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

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

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

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

Optional Build

Customer Code

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

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*

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

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

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

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.

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

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

UL listing

information

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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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

Key to approvals

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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.

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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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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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

Analog Input 1-

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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,

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)

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.

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).

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.

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.

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Polarized connectors

21 31

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

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

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.

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

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

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

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

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)

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

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.

Relay contacts

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

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.

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.

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

Safety

0 V common

Digital Output 1

Run forward

Run reverse

Safe Torque Off

Input 1*

Relay

(Over voltage

category II)

Drive OK

+24 V

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.

28 Unidrive M700 / M701 / M702 Control User Guide

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5 10

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)

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

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.

Relay contacts

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.

30 Unidrive M700 / M701 / M702 Control User Guide

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+ 228 hidden pages

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