Control Techniques Unidrive M700, Unidrive M701, Unidrive M702 User Guide

Control User Guide

Unidrive M700 Unidrive M701 Unidrive M702

Universal Variable Speed AC drive for induction and permanent magnet motors

Part Number: 0478-0353-01 Issue: 1

Original Instructions

For the purposes of compliance with the EU Machinery Directive 2006/42/EC:

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 firmware version

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

The firmware version of the drive can be checked by looking at Pr 11.029.

Environmental statement

Emerson Industrial Automation 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

http://www.emersonindustrial.com/en-EN/controltechniques/aboutus/environment/Pages/environment.aspx

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

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

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

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

REACH legislation

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

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

www.emersonindustrial.com/en-EN/controltechniques/aboutus/environment/reachregulation/Pages/reachregulation.aspx

Copyright © June 2016 Emerson Industrial Automation. The information contained in this guide is for guidance only and does not form part of any contract. The accuracy cannot be guaranteed as Emerson have an ongoing process of development and reserve the right to change the specification of their products without notice. Control Techniques Limited. Registered Office: The Gro, Newtown, Powys SY16 3BE. Registered in England and Wales. Company Reg. No. 01236886. Moteurs Leroy-Somer SAS. Headquarters: Bd Marcellin Leroy, CS 10015, 16915 Angoulême Cedex 9, France. Share Capital: 65 800 512 €, RCS Angoulême 338 567 258.

Issue Number: 1

Drive Firmware: 01.13.01.00 onwards

Ethernet Firmware: 01.06.01.04 onwards

For patent and intellectual property related information please go to: www.ctpatents.info.

How to use this guide

NOTE

Quick Start /

bench testing

Quick Start /

bench testing

Familiarisation

System design

Programming

and

commissioning

Programming

and

commissioning

Troubleshooting

1 Safety information

2 Product information

3 Mechanical installation

4 Electrical installation

5 Getting started

6 Basic parameters

7 Running the motor

8 Optimization

9 NV media card operation

11 Advanced parameters

1 Diagnostics2

1 UL listing information3

10 Onboard PLC

This guide is intended to be used in conjunction with the appropriate Power Installation Guide. The Power Installation Guide gives information necessary to physically install the drive. This guide gives information on drive configuration,

operation and optimization.

There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1 Safety information 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, but for specific information, refer to Contents on page 4:

Contents

1 Safety information .................................8

1.1 Warnings, Cautions and Notes .............................8

1.2 Electrical safety - general warning ........................8

1.3 System design and safety of personnel ................8

1.4 Environmental limits ..............................................8

1.5 Access ...................................................................8

1.6 Fire protection .......................................................8

1.7 Compliance with regulations .................................8

1.8 Motor .....................................................................8

1.9 Mechanical brake control ......................................8

1.10 Adjusting parameters ............................................8

1.11 Electrical installation ..............................................9

2 Product information ............................10

2.1 Introduction .........................................................10

2.2 Model number .....................................................10

2.3 Ratings ................................................................11

2.4 Operating modes .................................................12

2.5 Compatible position feedback devices ................13

2.6 Nameplate description ........................................14

2.7 Options ................................................................15

3 Mechanical installation .......................18

3.1 Installing / removing option modules

and keypads ........................................................18

3.2 Real time clock battery replacement ...................20

4 Electrical installation ...........................21

4.1 24 Vdc supply ......................................................21

4.2 Communication connections ...............................22

4.3 Control connections ............................................23

4.4 Position feedback connections ............................29

4.5 Safe Torque Off (STO) ........................................35

7 Running the motor .............................. 67

7.1 Quick start connections ...................................... 67

7.2 Changing the operating mode ........................... 67

7.3 Quick start commissioning / start-up .................. 76

7.4 Setting up a feedback device ............................. 82

7.5 Encoder Simulation Output Set-up ..................... 86

8 Optimization ........................................ 89

8.1 Motor map parameters ....................................... 89

8.2 Maximum motor rated current .......................... 102

8.3 Current limits .................................................... 102

8.4 Motor thermal protection .................................. 102

8.5 Switching frequency ......................................... 103

8.6 High speed operation ....................................... 103

8.7 CT Modbus RTU specification ......................... 105

9 NV Media Card Operation ................ 110

9.1 Introduction ...................................................... 110

9.2 NV Media Card support .................................... 110

9.3 Transferring data .............................................. 111

9.4 Data block header information ......................... 112

9.5 NV Media Card parameters ............................. 113

9.6 NV Media Card trips ......................................... 114

10 Onboard PLC ..................................... 115

10.1 Onboard PLC and Machine Control Studio ...... 115

10.2 Benefits ............................................................ 115

10.3 Features ........................................................... 115

10.4 Onboard PLC parameters ................................ 116

10.5 Onboard PLC trips ........................................... 116

5 Getting started .....................................38

5.1 Understanding the display ...................................38

5.2 Keypad operation ................................................38

5.3 Menu structure ....................................................40

5.4 Menu 0 ................................................................41

5.5 Advanced menus ................................................41

5.6 Changing the operating mode .............................43

5.7 Saving parameters ..............................................43

5.8 Restoring parameter defaults ..............................43

5.9 Parameter access level and security ..................44

5.10 Displaying parameters with non-default

values only ..........................................................44

5.11 Displaying destination parameters only ..............44

5.12 Communications .................................................44

6 Basic parameters .................................47

6.1 Parameter ranges and variable minimum /

maximums ...........................................................47

6.2 Menu 0: Basic parameters ..................................47

6.3 Parameter descriptions .......................................54

6.4 Full descriptions ..................................................56

4 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

11 Advanced parameters .......................117

11.1 Parameter ranges and Variable minimum/

maximums .........................................................120

11.2 Menu 1: Frequency / speed reference ..............132

11.3 Menu 2: Ramps .................................................136

11.4 Menu 3: Frequency slaving, speed

feedback and speed control ..............................139

11.5 Menu 4: Torque and current control ..................150

11.6 Menu 5: Motor control .......................................154

11.7 Menu 6: Sequencer and clock ..........................161

11.8 Menu 7: Analog I/O / Temperature Monitoring ..165

11.9 Menu 8: Digital I/O ............................................168

11.10 Menu 9: Programmable logic,

motorized pot, binary sum and timers ...............174

11.11 Menu 10: Status and trips .................................180

11.12 Menu 11: General drive set-up .........................182

11.13 Menu 12: Threshold detectors, variable

selectors and brake control function .................184

11.14 Menu 13: Standard motion controller ................194

11.15 Menu 14: User PID controller ............................198

11.16 Menus 15, 16 and 17: Option module set-up ....202

11.17 Menu 18: Application menu 1 ...........................203

11.18 Menu 19: Application menu 2 ...........................203

11.19 Menu 20: Application menu 3 ...........................203

11.20 Menu 21: Second motor parameters ................204

11.21 Menu 22: Additional Menu 0 set-up ..................206

11.22 Menu 24: Ethernet status and monitoring

(Unidrive M700 / M702) ....................................207

11.23 Slot 4 Menu 11: Synchronization

(Unidrive M700 / M702) ....................................212

12 Diagnostics ........................................218

12.1 Status modes (Keypad and LED status) ...........218

12.2 Trip indications ..................................................218

12.3 Identifying a trip / trip source .............................219

12.4 Trips, Sub-trip numbers ....................................220

12.5 Internal / Hardware trips ....................................251

12.6 Alarm indications ...............................................252

12.7 Status indications ..............................................252

12.8 Programming error indications ..........................252

12.9 Displaying the trip history ..................................253

12.10 Behaviour of the drive when tripped .................253

13 UL listing information .......................254

13.1 UL file reference ................................................254

13.2 Option modules, kits and accessories ..............254

13.3 Enclosure ratings ..............................................254

13.4 Mounting ...........................................................254

13.5 Environment ......................................................254

13.6 Electrical Installation .........................................254

13.7 Motor overload protection and thermal

memory retention ..............................................255

13.8 Electrical supply ................................................255

13.9 External Class 2 supply ....................................255

13.10 Requirement for Transient Surge Suppression .255

13.11 Group Installation and Modular Drive Systems .255

Unidri ve M7 00 / M701 / M 702 C ontro l Use r Guide 5 Issue Number: 1

EU Declaration of Conformity

Control Techniques Ltd

The Gro

Newtown

Powys

UK

SY16 3BE

This declaration is issued under the sole responsibility of the manufacturer. The object of the declaration is in conformity with the relevant Union

harmonization legislation. The declaration applies to the variable speed drive products shown below:

Model number Interpretation Nomenclature aaaa - bbc ddddde

aaaa Basic series

bb Frame size 01, 02, 03, 04, 05, 06, 07, 08, 09, 10, 11

c Voltage rating 1 = 100 V, 2 = 200 V, 4 = 400 V, 5 = 575 V, 6 = 690 V

ddddd Current rating Example 01000 = 100 A

e Drive format

The model number may be followed by additional characters that do not affect the ratings.

The variable speed drive products listed above have been designed and manufactured in accordance with the following European harmonized

standards:

EN 61800-5-1:2007 Adjustable speed electrical power drive systems - Part 5-1: Safety requirements - Electrical, thermal and energy

EN 61800-3: 2004+A1:2012 Adjustable speed electrical power drive systems - Part 3: EMC requirements and specific test methods

EN 61000-6-2:2005 Electromagnetic compatibility (EMC) - Part 6-2: Generic standards - Immunity for industrial environments

EN 61000-6-4: 2007+ A1:2011

EN 61000-3-2:2014

EN 61000-3-3:2013

EN 61000-3-2:2014 Applicable where input current < 16 A. No limits apply for professional equipment where input power ≥1 kW.

These products comply with the Restriction of Hazardous Substances Directive (2011/65/EU), the Low Voltage Directive (2014/35/EU) and the Electromagnetic Compatibility Directive (2014/30/EU).

M100, M101, M200, M201, M300, M400, M600, M700, M701, M702, F300, H300, E200,E300, HS30, HS70, HS71, HS72, M000, RECT

A = 6P Rectifier + Inverter (internal choke), D = Inverter, E = 6P Rectifier + Inverter (external choke), T = 12P Rectifier + Inverter (external choke)

Electromagnetic compatibility (EMC) - Part 6-4: Generic standards - Emission standard for industrial environments

Electromagnetic compatibility (EMC) - Part 3-2: Limits for harmonic current emissions (equipment input current ≤16 A per phase)

Electromagnetic compatibility (EMC) - Part 3-3: Limitation of voltage changes, voltage fluctuations and flicker in public, low voltage supply systems, for equipment with rated current ≤16 A per phase and not subject to conditional connection

Moteurs Leroy-Somer

Usine des Agriers

Boulevard Marcellin Leroy

CS10015

16915 Angoulême Cedex 9

France

G Williams

Vice President, Technology

Date: 17th March 2016

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 installers who are familiar with requirements for safety and EMC. Refer to the Product Documentation. An EMC data sheet is available giving detailed information. 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.

6 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

EU Declaration of Conformity (including 2006 Machinery Directive)

G. Williams

Vice President, Technology

Date: 17th March 2016

Place: Newtown, Powys, UK

Control Techniques Ltd

The Gro

Newtown

Powys

UK

SY16 3BE

This declaration is issued under the sole responsibility of the manufacturer. The object of the declaration is in conformity with the relevant Union

harmonization legislation. The declaration applies to the variable speed drive products shown below:

Model No. Interpretation Nomenclature aaaa - bbc ddddde

aaaa Basic series M300, M400, M600, M700, M701, M702, F300, H300, E200, E300, HS30, HS70, HS71, HS72, M000, RECT

bb Frame size 01, 02, 03, 04, 05, 06, 07, 08, 09, 10, 11

c Voltage rating 1 = 100 V, 2 = 200 V, 4 = 400 V, 5 = 575 V, 6 = 690 V

ddddd Current rating Example 01000 = 100 A

e Drive format

The model number may be followed by additional characters that do not affect the ratings.

This declaration relates to these products when used as a safety component of a machine. Only the Safe Torque Off function may be used for a safety function of a machine. None of the other functions of the drive may be used to carry out a safety function.

These products fulfil all the relevant provisions of the Machinery Directive 2006/42/EC and the Electromagnetic Compatibility Directive (2014/30/EU).

EC type examination has been carried out by the following notified body:

TUV Rheinland Industrie Service GmbH

Am Grauen Stein

D-51105 Köln

Germany

A = 6P Rectifier + Inverter (internal choke), D = Inverter, E = 6P Rectifier + Inverter (external choke), T = 12P Rectifier + Inverter (external choke)

Moteurs Leroy-Somer

Usine des Agriers

Boulevard Marcellin Leroy

CS10015

16915 Angoulême Cedex 9

France

EC type-examination certificate numbers:

01/205/5270.01/14 dated 2014-11-11

01/205/5387.01/15 dated 2015-01-29

01/205/5383.02/15 dated 2015-04-21

Notified body identification number: 0035

The harmonized standards used are shown below:

EN 61800-5-1:2007 Adjustable speed electrical power drive systems - Part 5-1: Safety requirements - Electrical, thermal and energy

EN 61800-5-2:2007 Adjustable speed electrical power drive systems - Part 5-2: Safety requirements - Functional

EN ISO 13849-1:2008 Safety of Machinery, Safety-related parts of control systems, General principles for design

EN ISO 13849-2:2008 Safety of machinery, Safety-related parts of control systems. Validation

EN 61800-3: 2004+A1:2012 Adjustable speed electrical power drive systems - Part 3: EMC requirements and specific test methods

EN 62061:2005

Person authorised to complete the technical file:

P Knight

Conformity Engineer

Newtown, Powys, UK

IMPORTANT NOTICE

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 installers who are familiar with requirements for safety and EMC. Refer to the Product Documentation. An EMC data sheet is available giving detailed information. 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.

Unidrive M700 / M701 / M702 Control User Guide 7 Issue Number: 1

Safety of machinery, Functional safety of safety related electrical, electronic and programmable electronic control

systems

Safety

WARNING

CAUTION

NOTE

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

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.

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

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

1.2 Electrical safety - general warning

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

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

1.3 System design and safety of

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

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

Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction. System design, installation, commissioning/ start-up and maintenance must be carried out by personnel who have the necessary training and experience. They must read this safety information and this Control User Guide carefully.

The STOP and Safe Torque Off functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit. The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections.

With the sole exception of the Safe Torque Off function, none of the drive functions must be used to ensure safety of personnel, i.e. they must not be used for safety-related functions.

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

The Safe Torque Off function may be used in a safety-related application. The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards.

personnel

1.5 Access

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

1.6 Fire protection

The drive enclosure is not classified as a fire enclosure. A separate fire enclosure must be provided. For further information, refer to the relevant

Power Installation Guide.

1.7 Compliance with regulations

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

The Power Installation 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:

2006/42/EC Safety of machinery. 2014/30/EU: Electromagnetic Compatibility Directive

1.8 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 installed with a protection thermistor. If necessary, an electric forced vent fan should be used.

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

It is essential that the correct value is entered in Pr 00.046 motor rated current. This affects the thermal protection of the motor.

1.9 Mechanical brake control

The brake control functions are provided to allow well co-ordinated operation of an external brake with the drive. While both hardware and software are designed to high standards of quality and robustness, they are not intended for use as safety functions, i.e. where a fault or failure would result in a risk of injury. In any application where the incorrect operation of the brake release mechanism could result in injury, independent protection devices of proven integrity must also be incorporated.

1.10 Adjusting parameters

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

1.4 Environmental limits

Instructions in the Power Installation 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.

8 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

1.11 Electrical installation

1.11.1 Electric shock risk

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

AC supply cables and connections

Output cables and connections

Many internal parts of the drive, and external option units

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

1.11.2 Stored charge

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

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

UL listing

information

Unidrive M700 / M701 / M702 Control User Guide 9 Issue Number: 1

Safety

Identification Label

Electrical Specifications

Derivative

Unidrive M700 Product Line

700 - Ethernet 701 - EIA 485

Frame Size:

Voltage Rating:

Current Rating:

Heavy Duty current rating x 10

Power Format:

Reserved

0

Optional Build

Customer Code

01

A B 1 00

Customer Code:

00 = 50 Hz 01 = 60 Hz

Reserved:

Conformal Coating:

0 = Standard

IP / NEMA Rating:

1 = IP20 / NEMA 1

Brake Transistor:

Cooling:

A=Air

Documentation

1

Documentation:

702 - Ethernet, 2 x STO

2 - 200 V (200 - 240 ± 10 %) 4 10 %)- 400 V (380 - 480 ± 5 10 %)- 575 V (500 - 575 ± 6 10 %)- 690 V (500 - 690 ±

Power

Format

M700 - 03 4 00078 A

Configuration*

1

A - AC inAC out (with internal choke) D - DC in AC out (Inverter) C - AC in DC out (Rectifier) E - AC in AC out (without internal choke) T - AC in AC out (12P Rectifier plus Inverter)

Configuration:

1 - Standard U - No Control M - Master F - Follower

0 - Supplied separately 1 - English 2 - French 3 - Italian 4 - German 5 - Spanish

B = Brake N = No

NOTE

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

2 Product information

2.1 Introduction

Universal AC and servo drive

This product family consists of Unidrive M700, Unidrive M701 and Unidrive M702, these deliver maximum machine performance.

Common features (Unidrive M700, 701 and 702)

• Universal high performance open and closed loop control for induction, servo, permanent magnet and linear motors

• Automation and motion option module for direct migration of SyPTPro / SM-Applications programs

• Onboard IEC 61131-3 programmable automation and motion control

• Flexibility with speed and position measurement, supporting multiple devices and all common interfaces

• NV Media Card for parameter copying and data storage

Optional features (Unidrive M700, 701 and 702)

• Select up to three option modules including programmable automation and motion control.

Unidrive M700

• Ethernet fieldbus communications

• Single channel Safe Torque Off (STO) input

Unidrive M701

• Provides a direct replacement / upgrade for Unidrive SP

• EIA 485 serial communications interface

• Single channel Safe Torque Off (STO) input

Unidrive M702

• Ethernet fieldbus communications

• Dual channel Safe Torque Off (STO) input

UL listing

information

2.2 Model number

The way in which the model numbers for the Unidrive M700 range are formed is illustrated below:

Figure 2-1 Model number

* Only shown on Frame size 9, 10 and 11 identification label.

For simplicity a Frame 9 drive with no internal choke (i.e. model 09xxxxxxE) is referred to as a Frame 9E and a Frame 9 drive with an internal choke (i.e. model 09xxxxxxA) is referred to as a Frame 9A. Any reference to Frame 9 is applicable to both sizes 9E and 9A.

10 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

Available output

current

Overload limit -

Heavy Duty

Maximum continuous current (above 50% base speed) -

Normal Duty

Maximum continuous current -

Heavy Duty

Motor rated current set in the drive

Heavy Duty

- with high

overload capability

Normal Duty

Overload limit -

Normal Duty

NOTE

Motor total

current (Pr 04.001)

as a percentage

of motor rated

current

Motor speed as a percentage of base speed

100%

Max. permissible continuous current

100%

I t protection operates in this region

2

70%

50%15%

Pr = 0 Pr = 1

04.025

Motor total

current (Pr 04.001)

as a percentage

of motor rated

current

Motor speed as a

percentage of base speed

100%

Max. permissible continuous current

100%

I t protection operates in this region

2

70%

50%

Pr = 0

Pr = 1

04.025

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

2.3 Ratings

The drive is dual rated. The setting of the motor rated current determines which rating applies Heavy Duty or Normal Duty. The two ratings are compatible with motors designed to IEC60034. The graph aside illustrates the difference between Normal Duty and Heavy Duty with respect to continuous current rating and short term overload limits.

Normal Duty Heavy Duty (default)

For applications which use Self ventilated (TENV/TEFC) induction motors and require a low overload capability, and full torque at low speeds is not required (e.g. fans, pumps). Self ventilated (TENV/TEFC) induction motors require increased protection against overload due to the reduced cooling effect of the fan

at low speed. To provide the correct level of protection the I

2

t software operates at a level which is speed dependent. This is illustrated in the graph below.

The speed at which the low speed protection takes effect can be changed by the setting of Low Speed Thermal Protection Mode (04.025). The protection starts when the motor speed is below 15 % of base speed when Pr 04.025 = 0 (default) and below 50 % when Pr 04.025 = 1.

Operation of motor I2t protection

Motor I2t protection is fixed as shown below and is compatible with:

• Self ventilated (TENV/TEFC) induction motors

For constant torque applications or applications which require a high overload capability, or full torque is required at low speeds (e.g. winders, hoists). The thermal protection is set to protect force ventilated induction motors and permanent magnet servo motors by default.

N

If the application uses a self ventilated (TENV/TEFC) induction motor and increased thermal protection is required for speeds below 50 % base speed, then this can be enabled by setting Low Speed Thermal Protection Mode (04.025) = 1.

Motor I2t protection defaults to be compatible with:

• Forced ventilation induction motors

• Permanent magnet servo motors

Onboard

PLC

Advanced

parameters

Diagnostics

UL listing

information

Unidrive M700 / M701 / M702 Control User Guide 11 Issue Number: 1

Safety

NOTE

information

Product

information

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2.4 Operating modes

The drive is designed to operate in any of the following modes:

1. Open loop mode Open loop vector mode Fixed V/F mode (V/Hz) Quadratic V/F mode (V/Hz)

2. RFC - A

With position feedback sensor Without position feedback sensor (Sensorless)

3. RFC - S

With position feedback sensor Without position feedback sensor (Sensorless)

4. Regen mode

2.4.1 Open loop mode

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 speed control 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.

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 is available down to 1 Hz for a 50 Hz motor.

Fixed 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 can be used for multi-motor applications.

Typically 100 % torque is available down to 4 Hz for a 50 Hz motor.

Quadratic V/F mode

The voltage applied to the motor is directly proportional to the square of the frequency except at low speed where a voltage boost is provided which is set by the user. This mode can be used for running fan or pump applications with quadratic load characteristics or for multi-motor applications. This mode is not suitable for applications requiring a high starting torque.

2.4.2 RFC-A mode

Rotor Flux Control for Asynchronous (induction) motors (RFC-A) encompasses closed loop vector control with a position feedback device

With position feedback

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

Without position feedback (Sensorless)

Sensorless mode provides closed loop control without the need for position feedback by using current, voltages and key motor parameters to estimate the motor speed. It can eliminate instability traditionally associated with open loop control such as operating large motors with light loads at low frequencies.

2.4.3 RFC- S mode

Rotor Flux Control for Synchronous (permanent magnet brushless) motors (RFC-S) provides closed loop control with position feedback device.

With position feedback

For use with permanent magnet brushless motors with a feedback device installed.

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. Full torque is available all the way down to zero speed.

2.4.4 Regen mode

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 SCR/thyristor front end.

Contact the supplier of the drive for further information.

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2.5 Compatible position feedback devices

Table 2-1 Supported feedback devices

Encoder type Pr 3.038 setting

Quadrature incremental encoders with or without marker pulse AB (0) Quadrature incremental encoders with UVW commutation signals for absolute position for permanent magnet motors

with or without marker pulse Forward / reverse incremental encoders with or without marker pulse FR (2) Forward / reverse incremental encoders with UVW commutation signals for absolute position for permanent magnet

motors with or without marker pulse Frequency and direction incremental encoders with or without marker pulse FD (1) Frequency and direction incremental encoders with UVW commutation signals for absolute position for permanent

magnet motors with or without marker pulse Sincos incremental encoders SC (6) Sincos incremental with commutation signals SC Servo (12) Heidenhain sincos encoders with EnDat comms for absolute position SC EnDat (9) Stegmann sincos encoders with Hiperface comms for absolute position SC Hiperface (7) Sincos encoders with SSI comms for absolute position SC SSI (11) Sincos incremental with absolute position from single sin and cosine signals SC SC (15) SSI encoders (Gray code or binary) SSI (10) EnDat communication only encoders EnDat (8) Resolver Resolver (14) UVW commutation only encoders* (not currently supported) Commutation only (16)

* This feedback device provides very low resolution feedback and should not be used for applications requiring a high level of performance.

AB Servo (3)

FR Servo (5)

FD Servo (4)

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Unidrive M700 / M701 / M702 Control User Guide 13 Issue Number: 1

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Refer to

User Guide

Model

Frame

size

Voltage

Heavy Duty

current rating

Drive format

Approvals

Input voltage

Output

voltage

Heavy Duty / Normal Duty power rating

Customer and date code

Serial number

Input

frequency

No.of phases & Typical input current for Normal Duty rating

Heavy Duty / Normal Duty rating output current

M700-074-00660-A 30/37kW STDV02

I/P 380-480V 50-60Hz 3ph 74A O/P 0-480V 3ph 66/79A

Designed in UK Made in U.K. Serial No: 3000005001

No. of Input phase & Input current

No. of Output phase & Heavy Duty/ Normal Duty Rating Output current

Model

Input

frequency

Heavy Duty /

Normal Duty power rating

Customer and date code

Approvals

Serial number

Output voltage

Input

voltage

Large label*

CE approval Europe

RCM - Regulatory Compliance Mark

Australia

UL / cUL approval

USA &

Canada

RoHS compliant Europe

Functional safety

USA &

Canada

EurAsian Conformity EurAsia

R

Key to approvals

NOTE

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2.6 Nameplate description

Figure 2-2 Typical drive rating labels

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* This label is only applicable to Size 7 and above.

Refer to Figure 2-1 Model number on page 10 for further information relating to the labels.

Date code format

The date code is split into two sections: a letter followed by a number. The letter indicates the year, and the number indicates the week number (within the year) in which the drive was built.The letters go in alphabetical order, starting with A in 1991 (B in 1992, C in 1993 etc).

Example: A date code of W28 would correspond to week 28 of year 2013.

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2.7 Options

Figure 2-3 Options available with the drive

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1. Keypad

2. Option module slot 1

3. Option module slot 2

4. Option module slot 3

5. CT USB Comms cable

6. Internal braking resistor (available on size 3, 4 and 5)

7. NV media card

* For further information, refer to Chapter 9 NV Media Card Operation on page 110.

Unidrive M option modules come in two different formats, a standard option module and a large option module. All standard option modules are colorcoded in order to make identification easy, whereas the larger option module is black. All modules have an identification label on top of the module. Standard option modules can be installed to any of the available option slots on the drive, whereas the large option modules can only be installed to option slot 3. The following tables shows the color-code key and gives further details on their function.

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Table 2-2 Option module identification

Typ e

Option

module

Color Name Further Details

N/A

Feedback

N/A

N/A KI-485 Adaptor

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15-way D-type converter

Single ended encoder interface (15V or 24V)

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Drive encoder input converter

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

Single ended encoder interface

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

EIA 485 Comms Adaptor

EIA 485 Comms adaptor provides EIA 485 communication interface. This adaptor supports 115 k Baud, node addresses between 1 to 16 and 8 1 NP M serial mode.

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Fieldbus

Automation

(I/O expansion)

Automation

(Applications)

Purple SI-PROFIBUS

Medium Grey SI-DeviceNet

Light Grey SI-CANopen

Beige SI-Ethernet

Yellow Green SI-PROFINET V2

Brown Red SI-EtherCAT

Orange SI-I/O

Moss Green MCi200

Moss Green MCi210

Black SI-Applications Plus

Profibus option

PROFIBUS adapter for communications with the drive

DeviceNet option

DeviceNet adapter for communications with the drive

CANopen option

CANopen adapter for communications with the drive

External Ethernet module that supports EtherNet/IP, Modbus TCP/IP and RTMoE. The module can be used to provide high speed drive access, global connectivity and integration with IT network technologies, such as wireless networking

PROFINET V2 option

PROFINET V2 adapter for communications with the drive Note: PROFINET V2 replaces PROFINET RT.

EtherCAT option

EtherCAT adapter for communications with the drive

Extended I/O

Increases the I/O capability by adding the following combinations:

• Digital I/O

• Digital Inputs

• Analog Inputs (differential or single ended)

• Analog Output

• Relays

Machine Control Studio Compatible Applications Processor

2nd processor for running pre-defined and/or customer created application software.

Machine Control Studio Compatible Applications Processor (with Ethernet communications)

2nd processor for running pre-defined and/or customer created application software with Ethernet communications.

SyPTPro Compatible Applications Processor (with CTNet)

2nd processor for running pre-defined and/or customer created application software with CTNet support (can only be used on Slot 3).

Light Brown SI-Encoder Incremental encoder input interface module.

Feedback

Dark Brown SI-Universal Encoder

Safety Yellow SI-Safety

Additional combined encoder input and output interface supporting Incremental, SinCos, HIPERFACE, EnDAT and SSI encoders.

Safety module that provides an intelligent, programmable solution to meet the IEC 61800-5-2 functional safety standard

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Table 2-3 Keypad identification

Type Keypad Name Further Details

KI-Keypad

KI-Keypad RTC

LCD keypad option

Keypad with a LCD display

LCD keypad option

Keypad with a LCD display and real time clock

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Keypad

Remote-Keypad RTC

Remote-Keypad

Remote LCD keypad option

Remote Keypad with a LCD display and real time clock

Remote LCD keypad option

Remote Keypad with a LCD display

Table 2-4 Additional options

Type Option Name Further Details

SD Card Adaptor

Allows the drive to use an SD card for drive back-up

Back-up

SMARTCARD

Used for parameter back-up with the drive

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3 Mechanical installation

3.1 Installing / removing option modules and keypads

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

Figure 3-1 Installation of a standard option module

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Installing the first option module

Option module slots must be used in the following order: slot 3, slot 2 and slot 1 (refer to section 2.7 Options on page 15 for slot numbers).

• Move the option module in direction shown (1).

• Align and insert the option module tab in to the slot provided (2), this is highlighted in the detailed view (A).

• Press down on the option module until it clicks into place.

Installing the second option module

• Move the option module in direction shown (3).

• Align and insert the option module tab in to the slot provided on the already installed option module (4), this is highlighted in the detailed view (B).

• Press down on the option module until it clicks into place. Image (5) shows two option modules fully installed.

Installing the third option module

• Repeat the above process.

The drive has the facility for all three option module slots to be used at the same time, image (6) shows the three option modules installed.

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Figure 3-2 Removal of a standard option module

• Press down on the tab (1) to release the option module from the drive housing, the tab is highlighted in the detailed view (A).

• Tilt the option module towards you as shown (2).

• Totally remove the option module in direction shown (3).

Figure 3-3 Installation and removal of a large option module

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Installing a large option module

• Move the option module in direction shown (1).

• Align and insert the option module tabs (A) into the slot provided (B).

• Press down on the option module until it clicks into place.

Removing a large option module

• Press down on the tab (2C), tilt the option module towards you and remove.

The large option module can only be inserted into slot 3. Additional standard option modules can still be installed and used in slot 2 and slot 1.

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Figure 3-4 Installation and removal of the KI-Keypad

To install, align the keypad and press gently in the direction shown until it clicks into position.

To remove, reverse the installation instructions.

N

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

3.2 Real time clock battery replacement

Those keypads which have the real time clock feature contain a battery to ensure the clock works when the drive is powered down. The battery has a long life time but if the battery needs to be replaced or removed, follow the instructions below.

Low battery voltage is indicated by

Figure 3-5 KI-Keypad RTC (rear view)

Figure 3-5 above illustrates the rear view of the KI-Keypad RTC.

1. To remove the battery cover insert a flat head screwdriver into the slot as shown (1), push and turn anti-clockwise until the battery cover is

released.

2. Replace the battery (the battery type is: CR2032).

3. Reverse point 1 above to replace battery cover.

low battery symbol on the keypad display.

Ensure the battery is disposed of correctly.

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52

51 5251

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4 Electrical installation

4.1 24 Vdc supply

The 24 Vdc supply connected to control terminals 1 & 2 provides the following functions:

• It can be used to supplement the drive's own internal 24 V supply when multiple option modules are being used and the current drawn by these module is greater than the drive can supply.

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

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

• If the DC bus voltage is too low to run the main SMPS in the drive, then the 24 V supply can be used to supply all the low voltage power requirements of the drive. Low Under Voltage Threshold Select (06.067) must also be enabled for this to happen.

On size 6 and larger, the power 24 Vdc supply (terminals 51, 52) must be connected to enable the 24 V dc supply to be used as a backup supply, when the line power supply is removed. If the power 24 Vdc supply is not connected none of the above mentioned functions can be used, "Waiting For Power Systems" will be displayed on the keypad and no drive operations are possible. The location of the power 24 Vdc can be identified from Figure 4-1 Location of the 24 Vdc power supply connection on size 6 on page 21.

Table 4-1 24 Vdc Supply connections

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

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 19.2 V

Maximum continuous operating voltage 28.0 V

Minimum start up voltage 21.6 V

Maximum power supply requirement at 24 V 40 W

Recommended fuse 3 A, 50 Vdc

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

Function Sizes 3-5 Sizes 6-11

Supplement the drive’s

internal supply

Back-up supply for the

control circuit

Terminal

1, 2

Terminal

1, 2

Terminal

51, 52

1 0V (Common connection for all external devices)

2 +24 Vdc

1, 2

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

51 0V (Common connection for all external devices)

52 +24 Vdc

Size 6

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 18.6 Vdc

Maximum continuous operating voltage 28.0 Vdc

Minimum startup voltage 18.4 Vdc

Maximum power supply requirement 40 W

Recommended fuse 4 A @ 50 Vdc

Size 7 to 11

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 19.2 Vdc

Maximum continuous operating voltage

30 Vdc (IEC), 26 Vdc (UL)

Minimum startup voltage 21.6 Vdc

Maximum power supply requirement 60 W

Recommended fuse 4 A @ 50 Vdc

Figure 4-1 Location of the 24 Vdc power supply connection on size 6

1. 24 Vdc power supply connection

Figure 4-2 Location of the 24 Vdc power supply connection on size 7

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1 1

8

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Figure 4-3

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Location of the 24 Vdc power supply connection on size 8 to 11

4.2 Communication connections

The Unidrive M700 / M702 drive offers Ethernet fieldbus communications and the Unidrive M701 drive offers a 2 wire EIA 485 interface. This enables the drive set-up, operation and monitoring to be carried out with a PC or controller if required.

Figure 4-4 Location of the comms connectors

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Standard Ethernet cables are not recommended for use when

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connecting drives on a EIA 485 network as they do not have the correct twisted pairs for the pinout of the serial comms port.

If an Ethernet network adaptor is inadvertently connected to a Unidrive-M701 EIA 485 drive, a low impedance load across the EIA 485 24 V is applied and if connected for a significant period of time can introduce the potential risk of damage.

Table 4-2 Serial communication port pin-outs

Pin Function

1 120 Ω Termination resistor

2RX TX

3 Isolated 0V

4 +24 V (100 mA) output

5 Isolated 0V

6 TX enable

7RX\ TX\

8 RX\ TX\ (if termination resistors are required, link to pin 1)

Shell Isolated 0V

Minimum number of connections are 2, 3, 7 and shield.

4.2.3 Unidrive M701 Isolation of the EIA 485 serial communications port

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

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4.2.1 Unidrive M700 / M702 Ethernet fieldbus communications

The Ethernet option provides two RJ45 connections with an Ethernet switch for easy network creation.

Standard UTP (unshielded twisted pair) or STP (shielded twisted pair) cables are supported. It is recommended that a minimum specification CAT5e is used in new installations. As the drive supports the ‘Auto cross-over detection’ a cross-over cable is not required.

The shell of the RJ45 connector is isolated from the 0V of the drive control terminals but it is connected to ground.

4.2.2 Unidrive M701 EIA 485 serial communications

The EIA 485 interface provides two parallel RJ45 connectors allowing easy daisy chaining. The drive only supports Modbus RTU protocol. See Table 4-2 for the connection details.

In order to meet the requirements for SELV in IEC60950 (IT equipment) it is necessary for the control computer to be grounded. Alternatively, when a lap-top or similar device is used which has no provision for grounding, an isolation device must be incorporated in the communications lead.

An isolated serial communications lead has been designed to connect the drive to IT equipment (such as laptop computers), and is available from the supplier of the drive. See below for details:

Table 4-3 Isolated serial comms lead details

Part number Description

4500-0096 CT USB Comms cable

The “isolated serial communications” lead has reinforced insulation as defined in IEC60950 for altitudes up to 3,000 m.

4.2.4 Communication networks and cabling

Any isolated signal circuit has the capability to become live through accidental contact with other conductors; as such they should always be double-insulated from live parts. The routing of network and signal wires should be done so as to avoid close proximity to mains voltage cabling.

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Analog Input 1+

Analog Input 3

0V

Analog Input 1-

5

8

11

6

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4.3 Control connections

4.3.1 Unidrive M700 / M701 control connections

Table 4-4 The control connections consist of:

Function Qty

Control parameters

available

Differential analog input 1 Mode, offset, invert, scaling 5, 6

Single ended analog input

Mode, offset, invert, scaling,

2

destination

Analog output 2 Source, scaling 9, 10

Digital input 3

Destination, invert, logic select

Input / output mode select,

Digital input / output 3

destination / source, invert, logic select

Relay 1 Source, invert 41, 42

Drive enable (Safe Tor q u e O ff)

131

+10 V User output 1 4

+24 V User output 1 Source, invert 22

0V common 6

+24V External input 1 Destination, invert 2

Key:

Destination parameter:

Source parameter:

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

Indicates the parameter being output by the terminal

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

Mode parameter:

Digital - indicates the mode of operation of the terminal, i.e. positive / negative logic (the Drive Enable terminal is fixed in positive logic), open collector.

All analog terminal functions can be programmed in menu 7.

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

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

Ter mina l

number

7, 8

27, 28, 29

24, 25, 26

1, 3, 11, 21,

23, 30, 51

(size 6 and

larger)

N

Any signal cables which are carried inside the motor cable (i.e. motor thermistor, motor brake) will pick up large pulse currents via the cable capacitance. The shield of these signal cables must be connected to ground close to the point of exit of the motor cable, to avoid this noise current spreading through the control system.

N

The Safe Torque Off drive enable terminal is a positive logic input only. It is not affected by the setting of Input Logic Polarity (08.029).

N

The common 0V from analog signals should, wherever possible, 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 30 for digital signals. This is to prevent small voltage drops in the terminal connections causing inaccuracies in the analog signals.

N

A two wire motor thermistor can be connected to analog input 3 by connecting the thermistor between terminal 8 and any 0V common terminal. It is possible to connect a 4-wire thermistor to analog input 3 as shown below. Pr 07.015 and Pr 07.046 need to be set-up for the thermistor type required.

Figure 4-5 Connection for PT100, PT1000 and PT2000 thermistors

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

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

Ensure the logic sense is correct for the control circuit to be used. Incorrect logic sense could cause the motor to be started unexpectedly. Positive logic is the default state for the drive.

Unidrive M700 / M701 / M702 Control User Guide 23 Issue Number: 1

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1

11

Polarized connectors

21 31

41

42

0V common External 24V supply

0V common

Analog frequency/speed reference 1

Connections for

single-ended input

signal

Connections for

differential input signal

0V common

Analog input 2

Analog input 1

0V common

1

2

5

6

3

5

6

3

21

22

23

24

25

26

27

28

29

30

31

41

42

At zero speed

Reset

Run forward

Run reverse

Analog input 1/

input 2 select

Jog forward select

S/afe Torque Off

Drive enable*

Relay

(Over voltage

category II)

Drive OK

Speed / frequency

0V common

Analog

frequency/speed

reference 2

4

7

11

9

10

8

Torque (active

current)

Analog input 3

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Figure 4-6 Default terminal functions

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4.3.2 Unidrive M700 / M701 control terminal specification

1 0V common

Function

2 +24V external input

Function

Programmability

Sample / update 2 ms

Nominal voltage +24.0 Vdc

Minimum continuous operating voltage

Maximum continuous operating voltage

Minimum start-up voltage 21.6 Vdc

Recommended power supply 40 W 24 Vdc nominal

Recommended fuse 3 A, 50 Vdc

3 0V common

Function

4 +10V user output

Function Supply for external analog devices

Voltage 10.2 V nominal Voltage tolerance ±1 %

Nominal output current 10 mA

Protection Current limit and trip @ 30 mA

Common connection for all external devices

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

Can be used as digital input when using an external 24 V supply

+19.2 Vdc

+28.0 Vdc

Common connection for all external devices

*The Safe Torque Off / Drive enable terminal is a positive logic input only.

N

The 0V terminals on the Safe Torque Off are not isolated from each other and the 0V common.

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Precision reference Analog input 1

5 Non-inverting input

6 Inverting input

Default function Frequency/speed reference

Type of input

Mode controlled by: Pr 07.007

Bipolar differential analog voltage or current, thermistor input

Operating in Voltage mode

Full scale voltage range ±10 V ±2 %

Maximum offset ±10 mV

Absolute maximum voltage range

Working common mode voltage range

Input resistance ≥100 kΩ

Monotonic Yes (including 0V)

Dead band None (including 0V)

Jumps None (including 0V)

Maximum offset 20 mV

Maximum non linearity 0.3% of input

Maximum gain asymmetry 0.5 %

Input filter bandwidth single pole ~3 kHz

±36 V relative to 0V

±13 V relative to 0V

Operating in current mode

Current ranges

Maximum offset 250 μA

Absolute maximum voltage (reverse biased)

Equivalent input resistance ≤300 Ω

Absolute maximum current ±30 mA

Operating in thermistor input mode (in conjunction with analog input 3), refer to Pr 07.046 and Figure 4-5 for further details.

Trip threshold resistance User defined in Pr 07.048 Short-circuit detection resistance 50 Ω ± 40 %

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

±36 V relative to 0V

Common to all modes

Resolution 12 bits (11 bits plus sign)

250 µs with destinations Pr 01.036,

Sample / update period

Pr 01.037, Pr 03.022 or Pr 04.008 in RFC-A and RFC-S modes. 4 ms for open loop mode and all other destinations in RFC-A or RFC-S modes.

Analog input 2

7

Default function Frequency / speed reference

Type of input

Mode controlled by... Pr 07.011

Bipolar single-ended analog voltage or unipolar current

Operating in voltage mode

Full scale voltage range ±10 V ±2 %

Maximum offset ±10 mV

Absolute maximum voltage range ±36 V relative to 0V

Input resistance

≥100 k Ω

Operating in current mode

Current ranges

Maximum offset 250 μA

Absolute maximum voltage (reverse bias)

Absolute maximum current ±30 mA Equivalent input resistance ≤ 300 Ω

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

±36 V relative to 0V

Common to all modes

Resolution 12 bits (11 bits plus sign)

250 µs with destinations Pr 01.036,

Sample / update

Analog input 3

8

Pr 01.037 or Pr 03.022, Pr 04.008 in RFC-A or RFC-S. 4ms for open loop mode and all other destinations in RFC-A or RFC-S mode.

Default function Voltage input

Type of input

Mode controlled by... Pr 07.015

Bipolar single-ended analog voltage, or thermistor input

Operating in Voltage mode (default)

Voltage range ±10 V ±2 %

Maximum offset ±10 mV

Absolute maximum voltage range ±36 V relative to 0V Input resistance ≥100 k Ω

Operating in thermistor input mode

Supported thermistor types

Trip threshold resistance User defined in Pr 07.048

Reset resistance User defined in Pr 07.049 Short-circuit detection resistance 50 Ω ± 40 %

Din 44082, KTY 84, PT100, PT 1000, PT 2000, 2.0 mA

Common to all modes

Resolution 12 bits (11 bits plus sign) Sample / update period 4 ms

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Analog output 1

9

10 Analog output 2

OL> Motor FREQUENCY output

Terminal 9 default function

signal RFC> SPEED output signal

Terminal 10 default function Motor active current

Type of output Bipolar single-ended analog voltage

Operating in Voltage mode

Voltage range ±10 V ±5 %

Maximum offset ±120 mV

Maximum output current ±20 mA Load resistance ≥1 k Ω

Protection 20 mA max. Short circuit protection

Resolution 10-bit

Sample / update period

250 µs (output will only change at update the rate of the source parameter if slower)

11 0V common

Function

Common connection for all external devices

21 0V common

Function

Common connection for all external devices

24 Digital I/O 1

Digital I/O 2

25

26 Digital I/O 3

Terminal 24 default function AT ZERO SPEED output

Terminal 25 default function DRIVE RESET input

Terminal 26 default function RUN FORWARD input

Type

Input / output mode controlled by... Pr 08.031, Pr 08.032 and Pr 08.033

Positive or negative logic digital inputs, positive logic voltage source outputs

Operating as an input

Logic mode controlled by... Pr 08.029

Absolute maximum applied voltage range

Impedance

Input thresholds 10 V ±0.8 V (IEC 61131-2, type 1)

-3 V to +30 V

>2 mA @15 V (IEC 61131-2, type 1, 6.6 k

Ω)

Operating as an output

100 mA (DIO1 & 2 combined)

Nominal maximum output current

Maximum output current

100 mA (DIO3 & 24 V User Output Combined)

100 mA 200 mA (total including all Digital I/O)

Common to all modes

Voltage range 0V to +24 V

Sample / Update period

2 ms (output will only change at the update rate of the source parameter)

+24 V user output (selectable)

22

Terminal 22 default function +24 V user output

Can be switched on or off to act as a fourth

Programmability

Nominal output current 100 mA combined with DIO3

Maximum output current

Protection Current limit and trip

Sample / update period

digital output (positive logic only) by setting the source Pr 08.028 and source invert Pr 08.018

100 mA 200 mA (total including all Digital I/O)

2 ms when configured as an output (output will only change at the update rate of the source parameter if slower)

23 0V common

Function

Common connection for all external devices

Digital Input 4

27

28 Digital Input 5

Terminal 27 default function Terminal 28 default function

Type Negative or positive logic digital inputs

Logic mode controlled by... Pr 08.029

Voltage range 0V to +24 V

Absolute maximum applied voltage range

Impedance

Input thresholds 10 V ±0.8 V (IEC 61131-2, type 1)

Sample / Update period

RUN REVERSE input

Analog INPUT 1 / INPUT 2 select

-3 V to +30 V

>2 mA @15 V (IEC 61131-2, type 1, 6.6 k

Ω)

250 µs when configured as an input with destinations Pr 06.035 or Pr 06.036. 600 µs when configured as an input with destination Pr 06.029. 2 ms in all other cases.

29 Digital Input 6

Terminal 29 default function JOG SELECT input

Type Negative or positive logic digital inputs

Logic mode controlled by... Pr 08.029

Voltage range 0V to +24 V

Absolute maximum applied voltage range

Impedance

Input thresholds 10 V ±0.8 V (IEC 61131-2, type 1)

Sample / Update period 2 ms

-3 V to +30 V

>2 mA @15 V (IEC 61131-2,

Ω)

type 1, 6.6 k

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30 0V common

Function

Common connection for all external devices

Refer to section 4.5 Safe Torque Off (STO) on page 35 for further information.

31 Safe Torque Off function (drive enable)

Type Positive logic only digital input

Voltage range 0V to +24 V

Absolute maximum applied voltage

Logic Threshold 10 V ± 5 V

Low state maximum voltage for disable to SIL3 and PL e

Impedance

Low state maximum current for disable to SIL3 and PL e

Response time

The Safe Torque Off function may be used in a safety-related application in preventing the drive from generating torque in the motor to a high level of integrity. The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards. If the Safe Torque Off function is not required, this terminal is used for enabling the drive.

41

Relay contacts

42

30 V

5 V

>4 mA @15 V (IEC 61131-2, type 1, 3.3

Ω)

0.5 mA

Nominal: 8 ms Maximum: 20 ms

Default function Drive OK indicator

Contact voltage rating

Contact maximum current rating

Contact minimum recommended rating

Contact type Normally open

Default contact condition Closed when power applied and drive OK

Update period 4 ms

240 Vac, Installation over-voltage category II

2 A AC 240 V 4 A DC 30 V resistive load

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

12 V 100 mA

51 0V (Common connection for all external devices)

52 +24 Vdc

Size 6

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 18.6 Vdc

Maximum continuous operating voltage 28.0 Vdc

Minimum startup voltage 18.4 Vdc

Maximum power supply requirement 40 W

Recommended fuse 4 A @ 50 Vdc

Size 7 to 11

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 19.2 Vdc

Maximum continuous operating voltage

30 Vdc (IEC), 26 Vdc (UL)

Minimum startup voltage 21.6 Vdc

Maximum power supply requirement 60 W

Recommended fuse 4 A @ 50 Vdc

To prevent the risk of a fire hazard in the event of a fault, a fuse or other over-current protection must be installed in the relay circuit.

4.3.3 Unidrive M702 control connections

Table 4-5 The control connections consist of:

Function Qty

Digital input 2

Control parameters

available

Destination, invert, logic select

Digital output 2 source, invert 4, 5

Relay 1 Source, invert 41, 42

Drive enable (Safe To r q u e O f f )

+24 V User output 1 Source, invert 2

k

211, 13

0V common 5

+24 V External input 1 Destination, invert 9

Key:

Destination parameter:

Source parameter:

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

Indicates the parameter being output by the terminal

Digital - indicates the mode of operation of the

Mode parameter:

terminal, i.e. positive / negative logic (the Drive Enable terminal is fixed in positive logic), open collector.

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

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

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

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

Ensure the logic sense is correct for the control circuit to be used. Incorrect logic sense could cause the motor to be started unexpectedly. Positive logic is the default state for the drive.

N

Any signal cables which are carried inside the motor cable (i.e. motor thermistor, motor brake) will pick up large pulse currents via the cable capacitance. The shield of these signal cables must be connected to ground close to the point of exit of the motor cable, to avoid this noise current spreading through the control system.

N

The Safe Torque Off drive enable terminal is a positive logic input only. It is not affected by the setting of Input Logic Polarity (08.029).

Ter min al

number

7, 8

1, 3, 6,

10, 12

Unidrive M700 / M701 / M702 Control User Guide 27 Issue Number: 1

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1

41

42

0 V common

1

2

3

4

5

6

7

8

9

10

11

41

42

Digital Output 1

Run forward

Run reverse

Safe Torque Off

Input 1*

Relay

(Over voltage

category II)

Drive OK

13

+24 V

0 V common

12

13

0 V common

+24 V

Safe Torque Off

Input 2*

Digital Output 2

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Figure 4-7 Default terminal functions

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4.3.4 Unidrive M702 control terminal specification

1 0V common

Function

2 +24 V user output (selectable)

Terminal 2 default function +24 V user output

Programmability

Nominal output current 100 mA

Maximum output current

Protection Current limit and trip

Sample / update period

3 0V common

Function

Common connection for all external devices

Can be switched on or off to act as a fourth digital output (positive logic only) by setting the source Pr 08.028 and source invert Pr 08.018

100 mA 200 mA (total including all Digital I/O)

2 ms when configured as an output (output will only change at the update rate of the source parameter if slower)

Common connection for all external devices

*The Safe Torque Off / Drive enable terminal is a positive logic input only.

4 Digital Output 1

5 Digital Output 2

Terminal 4 default function AT ZERO SPEED output

Terminal 5 default function

Type Positive logic voltage source outputs

Operating as an output

Nominal maximum output current 100 mA (DO1 & 2 combined)

Maximum output current

100 mA 200 mA (total including all Digital I/O)

Common to all modes

Voltage range 0V to +24 V

Sample / Update period 2 ms (output will only change at the update

rate of the source parameter

6 0V common

Function

Common connection for all external devices

7 Digital Input 4

8 Digital Input 5

Terminal 7 default function Terminal 8 default function

Type Negative or positive logic digital inputs

Logic mode controlled by... Pr 08.029

Voltage range 0V to +24 V

Absolute maximum applied voltage range

Impedance >2 mA @15 V (IEC 61131-2, type 1, 6.6 k Ω)

Input thresholds 10 V ±0.8 V (IEC 61131-2, type 1)

Sample / Update period

RUN FORWARD input

RUN REVERSE input

-3 V to +30 V

250 µs when configured as an input with destinations Pr 06.035 or Pr 06.036. 600 µs when configured as an input with destination Pr 06.029. 2 ms in all other cases.

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5 10

15

1

6

11

Drive encoder connector

Female 15-way D-type

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9 +24 V external input

To supply the control circuit

Function

without providing a supply to the power stage

Programmability

Sample / Update period 2 ms

Nominal voltage +24.0 Vdc

Minimum continuous operating voltage

Maximum continuous operating voltage

Minimum start-up voltage 21.6 Vdc

Recommended power supply 40 W 24 Vdc nominal

Recommended fuse 3 A, 50 Vdc

Can be used as a digital input when using an external 24 Vdc

+19.2 Vdc

+28.0 Vdc

10 0V common

Function

Common connection for all external devices

12 0V common

Function

Common connection for all external devices

11 Safe Torque Off function input 1 (drive enable)

13

Safe Torque Off function input 2 (drive enable)

Type Positive logic only digital input

Voltage range 0V to +24 V

Absolute maximum applied voltage

Logic Threshold 10 V ± 5 V

Low state maximum voltage for disable to SIL3 and PL e

Impedance

Low state maximum current for disable to SIL3 and PL e

Response time

The Safe Torque Off function may be used in a safety-related application in preventing the drive from generating torque in the motor to a high level of integrity. The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards. If the Safe Torque Off function is not required, these terminals are used for enabling the drive.

Refer to section 4.5 Safe Torque Off (STO)

30 V

5 V

>4 mA @15 V (IEC 61131-2, type 1,3.3

0.5 mA

Nominal: 8 ms Maximum: 20 ms

on page 35

for further informa-

tion.

41

Relay contacts

42

Default function Drive OK indicator

Contact voltage rating

Contact maximum current rating

Contact minimum recommended rating

Contact type Normally open

Default contact condition Closed when power applied and drive OK

Update period 4 ms

240 Vac, Installation over-voltage category II

2 A AC 240 V 4 A DC 30 V resistive load

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

12 V 100 mA

k Ω)

51 0V (Common connection for all external devices)

52 +24 Vdc

Size 6

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 18.6 Vdc

Maximum continuous operating voltage 28.0 Vdc

Minimum startup voltage 18.4 Vdc

Maximum power supply requirement 40 W

Recommended fuse 4 A @ 50 Vdc

Size 7 to 11

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 19.2 Vdc

Maximum continuous operating voltage

30 Vdc (IEC), 26 Vdc (UL)

Minimum startup voltage 21.6 Vdc

Maximum power supply requirement 60 W

Recommended fuse 4 A @ 50 Vdc

To prevent the risk of a fire hazard in the event of a fault, a fuse or other over-current protection must be installed in the relay circuit.

4.4 Position feedback connections

The following functions are provided via the 15-way high density D-type connector on the drive:

• Two position feedback interfaces (P1 and P2).

• One encoder simulation output.

• Two freeze trigger inputs (marker inputs).

• One thermistor input.

The P1 position interface is always available but the availability of the P2 position interface and the encoder simulation output depends on the position feedback device used on the P1 position interface, as shown in Table 4-8.

4.4.1 Location of position feedback connector

Figure 4-8 Location of the position feedback

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4.4.2 Compatible position feedback devices

Table 4-6 Supported feedback devices on the P1 position

interface

Encoder type Pr 3.038 setting

Quadrature incremental encoders with or without marker pulse

Quadrature incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse

Forward / reverse incremental encoders with or without marker pulse

Forward / reverse incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse

Frequency and direction incremental encoders with or without marker pulse

Frequency and direction incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse

Sincos incremental encoders SC (6)

Sincos incremental with commutation signals SC Servo (12)

Heidenhain sincos encoders with EnDat comms for absolute position

Stegmann sincos encoders with Hiperface comms for absolute position

Sincos encoders with SSI comms for absolute position

Sincos incremental with absolute position from single sin and cosine signals

SSI encoders (Gray code or binary) SSI (10)

EnDat communication only encoders EnDat (8)

Resolver Resolver (14)

UVW commutation only encoders* (not currently supported)

* This feedback device provides very low resolution feedback and should not be used for applications requiring a high level of performance

Table 4-7 Supported feedback devices on the P2 position

interface

Encoder type

Quadrature incremental encoders with or without marker pulse

Frequency and direction incremental encoders with or without marker pulse

Forward / reverse incremental encoders with or without marker pulse

EnDat communication only encoders EnDat (4)

SSI encoders (Gray code or binary) SSI (5)

Table 4-8 shows the possible combinations of position feedback device types connected to the P1 and P2 position interfaces and the availability of the encoder simulation output.

AB (0)

AB Servo (3)

FR (2)

FR Servo (5)

FD (1)

FD Servo (4)

SC EnDat (9)

SC Hiperface (7)

SC SSI (11)

SC SC (15)

Commutation only

(16)

Pr 3.138

setting

AB (1)

FD (2)

FR (3)

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Table 4-8 Availability of the P2 position feedback interface and

the encoder simulation output

Functions

P1 Position

feedback interface

P2 Position feedback

interface

Encoder

Simulation Output

AB Servo FD Servo FR Servo SC Servo

None None

SC SC Commutation only

AB FD FR

AB, FD, FR EnDat, SSI

None

SC Resolver

None Full

SC Hiperface

AB, FD, FR

SC EnDat SC SSI

(No Z marker pulse input)

EnDat, SSI (with freeze input)

None

No Z marker pulse output

AB, FD, FR

EnDat SSI

EnDat, SSI (with freeze input)

None Full

EnDat, SSI

None

No Z marker pulse output

The priority of the position feedback interfaces and the encoder simulation output on the 15-way D-type is assigned in the following order from the highest priority to the lowest.

• P1 position interface (highest)

• Encoder simulation output

• P2 position interface (lowest)

For example, if an AB Servo type position feedback device is selected for use on the P1 position interface, then both the encoder simulation output and the P2 position interface will not be available as this device uses all connections of the 15-way D-type connector. Also, if an AB type position feedback device is selected for use on the P1 position interface and Pr 03.085 is set to a valid source for the encoder simulation output, then the P2 position interface will not be available.

Depending on the device type used on the P1 position interface, the encoder simulation output may not be able support a marker pulse output (e.g. SC EnDat or SC SSI device types). Pr 03.086 shows the status of the encoder simulation output indicating whether the output is disabled, no marker pulse is available or full encoder simulation is available.

When using the P1 and P2 position interfaces and the encoder simulation output together, the P2 position interface uses alternative connections on the 15-way D-type connector. Pr 03.172 shows the status of the P2 position interface and indicates if alternative connections are being used for the P2 position interface.

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4.4.3 Position feedback connection details

Table 4-9 P1 Position feedback connection details

P1 Position

feedback

interface

Pr 03.038

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

AB (0) A A\ B B\ Z Z\

FD (1) F F\ D D\ Z Z\

FR (2) F F\ R R\ Z Z\

AB Servo (3) A A\ B B\ Z Z\ U U\ V V\ W W\

FD Servo (4) F F\ D D\ Z Z\ U U\ V V\ W W\

FR Servo (5) F F\ R R\ Z Z\ U U\ V V\ W W\

SC (6)

A

(Cos)A\(Cos\)B(Sin)B\(Sin\)

ZZ\

SC Hiperface (7) Cos Cosref Sin Sinref DATA DATA\

EnDat (8) DATA DATA\ CLK CLK\ Freeze Freeze\

SC EnDat (9) A A\ B B\ DATA DATA\ CLK CLK\

SSI (10) DATA DATA\ CLK CLK\ Freeze Freeze\

SC SSI (11)

SC Servo (12)

A

(Cos)A\(Cos\)B(Sin)B\(Sin\)

A

(Cos)A\(Cos\)B(Sin)B\(Sin\)

DATA DATA\

ZZ\UU\VV\WW\

Resolver (14) Cos H Cos L Sin H Sin L Ref H Ref L

SC SC (15)

A

(Cos)A\(Cos\)B(Sin)B\(Sin\)

ZZ\

Commutation Only (16)

*1 - One cosine wave per revolution

*2 - One sine wave per revolution

Greyed cells are for P2 position feedback connections or simulated encoder outputs.

Connections

CLK CLK\

1

C*

C\*1D*2D\*

2

Freeze2 Freeze2\

UU\VV\ W W\

Diagnostics

+V 0V Th

UL listing

information

Freeze and Freeze\ on terminals 5 and 6 are for Freeze input 1. Freeze2 and Freeze2\ on terminals 11 and 12 are for Freeze input 2.

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Table 4-10 P2 Position feedback and encoder simulation output connection details

P1 Position

feedback interface Pr 03.038

P2 Position

feedback

interface

Pr 03.138

AB (1)

Encoder

Simulation

Output

56 7 8 9 10 1112

A A\ B B\ Z Z\

FD (2) F F\ D D\ Z Z\

AB (0) FD (1) FR (2) SC (6) SC Hiperface (7) Resolver (14)

FR (3)

EnDat (4)

SSI (5)

None (0)

AB (1)

Disabled*

1

F F\ R R\ Z Z\

DATA DATA\ CLK CLK\ Freeze2 Freeze2\

AB

FD

Asim Asim\ Bsim Bsim\ Zsim Zsim\

Fsim Fsim\ Dsim Dsim\ Zsim Zsim\

FR Fsim Fsim\ Rsim Rsim\ Zsim Zsim\

SSI

DATAsim DATAsim\ CLKsim CLKsim\

A A\ B B\

FD (2) F F\ D D\

1

F F\ R R\

DATA DATA\ CLK CLK\

AB Asim

FD

FR

Fsim Fsim\ Dsim Dsim\

Fsim Fsim\ Rsim Rsim\

SC EnDat (9) SC SSI (11)

FR (3)

EnDat (4)

SSI (5)

None (0)

Disabled*

SSI DATAsim DATAsim\ CLKsim CLKsim\

EnDat (8) SSI (10)

AB (1)

FD (2)

FR (3)

EnDat (4)

SSI (5)

None (0)

Disabled*

1

AB

FD

FR Fsim Fsim\ Rsim Rsim\ Zsim Zsim\

SSI

A A\ B B\ Z Z\

F F\ D D\ Z Z\

F F\ R R\ Z Z\

DATA DATA\ CLK CLK\ Freeze2 Freeze2\

Asim Asim\ Bsim Bsim\ Zsim Zsim\

Fsim Fsim\ Dsim Dsim\ Zsim Zsim\

DATAsim DATAsim\ CLKsim CLKsim\

AB DATA DATA\ Asim Asim\ Bsim Bsim\ CLK CLK\ EnDat (8) SSI (10)

(with no Freeze inputs)

EnDat (4)

SSI (5)

FD DATA DATA\ Fsim Fsim\ Dsim Dsim\ CLK CLK\

FR DATA DATA\ Fsim Fsim\ Rsim Rsim\ CLK CLK\

SSI DATA DATA\ DATAsim DATAsim\ CLKsim CLKsim\ CLK CLK\

*1

The encoder simulation output is disabled when Pr 03.085 is set to zero.

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The termination resistors are always enabled on the P2 position interface. Wire break detection is not available when using AB, FD or FR position feedback device types on the P2 position interface.

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4.4.4 Position feedback terminal specifications

A,F, Cosref, Data, Cos H

1

A\,F\ Cosref\, Data\, Cos L

2

AB (0), FD (1), FR (2), AB Servo (3), FD Servo(4), FR Servo (5

Type EIA 485 differential receivers

Maximum input frequency 500 kHz

Line loading

Line termination components

Working common mode range –7 V to +12 V

< 2 unit loads

120 Ω

(switchable)

SC Hiperface (7), SC EnDat (9), SC SSI (11), SC Servo (12), SC SC (15)

Type Differential voltage

1.25 V peak to peak (sin with

Maximum Signal level

Maximum input frequency See Table 4-11

Maximum applied differential voltage and

common mode voltage range

Resolution: The sine wave frequency can be up to 500 kHz but the resolution is reduced at high frequency. Table 4-11 shows the number of bits of interpolated information at different frequencies and with different voltage levels at the drive encoder port

regard to sinref and cos with

regard to cosref)

±4 V

EnDat (8), SSI (10)

Type EIA 485 differential receivers

Maximum input frequency 4 MHz

Line termination components

Working common mode range –7 V to +12 V

120 Ω

(switchable)

Resolver (14)

Type 2 Vrms sinusoidal signal

Operating Frequency 6 - 8 kHz

Input voltage 0.6 Vrms

Minimum impedance

85 Ω

Common to All

Absolute maximum applied voltage relative to 0V

-9 V to 14 V

)

B, D, R Sinref, Clock, Sin H

3

B\, D\, R\, Sinref\, Clock\, Sin L

4

AB (0), FD (1), FR (2), AB Servo (3), FD Servo(4), FR Servo (5

Type EIA 485 differential receivers

Maximum input frequency 500 kHz

Line loading

Line termination components

Working common mode range –7 V to +12 V

< 2 unit loads

120 Ω

(switchable)

)

SC Hiperface (7), SC EnDat (9), SC SSI (11), SC Servo (12), SC SC (15)

Type Differential voltage

1.25 V peak to peak (sin with

Maximum Signal level

Maximum input frequency See Table 4-11

Maximum applied differential voltage and

common mode voltage range

Resolution: The sine wave frequency can be up to 500 kHz but the resolution is reduced at high frequency. Table 4-11 shows the number of bits of interpolated information at different frequencies and with different voltage levels at the drive encoder port

regard to sinref and cos with

regard to cosref)

±4 V

EnDat (8), SSI (10)

Type EIA 485 differential receivers

Maximum input frequency 4 MHz

Line termination components

Working common mode range –7 V to +12 V

120 Ω

(switchable)

Resolver (14)

Type 2 Vrms sinusoidal signal

Operating Frequency 6 – 8 kHz

Input voltage 0.6 Vrms

Minimum impedance

85 Ω

Common to All

Absolute maximum applied voltage relative to 0V -9 V to 14 V

The position feedback input will accept 5 V TTL differential signals.

Unidrive M700 / M701 / M702 Control User Guide 33 Issue Number: 1

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Z, Data, Freeze, Ref H

5

Z\, Data\, Freeze\, Ref L

6

AB (0), FD (1), FR (2), AB Servo (3), FD Servo(4), FR Servo (5

),

SC SC (15)

Type EIA 485 differential receivers

Maximum input frequency 512 kHz

Line loading

Line termination components

Working common mode range –7 V to +12 V

< 2 unit loads

120 Ω

(switchable)

SC Hiperface (7), SC EnDat (9), SC SSI (11), SC Servo (12)

Type EIA 485 differential receivers

Maximum input frequency 4 MHz

Line termination components

Working common mode range –7 V to +12 V

120 Ω

(switchable)

EnDat (8), SSI (10)

Type EIA 485 differential receivers

Maximum input frequency 4 MHz

Line termination components

Working common mode range –7 V to +12 V

120 Ω

(switchable)

Resolver (14)

Type Differential voltage

Nominal voltage

Operating frequency 6 - 8 KHz

Minimum impedance

0 – 2 Vrms depending on turns ratio

85 Ω

Common to All

Absolute maximum applied voltage relative to 0V -9 V to 14 V

U, C, Not used, Not used

7

U\, C\, Not used, Not used

8

AB Servo (3), FD Servo(4), FR Servo (5

Type EIA 485 differential receivers

Maximum input frequency 512 kHz

Line loading 1 unit load

Line termination components

Working common mode range –7 V to +12 V

), SC Servo (12)

(switchable)

120 Ω

SC SC (15)

Type Differential voltage

1.25 V peak to peak (sin with

Maximum Signal level

Maximum input frequency See Table 4-11

Maximum applied differential voltage and

common mode voltage range

regard to sinref and cos with

regard to cosref)

±4 V

EnDat (8), SSI (10)

Not used

Resolver (14)

Not used

Common to All

Absolute maximum applied voltage relative to 0V -9 V to 14 V

V, D, Not used, Not used

9

V\, D\, Not used, Not used

10

AB Servo (3), FD Servo(4), FR Servo (5

Type EIA 485 differential receivers

Maximum input frequency 512 kHz

Line loading 1 unit load

Line termination components

Working common mode range –7 V to +12 V

), SC Servo (12)

(switchable)

120 Ω

SC SC (15)

Type Differential voltage

1.25 V peak to peak (sin with

Maximum Signal level

Maximum input frequency See Table 4-11

Maximum applied differential voltage and

common mode voltage range

regard to sinref and cos with

regard to cosref)

±4 V

EnDat (8), SSI (10)

Not used

Resolver (14)

Not used

Common to All

Absolute maximum applied voltage relative to 0V -9 V to 14 V

34 Unidrive M700 / M701 / M702 Control User Guide

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11

12

AB Servo (3), FD Servo(4), FR Servo (5

Type EIA 485 differential receivers

Maximum input frequency 512 kHz

Line loading 1 unit load

Line termination components

Working common mode range –7 V to +12 V

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W, Clock, Not used, Not used

W\, Clock\, Not used, Not used

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), SC Servo (12)

(switchable)

120 Ω

Basic

Running the

SC EnDat (9), SC SSI (11)

Type Differential voltage

1.25 V peak to peak (sin with

Maximum Signal level

Maximum input frequency See Table 4-11

Maximum applied differential voltage and

common mode voltage range

regard to sinref and cos with

regard to cosref)

±4 V

EnDat (8), SSI (10)

Not used

Resolver (14)

Not used

Common to All

Absolute maximum applied voltage relative to 0V -9 V to 14 V

Common to all Feedback types

Feedback device supply

13

Supply voltage 5.15 V ±2 %, 8 V ± 5 % or 15 V ± 5 %

Maximum output current

The voltage on Terminal 13 is controlled by Pr 03.036. The default for this parameter is 5 V (0) but this can be set to 8 V (1) or 15 V (2). Setting the encoder voltage too high for the encoder could result in damage to the feedback device. The termination resistors should be disabled if the outputs from the encoder are higher than 5 V.

0V Common

14

Motor thermistor input

15

Thermistor type is selected in P1 Thermistor Type (03.118).

300 mA for 5 V and 8 V

200 mA for 15 V

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Table 4-11 Feedback resolution based on frequency and voltage

level

Volt/Freq 1 kHz 5 kHz 50 kHz 100 kHz 200 kHz 500 kHz

1.2 11 11 10 10 9 8

1.0 11 11 10 9 9 7

0.8 10 10 10 9 8 7

0.6 10 10 9 9 8 7

0.4 9 9 9 8 7 6

4.5 Safe Torque Off (STO)

The Unidrive M700 / M701 has a single channel STO, whereas the Unidrive M702 has a dual channel STO.

The Safe Torque Off function provides a means for preventing the drive from generating torque in the motor, with a very high level of integrity. It is suitable for incorporation into a safety system for a machine. It is also suitable for use as a conventional drive enable input.

The safety function is active when the STO input is in the logic-low state as specified in the control terminal specification. The function is defined according to EN 61800-5-2 and IEC 61800-5-2 as follows. (In these standards a drive offering safety-related functions is referred to as a PDS(SR)):

'Power that can cause rotation (or motion in the case of a linear motor) is not applied to the motor. The PDS(SR) will not provide energy to the motor which can generate torque (or force in the case of a linear motor)'

This safety function corresponds to an uncontrolled stop in accordance with stop category 0 of IEC 60204-1.

The Safe Torque Off function makes use of the special property of an inverter drive with an induction motor, which is that torque cannot be generated without the continuous correct active behaviour of the inverter circuit. All credible faults in the inverter power circuit cause a loss of torque generation.

The Safe Torque Off function is fail-safe, so when the Safe Torque Off input is disconnected the drive will not operate the motor, even if a combination of components within the drive has failed. Most component failures are revealed by the drive failing to operate. Safe Torque Off is also independent of the drive firmware. This meets the requirements of the following standards, for the prevention of operation of the motor.

Machinery Applications

The Safe Torque Off function has been independently assessed by Notified Body, TüV Rheinland for use as a safety component of a machine:

Prevention of unintended motor operation: The safety function “Safe Torque Off” can be used in applications up to Cat 4, PL e according to EN ISO 13849-1, SIL 3 according to EN 61800-5-2/ EN 62061/ IEC 61508 and in lift applications according to EN 81-1 and EN81-2.

UL listing

information

Sincos encoder resolution

The sine wave frequency can be up to 500 kHz but the resolution is reduced at high frequency. Table 4-11 shows the number of bits of interpolated information at different frequencies and with different voltage levels at the drive encoder port. The total resolution in bits per

Type examination certificate number

Date of issue Models

01.205/5270.01/14 11-11-2014 M700, M701, M702

This certificate is available for download from the TüV Rheinland website

at: http://www.tuv.com revolution is the ELPR plus the number of bits of interpolated information. Although it is possible to obtain 11 bits of interpolation information, the nominal design value is 10 bits.

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Safety Parameters as verified by TüV Rheinland:

According to IEC 61508-1 to 07 / EN 61800-5-2 / EN 62061

Typ e Valu e

Percentage of SIL

3 allowance

Proof test interval 20 years

High demand or a continuous mode of operation

PFH (1/h)

4.21 x 10

-11

1/h

<1 %

Low demand mode of operation (not EN 61800-5-2)

PFDavg

3.68 x 10

-6

< 1 %

According to EN ISO 13849-1

Type Value Classification

Category 4

Performance Level (PL) e

(STO1)

MTTF

D

MTTF

(STO2)

D

MTTFD (Single channel STO)

DC

avg

>2500 years High

≥99 % High

Mission time 20 years

Logic levels comply with IEC 61131-2:2007 for type 1 digital inputs rated at 24 V. Maximum level for logic low to achieve SIL3 and PL e 5 V and

0.5 mA.

Lift (Elevator) Applications

The Safe Torque Off function has been independently assessed for use as a safety component in lift (elevator) applications by Notified Body, TüV Nord:

The Unidrive M drives series with Safe Torque Off (STO) function if applied according to the "Conditions of application" fulfil the safety requirements of the standards EN81-1, EN81-2, EN 81-50 and EN60664-1and are in conformity with all relevant requirements of the Directive 95/16/EC.

Certificate of Conformity number

Date of issue Models

44799 13196202 04-08-2015 M700, M701, M702

The Safe Torque Off function can be used to eliminate electromechanical contactors, including special safety contactors, which would otherwise be required for safety applications.

For further information contact the supplier of the drive.

UL Approval

The Safe Torque Off function has been independently assessed by Underwriters Laboratories (UL). The on-line certification (yellow card) reference is: FSPC.E171230.

Safety Parameters as verified by UL:

According to IEC 61508-1 to 7

Typ e Va lue

Safety Rating SIL 3

SFF > 99 %

-10

PFH (1/h)

4.43 x 10

1/h (<1 % of SIL 3

allowance)

HFT 1

Beta Factor 2 %

CFF Not applicable

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According to EN ISO 13849-1

Typ e Value

Category 4

Performance Level (PL) e

MTTF

D

2574 years

Diagnostic coverage High

CCF 65

Two-channel Safe Torque Off

Models M700 and M701 have a single channel STO, whereas the M702 has dual channel STO.

The dual channel STO has two fully independent channels.

Each input meets the requirements of the standards as defined above.

If either or both inputs are set at a logic low state, there are no single faults in the drive which can permit the motor to be driven.

It is not necessary to use both channels to meet the requirements of the standards. The purpose of the two channels is to allow connection to machine safety systems where two channels are required, and to facilitate protection against wiring faults.

For example, if each channel is connected to a safety-related digital output of a safety related controller, computer or PLC, then on detection of a fault in one output the drive can still be disabled safely through the other output.

Under these conditions, there are no single wiring faults which can cause a loss of the safety function, i.e. inadvertent enabling of the drive.

In the event that the two-channel operation is not required, the two inputs can be connected together to form a single Safe Torque Off input.

One-channel Safe Torque Off (Including Two- channel Safe Torque off with the inputs connected together.)

In a single channel Safe Torque Off application there are no single faults in the drive which can permit the motor to be driven. Therefore it is not necessary to have a second channel to interrupt the power connection, nor a fault detection circuit.

It is important to note that a single short-circuit from the Safe Torque Off input to a DC supply of > 5 V could cause the drive to be enabled.

This might occur through a fault in the wiring. This can be excluded according to EN ISO 13849-2 by the use of protected wiring. The wiring can be protected by either of the following methods:

• By placing the wiring in a segregated cable duct or other enclosure.

or

• By providing the wiring with a grounded (0V of the Drive) shield in a positive-logic grounded control circuit. The shield is provided to avoid a hazard from an electrical fault. It may be grounded by any convenient method; no special EMC precautions are required.

Note on response time of Safe Torque Off, and use with safety controllers with self-testing outputs:

Safe Torque Off has been designed to have a response time of greater than 1 ms so that it is compatible with safety controllers whose outputs are subject to a dynamic test with a pulse width not exceeding 1 ms.

Note on the use of servo motors, other permanent-magnet motors, reluctance motors and salient-pole induction motors:

When the drive is disabled through Safe Torque Off, a possible (although highly unlikely) failure mode is for two power devices in the inverter circuit to conduct incorrectly.

This fault cannot produce a steady rotating torque in any AC motor. It produces no torque in a conventional induction motor with a cage rotor. If the rotor has permanent magnets and/or saliency, then a transient

36 Unidrive M700 / M701 / M702 Control User Guide

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alignment torque may occur. The motor may briefly try to rotate by up to 180° electrical, for a permanent magnet motor, or 90° electrical, for a salient pole induction motor or reluctance motor. This possible failure mode must be allowed for in the machine design.

The design of safety-related control systems must only be done by personnel with the required training and experience. The Safe Torque Off function will only ensure the safety of a machine if it is correctly incorporated into a complete safety system. The system must be subject to a risk assessment to confirm that the residual risk of an unsafe event is at an acceptable level for the application.

Safe Torque Off inhibits the operation of the drive, this includes inhibiting braking. If the drive is required to provide both braking and Safe Torque Off in the same operation (e.g. for emergency stop) then a safety timer relay or similar device must be used to ensure that the drive is disabled a suitable time after braking. The braking function in the drive is provided by an electronic circuit which is not fail-safe. If braking is a safety requirement, it must be supplemented by an independent fail-safe braking mechanism.

Safe Torque Off does not provide electrical isolation. The supply to the drive must be disconnected by an approved isolation device before gaining access to power connections.

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It is essential to observe the maximum permitted voltage of 5 V for a safe low (disabled) state of Safe Torque Off. The connections to the drive must be arranged so that voltage drops in the 0 V wiring cannot exceed this value under any loading condition. It is strongly recommended that the Safe Torque Off circuit be provided with a dedicated 0 V conductor which should be connected to terminal 30 at the drive.

Safe Torque Off over-ride

The drive does not provide any facility to over-ride the Safe Torque Off function, for example for maintenance purposes.

SISTEMA software utility

A library for use with the SISTEMA software utility providing relevant parameters for Unidrive M Safe Torque Off function and SI-Safety Module is available, please contact the supplier of the drive for further info.

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5 Getting started

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

5.1 Understanding the display

The keypad can only be mounted on the drive.

5.1.1 KI-Keypad

The KI-Keypad display consists of two rows of text. The upper row shows the drive status or the menu and parameter number currently being viewed. The lower row of the display line shows the parameter value or the specific trip type. The last two characters on the first row may display special indications. If more than one of these indications is active then the indications are prioritized as shown in Table 5-2.

When the drive is powered up the lower row will show the power up parameter defined by Parameter Displayed At Power-Up (11.022).

Figure 5-1 KI-Keypad

1. Escape button

2. Start reverse (Auxiliary button)

3. Start forward

4. Navigation keys (x4)

5. Stop / Reset (red) button

6. Enter button

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

The parameter value is correctly displayed in the lower row of the keypad display, see table below.

Table 5-1 Keypad display formats

Display formats Value

IP Address 127.000.000.000

MAC Address 01ABCDEF2345

Time 12:34:56

Date 31-12-11 or 12-31-11

Version number 01.02.02.00

Character ABCD

32 bit number with decimal point 21474836.47

16 bit binary number 0100001011100101

Table 5-2 Active action icon

Active action icon Description Priority

Alarm active

Keypad real-time clock battery low

Accessing non-volatile media card

or

Drive security active and locked or unlocked

Motor map 2 active

User program running

Keypad reference active

5.2 Keypad operation

5.2.1 Control buttons

The keypad consists of:

• Navigation Keys - Used to navigate the parameter structure and change parameter values.

• Enter / Mode button - Used to toggle between parameter edit and view mode.

• Escape / Exit button - Used to exit from parameter edit or view mode. In parameter edit mode, if parameter values are edited and the exit button pressed the parameter value will be restored to the value it had on entry to edit mode.

• Start forward button - Use to provide a 'Run' command if keypad mode is selected.

• Start reverse button - Used to control the drive if keypad mode is selected and the reverse button is activated. If Enable Auxiliary Key (06.013) = 1, then the keypad reference is toggled between run forward and run reverse each time the button is pressed. If Enable Auxiliary Key (06.013) = 2, then the button functions as a run reverse key.

• Stop / Reset button - Used to reset the drive. In keypad mode can be used for 'Stop'.

Low battery voltage is indicated by low battery symbol on the keypad

display.

Figure 5-2 overleaf shows an example on moving between menus and editing parameters.

38 Unidrive M700 / M701 / M702 Control User Guide

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To enter Edit Mode, press key

Status Mode

(Display not flashing)

Parameter

Mode

(Upper row

display flashing)

Edit Mode

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

Change parameter values

using keys.

When returning to Parameter Mode use the

keys to select another parameter to change, if required

To enter Parameter Mode, press key or

Temporary Parameter Mode

(Upper display flashing)

Timeout

To return to Status Mode,

RO

parameter

R/W parameter

To s elect parameter Press

To return to Parameter Mode, Press key to keep the new parameter value Press key to ignore the new parameter value and return the parameter to the pre-edited value

Press key

Timeout

or

Press key

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Figure 5-2 Display modes

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The navigation keys can only be used to move between menus if Pr 00.049 has been set to show 'All Menus'. Refer to section 5.9 Parameter access level and security on page 44.

5.2.2 Quick access mode

The quick access mode allows direct access to any parameter without scrolling through menus and parameters.

To enter the quick access mode, press and hold the Enter button on the keypad while in ‘parameter mode’.

Figure 5-3 Quick access mode

5.2.3 Keypad shortcuts

In ‘parameter mode’:

• If the up and down keypad buttons are pressed

together, then the keypad display will jump to the start of the parameter menu being viewed, i.e. Pr 05.005 being viewed, when the above buttons pressed together will jump to Pr 05.000.

• If the left and right keypad buttons are pressed together,

then the keypad display will jump to the last viewed parameter in Menu 0.

In ‘parameter edit mode’:

• If the up and down keypad buttons are pressed

together, then the parameter value of the parameter being edited will be set to 0.

• If the left and right keypad buttons are pressed together, the

least significant digit (furthest right) will be selected on the keypad display for editing.

Unidrive M700 / M701 / M702 Control User Guide 39 Issue Number: 1

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WARNING

NOTE

*

Menu 0

....MM.000....

00.050

00.049

00.048

00.047

00.046

00.001

00.002

00.003

00.004

00.005

Moves between parameters

Menu 41

Menu 1

Menu 2

Moves between Menus

41.029

41.028

41.027

41.026

41.025

41.001

41.002

41.003

41.004

41.005

01.001

01.002

01.003

01.004

01.005

01.050

01.049

01.048

01.047

01.046

Option modu

le menus (S

.mm.ppp)*

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Figure 5-4 Mode examples

1. Parameter view mode: Read write or Read only

2. Status mode: Drive OK status

If the drive is ok and the parameters are not being edited or viewed, the upper row of the display will show one of the following:

• ‘Inhibit’, ‘Ready’ or ‘Run’.

3. Status mode: Trip status

When the drive is in trip condition, the upper row of the display will indicate that the drive has tripped and the lower row of the display will show the trip code. For further information regarding trip codes. refer to Table 12-4 Trip indications on page 220.

4. Status mode: Alarm status

During an ‘alarm’ condition the upper row of the display flashes between the drive status (Inhibit, Ready or Run, depending on what is displayed) and the alarm.

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5.3 Menu structure

The drive parameter structure consists of menus and 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 Pr 00.049 has been set to 'All Menus' the left and right buttons are used to navigate between menus. For further information, refer to section 5.9 Parameter access level and security on page 44

Figure 5-5 Parameter navigation

* Can only be used to move between menus if all menus have been enabled (Pr 00.049). Refer to section 5.9 Parameter access level and security on page 44.

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.

Figure 5-6 Menu structure

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

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

For new parameter-values to apply after the line power supply to the drive is interrupted, new values must be saved. Refer to section

5.7 Saving parameters on page 43.

* The option module menus (S.mm.ppp) are only displayed if option modules are installed. Where S signifies the option module slot number and the mm.ppp signifies the menu and the parameter number of the option module's internal menus and parameter.

40 Unidrive M700 / M701 / M702 Control User Guide

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Menu 0

00.004

00.005

00.006

Menu 2

02.021

Menu 1

01.014

Menu 4

04.007

5 0

150

0

150

5

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5.4 Menu 0

Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive. The parameters displayed in Menu 0 can be configured in Menu 22.

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

For further information, refer to Chapter 6 Basic parameters on page 47.

Figure 5-7 Menu 0 copying

5.5 Advanced menus

The advanced menus consist of groups or parameters appropriate to a specific function or feature of the drive. Menus 0 to 41 can be viewed on the KI-Keypad.

The option module menus (S.mm.ppp) are only displayed (except for Unidrive M700 / M702 4.mm.ppp) if option modules are installed. Where S signifies the option module slot number and the mm.ppp signifies the menu and parameter number of the option module’s internal menus and parameter.

On Unidrive M700 / M702, menu 4.00.xxx is the same as menu 24.xxx.

Table 5-3 Advanced menu descriptions

Menu Description

Commonly used basic set up parameters for quick / easy

0

programming

1 Frequency / Speed reference 2Ramps 3 Frequency slaving, speed feedback and speed control

4 Torque and current control 5 Motor control 6 Sequencer and clock

7 Analog I/O 8 Digital I/O

Programmable logic, motorized pot, binary sum, timers and

9

scope 10 Status and trips

11 Drive set-up and identification, serial communications 12 Threshold detectors and variable selectors 13 Standard motion control

14 User PID controller 15 Option module slot 1 set-up menu 16 Option module slot 2 set-up menu

17 Option module slot 3 set-up menu 18 General option module application menu 1

19 General option module application menu 2 20 General option module application menu 3 21 Second motor parameters

22 Menu 0 set-up 23 Not allocated 24 Ethernet module (slot 4) set-up menu*

25 Option module slot 1 application parameters 26 Option module slot 2 application parameters 27 Option module slot 3 application parameters

28 Option module slot 4 application parameters 29 Reserved menu 30 Onboard user programming application menu

31-41 Advanced motion controller set-up parameters Slot 1 Slot 1 option menus** Slot 2 Slot 2 option menus**

Slot 3 Slot 3 option menus** Slot 4 Slot 4 option menus**

* Only displayed on Unidrive M700 / M702.

** Only displayed when the option modules are installed.

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5.5.1 KI-Keypad set-up menu

To enter the keypad set-up menu press and hold the escape button on the keypad from status mode. All the keypad parameters are saved to the keypad non-volatile memory when exiting from the keypad set-up menu.

To exit from the keypad set-up menu press the escape or or

button. Below are the keypad set-up parameters.

Table 5-4 KI-Keypad set-up parameters

Parameters Range Type

Keypad.00 Language

Classic English (0) English (1),

RW

Keypad.01 Show Units Off (0), On (1) RW

Keypad.02 Backlight Level 0 to 100 % RW

Keypad.03 Keypad Date

Keypad.04 Keypad Time

Keypad.05

Show Raw Text Parameter Values

Keypad.06 Software Version

It is not possible to access the keypad parameters via any

01.01.10 to

31.12.99

00:00:00 to 23:59:59

Off (0), On (1) RW

00.00.00.00 to

99.99.99.99

RO

communications channel.

5.5.2 Alarm indications

An alarm is an indication given on the display by alternating the alarm string with the drive status string on the upper row and showing the alarm symbol in the last character in the upper row. Alarms strings are not displayed when a parameter is being edited, but the user will still see the alarm character on the upper row.

Table 5-5 Alarm indications

Alarm string Description

Brake resistor overload. Braking Resistor Thermal

Brake Resistor

Motor Overload

Ind Overload

Drive Overload

Auto Tune

Limit Switch

Accumulator (10.039) in the drive has reached 75.0 % of the value at which the drive will trip.

Motor Protection Accumulator (04.019) in the drive has reached 75.0 % of the value at which the drive will trip and the load on the drive is >100 %.

Regen inductor overload. Inductor Protection Accumulator (04.019) in the drive has reached

75.0 % of the value at which the drive will trip and the load on the drive is >100 %.

Drive over temperature. Percentage Of Drive Thermal Trip Level (07.036) in the drive is greater than 90 %.

The autotune procedure has been initialized and an autotune in progress.

Limit switch active. Indicates that a limit switch is active and that is causing the motor to be stopped.

5.5.3 Display messages

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

Table 5-6 Status indications

Upper row

string

Description

The drive is inhibited and cannot be run. The Safe Torque Off signal is not applied to

Inhibit

Safe Torque Off terminals or Pr 06.015 is set to 0. The other conditions that can prevent the drive from enabling are shown as bits in Enable Conditions (06.010)

The drive is ready to run. The drive enable

Ready

is active, but the drive inverter is not active because the final drive run is not active

Stop The drive is stopped / holding zero speed. Enabled

Run The drive is active and running Enabled

Scan

The drive is enabled in Regen mode and is trying to synchronize to the supply

Supply Loss Supply loss condition has been detected Enabled

The motor is being decelerated to zero

Deceleration

speed / frequency because the final drive run has been deactivated.

dc injection The drive is applying dc injection braking Enabled

Position

Positioning / position control is active during an orientation stop

The drive has tripped and no longer

Trip

controlling the motor. The trip code appears in the lower display.

Active

Under

Vol tag e

The Regen unit is enabled and synchronized to the supply

The drive is in the under voltage state either in low voltage or high voltage mode.

Heat The motor pre-heat function is active Enabled

Phasing

The drive is performing a ‘phasing test on enable’

Drive

output

stage

Disabled

Enabled

Disabled

Enabled

Disabled

Enabled

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Table 5-7 Option module and NV media card and other status

indications at power-up

First row

string

Second row string Status

Booting Parameters Parameters are being loaded

Drive parameters are being loaded from a NV Media Card

Booting User Program User program being loaded

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

4. Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.038 to 100.

Entering 1253 or 1254 in Pr mm.000 will only load defaults if the setting of Pr 00.048 has been changed.

User program is being loaded from a NV Media Card to the drive

Booting

Option Program

User program being loaded

User program is being loaded from a NV Media Card to the option module in slot X

Writing To NV Card

Data being written to NV Media Card

Data is being written to a NV Media Card to ensure that its copy of the drive parameters is correct because the drive is in Auto or Boot mode

Waiting For Power System Waiting for power stage

The drive is waiting for the processor in the power stage to respond after power-up

Waiting For Options Waiting for an option module

The drive is waiting for the options modules to respond after power-up

Uploading From

Options Loading parameter database

At power-up it may be necessary to update the parameter database held by the drive because an option module has changed or because an applications module has requested changes to the parameter structure. This may involve data transfer between the drive an option modules. During this period ‘Uploading From Options’ is displayed

5.6 Changing the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters. User security status (00.049) and User security code (00.034) are not affected by this procedure).

Procedure

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

1. Ensure the drive is not enabled, i.e. terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702 is open or Pr 06.015 is Off (0)

2. Enter either of the following values in Pr mm.000, as appropriate: 1253 (50 Hz AC supply frequency) 1254 (60 Hz AC supply frequency)

3. Change the setting of Pr 0.048 as follows:

Pr 00.048 setting Operating mode

5.7 Saving parameters

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

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

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

Procedure

1. Select ‘Save Parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000)

2. Either:

• Press the red reset button

• Toggle the reset digital input, or

• Carry out a drive reset through serial communications by setting Pr 10.038 to 100

5.8 Restoring parameter defaults

Restoring parameter defaults by this method saves the default values in the drives memory. User security status (00.049) and User security code (00.034) are not affected by this procedure).

Procedure

1. Ensure the drive is not enabled, i.e. terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702 is open or Pr 06.015 is

Off (0)

2. Select 'Reset 50 Hz Defs' or 'Reset 60 Hz Defs' in Pr mm.000. (alternatively, enter 1233 (50 Hz settings) or 1244 (60 Hz settings) in Pr mm.000).

3. Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.038 to 100

1 Open-loop

2RFC-A

3RFC-S

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5.9 Parameter access level and security

The parameter access level determines whether the user has access to Menu 0 only or to all the advanced menus (Menus 1 to 41) in addition to Menu 0.

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

Both the User Security and Parameter Access Level can operate independently of each other as shown in Table 5-8.

Table 5-8 Parameter access level and security

User

security

status

(11.044)

0 Menu 0

1 All Menus

2

3 Read-only

4 Status only

5 No access

The default settings of the drive are Parameter Access Level Menu 0 and user Security Open i.e. read / write access to Menu 0 with the advanced menus not visible.

Access level

Read-only Menu 0

5.9.1 User Security Level / Access Level

The drive provides a number of different levels of security that can be set by the user via User Security Status (11.044); these are shown below.

User Security

Status

(Pr 11.044)

Menu 0 (0)

All menus (1)

Read- only

Menu 0 (2)

Read-only (3)

Status only (4)

No access (5)

All writable parameters are available to be edited but only parameters in Menu 0 are visible

All parameters are visible and all writable parameters are available to be edited

Access is limited to Menu 0 parameters only. All parameters are read-only

All parameters are read-only however all menus and parameters are visible

The keypad remains in status mode and no parameters can be viewed or edited

The keypad remains in status mode and no parameters can be viewed or edited. Drive parameters cannot be accessed via a comms/ fieldbus interface in the drive or any option module

User

security

Open RW Not visible

Closed RO Not visible

Open RW RW

Closed RO RO

Open RO Not visible

Closed RO Not visible

Open RO RO

Closed RO RO

Open Not visible Not visible

Closed Not visible Not visible

Open Not visible Not visible

Closed Not visible Not visible

Menu 0

status

Description

Advanced

menu status

Optimization

to activate the security, the Security level must be set to desired level in Pr 00.049. When the drive is reset, the security code will have been

activated and the drive returns to Menu 0 and the symbol is

displayed in the right hand corner of the keypad display. The value of Pr 00.034 will return to 0 in order to hide the security code.

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Unlocking User Security Code

Select a parameter that need to be edited and press the button, the upper display will now show ‘Security Code’. Use the arrow buttons

to set the security code and press the button. With the correct security code entered, the display will revert to the parameter selected in edit mode.

If an incorrect security code is entered, the following message ‘Incorrect security code’ is displayed, then the display will revert to parameter view mode.

Disabling User Security

Unlock the previously set security code as detailed above. Set Pr 00.034

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

5.10 Displaying parameters with nondefault values only

By selecting 'Show non-default' in Pr mm.000 (Alternatively, enter 12000 in Pr mm.000), the only parameters that will be visible to the user will be those containing a non-default value. This function does not require a drive reset to become active. In order to deactivate this function, return to Pr mm.000 and select 'No action' (alternatively enter a value of 0). Please note that this function can be affected by the access level enabled, refer to section 5.9 Parameter access level and security on page 44 for further information regarding access level.

5.11 Displaying destination parameters only

By selecting 'Destinations' in Pr mm.000 (Alternatively enter 12001 in Pr mm.000), the only parameters that will be visible to the user will be destination parameters. This function does not require a drive reset to become active. In order to deactivate this function, return to Pr mm.000 and select 'No action' (alternatively enter a value of 0).

Please note that this function can be affected by the access level enabled, refer to section 5.9 Parameter access level and security on page 44 for further information regarding access level.

5.12 Communications

The Unidrive M700 / M702 drive offer Ethernet fieldbus communications and the Unidrive M701 drive offers a 2 wire EIA 485 interface. This enables the drive set-up, operation and monitoring to be carried out with a PC or controller if required.

5.9.2 Changing the User Security Level /Access Level

The security level is determined by the setting of Pr 00.049 or Pr 11.044. The Security Level can be changed through the keypad even if the User Security Code has been set.

5.9.3 User Security Code

The User Security Code, when set, prevents write access to any of the parameters in any menu.

Setting User Security Code

Enter a value between 1 and 2147483647 in Pr 00.034 and press the

button; the security code has now been set to this value. In order

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5.12.1 Unidrive M700 / M702 - Ethernet communications

The drive offers fieldbus communications via Ethernet, this enables the drive set-up, operation and monitoring to be carried out with a PC or controller. The drive provides two RJ45 connections with an Ethernet switch for easy network creation. The Ethernet option provides support for the following protocols:

• Modbus TCP

• EtherNet/IP

• Web pages*

•Email**

• Synchronization with IEEE1588

*Basic Web page functionality only

**Features have not been implemented but will be available soon.

In addition to two RJ45 connectors, each port provides a status LED for diagnostic / information purposes.

LED status Description

Off Ethernet connection not detected

Solid green Ethernet connection detected but no data

Flashing green Ethernet connection detected and data flow

Figure 5-8 Location of the Ethernet ports

Ethernet set-up parameters

The following section covers the minimum number of parameters required to be set to establish an Ethernet communication.

Table 5-9 Key to parameter table coding

RW Read / Write ND No default value

RO Read only NC Not copied

Num Number parameter PT Protected parameter

Bit Bit parameter RA Rating dependant

Txt Text string US User save

Bin Binary parameter PS Power-down save

FI Filtered DE Destination

IP IP Address Mac Mac Address

Date Date parameter Time Time parameter

Chr Character parameter

4.00.007 {24.007}

RW Bit US



Changes to the Ethernet set-up parameters will not take effect until a Reset (4.00.007) has been performed.

4.00.010 {24.010}

RO IP US



Reset

Off (0) or On (1)

Active IP Address

128.000.000.000 to

127.255.255.255



Off (0)

The shell of the RJ45 connector is isolated from the 0V of the drive control terminals but it is connected to ground.

Modbus TCP/IP has a maximum number of 4 client connections. Refer to Pr 4.15.006 (Maximum Connections) in the Parameter Reference Guide. The default value of Pr 4.15.006 is 2 client connections, but the maximum number of client connections is 4.

Recommended cable

It is recommended that a minimum specification of CAT5e is used in new installations. If the existing cabling is used this may limit the maximum data rate depending on the cable ratings. In noisy environments the use of STP cable will offer additional noise immunity.

Maximum network lengths

The main restriction imposed on the Ethernet cabling is the length of a single segment of the cable, for Copper - UTP/STP CAT 5 cable type, maximum trunk cable length should be limited to 100 m. If distances greater than this are required it may be possible to extend the network with additional switches.

This parameter displays the Active IP Address. The Active IP Address can also be viewed in Pr 00.037.

4.02.005 DHCP Enable

RW Bit US



Off (0) or On (1)



On (1)

If DHCP Enable (4.02.005) is set to On (1), the IP address is acquired from the DHCP server and written to IP Address (4.02.006).

When using manual / static IP address configuration, ensure Subnet Mask (4.02.007) and Default Gateway (4.02.008) should also be set manually.

4.02.006 IP Address

RW IP US



000.000.000.000 to

255.255.255.255



192.168.001.100

This parameter controls and displays the IP address of the drive. If DHCP Enable (4.02.005) is set to On (1) this parameter will become read-only.

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4.02.007 Subnet Mask

RW IP US



000.000.000.000 to

255.255.255.255



255.255.255.000

This parameter controls and displays the Subnet Mask (4.02.007) of the drive.

4.02.008 Default Gateway

RW IP US



000.000.000.000 to

255.255.255.255



192.168.1.254

This parameter controls and displays the Default Gateway (4.02.008) of the drive.

PC Tools support

The discovery protocol feature, which is supported by the Unidrive M PC tools, is able to discover the drives that are connected to a PC, independent of above parameter settings.

5.12.2 Unidrive M701 - EIA 485 Serial communications

The EIA 485 option provides two parallel RJ45 connectors allowing easy daisy chaining. The drive only supports Modbus RTU protocol.

The serial communications port of the drive is a RJ45 socket, which is isolated from the power stage and the other control terminals (see section 4.2 Communication connections on page 22 for connection and isolation details).

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

USB/EIA 232 to EIA 485 Communications

An external USB/EIA 232 hardware interface such as a PC cannot be used directly with the 2-wire EIA 485 interface of the drive. Therefore a suitable converter is required.

Suitable USB to EIA 485 and EIA 232 to EIA 485 isolated converters are available from Control Techniques as follows:

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

• CT EIA 232 Comms cable (CT Part No. 4500-0087)

When using the CT EIA 232 Comms cable the available baud rate is limited to 19.2 k baud.

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

Serial communications set-up parameters

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

Serial communications set-up parameters

8 2 NP (0), 8 1 NP (1),

Serial Mode

(11.024) {00.035}

Serial Baud Rate

(11.025) {00.036}

Serial Address

(11.023) {00.037}

8 1 EP (2), 8 1 OP (3), 8 2 NP M (4), 8 1 NP M (5), 8 1 EP M (6), 8 1 OP M (7), 7 2 NP (8), 7 1 NP (9), 7 1 EP (10), 7 1 OP (11), 7 2 NP M (12), 7 1 NP M (13), 7 1 EP M (14), 7 1 OP M (15)

300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4), 9600 (5), 19200 (6), 38400 (7), 57600(8), 76800(9), 115200 (10)

1 to 247

The drive only supports the Modbus RTU protocol and is always a slave. This parameter defines the supported data formats used by the EIA 485 comms port (if installed) on the drive. This parameter can be changed via the drive keypad, via a option module or via the comms interface itself.

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

This parameter defines the serial address and an addresses between 1 and 247 are permitted.

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6 Basic parameters

Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive. All the parameters in Menu 0 appear in other menus in the drive (denoted by {…}). Menus 22 can be used to configure the parameters in Menu 0.

6.1 Parameter ranges and variable minimum / maximums

Some parameters in the drive have a variable range with a variable minimum and a variable maximum value which is dependent on one of the following:

• The settings of other parameters

• The drive rating

• The drive mode

• Combination of any of the above

For more information, refer to section 11.1 Parameter ranges and Variable minimum/maximums on page 120

6.2 Menu 0: Basic parameters

Parameter

00.001 Minimum Reference Clamp {01.007} VM_NEGATIVE_REF_CLAMP1 Hz / rpm 0.0 Hz

00.002 Maximum Reference Clamp {01.006} VM_POSITIVE_REF_CLAMP1 Hz / rpm

00.003 Acceleration Rate 1 {02.011}

00.004 Deceleration Rate 1 {02.021}

00.005 Reference Selector {01.014}

00.006 Symmetrical Current Limit {04.007} 0.0 to VM_MOTOR1_CURRENT_LIMIT %

Open-loop Control Mode {05.014}

00.007

Speed Controller Proportional Gain Kp1

Low Frequency Voltage Boost {05.015} 0.0 to 25.0 % 3.0 %

00.008

Speed Controller Integral Gain Ki1 {03.011}

Dynamic V to F Select {05.013} Off (0) or On (1) Off (0)

00.009

Speed Controller Differential Feedback Gain Kd 1

Motor Rpm {05.004} ±180000 rpm

00.010

Speed Feedback {03.002} VM_SPEED rpm

Output Frequency {05.001}

00.011

P1 Position {03.029} 0 to 65535

00.012 Current Magnitude {04.001} 0.000 to VM_DRIVE_CURRENT_UNIPOLAR A

00.013 Torque Producing Current {04.002} VM_DRIVE_CURRENT A

00.014 Torque Mode Selector {04.011} 0 or 1 0 to 5 0

00.015 Ramp Mode {02.004}

00.016 Ramp Enable {02.002} Off (0) or On (1) On (1)

Digital Input 6 Destination**** {08.026} 00.000 to 59.999

00.017

Current Reference Filter 1 Time Constant

00.019 Analog Input 2 Mode**** {07.011}

00.020 Analog Input 2 Destination**** {07.014} 00.000 to 59.999 01.037

00.021 Analog Input 3 Mode**** {07.015}

00.022 Bipolar Reference Enable {01.010} Off (0) or On (1) Off (0)

00.023 Jog Reference {01.005} 0.0 to 400.0 Hz

00.024 Preset Reference 1 {01.021} VM_SPEED_FREQ_REF 0.0

00.025 Preset Reference 2 {01.022} VM_SPEED_FREQ_REF 0.0

Preset Reference 3 {01.023}

00.026

Overspeed Threshold {03.008} 0 to 40000 rpm 0.0

{03.010} 0.0000 to 200.000 s/rad 0.0300 s/rad 0.0100 s/rad

{03.012} 0.00000 to 0.65535 1/rad 0.00000 1/rad

{04.012} 0.0 to 25.0 ms 0.0 ms

OL RFC-A RFC-S OL RFC-A RFC-S

0.0 to

VM_ACCEL_RATE

s/100 Hz

0.0 to

VM_ACCEL_RATE

s/100 Hz

A1 A2 (0), A1 Preset (1), A2 Preset (2), Preset (3),

Keypad (4), Precision (5), Keypad Ref (6)

Ur S (0), Ur (1),

Fixed (2),

Ur Auto (3), Ur I (4),

Square (5)

VM_SPEED_

FREQ_REF Hz

Fast (0), Standard (1), Std boost (2)

4-20 mA Low (-4), 20-4 mA Low (-3),

4-20 mA Hold (-2), 20-4 mA Hold (-1),

0-20 mA (0), 20-0 mA (1), 4-20 mA Trip (2),

20-4 mA Trip (3), 4-20 mA (4), 20-4 mA (5), Volt (6)

Volt (6), Therm Short Cct (7), Thermistor (8),

VM_SPEED_

FREQ_REF Hz

Range Default

50 Hz default:

50.0 Hz

60 Hz default:

60.0 Hz

0.000 to VM_ACCEL_RATE

s/1000 rpm

0.000 to VM_ACCEL_RATE

s/1000 rpm

0.00 to 655.35 s2/rad 0.10 s2/rad 1.00 s2/rad

± 2000.0 Hz

Fast (0), Standard (1) Standard (1)

Therm No Trip (9)

0.0 to 4000.0 rpm

5.0 s/100 Hz

10.0 s/100 Hz

165.0 %

Ur I (4)

06.031

0.0

50 Hz default:

1500.0 rpm

60 Hz default:

1800.0 rpm

2.000

s/1000 rpm

2.000

s/1000 rpm

A1 A2 (0) / Preset (3)***

1

Volt (6)

0.0

0.0 rpm

175.0 %

3000.0 rpm

0.200

s/1000 rpm

0.200

s/1000 rpm

2

Typ e

RW Num US

RW Txt US

RW Num RA US

RW Txt US

RW Num US

RW Bit US

RW Num US

RO Bit US

RO Num ND NC PT FI

RO Bit ND NC PT FI

RW Num US

RW Txt US

RW Bit US

RW Num DE PT US

RW Num US

RW Txt US

RW Num DE PT US

RW Txt US

RW Bit US

RW Num US

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Parameter

Preset Reference 4 {01.024}

00.027

P1 Rotary Lines Per Revolution {03.034} 1 to 100000 1024 4096

00.028 Enable Auxiliary Key {06.013} Disabled (0), Forward/Reverse (1), Run Reverse (2) Disabled (0)

NV Media Card File Previously

00.029

Loaded

00.030 Parameter Cloning {11.042} None (0), Read (1), Program (2), Auto (3), Boot (4) No ne (0)

00.031 Dr ive Rated Voltage {11.033} 200 V (0), 400 V (1), 575 V (2), 69 0 V (3)

00.032 Maximum Heavy Duty Rating {11.032} 0.000 to 99999.999 A

Catch A Spinning Motor {06.009}

00.033

Rated Speed Optimisation Select {05.016}

00.034 User Security Code {11.030}

00.035 Serial Mode* {11.024}

00.036 Serial Baud Rate* {11.025}

Serial Address* {11.023} 1 to 247 1

00.037

Active IP Address** {24.010} 128.000.000.000 to 127.255.255.255 RO IP NC PT

00.038 Current Controller Kp Gain {04.013} 0 to 30000 20 150

00.039 Current Controller Ki Gain {04.014} 0 to 30000 40 2000

00.040 Auto-tune {05.012} 0 to 2 0 to 5 0 to 6 0

00.041 Maximum Switching Frequency {05.018}

00.042 Number Of Motor Poles {05.011} Automatic (0) to 480 Poles (240) Automatic (0) 6 Poles (3)

Rated Power Factor***** {05.010} 0.000 to 1.000 0.850

00.043

Position Feedback Phase Angle {03.025}

00.044 Rated Voltage {05.009} 0 to VM_AC_VOLTAGE_SET V

00.045 Rated Speed {05.008}

00.046 Rated Current {05.007} 0.000 to VM_RATED_CURRENT A Maximum Heavy Duty Rating (11.032)

00.047 Rated Frequency {05.006} 0.0 to 550.0 Hz

00.048 User Drive Mode {11.031} Open-loop (1), RFC-A (2), RFC-S (3), Regen (4) Open-loop (1) RFC-A (2) RFC-S (3)

00.049 User Security Status {11.044}

00.050 Software Version {11.029} 0 to 99999999

00.051 Action On Trip Detection {10.037} 0 to 31 0

00.052 Reset Serial Communications* {11.020} Off (0) or On (1) Off (0)

00.053 Motor Thermal Time Constant 1 {04.015} 1.0 to 3000.0 s 89.0 s

{11.036} 0 to 999

OL RFC-A RFC-S OL RFC-A RFC-S

VM_SPEED_

FREQ_REF Hz

Disable (0), Enable (1),

Fwd Only (2),

Rev Only (3)

8 2 NP (0), 8 1 NP (1), 8 1 EP (2), 8 1 OP (3),

8 2 NP M (4), 8 1 NP M (5), 8 1 EP M (6),

8 1 OP M (7), 7 2 NP (8), 7 1 NP (9), 7 1 EP (10),

7 1 OP (11), 7 2 NP M (12), 7 1 NP M (13),

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

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

2 kHz (0), 3 kHz (1), 4 kHz (2), 6 kHz (3), 8 kHz (4),

0 to

33000 rpm

Menu 0 (0), All Menus (1), Read-only Menu 0 (2),

Read-only (3), Status Only (4), No Access (5)

* Only applicable to Unidrive M701.

*** Only applicable to Unidrive M702.

***** Following a rotating autotune Pr 00.043 {05.010} is continuously written by the drive, calculated from the value of Stator Inductance (Pr 05.025). To manually enter a value into Pr 00.043 {05.010},

Range Default

Disable (0)

Disabled (0),

Classic Slow (1),

Classic Fast (2),

Combined (3),

VARs Only (4),

Voltage Only (5)

31

0 to 2

-1

7 1 EP M (14), 7 1 OP M (15)

76800 (9), 115200 (10)

12 kHz (5), 16 kHz (6)

0.0 to

359.9 °

50 Hz default:

0.00 to 33000.00 rpm

1500 rpm

60 Hz default:

1800rpm

** Only applicable to Unidrive M700 / M702.

**** Only applicable to Unidrive M700 / M701.

1

For size 9 and above the default is 141.9 %.

2

For size 9 and above the default is 150.0 %.

0.0

Disabled (0)

0

8 2 NP (0)

19200 (6)

3 kHz (1) 6 kHz (3)

200 V drive: 230 V 50 Hz default 400V drive: 400 V 60 Hz default 400V drive: 460 V

575 V drive: 575 V

690 V drive: 690 V

50 Hz default:

1450.00 rpm

60 Hz default:

1750.00 rpm

50 Hz default: 50.0 Hz 60 Hz default: 60.0 Hz

Menu 0 (0)

0.0 °

3000.00 rpm

RW Num US

RW Txt US

RO Num NC PT

RW Txt NC US

RO Txt ND NC PT

RO Num ND NC PT

RW Txt US

RW Num ND NC PT US

RW Txt US

RW Num US

RW Num NC

RW Txt RA US

RW Num US

RW Num RA US

RW Num ND US

RW Num RA US

RW Num US

RW Num RA US

RW Num US

RW Txt ND NC PT

RW Txt ND PT

RO Num ND NC PT

RW Bin US

RW Bit ND NC

RW Num US

Pr 05.025 will need to be set to 0. Please refer to the description of Pr 05.010 in the Parameter Reference Guide for further details.

Typ e

RW Read / Write RO Read only Num Number parameter Bit Bit parameter Txt Text string Bin Binary parameter FI Filtered

ND No default value NC Not copied PT Protected parameter RA Rating dependent US User save PS Power-down save DE Destination

IP IP address Mac Mac address Date Date parameter Time Time parameter

48 Unidrive M700 / M701 / M702 Control User Guide

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Unidrive M700 / M701 / M702 Control User Guide 49 Issue Number: 1

Safety

Analog

Input

2 Mode

00.019

5

6

7

Analog reference

Keypad reference

00.XXX

Key

Read-write

(RW)

parameter

Read-only

(RO)

parameter

Input terminals

Output terminals

X

The parameters are all shown in their default settings

00.024

00.025

00.026

00.027

Preset Reference 1

Preset Reference 2

Preset

Reference 3 Preset Reference 4

Preset frequency reference

Analog

Reference 2

00.020

??.??

Any unprotected variable parameter

??.??

01.037

Analog Input 2

Destination

28

29

0 1 2

3 4 5

Precision reference

Open Loop only

00.022

Bipolar Reference

00.028

Enable Auxiliary Key

00.023

Jog Reference

A1 A2

A1 Preset A2 Preset

Preset

Keypad

Precision

6

01.015

Pr

set

01.050

>1

Keypad Ref

01.050

00.005

Reference

Selector

Preset

Selector

Preset

Select Indicator

Enable

information

Product

information

Mechanical

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Electrical

installation

Getting

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parameters

Figure 6-1 Menu 0 logic diagram (Unidrive M700 / 701)

Basic

Running

the motor

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Advanced

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Diagnostics

UL listing

information

50 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

OL> FREQUENCY

SPEED

TORQUE

Motor

control

Speed-Loop Proportional Gain

OL> Catch A Spinning Motor RFC-A, Rated Speed Optimisation Select

Speed Feedback

00.033

00.006

00.007

Speed-Loop Integral

Gain

00.008

Speed-Loop Differential Gain

00.009

RFC-A, RFC-S>

Speed-loop

PID

gains

9 10

15 way sub-D connector

24

AT ZERO SPEED

Current Limit

Number Of Poles Power Factor RatedVoltage Rated Speed Rated Current Rated Frequency

00.042 ~ 00.047

Motor

parameters

Power stage

Open-Loop Control Mode

Dynamic

V/f

Select

00.007

00.008

00.009

OL>

Motor-voltage control

Estimated Motor Speed

_

+

L1 L2 L3

_

+

UVW

Resistor optional

Drive

RUN

FORWARD

RUN REVERSE

RESET

Minimum Reference Clamp

00.001

00.002

26 27

25

Ramps

Acceleration Rate 1

Deceleration Rate 1

Ramp Mode

00.003

00.004

00.015

RFC-A, RFC-S modes only

000.16

Maximum Reference Clamp

Ramp Enable

Analog outputs Digital output

00.027

00.026

Overspeed Threshold

00.041

00.011

Maximum Switching Frequency

Output Frequency

00.014

Torque Mode Selector

00.017

RFC-A/RFC-S> Current Reference Filter Time 1 Constant

Torque

Producing

Current

Current Magnitude

Magnetising Current

+ BR

_

RFC-A, RFC-S

RFC-A, RFC-S>

00.010

00.013

00.012

P1 Rotary Lines Per Revolution

Low Frequency Voltage Boost

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Unidrive M700 / M701 / M702 Control User Guide 51 Issue Number: 1

Safety

Keypad reference

00.XXX

Key

Read-write

(RW)

parameter

Read-only

(RO)

parameter

Input terminals

Output terminals

X

The parameters are all shown in their default settings

00.024

00.025

00.026

00.027

Preset

Reference 1 Preset Reference 2

Preset

Reference 3 Preset Reference 4

Preset frequency reference

0 1 2

3 4 5

Precision reference

Open Loop only

00.022

Bipolar Reference Enable

00.028

Enable Auxiliary Key

Preset

Keypad

Precision

6

Keypad Ref

00.005

Reference

Selector

information

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information

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Electrical

installation

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Figure 6-2 Menu 0 logic diagram (Unidrive M702)

Basic

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UL listing

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52 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Speed-Loop Proportional Gain

Speed

Feedback

00.007

Speed-Loop Integral

Gain

00.008

Speed-Loop Differential Gain

00.009

RFC-A, RFC-S>

Speed-loop

PID

gains

15 way sub-D connector

4

AT ZERO SPEED

Number Of Poles Power Factor RatedVoltage Rated Speed Rated Current Rated Frequency

00.042 ~ 00.047

Motor

parameters

Power stage

Dynamic

V/f

Select

00.007

00.008

00.009

OL>

Motor-voltage control

Estimated Motor Speed

_

+

L1 L2 L3

_

+

U V W

Resistor optional

Drive

RUN

FORWARD

RUN REVERSE

00.001

00.002

7

8

Ramps

Acceleration Rate 1

Deceleration Rate 1

Ramp Mode

00.003

00.004

00.015

RFC-A, RFC-S modes only

000.16

Maximum Reference Clamp

Ramp Enable

Digital output

00.027

00.026

Overspeed Threshold

00.041

00.011

Maximum Switching Frequency

Output Frequency

Torque

Producing

Current

Current Magnitude

Magnetising Current

+ BR

_

RFC-A, RFC-S

00.010

00.013

00.012

Minimum Reference Clamp

P1 Rotary Lines Per Revolution

Motor

control

OL> Catch A Spinning Motor RFC-A, Rated Speed Optimisation Select

00.033

00.006

Current Limit

00.014

Torque Mode Selector

00.017

RFC-A/RFC-S> Current Reference Filter Time 1 Constant

Open-Loop Control Mode

Low Frequency Voltage Boost

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Unidrive M700 / M701 / M702 Control User Guide 53 Issue Number: 1

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information

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Diagnostics

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6.3 Parameter descriptions

6.3.1 Pr mm.000

Pr mm.000 is available in all menus, commonly used functions are provided as text strings in Pr mm.000 shown in Table 6-1. The functions in Table 6-1 can also be selected by entering the appropriate numeric values (as shown in Table 6-2) in Pr mm.000. For example, enter 4001 in Pr mm.000 to store drive parameters on an NV Media Card.

Table 6-1 Commonly used functions in xx.000

Value Equivalent value String Action

00

[No Action]

1001 1 [Save parameters] Save parameters under all conditions

6001 2

4001 3

6002 4

4002 5

6003 6

4003 7

12000 8

12001 9

1233 10

1244 11

1070 12

11001 13

11051 14

[Load file 1] Load the drive parameters or user program file from NV Media Card file 001

[Save to file 1] Transfer the drive parameters to parameter file 001

[Load file 2] Load the drive parameters or user program file from NV Media Card file 002

[Save to file 2] Transfer the drive parameters to parameter file 002

[Load file 3] Load the drive parameters or user program file from NV Media Card file 003

[Save to file 3] Transfer the drive parameters to parameter file 003

[Show non-default] Displays parameters that are different from defaults

[Destinations] Displays parameters that are set

[Reset 50Hz defs] Load parameters with standard (50 Hz) defaults

[Reset 60Hz defs] Load parameters with US (60 Hz) defaults

[Reset modules] Reset all option modules

[Read enc. NP P1] Transfer electronic nameplate motor parameters to the drive from the P1 encoder

[Read enc. NP P2] Transfer electronic nameplate motor parameters to the drive from the P2 encoder

54 Unidrive M700 / M701 / M702 Control User Guide

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Table 6-2 Functions in Pr mm.000

Value Action

1000

Save parameters when Under Voltage Active (Pr 10.016) is not active and Low Under Voltage Threshold Select mode (Pr 06.067 = Off) is not active.

1001 Save parameters under all conditions

1070 Reset all option modules

1233 Load standard (50 Hz) defaults

1234 Load standard (50 Hz) defaults to all menus except option module menus (i.e 15 to 20 and 24 to 28)

1244 Load US (60 Hz) defaults

1245 Load US (60 Hz) defaults to all menus except option module menus (i.e 15 to 20 and 24 to 28)

1253 Change drive mode and load standard (50 Hz) defaults

1254 Change drive mode and load US (60 Hz) defaults

1255 Change drive mode and load standard (50 Hz) defaults except for menus 15 to 20 and 24 to 28

1256 Change drive mode and load US (60 Hz) defaults except for menus 15 to 20 and 24 to 28

1299 Reset {Stored HF} trip.

2001* Create a boot file on a non-volatile media card based on the present drive parameters including all Menu 20 parameters

4yyy* NV media card: Transfer the drive parameters to parameter file xxx

5yyy* NV media card: Transfer the onboard user program to onboard user program file xxx

6yyy* NV media card: Load the drive parameters from parameter file xxx or the onboard user program from onboard user program file xxx

7yyy* NV media card: Erase file xxx

8yyy* NV Media card: Compare the data in the drive with file xxx

9555* NV media card: Clear the warning suppression flag

9666* NV media card: Set the warning suppression flag

9777* NV media card: Clear the read-only flag

9888* NV media card: Set the read-only flag

9999* NV media card: Erase and format the NV media card

59999 Delete onboard user program

110S0 Transfer electronic nameplate motor object parameters from the drive to an encoder connected to the drive or an option module.

110S1

Transfer electronic nameplate motor objects parameters from an encoder connected to the drive or option module to the drive parameters.

110S2 As 110S0, but for performance object 1

110S3 As 110S1, but for performance object 1

110S4 As 110S0, but for performance object 2

110S5 As 110S1, but for performance object 2

110S6

Transfer electronic nameplate motor object parameters from the drive to an encoder connected to the drive or an option module in the Unidrive SP format.

12000** Only display parameters that are different from their default value. This action does not require a drive reset.

12001** Only display parameters that are used to set-up destinations (i.e. DE format bit is 1). This action does not require a drive reset.

15xxx* Transfer the user program in an option module installed in slot 1 to a non-volatile media card file xxx

16xxx* Transfer the user program in an option module installed in slot 2 to a non-volatile media card file xxx

17xxx* Transfer the user program in an option module installed in slot 3 to a non-volatile media card file xxx

18xxx* Transfer the user program from file xxx in a non-volatile media card to an option module installed in slot 1.

19xxx* Transfer the user program from file xxx in a non-volatile media card to an option module installed in slot 2.

20xxx* Transfer the user program from file xxx in a non-volatile media card to an option module installed in slot 3.

21xxx* Transfer the user program in an option module installed in slot 4 to a non-volatile media card file xxx.

22xxx* Transfer the user program from file xxx in a non-volatile media card to an option module installed in slot 4.

* See Chapter 9 NV Media Card Operation on page 110 for more information on these functions.

** These functions do not require a drive reset to become active. All other functions require a drive reset to initiate the function. Equivalent values and strings are also provided in the table above.

Unidrive M700 / M701 / M702 Control User Guide 55 Issue Number: 1

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6.4 Full descriptions

Table 6-3 Key to parameter table coding

Coding Attribute

RW Read/Write: can be written by the user

RO Read only: can only be read by the user

Bit 1 bit parameter. ‘On’ or ‘Off’ on the display

Num Number: can be uni-polar or bi-polar

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

Bin Binary parameter

IP IP Address parameter

Mac Mac Address parameter

Date Date parameter

Time Time parameter

Chr Character parameter

Filtered: some parameters which can have rapidly changing

FI

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

Destination: This parameter selects the destination of an

DE

input or logic function.

Rating dependent: this parameter is likely to have different values and ranges with drives of different voltage and current ratings. Parameters with this attribute will be transferred to the destination drive by non-volatile storage media when the rating of the destination drive is different

RA

from the source drive and the file is a parameter file. However, the values will be transferred if only the current rating is different and the file is a difference from default type file.

No default: The parameter is not modified when defaults are

ND

loaded

Not copied: not transferred to or from non-volatile media

NC

during copying.

PT Protected: cannot be used as a destination.

User save: parameter saved in drive EEPROM when the

US

user initiates a parameter save.

Power-down save: parameter automatically saved in drive

PS

EEPROM when the under volts (UV) state occurs.

6.4.1 Parameter x.00

00.000

{mm.000}

RW Num ND NC PT



6.4.2 Speed limits

00.001 {01.007} Minimum Reference Clamp

RW Num US

OL

RFC-A

RFC-S

(When the drive is jogging, [00.001] has no effect.)

Open-loop

Set Pr 00.001 at the required minimum output frequency of the drive for both directions of rotation. The drive speed reference is scaled between Pr 00.001 and Pr 00.002. [00.001] is a nominal value; slip compensation may cause the actual frequency to be higher.

Parameter zero

0 to 65,535

VM_NEGATIVE_REF_



CLAMP1 Hz / rpm



0.0 Hz

0.0 rpm

Optimization

RFC-A / RFC-S

Set Pr rotation. The drive speed reference is scaled between Pr Pr

00.002

00.002 {01.006} Maximum Reference Clamp

RW Num US

OL

RFC-A

RFC-S 3000.0 rpm

(The drive has additional over-speed protection).

Open-loop

Set Pr 00.002 at the required maximum output frequency for both directions of rotation. The drive speed reference is scaled between Pr 00.001 and Pr 00.002. [00.002] is a nominal value; slip compensation may cause the actual frequency to be higher.

RFC-A / RFC-S

Set Pr rotation. The drive speed reference is scaled between Pr Pr

00.002

For operating at high speeds see section 8.6 High speed operation on page 103.

NV Media Card

Operation

00.001

at the required minimum motor speed for both directions of

.

VM_POSITIVE_REF_



CLAMP1 Hz / rpm

00.002

at the required maximum motor speed for both directions of

.

Onboard

PLC

Advanced

parameters



Diagnostics

50Hz default: 50.0 Hz 60Hz default: 60.0 Hz

50Hz default:1500.0 rpm 60Hz default:1800.0 rpm

00.001

UL listing

information

and

6.4.3 Ramps, speed reference selection, current limit

00.003 {02.011} Acceleration Rate 1

RW Num US

OL

RFC-A

RFC-S 0.200 s/1000 rpm

Set Pr 00.003 at the required rate of acceleration.

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

00.004 {02.021} Deceleration Rate 1

RW Num US

OL

RFC-A

RFC-S 0.200 s/1000 rpm

Set Pr 00.004 at the required rate of deceleration.

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

00.005 {01.014} Reference Selector

RW Txt US

OL

RFC-A

RFC-S

* Available on Unidrive M700 / M701 only.

0.0 to VM_ACCEL_RATE s/100 Hz



0.0 to VM_ACCEL_RATE



A1 A2 (0)*, A1 Preset (1)*, A2 Preset (2)*,



Preset (3), Keypad (4), Precision (5), Keypad Ref (6)

0.000 to

VM_ACCEL_RATE

s/1000 rpm

s/100 Hz

0.000 to

VM_ACCEL_RATE

s/1000 rpm



5.0 s/100 Hz

2.000 s/1000 rpm

10.0 s/100 Hz

2.000 s/1000 rpm

M700 / M701: A1 A2 (0)

M702: Preset (3)

56 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

00.006[]

T

R

T

RATED

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

100×=

00.006[]

I

R

I

RATED

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

100×=

information

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Use Pr 00.005 to select the required frequency/speed reference as follows:

Setting Description

A1 A2* 0

Analog input 1 OR analog input 2 selectable by digital input, terminal 28

A1 Preset* 1 Analog input 1 OR preset frequency/speed

A2 Preset* 2 Analog input 2 OR preset frequency/speed

Preset (3) 3 Pre-set frequency/speed

Keypad (4) 4 Keypad mode

Precision (5) 5 Precision reference

Keypad Ref (6) 6 Keypad Reference

* Available on Unidrive M700 / M701 only.

00.006 {04.007} Symmetrical Current Limit

RW Num US

OL

RFC-A

RFC-S

0.0 to VM_MOTOR1_



CURRENT_LIMIT %



165.0 %

175.0 %

Pr 00.006 limits the maximum output current of the drive (and hence maximum motor torque) to protect the drive and motor from overload.

Set Pr 00.006 at the required maximum torque as a percentage of the rated torque of the motor, as follows:

(%)

Where:

Required maximum torque

T

R

T

Motor rated torque

RATED

Alternatively, set Pr 00.006 at the required maximum active (torque- producing) current as a percentage of the rated active current of the motor, as follows:

(%)

Where:

Required maximum active current

I

R

I

Motor rated active current

RATED

6.4.4 Voltage boost, (open-loop), Speed-loop PID gains (RFC-A / RFC-S)

00.007 {05.014} Open-loop Control Mode (OL)

00.007 {03.010} Speed Controller Proportional Gain Kp1 (RFC)

RW

Txt / Num

Ur S (0), Ur (1),

OL

Fixed (2), Ur Auto (3),





Ur I (4), Square (5)

RFC-A

RFC-S 0.0100 s/rad

0.0000 to 200.000 s/rad





0.0300 s/rad

US

Ur I (4)

Running

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Diagnostics

RFC-A/ RFC-S

Pr 00.007 (03.010) operates in the feed-forward path of the speedcontrol loop in the drive. See Figure 11-4 on page 140 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization on page 89.

00.008 {05.015} Low Frequency Voltage Boost (OL)

00.008 {03.011} Speed Controller Integral Gain Ki1 (RFC)

RW Num US

OL

RFC-A

RFC-S



0.0 to 25.0 %

0.00 to 655.35 s2/rad



0.10 s2/rad

1.00 s

Open-loop

When Open-loop Control Mode (00.007) is set at Fd or SrE, set Pr 00.008 (05.015) at the required value for the motor to run reliably at low speeds.

Excessive values of Pr 00.008 can cause the motor to be overheated.

RFC-A/ RFC-S

Pr 00.008 (03.011) operates in the feed-forward path of the speed- control loop in the drive. See Figure 11-4 on page 140 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization on page 89.

00.009 {05.013} Dynamic V to F Select (OL)

00.009 {03.012}

Speed Controller Differential Feedback Gain Kd 1 (RFC)

RW Bit US

OL

RFC-A

RFC-S



Off (0) or On (1)

0.00000 to

0.65535 1/rad



0.00000 1/rad

Open-loop

Set Pr 00.009 (05.013) 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 00.009 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 6-3 shows the change in V/f slope when the motor current is reduced.

RFC-A / RFC-S

Pr 00.009 (03.012) operates in the feedback path of the speed-control loop in the drive. See Figure 11-4 Menu 3 RFC-A, RFC-S logic diagram on page 140 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization on page 89.

3.0 %

2

Off (0)

UL listing

information

/rad

Open-loop

There are six voltage modes available, which fall into two categories, vector control and fixed boost. For further details, refer to section Pr

00.007 {05.014} Open Loop Control Mode on page 90.

Unidrive M700 / M701 / M702 Control User Guide 57 Issue Number: 1

Safety

Motor

voltage

Frequency

AC supply

voltage

IMOTOR

Active current

Total current

Magnetising current

information

Figure 6-3 Fixed and variable V/f characteristics

Product

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Pr 00.012 displays the rms value of the output current of the drive in each of the three phases. The phase currents consist of an active component and a reactive component, which can form a resultant current vector as shown in the following diagram.

The active current is the torque producing current and the reactive current is the magnetizing or flux-producing current.

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6.4.5 Monitoring

00.010 {05.004} Motor Rpm

RO Bit US

OL



Open-loop

Pr 00.010 (05.004) indicates the value of motor speed that is estimated from the following:

02.001 Post Ramp Reference

00.042 Number Of Motor Poles

00.010 {03.002} Speed Feedback

RO Num FI ND NC PT

RFC-A

RFC-S

RFC-A / RFC-S

Pr 00.010 (03.002) indicates the value of motor speed that is obtained from the speed feedback.

OL

RFC-A

RFC-S

Open-loop and RFC-A

Pr 00.011 displays the frequency at the drive output.

RFC-S

Pr 00.011 displays the position of the encoder in mechanical values of 0 to 65,535. There are 65,536 units to one mechanical revolution.

OL

RFC-A

RFC-S



00.011 {05.001} Output Frequency (OL)

00.011 {03.029} P1 Position (RFC)

RO Num FI ND NC PT

00.012 {04.001} Current Magnitude

RO Bit FI ND NC PT



±180000 rpm

VM_SPEED rpm

VM_SPEED_FREQ_



VM_DRIVE_CURRENT_

REF Hz

0 to 65535

0.000 to

UNIPOLAR A



00.013 {04.002} Torque Producing Current

RO Bit FI ND NC PT

OL

RFC-A

RFC-S

When the motor is being driven below its rated speed, the torque is proportional to [00.013].

VM_DRIVE_CURRENT A





6.4.6 Jog reference, Ramp mode selector, Stop and torque mode selectors

Pr

00.014

follows:

OL

RFC-A

RFC-S

OL

RFC-A

RFC-S

Pr 00.015 sets the ramp mode of the drive as shown below:

is used to select the required control mode of the drive as

00.014 {04.011} Torque Mode Selector

RW Num US



Setting Open-Loop RFC-A/S

0 Frequency control Speed control

1 Torque control Torque control

2

3

4

5

00.015 {02.004} Ramp Mode Select

RW Txt US



0 or 1

0 to 5

Fast (0), Standard (1),

Std boost (2)

Fast (0), Standard (1)



Torque control with speed override

Coiler/uncoiler mode

Speed control with torque feed-

forward

Bi-directional torque control with

speed override



Standard (1)

0

58 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

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DC Bus voltage

Motor Speed

Programmed deceleration

rate

t

Controller operational

information

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0: Fast ramp

Fast ramp is used where the deceleration follows the programmed deceleration rate subject to current limits. This mode must be used if a braking resistor is connected to the drive.

1: Standard ramp

Standard ramp is used. During deceleration, if the voltage rises to the standard ramp level (Pr

02.008

) it causes a controller to operate, the output of which changes the demanded load current in the motor. As the controller regulates the link voltage, the motor deceleration increases as the speed approaches zero speed. When the motor deceleration rate reaches the programmed deceleration rate the controller ceases to operate and the drive continues to decelerate at the programmed rate. If the standard ramp voltage (Pr

02.008

) is set lower than the nominal DC bus level the drive will not decelerate the motor, but it will coast to rest. The output of the ramp controller (when active) is a current demand that is fed to the frequency changing current controller (Open-loop modes) or the torque producing current controller (RFC-A or RFC-S modes). The gain of these controllers can be modified with Pr

00.038

and Pr

00.039

.

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00.017 {04.012} Current Reference Filter Time Constant

RW Num US

RFC-A

RFC-S



0.0 to 25.0 ms



0.0 ms

RFC-A / RFC-S

A first order filter, with a time constant defined by Pr 00.017, is provided on the current demand to reduce acoustic noise and vibration produced as a result of position feedback quantisation noise. The filter introduces a lag in the speed loop, and so the speed loop gains may need to be reduced to maintain stability as the filter time constant is increased.

00.019 {07.011} Analog Input 2 Mode*

RW Num US

OL

RFC-A

RFC-S

4-20 mA Low (-4),

20-4 mA Low (-3), 4-20 mA Hold (-2), 20-4 mA Hold (-1),



0-20 mA (0), 20-0 mA (1),

4-20 mA Trip (2),



Volt ( 6)

20-4 mA Trip (3), 4-20 mA

(4), 20-4 mA (5), Volt (6)

2: Standard ramp with motor voltage boost

This mode is the same as normal standard ramp mode except that the motor voltage is boosted by 20 %. This increases the losses in the motor, dissipating some of the mechanical energy as heat giving faster

deceleration.

00.016 {02.002} Ramp Enable

RW Bit US

OL

 

RFC-A

RFC-S



Off (0) or On (1)



On (1)

Setting Pr 00.016 to 0 allows the user to disable the ramps. This is generally used when the drive is required to closely follow a speed reference which already contains acceleration and deceleration ramps.

00.017

{08.026}

RW Num DE PT US

OL



* Not applicable to Unidrive M702.

Digital Input 6 Destination*

00.000 to 59.999



06.031

Open-loop

Pr 00.017 sets the destination of digital input T29.

* Not applicable to Unidrive M702.

In modes 2 and 3 a current loop loss trip is generated if the current falls below 3 mA. In modes -4, -3, 2 and 3 the analog input level goes to 0.0 % if the input current falls below 3 mA. In modes -2 and -1 the analog input remains at the value it had in the previous sample before the current fell below 3mA.

Pr Value Pr string Comments

-4 4-20 mA Low

-3 20-4 mA Low

-2 4-20 mA Hold

-1 20-4 mA Hold

4-20 mA low value on current loss (1)

20-4 mA low value on current loss (1)

4-20 mA hold at level before loss on current loss

20-4 mA hold at level before loss on current loss

00-20 mA

1 20-0 mA

2 4-20 mA Trip 4-20 mA trip on current loss

3 20-4 mA Trip 20-4 mA trip on current loss

44-20 mA

5 20-4 mA

6Volt

00.020 {07.014} Analog Input 2 Destination*

RW Num DE PT US

OL



00.000 to 59.999



01.037RFC-A

RFC-S

* Not applicable to Unidrive M702.

Pr 00.020 sets the destination of analog input 2.

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00.021 {07.015} Analog Input 3 Mode*

RW Txt US

OL

RFC-S

* Not applicable to Unidrive M702.

Pr value Pr string Comments

6Volt

7 Therm Short Cct

8Thermistor

9Therm No Trip

00.022 {01.010} Bipolar Reference Enable

RW Bit US

OL

RFC-S

Volt (6), Therm Short Cct

(7), Thermistor (8),



Therm No Trip (9)

OFF (0) or On (1)





Temperature measurement input with short circuit detection

Temperature measurement without short circuit detection

Temperature measurement input with no trips



OFF (0)RFC-A

00.024 {01.021} Preset Reference 1

RW Num US

OL

Vol t (6 )RFC-A

RFC-S

00.025 {01.022} Preset Reference 2

RW Num US

OL

RFC-S

00.026 {01.023} Preset Reference 3 (OL)

00.026 {03.008} Overspeed Threshold (RFC)

RW Num US

OL

RFC-A

RFC-S

VM_SPEED_FREQ_



VM_SPEED_FREQ_



VM_SPEED_FREQ_



0 to 40000 rpm



REF

REF Hz



0.0RFC-A

0.0

Pr 00.022 determines whether the reference is uni-polar or bi-polar as follows:

Pr 00.022 Function

0 Unipolar speed/frequency reference

1 Bipolar speed/frequency reference

00.023 {01.005} Jog Reference

RW Num US

OL



RFC-A



RFC-S

Enter the required value of jog frequency/speed.

The frequency/speed limits affect the drive when jogging as follows:

Pr 00.001 Minimum reference clamp No

Pr 00.002 Maximum reference clamp Yes

0.0 to 400.0 Hz

0.0 to 4000.0 rpm

Frequency-limit parameter Limit applies



0.0

Open-loop

If the preset reference has been selected (see Pr 00.005), the speed at which the motor runs is determined by these parameters.

RFC-A / RFC-S

If the speed feedback (Pr 00.010) exceeds this level in either direction, an overspeed trip is produced. If this parameter is set to zero, the overspeed threshold is automatically set to 120 % x SPEED_FREQ_MAX.

00.027 {01.024} Preset Reference 4 (OL)

00.027 {03.034} P1 Rotary Lines Per Revolution (RFC)

RW Num US

OL

RFC-A

RFC-S 4096

Open-loop

Refer to Pr 00.024 to Pr 00.026.

RFC-A / RFC-S

Enter in Pr 00.027 the number of lines per revolution of the drive encoder.

00.028 {06.013} Enable Auxiliary Key

RW Txt US

OL

RFC-S

VM_SPEED_FREQ_



1 to 100000

Disabled (0),

Forward/Reverse (1),

Run Reverse (2)

REF Hz



0.0

1024

Disabled (0)RFC-A

When a keypad is installed, this parameter enables the forward/reverse key.

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00.029 {11.036} NV Media Card File Previously Loaded

RO Num NC PT

OL

RFC-A



0 to 999



RFC-S

This parameter shows the number of the data block last transferred from a NV Media Card to the drive.

00.030 {11.42} Parameter Cloning

RW Txt NC US*

OL

RFC-S

None (0), Read (1),

Program (2), Auto (3),



Boot (4)



None (0)RFC-A

* Only a value of 3 or 4 in this parameter is saved.

N

If Pr 00.030 is equal to 1 or 2 this value is not transferred to the EEPROM or the drive. If Pr 00.030 is set to a 3 or 4 the value is transferred.

Pr

String

None 0 Inactive

Read 1 Read parameter set from the NV Media Card

Program 2

Auto 3 Auto save

Boot 4 Boot mode

For further information, please refer to Chapter 9 NV Media Card Operation on page 110.

00.031 {11.033} Drive Rated Voltage

RO Txt ND NC PT

OL

RFC-A

RFC-S

Pr 00.031 indicates the voltage rating of the drive.

00.032 {11.032} Maximum Heavy Duty Rating

RO Num ND NC PT

OL

RFC-A

RFC-S

Pr 00.032 indicates the maximum continuous Heavy Duty current rating.

Pr

value

Programming a parameter set to the NV Media Card

200 V (0), 400 V (1),



575 V (2), 690 V (3)

0.000 to 99999.999 A



Comment



00.033 {06.009} Catch A Spinning Motor (OL)

00.033 {05.016} Rated Speed Optimisation Select (RFC-A)

RW Txt US

Disable (0), Enable (1),

OL



Fwd Only (2),



Disable (0)

Rev Only (3)

Disabled (0),

Classic Slow (1),

RFC-A

Classic Fast (2),



Combined (3),



Disabled (0)

VAR s O nly (4) ,

Voltage Only (5)

Open-loop

When the drive is enabled with Pr 00.033 = 0, the output frequency starts at zero and ramps to the required reference. When the drive is enabled when Pr 00.033 has a non-zero value, the drive performs a start-up test to determine the motor speed and then sets the initial output frequency to the synchronous frequency of the motor. Restrictions may be placed on the frequencies detected by the drive as follows:

Pr 00.033 Pr string Function

0 Disable Disabled

1 Enable Detect all frequencies

2 Fwd only Detect positive frequencies only

3 Rev only Detect negative frequencies only

RFC-A

The Rated Frequency (00.047) and Rated Speed (00.045) are used to define the rated slip of the motor. The rated slip is used in sensorless mode (Sensorless Mode Active (03.078) = 1) to correct the motor speed with load. When this mode is active Rated Speed Optimisation Select (00.033) has no effect. If sensorless mode is not active (Sensorless Mode Active (03.078) = 0) the rated slip is used in the motor control algorithm and an incorrect value of slip can have a significant effect on the motor performance. If Rated Speed Optimisation Select (00.033) = 0 then the adaptive control system is disabled. However, if Rated Speed Optimisation Select (00.033) is set to a non-zero value the drive can automatically adjust the

Rated Speed (00.045) to give the correct value of rated slip. Rated Speed (00.045) is not saved at power-down, and so when the drive is

powered-down and up again it will return to the last value saved by the user. The rate of convergence and the accuracy of the adaptive controller reduces at low output frequency and low load. The minimum frequency is defined as a percentage of Rated Frequency (00.047) by Rated Speed Optimisation Minimum Frequency (05.019). The minimum load is defined as a percentage of rated load by Rated Speed Optimisation Minimum Load (05.020). The adaptive controller is enabled when a motoring or regenerative load rises above Rated Speed Optimisation Minimum Load (05.020) + 5 %, and is disabled again when it falls below Rated Speed Optimisation Minimum Load (05.020). For best optimisation results the correct values of Stator Resistance (05.017), Transient Inductance (05.024), Stator Inductance (05.025),

Saturation Breakpoint 1 (05.029), Saturation Breakpoint 2 (05.062), Saturation Breakpoint 3 (05.030) and Saturation Breakpoint 4 (05.063)

should be used.

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00.034 {11.030} User security code

RW Num ND NC PT US

OL



0 to 231-1



0RFC-A

RFC-S

If any number other than 0 is programmed into this parameter, user security is applied so that no parameters except Pr 00.049 can be adjusted with the keypad. When this parameter is read via a keypad it appears as zero. For further details refer to section 5.9.3 User Security Code on page 44.

00.035 {11.024} Serial Mode*

RW Txt US

OL

RFC-A

8 2 NP (0), 8 1 NP (1), 8 1 EP (2), 8 1 OP (3),

8 2 NP M (4), 8 1 NP M (5), 8 1 EP M (6),

RFC-S

8 1 OP M (7), 7 2 NP (8),



7 1 NP (9), 7 1 EP (10),

7 1 OP (11),



8 2 NP (0)

7 2 NP M (12), 7 1 NP M (13), 7 1 EP M (14), 7 1 OP M (15)

* Only applicable to Unidrive M701.

This parameter defines the communications protocol used by the EIA485 comms port on the drive. This parameter can be changed via the drive keypad, via a Solutions Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original protocol. The master should wait at least 20 ms before send a new message using the new protocol. (Note: ANSI uses 7 data bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and no parity).

Pr Value Pr String

08 2 NP

18 1 NP

28 1 EP

38 1 OP

48 2 NP M

58 1 NP M

6 8 1 EP M

78 1 OP M

87 2 NP

97 1 NP

10 7 1 EP

11 7 1 OP

12 7 2 NP M

13 7 1 NP M

14 7 1 EP M

15 7 1 OP M

The core drive always uses the Modbus rtu protocol and is always a slave. Serial Mode (00.035) defines the data format used by the serial comms interface. The bits in the value of Serial Mode (00.035) define the data format as follows. Bit 3 is always 0 in the core product as 8 data bits are required for Modbus rtu. The parameter value can be extended in

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derivative products which provide alternative communications protocols if required.

Bits 3 2 1 and 0

Stop bits and Parity

Format

Number of data bits 0 = 8 bits 1 = 7 bits

Register mode 0 = Standard 1 = Modified

0 = 2 stop bits, no parity 1 = 1 stop bit, no parity 2 = 1 stop bit, even parity 3 = 1 stop bit, odd parity

Bit 2 selects either standard or modified register mode. The menu and parameter numbers are derived for each mode as given in the following table. Standard mode is compatible with Unidrive SP. Modified mode is provided to allow register numbers up to 255 to be addressed. If any menus with numbers above 63 should contain more than 99 parameters, then these parameters cannot be accessed via Modbus rtu.

Register mode Register address

Standard (mm x 100) + ppp - 1 where mm ≤ 162 and ppp ≤ 99

Modified (mm x 256) + ppp - 1 where mm ≤ 63 and ppp ≤ 255

Changing the parameters does not immediately change the serial communications settings. See Reset Serial Communications (11.020) for more details.

00.036 {11.025} Serial Baud Rate*

RW Txt US

OL

RFC-A

RFC-S

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

2400 (3), 4800 (4),

9600 (5), 19200 (6),



38400 (7), 57600 (8),

76800 (9), 115200 (10)



19200 (6)

* Only applicable to Unidrive M701.

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

00.037 {11.023} Serial Address*

RW Num US

OL



1 to 247



1RFC-A

RFC-S

* Only applicable to Unidrive M701.

Used to define the unique address for the drive for the serial interface. The drive is always a slave address 0 is used to globally address all slaves, and so this address should not be set in this parameter

00.037 {24.010} Active IP Address*

RO IP NC PT

OL

RFC-A

128.000.000.000 to



127.255.255.255



RFC-S

* Only applicable to Unidrive M700 and Unidrive M702.

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00.038 {04.013} Current Controller Kp Gain

RW Num US

OL

RFC-A

RFC-S



0 to 30000



20

150

00.039 {04.014} Current Controller Ki Gain

RW Num US

OL

RFC-A

RFC-S





0 to 30000



40

2000

These parameters control the proportional and integral gains of the current controller used in the open loop drive. The current controller either provides current limits or closed loop torque control by modifying the drive output frequency. The control loop is also used in its torque mode during line power supply loss, or when the controlled mode standard ramp is active and the drive is decelerating, to regulate the flow of current into the drive.

00.040

{05.012}

Auto-tune

RW Num NC

OL

RFC-S



0 to 2

0 to 5

0 to 6



0RFC-A

Open-Loop

There are two autotune tests available in open loop mode, a stationary and a rotating test. A rotating autotune should be used whenever possible so the measured value of power factor of the motor is used by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary test measures the Stator Resistance (05.017), Transient Inductance (05.024), Maximum Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060) which are required for good performance in vector control modes (see Open Loop Control Mode (00.007), later in this table). The stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 and 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, as above, then a rotating test is performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency (05.006) x 2/3, and the frequency is maintained at that level for 4 seconds. Stator Inductance (05.025) is measured and this value is used in conjunction with other motor parameters to calculate Rated Power Factor (00.043). To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on

Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702, setting the Drive Enable (06.015) to OFF (0) or disabling the drive via the Control Word (06.042) and Control Word Enable (06.043).

RFC-A

There are four autotune tests available in RFC-A mode, a stationary test, a rotating test, two mechanical load measurement tests. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive. A mechanical load measurement test should be performed separately to a stationary or rotating autotune.

It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary autotune measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on

Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, a rotating test is then performed which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency (00.047) x 2/ 3, and the frequency is maintained at the level for up to 40 s. During the rotating autotune the Stator Inductance (05.025), and the motor saturation breakpoints (Pr 05.029, Pr 05.030, Pr 06.062 and Pr 05.063) are modified by the drive. The Motor Rated Power Factor (00.043) is also modified by the Stator Inductance (05.025). The NoLoad motor core losses are measured and written to No-Load Core Loss (04.045). To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 and 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31 on Unidrive M700 / M701 and terminal 11 and 13 on Unidrive M702, setting the Drive Enable (06.015) to OFF (0) or disabling the drive via the control word (Pr 06.042 & Pr 06.043).

RFC-S

There are five autotune tests available in RFC-S mode, a stationary autotune, a rotating autotune, two mechanical load measurement tests and a locked rotor test to measure load dependent parameters.

• Stationary Autotune

The stationary autotune can be used when the motor is loaded and it is not possible uncouple the load from motor shaft. This test can be used to measure all the necessary parameters for basic control. During the stationary autotune, a test is performed to locate the flux axis of the motor. However this test may not be able to calculate such an accurate value for the Position Feedback Phase Angle (00.043) as compared to rotating autotune. A stationary test is performed to measure Stator

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Resistance (05.017), Ld (05.024), Maximum Deadtime Compensation (05.059), Current At Maximum Deadtime Compensation (05.060), No

Load Lq (05.072). If Enable Stator Compensation (05.049) = 1 then Stator Base Temperature (05.048) is made equal to Stator Temperature

(05.046). The Stator Resistance (05.017) and the Ld (05.024) are then used to set up Current controller Kp Gain (00.038) and Current

Controller Ki Gain (00.039). If sensorless mode is not selected then Position Feedback Phase Angle (00.043) is set up for the position from the position feedback interface selected with Motor Control Feedback Select (03.026). To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• Rotating Autotune

The rotating autotune must be performed on unloaded motor. This test can be used to measure all the necessary parameters for the basic control and parameters for cancelling the effects of the cogging torque.

During the rotating autotune, Rated Current (00.046) is applied and the motor is rotated by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the required direction. If sensorless mode is not selected then the Position Feedback Phase Angle (00.043) is set-up for the position from the position feedback interface selected with Motor Control Feedback Select (03.026). A stationary test is then performed to measure Stator Resistance (05.017), Ld (05.024), Maximum Deadtime Compensation (05.059), Current At Maximum Deadtime Compensation (05.060) and No Load Lq (05.072). Stator Resistance (05.017) and Ld (05.024) are used to set up Current Controller Kp Gain (00.038) and Current Controller Ki Gain (00.039). This is only done once during the test, and so the user can make further adjustments to the current controller gains if required. To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 and 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701

and

terminal 7 or 8 on Unidrive M702).

00.041

{05.018}

Maximum Switching Frequency

RW Txt RA NC

OL

RFC-A

RFC-S

2 kHz (0), 3 kHz (1), 4 kHz (2), 6 kHz (3),



8 kHz (4), 12 kHz (5),

16 kHz (6)



3 kHz (1)

6 kHz (3)

This parameter defines the required switching frequency. The drive may automatically reduce the actual switching frequency (without changing this parameter) if the power stage becomes too hot. A thermal model of the IGBT junction temperature is used based on the heatsink temperature and an instantaneous temperature drop using the drive output current and switching frequency. The estimated IGBT junction temperature is displayed in Pr 07.034. If the temperature exceeds 135 °C the switching frequency is reduced if this is possible (i.e >3 kHz). Reducing the switching frequency reduces the drive losses and the junction temperature displayed in Pr 07.034 also reduces. If the load condition persists the junction temperature may continue to rise again above 145 °C and the drive cannot reduce the switching frequency further the drive will initiate an ‘OHt Inverter’ trip. Every second the drive will attempt to restore the switching frequency to the level set in Pr 00.041.

The full range of switching frequencies is not available on all ratings of Unidrive M. See section 8.5 Switching frequency on page 103, for the maximum available switching frequency for each drive rating.

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6.4.7 Motor parameters

00.042 {05.011} Number Of Motor Poles

RW Num US

OL

RFC-A

RFC-S



Automatic (0) to 480 Poles (240)



Open-loop

This parameter is used in the calculation of motor speed, and in applying the correct slip compensation. When Automatic (0) is selected, the number of motor poles is automatically calculated from the Rated Frequency (00.047) and the Rated Speed rpm (00.045). The number of poles = 120 * rated frequency / rpm rounded to the nearest even number.

RFC-A

This parameter must be set correctly for the vector control algorithms to operate correctly. When Automatic (0) is selected, the number of motor poles is automatically calculated from the Rated Frequency (00.047) and the Rated Speed (00.045) rpm. The number of poles = 120 * rated frequency / rpm rounded to the nearest even number.

RFC-S

This parameter must be set correctly for the vector control algorithms to operate correctly. When Automatic (0) is selected the number of poles is set to 6.

00.043 {05.010} Rated Power Factor (OL)

00.043 {03.025} Position Feedback Phase Angle (RFC)

RW Num US

OL

RFC-A

RFC-S



0.000 to 1.000

0.0 to 359.9 °



The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current.

Open-loop

The power factor is used in conjunction with the motor rated current (Pr 00.046) to calculate the rated active current and magnetizing current of the motor. The rated active current is used extensively to control the drive, and the magnetizing current is used in vector mode Rs compensation. It is important that this parameter is set up correctly.

This parameter is obtained by the drive during a rotational autotune. If a stationary autotune is carried out, then the nameplate value should be entered in Pr 00.043.

RFC-A

If the stator inductance (Pr 05.025) contains a non-zero value, the power factor used by the drive is continuously calculated and used in the vector control algorithms (this will not update Pr 00.043).

If the stator inductance is set to zero (Pr 05.025) then the power factor written in Pr 00.043 is used in conjunction with the motor rated current and other motor parameters to calculate the rated active and magnetizing currents which are used in the vector control algorithm.

This parameter is obtained by the drive during a rotational autotune. If a stationary autotune is carried out, then the nameplate value should be entered in Pr 00.043.

RFC-S

The phase angle between the rotor flux in a servo motor and the encoder position is required for the motor to operate correctly. If the phase angle is known it can be set in this parameter by the user. Alternatively the drive can automatically measure the phase angle by performing a phasing test (see autotune in RFC-S mode Pr 00.040).

Automatic (0)

6 Poles (3)

0.850

0.0 °

64 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

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When the test is complete the new value is written to this parameter. The encoder phase angle can be modified at any time and becomes effective immediately. This parameter has a factory default value of 0.0 °, but is not affected when defaults are loaded by the user.

00.044 {05.009} Rated Voltage

RW Num RA US

OL

RFC-A

RFC-S

Enter the value from the rating plate of the motor.

00.045 {05.008} Rated Speed

RW Num US

OL

RFC-A

RFC-S

Open-loop

This is the speed at which the motor would rotate when supplied with its base frequency at rated voltage, under rated load conditions (= synchronous speed - slip speed). Entering the correct value into this parameter allows the drive to increase the output frequency as a function of load in order to compensate for this speed drop.

Slip compensation is disabled if Pr 00.045 is set to 0 or to synchronous speed, or if Pr 05.027 is set to 0.

If slip compensation is required this parameter should be set to the value from the rating plate of the motor, which should give the correct rpm for a hot machine. Sometimes it will be necessary to adjust this when the drive is commissioned because the nameplate value may be inaccurate. Slip compensation will operate correctly both below base speed and within the field weakening region. Slip compensation is normally used to correct for the motor speed to prevent speed variation with load. The rated load rpm can be set higher than synchronous speed to deliberately introduce speed droop. This can be useful to aid load sharing with mechanically coupled motors.

RFC-A

Rated speed is used with motor rated frequency to determine the full load slip of the motor which is used by the vector control algorithm. Incorrect setting of this parameter can result in the following:

• Reduced efficiency of motor operation

• Reduction of maximum torque available from the motor

• Failure to reach maximum speed

• Over-current trips

• Reduced transient performance

• Inaccurate control of absolute torque in torque control modes The nameplate value is normally the value for a hot machine, however, some adjustment may be required when the drive is commissioned if the nameplate value is inaccurate. The rated speed rpm can be optimized by the drive (For further information, refer to section 8.1.2 RFC-A mode on page 92).

RFC-S

Rated Speed (00.045) is used as follows:

1. Operation without position feedback, i.e. Sensorless Mode Active (03.078) = 1.

2. Where the motor operates above this speed and flux weakening is active.

3. In the motor thermal model.

Product

information

VM_AC_VOLTAGE_





Mechanical

installation

0 to

SET

0 to 33000 rpm

0.00 to 33000.00 rpm

Electrical

installation



Getting started

200 V drive: 230 V 50Hz default 400 V drive: 400 V 60Hz default 400 V drive: 460 V

575 V drive: 575 V

690 V drive: 690 V

50 Hz default: 1500 rpm



60 Hz default: 1800 rpm

50 Hz default: 1450.00 rpm



60 Hz default: 1750.00 rpm

Basic

parameters

3000.00 rpm

Running

the motor

Optimization

The units for Rated Speed (00.045) are always rpm even if a linear motor is used and Linear Speed Select (01.055) = 1.

00.046 {05.007} Rated Current

RW Num RA US

OL

RFC-A

RFC-S

Enter the name-plate value for the motor rated current.

00.047

{05.006}

RW Num US

OL

RFC-A

RFC-S

Open-loop and RFC-A

Enter the value from the rating plate of the motor.

NV Media Card

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

VM_RATED_CURRENT

Rated Frequency



0.0 to 550.0 Hz



 

0.000 to

Onboard

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parameters

Diagnostics

Maximum Heavy Duty



50 Hz default: 50.0 Hz



60 Hz default: 60.0 Hz

Rating

(00.032)

UL listing

information

6.4.8 Operating-mode selection

00.048 {11.031} User Drive Mode

RW Txt ND NC PT

OL

RFC-A

RFC-S

The settings for Pr 00.048 are as follows:

Setting Operating mode

This parameter defines the drive operating mode. Pr mm.000 must be set to ‘1253’ (European defaults) or ‘1254’ (USA defaults) before this parameter can be changed. When the drive is reset to implement any change in this parameter, the default settings of all parameters will be set according to the drive operating mode selected and saved in memory.

Open-loop (1), RFC-A (2),



RFC-S (3), Regen (4)

1 Open-loop

2RFC-A

3RFC-S

4 Regen



Open-loop (1)

RFC-A (2)

RFC-S (3)

6.4.9 Status information

00.049 {11.044} User Security Status

RW Txt ND PT

OL

RFC-A

RFC-S

Menu 0 (0), All Menus (1),

Read-only Menu 0 (2),



Read-only (3),

Status Only (4),

No Access (5)



Menu 0 (0)

Unidrive M700 / M701 / M702 Control User Guide 65 Issue Number: 1

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This parameter controls access via the drive keypad as follows:

Security

level

0

(Menu 0)

1

(All Menus)

2

(Read-only

Menu 0)

3

(Read-only)

4

(Status Only)

All writable parameters are available to be edited but only parameters in Menu 0 are visible. All writable parameters are visible and available to be edited.

All parameters are read-only. Access is limited to Menu 0 parameters only.

All parameters are read-only however all menus and parameters are visible. The keypad remains in status mode and no parameters can be viewed or edited.

Description

The keypad remains in status mode and no parameters can be viewed or edited. Drive parameters cannot be

5

(No Access)

accessed via a comms / fieldbus interface in the drive or any option module.

The keypad can adjust this parameter even when user security is set.

00.050 {11.029} Software Version

RO Num ND NC PT

OL

RFC-A



0 to 99999999



RFC-S

The parameter displays the software version of the drive.

00.051 {10.037} Action On Trip Detection

RW Bin US

OL



0 to 31



0RFC-A

RFC-S

Each bit in this parameter has the following functions:

Bit Function

0 Stop on non-important trips

1 Disable braking resistor overload detection

2 Disable phase loss stop

3 Disable braking resistor temperature monitoring

4 Disable parameter freeze on trip

Example

Pr 00.051 =8 (1000

Pr 00.051 =12 (1100

) Th Brake Res trip is disabled

binary

) Th Brake Res and phase loss trip is disabled

binary

Stop on non-important trips

If bit 0 is set to one the drive will attempt to stop before tripping if any of the following trip conditions are detected: I/O Overload, An Input 1 Loss, An Input 2 Loss or Keypad Mode.

Disable braking resistor overload detection For details of braking resistor overload detection mode see Pr 10.030.

Disable phase loss trip

Normally the drive will stop when the input phase loss condition is detected. If this bit is set to 1 the drive will continue to run and will only trip when the drive is brought to a stop by the user.

Disable braking resistor temperature monitoring

Size 3, 4 and 5 drives have an internal user install braking resistor with a thermistor to detect overheating of the resistor. As default bit 3 of Pr 00.051 is set to zero, and so if the braking resistor and its thermistor is not installed the drive will produce a trip (Th Brake Res) because the

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Diagnostics

UL listing

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thermistor appears to be open-circuit. This trip can be disabled so that the drive can run by setting bit 3 of Pr 00.051 to one. If the resistor is installed then no trip is produced unless the thermistor fails, and so bit 3 of Pr 00.051 can be left at zero. This feature only applies to size 3, 4 and 5 drives. For example if Pr 00.051 = 8, then Th Brake Res trip will be disabled.

Disable parameter freeze on trip

If this bit is 0 then the parameters listed below are frozen on trip until the trip is cleared. If this bit is 1 then this feature is disabled.

Open-loop mode RFC-A and RFC-S modes

Reference Selected (01.001) Reference Selected (01.001)

Pre-skip Filter Reference (01.002) Pre-skip Filter Reference (01.002)

Pre-ramp Reference (01.003) Pre-ramp Reference (01.003)

Post Ramp Reference (02.001) Post Ramp Reference (02.001)

Frequency Slaving Demand

(03.001)

Final Speed Reference (03.001)

Speed Feedback (00.010)

Speed Error (03.003)

Speed Controller Output (03.004)

Current Magnitude (00.012) Current Magnitude (00.012)

Torque Producing Current

(00.013)

Torque Producing Current (00.013)

Magnetising Current (04.017) Magnetising Current (04.017)

Output Frequency (00.011) Output Frequency (00.011)

Output Voltage (05.002) Output Voltage (05.002)

Output Power (05.003) Output Power (05.003)

D.c. Bus Voltage (05.005) D.c. Bus Voltage (05.005)

Analog Input 1 (07.001)* Analog Input 1 (07.001)*

Analog Input 2 (07.002)* Analog Input 2 (07.002)*

Analog Input 3 (07.003)* Analog Input 3 (07.003)*

*Not applicable to Unidrive M702

00.052 {11.020} Reset Serial Communications*

RW Bit ND NC

OL



Off (0) or On (1)



Off (0)RFC-A

RFC-S

* Only applicable to Unidrive M701.

When Serial Address (00.037), Serial Mode (00.035), Serial Baud Rate (00.036), Minimum Comms Transmit Delay (11.026) or Silent Period (11.027) are modified the changes do not have an immediate effect on the serial communications system. The new values are used after the next power-up or if Reset Serial Communications (00.052) is set to one. Reset Serial Communications (00.052) is automatically cleared to zero

after the communications system is updated.

00.053 {04.015} Motor Thermal Time Constant

RW Num US

OL



1.0 to 3000.0 s



89.0 sRFC-A

RFC-S

Pr 00.053 is the motor thermal time constant of the motor, and is used (along with the motor rated current Pr 00.046, and total motor current Pr 00.012) in the thermal model of the motor in applying thermal protection to the motor.

For further details, refer to section 8.4 Motor thermal protection on page 102.

66 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

WARNING

CAUTION

WARNING

information

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Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

7 Running the motor

This chapter takes the new user through all the essential steps to running a motor for the first time, in each of the possible operating modes.

For information on tuning the drive for the best performance, see Chapter 8 Optimization on page 89.

Ensure that no damage or safety hazard could arise from the motor starting unexpectedly.

The values of the motor parameters affect the protection of the motor. The default values in the drive should not be relied upon. It is essential that the correct value is entered in Pr 00.046 Rated Current. This affects the thermal protection of the motor.

If the drive is started using the keypad it will run to the speed defined by the keypad reference (Pr 01.017). This may not be acceptable depending on the application. The user must check in Pr 01.017 and ensure that the keypad reference has been set to 0.

Running

the motor

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• Resolver

Speed and position feedback

Suitable devices are:

• Incremental encoder (A, B or F, D with or without Z) with commutation signals (U, V, W)

• Incremental encoder with forward and reverse outputs (F, R with or without Z) and commutation outputs (U, V, W)

• SINCOS encoder (with Stegmann Hiperface, EnDat or SSI communications protocols)

• EnDat absolute encoder

• Resolver

7.2 Changing the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters. User Security Status (Pr 00.049) and User Security Code (Pr 00.034) are not affected by this procedure).

Procedure

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

1. Enter either of the following values in Pr mm.000, as appropriate: 1253 (50 Hz AC supply frequency) 1254 (60 Hz AC supply frequency)

2. Change the setting of Pr 00.048 as follows:

Pr 00.048 setting Operating mode

If the intended maximum speed affects the safety of the machinery, additional independent over-speed protection must be used.

7.1 Quick start connections

7.1.1 Basic requirements

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 7.3 Quick start commissioning / start-up on page 76.

Table 7-1 Minimum control connection requirements for each

control mode

Drive control method Requirements

Drive enable

Terminal mode

Keypad mode Drive enable

Serial communications

Table 7-2 Minimum control connection requirements for each

mode of operation

Operating mode Requirements

Open loop mode Induction motor

RFC – A mode (with speed feedback)

RFC - S mode (with speed and position feedback)

Speed / Torque reference Run forward / Run reverse

Drive enable Serial communications link

Induction motor with speed feedback

Permanent magnet motor with speed and position feedback

1 Open-loop

2RFC-A

3RFC-S

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

3. Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.038 to 100 (ensure that Pr. mm.000 returns to 0).

Speed feedback

Suitable devices are:

• Incremental encoder (A, B or F, D with or without Z)

• Incremental encoder with forward and reverse outputs (F, R with or without Z)

• SINCOS encoder (with, or without Stegmann Hiperface, EnDat or SSI communications protocols)

• EnDat absolute encoder

Unidrive M700 / M701 / M702 Control User Guide 67 Issue Number: 1

Safety

AA

BB

UU

VV

WW

ZZ

1

AA

BB

ZZ

1

E E

Induction

motor

RFC-S

10

11

8

9

6

7

4

5

3

Speed reference input

RUN FWD

RUN REV

24V

0V

+10V

1

2

Marker pulse optional

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. This is not required if the optional internal braking resistor is used

2

1

T e

r

m

i n a

l

M

o d e

K

e y

p a d

M

o d e

Communications

port*

Keypad

Optional item, must

be installed

for keypad mode

30

31

28

29

26

27

24

25

23

21

22

L1 L2 L3

Fuses

Safe Torque Off

(drive enable)

L1 L2 L3UV W

UVW

Servo motor (permanent magnet)

2

!

+

_

BR

Braking resistor

(optional)

Position feedback

connector 15 way D-type**

5 10

15

1

6

11

UVW

RFC-A

Open loop

Terminal

AB

AB Servo

SC Hiperface

SC EnDat

SC SSI

EnDat

SSI

Resolver

1 A Cos A (Cos) Data Cos H 2 A\ Cosref A\ (Cos\) Data\ Cos L 3 B Sin B (Sin) CLK Sin H 4 B\ Sinref B\(Sin\) CLK\ Sin L 5 Z Data Data Freeze Ref H 6 Z\ Data\ Data\ Freeze Ref L 7U 8U\ 9V 10 V\ 11 W CLK 12 W\ CLK\ 13 + V 14 0 V 15 Thermistor Input

3

4

RFC-A

Sensorless

RFC-S

Sensorless

information

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Electrical

installation

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Running

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Diagnostics

Figure 7-1 Minimum connections to get the motor running in any operating mode for Unidrive M700 / M701 (size 3 and 4)

* Ethernet fieldbus communication ports on Unidrive M700 and EIA 485 serial communication ports on Unidrive M701.

** Position feedback port.

68 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

UL listing

information

Safety

AA

BB

UU

VV

WW

ZZ

1

AA

BB

ZZ

1

E E

Induction

motor

RFC-S

1

2

Marker pulse optional

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. This is not required if the optional internal braking resistor is used

T e

r

m

i n a

l

M

o d e

K

e y

p a d

M

o d e

Communications

port*

Keypad

Optional item, must

be installed

for keypad mode

L1 L2 L3

Fuses

L1 L2 L3UV W

UVW

Servo motor (permanent magnet)

2

!

+

_

BR

Braking resistor

(optional)

Position feedback

connector 15 way D-type**

5 10

15

1

6

11

UVW

RFC-A

Open loop

Terminal

AB

AB Servo

SC Hiperface

SC EnDat

SC SSI

EnDat

SSI

Resolver

1 A Cos A (Cos) Data Cos H 2 A\ Cosref A\ (Cos\) Data\ Cos L 3 B Sin B (Sin) CLK Sin H 4 B\ Sinref B\ (Sin\) CLK\ Sin L 5 Z Data Data Freeze Ref H 6 Z\ Data\ Data\ Freeze Ref L 7U 8U\ 9V 10 V\ 11 W CLK 12 W\ CLK\ 13 + V 14 0 V 15 Thermistor Input

3

4

RUN FWD

RUN REV

10

11

8

9

6

7

4

5

3

24V

2

1

Safe Torque Off 1

12

13

Safe Torque Off 2

RFC-A

Sensorless

RFC-S

Sensorless

information

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Electrical

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Running

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Figure 7-2 Minimum connections to get the motor running in any operating mode for Unidrive M702 (size 3 and 4)

Diagnostics

UL listing

information

* Ethernet fieldbus communication ports.

** Position feedback port.

Unidrive M700 / M701 / M702 Control User Guide 69 Issue Number: 1

Safety

AA

BB

UU

VV

WW

ZZ

1

AA

BB

ZZ

1

E E

Induction

motor

RFC-S

10

11

8

9

6

7

4

5

3

Speed reference input

RUN FWD

RUN REV

24V

0V

+10V

1

2

Marker pulse optional

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. This is not required if the optional internal braking resistor is used

2

1

T e

r m

i n a

l

M

o d e

K

e y

p a d

M

o d e

Communications

port*

Keypad

Optional item, must

be installed

for keypad mode

30

31

28

29

26

27

24

25

23

21

22

L1 L2 L3

Fuses

Safe Torque Off

(drive enable)

L1 L2 L3

UVW

Servo motor (permanent magnet)

Position feedback

connector 15 way D-type**

5 10

15

1

6

11

UVW

RFC-A

Open loop

Terminal

AB

AB Servo

SC Hiperface

SC EnDat

SC SSI

EnDat

2

!

+

_

BR

Braking resistor

(optional)

SSI

Resolver

1 A Cos A (Cos) Data Cos H 2 A\ Cosref A\ (Cos\) Data\ Cos L 3 B Sin B (Sin) CLK Sin H 4 B\ Sinref B\ (Sin\) CLK\ Sin L 5 Z Data Data Freeze Ref H 6 Z\ Data\ Data\ Freeze Ref L 7U 8U\ 9V 10 V\ 11 W CLK 12 W\ CLK\ 13 + V 14 0 V 15 Thermistor Input

U

V W

RFC-A

Sensorless

RFC-S

Sensorless

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Figure 7-3 Minimum connections to get the motor running in any operating mode for Unidrive M700 / M701 (size 5)

* Ethernet fieldbus communication ports on Unidrive M700 and EIA 485 serial communication ports on Unidrive M701.

** Position feedback port.

70 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

UL listing

information

Safety

AA

BB

UU

VV

WW

ZZ

1

AA

BB

ZZ

1

E E

Induction

motor

RFC-S

Communications

port*

L1 L2 L3

UVW

Servo motor (permanent magnet)

Position feedback

connector 15 way D-type**

5 10

15

1

6

11

UVW

RFC-A

Open loop

Terminal

AB

AB Servo

SC Hiperface

SC EnDat

SC SSI

EnDat

2

!

+

_

BR

Braking resistor

(optional)

SSI

Resolver

1 A Cos A (Cos) Data Cos H 2 A\ Cosref A\ (Cos\) Data\ Cos L 3 B Sin B (Sin) CLK Sin H 4 B\ Sinref B\ (Sin\) CLK\ Sin L 5 Z Data Data Freeze Ref H 6 Z\ Data\ Data\ Freeze Ref L 7U 8U\ 9V 10 V\ 11 W CLK 12 W\ CLK\ 13 + V 14 0 V 15 Thermistor Input

U

V W

RFC-A

Sensorless

RFC-S

Sensorless

1

2

Marker pulse optional

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. This is not required if the optional internal braking resistor is used

T e

r

m

i n a

l

M

o d e

K e

y p a

d

M

o d e

Keypad

Optional item, must

be installed

for keypad mode

L1 L2 L3

Fuses

RUN FWD

RUN REV

10

11

8

9

6

7

4

5

3

24V

2

1

Safe Torque Off 1

12

13

Safe Torque Off 2

information

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Figure 7-4 Minimum connections to get the motor running in any operating mode for Unidrive M702 (size 5)

Advanced

parameters

Diagnostics

UL listing

information

* Ethernet fieldbus communication ports.

** Position feedback port.

Unidrive M700 / M701 / M702 Control User Guide 71 Issue Number: 1

Safety

AA

BB

UU

VV

WW

ZZ

1

AA

BB

ZZ

1

E E

Induction

motor

RFC-S

10

11

8

9

6

7

4

5

3

Speed reference input

RUN FWD

RUN REV

24V

0V

+10V

1

2

Marker pulse optional

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.

2

1

T

e

r

m

i n a

l

M

o d e

K

e y

p a d

M

o d e

Communications

port*

Keypad

Optional item, must

be installed

for keypad mode

30

31

28

29

26

27

24

25

23

21

22

L1 L2 L3

Fuses

(drive enable)

L1 L2 L3UV W

UVW

Servo motor (permanent magnet)

2

!

+

_

BR

Braking resistor

(optional) Size 6 only

Position feedback

connector 15 way D-type**

5 10

15

1

6

11

UVW

RFC-A

Open loop

Terminal

AB

AB Servo

SC Hiperface

SC EnDat

SC SSI

EnDat

SSI

Resolver

1 A Cos A (Cos) Data Cos H 2 A\ Cosref A\ (Cos\) Data\ Cos L 3 B Sin B (Sin) CLK Sin H 4 B\ Sinref B\ (Sin\) CLK\ Sin L 5 Z Data Data Freeze Ref H 6 Z\ Data\ Data\ Freeze Ref L 7U 8U\ 9V 10 V\ 11 W CLK 12 W\ CLK\ 13 + V 14 0 V 15 Thermistor Input

6

RFC-A

Sensorless

RFC-A

Sensorless

Safe Torque Off

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Figure 7-5 Minimum connections to get the motor running in any operating mode for Unidrive M700 / M701 (size 6)

* Ethernet fieldbus communication ports on Unidrive M700 and EIA 485 serial communication ports on Unidrive M701.

** Position feedback port.

72 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

UL listing

information

Safety

AA

BB

UU

VV

WW

ZZ

1

AA

BB

ZZ

1

E E

Induction

motor

RFC-S

1

2

Marker pulse optional

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.

Communications

port*

L1 L2 L3

Fuses

L1 L2 L3UV W

UVW

Servo motor (permanent magnet)

2

!

+

_

BR

Braking resistor

(optional) Size 6 only

Position feedback

connector 15 way D-type**

5 10

15

1

6

11

UVW

RFC-A

Open loop

Terminal

AB

AB Servo

SC Hiperface

SC EnDat

SC SSI

EnDat

SSI

Resolver

1 A Cos A (Cos) Data Cos H 2 A\ Cosref A\ (Cos\) Data\ Cos L 3 B Sin B (Sin) CLK Sin H 4 B\ Sinref B\ (Sin\) CLK\ Sin L 5 Z Data Data Freeze Ref H 6 Z\ Data\ Data\ Freeze Ref L 7U 8U\ 9V 10 V\ 11 W CLK 12 W\ CLK\ 13 + V 14 0 V 15 Thermistor Input

T

e

r

m

i n a

l

M

o d e

K e

y p a

d

M

o d e

Keypad

Optional item, must

be installed

for keypad mode

RUN FWD

RUN REV

10

11

8

9

6

7

4

5

3

24V

2

1

12

13

6

RFC-A

Sensorless

RFC-S

Sensorless

Safe Torque Off 1

Safe Torque Off 2

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Figure 7-6 Minimum connections to get the motor running in any operating mode for Unidrive M702 (size 6)

Advanced

parameters

Diagnostics

UL listing

information

* Ethernet fieldbus communication ports.

** Position feedback port.

Unidrive M700 / M701 / M702 Control User Guide 73 Issue Number: 1

Safety

AA

BB

UU

VV

WW

ZZ

1

AA

BB

ZZ

1

E E

Induction

motor

RFC-S

10

11

8

9

6

7

4

5

3

Speed reference input

RUN FWD

RUN REV

24V

0V

+10V

1

2

Marker pulse optional

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.

2

1

T e

r

m

i n a

l

M

o d e

K

e y

p a d

M

o d e

Communications

port**

Keypad

Optional item, must

be installed

for keypad mode

30

31

28

29

26

27

24

25

23

21

22

(drive enable)

U

V W

UVW

Servo motor (permanent magnet)

Position feedback

connector 15 way D-type***

5 10

15

1

6

11

UVW

RFC-A

Open loop

Terminal

AB

AB Servo

SC Hiperface

SC EnDat

SC SSI

EnDat

SSI

Resolver

1 A Cos A (Cos) Data Cos H 2 A\ Cosref A\(Cos\) Data\ Cos L 3 B Sin B (Sin) CLK Sin H 4 B\ Sinref B\ (Sin\) CLK\ Sin L 5 Z Data Data Freeze Ref H 6 Z\ Data\ Data\ Freeze Ref L 7U 8U\ 9V 10 V\ 11 W CLK 12 W\ CLK\ 13 + V 14 0 V 15 Thermistor Input

L3L2

L1

L2

L1

Fuses

L3

!

Braking resistor (optional)

2

+DC

RFC-A

Sensorless

RFC-A

Sensorless

8

Input line

reactor*

9E

7

10

Safe Torque Off

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Figure 7-7 Minimum connections to get the motor running in any operating mode for Unidrive M700 / M701 (size 7 onwards)

UL listing

information

* Required for size 9E and 10.

** Ethernet fieldbus communication ports on Unidrive M700 and EIA 485 serial communication ports on Unidrive M701.

*** Position feedback port.

74 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

AA

BB

UU

VV

WW

ZZ

1

AA

BB

ZZ

1

E E

Induction

motor

RFC-S

1

2

Marker pulse optional

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.

Communications

port**

U

V W

UVW

Servo motor (permanent magnet)

Position feedback

connector 15 way D-type***

5 10

15

1

6

11

UVW

RFC-A

Open loop

Terminal

AB

AB Servo

SC Hiperface

SC EnDat

SC SSI

EnDat

SSI

Resolver

1 A Cos A (Cos) Data Cos H 2 A\ Cosref A\(Cos\) Data\ Cos L 3 B Sin B (Sin) CLK Sin H 4 B\ Sinref B\ (Sin\) CLK\ Sin L 5 Z Data Data Freeze Ref H 6 Z\ Data\ Data\ Freeze Ref L 7U 8U\ 9V 10 V\ 11 W CLK 12 W\ CLK\ 13 + V 14 0 V 15 Thermistor Input

L3L2

L1

L2

L1

Fuses

L3

!

Braking resistor (optional)

2

+DC

RFC-A

Sensorless

RFC-A

Sensorless

T e

r

m

i n a

l

M

o d e

K e

y p a

d

M

o d e

Keypad

Optional item, must

be installed

for keypad mode

RUN FWD

RUN REV

10

11

8

9

6

7

4

5

3

24V

2

1

12

13

Input line

reactor*

8

9E

7

10

Safe Torque Off 1

Safe Torque Off 2

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Figure 7-8 Minimum connections to get the motor running in any operating mode for Unidrive M702 (size 7 onwards)

Diagnostics

UL listing

information

* Required for size 9E and 10.

** Ethernet fieldbus communication ports.

*** Position feedback port.

Unidrive M700 / M701 / M702 Control User Guide 75 Issue Number: 1

Safety

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

°

VHzmin-1kW cosφA 230 400

50 1445 2.20 0.80 8.50

4.90

CN = 14.5Nm 240 415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

I.E.C 34 1(87)

0.02

t

100Hz

0.03

t

0.04

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected regardless of the reference provided. Once complete the motor will coast to a

stop. The enable signal must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

cos

∅

σ

L

S

R

S

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7.3 Quick start commissioning / start-up

7.3.1 Open loop

Action Detail

Ensure:

Before power-up

Power-up the drive

Enter motor nameplate details

• The drive enable signal is not given (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702).

• Run signal is not given

• Motor is connected

Verify that Open Loop mode is displayed as the drive powers up. If the mode is incorrect see section

5.6 Changing the operating mode on page 43.

Ensure:

• Drive displays ‘Inhibit’

If the drive trips, see section 12 Diagnostics on page 218.

Enter:

• Motor rated frequency in Pr 00.047 (Hz)

• Motor rated current in Pr 00.046 (A)

• Motor rated speed in Pr 00.045 (rpm)

• Motor rated voltage in Pr 00.044 (V) - check if or connection

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Set maximum frequency

Set acceleration / deceleration rates

Motor thermistor set-up

Autotune

Save parameters

Enter:

• Maximum frequency in Pr 00.002 (Hz)

Enter:

• Acceleration rate in Pr 00.003 (s/100 Hz)

• Deceleration rate in Pr 00.004 (s/100 Hz) (If braking resistor installed, set Pr 00.015 = Fast. Also ensure Pr 10.030 and Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

The motor thermistor connection is made through the drive encoder port (terminal 15). The thermistor type is selected in P1 Thermistor Type (03.118). On Unidrive M700 / M701, the motor thermistor can be selected in Pr 07.015. Refer to Pr 07.015 for further information.

The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before an autotune is enabled. A rotating autotune should be used whenever possible so the measured value of power factor of the motor is used by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. A stationary autotune measures the stator resistance and the transient inductance in the motor. These are required for good performance in vector control modes. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043.

• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a stationary autotune before rotating the motor at

2

/3 base speed in the direction selected. The

rotating autotune measures the power factor of the motor.

To perform an autotune:

•Set Pr 00.040 = 1 for a stationary autotune or set Pr 00.040 = 2 for a rotating autotune

• Close the Drive Enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702). The drive will display ’Ready’.

• Close the run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702). The upper row of the display will flash ’Auto Tune’ while the drive is performing the autotune.

• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor to come to a standstill.

If the drive trips, see Chapter 12 Diagnostics on page 218.

• Remove the drive enable and run signal from the drive.

Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000) and press

the red reset button or toggle the reset digital input.

Run Drive is now ready to run

76 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

NOTE

Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

CAUTION

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

°

VHzmin-1kW cosφA 230 400

50 1445 2. 20 0.8 0 8.50

4.90

CN = 14.5Nm 240 415

50 1445 2.20 0. 76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

I.E.C 34 1(87)

0.02

1000rpm

0.03

t

0.04

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected regardless of the reference provided. Once complete the motor will coast to a stop. The enable signal

must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

cos

∅

σ

L

S

T

Nm

N rpm

saturation

breakpoints

R

S

L

S

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7.3.2 RFC - A mode (with position feedback)

Induction motor with position feedback

For simplicity only an incremental quadrature encoder will be considered here. For information on setting up one of the other supported speed feedback devices, refer to section 7.3.5 RFC-Sensorless on page 81.

Action Detail

Ensure:

Before power-up

Power-up the drive

Set motor feedback parameters

• The drive enable signal is not given (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702).

• Run signal is not given

• Motor and feedback device are connected

Verify that RFC-A mode is displayed as the drive powers up. If the mode is incorrect see section 5.6 Changing the operating mode on page 43. Ensure:

• Drive displays ‘Inhibit’

If the drive trips, see Chapter 12 Diagnostics on page 218.

Incremental encoder basic set-up

Enter:

• Drive encoder type in Pr 03.038 = AB (0): Quadrature encoder

• Encoder power supply in Pr. 03.036 = 5 V (0), 8 V (1) or 15 V (2).

If output voltage from the encoder is >5 V, then the termination resistors must be disabled Pr 03.039 to 0.

• Drive encoder Lines Per Revolution (LPR) in Pr 03.034 (set according to encoder)

• Drive encoder termination resistor setting in Pr 03.039:

0 = A-A\, B-B\, Z-Z\ termination resistors disabled 1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled 2 = A-A\, B-B\, Z-Z\ termination resistors enabled

Enter motor nameplate details

• Motor rated frequency in Pr 00.047 (Hz)

• Motor rated current in Pr 00.046 (A)

• Motor rated speed in Pr 00.045 (rpm)

• Motor rated voltage in Pr 00.044 (V) - check if or connection

Set maximum speed

Set acceleration / deceleration rates

Motor thermistor set-up

Enter: Maximum speed in Pr 00.002 (rpm)

Enter:

• Acceleration rate in Pr 00.003 (s/1000 rpm)

• Deceleration rate in Pr Pr

10.030

, Pr

10.031

00.004

(s/1000 rpm) (If braking resistor installed, set Pr

and Pr

10.061

are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

00.015

= Fast. Also ensure

The motor thermistor connection is made through the drive encoder port (terminal 15). The thermistor type is selected in P1 Thermistor Type (03.118). On Unidrive M700 / M701, the motor thermistor can be selected in Pr 07.015. Refer to Pr 07.015 for further information.

The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before an autotune is enabled. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of the motor. These are used to calculate the current loop gains, and at the end of the test the values in

Autotune

Pr 00.038 and Pr 00.039 are updated. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043.

• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a stationary autotune before rotating the motor at

2

/3 base speed in the direction selected. The rotating

autotune measures the stator inductance of the motor and calculates the power factor.

To perform an autotune:

•Set Pr 00.040 = 1 for a stationary autotune or set Pr 00.040 = 2 for a rotating autotune

• Close the drive enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702). The drive will display ’Ready’.

• Close the run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702). The upper row of the display will flash ‘Auto Tune’ while the drive is performing the autotune.

• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor to come to a standstill

If the drive trips, see Chapter 12 Diagnostics on page 218.

Save parameters

• Remove the drive enable and run signal from the drive.

Select 'Save Parameters' in Pr

mm.000

(alternatively enter a value of 1001 in Pr

reset button or toggle the reset digital input.

mm.000

) and press red

Run Drive is now ready to run

Unidrive M700 / M701 / M702 Control User Guide 77 Issue Number: 1

Safety

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

°

VHzmin-1kW cosφA 230 400

50 1445 2.20 0.80 8.50

4.90

CN = 14.5Nm 240 415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

I.E.C 34 1(87)

0.02

1000rpm

0.03

t

0.04

NOTE

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected regardless of the reference provided. Once complete the motor will coast to a stop. The enable

signal must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

cos

∅

σ

L

S

T

Nm

N rpm

saturation

breakpoints

R

S

L

S

information

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7.3.3 RFC-A mode (Sensorless control)

Induction motor with sensorless control

Action Detail

Ensure:

Before power-up

Power-up the drive

Select RFC-A (Sensorless control) mode and disable encoder wirebreak trip

Enter motor nameplate details

Set maximum speed

Set acceleration / deceleration rates

Motor thermistor set-up

Select or deselect catch a spinning motor mode

• The drive enable signal is not given (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702).

• Run signal is not given

• Motor is connected

Verify that RFC-A mode is displayed as the drive powers up. If the mode is incorrect see section 5.6 Changing the operating mode on page 43. Ensure:

• Drive displays ‘Inhibit’

If the drive trips, see Chapter 12 Diagnostics on page 218.

•Set Pr 03.024 = 1 or 3 to select RFC-A Sensorless mode

•Set Pr 03.040 = 0000 to disable the wire break

Enter:

• Motor rated frequency in Pr 00.047 (Hz)

• Motor rated current in Pr 00.046 (A)

• Motor rated speed in Pr 00.045 (rpm)

• Motor rated voltage in Pr 00.044 (V) - check if or connection

Enter:

• Maximum speed in Pr 00.002 (rpm)

Enter:

• Acceleration rate in Pr 00.003 (s/1000rpm)

• Deceleration rate in Pr 00.004 (s/1000rpm) (If braking resistor installed, set Pr 00.015 = Fast. Also ensure Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

The motor thermistor connection is made through the drive encoder port (terminal 15). The thermistor type is selected in P1 Thermistor Type (03.118). On Unidrive M700 / M701, the motor thermistor can be selected in Pr 07.015. Refer to Pr 07.015 for further information.

If catch a spinning motor mode is not required then set Pr 06.009 to 0. If catch a spinning motor mode is required then leave Pr 06.009 at the default of 1, but depending on the size of the motor the value in Pr 05.040 may need to be adjusted. Pr 05.040 defines a scaling function used by the algorithm that detects the speed of the motor. The default value of Pr 05.040 is 1 which is suitable for small motors (<4 kW). For larger motors the value in Pr 05.040 will need to be increased. Approximate values of Pr 05.040 for different motor sizes are as follows, 2 for 11 kW, 3 for 55 kW and 5 for 150 kW. If the value of Pr 05.040 is too large the motor may accelerate from standstill when the drive is enabled. If the value of this parameter is too small the drive will detect the motor speed as zero even if the motor is spinning. The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before an autotune is enabled. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive.

It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).

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• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of the motor. These are used to calculate the current loop gains, and at the end of the test the values in

Autotune

Pr 00.038 and Pr 00.039 are updated. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043.

• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a stationary autotune before rotating the motor at 2/3 base speed in the direction selected. The rotating autotune measures the stator inductance of the motor and calculates the power factor.

To perform an autotune:

•Set Pr 00.040 = 1 for a stationary autotune or set Pr 00.040 = 2 for a rotating autotune

• Close the drive enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702). The drive will display ’Ready’ or ‘Inhibit’.

• Close the run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702). The upper row of the display will flash ’Auto Tune’ while the drive is performing the autotune.

• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor to come to a standstill.

If the drive trips, see Chapter 12 Diagnostics on page 218.

• Remove the drive enable and run signal from the drive.

78 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

NOTE

Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

CAUTION

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

Brake: 12Nm 24V

0.67A

Serial No: XXXXXXXXXXX

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

0.02

t

1000rpm

0.03

t

0.04

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Action Detail

Save parameters

Select 'Save Parameters' in Pr reset button or toggle the reset digital input.

MM.000

(alternatively enter a value of 1001 in Pr

MM.000

) and press red

Run Drive is now ready to run

7.3.4 RFC-S mode (with position feedback)

Permanent magnet motor with position feedback

For simplicity only an incremental quadrature encoder with commutation outputs will be considered here. For information on setting up one of the other supported speed feedback devices, refer to section 7.3.5 RFC-Sensorless on page 81.

Action Detail

Ensure:

Before powerup

Power-up the drive

Set motor feedback parameters

• The drive enable signal is not given (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702).

• Run signal is not given

• Motor and feedback device are connected

Verify that RFC-S mode is displayed as the drive powers up. If the mode is incorrect see section 5.6 Changing the operating mode on page 43. Ensure:

• Drive displays ‘inhibit’

If the drive trips, see Chapter 12 Diagnostics on page 218.

Incremental encoder basic set-up

Enter:

• Drive encoder type in Pr. 03.038 = AB Servo (3): Quadrature encoder with commutation outputs

• Encoder power supply in Pr. 03.036 = 5 V (0), 8 V (1) or 15 V (2).

If output voltage from the encoder is >5 V, then the termination resistors must be disabled Pr 03.039 to 0.

Enter motor nameplate details

Set maximum speed

Set acceleration / deceleration rates

Motor thermistor setup

• Drive encoder Pulses Per Revolution in Pr 03.034 (set according to encoder)

• Drive encoder termination resistor setting in Pr 03.039:

0 = A-A\, B-B\, Z-Z\ termination resistors disabled 1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled 2 = A-A\, B-B\, Z-Z\ termination resistors enabled

Enter:

• Motor rated current in Pr 00.046 (A) Ensure that this equal to or less than the Heavy Duty rating of the drive otherwise ‘Motor Too Hot’ trips may occur during the autotune.

• Number of poles in Pr 00.042

• Motor rated voltage in Pr 00.044 (V)

Enter:

• Maximum speed in Pr 00.002 (rpm)

Enter:

• Acceleration rate in Pr 00.003 (s/1000 rpm)

• Deceleration rate in Pr 00.004 (s/1000 rpm) (If braking resistor installed, set Pr 00.015 = Fast. Also ensure Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

The motor thermistor connection is made through the drive encoder port (terminal 15). The thermistor type is selected in P1 Thermistor Type (03.118). On Unidrive M700 / M701, the motor thermistor can be selected in Pr 07.015. Refer to Pr 07.015 for further information.

Unidrive M700 / M701 / M702 Control User Guide 79 Issue Number: 1

Safety

The rotating autotune will rotate the motor by up to 2 mechanical revolutions in the direction selected, regardless of the reference provided. After a short delay, the motor is further rotated through a electrical revolution. The enable signal must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

0

information

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Action Detail

The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before an autotune is enabled. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive.The drive is able to perform a stationary, rotating, mechanical load measurement or locked rotor test autotune. The motor must be at a standstill before an autotune is enabled. It is suggested that a rotating auto tune is used for accurate measurement for position feedback phase angle.

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. A stationary autotune is performed to locate the flux axis of the motor. The stationary autotune measures the stator resistance, inductance in flux axis, maximum deadtime compensation, inductance in torque axis with no load on the motor and current at maximum deadtime compensation of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated. If Sensorless mode is not selected then Position Feedback Phase Angle (00.043) is set-up for the selected position feedback.

• A rotating autotune should only be used if the motor is uncoupled. The rotating autotune will rotate the motor by up to 2 mechanical revolutions in the direction selected, regardless of the reference provided to obtain the position feedback phase angle. A stationary autotune is then performed to obtain stator resistance, inductance in

Autotune

flux axis, maximum deadtime compensation, inductance in torque axis with no load on the motor and current at maximum deadtime compensation of the motor. From the above obtained parameters the current loop gains are calculated, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated.

To perform an autotune:

•Set Pr 00.040 = 1 for a stationary autotune, Pr 00.040 = 2 for a rotating autotune.

• Close the run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• Close the drive enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702). The upper row of the display will flash 'Auto Tune' while the drive is performing the test.

• Wait for the drive to display 'Ready' or 'Inhibit' and for the motor to come to a standstill.

If the drive trips it cannot be reset until the drive enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) has been removed. See section 12 Diagnostics on page 218.

• Remove the drive enabled and run signal from the drive.

Save parameters

Select 'Save Parameters' in Pr

MM.000

button or toggle the reset digital input.

(alternatively enter a value of 1001 in Pr

Run Drive is now ready to run

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) and press red reset

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80 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

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

Brake: 12Nm 24V

0.67A

Serial No: XXXXXXXXXXX

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

0.02

t

1000rpm

0.03

t

0.04

Ld No-load Lq

R

S

Ef

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7.3.5 RFC-Sensorless

Permanent magnet motor without position feedback

Action Detail

Ensure:

Before powerup

Power-up the drive

Enter motor nameplate details

Set maximum speed

Set acceleration / deceleration rates

Set stop mode

Set hold zero speed

Autotune

Check Saliency

Save parameters

Run Drive is now ready to run

• The drive enable signal is not given (terminal 31 on Unidrive M700/M701 and terminal 11 & 13 on Unidrive

M702).

• Run signal is not given

• Motor is connected

Verify that RFC-S mode is displayed as the drive powers up. If the mode is incorrect see section 5.6 Changing the operating mode on page 43, otherwise restore parameter defaults (see section 5.8 Restoring parameter defaults on page 43). Ensure:

• Drive displays ‘inhibit’ If the drive trips, see Chapter 12 Diagnostics on page 218.

Enter:

• Motor rated current in Pr 00.046 (A)

Ensure that this equal to or less than the Heavy Duty rating of the drive otherwise ‘Motor Too Hot’ trips may occur during the autotune.

• Number of poles in Pr 00.042

• Motor rated voltage in Pr 00.044 (V)

Enter:

• Maximum speed in Pr 00.002 (rpm)

Enter:

• Acceleration rate in Pr 00.003 (s/1000 rpm). It is recommended that the ramp rates are increased from the

default value of 0.200 s/1000 rpm.

• Deceleration rate in Pr 00.004 (s/1000 rpm) (If braking resistor installed, set Pr 00.015 = Fast. Also ensure

Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

Enter:

• Set Stop Mode to Ramp in Pr 06.001

Enter:

• Set Hold Zero Speed to Off (0) in Pr 06.008.

The drive is able to perform a stationary autotune. The motor must be at a standstill before an autotune is enabled. A stationary autotune will give moderate performance.

• A stationary autotune is performed to locate the flux axis of the motor. The stationary autotune measures the

stator resistance, inductance in flux axis, inductance in torque axis with no load on the motor and values relating to deadtime compensation from the drive. Measured values are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated.

To perform an autotune:

•Set Pr 00.040 = 1 or 2 for a stationary autotune. (Both perform the same tests).

• Close the run signal (terminal 26 or 27 on Unidrive M700/M701 and terminal 7 or 8 on Unidrive M702).

• Close the drive enable signal (terminal 31 on Unidrive M700/M701 and terminal 11 & 13 on Unidrive M702). The

upper row of the display will flash 'Auto Tune' while the drive is performing the test.

• Wait for the drive to display 'Ready' or 'Inhibit' and for the motor to come to a standstill. If the drive trips it cannot be reset until the drive enable signal (terminal 31) has been removed. See Chapter 12 Diagnostics on page 218.

• Remove the drive enabled and run signal from the drive.

In sensorless mode, when the motor speed is below Pr 00.045 / 10, a special low speed algorithm must be used to control the motor. There are two modes available, with the mode chosen based on the saliency of the motor.

The ratio No-load Lq (Pr 00.056) / Ld (Pr 05.024) provides a measure of the saliency. If this value is > 1.1, then Injection (0) mode may be used. Current (2) mode may be used (but with limitations). If this value is < 1.1, then Current (2) mode must be used (this is the default of Pr 05.064).

Select 'Save Parameters' in Pr

mm.000

(alternatively enter a value of 1001 in Pr

button or toggle the reset digital input.

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Unidrive M700 / M701 / M702 Control User Guide 81 Issue Number: 1

Safety

NOTE

Bit

Description

3 2 1 0

xxx1

No action is taken unless marker flag is zero before marker event occurs

xx1x

Pr 03.028 and Pr 03.058 are set to zero

x1xx

Pr 03.028, Pr 03.029, Pr 03.030 and the related part of Pr 03.058 are not reset. Pr 03.058 is transferred to Pr 03.059 and Pr 03.032 is set to 1.

1xxx

Undefined state region range is reduced from -30 mV to 30 mV. The marker pulse is only recognized if the pulse is 10 μs wide.

Bit

Description

3 2 1 0

xxx1

Enable wire break detection

1xxx

Disable trips Encoder 1 to Encoder 6

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7.4 Setting up a feedback device

7.4.1 P1 position interface

This section shows the parameter settings which must be made to use each of the compatible feedback device types with P1 position interface on the drive. For more information on the parameters listed here please refer to the Parameter Reference Guide.

Table 7-3 Parameters required for feedback device set-up on the P1 position interface

AB, FD, FR, AB Servo,

Parameter

FD Servo, FR Servo,

SC, SC Servo

P1 Marker Mode (03.031)



P1 Rotary Turns Bits (03.033)

P1 Rotary Lines Per Revolution (03.034)

 

P1 Comms Bits (03.035)

P1 Supply Voltage (03.036)*



P1 Comms Baud Rate (03.037)

P1 Device Type (03.038)



P1 Auto–configuration Select (03.041)

P1 SSI Binary Mode (03.048)

P1 Resolver Poles (03.065)

P1 Resolver Excitation (03.066)

 Information required to be entered by the user.

Parameter can be set-up automatically by the drive through auto-configuration parameter. Must be set by the user if auto-configuration is disabled (i.e. Pr 03.041 = Disabled (0)).

* Pr 03.036: If the output voltage from the encoder is >5 V, then termination resistors must be disabled by setting Pr 03.039 to 0.

Table 7-3 shows a summary of the parameters required to set-up each feedback device. More detailed information follows.

SC

Hiperface

SC

EnDat

EnDat SC SSI SSI Resolver







 

7.4.2 P1 position interface: Detailed feedback device commissioning / start-up information

Standard quadrature encoder with or without commutation signals (A, B, Z or A, B, Z, U, V, W), or Sincos encoder with or without UVW commutation signals

AB (0) for a quadrature encoder without commutation signals *

Device Type (03.038)

Supply Voltage (03.036)

Rotary Line Per Revolution (03.034) Set to the number of lines or sine waves per revolution of the encoder.

Termination Select (03.039)

(AB or AB Servo only)

Marker Mode (03.031)

AB Servo (3) for a quadrature encoder with commutation signals SC (6) for a Sincos encoder without commutation signals * SC Servo (12) for a Sincos encoder with commutation signals

5 V (0), 8 V (1) or 15 V (2)

If output voltage from the encoder is >5 V, then the termination resistors must be disabled. Set Pr

0 = A, B, Z termination resistors disabled 1 = A, B termination resistors enabled and Z termination resistors disabled 2 = A, B, Z termination resistors enabled

03.039

to 0

Error Detection Level (03.040)

* These settings should only be used in RFC-A mode. If used in RFC-S mode a phase offset test must be performed after every power up.

82 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

NOTE

Bit

Description

3 2 1 0

xxx1

No action is taken unless marker flag is zero before marker event occurs

xx1x

Pr 03.028 and Pr 03.058 are set to zero

x1xx

Pr 03.028, Pr 03.029, Pr 03.030 and the related part of Pr 03.058 are not reset. Pr 03.058 is transferred to Pr 03.059 and Pr 03.032 is set to 1.

1xxx

Undefined state region range is reduced from -30 mV to 30 mV. The marker pulse is only recognized if the pulse is 10 μs wide.

Bit

Description

3 2 1 0

xxx1

Enable wire break detection

1xxx

Disable trips Encoder 1 to Encoder 7

Bit

Description

3 2 1 0

xxx1

Enable wire break detection

xx1x

Enable phase error detection

1xxx

Disable trips Encoder 1 to Encoder 6

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Incremental encoder with Frequency and Direction (F and D) or Forward and Reverse (CW and CCW) signals with or without commutation signals.

FD (1) for frequency and direction signals without commutation signals*

Device Type (03.038)

FR (3) for forward and reverse signals without commutation signals* FD Servo (4) for frequency and direction signals with commutation signals FR Servo (5) for forward and reverse signals with commutation signals

5 V (0), 8 V (1) or 15 V (2)

Supply Voltage (03.036)

If output voltage from the encoder is >5 V, then the termination resistors must be disabled. Set Pr

03.039

to 0

Rotary Line Per Revolution (03.034) Set to the number of pulses per revolution of the encoder divided by 2.

0 = F or CW, D or CCW, Z termination resistors disabled

Termination Select (03.039)

1 = F or CW, D or CCW termination resistors enabled and Z termination resistors disabled 2 = For CW, D or CCW, Z termination resistors enabled

Marker Mode (03.031)

Error Detection Level (03.040)

* These settings should only be used in RFC-A mode. If used in RFC-S mode a phase offset test must be performed after every power up.

Absolute Sincos encoder with Hiperface or EnDat serial communication, or Absolute EnDat communication only encoder

SC Hiperface (7) for a Sincos encoder with Hiperface serial communications

Device Type (03.038)

EnDat (8) for an EnDat communications only encoder SC EnDat (9) for a Sincos encoder with EnDat serial communications

Supply Voltage (03.036) 5 V (0), 8 V (1) or 15 V (2)

Auto-configuration is enabled at default and automatically sets up the following parameters.

Auto-configuration Select (03.041)

Rotary Turns Bits (03.033) Rotary Lines Per Revolutions (03.034) Comms Bits (03.035)

These parameters can be entered manually when Pr 03.041 is set to Disabled (0).

Comms Baud Rate (03.037) 100 k, 200 k, 300 k, 400 k, 500 k, 1 M, 1.5 M, 2 M, 4 M

Error Detection Level (03.040)

So for example, to enable the wire break and phase error detection, set Pr 03.040 to 0011.

Unidrive M700 / M701 / M702 Control User Guide 83 Issue Number: 1

Safety

Bit

Description

3 2 1 0

xxx1

Enable wire break detection

xx1x

Enable phase error detection

x1xx

Enable SSI power supply alarm bit monitor

1xxx

Disable trips Encoder 1 to Encoder 6

Bit

Description

3 2 1 0

xxx1

Enable wire break detection

1xxx

Disable trips Encoder 1 to Encoder 6

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Absolute SSI communications only encoder, or Absolute Sincos encoder with SSI communications

Device Type (03.038)

SSI (10) for a SSI communications only encoder SC SSI (11) for a Sincos encoder with SSI serial communications

Supply Voltage (03.036) 5 V (0), 8 V (1) or 15 V (2)

Rotary Line Per Revolution (03.034) Set the number of sine waves per revolution of the encoder

SSI Binary Mode (03.048)

Off = Gray Code On = Binary Mode

Rotary Turns Bits (03.033) Set to the number of turns bits for the encoder (this is normally 12 bits for a SSI encoder)

Comms Bits (03.035) Total number of bits of position information (this is usually 25 bits for a SSI encoder)

Comms Baud Rate (03.037) 100 k, 200 k, 300 k, 400 k, 500 k, 1 M, 1.5 M, 2 M, 4 M

Error Detection Level (03.040)

So for example, to enable the wire break and phase error detection, set Pr 03.040 to 0011.

UVW commutation signal only encoders*

Device Type (03.038) Commutation Only (16) for a quadrature encoder with commutation signals*

Supply Voltage (03.036) 5 V (0), 8 V (1) or 15 V (2)

Error Detection Level (03.040) Set to zero to disable wire break detection

* This feedback device provides very low resolution feedback and should not be used for applications requiring a high level of performance.

Due to the low resolution of UVW communication only encoders, it is recommended that the P1 Feedback Filter (03.042) is set to its maximum value. A value of 1 ms to 2 ms may also be required in the Current Reference Filter (00.017) and it is also recommended that the speed loop gains are set to a low value to obtain stable operation.

Resolver

Device Type (03.038) Resolver (14)

Resolver Poles (03.065)

Resolver Excitation (03.066)

Set number of Resolver poles 2 poles (1) to 20 poles (10)

Set Resolver excitation voltage and frequency 6kHz 3V (0), 8kHz 3V (1), 6kHz 2V (2), 8kHz 2V (3)

Error Detection Level (03.040)

So for example, to enable the wire break error detection, set Pr 03.040 to 0001.

84 Unidrive M700 / M701 / M702 Control User Guide

Issue Number: 1

Safety

NOTE

Bit

Description

3 2 1 0

xxx1

No action is taken unless marker flag is zero before marker event occurs

xx1x

Pr 03.128 and Pr 03.158 are set to zero

x1xx

Pr 03.128, Pr 03.129, Pr 03.130 and the related part of Pr 03.158 are not reset. Pr 03.158 is transferred to Pr 03.159 and Pr 03.132 is set to 1.

1xxx

This Bit in has no effect.

Bit

Description

3 2 1 0

xxx1

No action is taken unless marker flag is zero before marker event occurs

xx1x

Pr 03.128 and Pr 03.158 are set to zero

x1xx

Pr 03.128, Pr 03.129, Pr 03.130 and the related part of Pr 03.158 are not reset. Pr 03.158 is transferred to Pr 03.159 and Pr 03.132 is set to 1.

1xxx

This Bit in has no effect.

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7.4.3 P2 position interface

This section shows the parameter settings which must be made to use each of the compatible feedback device types with the P2 position interface on the drive. For more information on the parameters listed here please refer to the Parameter Reference Guide. If the position feedback device connected to the P2 position interface is required to be used for motor control feedback then Pr 03.026 will need to be set to P2 Drive (1).

Table 7-4 Parameters required for feedback device set-up on the P2 position interface

Parameter AB, FD, FR EnDat SSI

P2 Marker Mode (03.131)

P2 Rotary Turns Bits (03.133)



P2 Rotary Lines Per Revolution (03.134)



P2 Comms Bits (03.135)

P2 Comms Baud Rate (03.137)

P2 Device Type (03.138)

P2 Auto–configuration Select (03.141)







 Information required to be entered by the user.

Parameter can be set-up automatically by the drive through auto-configuration. Parameter must be set by the user if auto-configuration is disabled (i.e. Pr 03.141 = Disabled (0)).

The P2 position interface does not have its own independent power supply output. Therefore, any position feedback device connected to the P2 position interface must either share the P1 power supply output on pin 13 of the 15-way D-type, or be supplied from an external source.

The termination resistors are always enabled on the P2 position interface. Wire break detection is not available when using AB, FD or FR position feedback device types on the P2 position interface.

Table 7-4 shows a summary of the parameters required to set-up each feedback device. More detailed information follows.

Standard quadrature encoder (A, B, Z)

Device Type (03.138) AB (1) for a quadrature encoder

Rotary Line Per Revolution (03.134) Set to the number of lines per revolution of the encoder

Marker Mode (03.131)

Incremental encoder with Frequency and Direction (F and D), or Forward and Reverse (CW and CCW) signals

Device Type (03.138)

Rotary Line Per Revolution (03.134) Set to the number of pulses per revolution of the encoder divided by 2

Marker Mode (03.131)

Unidrive M700 / M701 / M702 Control User Guide 85 Issue Number: 1

FD (2) for frequency and direction signals without commutation signals FR (3) for forward and reverse signals without commutation signals

Safety

Bit

Description

3 2 1 0

1xxx

Disable trips Encoder 4 to Encoder 6

Bit

Description

3 2 1 0

x1xx

Enable SSI power supply alarm bit monitor

1xxx

Disable trips Encoder 4 to Encoder 6

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Absolute EnDat communication only encoder

Device Type (03.138) EnDat (4) for an EnDat communications only encoder

Auto-configuration is enabled at default and automatically sets up the following parameters:

Auto-configuration Select (03.141)

Rotary Turns Bits (03.133) Comms Bits (03.135)

These parameters can be entered manually when Pr 03.141 is set to Disabled (0).

Comms Baud Rate (03.137) 100 k, 200 k, 300 k, 400 k, 500 k, 1 M, 1.5 M, 2 M, 4 M

Error Detection Level (03.140)

Absolute SSI communications only encoder

Device Type (03.138) SSI (5) for a SSI communications only encoder

SSI Binary Mode (03.148)

Off (0) = Gray Code On (1) = Binary Mode

Rotary Turns Bits (03.133) Set to the number of turns bits for the encoder (this is usually 12 bits for a multi-turn SSI encoder)

Comms Bits (03.135)

Total number of bits of position information for the encoder (this is usually 25 bits for a multi-turn SSI encoder)

Comms Baud Rate (03.137) 100 k, 200 k, 300 k, 400 k, 500 k, 1 M, 1.5 M, 2 M, 4 M

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Error Detection Level (03.140)

7.5 Encoder Simulation Output Set-up

The drive supports four modes of encoder simulation output.

• Hardware mode - Incremental signals (AB, FD, FR)

• Software mode - Incremental signals (AB, FD, FR)

• Software mode - Ratio

• Software mode - Absolute SSI data

The availability of the encoder simulation output on the 15-way D-type on the drive is dependent on the type of feedback device connected to the P1 position interface. See Table 4-8 on page 30 for more information on the availability of the encoder simulation output. The status of the encoder simulation output can be seen in Encoder Simulation Status (03.086) as follows:

None (0) The encoder simulation output is not enabled or is not available Full (1) Full encoder simulation with marker output is available No Marker (2) Encoder simulation without marker output is available

This section shows the parameter settings which must be made to use the encoder simulation output on the drive. For more information on the parameters listed here please refer to the Parameter Reference Guide.

7.5.1 Hardware mode - Incremental signals (AB, FD, or FR)

Hardware mode provides incremental signals derived via hardware from the P1 position feedback interface on the drive, with negligible delay. The supported incremental output signals are AB, FD and FR. Hardware mode only produces an output when the input device connected to the P1 position interface is AB, FD, FR, SC, SC Hiperface, SC EnDat or SC SSI type devices. It should be noted that with a SINCOS source device the output is based on the zero crossings of the sine wave inputs and does not include interpolation.

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Hardware mode set-up

Encoder Simulation Source (03.085) This parameter must be set to 03.029 to select the P1 position interface as the source.

Encoder Simulation Mode (03.088) Set to a value of Hardware (0)

This parameter defines the divider ratio between the device connected to the P1 position feedback interface and the output.

0 = 1/1 1 = 1/2

Encoder Simulation Hardware Divider (03.089)

2 = 1/4 3 = 1/8 4= 1/16 5 = 1/32 6 = 1/64 7 = 1/128

Encoder Simulation Hardware Marker Lock (03.090)

0 = The marker output is derived directly from the marker input 1 = The incremental output signals are adjusted on each marker event so that the A and B are high

with an AB type output, or F is high with an FD or FR type output

AB/Gray (0) for a AB quadrature output signals

Encoder Simulation Output Mode (03.098)

FD/Binary (1) for Frequency and Direction output signals FR/Binary (2) for Forward and Reverse output signals

7.5.2 Software mode - Incremental signals (AB, FD, or FR)

In software mode the encoder simulation output is derived via software from the selected source with a minimum delay of 250 μs which may be extended with Encoder Simulation Sample Period (03.087). For incremental output signals, the resolution of the output can be defined by either selecting the required output lines per revolution or by an output ratio.

Lines per revolution

The output resolution of the encoder simulation output is defined by Encoder Simulation Output Lines Per Revolution (03.092).

AB quadrature output signals, software mode setup – Lines per revolution

Set to the parameter number of the position source Pr 03.029 to use the P1 position interface on the drive as the source.

Encoder Simulation Source (03.085)

Pr 03.129 to use the P2 position interface on the drive as the source. This parameter can be set to any other valid position reference generated by the drive or an option module.

Encoder Simulation Mode (03.088) Set to a value of Lines Per Rev (1)

Encoder Simulation Output Lines Per Revolution (03.092)

Set to the required output lines per revolution. The maximum output lines per revolution are 16384.

Encoder Simulation Output Mode (03.098) AB/Gray (0) for a AB quadrature output signals

Frequency and Direction or Forward and Reverse output signals, software mode setup – Lines per revolution

Set to the parameter number of the position source Pr 03.029 to use the P1 position interface on the drive as the source.

Encoder Simulation Source (03.085)

Pr 03.129 to use the P2 position interface on the drive as the source. This parameter can be set to any other valid position reference generated by the drive or an option module.

Encoder Simulation Mode (03.088) Set to a value of Lines Per Rev (1)

Encoder Simulation Output Lines Per Revolution (03.092)

Encoder Simulation Output Mode (03.098)

Set to the required output pulse per revolution divided by 2. For example if 2000 pulses per revolution is required, set this parameter to 1000.

FD/Binary (1) for Frequency and Direction output signals FR/Binary (2) for Forward and Reverse output signals

Unidrive M700 / M701 / M702 Control User Guide 87 Issue Number: 1

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Ratio

In ratio mode the resolution of the input source is based on a 16 bit position feedback device (i.e. equivalent to an AB quadrature encoder with a resolution of 16384 lines per revolution). The output resolution of the encoder simulation output is defined by the ratio of Encoder Simulation Numerator (03.093) and Encoder Simulation Denominator (03.094).

AB quadrature output signals, software mode setup – Ratio Frequency and Direction or Forward and Reverse output signals, software mode setup

Set to the parameter number of the position source Pr 03.029 to use the P1 position interface on the drive as the source.

Encoder Simulation Source (03.085)

Pr 03.129 to use the P2 position interface on the drive as the source. This parameter can be set to any other valid position reference generated by the drive or an option module.

Encoder Simulation Mode (03.088) Set to a value of Ratio (2)

Encoder Simulation Numerator (03.093) and Encoder Simulation Denominator (03.094)

Set these two parameters to give the required output ratio.

AB/Gray (0) for a AB quadrature output signals

Encoder Simulation Output Mode (03.098)

FD/Binary (1) for Frequency and Direction output signals FR/Binary (2) for Forward and Reverse output signals

Software mode - Absolute SSI data

In software mode the encoder simulation output is derived via software from the selected source with a minimum delay of 250 μs which may be extended with Encoder Simulation Sample Period (03.087). In SSI output mode drive will simulate an SSI encoder, where the number of bits and the format of the position message can be adjusted.

Absolute SSI data, software mode setup

Set to the parameter number of the position source Pr 03.029 to use the P1 position interface on the drive as the source.

Encoder Simulation Source (03.085)

Encoder Simulation Mode (03.088) Set to a value of SSI (3)

Encoder Simulation SSI Turns Bits (03.096) Set to the number of bits representing the number of turns in the position message.

Encoder Simulation SSI Comms Bits (03.097) Set to the number bits in the whole position message.

Encoder Simulation Output Mode (03.098)

Pr 03.129 to use the P2 position interface on the drive as the source. This parameter can be set to any other valid position reference generated by the drive or an option module.

AB/Gray (0) for position data in Gray code format FD/Binary (1) or FR/Binary (2) for position data in binary format

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Output voltage

Pr / 2

00.044

Pr

00.044

Pr / 2

00.047

Pr

00.047

Output frequency

Output voltage characteristic

00.047

00.042 2

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

00.045 60

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

×

⎝⎠

⎛⎞

=

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8 Optimization

This chapter takes the user through methods of optimizing the drive set-up and maximize the performance. The auto-tuning features of the drive simplify the optimization tasks.

8.1 Motor map parameters

8.1.1 Open loop motor control

Pr 00.046 {05.007} Rated Current Defines the maximum continuous motor current

• The rated current parameter must be set to the maximum continuous current of the motor. (See section 8.2 Maximum motor rated current on page 102, for information about setting this parameter higher than the maximum Heavy Duty current rating). The motor rated current is used in the following:

• Current limits (see section 8.3 Current limits on page 102, for more information)

• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 102, for more information)

• Vector mode voltage control (see Open Loop Control Mode (00.007), later in this table)

• Slip compensation (see Enable Slip Compensation (05.027), later in this table)

• Dynamic V/F control

Pr 00.044 {05.009} Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.047 {05.006} Rated Frequency Defines the frequency at which rated voltage is applied

The Rated Voltage (00.044) and the Rated Frequency (00.047) are used to define the voltage to frequency characteristic applied to the motor (see

Open Loop Control Mode (00.007), later in this table). The Rated Frequency (00.047) is also used in conjunction with the motor rated

speed to calculate the rated slip for slip compensation (see Rated Speed (00.045), later in this table).

Pr 00.045 {05.008} Rated Speed Defines the full load rated speed of the motor

Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles

The motor rated speed and the number of poles are used with the motor rated frequency to calculate the rated slip of induction machines in Hz.

Rated slip (Hz) = Motor rated frequency - (Number of pole pairs x [Motor rated speed / 60]) =

If Pr 00.045 is set to 0 or to synchronous speed, slip compensation is disabled. If slip compensation is required this parameter should be set to the nameplate value, which should give the correct rpm for a hot machine. Sometimes it will be necessary to adjust this when the drive is commissioned because the nameplate value may be inaccurate. Slip compensation will operate correctly both below base speed and within the field-weakening region. Slip compensation is normally used to correct for the motor speed to prevent speed variation with load. The rated load rpm can be set higher than synchronous speed to deliberately introduce speed droop. This can be useful to aid load sharing with mechanically coupled motors.

Pr 00.042 is also used in the calculation of the motor speed display by the drive for a given output frequency. When Pr 00.042 is set to ‘Automatic’, the number of motor poles is automatically calculated from the rated frequency Pr 00.047, and the motor rated speed Pr 00.045.

Number of poles = 120 x (Rated Frequency (00.047) / Rated Speed (00.045)) rounded to the nearest even number.

Pr 00.043 {05.010} Rated Power Factor Defines the angle between the motor voltage and current

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. The power factor is used in conjunction with the Rated Current (00.046), to calculate the rated active current and magnetising current of the motor. The rated active current is used extensively to control the drive, and the magnetising current is used in vector mode stator resistance compensation. It is important that this parameter is set up correctly. The drive can measure the motor rated power factor by performing a rotating autotune (see Autotune (Pr 00.040), overleaf).

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Pr 00.040 {05.012} Autotune

There are two autotune tests available in open loop mode, a stationary and a rotating test. A rotating autotune should be used whenever possible so the measured value of power factor of the motor is used by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary test measures the Stator Resistance (05.017), Transient Inductance (05.024), Maximum Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060) which are required for good performance in vector control modes (see Open Loop Control Mode (00.007), later in this table). The stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, as above, then a rotating test is performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency (05.006) x 2/3, and the frequency is maintained at that level for 4 seconds. Stator Inductance (05.025) is measured and this value is used in conjunction with other motor parameters to calculate Rated Power Factor (05.010). To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702, setting the Drive Enable (06.015) to OFF (0) or disabling the drive via the Control Word (06.042) and Control Word Enable (06.043).

Pr 00.007 {05.014} Open Loop Control Mode

There are several voltage modes available which fall into two categories, vector control and fixed boost.

Vector control

Vector control mode provides the motor with a linear voltage characteristic from 0 Hz to motor Rated Frequency (00.047), and then a constant voltage above motor rated frequency. When the drive operates between motor rated frequency/50 and motor rated frequency/4, full vector based stator resistance compensation is applied. When the drive operates between motor rated frequency/4 and motor rated frequency/2 the stator resistance compensation is gradually reduced to zero as the frequency increases. For the vector modes to operate correctly the Rated Power Factor (00.043), Stator Resistance (05.017) are all required to be set up accurately. The drive can be made to measure these by performing an autotune (see Pr 00.040 Autotune). The drive can also be made to measure the stator resistance automatically every time the drive is enabled or the first time the drive is enabled after it is powered up, by selecting one of the vector control voltage modes.

(0) Ur S = The stator resistance is measured and the parameter for the selected motor map is over-written each time the drive is made to run. This test can only be done with a stationary motor where the flux has decayed to zero. Therefore this mode should only be used if the motor is guaranteed to be stationary each time the drive is made to run. To prevent the test from being done before the flux has decayed there is a period of 1 second after the drive has been in the ready state during which the test is not done if the drive is made to run again. In this case, previously measured values are used. Ur S mode ensures that the drive compensates for any change in motor parameters due to changes in temperature. The new value of stator resistance is not automatically saved to the drive's EEPROM.

(1) Ur = The stator resistance is not measured. The user can enter the motor and cabling resistance into the Stator Resistance (05.017). However this will not include resistance effects within the drive inverter. Therefore if this mode is to be used, it is best to use an autotune test initially to measure the stator resistance.

(3) Ur_Auto= The stator resistance is measured once, the first time the drive is made to run. After the test has been completed successfully the

Open Loop Control Mode (00.007) is changed to Ur mode. The Stator Resistance (05.017) parameter is written to, and along with the Open Loop Control Mode (00.007), are saved in the drive's EEPROM. If the test fails, the voltage mode changes to Ur mode but Stator Resistance

(05.017) is not updated.

(4) Ur I = The stator resistance is measured when the drive is first made to run after each power-up. This test can only be done with a stationary motor. Therefore this mode should only be used if the motor is guaranteed to be stationary the first time the drive is made to run after each power-up. The new value of stator resistance is not automatically saved to the drive's EEPROM.

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Pr / 2

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Pr

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(Fd)

Voltage boost

Pr

00.008

Pr 00.044

Pr

00.008

Pr 00.047

Pr + [(freq/Pr ) x (Pr - Pr )]00.008 00.047 00.044 00.008

2

Output voltage characteristic

(Square)

Output voltage

Output frequency

Voltage boost

Shaft speed

Demanded speed

Load

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Pr 00.007 {05.014} Open Loop Control Mode (cont)

Fixed boost

The stator resistance is not used in the control of the motor, instead a fixed characteristic with low frequency voltage boost as defined by parameter Pr 00.008, is used. Fixed boost mode should be used when the drive is controlling multiple motors. There are two settings of fixed boost available: (2) Fixed = This mode provides the motor with a linear voltage characteristic from 0 Hz to Rated Frequency (00.047), and then a constant voltage above rated frequency. (5) Square = This mode provides the motor with a square law voltage characteristic from 0 Hz to Rated Frequency (00.047), and then a constant voltage above rated frequency. This mode is suitable for variable torque applications like fans and pumps where the load is proportional to the square of the speed of the motor shaft. This mode should not be used if a high starting torque is required.

For both these modes, at low frequencies (from 0Hz to ½ x Pr 00.047) a voltage boost is applied defined by Pr 00.008 as shown below:

Pr 05.027 Enable Slip Compensation

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:

In order to prevent the speed droop shown above slip compensation should be enabled. To enable slip compensation Pr 05.027 must be set to a 1 (this is the default setting), and the motor rated speed must be entered in Pr 00.045 (Pr 05.008).

The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed. This is normally displayed on the motor nameplate, i.e. for a typical 18.5 kW, 50 Hz, 4 pole motor, the motor rated speed would be approximately 1465 rpm. The synchronous speed for a 50 Hz, 4 pole motor is 1500 rpm, so therefore the slip speed would be 35 rpm. If the synchronous speed is entered in Pr 00.045, slip compensation will be disabled. If too small a value is entered in Pr 00.045, the motor will run faster than the demanded frequency. The synchronous speeds for 50 Hz motors with different numbers of poles are as follows:

2 pole = 3000 rpm, 4 pole = 1500 rpm, 6pole =1000 rpm, 8 pole = 750 rpm

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8.1.2 RFC-A mode

Induction motor with Position feedback

Pr 00.046 {05.007} 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. (See section 8.2 Maximum motor rated current on page 102, for information about setting this parameter higher than the maximum Heavy Duty current rating.) The motor rated current is used in the following:

• Current limits (see section 8.3 Current limits on page 102, for more information).

• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 102, for more information)

• Vector control algorithm

Pr 00.044 {05.009} Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.047 {05.006} Rated Frequency Defines the frequency at which rated voltage is applied

The Rated Voltage (00.044) and the Rated Frequency (00.047) are used to define the voltage to frequency characteristic applied to the motor (see Open Loop Control Mode (00.007), later in this table). The motor rated frequency is also used in conjunction with the motor rated speed to calculate the rated slip for slip compensation (see motor Rated Speed (00.045), later in this table).

Pr 00.045 {05.008} Rated Speed Defines the full load rated speed of the motor

Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles

The motor rated speed and motor rated frequency are used to determine the full load slip of the motor which is used by the vector control algorithm.

Incorrect setting of this parameter has the following effects:

• Reduced efficiency of motor operation

• Reduction of maximum torque available from the motor

• Reduced transient performance

• Inaccurate control of absolute torque in torque control modes

The nameplate value is normally the value for a hot motor; however, some adjustment may be required when the drive is commissioned if the nameplate value is inaccurate. Either a fixed value can be entered in this parameter or an optimization system may be used to automatically adjust this parameter (see Rated Speed Optimisation Select (00.033), later in this table).

When Pr 00.042 is set to 'Automatic', the number of motor poles is automatically calculated from the motor Rated Frequency (00.047), and the motor Rated Speed (00.045).

Number of poles = 120 x (Motor Rated Frequency (00.047 / Motor Rated Speed (00.045) rounded to the nearest even number.

Pr 00.043 {5.10} Rated Power Factor Defines the angle between the motor voltage and current

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. If the Stator Inductance (05.025) is set to zero then the power factor is used in conjunction with the motor Rated Current (00.046) and other motor parameters to calculate the rated active and magnetising currents of the motor, which are used in the vector control algorithm. If the stator inductance has a non-zero value this parameter is not used by the drive, but is continuously written with a calculated value of power factor. The stator inductance can be measured by the drive by performing a rotating autotune (see Autotune (Pr 00.040), later in this table).

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Pr 00.040 {05.012} Autotune

There are four autotune tests available in RFC-A mode, a stationary autotune, a rotating autotune, two mechanical load measurement tests. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive. A mechanical load measurement test should be performed separately to a stationary or rotating autotune.

It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary

autotune measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, a rotating test is then

performed which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency (00.047) x 2/3, and the frequency is maintained at the level for up to 40 s. During the rotating autotune the Stator Inductance (05.025), and the motor saturation breakpoints (Pr 05.029, Pr 05.030, Pr 06.062 and Pr 05.063) are modified by the drive. The Motor Rated Power Factor (00.043) is also modified by the Stator Inductance (05.025). The No-Load motor core losses are measured and written to No-Load Core Losses (04.045). To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• Mechanical load measurement test using signal injection.

This test measures the mechanical characteristic of the motor and load by rotating the motor at the speed defined by the present speed reference and injecting a series of speed test signals. This test should only be used provided all the basic control parameters have been set-up correctly and the speed controller parameters should be set to conservative levels, such as the default values, so that the motor is stable when it runs. The test measures the motor and load inertia, which can be used in automatic set-up of the speed controller gains and in producing a torque feed-forward term. If Mechanical Load Test Level (05.021) is left at its default value of zero then the peak level of the injection signal will be 1 % of the maximum speed reference subject to a maximum of 500 rpm. If a different test level is required then Mechanical Load Test Level (05.021) should be set to a non-zero value to define the level as a percentage of the maximum speed reference, again subject to a maximum of 500 rpm. The user defined speed reference which defines the speed of the motor should be set to a level higher than the test level, but not high enough for flux weakening to become active. In some cases however, it is possible to perform the test at zero speed provided the motor is free to move, but it may be necessary to increase the test signal from the default value. The test will give the correct results when there is a static load applied to the motor and in the presence of mechanical damping. This test should be used if possible, however for sensorless mode, or if the speed controller cannot be set up for stable operation an alternative test is provided (Autotune (00.040) = 4) where a series of torque levels are applied to accelerate and decelerate the motor to measure the inertia.

1. A rotating test is performed in which the motor is accelerated with the currently selected ramps up to the currently selected speed

reference, and this speed is maintained for the duration of the test. The Motor And Load Inertia (03.018) is set-up. To perform this autotune test, set Pr 00.040 to 3 and provide the drive with both an enable signal (on terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• Mechanical load measurement test using applied torque. Auto-tune test 3 should normally be used for mechanical load measurement, but under some circumstances this test may be used as an alternative. This test will not give such accurate results as test 3 if the motor rated speed is not set to the correct value for the motor. Also this test is likely to give incorrect results if standard ramp mode is active. A series of progressively larger torque levels are applied to the motor (20 %, 40 % ... 100 % of rated torque) to accelerate the motor up to 3/4 x Rated Speed (00.045) to determine the inertia from the acceleration/deceleration time. The test attempts to reach the required speed within 5 s, but if this fails the next torque level is used. When 100 % torque is used the test allows 60 s for the required speed to be reached, but if this is unsuccessful, an Autotune 1 trip is initiated. To reduce the time taken for the test it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level (05.021) to a non-zero value. When the test level is defined the test is only carried out at the defined test level and 60 s is allowed for the motor to reach the required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to achieve the required torque level to accelerate the motor fast enough. If this is the case, the maximum speed reference should be reduced.

1. The motor is accelerated in the required direction up to 3/4 of the maximum speed reference and then decelerated to zero speed.

2. The test is repeated with progressively higher torques until the required speed is reached.

3. Motor And Load Inertia (03.018) and Inertia Times 1000 (04.033) are set up.

To perform this autotune test, set Pr 00.040 to 4 and provide the drive with both an enable signal (on terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702, setting the Drive Enable (06.015) to Off (0) or disabling the drive via the control word (Pr 06.042 & Pr 06.043).

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Pr 00.033 {05.016} Rated Speed Optimisation Select

The Rated Frequency (00.047) and Rated Speed (00.045) are used to define the rated slip of the motor. The rated slip is used in sensorless mode (Sensorless Mode Active (03.078) = 1) to correct the motor speed with load. When this mode is active Rated Speed Optimisation Select (00.033) has no effect. If sensorless mode is not active (Sensorless Mode Active (03.078) = 0) the rated slip is used in the motor control algorithm and an incorrect value of slip can have a significant effect on the motor performance. If Rated Speed Optimisation Select (00.033) = 0 then the adaptive control system is disabled. However, if Rated Speed Optimisation Select (00.033) is set to a non-zero value the drive can automatically adjust the Rated Speed (00.045) to give the correct value of rated slip. Rated Speed (00.045) is not saved at power-down, and so when the drive is powered-down and up again it will return to the last value saved by the user. The rate of convergence and the accuracy of the adaptive controller reduces at low output frequency and low load. The minimum frequency is defined as a percentage of Rated Frequency (00.047) by Rated Speed Optimisation Minimum Frequency (05.019). The minimum load is defined as a percentage of rated load by Rated Speed Optimisation Minimum Load (05.020). The adaptive controller is enabled when a motoring or regenerative load rises above Rated Speed Optimisation Minimum Load (05.020) + 5%, and is disabled again when it falls below Rated Speed Optimisation Minimum Load (05.020). For best optimisation results the correct values of Stator Resistance (05.017), Transient Inductance (05.024), Stator Inductance (05.025), Saturation Breakpoint 1 (05.029), Saturation Breakpoint 2 (05.062), Saturation Breakpoint 3 (05.030) and Saturation Breakpoint 4 (05.063) should be used.

Pr 00.038 {04.013} / Pr 00.039 {04.014} Current Loop Gains

The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to change the gains to improve the performance. The Current Controller Kp Gain (00.038) is the most critical value in controlling the performance. The values for the current loop gains can be calculated by performing a stationary or rotating autotune (see Autotune Pr 00.040, earlier in this table) the drive measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor and calculates the current loop gains.

This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5 % overshoot. The equation for the integral gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed Sensorless RFC-A induction motor applications) the integral gain may need to have a significantly higher value.

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[00.008]

Ideal response

6. Pr 03.017 = 7

If Speed Controller Set-up Method (03.017) = 7 then Speed Controller Proportional Gain Kp1 (03.010), Speed Controller Integral Gain Ki1 (03.011) and Speed Controller Differential Feedback Gain Kd1 (03.012) are set up to give a closed-loop speed controller response that approximates to a first order system with a transfer function of 1 / (sτ + 1), where τ= 1/ωbw and

ωbw = 2π x Bandwidth (03.020). In this case the damping factor is

meaningless, and Damping Factor (03.021) and Compliance Angle (03.019) have no effect.

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Speed Loop Gains (Pr 00.007 {03.010}, Pr 00.008 {03.011}, Pr 00.009 {03.012})

The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp) and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for use by the speed controller with Pr 03.016. If Pr 03.016 = 0, gains Kp1, Ki1 and Kd1 (Pr 00.007 to Pr 00.009) are used, and if Pr 03.016 = 1, gains Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) are used. Pr 03.016 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of Pr 03.017.

Speed Controller Proportional Gain (Kp), Pr 00.007 {03.010} and Pr 03.013

If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is reached.

Speed Controller Integral Gain (Ki), Pr 00.008 {03.011} and Pr 03.014

The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application. For RFC-A Sensorless mode, it is unlikely that the integral gain can be increased much above 0.50.

Differential Gain (Kd), Pr 00.009 {0 3.012} and Pr 03.015

The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

There are six methods of tuning the speed loop gains dependant on the setting of Pr 03.017:

1. Pr 03.017 = 0, User set-up.

This involves the connecting of an oscilloscope to analog output 1 to monitor the speed feedback. Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope. The proportional gain (Kp) should be set up initially. The value should be increased up to the point where the speed overshoots and then reduced slightly. The integral gain (Ki) should then be increased up to the point where the speed becomes unstable and then reduced slightly. It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response as shown. The diagram shows the effect of incorrect P and I gain settings as well as the ideal response.

2. Pr 03.017 = 1, Bandwidth set-up

If bandwidth based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 03.020 - Required bandwidth,

Pr 03.021 - Required damping factor,

Pr 03.018 - Motor and load inertia.

The drive can be made to measure the motor and load inertia by performing a mechanical load measurement autotune (see Autotune Pr 00.040, earlier in this table).

3. Pr 03.017 = 2, Compliance angle set-up

If compliance angle based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 03.019 - Required compliance angle,

Pr 03.021 - Required damping factor,

Pr 03.018 - Motor and load inertia The drive can be made to

measure the motor and load inertia by performing a mechanical

load measurement autotune (see Autotune Pr 00.040, earlier in

this table).

4. Pr 03.017 = 3, Kp gains times 16

If Speed Controller Set-up Method (03.017) = 3 the selected proportional gain used by the drive is multiplied by 16.

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Pr 03.017 = 4 - 6

If Speed Controller Set-up Method (03.017) is set to a value from 4 to 6 the Speed Controller Proportional Gain Kp1 (03.010) and Speed Controller Integral Gain Ki1 (03.011) are automatically set up to give the bandwidths given in the table below and a damping factor of unity.

These settings give low, standard or high performance.

Speed Controller

Set-up Method (03.017)

Performance Bandwidth

4 Low 5 Hz

5 Standard 25 Hz

6 High 100 Hz

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00.044

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8.1.3 RFC-A Sensorless mode

Induction motor without position feedback

Pr 00.046 {05.007} 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. (See section 8.2 Maximum motor rated current on page 102, for information about setting this parameter higher than the maximum Heavy Duty current rating.) The motor rated current is used in the following:

• Current limits (see section 8.3 Current limits on page 102, for more information).

• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 102, for more information)

• Vector control algorithm

Pr 00.044 {05.009} Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.047 {05.006} Rated Frequency Defines the frequency at which rated voltage is applied

The Rated Voltage (00.044) and the Rated Frequency (00.047) are used to define the voltage to frequency characteristic applied to the motor (see Open Loop Control Mode (00.007), later in this table). The motor rated frequency is also used in conjunction with the motor rated speed to calculate the rated slip for slip compensation (see motor Rated Speed (00.045), later in this table).

Pr 00.045 {05.008} Rated Speed Defines the full load rated speed of the motor

Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles

The motor rated speed and motor rated frequency are used to determine the full load slip of the motor which is used by the vector control algorithm.

Incorrect setting of this parameter has the following effects:

• Reduced efficiency of motor operation

• Reduction of maximum torque available from the motor

• Reduced transient performance

• Inaccurate control of absolute torque in torque control modes The nameplate value is normally the value for a hot motor; however, some adjustment may be required when the drive is commissioned if the nameplate value is inaccurate. Either a fixed value can be entered in this parameter or an optimization system may be used to automatically adjust this parameter (see Rated Speed Optimization Select (05.016), later in this table).

When Pr 00.042 is set to 'Automatic', the number of motor poles is automatically calculated from the motor Rated Frequency (00.047), and the motor Rated Speed (00.045).

Number of poles = 120 x (Motor Rated Frequency (00.047 / Motor Rated Speed (00.045) rounded to the nearest even number.

Pr 00.043 {5.010} Rated Power Factor Defines the angle between the motor voltage and current

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. If the Stator Inductance (05.025) is set to zero then the power factor is used in conjunction with the motor Rated Current (00.046) and other motor parameters to calculate the rated active and magnetising currents of the motor, which are used in the vector control algorithm. If the stator inductance has a non-zero value this parameter is not used by the drive, but is continuously written with a calculated value of power factor. The stator inductance can be measured by the drive by performing a rotating autotune (see Autotune (Pr 00.040), later in this table).

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Pr 00.040 {05.012} Autotune

There are three autotune tests available in RFC-A mode, a stationary test, a rotating test and a mechanical load measurement test. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive. A mechanical load measurement test should be performed separately to a stationary or rotating autotune.

It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary

autotune measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated. Maximum Deadtime Compensation (05.059) and Current At

Maximum Deadtime Compensation (05.060) for the drive are also measured. Additionally, if Enable Stator Compensation (05.049) = 1, then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). A stationary autotune does not measure the power factor of

the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, a rotating test is then

performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency (00.047) x 2/3, and the frequency is maintained at the level for up to 40 s. During the rotating autotune the Stator Inductance (05.025), and the motor saturation breakpoints (Pr 05.029, Pr 05.030, Pr 06.062 and Pr 05.063) are modified by the drive. The power factor is also modified for user information only, but is not used after this point as the stator inductance is used in the vector control algorithm instead. To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• The mechanical load measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see

Speed loop gains) and to provide torque feed-forwards when required during acceleration. Applied torque (sensorless mode) This test may give inaccurate results, if the motor rated speed is not set to the correct value for the motor, or if standard ramp mode is active. During the mechanical load measurement test a series of progressively larger torque levels are applied to

the motor (20 %, 40 % ... 100 % of rated torque) to accelerate the motor up to

3

/4 x Rated Speed (00.045) to determine the inertia from the

acceleration/deceleration time. The test attempts to reach the required speed within 5 s, but if this fails the next torque level is used. When 100 % torque is used the test allows 60 s for the required speed to be reached, but if this is unsuccessful an Autotune 1 trip is initiated. To reduce the time taken for the test it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level (05.021) to a nonzero value. When the test level is defined the test is only carried out at the defined test level and 60 s is allowed for the motor to reach the required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to achieve the required torque level to accelerate the motor quickly enough. If this is the case, the maximum speed reference should be reduced. To perform a mechanical load measurement autotune, set Pr 00.040 to 4, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31, setting the Drive Enable (06.015) to OFF (0) or disabling the drive via the control word (Pr 06.042 & Pr 06.043)

Pr 00.038 {04.013} / Pr 00.039 {04.014} Current Loop Gains

The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to change the gains to improve the performance. The Current Controller Kp Gain (00.038) is the most critical value in controlling the performance. The values for the current loop gains can be calculated by performing a stationary or rotating autotune (see Autotune Pr 00.040, earlier in this table) the drive measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor and calculates the current loop gains.

This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5 % overshoot. The equation for the integral gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed Sensorless RFC-A induction motor applications) the integral gain may need to have a significantly higher value.

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Insufficient proportional gain

[]00.007

Excessive proportional gain [ 00.007]

Excessive integral gain

[00.008]

Ideal response

6. Pr 03.017 = 7

If Speed Controller Set-up Method (03.017) = 7 then Speed Controller Proportional Gain Kp1 (03.010), Speed Controller Integral Gain Ki1 (03.011) and Speed Controller Differential Feedback Gain Kd1 (03.012) are set up to give a closed-loop speed controller response that approximates to a first order system with a transfer function of 1 / (sτ + 1), where τ= 1/ωbw and

ωbw = 2π x Bandwidth (03.020). In this case the damping factor is

meaningless, and Damping Factor (03.021) and Compliance Angle (03.019) have no effect.

5. Pr 03.017 = 4 - 6

If Speed Controller Set-up Method (03.017) is set to a value from 4 to 6 the

Speed Controller Proportional Gain Kp1 (03.010) and Speed Controller Integral Gain Ki1 (03.011) are automatically set up to give the bandwidths

given in the table below and a damping factor of unity. These settings give low, standard or high performance.

Pr 03.017 Performance Bandwidth

4Low 5 Hz

5 Standard 25 Hz

6High 100 Hz

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Speed Loop Gains (Pr 00.007 {03.010}, Pr 00.008 {03.011}, Pr 00.009 {03.012})

The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp) and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for use by the speed controller with Pr 03.016. If Pr 03.016 = 0, gains Kp1, Ki1 and Kd1 (Pr 00.007 to Pr 00.009) are used, and if Pr 03.016 = 1, gains Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) are used. Pr 03.016 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of Pr 03.017.

Speed Controller Proportional Gain (Kp), Pr 00.007 {03.010} and Pr 03.013

If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is reached.

Speed Controller Integral Gain (Ki), Pr 00.008 {03.011} and Pr 03.014

The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application. For RFC-A Sensorless mode, it is unlikely that the integral gain can be increased much above 0.50.

Differential Gain (Kd), Pr 00.009 {0 3.012} and Pr 03.015

The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

There are six methods of tuning the speed loop gains dependant on the setting of Pr 03.017:

1. Pr 03.017 = 0, User set-up. This involves the connecting of an oscilloscope to analog output 1 to monitor the speed feedback. Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope. The proportional gain (Kp) should be set up initially. The value should be increased up to the point where the speed overshoots and then reduced slightly. The integral gain (Ki) should then be increased up to the point where the speed becomes unstable and then reduced slightly. It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response as shown. The diagram shows the effect of incorrect P and I gain settings as well as the ideal response.

2. Pr 03.017 = 1, Bandwidth set-up If bandwidth based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 03.020 - Required bandwidth, Pr 03.021 - Required damping factor,

Pr 03.018 - Motor and load inertia. The drive can be made to measure the motor and load inertia by performing a mechanical load measurement autotune (see Autotune Pr 00.040, earlier in this table).

3. Pr 03.017 = 2, Compliance angle set-up If compliance angle based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 03.019 - Required compliance angle, Pr 03.021 - Required damping factor, Pr 03.018 - Motor and load inertia The drive can be made to measure the motor and load inertia by performing a mechanical

98 Unidrive M700 / M701 / M702 Control User Guide

load measurement autotune (see Autotune Pr 00.040, earlier in this table).

4. Pr 03.017 = 3, Kp gains times 16 If Speed Controller Set-up Method (03.017) = 3 the selected proportional gain used by the drive is multiplied by 16.

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8.1.4 RFC-S mode

Permanent magnet motor with Position feedback

Pr 00.046 {05.007} Rated Current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor. The motor rated current is used in the following:

• Current limits (see section 8.3 Current limits on page 102, for more information)

• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 102, for more information)

Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles

The number of motor poles parameter defines the number of electrical revolutions in one whole mechanical revolution of the motor. This parameter must be set correctly for the control algorithms to operate correctly. When Pr 00.042 is set to "Automatic" the number of poles is 6.

Pr 00.040 {05.012} Autotune

There are four autotune tests available in RFC-S mode, a stationary autotune, a rotating autotune, mechanical load measurement tests to measure load dependent parameters.

• Stationary Autotune

The stationary autotune can be used when the motor is loaded and it is not possible uncouple the load from motor shaft. This test can be used to measure all the necessary parameters for basic control. During the stationary autotune, a test is performed to locate the flux axis of the motor. However this test may not be able to calculate such an accurate value for the Position Feedback Phase Angle (00.043) as compared to rotating autotune. A stationary test is performed to measure Stator Resistance (05.017), Ld (05.024), Maximum Deadtime Compensation (05.059), Current At Maximum Deadtime Compensation (05.060), No Load Lq (05.072). If Enable Stator Compensation (05.049) = 1 then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). The Stator Resistance (05.017) and the Ld (05.024) are then used to set up Current controller Kp Gain (00.038) and Current Controller Ki Gain (00.039). If sensorless mode is not selected then Position Feedback Phase Angle (00.043) is set up for the position from the position feedback interface selected with Motor Control Feedback Select (03.026). To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• Rotating Autotune

The rotating autotune must be performed on unloaded motor. This test can be used to measure all the necessary parameters for the basic control and parameters for cancelling the effects of the cogging torque. During the rotating autotune, Rated Current (00.046) is applied and the motor is rotated by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the required direction. If sensorless mode is not selected then the Position Feedback Phase Angle (00.043) is set-up for the position from the position feedback interface selected with Motor Control Feedback Select (03.026). A stationary test is then performed to measure Stator Resistance (05.017),

Ld (05.024), Maximum Deadtime Compensation (05.059), Current At Maximum Deadtime Compensation (05.060) and No Load Lq (05.072). Stator Resistance (05.017) and Ld (05.024) are used to set up Current Controller Kp Gain (00.038) and Current Controller Ki Gain (00.039). This is only done

once during the test, and so the user can make further adjustments to the current controller gains if required. To perform a Rotating autotune, set Pr

00.040 to 2, and provide the drive with both an enable signal (terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run

signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• Mechanical load measurement test using signal injection

The mechanical load measurement test using signal injection, measures the mechanical characteristic of the motor and load by rotating the motor at the speed defined by the present speed reference and injecting a series of speed test signals. This test should only be used provided all the basic control parameters (including Torque Per Amp (05.032)) have been set-up correctly and the speed controller parameters should be set to conservative levels, such as the default values, so that the motor is stable when it runs. The test measures the motor and load inertia, which can be used in automatic setup of the speed controller gains and in producing a torque feed-forward term. If Mechanical Load Test Level (05.021) is left at its default value of zero then the peak level of the injection signal will be 1 % of the maximum speed reference subject to a maximum of 500 rpm. If a different test level is required then Mechanical Load Test Level (05.021) should be set to a non-zero value to define the level as a percentage of the maximum speed reference, again subject to a maximum of 500 rpm. The user defined speed reference which defines the speed of the motor should be set to a level higher than the test level, but not high enough for flux weakening to become active. In some cases, however it is possible to perform the test at zero speed provided the motor is free to move, but it may be necessary to increase the test signal from the default value. The test will give the correct results when there is a static load applied to the motor and in the presence of mechanical damping. This test should be used if possible, however for sensorless mode, or if the speed controller cannot be set up for stable operation an alternative test is provided (Autotune (00.040) = 4) where a series of torque levels are applied to accelerate and decelerate the motor to measure the inertia.

1.

A rotating test is performed in which the motor is accelerated with the currently selected ramps up to the currently selected speed reference, and

this speed is maintained for the duration of the test. Motor And Load Inertia (03.018) and Inertia Times 1000 (04.033) are set up. To perform this autotune test, set Pr 00.040 to 3 and provide the drive with both an enable signal (on terminal 31 on Unidrive M700 / M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26 or 27 on Unidrive M700 / M701 and terminal 7 or 8 on Unidrive M702).

• Mechanical load measurement using applied torque

Auto-tune test 3 should normally be used for mechanical load measurement, but under some circumstances this test may be used as an alternative. This test is likely to give incorrect results if standard ramp mode is active. A series of progressively larger torque levels are applied to the motor (20 %, 40 % ... 100 % of rated torque) to accelerate the motor up to 3/4 x Rated Speed (00.045) to determine the inertia from the acceleration/deceleration time. The test attempts to reach the required speed within 5s, but if this fails the next torque level is used. When 100 % torque is used the test allows 60 s for the required speed to be reached, but if this is unsuccessful, a trip is initiated. To reduce the time taken for the test it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level (05.021) to a non-zero value. When the test level is defined the test is only carried out at the defined test level and 60 s is allowed for the motor to reached the required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to achieve the required torque level to accelerate the motor fast enough. If this is the case, the maximum speed reference should be reduced.

1. The motor is accelerated in the required direction up to 3/4 of the maximum speed reference and then decelerated to zero speed.

2. The test is repeated with progressively higher torques until the required speed is reached.

3. Motor And Load Inertia (03.018) and Inertia Times 1000 (04.033) are set up. To perform this autotune test, set Pr 00.040 to 4 and provide the

drive with both an enable signal (on terminal 31 on Unidrive M700/M701 and terminal 11 & 13 on Unidrive M702) and a run signal (terminal 26

or 27 on Unidrive M700/M701 and terminal 7 or 8 on Unidrive M702).

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Pr 00.038 {04.013} / Pr 00.039 {04.014} Current Loop Gains

The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to change the gains to improve the performance. The proportional gain (Pr 00.038) is the most critical value in controlling the performance. The values for the current loop gains can be calculated by performing a stationary or rotating autotune (see Autotune Pr 00.040, earlier in this table) the drive measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor and calculates the current loop gains.

This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5 % overshoot. The equation for the integral gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed Sensorless RFC-A induction motor applications) the integral gain may need to have a significantly higher value.

Speed loop gains (Pr 00.007 {03.010}, Pr 00.008 {03.011}, Pr 00.009 {03.012})

The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp) and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for use by the speed controller with Pr 03.016. If Pr 03.016 = 0, gains Kp1, Ki1 and Kd1 (Pr 00.007 to Pr 00.009) are used, and if Pr 03.016 = 1, gains Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) are used. Pr 03.016 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of Pr 03.017.

Speed Controller Proportional Gain (Kp), Pr 00.007 {03.010} and Pr 03.013

If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is reached.

Speed Controller Integral Gain (Ki), Pr 00.008 {03.011} and Pr 03.014

The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application.

Differential Gain (Kd), Pr 00.009 {03.012} and Pr 03.015

The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

100 Unidrive M700 / M701 / M702 Control User Guide

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Control Techniques Unidrive M700, Unidrive M701, Unidrive M702 User Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

EU Declaration of Conformity

EU Declaration of Conformity (including 2006 Machinery Directive)

1 Safety information

1.1 Warnings, Cautions and Notes

1.2 Electrical safety - general warning

1.5 Access

1.6 Fire protection

1.7 Compliance with regulations

1.8 Motor

1.9 Mechanical brake control

1.10 Adjusting parameters

1.4 Environmental limits

1.11 Electrical installation

1.11.1 Electric shock risk

1.11.2 Stored charge

2 Product information

2.1 Introduction

2.2 Model number

2.3 Ratings

2.4 Operating modes

2.4.1 Open loop mode

2.4.2 RFC-A mode

2.4.3 RFC- S mode

2.4.4 Regen mode

2.5 Compatible position feedback devices

2.6 Nameplate description

2.7 Options

3 Mechanical installation

3.1 Installing / removing option modules and keypads

3.2 Real time clock battery replacement

4 Electrical installation

4.1 24 Vdc supply

4.2 Communication connections

4.2.3 Unidrive M701 Isolation of the EIA 485 serial communications port

4.2.1 Unidrive M700 / M702 Ethernet fieldbus communications

4.2.2 Unidrive M701 EIA 485 serial communications

4.2.4 Communication networks and cabling

4.3 Control connections

4.3.1 Unidrive M700 / M701 control connections

4.3.2 Unidrive M700 / M701 control terminal specification

4.3.3 Unidrive M702 control connections

4.3.4 Unidrive M702 control terminal specification

4.4 Position feedback connections

4.4.1 Location of position feedback connector

4.4.2 Compatible position feedback devices

4.4.3 Position feedback connection details

4.4.4 Position feedback terminal specifications

4.5 Safe Torque Off (STO)

5 Getting started

5.1 Understanding the display

5.1.1 KI-Keypad

5.2 Keypad operation

5.2.1 Control buttons

5.2.2 Quick access mode

5.2.3 Keypad shortcuts

5.3 Menu structure

5.4 Menu 0

5.5 Advanced menus

5.5.1 KI-Keypad set-up menu

5.5.2 Alarm indications

5.5.3 Display messages

5.6 Changing the operating mode

5.7 Saving parameters

5.8 Restoring parameter defaults

5.9 Parameter access level and security

5.9.1 User Security Level / Access Level

5.11 Displaying destination parameters only

5.12 Communications

5.9.2 Changing the User Security Level /Access Level

5.9.3 User Security Code

5.12.1 Unidrive M700 / M702 - Ethernet communications

5.12.2 Unidrive M701 - EIA 485 Serial communications

6 Basic parameters

6.1 Parameter ranges and variable minimum / maximums

6.2 Menu 0: Basic parameters

6.3 Parameter descriptions