suppressor resistor details (selection / ratings)

Electric shock risk

The voltages present in the following locations can cause severe electric shock and may be lethal:

• AC supply cables and connections

• DC cables, and connections

• Many internal parts of the drive, and external option units Unless otherwise indicated, control terminals are single insulated and must not be touched.

Isolation device

The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed.

STOP function

The STOP function does not remove dangerous voltages from the drive, the motor or any external option units.

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Drives are suitable for use on supplies of installation category III and lower, according to IEC 60664-1. This means they may be connected permanently to the supply at its origin in a building, but for outdoor installation additional over-voltage suppression (transient voltage surge suppression) must be provided to reduce category IV to category III.

32 Mentor MP User Guide

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Main

AC Supply

Semiconductor

fuses

L1 L2

L1 L2 L3

Isolator

L12 L11

F+

F-

Line

reactor

616263

RLY2

DC fuse

for 4Q only

Field

on / off

2122232425262728293031

24V

Drive

enable

Line

contactor

Input power

terminals

Armature terminals

Auxiliary connections

Control connections

Motor

Fan supply (where applicable)

Line

contactor coil

250Vac

maximum

10A

***

Branch fuses

**Optional

EMC field filter

**Optional EMC

armature filter

MA1

MA2

2 Quadrant

Drives

4 Quadrant

Drives

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4.1 Electrical connections

Refer to Figure 4-1 and Figure 4-2 to understand the function of the different power connections

Figure 4-1 Power connections for 480V drive

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1. End user must provide 230 / 115Vac supply for the internal fans on frame sizes C and D, see section 4.12 on page 49.

* For fuse ratings refer to section 4.6 Cable and fuse size ratings on page 38.

**For further information on EMC filters, see section 4.9.3 EMC filter information on page 47.

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Main

AC Supply

Semiconductor

fuses

L1 L2

L1 L2 L3

Isolator

L12 L11

F+

F-

Line

reactor

616263

RLY2

DC fuse

for 4Q only

Field

on / off

2122232425262728293031

24V

Drive

enable

Line

contactor

Input power

terminals

Armature terminals

Auxiliary connections

Control connections

Motor

Fan supply (where applicable)

Line contactor coil

250Vac

maximum

***

575 / 690Vac

480Vac

maximum

10A

Branch

fuses

Branch

fuses

MA1

MA2

2 Quadrant

Drives

4 Quadrant

Drives

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Figure 4-2 Power connections for 575V / 600V / 690V drives

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1. End user must provide 230 / 115Vac supply for the internal fans on frame sizes C and D, see section 4.12 on page 49.

* For fuse ratings refer to section 4.6 Cable and fuse size ratings on page 38.

** The transformer must have zero phase delay.

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Ground connection

MA1

MA2

Ground

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Ground connection

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4.2 Ground connections

The drive must be connected to the system ground of the AC supply. The ground wiring must conform to local regulations and codes of practice.

Where there is a possibility of temporary condensation or corrosion occurring, the ground connection should be protected from corrosion by suitable jointing compound.

Ground loop impedance

The ground loop impedance must conform to the requirements of local safety regulations. The drive must be grounded by a connection capable of carrying the prospective fault current until the protective device (fuse, etc,) disconnects the AC supply. The ground connections must be inspected and tested at appropriate intervals.

Figure 4-3 Location of ground connection on size 1 drives

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Figure 4-4 Location of ground connections on size 2A / 2B drives

Figure 4-5 Location of ground connections on size 2C / 2D drives

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4.3 AC supply requirements

The standard drive is rated for a nominal supply voltage up to 480Vrms.

An optional rating of 575Vrms is available for size 1 drives.

An optional rating of 575Vrms and 690Vrms is available for size 2 drives.

Grounded delta supplies exceeding 575V are not permitted for drives up to and including 210A. Grounded delta supplies exceeding 600V are not permitted for drives rated 350A and above.

4.3.1 Supply types

Drives rated for supply voltages of up to 575V (rated up to 210A) and 600V (350A and above), are suitable for use with any supply type i.e. TN-S, TN-C-S, TT, IT with grounding at any potential i.e neutral, centre or corner (“Grounded delta”).

Grounded delta supplies >575V are not permitted for drives rated up to and including 210A. Grounded delta supplies >600V are not permitted for drives rated 350A and above.

4.3.2 Supply fault current

The maximum fault current level of the supply to all circuits is 100kA subject to the capability of the semiconductor fuse fitted.

4.3.3 MOV ground disconnect

The facility for disconnecting the jumper (link) between varistors and ground is provided for special circumstances, where a sustained high voltage may be present between lines and ground, for example during a high potential test or in certain situations with IT supplies and multiple generators. If the jumper (link) is disconnected then the immunity of the drive to high voltage impulses is reduced. It is then only suitable for use with supplies having overvoltage category II, i.e. not for connection at the origin of the low voltage supply within a building.

Figure 4-6 Removing the MOV ground connection on size 1 drives

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Figure 4-7 Removing the MOV ground connection on size 2A / 2B

drives

The method for disconnecting the MOV ground connection on size 2A / 2B drives is shown below:

1. Remove the M4 x 30 screw using T20 Torx driver . If re-fitting the M4 x 30 screw using T20 Torx driver, the screw must be tightened to a torque of 2.5Nm (1.84 Ib ft).

Figure 4-8 Removing the MOV ground connection on size 2C / 2D

drives

The method for disconnecting the MOV ground connection on size 1 drives is shown below:

1. Remove the M4 x 16 screw using T20 Torx driver.

2. Remove the M4 x 12 screw using T20 Torx driver.

3. Remove the plate.

4. Re-fit the M4 x 12 screw using T20 Torx driver and tighten to a

The method for disconnecting the MOV ground connection on size 2C / 2D drives is shown in Figure 4-8 above:

1. Remove the M4 x 30 screw using T20 Torx driver . If re-fitting the M4 x 30 screw using T20 Torx driver, the screw must be tightened to a torque of 2.5Nm (1.84 Ib ft).

torque of 0.6 Nm (0.44 Ib ft).

5. Fit a M4 x 16 nylon screw (not supplied) and tighten to a torque of

0.25 Nm (0.18 Ib ft).

The M4 x 16 screw (1) should not be re-used if the plate (3) is not re-installed. Instead a nylon screw should be used.

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4.3.4 Main AC supply (L1, L2, L3)

Table 4-1 Three phase AC supply

Specification

Product voltage variant

480V 575V 690V

Maximum nominal supply 480V 575V 690V

Tolerance +10%

Minimum nominal supply 24V 500V

Tolerance -20% -10%

4.4 Line reactors

The Mentor MP, in common with all naturally commutated thyristor drives, causes voltage notches at the input supply terminals. In order to avoid disturbance to other equipment using the same supply, the addition of external line inductance is strongly recommended in order to restrict the depth of the notches imposed on the shared supply. This is generally not necessary where a dedicated transformer is used to supply the drive.

The following recommendations for added line inductance, have been calculated based on the power drive systems standard: EN 618003:2004 “Adjustable speed electrical power drive systems – Part 3: EMC requirements and specific test methods”.

The current ratings specified in Table 4-2 are for typical motor currents where the motor current ripple is no more than 50% of drive rating.

Table 4-2 Minimum required line inductance for a typical

Drive rated

current

1200 21 25 31 36 1004 1073

1850 18 23 29 32 1548 1655

1. The above assumes the supply has 1.5% impedance.

2. Assumes a minimum supply rating of 5kA and a maximum rating of

application (50% ripple content)

System voltage Typical

400V 480V 575V 690V

current

rating

Maximum

current

rating

A μH μH μH μHA A

25 220 260 320

45 220 260 320

75 220 260 320

105 220 260 320

155 160 190 230

210 120 140 170

21 22

38 40

63 67

88 94

130 139

176 188

350 71 85 110 120 293 313

420 59 71

470

550 45 54

80 91 393 420

351 375

460 492

700 36 43 53 61 586 626

825

900 28 33

45 52 690 738

753 805

60kA.

4.4.1 Auxiliary AC supply and connections

Table 4-3 Terminal functions

Ter min als Function

E1, E3 Supply for control electronics and field controller.

Field on / off. When L11 and L12 are open the supply is

L11, L12

disconnected to the field regulator so there will be no field current.

F+, F- Field supply to the motor.

These terminals are used to provide feedback from the motor armature terminals. This is required when the user

MA1, MA2

has a contactor in the main DC armature connection. When the contactor is opened the drive will still be receiving armature feedback. This allows the field regulator to function correctly when the contactor is open.

Table 4-4 Line to line supply

Specification Val ue

Maximum nominal supply 480V

Tolerance +10%

Minimum nominal supply 208V

Tolerance -10%

Each drive has an onboard field controller with the following current ratings.

Table 4-5 Current ratings

Model

MP25A4(R) MP25A5(R)

M P 4 5 A 4 ( R ) M P 4 5 A 5 ( R )

MP75A4(R) MP75A5(R)

MP105A4(R) MP105A5(R)

MP155A4(R) MP155A5(R)

MP210A4(R) MP210A5(R)

MP350A4(R) MP350A5(R) MP350A6(R)

MP420A4(R)

MP470A5(R) MP470A6(R)

MP550A4(R)

MP700A4(R) MP700A5(R) MP700A6(R)

MP825A4(R) MP825A5(R) MP825A6(R)

MP900A4(R)

MP1200A4 MP1200A5 MP1200A6

M P 1 8 5 0 A 4 M P 1 8 5 0 A 5 M P 1 8 5 0 A 6

MP1200A4R MP1200A5R MP1200A6R

MP1850A4R MP1850A5R MP1850A6R

Maximum

auxiliary

supply input

current

13 8

23 20

Maximum

continuous

field current

rating

4.4.2 Supply requirements

Maximum supply in-balance: 2% negative phase sequence (equivalent to 3% voltage in-balance between phases)

Frequency range: 45 to 65Hz (maximum rate of frequency change is 7Hz/s).

4.5 Control 24Vdc supply

The 24Vdc input has three main functions.

• It can be used to supplement the drive's own internal 24V when multiple SM-Universal Encoder Plus, SM-Encoder Output Plus, SMI/O Plus, or SM-I/O 32 modules are being used and the current drawn by these modules is greater than the drive can supply. (If too much current is drawn from the drive, the drive will initiate a 'PS.24V' trip)

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• It can be used as a back-up power supply to keep the control circuits of the drive powered up when the line power supply is removed. This allows any fieldbus modules, application modules, encoders or serial communications to continue to operate.

• It can be used to commission the drive when the line power supply is not available, as the display operates correctly. However, the drive will be in the UV trip state unless the line power supply is enabled, therefore diagnostics may not be possible. (Power down save parameters are not saved when using the 24V back-up power supply input.)

The working voltage range of the 24V power supply is as follows:

Maximum continuous operating voltage: 30.0V Minimum continuous operating voltage: 19.2V Nominal operating voltage: 24.0V Minimum start up voltage: 21.6V Maximum power supply requirement at 24V: 60W Recommended fuse: 3 A, 50Vdc

Minimum and maximum voltage values include ripple and noise. Ripple and noise values must not exceed 5%.

4.6 Cable and fuse size ratings

The selection of the correct fuse is essential to ensure the safety of the installation

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Table 4-6 Typical cable sizes for size 1 drives

4mm

10mm

25mm

35mm

70mm

95mm

[1]

UL508C/NEC

8 AWG 8 AWG

4 AWG 4 AWG

1 AWG 1/0 AWG

1/0 AWG 1/0 AWG

3/0 AWG 4/0 AWG

300kcmil 350kcmil

Model

MP25A4(R) MP25A5(R)

MP45A4(R) MP45A5(R)

MP75A4(R) MP75A5(R)

MP105A4(R) MP105A5(R)

MP155A4(R) MP155A5(R)

MP210A4(R) MP210A5(R)

1. The maximum cable size is defined by the power terminal housing

IEC 60364-5-52

Input Output Input Output

2.5mm

10mm

16mm

25mm

50mm

95mm

[2]

using 90°C (194°F) rated cables as per Table A.52-5 of the standard.

2. Assumes the use of 75°C rated cables, as per Table 310.16 of the National Electrical Code.

The use of higher temperature rated cable would allow a reduction on the minimum recommended cable size for Mentor MP shown above. For high temperature cable sizing, please refer to the data supplied by the manufacturer of the high temperature cable.

Maximum continuous input currents are given in section 2.1 Ratings on page 6 to aid the selection of fuses and cabling. The maximum input current is dependent on the ripple content of the output current. A value of 100% ripple has been assumed for the given ratings.

The cable sizing selected when installing a Mentor MP must comply with the local wiring regulations. The information provided in this section is provided for guidance purposes only.

The power terminals on Mentor MP frame size 1 drives have been

designed to accommodate a maximum cable size of 150mm

(350kcmil)

with a temperature of 90°C (194°F).

The power terminals on Mentor MP frame size 2A drives have been

designed to accommodate a maximum cable size of 2 x 150mm

(2 x

350kcmil) with a temperature of 75°C (167°F).

The power terminals on Mentor MP frame size 2B drives have been

designed to accommodate 2 x 240mm

with a temperature of 90°C (194°F). The use of cables sized using the US national electrical code as shown in Table 4-8 requires the use of a terminal adaptor.

The power terminals on Mentor MP frame size 2C and 2D drives have been designed for use with busbars. The drive can be used with cables as shown in Table 4-8 with the use of a terminal adaptor.

The actual cable size depends on a number of factors including:

• Actual maximum continuous current

• Ambient temperature

• Cable support, method and grouping

• Cable voltage drop

In applications where the motor used is of a reduced rating, the cable sizing selected can be appropriate for that motor. To protect the motor and the output cabling the drive must be programmed with the correct motor rated current.

When using reduced cable sizes, the branch circuit protection fuse rating needs to be reduced in line with the cable size selected.

The following table shows typical cable sizes based on USA and International standards, assuming 3 conductors per raceway/conduit, an ambient temperature of 40°C (104°F) and applications with high output current ripple content.

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Table 4-7 Auxiliary wiring for size 1 drives

IEC 60364-5-52 Table A52-4 Column B2

Column B2 derated by 0,87 of PVC at 40

UL 508C

E1, E3 size F+, F- , L11 & L12 size E1, E3 size F+, F- , L11 & L12 size

² mm² mm² mm²

Frame

size

Maximum

input

current

Continuous

output current

1 13 8 2.5 1.5 14 AWG 14 AWG

Notes for IEC 60364:

IEC 60364-5-52 use installation method B2, table A.52-4 for three loaded conductors, PVC insulation 30°C and apply derating factor for 40°C from table A.52-14 (0.87 for PVC).

Notes for UL508C:

Either 60°C or 75°C cable can be used. Ampacities as per table 40.3 as described in the UL508C standard.

Table 4-8 Typical cable sizes for size 2 drives

IEC 60364-5-52 Table A52-

12 Column 5 derated by

Model

Maximum

input

current

Continuous

output current

0.91 for 40°C XLPE cables

(IEC 60364-5-52 table A52-

14) and 0.77 for cables

bunching (IEC 60364-5-52

table A52-17 item 4)

90°C cables at 40°C

ambient

Input size

mm²

Output size

mm²

Input cables

US National

Electrical Code

75°C cable at 40°C ambient

Output cables

Kcmil

MP350A4(R) MP350A5(R) MP350A6(R) 313 350 120 150 350 400

MP420A4(R) 375 420 150 185 400 500

MP470A5(R) MP470A6(R) 420 470 185 240 500 600

MP550A4(R) 492 550 300 2 x 185 2 x 300 2 x 350

MP700A4(R) MP700A5(R) MP700A6(R) 626 700 2 x 150 2 x 150 2 x 500 2 x 600

MP825A4(R) MP825A5(R)

MP825A6(R) 738 825 2 x 185 2 x 240 2 x 600 3 x 350

MP900A4(R) 805 900 2 x 185 2 x 240 3 x 350 3 x 400

MP1200A4(R) MP1200A5(R) MP1200A6(R) 1073 1200 2 x 300 3 x 240 3 x 600 4 x 400

MP1850A4(R) MP1850A5(R) MP1850A6(R) 1655 1850 4 x 240 4 x 300 * *

* Values are beyond the mechanical design of the drive. At this power level it may be prudent to consider bus-bars.

Notes for IEC 60364:

1. IEC 60364-5-52 table A 52-12 F method column 5 = Single core cable in free air.

2. IEC 60364-5-52 table A52-14 correction factor for ambient air temperature others than 30°C.

3. IEC 60364-5-52 table A52-17 item 4 correction factor for groups of more than one circuit or more than one multi-core cable placed on a single layer on a perforated tray.

Notes for US National Electrical Code:

1. Table 310.17 allowable ampacities of single-insulated conducted rated 0 through 2000V in free air, based on ambient air temperature of 30°C (87°F).

2. Derating factor of 0.88 is applied for 40°C to the 75°C cable column. Table 310.17 is based on 30°C (86°F) ambient air temperature.

3. NEC 2005 edition table 310.15(B)(2)(a) shows the adjustment factors for more than three current-carrying conductors in a race way or cable, for 4-6 current-carrying conductors 0.80 derating factor is applied.

Table 4-9 Auxiliary wiring for size 2 drives

IEC 60364-5-52 Table A52-4 Column B2

Column B2 derated by 0,87 of PVC at 40

UL 508C

E1, E3 size F+, F- , L11 & L12 size E1, E3 size F+, F- , L11 & L12 size

² mm² mm² mm²

Frame size

Maximum

input

current

Continuous

output

current

2 23 20 6 4 10 AWG 10 AWG

Notes for IEC 60364:

IEC 60364-5-52 use installation method B2, table A.52-4 for three loaded conductors, PVC insulation 30°C and apply derating factor for 40°C from table A.52-14 (0.87 for PVC).

Notes for UL508C: Either 60°C or 75°C cable can be used. Ampacities as per table 40.3 as described in the UL508C standard.

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4.6.1 Ferraz Shawmut fuses

Ferraz Shawmut fuses are recommended for the Mentor MP.

Table 4-10 Ferraz Shawmut semiconductor fusing for size 1 drives

Model

Field fuses

MP25A4

MP25A5

MP45A4

MP45A5

MP75A4

MP75A5

MP25A4R

MP25A5R

MP45A4R

MP45A5R

MP75A4R

MP75A5R

MP105A4

MP105A5

MP155A4

MP155A5

MP210A4

MP210A5

MP105A4R

MP105A5R

MP155A4R

MP155A5R

MP210A4R

MP210A5R

Description Catalogue number Ref number Description Catalogue number Ref number

10 x 38mm

Ferrule

22 x 58mm

Ferrule

Size 30

Square Body

Fuse

Size 70

Square Body

Fuse

International USA

FR10GB69V12.5 H330011 10 x 38mm Ferrule FR10GB69V12.5 H330011

FR22GC69V32 A220915

FR22GC69V63 X220912

FR22GC69V100 W220911

FR22GC69V32 A220915

FR22GC69V63 X220912

FR22GC69V100 W220911

PC30UD69V160EF M300092

PC30UD69V200EF N300093

PC30UD69V315EF Q300095

PC70UD13C160EF T300604

PC70UD13C200EF V300605

PC70UD12C280EF L300712

A50QS Series American Round Fuse A50QS60-4 A218937

A50QS Series American Round Fuse A50QS80-4 L201513

A50QS Series American Round Fuse A50QS125-4 K218417

A70QS Series American Round Fuse A70QS60-4 H219473

A70QS Series American Round Fuse A70QS80-4 X212816

A70QS Series American Round Fuse A70QS125-4 Q216375

A50QS Series American Round Fuse A50QS175-4 A222663

A50QS Series American Round Fuse A50QS250-4 W211251

A50QS Series American Round Fuse A50QS350-4 T215343

A70QS Series American Round Fuse A70QS175-4 A223192

A70QS Series American Round Fuse A70QS250-4 L217406

A70QS Series American Round Fuse A70QS350-4 M211266

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A50QS series are only rated up to 500Vac.

Table 4-11 Ferraz Shawmut branch circuit protection fusing for size 1 drives

Model

Description Catalogue number Ref number Catalogue number

International USA

Auxiliary 21 x 57mm Cylindrical HSJ15 D235868 AJT10

MP25A4 MP25A5

FR22GG69V25 N212072 AJT30

MP45A4 MP45A5 FR22GG69V50 P214626 AJT45

MP75A4 MP75A5 FR22GG69V80 Q217180 AJT70

MP25A4R MP25A5R FR22GG69V25 N212072 AJT30

22 x 58mm Ferrule

MP45A4R MP45A5R FR22GG69V50 P214626 AJT45

MP75A4R MP75A5R FR22GG69V80 Q217180 AJT70

MP105A4 MP105A5 NH 00 Knife Blade NH00GG69V100 B228460 AJT125

MP155A4 MP155A5

MP210A4 MP210A5 NH1GG69V200 G228488 AJT225

NH 1 Knife Blade

NH1GG69V160 F228487 AJT175

MP105A4R MP105A5R NH 00 Knife Blade NH00GG69V100 B228460 AJT125

MP155A4R MP155A5R

MP210A4R MP210A5R NH1GG69V200 G228488 AJT225

NH 1 Knife Blade

NH1GG69V160 F228487 AJT175

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Table 4-12 Ferraz Shawmut DC protection fusing for size 1 drives

International USA

Model

MP25A4R

MP25A5R

MP45A4R

MP45A5R

MP75A4R

MP75A5R

MP105A4R

MP105A5R

MP155A4R

MP155A5R

MP210A4R

MP210A5R

Description Catalogue number Ref number Description

20 x 127mm

Cylindrical

36 x 127mm

Cylindrical

20 x 127mm

Cylindrical

Size 120

Square Body

Size 121

Square Body

Size 122

Square Body

FD20GB100V32T F089498

FD36GC100V80T A083651

FD20GC100V63T x 2

connected in parallel.

F083656 x 2

connected in parallel.

D120GC75V160TF R085253

D121GC75V250TF Q085252

D122GC75V315TF M085249

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A70QS Series

American Round Fuse

A70QS Series

American Round Fuse

A70QS Series

American Round Fuse

A70QS Series

American Round Fuse

A70QS Series

American Round Fuse

A70QS Series

American Round Fuse

Advanced

parameters

Technical

data

Diagnostics

Catalogue

number

A70QS60-4 H219473

A70QS80-4 X212816

A70QS125-4 Q216375

A70QS175-4 A223192

A70QS250-4 L217406

A70QS350-4 M211266

information

Ref number

DC fusing is required on four quadrant (R) drives only.

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Table 4-13 Ferraz Shawmut semiconductor fusing for size 2 drives

Model

Field fuses

MP350A4

Description Catalogue number Ref number Description Catalogue number Ref number

10 x 38mm

Ferrule

International USA

FR10GB69V25 L330014 10 x 38mm Ferrule FR10GB69V25 L330014

PC30UD69V500TF W300399

A50QS450-4

A7OQS450-4

EQ16871

MP350A4R PC71UD11V500TF F300523 A7OQS450-4 F214848

MP350A5 MP350A6

MP350A5R MP350A6R

MP420A4 PC32UD69V630TF M300069

PC31UD69V500TF T300006

PC72UD13C500TF D300498

A70QS450 F214848

A50QS600-4 A70QS600-4

Q219457 Y219993

MP420A4R PC272UD13C630TF W300721 A70QS600-4 Y219993

MP470A5 MP470A6

MP470A5R

PC272UD13C700TF X300722

2 x A70QS400

in parallel

J214345 (x2)

MP470A6R

MP550A4 PC33UD69V700TF Y300079

A50QS700-4 A70QS700-4

N223181 E202772

MP550A4R PC272UD13C700TF X300722 A70QS700-4 E202772

MP700A4 PC32UD69V1000TF S300074

A50QS900-4

2 x A70QS500-4

in parallel

R212282

A218431 (x2)

MP700A4R PC72UD10C900TF G300869

MP700A5 MP700A6

MP700A5R MP700A6R

MP825A4 PC32UD69V1100TF M300759

MP825A5

Square Body

Fuses

MP825A6

PC32UD69V1000TF S300074

PC73UD12C900TF T300512

PC33UD69V1100TF C300083

MP825A4R MP825A5R

PC73UD95V800TFB W300514

American Round

Fuses Form 101

Range A70QS

2 x A70QS500

in parallel.

A50QS1200-4

2 x A70QS600-4

in parallel

2 x A7OQS600-4

in parallel

A218431 (x2)

C217904

Y219993 (x2)

MP825A6R

MP900A4 PC33UD69V1250TF D300084

MP900A4R PC73UD95V800TFB W300514

A 50 QS 12 0 0- 4

2 x A7OQS600-4

in parallel

2 x A7OQS600-4

in parallel

C217904

Y219993 (x2)

2 x A5OQS800-4

MP1200A4 PC33UD60V1600TF Z300586

in parallel.

2 x A70QS800-4

C202287 (x2) Z213830 (x2)

in parallel

MP1200A4R PC273UD11C16CTF J302228

MP1200A5 MP1200A6

MP1200A5R MP1200A6R

PC232UD69V16CTD W300215

PC273UD11C16CTF J302228

2 x A70QS800-4

in parallel

Z213830 (x2)

2 x A5OQS1000-4

MP1850A4

MP1850A4R

MP1850A5 MP1850A6

MP1850A5R

**7,5 URD 44 PPSAF

2200

in pa ralle l.

*3 x A7OQS700-4

in parallel

**K235184

*3 x A7OQS700-4

in parallel

B217391 (x2)

*E202772 (x3)

MP1850A6R

F214848

information

A50QS series are only rated up to 500Vac.

*Application overload limited to infrequent overloads to avoid fuse wear out

**Fuse limits applications to those operating at rated current. No cyclic overloads permitted.

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Table 4-14 Ferraz Shawmut branch circuit protection fusing for size 2 drives

Model

Description Catalogue number Ref number Description Catalogue number Ref number

International USA

25A 600Vac

Auxiliary

High Speed

HSJ205 G235871J

Class J

MP350A4(R)

MP350A5(R) MP350A6(R)

NH2GG69V355 Y228503

MP420A4(R) NH3GG69V400 D228508 A6D500R P217294

MP470A5(R) MP470A6(R)

MP550A4 (R)

MP700A4(R)

MP825A4(R) MP825A5(R) MP825A6(R)

MP700A5(R) MP700A6(R)

General

purpose IEC

(square body)

NH4GG69V630-8

NH4AGG69V630-8

NH4GG69V630-8

NH4AGG69V630-8

NH4GG69V800-8

NH4AGG69V800-8

NH4GG69V800-8

NH4AGG69V800-8

E215537

W222107

E215537

W222107

K216554

M222858

K216554

M222858

MP900A4R)

MP1200A4(R)

MP1850A4(R)

MP1200A5(R) MP1200A6(R)

MP1850A5(R) MP1850A6(R)

General

purpose IEC

(round body)

MF76GG69V1250 E302753

MF114GG69V2000 G302755 A4BQ2000 B223101

SMARTCARD

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25A 600Vac

High Speed

General purpose

US (round body)

Onboard

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Class J

Advanced

parameters

Technical

data

AJT25R X21160J

A6D400R B216776

A6D600R T217804

A4BQ800 Z219373

A4BQ1000 P216282

A4BQ1200 R216790

Diagnostics

information

USA fuses are only rated up to 600Vac.

Table 4-15 Ferraz Shawmut DC protection fusing for size 2 drives

International USA

Model

MP350A4R

MP350A5R MP350A6R

Description Catalogue number Ref number Description

D123GB75V630TF C098557

American round fuse

Catalogue

number

Ref number

A70QS600-4 Y219993

A100P600-4 A217373

MP420A4R D123GB75V800TF J220946 A70QS800-4 Z213830

MP470A5R MP470A6R

MP550A4R A70QS450-4 (x2) F214848 (x2)

MP700A4R

MP700A5R

Square Body fuse

MP700A6R

MP825A4R

MP825A5R MP825A6R

MP900A4R D2123GB75V14CTF B090483

MP1200A4R

MP1200A5R MP1200A6R

MP1850A4R

MP1850A5R MP1850A6R

Square Body fuses

3 in parallel

Square Body fuses

4 in parallel

D2122GD75V900TF T220955

D2123GB75V12CTF D098558

PC73UD13C630TF

(x3)

PC73UD13C700TF

(x4)

Q300509 (x3)

R300510 (x4)

American round fuses

2 in parallel

American round fuse A100P1200-4 N218397

American round fuses

2 in parallel

American round fuse A100P1200-4 N218397

American round fuses

3 in parallel

American round fuses

3 in parallel

American round fuses

5 in parallel

A100P1000-4 (x2) Y217371 (x2)

A70QS600-4 (x2) Y219993 (x2)

A70QS800-4 (x2) Z213830 (x2)

A70QS600-4 (x3) Y219993 (x3)

A70QS700-4 (x3) E202772 (x3)

A100P700-4 (x3) T223163 (x3)

A70QS600-4 (x5) Y219993 (x5)

A100P600-4 (x5) A217373 (x5)

The use of the A100P series fuses is limited to applications with L/R time constants of 30ms or less.

DC fusing is only required on four quadrant (R) drives.

4.6.2 Alternative fusing

Please refer to section 12.2.2 Alternative fusing on page 157.

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Table 4-16 Mentor MP size 1 drive thyristor I2t rating for

semiconductor fusing

Model

Thyristor I

t (A2s)

Field fuses 400

MP25A4 MP25A5 1030

MP45A4 MP45A5 3600

MP75A4 MP75A5 15000

MP25A4(R) MP25A5(R) 1030

MP45A4(R) MP45A5(R) 3600

MP75A4(R) MP75A5(R) 15000

MP105A4 MP105A5

MP155A4 MP155A5

MP210A4 MP210A5

MP105A4(R) MP105A5(R)

80000

MP155A4(R) MP155A5(R)

MP210A4(R) MP210A5(R)

Table 4-17 Mentor MP size 2 drive thyristor I

t ratings for

semiconductor fusing

Model

Thyristor I

Field fuses 400

MP350A4(R) MP420A4(R) MP550A4(R) 320000

MP350A6(R) MP470A5(R) MP470A6(R) 281000

MP700A4(R) MP825A4(R) MP900A4(R) 1050000

MP700A6(R) MP825A5(R) MP825A6(R) 1200000

MP1200A4(R) MP1200A5(R) MP1200A6(R)

MP1850A4(R) MP1850A5(R) MP1850A6(R)

2720000

4.6.3 Internal field fuses

The internal field fuses provide protection to the field controller. The fuses can rupture if there is a fault in the field circuit. The user should check the internal field fuses if the drive is tripping field loss (FdL) and the field controller is enabled.

Isolate the power before removing the internal field fuses.

Figure 4-9 Removing the internal field fuses

4.7 External suppressor resistor

The Mentor MP range of drives provide internal suppression of the voltage overshoots created by commutation of the thyristors in the power stage during the operation of the product. The internal suppression is suitable for typical applications using recommended line reactors as defined in section 4.4 Line reactors on page 37. The Mentor MP drives provide the facility to allow for extra suppression for applications at the boundaries of the drive's operating area. Applications which may require an external suppression resistor to be installed have some or all the following characteristics:

1. Supplies rated ≥10kA with less than the recommend line reactance.

2. High line-to-line voltage

The recommended external suppressor resistor selections are shown in Table 4-18.

Table 4-18 Recommended external suppressor resistors

Power

rating

Model

Resistance

kΩ WVVrms

MP25A4(R)

MP45A4(R)

MP75A4(R)

MP105A4(R)

8.2 150 1100 2500

MP155A4(R)

MP210A4(R)

MP25A5(R)

MP45A5(R)

MP75A5(R)

MP105A5(R)

15 150 1400 2500

MP155A5(R)

MP210A5(R)

MP350A4(R)

MP420A4(R)

MP550A4(R)

MP700A4(R)

MP825A4(R)

4.1 300 1100 2500

MP900A4(R)

MP1200A4(R)

MP1850A4(R)

MP350A5(R) MP350A6(R)

MP470A5(R) MP470A6(R)

MP700A5(R) MP700A6(R)

MP825A5(R)

8.6 300 1600 2500

MP825A6(R)

MP1200A5(R) MP1200A6(R)

MP1850A5(R) MP1850A6(R)

The following diagram shows the location of the external suppressor resistor terminals above the L1 and L2 terminals:

Vol tag e

rating

Isolation

voltage

Insert a flat-head screwdriver into the groove as shown above and lever downwards to remove the fuse cover. Refer to section 4.6.1 Ferraz Shawmut fuses on page 40 for fuse types.

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Figure 4-10 Location of external suppressor resistor terminals on

size 1 drives

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Figure 4-12 Removal of bucket suppressor terminals cover on

size 2C and 2D

Figure 4-11 Location of external suppressor resistor terminals on

size 2 drives

1. Remove the 2 x M4 x 16 screws using a pozi drive screwdriver.

2. Remove the bucket suppressor terminal cover.

Shielded cable should be used for bucket suppressor connections. For UL applications the cable should comply with UL1063 in accordance with UL508a.

For applications where the external suppressor resistance is chosen to be less than the recommended value for reasons of economy, it is essential that the resistance is not less than the minimum resistance shown in Table 4-19. However selecting a resistance less than the recommended value requires a more complex installation. The power rating of the resistor can be selected by the user according to the dissipation required for the application, up to a maximum of the values specified in Table 4-19.

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Table 4-19 Minimum allowable external suppression resistance

Model

Resistance

MP25A4(R) MP25A5(R)

MP45A4(R) MP45A5(R)

MP75A4(R) MP75A5(R)

MP105A4(R) MP105A5(R)

500 (maximum 150W)

MP155A4(R) MP155A5(R)

MP210A4(R) MP210A5(R)

MP350A4(R)

MP420A4(R)

MP350A5(R) MP350A6(R)

MP470A5(R) MP470A6(R)

MP550A4(R)

MP700A4(R)

MP825A4(R)

MP700A5(R) MP700A6(R)

MP825A5(R) MP825A6(R)

500 (maximum 300W)

MP900A4(R)

MP1200A4(R)

MP1850A4(R)

MP1200A5(R) MP1200A6(R)

MP1850A5(R) MP1850A6(R)

Overload Protection When using an external suppressor resistor of a resistance or power rating less than the recommended rating, it is essential that an overload protection device is incorporated in the resistor circuit (refer to Figure 4-13).

External suppressor resistor protection parameter settings The software provided by the Mentor MP provides overload protection. Failure to correctly configure Pr 11.62, Pr 11 .63 and Pr 11.6 4, as described in the Mentor MP Advanced User Guide could lead to the resistor being overloaded.

Figure 4-13 Protection circuit for an external suppression resistor

4.8 Ground leakage

The ground leakage current depends on whether an external EMC filter

is installed. Ground leakage currents for external EMC filters can be obtained from the manufacturers data sheet for the filter being used.

With no external EMC filter:

<1mA

4.8.1 Use of residual current device (RCD)

There are three common types of ELCB / RCD:

1. AC - detects AC fault currents

2. A - detects AC and pulsating DC fault currents (provided the DC current reaches zero at least once every half cycle)

3. B - detects AC, pulsating DC and smooth DC fault currents

• Type’s A and AC should never be used with Mentor MP drives.

• Type B must be used with all Mentor MP drives.

Only type B ELCB / RCD are suitable for use with Mentor

If an external EMC filter is used, a delay of at least 50ms should be incorporated to ensure spurious trips are not seen. The leakage current is likely to exceed the trip level if all of the phases are not energized simultaneously.

The installer of the drive is responsible for ensuring compliance with the EMC regulations that apply where the drive is to be used.

MP drives.

4.9 EMC (Electromagnetic compatibility)

The Mentor MP meets immunity requirements (specified in Table 1243 Immunity compliance on page 164) with no special precautions.

Some special measures may be required in certain applications where the control cables are long or pass outside the building. See section

4.9.4 Surge immunity of control circuits - long cables and connections

outside a building on page 47.

Radio frequency noise emission can occur from any of the power connections i.e. main and auxiliary A.C connections, armature and field output terminals.

For many applications in heavy industrial environments the noise emission is not sufficient to cause interference to other equipment.

When radio frequency emission must be limited the method used should be chosen to suit the situation.

4.9.1 Power drive systems standard

Compliance with the EMC standard for power drive systems (PDS) IEC 61800-3, EN 61800-3:2004 category C3

To meet this standard a standard armature filter and a standard field filter must be installed. See Table 4-20 Mentor MP and EMC filter cross references on page 47 for EMC filter cross references.

Shielded cables must be used for the field and armature and the shields must be clamped to ground at both ends. The standard is met for cable lengths up to 100m.

4.9.2 Generic standard and PDS category C2

Compliance with the generic emission standards for industrial environments category IEC 61000-6-4 and EN 61000-6-4:2007, and the PDS standard category C2.

To meet this standard a standard field filter and a high performance armature filter must be installed. See Table 4-20 Mentor MP and EMC filter cross references on page 47 for EMC filter cross references.

Shielded cables must be used for the field and armature and the shields must be clamped to ground at both ends. The standard is met for cable lengths up to 100m.

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4.9.3 EMC filter information

Refer to Figure 4-1 on page 33 for the location of the optional EMC filter. See Table 4-20 for EMC filters that can be sourced directly from Epcos and Schaffner.

It is essential that line reactors be connected between the filter terminals and the power input terminals, as shown in Figure 4-1. Failure to observe this requirement could result in destruction of the thyristors.

Table 4-20 Mentor MP and EMC filter cross references

Manufacturers part number

Model

MP25A4(R)

MP45A4(R)

Schaffner armature

standard

Schaffner armature

high performance

FN3270H-80-35 FN3258-75-52

Epcos

armature

high performance

B84143-A66-R105

MP75A4(R) *B84143-A90-R105

MP105A4(R)

FN3270H-200-99 FN3258H-180-40 B84143BO250S080MP155A4(R)

MP210A4(R)

MP350A4(R)

MP420A4(R)

MP550A4(R)

MP700A4(R)

FN3359-800-99

MP825A4(R)

MP900A4(R)

MP1200A4(R)

MP1850A4(R)

FN3359-1600-99

* This filter is required if the input current to the Mentor MP will be greater than 66 Amperes.

Table 4-21 Emission compliance

Filter

Model

None

Field: Standard

Armature: Standard

Field: Standard

Armature:High

performance

MP25A4(R)

MP45A4(R)

MP75A4(R)

MP105A4(R)

MP155A4(R)

MP210A4(R)

MP350A4(R)

MP420A4(R)

MP550A4(R)

MP700A4(R)

MP825A4(R)

MP900A4(R)

MP1200A4(R)

MP1850A4(R)

Key (shown in decreasing order of permitted emission level):

C4 EN 61800-3:2004 second environment, restricted distribution

(Additional measures may be required to prevent interference)

C3 EN 61800-3:2004 second environment, unrestricted distribution

C2 Industrial generic standard EN 61000-6-4:2007

EN 61800-3:2004 first environment restricted distribution (The following caution is required by EN 61800-3:2004)

C1 Residential generic standard EN 61000-6-3:2007

EN 61800-3:2004 first environment unrestricted distribution

EN 61800-3:2004 defines the following:

• The first environment is one that includes residential premises. It

also includes establishments directly connected without intermediate transformers to a low-voltage power supply network which supplies buildings used for residential purposes.

• The second environment is one that includes all establishments

other than those directly connected to a low-voltage power supply network which supplies buildings used for residential purposes.

• Restricted distribution is defined as a mode of sales distribution in

which the manufacturer restricts the supply of equipment to suppliers, customers or users who separately or jointly have technical competence in the EMC requirements of the application of drives.

4.9.4 Surge immunity of control circuits - long

cables and connections outside a building

The input/output ports for the control circuits are designed for general use within machines and small systems without any special precautions.

In applications where they may be exposed to high-energy voltage surges, some special measures may be required to prevent malfunction or damage. Surges may be caused by lightning or severe power faults in association with grounding arrangements which permit high transient voltages between nominally grounded points. This is a particular risk where the circuits extend outside the protection of a building.

As a general rule, if the circuits are to pass outside the building where the drive is located, or if cable runs within a building exceed 30m, some additional precautions are advisable. One of the following techniques should be used:

1. Galvanic isolation, i.e. do not connect the control 0V terminal to

This is a product of the restricted distribution class according to IEC 61800-3. In a residential environment this product may cause radio interference in which case the user may be required to take adequate measures.

ground. Avoid loops in the control wiring, i.e. ensure every control wire is accompanied by its return (0V) wire.

2. Shielded cable with additional power ground bonding. The cable

shield may be connected to ground at both ends, but in addition the

Schaffner standard

field filter

Epcos standard

field filter

FN3280H-8-29 W62400-T1262D004

FN3280H-8-29

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0V 0V

30V zener diode e.g. BZW50-15

Signal from plant Signal to drive

0V 0V

2 x 15V zener diode e.g. 2xBZW50-15

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ground conductors at both ends of the cable must be bonded together by a power ground cable (equipotential bonding cable) with

cross-sectional area of at least 10mm

, or 10 times the area of the signal cable shield, or to suit the electrical safety requirements of the plant. This ensures that fault or surge current passes mainly through the ground cable and not in the signal cable shield. If the building or plant has a well-designed common bonded network this precaution is not necessary.

3. Additional over-voltage suppression - for the analog and digital inputs and outputs, a zener diode network or a commercially available surge suppressor may be connected in parallel with the input circuit as shown in Figure 4-14 and Figure 4-15.

Figure 4-14 Surge suppression for digital and unipolar inputs and

outputs

Figure 4-15 Surge suppression for analog and bipolar inputs and

outputs

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Table 4-22 RJ45 connections

Pin Function

1 120Ω Termination resistor

2RX TX

3 0V isolated

4 +24V (100 mA)

5 0V isolated

6 TX enable

7RX\ TX\

RX\ TX\(if termination resistors are

required, jumper (link) to pin 1)

Shell 0V isolated

The communications port applies a two-unit load to the communications network. Connectors 2, 3, 7 and shield must always be made to the serial communications port. Shielded cable must be used at all times.

4.10.1 Isolation of the serial communications port

The serial PC communications port is double insulated and meets the requirements for SELV in EN 50178:1998.

In order to meet the requirements for SELV in IEC 60950 (IT equipment) it is necessary for the control computer to be grounded. Alternatively, when a lap-top or similar device is used which has no provision for grounding, an isolation device must be incorporated in the communications lead.

An isolated serial communications lead has been designed to connect the drive to IT equipment (such as lap-top computers), and is available from the supplier of the drive. See Table 4-23 for details.

Table 4-23 Isolated serial comms lead details

Part number Description

Surge suppression devices are available as rail-mounting modules, e.g. from Phoenix Contact:

Unipolar TT-UKK5-D/24 DC Bipolar TT-UKK5-D/24 AC

These devices are not suitable for encoder signals or fast digital data networks because the capacitance of the diodes adversely affects the signal. Most encoders have galvanic isolation of the signal circuit from the motor frame, in which case no precautions are required. For data networks, follow the specific recommendations for the particular network.

4.10 Serial communications connections

The Mentor MP has a serial communications port (serial port) as standard supporting two wire EIA(RS)-485 communications. See Table 4-22 for the connection details for the RJ45 connector.

Figure 4-16 Serial communications port

The “isolated serial communications” lead has reinforced insulation as defined in IEC 60950 for altitudes up to 3,000m.

When using the CT EIA232 Comms cable the available baud rate is limited to 19.2k baud.

4.10.2 Multi-drop network

The drive can be used on a 2 wire EIA485 multi-drop network using the drive's serial communications port when the following guidelines are adhered to.

Connections

The network should be a daisy chain arrangement and not a star, although short stubs to the drive are allowed.

The minimum connections are pins 2 (RX TX), 3 (isolated 0V), 7 (RX\

4500-0087 CT EIA232 Comms cable

4500-0096 CT USB Comms cable

TX\) and the shield.

Pin 4 (+24V) on each drive can be connected together but there is no power sharing mechanism between drives and therefore the maximum power available is the same as a single drive. (If pin 4 is not linked to the other drives on the network and has an individual load then the maximum power can be taken from pin 4 of each drive.)

Termination resistors

If a drive is on the end of the network chain then pins 1 and 8 should be linked together. This will connect an internal 120Ω termination resistor between RXTX and RX\TX\. (If the end unit is not a drive or the user wishes to use their own termination resistor, a 120Ω termination resistor should be connected between RXTX and RX\TX\ at the end unit.)

If the host is connected to a single drive then termination resistors should not be used unless the baud rate is high.

CT Comms cable

The CT Comms cable can be used on a multi-drop network but should only be used occasionally for diagnostic and set up purposes. The

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If the CT Comms cable is to be used, then pin 6 (TX enable) should be connected on all drives and pin 4 (+24V) should be linked to at least 1 drive to supply power to the converter in the cable.

Only one CT Comms cable can be used on a network.

4.11 Shield connections

These instructions must be followed to ensure suppression of radiofrequency emission and good noise immunity in the encoder circuit. It is recommended that the instructions for the connection of the encoder cable be followed closely and, to use the grounding bracket and grounding clamp supplied with the drive, to terminate the shields at the drive.

4.11.1 Motor cables

Use of a motor cable with an overall shield for the armature and field circuits may be needed if there is a critical EMC emissions requirement. Connect the shield of the motor cable to the ground terminal of the motor frame using a jumper (link) that is as short as possible and not exceeding 50mm (2in) long. A full 360° termination of the shield to the terminal housing of the motor is beneficial.

4.11.2 Encoder cable

To get the best results from shielding use cable with an overall shield and separate shields on individual twisted pairs. Refer to section

4.15 Connecting an encoder on page 54.

4.11.3 Control cables

It is recommended that signal cables should be shielded. This is essential for encoder cables, and strongly recommended for analog signal cables. For digital signals it is not necessary to use shielded cables within a panel, but this is recommended for external circuits, especially for inputs where a momentary signal causes a change of state (i.e. latching inputs).

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A faston tab is located on the grounding bracket for the purpose of connecting the drive 0V to ground should the user wish to do so.

Figure 4-18 Grounding of signal cable shields using the

grounding bracket

4.11.4 Grounding hardware

The drive is supplied with a grounding bracket, to facilitate EMC compliance. This provides a convenient method for direct grounding of cable shields without the use of "pig-tails". Cable shields can be bared and clamped to the grounding bracket using metal clips, clamps or cable ties. Note that the shield must in all cases be continued through the clamp to the intended drive terminal in accordance with the connection details for the specific signal.

Figure 4-17 Fitting of grounding bracket

Loosen the ground connection (2 x M5 x 10) screws using T25 Torx driver and slide the grounding bracket in the direction shown. Once in place, re-tighten the ground connection M5 x 10 screws to 3Nm (2.21 Ib ft).

4.12 Connecting the fan on size 2C and 2D drives

A supply needs to be connected to the dual fan unit enclosed within the lower duct on Mentor MP size 2C and 2D. The fans can be configured for a 230Vac (factory setting) or 115Vac supply as shown below on the label next to the fan connections. When connecting the fan supply, the screws should be tightened with a maximum torque of 1.2 Nm (0.88 Ib ft) to 2 Nm (1.47 Ib ft).

Figure 4-19 Fan connection

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Table 4-24 Fan supply specification

Fan configuration Supply specification

230V 230V ±10% 115V 115V ±10%

Cabling should be 300V rated. Rated for at least 3A continuous in line with local wiring regulations. Cabling should be protected 3A non time delay fuses i.e. gG, Class CC or Class J and rated for at least 300V, in accordance with local wiring regulations.

4.13 Control connections

Refer to Figure 4-20 to understand the connection of the different power connections.

4.13.1 General

Table 4-25 The control connections consist of:

Function Qty Control parameters available

Differential analog input 1

Single ended analog input

Analog output 2 Source, mode, scaling, 9,10

Digital input 3 Destination, invert, logic select 27, 28, 29

Digital input / output 3

Relay 2 Source, invert

Drive enable 1 Logic select 31

+10V User output 1 4

+24V User output 1 22

0V common 6

+24V External input 1 2

Destination, offset, invert, scaling

Mode, offset, scaling, invert,

destination

Input / output mode select, destination / source, invert, logic select

Key:

Destination parameter:

Source parameter:

Mode parameter:

Indicates the parameter which is being controlled by the terminal / function

Indicates the parameter being output by the terminal

Analog - indicates the mode of operation of the terminal, i.e. voltage 0-10V, current 4-20mA etc.

Digital - indicates the mode of operation of the terminal, i.e. positive / negative logic, open collector.

All analog terminal functions can be programmed in menu 7.

All digital terminal functions (including the relays) can be programmed in menu 8.

The setting of Pr 6.04 can cause the function of digital inputs T25 to T27 to change. For more information, refer to section 11.22.5 Start / stop logic modes on page 143.

Ter min al

number

5,6

7,8

24, 25, 26

51, 52, 53 61, 62, 63

1, 3, 11, 21,

23, 30

The control circuits are isolated from the power circuits in the drive by basic insulation (single insulation) only. The installer must ensure that the external control circuits are insulated from human contact by at least one layer of insulation (supplementary insulation) rated for use at the AC supply voltage.

Status relay contacts are over-voltage category II.

A fuse or other over-current protection should be installed to the relay circuit.

Table 4-26 Control connection recommended cable sizes

Terminal Minimum cable size Maximum cable size

Machine armature

Auxiliary

Control I/O

Encoder

Tachogenerator

Status relays

0.5mm

20 AWG

5mm

1.31mm

2.5mm

10 AWG

16 AWG

12 AWG

If the control circuits are to be connected to other circuits classified as Safety Extra Low Voltage (SELV) (e.g. to a personal computer), an additional isolating barrier must be included in order to maintain the SELV classification.

If any of the digital inputs (including the drive enable input) are connected in parallel with an inductive load (i.e. contactor or motor brake) then suitable suppression (i.e. diode or varistor) should be used on the coil of the load. If no suppression is used then over voltage spikes can cause damage to the digital inputs on the drive.

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Analog speed reference 1

Single-ended

signal

Differential signal

Analog input 2

Analog input 1

2122232425262728293031

At speed

Reset

Run forward

Run reverse

Analog input 1/

input 2 select

Jog forward select

Speed

11910

Armature

current

Analog input 3

(Motor thermistor)

+24V input

Non-inverting input

Inverting input

Non-inverting input

Inverting input

+10V output

Analog input 2

Analog input 3*

Analog output 1

Analog output 2

+24V output

Digital I/O 1

Digital I/O 2

Digital I/O 3

Digital input 4

Digital input 5

Digital input 6

Drive enable

Analog speed

reference 2

Polarized signal connectors

Status relay 1

Ta ch o

51 52 53

Status relay 2

61 62 63

A A\ B

Z Z\ + 0

Encoder

Arm

current

MA1

MA2

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Figure 4-20 Default terminal functions

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4.14 General

4.14.1 Control terminal specification

1 0V common

Function

2 +24V external input

Function

Nominal voltage +24.0Vdc

Minimum continuous operating voltage

Maximum continuous operating voltage

Minimum start-up voltage 21.6Vdc

Recommended power supply 60W 24Vdc nominal

Recommended fuse 3A, 50Vdc

3 0V common

Function

Common connection for all external devices

To supply the control circuit without providing a supply to the power stage

+19.2Vdc

+30.0Vdc

Common connection for all external devices

Diagnostics

information

* Thermistor disabled by USA defaults.

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4 +10V user output

Function Supply for external analog devices

Voltage tolerance ±1%

Nominal output current 10mA

Protection Current limit and trip @12mA

Precision reference analog input 1

5 Non-inverting input

6 Inverting input

Default function Speed reference

Type of input

Full scale voltage range ±10.0V ±1.5%

Absolute maximum voltage range

Working common mode voltage range

Input resistance

Resolution 14-bit plus sign

Monotonic Yes

Dead band None

Jumps None Maximum offset ±5mV Maximum non linearity ±0.05% of Full scale voltage range Maximum gain asymmetry ±0.2%

Input filter bandwidth single pole ~1kHz

Sampling period

Bipolar differential analog (For single-ended use, connect terminal 6 to terminal 3)

+30V, -18V relative to 0V

±16V

94k

μs if configured with the destination as

250 Pr 1.36, Pr 1.37, Pr 3.19 and Pr 4.08. 4ms for all other destinations

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7 Analog input 2

Default function Speed reference

Type of input Unipolar voltage and current

Mode controlled by... Pr 7.11

Operating in Voltage mode

Full scale voltage range ±10.0V ±0.5% Maximum offset ±33mV Absolute maximum voltage ±36V relative to 0V

Input resistance

Operating in current mode

Current ranges

Maximum offset Absolute maximum voltage ±36V

Equivalent input resistance

Common to all modes

Resolution 10 bit plus sign

Sampling period

>94k

0 to 20mA ±5%, 20 to 0mA ±5%, 4 to 20mA ±5%, 20 to 4mA ±5%

μA

120

~100

250

μs if configured with the destination as

Pr 1.36, Pr 1.37, Pr 3.19 and Pr 4.08. 4ms for all other destinations

8 Analog input 3

Default function Thermistor

Type of input

Input mode controlled by... Pr 7.15 (in01, 0.81)

Operating in Voltage mode

Voltage range ±10.0V ±0.5% Maximum offset ±33mV Absolute maximum voltage range ±36V relative to 0V

Input resistance

Operating in current mode

Current ranges

Maximum offset Absolute maximum voltage ±36V max

Equivalent input resistance

Operating in thermistor input mode

Internal pull-up voltage <5V

Trip threshold resistance

Reset resistance

Short-circuit detection resistance

Common to all modes

Resolution 10 bit + sign

Sampling period

Unipolar voltage, unipolar current and thermistor

>94k

0 to 20mA ±5%, 20 to 0mA ±5%, 4 to 20mA ±5%, 20 to 4mA ±5%

μA

120

~100

Ω ±10%

3.3k

Ω ±10%

1.8k

Ω ±40%

250

μs if configured with the destination as

Pr 1.36, Pr 1.37, Pr 3.19 and Pr 4.08. 4ms for all other destinations

9 Analog output 1

10 Analog output 2

Terminal 9 default function Speed feedback

Terminal 10 default function Current feedback

Type of output

Mode controlled by...

Operating in Voltage mode (default)

Full scale voltage range ±10V ±5% Maximum offset ±40mV Maximum output current ±35mA

Load resistance

Protection 35mA max. Short circuit protection

Operating in current mode

Current ranges

Maximum offset

Open circuit voltage +15V

Load resistance

Common to all modes

Resolution 10-bit plus sign

Sampling period

Bipolar single-ended voltage or unipolar single-ended current

Ω min

0 to 20mA ±5% 4 to 20mA ±5%

μA

350

Ω max

600

250

μs if configured with the destination as

Pr 1.36, Pr 1.37, Pr 3.19 and Pr 4.08. 4ms for all other destinations

11 0V common

Function

Common connection for all external devices

21 0V common

Function

Common connection for all external devices

22 +24V user output

Function Supply for external digital devices

Nominal output current 200mA (including all digital I/O)

Maximum output current 240mA (including all digital I/O)

Protection Current limit and trip

23 0V common

Function

Common connection for all external devices

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24 Digital I/O 1

25 Digital I/O 2

26 Digital I/O 3

Terminal 24 default function AT SPEED output

Terminal 25 default function DRIVE RESET input

Terminal 26 default function RUN FORWARD input

Type

Input / output mode controlled by... Pr 8.31, Pr 8.32 and Pr 8.33

Operating as an input

Logic mode controlled by... Pr 8.29

Absolute maximum applied voltage range

Impedance Input thresholds 10.0V ±0.8V

Operating as an output

Open collector outputs selected Pr 8.30

Nominal maximum output current 200mA (total including terminal 22)

Maximum output current 240mA (total including terminal 22)

Common to all modes

Voltage range 0V to +24V

Sampling period

Positive or negative logic digital inputs, positive or negative logic push-pull outputs or open collector outputs

+30V, -18V relative to 0V

μs if configured with the destination as

250 Pr 6.35 or Pr 6.36. 4ms for all other destinations

27 Digital input 4

28 Digital input 5

29 Digital input 6

Terminal 27 default function RUN REVERSE input

Terminal 28 default function LOCAL/REMOTE select

Terminal 29 default function JOG SELECT input

Type of input Negative or positive logic digital inputs

Logic mode controlled by... Pr 8.29

Voltage range 0V to +24V

Absolute maximum applied voltage range

Impedance Input thresholds 10.0V ±0.8V

Sampling period

+30V, -18V relative to 0V

250

μs if configured with the destination as

Pr 6.35 or Pr 6.36. 4ms for all other destinations

30 0V common

Function

Common connection for all external devices

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Drive commissioning output

Function

Type of output Unipolar single-ended voltage

Full scale voltage range 10V ±5% (10V = 2 x Motor rated current)

Maximum offset 7mV

Protection

Model

MP25A4(R) MP25A5(R)

MP45A4(R) MP45A5(R)

MP75A4(R) MP75A5(R)

MP105A4(R) MP105A5(R)

MP155A4(R) MP155A5(R)

MP210A4(R) MP210A5(R)

MP350A4(R) MP350A5(R) MP350A6(R)

MP420A4(R)

MP470A5(R) MP470A6(R)

MP550A4(R)

MP700A4(R) MP700A5(R) MP700A6(R)

MP825A4(R) MP825A5(R) MP825A6(R)

MP900A4(R)

MP1200A4(R) MP1200A5(R) MP1200A6(R)

MP1850A4(R) MP1850A5(R) MP1850A6(R)

Instantaneous armature current feedback

~25mA max. Short circuit protection to ground (0V).

Full scale range of drive

commissioning output

2.29 x Drive rated current (Pr 11.3 2)

2.30 x Drive rated current (Pr 11.3 2)

2.42 x Drive rated current (Pr 11.3 2)

2.29 x Drive rated current (Pr 11.3 2)

2.30 x Drive rated current (Pr 11.3 2)

2.41 x Drive rated current (Pr 11.3 2)

2.73 x Drive rated current (Pr 11.3 2)

2.27 x Drive rated current (Pr 11.3 2)

3.34 x Drive rated current (Pr 11.3 2)

2.85 x Drive rated current (Pr 11.3 2)

2.24 x Drive rated current (Pr 11.3 2)

2.46 x Drive rated current (Pr 11.3 2)

2.25 x Drive rated current (Pr 11.3 2)

3.44 x Drive rated current (Pr 11.3 2)

2.23 x Drive rated current (Pr 11.3 2)

41 Tachogenerator positive input

42 Tachogenerator negative input

Function

Maximum voltage 300V

Feedback scaling controlled by Pr 3.51 (Fb02, 0.72)

Sampling period 4ms

Speed feedback inputs for tachogenerator feedback device

31 ENABLE

Function Drive enable

Type Positive or negative logic digital input

Absolute maximum applied voltage range

Input threshold 10.0V ±0.8V

Sampling period 4ms

+30V, -18V relative to 0V

Status relay contacts are over-voltage category II.

A fuse or other over-current protection should be installed to the relay circuit.

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Twisted

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Twisted pair shield

Cable

Cable overall shield

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51 Relay 1 common

52 Relay 1 normally closed

53 Relay 1 normally open

Default function Drive OK indicator

Contact voltage rating 240Vac, installation over-voltage category II

Contact maximum current rating

Contact minimum recommended rating

Default contact position Closed when power on and drive OK

Sampling period 4ms

5A AC 240V 5A DC 30V resistive load

0.5A DC 30V inductive load (L/R = 40ms)

12V, 100mA

61 Relay 2 common

62 Relay 2 normally closed

63 Relay 2 normally open

Default function Contactor enable

Contact voltage rating 240Vac, installation over-voltage category II

Contact maximum current rating

Contact minimum recommended rating

Default contact position

Sampling period 4ms

5A AC 240V 5A DC 30V resistive load

0.5A DC 30V inductive load (L/R = 40ms)

12V, 100mA

Closed when AC or DC contactor is required to be closed.

The relays are not UL rated when used with inductive loads.

Feedback device connections

Ab, Fd, Fr encoders

A Channel A, Frequency or Forward inputs

A\ Channel A\, Frequency\ or Forward\ inputs

B Channel B, Direction or Reverse inputs

B\ Channel B\, Direction\ or Reverse\ inputs

Z Marker pulse channel Z

Z\ Marker pulse channel Z\

Type EIA 485 differential receivers

Maximum input frequency 500kHz

Line loading <2 unit loads

Line termination components

Working common mode range +12V to –7V

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

Ω for 2 - 5V range (switchable)

100

±25V

4.15 Connecting an encoder

Additional measures to prevent unwanted emission of radio frequency noise are only required where the installation is subject to specific requirements for radio frequency emission.

Encoder connections:

To ensure suppression of radio frequency emission, observe the following:

• Use an encoder with the correct impedance

• Use a cable with individually shielded twisted pairs.

• Connect the cable shields to 0V at both the drive and the encoder, using the shortest possible links (pig-tails).

• The cable should not be interrupted. If interruptions are unavoidable, ensure the absolute minimum length of "pig-tail" in the shield connections at each interruption. Use a connection method that provides substantial metallic clamps for the cable shield terminations.

The above applies where the encoder body is isolated from the motor and where the encoder circuit is isolated from the encoder body. Where there is no isolation between the encoder circuits and motor body, and in case of doubt, the following additional requirements must be observed to give the best possible noise immunity.

• The shields must be directly clamped to the encoder and to the drives grounding bracket. This may be achieved by clamping of the individual shields or by providing an additional overall shield that is clamped.

The recommendations of the encoder manufacturer should also be adhered to for the encoder connections.

In order to guarantee maximum noise immunity for any application double shielded cable as shown should be used.

In some cases single shielding of each pair of differential signals cables, or a single overall shield with individual shield on the thermistor connections is sufficient. In these cases all the shields should be connected to ground and 0V at both ends.

If the 0V is required to be left floating a cable with individual shields and an overall shield must be used.

Figure 4-21 and Figure 4-22 illustrate the preferred construction of cable and the method of clamping. The outer sheath of the cable should be stripped back enough to allow the clamp to be installed. The shield must not be broken or opened at this point. The clamps should be installed close to the drive or feedback device, with the ground connections made to a ground plate or similar metallic ground surface.

Figure 4-21 Feedback cable, twisted pair

+ + supply

0V 0V

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Cable

Cable shield

Twis ted

pair

shield

Cable shield

Twis ted

pair

shield

Connection

at motor

Connection

at drive

Ground clamp on shield

Shield

connection

to 0V

Shield

connection

to 0V

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Figure 4-22 Feedback cable connections

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Table 4-27 Encoder types

Pr 3.38

(Fb07, 0.77)

setting

Ab (0)

Fd (1)

Fr (2)

Quadrature incremental encoder with or without marker pulse

Incremental encoder with frequency pulses and direction, with or without marker pulse

Incremental encoder with forward pulses and reverse pulses, with or without marker pulse

Description

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Upper display

Lower display

Mode (black) button

Joypad

User defined Rev (blue) button

Stop/reset (red) button Start (green) button

Control buttons

Mode (black) button

Joypad Stop/reset (red) button Start (green) button

Control buttons

Help button

User defined Rev (blue) button

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5 Getting started

This chapter introduces the user interfaces, menu structure and security level of the drive.

5.1 Understanding the display

There are two types of keypad available for the Mentor MP. The SM-Keypad has an LED display, and the MP-Keypad has an LCD display.

5.1.1 SM-Keypad (LED)

The display consists of two horizontal rows of 7 segment LED displays.

The upper display shows the drive status or the current menu and parameter number being viewed.

The lower display shows the parameter value or the specific trip type.

Figure 5-1 SM-Keypad Figure 5-2 MP-Keypad

The red stop button is also used to reset the drive.

5.1.2 MP-Keypad (LCD)

The display consists of three lines of text.

The top line shows the drive status or the current menu and parameter number being viewed on the left, and the parameter value or the specific trip type on the right.

The lower two lines show the parameter name or the help text.

information

5.2 Keypad operation

Control buttons

The keypad consists of:

1. Joypad - used to navigate the parameter structure and change parameter values.

2. Mode button - used to change between the display modes – parameter view, parameter edit, status.

3. Three control buttons - used to control the drive if keypad mode is selected.

4. Help button (MP-Keypad only) - displays text briefly describing the selected parameter.

The Help button toggles between other display modes and parameter help mode. The up and down functions on the joypad scroll the help text to allow the whole string to be viewed. The right and left functions on the joypad have no function when help text is being viewed.

The display examples in this section show the SM-Keypad, seven segment, LED display. The examples are the same for the MP-Keypad, The exceptions is that the information displayed on the lower row on the SM-Keypad is displayed on the right hand side of the top row on the MPKeypad.

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Use

* keys

to select parameter for editing

To enter Edit Mode, press key

Status Mode

(Display not flashing)

Parameter Mode

(Upper display flashing)

Edit Mode

(Character to be edited in lower line of display flashing)

Change parameter values

using keys.

When returning to Parameter Mode use the

keys to select another parameter to change, if required

To exit Edit Mode, press key

To enter Parameter Mode, press key or

Temporary Parameter Mode

(Upper display flashing)

Timeout**

To return to Status Mode, press

key

parameter

R/W parameter

Pr value

5.05

Menu 5. Parameter 5

Trip type (UV = undervolts)

Drive status = tripped

Trip StatusAlarm Status

Parameter

View Mode

Healthy Status

Status Mode

WARNING

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Figure 5-3 Display modes

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Figure 5-4 Mode examples

When changing the values of parameters, make a note of the new values in case they need to be entered again.

For new parameter-values to apply after the AC supply to the drive is interrupted, new values must be saved (section 5.8 Saving parameters on page 61).

* Can only be used to move between menus if L2 access has been enabled Pr 11 .44 (SE14, 0.35) **Time-out defined by Pr 11.4 1 (default value = 240s).

Do not change parameter values without careful consideration; incorrect values may cause damage or a safety hazard.

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SEt UP

diAGnoS

inPut

Headers

triPS

SE00

SE13

di01

di14

in01

in10

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5.3 Menu 0 (sub block)

Menu 0 can be accessed by 2 methods:

1. Pr 11.4 4 (SE14, 0.35) = 0. Sub block mode.

2. Pr 11.4 4 (SE14, 0.35) <>0. Linear mode.

Menu 23 contains the parameters to allow menu 0 to be customized in sub block mode. The first sub block is a user defined area (USEr) which is configured by the parameters in menu 22. As default there are no parameters configured to the user sub block and so it is empty. The next 7 sub blocks are pre-defined. Access to the pre-defined blocks is enabled or disabled by Pr 23.03 to Pr 23.09.

Movement between sub blocks is achieved with the left and right keys.

Pr 23.01 contains all the sub block headers.

Table 5-1 and Figure 5-5 show the result of the direction keys when Pr 11.44 (SE14, 0.35) is set to L1 (0). When Pr 11.4 4 (SE14, 0.35)is not 0 the left and right keys will allow access to the advance parameter set and menu 0 will become a linear menu.

Table 5-1 Keypad navigation

Starting location Action Finishing location

Right Next header

Header

Parameter

When moving to the user block header, the user block header is only displayed if there are some valid parameters in the block. When moving between pre-defined header blocks the pre-defined header block is only displayed if the pre-defined block is enabled.

When moving between parameters within a block, only valid parameters are displayed.

Figure 5-5 Sub block navigation

Left Previous header

Up First parameter in header block

Down Last parameter in header block

Right Next header

Left Previous header

Up Next parameter in header block

Down Previous parameter in header block

Coding

The coding defines the attributes of the parameter as follows.

Coding Attribute

{X.XX} Copied Mneu 0 or advanced parameter

Bit 1 bit parameter: ‘On’ or ‘OFF’ on the display

Bi Bipolar parameter

Uni Unipolar parameter

Txt Text: the parameter uses text strings instead of numbers.

SP Spare: not used

Filtered: some parameters which can have rapidly changing

values are filtered when displayed on the drive keypad for easy viewing.

Destination pointer parameter: This parameter can be used

to set up the location (i.e. menu/parameter number) where the destination data is to be routed.

Variable maximum: the maximum of this parameter can

vary.

Decimal place: indicates the number of decimal places used

by this parameter.

No default: when defaults are loaded (except when the drive

is manufactured or on EEPROM failure) this parameter is not modified.

Rating dependant: this parameter is likely to have different values and ranges with drives of different voltage and current ratings. Parameters with this attribute will not be transferred to the destination drive by a SMARTCARD when the rating of the destination drive is different from the source

drive if the drive voltage ratings are different or the file is a parameter file. However, the value will be transferred if only the current rating is different and the file is a differences from default type file.

Not copied: not transferred to or from SMARTCARD during

copying.

NV Not visible: not visible on the keypad.

PT Protected: cannot be used as a destination.

User save: saved in drive EEPROM when the user initiates

a parameter save.

RW Read/write: can be written by the user.

RO Read only: can only be read by the user

Bit default one/unsigned: Bit parameters with this flag set to one have a default of one (all other bit parameters have a

default of zero. Non-bit parameters are unipolar if this flag is one.

Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) trip occurs. Power-

down save parameters are also saved in the drive when the user initiates a parameter save.

23.01 Sub block headers

RO Txt NC PT BU

USEr (0), SEt UP (1),

diAGnoS (2), triPS (3), SP

LOOP (4), Fb SP (5), SintEr

(6), inPut (7)

USEr (0)

Defines the sub block headers. Can be used by the MP-Keypad to display the same strings as the SM-Keypad.

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23.02 Bianry sum of pre-defined sub block enables

RO NC PT BU

0 to 127

The OR of Pr 23.03 to Pr 23.09. To be used by the MP-Keypad.

Parameter Value

23.03 1

23.04 2

23.05 4

23.06 8

23.07 16

23.08 32

23.09 64

23.03 - 23.09 Pre-defined sub block enable

RW Bit US BU

0 to1

When this parameter is set to 1 the associated pre-defined sub block is accessible. When this parameter is 0 the associated pre-defined block is bypassed.

Parameter Description Display

23.03 Set up SEt UP

23.04 Diagnostic diAGnoS

23.05 Trips triPS

23.06 Speed loop SP LOOP

23.07 Serial interface SintEr

23.08 Speed feedback Fb SP

23.09 IO InPut

5.4 Pre-defined sub blocks

Menu 0 Parameter Description Display

0.01 to

0.20

Set-up

Menu 0 Parameter Description Display

0.21 1.00 Parameter 0 SE00

0.22 1.07 Minimum reference clamp SE01

0.23 1.06 Maximum reference clamp SE02

0.24 2.11 Acceleration rate SE03

0.25 2.21 Deceleration rate SE04

0.26 1.14 Reference selector SE05

0.27 5.09 Armature rated voltage SE06

0.28 5.07 Motor rated current SE07

0.29 5.08 Base speed SE08

0.30 11.42 Parameter copying SE09

0.31 5.70 Rated field current SE10

0.32 5.73 Rated field voltage SE11

0.33 5.77 Enable field control SE12

0.34 5.12 Autotune SE13

0.35 11.44 Security status SE14

Configured by Pr 22.01 to Pr 22.20

Diagnostic

Menu 0 Parameter Description Display

0.36 1.01 Speed reference selected di01

0.37 1.03 Pre-ramp reference di02

0.38 2.01 Post ramp reference di03

0.39 3.01 Final speed reference di04

0.40 3.02 Speed feedback di05

0.41 3.04 Speed controller output di06

0.42 4.03 Torque demand di07

0.43 4.01 Current magnitude di08

0.44 5.56 Field current feedback di09

0.45 5.02 Armature voltage di10

0.46 1.11 Reference enabled indicator di11

0.47 1.12 Reverse selected indicator di12

0.48 1.13 Jog selected indicator di13

0.49 11.29 Software version di14

0.50 0.00 Spare

Trips

Menu 0 Parameter Description Display

0.51 10.20 Trip 0 tr01

0.52 10.21 Trip 1 tr02

0.53 10.22 Trip 2 tr03

0.54 10.23 Trip 3 tr04

0.55 10.24 Trip 4 tr05

0.56 10.25 Trip 5 tr06

0.57 10.26 Trip 6 tr07

0.58 10.27 Trip 7 tr08

0.59 10.28 Trip 8 tr09

0.60 10.29 Trip 9 tr10

Speed loop

Menu 0 Parameter Description Display

0.61 3.10

0.62 3.11

0.63 3.12

Speed controller proportional gain Speed controller integral gain Speed controller differential feedback gain

0.64 0.00 Spar e

0.65 0.00 Spar e

Serial interface

Menu 0 Parameter Description Display

0.66 11.25 Baud rate Si01

0.67 11.23 Serial address Si02

0.68 0.00 Spare

0.69 0.00 Spare

0.70 0.00 Spare

SP01

SP02

SP03

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Menu 0

0.04

0.05

0.06

Menu 2

2.21

Menu 1

1.14

Menu 4

4.07

5 0

150

Menu 22 Menu 23Menu 0 Menu 1 Menu 2

22.00

23.00

0.00

1.00

2.00

22.01

23.01

0.01

1.01

2.01

22.02

23.02

0.02

1.02

2.02

22.38

23.09

0.88

1.49

2.39

22.39

23.10

0.89

1.50

2.40

22.40

23.11

0.90

1.51

2.41

Moves

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Moves between Menus

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Speed feedback

Menu 0 Parameter Description Display

0.71 3.26 Speed feedback selector Fb01

0.72 3.51

Tachometer rating (V/ 1000rpm)

Fb02

0.73 3.53 Tachometer input mode Fb03

0.74 3.52

0.75 3.34

Tachometer speed feedback

Drive encoder lines per revolution

Fb04

Fb05

0.76 3.36 Encoder supply Fb06

0.77 3.38 Encoder type Fb07

0.78 3.39 Encoder termination select Fb08

0.79 3.27 Encoder speed feedback Fb09

0.80 0.00 Spare

Menu 0 Parameter Description Display

0.81 7.15 Analog input 3 mode in01

0.82 7.01 Analog input 1 in02

0.83 7.02 Analog input 2 in03

0.84 7.03 Analog input 3 in04

0.85 8.01 I/O state 1 in05

0.86 8.02 I/O state 2 in06

0.87 8.03 I/O state 3 in07

0.88 8.04 I state 4 in08

0.89 8.05 I state 5 in09

0.90 8.06 I state 6 in10

For more information on the sub block function please refer to the Mentor MP Advanced User Guide.

5.6 Menu structure

The drive parameter structure consists of menus and parameters.

The drive initially powers up in sub menu mode. Once Level 2 access (L2) has been enabled (refer to Pr 11.44 (SE14, 0.35)) the left and right buttons are used to navigate between numbered menus.

For further information, refer to section 5.13 Parameter access level and security on page 62.

Figure 5-7 Menu structure

The menus and parameters roll over in both directions.

For example:

• If the last parameter is displayed, a further press will cause the display to roll-over and show the first parameter.

• When changing between menus the drive remembers which parameter was last viewed in a particular menu and will display that parameter. The menus and parameters roll over in both directions.

5.5 Menu 0 (linear)

Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive.

Appropriate parameters are copied from the advanced menus into menu 0 and thus exist in both locations.

For further information, refer to section 5.3 Menu 0 (sub block) on page 58.

Figure 5-6 Menu 0 copying

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5.7 Advanced menus

The advanced menus consist of groups or parameters appropriate to a specific function or feature of the drive. Menus 0 to 23 can be viewed on both keypads. Menus 40 and 41 are specific to the MP-Keypad (LCD). Menus 70 to 91 can be viewed with an MP-Keypad (LCD) only when an SM-Applications module is installed.

Table 5-2 Advanced menu descriptions

Menu Description LED LCD

Commonly used basic set up parameters for quick

/ easy programming

1 Speed reference 99 2 Ramps 99 3 Speed feedback and speed control 99 4 Torque and current control 99 5 Motor control including field regulator 99 6 Sequencer and clock 99 7 Analog I/O 99 8 Digital I/O 99

Programmable logic, motorized pot and binary

sum

10 Status and trips 99 11 General drive set-up 99 12 Threshold detectors and variable selectors 99 13 Position control 99 14 User PID controller 99 15 Solutions Module set-up 99 16 Solutions Module set-up 99 17 Solutions Module set-up 99 18 Application menu 1 99 19 Application menu 2 99 20 Application menu 3 99 21 Second motor parameters 99 22 Menu 0 set-up - user area 99 23 Menu 0 sub block control 99 40 Keypad configuration menu X 9 41 User filter menu X 9 70 PLC registers X 9 71 PLC registers X 9 72 PLC registers X 9 73 PLC registers X 9

PLC registers X 9

74 75 PLC registers X 9 85 Timer function parameters X 9 86 Digital I/O parameters X 9 88 Status parameters X 9 90 General parameters X 9 91 Fast access parameters X 9

Key: 9= Available

X = Not available

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Table 5-3 Menu 40 parameter descriptions

Parameter

Range(

Ú)

40.00 Parameter 0 0 to 32767

40.01 Language selection

40.02 Software version

40.03 Save to flash

40.04 LCD contrast

English (0), Custom (1), French (2),

German (3), Spanish (4), Italian (5)

999999

Idle (0), Save (1), Restore (2),

Default (3)

0 to 31

Drive and attribute

40.05

database upload was

Updated (0), Bypass (1) bypassed Browsing favourites

40.06

control

40.07 Keypad security code Communication

40.08

channel selection

40.09 Hardware key code Drive node ID

40.10

(Address) Flash ROM memory

40.11

size String database

40.19

version number Screen saver strings

40.20

and enable

40.21 Screen saver interval Turbo browse time

40.22

interval

Normal (0), Filter (1)

0 to 999

Disable (0), Slot1 (1), Slot2 (2),

Slot3 (3), Slave (4), Direct (5)

0 to 999

0 to 255

4Mbit (0), 8Mbit (1)

0 to 999999

None (0), Default (1), User (2)

0 to 600

0 to 200ms

Unidrive SP (0),

40.23 Product identification

Commander SK (1), Mentor MP (2),

Affinity (4), Digitax ST (5)

Table 5-4 Menu 41 parameter descriptions

Parameter

Range(

Ú)

41.00 Parameter 0 0 to 32767

41.01 to

Browsing filter source F01 to

41.50

F50

Pr 0.00 to Pr 22.99

41.51 Browsing favourites control Normal (0), Filter (1)

5.8 Saving parameters

When changing a parameter in Menu 0, the new value is saved when

pressing the Mode button to return to parameter view mode from parameter edit mode.

If parameters have been changed in the advanced menus, then the change will not be saved automatically. A save function must be carried out.

Procedure

1. Enter SAVE in Pr xx.00

2. Either:

• Press the red reset button

• Toggle the reset digital input, or

• Carry out a drive reset through serial communications by setting Pr 10.38 to 100 (ensure that Pr xx.00 returns to 0).

5.9 Restoring parameter defaults

Restoring parameter defaults by this method saves the default values in the drive’s memory. (Pr 11.44 (SE14, 0.35) and Pr 11.30 are not affected by this procedure).

Procedure

1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 6.15 is OFF (0)

2. Select Eur or USA in Pr xx.00.

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Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.90

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.50 Pr 1.51

............

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.89 Pr 0.90

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.50 Pr 1.51

Pr 23.00

Pr 23.01

Pr 23.02

Pr 23.03

Pr 23.10

Pr 23.11

............

User security open

- All parameters: Read / Write access

User security closed

- All parameters: Read Only access

(except Pr ( )

11.44 SE14, 0.35

Pr 23.00

Pr 23.01

Pr 23.02

Pr 23.03

Pr 23.10

Pr 23.11

Pr 0.49

Pr 22.00

Pr 22.01

Pr 22.02

Pr 22.03

Pr 22.39

Pr 22.40

Pr 22.00

Pr 22.01

Pr 22.02

Pr 22.03

Pr 22.39

Pr 22.40

Information

3. Either:

• Press the red reset button

• Toggle the reset digital input, or

• Carry out a drive reset through serial communications by

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setting Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).

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5.10 Differences between European and USA defaults

Pr Description Default

2.06 S ramp enable Eur: OFF (0), USA: On (1)

Tachometer voltage rating

3.51 (Fb02, 0.72)

5.09,

Armature rated voltage

21.09

(SE06, 0.27)

Field weakening

5.28

compensation disable

5.59, Back emf set point 480V drive Eur: 440, USA:500

21.08

5.65 Economy timeout Eur: OFF (0), USA: On (1)

5.70,

Rated field current

21.24

(SE10, 0.31)

5.73,

Rated field voltage

21.23

(SE11, 0.32)

5.75 Field voltage mode Eur: OFF (0), USA: On (1)

Analog input 3 mode

7.15 (in01, 0.81)

Eur: 60.00, USA: 50.00

480V drive Eur: 440, USA:500

Eur: OFF (0), USA On (1)

Size 1: Eur: 2.00, USA: 8.00 Size 2A & B Eur: 3.00, USA:

20.00 Size 2C & D Eur: 5.00, USA 20.00

Eur: 360, USA: 300

Eur: th (8), USA: VOLt (6)

Optimization

Table 5-5 User security and parameter access levels

RW = Read / write access RO = Read only access

The default settings of the drive are parameter access level L1 and User Security Open, i.e. read / write access to Menu 0 with the advanced menus, not visible

SMARTCARD

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Parameter

access level

L1 Open Sub block RW Not visible

L1 Closed Sub block RO Not visible

L2 Open Linear RW RW

L2 Closed Linear RO RO

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5.13.1 User security

The user security, when set, prevents write access to any of the parameters (other than Pr

Figure 5-8 User security open

11.44 (SE14, 0.35

) Access Level) in any menu.

5.11 Displaying parameters with nondefault values only

Select dIS.dEf in Pr xx.00, the only parameters that will be visible to the user will be those containing a non-default value. This function does not require a drive reset to become active. To deactivate this function, return to Pr xx.00 and enter a value of 0.

Please note that this function can be affected by the access level enabled. You must refer to section 5.13 Parameter access level and security for more information regarding access level.

5.12 Displaying destination parameters

only

Select dIS.dESt in Pr xx.00, the only parameters that will be visible to the user will be destination parameters. This function does not require a drive reset to become active. To deactivate this function, return to Pr xx.00 and enter a value of 0.

Please note that this function can be affected by the access level enabled You must refer to section 5.13 Parameter access level and security for further information regarding access levels.

5.13 Parameter access level and security

The parameter access levels determine whether the user has access to Menu 0 (in sub block mode) only or to all of the advanced menus (Menus 1 to 23), in addition to Menu 0 (in linear mode).

The user security determines whether the access to the user is read only or read write.

The user security and the parameter access level can operate independently of each other as shown in Table 5-5 .

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5.13.2 Setting user security

Enter a value between 1 and 999 in Pr 11. 30 and press the button; the security code has now been set to this value. To activate the security, the access level must be set to Loc in Pr 11.44 (SE14, 0.35). When the drive is reset, the security code will have been activated and the drive returns to access level L1. The value of Pr 11.30 will return to 0 in order to hide the security code. At this point, the only parameter that can be changed by the user is the access level Pr 11.44 (SE14, 0.35).

5.13.3 Unlocking user security

Select a read write parameter to be edited and press the button; the upper display will now show CodE.

Use the arrow buttons to set the security code and press the button. With the correct security code entered, the display will revert to the parameter selected in edit mode. If an incorrect security code is entered the display will revert to parameter view mode.

To lock the user security again, set Pr 11. 44 (SE14, 0.35) to Loc and

press the reset button.

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5.13.4 Disabling user security

Unlock the previously set security code as detailed above. Set Pr 11. 30

to 0 and press the button. The user security has now been disabled, and will not have to be unlocked each time the drive is powered up to allow read / write access to the parameters.

5.14 Serial communications

5.14.1 Introduction

The Mentor MP has a standard 2-wire EIA485 interface (serial communications interface) which enables all drive set-up, operation and monitoring to be carried out with a PC or controller if required. Therefore, it is possible to control the drive entirely by serial communications without the need for a keypad or other control cabling. The drive supports two protocols selected by parameter configuration:

• Modbus RTU

• CT ANSI Modbus RTU has been set as the default protocol, as it is used with the PC-tools commissioning/start-up software as provided on the CD ROM.

The serial communications port of the drive is a RJ45 socket, which is isolated from the power stage and the other control terminals (see section 4.10 Serial communications connections on page 48 for connection and isolation details).

The communications port applies a 2 unit load to the communications network.

USB/EIA232 to EIA485 Communications

An external USB/EIA232 hardware interface such as a PC cannot be used directly with the 2-wire EIA485 interface of the drive. Therefore a suitable converter is required.

Suitable USB to EIA485 and EIA232 to EIA485 isolated converters are available from Control Techniques as follows:

• CT USB Comms cable (CT Part No. 4500-0096)

• CT EIA232 Comms cable (CT Part No. 4500-0087)

When using one of the above converters or any other suitable converter with the Mentor MP, it is recommended that no terminating resistors be connected on the network. It may be necessary to 'link out' the terminating resistor within the converter depending on which type is used. The information on how to link out the terminating resistor will normally be contained in the user information supplied with the converter.

5.14.2 Serial communications set-up parameters

The following parameters need to be set according to the system requirements.

11.24 Serial mode

RW Txt US

AnSI (0), rtU (1), Lcd (2)

This parameter defines the communications protocol used by the 485 comms port on the drive. This parameter can be changed via the drive keypad, via a Solutions Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original protocol. The master should wait at least 20ms before sending a new message using the new protocol. (Note: ANSI uses 7 data bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and no parity.)

Comms value String Communications mode

0AnSI ANSI

1 rtU Modbus RTU protocol

2Lcd

Modbus RTU protocol, but with a MPKeypad only

rtU (1)

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ANSIx3.28 protocol

Full details of the CT ANSI communications protocol are in the Mentor MP Advanced User Guide.

Modbus RTU protocol Full details of the CT implementation of Modbus RTU are given in the Mentor MP Advanced User Guide.

Modbus RTU protocol, but with an MP-Keypad only

This setting is used for disabling communications access when the MPKeypad is used as a hardware key.

Si01

{0.66/11.25}

Baud rate

RW Txt US

300 (0), 600 (1), 1200 (2),

2400 (3), 4800 (4), 9600 (5),

19200 (6), 38400 (7),

19200 (6)

57600 (8)*, 115200 (9)*

Used in all comms modes to define the baud rate.

Parameter value String/baud rate

0 300

1 600

2 1200

3 2400

4 4800

5 9600

6 19200

7 38400

8* 57600

9* 115200

* Only applicable to Modbus RTU mode

This parameter can be changed via the drive keypad, via a Solutions Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original baud rate. The master should wait at least 20ms before sending a new message using the new baud rate.

When using the CT EIA232 Comms cable the available baud rate is limited to 19.2k baud.

Si02

{0.67/11.23}

Serial address

RW Txt US

0 to 247

Used to define the unique address for the drive for the serial interface. The drive is always a slave.

ANSI

When the ANSI protocol is used the first digit is the group and the second digit is the address within a group. The maximum permitted group number is 9 and the maximum permitted address within a group is

9. Therefore, Pr 11. 23 (Si02, 0.67) is limited to 99 in this mode. The value 00 is used to globally address all slaves on the system, and x0 is used to address all slaves of group x, therefore these addresses should not be set in this parameter.

Modbus RTU

When the Modbus RTU protocol is used addresses between 0 and 247 are permitted. Address 0 is used to globally address all slaves, and so this address should not be set in this parameter.

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6 Basic parameters

The pre-defined sub blocks contain commonly used parameters for basic set-up of the Mentor MP. All parameters in the pre-defined sub blocks appear in other menus in the drive. (Denoted by {x.xx} in Table 6-1.)

Table 6-1 Pre-defined sub block parameters

Parameter

SE00 Parameter zero {0.21, x.00} 0 to 32,767 0 RW Uni SE01 Minimum reference clamp {0.22, 1.07} ±SPEED_LIMIT_MAX rpm 0.0 RW Bi PT US SE02 Maximum reference clamp {0.23, 1.06} SPEED_LIMIT_MAX rpm 1000.0 RW Bi US

SE03 Acceleration rate {0.24, 2.11}

SE04 Deceleration rate {0.25, 2.21}

SE05 Reference selector {0.26, 1.14}

SE06 Armature rated voltage {0.27, 5.09} 0 to ARMATURE_VOLTAGE_MAX Vdc

SE07 Motor rated current {0.28, 5.07} 0 to RATED_CURRENT_MAX A RATED_CURRENT_MAX RW Uni RA US SE08 Base speed {0.29, 5.08} 0.0 to 10,000.0 rpm 1000.0 RW Uni US

SE09 Parameter copying {0.30, 11.42}

SE10 Rated field current {0.31, 5.70} 0 to FIELD_CURRENT_SET_MAX

SE11 Rated field voltage {0.32, 5.73} 0 to 500 Vdc Eur: 360, USA: 300 RW Uni PT US SE12 Enable field control {0.33, 5.77} OFF (0) or On (1) OFF (0) RW Txt US SE13 Autotune {0.34, 5.12} 0 to 3 0 RW Uni NC SE14 Security status {0.35, 11.44} L1 (0), L2 (1), Loc (2) L1 (0) RW Txt PT US

di01 Speed reference selected {0.36, 1.01} ±MAX_SPEED_REF rpm RO Bi NC PT di02 Pre-ramp reference {0.37, 1.03} ±MAX_SPEED_REF rpm di03 Post ramp reference {0.37, 1.03} ±SPEED_MAX rpm di04 Final speed reference {0.39, 3.01} ±SPEED_MAX rpm di05 Speed feedback {0.40, 3.02} ±SPEED_MAX rpm

di06 Speed controller output {0.41, 3.04}

di07 Torque demand {0.42, 4.03}

di08 Current magnitude {0.43, 4.01} 0 to DRIVE_CURRENT_MAX A di09 Field current feedback {0.44, 5.56} ±50.00A

di10 Armature voltage {0.45, 5.02}

di11 Reference enabled indicator {0.46, 1.11} OFF (0) or On (1) di12 Reverse selected indicator {0.47, 1.13} OFF (0) or On (1) di13 Jog selected indicator {0.48, 1.14} OFF (0) or On (1) di14 Software version {0.49, 11.29} 1.00 to 99.99

tr01 Trip 0 {0.51, 10.20} tr02 Trip 1 {0.52, 10.21} RO Txt NC PT tr03 Trip 2 {0.53, 10.22} RO Txt NC PT tr04 Trip 3 {0.54, 10.23} RO Txt NC PT tr05 Trip 4 {0.55, 10.24} RO Txt NC PT tr06 Trip 5 {0.56, 10.25} RO Txt NC PT tr07 Trip 6 {0.57, 10.26} RO Txt NC PT tr08 Trip 7 {0.58, 10.27} RO Txt NC PT tr09 Trip 8 {0.59, 10.28} RO Txt NC PT tr10 Trip 9 {0.60, 10.29} RO Txt NC PT

(Kp1) Speed controller

SP01

proportional gains (Ki1) Speed controller

SP02

integral gains (Kd1) Speed controller

SP03

differential feedback gains

Si01 Serial comms baud rate {0.61, 11.25}

Si02 Serial comms address {0.67, 11.23} 0 to 247 1 RW Uni US

Fb01 Speed feedback selector {0.71, 3.26}

Fb02 Tachometer voltage rating {0.72, 3.51} 0 to 300.00 V/1000 rpm Eur: 60.00, USA: 50.00 RW Uni US Fb03 Tachometer input mode {0.73, 3.53} DC (0), DC Filt (1), AC (2) DC (0) RW Txt US Fb04 Tachometer speed feedback {0.74, 3.52} ±SPEED_MAX rpm

Drive encoder lines per

Fb05

revolution

{0.61, 3.10} 0.0000 to 6.5535 (1 / (rad/s)) 0.0300 RW Uni US

{0.62, 3.11} 0.00 to 655.35 (s / (rad/s)) 0.10 RW Uni US

{0.63, 3.12}

{0.75, 3.34} 1 to 50,000 1,024 RW Uni US

s/(SE02 [Pr 0.23, 1.06] or Pr 2.39)

A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), PAd

nonE (0), rEAd (1), ProG (2), Auto (3),

300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),

9600 (5), 19200 (6), 38400 (7), 57600 (8)**,

drv (0), Slot1 (1), Slot2 (2), Slot3 (3), tACHO

Range(

Ú) Default(Ö)

0 to MAX_RAMP_RATE

(4), Prc (5), PAd rEF (6)

boot (4)

±TORQUE_PRODUCT_

CURRENT_MAX rpm

±TORQUE_PROD_ CURRENT_MAX %

±ARMATURE_VOLTAGE_

MAX V

0 to 229

0.00000 to 0.65535 (1/s / (rad/s))

115200 (9)**

(4), Est SPEED (5)

5.000 RW Uni US

A1.A2 (0) RW Txt US

For 480V drive: 440 Eur 500 USA For 575V drive: 630 Eur 630 USA For 690V drive: 760 Eur 760 USA

nonE (0) RW Txt * NC

Size 1: Eur 2A, USA 8A

Size 2A/B: Eur 3A, USA 20A

Size 2C/D: Eur 5A, USA 20A

0.00000 RW Uni US

19200 (6) RW Txt US

Est SPEED (5) RW Txt US

RW Uni RA US

RW Uni PT US

RO Bi NC PT RO Bi NC PT RO Bi FI NC PT RO Bi FI NC PT

RO Bi FI NC PT

RO Uni FI NC PT RO Bi FI NC PT

RO Bi FI NC PT

RO Bit NC PT RO Bit NC PT RO Bit NC PT RO Uni NC PT RO Txt NC PT

RO Bi FI NC PT

Typ e

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Parameter

Fb06 Drive encoder supply voltage {0.76, 3.36} 5V (0), 8V (1), 15V (2), 24V (3) 5V (0) RW Txt US Fb07 Drive encoder type {0.77, 3.38} Ab (0), Fd (1), Fr (2) Ab (0) RW Txt US

Drive encoder termination select

Fb08

Drive encoder speed feedback

Fb09

in01 Analog input 3 mode {0.81, 7.15}

in02 Analog input 1 {0.82, 7.01} ±100.00 % in03 Analog input 2 {0.83, 7.02} ±100.0 % in04 Analog input 3 {0.84, 7.03} ±100.0 % in05 T24 digital I/O 1 state {0.85, 8.01} in06 T25 digital I/O 2 state {0.86, 8.02} RO Bit NC PT in07 T26 digital I/O 3 state {0.87, 8.03} RO Bit NC PT in08 T27 digital input 4 state {0.88, 8.04} RO Bit NC PT in09 T28 digital input 5 state {0.89, 8.05} RO Bit NC PT in10 T29 digital input 6 state {0.90, 8.06} RO Bit NC PT

{0.78, 3.39} 0 to 2 1 RW Uni US {0.79, 3.27} ±10,000.0 rpm RW Bi FI NC PT US

0-20 (0), 20-0 (1), 4-20.tr (2), 20-4.tr (3), 4-20

(4), 20-4 (5), VOLt (6), th.SC (7), th (8), th.

* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved.

** Only applicable to Modbus RTU mode.

Key:

Coding Attribute

{X.XX} Copied Menu 0 or advanced parameter

RW Read/write: can be written by the user

RO Read only: can only be read by the user

Bit 1 bit parameter: ‘On’ or ‘OFF’ on the display

Bi Bipolar parameter

Uni Unipolar parameter

Txt Text: the parameter uses text strings instead of numbers.

Filtered: some parameters which can have rapidly changing

values are filtered when displayed on the drive keypad for easy viewing.

Destination: This parameter selects the destination of an

input or logic function.

Rating dependent: this parameter is likely to have different values and ranges with drives of different voltage and current ratings. Parameters with this attribute will not be transferred to the destination drive by SMARTCARDs when

the rating of the destination drive is different from the source drive and the file is a parameter file. However, the value will be transferred if only the current rating is different and the file is a differences from default type file.

Not copied: not transferred to or from SMARTCARDs

during copying.

PT Protected: cannot be used as a destination.

User save: parameter saved in drive EEPROM when the

user initiates a parameter save.

Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) trip occurs. Power-

down save parameters are also saved in the drive when the user initiates a parameter save.

Range(

Ú) Default(Ö)

diSp (9)

OFF (0) or On (1)

th (8) RW Txt US

RO Bi NC PT RO Bi NC PT RO Bi NC PT RO Bit NC PT

Pr x.00 is available in all menus and has the following functions.

Value String Action

0 No Act No action 1 SAUE Save parameters 2 rEAd 1* Transfer SMART card data block 1 to the drive

3 PrOg 1*

Transfer drive parameters as difference from default to SMART card block number 1

4 rEAd 2* Transfer SMART card data block 2 to the drive

5 PrOg 2*

Transfer drive parameters as difference from default to SMART card block number 2

6 rEAd 3* Transfer SMART card data block 3 to the drive

7 PrOg 3*

Transfer drive parameters as difference from

default to SMART card block number 3 8 diS.diFF Display non-default values only 9 diS.dESt Display destination parameters only

10 Eur Load European defaults

11 USA Load USA defaults

12 rES OP Reset all Solution Modules 1000 1000 Save parameters 1070 1070 Reset all Solution Modules 1233 1233 Load European defaults 1244 1244 Load USA defaults 1255 1255 Load European defaults (excluding menus 15 to 20) 1256 1256 Load USA defaults (excluding menus 15 to 20)

Transfer drive parameter to a card and create a

2001 2001*

bootable difference from default SMART card block with data block number 1 and clear parameter

11.42. If data block 1 exists it is over written.

3yyy 3yyy*

4yyy 4yyy*

5yyy 5yyy*

Transfer drive parameters to SMART card block number yyy Transfer drive parameters as difference from default to SMART card block number yyy Transfer Onboard Applications Lite ladder

program to SMART card block number yyy 6yyy 6yyy* Transfer SMART card data block yyy to the drive 7yyy 7yyy* Erase SMART card data block yyy

Typ e

8yyy 8yyy* Compare drive data with SMART card block yyy

6.1 Full descriptions

6.1.1 Parameter x.00

SE00 {x.00} Parameter zero

RW Uni

0 to 32,767

9555 9555* Clear SMART card warning suppression flag 9666 9666* Set SMART card warning suppression flag 9777 9777* Clear SMART card read-only flag 9888 9888* Set SMART card read-only flag

9999 9999* Erase SMART card 12000** 12000** Display non-default values only 12001** 12001** Display destination parameters only

* See Chapter 9 SMARTCARD operation on page 81 for more information of these functions.

** These functions do not require a drive reset to become active. All other functions require a drive reset to initiate the function.

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6.1.2 Parameter x.00 reset

When an action is started by setting Pr x.00 to one of the above values and initiating a drive reset this parameter is cleared when the action is completed successfully. If the action is not started, e.g. because the drive is enabled and an attempt is made to load defaults, etc., Pr x.00 is not cleared and no trip is produced. If the action is started and then fails for some reason a trip is always produced and Pr x.00 is not cleared. It should be noted that parameter saves etc. can also be initiated with the copying parameter (Pr 11.42 (SE09, 0.30)). If actions that can be initiated by either parameter are started and then completed successfully Pr x.00 is cleared and Pr 11.42 (SE09, 0.30) is cleared if it has a value of less than 3.

It should be noted that there could be some conflict between the actions of Pr x.00 and Pr 11.42 (SE09, 0.30) Parameter copying when the drive is reset. If Pr 11.42 (SE09, 0.30) has a value of 1 or 2 and a valid action is required from the value of Pr x.00 then only the action required by Pr x.00 is performed. Pr x.00 and Pr 11.42 (SE09, 0.30) are then reset to zero. If Pr 11.42 (SE09, 0.30) has a value of 3 or 4 it will operate correctly causing parameters to be save to a SMARTCARD each time a parameter save is performed.

6.1.3 Set-up

SE01

{0.22, 1.07}

RW Bi PT US

±SPEED_LIMIT_MAX rpm

(When the drive is jogging, this parameter has no effect.)

Set

SE01

directions of rotation. The drive speed reference is scaled between (Pr

0.22, 1.07) and

SE02

{0.23, 1.06}

RW Bi US

(The drive has additional over-speed protection.)

Set

SE02

directions of rotation. The drive speed reference is scaled between (Pr

0.22, 1.07) and

SE03

{0.24, 2.11}

RW Uni US

Set SE03 (Pr 0.03, 2.11) at the required rate of acceleration.

Note that larger values produce lower acceleration. The rate applies in both directions of rotation.

SE04

{0.25, 2.21}

RW Uni US

Set Pr SE04 (Pr 0.25, 2.21) at the required rate of deceleration.

Note that larger values produce lower deceleration. The rate applies in both directions of rotation.

Minimum reference clamp

(Pr

0.22, 1.07) at the required minimum motor speed for both

SE02

(Pr

0.23, 1.06).

0.0

Maximum reference clamp

SPEED_LIMIT_MAX rpm

(Pr

0.23, 1.06

) at the required maximum motor speed for both

SE02

(Pr

0.23, 1.06

1000.0

Acceleration rate

0 to MAX_RAMP_RATE

s/(SE02 [Pr 0.23, 1.06] or

5.000

Pr 2.39)

Deceleration rate

0 to MAX_RAMP_RATE

s/(SE02 [Pr 0.23, 1.06] or

5.000

Pr 2.39)

SE01

SE05

{0.26, 1.14}

Reference selector

RW Txt US

A1.A2 (0), A1.Pr (1), A2.Pr (2),

Pr (3), PAd (4), Prc (5), PAd

A1.A2 (0)

rEF (6)

Defines how the value of Pr 1.49 is derived as follows:

Val ue o f

Pr 1.14

Display String Pr 1.49

A1.A2 (Analog ref 1. Analog ref 2) A1.Pr (Analog ref 1. Preset speeds) A2.Pr (Analog ref 2. Preset speeds)

*Selected by

terminal input

3 Pr (Preset speeds) 3

4 Pad (Keypad reference) 4

5 Prc (Precision reference) 5

6 Pad rEF 6

*Pr 1.41 to Pr 1.44 and Pr 1.52 can be controlled by digital inputs to force the value of Pr 1.49:

When all bits = 0, Pr 1.49 =1

Pr 1.41 = 1 then Pr 1.49 = 2 Pr 1.42 = 1 then Pr 1.49 = 3 Pr 1.43 = 1 then Pr 1.49 = 4 Pr 1.44 = 1 then Pr 1.49 = 5 Pr 1.52 = 1 then Pr 1.49 = 6

The bit parameters with lower numbers have priority over those with higher numbers.

Pr 1.49 and Pr 1.50 then define the reference as follows:

Pr 1.49 Pr 1.50 Reference

1 1 Analog reference 1 (Pr 1.36) 1 >1 Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28) 2 1 Analog reference 2 (Pr 1.37) 2 >1 Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28) 3 x Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28) 4 x Keypad reference (Pr 1.17) 5 x Precision reference (Pr 1.18 and Pr 1.19) 6 x Keypad reference only

x = any value

Keypad reference

If Keypad reference is selected the drive sequencer is controlled directly by the keypad keys and the keypad reference parameter (Pr 1.17) is selected. The sequencing bits, Pr 6.30 to Pr 6.34, have no effect and jog is disabled.

SE06

{0.27, 5.09}

Armature rated voltage

RW Uni RA US

For 480V drive: 440 Eur,

0 to

ARMATURE_VOLTAGE_MAX

Vdc

500 USA

For 575V drive: 630 Eur,

630 USA

For 690V drive: 760 Eur,

760 USA

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SE07

{0.28, 5.07}

Motor rated current

RW Uni RA US

0 to RATED_CURRENT_MAX

RATED_CURRENT_MAX

The rated current should be set at the motor nameplate value for rated current. The value of this parameter is used in the following:

• Current limits

• Motor thermal protection

SE08

{0.29, 5.08}

Base speed

RW Uni US

0.0 to 10,000.0 rpm

1000.0

The rated speed defines the base speed of the motor. It is also to determine the speed used in the auto tuning inertia test (see [Pr

0.34, 5.12

SE09

{0.30, 11.42}

]).

Parameter copying

SE13

RW Txt NC *

nonE (0), rEAd (1), ProG (2),

Auto (3), boot (4)

nonE (0)

* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved.

If SE09 (Pr 0.30, 11.4 2) is equal to 1 or 2 this value is not transferred to the EEPROM or the drive. If SE09 (Pr 0.30, 11.42 ) is set to a 3 or 4 the value is transferred.

String

value

Comment

nonE 0 Inactive

rEAd 1 Read parameter set from the SMARTCARD

ProG 2 Programming a parameter set to the SMARTCARD

Auto 3 Auto save

boot 4 Boot mode

For further information, refer to Chapter 9 SMARTCARD operation on page 81.

SE10

{0.31, 5.70}

Rated field current

RW Uni PT US

FIELD_CURRENT_SET_MAX

0 to

Size 1: Eur 2A, USA 8A

Size 2A/B: Eur 3A, USA 20A

Size 2C/D: Eur 5A, USA 20A

This parameter will be set to the field current of the motor and will define the rated field current for the field controller.

SE11

{0.32, 5.73}

Rated field voltage

RW Uni PT US

0 to 500 Vdc

Eur: 360, USA: 300

The maximum voltage the field controller is allowed to generate.

SE12

{0.33, 5.77}

Enable field control

RW Txt US

OFF (0) or On (1)

OFF (0)

When this parameter is set to 0 the internal and external field controllers are disabled. Setting the parameter to 1 enables the internal or external field controller.

SE13

{0.34, 5.12}

Autotune

RW Uni NC

0 to 3

If this parameter is set to a non-zero value, the drive is enabled and a run command is applied in either direction the drive performs an autotune test. All tests that rotate the motor are carried out in the forward direction if di12 (Pr 0.47, 1.12) = 0 or the reverse direction if di12 (Pr 0.47, 1.12) = 1. For example, if the test is initiated by applying run reverse (Pr 6.32 = 1) the test is performed in the reverse direction. The test will not start unless the drive is disabled before the test is initiated by applying the enable or run, i.e. it will not start if the drive is in the stop state. It is not possible to go into the stop state if di12 (Pr 0.47, 1.12) has a non-zero value.

When the test is completed successfully the drive is disabled and will enter the inhibit state. The motor can only be restarted if the enable is removed either from the enable input, or Pr 6.15 is set to zero or from the control word (Pr 6.42) if it is active.

Value

Autotune function

0 None

1 Static autotune for current loop gains

2 Spinning autotune for motor saturation break points

3 Spinning autotune for inertia measurement

Static autotune for current loop gains

When this operation is performed, the drive will estimate the following, with respect to the selected motor map, and store the values:

Motor constant (Pr 5.15) Continuous proportional gain (Pr 4.13) Continuous integral gain (Pr 4.14) Discontinuous integral gain (Pr 4.34) Back EMF set point (Pr 5.59) Armature resistance (Pr 5.61) Flux loop I gain (Pr 5.72)

Spinning autotune for motor saturation break points

When this operation is performed, the drive will estimate the following, with respect to the selected motor map, and store the values:

Motor saturation break points (Pr 5.29, Pr 5.30), by spinning the motor at 25% of it’s base speed (Pr 5.06)

Field current compensation factor (Pr 5.74)

Spinning autotune for inertia measurement

The drive can measure the total inertia of the load and motor. This is used to set the speed loop gains. See Pr 3.17 Speed controller setup method = 1 (bandwidth setup). During the inertia measurement test the

drive attempts to accelerate the motor to

/4 rated speed then back to a standstill. Several attempts may be made, starting with rated torque/16,

and then increasing the torque progressively to x

/8, x1/4, x1/2, and x 1

rated torque if the motor cannot be accelerated to the required speed. If the required speed is not achieved on the final attempt the test is aborted and a tuNE 1 trip is initiated. If the test is successful the acceleration and deceleration times are used to calculate the motor and load inertia and a value is written to Pr 3.18 Motor and load inertia.

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Filter defined by Pr

3.42

16ms filter

From the drive encoder port

Speed controller

Drive encoder reference system

di05

0.40, 3.02

Fb09

0.79, 3.27

(Pr ) and

(Pr )

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SE14

{0.35, 11.44}

Security status

RW Txt PT US

L1 (0), L2 (1), Loc (2)

L1 (0)

This parameter controls access via the drive keypad as follows:

Value String Action

0 L1 Only menu 0 can be accessed 1 L2 All menus can be accessed

2 Loc

Lock user security when drive is reset. (This parameter is set to L1 after reset.)

The keypad can adjust this parameter even when user security is set.

6.1.4 Diagnostic

di01

{0.36, 1.01}

RO Bi NC PT

di02

{0.37, 1.03}

RO Bi NC PT

Speed reference selected

±MAX_SPEED_REF rpm

Pre-ramp reference

±MAX_SPEED_REF rpm

Position feedback device ELPR

Ab number of lines per revolution

Fd, Fr number of lines per revolution / 2

For example a 4096 line Ab type encoder gives a ripple level of 0.23rpm.

The 16ms sliding window filter is always applied to the value shown in di05 (Pr 0.40, 3.02), but this sliding window filter is not normally applied to the actual speed feedback used by the speed controller or the drive encoder reference system (Pr 3.43 to Pr 3.46). The user may apply a filter to the speed controller input and the

drive encoder reference system input if required by setting Pr 3.42 to the required filter time. The encoder ripple seen by the speed controller is given by:

Encoder speed ripple = 60 / Filter time / (ELPR x 4)

If Pr 3.42 is set to zero (no filter) the ripple seen by the speed controller and drive encoder reference system is given by:

Encoder speed ripple = 60 / 250μs / (ELPR x 4)

Figure 6-1 Speed feedback filter arrangement

di03

{0.38, 2.01}

Post ramp reference

RO Bi NC PT

{0.39, 3.01}

±SPEED_MAX rpm

di04

Final speed reference

RO Bi FI NC PT

±SPEED_MAX rpm

This is the final speed demand at the input to the speed regulator formed by the sum of the ramp output and the hard speed reference (if the hard speed reference is enabled). If the drive is disabled this parameter will show 0.0.

di05

{0.40, 3.02}

Speed feedback

RO Bi FI NC PT

±SPEED_MAX rpm

The speed feedback can be taken from the drive encoder port or tachometer or armature voltage or a position feedback module installed in any slot as selected with Fb01 (Pr 0.71, 3.26). di05 (Pr 0.40, 3.02) shows the level of the speed feedback selected for the speed controller. Display filtering is active when this parameter is viewed with one of the drive keypads. The value held in the drive parameter (accessible via comms or an option module) does not include this filter, but is a value that is obtained over a sliding 16ms period to limit the ripple seen in this parameter value. The speed feedback value includes encoder quantization ripple given by the following equation:

Ripple in di05 (Pr 0.40, 3.02) = 60 / 16ms / (ELPR x 4)

Where ELPR is the equivalent encoder lines per revolution as defined

overleaf:

Figure 6-1 shows the filter arrangement. It should be noted that the same filtering is provided at the speed controller input and for di05 (Pr 0.40, 3.02) when the feedback is obtained from an option module, but the variable length window filter is controlled by Pr x.19.

It is not advisable to set the speed feedback filter too high unless it is specifically required for high inertia applications with high controller gains because the filter has a non-linear transfer function. It is preferable to use the current demand filters (see Pr 4.12 or Pr 4.23) as these are linear first order filters that provide filtering on noise generated from both the speed reference and the speed feedback. It should be noted that any filtering included within the speed controller feedback loop, either on the speed feedback or the current demand, introduces a delay and limits the maximum bandwidth of the controller for stable operation.

The speed ripple can be quite high, for example with a 4096 line encoder the speed ripple is 14.6rpm, but this does not define the resolution of the speed feedback which is normally much better and depends on the length of the measuring period used to obtain the feedback. This is shown in the improved resolution of the value accessible in di05 (Pr

0.40, 3.02) which is measured over 16ms, i.e. a resolution of

0.23rpm with a 4096 line encoder. The speed controller itself accumulates all pulses from the encoder, and so the speed controller resolution is not limited by the feedback, but by the resolution of the speed reference. If a SINCOS encoder is used from an option the

encoder speed ripple is reduced by a factor of 2

(2-Interpolation bits)

. For example with the nominal 10 bits of interpolation information, the speed ripple is reduced by a factor of 256. This shows how a SINCOS encoder can reduce noise caused by encoder quantization without any filtering in the speed feedback or the current demand, so that high gains may be used to give high dynamic performance and a very stiff system.

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di06

{0.41, 3.04}

RO Bi FI NC PT

The output of the speed regulator is a torque demand given as a percentage of rated motor torque. This is then modified to account for changes in motor flux if field weakening is active, and then used as the torque producing current reference.

di07

{0.42, 4.03}

RO Bi FI NC PT

The torque demand can be derived from the speed controller and/or the torque reference and offset. The units of the torque demand are a % of rated torque.

di08

{0.43, 4.01}

RO Uni FI NC PT

0 to DRIVE_CURRENT_MAX

The current feedback signal is derived from internal current transformers. It is used for closed loop control and indication of the armature current, and to initiate motor protection.

di09

{0.44, 5.56}

RO Bi FI NC PT

Indicates the field current feedback in 0.01 amperes.

di10

{0.45, 5.02}

RO Bi FI NC PT

±ARMATURE_VOLTAGE_

The average measured DC output voltage seen across the drive A1 and A2 terminals or the average measured DC output voltage seen across the motor. Selected by Pr 5.14.

The armature voltage feedback has a resolution of 10-bit plus sign.

di11

{0.46, 1.11}

di12

{0.47, 1.13}

di13

{0.48, 1.14}

RO Bit NC PT

These parameters are controlled by the drive sequencer as defined in Menu 6. They select the appropriate reference as commanded by the drive logic. di11 (Pr 0.46, 1.11) will be active if a run command is given, the drive is enabled and the drive is ok. This parameter can be used as an interlock in a Onboard PLC or SM-Applications program to show that the drive is able to respond to a speed or torque demand.

Speed controller output

±TORQUE_PRODUCT_

CURRENT_MAX rpm

Torque demand

±TORQUE_PROD_

CURRENT_MAX %

Current magnitude

Field current feedback

±50.00A

Armature voltage

MAX V

Reference enabled indicator

Reverse selected indicator

Jog selected indicator

OFF (0) or On (1)

di14

{0.49, 11.29}

RO Uni NC PT

The parameter displays the software version of the drive.

Software version

1.00 to 99.99

6.1.5 Trips

tr01

{0.51, 10.20}

tr02

{0.52, 10.21}

tr03

{0.53, 10.22}

tr04

{0.54, 10.23}

tr05

{0.55, 10.24}

tr06

{0.56, 10.25}

tr07

{0.57, 10.26}

tr08

{0.58, 10.27}

tr09

{0.59, 10.28}

tr10

{0.60, 10.29}

RO Txt NC PT PS

Contains the last 10 drive trips. tr01 (Pr 0.51, 10.20) is the most recent trip and tr10 (Pr 0.60, 10.29) the oldest. When a new trip occurs all the parameters move down one, the current trip is put in tr01 (Pr 0.51,

10.20) and the oldest trip is lost from the bottom of the log. Descriptions of the trips are given in Table 13-1 on page 167. All trips are stored, including HF trips numbered from 20 to 29. (HF trips with numbers from 1 to 16 are not stored in the trip log.) Any trip can be initiated by the actions described or by writing the relevant trip number to Pr 10.38. If any trips shown as user trips are initiated the trip string is "txxx", where xxx is the trip number.

Trip 0

Trip 1

Trip 2

Trip 3

Trip 4

Trip 5

Trip 6

Trip 7

Trip 8

Trip 9

0 to 229

6.1.6 Speed loop

SP01

{0.61, 3.10}

RW Uni US

0.0000 to 6.5535 (1 / (rad/s))

SP01 (Pr 0.61/3.10) operates in the feed-forward path of the speedcontrol loop in the drive. See Figure 11-3 on page 102 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization on page 78.

SP02

{0.62, 3.11}

RW Uni US

0.00 to 655.35 (s / (rad/s))

SP02 (Pr 0.62, 3.11) operates in the feed-forward path of the speed- control loop in the drive. See Figure 11-3 on page 102 for a schematic of

(Kp1) Speed controller proportional gains

(Ki1) Speed controller integral gains

0.0300

0.1

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the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization on page 78.

{0.63, 3.12}

RW Uni US

SP03 (Pr 0.63, 3.12) operates in the feed-forward path of the speed- control loop in the drive. See Figure 11-3 on page 102 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization on page 78.

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SP03

(Kd1) Speed controller differential feedback gains

0.00000 to 0.65535 (1/s / (rad/s))

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6.1.7 Serial interface

Si01

{0.61, 11.25}

RW Txt US

2400 (3), 4800 (4), 9600 (5),

* only applicable to Modbus RTU mode

Si02

{0.67, 11.23}

RW Uni US

Used to define the unique address for the drive for the serial interface. The drive is always a slave.

Modbus RTU

When the Modbus RTU protocol is used addresses between 0 and 247 are permitted. Address 0 is used to globally address all slaves, and so this address should not be set in this parameter

ANSI

9. Therefore, Si02 (Pr 0.67, 11.23) is limited to 99 in this mode. The value 00 is used to globally address all slaves on the system, and x0 is used to address all slaves of group x, therefore these addresses should not be set in this parameter.

Serial comms baud rate

300 (0), 600 (1), 1200 (2),

19200 (6), 38400 (7),

57600 (8)*, 115200 (9)*

Serial comms address

0 to 247

19200 (6)

6.1.8 Speed feedback

Fb01

{0.71, 3.26}

RW Txt US

drv (0), Slot1 (1), Slot2 (2),

0, drv: Drive encoder

The position feedback from the encoder connected to the drive itself is used to derive the speed feedback for the speed controller and to calculate the motor rotor flux position.

1, Slot1: Solutions Module in slot 1

The position feedback from the Solutions Module in Solutions Module slot 1 is used to derive the speed feedback for the speed

Speed feedback selector

Slot3 (3), tACHO (4), Est

SPEED (5)

Est SPEED (5)

Optimization

2, Slot2: Solutions Module in slot 2

3, Slot3: Solutions Module in slot 3

4, tACHO: Tachometer

5, ESt.SPEED: Estimated speed

Defines the rating of the tachometer installed to the motor. This parameter should be set slightly above or below the nominal value if the user wishes to trim out the tolerance build ups in the feedback electronics.

The input electronics for the tachometer input can be configured in 3 ways.

Provided the tachometer voltage rating parameter for the tachometer is correct this parameter shows the tachometer speed in rpm.

SMARTCARD

operation

controller and to calculate the motor rotor flux position. If a position feedback category Solutions Module is not installed in slot 1 the drive produces an EnC9 trip.

Fb02

{0.72, 3.51}

RW Uni US

0 to 300.00 V/1000 rpm

Fb03

{0.73, 3.53}

RW Txt US

DC (0), DC Filt (1), AC (2)

Value Text Action

0 DC DC tachometer

1 DC Filt DC tachometer with input filter

2 AC AC tachometer

Fb04

{0.74, 3.52}

RO Bi FI NC PT

±SPEED_MAX rpm

Fb05

{0.75, 3.34}

RW Uni US

When Ab, Fd, Fr are used the equivalent number of encoder lines per revolution must be set-up correctly in Fb05 (Pr 0.75, 3.34) to give the correct speed and position feedback. This is particularly important if the encoder is selected for speed feedback with Fb01 (Pr 0.71, 3.26). The equivalent number of encoder lines per revolution (ELPR) is defined as follows.:

Position feedback device ELPR

Ab number of lines per revolution

Fd, Fr number of lines per revolution / 2

The incremental (A/B) signal frequency should not exceed 500kHz. If Fb05 is changed the encoder is re-initialized.

Onboard

Tachometer voltage rating

Tachometer input mode

PLC

Advanced

parameters

Technical

data

Eur: 60.00, USA: 50.00

Tachometer speed feedback

Drive encoder lines per revolution

1 to 50,000

Diagnostics

DC (0)

1,024

information

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Fb06

{0.76, 3.36}

RW Txt US

5V (0), 8V (1), 15V (2), 24V (3)

The encoder supply voltage present on the drive encoder connector is defined by this parameter as 0 (5V), 1 (8V), 2 (15V) or 3 (24V)

Fb07

{0.77, 3.38}

RW Txt US

The following encoders can be connected to the drive encoder port.

0, Ab: Quadrature incremental encoder, with or without marker pulse.

1, Fd: Incremental encoder with frequency and direction outputs, with or

without marker pulse.

2, Fr: Incremental encoder with forward and reverse outputs, with or without marker pulse.

Fb08

{0.78, 3.39}

RW Uni US

The terminations may be enabled/disabled by this parameter as follows:

Encoder

input

A-A\ Disabled Enabled Enabled B-B\ Disabled Enabled Enabled

Z-Z\ Disabled Disabled Enabled

Fb09

{0.79, 3.27}

RW Bi FI NC PT US

Provided the set-up parameters for the drive encoder are correct this parameter shows the encoder speed in rpm.

It should be noted that the value shown by this parameter is measured over a 16ms sliding window period (in the same way as di05 (Pr 0.40,

3.02)), and so the ripple in this parameter accessible via comms or by an option module is as defined for di05 (Pr 0.40, 3.02). The FI attribute for this parameter is set, and so further filtering is applied when this parameter is viewed with one of the drive keypads.

Drive encoder supply voltage

Drive encoder type

Ab (0), Fd (1), Fr (2)

Drive encoder termination select

0 to 2

Fb08

{0.78, 3.39} = 0

Drive encoder speed feedback

±10,000.0 rpm

{0.78, 3.39} = 1

Fb08

5V (0)

Ab (0)

Fb08

{0.78, 3.39} = 2

6.1.9 I/O

in01

{0.81, 7.15}

RW Txt US

0-20 (0), 20-0 (1), 4-20.tr (2), 20-4.tr (3), 4-20 (4), 20-4 (5),

VOLt (6), th.SC (7), th (8), th.

The following modes are available for the analog input 3. A current loop loss trip is generated if the input current falls below 3mA. In modes 4 and 5 the analog input level goes to 0.0% if the input current falls below 3mA.

Analog input 3 mode

diSp (9)

Eur: th (8), USA: VOLt (6)

Parameter

value

0 0-20 0 - 20mA

1 20-0 20 - 0mA

2 4-20.tr

3 20-4.tr

44-20

5 20-4

6 VOLt Voltage mode

7th.SC

8th

9th.diSp

In modes 2 and 4 the destination parameter is at a value equivalent to

0.0% when the input current is less than 4mA. In modes 3 and 5 the destination parameter is at a value equivalent to 100.0% when the input current is less than 4mA.

in02

{0.82, 7.01}

RO Bi NC PT

in03

{0.83, 7.02}

RO Bi NC PT

in04

{0.84, 7.03}

RO Bi NC PT

When analog input 3 is in thermistor mode the display indicates the resistance of the thermistor as a percentage of 10kΩ.

in05

{0.85, 8.01}

in06

{0.86, 8.02}

in07

{0.87, 8.03}

in08

{0.88, 8.04}

in09

{0.89, 8.05}

in10

{0.90, 8.06}

RO Bit NC PT

Parameter

string

4 -20mA with trip on

20 - 4mA with trip on

4 - 20mA with no trip

20 - 4mA with no trip

Thermistor with short

Thermistor without

short circuit detection

Thermistor display

Analog input 1

±100.00 %

Analog input 2

±100.0 %

Analog input 3

±100.0 %

T24 digital I/O 1 state

T25 digital I/O 2 state

T26 digital I/O 3 state

T27 digital input 4 state

T28 digital input 5 state

T29 digital input 6 state

OFF (0) or On (1)

Mode Comments

loss

on loss

circuit detection

only with no trip

Trip if I < 3mA

0.0% if I < 4mA

TH trip if R > 3k3 TH reset if R < 1k8 THS trip if R < 50R

TH trip if R > 3k3 TH reset if R < 1k8

OFF (0) = Terminal inactive

On (1) = Terminal active

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7 Running the motor

This chapter takes the new user through all the essential steps to running a motor for the first time, in each of the possible operating modes.

Ensure that no damage or safety hazard could arise from the motor starting unexpectedly.

The values of the motor parameters affect the protection of the motor. The default values in the drive should not be relied upon. It is essential that the correct value is entered in Pr 5.07 (SE07, 0.28) Motor rated current. This affects the thermal protection of the motor.

If the keypad mode has been used previously, ensure that

the keypad reference has been set to 0 using the

buttons as if the drive is started using the keypad it will run to the speed defined by the keypad reference (Pr 1.17).

If the intended maximum speed affects the safety of the machinery, additional independent over-speed protection must be used.

Running

the motor

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Table 7-1 Minimum control connection requirements for each

control mode

Drive control method Requirements

Drive enable

Terminal mode

Speed reference Run forward or run reverse command

Keypad mode Drive enable

Serial communications

Drive enable Serial communications link

Refer to Figure 4-1 Power connections for 480V drive on page 33 for minimum connections to get a motor running.

72 Mentor MP User Guide

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XXXXXXXXXXXXXXXXXXXXXXXXXX

XXXXXXXXX

XXXXXXX

XXX XXXXX

XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

XXXXXXXXXXXXXXXXXXXXXXXXXX XXXXXXXXXXXXXXXXXXXXXXXXXX XXXXXXXXXXXXXXXXXXXXXXXXXX

Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

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SE03

SE04

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7.1 Quick start commissioning / start-up (from European defaults)

Action Detail

Ensure:

• Drive Enable signal is not given (terminal 31)

Before power-up

Power-up the drive

Enter motor nameplate details

• Run signal is not given

• Motor connected

• Tacho connected if one is being used

• Encoder connected if one is being used

Ensure:

• Drive displays ‘inh’

The drive will trip ‘th’ (Motor thermistor trip) if no motor thermistor is connected to analog input 3 (terminal 8). If the motor protection is not connected to the drive, the ‘th’ trip can be disabled by setting Pr 7.15 (in01, 0.81) (analog input 3 mode) to VOLt.

For drive trips, see Chapter 13 Diagnostics on page 167.

Enter:

• Armature rated voltage in Pr 5.09 (SE06, 0.27) (V)

• Motor rated current in Pr 5.07 (SE07, 0.28) (A)

• Motor rated speed (base speed) in Pr 5.08 (SE08, 0.29) (rpm)

• Field rated current in Pr 5.70 (SE10, 0.31) (A)

• Field rated voltage in Pr 5.73 (SE11, 0.32) (V)

Incremental encoder basic set-up

Enter:

• Drive encoder type in Pr 3.38 (Fb07, 0.77) = Ab (0): Quadrature encoder

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Set motor feedback parameters

Set maximum speed

Set acceleration / deceleration rates

Enable the field controller

• Encoder power supply in

If output voltage from the encoder is >5V, then the termination resistors must be disabled

(Fb08, 0.78)

Pr 3.36 (Fb06, 0.76)

to 0.

= 5V (0), 8V (1), 15V (2) or 24V (3)

Pr 3.39

• Drive encoder lines per revolution (LPR) in Pr 3.34 (Fb05, 0.75) (set according to encoder)

• Drive encoder termination resistor setting in Pr 3.39 (Fb08, 0.78)

0 = A-A\, B-B\, Z-Z\ termination resistors disabled 1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled 2 = A-A\, B-B\, Z-Z\ termination resistors enabled

Tachometer set-up

Enter:

• Tachometer voltage rating Pr 3.51 (Fb02, 0.72) (V/1000 rpm)

• Tachometer input mode Pr 3.53 (Fb03, 0.73)

Enter:

• Maximum speed in Pr 1.06 (SE02, 0.23) (rpm)

•Set Pr 5.64 = On If field weakening is required

For field weakening in Estimated Speed Mode please refer to Chapter8 Optimization on page 78

Enter:

• Acceleration rate in Pr 2.11 (SE03, 0.24) (time to accelerate to maximum speed)

• Deceleration rate in Pr 2.21 (SE04, 0.25) (time to decelerate from maximum speed)

Field controller set-up

• Select field mode by setting Pr 5.78 = IntrnL (Internal field controller is used), Etrnl (External half control), E FULL (External in full control).

•Set Pr 5.77 (SE12, 0.33) = On to enable the field.

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A rotating autotune will cause the motor to accelerate up to 1/4 base speed in the direction selected

regardless of the reference provided. Once complete the motor will coast to a stop. The enable signal must be removed before the drive can be made to run at the required reference.

The drive can be stopped at any time by removing the run signal or removing the drive enable.

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Action Detail

Mentor MP is able to perform either a static, rotating or continuous autotune. The motor must be at a standstill before an autotune is enabled.

Static autotune for current loop gains

When this operation is performed the drive will perform an estimation of Motor constant (Pr 5.15), Continuous proportional gain (Pr 4.13), Continuous integral gain (Pr 4.14), Discontinuous integral gain (Pr 4.34), Back EMF set point (Pr 5.59), Armature resistance (Pr 5.61) and Flux loop I gain (Pr 5.72) with respect to the

Static autotune

selected motor map and store the values.

To perform a static autotune:

•Set Pr 5.12 (SE13, 0.34)= 1

• Close the Drive Enable signal (terminal 31). The drive will display ‘rdY’

• Close the run signal (terminal 26 or 27). The lower display will flash ‘Auto’ and ‘tunE’ alternatively, while the drive is performing the autotune

• Remove the enable signal when the autotune has finished

• Remove the run signal

• Close the enable signal. Close the run signal (terminal 26 or 27). Provide speed reference to run the drive up to a low speed, the drive will regulate its own estimated speed.

• Check that the feedback device is functioning correctly:

For encoder speed feedback - Check encoder speed feedback Pr 3.27 (Fb09, 0.79).

Checking speed feedback

For tachometer speed feedback - Check tachometer speed feedback Pr 3.52 (Fb04, 0.74).

• When the feedback device being used is seen to be functioning correctly, stop the drive and select the correct feedback device using Pr 3.26 (Fb01, Pr 0.71)

For improved estimated speed accuracy and torque control in the field weakening range a rotating autotune is recommended to determine the motor flux characteristics Pr 5.12 (SE13, 0.34) = 2

Mentor MP is able to perform either a static, rotating or continuous autotune. The motor must be at a standstill before an autotune is enabled.

A rotating autotune cannot be carried out in Estimated speed mode.

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Rotating autotune

Save parameters

Run

Rotating autotune for motor field flux set-up

When selected the drive will determine the rated field compensation factor (Pr 5.74) for rated flux and the motor field winding saturation break-points (Pr 5.29 and Pr 5.30), by spinning the motor at 25% of its base speed (Pr 5.08) with respect to the selected motor map and store the values.

To perform an autotune:

•Set Pr 5.12 (SE13, 0.34) = 2 for a rotating autotune

• Close the Drive Enable signal (terminal 31). The drive will display ‘rdY’

• Close the run signal (terminal 26 or 27). The lower display will flash ‘Auto’ and ‘tunE’ alternatively, while the drive is performing the autotune

• Wait for the drive to display ‘inh’ and for the motor to come to a standstill

If the drive trips, see Chapter 13 Diagnostics on page 167.

• Remove the drive enable and run signal from the drive.

Select SAVE in Pr xx.00 (SE00, 0.21)

Press the red reset button or toggle the reset digital input (ensure Pr xx.00 (SE00, 0.21) returns to ‘no Act’).

Drive is now ready to run

• Close enable signal

• Close run signal

• Provide speed reference

74 Mentor MP User Guide

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XXXXXXX

XXX XXXXX

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XXXXXXXXXXXXXXXXXXXXXXXXXX XXXXXXXXXXXXXXXXXXXXXXXXXX XXXXXXXXXXXXXXXXXXXXXXXXXX

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SE04

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Onboard

7.2 Quick start commissioning / start-up (from USA defaults)

Action Detail

Ensure:

• Drive Enable signal is not given (terminal 31)

Before power-up

Power-up the drive

• Run signal is not given

• Motor connected

• Tacho connected if one is being used

• Encoder connected if one is being used

Ensure:

• Drive displays ‘inh’

Motor thermistor input is disabled by default. If motor thermistor is available the thermistor should be used. The protection is enabled with Pr 7.15 (in01, 0.81).

For drive trips, see Chapter 13 Diagnostics on page 167.

PLC

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Technical

data

Diagnostics

information

Enter motor nameplate details

Set motor feedback parameters

Set maximum speed

Enter:

• Armature rated voltage in Pr 5.09 (SE06, 0.27) (V)

• Motor rated current in Pr 5.07 (SE07, 0.28) (A)

• Motor rated speed (base speed) in Pr 5.08 (SE08, 0.29) (rpm)

• Field rated voltage in Pr 5.73 (SE11, 0.32) (V)

Incremental encoder basic set-up

Enter:

• Drive encoder type in Pr 3.38 (Fb07, 0.77) = Ab (0): Quadrature encoder

• Encoder power supply in

If output voltage from the encoder is >5V, then the termination resistors must be disabled

(Fb08, 0.78)

Pr 3.36 (Fb06, 0.76)

to 0.

= 5V (0), 8V (1), 15V (2) or 24V (3)

Pr 3.39

• Drive encoder lines per revolution (LPR) in Pr 3.34 (Fb05, 0.75) (set according to encoder)

• Drive encoder termination resistor setting in Pr 3.39 (Fb08, 0.78)

0 = A-A\, B-B\, Z-Z\ termination resistors disabled 1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled 2 = A-A\, B-B\, Z-Z\ termination resistors enabled

Tachometer set-up

Enter:

• Tachometer voltage rating Pr 3.51 (Fb02, 0.72) (V/1000 rpm)

• Tachometer input mode Pr 3.53 (Fb03, 0.73)

Enter:

• Maximum speed in Pr 1.06 (SE02, 0.23) (rpm)

For field weakening the field controller needs to be set-up in current control by setting Pr 5.75 = OFF, setting the rated field current into Pr 5.70 (SE10, 0.31)and setting Pr 5.64 to On.

For field weakening in Estimated Speed Mode please refer to Chapter 8 Optimization on page 78.

Set acceleration / deceleration rates

Enter:

• Acceleration rate in Pr 2.11 (SE03, 0.24) (time to accelerate to maximum speed)

• Deceleration rate in Pr 2.21 (SE04, 0.25) (time to decelerate from maximum speed)

Field controller set-up

Enable the field controller

• Select field mode by setting Pr 5.78 = IntrnL (Internal field controller is used), Etrnl (External half control),

E FULL (External in full control).

•Set Pr 5.77 (SE12, 0.33) = On to enable the field.

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Action Detail

Mentor MP is able to perform either a static, rotating or continuous autotune. The motor must be at a standstill before an autotune is enabled.

Static autotune for current loop gains

EMF set point (Pr 5.59), Armature resistance (Pr 5.61) and Flux loop I gain (Pr 5.72) with respect to the selected motor map and store the values.

To perform a static autotune:

Static autotune

•Set Pr 5.12 (SE13, 0.34)= 1

• Close the Drive Enable signal (terminal 31). The drive will display ‘rdY’

• Close the run signal (terminal 26 or 27). The lower display will flash ‘Auto’ and ‘tunE’ alternatively, while the drive is performing the autotune

• Remove the enable signal when the autotune has finished

• Remove the run signal

A rotating autotune Pr 5.12 (SE13, 0.34) = 2 should not be carried out when the field controller is in voltage mode, Pr 5.75 = On (USA default).

• Close the enable signal. Close the run signal (terminal 26 or 27). Provide speed reference to run the drive up to a low speed, the drive will regulate its own estimated speed.

Checking speed feedback

• Check that the feedback device is functioning correctly:

For encoder speed feedback - Check encoder speed feedback Pr 3.27 (Fb09, 0.79). For tachometer speed feedback - Check tachometer speed feedback Pr 3.52 (Fb04, 0.74).

• When the feedback device being used is seen to be functioning correctly, stop the drive and select the correct feedback device using Pr 3.26 (Fb01, Pr 0.71).

Save parameters

Select SAVE in Pr xx.00 (SE00, 0.21)

Press the red reset button or toggle the reset digital input (ensure Pr xx.00 (SE00, 0.21) returns to ‘no Act’).

Drive is now ready to run

Run

• Close enable signal

• Close run signal

• Provide speed reference

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7.3 CTSoft software commissioning / start-up tool

CTSoft can be used for commissioning / start-up and monitoring, drive parameters can be uploaded, downloaded and compared, and simple or custom menu listings can be created. Drive menus can be displayed in standard list format or as live block diagrams. CTSoft includes a migration wizard that allows Mentor II parameters to be migrated to the Mentor MP. CTSoft is able to communicate with a single drive or a network.

CT Soft can be found on the CD which is supplied with the drive and is also available for download from the website www.controltechniques.com (file size approximately 100MB).

7.3.1 CTSoft system requirements:

1. Pentium IV 1000MHz or better recommended.

2. Windows Vista, Windows XP or Windows 2000 (Including the latest Service Packs) only.

3. Internet Explorer V5 or later should also be installed.

4. Microsoft .Net Framework 2.0 must also be installed.

5. Absolute minimum of 800 x 600 screen resolution. A resolution of 1024 x 768 or above is recommended.

6. Adobe Acrobat 5.05 or later (for parameter help).

7. 256MB RAM

You must have administration rights under Windows NT/2000/XP/Vista to install.

7.3.2 To install CTSoft from the CD

1. Ensure that any previous copies of CTSoft have been uninstalled before proceeding with the installation (existing projects will not be lost).

2. Insert the CD. The auto-run software should start up the front-end screen from which CTSoft can be selected. User guides for the supported drive models are included with CTSoft application. When help is requested, CTSoft links to the parameter in the Mentor MP Advanced User Guide.

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7.4 Setting up a feedback device

This section shows more detailed information on parameter settings that must be made to each of the compatible encoder types with Mentor MP. For more information on the parameters listed here please refer to the Mentor MP Advanced User Guide.

7.4.1 Detailed feedback device commissioning/start-up information

Standard quadrature encoder with or without marker pulse

Encoder type

Encoder power supply voltage

Encoder number of lines per revolution

Pr 3.38

(Fb07, 0.77)

Pr 3.36

(Fb06, 0.76)

Pr 3.34

(Fb05, 0.75)

Encoder marker mode Pr 3.35

Encoder termination selection

Pr 3.39

(Fb08, 0.78)

Encoder error detection level Pr 3.40

Incremental encoder with frequency and direction, or forward reverse signals, with or without marker pulse

Encoder type

Encoder power supply voltage

Encoder number of lines per revolution

Pr 3.38

(Fb07, 0.77)

Pr 3.36

(Fb06, 0.76)

Pr 3.34

(Fb05, 0.75)

Encoder marker mode Pr 3.35

Encoder termination selection

Pr 3.39

(Fb08, 0.78)

Encoder error detection level Pr 3.40

Ab (0) Standard quadrature incremental encoder with or without marker pulse

5V (0), 8V (1) or 15V (2) or 24V (3)

If the voltage from the encoder is >5V, then the termination resistors must be disabled Pr (Fb08, 0.78)

3.39

to 0

Set to the number of lines per revolution of the encoder

0 = The marker system operates in a conventional manner, 1 = the marker causes a full position reset.

0 = A, B, Z termination resistors disabled, 1 = A, B termination resistors enabled and Z termination resistors disabled, 2 = A, B, Z termination resistors enabled

0 = No wire break detect, 1 = Wire break detect on A and B (need termination enabled for 5V signals), 2 = Wire break detect on A, B and Z (need termination enabled for 5V signals)

Fd (2) Incremental encoder with frequency and direction outputs, with or without marker pulse, Fr (3) Incremental encoder with forward and reverse outputs, with or without marker pulse

5V (0), 8V (1) or 15V (2) or 24V (3)

If the voltage from the encoder is >5V, then the termination resistors must be disabled Pr (Fb08, 0.78)

3.39

to 0

Set to the number of lines per revolution of the encoder divide by 2

0 = The marker system operates in a conventional manner, 1 = the marker causes a full position reset.

0 = A, B, Z termination resistors disabled, 1 = A, B termination resistors enabled and Z termination resistors disabled, 2 = A, B, Z termination resistors enabled

0 = No wire break detect, 1 = Wire break detect on A and B (need termination enabled for 5V signals), 2 = Wire break detect on A, B and Z (need termination enabled for 5V signals)

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8 Optimization

Before attempting to tune the drive the following data is required

• Armature full load current

• Armature voltage

• Field current

• Field voltage

• Base speed

• Maximum speed

In the following worked example the data below has been used

• Armature full load current = 67A with an overload of 90A for up to 30 seconds

• Armature voltage = 500V

• Field current = 1.85A

• Field voltage = 300V

• Base speed = 1750 rpm

• Maximum speed = 2500rpm

8.1 Armature current

• Set the motor rated current in Pr 5.07 (SE07, 0.28) to 67A.

• Set current limits in Pr 4.05 and Pr 4.06 to 90/67 x 100 = 134%

• Set the motor thermal time constant in Pr 4.15 = -30 / ln(1 - (1.05 /

8.2 Speed feedback

8.2.1 Estimated speed feedback

For estimated speed feedback set Pr 3.26 (Fb01, 0.71) to ESt SPd. This uses an estimated speed feedback based on the motor back emf, motor rated speed, motor rated voltage, armature resistance, armature current and field flux feedback.

8.2.2 Tachometer speed feedback

For tachometer speed feedback set Pr 3.26 (Fb01, 0.71) to tACHO. Set the tachometer voltage rating in V/1000rpm in Pr 3.51 (Fb02, 0.72) and the tachometer input mode Pr 3.53 (Fb03, 0.73) to suit the type of tachometer used.

8.2.3 Encoder speed feedback

For encoder speed feedback set Pr 3.26 (Fb01, 0.71) to drv. Set the lines per revolution (Pr 3.34 (Fb05, 0.75)), encoder supply voltage (Pr 3.36 (Fb06, 0.76)) and encoder type (Pr 3.38 (Fb07, 0.77)).

8.2.4 Solutions Module speed feedback

If an Solutions Module is being used to provide speed feedback then Pr 3.26 (Fb01, 0.71) should be set to SLot1, SLot2, or SLot3.

8.3 Field current

The rated field current is set in Pr 5.70 (SE10, 0.31). When the field current equals the compensated rated field current (see Pr 5.74), 100% field flux is produced.

8.3.1 Field weakening with a speed feedback device

If field weakening is required the field compensation factor (Pr 5.74), the motor saturation breakpoints (Pr 5.29, Pr 5.30) and the voltage at which field weakening is required to begin (Pr 5.59) must be set.

Setting up the drive in field weakening is straightforward when a speed feedback device is available. The rotating autotune (Pr 5.12 (SE13,

0.34) = 2) automatically sets up the parameters above. Follow the quick

start commissioning / start-up (from European defaults) as shown in Table 6-1 on page 64 to set up the drive. Enable field weakening (Pr 5.64 = On). Save parameters.

For field weakening from USA defaults Pr 5.75 Field voltage mode should be set to OFF. Pr 5.28 Field weakening compensation disable should be set to OFF. Follow the quick start commissioning / start-up (from European defaults) as shown in Table 6-1 on page 64 to set up the drive. Enable field weakening (Pr 5.64 = On). Save parameters.

1.34)

) = 31.5

8.3.2 Field weakening in estimated speed mode (no speed feedback device)

The Rotating Autotune (Pr 5.12 (SE13, 0.34) = 2) sets up the field controller for more accurate flux control and open loop speed accuracy. The rotating autotune needs to know the motor speed and so a speed feedback device has to be connected to the drive before a rotating autotune can be carried out. In some applications a speed feedback device may not be required and so the procedure below allows the user to manually adjust the field controller parameters to achieve better open loop speed control.

• Follow the quick start commissioning / start-up (from European

defaults) as shown in Table 6-1 Pre-defined sub block parameters on page 64 until a static autotune (Pr 5.12 (SE13, 0.34) = 1) has been carried out.

•Set Pr 5.64 Field weakening enable to On.

• Ensure that Pr 5.29 , Pr 5.30, Pr 5.68 and Pr 5.74 are set to their

default values of 50%, 75%, 100% and 100% respectively.

• Set the speed demand to 1/4 of Base speed (Pr 5.08 (SE08, 0.29))

and run the machine up to speed and check the speed of the machine using a hand held device.

• If the machine speed is lower than 1/4 of base speed (which is

normally the case) adjust the Field compensation factor (Pr 5.74) down until the correct machine speed is reached. If the machine

speed is higher than nameplate field current is low), adjust the rated field current (Pr 5.70

(SE10, 0.31)) up until the correct machine speed is reached.

•Set Pr 5.68 Maximum flux to 75% and measure the actual speed of

the machine (speed 75)

•Set Pr 5.68 Maximum flux to 50% and measure the actual speed of

the machine (speed 50).

• Stop the machine and set Pr 5.68 Maximum flux back to 100%.

•Set Pr 5.29 Motor saturation breakpoint 1 = 50 x set speed / actual

speed (Speed 50)

•Set Pr 5.30 Motor saturation breakpoint 2 = 75 x set speed / actual

speed (speed 75).

• Save parameters.

For field weakening from USA defaults Pr 5.75 Field voltage mode should be set to OFF. Pr 5.28 Field weakening compensation disable should be set to OFF. The procedure above should then be followed to set up the drive for field weakening.

/4 of base speed (only possible if the motor

8.3.3 Field economy

Field economy can be used to keep the field energized, at a low level of current (to prevent overheating), when the motor is not running to prevent condensation forming in the motor. The field economy level and the timeout can be adjusted.

To use this function it is necessary to set:

•Set Pr 5.65 to enable the field economy timeout

•Set Pr 5.67 to the percentage of full field that you want to use in

economy mode e.g 10%.

•Set Pr 5.66 to the time after the drive enable signal is removed to the

field current reducing to the economy level.

8.4 Current loop gains self-tuning

For optimum performance the current loop must be set-up. The dynamics of the current loop are principally a function of the electrical characteristics of a particular motor.

The drive determines the electrical characteristics of the motor by injecting current into the armature winding.

8.4.1 Static autotune for current loop gains

If Pr 5.12 (SE13, 0.34) is set to a 1, the drive is enabled and a run command is applied in either direction the drive performs a static autotune test. The test will not start unless the drive is disabled and before the test is initiated by applying the enable or run, i.e. it will not start unless the drive is in a stop state.

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When this operation is performed the drive will determine the Motor

constant (Pr 5.15), Continuous proportional gain (Pr 4.13), Continuous integral gain (Pr 4.14), Discontinuous integral gain (Pr 4.34), Back EMF set point (Pr 5.59), Armature resistance (Pr 5.60) and Flux loop I gain

(Pr 5.72) with respect to the selected motor map and store the values.

8.4.2 Continuous autotune for current loop gains

In the static autotune the armature current loop gains are set up with no flux in the motor. In some motors the inductance of the armature changes significantly when flux is present in the machine. If this is the case, a continuous autotune can be enabled to correct the gains for the fluxed machine.

When Pr 5.26 is set to On, the continuous autotune is enabled which continuously monitors the motor ripple and adjusts Motor constant (Pr 5.15), Continuous proportional gain (Pr 4.13) and Discontinuous integral gain (Pr 4.34) for optimum performance.

The static autotune should still be carried out because Continuous integral gain (Pr 4.14) is not set by the continuous autotune.

Calculation of the gains is suspended when the voltage field weakening loop becomes active so that the gains are not increased when the field is weakened (less flux in the machine).

This function does not operate when the drives are set-up in serial 12 pulse.

8.4.3 Drive commissioning output

The Mentor MP has a test pin that gives instantaneous armature current feedback. The pin is identified by a half sign wave symbol and is located to the right of the tachometer terminals. An oscilloscope probe can be attached to this pin to monitor the armature current.

8.5 Speed loop gains tuning

The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp) and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for use by the speed controller with Pr 3.16

Pr 3.16 may be changed when the drive is enabled or disabled.

• If Pr 3.16 = 0 - gains Kp1, Ki1 and Kd1 are used

• If Pr 3.16 = 1 - gains Kp2, Ki2 and Kd2 are used

8.5.1 Proportional gain (Kp) Pr 3.10 (SP01, 0.61) and

If Kp has a value and the integral gain Ki is set to zero the controller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds.

This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load.

If the proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is reached.

8.5.2 Integral gain (Ki) Pr 3.11 (SP02, 0.62) and

The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application. The term is implemented in the form of the controller is active without causing large torque demand transients.

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Pr 3.13

Pr 3.14

Σ(Ki x error), and so the integral gain can be changed when

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8.5.3 Differential gain (Kd) Pr 3.12 (SP03, 0.63) and Pr 3.15

The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

8.5.4 Manually setting up the speed loop gains

Figure 8-1 Responses

There are two methods of tuning the speed loop gains dependant on the setting of Pr 3.17:

1. Pr 3.17 = 0, User set-up.

This involves the connecting of an oscilloscope to analog output 1 to monitor the speed feedback. Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope.

The proportional gain (Kp) should be set up initially. The value should be increased up to the point where the speed overshoots and then reduced slightly.

The integral gain (Ki) should then be increased up to the point where the speed becomes unstable and then reduced slightly.

It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response as shown.

Figure 8-1 shows the effect of incorrect P and I gain settings as well as the ideal response.

2. Pr 3.17 = 1, Bandwidth set-up

If bandwidth based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 3.18 - Motor and load inertia - it is possible to measure the load inertia as part of the auto-tuning process (see Pr 5.12 (SE13, 0.34)).

Pr 3.20 - Required bandwidth,

Pr 3.21 - Required damping factor,

Pr 5.32 - Motor torque per amp (Kt).

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8.5.5 Speed loop gains for very high inertia

Pr 3.17 = 2 - Kp gain times 16

If this parameter is set to 2 the Kp gain (from whichever source), is multiplied by 16. This is intended to boost the range of Kp for applications with very high inertia. It should be noted that if high values of Kp are used it is likely that the speed controller output will need to be filtered, see (Pr 3.42). If the feedback is not filtered it is possible that the output of the speed controller will be a square wave that changes between the current limits causing the integral term saturation system to malfunction.

8.6 Current limit tapers

With some motors the commutation limit of the motor requires that the maximum armature current be reduced at higher speeds, the current limit tapers can be used to provide this speed dependent current limit.

For more information refer to section 11.22.4 Current limit tapers on page 142.

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9 SMARTCARD operation

9.1 Introduction

This is a standard feature that enables simple configuration of parameters in a variety of ways. The SMARTCARD can be used for:

• Parameter copying between drives

• Saving whole drive parameter sets

• Saving ‘differences from default‘ parameter sets

• Storing Onboard PLC programs

• Automatically saving all user parameter changes for maintenance purposes

• Loading complete motor map parameters.

Refer to Figure 9-1 for installing the SMARTCARD. Ensure the SMARTCARD is inserted with the MP arrow pointing upwards.

The drive only communicates with the SMARTCARD when commanded to read or write, this means that the card may be ‘hot swapped’.

Figure 9-1 Installation of the SMARTCARD

9.2 Easy saving and reading

The SMARTCARD has 999 individual data block locations. Each individual location from 1 to 499 can be used to store data.

The drive can support SMARTCARDS that have a capacity of between 4kB and 512kB.

The usage of the data block locations in the SMARTCARD are shown in Table 9-1.

Table 9-1 SMARTCARD data blocks

Data block Type Example of usage

1 to 499 Read / Write Application set-up

500 to 999 Read Only Macros

Parameter sets labelled as ‘Differences from default‘ will be much smaller than whole parameter sets. Therefore they use a lot less memory because most applications only require a few parameters to be changed from the default setting.

The whole card may be protected from writing or erasing by setting the read-only flag as shown in section 9.3.9 9888 / 9777 - Set / clear the SMARTCARD read only flag on page 83.

Either of these indications will tell the user that data is being transferred to or from the SMARTCARD:

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• SM-Keypad: The decimal point after the fourth digit in the upper display will flash.

• MP-Keypad: The symbol 'CC' will appear in the lower left hand corner of the display.

The card should not be removed during data transfer because the drive will trip. If a trip occurs you must either try to transfer the data again or, in the case of a card-to-drive transfer, the default parameters should be loaded.

9.3 Transferring data

When a code is entered into Pr xx.00 and the drive is subsequently reset, the drive will carry out the actions listed in Table 9-2.

Table 9-2 Transferring data

Codes Actions

Pr x.00 = rEAd 1 Transfer SMARTCARD data block 1 to the drive.

Pr x.00 = rEAd 2 Transfer SMARTCARD data block 2 to the drive.

Pr x.00 = rEAd 3 Transfer SMARTCARD data block 3 to the drive.

Pr x.00 = PrOg 1

Pr x.00 = PrOg 2

Pr x.00 = PrOg 3

Pr x.00 = 2001

Pr x.00= 3yyy

Pr x.00 = 4yyy

Pr x.00= 5yyy

Pr x.00 = 6yyy Transfer SMARTCARD data block yyy to the drive.

Pr x.00 = 7yyy Erase SMARTCARD data block yyy.

Pr x.00 = 8yyy Compare drive parameters with data block yyy.

Pr x.00 = 9555 Clear SMARTCARD warning suppression flag.

Pr x.00 = 9666 Set SMARTCARD warning suppression flag.

Pr x.00= 9777 Clear SMARTCARD read-only flag.

Pr x.00 = 9888 Set SMARTCARD read-only flag.

Pr x.00 = 9999 Erase SMARTCARD.

Pr 11.42 (SE09,

0.30) = Read

Pr 11.42 (SE09,

0.30) = Prog

Pr 11.42 (SE09,

0.30) = Auto

Pr 11.42 (SE09,

0.30) = boot

Where yyy indicates the data block number 001 to 999, refer to Table 91 for restrictions on data block numbers.

If the read only flag is set then only codes 6yyy or 9777 are effective.

9.3.1 Writing to the SMARTCARD

3yyy - Transfer data to the SMARTCARD

The data block contains the complete parameter data from the drive, i.e. all user-save (US) parameters except parameters with the NC coding bit set. Power-down save (PS) parameters are not transferred to the SMARTCARD.

Transfer drive parameters as difference from default to SMARTCARD data block number 1.

Transfer drive parameters as difference from default to SMARTCARD data block number 2.

Transfer drive parameters as difference from default to SMARTCARD data block number 3.

Transfer drive parameters as difference from defaults to a bootable SMARTCARD data block with block number 1. This will clear data block 1 on the card if it already exists.

Transfer drive parameters to a SMARTCARD data block number yyy.

Transfer drive data as difference from defaults to SMARTCARD data block number yyy.

Transfer drive user program to SMARTCARD data block number yyy.

Transfer SMARTCARD data block 1 to the drive provided it is a parameter file.

Transfer drive parameters to a SMARTCARD data block number 1.

Transfer drive parameters to a SMARTCARD data block with data block number 1 provided.

Pr 11.42 (SE09, 0.30) has been changed since power-up.

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4yyy - Write default differences to a SMARTCARD

The data block only contains the parameter differences from the last time default settings were loaded.

Six bytes are required for each parameter difference. The data density is not as high as when using the 3yyy transfer method as described in the section 3yyy - Transfer data to the SMARTCARD but in most cases the number of differences from default is small and the data blocks are therefore smaller. This method can be used for creating drive macros. PS parameters are not transferred to the SMARTCARD.

Writing a parameter set to the SMARTCARD

Setting Pr 11.42 (SE09, 0.30) to Prog (2) and resetting the drive will save the parameters to the SMARTCARD, i.e. this is equivalent to writing 3001 to Pr xx.00. All SMARTCARD trips apply except 'C.Chg'. If the data block already exists it is automatically overwritten.

When the action is complete this parameter is automatically reset to nonE (0).

9.3.2 Reading from the SMARTCARD

6yyy - Read default differences from a SMARTCARD

When the data is transferred back to a drive, using 6yyy in Pr xx.00, it is transferred to the drive RAM and the drive EEPROM. A parameter save is not required to retain the data after power-down. Set-up data for any Solutions Modules installed are stored on the card and are transferred to the destination drive. If the Solutions Modules are different between the source and destination drive, the menus for the slots where the Solutions Module categories are different are not updated from the card and will contain their default values after the copying action.

The drive will produce a 'C.Optn' trip if the Solutions Modules installed to the source and destination drive are different or are in different slots. If the data is being transferred to a drive of a different voltage or current rating a 'C.rtg' trip will occur.

Table 9-3 lists the rating dependent parameters (RA coding bit set) that will not be written to the destination drive and will contain their default values after the copying action.

Table 9-3 Rating dependent parameters

Parameter Function

4.05 Current limit

4.06 Current limit

4.07 Current limit

4.24 User current maximum scaling

5.07 (SE07, 0.28) Motor rated current

5.09 (SE06, 0.27) Armature rated voltage

Reading a parameter set from the SMARTCARD

Setting Pr 11.42 (SE09, 0.30) to rEAd (1) and resetting the drive will transfer the parameters from the card into the drive parameter set and the drive EEPROM, i.e. this is equivalent to writing 6001 to Pr xx.00. All SMARTCARD trips apply. Once the parameters are successfully copied this parameter is automatically reset to nonE (0). Parameters are saved to the drive EEPROM after this action is complete.

This operation is only performed if data block 1 on the card is a full parameter set (3yyy transfer) and not a default difference file (4yyy transfer). If data block 1 does not exist a 'C.dAt' trip occurs.

9.3.3 Auto saving parameter changes

This setting causes the drive to automatically save any changes made to Menu 0 parameters on the drive to the SMARTCARD. The latest Menu 0 parameter set in the drive is therefore always backed up on the SMARTCARD.

Changing Pr 11.42 (SE09, 0.30) to Auto (3) and resetting the drive will immediately save the complete parameter set from the drive to the card, i.e. all User Save (US) parameters except parameters with the NC coding bit set. Once the whole parameter set is stored only the individual modified menu 0 parameter setting is updated.

Advanced parameter changes are only saved to the card when Pr xx.00 is set to a 1000 and the drive reset.

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All SMARTCARD trips apply, except ‘C.Chg’. If the data block already contains information it is automatically overwritten.

If the card is removed when Pr 11.42 (SE09, 0.30) is set to 3, Pr 11.42 (SE09, 0.30) is then automatically set to nonE (0).

When a new SMARTCARD is installed Pr 11.42 (SE09, 0.30) must be set back to Auto (3) by the user and the drive reset so the complete parameter set is rewritten to the new SMARTCARD if auto mode is still required.

When Pr 11.42 (SE09, 0.30) is set to Auto (3) and the parameters in the drive are saved, the SMARTCARD is also updated, therefore the SMARTCARD becomes a copy of the drives stored configuration.

At power up, if Pr 11.42 (SE09, 0.30) is set to Auto (3), the drive will save the complete parameter set to the SMARTCARD. The drive will display ‘cArd’ during this operation. This is done to ensure that if a user puts a new SMARTCARD in during power down the new SMARTCARD will have the correct data.

When Pr 11.42 (SE09, 0.30) is set to Auto (3) the setting of Pr 11.42 (SE09, 0.30) itself is saved to the drive EEPROM but NOT to the SMARTCARD.

9.3.4 Booting up from the SMARTCARD on every power up (Pr 11.42 (SE09, 0.30) = boot (4))

When Pr 11.42 (SE09, 0.30) is set to boot (4) the drive operates the same as Auto mode, except when the drive is powered up. The parameters on the SMARTCARD will be automatically transferred to the drive at power-up if the following are true:

• A card is inserted in the drive

• Parameter data block 1 exists on the card

• The data in block 1 is type 1 to 5 (as defined in Pr 11.38)

•Pr 11.42 (SE09, 0.30) on the card set to boot (4)

The drive will display 'boot' during this operation. If the drive mode is different from that on the card, the drive gives a 'C.Typ' trip and the data is not transferred.

If 'boot' mode is stored on the copying SMARTCARD this makes the copying SMARTCARD the master device. This provides a very fast and efficient way of re-programming a number of drives.

If data block 1 contains a bootable parameter set and data block 2 contains an Onboard PLC program (type 17 as defined in Pr 11 .38), then the onboard PLC program will be transferred to the drive at power up along with the parameter set in data block 1.

“Boot” mode is saved to the card, but when the card is read, the value of Pr 11.42 (SE09, 0.30) is not transferred to the drive.

9.3.5 Booting up from the SMARTCARD on every power up (Pr xx.00 = 2001)

It is possible to create a difference from default bootable file by setting Pr xx.00 to 2001 and resetting the drive. This type of file causes the drive to behave in the same way at power-up as a file created with boot mode set up with Pr 11.42 (SE09, 0.30). The difference from the default file is that it has the added advantage of including Menu 20 parameters.

Setting Pr xx.00 to 2001 will overwrite data block 1 on the card, if it already exists.

If a data block 2 exists and contains an Onboard PLC program (type 17 as defined in Pr 11. 38 ), this will also be loaded after the parameters have been transferred.

A bootable difference from default file can only be created in one operation and parameters cannot be added as they are saved via Menu

9.3.6 Comparing drive full parameter set with the SMARTCARD values

Setting 8yyy in Pr xx.00, will compare the SMARTCARD file with the data in the drive:

• If the compare is successful Pr xx.00 is simply set to 0

• If the compare fails a ‘C.cpr’ trip is initiated

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9.3.7 7yyy / 9999 - Erasing data from the SMARTCARD

Data can be erased from the SMARTCARD one data block at a time or with data blocks 1 to 499 in selected together.

• Setting 7yyy in Pr xx.00 will erase SMARTCARD data block yyy

• Setting 9999 in Pr xx.00 will erase SMARTCARD data blocks 1 to

499

9.3.8 9666 / 9555 - Set / clear SMARTCARD warning suppression flag

1. If the Solutions Module(s) installed to the source and destination

drive are different, or are in different slots, the drive will produce a 'C.Optn' trip.

2. If the data is being transferred to a drive of a different voltage or

current rating a 'C.rtg' trip will occur. It is possible to suppress these trips by setting the warning suppression flag. If this flag is set the drive will not trip if the Solutions Module(s) or drive ratings are different between the source and the destination drives. The Solutions Module or rating dependent parameters will not be transferred.

• Setting 9666 in Pr xx.00 will set the warning suppression flag

• Setting 9555 in Pr xx.00 will clear the warning suppression flag

9.3.9 9888 / 9777 - Set / clear the SMARTCARD read

only flag

The SMARTCARD may be protected from writing or erasing by setting the read only flag. If an attempt is made to write or erase a data block when the read only flag is set, a 'C.rdo' trip is initiated.

When the read only flag is set only codes 6yyy or 9777 are effective.

• Setting 9888 in Pr xx.00 will set the read only flag

• Setting 9777 in Pr xx.00 will clear the read only flag

9.4 Data block header information

Each data block stored on a SMARTCARD has header information detailing the following:

• A number which identifies the data block (Pr 11.37)

• Type of data stored in the data block (Pr 11.38)

• Drive mode if the data is parameter data (Pr 11.38)

• Version number (Pr 11.39)

• Checksum (Pr 11.40)

• Read-only flag

• Warning suppression flag The header information for each data block that has been used can be viewed in Pr number set in Pr

If Pr 11. 37 is set to 1000: the checksum parameter (Pr 11.40) shows the number of bytes left on the card in 16 byte pages.

If Pr 11. 37 is set to 1001: the checksum parameter (Pr 11.40) shows the total capacity of the card in 16 byte pages. Therefore, for a 4kB card this parameter would show 254.

If Pr 11. 37 is set to 1002: the checksum parameter (Pr 11.40) shows the state of the read-only (bit 0) and warning suppression flags (bit 1).

If there is no data on the card: Pr 11. 37 can only have values of 0 or 1000 to 1002.

11.38

to Pr

11.37

11.40

by increasing or decreasing the data block

9.5 SMARTCARD parameters

11.36 SMARTCARD parameter data previously loaded

RO Uni NC PT US

0 to 999

11.37 SMARTCARD data number

RW Uni NC

This parameter shows the data blocks that are stored on a SMARTCARD with header information, including a number to identify the data block.

11.38 SMARTCARD data type/mode

RO Txt NC PT

This parameter gives the type/mode of the data block selected with Pr 11.37 as shown in the following table.

Table 9-4 Pr 11.38 types and modes

Pr 11.38 String Type/Mode

0 FrEE Value when Pr 11.37 = 0

13C.SE

2 3OpEn.LP Open-loop mode parameter file

3 3CL.VECt Closed-loop vector mode parameter file

4 3SErVO Servo mode parameter file

5 3REGEn Regen mode parameter file

6 3DC DC mode parameter file

7 3Un Unused

8 3Un Unused

94C.SE

10 4OpEn.LP Open-loop mode difference from default file

11 4CL.VECt

12 4SErVO Servo mode difference from default file

13 4REGEn Regen mode difference from default file

14 4DC DC Mode difference from default file

15 & 16 4Un Unused

17 LAddEr Onboard Application Lite user program file

18 Option

11.39 SMARTCARD data version

RW Uni NC

This parameter gives the version number of the data block.

11.40 SMARTCARD data checksum

RO Uni NC PT

This parameter gives the checksum of the data block, space left on the card, the total space on the card or the card flags. Refer to Pr 11. 37 for information.

0 to 1002

0 to 18

0 to 9999

0 to 65335

Commander SE mode parameter file (not used)

Commander SE mode difference from default file (not used)

Closed-loop vector mode difference from default file

A file containing user defined data (the file is normally created by an SM-Applications Solutions Module)

This parameter shows the number of the data block last parameter or difference from default data block transferred from a SMARTCARD to the drive.

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11. 42

(SE09, 0.30)

Parameter copying

RW Txt NC US*

* Mode 1 and Mode 2 are not saved when the drive parameters are

0 to 4

saved. This parameter can only be saved to EEPROM if it has a value of 0, 3 or 4.

Table 9-5 Pr 11.38 actions

Actions Value Result

None 0 Inactive

Reading 1

Programming 2

Read parameter set from SMARTCARD

Program parameter set to the SMARTCARD

Auto 3 Auto save

Boot 4 Boot mode

9.6 SMARTCARD trips

After an attempt to read, write or erase data to or from a SMARTCARD a trip may occur if there has been a problem with the command. Table 9-6 lists the trip indications and conditions that will cause the SMARTCARD to trip,

Table 9-6 Trip conditions

Trip Condition

C.boot

177

C.BUSy

178

C.Chg SMARTCARD trip: Data location already contains data

179 An attempt has been made to store data in a SMARTCARD data block that already exists.

C.Optn SMARTCARD trip: Solutions Modules installed are different between source drive and destination drive

180

C.Rdo SMARTCARD trip: SMARTCARD has the Read Only bit set

181

C.Err SMARTCARD trip: SMARTCARD data is corrupted

182

C.dat SMARTCARD trip: Data location specified does not contain any data

183

C.FULL SMARTCARD trip: SMARTCARD full

184 An attempt has been made to create a data block on a SMARTCARD, but there is not enough space on the card.

C.Acc SMARTCARD trip: SMARTCARD Read / Write fail

185

C.rtg SMARTCARD trip: The voltage and/or current rating of the source and destination drives are different

186

C.Typ SMARTCARD trip: SMARTCARD parameter set not compatible with drive

187

C.cpr SMARTCARD trip: The values stored in the drive and the values in the data block on the SMARTCARD are different

188

SMARTCARD trip: The menu 0 parameter modification cannot be saved to the SMARTCARD because the necessary file has not been created on the SMARTCARD

A write to a Menu 0 parameter has been initiated with the keypad by exiting edit mode and Pr 11.42 (SE09, 0.30) is set for auto or boot mode. However the necessary boot file has not been created on the SMARTCARD to take the new parameter value. This occurs when Pr 11.42 (SE09, 0.30) is changed to auto or boot mode, but the drive is not subsequently reset.

SMARTCARD trip: SMARTCARD can not perform the required function as it is being accessed by a Solutions Module

An attempt has been made to access a SMARTCARD. However an Solutions Module is already accessing the SMARTCARD.

Parameter data or default difference data is being transferred from a SMARTCARD to the drive, but the Solutions Module categories are different between source and destination drives. This trip does not stop the data transfer, but is a warning that the data for the Solutions Modules that are different will be set to the default values and not the values from the card. This trip also applies if a compare is attempted between the data block and the drive.

An attempt has been made to modify a read-only SMARTCARD (i.e. erase the card, erase a file or create a file). A SMARTCARD is read-only if the read-only flag has been set or the card contains data blocks with numbers from 500 to 999. Attempting to create data blocks with numbers from 500 to 999 will always cause a trip.

An attempt has been made to transfer a data block from a SMARTCARD to the drive or to compare a SMARTCARD data block and the checksum is incorrect or the data structure on the card is incorrect.

An attempt has been made to transfer a data block from a SMARTCARD to the drive or to compare a SMARTCARD data block and the block does not exist.

An attempt has been made to access a SMARTCARD, but a card is not present or communications failure has occurred between the drive and the card. This trip is also produced if an attempt is made to access a data block that has already been opened by an Solutions Module.

Parameter data or default difference data is being transferred from a SMARTCARD to the drive, but the current and /or voltage ratings are different between source and destination drives. This trip does not stop the data transfer, but is a warning that the data for the Solutions Modules that are different will be set to the default values and not the values from the card. This trip also applies if a compare is attempted between the data block and the drive.

This trip is produced during a compare if the drive mode in the data block is different from the current drive mode and the file is a parameter or defaults differences file. This trip is also produced if an attempt is made to transfer parameters from a parameter or default difference to the drive if the drive mode in the data block is outside the allowed range of drive modes for the drive.

A compare has been carried out between a data block on a SMARTCARD and the drive and the compare has failed. This trip only occurs if the compare has not already failed with the following trips: C.Typ, C.rtg, C.Optn, C.BUSy, C.Acc or C.Err.

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Table 9-7 SMARTCARD status indications

Lower

display

Description

boot

A parameter set is being transferred from the SMARTCARD to the drive during power-up. For further information please refer to section

9.3.4 Booting up from the SMARTCARD on every power up (Pr 11.42 (SE09, 0.30) = boot (4)) on page 82.

cArd

The drive is writing a parameter set to the SMARTCARD during powerup. For further information please refer to section 9.3.3 Auto saving parameter changes on page 82.

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10 Onboard PLC

10.1 Onboard PLC and SYPT Lite

The Mentor MP has the ability to store and execute a 6kB Onboard PLC ladder logic program without the need for additional hardware in the form of a Solutions Module.

The ladder logic program is written using SYPT Lite, a Windows™ based ladder diagram editor allowing the development of programs for execution in SM-Applications Plus.

Advantages of SYPT Lite:

• SYPT Lite is designed to be easy to use and to make program development as simple as possible. The features provided are a sub-set of those in the SYPT program editor.

• SYPT Lite programs are developed using ladder logic, a graphical language widely used to program PLCs (IEC 61131-3).

• SYPT Lite allows the user to draw a ladder diagram representing a program.

• SYPT Lite provides a complete environment for the development of ladder diagrams. Ladder diagrams can be created, compiled into user programs and downloaded to SM-Applications Plus for execution, via the RJ45 serial communications port on the front of the drive.

• The run-time operation of the compiled ladder diagram on the target can also be monitored using SYPT Lite and facilities are provided to interact with the program on the target by setting new values for target parameters.

• SYPT Lite is available on the CD that is supplied with the drive.

10.2 Benefits

The combination of the Onboard PLC and SYPT Lite means that Mentor MP can replace nano and some micro PLCs in many applications. The Onboard PLC programs can consist of up to a maximum of 50 ladder logic rungs (up to 7 function blocks and 10 contacts per rung). The Onboard PLC program can also be transferred to and from a SMARTCARD for backup or quick commissioning / start-up.

In addition to the basic ladder symbols, SYPT Lite contains a sub-set of the function from the full version of SYPT. These include:

• Arithmetic blocks

• Comparison blocks

•Timers

• Counters

• Multiplexers

•Latches

• Bit manipulation

Typical applications for the Onboard PLC include,

• Ancillary pumps

• Fans and control valves

• Interlocking logic

• Sequences routines

• Custom control words.

10.3 Limitations

Compared with the SM-Applications Plus or SM-Applications Lite V2 modules when programmed with SYPT, the Onboard PLC program has the following limitations:

• The maximum program size is 6080 bytes including header and optional source code.

• The Mentor MP is rated for 100 program downloads. This limitation is imposed by the flash memory used to store the program within the drive.

• The user cannot create user variables. The user is only able to manipulate the drive parameter set.

• The program cannot be downloaded or monitored over CTNet. The program is only accessible via the drives RJ45 serial communications port.

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• There are no real-time tasks, i.e. the scheduling rate of the program cannot be guaranteed. SM-Applications Plus tasks such as Clock, Event, Pos0 or Speed are not available.

• The Onboard PLC should not be used for time-critical applications. For time-critical applications either the SM-Applications Plus or SMApplications Lite V2 Solutions Modules should be used.

The program runs at a low priority. The Mentor MP provides a single background task in which to run a ladder diagram. The drive is prioritized to perform its major functions first, e.g. motor control, and will use any remaining processing time to execute the ladder diagram as a background activity. As the drive's processor becomes more heavily loaded, less time is spent executing the program.

Figure 10-1 Mentor MP Onboard PLC program scheduling

The user program is scheduled for a short period approximately once every 64ms. The time for which the program is scheduled will vary between 0.2ms and 2ms depending on the loading of the drive's processor.

When scheduled, several scans of the user program may be performed. Some scans may execute in microseconds. However, when the main drive functions are scheduled there will be a pause in the execution of the program causing some scans to take many milliseconds. SYPT Lite displays the average execution time calculated over the last 10 scans of the user program.

The Onboard PLC and SYPT Lite form the first level of functionality in a range of programmable options for Mentor MP.

• SYPT Lite can be used with either the Onboard PLC or with SMApplications Lite V2 to create ladder logic programs.

• SYPT can be used with either the SM-Applications Lite V2 or SMApplications Plus to create fully flexible programs using ladder logic, function blocks or DPL script.

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CAPABILITY

Level 1

Onboard PLC with SYPTLite software

Level 3

SM-Applications Lite V2 with SYPT software

Level 4

SM-Applications Plus with SYPT software

Level 2

SM-Applications Lite V2 with

SYPTLite software

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Figure 10-2 Programming options for Mentor MP

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10.4 Getting started

SYPTLite can be found on the CD which is supplied with the drive.

SYPTLite system requirements

• Windows 2000/XP/Vista. Windows 95/98/98SE/Me/NT4 are not

supported

• Pentium III 500MHz or better recommended

• 128MB RAM

• Minimum of 800 x 600 screen resolution. 1024 x 768 is recommended

• Adobe Acrobat 5.10 or later (for viewing User Guides)

• Microsoft Internet Explorer V5.0 or later

• RS232 to RS485, RJ45 communications lead to connect the PC to the drive

• Administrator rights are required to install the software

To install SYPTLite, insert the CD and the auto-run facility should start up the front-end screen, from which SYPTLite can be selected.

See the SYPTLite help file for more information regarding using SYPTLite, creating ladder diagrams and the available function blocks.

10.5 Onboard PLC parameters

The following parameters are associated with the Onboard PLC program.

11.47 Drive Onboard PLC program enable

RW Uni US

0 to 2

This parameter is used to start and stop the drive Onboard PLC program.

Value Description

0 Halt the drive Onboard PLC program.

Run the drive Onboard PLC program (if installed). Any out-ofrange parameter writes attempted will be clipped to the

maximum / minimum values valid for that parameter before being written.

Run the drive Onboard PLC program (if installed). Any out-of-

range parameter writes attempted will cause a ‘UP ovr’ trip.

11.48 Drive Onboard PLC program status

RO Bi NC PT

-128 to +127

The drive Onboard PLC program status parameter indicates to the user the actual state of the drive Onboard PLC program.

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Value Description

Onboard PLC program caused a drive trip due to an error

-n

condition while running rung n. Note that the rung number is shown on the display as a negative number.

0 Onboard PLC program is not installed.

1 Onboard PLC program is installed but stopped.

2 Onboard PLC program is installed and running.

When an Onboard PLC program is installed and running, the lower display of the drive flashes ‘PLC’ once every 10s.

11. 49 Drive Onboard PLC programming events

RO Uni NC PT PS

0 to 65,535

The drive Onboard PLC programming events parameter holds the number of times an Onboard PLC program download has taken place and is 0 on dispatch from the factory. The drive is rated for one hundred ladder program downloads. This parameter is not altered when defaults are loaded.

11. 50 Drive Onboard PLC program average scan time

RO Uni NC PT

0 to 65,535 ms

This parameter is updated once per second or once per Onboard PLC program scan whichever is the longest. If more than one program scan occurs within the one second update period the parameter shows the average scan time. If the program scan time is longer than one second the parameter shows the time for the last program scan.

11. 51 Drive Onboard PLC program first run

RO Bit NC PT

OFF (0) or On (1)

The Drive Onboard PLC program first run parameter is set for the duration of program scan from the stopped state. This enables the user to perform any required initialisation every time the program is run. This parameter is set every time the program is stopped.

10.6 Onboard PLC trips

The following trips are associated with the Onboard PLC program.

Trip Diagnosis

UP ACC

Onboard PLC program: Cannot access Onboard PLC program file on drive

Disable drive - write access is not allowed when the

drive is enabled. Another source is already accessing Onboard PLC program - retry once the other action is complete.

UP div0 Onboard PLC program attempted divide by zero

90 Check program

Onboard PLC program variables and function

UP OFL

block calls using more than the allowed RAM space (stack overflow)

95 Check program

UP ovr

Onboard PLC program attempted out of range parameter write

94 Check program

UP PAr

Onboard PLC program attempted access to a nonexistent parameter

91 Check program

UP ro

Onboard PLC program attempted write to a readonly parameter

92 Check program

UP So

Onboard PLC program attempted read of a writeonly parameter

93 Check program

UP udF Onboard PLC program undefined trip

97 Check program

UP uSEr Onboard PLC program requested a trip

96 Check program

10.7 Onboard PLC and the SMARTCARD

The Onboard PLC program in a drive may be transferred from the drive to a SMARTCARD and vice versa.

• To transfer an Onboard PLC program from the drive to a SMARTCARD, set Pr xx.00 to 5yyy and reset the drive

• To transfer an Onboard PLC program from the SMARTCARD to a drive, set Pr xx.00 to 6yyy and reset the drive.

(Where yyy is the data block location, see Table 9-1 SMARTCARD data blocks on page 81 for restrictions on block numbers).

If an attempt is made to transfer an Onboard PLC program from a drive to the SMARTCARD when the drive contains no program, the block is still created on the SMARTCARD but it will contain no data. If this data block is then transferred to a drive, the destination drive will then have no Onboard PLC program.

The smallest SMARTCARD compatible with Mentor MP has a capacity of 4064 bytes and each block can be up to 4064 bytes in size. The maximum size of a user program is 4032 bytes so it is guaranteed that any Onboard PLC program downloaded to a Mentor MP will fit on to an empty SMARTCARD. A SMARTCARD can contain a number of Onboard PLC programs until the capacity of the card is used.

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11 Advanced parameters

This is a quick reference to all parameters in the drive showing units, ranges, limits etc, with block diagrams to illustrate their function. Full parameter descriptions can be found in the Mentor MP Advanced User Guide on the supplied CD ROM.

These advanced parameters are listed for reference purposes only. The lists in this chapter do not include sufficient information for adjusting these parameters. Incorrect adjustment can affect the safety of the system, and damage the drive and or external equipment. Before attempting to adjust any of these parameters, refer to the Mentor MP

Advanced User Guide.

Table 11-1 Menu descriptions

Menu Function

1 Speed reference selection, limits and filters

2Ramps

3 Speed feedback and speed control

4 Torque and current control

5 Motor and field control

6 Sequencer and clock

7 Analog I/O

8 Digital I/O

9 Programmable logic and motorized pot

10 Drive status and trip information

11 General drive set-up

13 Position control

14 User PID controller

15 Slot 1 Solutions Module menu

16 Slot 2 Solutions Module menu

17 Slot 3 Solutions Module menu

18 User application menu 1 (saved in drive EEPROM)

19 User application menu 2 (saved in drive EEPROM)

20 User application menu 3 (not saved in drive EEPROM)

21 Second motor parameters

22 Additional Menu 0 set up

23 Header selections

Default abbreviations:

Eur> European default value USA> USA default value

Parameter numbers shown in brackets {...} are the equivalent sub block/ Menu 0 parameters.

In some cases, the function or range of a parameter is affected by the setting of another parameter; the information in the lists relates to the default condition of such parameters.

Threshold detectors, variable selectors and brake control function

Coding

The coding defines the attributes of the parameter as follows.

Table 11-2 Key to parameter table coding

Coding Attribute

{X.XX} Copied Mneu 0 or advanced parameter

Bit 1 bit parameter: ‘On’ or ‘OFF’ on the display

Bi Bipolar parameter

Uni Unipolar parameter

Txt Text: the parameter uses text strings instead of numbers.

SP Spare: not used

Filtered: some parameters which can have rapidly changing

values are filtered when displayed on the drive keypad for easy viewing.

Destination pointer parameter: This parameter can be used

to set up the location (i.e. menu/parameter number) where the destination data is to be routed.

Variable maximum: the maximum of this parameter can

vary.

Decimal place: indicates the number of decimal places used

by this parameter.

No default: when defaults are loaded (except when the drive

is manufactured or on EEPROM failure) this parameter is not modified.

Not copied: not transferred to or from SMARTCARD during

copying.

NV Not visible: not visible on the keypad.

PT Protected: cannot be used as a destination.

User save: saved in drive EEPROM when the user initiates

a parameter save.

RW Read/write: can be written by the user.

RO Read only: can only be read by the user

Bit default one/unsigned: Bit parameters with this flag set to one have a default of one (all other bit parameters have a

default of zero. Non-bit parameters are unipolar if this flag is one.

Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) trip occurs. Power-

down save parameters are also saved in the drive when the user initiates a parameter save.

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Table 11-3 Feature look-up table

Feature Related parameters (Pr)

Acceleration rates 2.10 2.11 to 2.19 2.32 2.33 2.34 2.02 Analog speed reference 1 1.36 7.10 7.01 7.07 7.08 7.09 7.25 7.26 7.30 Analog speed reference 2 1.37 7.14 1.41 7.02 7.11 7.12 7.13 7.28 7.31

Analog I/O

7 Analog input 1 7.01 7.07 7.08 7.09 7.10 7.25 7.26 7.30 Analog input 2 7.02 7.11 7.12 7.13 7.14 7.28 7.31 Analog input 3 7.03 7.15 7.16 7.17 7.18 7.29 7.32 Analog output 1 7.19 7.20 7.21 7.33 Analog output 2 7.22 7.23 7.24 Application menu Menu 18 Menu 19 Menu 20 At speed indicator bit 3.06 3.07 3.09 10.06 10.05 10.07 Auto reset 10.34 10.35 10.36 10.01 Autotune 4.13 4.14 4.34 5.12 5.15 5.23 5.24 5.29 5.30 5.59 5.61 5.70 5.72 5.74 Binary sum 9.29 9.30 9.31 9.32 9.33 9.34 Bipolar speed 1.10 Brake control 12.40 to 12.49 Catch a spinning motor 6.09 Coast to stop 6.01 Comms 11.23 to 11.26 Copying 11.42 11.36 to 11.40 Cost - per kWh electricity 6.16 6.17 6.24 6.25 6.26 6.40 Current controller 4.13 4.14 4.34 5.15 Current feedback 4.01 4.02 4.16 4.19 4.20 4.27 4.28 4.29 4.30 4.31 4.32 10.08 10.17 Current limits 4.05 4.06 4.07 4.18 5.07 10.09 Deceleration rates 2.20 2.21 to 2.29 2.04 2.35 to 2.37 2.02 2.08 6.01 Defaults 11.46

Digital I/O

8 Digital I/O read word 8.20 Digital I/O T24 8.01 8.11 8.21 8.31 Digital I/O T25 8.02 8.12 8.22 8.32 Digital I/O T26 8.03 8.13 8.23 8.33 Digital input T27 8.04 8.14 8.24 Digital input T28 8.05 8.15 8.25 8.39 Digital input T29 8.06 8.16 8.26 8.39 Digital lock 13.10 13.01 to 13.09 13.11 13.12 13.16 3.22 3.23 13.19 to 13.23 Direction 10.13 6.30 6.31 3.01 3.02 10.14 8.03 8.04 Display timeout 11.41 Drive active 10.02 Drive OK 10.01 8.27 8.07 8.17 10.36 Electronic nameplate 3.49 Enable 6.15 8.09 8.10 Encoder reference 3.43 3.44 3.45 3.46 Encoder set up 3.33 3.34 to 3.42 3.47 3.48 External trip 10.32 8.10 8.07 Fan speed 6.45 Filter change 6.19 6.18 Hard speed reference 3.22 3.23 I/O sequencer 6.04 6.30 6.31 6.32 6.33 6.34 6.42 6.43 6.40 Inertia compensation 2.38 5.12 4.22 3.18 Jog reference 1.05 2.19 2.29 Keypad reference 1.17 1.14 1.43 1.51 6.12 6.13 Limit switches 6.35 6.36 Line power supply loss 6.03 5.05 Local position reference 13.20 to 13.23 Logic function 1 9.01 9.04 9.05 9.06 9.07 9.08 9.09 9.10 Logic function 2 9.02 9.14 9.15 9.16 9.17 9.18 9.19 9.20 Marker pulse 3.32 3.31 Maximum speed 1.06 Menu 0 set up 22.01 to 22.21 Menu 22 Minimum speed 1.07 10.04 Modules - number of 11.35

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Feature Related parameters (Pr)

Motor map 5.07 5.08 5.09 5.70 5.73 Motor map 2 Menu 21 11.45 Motorized potentiometer 9.21 9.22 9.23 9.24 9.25 9.26 9.27 9.28 Offset speed reference 1.04 1.38 1.09 Onboard PLC 11.47 to 11.51 Open collector digital outputs 8.30 Orientation 13.10 13.13 to 13.15 Output 5.01 5.02 5.03 Overspeed threshold 3.08 PID controller Menu 14 Position feedback - drive 3.28 3.29 3.30 3.50 Positive logic 8.29 Power up parameter 11.22 11.21 Precision reference 1.18 1.19 1.20 1.44 Preset speeds 1.15 1.21 to 1.28 1.16 1.14 1.42 1.45 to 1.48 1.50

Programmable logic

9 Regenerating 10.10 Relative jog 13.17 to 13.19 Relay output 8.07 8.17 8.27 8.40 8.50 8.60 Reset 10.33 8.02 8.22 10.34 10.35 10.36 10.01 S ramp 2.06 2.07 Security code 11.30 11.44 Serial comms 11.23 to 11.26 Skip speeds 1.29 1.30 1.31 1.32 1.33 1.34 1.35 SMARTCARD 11.36 to 11.40 11.42 Software version 11.29 11.34 Speed controller 3.10 to 3.17 3.20 3.21 Speed feedback 3.02 3.03 Speed feedback - drive 3.26 3.27 3.28 3.29 3.31 3.42 3.52 3.55 3.56 3.57 3.58 Speed reference selection 1.14 1.15 1.49 1.50 1.01 Status word 10.40 Supply 5.05 Thermal protection - drive 7.04 7.34 10.18 Thermal protection - motor 4.15 5.07 4.19 4.16 4.25 7.15 Thermistor input 7.15 7.03 Threshold detector 1 12.01 12.03 to 12.07 Threshold detector 2 12.02 12.23 to 12.27 Time - filter change 6.19 6.18 Time - powered up log 6.20 6.21 6.28 Time - run log 6.22 6.23 6.28 Torque 4.03 4.26 5.32 Torque mode 4.08 4.11 4.09 4.10 Trip detection 10.20 to 10.29 Trip log 10.20 to 10.29 10.41 to 10.51 6.28 Under voltage 5.05 Variable selector 1 12.08 to 12.15 Variable selector 2 12.28 to 12.35 Velocity feed forward 1.39 1.40 Voltage rating 11.33 5.09 5.05 Warning 10.19 10.17 10.18 10.40 Zero speed indicator bit 3.05 10.03

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Parameter ranges and variable maximums:

The two values provided define the minimum and maximum values for the given parameter. In some cases the parameter range is variable and dependant on either:

• other parameters

• the drive rating

• or a combination of these

The values given in Table 11-4 are the variable maximums used in the drive.

Table 11-4 Definition of parameter ranges & variable maximums

Maximum Definition

Maximum speed reference

MAX_SPEED_REF [10000.0rpm]

SPEED_LIMIT_MAX [10000.0rpm]

SPEED_MAX [10000.0rpm]

MAX_RAMP_RATE MAX_RAMP_RATE_M2 [3200.000]

RATED_CURRENT_MAX [9999.99A]

DRIVE_CURRENT_MAX [9999.99A]

MOTOR1_CURRENT_LIMIT_MAX [1000.0%]

MOTOR2_CURRENT_LIMIT_MAX [1000.0%]

TORQUE_PROD_CURRENT_MAX [1000.0%]

USER_CURRENT_MAX [1000.0%]

If Pr 1.08 = 0: MAX_SPEED_REF = Pr 1.06 (SE02, 0.23) If Pr 1.08 = 1: MAX_SPEED_REF is Pr 1.06 (SE02, 0.23) or – Pr 1.07 (SE01, 0.22) whichever is the largest (If the second motor map is selected Pr 21.01 is used instead of Pr 1.06 (SE02, 0.23) and Pr 21.02 instead of Pr 1.07 (SE01, 0.22))

Maximum applied to speed reference limits

A maximum limit may be applied to the speed reference to prevent the nominal encoder frequency from exceeding 500kHz. The maximum is defined by

SPEED_LIMIT_MAX (in rpm) = 500kHz x 60 / ELPR = 3.0 x 10 10,000 rpm. ELPR is equivalent encoder lines per revolution and is the number of lines that would be produced by a quadrature encoder. Quadrature encoder ELPR = number of lines per revolution F and D encoder ELPR = number of lines per revolution / 2 This maximum is defined by the device selected with the speed feedback selector (Pr 3.26 (Fb01, 0.71)) and the ELPR set for the position feedback device.

Maximum speed

This maximum is used for some speed related parameters in menu 3. To allow headroom for overshoot etc. the maximum speed is twice the maximum speed reference. SPEED_MAX = 2 x MAX_SPEED_REF

Maximum ramp rate

If (Pr 1.06 (SE02, 0.23) [Pr 21.01] >= 1000 and Pr 2.39 = 0) or Pr 2.39 >= 1000 then

MAX_RAMP_RATE = 3200.000

Else if Pr 2.39 = 0

MAX_RAMP_RATE = 3200 * Pr 1.06 (SE02, 0.23) [Pr 21.01] / 1000.0

Else

MAX_RAMP_RATE = 3200 * Pr 2.39 / 1000.0

End if

Maximum motor rated current

Maximum drive current

The maximum drive current is the current at the over current trip level and is given by: DRIVE_CURRENT_MAX = RATED_CURRENT_MAX x 2

Maximum current limit settings for motor map 1

This maximum current limit setting is the maximum applied to the current limit parameters in motor map 1. See introduction to Menu 4 for the definition.

Maximum current limit settings for motor map 2

This maximum current limit setting is the maximum applied to the current limit parameters in motor map 2. See introduction to Menu 4 for the definition.

Maximum torque producing current

This is used as a maximum for torque and torque producing current parameters. It is MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is currently active.

Current parameter limit selected by the user

The user can select a maximum for Pr 4.08 (torque reference) and Pr 4.20 (percentage load) to give suitable scaling for analog I/O with Pr 4.24. This maximum is subject to a limit of CURRENT_LIMIT_MAX. USER_CURRENT_MAX = Pr 4.24

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Maximum Definition

Maximum armature voltage

Vac x 1.35 (√2 x 3 / π)

ARMATURE_VOLTAGE_MAX [1025]

480 +10% drive: 720 575 +10% drive: 860 690 +10% drive: 1025

For 4 quadrant drives maximum armature voltage = Vac x 1.15

Quadrant maximum

QUADRANT_MAX

0 for a 2 quadrant drive. 1 for a 4 quadrant drive.

Maximum power in kW

POWER_MAX [9999.99kW]

The maximum power has been chosen to allow for the maximum power that can be output by the drive with maximum DC output voltage and maximum controlled current. Therefore:

POWER_MAX = ARMATURE_VOLTAGE_MAX x DRIVE_CURRENT_MAX

The values given in square brackets indicate the absolute maximum value allowed for the variable maximum.

Advanced

parameters

Technical

data

Diagnostics

information

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Preset reference

*selector

Preset reference scan time

Keypad

Reference

Precision reference

Precision- reference update disable

Analog reference 1

Analog reference 2

Analog reference 2 select

Preset reference select bits 1 ~ 3

Preset reference Scan-timer reset

Analog input 1

Analog input 2

Memory

Menu 7

1.36

1.37

1.41

1.16

1.48

1.15

1.17

1.20

1.18

Precision reference trim

1.19

Preset

reference

select

Keypad

reference

select

Precision

reference

select

LOCAL/REMOTE

Menu 8

Level

reference

selected

Reference

offset

Reference

offset mode select

Reference

*selector

Reference

selected

indicator

1.49

1.14

1.09

1.04

Reference

percentage

trim

1.38

1.01

Analog reference

Preset reference

Keypad reference

Precision reference

0.XX

Key

Read-write

(RW)

parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

1.51

Power-up keypad control mode reference

1.20

Preset reference selected

indicator

Preset references 1 to 8

1.21 ~ 1.28

Scan timer

1.47

1.46

1.45

1.44

1.43

1.42

Pr set to

greater than 1

1.50

Pr 1.49

1 1 2 2 3 4 5 6

Pr 1.50

x x x x

Reference being used

1.50

Analog reference 1

Preset reference defined by Pr

Analog reference 2

Preset reference defined by Pr

Keypad reference Precision reference Keypad reference only

Preset reference defined by Pr

1.50

Keypad only

select

1.52

Information

Product

information

Mechanical Installation

Electrical

installation

Getting

started

11.1 Menu 1: Speed reference

Menu 1 controls the main reference selection.

Figure 11-1 Menu 1 logic diagram

Basic

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Technical

data

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information

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Jog reference

Bipolar reference

select

Jog selected

indicator

Menu 6

Sequencer

1.10

1.05

1.13

Pre-filter

reference

Pre-ramp reference

Maximum speed

"clamp"

Minimum speed

"clamp" (Maximum reverse

speed)

Negative minimum speed

select

Reference enabled

indicator

Reverse selected

indicator

Skip speed 1

Reference in skip speed band indicator

Velo city feed-forward reference

Feed-forward selected

indicator

1.12

x(-1)

1.39

1.40

1.08

[1.06]

[1.07]

[1.06]

[1.07]

1.06

1.07

1.11

Sequencer (Menu 6)

1.02

1.03

Menu 2Skip speed

Skip

speed

Skip

speed

band

Skip

speed

band

Skip

speed

band

1.29

1.30

1.31

1.32

1.33

1.34

1.35

Menu 8

JOG

RUN

FORWARD RUN REVERSE

Menu 13

Position control

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Advanced

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data

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information

*Refer to Pr 1.14 (SE05, 0.26)

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Technical

data

Diagnostics

information

Parameter

1.01 Speed reference selected {di01, 0.36}

1.02 Pre-skip filter reference RO Bi NC PT

1.03 Pre-ramp reference {di02, 0.37} RO Bi NC PT

1.04 Reference offset ±10,000.0 rpm

1.05 Jog reference 0 to 1,000.0 rpm RW Uni US

1.06 Maximum reference clamp {SE02, 0.23} SPEED_LIMIT_MAX rpm 1000.0 RW Uni US

1.07 Minimum reference clamp {SE01, 0.22} ±SPEED_LIMIT_MAX rpm* 0.0 RW Bi PT US

Negative minimum reference

1.08

clamp enable

1.09 Reference offset select RW Bit US

1.10 Bipolar reference enable RW Bit US

1.11 Reference enabled indicator {di11, 0.46}

1.12 Reverse selected indicator {di12, 0.47} RO Bit NC PT

1.13 Jog selected indicator {di13, 0.48} RO Bit NC PT

1.14 Reference selector {SE05, 0.26} 0 to 6 0 (A1.A2) RW Txt US

1.15 Preset selector 0 to 9 0 RW Uni US

Preset reference selector

1.16

timer

1.17 Keypad control reference ±MAX_SPEED_REF rpm

1.18 Precision reference coarse ±MAX_SPEED_REF rpm RW Bi US

1.19 Precision reference fine 0.0 to 0.099 rpm 0.000 RW Uni US

Precision reference update

1.20

disable

1.21 Preset reference 1

1.22 Preset reference 2 RW Bi US

1.23 Preset reference 3 RW Bi US

1.24 Preset reference 4 RW Bi US

1.25 Preset reference 5 RW Bi US

1.26 Preset reference 6 RW Bi US

1.27 Preset reference 7 RW Bi US

1.28 Preset reference 8 RW Bi US

1.29 Skip reference 1 0 to 10,000 rpm 0 RW Uni US

1.30 Skip reference band 1 0 to 250 rpm 5 RW Uni US

1.31 Skip reference 2 0 to 10,000 rpm 0 RW Uni US

1.32 Skip reference band 2 0 to 250 rpm 5 RW Uni US

1.33 Skip reference 3 0 to 10,000 rpm 0 RW Uni US

1.34 Skip reference band 3 0 to 250 rpm 5 RW Uni US

1.35 Reference in rejection zone OFF (0) or On (1)

1.36 Analog reference 1

1.37 Analog reference 2 RO Bi NC

1.38 Percentage trim ±100.00% 0.00 RW Bi NC

1.39 Velocity feed forward ±10,000.0 rpm

1.40 Velocity feed forward select

1.41 Reference select flag 1

1.42 Reference select flag 2 RW Bit NC

1.43 Reference select flag 3 RW Bit NC

1.44 Reference select flag 4 RW Bit NC

1.45 Reference select flag 5 RW Bit NC

1.46 Reference select flag 6 RW Bit NC

1.47 Reference select flag 7 RW Bit NC

1.48 Reference timer reset flag RW Bit NC

1.49 Reference selected indicator 1 to 6

Preset reference selected

1.50

indicator Power-up keyboard control

1.51

mode reference

1.52 Reference select flags OFF (0) or On (1) OFF (0) RW Bit NC

Range(

Ú) Default(Ö)

±MAX_SPEED_REF rpm

0.0

OFF (0)

OFF (0) or On (1)

0 to 400.0s 10.0 RW Uni US

0.0

OFF (0) or On (1) OFF (0) RW Bit NC

±MAX_SPEED_REF rpm 0.0

±MAX_SPEED_REF rpm 0

OFF (0) or On (1)

1 to 8

0 to 2 0 RW Txt US

OFF (0)

RO Bi NC PT

RW Bi US

RW Bit US

RO Bit NC PT

RO Bi NC PT PS

RW Bi US

RO Bit NC PT RO Bi NC

RO Bi NC PT RO Bit NC PT RW Bit NC

RO Uni NC

RO Uni NC PT

Type

*The range shown for Pr 1.07 shows the range used for scaling purposes (i.e. for routing to an analog output etc.). Further range restrictions are applied depending on the settings of Pr 1.08 and Pr 1.10.

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string

FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

96 Mentor MP User Guide

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Electrical

installation

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started

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parameters

Running the

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Onboard

PLC

Advanced

parameters

Technical

data

Diagnostics

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0 0 0

0 0 1

0 1 0

0 1 1

1 0 0

1 0 1

1 1 0

1 1 1

Acceleration rate select bits

2.11

Acceleration rate 1

2.12

Acceleration rate 2

2.13

Acceleration rate 3

2.14

Acceleration rate 4

2.15

Acceleration rate 5

2.16

Acceleration rate 6

2.17

Acceleration rate 7

2.18

Acceleration rate 8

Acceleration rates 1 ~ 8

1.50

Preset reference selected indicator

2.19

Jog acceleration

rate

1.13

Jog selected

indicator

1.03

Pre-ramp speed

reference

2.03

Ramp hold

NtN

Acceleration

Reverse accel. rate

Forward accel. rate

Ramp control

2.10

Acceleration

rate selector

2.34

2.32

2.33

2.32

0.XX

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown at their default settings

2.40

2.41

S-Ramp time

S-Ramp mode

2.39

Ramp rate speed units

2.30

Acceleration ramp selected

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Advanced

parameters

Technical

data

Diagnostics

information

11.2 Menu 2: Ramps

The pre-ramp speed reference passes through the ramp block controlled by menu 2 before being used by the drive to produce input to the speed controller. The ramp block includes: linear ramps, and an S ramp function for ramped acceleration and deceleration.

Figure 11-2 Menu 2 logic diagram

98 Mentor MP User Guide

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Safety

2.06

S-Ramp enable**

2.07

S-Ramp acceleration limit

Ramp control

Deceleration

Forward Decel. rate

Reverse Decel. rate

2.02

Ramp

enable

Deceleration rate select bits

2.37

1.50

Preset reference

selected indicator

2.29

Jog deceleration

rate

1.13

Jog selected

indicator

2.38

Inertia compensation

torque

d/dt

2.20

Deceleration rate selector

2.36

2.35

Pr = Motor and load inertia

Pr =

3.18

5.32

Motor torque per amp

Post-ramp

reference

2.01

2.05

Ramp output

selector

Menu 3

2.31

Deceleration

ramp selected

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Advanced

parameters

Technical

data

Diagnostics

information

** For more information refer to Chapter 11.22 Advanced features on page 140 section in the Mentor MP User Guide.

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Advanced

parameters

Technical

data

Diagnostics

information

Parameter

Ú) Default(Ö)

Range(

Typ e

2.01 Post ramp reference {di03, 0.38} ±SPEED_MAX rpm RO Bi NC PT

2.02 Ramp enable

2.03 Ramp hold 0 RW Bit US

2.05 Ramp output selector On (1) RW Bit US

OFF (0) or On (1)

On (1) RW Bit US

2.06 S ramp enable 0 Eur: 0, USA: 1 RW Bit US

2.07 S ramp acceleration limit

0 to 100.000 s

/1000rpm

3.600 RW Uni US

2.10 Acceleration rate selector 0 to 9 0 RW Uni US

2.11 Acceleration rate 1 {SE03, 0.24}

RW Uni US

2.12 Acceleration rate 2 RW Uni US

2.13 Acceleration rate 3 RW Uni US

2.14 Acceleration rate 4 RW Uni US

2.15 Acceleration rate 5 RW Uni US

2.16 Acceleration rate 6 RW Uni US

0 to MAX_RAMP_RATE s /

(Pr 1.06 OR Pr 2.39)

5.000

2.17 Acceleration rate 7 RW Uni US

2.18 Acceleration rate 8 RW Uni US

2.19 Jog acceleration rate RW Uni US

2.20 Deceleration rate selector 0 to 9 0 RW Uni US

2.21 Deceleration rate 1 {SE04, 0.25}

RW Uni US

2.22 Deceleration rate 2 RW Uni US

2.23 Deceleration rate 3 RW Uni US

2.24 Deceleration rate 4 RW Uni US

2.25 Deceleration rate 5 RW Uni US

2.26 Deceleration rate 6 RW Uni US

0 to MAX_RAMP_RATE s /

(Pr 1.06 OR Pr 2.39)

5.000

2.27 Deceleration rate 7 RW Uni US

2.28 Deceleration rate 8 RW Uni US

2.29 Jog deceleration rate 10.000 RW Uni US

2.30 Acceleration ramp selected

2.31 Deceleration ramp selected RO Uni NC PT

1 to 8

2.32 Acceleration select bit 0

RO Uni NC PT

RW Bit NC

2.33 Acceleration select bit 1 RW Bit NC

2.34 Acceleration select bit 2 RW Bit NC

2.35 Deceleration select bit 0 RW Bit NC

OFF (0) or On (1)

2.36 Deceleration select bit 1 RW Bit NC

2.37 Deceleration select bit 2 RW Bit NC

Inertia compensation

2.38

torque

± 1,000.0 % RO Bi NC PT

2.39 Ramp rate speed units 0 to 10000rpm 0 RW Uni US

2.40 Time of S ramp 0 to 100.000s 1.250 RW Uni US

2.41 S ramp mode OFF (0) or On (1) On (1) RW Bit US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string

FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

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Control Techniques Mentor MP User Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Safety Information

1.1 Warnings, Cautions and Notes

1.2 Electrical safety - general warning

1.4 Environmental limits

1.5 Access

1.6 Fire protection

1.7 Compliance with regulations

1.8 Motor

1.9 Adjusting parameters

1.10 Electrical installation

1.10.1 Electric shock risk

1.10.2 Stored charge

2 Product information

2.1 Ratings

2.1.1 Typical short-term overload limits

2.2 Model number

2.3 Compatible encoders

2.4 Nameplate description

2.4.1 Output current

2.4.2 Input current

2.5 Drive features and options

2.5.1 Options available for Mentor MP

2.6 Items supplied with the drive

3 Mechanical Installation

3.1 Safety

3.2.3 Cooling

3.2.4 Electrical safety

3.2.5 Electromagnetic compatibility

3.2.6 Hazardous areas

3.2 Planning the installation

3.2.1 Access

3.2.2 Environmental protection

3.3 Terminal cover removal

3.3.1 Removing the terminal covers

3.3.2 Removing the finger-guard and break-outs

3.3.3 Installation and removal of a Solutions Module

3.4 Mounting method

3.5 Installing and removing the terminal shrouds

3.6 Enclosure

3.6.1 Enclosure layout

3.6.2 Enclosure sizing

3.7 Heatsink fan operation

3.8 IP rating (Ingress Protection)

3.9 Electrical terminals

3.9.1 Location of the power and ground terminals

3.9.2 Terminal sizes and torque settings

3.9.3 Torque settings

3.10 Routine maintenance

4 Electrical installation

4.1 Electrical connections

4.2 Ground connections

4.3 AC supply requirements

4.3.1 Supply types

4.3.2 Supply fault current

4.3.3 MOV ground disconnect

4.3.4 Main AC supply (L1, L2, L3)

4.4 Line reactors

4.4.1 Auxiliary AC supply and connections

4.4.2 Supply requirements

4.5 Control 24Vdc supply

4.6 Cable and fuse size ratings

4.6.1 Ferraz Shawmut fuses

4.6.2 Alternative fusing

4.6.3 Internal field fuses

4.7 External suppressor resistor

4.8 Ground leakage

4.8.1 Use of residual current device (RCD)

4.9 EMC (Electromagnetic compatibility)

4.9.1 Power drive systems standard

4.9.2 Generic standard and PDS category C2

4.9.3 EMC filter information

4.10.1 Isolation of the serial communications port

4.10 Serial communications connections

4.10.2 Multi-drop network

4.11 Shield connections

4.11.1 Motor cables