Control Techniques Unidrive 1201, UNI1204, Unidrive 1202, Unidrive 1203, Unidrive 1204 User Manual

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User Guide

Unidrive

Model sizes 1 to 5

Universal Variable Speed AC Drive for induction and servo motors

Part Number: 0460-0083-09 Issue Number: 9

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 version of user-interface and machine control software. If this product is to be used in a new or existing system with other drives, there may be some differences between their software and the software in this product. These differences may cause this product to function differently. This may also apply to drives returned from a Control Techniques Service Centre.

If there is any doubt, contact a Control Techniques Drive Centre.

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 can very easily be dismantled into their major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools, whilst other parts are secured with conventional screws. 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, whilst smaller products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these containers can be recycled. Polyethylene, used on the protective film and bags for wrapping product, can be recycled in the same way. Control Techniques' packaging strategy favours 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.

Issue Number: 9

Software: V03.02.12 onwards

How to use this User Guide

This User Guide provides complete information for installing and operating a Unidrive from start to finish.

The information is in logical order, taking the reader from receiving the drive through to fine tuning the performance.

NOTE

There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1 Safety Information on page 7 contains general safety information. It is essential that the warnings are observed and the

information considered when working with or designing a system using the drive.

This map of the user guide helps to find the right sections for the task you wish to complete:

1 Safety information

2 Product information

3 Mechanical installation

4 Electrical installation

5 Getting started

6 Menu 0

7 Running the motor

8 Optimisation

9 Macros

10 Advanced parameters

11 Technical data

12 Diagnostics

13 UL listing information

Declaration of Conformity ................... 6

1 Safety Information .................................7

1.1 Warnings, Cautions and Notes .............................7

1.2 Electrical safety - general warning ........................7

1.3 System design and safety of personnel ................7

1.4 Environmental limits ..............................................7

1.5 Compliance with regulations .................................7

1.6 Motor .....................................................................7

1.7 Adjusting parameters ............................................7

2 Product Information ..............................8

2.1 Ratings ..................................................................8

2.2 Model number .......................................................8

2.3 Nameplate description - drive identification ..........9

2.4 Model variants .......................................................9

2.5 Operating modes .................................................10

2.6 Drive features ......................................................11

2.7 Option Modules ...................................................12

2.8 More information .................................................12

2.9 Items supplied with the drive ...............................13

3 Mechanical Installation .......................14

3.1 Safety information ...............................................14

3.2 Planning the installation ......................................14

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

3.4 Ingress protection ................................................15

3.5 Option module fitting / removal ...........................15

3.6 Mounting methods ...............................................16

3.7 Enclosure ............................................................24

3.8 Ventilation ...........................................................26

3.9 Baffle plates ........................................................28

3.10 Ambient temperature ...........................................28

3.11 RFI filters .............................................................29

3.12 Power terminals ..................................................35

3.13 Routine maintenance ..........................................36

4 Electrical Installation ...........................37

4.1 Power connections ..............................................37

4.2 AC supply requirements ......................................40

4.3 Supplying the drive with DC / DC bus paralleling 40

4.4 Ratings ................................................................40

4.5 Output circuit and motor protection .....................41

4.6 Braking ................................................................43

4.7 Ground leakage ...................................................44

4.8 EMC (Electromagnetic compatibility) ..................44

4.9 Control connections ............................................49

4.10 Encoder connections ...........................................54

4.11 Configuring a Unidrive size 5 system ..................56

5 Getting Started .................................... 58

5.1 Understanding the display .................................. 58

5.2 Keypad operation ............................................... 58

5.3 Menu structure ................................................... 59

5.4 Advanced keypad functions ............................... 60

5.5 Menu 0 ............................................................... 60

5.6 Advanced menus ............................................... 60

5.7 Changing the operating mode ............................ 61

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

5.9 Defaulting the drive ............................................ 61

5.10 Parameter security ............................................. 62

5.11 Serial Communications ...................................... 63

6 Menu 0 ................................................. 64

6.1 Single line descriptions ...................................... 64

6.2 Menu 0 full descriptions ..................................... 72

7 Running the motor .............................. 81

7.1 Quick start set-up ............................................... 81

7.2 Quick Start commissioning ................................. 84

7.3 Quick start P.C. commissioning (UniSoft /

VTCSoft) ............................................................ 87

8 Optimisation ........................................ 92

8.1 Motor map parameters ....................................... 92

8.2 Current limits ...................................................... 98

8.3 Motor thermal protection .................................... 99

8.4 Switching frequency ........................................... 99

8.5 High speed operation ......................................... 99

9 Macros ............................................... 101

9.1 Introduction ...................................................... 101

9.2 How to load a macro ........................................ 102

9.3 Macro terminal connection changes ................ 102

9.4 Macro logic diagrams and Menu 0 parameter

changes ............................................................ 106

9.5 Unidrive VTC macro differences ...................... 122

4 Unidrive User Guide

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10 Advanced Parameters ......................123

10.1 Menu 1: Speed references and limits ...............124

10.2 Menu 2: Ramps (accel. / decel.) .......................128

10.3 Menu 3: Speed feedback / frequency slaving ...131

10.4 Menu 4: Current control ....................................135

10.5 Menu 5: Machine control ...................................139

10.6 Menu 6: Sequencing logic .................................143

10.7 Menu 7: Analog I/O ...........................................145

10.8 Menu 8: Digital I/O ............................................148

10.9 Menu 9: Programmable logic ............................152

10.10 Menu 10: Status flags / trip log .........................155

10.11 Menu 11: Menu 0 customisation / drive specific

ratings ...............................................................156

10.12 Menu 12: Programmable thresholds .................157

10.13 Menu 13: Digital lock / orientation .....................160

10.14 Menu 14: Programmable PID function ..............166

10.15 Menu 15: Regen ...............................................169

10.16 Menu 16 Small option module set-up ...............171

10.17 Menu 17: Large option module set-up ..............179

10.18 Menu 18: Application menu 1 ...........................179

10.19 Menu 19: Application menu 2 ...........................180

10.20 Menu 20: Large option module .........................180

10.21 Unidrive VTC parameter range and default

differences ........................................................181

10.22 Advanced Features ...........................................182

11 Technical Data ...................................190

11.1 Drive ..................................................................190

11.2 Optional RFI filters ............................................197

12 Diagnostics ........................................198

12.1 Trip indications ..................................................198

12.2 Alarm indications ...............................................204

12.3 Status indications ..............................................204

12.4 Displaying the trip history ..................................204

13 UL Listing Information ......................205

13.1 AC supply specification .....................................205

13.2 Maximum continuous output current .................205

13.3 Safety label .......................................................205

Index ...................................................206

Unidrive User Guide 5 Issue Number: 9 www.controltechniques.com

Declaration of Conformity

Control Techniques Ltd The Gro Newtown Powys UK

SY16 3BE

UNI1201 UNI1202 UNI1203 UNI1204 UNI1205

UNI2201 UNI2202 UNI2203

UNI3201 UNI3202 UNI3203 UNI3204

UNI1401 UNI1402 UNI1403 UNI1404 UNI1405

UNI2401 UNI2402 UNI2403

UNI3401 UNI3402 UNI3403 UNI3404 UNI3405

UNI4401 UNI4402 UNI4403 UNI4404 UNI4405

UNI5401

The AC variable speed drive products listed above, including the VTC, LFT (all sizes) and REGEN (UNI3401 to UNI4405 only) variants, have been designed and manufactured in accordance with the following European harmonised, national and international standards:

EN 60249 Base materials for printed circuits

IEC326-1

IEC326-5

IEC326-6

IEC664-1

EN 60529

UL94 Flammability rating of plastic materials

UL508C Standard for power conversion equipment

EN 50081-1

EN 50081-2

EN 50082-2

EN 61800-3

Printed boards: general information for the specification writer

Printed boards: specification for single- and doublesided printed boards with plated-through holes

Printed boards: specification for multilayer printed boards

Insulation co-ordination for equipment within lowvoltage systems: principles, requirements and tests

Degrees of protection provided by enclosures (IP code)

Generic emission standard for the residential,

commercial and light industrial environment

Generic emission standard for the industrial environment

Generic immunity standard for the industrial environment

Adjustable speed electrical power drive systems - Part 3: EMC product standard including specific test methods

These products comply with the Low Voltage Directive 73/23/EEC, the Electromagnetic Compatibility (EMC) Directive 89/336/EEC and the CE Marking Directive 93/68/EEC.

W. Dru ry Executive Vice President, Technology Newtown

Date: 26 September 2001

These electronic drive products are intended to be used with appropriate motors, controllers, electrical protection components and other equipment to form complete end products or systems. Compliance with safety and EMC regulations depends upon installing and configuring drives correctly, including using the specified input filters. The drives must be installed only by professional assemblers who are familiar with 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. A Unidrive EMC Data Sheet is also available giving detailed EMC information.

Conducted emission sizes 1 to 3, not size 4 or 5. See the relevant EMC

Data Sheet.

6 Unidrive User Guide

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Safety

Information

Product

Information

Mechanical

Installation

Electrical

Installation

Getting Star ted

Menu 0

Running

the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

1 Safety Information

1.1 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 product or other equipment.

CAUTION

NOTE

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 User Guide.

1.3 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 voltage 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 function of the drive does not remove dangerous voltages from the output of the drive or from any external option unit.

Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended functions or through incorrect operation due to a fault.

In any application where a malfunction of the drive could lead to damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk.

The STOP and START controls or electrical inputs of the drive must not be relied upon to ensure safety of personnel. If a safety hazard could exist from unexpected starting of the drive, an interlock that electrically isolates the drive from the AC supply must be installed to prevent the motor being inadvertently started.

To ensure mechanical safety, additional safety devices such as electromechanical interlocks and overspeed protection devices may be required. The drive must not be used in a safety critical application without additional high integrity protection against hazards arising from a malfunction.

Under certain conditions, the drive can suddenly discontinue control of the motor. If the load on the motor could cause the motor speed to be increased (e.g. in hoists and cranes), a separate method of braking and stopping must be used (e.g. a mechanical brake).

1.4 Environmental limits

Instructions in this 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.

1.5 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.

This 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.

1.6 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.

1.7 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.

Unidrive User Guide 7 Issue Number: 9 www.controltechniques.com

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Mechanical

Installation

Electrical

Installation

Getting Star ted

2 Product Information

2.1 Ratings

Table 2-1 200V drive ratings (200V to 240V ±10%)

Model

Nominal

rating

kW hp

1201 0.37 0.5 2.1 2.4

1202 0.55 0.75 2.8 3.5

1203 0.75 1 3.8 4.6

1204 1.1 1.5 5.6 6.5

1205 2.2 3 9.5 8.6

2201 3 4 12 10.8

2202 4 5 16 14.3

Output

current*

(A)

Menu 0

the motor

Typical

Input

current (A)

Running

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

* The output currents are given for maximum 40°C (104°F)

ambient, 1,000m altitude and 3kHz switching. Derating is required for higher switching frequencies, ambient temperatures >40°C (104°F) and high altitudes. For further information, refer to section 11.1.1 Power and current ratings on page 190.

** Multiples of 300A output current with 120% overload or multiples

of 240A with 150% overload

NOTE

A Unidrive size 5 consists of a control module with one or more power modules connected in parallel.

i.e. UNI5401 = 1 x control module and 1 x power module

UNI5402 = 1 x control module and 2 x power modules etc.

2.2 Model number

The way in which the model numbers for the Unidrive range are formed is illustrated below.

UL Listing

Information

2203 5.5 10 25 19.8

3201 7.5 15 34 26

3202 11 20 46 39

3203 15 25 60 53

3204 22 30 74 78

Table 2-2 400V drive ratings (380V to 480V ±10%)

Model

Nominal rating

@380V @460V

kW hp

1401 0.75 1 2.1 3.0

1402 1.1 1.5 2.8 4.3

1403 1.5 2 3.8 5.8

1404 2.2 3 5.6 8.2

1405 4 5 9.5 10.0

2401 5.5 7.5 12 13.0

2402 7.5 10 16 17.0

2403 11 15 25 21.0

3401 15 25 34 27

3402 18.5 30 40 32

3403 22 30 46 40

3404 30 40 60 52

3405 37 50 70 66

4401 45 75 96 76

4402 55 100 124 91

4403 75 125 156 123

4404 90 150 180 145

Output

current*

(A)

Typical

Input

current

(A)

UNI

Model:

UNI - Unidrive

Model size:

1 - Size 1 2 - Size 2 3 - Size 3 4 - Size 4 5 - Size 5

Voltage rating:

2 - 200V 4 - 400V

Power rating:

Depends on model size. See section 2.1

Ratings

LFT LV

Model variant:

- Standard variant LFT - LFT variant VTC - VTC variant REGEN - Regen variant See section 2.4

Model variants

more details

Voltage rating:

LV - Low voltage (200V)

- Medium voltage (400V)

for

4405 110 150 202 181

5401 160 200 300** 280

5402 320 400 600** 560

5403 480 600 900** 840

5404 640 800 1200** 1120

5405 800 1000 1500** 1400

5406 960 1200 1800** 1680

5407 1120 1400 2100** 1960

5408 1280 1600 2400** 2240

8 Unidrive User Guide

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Dri

Model

Information

Product

Information

Mechanical

Installation

Electrical

Installation

Getting Star ted

Menu 0

Running

the motor

2.3 Nameplate description - drive

identification

The drive label is found on the top surface of the control pod (right angles to the display) on Unidrive sizes 1 to 3 and size 5 control module, and on the side of the Unidrive size 4 and size 5 power module.

Figure 2-1 Typical drive rating labels

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Unidrive size 1 to 4 rating label

ve type (STD,LV, VTC, LFT)

Power rating

Model

UNI3401 VTC 15kW

Drive ratings

VOLTAGE 50/60 Hz 3Ph

CURRENT (A)

OVERLOAD: 40.8A FOR 60 SECS

SOFTWARE VERSION: 03.02.11

Unidrive size 5 control module rating label

UNIDRIVE SIZE 5

CONTROL MODULE HW2

IT IS ESSENTIAL TO READ

THE MANUAL BEFORE

CONNECTING THE DRIVE.

SOFTWARE VERSION: 03.02.11



3000005001

INPUT OUTPUT

380/480V 380/480V

27A 34.0A

TO BE USED IN CONJUNCTION

WITH UNIDRIVE SIZE 5 HW2

POWER MODULES (S)

STDL01

IND.

CONT.. EQ.

MADE IN THE U.K.

STDJ41

IT IS ESSENTIAL TO READ

THE MANUAL BEFORE

CONNECTING THE DRIVE.

IND. CONT.. EQ.

MADE IN THE U.K.

Customer and date code

Hardware revision

Customer and date code

Approvals

Approval

Key to Approvals

CE approval Europe

C Tick approval Australia

UL / cUL approval

USA &

Canada

Unidrive size 5 power module rating label

Drive ratings

UNI5401 POWER MODULE HW2 110V FAN FITTED

VOLTAGE 50/60 Hz 3Ph

CURRENT (A)

Dual current ratin

OVERLOAD: 150 FOR 60 SECS

OVERLOAD: 120 FOR 60 SECS

IT IS ESSENTIAL TO READ

THE MANUAL BEFORE

CONNECTING THE DRIVE.

INPUT OUTPUT

380/480V 380/480V

220.0A 240.0A

280.0A 300.0A

2.4 Model variants

2.4.1 Unidrive standard industrial (STD)

...for constant torque loads (All frame sizes)

Operating modes:

Open Loop Closed Loop vector Servo Regen

Overload:

Open loop 150% for 60s Closed loop vector 175% for 60s (sizes 1 to 4), 150%* for 60s (size

5) Servo 175% for 4s (sizes 1 to 4), 150%* for 4s (size 5)

Regen 150% for 60s * Multiples of 300A output current with 120% overload or multiples of 240A with 150% overload



Customer and

STDL01

HEATSINK FAN

110V/120V 50/60HZ

IND. CONT..

EQ.

MADE IN THE U.K.

date code

Heatsink fan ratings

Approvals

Figure 2-2 Constant torque load

Percent kW and torque

100

Torque

50 10

Percent s

eed

Unidrive User Guide 9 Issue Number: 9 www.controltechniques.com

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060

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Information

Mechanical

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Electrical

Installation

Getting Star ted

Menu 0

Running

the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

2.4.2 Unidrive LFT

...for lift applications

Overloads and operating modes as Unidrive standard industrial, in addition:

low acoustic noise 9kHz default switching frequency S4/S5 duty cycle only

Figure 2-3 Standard S4/S5 duty cycle (Unidrive LFT)

150%

100%

Frequency / speed

Current

50Hz

RPM

1500

2.4.3 Unidrive VTC

...for quadratic load (variable torque) applications (fans and pumps)

Open loop fixed boost mode only

120% overload for 60s

Figure 2-4 Variable torque mode

ercent kW

and torque

100

Torque

50 10

Percent s

eed

2.4.4 Unidrive REGEN

All sizes of Unidrive can be used in regen mode. However, Unidrive sizes 3 and 4 require an internal modification before being used in a regen system.

This modification is already completed if the drive has been ordered as a Unidrive REGEN.

2.5 Operating modes

All variants of Unidrive (except VTC) are designed to operate in any of the following modes:

1. Open loop mode V/f mode (V/ Hz) Open loop vector

2. Closed loop vector

3. Servo

4. Regen

Unidrive VTC can only operate in open loop quadratic V/f mode.

2.5.1 Open Loop mode (OL)

For use with standard AC induction motors.

The drive applies power to the motor at frequencies varied by the user. The motor speed is a result of the output frequency of the drive and slip due to the mechanical load. The drive can improve the performance of the motor by applying slip compensation. The performance at low speed depends on whether V/f mode or open loop vector mode is selected.

V/f mode

The voltage applied to the motor is directly proportional to the frequency except at low speed where a voltage boost is provided which is set by the user. This mode should used for multi-motor applications.

Typically 100% torque at 4Hz.

Open loop vector mode

The voltage applied to the motor is directly proportional to the frequency except at low speed where the drive uses motor parameters to apply the correct voltage to keep the flux constant under varying load conditions.

Typically 100% torque at 1Hz.

2.5.2 Closed loop vector mode (VT)

For use with induction motors with a speed feedback device fitted.

The drive directly controls the speed of the motor using the feedback device to ensure the rotor speed is exactly as demanded. Motor flux is accurately controlled at all times to provide full torque all the way down to zero speed.

Typically 175% torque at 0rpm.

2.5.3 Servo (SV)

For use with permanent magnet brushless motors with a speed and position feedback device fitted.

The drive directly controls the speed of the motor using the feedback device to ensure the rotor speed is exactly as demanded. Flux control is not required because the motor is self excited by the permanent magnets which form part of the rotor.

Absolute position information is required from the feedback device to ensure the output voltage is accurately matched to the back EMF of the motor.

Typically 175% torque at 0rpm

2.5.4 Regen

For use as a regenerative front end for four quadrant operation.

Regen operation allows bi-directional power flow to and from the AC supply. This provides far greater efficiency levels in applications which would otherwise dissipate large amounts of energy in the form of heat in a braking resistor.

The harmonic content of the input current is negligible due to the sinusoidal nature of the waveform when compared to a conventional bridge rectifier or thyristor front end.

See the Regen Installation Guide for more information on this operating mode.

2.5.5 Key to operating mode abbreviations

Abbreviations are throughout this User Guide to define the operating mode for which the information applies as follows:

OL> Open loop CL> Closed loop (which incorporates closed loop vector and

servo mode) VT> Closed loop vector mode SV> Servo

10 Unidrive User Guide

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Getting Star ted

2.6 Drive features

Figure 2-5 Features of the drive (Size 1 to 5)

Menu 0

Running

the motor

Upper display Lower display

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Programming keys

Large option module connection

Encoder connection

{

Control keys

Forward / Reverse Stop / Reset Run

Small option module connection

Control connectors

NOTE

CInAC

Out

ACInAC

Out

ACInAC

Out

ACInAC

Out

Sharing

choke

Out

Sharing

choke

Out

Unidrive size 5 consists of a control module and one or more power modules.

For power ratings greater than 160kW / 200hp, multiple power modules (up to a maximum of 8) can be connected in parallel.

When multiple power modules are used, an output sharing choke is required before the drive outputs are connected together.

Unidrive User Guide 11 Issue Number: 9 www.controltechniques.com

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Installation

Getting Star ted

Menu 0

2.7 Option Modules

The following option modules are available for use with Unidrive.

Figure 2-6 Unidrive options available for all sizes

Running

the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Applications

UD70

module

UD73 UD74 UD75

Profibus-DP Interbus CT Net Modbus

UD78 UD71

Servo RS232

RS485

9901 11

destination addr

Universal

Keypad

Unidrive sizes 1 to 4 have built in braking transistors; for Unidrive size 5 a braking option can be fitted if required as shown below:

Figure 2-7 Braking option available for Size 5

UD55 UD53 UD52 UD51 UD50

Cloning module

Resolver Sin Cos

Encoder

UD76

Second

Encoder

UD77 UD77

Device

CAN CANopen

Extra I/O

The drive must be powered down for a minimum duration of 10 minutes before an option module is fitted or removed.

WARNING

UD77

2.8 More information

The following manuals are also available providing full information on the various option modules, regen mode and advanced product use:

• Unidrive Advanced User Guide

• Regen Installation Guide

Size 5 Braking option

• UD50 User Guide (Additional I/O small option module)

• UD51 User Guide (Second encoder small option module)

• UD52 User Guide (SINCOS encoder interface small option module)

• UD53 User Guide (Resolver interface small option module)

• UD55 User Guide (Cloning interface small option module)

• UD70 User Guide (Large option module and software)

• UD71 User Guide (Serial communications large option module)

• UD73 User Guide (Profibus-DP large option module)

• UD74 User Guide (Interbus large option module)

• UD75 CT Net User Guide (Large option module)

• UD76 User Guide (Modbus Plus large option module)

• UD77 User Guide (Device Net large option module)

• UD78 User Guide (Servo large option module)

• CAN User Guide (Large option module)

• CANopen User Guide (Large option module)

• Universal Keypad User Guide

• Universal Keypad Advanced User Guide

Please also see the Unisoft drive commissioning software which contains a help file detailing full advanced parameter descriptions and other useful information.

12 Unidrive User Guide

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Electrical

Installation

Getting Star ted

Menu 0

Running

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2.9 Items supplied with the drive

Size 1 Size 2 Size 3 Size 4 Size 5 control Size 5 power

Certificate of quality Certificate of quality Certificate of quality Certificate of quality Certificate of quality Certificate of quality

Safety Booklet Safety Booklet Safety Booklet Safety Booklet Safety Booklet

Mounting brackets Mounting brackets Mounting brackets Mounting brackets Mounting brackets

Interface leads

UL Listing

Control connectors Control connectors Control connectors Control connectors Control connectors

345678910

21 22 23 24 25 26 27 28 29 30 3121 22 23 24 25 26 27 28 29 30 31

345678910

21 22 23 24 25 26 27 28 29 30 3121 22 23 24 25 26 27 28 29 30 31

345678910

21 22 23 24 25 26 27 28 29 30 3121 22 23 24 25 26 27 28 29 30 31

345678910

21 22 23 24 25 26 27 28 29 30 3121 22 23 24 25 26 27 28 29 30 31

345678910

21 22 23 24 25 26 27 28 29 30 3121 22 23 24 25 26 27 28 29 30 31

Gasket foam Gasket foam Gasket foam Gasket foam UL Warning label

CAUTION

Risk of Electric Shock

Power down unit 10minutes

before removing cover

Power connector

UL Warning label UL Warning label

CAUTION

Risk of Electric Shock

Power down unit 10minutes

before removing cover

CAUTION

Risk of Electric Shock

Power down unit 10minutes

before removing cover

Power connector

L1 L2

UL Warning label UL Warning label

CAUTION

Risk of Electric Shock

Power down unit 10minutes

before removing cover

CAUTION

Risk of Electric Shock

Power down unit 10minutes

before removing cover

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3 Mechanical Installation

This chapter describes how to use all mechanical features to install the drive. Key features of this chapter include:

• Option module fitting

• Mounting methods

• Enclosure sizing and layout

• Terminal location and torque settings

3.1 Safety information

Follow the instructions

The mechanical and electrical installation instructions must be adhered to. Any questions or doubt should be referred to

WARNING

3.2 Planning the installation

The following considerations must be made when planning the installation:

3.2.1 Access

Access must be restricted to authorised 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

• contamination with electrically conductive material

• contamination with any form of dust which may restrict the fan, or

• temperature beyond the specified operating and storage ranges

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, please refer to section 3.7.2 Enclosure sizing on page 24.

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 37.

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.

condensation. An anti-condensation heater may be required, which must be switched off when the drive is running.

impair airflow over various components

Optimisation Macros

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. These will include the use of RFI filters 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 section

4.8 EMC (Electromagnetic compatibility) on page 44.

Advanced

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Data

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3.2.7 Hazardous areas

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

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

WARNING

3.3.1 Removing the terminal covers

Unidrive sizes 1 to 4 and the size 5 control module are fitted with one or two terminal covers depending on the model size. When model sizes 1, 3 and 4 are through-panel mounted, the terminal cover(s) must first be removed in order for access to be gained to the lower mounting holes.

Figure 3-1 Removing the terminal covers

The terminal cover(s) of all models must be removed for access to the electrical connectors.

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 energised, the AC supply must be isolated at least ten minutes before work may continue.

Normally, the capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the capacitors may fail to discharge, or be prevented from being discharged by a voltage applied to the output terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the capacitors will not be discharged. In this case, consult Control Techniques or their authorised distributor.

3.2.5 Fire protection

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

3.2.6 Electromagnetic compatibility

Variable speed drives are powerful electronic circuits which can cause electromagnetic interference if not installed correctly with careful attention to the layout of the wiring.

Some simple routine precautions can prevent disturbance to typical industrial control equipment.

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Figure 3-2 View from the underside showing how a terminal cover

is removed from the drive

Remove terminal covers, as follows:

1. Working on either side of the terminal cover, push the inner edge of the cover firmly outward until it becomes unclipped.

2. Swing the side of the cover outward and upward until the remaining clips become released.

3. Remove the gland plate

Figure 3-3 Removing the three terminal covers on the Size 5

power module

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Parameters

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3.4 Ingress protection

Size 1 to 4:

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

Size 5 power and control modules: IP00

3.5 Option module fitting / removal

Power down the drive before fitting / removing an option module. Failure to do so may result in damage to the product.

CAUTION

The small option module should be placed under the two green securing clips in the main housing beneath the drive display and pushed firmly into place. Ensure the two connectors mate securely.

Figure 3-4 Fitting of a Unidrive small option module

The large option module slides into the space directly beneath the drive display so that only the front face of the module can be seen. Ensure the module clicks into place indicating that the two connectors have mated successfully.

Figure 3-5 Fitting of a Unidrive large option module

M5 pozidriv screw

Remove the three terminal covers on the power module, as follows:

1. Remove the two pozidriv screws.

2. Remove the upper cover.

3. Remove the two pozidriv screws.

4. Remove the lower cover until it is released from the middle cover.

5. Remove the four screws that are now revealed.

6. Remove the middle cover.

All the power terminals and ribbon-cable connectors are now accessible.

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3.6 Mounting methods

Unidrive sizes 1 to 4 can be either through hole or surface mounted using the appropriate brackets.

The Unidrive size 5 consists of two modules:

• the control module should be surface mounted

• the power module must be through hole mounted.

The following drawings show the dimensions of the drive and mounting holes for each method to allow a back plate to be prepared.

Figure 3-6 Surface mounting of model sizes 1 and 2

Model size 1

13.189in 14.409in

WARNING

Lifting the drive

The weights of model sizes 3 and 4 are 22kg (49lbs) and 70kg (154lbs) respectively; the size 5 power module exceeds 100kg (220lbs). Use appropriate safeguards when lifting these models.

If the drive has been used at high load levels for a period of time, the heatsink may be hot. Human contact with the heatsink should be restricted.

0.787in

Back-plate

13.524in

0.787in

13.031i

Model size 2

3.740in

1.870in

13.189in 14.409in

7.874in

Back-plate

0.650in

13.524in

0.650in

7.480in

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Figure 3-7 Surface mounting of model sizes 3 and 4

Model size 3

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Back-plate

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1.772in

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Model size 4

14.764in

7.382in

9.843in

13.189in 14.488in

27.559in30.118 in

10.236in

Back-plate

0.650in

0.669in

13.622i

6.890in

0.650in

0.669in

28.071in

19.685in

2.559in 2.559in5.650in 5.650in

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Figure 3-8 Through-panel mounting of model sizes 1 and 2

Model size 1

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Model size 2

7.480in

3.740in

13.189in

14.331in

7.874in

4.724in

3.150 in

11.614in 13.583in

0.512in

3.406in

0.650in

Back-plate

11.614in 13.583i

0.512in

0.650in

7.165in

NOTE

When drives are through-panel mounted, a baffle plate is required to ensure the correct level of air-flow is maintained through the heatsink. For further information, please refer to section 3.9 Baffle plates on page 28.

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Figure 3-9 Through-panel mounting of model sizes 3 and 4

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Model size 3

Model size 4

14.764in

13.189in 14.331in

10.236in

4.724in 5.512in

Back-plate

11. 299 in

0.276in0.630

0.138in 2.559in

0.650in

5.177in 7.362in

0.650in

13.583in

2.717in2.717in

14.094in

27.559in 29.252in

19.685in

NOTE

25.591in 28.248in

Back-plate

0.295in

0.669in

5.118in 5.118in

7.559in 9.902in

72in

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Figure 3-10 Unidrive Size 5 overall dimensions

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35.5mm

(1.398in)

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Parameters

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Data

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315mm

(12.402in)

1248mm

(49.134in)

35.5mm

(1.398in)

278mm

(10.945in)

1319mm

(51.926in)

355mm

(13.976in

340mm

(13.386in)

484mm

(19.055in)

144mm

(5.669in)

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Figure 3-11 Unidrive Size 5 mounting dimensions

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Rear view of power module

Heatsink duct

1248mm

(49.134in)

278mm

(10.945in)

Exhaust port

Heatsink duct

144mm

(5.669in)

Exhaust

port

Side view of power module

Inlet port (internal fan)

154mm

(6.063in)

139mm

(5.472in)

256mm

(10.079in)

Inlet port (external fan)

Inlet port (internal fan)

Alternative inlet port (external fan)

144mm

5.669in)

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Figure 3-12 Unidrive size 5 backplate mounting holes and aperture

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Data

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Outline of the power module

Aperture

Location of aperture in relation to the outline of the power module

16.5mm

33.5mm

0.650in

1.319in

20mm

0.787in

1319mm

51.929in

1252mm

49.291in

315mm

12.402in

282mm

11.102in

16.5mm

0.650in

20mm

0.787in

1286mm

50.630in

Locations and dimensions of the mounting holes in relation to the aperture

203mm

7.992in

∅

11m m

0.433in

339mm

13.346in

23.5mm

0.925in

28.5mm

1.122in

670mm

26.378in

37.5mm

1.476in

∅

8mm

0.315in

590mm

23.228in

37.5mm

1.476in

28.5m

1.122in

8mm

∅

0.315in

33.5mm

1.319in

Figure 3-13 Unidrive Size 5 control module surface mounting

Back-plate

NOTE

335mm

(13.189in)

47.5mm (1.870in)

95mm

(3.740in)

368mm

(14.488in)

143mm

(5.630in)

The Unidrive size 5 control module should be located within 2m of the power module to allow the interconnections to be made using the ribbon cables supplied with the power module.

10mm

0.413in

(0.787in)

345mm (13.583in)

11m m

20mm

(0.787in)

332mm (13.071in)

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Table 3-1 General views of the mounting brackets

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Model

size

Through-panel Surface Hole size

Upper and lower

Upper

Lower

(through-

panel)

Upper

(surface)

Lower

Upper and lower

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3.7 Enclosure

3.7.1 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 3-14 Enclosure layout

AC supply

> 100mm (3.937in)

contactor and fuses or MCB

Optional RFI filter

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

Control module (size 5 only)

> 5mm (0.197in)

Optimisation Macros

Locate as required

> 100mm (3.937in)

> 5mm (0.197in)

> 100mm (3.937in)

Advanced

Parameters

Locate as close to the drive as possible (to keep the cable as short as possible) respecting the minimum clearances

Technical

Data

Diagnostics

Note: for EMC compliance

1) A separate RFI filter is required for each drive

2) Power cabling must be at least 100mm (4in) from the drive in all directions

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Drive

> 5mm

Controller

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

(0.197in)

> 100mm (3.937in)

3.7.2 Enclosure sizing

1. Add the dissipation figures from section 11.1.2 Power dissipation (all versions) on page 191 for each drive that is to be installed in the

enclosure.

2. If an RFI filter is to be used with each drive, add the dissipation figures from section 11.2.1 Ratings on page 197 for each RFI filter that is to be installed in the enclosure.

3. If the braking resistor is to be mounted inside the enclosure, add the average power figures for each braking resistor that is to be installed in the enclosure.

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

5. Add the heat dissipation figures obtained above. This gives a figure in Watts for the total heat that will be dissipated inside the enclosure.

Note: Footprint RFI filters are available for Unidrive

> 5mm (0.197in)

Optional

braking resistor

and overload

Locate resistor external to cubicle (preferably near to or at the top of the cubicle)

frame sizes 1 and 2

Indicates minimu clearance required from device

Calculating the size of a sealed enclosure

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

Calculate the minimum required unobstructed surface area A enclosure from:

–()

intText

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

Where:

Unobstructed surface area in m2 (1m2 = 10.8 ft2)

Maximum expected ambient temperature in

ext

enclosure

Maximum permissible ambient temperature in oC inside the

int

enclosure

P Power in Watts dissipated by all heat sources in the

enclosure

k Heat transmission coefficient of the enclosure material

2/o

in Wm

for the

C outside the

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Example

To calculate the size of an enclosure for the following:

• Two UNI1405 models

• Each drive to operate at 4.5kHz PWM switching frequency

• RFI filter for each drive

• Braking resistors are to be mounted outside the enclosure

• Maximum ambient temperature inside the enclosure: 40°C

• Maximum ambient temperature outside the enclosure: 30°C

Dissipation of each drive: 190W

Dissipation of each RFI filter: 7.7W (max)

Total dissipation: 2 x (190 + 7.7) = 395.4W

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

having a heat transmission coefficient of 5.5W/m

2/o

C. Only the top, front,

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

Figure 3-15 Enclosure having front, sides and top panels free to

dissipate heat

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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:

3kP

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

Where:

V Air-flow in m

ext

int

P Power in Watts dissipated by all heat sources in the

k Ratio of

Where:

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

–

intText

per hour

Maximum expected ambient temperature in enclosure

Maximum permissible ambient temperature in oC inside the enclosure

enclosure

-------

is the air pressure at sea level

is the air pressure at the installation

UL Listing

Information

C outside the

Insert the following values:

40°C

int

30°C

ext

k 5.5 P 395.4W

The minimum required heat conducting area is then:

395.4

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

5.5 40 30–()

=7.2m

(78ft2) (1m = 3.3 ft)

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

2HD–

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

HD+

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

7.2 2 2× 0.6×()–

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

20.6+

= 1.8m (6ft)

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:

• Using a lower PWM switching frequency to reduce the dissipation in

the drives

• 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

Example

To calculate the size of an enclosure for the following:

• Three UNI3401 models

• Each drive to operate at 6kHz PWM switching frequency

• RFI filter for each drive

• Braking resistors are to be mounted outside the enclosure

• Maximum ambient temperature inside the enclosure: 40

• Maximum ambient temperature outside the enclosure: 30

Dissipation of each drive: 670W

Dissipation of each RFI filter: 12.8W (max) Total dissipation: 3 x (670 + 60) = 2048.4W

Insert the following values:

40°C

int

30°C

ext

k 1.3 P 2048.4W

Then:

31.3× 2048.4×

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

40 30–

/ hr (471ft3 / min)

/min)

(1m

= 799m

/ hr = 0.59ft

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3.8 Ventilation

Unidrive sizes 1-4 are ventilated by internally supplied heatsink fans. Ensure the minimum clearances around the drive are maintained to allow air to flow freely.

The Unidrive size 5 requires ventilation at the front (control) and rear (heatsink) of the module.

Two parallel independent paths must be provided as shown to ensure the heat produced is dispersed.

A heatsink fan is fitted as standard on request however this requires either a 110Vac or 240Vac external single phase power supply to be connected at the bottom left hand corner of the power module.

The choice of fan power supply must be made when ordering the power module.

3.8.1 Ventilation requirements for the Size 5 power

Figure 3-16 Typical ventilation arrangement using the internal

module

≥

300mm

(12 in)

Wall

heatsink fan

≥

1000m /hr

(588ft /min)

≥

7 m/s (23 ft/s)

Back-plate

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If a fan is not fitted internally, the air flow must be obtained by an external fan and ducting. The blanking plate at the lower end of the duct must be removed in order to expose the inlet port (see Figure 3-17).

The air supply must be obtained from outside the enclosure and the exhaust air must exit the enclosure. The maximum permissible heatsink

temperature is 95°C (203°F). Take the following precautions to help ensure this is not exceeded:

1. Ensure the temperature of the air at the inlet port of the heatsink does not exceed 40°C (104°F).

2. Ensure that the upward flow of the exhaust air from the top of the heatsink will be unobstructed. Fit additional ducting having the same cross-sectional area as the heatsink to extract all the exhaust air from the enclosure.

3. Ensure the volume of the exhaust air is not less than 1,000m

/min), equivalent airspeed 7m/s (23 ft/s). Measure the air-flow

(588ft

/hr

to ensure it is adequate.

4. If the power module has a ventilation fan fitted in the heatsink, to ensure that a sufficient amount of air is available to supply the fan, locate the enclosure at least 300mm (12 in) from a wall or large object that will be behind the enclosure. Fit a duct between the rear panel of the enclosure and the inlet port at the rear of the heatsink. If the power module does not have an internal fan, a forced air-flow must be ducted into the inlet port at the bottom of the heatsink.

5. Ensure that the exhaust air is not recycled into the inlet port of the heatsink or into the enclosure.

Exhaust duct

Heatsink

Inlet duct

400m /hr

≥

(235 ft /min)

1 m/s

≥

(3.3 ft/s)

≥

150mm (6 in)

≥

150mm

(6 in)

Vent

Enclosure

Power

module

Fan for cooling the control section

NOTE

The solutions shown for Unidrive size 5 ventilation are to illustrate the important points which must be considered. Many variations of this are possible to suit the specific site conditions.

Sharing choke (for parallel operation only)

Cooling the heatsink

When designing the cooling system, allow for the rear of the power module to produce 4kW of heat. This heat is dissipated in a heatsink that is inside a vertical duct at the rear of the power module. Forced air-flow is required through the duct in order to cool the heatsink.

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Figure 3-17 Typical ventilation arrangement using an external

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≥

1000m /hr

(588ft /min)

≥

7 m/s (23 ft/s)

Heatsink

aust duct

Back-plate

≥

400m /hr

≥

(235 ft /min)

1 m/s

≥

(3.3 ft/s)

150mm

(6 in)

Vent

Enclosure

module

Power

≥

1000m /hr

(588ft /min)

≥

7 m/s (23 ft/s)

≥

1000m /hr

(588ft /min)

≥

7 m/s (23 ft/s)

≥

1000m /hr (588ft /min)

≥

7 m/s (23 ft/s)

Inlet duct

≥

150mm (6 in)

Fan for cooling the control section

Sharing choke (for parallel operation only)

Cooling the control components in the Size 5 power module

The circuit boards, DC-bus capacitors, etc., in the front part of the power module generate about 700W of heat when the power module is operating at full load. Since the heatsink fan does not ventilate these components, a separate air-flow must be used to remove the heat. The following precautions must be taken:

1. It is recommended that a fan is installed in the lower part of the enclosure door to drive air into the enclosure. An air vent should be added to the upper part of the door to remove the exhaust air.

2. It is recommended that the airflow is ducted into the front of the

drive. This airflow must be at least 400m air speed of 1m/s (3.3ft/s) through the front control section of the size 5 power module.

If the airflow is not ducted into the front of the drive, the airflow into

the enclosure must be at least 1000m speed of 7m/s (23ft/s) for a enclosure of 800mm x 800mm x 2200mm.

3. The maximum temperature of the air in the enclosure must not exceed 40°C (104°F).

/hr (235ft3/min), equivalent

/hr (588ft3/min), equivalent air

40 C

(104 F)

Inlet duct

Figure 3-18 Alternative location of the exhaust duct in order to

minimize overall height

Exhaust duct

Back-plate

≥

150mm

(6 in)

Vent

Enclosure

Power

module

Heatsink

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3.9 Baffle plates

When a Unidrive size 1 to 4 is through-panel mounted, the fitting of a baffle plate causes the heatsink to act as a chimney; this enhances the air flow along the heatsink fins to aid cooling (this naturally occurs when the drive is surface mounted).

You may make a baffle plate from any suitable conducting or nonconducting material and attach it to the heatsink by the method described as follows.

Figure 3-19 Dimensions for the fabrication of baffle plates for

model sizes 1 and 2

3.228in 6.929in

Optimisation Macros

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Parameters

Technical

Data

Diagnostics

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Information

Figure 3-20 Dimensions for the fabrication of baffle plates for

model sizes 3 and 4

4.016in 7.697in

9.606in

1.614in

0.512in

1.535in

13.563in 14.449in

2.146in

1.969 in

0.276in

3.583in 5.118in

13.780in

189.5mm

3.780in

4.724in

7.461in

6.949in

22.047in

23.150in

3.425in

7.154in

Attaching a fabricated baffle plate to the heatsink

Table 3-2 Methods of attaching the baffle plate

Model size Method of attachment

1 2

3 4

Use M6 x 12mm max (or equivalent) thread-forming screws to

screw into the holes in the heatsink, or tap the holes to a suitable

Use the surface mounting brackets.

thread size.

17.236in

18.622in

0.693in

76mm

2.992in

3.10 Ambient temperature

The maximum ambient temperature under which the drive can operate without derating is 40°C.

Derating can be applied to allow operation up to 50°C ambient temperature.

Please see section 11.1.1 Power and current ratings on page 190 if derating is required.

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3.11 RFI filters

RFI filters are available for all sizes of Unidrive as follows:

Table 3-3 RFI filters

Drive Filter type Schaffner part no. CT part no. Max cable size Weight

UNI1201 to 1205 Bookcase FS5111-10-29 4200-6105

UNI1201 to 1205

Footprint or

Bookcase

FS5101-10-07 4200-6104

UNI2201 to 2202 Bookcase FS5112-16-07 4200-6109

UNI2201 to 2202

Footprint or

Bookcase

FS5106-16-07 4200-6108

UNI2203 Bookcase FS5113-25-29 4200-6114

UNI2203

Footprint or

Bookcase

FS5106-25-07 4200-6113

UNI3201 to 3202 Bookcase FS5113-50-53 4200-6116

UNI3203 Bookcase FS5113-63-34 4200-6117

UNI3204 Bookcase FS5113-100-35 4200-6106

UNI1401 to 1405 Bookcase FS5111-10-29 4200-6105

UNI1401 - 1405

Footprint or

Bookcase

FS5101-10-07 4200-6104

UNI2401 Bookcase FS5112-16-07 4200-6109

UNI2401

Footprint or

Bookcase

FS5106-16-07 4200-6108

UNI2402 to 2403 Bookcase FS5113-25-29 4200-6114

UNI2402 to 2403

Footprint or

Bookcase

FS5106-25-07 4200-6113

UNI3401 to 3403 Bookcase FS5113-50-53 4200-6116

UNI3404 Bookcase FS5113-63-34 4200-6117

UNI3405 Bookcase FS5113-100-35 4200-6106

UNI4401 to 4402 Bookcase FS5113-150-40 4200-6107

UNI4403 to 4404 Bookcase FS5113-180-40 4200-6111

UNI4405 Bookcase FS5113-220-37 4200-6112

4 mm

10 mm

50 mm

4 mm

10 mm

50 mm

95 mm

150 mm

10 AWG

6 AWG

1/0 AWG

10 AWG

6 AWG

1/0 AWG

4/0 AWG

6/0 AWG

UNI5401 Bookcase FS113-300-99 4200-6115 M12 stud 16kg (35lb)

The RFI filters can be surface-mounted only.

Mount the RFI filter following the guidelines in Figure 4-12 EMC compliance on page 48.

1.4kg (3lb)

2.1kg (5lb)

2.7kg (6lb)

2.1kg (5lb)

2.7kg (6lb)

2.1kg (5lb)

3.8kg (9lb)

7.8kg (17lb)

1.4kg (3lb)

2.1kg (5lb)

2.7kg (6lb)

2.1kg (5lb)

2.7kg (6lb)

2.1kg (5lb)

3.8kg (9lb)

7.8kg (17lb)

15kg (33lb)

Diagnostics

UL Listing

Information

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3.11.1 Unidrive size 1 filters

Figure 3-21 Unidrive size 1 bookcase mounted filter

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Parameters

Ground Terminal M5

Technical

Data

Dimension

Model

A 230mm (9.055in)

B 25mm (0.984in)

C 218mm (8.583in)

D 47.5mm (1.870in)

H 95mm (3.740in)

L 240mm (9.449in)

W 45mm (1.772in)

Z 4.5mm (0.177in)

Diagnostics

UNI1201 to UNI1205 UNI1401 to UNI1405

UL Listing

Information

RFI Filter

4200-6105

FS5111-10-29

Figure 3-22 Unidrive size 1 footprint or bookcase mounted filter

RFI Filter

Dimension

Model

A 380mm (14.961in)

B 35mm (1.378in)

C 60mm (2.362in)

F 364mm (14.331in)

G 16.5mm (0.650in)

H 68mm (2.677in)

L 390mm (15.354in)

W 85mm (3.346in)

XM6 (4x)

Z 5.5mm (0.217in)

Ground

Terminal

4200-6104

FS5101-10-07

UNI1201 to UNI1205 UNI1401 to UNI1405

300mm ±5mm

(11.811in ±0.197in)

3x 2.5mm

(AWG14)

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3.11.2 Unidrive size 2 filters

Figure 3-23 Unidrive size 2 (UNI2201 to UNI2202 and UNI2401) bookcase mounted filter

Advanced

Parameters

Technical

Data

Diagnostics

Dimension

Model

UNI2201 to UNI2202

A 380mm (14.961in)

B 35mm (1.378in)

C 60mm (2.362in)

F 364mm (14.331in)

G 16.5mm (0.650in)

H 68mm (2.677in)

L 390mm (15.354in)

(11.811in ±0.197in)

3x 2.5mm

W 85mm (3.346in)

Z 5.5mm (0.217in)

Ground Terminal M5

UL Listing

Information

RFI Filter

4200-6109

FS5112-16-07

UNI2401

300mm ±5mm

(AWG14)

Figure 3-24 Unidrive size 2 (UNI2203, and UNI2402 to UNI2403) bookcase mounted filter

RFI Filter

Dimension

Model

4200-6114

FS5113-25-29

UNI2203

UNI2402 to UNI2403

A 245mm (9.646in)

B 45mm (1.772in)

C 230mm (9.055in)

D 13mm (0.512in)

H 95mm (3.740in)

L 255mm (10.039in)

W 73mm (2.874in)

Z 4.5mm (0.177in)

Ground Terminal M5

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Figure 3-25 Unidrive size 2 footprint or bookcase mounted filters

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Dimension

Model

Ground

Terminal

Advanced

Parameters

A 385mm (15.157in) 385mm (15.157in)

B 35mm (1.378in) 35mm (1.378in)

C 120mm (4.724in) 120mm (4.724in)

D 364mm (14.331in) 364mm (14.331in)

E 16.5mm (0.650in) 16.5mm (0.650in)

H 68mm (2.677in) 68mm (2.677in)

W 180mm (7.087in) 180mm (7.087in)

X M6 (4x) M6 (4x)

Z 5.5mm (0.217in) 5.5mm (0.217in)

Technical

Data

RFI Filters

4200-6108

FS5106-16-07

UNI2201 to UNI2202

UNI2401

300mm ±5mm

(11.811in ±0.197in)

(AWG12) 3x 4mm2 (AWG12)

3x 4mm

M5 M5

Diagnostics

UNI2402 to UNI2403

(11.811in ±0.197in)

UL Listing

Information

4200-6113

FS5106-25-07

UNI2203

300mm ±5mm

3.11.3 Unidrive size 3 and 4 filters

Ensure the LOAD terminals face the drive.

Figure 3-26 Unidrive size 3 (UNI3201 to UNI3202, UNI3401 to UNI3403) bookcase mounted filter

Dimension

Model

A 275mm (10.827in)

B 50mm (1.969in)

C 259.5mm (10.217in)

D 290mm (11.417in)

H 100mm (3.937in)

L 337mm (13.268in)

W 90mm (3.543in)

Z 7mm (0.276in)

Ground Terminal M5

RFI Filter

4200-6116

FS5113-50-53

UNI3201 to UNI3202, UNI3401 to

UNI3403

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Figure 3-27 Unidrive size 3 (UNI3203 to UNI3204, UNI3404 to UNI3405) & size 4 bookcase mounted filter

Technical

Data

Diagnostics

UL Listing

Information

RFI Filters

Dimension

Model

4200-6117

FS5113-63-34

UNI3203 UNI3404

4200-6106

FS5113-100-35

UNI3204 UNI3405

4200-6107

FS5113-150-40

4200-6111

FS5113-180-40

4200-6112

FS5113-220-37

UNI4401 to UNI4402 UNI4403 to UNI4404 UNI4405

A 315mm (12.402in) 310mm (12.205in) 330mm (12.992in) 420mm (16.535in) 420mm (16.535in)

B 105mm (4.134in) 105mm (4.134in) 120mm (4.724in) 110mm (4.331in) 110mm (4.331in)

C 300mm (11.811in) 294mm (11.575in) 314mm (12.362in) 400mm (15.748in) 375mm (14.764in)

G 330mm (12.992in) 325mm (12.795in) 345mm (13.583in) 440mm (17.323in) 440mm (17.323in)

H 103mm (4.055in) 107mm (4.213in) 135mm (5.315in) 157mm (6.181in) 157mm (6.181in)

L 377mm (14.843in) 380mm (14.961in) 414mm (16.299in) 502mm (19.764in) 523mm (20.591in)

W 150mm (5.906in) 150mm (5.906in) 150mm (5.906in) 170mm (6.693in) 170mm (6.693in)

Z 7mm (0.276in) 7mm (0.276in) 7mm (0.276in) 8.5mm (0.335in) 8.5mm (0.335in)

Ground Terminal M6 M8 M10 M12 M12

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Unidrive Size 5 bookcase mounted filter

Ensure the LOAD terminals face the drive.

Figure 3-28 Unidrive size 5 bookcase mounted filter

∅

LINE

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LOAD

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Parameters

Dimension

Ground Terminal M12

Technical

Data

Model

A 470mm (18.504in)

B 170mm (6.693in)

C 450mm (17.717in)

G 490mm (19.291in)

H 156mm (6.142in)

L 655mm (25.787in)

W 230mm (9.055n)

Z 8.5mm (0.335in)

Diagnostics

RFI Filters

4200-6115

FS5113-300-99

UNI3203 UNI3404

UL Listing

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3.12 Power terminals

3.12.1 Location of power and ground terminals

Figure 3-29 Locations of the power and ground terminals on

Unidrive Size 1 to 4

2mm

3mm

T25 Torx or 10mm flat

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Figure 3-30 Locations of the power and ground terminals on the

Size 5 power module

AC supply connections

L1 L2 L3

17mm

IN96 Phase-control board

DC-bus choke

UL Listing

Information

17mm

−

M4 pozidriv screw

Fan AC-supply connections

DC bus

IN95 Interface board

UVW

Motor connections

+DC bus

17mm

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3.12.2 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

WARNING

Table 3-4 Drive control terminal data

Table 3-5 Drive power terminal data

Model size AC terminals DC terminals Ground terminal

Table 3-6 Size 5 fan supply connection

Terminal block M4 Pozidriv screw 0.5 N m 4.4 lb in

ground terminals. Refer to the following tables.

Model Connection type Torque setting

All Plug-in terminal block 0.5 N m 4.4 lb in

Plug-in terminal block

0.5 N m / 4.4 lb in

Plug-in terminal block

0.5 N m / 4.4 lb in

M10 stud

15 N m / 11 lb ft

M10 stud

15 N m / 11 lb ft

M10 bolt & nut 25

N m / 22.1 lb ft

Torque tolerance ±10%

Type Torque setting

M10 hole

25 N m / 22.1 lb ft

M4 (Torx/slot-head screw)

3 N m / 2.2 lb ft

M4 (Torx/slot-head screw)

3 N m / 2.2 lb ft

M10 stud

15 N m / 11 lb ft

M10 stud

15 N m / 11 lb ft

M10 stud

25 N m / 22.1 lb ft

3.13 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 is maximised:

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 40°C (50°C when derating applied)

Ensure the drive remains dust free – check that the drive fan is 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 discolouration which could indicate overheating

Table 3-7 RFI Filter terminal data

part

number

4200-6104 FS5101-10-07

4200-6105 FS5111-10-29

4200-6108 FS5106-16-07

4200-6109 FS5112-16-07

4200-6113 FS5106-25-07

4200-6114 FS5113-25-29

4200-6116 FS5113-50-53

4200-6117 FS5113-63-34

4200-6106 FS5113-100-35

4200-6107 FS5113-150-40

4200-6111 FS5113-180-40

4200-6112 FS5113-220-37

4200-6115 FS5113-300-99 M12 stud

Schaffner

part

number

connections

Max cable

size

4 mm

10 AWG

4 mm

10 AWG

4 mm2

10 AWG

4 mm2

10 AWG

4 mm

10 AWG

4 mm

10 AWG

10 mm

6 AWG

10 mm

6 AWG

50 mm

1/0 AWG

95 mm2

4/0 AWG

95 mm

4/0 AWG

150 mm2 6/0 AWG

Power

Tor que Si ze To rqu e

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

4.5 N m

3.3 lb ft

4.5 N m

3.3 lb ft

8.0 N m

5.9 lb ft

20.0 N m

14.7 lb ft

20.0 N m

14.7 lb ft

30.0 N m

22.1 lb ft

30.0 N m

22.1 lb ft

Ground

connections

19.5 lb in

18.0 N m

M10

20.0 N m

M12

20.0 N m

M12

20.0 N m

stud

2.2 N m

4.0 N m

2.9 lb ft

9.0 N m

6.6 lb ft

13.3 lb ft

14.7 lb ft

For all the RFI filters, except the size 5 (4200-6115), the power connections are screw terminals and the ground connections are stud terminals.

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4 Electrical Installation

This chapter describes the how to electrically install the drive. Key features include:

• EMC compliance with shielding / grounding accessories

• Product rating, fusing and cabling information

• Brake resistor details (selection / ratings)

Electric shock risk

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

WARNING

• AC supply cables and connections

• Output cables and connections

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

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 or any external option units.

Stored charge

4.1 Power connections

Figure 4-1 Unidrive Size 1 to 2 power connections

L2L1 L3 U V W

Thermal

overload

protection

device

Fuses

Optional RFI

filter

Optional

line reactor

L1 L2

Mains

Supply

Motor

Optional ground

connection

Braking resistor

Equipment supplied by plug and socket

Special attention must be given if the drive is installed in equipment which is connected to the AC supply by a plug

WARNING

and socket. The AC supply terminals of the drive are connected to the internal capacitors through rectifier diodes which are not intended to give safety isolation. If the plug terminals can be touched when the plug is disconnected from the socket, a means of automatically isolating the plug from the drive must be used (e.g. a latching relay).

Permanent-magnet motors

Permanent-magnet motors generate electrical power if they are rotated, even when the supply to the drive is

WARNING

disconnected. If that happens then the drive will become energised through its motor terminals. If the motor load is capable of rotating the motor when the supply is disconnected, then the motor must be isolated from the drive before gaining access to any live parts.

NOTE

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 overvoltage suppression (transient voltage surge suppression) must be provided to reduce category IV to category III.

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Figure 4-2 Unidrive Size 3 to 4 power connections

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Fuses

L2L1 L3 U V W

Optional RFI

filter

Optional

line reactor

L1 L2

Mains

Supply

Motor

Optional ground

connection

Thermal overload

protection

device

A thermal overload protection device should be connected as shown in Figure 4-7 on page 44 and must interrupt the AC supply on tripping. This applies to all sizes of Unidrive where a braking resistor is used.

Braking resistor

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4.1.1 Unidrive size 5 control / power module connections

Figure 4-3 Unidrive size 5 ribbon cable and sharing choke inter-

Ground

Contactor / Isolator

Fuses Fuses

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Control module

10-way

Power

module

16-way

Optional line reactor

Optional RFI filter

IN96 Phase-control board

DC-bus choke

IN95 Interface board

10-way

Power

module

16-way

Optional line reactor

Optional RFI filter

IN96 Phase-control board

DC-bus choke

IN95 Interface board

26-way

-DC -DC

AC supply for fan

NOTE

(when fitted)

UWVUWV

Sharing choke Sharing choke

When using Unidrive size 5 with multiple power modules, a sharing choke must be fitted on the output of each drive as shown. The specification for the choke is given in Chapter 11 Technical Data on page 190 and it should be sourced locally.

+DC

26-way

WARNING

+DC

Contactor /

Isolator

V U

Ensure that the fan and power module can be isolated from the AC supplies. Isolation from the supplies must be interlocked, or a warning must be displayed indicating that two separate supplies are present.

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4.2 AC supply requirements

Voltage:

UNIX20XLV 200V to 240V ±10% UNIX40X 380V to 480V ±10%

Number of phases: 3

Minimum supply imbalance: 2% negative phase sequence (equivalent to

3% voltage imbalance between phases)

Frequency range: 48Hz to 65Hz

Maximum supply fault current:

Frame size Symmetrical fault level (kA)

1, 2, 3 5

410

518

4.2.1 IT supplies

Special considerations are required when the neutral point of the distribution winding of the supply transformer is not directly grounded.

Before using the drive on such a supply, please contact the supplier of the drive.

4.2.2 Installation category

Drives are suitable for use on supplies of installation category III and lower, according to IEC60664-1. 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.

4.2.3 Supplies requiring line reactors

Input line reactors reduce the risk of damage to the drive resulting from poor phase balance or severe disturbances on the supply network.

Where line reactors are to be used, reactance values of approximately 2% are recommended. Higher values may be used if necessary, but may result in a loss of drive output (reduced torque at high speed) because of the voltage drop.

For all drive ratings, 2% line reactors permit drives to be used with a supply unbalance of up to 3.5% negative phase sequence (equivalent to 5% voltage imbalance between phases).

Severe disturbances may be caused by the following factors, for example:

• Power factor correction equipment connected close to the drive.

• Large DC drives having no or inadequate line reactors connected to the supply.

• Direct-on-line started motor(s) connected to the supply such that when any of these motors are started, the voltage dip exceeds 20%

Such disturbances may cause excessive peak currents to flow in the input power circuit of the drive. This may cause nuisance tripping, or in extreme cases, failure of the drive.

Drives of low power rating may also be susceptible to disturbance when connected to supplies with a high rated capacity.

Line reactors are particularly recommended for use with the following drive models when one of the above factors exists, or when the supply capacity exceeds 175kVA:

UNI1201 UNI1202 UNI1203 UNI1204

UNI1401 UNI1402 UNI1403 UNI1404

Model sizes 1205, 1405 and larger have an internal DC choke so they do not require AC line reactors except for cases of excessive phase unbalance or extreme supply conditions.

When required, each drive must have its own reactor(s). Three individual reactors or a single three-phase reactor should be used.

Reactor current ratings

The current rating of the line reactors should be as follows:

Continuous current rating:

Not less than the continuous input current rating of the drive

Repetitive peak current rating:

Not less than twice the continuous input current rating of the drive

4.2.4 Input inductor calculation.

To calculate the inductance required (at Y%), use the following equation:

-------

-----------

×=

2π fl

----------

100

Where:

I = drive rated input current (A) L = inductance (H) f = supply frequency (Hz) V = voltage between lines

4.3 Supplying the drive with DC / DC bus paralleling

The drive may be supplied with DC instead of 3 phase AC. For further information please refer to the supplier of your drive.

Connecting of the DC bus between several drives is typically used to:

1. Return energy from a drive which is being overhauled by the load to

a second motoring drive.

2. Allow the use of one braking resistor to dissipate regenerative

energy from several drives.

There are limitations to the combinations of drives which can be used in this configuration.

For application data, contact the supplier of the drive.

4.4 Ratings

The input current is affected by the supply voltage and impedance.

4.4.1 Typical input current

The values of typical input current are given to aid calculations for power flow and power loss.

The values of typical input current are stated for a balanced supply.

4.4.2 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 the worst case condition with the unusual combination of stiff supply with bad balance. The value stated for the maximum continuous input current would only be seen in one of the input phases. The current in the other two phases would be significantly lower.

The values of maximum input current are stated for a supply with a 2% negative phase-sequence imbalance and rated at the maximum supply fault current given in Table 4-1.

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Table 4-1 Input current, fuse and cable size ratings

Maximum

continuous

input current

Fuse

rating

Cable size

AWG

Model

Typical

input

current

AAA

UNI1201 2.4 4.0 6.0 1.5 16

UNI1202 3.5 6.0 10 2.5 14

UNI1203 4.6 8.0 10 2.5 14

UNI1204 6.5 10 10 2.5 14

UNI1205 8.6 12.5 16 2.5 14

UNI2201 10.8 13.9 16 2.5 14

UNI2202 14.3 16.9 20 4 10

UNI2203 19.8 27 35 4 10

UNI3201 26 28 40 6 8

UNI3202 39 43 60 10 6

UNI3203 53 56 70 16 4

UNI3204 78 84 80 25 4

UNI1401 3.0 4.5 6.0 1.5 16

UNI1402 4.3 5.5 10 2.5 14

UNI1403 5.8 6.8 10 2.5 14

UNI1404 8.2 8.6 10 2.5 14

UNI1405 10 12 16 2.5 14

UNI2401 13 16 16 2.5 14

UNI2402 17 20 20 4 10

UNI2403 21 25 35 4 10

UNI3401 27 34 40 6 8

UNI3402 32 39 50 10 6

UNI3403 40 53 60 10 6

UNI3404 52 66 70 16 4

UNI3405 66 82 80 25 4

UNI4401 76 98 100 35 2

UNI4402 91 114 125 35 2

UNI4403 123 152 160 50 0

UNI4404 145 205 200 70 2/0

UNI4405 181 224 250 95 3/0

UNI5401 280 321 450 120 4/0

The recommended cable sizes above are only a guide. Refer to local wiring regulations for the correct size of cables. In some cases a larger cable is required to avoid excessive voltage drop.

NOTE

UL listing is dependent on the use of the correct type of UL-listed fuse, and applies when symmetrical short-circuit current does not exceed 5kA for sizes 1 to 3, 10 kA for size 4 or 18kA for size 5.

Fuses

The AC supply to the drive must be fitted with suitable protection against overload and short-circuits. Table 4-1

WARNING

shows recommended fuse ratings. Failure to observe this requirement will cause risk of fire.

A fuse or other protection must be included in all live connections to the AC supply.

An MCB (miniature circuit breaker) or MCCB (moulded case circuit breaker) with type C tripping characteristics and the same rating as the fuse(s), may be used in place of the fuse(s), on condition that the fault current clearing capacity is sufficient for the installation.

4.4.3 Fuse Types

The fuse voltage rating must be suitable for the drive supply voltage.

• Europe: Type gG HRC industrial fuses to IEC60269 (BS88)

• USA: Class CC fuses up to 30A, Class J above 30A

4.4.4 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.

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

WARNING

prospective fault current until the protective device (fuse, etc.) disconnects the AC supply.The ground connections must be inspected and tested at appropriate intervals.

4.4.5 Main AC supply contactor

The recommended AC supply contactor type for all sizes is AC1.

4.5 Output circuit and motor protection

The output circuit has fast-acting electronic short-circuit protection which limits the fault current to typically no more than five times the rated output current, and interrupts the current in approximately 20µs. No additional short-circuit protection devices are required.

The drive provides overload protection for the motor and its cable. For this to be effective, Pr 0.46 Motor rated current must be set to suit the motor.

Pr 0.46 Motor rated current must be set correctly to avoid a risk of fire in the event of motor overload.

WARNING

There is also provision for the use of a motor thermistor to prevent overheating of the motor, e.g. due to loss of cooling.

4.5.1 Cable types and lengths

Since capacitance in the motor cable causes loading on the output of the drive, ensure the cable length does not exceed the values given in Table 4-2 and Table 4-3.

Use 105°C (221°F) (UL 60/75°C temp rise) PVC-insulated cable with copper conductors having a suitable voltage rating, for the following power connections:

• AC supply to external EMC filter (when used)

• AC supply (or external EMC filter) to drive

• Drive to motor

• Drive to braking resistor

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Table 4-2 Maximum motor cable lengths (200V drives)

200V Nominal AC supply voltage

Maximum permissible motor cable length

Model

(PWM switching frequency of 3kHz)

mft

UNI1201 65 210

UNI1202 100 330

UNI1203 130 430

UNI1204 200 660

UNI1205 300 990

UNI2201

300 990UNI2202

UNI2203

UNI3201

UNI3202

UNI3203

200 660

UNI3204

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The maximum cable length is reduced from that shown in the table under the following conditions:

• PWM switching frequency exceeding 3kHz in model sizes 3 and

The maximum cable length is reduced in proportion to the increase in PWM switching frequency, e.g. at 9kHz, the maximum length is

/3 of that shown.

• High-capacitance cables

Most cables have an insulating jacket between the cores and the armour or shield; these cables have a low capacitance and are recommended. Cables that do not have an insulating jacket tend to have high capacitance; if a cable of this type is used, the maximum cable length is half that quoted in the table. (Figure 4-4 shows how to identify the two types.)

Figure 4-4 Cable construction influencing the capacitance

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Table 4-3 Maximum motor cable lengths (400V drives)

Model

400V Nominal AC supply

voltage

Maximum permissible motor cable length

480V Nominal AC supply

voltage

(PWM switching frequency of 3kHz)

mftmft

UNI1401 65 210 50 160

UNI1402 100 330 75 250

UNI1403 130 430 100 330

UNI1404 200 660 150 490

UNI1405 300 990 250 820

UNI2401

300 990 300 990UNI2402

UNI2403

UNI3401

UNI3402

UNI3403

UNI3404

UNI3405

UNI4401

200 660 124 410

UNI4402

UNI4403

UNI4404

UNI4405

UNI5401 300 990 300 990

UNI5402 600 1980 600 1980

UNI5403 900 2970 900 2970

UNI5404 1200 3960 1200 3960

UNI5405 1500 4950 1500 4950

UNI5406 1800 5940 1800 5940

UNI5407 2100 6930 2100 6930

UNI5408 2400 7920 2400 7920

• Cable lengths in excess of the specified values may be used only when special techniques are adopted; refer to the supplier of the drive.

• The default switching frequency for all versions of Unidrive is 3kHz, except Unidrive LFT, which is 9kHz.

Normal capacitance

Shield or armour separated from the cores

High capacitance

Shield or armour close to the cores

The capacitance measured above is from one line to all others and is obtainable from the cable manufacturer. This means the capacitance from one core to all the other cores and the screen shorted together.

4.5.2 Multiple motors

Open-loop only

If the drive is to control more than one motor, make connections as shown in Figure 4-5 and Figure 4-6. The maximum cable lengths given in Table 4-2 and Table 4-3 apply to the total length of cable from the drive to the farthest motor. It is recommended that each motor is connected through a protection relay since the drive cannot protect each motor individually. For star connection, a sinusoidal filter or an output inductor must be connected as shown in Figure 4-5 and Figure 4-6, even when the cable lengths are less than the maximum permissible. For details, of inductor sizes refer to the supplier of the drive.

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Figure 4-5 Preferred chain connection for multiple motors

Motor protection relay

Chain connection (preferred)

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The default setting of the motor rated voltage parameter is the same as the drive rated voltage

i.e. 400V drive 400V rated voltage

200V drive 200V rated voltage A typical 3 phase motor would be connected in star for 400V operation or delta for 200V operation however variations on this are common

i.e. star 690V delta 400V

Incorrect connection of the windings will lead to severe under or over fluxing of the motor, leading to a very poor output torque or motor saturation and over-heating respectively.

4.5.4 Output contactor

If the cable between the drive and the motor is to be interrupted by a contactor or circuit breaker, ensure that the drive is disabled before the contactor or circuit breaker is

WARNING

A contactor is sometimes required to be fitted between the drive and motor for safety isolation purposes.

The recommended motor contactor is the AC3 type.

Switching of an output contactor should only occur when the output of the drive is disabled.

Opening or closing of the contactor with the drive enabled will lead to:

1. OI.AC trips (which cannot be reset for 10 seconds)

2. High levels of RFI noise emission

3. Increased contactor wear and tear

For more information please contact the supplier of the drive.

opened or closed. Severe arcing may occur if this circuit is interrupted with the motor running at high current and low speed.

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Figure 4-6 Alternative connection for multiple motors

Motor protection relay

Star connection

Inductor

4.5.3 Star / delta motor operation

The voltage rating for star and delta connections of the motor should always be checked before attempting to run the motor.

4.6 Braking

Internal connection does not require the cable to be armoured or shielded.

In-built in the Unidrive software is overload protection for the brake resistor. In order to enable and set-up this function, it is necessary to enter two values into the drive:

• Resistor short-time overload time (Pr 10.30)

• Resistor minimum time between repeated short-time overloads (Pr

10.31)

This data is available from the manufacturer of the braking resistors.

4.6.1 Minimum resistances and power ratings

Table 4-4 Minimum resistance values and peak power rating for

The minimum resistance allows the braking resistor to dissipate up to approximately 150% of the power rating of the drive for up to 60 seconds. For high-inertia loads or under continuous braking, the continuous power dissipated in the braking resistor may be as high as the power rating of the drive. The total energy dissipated in the braking resistor is dependent on the amount of energy to be extracted from the load.

the braking resistor at 40°C (104°F)

Instantaneous

power rating

Model

Minimum

resistance

Ω

UNI1201 to UNI1205 20 15

UNI2201 20 15

UNI2202 to UNI2203 15 20

UNI3201 to UNI3205 5 60

UNI1401 to UNI1405 40 15

UNI2401 40 15

UNI2402 to UNI2403 30 20

UNI3401 to UNI3405 10 60

UNI4401 to UNI4405 5 120

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The instantaneous power rating refers to the short-term maximum power dissipated during the on intervals of the pulse width modulated braking control cycle. The braking resistor must be able to withstand this dissipation for short intervals (milliseconds). Higher resistance values require proportionately lower instantaneous power ratings.

In most applications, braking occurs only occasionally. This allows the continuous power rating of the braking resistor to be much lower than the power rating of the drive. It is essential, though, that the instantaneous power rating and energy rating of the braking resistor are sufficient for the most extreme braking duty that is likely to be encountered.

Optimisation of the braking resistor requires a careful consideration of the braking duty.

Select a value of resistance for the braking resistor that is not less than the specified minimum resistance. Larger resistance values may give a cost saving, as well as a safety benefit in the event of a fault in the braking system, however peak braking power is reduced. If the resistance is too high this could cause the drive to trip during braking.

Thermal protection circuit for the braking resistor

The thermal protection circuit must disconnect the AC supply from the drive if the resistor becomes overloaded. The thermal protection device can be either an external thermal overload device or an integrated temperature switch which is available from most braking resistor suppliers. A suitable thermal overload device is the LR2D from Telemecanique. Figure 4-7 shows a typical circuit arrangement.

Figure 4-7 Typical protection circuit for a braking resistor

Optional RFI filter

Main contactor power supply

Drive

+DC

Start / Reset

Stop

Brakin

Thermal protection device

resistor

4.7 Ground leakage

Unidrive sizes 1, 2 and 5 (including Unidrive REGEN size 3 and 4)

There is no direct connection with ground apart from the surge protection on the input of the drive. Ground leakage is therefore negligible.

Unidrive sizes 3 and 4 (400V product) except Unidrive REGEN

Ground leakage current is typically 9mA* (27mA with a Unidrive LFT with date code K08 onwards).

*9mA at 380V to 415V 50Hz AC supply; up to 14mA at 480V 60Hz AC supply. Measured by the method described in IEC950 Annex D.

Unidrive size 3 (200V product)

Ground leakage current is typically 5mA at 220V 50Hz.

When Unidrive sizes 3 and 4 are used the leakage current is high. In this case a permanent fixed ground connection must be provided, or other suitable measures taken to prevent a

WARNING

safety hazard occurring if the connection is lost.

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4.7.1 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 AC should never be used with drives.

• Type A can only be used with single phase drives

• Type B must be used with three phase drives

Only type B ELCB / RCD are suitable for use with Unidrive.

WARNING

If an external RFI 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 energised simultaneously.

4.8 EMC (Electromagnetic compatibility)

Compliance with EN61800-3 (standard for Power Drive Systems)

Meeting the requirements of this standard depends on the environment that the drive is intended to operate in, as follows:

Operation in the first environment

Observe the guidelines given in section 4.8.2 EMC - Compliance on page 48. An RFI filter will always be required. Some model sizes may require additional filtering techniques to be applied.

Operation in the second environment

An RFI filter is required for all Unidrives with a rated current of less than 100A. Where a filter is required follow the guidelines in section

4.8.2 EMC - Compliance on page 48. Where an RFI filter is not required

follow the guidelines given in section 4.8.1 EMC - General requirements .

This is a product of the restricted distribution class according to IEC61800-3 In a domestic environment this product may cause radio

WARNING

Refer to Chapter 11 Technical Data on page 190 for further information on compliance with EMC standards and definitions of environments.

Detailed instructions and EMC information are given in the Unidrive EMC Data Sheet which is available from the supplier of the drive.

NOTE

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

The drive will comply with the standards for emission, such as EN500812, only when the instructions given in this chapter are followed closely.

interference in which case the user may be required to take adequate measures.

The second environment typically includes an industrial lowvoltage power supply network which does not supply buildings used for domestic purposes. Operating the drive in this environment without an RFI filter may cause interference to nearby electronic equipment whose sensitivity has not been appreciated. The user must take remedial measures if this situation arises. If the consequences of unexpected disturbances are severe, it is recommended that the emission limits of EN50081-2 be adhered to.

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In order to ensure the installation meets the various emission / immunity standards described in:

• The EMC data sheet

• The Declaration of Conformity at the front of this manual

• Chapter 11 Technical Data on page 190

The correct RFI filter must be used and all of the guidelines in section

4.8.1 EMC - General requirements and section 4.8.2 EMC - Compliance must be followed.

When a RFI filter is used, a permanent fixed ground connection must be provided which does not pass through a

WARNING

connector or flexible power cord.

4.8.1 EMC - General requirements

Figure 4-8 General EMC enclosure layout showing earth / ground

connections

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Optional EMC filter

If the control circuit 0V is to be grounded, this should be done at the system controller only to avoid injecting noise currents into the 0V circuit

3 phase AC supply

The incoming supply ground should be connected to a single power ground bus bar or low impedance earth terminal inside the cubicle. This should be used as a common 'clean' ground for all components inside the cubicle.

External controller

Grounding bar

Metal backplate safety bonded to power ground busbar

Metal backplate

Use four core cable to connect the motor to the drive. The ground conductor in the motor cable must be connected directly to the earth terminal of the drive and motor. It must not be connected directly to the power earth busbar.

Optional ground

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The following guidelines should be followed for all installations to minimise the risk of disturbing any other equipment in the vicinity of the drive.

The earthing / grounding and clearance sections should be followed for all installations as good practice.

Earth / Ground connections

The diagram below indicates the grounding method which should be used in all standard installations using an grounded secondary AC supply.

The ground loop impedance must conform to the requirements of local safety regulations. The drive must be grounded by a connection capable of

WARNING

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.

Clearances

The diagram below indicates the clearances which should be observed around the drive and related ‘noisy’ power cables by all sensitive control signals / equipment.

Figure 4-9 Drive clearances

Optional braking resistor and overload

Do not place sensitive (unscreened) signal circuits in a zone extending 300mm (12”) all around the Drive, motor cable, input cable from RFI filter and unscreened braking resistor cable (if used)

300mm

(12in)

This does not apply to a motor thermistor cable. The motor thermistor cable must be shielded.

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Feedback device cable shielding

Shielding considerations are important for PWM drive installations due to the high voltages and currents present in the output (motor) circuit with a very wide frequency spectrum, typically from 0 to 20 MHz.

The following guidance is divided into two parts:

1. Ensuring correct transfer of data without disturbance from electrical noise originating either within the drive or from outside.

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

To ensure correct transfer of data, observe the following:

Resolver connections:

• Use a cable with an overall shield and twisted pairs for the resolver signals

• Connect the cable shield to the drive 0V connection by the shortest possible link ("pigtail")

• It is generally preferable not to connect the cable shield to the resolver. However in cases where there is an exceptional level of common-mode noise voltage present on the resolver body, it may be helpful to connect the shield there. If this is done then it becomes essential to ensure the absolute minimum length of "pigtails" at both shield connections, and possibly to clamp the cable shield directly to the resolver body and to the back plate, located as close as possible to the drive.

• The cable should preferably not be interrupted. If interruptions are unavoidable, ensure the absolute minimum length of "pigtail" in the shield connections at each interruption.

Encoder connections:

• Use a cable 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 ("pigtails")

• The cable should preferably not be interrupted. If interruptions are unavoidable, ensure the absolute minimum length of "pigtail" in the shield connections at each interruption. Preferably, use a connection method which 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 the motor body, and in case of doubt, the following additional requirement must be observed. This gives the best possible noise immunity.

• The shields must be directly clamped to the encoder body (no pigtail) and to the back plate, located as close as possible to the drive. This may be achieved by clamping of the individual shields or by providing an additional overall shield which is clamped.

NOTE

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

NOTE

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

In some cases single shielding of each pair of differential signals cables or a single overall shield with an 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 4-10 and Figure 4-11 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 fitted. The shield must not be broken or opened at this point. The clamps should be fitted close to the drive or feedback device, with the ground connections made to a ground plate or similar metallic ground surface.

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Figure 4-10 Feedback cable, twisted pair

Figure 4-11 Feedback cable connections

onnection

at drive

Cable shield

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Shield

connection

to 0V

Twisted

pair

shield

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Ground clamp on shield

Cable shield

Connection

t motor

Cable

Twisted

pair

shield

Shield

connection

to 0V

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

• Use a cable with an overall shield

• Clamp the overall shield to grounded metallic surfaces at both the encoder and the drive, as illustrated in Figure 4-11.

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4.8.2 EMC - Compliance

Figure 4-12 details specific points which must be observed as well as the sections on grounding and clearances in order to ensure compliance with the standards detailed in the EMC data sheet.

Figure 4-12 EMC compliance

Optional external braking resistor

O/L

Control module

- Size 5 only

Back-plate

Enclosure

Ground

L1L2

RFI filter

L1 L2 L3

Drive/power module

UVW

L1 150mm (6in)

(L1 + L2) 450mm (18in)

AC supply

1. Unshielded wiring to the optional braking resistor(s) may be used, provided the resistor is either in the same enclosure as the drive, or the wiring does not run external to the enclosure. When the braking resistor wiring is unshielded, ensure a minimum spacing of 300mm (12in) from signal wiring and the AC supply wiring to the RFI filter.

2. Ensure the AC supply and ground cables are at least the following distances from the power module as well as from the motor cable Size 1 to 4: 100mm (4in), Size 5: 150mm (6in)

3. Size 4 and 5 only: The AC supply cable must be shielded (screened) or steelwire armoured. Bond the shield to the enclosure wall using standard cable-gland fixings.

4. Size 1 and 2: RFI filter mounted at the side of the drive. Ensure a separation of 5 to 10mm (0.2in to 0.4in) from the drive. Minimise the length of cables between the RFI filter and power module. Size 3 to 5: RFI filter mounted 150mm (6in) above the drive/power module. The RFI filter casing is directly grounded to the back-plate by the fixing screws.

5. Avoid placing sensitive signal circuits in a zone 300mm (12in) all around the power module.

6. Ensure chassis directly grounded to the back-plate using fixing screws. Screw threads tapped into the back-plate must be used to ensure that a direct electrical connection is made. An unpainted back-plate is required.

7. A shielded (screened) or steel-wire armoured cable must be used to connect the power module to the motor. The shield must be bonded to the back-plate using an uninsulated metal cable clamp. Position the clamp as close as possible to the drive/ power module. Size 1 and 2: The clamp must be positioned no further than 100mm (4in) from the drive. Size 3 and 4: The clamp must be positioned no further than 150mm (6in) from the drive. Size 5: It may be necessary to use a flat metal plate of a minimum width of 100mm (4in) as well as a clamp in order to make the connection. The clamp must be fitted so that: L1 < 150mm (6in) and (L1 + L2) < 450mm (18in)

8. Connect the shield of the motor cable to the ground terminal of the motor frame using a 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.

9. Size 4 and 5 only Back-plate bonded to the enclosure wall using a short, low inductance connection. Two flat-braid cables of nominal size 12mm x 2.3mm (0.5in x 0.1in) are suitable, or a single braided-cable of equivalent dimensions.

10. Size 5 only Ensure that all power cables are at least 300mm (12in) from the ribbon cables that connect to the control module.

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4.8.3 Variations in the EMC wiring

Control wiring

Control wiring which is connected to the drive and leaves the enclosure must have one of the following additional treatments:

• Pass the control cable(s) through a ferrite ring (part number 3225-

1004). More than one cable can pass through a ferrite ring. Ensure the length of cable between the ferrite ring and the drive is not greater than 125mm (5 in).

• Use one or more cables having a separate overall shield. Bond this shield(s) to the back-plate using an uninsulated metal clamp. Position the clamp not further than 100mm (4 in) from the drive. Do not make any other connections to either end of the overall shield.

Interruptions to the motor cable

The motor cable should ideally be a single piece of shielded or armoured cable having no interruptions. In some situations it may be necessary to interrupt the cable, as in the following examples:

Connecting the motor cable to a terminal block in the drive enclosure Fitting a motor isolator switch for safety when work is done on the motor

In these cases the following guidelines should be followed.

Terminal block in the enclosure

The motor cable shields should be bonded to the back-plate using uninsulated metal cable-clamps which should be positioned as close as possible to the terminal block. Keep the length of power conductors to a minimum and ensure that all sensitive equipment and circuits are at least 0.3m (12 in) away from the terminal block.

Figure 4-13 Connecting the motor cable to a terminal block in the

Using a motor isolator-switch

The motor cable shields should be connected by a very short conductor having a low inductance. The use of a flat metal coupling-bar is recommended; conventional wire is not suitable.

The shields should be bonded directly to the coupling-bar using uninsulated metal cable-clamps. Keep the length of the exposed power conductors to a minimum and ensure that all sensitive equipment and circuits are at least 0.3m (12 in) away.

The coupling-bar may be grounded to a known low-impedance ground nearby, for example a large metallic structure which is connected closely to the drive ground.

enclosure

From the Drive

Back-plate

Enclosure

To the motor

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Figure 4-14 Connecting the motor cable to an isolator switch

Isolator

From the Drive

Coupling bar

If required

To the motor

Interruptions to the encoder cable

The screened cable should ideally not be interrupted throughout its run. If intermediate terminal arrangements are included with ‘pigtails’ for the screen connections, every pigtail will contribute additional injection of electrical noise into the signal circuit. They should therefore be kept as short as possible. If interruptions are unavoidable, either a suitable connector with surrounding screen shell should be used, or a lowinductance bar or plate should be used for the screen connection, similar to that shown in Figure 4-14.

4.9 Control connections

4.9.1 General

Table 4-5 The Unidrive control connections consist of:

Function Qty Programmability Terminals

Differential analog input 1 Destination, mode, scaling, 5,6

Single ended analog input

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

Digital input 3 Destination, mode, 27,28,29

Digital input / outputs 3 Destination / source, mode 24,25,26

Relay 1 Source 1,2

Drive enable 1

10V supply 1 4

24V supply 1 22

0V analog 2 3,11

0V digital 2 21,23,31

Key:

Destination parameter - indicates the parameter which is being

controlled by the terminal Source parameter - indicates the parameter being output by the terminal Mode parameter 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. See section

10.7 Menu 7: Analog I/O on page 145 for more information on control terminal set-up.

All digital terminal functions can be programmed in menu 8. See section

10.8 Menu 8: Digital I/O on page 148 for more information on control terminal set-up.

Ensure the logic sense is correct for the control circuit to be used. Incorrect logic sense could cause the motor to be

CAUTION

started unexpectedly.

2 Destination, mode, scaling, 7,8

External trip (latching) or inhibit (non latching)

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

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Figure 4-15 Unidrive default terminal functions (except Unidrive VTC)

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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

WARNING

NOTE

included in order to maintain the SELV classification.

The common 0V from analog signals, wherever possible, should not be connected to the same 0V terminal as the common 0V from digital signals. Terminals 3 and 11 should be used for connecting the 0V common of analog signals and terminals 21, 23 and 31 for digital signals. This is to prevent small voltage drops in the terminal connections causing inaccuracies in the analog signals.

Status relay

Drive normal

Analog frequency/speed reference 1

Connections for

single-ended input

signal

Connections for

differential input signal

nalog frequency/speed reference 2

Signal connector

111

21 31

0V common

SPEED

TORQUE

Motor thermistor

OL> AT SPEED CL> AT ZERO SPEED

RESET

JOG SELECT

RUN FORWARD

RUN REVERSE

ANALOG INPUT 1 / INPUT 2 SELECT

OL> External trip CL> Drive enable

0V common

Analog input 1

Analog input 2

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Figure 4-16 Unidrive VTC default terminal functions (European and USA)

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EUR

Status relay

Drive normal

Analog frequency reference 1

Connections for

single-ended input

signal

Connections for

differential input signal

Signal connector

111

21 31

0V common

USA

Status relay

Drive normal

Analog frequency reference 1

Connections for

single-ended input

signal

Connections for

differential input signal

Signal connector

111

21 31

0V common

Analog frequency reference 2

0 to 10V

FREQUENCY

TOTAL MOTOR CURRENT

Motor thermistor

AT SPEED

RESET

PRESET SELECT

RUN FORWARD

RUN REVERSE

ANALOG INPUT / PRESET REF SELECT

External trip

0V common

Preset ref 1

Preset ref 2

Analog input

Preset ref

nalog frequency

reference 2

4 to 20mA

0V common

FREQUENCY

TOTAL MOTOR CURRENT

Motor thermistor

0V common

DRIVE RUNNING

RESET

PRESET SELECT

RUN

NALOG INPUT 1 /

INPUT 2 SELECT

NALOG INPUT /

PRESET REF SELECT

External trip

0V common

Preset ref 1

Preset ref 2

Analog input 1

Analog input 2 Analog input

Preset ref

0V common

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4.9.2 Specification

These descriptions apply to the default functions of the terminals. Some macros can change terminal-functions.

Status relay contact

Default function Drive healthy

Contact voltage rating

Contact maximum current rating 5A resistive

Contact minimum current rating 10mA

Contact condition Normally open

Isolation 1.5kV

Update period 8ms

3 0V common (analog)

Function

4 +10V reference voltage

Function

Voltage tolerance ±1%

Maximum output current 10mA

Protection Current limit and thermal trip

Analog input 1

5 Non-inverting input

6 Inverting input

Default function Frequency/speed reference

Type of input

Mode controlled by... Parameter

Operating in Voltage mode

Voltage range ±10V

Absolute maximum voltage range

Input resistance

Operating in current mode

Current ranges

Voltage range ±12V

Absolute maximum current 50mA

Equivalent input resistance

Common to all modes

Resolution 12-bit plus sign

Sampling period default setting

240Vac Installation category 1

Common connection for external analog devices.

Supply for external analog signal devices

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

0.24 {7.06}

±24V relative to 0V ±24V differential

Ω

100k

0 to 20mA 20mA to 0 4 to 20mA 20 to 4mA

Ω at 20mA

≤200

PWM switching frequency dependent OL> 1.4ms for 3, 6, & 12kHz

1.9ms for 4.5 & 9kHz CL> 345µs for 3, 6 & 12kHz 460µs for 4.5 & 9kHz

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7 Analog input 2

Default function Frequency/speed reference

Type of input

Mode controlled by... Parameter

Operating in Voltage mode

Voltage range ±10V Absolute maximum voltage range ±24V relative to 0V

Input resistance

Operating in current mode

Current ranges

Voltage range ±12V

Absolute maximum current 50mA

Equivalent input resistance

Common to all modes

Resolution 10-bit plus sign

Sampling period default setting

Bipolar single-ended analog voltage or unipolar current

0.25 {7.11}

100kΩ

0 to 20mA 20mA to 0 4 to 20mA 20 to 4mA

Ω at 20mA

≤200

PWM switching frequency dependent OL> 1.4ms for 3, 6, & 12kHz

1.9ms for 4.5 & 9kHz CL> 345µs for 3, 6 & 12kHz 460µs for 4.5 & 9kHz

8 Analog input 3

Default function Motor thermistor input (PTC)

Type of input

Mode controlled by... Parameter

Operating in Voltage mode

Voltage range ±10V Absolute maximum voltage range ±24V relative to 0V

Input resistance

Operating in current mode

Current ranges

Voltage range ±12V

Absolute maximum current 50mA

Equivalent input resistance

Operating in thermistor mode

Internal pull-up voltage <5V

Trip threshold resistance

Reset resistance

Short-circuit detection resistance

Common to all modes

Resolution 10-bit plus sign

Sampling period default setting

Bipolar single-ended analog voltage, unipolar current or thermistor input

7.15

Ω

100k

0 to 20mA 20mA to 0 4 to 20mA 20 to 4mA

Ω at 20mA

≤200

Ω ±15%

3 k

Ω ±15%

1.9 k

Ω ±12%

PWM switching frequency dependent

5.5ms for 3, 6, & 12kHz

7.4ms for 4.5 & 9kHz

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9 Analog output 1

OL> FREQUENCY output signal CL> SPEED output signal

10 Analog output 2 TORQUE output signal

Type of output

Mode controlled by...

Operating in Voltage mode

Output voltage range ±10V

Maximum output current 10mA peak

Load resistance

Protection Short-circuit proof

Operating in current mode

Current ranges

Maximum output voltage ±12V

Maximum load resistance

Equivalent input resistance

Common to all modes

Resolution 10-bit plus sign

Update period

Bipolar single-ended analog voltage or unipolar current output

7.19 & 7.22

Ω minimum

0 to 20mA 4 to 20mA

600

Ω

Ω at 20mA

≤200

PWM switching frequency dependent

5.5ms for 3, 6, & 12kHz

7.4ms for 4.5 & 9kHz

11 0V common (analog)

Function

Common connection for external analog devices.

21 0V common (digital)

22 +24V digital supply

Function

Voltage tolerance ±10%

Nominal output current

Overload output current

Protection Current foldback above 240mA

Supply for external digital signal devices

200mA (total including any digital outputs)

240mA (total including any digital outputs)

23 0V common (digital)

Function

Common connection for external digital devices.

24 Digital input / output F1

OL> AT-SPEED output CL> AT ZERO SPEED output

25 Digital input / output F2 RESET input

26 Digital input / output F3 JOG SELECT input

Type of output

Input / output mode controlled by... Parameters

Operating as an input

Logic mode controlled by... Parameter 8.27

Absolute maximum voltage range -3V to +30V Input current when 0V applied ≥3.2mA

Negative-logic levels

Positive-logic levels

Operating as an output

Open collector outputs selected by... Parameter 8.28

Maximum output current 200mA (total including terminal 22)

Overload output current 240mA (total including terminal 22)

Common to both modes

Voltage range 0V to +24V

Sample / Update period

Negative or positive logic digital inputs,

or negative-logic push-pull or open

collector digital outputs

8.12, 8.15 & 8.18

Inactive state (input open-circuit): >+15V Active state: <+5V

Inactive state (input open-circuit): >+5V Active state: <+15V

PWM switching frequency dependent

5.5ms for 3, 6, & 12kHz

7.4ms for 4.5 & 9kHz

27 Digital input F4 RUN FORWARD input

28 Digital input F5 RUN REVERSE input

29 Digital input F6

Type Negative or positive logic digital inputs

Logic mode controlled by... Parameter

Voltage range 0V to +24V

Absolute maximum voltage range

Input current when 0V applied ≥3.2mA

Negative-logic levels

Positive-logic levels

Sample period

ANALOG INPUT 1 / INPUT 2 SELECT INPUT

8.27

–3V to +30V

Inactive state (input open-circuit): >+15V Active state: <+5V

Inactive state (input open-circuit): <+5V Active state: >+15V

PWM switching frequency dependent

5.5ms for 3, 6, & 12kHz

7.4ms for 4.5 & 9kHz

The default configuration of the above digital inputs and outputs are different for Unidrive VTC. See Figure 4-16 Unidrive VTC default terminal functions (European and USA) on page 51 and section

4.9.3 Unidrive VTC control terminal default configuration on page 54 for details.

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30 Drive enable input F7

Type Negative or positive logic digital inputs

Logic mode controlled by... Parameter

Voltage range 0V to +24V

Absolute maximum voltage range

Input current when 0V applied ≥3.2mA

Negative-logic levels

Positive-logic levels

Sample period

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OL> EXTERNAL TRIP INPUT CL> DRIVE ENABLE input

8.27

–3V to +30V

Inactive state (input open-circuit): >+15V Active state: <+5V

Inactive state (input open-circuit): <+5V Active state: >+15V

Enable function PWM switching frequency dependent

5.5ms for 3, 6, & 12kHz

7.4ms for 4.5 & 9kHz Disable or trip function 1ms

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4.10 Encoder connections

4.10.1 Quadrature encoder connections

Figure 4-17 Encoder connections (default configurations)

Encoder connector

Female 15-way D-type

Encoder

Diagnostics

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31 0V common (digital)

Function

Common connection for external digital devices.

4.9.3 Unidrive VTC control terminal default configuration

The following is a list of the terminal default functions for Unidrive VTC. Any terminal not listed has the same default function as Unidrive.

5 Analog input 1

6 (differential input)

7 Analog input 2

8 Analog input 3 Motor thermistor input (PTC)

9 Analog output 1 Frequency output

10 Analog output 2 Total motor current output

24 Digital input / Output F1

25 Digital input / Output F2 RESET input

26 Digital input / Output F3 PRESET SELECT

27 Digital input F4

28 Digital input F5

29 Digital input F6

±10V frequency reference input

EUR> ±10V frequency reference input USA> 4 to 20 mA frequency reference input

EUR> AT SPEED output USA> DRIVE RUNNING output

EUR> RUN FORWARD input USA> RUN input

EUR> RUN FORWARD input USA> ANALOG INPUT 1 / INPUT 2 SELECT input

ANALOG INPUT / PRESET REF SELECT input

Incremental signal connections for all encoders

Commutation signal connections for servo-encoders only

For encoder cable screening, see section 4-10 Feedback cable, twisted pair on page 47.

Descriptions of the encoder connections

1 Quadrature channel A

2 Quadrature channel A\

3 Quadrature channel B

4 Quadrature channel B\

5 Marker pulse channel Z

6 Marker pulse channel Z\

Type EIA422 differential receivers

Maximum data rate

Line termination components

Line loading 1 unit load

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

250kHz (equivalent of 3,000rpm with a 5,000 lines per revolution encoder)

Ω (switchable using Pr 3.24)

120

±15V

±25V

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7 Phase channel U

8 Phase channel U\

9 Phase channel V

10 Phase channel V\

11 Phase channel W

12 Phase channel W\

Type EIA422 differential receivers

Maximum data rate 250kHz

Line termination components

Line loading 1 unit load

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

120

Ω

+15V to -10V

±25V

13 Encoder supply

Supply voltage +5.15V or +15V (selected by Pr 3.23) Voltage tolerance ±2%

Nominal output current 300mA

The output voltage at terminal 13 is 5V when Pr 3.23 is set at 0 (default). When Pr 3.23 is set at 1, the output voltage will become 15V. This could damage encoders that require a 5V supply.

Termination resistors should be disabled by setting Pr 3.24 to 1 if the encoder output is 15V.

14 0V common

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4.10.2 Frequency and direction connections

Figure 4-18 Frequency and direction connections and alternative

motor-thermistor connections

Encoder connector

Female 15-way D-type

Frequency reference

Direction reference

Master

Frequency reference

Direction reference

15 Motor thermistor input

This terminal is connected internally to terminal 8 of the signal connector Connect only one of these terminals to a motor thermistor. Analog input 3 must be in thermistor mode, Pr 7.15 = th.Sc (9) or th (10).

Slave

For encoder cable screening, see section 4-10 Feedback cable, twisted pair on page 47.

Description of the frequency and direction connections

1 Frequency input FIN

2 Frequency input FIN\

3 Direction input DIN

4 Direction input DIN\

Type EIA422 differential receivers

Maximum data rate 250kHz

Line termination components

Line loading 1 unit load

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

Ω (switchable using Pr 3.24)

120

±15V

±25V

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7 Frequency output FOUT

8 Frequency output FOUT\

9 Direction output DOUT

10 Direction output DOUT\

Type EIA422 differential receivers

Maximum data rate 250kHz

Line termination components

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

Ω

120

+15V to -10V

±25V

13 Encoder supply

Supply voltage +5.15V or +15V (selected by Pr 3.23) Voltage tolerance ±2%

Nominal output current 300mA

The output voltage at terminal 13 is 5V when Pr 3.23 is set at 0 (default). When Pr 3.23 is set at 1, the output voltage will become 15V. This could damage encoders that require a 5V supply.

Termination resistors should be disabled by setting Pr 3.24 to 1 if the encoder output is 15V.

14 0V common

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Figure 4-19 Location of the power module address switch

IN96 Phase-control board

DC-bus choke

IN95 Interface board

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15 Motor thermistor input

4.11 Configuring a Unidrive size 5 system

The following must be performed in order to configure a Unidrive size 5 system:

• Each power module must be given a unique address.

• The control module must be notified of the number of power

modules it is to control.

• The new settings must be saved in the control module software.

4.11.1 Configuring the power modules

To set the address on a power module, set the slide switch to the required address number, see Figure 4-19 for the position of the switch. Ensure that each power module in a multiple module system has its own unique address number. See Table 4-6 for example configuration settings.

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4.11.2 Configuring the control module

On the control module, set the configuration switches to correspond with the addresses given to the power modules in the system. Move the switch to the off position to set the switch. Ensure all remaining switches are in the on position. See Table 4-6 for example configuration setting.

Figure 4-20 Setting the configuration switches in the control

module

4.11.3 Saving the configuration

When the drive is first powered-up, and the system contains more than one power module (or the number of power modules has been changed), the control module display will indicate as shown in Figure 4-

21.

Figure 4-21 Control module display

(The number displayed corresponds to the number power modules.)

A parameter save must be performed so that the drive will not trip next time the drive is powered up. To perform a save refer to section

5.8 Saving parameters on page 61.

Table 4-6 Example configuration settings

Configuration switches

System

Power module 2nd Power module 3rd Power module

One control module can be used to control up to eight power modules.

Control module

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5 Getting Started

5.1 Understanding the display

The display consist of two horizontal rows of 7 segment displays. The lower display shows the drive status or the current menu and parameter number being viewed. The upper display shows the parameter value or the specific trip type.

Figure 5-1 Keypad

Upper display

Lower display

Programming keys

Control keys

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Pr value

Menu 5. Parameter 5

Trip type (UU = undervolts

Drive status = tripped

5.05

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5.2 Keypad operation

5.2.1 Control buttons

The keypad consists of:

1. Four arrow buttons

2. One mode button

3. Three control buttons

The arrow buttons are used to navigate the parameter structure and change parameter values.

The mode button is used to change between the display modes – parameter view, parameter edit, status.

The three control buttons are used to control the drive if keypad mode is selected:

start (green)

stop (red)

forward / reverse (blue)

NOTE

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

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Figure 5-2 Display modes

tatus Mode

(display not flashing)

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To enter Parameter Mode, press key

Parameter Mode

(display not flashing)

Use * keys

to select parameter for editing

To enter Edit Mode, press key

Edit Mode

(upper line of display flashing) Change parameter values using keys.

To exit Edit Mode, press key

8 seconds timeout

When returning to Parameter Mode use the

keys to select another parameter to change, if required

* can only be used to move between menus if standard security has been opened. For further information, refer to section

5.10 Parameter security on page 62.

Healthy Status Trip Status Alarm Status

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

WARNING

NOTE

When changing the values of parameters, make a note of the new

safety hazard.

values in case they need to be entered again.

NOTE

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

5.3 Menu structure

The drive parameter structure consists of menus of parameters.

The drive initially powers up so that only menu 0 can be viewed. The up and down arrow buttons are used to navigate between parameters and once standard security has been cleared, the left and right buttons are used to navigate between menus.

* can only be used to move between menus if standard security has been opened. For further information, refer to section

5.10 Parameter security on page 62.

The menus and parameters roll over in both directions.

i.e. if the last parameter is displayed, a further press will cause the display to rollover and show the first parameter.

When changing between menus the drive remembers which parameter was last viewed in a particular menu and thus displays that parameter.

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Figure 5-3 Menu Structure

Menu 0

....xx.00....

0.01

0.02

0.03

0.04

0.05

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Figure 5-4 Menu 0 Cloning

Menu 2

Menu 4

4.07

2.21

150

Menu 1

1.14

Moves between parameters

Menu 0

0.04

0.05

0.06

5 0

150

NOTE

Menu 20 is only present when a large option module is present.

0.46

0.47

0.48

0.49

0.50

Moves between Menus

5.4 Advanced keypad functions

The following short-cuts can be used to speed up navigation of the drive parameters and editing of parameters.

Key Press Parameter View Mode Parameter Edit Mode

jumps to xx.00

jumps to

00.yy

Sets value to 0

Jumps to LSB

5.5 Menu 0

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

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

5.6 Advanced menus

The advanced menus consist of groups or parameters appropriate to a specific function or feature of the drive as follows:

number

Description

Commonly used basic set up parameters for quick / easy

programming

1 Speed references and limits

2 Ramps (accel / decel)

3 Speed feedback / frequency slaving

4 Current control

5 Machine control

6 Sequencing logic

7 Analog I/O

8 Digital I/O

9 Programmable logic

10 Status flags / trip log

11 Menu 0 customisation / drive specific ratings

12 Programmable thresholds

13 Digital lock / orientation

14 Programmable PID function

15 Regen

16 Small option module set up

17 Large option module set up

18 Application menu 1

19 Application menu 2

20 Large option module set up

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5.6.1 Display messages

Status indications

The following tables indicate the various possible mnemonics which can be displayed by the drive and their meaning.

Trip types are not listed here but can be found in Chapter

12 Diagnostics if required.

Lower

display

Conditions

Act Regeneration mode active

Regen mode> The Regen drive is enabled and synchronised to the supply.

ACUU AC Supply loss

The drive has detected that the AC supply has been lost and is attempting to maintain the

DC bus voltage

by decelerating the motor.

dc DC applied to the motor

The drive is applying

DC injection braking.

dEC Decelerating

The drive is decelerating the motor.

inh

Inhibit

The drive is inhibited and cannot be run.

Drive enable signal not applied to terminal 30 or Pr

6.15 is set to 0.

POS Positioning

The drive is positioning/orientating the motor shaft.

rdY Ready

The drive is ready to be run.

run

Running

The drive is running.

SCAn Scanning

OL> The drive is searching for the motor frequency when synchronising to a spinning motor. Regen> The drive is enabled and is synchronising to the line.

StoP Stop or holding zero speed

The drive is holding the motor at zero speed. Regen> The drive is enabled but the AC voltage is too low, or DC Bus voltage still rising or falling.

triP Trip condition

The drive has tripped and is no longer controlling the motor. The trip code appears on the upper display.

Alarm indications

Lower

display

Air Control PCB ambient temperature near maximum limit

The ambient temperature around the control PCB has reached 90°C (194°F) and the drive will trip OA if the temperature continues to rise (see the OA trip).

br.rS Braking resistor overload

The braking-resistor [I x t] accumulator in the drive has reached 75% of the value at which the drive will be tripped.

hot

Heatsink temperature near maximum limit

The drive heatsink has reached 90°C (194°F) and the drive will trip Oh2 if the temperature continues to rise (see the Oh2 trip).

OVLd Motor overload

The motor [I x t] accumulator in the drive has reached 75% of the value at which the drive will be tripped.

Conditions

Drive output

stage

Enabled

Disabled

Enabled

Disabled

Enabled

Disabled

5.7 Changing the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters.

Procedure

Use the following procedure only if a different operating mode is required:

1. Enter either of the following values in Pr 0.00, as appropriate: 1253 (Europe, 50Hz AC supply frequency) 1254 (USA, 60Hz AC supply frequency)

2. Change the setting of Pr 0.48 as follows:

Pr 0.48 setting Operating mode

0 Open-loop

The figures in the second column apply when serial communications are used.

3. Press or momentarily close the RESET contact.

The new setting takes effect and all the parameters revert to the appropriate default values for the new mode.

Closed-loop Vector

Closed-loop Servo

For operation in this mode, refer to

the Unidrive Regen Installation

Guide

5.8 Saving parameters

Procedure

Enter 1000 in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

5.9 Defaulting the drive

Procedure

Enter 1233 (EUR 50 Hz settings) or 1244 (USA 60 Hz settings) in Pr xx.00

Press the red reset button or toggle the reset digital input (ensure

Pr xx.00 returns to 0)

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5.10 Parameter security

There are two independent levels of security that can be enabled / disabled in the Unidrive. This gives four possible combinations of security settings as shown in the table below:

Standard

security

Open Open RW RW

Open Closed RO RO

Closed Open RW Not visible

Closed Closed RO Not visible

User security Menu 0 status

RW = Read / write access

RO = Read only access The default settings of the drive are standard security closed and user security open, i.e. read / write access to Menu 0 with the advanced menus (i.e. menus 1 to 20) not visible.

5.10.1 Standard security

Standard security prevents read and write access to the advanced menu parameters.

tandard security closed

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.49 Pr 0.50

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

Standard security open

- Menu 0 only visible

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

- All parameters visible

Advanced menus status

(i.e menus 1 to 20)

Pr 19.00 Pr 19.01 Pr 19.02 Pr 19.03

Pr 19.49 Pr 19.50

Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Pr 20.49 Pr 20.50

Disabling standard security

Set parameter 0.34 to 0 and press the button.

NOTE

This action also disables user security if it has been enabled.

Enabling standard security

Set parameter 0.34 to 149 and press the button.

5.10.2 User security

User security prevents write access to all parameters except xx.00.

User security open

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.49 Pr 0.50

User security closed

except Pr

xx.00

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.49 Pr 0.50

- All parameters: Read / Write access

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

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

Pr 19.00 Pr 19.01 Pr 19.02

Pr 19.03

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

Pr 1.49 Pr 1.50

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

Pr 19.49

Pr 19.50

- All parameters: Read Only access,

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

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

Pr 19.00

Pr 19.01

Pr 19.02

Pr 19.03

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

Pr 1.49 Pr 1.50

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

Pr 19.49

Pr 19.50

Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Pr 20.49 Pr 20.50

Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Pr 20.49 Pr 20.50

Setting user security

Enter a value between 1 and 256 (except 149) in parameter 0.34. Once

the button has been pressed the value reverts to 149 to hide the security code which has been set.

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.49 Pr 0.50

Opening standard security

Set parameter xx.00 to 149 and press the button.

Closing security

Set parameter xx.00 to 2000 and press the button or cycle the power to the drive.

NOTE

This action also closes user security if it has been enabled.

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

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

Pr 19.00 Pr 19.01 Pr 19.02 Pr 19.03

Pr 19.49 Pr 19.50

Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Pr 20.49 Pr 20.50

Save parameters by setting parameter xx.00 to 1000 and press the button.

Opening user security

Enter the security code into parameter xx.00.

Closing user security

Set parameter xx.00 to 2000 and press the mode button or cycle the power to the drive.

NOTE

This action also closes standard security if it has been enabled.

Disabling user security

Set parameter 0.34 to 0 and press the button to disable both user and standard security

Set parameter 0.34 to 149 and press the button to disable user, but set standard, security.

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5.11 Serial Communications

5.11.1 Introduction

The Unidrive has an optional serial communications interface in the form of the UD71 serial communications module. This module has a fully optically isolated 4 wire or 2 wire EIA485 interface and an EIA232 interface. (The EIA232 interface should be used for commissioning purposes only.)

5.11.2 Serial communications module hardware connections

See Figure 3-5 on page 15 for information regarding installing the UD71 serial communications large option module in the drive.

Figure 5-5 Location of communication interfaces

EIA485 Interface

male 9 pin D-type

Table 5-1 Serial communications connections

EIA485 Interface EIA232 Interface

4 wire mode 2 wire mode UD71 Host PC

10V 0V CD CD

2 TX\ TX\ RX\* TXD** RXD**

3 RX\ TX\ RX\* RXD** TXD**

4 Not connected Not connected DTR DTR

5 Not connected Not connected 0V** 0V**

6 TX TX RX* DSR DSR

7RX TX RX* RTS RTS

8 Not connected Not connected CTS CTS

9 Not connected Not connected NC RI

* Pins 2 and 3, and pins 6 and 7 must be connected together in 2 wire EIA485 mode.

** Depending on the host software being used, it may only be necessary to connect pins 2, 3 and 5 when using the EIA232 interface.

When connecting EIA232 interface on the UD71 serial communications module to the 9 pin serial port on a PC, a 9 pin male D-type to 9 pin female D-type serial extension cable can be used.

EIA232 Interface

Female 9 pin D-type

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

11.24 Serial comms. mode

RW Txt P

ANSI 2 (0), ANSI 4 (1), OUtPUt (2),

INPUt (4)

ANSI 4 (1)

This is the mode of operation of the serial port.

ANSI 2 (0) Standard 2 wire EIA485 using ANSI protocol ANSI 4 (1) Standard 4 wire EIA485 using ANSI protocol OUtPUt (2) Output variable defined by Pr 11. 27 INPUt (3) Input variable defined by Pr 11 .27

OUtPUt (2) and INPUt (3) are used to transfer a variable parameter from one drive to another. See the Unidrive Advanced User Guide for more information.

11.25 Serial comms. baud rate

RW Txt P

4800 (0), 9600 (1), 19200 (2),

2400 (3)

4800 (0)

Used in 2 or 4 wire ANSI modes to select the communications port baud rate.

4800 (0) 4800 baud 9600 (1) 9600 baud 19200 (2) 19200 baud 2400 (3) 2400 baud

11.26 Serial comms. two-wire mode delay

RW Uni P

0 to 255 ms

If 2 wire EIA485 communications is being used then a delay is required between the drive receiving data and then responding to allow the device that sent the request to changes its buffers from transmit to receive.

5.11.3 Serial communications set-up parameters

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

11.23 Serial comms. address

RW Uni P

0.0 to 9.9

Defines the unique address for the drive. Any number in the permitted range 0.0 to 9.9 which has a zero in it, should not be used as these are used to address groups of drives.

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6 Menu 0

6.1 Single line descriptions

6.1.1 Unidrive (All variants excluding Unidrive VTC)

Ú) Default(Ö)

Parameter

Operating mode, Macro selection,

0.00

Configuration, Saving OL> Minimum frequency {1.07} 0 to [Pr 0.02]Hz 0 RW Uni

0.01

CL> Minimum speed {

OL> Maximum frequency {1.06} 0 to 1,000.0Hz

0.02

CL> Maximum speed {

0.03 Acceleration rate {2.11} 0 to 3,200.0 s/100Hz

0.04 Deceleration rate {2.21} 0 to 3,200.0 s/100Hz

0.05 Reference selector {1.14} 0 to 5

0.06 Current limit {4.07}

OL> Voltage mode selector {5.14}

0.07

CL> Speed control P gain { OL> Voltage boost {5.15} 0.0 to 25.0 % 3.0 RW Uni

0.08

CL> Speed control I gain { OL> Dynamic V/f select {5.13}0 or 1 0 RW Bit

0.09

CL> Speed control D gain { OL> Estimated motor speed {5.04} ±6,000 rpm RO Bi

0.10

CL>Motor speed {

0.11 Pre-ramp reference {1.03} ±1,000.0 Hz ±30,000 rpm RO Bi

0.12 Post-ramp reference {2.01} ±1,000.0 Hz ±30,000 rpm RO Bi

0.13 Motor active-current {4.02}

0.14 Jog reference {1.05} 0 to 400.0 Hz 0 to 4,000.0 rpm 1.5 50 RW Uni

0.15 Ramp mode selector {2.04} Stnd.Hd (0), FASt (1), Stnd.Ct (2) Stnd.Ct (2) RW Txt

0.16 Stop mode selector {6.01}

0.17 Torque mode select {4.11} 0 to 1 0 to 4 0 RW Uni

0.18 S-Ramp enable {2.06}0 or 1 0RWBit

0.19 S-Ramp da / dt limit {2.07}

0.20 Skip frequency/speed 1 {1.29} 0.0 to 1,000.0 Hz 0 to 30,000 rpm 0 RW Uni

0.21 Skip band 1 {1.30} 0.0 to 5.0 Hz 0 to 50 rpm 0.5 5 RW Uni

0.22 Skip frequency/speed 2 {1.31} 0.0 to 1,000.0 Hz 0 to 30,000 rpm 0 RW Uni

0.23 Skip band 2 {1.32} 0.0 to 5.0 Hz 0 to 50 rpm 0.5 5 RW Uni

0.24 Analog input 1 mode selector {7.06}

0.25 Analog input 2 mode selector {7.11}(as Pr 0.24) VOLt (0) RW Txt R

0.26 Analog input 2 destination {7.14}Pr 0.00 to Pr 20.50 Pr 1.37 RW Uni R P

EUR> Positive logic select {8.27}0 or 1 0RWBitRP

0.27

USA> Sequencing mode selector EUR> Current control P gain {4.13} 0 to 30,000 20 150 30 RW Uni

0.28

USA> Frequency/speed demand EUR> Current control I gain {4.14} 0 to 30,000 40 2,000 1,200 RW Uni

0.29

USA> Terminal-29 destination parameter

0.30 Forward / reverse key enable {6.13}0 or 1 0RWBit

0.31 Macro number {11.37} 0 to 8 RO Uni

0.32 Serial comms mode {11.24} ANSI 2 (0), ANSI 4 (1), OUtPUt (2), INPUt (3) ANSI 4 (1) RW Txt R P

0.33 Drive rated current (FLC) {11.3 2} 2.10 to 1920 A RO Uni P

0.34 User security code {11. 30} 0 to 255 149 RW Uni S P

0.35 Keypad reference {1.17}± [Pr 0.02] Hz ± [Pr 0.02] rpm RO Bi S P

0.36 Serial comms. baud rate {11. 25} 4,800 (0), 9,600 (1), 19,200 (2) baud 4,800 (0) RW Txt P

0.37 Serial comms. address {11.23} 0.0 to 9.9 Group.Unit 1.1 RW Uni P

0.38 Initial parameter displayed {11. 22}Pr 0.00 to Pr 0.50 Pr 0.10 RW Uni P

1.07} 0 to [Pr 0.02]rpm 0RWUni

1.06} 0 to 30,000rpm

3.10} 0 to 32,000 % 200 RW Uni

3.11} 0 to 32,000 100 RW Uni

3.12} 0 to 32,000 0RWUni

3.02} ±30,000 rpm RO Bi

(6.04) 0 to 4 4 RO Uni P

(1.01) ±1,000Hz ±30,000 rpm RO Bi

8.23}Pr 0.00 to Pr 20.50 Pr 1.41 RW Uni R P

{

OL CL OL VT SV

Ur_S (0), Ur_l (1),

Ur (2), Fd (3)

COASt (0), rP (1), rP-dcI (2), dcI (3),

td.dcI (4)

0 to 3,000.0 s

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

20 - 4.tr (4), 4 - 20.Lo (5), 20 - 4.Lo (6),

Range(

0 to 9,999 0 RW Uni R

EUR> 50 USA> 60

EUR>

VT> 0 to 3,200 s/1000rpm

SV> 0 to 32.000

s/1000rpm

VT> 0 to 32.000 s/

1000rpm

SV> 0 to 32,000 s/

1000rpm

0 to I

max

±I

max

COASt (0), rP (1),

no.rP (2), rP-POS (3)

/100 Hz 0 to 30,000 s2/1000 rpm

4 - 20.Pr (7), 20 - 4.Pr (8)

1,500

USA>

1,800

5 2 0.2 RW Uni

10 2 0.2 RW Uni

EUR> 0

USA> 4

150 175 RW Uni

Ur_l (1) RW Uni P

rP (1) no.rP (2) RW Txt

3.1 1.5 0.03 RW Uni

VOLt (0) RW Txt R

3000 RW Uni

0RWUni

Typ e

RW Uni

RO Bi

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0.39 Synchronise to a spinning motor {6.09}0 or 1 01RWBit

0.40 Autotune

0.41 PWM switching frequency {5.18}

0.42 Motor - no. of poles {5.11} 2 POLE (0) to 32 POLE (15) 4 POLE (1) 6 POLE (3) RW Txt P

0.43 Motor - rated power factor {5.10} 0.000 to 1.000

0.44 Motor - rated voltage {5.09}

0.45 Motor - rated speed {5.08} 0 to 6,000 rpm 0 to 30,000 rpm 0

0.46 Motor - rated current {5.07} 0 to FLC A FLC RW Uni

0.47 Motor - rated frequency {5.06} 0 to 1,000.0 Hz

0.48 Drive operating mode selector {11. 31}

0.49 Security status 0 to 1,000 1 RO Uni P

0.50 Software version number {11.29} 1.00 to 99.99 RO Uni P

Product

Information

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Mechanical

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Electrical

Installation

{

5.12}

(3.25)

Getting Star ted

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OL CL OL VT SV

3 kHz (0), 4.5 kHz (1), 6 kHz (2), 9 kHz (3),

OPENLP (0), CL.VECT (1),

Running

the motor

Range(

0 or 1 0 RW Bit P

12 kHz (4)

200V drive: 0 to 240 V 400V drive: 0 to 480 V

SErVO (2), rEGEN (3)

Optimisation Macros

Ú)Default(Ö)

VT> 0.000 to 1.000

SV> 1

VT> 0 to 1,000.0 Hz

SV> 0

Advanced

Parameters

0.92 1 RW Uni S P

200V drive: 220

400V drive: EUR> 400

USA> 460

EUR> 50 USA> 60

OPENLP

(0)

Technical

Data

3 (0)* RW Txt

EUR> 1450

USA> 1770

CL.VECT

(1)

Diagnostics

0RWUni

RW Uni

0RWUni

SErVO

(2)

RW Txt R P

UL Listing

Information

Typ e

* Pr 0.41 PWM switching frequency has a default setting of 9kHz in Unidrive LFT

Key:

RO Read Only parameter

RW Read / Write parameter

Uni Unipolar variable parameter R Reset required for new value to take effect

Bi Bipolar variable parameter S New parameter-value saved at power-down

Txt Text variable parameter P Protected; forbidden as destination parameter

Bit Bit parameter FLC Full-load current (max. continuous)

Types of current range

FLC Full load current of the drive (maximum continuous output

current up to 40

C ambient temperature). Displayed in Pr 11.32

{0.33}.

A Maximum overload output current of the drive up to 40oC

MAX

ambient temperature, derived as follows:

Size 1 to 4: OL> 150% x FLC

CL> 175% x FLC

Size 5: 150% x FLC

% See section 8.2 Current limits on page 98 for the definition of

MAX

NOTE

Where a parameter is represented by a text value, the value in brackets

MAX

in the range column is the setting used for serial communications.

Operation mode abbreviations:

OL> Open loop CL> Closed loop (which incorporates closed loop vector and

servo mode) VT> Closed loop vector mode SV> Servo

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Figure 6-1 Unidrive menu 0 logic diagram (excluding VTC)

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Parameters

Technical

Data

Diagnostics

UL Listing

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Reference selection

Frequency/speed ref. 1 (remote)

Frequency/speed ref. 2 (local)

Preset references (see the )Unidrive

Advanced User Guide

Precision reference (not used with Menu 0)

0.35

Keypad reference

LOCAL / REMOTE

Reference

selector

0.05

JOG

SELECT

RUN

FORWARD

RUN REVERSE

Minimum frequency/ speed clamp

RESET

0.02

0.01

0.20

Skip frequency/ speed 1

0.21

Skip freq./speed band 1

0.22

Skip frequency/ speed 2

0.23

Skip freq./speed band 2

OL> EXTERNAL TRIP CL> DRIVE ENABLE

Maximum frequency/speed clamp

Skip

frequencies/

speeds

Pre-ramp reference

0.11

0.03

Acceleration rate

0.04

Deceleration rate

0.15

Ramp mode

selector

Ramps

Jog reference

Key

Input terminals

Output terminals

The parameters are all shown in their default settings

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

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S-ramp

enable

0.18

0.19

S-ramp da/dt limit

Post-ramp reference

0.12

THERMISTOR

CL> Speed-loop PID gains

Speed-loop

0.07

proportional gain

Speed-loop

0.08

integral gain

Speed-loop

0.09

derivative gain

OL> FREQUENCY CL> SPEED

OL> Motor-voltage control

0.10

Estimated motor speed

TORQUE

Motor control

0.06

0.16

0.39

Motor parameters

0.42 ~ 0.47

No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

0.07

Voltage mode

selector

0.08

Boost voltage

0.09

Dynamic V/f

select

OL> AT SPEED CL> AT ZERO SPEED

Current limit

Stop mode

selector

Drive

Motor speed

0.10

15 way sub-D connector

0.13

Motor active-current

Power stage

0.41

PWM switching frequency

Resistor optional

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6.1.2 Unidrive VTC

Parameter

Operating mode, Macro selection,

0.00

Configuration, Saving

Range(

Ú) Default(Ö)

0 to 9,999 0 RW Uni R

0.01 Minimum frequency {1.07} 0 to [Pr 0.02]Hz 0 RW Uni

0.02 Maximum frequency {1.06} 0 to 250.0Hz EUR> 50, USA> 60 RW Uni

0.03 Acceleration rate {2.11} 0 to 3,200.0 s/100Hz 60 RW Uni

0.04 Deceleration rate {2.21} 0 to 3,200.0 s/100Hz 60 RW Uni

0.05 Reference selector {1.14} 0 to 5 0 RW Uni

0.06 Current limit {4.07}

0.07 Voltage mode selector {5.14}

0 to I

max

Ur_S (0), Ur_l (1),

Ur (2), Fd (3)

120 RW Uni

Fd (3) RW Txt P

0.08 Voltage boost {5.15} 0.0 to 15.0 % 3.0 RW Uni

0.09 Dynamic V/f select {5.13}0 or 1 0RWBit

0.10 Estimated motor speed {5.04} ±6,000 rpm RO Bi P

0.11 Pre-ramp reference {1.03} ±1,000.0 Hz RO Bi P

0.12 Post-ramp reference {2.01} ±1,000.0 Hz RO Bi P

0.13 Motor active-current {4.02}

±I

max

0.14 Total motor current {4.01} 0 to 400.0 Hz RO Uni P

0.15 Ramp mode selector {2.04} Stnd.Hd (0), FASt (1), Stnd.Ct (2) Stnd.Ct (2) RW Txt

0.16 Stop mode selector {6.01} COASt (0), rP (1), rP-dcI (2), dcI (3), td.dcI (4) rP (1) RW Txt

0.17 Total motor power {5.03}

±P

MAX

0.18 S-Ramp enable {2.06}0 or 1 0RWBit

0.19 S-Ramp da / dt limit {2.07}

0 to 3,000.0 s

/100 Hz

450.0 RW Uni

0.20 Skip frequency 1 {1.29} 0.0 to 1,000.0 Hz 0 RW Uni

0.21 Skip band 1 {1.30} 0.0 to 5.0 Hz 0.5 RW Uni

0.22 Drive rated current (FLC) {11.3 2} 2.10 to 202 A RO Uni P

0.23 Analog input 1 mode selector {7.06}

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

20 - 4.tr (4), 4 - 20.Lo (5), 20 - 4.Lo (6),

VOLt (0) RW Txt R

4 - 20.Pr (7), 20 - 4.Pr (8)

0.24 Preset frequency 1 {1.21} ±1,000.0 Hz 0 RW Bi

0.25 Preset frequency 2 {1.22} ±1,000.0 Hz 0 RW Bi

0.26 Standard ramp voltage {2.08}

200V drive: 0 to 400 V 400V drive: 0 to 800 V

200V drive: 375

400V drive: EUR> 750, USA> 775

0.27 Current control P gain {4.13} 0 to 30,000 20 RW Uni

0.28 Current control I gain {4.14} 0 to 30,000 20 RW Uni

0.29 DC bus voltage {5.05}

200V drive: 0 to 415 V 400V drive: 0 to 830 V

0.30 Last trip {10.20} 0 to 200 RO Txt S P

0.31 Macro number {11 .37} 0, 1, 2, 3, 5 0 RO Uni

0.32 Number of auto-reset attempts {10.34} 0 to 5 0 RW Uni

0.33 Auto-reset time delay {10.35} 0.0 to 25.0 s 1.0 RW Uni

0.34 User security code {11. 30} 0 to 255 149 RW Uni S P

0.35 Serial comms. mode {11. 24} ANSI 2 (0), ANSI 4 (1), OUtPUt (2), INPUt (3) ANSI 4 (1) RW Txt R P

0.36 Serial comms. baud rate {11. 25} 4,800 (0), 9,600 (1), 19,200 (2) baud EUR> 4,800, USA> 9,600 RW Txt P

0.37 Serial comms. address {11.23} 0.0 to 9.9 Group.Unit 1.1 RW Uni P

0.38 Initial parameter displayed {11. 22}Pr 0.00 to Pr 0.50 EUR> Pr 0.10, USA> Pr 0.12 RW Uni P

0.39 Synchronise to a spinning motor {6.09}0 or 1 0RWBit

0.40 Autotune {5.12}0 or 1 0RWBitP

0.41 PWM switching frequency {5.18}

3 (0), 4.5 (1), 6 (2), 9 (3),

12 (4) kHz

3 (0) RW Txt

0.42 Motor - no. of poles {5.11} 2 POLE (0) to 32 POLE (15) 4 POLE (1) RW Txt P

0.43 Motor - rated power factor {5.10} 0.000 to 1.000 0.92 RW Uni S P

0.44 Motor - rated voltage {5.09}

200V drive: 0 to 240 V 400V drive: 0 to 480 V

200V drive: 220

400V drive: EUR> 400,

USA> 460

0RWUni

0.45 Motor - rated speed {5.08} 0 to 6,000 rpm 0 RW Uni

0.46 Motor - rated current {5.07} 0 to FLC A FLC RW Uni

0.47 Motor - rated frequency {5.06} 0 to 1,000.0 Hz EUR> 50, USA> 60 RW Uni

0.48 Overload accumulator {4.19} 0 to 100 % RO Uni P

0.49 Security status 0 or 1 1 RO Bit

0.50 Software version number {11.2 9} 1.00 to 99.99 RO Uni P

Typ e

RO Bi P

RW Uni

RO Uni P

Key:

RO Read Only parameter

RW Read / Write parameter

Uni Unipolar variable parameter R Reset required for new value to take effect

Bi Bipolar variable parameter S New parameter-value saved at power-down

Txt Text variable parameter P Protected; forbidden as destination parameter

Bit Bit parameter FLC Full-load current (max. continuous)

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Types of current range

FLC Full load current of the drive (maximum continuous output

current up to 40

C ambient temperature). Displayed in Pr 11.32

{0.22}.

A Maximum overload output current of the drive up to 40oC

MAX

ambient temperature, derived as follows:

120% x FLC

% See section 8.2 Current limits on page 98 for the definition of

MAX

Pr 5.09

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

×=

1000

Running

the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

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Figure 6-2 Unidrive VTC menu 0 logic diagram

Menu 0

Running

the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Reference selection

Frequency/speed ref. 1

Frequency/speed ref. 2

All preset references

(not used with Menu 0)

Preset reference 1

Preset reference 2

ANALOG INPUT/ PRESET SELECT

Reference

selector

0.05

PRESET REF

SELECT

RUN

FORWARD

RUN REVERSE

Minimum frequency clamp

RESET

0.01

0.20

Skip frequency1

0.21

Skip frequency band 1

0.02

EXTERNAL

TRIP

Maximum frequency/speed clamp

Skip band

Pre-ramp reference

Acceleration rate

Deceleration rate

Ramp mode

selector

0.11

Ramps

0.03

0.04

0.15

Precision reference (not used with Menu 0)

Key

Input terminals

Output terminals

The parameters are all shown in their default settings

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

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S-ramp

enable

0.18

0.19

S-ramp da/dt limit

Post-ramp reference

0.12

THERMISTOR

FREQUENCY

TOTAL MOTOR

CURRENT

Current

0.06

limit

Stop mode

0.16

selector

0.39

No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

Motor-voltage control

0.07

0.08

0.09

0.10

EUR> AT SPEED USA> DRIVE RUNNING

Motor control

0.26

0.27

0.28

Motor parameters

0.42 to 0.47

Voltage mode

selector

Boost voltage

Dynamic V/f select

Estimated motor speed

Standard ramp voltage

Current-loop proportional gain

Drive

Power stage

PWM switching

0.41

frequency

DC bus

0.29

voltage

0.13

Motor

active-current

0.14

Tota l m o t o r

current

0.17

Tota l m o t or

power

accumulator

0.48

Overload

Resistor optional

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6.2 Menu 0 full descriptions

6.2.1 Menu 0 configuration

0.00

RW Uni R

Value Function

1000 Save new parameter-values

1233

1244

1253

1254

2001 Macro 1 Easy mode

2002 Macro 2 Motorized potentiometer

2003 Macro 3 Preset speeds

2004 Macro 4 Torque control

2005 Macro 5 PID control

2006 Macro 6 Axis-limit control

2007 Macro 7 Brake control

2008 Macro 8 Digital lock / shaft orientation

Press after setting Pr 0.00 at the required value.

6.2.2 Speed limits

0.01 {1.07}

RW Uni

(When the drive is jogging, [Pr 0.01] has no effect.)

Open-loop

Set 0.01 at the required minimum output frequency of the drive for both directions of rotation. The drive runs at the minimum frequency when the frequency reference is zero.

[Pr 0.01] is a nominal value; slip compensation may cause the actual frequency to be higher.

Closed-loop

Set Pr 0.01 at the required minimum motor speed for both directions of rotation. The motor runs at the minimum speed when the speed reference is zero.

0.02 {1.06}

RW Uni

* This parameter has a maximum range of 250Hz in Unidrive VTC.

(The drive has additional over-speed protection.)

Operating mode, Macro selection, Configuration, Saving

0 to 9,999

Restore parameters to their default values for 50Hz frequency (Europe)

Restore parameters to their default values for 60Hz frequency (USA)

Enable the operating mode of the drive to be changed and restore parameters to their default values for 50Hz (Europe)

Enable the operating mode of the drive to be changed and restore parameters to their default values for 60Hz

AC supply

AC supply frequency

AC supply frequency (USA)

OL> Minimum frequency CL> Minimum speed

0 to [Pr 0.02]Hz

0 to [Pr 0.02]rpm

Ö Ö

OL> Maximum frequency CL> Maximum speed

0 to 1,000Hz*

VT> 0 to 30,000rpm

SV> 0 to 30,000rpm 3,000

EUR> 50 USA> 60

EUR> 1,500 USA> 1,800

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Open-loop

Set Pr 0.02 at the required maximum output frequency for both directions of rotation. The frequency reference cannot cause the drive to run at a frequency higher than [Pr 0.02].

[Pr 0.02] is a nominal value; slip compensation may cause the actual frequency to be higher.

Closed-loop

Set Pr 0.02 at the required maximum motor speed for both directions of rotation. The speed reference cannot cause the drive to run the motor at a speed higher than [Pr 0.02].

For closed loop vector operation at motor frequencies greater than 400Hz (24,000rpm for 2-pole motors) may result in

CAUTION

instability. For further advice, contact the supplier of the drive.

6.2.3 Ramps, Speed reference selection, Current limit

0.03 {2.11} Acceleration rate

RW Uni

*This parameter has a default setting of 60s in Unidrive VTC.

Set Pr 0.03 at the required rate of acceleration.

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

0.04 {2.21} Deceleration rate

*This parameter has a default setting of 60s in Unidrive VTC.

Set Pr 0.04 at the required rate of deceleration.

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

0.05 {1.14} Reference selector

*This parameter has a European and USA default setting of 0 in Unidrive VTC.

The default setting of Pr 0.05 depends on the default configuration of the drive and the operating mode, as follows:

EUR All operating modes 0 Terminal mode

The default settings apply also when a macro is enabled.

0.0 to 3,200.0s/100Hz

VT> 0 to 3,200.0

RW Uni

USA Closed-loop modes 0 Terminal mode

USA Open-loop mode 4 Keypad mode

s/1,000rpm

SV> 0 to 32.000

s/1,000rpm

0.0 to 3,200.0s/100Hz

VT> 0 to 3,200.0

s/1,000rpm

SV> 0 to 32.000

s/1,000rpm

0 to 5

0.2

10*

0.2

EUR> 0* USA> 4*

EUR> 0 USA> 0

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Use Pr 0.05 to select the required frequency/speed reference, as follows:

Setting Control mode Function

0 Terminal

1 Terminal Analog frequency / speed reference 1 selected

2 Terminal Analog frequency / speed reference 2 selected

3 Terminal

4 Keypad Frequency / speed controlled by the keypad

5 Terminal

Analog frequency / speed reference selected by ANALOG INPUT 1 / INPUT 2 contact

Preset frequency / speed references selected (not used with Menu 0)

Precision reference selected (not used with Menu 0)

0.06 {4.07} Current Limit

RW Uni

ÚÖ

0 to I

MAX

150*

150

175

*This parameter has a default setting of 120% in Unidrive VTC.

For the definition of I

%, seesection 8.2 Current limits on page 98.

MAX

Pr 0.06 limits the maximum output current of the drive (and hence maximum motor torque) to protect the drive and motor from overload.

Set Pr 0.06 at the required maximum torque as a percentage of the rated torque of the motor, as follows:

Pr 0.06

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

RATED

(%)

100×=

Where:

Required maximum torque

Motor rated torque

RATED

6.2.4 Voltage boost (open-loop), Speed-loop PID gains (closed-loop)

0.07 {5.14}

0.07 {3.10}

RW Uni OL> P

*This parameter has a default setting of Fd (3) in Unidrive VTC.

Open-loop

Setting Function

Ur_S

Ur_I 1

Ur 2

Use Pr 0.07 (Pr 5.14) to select fixed voltage boost, or Vector control of voltage boost. Fixed boost requires a value to be set in Pr 0.08 Boost voltage by the user. See Figure 6-3. Fixed boost should be used when Pr 0.39 Synchronize to a spinning motor is set at 1.

Figure 6-3 Effect of fixed voltage boost on the voltage-to-

Motor voltage

OL> Voltage mode selector CL> Speed controller proportional gain

Ur_S (0), Ur_l (1), Ur (2),,

Fd (3)

0 to 32,000 %

Motor stator resistance is measured each time the drive is

started.

Motor stator resistance is measured at power-up if the

EXTERNAL TRIP contact is closed and no other trip

condition exists.

Motor stator resistance is not measured (use this mode only after having used Ur_S or Ur_I to measure the stator resistance).

Fixed boost mode

Fixed voltage boost that can be manually adjusted by

parameter

0.08 Boost voltage.

Vector modes

Ur_l (1)*

frequency characteristic

200

Alternatively, set 0.06 at the required maximum active (torqueproducing) current as a percentage of the rated active current of the motor, as follows:

Pr 0.06

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

RATED

(%)

100×=

Where:

Required maximum active current

Motor rated active current

RATED

[0.08]

Voltage boost

Frequency

Vector control causes the voltage boost to be automatically regulated according to the load on the motor.

Vector control requires the value of stator winding resistance to be stored in a parameter in the drive. The three Vector modes allow the resistance to be measured under different circumstances.

Closed-loop

Pr 0.07 (Pr 3.10) operates in the feed-forward path of the speed-control loop in the drive. See Chapter 8 Optimisation .

0.08 {5.15}

0.08 {3.11}

RW Uni

OL> Voltage boost CL> Speed controller integral gain

0 to 25.0 % of motor rated

voltage*

0 to 32,000

3.0

100

*This parameter has a maximum range of 15% in Unidrive VTC.

Open-loop

When Pr 0.07 Voltage mode selector is set at Fd, set Pr 0.08 (Pr 5.15) at the required value for the motor to run reliably at low speeds.

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See Figure 6-3.

Excessive values of Pr 0.08 can cause the motor to be overheated.

Closed-loop

Pr 0.08 (Pr 3.11) operates in the feed-forward path of the speed-control loop in the drive. See Chapter 8 Optimisation .

Running

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Closed-loop

Pr 0.10 (Pr 3.02) indicates the value of motor speed that is obtained from the speed feedback.

The value of Pr 0.10 is applied to the analog output on terminal 9 to indicate speed.

UL Listing

Information

0.09 {5.13} Dynamic V/f select

RW Bit

0 or 1

Open-loop

Set Pr 0.09 (Pr 5.13) at 0 when the V/f characteristic applied to the motor is to be fixed. It is then based on the rated voltage and frequency of the motor.

Set Pr 0.09 at 1 when reduced power dissipation is required in the motor when it is lightly loaded. The V/f characteristic is then variable resulting in the motor voltage being proportionally reduced for lower motor currents. Figure 6-4 shows the change in V/f slope when the motor current is reduced.

Figure 6-4 Fixed and variable V/f characteristics

Motor

voltage

AC supply

voltage

IMOTOR

0.11 {1.03} Pre-ramp reference

RO Bi

Ú Ú

±1,000Hz

±30,000rpm

Ö Ö

0.12 {2.01} Post-ramp reference

RO Bi

Ú Ú

±1,000Hz

±30,000rpm

Ö Ö

When the frequency/speed is constant, [Pr 0.12] = [Pr 0.11]. During acceleration and deceleration, the two values may differ.

OL> [Pr 0.12] differs from [Pr 0.11] also under either of the following conditions:

• When the drive is in current limit

• During braking in a standard ramp mode (Pr 0.15 Ramp mode selector set at Stnd.Hd or Std.Ct).

0.13 {4.02} Motor active-current

RO Bi

±I

max

When the motor is being driven below its rated speed, the torque is proportional to [Pr 0.13].

Frequency

0.09 {3.12} Speed control D gain

RW Uni

0 to 32,000

Closed-loop

Pr 0.09 (Pr 3.12) operates in the feedback path of the speed-control loop in the drive. See Chapter 8 Optimisation .

6.2.5 Monitoring

0.10 {5.04}

0.10 {3.02}

RO Bi

Open-loop

Pr 0.10 (Pr 5.04) indicates the value of motor speed that is estimated from the following:

Pr 0.12 Post-ramp frequency reference

Pr 0.42 Motor - no. of poles The value of Pr 0.10 is applied to the analog output on terminal 9 to indicate estimated speed.

OL> Estimated motor speed CL> Motor speed

±60,00rpm

±30,000rpm

Ö Ö

6.2.6 Jog reference, Ramp mode selector, Stop and torque mode selectors

0.14 {1.05} Jog reference

RW Uni

Enter the required value of jog frequency/speed.

The frequency/speed limits affect the drive when jogging as follows:

0.01

Minimum frequency/speed No

0.02 Maximum frequency/speed Ye s

0.15 {2.04} Ramp mode selector

RW Txt

Select the required ramp mode as follows:

Stnd.Hd (0) Standard ramp with ramp hold

FASt (1) Fast ramp

Stnd.Ct (2)

For more information, see Pr 2.04 in section 10.22 Advanced Features on page 182.

0 to 400.0Hz

0 to 4,000.0rpm

Frequency-limit parameter Limit applies

(See below)

Standard ramp with proportional control (refer to the Unidrive Advanced User Guide)

Ö Ö

1.5

Stnd .C t ( 2)

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0.16 {6.01} Stop mode selector

RW Txt

0 to 4 (see below)

0 to 3 (see below)

VT rP (1)

SV no.rP (1)

rP (1)

Select the required stop mode as follows:

Open loop

COASt

rP (1) Ramp to a stop

rP-dcI (2) Ramp followed by 1 second DC injection

dcI (3)

td-dcI (4)

COASt

rP (1) Ramp to a stop

no.rP (2) Stop under current limiting (no ramp)

rP-POS (3) Ramp, orientate and stop

(0) The motor is allowed to coast

AC injection braking followed by 1 second DC injection braking

DC injection braking for an adjustable time (see the Unidrive Advanced User Guide).

Closed loop

(0) The motor is allowed to coast

For more information, see Pr 6.01 in section 10.22 Advanced Features on page 182.

0.17 {4.11} Tor q u e mode select

RW Uni

Ú Ú

0 to 1

0 to 4

Ö Ö

Set Pr 0.17 as follows:

Setting Open-loop Closed-loop

0 Frequency control Speed control

1 Torque control Torque control

Torque control with speed over-ride

Coiler/uncoiler mode

Speed control with torque feed-forward

For more information, see Pr 4.11 in section 10.22 Advanced Features on page 182.

6.2.7 S-ramp

0.18 {2.06} S-Ramp enable

RW Bit

0 or 1

Setting this parameter enables the S ramp function. S ramp is disabled during deceleration using Standard ramp with P control (Pr 2.04 = 2). When the motor is accelerated again after decelerating in standard ramp with P control the acceleration ramp used by the S ramp function is reset to zero.

0.19 {2.07} S-ramp da/dt limit

RW Uni

0.0 to 3,000.0s2/100Hz

0.000 to 30,000 s

/1,000rpm

VT 1.5

SV 0.03

This parameter defines the maximum rate of change of acceleration/ deceleration that the drive will operate with. The default values have been chosen such that for the default ramps and maximum speed, the

3.1

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Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

curved parts of the S will be 25% of the original ramp if S ramp is enabled.

Demanded

speed

Programmed

ramp rate

Rate of change

of S-ramp

acceleration

tim

Since the ramp rate is defined in s/100Hz or s/1000rpm and the S ramp parameter is defined in s2 /100Hz or s2 /1,000rpm, the time T for the 'curved' part of the S can be determined from:

S ramp rate of change

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

Ramp rate

Enabling S ramp increases the total ramp time by the period T since an additional T/2 is added to each end of the ramp in producing the S.

6.2.8 Skip bands

0.20 {1.29}

0.22 {1.31}

RW Uni

See Pr 0.21 and Pr 0.23 Skip bands.

0.21 {1.30}

0.23 {1.32}

RW Uni

Use skip frequencies/speeds and skip bands to prevent the motor from running at speeds that cause mechanical resonances in the machine. During acceleration and deceleration, the drive passes through the skip bands, but it does not stabilize in a skip band.

Up to two skip frequencies/speeds can be programmed.

Enter the centre frequency/speed of the band in Pr 0.20 (or Pr 0.22) Skip

frequency/speed, then enter the width of each sideband in Pr 0.21 (or Pr

0.23) Skip band.

When the value of a skip frequency is zero, the related skip band is disabled.

Skip frequency/speed 1 Skip frequency/speed 2

0.0 to 1,000.0Hz

0 to 30,000rpm

Skip band 1 Skip band 2

0 to 5.0Hz

0 to 50rpm

Ö Ö

0.0

0.5

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6.2.10 Miscellaneous

0.27 {8.27} EUR> Positive logic select

RW Bit R P

European configuration

Use Pr 0.27 (Pr 8.27) to select the logic polarity of the digital inputs, as follows:

0 Negative logic

1 Positive logic

0.27 {6.04} USA> Sequencing mode selector

RW Uni P

Refer to Pr 6.04 in the Unidrive Advanced User Guide.

0 or 1

0 to 4

UL Listing

Information

When the frequency/speed (input) reference ascends into a skip band, the resulting (output) reference remains at the lower edge of the band until the input reference has reached the upper edge of the band. The output reference then jumps to the value of the input reference.

When the frequency/speed (input) reference descends into a skip band, the resulting (output) reference jumps immediately to the lower edge of the band.

Example

Skip speed 1 = 250rpm Enter 250 in Pr 0.20 Required skip band = 60rpm Enter 30 in Pr 0.21

(Skip band = 2 x Value of skip-band parameter.)

6.2.9 Analog input modes

0.24 {7.06}

0.25 {7.11}

RW Txt R

Set the required mode as follows:

Setting Input signal When current signal ≤3mA...

VOLt (0) ±10V

0-20 (1) 0 to 20mA Signal treated as zero

20-0 (2) 20mA to 0 Signal treated as zero

4-20.tr (3) 4mA to 20mA Drive trips

20-4.tr (4) 20mA to 4mA Drive trips

4-20.Lo (5) 4mA to 20mA Drive runs at minimum or low speed

20-4.Lo (6) 20mA to 4mA Drive runs at minimum or low speed

4-20.Pr (7) 4mA to 20mA Drive runs at previous speed

20-4.Pr (8) 20mA to 4mA Drive runs at previous speed

Analog input 1 mode selector Analog input 2 mode selector

0 to 8

VOLt (0)

0.28 {4.13} EUR> Current-loop proportional gain

RW Uni

0 to 30000

VT> 0 to 30,000 SV> 0 to 30,000

150 130

0.29 {4.14} EUR> Current-loop integral gain

RW Uni

0 to 30,000

VT> 0 to 30,000 SV> 0 to 30,000

2000 1200

European configuration

The values of Pr 0.28 and Pr 0.29 affect the dynamic performance of the drive in the following conditions:

• Current-limit in frequency/speed control

• Torque control

• Braking when Pr 0.15 Ramp mode selector is set at Stnd.Ct (default)

• Synchronizing the drive to a spinning motor (Pr 0.39 set at 1)

• Loss of AC supply when Pr 6.03 AC supply loss mode selector is set at ridE.th.

For information on adjusting these parameters, refer to Pr 4.13 and Pr

4.14 in the Unidrive Advanced User Guide.

0.28 {1.01} USA> Frequency/speed demand

RO Bi

±1,000Hz

±30,000rpm

USA configuration

Pr 0.28 differs from Pr 0.11 Pre-ramp reference in that it indicates the demanded reference before frequency/speed limiting and skip bands.

0.26 {7.14} Analog input 2 destination parameter

RW Txt R P

Pr 0.00 to Pr 21.50 (Menu param.)

Pr 1.37

A signal applied to an input terminal is converted into a value which is applied to a parameter. The function of this parameter determines the function of the terminal.

0.29 {8.23} USA> Terminal-29 destination parameter

RW Uni R P

Pr 0.00 to Pr 20.50 (Menu param.)

Pr 1.41

USA configuration

Use Pr 0.29 to change the function of the digital input on terminal 29.

The default setting (Pr 1.41) gives LOCAL/REMOTE switching.

By default, terminal 7 (Analog input 2) is assigned to Pr 1.37 Analog

reference 2. Use Pr 0.26 to change the function of terminal 7.

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0.30 {6.13} Forward / reverse key enable

RW Bit

0 or 1

The drive is supplied with the button disabled. To enable this

button, set Pr 0.30 FWD/REV enable at 1.

0.31 {11.37} Macro number

RO Uni

0 to 9

Pr 0.31 indicates the number of the macro that is currently in operation.

Running

the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

6.2.12 Serial communications,

Parameter displayed after power-up

0.36 {11.25} Serial comms. baud rate

RW Txt P

4,800 (0)

9,600 (1)

19,200 (2)

2,400 (3)

*This parameter has a default setting of 9,600 (1) in the VTC variant when USA defaults are loaded.

Use Pr 0.36 to select the required baud rate for serial communications when a UD71 Basic serial communications large option module is fitted in the drive.

4800 (0)*

UL Listing

Information

0.32 {11.24} Serial comms. mode

RW Uni R P

ANSI 2 (0)

ANSI 4 (1)

OUtPUt (2)

INPUt (3)

ANSI 4 (1)

Use Pr 0.32 to select the required serial communications mode as

follows:

ANSI 2 (0) ANSI protocol, two-wire

ANSI 4 (1) ANSI protocol, four-wire

Use the following modes to transfer the value of a parameter in one

drive to a parameter in another drive:

OUtPUt (2)

INPUt (3)

Transmit the value of the parameter specified by the setting of

11.27 Serial comms. source / destination parameter

Pr (CT protocol)

Apply the received value to the parameter specified by the setting

11.27 Serial comms. source / destination parameter (CT

of Pr protocol)

0.33 {11.32} Drive rated current (FLC)

RO Uni P

2.10 to 1,920 A

0.34 {11.30} User security code

RW Uni S P

0 to 255

149

Use Pr 0.34 to set up a User Security code. Irrespective of the code number entered in Pr 0.34, it always indicates the default value 149. When Pr 0.34 is actually set at 149, no User Security is applied.

See section 5.10 Parameter security on page 62.

6.2.11 Keypad-reference monitoring

0.35 {1.17} Keypad control mode reference

RO Bi S P

0.35 indicates the value of the frequency/speed reference when the drive is operating in Keypad mode. The reference is then controlled by the following control buttons (when the display is in Status mode):

The value is automatically saved when the drive is powered-down. At the next power-up, the drive ramps up to the frequency/speed that applied before the power-down.

±[Pr 0.02]Hz

±[Pr 0.02]rpm

0.37 {11.23} Serial comms. address

RW Uni P

0.0 to 9.9 (Group.Unit)

1.1

Use Pr 0.37 to select the required address for serial communications when a UD71 Serial communications large option module is fitted in the drive.

Do not enter an address that contains a zero, since this is used when addressing a group of drives.

0.38 {11.22} Initial parameter displayed

RW Uni P

Pr 0.00 to Pr 0.50

Pr 0.10*

*This parameter has a default setting of Pr 0.11 in the VTC variant when USA defaults are loaded.

At the time the AC supply is connected to the drive, Pr 0.10 Motor frequency/speed is automatically pre-selected as the initial parameter to be displayed. This results in the following:

1. After the AC supply is connected to the drive, and before any other

parameter is selected, the value of Pr 0.10 is shown on the upper display. This allows the motor frequency/speed to be monitored without the need to select the parameter.

2. If the keypad is subsequently used to select another parameter, the

value of the newly selected parameter is displayed in place of the

initial parameter. To select a different Menu 0 parameter to be displayed initially, enter the required parameter number in Pr 0.38 (e.g. to display Pr 0.12 Post-ramp

frequency/speed reference, enter 0.12).

6.2.13 Spinning motor, Autotune, PWM switching frequency

0.39 {6.09} Synchronise to a spinning motor

RW Bit

Open-loop

Set Pr 0.39 at 1 for the drive to always automatically synchronise itself to the motor if the motor is already rotating when the drive is started.

If the drive is started when the motor is already spinning and Pr 0.39 is set at 0, the drive cannot detect the speed of the motor; the normal operation of the drive will cause the motor to be braked to a stand-still in the same way as motor to the value of the frequency reference.

NOTE

Note

The drive can be synchronised to a single motor only. If more than one motor is connected to the drive, this function should not be used.

0 or 1

DC injection braking. The drive will then accelerate the

Ö Ö

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NOTE

Note

For the drive to operate correctly during and after synchronisation, Pr

0.07 Voltage mode selector must be set at Fd.

The drive starts a sequence of operations at one quarter of the rated motor voltage in order to detect the frequency associated with the speed of the motor. The sequence is stopped when the motor frequency is detected. The stages in the sequence are as follows:

1. The frequency of the drive is set at maximum (the value of Pr 0.02) in the direction that the motor was last driven. (If the AC supply to the drive was interrupted before an attempt is made to synchronise to a spinning motor, the drive always starts in the forward direction.)

2. The frequency is reduced to zero. If the motor frequency is detected during the reduction in drive frequency, the test is stopped. The drive frequency is set at the detected motor frequency and the drive takes control of the motor.

3. If the motor frequency is not detected, the drive is set at maximum frequency in the opposite direction, and the test is repeated.

4. If the motor frequency is still not detected, the drive frequency is set at 0Hz, and the drive takes control of the motor.

Closed-loop

Pr 0.39 is set at 1 by default. The value of Pr 0.12 Post-ramp reference is automatically set at the value of speed feedback. The drive then takes control of the motor.

When Pr 0.39 is set at 0, the motor will be decelerated under current limit until the motor speed meets the value of Pr 0.12 Post-ramp reference.

For more information, see section 10.22 Advanced Features on page 182.

NOTE

Note

The Unidrive LFT default switching frequency is 9kHz, however, a limited duty cycle applies. See Figure 2-3 Standard S4/S5 duty cycle (Unidrive LFT) on page 10.

6.2.14 Motor parameters

0.42 {5.11} Motor - number of poles

RW Txt P

Enter the number of motor poles (not pole pairs).

0.43 {5.10} Motor - power factor

RW Uni S P

Open-loop Closed-loop Vector

When Autotune is used, the power factor of the motor is measured by the drive and stored in Pr 0.43. The value can be seen when Pr 0.43 is accessed. The value may be slightly higher than the value stated on the motor rating plate.

If Autotune is not used, enter the value in Pr 0.43.

2 to 32 poles

VT> 2 to 32 poles SV> 2 to 32 poles

0 to 1.000

VT> 0 to 1.000

SV> 1

4 (1)

4 (1) 6 (2)

0.92

1.0

0.40 {5.12} Autotune

RW Bit P

0 or 1

Set Pr 0.40 at 1 to start the Autotune sequence. See Chapter 8 Optimisation .

Pr 0.40 is related to the advanced parameters as follows:

OL + VT> Pr 5.12 Magnetizing current test enable SV> Pr 3.25 Encoder phasing test enable

0.41 {5.18} PWM switching frequency

RW Txt

3 (0), 4.5 (1), 6 (2), 9 (3),

12 (4) kHz

3 (0)

If the switching frequency is increased from the default value, the power loss inside the drive is increased. The drive ensures the losses remain within acceptable levels by the use of an intelligent thermal model.

Intelligent thermal modelling in the drive effectively monitors the junction temperature of the IGBTs in the power stage. When the junction temperature is calculated to reach the maximum permissible value, two levels of protection occur, as follows:

1. When a PWM switching frequency of 6kHz, 9kHz or 12kHz is selected, the PWM switching frequency is automatically halved. This reduces switching losses in the IGBTs. (The value of parameter Pr

0.41 PWM switching frequency remains at the value set by the user.) Then at one-second intervals, the drive will attempt to return the PWM switching frequency to the original value. This will be successful when the thermal modelling has calculated that the temperature has reduced sufficiently.

2. If the junction temperature continues to rise (due to the output current) after the PWM switching frequency has been halved, and the temperature reaches the maximum permissible value, the drive will trip. The display will indicate trip code Oh1.

If the drive is required to run at a high load continuously with an elevated switching frequency, derating must be applied. Please see Table 111 Unidrive and Unidrive VTC drive current ratings on page 190.

0.44 {5.09} Motor - rated voltage

RW Uni

0 to 480

VT> 0 to 480

SV> 0

400

460

Open-loop and Closed-loop Vector

Enter the value from the rating plate of the motor.

0.45 {5.08} Motor - rated speed

RW Uni

0 to 6,000rpm

VT> 0 to 30,000rpm

SV> 0 to 30,000rpm

EUR> 1,450 USA> 1,770

Open-loop

This parameter should be set to the synchronous speed minus the slip speed if slip compensation is required.

Closed-loop Vector

This parameter should be set to the synchronous speed minus the slip speed.

Closed-loop Servo

Leave Pr 0.45 set at 0. This parameter is not used in this operating mode.

0.46 {5.07} Motor - rated current

RW Uni

0 to FLC A

FLC

FLC is the maximum permissible continuous output current of the drive up to 40°C ambient temperature and 3kHz PWM switching frequency.

Enter the value from the rating plate of the motor.

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0.47 {5.06} Motor - rated frequency

RW Bit

0 to 1,000.0Hz*

VT> 0 to 1,000.0Hz

SV> 0Hz

EUR> 50 USA> 60

*This parameter has a maximum range of 250Hz in Unidrive VTC.

Open-loop and Closed-loop Vector

Enter the value from the rating plate of the motor.

6.2.15 Operating-mode selection

0.48 {11.31} Drive operating mode selector

RW Txt R P

(See below)

The settings for 0.48 are as follows:

Pr 0.48 setting Operating mode

0 Open-loop

Closed-loop Vector

OPEN.LP (0)

NOTE

In contrast to all the other parameters in menu 0, this parameter does not exist in any other menu.

0.50 {11.29} Software version number

RO Uni P

1.00 to 99.99

Displays the first two sections of the software version of the drive.

6.2.17 Unidrive VTC Menu 0 differences

Menu 0 in Unidrive VTC contains some different parameters to menu 0 in Unidrive. The following menu 0 parameters are found in Unidrive VTC. Any parameter not listed below is the same as open loop Unidrive.

0.14 {4.01} Total motor current

RO Uni P

0 to I

Pr 0.14 indicates the total motor current (the vector sum of Pr 0.13 Motor

active-current and Pr 4.17 Motor magnetising current).

0.17 {5.03} To tal mo t o r powe r

RO Bi P

Total output power of the drive (positive for power flow out of the drive output terminals).

±P

MAX

For operation in this mode, refer to the

Closed-loop Servo

Unidrive Regen Installation Guide

See Chapter 8 Optimisation on page 92.

The operating mode cannot be changed while the drive is running.

6.2.16 Status information

0.49 Security status

RO Uni P

0 to 1,000

This parameter indicates the current status of the drive parameter security system. Each digit indicates a particular aspect of security as follows:

Units digit: 0 = Standard security has been unlocked

1 = Standard security is still set

Tens digit: 0 = User security has been unlocked or is not active

1 = User security is active preventing RW access

Hundreds digit: 1 = Pr 11.30 not equal to 149*

Thousands digit: 1 = Pr 11.30 equal to zero*

* The value of Pr 11.30 is the last value written by the user. Pr 11. 30 always appears as 149 when first accessed by the key pad to hide the real value last written by the user. If Pr 11.30 = 149 then user security is cleared. If Pr 11.30 = 0 then user security and security preventing access outside menu 0 is cleared.

0.22 Drive rated current

RO Uni P

2.10 to 202 A

0.23 Analog input 1 mode selector

RW Txt R

VOLt (0), 0 - 20 (1), 20 - 0 (2),

4 - 20.tr (3), 20 - 4.tr (4),

4 - 20.Lo (5), 20 - 4.Lo (6),

4 - 20.Pr (7), 20 - 4.Pr (8)

Setting Input signal

VOLt (0) ±10V

0-20 (1) 0 to 20mA Signal treated as zero

20-0 (2) 20mA to 0 Signal treated as zero

4-20.tr (3) 4mA to 20mA Drive trips

20-4.tr (4) 20mA to 4mA Drive trips

4-20.Lo (5) 4mA to 20mA Drive runs at minimum or low speed

20-4.Lo (6) 20mA to 4mA Drive runs at minimum or low speed

4-20.Pr (7) 4mA to 20mA Drive runs at previous speed

20-4.Pr (8) 20mA to 4mA Drive runs at previous speed

When current signal

VOLt (0)

≤30mA

0.24 {1.21} Preset frequency 1

0.25 {1.22} Preset frequency 2

RW Bi

±1000.0 Hz

0.0

Enter the value of frequency as required. When Pr 1.10 Bipolar reference select is set at 0, negative values are treated as zero. When Pr 1.10 is set at 1, negative values will cause the drive to run in the reverse direction.

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0.26 {2.08} Standard ramp voltage

RW Uni

200V drive: 0 to 400 V 400V drive: 0 to 800 V

200V drive: 375

400V drive: EUR> 750, USA> 775

This voltage is used as the level for both standard ramp modes. If hold mode is used and this is set too low the drive will never stop, and if it is too high and no braking resistor is used the drive may trip on OV (DC bus over voltage). If Standard ramp with P control (Pr 2.04 = Stnd.Ct (2)) is used and Pr 2.08 is set too low the machine will coast to rest, and if it is set too high and no braking resistor is used it may trip on OV. The minimum level should be greater than the voltage produced on the DC bus by the highest supply voltage.

Normally the DC bus voltage will be approximately the rms supply voltage x √2.

Care should be taken in the setting of Pr 2.08. It is recommended that the setting should be at least 50V higher than the maximum expected level of the DC bus voltage. If

WARNING

this is not done, the motor may fail to decelerate on a STOP command.

0.27 {4.13} Current-loop proportional gain

RW Uni

0 to 30,000

0.28 {4.14} Current-loop integral gain

RW Uni

0 to 30,000

The values of Pr 0.27 and Pr 0.28 affect the dynamic performance of the drive in the following conditions:

• Operation in current limit

• Braking when Pr 0.15 Ramp mode selector is set at Stnd.Ct (default)

• Loss of AC supply when Pr 6.03 AC supply loss mode selector is set at ridE.th.

See section 10.22.5 Mains loss modes on page 185 for more information.

0.29 {5.05} DC bus voltage

RW Uni P

200V drive: 0 to 415 V 400V drive: 0 to 830 V

0.30 {10.20} Last trip

RW Txt S P

0 to 200 V

See section 12.1 Trip indications on page 198 for details of the trip codes.

If the drive trips, the trip code representing the cause of the trip is logged in Pr 0.30. Pr 0.30 continues to display this trip until the drive trips with a different trip code.

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

reset count reaches the programmed value, any further trip of the same value will not cause an auto-reset.

If there has been no trip for 5 minutes then the reset count is cleared. Auto reset will not occur on an External trip (Et).

0.33 {10.35} Auto-reset time delay

RW Uni

0.0 to 25.0 s

1.0

This parameter defines the time between a trip and an auto reset subject to the 10s minimum trip time for IGBT over-current trips (OI.AC and OI.br trips).

0.35 {11.24} Serial comms. mode

RW Txt R P

ANSI 2 (0), ANSI 4 (1),

OUtPUt (2), INPUt (3)

ANSI 4 (1)

Use Pr 0.32 to select the required serial communications mode as follows:

ANSI 2 (0) ANSI protocol, two-wire

ANSI 4 (1) ANSI protocol, four-wire

Use the following modes to transfer the value of a parameter in one

drive to a parameter in another drive:

OUtPUt (2)

INPUt (3)

Transmit the value of the parameter specified by the setting of

11. 27 Serial comms. source / destination parameter

Pr (CT protocol)

Apply the received value to the parameter specified by the setting

11.27 Serial comms. source / destination parameter (CT

of Pr protocol)

0.48 {4.19} Overload accumulator

RO Uni P

0 to 100 %

When the total current level is above 105% motor rated current (Pr 5.07 x 1.05) the overload accumulator increases, until it reaches 100% when the drive will give an Ixt trip or apply a restriction on the current limit. The level of the accumulator is given by:

Accumulator = (I

NOTE

If the motor rated current parameter (Pr 5.07) is modified the overload

/ (Pr 5.07 x 1.05)2) x (1 - e

-t/τ

) x 100%

accumulator is reset to zero. This allows the drive to be used with more than one motor of different ratings without producing overload trips when the drive has been running with a large motor and then a smaller motor is connected.

0.32 {10.34} Number of auto-reset attempts

RW Uni

0 to 5

If this parameter is set to zero then no auto-reset attempts are made. Any other value will cause the drive to automatically reset following a trip for the number of times programmed. Pr 10.35 defines the time between the trip and the auto reset. The reset count is only incremented when the trip is the same as the previous trip, otherwise it is reset to 0. When the

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Ensure that no damage or safety hazard could arise from the motor starting unexpectedly.

WARNING

Motor overload protection

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

CAUTION

WARNING

upon. It is essential that the correct value is entered in Pr 0.46

Motor rated current. The overload protection level is 150% (SV: 175%) of motor rated current. The protection level maybe adjusted below 150% if required. Refer to Chapter 8 Optimisation on page 92 for further information. These settings affect 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 and buttons as if the drive is started using the keypad it will run to the speed defined by the keypad reference (Pr 0.35).

If the intended maximum speed affects the safety of the machinery, additional independent over-speed protection must be used.

Getting Star ted

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Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

For operation with a resolver or SINCOS encoder an option module is required. For option module terminal information see section

10.16 Menu 16 Small option module set-up on page 171 or the manual which is supplied with the option module.

7.1.2 Selecting the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters.

Procedure

1. Enter either of the following values in parameter 0.00, as appropriate: 1253 (Europe, 50Hz AC supply frequency) 1254 (USA, 60Hz AC supply frequency)

2. Change the setting of parameter 0.48 as follows:

Pr 0.48 setting Operating mode

0 Open-loop

Closed-loop Vector

Closed-loop Servo

UL Listing

Information

7.1 Quick start set-up

7.1.1 Basic connections

This section shows the basic connections which must be made for the drive to run in the required mode. For minimal parameter settings to run in each mode please see the relevant part of section 7.2 Quick Start commissioning .

Tab le 7-1

Drive control method Requirements

Drive enable

Terminal mode (Default configuration)

Keypad mode (Set Pr 0.05 = 4) Drive enable

Tab le 7-2

Operating mode Requirements

Open loop mode Induction motor

Closed loop vector mode

Servo

Speed feedback

Suitable devices are:

• Incremental encoder (A, B),

• Resolver with 0.33 or 0.5 transformation ratio

• SINCOS encoder

Speed reference Run forward or run reverse command Connect thermistor or link to 0V

Connect thermistor or link to 0V

Induction motor with speed feedback

Permanent magnet motor with speed and position feedback

For operation in this mode, refer to the

Unidrive Regen Installation Guide

The figures apply when serial communications are used.

3. Press or momentarily close the RESET contact.

The new setting takes effect and all the parameters revert to the appropriate default values for the new mode.

Speed and position feedback

Suitable devices are:

• Incremental encoder with commutation signals (A, B, U, V, W)

• Resolver with 0.33 or 0.5 transformation ratio

• Stegmann SINCOS encoder with Hiperface serial communications

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Figure 7-1 Minimum connections to get the motor running in any operating mode

Product

Information

l o s e

d L

o o p

e c

Mechanical

Installation

p e

n L

o o p

Electrical

Installation

UVW

A A

B B

Z Z

Getting

Star ted

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Running

the motor

Quadrature channel A Quadrature channel A Quadrature channel B Quadrature channel B Marker pulse channel Z Marker pulse channel Z Commutation channel U Commutation channel U Commutation channel V Commutation channel V Commutation channel W Commutation channel W Encoder supply 0V Common Motor thermistor input

5 10

Encoder connector

Optimisation Macros

15 way D-type

Advanced

Parameters

L1 L2 L3 U V W +

Technical

Data

Diagnostics

UL Listing

Information

v o

UVW

Braking resistor

A A

B B

U U

V V

Marker pulse optional

Link to 0V if motor thermistor not present

Encoder screening must be connected to 0V at both

the drive end and encoder end of the cable

Thermal overload for braking resistor to protect against fire risk. This must be wired to interrupt the AC supply in the event of a fault.

Encoder power supply:

5V, parameter = 0 15V, parameter = 1

3.23

W W

Z Z

Fuses

L1 L2 L3

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+10V

Speed reference input

Thermistor input

Menu 0

Running

the motor

Optimisation Macros

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Parameters

RUN FWD

RUN REV

ENABLE

Technical

Data

K e

p a d

Diagnostics

i n a

o d e

UL Listing

Information

o d e

(

0.05

= 4)

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7.2 Quick Start commissioning

7.2.1 Open loop mode (including VTC variant)

Induction motor without feedback device

Action Detail

Ensure:

• Enable is closed (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

Before powerup

• Run signal is not given

• Motor is connected

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out, as detailed below.

Optimisation Macros

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Parameters

Technical

Data

Diagnostics

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Power-up the drive

Enter motor nameplate details

Set maximum frequency

Set acceleration / deceleration rates

Autotune

Save parameters

Ensure:

• Drive displays ‘rdy’ If the drive trips, see Chapter 12 Diagnostics on page 198.

Enter:

• Motor rated current in Pr 0.46 (A)

• Motor rated frequency in Pr 0.47 (Hz)

• Motor rated voltage in Pr 0.44 (V) - check if or connection

• Number of poles in Pr 0.42

f120×

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

Where:

P = Number of poles f = Rated frequency (Hz) N

= Synchronous speed (rpm)

Enter:

• Maximum frequency in Pr 0.02 (Hz)

Enter:

• Acceleration rate in Pr 0.03 (s/100Hz)

• Deceleration rate in Pr 0.04 (s/100Hz)

Once this parameter is set, the motor will accelerate up to 2/3 base frequency without a run command being given. Once the measurement is complete, the motor will coast to a stop. The drive can be disabled at any time by pressing the

WARNING

red button.

•Set Pr 0.40 = 1 and wait for the drive display to return to ‘rdy’ If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Enter 1000 in Pr xx.00

Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

CTP- VEN 1PHASE 1=0, 46A P=110W R.F 32MN

0.02

100Hz

VHzmin-1kW cosφA 230

50 1445 2.20 0.80 8.50

400

CN = 14.5Nm

240

50 1445 2.20 0.76 8 .50

415

CN = 14.4Nm

0.03

cos = ?

∅

4.90

0.04

I.E.C 34 1(87)

Run Drive is now ready to run

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7.2.2 Closed loop vector mode

Induction motor with speed feedback

Action Detail

Ensure:

• Enable signal is not given (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

Before power-up

Power-up the drive

Set feedback device parameters

Enter motor nameplate details

• Run signal is not given

• Motor is connected

• Feedback device is connected

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

• Change drive operating mode to closed loop vector Set Pr xx.00 to 1253 / 1254 (USA). Change Pr 0.48 to ‘CL.UECt’

Press the reset button

• Ensure the drive displays ‘inh’ (‘SEP.EC’ trip if 8V SINCOS encoder feedback is being used)

If the drive trips, see Chapter 12 Diagnostics on page 198.

Encoder

• Encoder power supply Pr 3.23 = 0, 5V Pr 3.23 = 1, 15V. (If Pr 3.23 = 1 then termination resistors should be disabled - Pr 3.24 = 1)

• Encoder PPR (pulses per revolution) Enter PPR in Pr 3.21

Resolver

• The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation

ratio of 0.5 (2:1), set Pr 16.10 = 1

SINCOS

• Encoder power supply Pr 16.15 = 0, 5V Pr 16.15 = 1, 8V. (Save parameters and cycle power to clear ‘SEP.EC’ trip)

• Encoder PPR (pulses per revolution) Enter PPR in Pr 16.12

Enter:

• Motor rated power factor Pr 0.43

• Motor rated voltage in Pr 0.44 (V) - check if or connection

• Motor rated speed (synchronous speed - slip speed) in Pr 0.45 (rpm)

• Motor rated current in Pr 0.46 (A)

• Motor rated frequency in Pr 0.47 (Hz)

• Number of poles in Pr 0.42

f 120×

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

Where: P = Number of poles, f = Rated frequency (Hz), N

Optimisation Macros

= Synchronous speed (rpm)

Advanced

Parameters

Technical

Data

Diagnostics

IP55 I.cl F C 40 s S1

VHzmin-1kW cosφA 230 400

240 415

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

UL Listing

Information

Mot X XXXXXXXXX No XXXXXXXXXX kg

50 1445 2.20 0.80 8.50

CN = 14.5Nm

50 1445 2.20 0.76 8.50

CN = 14.4Nm

4.90

I.E.C 34 1(87)

Set maximum speed

Set acceleration / deceleration rates

Enter:

• Maximum speed in Pr 0.02 (rpm)

Enter:

• Acceleration rate in Pr 0.03 (s/1,000rpm)

• Deceleration rate in Pr 0.04 (s/1,000rpm) (If braking resistor fitted, set Pr 0.15 = FAST)

0.02

1000rpm

0.03

0.04

• Close enable signal

Autotune

Once this parameter is set and the enable signal is given, the motor will accelerate up to

/3 base frequency without a run command being given. Once the measurement is

complete, the motor will coast to a stop. The drive can be disabled at any time by

WARNING

pressing the red button.

•Set Pr 0.40 = 1 and wait for the drive display to return to ‘rdy’

If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

L = ?

cos = ?

∅

= ?

N rpm

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Save parameters

Enter 1000 in Pr xx.00

Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

Run Drive is now ready to run

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7.2.3 Servo

Permanent magnet motor with speed and position feedback

Action Detail

Ensure:

• Enable signal is not given (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

Before powerup

Power-up the drive

Set feedback device parameters

• Run signal is not given

• Motor is connected

• Feedback device is connected (U, V, W required for incremental encoders)

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

• Change drive operating mode to servo Set Pr xx.00 to 1253 / 1254 (USA). Change Pr 0.48 to ‘SErUO’

Press the reset button

• Ensure the drive displays ‘inh’ (‘SEP.EC’ trip if 8V SINCOS encoder feedback is being used)

If the drive trips, see Chapter 12 Diagnostics

on page 198.

Encoder

• Encoder power supply Pr 3.23 = 0, 5V Pr 3.23 = 1, 15V. (If Pr 3.23 = 1 then termination resistors should be disabled - Pr 3.24 =

• Encoder PPR (pulses per revolution) Enter PPR in Pr 3.21

Resolver

• The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a

transformation ratio of 0.5 (2:1), set Pr 16.10 = 1

SINCOS

• Encoder power supply Pr 16.15 = 0, 5V Pr 16.15 = 1, 8V. (Save parameter and cycle power to clear ‘SEP.EC’ trip)

• Encoder PPR (pulses per revolution) Enter PPR in Pr 16.12

Optimisation Macros

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Parameters

Technical

Data

Diagnostics

UL Listing

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Enter motor nameplate details

Set maximum speed

Set acceleration / deceleration rates

Autotune

Save parameters

Enter:

• Motor rated current in Pr 0.46 (A)

• Number of poles in Pr 0.42

Enter:

• Maximum speed in Pr 0.02 (rpm)

Enter:

• Acceleration rate in Pr 0.03 (s/1,000rpm)

• Deceleration rate in Pr 0.04 (s/1,000rpm) (If braking resistor fitted, set Pr 0.15 = FAST)

Once this parameter is set and the enable signal is given, the motor will rotate by part of 1 revolution without a run command being given.

WARNING

•Set Pr 0.40 = 1, close the enable signal (terminal 30) and wait for the drive display to show

‘StOP’

If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Enter 1000 in Pr xx.00

Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

Model No: 95UXXXXXXXXXXXX Volts: 380/480 Cont: 7.7Nm:4.81Arms Stall: 9.5Nm:5.91Arms Speed: 3000rpm Poles:6 Kt: 1.6Nm/Arms Ins Class: H

Serial No: XXXXXXXXXXX

0.02

1000rpm

0.03

Brake: 12Nm 24V

0.67A

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

0.04

Run Drive is now ready to run

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7.3 Quick start P.C. commissioning (UniSoft / VTCSoft)

This section details how to get the motor running using Unisoft or VTCsoft pc commissioning software in each operating mode and with the various feedback devices. Unisoft or VTCsoft is available free of charge and can be downloaded from www.controltechniques.com.

7.3.1 Open Loop

Induction motor without feedback device

Please refer to the documentation that came with UniSoft or VTCSoft for instructions on how to install the drive commissioning software.

Enter motor nameplate details.

Select OPEN LOOP mode of operation

When entering the motor nameplate details, max/min speeds and acceleration/deceleration rates, click on the relevant field, enter the value here and click ‘Change’

Action Detail

Ensure:

• Enable is closed (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

• Run signal is not given

Before power-up

• Motor is connected

• A UD71 serial communications module is fitted and is connected to the PC running UniSoft with the above screen displayed

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

VHzmin-1kW cosφA 230

50 1445 2.20 0.80 8.50

400

CN = 14.5Nm

240

50 1445 2.20 0.76 8.50

415

CN = 14.4Nm

4.90

I.E.C 34 1(87)

Set maximum / minimum speed.

0.02

Set acceleration / deceleration rates.

100Hz

0.03

0.04

Power-up the drive

Ensure:

• Drive displays ‘inh’. If the drive trips, refer to Chapter 12 Diagnostics on page 198.

Program the drive Click ‘Program’ to upload the values to the drive.

Once this parameter is set, the motor will accelerate up to 2/3 base frequency without a run command being given. Once the measurement is complete, the

Autotune

WARNING

motor will coast to a stop. The drive can be disabled at any time by pressing the red button.

cos = ?

∅

• Click ‘Autotune’ to enable the drive to perform the autotune

If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Saving parameters

In the 'Tools' menu select 'Save parameters in drive'. UniSoft will ask whether you want to save parameters in the drive when UniSoft is closed.

Run Drive is now ready to run

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7.3.2 Closed Loop Vector

Induction motor with speed feedback

Please refer to the documentation that came with UniSoft for instructions on how to install the drive commissioning software

Select Flux Vector mode of operation

Optimisation Macros

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Parameters

Technical

Data

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UL Listing

Information

Enter motor nameplate details

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

VHzmin-1kW cosφA 230

50 1445 2.20 0.80 8.50

400

240

50 1445 2.20 0.76 8.50

415

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

CN = 14.5Nm

CN = 14.4Nm

4.90

I.E.C 34 1(87)

Set max / min speed

0.02

Set acceleration / deceleration rates

100Hz

When entering the motor nameplate details, max/min speeds and acceleration/deceleration rates, click on the relevant field, enter the value here and click ‘Change’

Action Detail

Ensure:

• Enable is closed (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

• Run signal is not given

Before power-up

• Motor is connected

• Feedback is connected and relevant small option module fitted (SINCOS or resolver feedback)

• A UD71 serial communications module is fitted and is connected to the PC running UniSoft with the above screen displayed

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Ensure:

Power-up the drive

• Drive displays ‘inh’ (‘SEP.EC’ if 8V SINCOS encoder feedback is being used). If the drive trips, refer to Chapter 12 Diagnostics on page 198.

Program the drive Click ‘Program’ to upload the values to the drive.

Recognising the option module

If either a UD52 SINCOS or UD53 Resolver option module has been fitted, click ‘Read’ to allow UniSoft to recognise which small option module has been fitted.

0.03

0.04

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Action Detail

• In the Parameter menu, select ‘Display by menu’.

For incremental encoder feedback, select ‘Menu 3’. For SINCOS or Resolver feedback, select ‘Menu16’.

Set encoder parameters

Select the parameter to change in the list above. Enter the required value in the field and click ‘Change’.

Encoder

• Encoder power supply

Pr 3.23 = 0, 5V Pr 3.23 = 1, 15V. (If Pr 3.23 = 1 then termination resistors should be disabled - Pr 3.24 = 1)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 3.21

Resolver

• The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation

ratio of 0.5 (2:1), set Pr 16.10 = 1

SINCOS

• Encoder power supply

Pr 16.15 = 0, 5V Pr 16.15 = 1, 8V. (Save parameter and cycle power to clear ‘SEP.EC’ trip)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 16.12

Programming the drive In the 'Drive' menu select 'Program all parameters' to upload the parameters to the drive.

Select ‘Commissioning Screen’ to return to the front page of UniSoft

Technical

Data

Diagnostics

UL Listing

Information

L = ?

cos = ?

Autotune

WARNING

∅

= ?

N rpm

• Close the enable signal (terminal 30)

•Click ‘Autotune’ to enable the drive to perform the autotune If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Saving parameters

In the 'Too ls' menu select 'Save parameters in drive'. UniSoft will ask whether you want to save parameters in the drive when UniSoft is closed.

Run Drive is now ready to run

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7.3.3 Servo

Permanent magnet motor with speed and position feedback

Please refer to the documentation that came with UniSoft for instructions to install the drive commissioning software.

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Select Servo mode of operation

When entering the motor nameplate details, max/min speeds and acceleration/deceleration rates, click on the relevant field, enter the value here and click ‘Change’

Action Detail

Ensure:

• Enable is closed (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

• Run signal is not given

Before power-up

• Motor is connected

• Feedback is connected and relevant small option module fitted (SINCOS or resolver feedback)

• A UD71 serial communications module is fitted and is connected to the PC running UniSoft with the above screen displayed

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Enter motor nameplate details

Model No: 95UXXXXXXXXXXXX Volts: 380/480 Cont: 7.7Nm:4.81Arms Stall: 9.5Nm:5.91Arms Speed: 3000rpm Poles:6 Kt: 1.6Nm/Arms Ins Class: H

Serial No: XXXXXXXXXXX

Brake: 12Nm 24V

0.67A

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

Set max / min speed

0.02

Set acceleration / deceleration rates

100Hz

0.03

0.04

Ensure:

Power-up the drive

• Drive displays ‘inh’ (‘SEP.EC’ if 8V SINCOS encoder feedback is being used). If the drive trips, refer to Chapter 12 Diagnostics on page 198.

Program the drive Click ‘Program’ to upload the values to the drive.

Recognising the option module

If either a UD52 SINCOS or UD53 Resolver option module has been fitted, click ‘Read’ to allow UniSoft to recognise which module has been fitted.

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Action Detail

• In the Parameter menu, select ‘Display by menu’.

For incremental encoder feedback, select ‘Menu 3’. For SINCOS or Resolver feedback, select ‘Menu16’.

Set encoder parameters

Select the parameter to change in the list above. Enter the required value in the field and click ‘Change’.

Encoder

• Encoder power supply

Pr 3.23 = 0, 5V Pr 3.23 = 1, 15V. (If Pr 3.23 = 1 then termination resistors should be disabled - Pr 3.24 = 1)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 3.21

Resolver

• The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation

ratio of 0.5 (2:1), set Pr 16.10 = 1

SINCOS

• Encoder power supply

Pr 16.15 = 0, 5V Pr 16.15 = 1, 8V. (Save parameter and cycle power to clear ‘SEP.EC’ trip)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 16.12

Programming the drive In the 'Drive' menu select 'Program all parameters' to upload the parameters to the drive.

Select ‘Commissioning Screen’ to return to the front page of UniSoft

Technical

Data

Diagnostics

UL Listing

Information

If an encoder phasing test is selected and the enable signal given, the motor will rotate by part of 1 revolution without a run command being given.

WARNING

• Close the enable signal (terminal 30)

• Click ‘Autotune’ to enable the drive to perform the encoder phasing test If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Saving parameters

In the 'Too ls' menu select 'Save parameters in drive'. UniSoft will ask whether you want to save parameters in the drive when UniSoft is closed.

Run Drive is now ready to run

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8 Optimisation

8.1 Motor map parameters

8.1.1 Open loop motor control

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A separate section is provided for each operating mode at the beginning and then common parameters / features are detailed towards the end of the section.

Information such as tuning the speed and current loop gains and also explanations of the effects of motor map parameters are included.

UL Listing

Information

This section provides information on how to get the most from the Unidrive once an autotune and basic set up has been completed.

Pr 0.46 {5.07} Motor rated current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor to ensure the current limits in the drive function at the correct levels so that the motor is protected should an overload situation occur.

Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles

The motor number of poles parameter defines the speed displayed by the drive for a given output frequency.

i.e. 4 pole motor 50 Hz = 1,500 rpm

2 pole motor 50 Hz = 3,000 rpm

Pr 0.44 {5.09} Motor rated voltage Defines the voltage applied to the motor at rated frequency

Pr 0.47 {5.06} Motor rated frequency Defines the frequency at which rated voltage is applied

The voltage and frequency parameters define the relationship between the voltage and frequency applied to the motor as shown aside:

The volts / frequency ratio must be kept constant to ensure rated torque is available from the motor over the frequency range. At low frequencies (from 0 Hz to ½ x Pr 5.06) the voltage is increased from this characteristic by a level governed by either the voltage boost parameter or the motor parameters (found during the stator resistance test) depending on whether the drive is in fixed boost or open loop vector mode as shown aside:

Output voltage

5.09

Pr / 2

5.09

Output voltage

Pr / 2

5.09

utput voltage characteristic

Pr / 2

5.06

utput voltage characteristic

5.09

5.06

Output frequenc

Voltage boost

Output frequenc

Pr 0.43 {5.10} Motor rated power factor

Pr / 2

5.06

Defines the angle between the motor rated current and the torque producing current

Tor q ue producing current

Tot al m o to r current

The power factor is found by the drive during the autotune procedure. It is used in the open loop vector algorithm and to set the current limit levels for the torque producing (active) current.

Cos

Magnetising

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Pr 0.07 {5.14} Voltage mode

The voltage mode selects whether the drive is in open loop vector mode or fixed boost.

Fixed boost (Fd) should be used for fans and pumps and multiple motor applications.

Open loop vector is the default setting and should be used to tune the drive to the motor characteristic to get good performance at low output frequencies.

Open loop vector mode requires the stator resistance and voltage offset parameters for ideal operation.

These can be measured by the drive depending on the voltage mode selected as follows:

Ur_I = Stator resistance and voltage offset are measured on power up providing no trip condition is present and the drive enable (terminal 30) signal is active.

Ur_S = Stator resistance and voltage offset are measured every time the run command is activated. This mode ensures the drive compensates for any change in the motor parameters due to temperature changes.

Ur = No test is performed - a test should be carried out using one of the other modes or the stator resistance entered manually. (The voltage offset cannot be entered manually as this is also a function of the drive.) This mode should be used where it is not desirable for the drive to test the motor on power up or before a run.

The stator resistance and voltage offset values can be viewed in Pr 5.17 and Pr 5.23 respectively.

Pr 0.40 {5.12} Autotune

The motor must be disconnected from any load including the gearbox before commencing an autotune.

Once the test is enabled the drive runs the motor to two thirds base speed and measures the no load current which equals the magnetising current. From the no load current and the motor rated current the drive then calculates the power factor.

Pr 5.27 Slip compensation and Pr 0.45 {5.08} Motor rated speed

When a motor being controlled in open loop mode has load applied a characteristic of the motor is that the output speed droops in proportion to the load applied as shown aside:

In order to prevent the speed droop shown above slip compensation should be enabled.

Pr 5.27 must be set to a 1 (this is the default setting) and the motor rated speed must be entered in Pr 0.45 {5.08}. to enable slip compensation. The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed. This is often displayed on the motor nameplate.

i.e. For a typical 18.5 kW, 50 Hz, 4 pole motor the motor rated speed is

Demanded speed

Shaft speed

1465 rpm

The synchronous speed for a 4 pole motor is 1500 rpm therefore the slip speed is 35 rpm

If the synchronous speed is entered slip compensation will have no effect.

If too small a value is entered the motor will run faster than the

demanded frequency.

Synchronous speeds for different numbers of poles are as follows:

2 pole = 3,000 rpm 4 pole = 1,500 rpm 6 pole = 1,000 rpm 8 pole = 750 rpm

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8.1.2 Closed loop vector motor control

Pr 0.46 {5.07} Motor rated current Defines the maximum motor continuous current

Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles

The motor number of poles parameter defines the synchronous speed of the motor, which in conjunction with the motor rated speed parameter defines the slip speed.

Pr 0.44 {5.09} Motor rated voltage Defines the voltage applied to the motor at rated frequency

Pr 0.47 {5.06} Motor rated frequency Defines the frequency at which rated voltage is applied

The voltage and frequency parameters define the relationship between the voltage and frequency applied to the motor as shown aside: The volts / frequency ratio must be kept constant to ensure rated torque is available from the motor over the frequency range.

Pr 0.43 {5.10} Motor rated power factor

The power factor is found by the drive during the autotune procedure. It is used to set the level at which the magnetising current is controlled.

Output voltage

Pr / 2

5.09

utput voltage characteristic

5.09

Pr / 2

5.06

Output frequenc

Defines the angle between the motor rated current and the torque producing current

To rq u e producing current

Cos

Total motor current

Magnetisin

rrent

Pr 0.45 {5.08} Motor rated speed Defines the motor rated speed

The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed.

This is often displayed on the motor nameplate. I.e. For a typical 18.5 kW, 50 Hz, 4 pole motor the motor rated speed is 1465 rpm

The synchronous speed for a 4 pole motor is 1500 rpm therefore the slip speed is 35 rpm

Synchronous speeds for different numbers of poles are as follows:

2 pole = 3,000 rpm 4 pole = 1,500 rpm 6 pole = 1,000 rpm 8 pole = 750 rpm

The accuracy of this parameter is very important as it directly affects the torque produced at the shaft.

Often the value given on the motor nameplate is not 100% accurate which can lead to a loss of torque.

The parameter can be tuned by the drive using the slip optimiser - please see the description which follows.

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Pr 0.40 {5.12} Autotune

The motor must be stationary and disconnected from any load (including the gearbox) before commencing an autotune.

The test is completed in three stages as follows:

1. Motor leakage inductance (Pr 5.24) Before the motor rotates the leakage inductance is measured. This is

L = ?

required for the slip optimiser to work correctly.

2. Power factor (Pr 0.43 / 5.10) The motor runs up to two thirds base speed and the no load current is measured. This equals the magnetising current which in

cos = ?

∅

conjunction with the motor rated current value allows the power factor to be calculated.

3. Saturation characteristic (Pr 5.29 / 5.30) The drive continues to turn the motor and while doing so gradually reduces the magnetising current to determine the relationship between magnetising current and motor flux for the specific motor being controlled.

= ?

The saturation characteristic sets the levels at which the magnetising current is controlled during operation above base speed (field

N rpm

weakening).

Pr 5.27 Slip optimisation

Slip optimisation is used as follows:

1. To optimise the motor rated speed parameter from the motor nameplate value to the best value for the individual motor on a one off basis during commissioning.

2. To constantly monitor and optimise the motor rated speed during normal operation to compensate for changes in motor temperature which can have a significant effect on rotor resistance and thus rated speed.

The following conditions must apply for the slip optimiser to function correctly:

• As detailed above in the autotune section the motor leakage inductance (Pr 5.24) is required for this feature to function correctly. An autotune should be carried out before enabling the slip optimiser.

• The drive must run at a speed greater than

• At least

/8 x rated load must be applied.

/8 x rated speed.

• Slip optimisation can only be used at or below base speed. If field weakening operation is required the optimiser should be enabled during commissioning only then disabled for high speed operation.

Pr 4.13 / 4.14 Current loop gains

The current loop gains control the response of the current loop to a change in current (torque) demand.

Inappropriate values entered in these parameters can cause the control system to become unstable.

The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor.

The current loop gains can be calculated from the motor resistance and inductance values by either:

1. Using the formula detailed below

2. The gain calculator wizard in Unisoft version 3.43 in the ’Tools’ menu

-3

The proportional gain (Pr 4.13) should be set to 1800 x Pr 5.24 x 10

x Pr 11.32

where:

Pr 5.24 = per phase motor leakage inductance (mH) Pr 11.32 = Drive rated current

The integral gain (Pr 4.14) should be set to 0.044 x Pr 4.13 x

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

Pr5.24 10

3–

where:

Pr 4.13 = current loop proportional gain calculated above R = per phase stator resistance (from the motor data sheet) Pr 5.24 = per phase motor leakage inductance (mH)

NOTE

The numerical value in Pr 5.24 should be input directly into the above formula in mH

The x 10

-3

term converts this to H.

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Pr 3.10 / 3.11 / 3.12 Speed loop gains

The speed loop gains control the response of the speed loop to a change in speed demand.

The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor.

Inappropriate values entered in these parameters can cause the control system to become unstable.

The proportional gain (Pr 3.10) responds proportionally to the difference between the demanded value and the actual value (the error).

The integral gain (Pr 3.11) responds proportionally to the accumulation of the error. It is used to eliminate steady state error and under dynamic conditions provide stiffness to the system.

The derivative gain (Pr 3.12) is proportional to the rate of change of the error. It improves the stability of the system under transient conditions.

The speed loop gains can be tuned by either:

1. Using an oscilloscope and the method described below or

2. The gain calculator wizard in Unisoft version 3.43, which requires the following:

• motor inertia

• load inertia (reflected through the gear box if used)

• stiffness / compliance angle (user defined deflection of the motor shaft when full torque is applied)

• drive rated current

• motor nameplate details

Tuning the speed loop gains using an oscilloscope

Connect the 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 should be set up initially - the value should be

Speed demand

increased up to the point where the speed overshoots and then reduced slightly.

The integral term should then be increased up to the point where the speed becomes unstable and then reduced slightly.

If a derivative gain is required the value should be increased up to the

Insufficient proportional gain [0.07]

point where the system response 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 shown below.

Excessive proportional gain [0.07]

The diagram below shows the effect of incorrect P and I gain settings as well as the ideal response.

If the speed loop I gain (Pr 3.11) is set to zero and later increased, a large output transient will result causing the

Excessive integral gain [0.08]

drive to accelerate under full current.

WARNING

The over speed trip threshold (Pr 3.08) must be set to a suitable level to prevent the output from reaching a level where mechanical damage could result.

Ideal response

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8.1.3 Servo motor control

Pr 0.46 {5.07} Motor rated current Defines the maximum motor continuous current

Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles

The motor number of poles parameter defines the number of electrical revolutions in one whole mechanical revolution of the motor.

Pr 0.40 {3.25} Autotune

The motor should be stationary and disconnected from any load (including the gearbox) before commencing an autotune.

The test rotates the motor by less than a revolution. The exact distance depends on the number of motor poles.

The autotune measures the offset between the feedback device zero and the rotor zero. This is required so that the voltage applied is in phase with the back EMF from the motor.

If the value entered is incorrect the drive will not control the motor correctly.

The result can be:

1. loss of torque

2. excessive heating of the motor

3. in extreme cases the motor can run out of control to maximum speed

If the load cannot be removed and it is solely an inertia a high current autotune can be enabled.

Set Pr 5.27 = 1 prior to enabling the autotune.

Pr 4.13 / 4.14 Current loop gains

The current loop gains control the response of the current loop to a change in current (torque) demand.

The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor.

Inappropriate values entered in these parameters can cause the control system to become unstable.

The current loop gains can be calculated from the motor resistance and inductance values by either:

1. Using the formula detailed below

2. The gain calculator wizard in Unisoft version 3.43 in the ’Tools’ menu

-3

The proportional gain (Pr 4.13) should be set to 1800 x L x 10

x Pr 11.32

where:

L = per phase motor leakage inductance (mH) (from the motor data sheet) Pr 11.32 = Drive rated current

The integral gain (Pr 4.14) should be set to 0.044 x Pr 4.13 x

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

L10

3–

where:

Pr 4.13 = current loop proportional gain calculated above

R = per phase stator resistance (from the motor data sheet) L = per phase motor leakage inductance (mH) (from the motor data sheet)

NOTE

For very small servo motors with high inductance the values calculated from the above formulae can be too high resulting excessive motor noise. The values should be calculated and then reduced to a suitable level manually.

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Pr 3.10 / 3.11 / 3.12 Speed loop gains

The speed loop gains control the response of the speed loop to a change in speed demand.

The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor.

Inappropriate values entered in these parameters can cause the control system to become unstable.

The proportional gain (Pr 3.10) responds proportionally to the difference between the demanded value and the actual value (the error).

The integral gain (Pr 3.11) responds proportionally to the accumulation of the error. It is used to eliminate steady state error and under dynamic conditions provide stiffness to the system.

The derivative gain (Pr 3.12) is proportional to the rate of change of the error. It improves the stability of the system under transient conditions.

The speed loop gains can be tuned by either:

1. Using an oscilloscope and the method described below

2. The gain calculator wizard in Unisoft version 3.43, which requires the following:

• motor inertia

• load inertia (reflected through the gear box if used)

• stiffness / compliance angle (user defined deflection of the motor shaft when full torque is applied)

• drive rated current

• motor nameplate details

Tuning the speed loop gains using an oscilloscope

Connect the 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 should be set up initially - the value should be

Speed demand

increased up to the point where the speed overshoots and then reduced slightly.

The integral term should then be increased up to the point where the speed becomes unstable and then reduced slightly.

If a derivative gain is required the value should be increased up to the

Insufficient proportional gain [0.07]

point where the system response 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 shown aside.

Excessive proportional gain [0.07]

The diagram below shows the effect of incorrect P and I gain settings as well as the ideal response.

If the speed loop I gain (Pr 3.11) is set to zero and later increased, a large output transient will result causing the drive to accelerate under full current.

WARNING

The over speed trip threshold (Pr 3.08) must be set to a suitable level to prevent the output from reaching a level where mechanical damage could result.

8.2 Current limits

The default setting for the current limit parameters are 150% x motor rated current for open loop and closed loop vector modes and 175%* x motor rated current for servo mode. *150% for Unidrive size 5.

There are three parameters which control the current limits:

•Pr 4.05 Motoring current limit: power flowing from the drive to the motor

•Pr 4.06 Regen current limit: power flowing from the motor to the drive

•Pr 4.07 Symmetrical current limit: current limit for both motoring and regen operation

The lowest of either the motoring and regen current limit or the symmetrical current limit applies.

Excessive integral gain [0.08]

Ideal response

The maximum setting of these parameters depends on the ratio of motor rated current to drive rated current and the power factor.

The drive can be oversized to permit a higher current limit setting to provide higher accelerating torque as required up to a maximum of 400%.

Please note that too high a setting of these parameters can cause permanent damage to a servo motor by demagnetising the rotor.

The maximum current limits (I

%) available for each mode of

MAX

operation, are calculated from the following equations.

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Open loop

1–×

0.156 Pr 11.32×



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

–



Pr 5.10 Pr 5.07×

MAX



1.597







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





Pr 11.32



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



Pr 5.07

Pr 5.10

The above equation gives a value less than 150% if Pr 5.10 >0.93. The maximum current limit value used by the drive is 150% if the calculated value is less than 150%.

Closed loop vector

1–×

100×=

MAX

Pr 11.32



1.597





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







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



Pr 5.07

Pr 5.10

Servo

Pr 11.32

%1.767

MAX

 



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



Pr 5.07

100×=

Unidrive VTC

1–×

100×=

MAX

Pr 11.32



1.203





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







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



Pr 5.07

Pr 5.10

8.3 Motor thermal protection

The Unidrive models the temperature of the motor using the motor rated current parameter, the thermal time constant parameter and the actual current flowing at any point in time.

An accumulator (Pr 4.19) increments or decrements based on the current flowing in the motor.

If the motor runs for a given time at a level below the rated current of the motor the accumulator will settle at a value equivalent to the motor temperature.

An it.ac trip instantaneously occurs if the accumulator reaches 100%. This can only occur if the rms current flowing is greater than 105%. or if a current peak lasts for enough time to cause the accumulator to peak at or above this level.

The default setting of the thermal time constant (Pr 4.15) is 89s for an induction motor (open loop and closed loop vector) which is equivalent to an overload of 150% for 60s from cold.

The default value for a servo motor is 7s which is equivalent to an overload of 175% for 4s from cold.

The maximum value for the thermal time constant can be increased up to a maximum value of 400s to allow an increased overload if the motor thermal characteristics permit.

For applications using CT Dynamics Unimotors the thermal time constants can be found in the Unimotor manual.

8.4 Switching frequency

The default switching frequency for the drive is 3kHz however this can be increased up to a maximum value of 12kHz.

If the switching frequency is increased the following apply:

1. Increased heat loss in the drive which means that derating to the

output current must be applied. See the derating table for switching frequency and ambient temperature in the Chapter 11 Technical Data on page 190.

2. Reduced heating of the motor - due to improved output waveform

quality

3. Increased sample rate on the speed and current controllers

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

100×=

A trade off must be made between motor heating and drive heating and the demands of the application with respect to the sample time required.

Switching frequency

3 333 333

4.5 444 222

6 333 166

9444222

12 333 166

Sample time (

OL >Current control

CL > Speed control

µs)

Sample time (µs)

OL > Peak limit

CL > Current control

8.5 High speed operation

8.5.1 Encoder feedback limits

In the closed loop modes when using encoder feedback the maximum speed of the drive is limited by the maximum frequency limit of the encoder input as follows:

Encoder PPR Maximum Speed (rpm)

up to 5,000 3,000

up to 2,500 6,000

up to 1,250 12,000

up to 625 24,000

up to 312 30,000

8.5.2 Field weakening (constant power) operation

(Open loop and closed loop vector mode only)

The Unidrive can be used to run an induction machine above synchronous speed into the constant power region. The speed continues to increase and the available shaft torque reduces.

The characteristics below show the torque and output voltage characteristics as the speed is increased above the rated value.

Torque

Speed

Rated voltage

eed

Care must be taken to ensure the torque available above base speed is sufficient for the application to run satisfactorily.

Unidrive User Guide 99 Issue Number: 9 www.controltechniques.com

Safety

Information

Product

Information

Mechanical

Installation

Electrical

Installation

Getting

Star ted

Menu 0

Running

the motor

8.5.3 Saturation breakpoints

The saturation breakpoint parameters (Pr 5.29 and Pr 5.30) found during the autotune in closed loop vector mode ensure the magnetising current is reduced in the correct proportion for the specific motor.

(In open loop mode the magnetising current is not actively controlled)

8.5.4 Switching frequency

With a default switching frequency of 3 kHz the maximum output frequency should be limited to 250 Hz. Ideally a minimum ratio of 12 : 1 should be maintained between the output frequency and the switching frequency. This ensures the number of switchings per cycle is sufficient to ensure the output waveform quality is maintained at a minimum level.

If this is not possible, quasi square switching should be enabled (Pr 5.20 =1). The output waveform will be quasi square above base speed however this also ensures a symmetrical output waveform which results in a better quality output than would otherwise result.

8.5.5 Output frequency doubling

(Open loop only)

If this bit is set the motor output frequency is twice the displayed value. The maximum open loop output frequency increases from 1,000Hz to 2,000Hz.

The following parameters need to be re-scaled when this mode of operation is used.

For example:-

The real machine is 4 pole, 2,000Hz, 400V, 60,000 rpm, full load speed 58,000 rpm, and the desired maximum speed is 40,000 rpm with a trip at 50,000 rpm. Acceleration is to be 500Hz / sec.

Menu 1:

maximum frequency (Pr 1.06) should be set to:

0.5 x 2,000 x 40,000 / 60,000 = 667Hz

Menu 2:

the ramp times (Pr 2.11 to 2.29) need to be set at:

0.5 x 0.2 sec per 100Hz = 0.1

Menu 3:

the over-speed trip threshold (Pr 3.08) should be set at

0.5 x 2,000 x 50,000 / 60,000 = 833Hz

Menu 5:

the rated motor voltage (Pr 5.09) = 400V

the rated frequency (Pr 5.06) = 0.5 x 2,000 = 1,000Hz

the full load speed is (Pr 5.08) = 0.5 x 58,000 = 29,000rpm

the motor poles (Pr 5.11) = 4 POLE

Extreme caution should be exercised when setting this bit as the actual machine speed will be double that indicated.

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

8.5.6 Maximum speed / frequency

In open loop mode the maximum frequency is 2,000 Hz when output frequency doubling is used (500 Hz for Unidrive VTC).

In closed loop vector mode the maximum output frequency should be limited to 400 Hz.

In servo mode field weakening is not possible so the maximum speed is limited by the voltage constant (K

) of the motor. Ke is a specific constant

for the servo motor being used. It can normally be found on the motor data sheet in V/krpm (volts per 1,000rpm).

100 Unidrive User Guide

www.controltechniques.com Issue Number: 9

Control Techniques Unidrive 1201, UNI1204, Unidrive 1202, Unidrive 1203, Unidrive 1204 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1 Safety Information

1.1 Warnings, Cautions and Notes

1.2 Electrical safety - general warning

1.4 Environmental limits

1.5 Compliance with regulations

1.6 Motor

1.7 Adjusting parameters

2 Product Information

2.1 Ratings

2.2 Model number

2.4 Model variants

2.4.1 Unidrive standard industrial (STD)

2.4.2 Unidrive LFT

2.4.3 Unidrive VTC

2.4.4 Unidrive REGEN

2.5 Operating modes

2.5.1 Open Loop mode (OL)

2.5.2 Closed loop vector mode (VT)

2.5.3 Servo (SV)

2.5.4 Regen

2.5.5 Key to operating mode abbreviations

2.6 Drive features

2.7 Option Modules

2.8 More information

2.9 Items supplied with the drive

3 Mechanical Installation

3.1 Safety information

3.2 Planning the installation

3.2.1 Access

3.2.2 Environmental protection

3.2.3 Cooling

3.2.4 Electrical safety

3.2.7 Hazardous areas

3.3 Terminal cover removal

3.3.1 Removing the terminal covers

3.2.5 Fire protection

3.2.6 Electromagnetic compatibility

3.4 Ingress protection

3.5 Option module fitting / removal

3.6 Mounting methods

3.7 Enclosure

3.7.1 Enclosure Layout

3.7.2 Enclosure sizing

3.8 Ventilation

3.9 Baffle plates

3.10 Ambient temperature

3.11 RFI filters

3.11.1 Unidrive size 1 filters

3.11.2 Unidrive size 2 filters

3.11.3 Unidrive size 3 and 4 filters

3.12 Power terminals

3.12.1 Location of power and ground terminals

3.12.2 Terminal sizes and torque settings

3.13 Routine maintenance

4 Electrical Installation

4.1 Power connections

4.1.1 Unidrive size 5 control / power module connections

4.2 AC supply requirements

4.2.1 IT supplies

4.2.2 Installation category

4.2.3 Supplies requiring line reactors

4.2.4 Input inductor calculation.

4.3 Supplying the drive with DC / DC bus paralleling

4.4 Ratings

4.4.1 Typical input current

4.4.2 Maximum continuous input current

4.4.3 Fuse Types

4.4.4 Ground connections

4.4.5 Main AC supply contactor

4.5 Output circuit and motor protection

4.5.1 Cable types and lengths

4.5.2 Multiple motors

4.5.4 Output contactor

4.5.3 Star / delta motor operation

4.6 Braking