Control Techniques SM-Resolver Users Manual
EF
www.controltechniques.com
User Guide
SM-Resolver
Solutions Module for
Unidrive SP
Part Number: 0471-0015-04
Issue Number: 4
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 this 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
The SM-Resolver can only be used with drive software version 01.01.00 onwards.
Copyright © September 2004 Control Techniques Drives Ltd
Issue Code: 4
Contents
1 How to use this guide ................................................... 4
1.1 Intended personnel .................................................................................4
1.2 Information .............................................................................................. 4
2 Safety information ......................................................... 5
2.1 Warnings, Cautions and Notes ...............................................................5
2.2 Electrical safety - general warning .......................................................... 5
2.3 System design and safety of personnel .................................................. 5
2.4 Environmental limits ................................................................................ 6
2.5 Compliance with regulations ................................................................... 6
2.6 Motor ....................................................................................................... 6
2.7 Adjusting parameters .............................................................................. 6
3 Introduction .................................................................... 7
3.1 Features .................................................................................................. 7
3.2 Solutions Module identification ................................................................ 7
3.3 Set-up parameters ..................................................................................8
3.4 Compatible resolver types ....................................................................... 8
3.5 Operation of a resolver ............................................................................ 9
4 Installing the SM-Resolver .......................................... 11
4.1 Solutions Module slots .......................................................................... 11
4.2 Installation ............................................................................................. 11
4.3 Terminal descriptions ............................................................................ 12
4.4 Wiring, Shield connections .................................................................... 13
5 Getting started ............................................................. 15
5.1 Installation ............................................................................................. 15
5.2 Solutions Module set-up ........................................................................ 16
5.3 Encoder simulation output ..................................................................... 17
5.4 Freeze function .....................................................................................17
6 Parameters ................................................................... 18
6.1 Introduction ........................................................................................... 18
6.2 Single line descriptions .........................................................................20
6.3 Parameter descriptions ......................................................................... 24
7 Diagnostics .................................................................. 31
7.1 Displaying the trip history ...................................................................... 31
8 Terminal data ............................................................... 33
Index ............................................................................. 35
SM-Resolver User Guide
Issue Number: 4 www.controltechniques.com
1 How to use this guide
1.1 Intended personnel
This guide is intended for personnel who have the necessary training and experience in
system design, installation, commissioning and maintenance.
1.2 Information
This guide contains information covering the identification of the Solutions Module,
terminal layout for installation, fitting of the Solutions Module to the drive, parameter
details and diagnosis information. Additional to the aforementioned are the
specifications of the Solutions Module.
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2 Safety information
2.1 Warnings, Cautions and Notes
A Warning contains information, which is essential for avoiding a safety hazard.
WARNING
A Caution contains information, which is necessary for avoiding a risk of damage to the
CAUT ION
product or other equipment.
NOTE
A Note contains information, which helps to ensure correct operation of the product.
2.2 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 User Guide.
2.3 System design and safety of personnel
The drive is intended as a component for professional incorporation into complete
equipment or a 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.
Close attention is required to the electrical installation and the system design to avoid
hazards either in normal operation or in the event of equipment malfunction. System
design, installation, commissioning and maintenance must be carried out by personnel
who have the necessary training and experience. They must read this safety information
and this User Guide carefully.
The STOP and SECURE DISABLE functions of the drive 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.
With the sole exception of the SECURE DISABLE function, none of the drive
functions must be used to ensure safety of personnel, i.e. they must not be used
for safety-related functions.
Careful consideration must be given to the functions of the drive which might result in a
hazard, either through their 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.
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The SECURE DISABLE function has been approved
EN954-1 category 3 for the prevention of unexpected starting of the drive. It may be
used in a safety-related application. The system designer is responsible for
ensuring that the complete system is safe and designed correctly according to
the relevant safety standards.
1
Independent approval by BIA has been given for sizes 1 to 3.
2.4 Environmental limits
Instructions in the Unidrive SP User Guide regarding transport, storage, installation and
use of the drive must be complied with, including the specified environmental limits.
Drives must not be subjected to excessive physical force.
2.5 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 or other protection, and protective earth (ground)
connections.
The Unidrive SP User Guide contains instruction 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:
98/37/EC: Safety of machinery.
89/336/EEC: Electromagnetic Compatibility.
2.6 Motor
Ensure the motor is installed in accordance with the manufacturer’s recommendations.
Ensure the motor shaft is not exposed.
Standard squirrel cage induction motors are designed for single speed operation. If it is
intended to use the capability of the drive to run a motor at speeds above its designed
maximum, it is strongly recommended that the manufacturer is consulted first.
Low speeds may cause the motor to overheat because the cooling fan becomes less
effective. The motor should be fitted with a protection thermistor. If necessary, an
electric forced vent 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 in parameter 0.46 motor rated current.
This affects the thermal protection of the motor.
1
as meeting the requirements of
2.7 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.
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3Introduction
3.1 Features
The SM-Resolver provides an interface for a resolver to be connected to the Unidrive
SP, to be used as position and speed feedback for the drive. The SM-Resolver also
provides a simulated quadrature encoder output.
NOTE
3.2 Solutions Module identification
The SM-Resolver will only provide speed and position feedback when it is selected as
the source of the drive speed/position feedback. Hence the SM-Resolver does not
function when the drive is operating in open-loop mode. Similarly, it is not possible to use
a resolver as a speed/position reference.
All three Solutions Module slots can simultaneously accommodate a SM-Resolver,
however, only one of the three can be used to provide speed/position feedback at any
given time (see NOTE above).
Figure 3-1 SM-Resolver
The SM-Resolver can be identified by:
1. The label located on the underside of the Solutions Module.
2. The colour coding across the front of the Solutions Module. All Unidrive SP
Solutions Modules are colour coded, with the SM-Resolver being light blue.
Figure 3-2 SM-Resolver label
Solutions Module
name
Issue
number
SM-Resolver
Issue: 0
Ser No : 3000005001
STDJ41
Customer
and date code
Serial number
3.2.1 Date code format
The date code is split into two sections: a letter followed by a number.
The letter indicates the year, and the number indicates the week number (within the
year) in which the Solutions Module was built.
The letters go in alphabetical order, starting with A in 1990 (B in 1991, C in 1992 etc.).
Example:
A date code of L35 would correspond to week 35 of year 2002.
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3.3 Set-up parameters
All parameters associated to the SM-Resolver can be found in either menu 15, 16, or
17. Each of menus 15, 16, and 17 refer to one of the available slots into which the SMResolver can be fitted. See Figure 4-1 on page 11.
3.4 Compatible resolver types
The SM-Resolver will allow for resolvers with the following specification to be used with
the Unidrive SP:
Input impedance: >85Ω at 6kHz
Turns ratio: 3:1 or 2:1 (input : output)
Number of poles: 2, 4, 6 or 8
Suitable resolvers from CT Dynamics are frames sizes 55RSS and 80RS.
NOTE
If the number of poles of the resolver is not 2, then the resolver can only work with a
motor that has the same number of poles (e.g. a 6 pole resolver with a 6 pole motor).
NOTE
A 4-pole resolver will give two electrical cycles within one mechanical revolution.
Therefore, a 4-pole resolver cannot provide absolute position (mechanical). Similarly, a
6-pole or 8-pole resolver cannot provide absolute position (mechanical).
3.4.1 SM-Resolver excitation output
Output wave form: either 6kHz 6V rms sine wave (turns ratio = 3:1)
or 6kHz 4V rms sine wave (turns ratio = 2:1)
3.4.2 SM-Resolver inputs
Input voltage: 2V rms
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3.5 Operation of a resolver
A resolver is a rotating transformer that produces output voltages on a pair of SIN and
COS secondary windings. When an excitation voltage is applied to the primary winding
and the resolver shaft is rotated, amplitude-modulated voltage waveforms appear on the
secondary windings, where the excitation voltage acts as a carrier for the modulation. In
addition, on each secondary, the phase of the carrier voltage is reversed twice every
revolution.
Figure 3-3 shows the relationships between the resolver position and the SIN and COS
outputs, as well as the phase reversals in the carrier waveforms for forward rotation (for
a clearer indication of the phase reversals, see Figure 3-4). Figure 3-3 also shows the
waveform of the U motor phase for a six-pole motor when the motor and resolver are
aligned for zero phase offset.
Figure 3-3 Sine and Cosine modulation on the secondary windings
Resolver
position
Motor
U phase
Excitation
(primary)
SIN
secondary
COS
secondary
Carrier with excitationin phase
in phase Carrier
with excitation
Zero position Zero position
Carrier with excitationin anti-phaseCarrier
o
90
Carrier with excitationin anti-phase
o
180
270
o
in phase
with excitation
3.5.1 Direction of rotation
Forward rotation is defined as follows:
Motor
Phase sequence: U V W
Resolver
COS modulation leads the SIN modulation (by 90°) (see Figure 3-4)
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3.5.2 Zero-position point
p
The resolver passes through its zero position when the following occur (see Figure 3-4):
SIN output
• The modulation is at minimum
• The carrier waveform changes from being in anti-phase with the excitation voltage
on the primary to being in phase with the excitation voltage on the primary
COS output
• The modulation is at maximum
• The carrier waveform is in phase with the excitation voltage on the primary
Figure 3-4 Modulation and carrier-phase conditions around the zero position of
the resolver
Resolver
position
Excitation
(primary)
SIN
secondary
COS
secondary
Carrier with excitationin anti-phase
Carrier with excitationin phase
Zero
Carrier with excitationin phase
Carrier with excitationin phase
osition of resolver
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4 Installing the SM-Resolver
e
4.1 Solutions Module slots
Before installing the SM-Resolver, refer to Chapter 2 Safety information on page 5.
WARNING
There are three slots available, which the Solutions Module can be plugged into as
shown in Figure 4-1. The Solutions Module can be plugged into either one of these, but
it is recommended that slot 3 be used for the first Solutions Module then slot 2 and slot
1. This ensures maximum mechanical support for the Solutions Module once fitted.
Figure 4-1 Location of slots 1, 2 and 3 on the Unidrive SP
Solutions Module
slot 1 (Menu 15)
Solutions Module
slot 2 (Menu 16)
Solutions Modul
slot 3 (Menu 17)
4.2 Installation
1. Before installing the SM-Resolver in the Unidrive SP, ensure the AC supply has
been disconnected from the drive for at least 10 minutes.
2. Ensure that both the +24V, and +48V backup power supplies are disconnected from
the drive for at least 10 minutes if used.
3. Check that the exterior of the SM-Resolver is not damaged, and that the multi-way
connector is free from dirt and debris.
4. Do not install a damaged or dirty SM-Resolver in the drive.
5. Remove the terminal cover from the drive. (For removal / re-fitting instructions, see
Unidrive SP Solutions Module Installation Sheet provided with the Solutions
Module.)
6. Position the drive connector of the SM-Resolver over the connector of the
appropriate slot in the drive and push downwards until it locks into place.
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Figure 4-2 Fitting the SM-Resolver
7. Re-fit the terminal cover to the drive. (For removal / re-fitting instructions, see
Unidrive SP Solutions Module Installation Sheet provided with the Solutions
Module.)
8. Connect the AC supply to the drive.
9. Set Pr 0.49 to L2 to unlock read only security.
10. Check that Menu 15 (slot 1), 16 (slot 2), or 17 (slot 3) parameters are now available.
11. Check that Pr 15.01, Pr 16.01 or Pr 17.01 shows the correct code for the SMResolver (code = 101).
12. If the checks in steps 10 and 11 fail, either the SM-Resolver is not fully inserted, or
the Solutions Module is faulty.
13. If a trip code is now present refer to Chapter 7 Diagnostics on page 31.
4.3 Terminal descriptions
Figure 4-3 SM-Resolver terminals
12345678910 11 12 13 14 15 16 17
Table 4.1 SM-Resolver terminal descriptions
Term Simulated encoder
Term Resolver connections
output connections
1A 9SIN LOW
2 A\ 10 SIN HIGH
30V 11COS LOW
4 B 12 COS HIGH
5 B\ 13 REF HIGH (excitation)
6 0V 14 REF LOW (excitation)
7 Z 15 0V
8Z\ 160V
17 0V
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