Control Techniques UNI 1404, UNI 1402, UNI 1401, UNI 2401, UNI 1405 Product Data

...

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Unidrive Servo & Unimotor product data

The performance matched AC Servo solution for all applications

servo drive

Drive Overview 4 Introduction to Macros 7 Drive Technical Specification 12 Connections 16 Drive Installation 19 Electro Magnetic Compatibility (EMC) & Radio 24

Frequency Interference (RFI)

servo motor

Motor Overview 26 Motor Technical Specification 27 Motor Installation 32 Accessories 34

servo drive & motor combinations

Torque Speed Curves & Tables 42 Servo Sizing Software 48

motion intelligence

Options 50 Typical Applications 54

Chapter 1

Chapter 2

Chapter 3

Chapter 4

..........

drive overview

Connectivity

UD73 - Profibus DP UD74 - Interbus S UD77 - DeviceNet UD75 - CT Net UD76 - Modbust + UD71 - RS232/485 HMI - Operator Interfaces

Feedback

Standard - Encoder UD53 - Resolver UD52 - Sin/cos encoder

Unimotor

Brushless AC Servo motors to 70Nm On request:

- Brushless >70NM-1850Nm

- Asynchronous >70NM-2500Nm

Motor accessories: - cables, fan cowlings, brakes, planetary geared motors

Unidrive Servo & Unimotor

The complete multi purpose Servo package with high flexibility & functionality

Model size 3

Model size 2

Model size 1

Model size 4

Motion Intelligence

UD70 - Applications module UD78 - High performance servo UD50 - Extended I/O UD51 - 2nd Encoder Unisoft - Programming software SYPT - Systems programming tool CTSS - Servo sizing software tool

Power Range 380-480V

Size 1 - 0.75 to 4kW Size 2 - 5.5 to 11kW Size 3 - 15 to 37kW Size 4 - 45 to 110kW Size 5 - >110kW Line regeneration capability

115

142

190

Unidrive

The Unidrive is an advanced AC drive for use with AC brushless permanent magnet servo motors. The Unidrive’s set up can be easily and quickly changed from the on-board keypad, a remote keypad, or through UniSoft, a Windows™based configuration software tool.

Sizes

There are five physical sizes comprising 26 different models ranging from 1NM to 2500 NM*. The drive is designed for stand alone as well as coordinated systems applications. There are hundreds of configurable functions in 20 logically organised menus. All functions are factory defaulted to typical values to facilitate easy set-up.

Parameters

The Unidrive’s most commonly used parameters are stored in Menu 0. This menu is defaulted with those parameters which are typically accessed, but the user may map any of the drive’s other parameters to this menu for easier access. This approach means easy access for those parameters the user selects.

Flexibility

In addition Unidrive has many other of embedded configurable functions which are easily adapted for virtually any application. Some of these configurable functions include items such as assignable I/O, autotune, encoder feedback, frequency and direction pulse signal input and output, axis limit control, ratio control, electronic holding brake, S-ramps, position control and many others.

Technology

Many of these important product features would not be possible without the use of advanced technology in the Unidrive. The drive employs advanced microprocessor technology which controls all drive functions including input to the inverter ASIC (Application Specific Integrated Circuit) which synthesises an adjustable carrier frequency PWM (Pulse Width Modulation) output. The ASIC output controls the IGBT (Insulated Gate Bipolar Transistor) inverter section. All printed circuit boards are manufactured using surface mount technology.

Regeneration

The Regeneration mode is used for four-quadrant operation. A Drive can be operated in Regeneration mode only when it is connected to other Drive(s) operating in one of the other (motoring) modes.

Regeneration mode allows the following:

●

AC supply to be fed from the Regeneration Drive to

the Drive(s) that are controlling the motor

● Regenerated power to be returned to the AC supply by the Regeneration Drive instead of being dissipated in braking resistors

Regeneration Module Control Mode

▼

drive overview

* For ratings above 65NM please consult your local Drive/Application centre

Regenerating

Unidrive

AC Supply

Filter

and

Start

Circuit

DC Bus

—

Motoring

Unidrive

AC Motor

Key Features

General Features

●

Coast & Ramp to Stop modes

●

8 Preset speeds & Ramps

●

3 Skip frequencies

●

S Ramp

●

Motorised potentiometer

●

Internal braking transistor as standard

●

Encoder input as standard

●

Programmable security code

●

Bright two line LED display

Advanced Features

●

Position control

●

Digital lock

●

Mains dip ride through

●

Frequency slaving

●

Catch a spinning motor

●

Programmable logic functions

●

Orientation

Performance Features

●

336µs speed loop sample time

●

176µs current loop sample time

●

16 bit speed loop

●

12 bit current loop

●

Dynamic injection/braking

●

Fast current loop with PI control

Flexibility Features

●

Speed reference selector

●

Full I/O programmability

●

Unisoft

●

Well structured menu system

●

Encoder I/P

●

Programmable logic functions

●

Configurable menu zero

●

Programmable thresholds

●

Resolver feedback

●

Sin/cos feedback

●

High speed communications

●

Applications module

●

High performance module

Ease of Use Features

●

Macros

●

Bright two line LED display

●

Cloning module

●

Unisoft

Maintenance Features

●

Clock

●

Full internal protection & diagnostics

●

Last ten trips stored

●

Programmable security code

●

Common control board

●

Pluggable terminals

drive overview

introduction to macros

Introduction

The Unidrive’s more than 700 parameters are organised so that similar parameters are grouped within the same menu. For example, Menu 1 holds the parameters associated with the selection of a speed reference. Menu 2 holds parameters associated with the selection of acceleration and deceleration rates etc.

Menu zero

This menu holds parameters that are quick access

duplicates of the most used advanced parameters.

Categories:

0.0 Configuration

0.01 – 0.02 Speed limits

0.03 – 0.06 Ramps

Speed reference selection Current limit

0.07- 0.09 PID gains (closed loop)

0.10 – 0.13 Monitoring

0.14 – 0.17 Jog reference

Ramp mode selector Stop and torque mode selectors

0.18 – 0.19 S-ramp

0.20 – 0.23 Skip bands

0.24 – 0.26 Analogue input modes

0.27 – 0.34 Miscellaneous

0.35 Keypad reference monitoring

0.36 – 0.38 Serial communications

Parameter displayed at power up

0.39 – 0.41 Spinning motor

Autotune PWM switching frequency

0.42 – 0.47 Motor parameters

0.48 Operating mode selection

0.49 – 0.50 Status information

Menu 1 Frequency / speed reference selection

Frequency / speed limits Skip frequencies / speeds

Menu 2 Acceleration and deceleration ramps

Ramp selection, enable selected Braking mode selection S-ramp

Menu 3 Speed indications

Speed loop PID gain Speed sensing thresholds Frequency slaving

Hard speed reference Encoder set up

Menu 4 Current monitoring

Current limiting in speed control Current loop gains Torque control Motor protection

Menu 5 Motor monitoring

Motor ratings Autotune PWM switching frequency

Menu 6 Drive sequencer

Auto-start AC supply loss Jog time Limit switches Injection braking Synchronise to a spinning motor Keypad enable Run-time log Electricity cost

Menu 7 Analogue I/O

Temperatures

Menu 8 Digital I/O Menu 9 Programmable logic

Motorised potentiometer Binary-sum logic

Menu 10 Status and diagnostic information

Process generated trips UD78 power supply indicator

Menu 11 Menu 0 assignments

Scale factors Initial parameters displayed Serial communications Drive information

Menu 12 Programmable comparators Menu 13 Position control Menu 14 PID controller Menu 15 Regeneration Menu 16 Small Option Module Menu 17 Large Option Module Menu 18 User parameters LOM Menu 19 User LOM Menu 20 UD70 only

Menu Overview

introduction to macros

Unidrive operation can be simplified by using preconfigured application macros. These macros are held in the internal memory of the drive and are user selectable.

Macro summary

Macro 1 – Easy Mode

Easy mode defines the most commonly used features with only 10 parameters. These parameters are numbered 0.01 to 0.10

Macro Function

0 Default mode 1 Easy mode 2 Motorised potentiometer 3 Preset speeds 4 Torque control 5 PID macro 6 Axis Limit control 7 Hoist control/brake release 8 Digital Lock

0.01 1.07 Minimum Speed

0.02 1.06 Maximum Speed

0.03 2.11 Acceleration time

0.04 2.21 Deceleration time

0.05 1.14 Reference select

0.06 4.07 Current limit

0.07 3.10 Proportional gain

0.08 3.11 Integral gain

0.09 3.12 Derivation gain

0.10 3.02 Speed feedback

Macro 2 – Motorised Potentiometer

With this function it is possible to emulate a motorised potentiometer within the Unidrive by simply supplying two logic input signals to increase or decrease the “potentiometer”. The output of the “potentiometer” may be routed to control any of the drive’s non-bit parameters such as speed, torque or current limit. The function may be configured to reset upon power cycling or to memorise its value.

Menu 0 Parameter

Param. Description

When a Macro is not enabled, the drive operates in a default configuration (EURO USA)

Drive Connections

Analog Ch 1 0-10v DC

Analog Ch 2 4-20mA Input

Speed Output Load Output

At Speed Output

Drive Reset Input

Jog Input Run Forward Input Run Reverse Input

Analog 1/2 Select Input

External Trip Input

1 2 3 4 5 6 7 8

9 10 11

21 22 23 24 25 26 27 28 29 30 31

Drive Connections

Analog Ch 1 0-10v DC

Thermistor Speed Output Load Output

Motorised Pot Up Input

Drive Reset Input

Motorised Pot Down Up

Run Forward Input Run Reverse Input

An/Mot Pot Select Input

External Trip Input

Run Forward & Reverse

Speed

& Current

x 2

1 2 3 4 5 6 7 8

9 10 11

21 22 23 24 25 26 27 28 29 30 31

External

Reset Input

x 1

0-10V DC Thermistor

Motorised pot

Increase &

Decrease

introduction to macros

Terminal 24 Terminal 26 Speed

Open Open As set in Pr 0.25 Open Closed As set in Pr 0.26 Closed Open As set in Pr 0.27 Closed Closed As set in Pr 0.28

Macro 3 – Preset Speeds

By using this macro up to four preset frequencies / speeds can be used. Preset values must be programmed into individual parameters. Frequency / speed selection is done by activating terminal 29 and putting a binary combination on terminals 24 and 26.

Macro 4 – Torque control

When this macro is selected a drive can be operated in Speed or Torque control by using terminal 29. If in Speed control mode, speed is maintained independent of load within the limits of the drive. In Torque control mode the drive will attempt to reach the speed set point but only with the torque available as defined by the torque reference signal.

Torque/Current

PI (Current)

Current Feedback (torque component)

Torque Ref. Post Ramp

Ref

Drive Connections

Analog Ch 1 0-10v DC

Thermistor Speed Output Load Output

Preset Select 1 Input

Drive Reset Input

Preset Select 2 Input

Run Forward Input Run Reverse Input

An/Preset Select Input

External Trip Input

1 2 3 4 5 6 7 8

9 10 11

21 22 23 24 25 26 27 28 29 30 31

Drive Connections

Torque Ref.

Speed Ref.

Thermistor Speed Output Load Output

Drive Speed Output

Drive Reset Input

Min. Speed Output

Run Forward Input Run Reverse Input

Speed/Torque Select Input

External Trip Input

1 2 3 4 5 6 7 8

9 10 11

21 22 23 24 25 26 27 28 29 30 31

x 2

Run Forward & Reverse

Speed

& Current

x 1

0-10V DC

Thermistor

2 Inputs

for 4

Preset Speeds

External

Reset Input

P1 and 1 P1 and 2 P1 and 3 P1 and 4

Run Forward & Reverse

0-10V DC Thermistor

x 1

x 2

Speed

& Current

2 Outputs

for A1 Speed

& At Min.Speed

External

Reset Input

100%

RPM (Speed)

Amps (Torque)

introduction to macros

Macro 6 – Axis Limit control

Using this macro enables two digital inputs to be re-programmed so providing limit switch lockout for axis position control systems. The drive would normally be run from a +/- 10v reference and controlled forward / backwards from this. If a limit switch level is reached the drive will be forced to stop independent of the speed setting.

Macro 5 – PID control

This macro configures the drive to control a motor with reference to PID control signal. In PID control, the error resulting from differences between the PID feedback and PID reference is passed through a limiter, a scaling stage and finally the error is added to the frequency / speed signal.

Setpoint

Source

PID

Output

Source

Feedback

Source

Drive Connections

Torque Ref.

Main Ref.

PID Reference PID Feedback Speed Output Load Output

Drive At Speed Output

Drive Reset Input

Run Forward Input Run Reverse Input

PID Enable Input

External Trip Input

x 2

1 2 3 4 5 6 7 8

9 10 11

21 22 23 24 25 26 27 28 29 30 31

Drive Connections

Torque Ref.

Main Ref.

PID Reference PID Feedback Speed Output Load Output

Drive At Speed Output

Drive Reset Input

Run Forward Input Run Reverse Input

PID Enable Input

External Trip Input

Run Forward & Reverse

x 1

0-10V DC Thermistor

Speed

& Current

2 Inputs for Forward & Reverse limits

x 2

1 2 3 4 5 6 7 8

9 10 11

21 22 23 24 25 26 27 28 29 30 31

External

Reset Input

Run Forward & Reverse

0-10V DC

PID Ref PID F/bk

x 1

Speed

& Current

Input for PID Enable & At Speed O/P

PID Ref

External

Reset Input

P I D

PID F/bk

PID Enable

introduction to macros

Macro 8 – Digital Lock

The digital lock macro enables a drive to be operated so that it will lock two motor shafts together pulse for pulse.

Macro 7 – Brake control

This macro essentially allows the control of an external brake. The brake is released when the drive is running and there is current in the motor.

Drive Connections

Speed Input from PLC

Thermistor Speed Output Load Output

Brake Release Output

Drive Reset Input

Run Forward Input Run Reverse Input

External Trip Input

Run Forward & Reverse

Speed

& Current

x 2

1 2 3 4 5 6 7 8

9 10 11

21 22 23 24 25 26 27 28 29 30 31

External

Reset Input

Reference Counts

Accumultor

Feedback Counts

Drive Connections

Thermistor Speed Output Load Output

Drive At Speed Output

Drive Reset Input

Relative Jog Input Run Forward Input Run Reverse Input

Enable Input

+/- Error

1 2 3 4 5 6 7 8

9 10 11

21 22 23 24 25 26 27 28 29 30 31

Feed Forward

Feedback

x 1

0-10V DC Thermistor

Brake Release

Output

Run Forward & Reverse

Thermistor

only

Speed

& Current

Relative Jog

Input

x 2

External

Reset Input

Take Up

Capatan

AC supply requirements

380V to 480V ±10%, 3-phase, 48 to 62 Hz Maximum supply imbalance: 2% negative phase sequence (equivalent to 3% voltage imbalance between phases)

Line reactors

When one of the following model sizes... UNI 1401, UNI 1402, UNI 1403, UNI 1404

....is used on an AC supply of 175kVA or larger, it is

recommended that a line reactor of 2% reactance is included between the AC supply and the Drive. Model sizes 1405 and larger have an internal dc-bus choke.

A line reactor reduces the risk of damage to the Drive resulting from severe disturbances on the supply network.

Temperature, humidity and cooling method

Ambient temperature range: –10°C to 50°C (14°F to 122°F). Output current de-rating may apply at high ambient temperatures. Cooling method: Natural convection Maximum humidity: 95% non-condensing at 40°C (104°F) Storage temperature range: –40°C to 50°C (–40°F to 122°F) Maximum storage time: 12 months

Altitude

Altitude range: 0 to 4000m (13000 ft), subject to the following conditions: 1000m to 4000m (330 feet to 13000 ft) above sea level: de-rate the maximum output current from the specified figure by 1% per 100m (330 ft)

Vibration

Maximum vibration:²0.5g as specified in IEC 68–2–61; 1982

Ingress protection

Gland plate(s) not fitted: IP00 Gland plate(s) fitted; cable glands not fitted: IP10 Cable-glands fitted; glands fitted: IP40, NEMA 1

Accuracy and Resolution

The following data applies to the Drive only; it does not include the performance of the source of the control signals. Output-frequency accuracy:² ±0.1% Output-frequency resolution: ² ± 0.01

RPM

Starts per hour

By electronic control: unlimited By interrupting the AC supply: model sizes 1 and 2: ² 20, model sizes 3 and 4: ² 10

Nominal Maximum permissible continuous output current Nominal

rating AC

supply

current

@380V @460V 3kHz ✝ 4.5kHz 6kHz 9kHz 12kHz

UNI 1401 0.75 kW 1.0 HP 2.1 A 2.1 A 2.1 A 2.1 A 2.1 A 3.1 A UNI 1402 1.1 kW 1.5 HP 2.8 A 2.8 A 2.8 A 2.8 A 2.8 A 3.2 A UNI 1403 1.5 kW 2.0 HP 3.8 A 3.8 A 3.8 A 3.8 A 3.8 A 5.5 A UNI 1404 2.2 kW 3.0 HP 5.6 A 5.6 A 5.6 A 5.6 A 4.5 A 8.4 A UNI 1405 4.0 kW 5.0 HP 9.5 A 9.5 A 8.5 A 7.0 A 5.5 A 9.5 A UNI 2401 5.5 kW 7.5 HP 12.0 A 12.0 A 12.0 A 12.0 A 11.7 A 13.7 A UNI 2402 7.5 kW 10.0 HP 16.0 A 16.0 A 16.0 A 14.2 A 11.7 A 16.3 A UNI 2403 11.0 kW 15.0 HP 25.0 A 21.7 A 18.2 A 14.2 A 11.7 A 24.3 A UNI 3401 15.0 kW 25.0 HP 34.0 A 34.0 A 34.0 A 28.0 A 23.0 A 34.0 A UNI 3402 18.5 kW 30.0 HP 40.0 A 40.0 A 37.0 A 28.0 A 23.0 A 39.0 A UNI 3403 22.0 kW 30.0 HP 46.0 A 46.0 A 40.0 A 32.0 A 26.6 A 46.0 A UNI 3404 30.0 kW 40.0 HP 60.0 A 47.0 A 40.0 A 32.0 A 26.7 A 59.0 A UNI 3405 37.0 kW 50.0 HP 70.0 A 56.0 A 46.0 A 35.0 A 28.0 A 74.0 A UNI 4401 45.0 kW 75.0 HP 96.0 A 96.0 A 88.0 A 70.0 A 96.0 A UNI 4402 55.0 kW 100.0 HP 124.0 A 104.0 A 88.0 A 70.0 A 120.0 A UNI 4403 75.0 kW 125.0 HP 156.0 A 124.0 A 105.0 A 80.0 A 151.0 A UNI 4404 90.0 kW 150.0 HP 180.0 A 175.0 A 145.0 A 110.0 A 173.0 A UNI 4405 110.0 kW 150.0 HP 202.0 A 175.0 A 145.0A 110.0 A 190.0 A UNI 5401 160.0 kW 200.0 HP 300.0 A 240.0 A

Power and Current ratings

40°C (104°F)

ambient

Model

drive technical specifications

✝ Peak current: up to 175% of the rated current for 4 seconds ✝ Factory setting

drive technical specifications

Frequencies and speed

PWM switching

frequency: 3kHz nominal (selectable

up to 12kHz) Maximum speed

30 000 RPM Speed regulation: 0.01%

Model Nominal Maximum total power dissipation

rating

@380V @460V 3kHz 4.5kHz 6kHz 9kHz 12kHz

UNI 1401 0.75kW 1.0HP 80 W 80 W 90 W 90 W 90 W UNI 1402 1.1kW 1.5HP 90 W 90 W 100 W 100 W 110 W UNI 1403 1.5kW 2.0HP 100 W 110 W 110 W 120 W 130 W UNI 1404 2.2kW 3.0HP 130 W 130 W 140 W 150 W 150 W UNI 1405 4.0kW 5.0HP 180 W 190 W 190 W 190 W 170 W UNI 2401 5.5kW 7.5HP 210 W 230 W 250 W 280 W 310 W UNI 2402 7.5kW 10HP 270 W 290 W 310 W 320 W 310 W UNI 2403 11.0kW 15HP 400 W 380 W 360 W 330 W 310 W UNI 3401 15.0kW 25HP 570 W 620 W 670 W 660 W 630 W UNI 3402 18.5kW 30HP 660 W 720 W 730 W 660 W 630 W UNI 3403 22.0kW 30HP 730 W 800 W 770 W 730 W 700 W UNI 3404 30.0kW 40HP 950 W 830 W 790 W 740 W 710 W UNI 3405 37.0kW 50HP 1090 W 990 W 920 W 850 W 800 W UNI 4401 45kW 75HP 1460 W 1610 W 1630 W 1530 W UNI 4402 55kW 100HP 1910 W 1780 W 1670 W 1560 W UNI 4403 75kW 125HP 2370 W 2130 W 2030 W 1860 W UNI 4404 90kW 150HP 2640 W 2890 W 2700 W 2470 W UNI 4405 110kW 150HP 2970 W 2910 W 2720 W 2490 W UNI 5401 160kW 200HP 5000 W

Dissipation

50°C (122°F) Maximum permissible

ambient continuous output current Model 3kHz 4.5kHz 6kHz 9kHz 12kHz

UNI 1401 2.1 A 2.1 A 2.1 A 2.1 A 2.1 A UNI 1402 2.8 A 2.8 A 2.8 A 2.8 A 2.8 A UNI 1403 3.8 A 3.8 A 3.8 A 3.8 A 3.3 A UNI 1404 5.6 A 5.6 A 5.1 A 4.0 A 3.3 A UNI 1405 6.9 A 5.9 A 5.1 A 4.0 A 3.3 A UNI 2401 12.0 A 12.0 A 12.0 A 11.6 A 9.7 A UNI 2402 16.0 A 16.0 A 14.7 A 11.6 A 9.7 A UNI 2403 20.0 A 17.3 A 14.7 A 11.6 A 9.7 A UNI 3401 34.0 A 34.0 A 28.0 A 21.0 A 17.9 A UNI 3402 40.0 A 34.0 A 28.0 A 21.0 A 17.9 A UNI 3403 44.0 A 36.0 A 31.0 A 24.0 A 20.6 A UNI 3404 44.0 A 36.0 A 31.0 A 24.0 A 20.9 A UNI 3405 50.0 A 41.0 A 34.0 A 26.0 A 23.0 A UNI 4401 95.0 A 85.0 A 75.0 A 60.0 A UNI 4402 105.0 A 85.0 A 75.0 A 60.0 A UNI 4403 135.0 A 105.0 A 85.0 A 65.0 A UNI 4404 180.0 A 150.0 A 125.0 A 95.0 A UNI 4405 190.0 A 150.0 A 125.0 A 95.0 A

Dynamic Braking

Resistor Connections

The external braking resistor should be connected to the Unidrive terminals labelled (+) and (-) on the terminal strip on Unidrive size 1 & 2 or the stud connections on Unidrive size 3 & 4. The resistor must be thermally protected in the unlikely event that the braking transistor fails. This thermal device must either disconnect the input AC power to the Inverter or disconnect the resistor from the circuit. Please contact the a Drive Centre for additional application information.

Custom Resistor Values

The resistor ohmic value is based on the torque required to stop the motor (and connected load) in the time dictated by the application. The first equation to be solved is the torque required knowing the required stop time.

T = J x N

(Ft - Lb) or

T = 2¹ J x N

(Nm)

d x 307 td x 60

Where:

J= Total Inertia (Lb-Ft

or Kgm2)

N = Motor Max. Speed (RPM) t

d = Decel Time (Sec.)

T = Torque (Ft-Lb or Nm)

The torque required must be equal or less than 1.5 x motor/drive capability.

(brake) = T x N

P(kW) = T x N

5250 30

The ohmic value of the resistor can now be

calculated using the following formula:

R = (V

R = (Vb)

HP(brake) x 746 P(kW)

Where:

b = Bus voltage level when braking

= 750 VDC

Minimum Values

The calculated minimum ohmic value is limited by the braking transistor supplied in the Unidrive being used. The following is a list of the minimum values.

Average Power Dissipation

The average power dissipated in the resistor for intermittent operation is then simply the number of watts dissipated per stop times the duty cycle (D).

Where:

D = t

td + toff

In order to use this formula for average power dissipation, the brake resistor must be off long enough for the temperature of the resistor to return to ambient temperature between braking cycles. Also, the maximum on time (or decel time) should not exceed the peak capabilities of the power resistor. Typically, a power resistor has the capability of dissipating 10 times rated wattage for 5 to 10 seconds.

Peak Power Rating

The peak power handling ability of the resistor must meet or exceed the following:

PPK = (Vb)2/R

Unidrive Size 1 40 Ohms Unidrive Size 2 40 Ohms Unidrive Size 3 10 Ohms Unidrive Size 4 5 Ohms

MODEL MINIMUM VALUE

drive technical specifications

Protection

DC Bus Undervoltage Trip 350 VDC DC Bus Overvoltage Trip 830 VDC MOV Voltage Transient Protection 160 Joules, 1400 Volts Clamping (Line to Line & Line to Ground) Drive Overload Trip Current overload value is exceeded.

Programmable to allow up to 175% of Drive Current for one minute. Instantaneous Overcurrent Trip 215% of Drive rated current Phase Loss Trip DC bus ripple threshold exceeded Overtemperature Trip Drive heatsink temperature exceeds 95°C Short Circuit Trip Protects against output phase fault Ground Fault Trip Protects against output phase to ground fault Motor Thermal Trip Electronically protects the motor from overheating due to

Loading conditions

drive technical specifications

Status Relay 1 Normally open contacts

1 Dry contact output pole 1/2 5A, 240 VAC resistive

Drive OK (default)

2 Status Relay 1

Dry contact output pole 2/2

3 Circuit Common

0 VDC Analogue reference

4 +10 VDC ± 1% Voltage tolerance

User supply for external analogue signal device 10 mA output current (current limit protected)

5 Analogue Input 1 (non-inverting input) Bipolar ±10 VDC

Programmable Differential Analogue Input 100k½ input impedance Analogue Speed Reference 1 (default) 12-bit plus sign resolution, ² 2mS sampling period OL

6 Analogue Input 1 (inverting input) <45 Oµs C.L.

Programmable Differential Analogue Input

7 Analogue Input 2 Programmable: ±10 VDC (default), 4-20mA,

Programmable Single-ended Analogue Input 20-4mA, 0-20mA inputs, Analogue Speed Reference 2 (default) 100k½ input impedance

10-bit plus sign resolution ² 2mS sampling period

8 Motor Thermistor Input

Programmable Single-ended Analogue Input

9 Analogue Output 1 Programmable: ±10 VDC @ 10mA (max) (default)

Programmable Single-ended Analogue Output 4-20mA, or 0-20mA

Output Frequency (open loop default) 1k½ minimum load resistance Speed Feedback (closed loop default) 10-bit plus sign resolution, 8mS update period

Short circuit protected

10 Analogue Output 2

Programmable Single-ended Analogue Output Torque Output (default)

11 Circuit Common

0 VDC Analogue reference

21 OV Common 22 +24 VDC Voltage Tolerance: ±10%

User Supply Nominal Output: 200 mA

Overload Output: 240 mA with current foldback protection

23 Circuit Common

0 VDC Digital reference

24 Programmable Logic I/O F1 Output Mode:

Output: At speed (open loop) User-defined: Negative or positive logic At zero speed (closed loop) Negative logic (default)

Push-pull output, 0 - +24 VDC 100mA max output, 120mA overload current

Input Mode:

User-defined: Positive logic (V > +15 VDC) or negative logic (V < +5 VDC) (default) Voltage range: 0 - +24 VDC

3.2 mA max load at +24 VDC

25 Programmable Logic I/O F2

Input: Drive reset (default)

26 Programmable Logic I/O F3

Input: Jog (default)

27 Programmable Logic Input F4 User-defined: Positive logic (V > +15 VDC)

Latched Run Forward (default) or negative logic (V < +5 VDC) (default)

Voltage range:

0 - +24VDC, 3.2 mA max load @ +24 VDC

28 Programmable Logic Input F5

Latched Run Reverse (default)

29 Programmable Logic Input F6

Local (default)/Remote

30 Logic Input: Drive Enable (closed loop)

External Trip (open loop)

31 Circuit Common

0 VDC digital reference

Control Inputs and Outputs

TERMINAL I/O TYPE & FUNCTION RATING

NOTE: There are no terminals numbered 12, 13...., 20 on the Unidrive

connections

Typical power and default signal connections for speed control in terminal mode

Status relay Drive normal

Connections for

single-ended input

signal

Connections for

differential input

signal

Signal connector

Power

terminals

Analog frequency/speed reference 1 (remote)

Analog frequency/speed reference 2 (local)

SPEED

TORQUE

Analog input 3 Motor thermistor

RESET JOG SELECT

RUN FORWARD RUN REVERSE

LOCAL/REMOTE

DRIVE ENABLE

REMOTE

OV common

Optional RFI filter

Thermal protection device

Stop

Braking resistor

Encoder

Incremental signal connections for all encoders

communication signal connectiona for servo-encoders

Encoder

connector

15-way

D-type

Start/ Reset

+24V

LOCAL

connections

AT ZERO

SPEED

Reference

selector

Menu 0 logic diagram

Speed-loop PID gains

Power stage

Motor control

Jog

reference

Keypad

reference

Reference

selector

Precision reference (not

used with Menu 0)

Preset references

(not used with Menu 0)

Speed reference 1

(remote)

Analog input 1

mode selector

All parameters are shown at their default setting

Minimum

speed

Maximum

speed

initial

parameter

displayed

Speed-loop

proportional

gain

Speed-loop

integral gain

Speed-loop

derivative

gain

Current

limit

Stop mode

selector

Torque

mode

selector

Synchronize to

a spinning

motor

No. of poles

Rated voltage

Rated speed

Rated current

Rated

frequency

PWM switching

frequency

Menu4

S-ramp

enable

Speed reference 2

(local)

Analog input 2

destination

select

Analog input 2

mode select

Acceleration

rate

Deceleration

rate

Ramp mode

selector

S-ramp

da/dt limit

Post-ramp

speed

reference

Motor parameters

THERMISTOR SPEED

TORQUE

Reference selection

Ramps

LOCAL/

REMOTE

JOG

SELECT

RUN

FORWARD

RUN

REVERSE

RESET

DRIVE

ENABLE

Motor

active-current

Motor

speed

Pre-ramp

speed

reference

+ 39 hidden pages

Control Techniques UNI 1404, UNI 1402, UNI 1401, UNI 2401, UNI 1405 Product Data

Specifications and Main Features

Frequently Asked Questions

User Manual