Control Techniques Unidrive SP User Guide
EF
www.controltechniques.com
Advanced User Guide
U
Universal Variable Speed AC
Drive for induction and servo
motors
Part Number: 0471-0002-07
Issue: 7
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect
installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed
drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy
of continuous development and improvement, the manufacturer reserves the right to change the specification of the
product or its performance, or the contents of the guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or
mechanical including photocopying, recording or by an information storage or retrieval system, without permission in
writing from the publisher.
Drive software version
This product is supplied with the latest version of software. If this product is to be used in a new or existing system with
other drives, there may be some differences between their software and the software in this product. These differences
may cause this product to function differently. This may also apply to drives returned from a Control Techniques Service
Centre.
The software version of the drive can be checked by looking at Pr 11.29 (or Pr 0.50) and Pr 11.34. The software version
takes the form of zz.yy.xx, where Pr 11.29 displays zz.yy and Pr 11.34 displays xx, i.e. for software version 01.01.00, Pr
11.29 would display 1.01 and Pr 11.34 would display 0.
If there is any doubt, contact a Control Techniques Drive Centre.
Environmental statement
Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its
products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is
certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other
relevant information is available on request, or can be found at www.greendrives.com.
The electronic variable-speed drives manufactured by Control Techniques have the potential to save energy and
(through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long
working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product
manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they can very easily be dismantled into their
major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools,
while other parts are secured with conventional screws. Virtually all parts of the product are suitable for recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, 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. Polyethylene, used on the protective film and bags for wrapping product, can be recycled in
the same way. Control Techniques' packaging strategy favours easily-recyclable materials of low environmental impact,
and regular reviews identify opportunities for improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.
Copyright © July 2004 Control Techniques Drives Limited
Issue Number: 7
Software: 01.06.02 onwards
Contents
1 Parameter structure.......................................................................................................5
1.1 Menu 0 ...................................................................................................................................................5
1.2 Advanced menus ...................................................................................................................................8
1.3 Solutions Modules .................................................................................................................................8
2 Keypad and display .......................................................................................................9
2.1 Understanding the display .....................................................................................................................9
2.2 Keypad operation ..................................................................................................................................9
2.3 Status mode ........................................................................................................................................10
2.4 Parameter view mode ..........................................................................................................................10
2.5 Edit mode ............................................................................................................................................10
2.6 SM-Keypad Plus advanced operation .................................................................................................11
2.6.1 Browsing filter ............................................................................................................................................................ 11
2.6.2 'Hardware key' feature ............................................................................................................................................... 11
2.7 Parameter access level and security ...................................................................................................11
2.8 Alarm and trip display ..........................................................................................................................13
2.9 Keypad control mode ...........................................................................................................................13
2.10 Drive reset ...........................................................................................................................................13
2.11 Second motor parameters ...................................................................................................................13
2.12 Special display functions .....................................................................................................................13
2.13 SM-Keypad Plus: Menus 41 and 42 ....................................................................................................14
3 Parameter x.00 .............................................................................................................16
3.1 US default differences (1244) ..............................................................................................................16
3.2 SMARTCARD transfers .......................................................................................................................16
3.3 Electronic nameplate transfers ............................................................................................................16
3.4 Display non-default values or destination parameters .........................................................................16
4 Parameter description format.....................................................................................17
4.1 Parameter ranges and variable maximums: ........................................................................................18
4.2 Sources and destinations ....................................................................................................................20
4.3 Update rates ........................................................................................................................................21
4.3.1 Speed reference update rate ..................................................................................................................................... 21
4.3.2 Hard speed reference update rate ............................................................................................................................. 21
4.3.3 Torque reference update rate .................................................................................................................................... 21
5 Advanced parameter descriptions.............................................................................22
5.1 Overview ..............................................................................................................................................22
5.2 Menu 1: Frequency/speed reference ...................................................................................................24
5.3 Menu 2: Ramps ...................................................................................................................................36
5.4 Menu 3: Slave frequency, speed feedback, speed control and regen operation .................................44
5.5 Menu 4: Torque and current control ....................................................................................................80
5.6 Menu 5: Motor control ........................................................................................................................101
5.7 Menu 6: Sequencer and clock ...........................................................................................................122
5.8 Menu 7: Analog I/O ............................................................................................................................135
5.9 Menu 8: Digital I/O .............................................................................................................................145
5.10 Menu 9: Programmable logic, motorised pot and binary sum ...........................................................152
5.11 Menu 10: Status and trips ..................................................................................................................160
5.12 Menu 11: General drive set-up ..........................................................................................................181
5.13 Menu 12: Threshold detectors, variable selectors and brake control function ...................................192
5.14 Menu 13: Position control ..................................................................................................................206
5.15 Menu 14: User PID controller ............................................................................................................218
Unidrive SP Advanced User Guide 3
Issue Number: 7 www.controltechniques.com
5.16 Menus 15, 16 and 17: Solutions Module slots .................................................................................. 224
5.16.1 SM-Universal Encoder Plus ..................................................................................................................................... 225
5.16.2 SM-Resolver ............................................................................................................................................................ 248
5.16.3 SM-Encoder Plus ..................................................................................................................................................... 256
5.16.4 SM I/O Plus ............................................................................................................................................................. 263
5.16.5 SM-EZMotion ........................................................................................................................................................... 271
5.16.6 Fieldbus module category parameters .................................................................................................................... 277
5.16.7 SM-Applications ....................................................................................................................................................... 288
5.16.8 SM-SLM ................................................................................................................................................................... 301
5.17 Menu 18: Application menu 1 ........................................................................................................... 314
5.18 Menu 19: Application menu 2 ........................................................................................................... 315
5.19 Menu 20: Application menu 3 ........................................................................................................... 316
5.20 Menu 21: Second motor parameters ................................................................................................ 317
5.21 Menu 22: Additional menu 0 set-up .................................................................................................. 325
6 Macros ....................................................................................................................... 326
6.1 Introduction ....................................................................................................................................... 326
6.1.1 Fundamental differences between Unidrive SP and Unidrive Classic ..................................................................... 328
6.2 Macro 1 - Easy Mode ........................................................................................................................ 329
6.3 Macro 2 - Motorised potentiometer ................................................................................................... 332
6.4 Macro 3 - Preset speeds .................................................................................................................. 336
6.5 Macro 4 - Torque control .................................................................................................................. 340
6.6 Macro 5 - PID control ........................................................................................................................ 344
6.7 Macro 6 - Axis limit control ................................................................................................................ 348
6.8 Macro 7 - Brake control .................................................................................................................... 352
6.9 Macro 8 - Digital Lock ....................................................................................................................... 356
7 Serial communications protocol ............................................................................. 360
7.1 ANSI communications protocol ......................................................................................................... 360
7.2 CT Modbus RTU specification .......................................................................................................... 361
8 Electronic nameplate................................................................................................ 368
8.1 Motor object ...................................................................................................................................... 369
8.2 Performance objects ......................................................................................................................... 370
9 Performance .............................................................................................................. 372
9.1 Digital speed reference ..................................................................................................................... 372
9.2 Analog reference .............................................................................................................................. 372
9.3 Analog outputs .................................................................................................................................. 372
9.4 Digital inputs and outputs ................................................................................................................. 372
9.5 Current feedback .............................................................................................................................. 373
9.6 Bandwidth ......................................................................................................................................... 373
10 Feature look-up table................................................................................................ 374
Index ..........................................................................................................................378
4 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
s
us
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
1 Parameter 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 level 2 access (L2) has been enabled in Pr 0.49, and the left and
right buttons are used to navigate between menus. For further
information, see section 2.7 Parameter access level and security on
page 11.
Figure 1-1 Parameter navigation
*
* can only be used to move between menus if L2 access has
been enabled (Pr 0.49).
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 1-2 Menu structure
*
1.1 Menu 0
Menu 0 has up to 31 fixed parameters and 20 programmable parameters
that are defined in menu 11. Menu 0 parameters are copies of advanced
menu parameters, and although these parameters are accessible via
drive 485 comms, they are not accessible to any Solutions Modules. All
menu 0 read/write parameters are saved on exiting the edit mode. Table
1-1 gives the default structure for each drive type setting. Where
alternative parameters are selected with motor map 2 from menu 21
these are shown below the motor map 1 parameters.
Figure 1-3 Menu 0 cloning
Menu 2
150
5
Menu 1
1.14
0
Menu 0
0.04
0.05
0.06
2.21
5
0
150
Menu 4
4.07
M
e
n
u
2
0
M
e
n
u
2
1
Menu 0
....XX.00....
2
1
.
5
0
2
2
2
2
2
2
2
2
2
0.50
1
.
4
9
0.49
1
.
4
8
0.48
1
.
4
7
0.47
1
.
4
6
0.46
1
.
0
5
0.05
1
.
0
4
0.04
1
.
0
3
0.03
1
.
0
2
0.02
1
.
0
1
0.01
Moves between Men
e
M
.
1
.
1
.
1
.
1
.
1
1
1
1
1
1
2
u
n
e
M
1
u
n
0
5
9
4
8
4
7
4
6
4
Moves
between
parameter
5
0
.
4
0
.
3
0
.
2
0
.
1
0
.
Unidrive SP Advanced User Guide 5
Issue Number: 7 www.controltechniques.com
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
Table 1-1 Menu 0 parameters
Ú) Default(Ö)
Parameter
0.00 xx.00 {x.00} 0 to 32,767 0 RW Uni
0.01 Minimum reference clamp {1.07}
0.02 Maximum reference clamp {1.06} 0 to 3,000.0Hz Speed_limit_max rpm
0.03 Acceleration rate
0.04 Deceleration rate {2.21}
0.05 Reference select {1.14}
0.06 Current limit {4.07} 0 to Current_limit_max % 165.0 175.0 RW Uni RA US
OL> Voltage mode select {5.14}
0.07
CL> Speed controller P gain {3.10}
OL> Voltage boost {5.15}
0.08
CL> Speed controller I gain {3.11}
OL> Dynamic V/F {5.13}
0.09
CL> Speed controller D gain {3.12}
OL> Estimated motor speed {5.04} ±180,000 rpm
0.10
CL> Motor speed {3.02}
OL & VT> Drive output
frequency
0.11
SV> Drive encoder position {3.29}
0.12 Total motor current {4.01} 0 to Drive_current_max A
OL & VT> Motor active
current
0.13
SV> Analog input 1 offset trim {7.07}
0.14 Torque mode selector {4.11} 0 to 1 0 to 4 Speed control mode (0) RW Uni US
0.15 Ramp mode select {2.04}
OL> T28 and T29 autoselection disable
0.16
CL> Ramp enable {2.02}
OL> T29 digital input
destination
0.17
CL> Current demand filter
time constant
0.18 Positive logic select {8.29} OFF (0) or On (1) On (1) RW Bit PT US
0.19 Analog input 2 mode {7.11}
0.20 Analog input 2 destination {7.14}Pr 0.00 to Pr 21.51 Pr 1.37 RW Uni DE PT US
0.21 Analog input 3 mode {7.15}
0.22 Bipolar reference select {1.10} OFF (0) or On (1) OFF (0) RW Bit US
0.23 Jog reference {1.05} 0 to 400.0 Hz 0 to 4000.0 rpm 0.0 RW Uni US
0.24 Pre-set reference 1 {1.21} ±Speed_limit_max rpm 0.0 RW Bi US
0.25 Pre-set reference 2 {1.22} ±Speed_limit_max rpm 0.0 RW Bi US
OL> Pre-set reference 3 {1.23}
0.26
CL> Overspeed threshold {3.08}
OL> Pre-set reference 4 {1.24}
0.27
CL> Drive encoder lines per
revolution
0.28 Keypad fwd/rev key enable {6.13} OFF (0) or On (1) OFF (0) RW Bit US
SMARTCARD parameter
0.29
data
0.30 Parameter cloning {11. 42} nonE (0), rEAd (1), Prog (2), AutO (3), boot (4) nonE (0) RW Txt NC *
0.31 Drive rated voltage {11.33} 200 (0), 400 (1), 575 (2), 690 (3) V
{2.11} 0.0 to 3,200.0
{5.01} ±Speed_freq_max Hz
{4.02} ±Drive_current_max A
{8.39}
{8.26}
{4.12}
{3.34}
{11.36} 0 to 999 0 RO Uni NC PT US
OL VT SV OL VT SV
±3,000.0Hz
s/100Hz
0.0 to 3,200.0
s/100Hz
A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), Pad (4),
Ur_S (0),
Ur (1), Fd (2),
Ur_Auto (3),
Ur_I (4),
SrE (5)
0.0 to 25.0%
of motor rated
voltage
OFF (0) or On
(1)
FASt (0)
Std ( 1)
Std.hV (2)
OFF (0) or On
(1)
Pr 0.00 to
Pr 21.51
0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),
0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),
4-20 (4), 20-4 (5), VOLt (6), th.SC (7),
±Speed_freq_
max Hz/rpm
±Speed_freq_
max Hz/rpm
Range(
±Speed_limit_max rpm
0.000 to 3,200.000
s/1,000rpm
0.000 to 3,200.000
s/1,000rpm
Prc (5)
0.0000 to 6.5535 1/rad s
0.00 to 655.35 1/rad 1.00 RW Uni US
0.00000 to 0.65535 (s) 0.00000 RW Uni US
±Speed_max rpm RO Bi FI NC PT
0 to 65,535
1/2
revolution
±10.000 %
FASt (0)
Std ( 1)
OFF (0) or On (1) On (1) RW Bit US
0.0 to 25.0 ms
4-20 (4), 20-4 (5), VOLt (6)
th (8), th.diSp (9)
0 to 40,000 rpm 0RWUni US
0 to 50,000 1024
16
ths of a
0.0
EUR> 50.0
USA> 60.0
10.0 2.000 0.0200 RW Uni US
Ur_I (4) RW Txt US
-1
EUR> 1,500.0
USA> 1800.0
5.0 2.000 0.0200 RW Uni
A1.A2 (0) RW Txt NC US
3.0 RW Uni US
0 RW Bit US
3,000.0 RW Uni
0.0100 RW Uni US
0.000
Std (1) RW Txt US
0 RW Bit US
Pr 6.31 RW Uni DE PT US
0.0
VOLt (6) RW Txt US
VOLt (6) RW Txt PT US
0.0 RW Bi US
0.0 RW Bi US
4096
RW Bi PT US
RO Bi FI NC PT
RO Bi FI NC PT
RO Uni FI NC PT
RO Uni FI NC PT
RO Bi FI NC PT
RW Bi US
RW Uni US
RW Uni US
RO Txt NC PT
Typ e
US
US
6 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
structure
0.32 Drive rated current {11 .32} 0.00 to 9999.99A RO Uni NC PT
0.33
0.34 User security code {11 .30}0 to 999 0RWUniNCPS
0.35 Serial comms mode {11.24 }
0.36 Serial comms baud rate {11.25 }
0.37 Serial comms address {11.23 }0 to 247 1RWUniUS
0.38 Current loop P gain {4.13} 0 to 30,000
0.39 Current loop I gain {4.14} 0 to 30,000
0.40 Autotune {5.12} 0 to 2 0 to 3 0 RW Uni
0.41
0.42 No. of motor poles {5.11} 0 to 60 (Auto to 120 pole) 0 (Auto) 6 POLE (3) RW Txt US
0.43
0.44 Motor rated voltage {5.09} 0 to AC_voltage_set_max V
0.45
0.46 Motor rated current {5.07} 0 to Rated_current_max A Drive rated current [11. 32] RW Uni RA US
0.47 Rated frequency {5.06}
0.48 Operating mode selector {11.3 1}
0.49 Security status {11.44 } L1 (0), L2 (1), Loc (2)
0.50 Software version {11. 29 } 1.00 to 99.99
Keypad and
display
Parameter x.00
Parameter
OL> Catch a spinning motor {6.09}0 to 3
VT> Rated rpm autotune {5.16}
Maximum switching
frequency
OL & VT> Motor rated power
factor
SV> Encoder phase angle {3.25}
OL & VT> Motor rated full
load speed (rpm)
SV> Motor thermal time
constant
{5.18} 3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5) kHz 3 (0) 6 (2) RW Txt RA US
{5.10} 0.000 to 1.000
{5.09}
{4.15}
Parameter
description format
OL VT SV OL VT SV
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
9600 (5), 19200 (6), 38400 (7),
57600 (8) Modbus RTU only,
115200 (9) Modbus RTU only
0 to 180,000
rpm
0 to 3,000.0 Hz0 to 1,250.0
OPEn LP (1), CL VECt (2),
SErVO (3), rEgEn (4)
Advanced parameter
descriptions
Ú) Default(Ö)
Range(
0 to 2 0 RW Uni US
AnSI (0)
rtu (1)
0.0 to 359.9° 0.0 RW Uni NC PT
0.00 to
40,000.00 rpm
0.0 to 400.0 20.0 RW Uni US
Hz
Macros
Serial comms
protocol
0 RW Uni US
All voltage
ratings: 20
All voltage
ratings 40
0.850 RW Uni US
200V drive: 230
400V drive: EUR> 400, USA> 460
575V drive: 575
690V drive: 690
EUR> 1,500
USA> 1,800
EUR> 50.0
USA> 60.0
OPEn LP (1) CL VECt (2) SErVO (3) RW Txt NC PT
Electronic
nameplate
Performance
Feature look-
up table
Typ e
rtU (1) RW Txt US
19200 (6) RW Txt US
200V drive: 75
400V drive: 150
575V drive: 180
690V drive: 215
200V drive: 1000
400V drive: 2000
575V drive: 2400
690V drive: 3000
EUR>
1,450.00
USA>
1,770.00
RW Uni US
RW Uni US
RW Uni RA US
RW Uni US
RW Uni US
RW Txt PT US
RO Uni NC PT
* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved
Key:
Coding Attribute
OL Open loop
VT Closed loop vector
SV Servo
{X.XX} Cloned advanced parameter
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
Coding Attribute
Not cloned: not transferred to or from SMARTCARDs
NC
during cloning.
PT Protected: cannot be used as a destination.
User save: saved in drive EEPROM when the user initiates
US
a parameter save.
Power-down save: automatically saved in drive EEPROM
PS
at power-down.
Bi Bipolar parameter
Uni Unipolar parameter
Txt Text: the parameter uses text strings instead of numbers.
Filtered: some parameters which can have rapidly changing
FI
values are filtered when displayed on the drive keypad for
easy viewing.
Destination: indicates that this parameter can be a
DE
destination parameter.
Rating dependant: this parameter is likely to have different
values and ranges with drives of different voltage and
current ratings. This parameters is not transferred by
RA
SMARTCARDs when the rating of the destination drive is
different from the source drive.
Unidrive SP Advanced User Guide 7
Issue Number: 7 www.controltechniques.com
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
1.2 Advanced menus
The advanced menus consist of groups or parameters appropriate to a
specific function or feature of the drive. These are accessible via the
keypad, drive 485 comms and Solutions Modules. All advanced menu
parameters are only saved by setting Pr x.00 to 1000 and applying a
reset (except parameters shown as power-down saved which are saved
automatically at power-down). The advanced menus are accessible
when the user selects L2 in Pr 11.44 (Pr 0.49 in menu 0). This can be
done even if security is programmed. Pr 11. 44 can be saved in
EEPROM so that either Menu 0 only, or Menu 0 and the advanced
menus are accessible at power-up.
Menu Function
1 Speed reference selection, limits and filters
2Ramps
3 Speed sensing thresholds
4 Current control
5 Motor control
6 Sequencer and clock
7 Analog I/O
8 Digital I/O
9 Programmable logic and motorised pot
10 Drive status and trip information
11 Miscellaneous
Programmable threshold, variable selector and brake control
12
function
13 Position control
14 User PID controller
15 Slot 1 Solutions Module menu
16 Slot 2 Solutions Module menu
17 Slot 3 Solutions Module menu
18 User application menu 1 (saved in drive EEPROM)
19 User application menu 2 (saved in drive EEPROM)
20 User application menu 3 (not saved in drive EEPROM)
21 Second motor map
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
1.3 Solutions Modules
Any Solutions Module type is recognised with all drive types in any slots.
The relevant template is used to define menu 15 for the module type
fitted in slot 1, menu 16 for slot 2, and menu 17 for slot 3.
8 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
n
n
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
2 Keypad and display
2.1 Understanding the display
There are two keypads available for the Unidrive SP. The SM-Keypad has an LED display and the SM-Keypad Plus has an LCD display. Both
keypads can be fitted to the drive but the SM-Keypad Plus can also be remotely mounted on an enclosure door.
2.1.1 SM-Keypad
The display consists of two horizontal rows of 7 segment LED displays.
The upper display shows the drive status or the current menu and
parameter number being viewed.
The lower display shows the parameter value or the specific trip type.
Figure 2-1 SM-Keypad Figure 2-2 SM-Keypad Plus
2.1.2 SM-Keypad Plus
The display consists of three lines of text.
The top line shows the drive status or the current menu and parameter
number being viewed on the left, and the parameter value or the specific
trip type on the right.
The lower two lines show the parameter name or the help text.
Features :
• Parameter names displayed
• Units displayed (Hz, A, rpm, %)
• Parameter help text
• Diagnostics help text
• 5 language support: (English, French, German, Spanish and Italian)
• Displays SM-Applications virtual parameters: Menus 70 to 91
• Hardware key using the SM-Keypad Plus as a key to modify the
drive set-up
• User defined parameter set
• Browsing filter
• Adjustable contrast
Upper display
Lower display
Control buttons
Fwd / Rev (blue) button
Stop/reset (red) button
Start (green) button
NOTE
The red stop button is also used to reset the drive.
Mode (black) butto
Joypad
Control buttons
Fwd / Rev (blue) button
Stop/reset (red) button
Start (green) button
Mode (black) butto
Help button
Joypad
2.2 Keypad operation
2.2.1 Control buttons
The keypad consists of:
1. Joypad - used to navigate the parameter structure and change parameter values.
2. Mode button - used to change between the display modes – parameter view, parameter edit, status.
3. Three control buttons - used to control the drive if keypad mode is selected.
4. Help button (SM-Keypad Plus only) - displays text briefly describing the selected parameter.
The Help button toggles between other display modes and parameter help mode. The up and down functions on the joypad scroll the help text to
allow the whole string to be viewed. The right and left functions on the joypad have no function when help text is being viewed.
The display examples in this section show the SM-Keypad 7 segment LED display. The examples are the same for the SM-Keypad Plus except that
the information displayed on the lower row on the SM-Keypad is displayed on the right hand side of the top row on the SM-Keypad Plus.
The drive parameters are accessed as shown in Figure 2-3.
Unidrive SP Advanced User Guide 9
Issue Number: 7 www.controltechniques.com
Parameter
structure
Keypad and
display
Figure 2-3 Display modes
Status Mode
(Display not flashing)
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
Timeo ut** Timeo ut**Time out **
When returning
to Parameter
Mode use the
* keys
Edit Mode
(Character to be edited in lower line of display flashing)
Change parameter values
keys to select
another parameter
to change, if
required
Parameter View Mode
(Upper display
flashing)
to select parameter for editing
To enter Parameter
Mode, press key or
Use
To enter Edit Mode,
press key
2.3 Status mode
In status mode the 1st row shows a four letter mnemonic indicating the
status of the drive. The second row show the parameter last viewed or
edited.
State
Auto tune in progress
Upper
row
Auto
tune
Inhibited: enable input is inactive inh
Ready: enable closed, but inverter not active rdY
Stopped: inverter active, but holding zero speed/frequency StoP
Running: inverter active and motor running run
Scanning: trying to synchronise in regen mode SCAN
Mains loss: decelerating to zero in mains loss ride-through or
stop modes
Decelerating: speed/frequency is ramping to zero after a
stop
ACUU
dEC
DC injection: DC injection stop is active dc
Position: position control active during orientation stop POS
Tripped: drive is tripped triP
Active: regen unit is synchronised and the inverter is active act
2.4 Parameter view mode
In this mode the 1st row shows the menu.parameter number and the 2nd
row the parameter value. The 2nd row gives a parameter value range of
-999,999 to 9,999,999 with or without decimal points. (32 bit parameters
can have values outside this range if written by an application module. If
the value is outside this range “-------“is shown and the parameter value
cannot be changed from the keypad.) The Up and Down keys are used
to select the parameter and the Left and Right keys are used to select
the menu. In this mode the Up and Down keys are used to select the
parameter within the selected menu. Holding the Up key will cause the
parameter number to increment until the top of the menu is reached. A
single Up key action when the last parameter in a menu is being
displayed will cause the parameter number to roll over to Pr x.00.
To return to
Status Mode,
press
key
Temporary Parameter
Mode
(Upper display flashing)
*
To exit Edit Mode,
press key
using keys.
Similarly holding the Down key will cause the parameter number to
decrement until Pr x.00 is reached and a single Down key action will
cause the parameter number to roll under to the top of the menu.
Pressing the Up and Down keys simultaneously will select Pr x.00 in the
currently selected menu.
The Left and Right keys are used to select the required menu (provided
the security has been unlocked to allow access to menus other than 0).
Holding the Right key will cause the menu number to increment until the
Menu 21 is reached. A single Right key action when Menu 21 is being
displayed will cause the menu number to roll over to 0. Similarly holding
the Left key will cause the menu number to decrement to 0 and a single
key action will cause the menu number to roll under to Menu 21.
Pressing the Left and Right keys simultaneously will select Menu 0.
The drive remembers the parameter last accessed in each menu such
that when a new menu is entered the last parameter viewed in that menu
will re-appear.
2.5 Edit mode
Up and Down keys are used to increase and decrease parameter values
respectively. If the maximum value of a parameter is greater than 9 and it
is not represented by strings, then the Left and Right keys can be used
to select a digit to adjust. The number of digits which can be
independently selected for adjustment depends on the maximum value
of the parameter. Pressing the Right key when the least significant digit
is selected will cause the most significant digit to be selected, and viceversa if the Left key is pressed when the most significant digit is
selected. When a digit value is not being changed by the Up or Down
keys the selected digit flashes to indicate which one is currently
selected. For string type parameters the whole string flashes when
adjustment is not occurring because there is no digit selection.
During adjustment of a parameter value with the Up or Down keys the
display does not flash, providing the parameter value is in range, such
that the user can see the value being edited without interruption.
Adjustment of a numerical value can be done in one of two ways; firstly
by using the Up and Down keys only, the selected digit remaining the
least significant digit; and secondly by selecting each digit in turn and
adjusting them to the required value. Holding the Up or Down key in the
first method will cause the parameters value to change more rapidly the
longer the key is held, until such time that the parameters maximum or
10 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
minimum is reached. However with the second method an increasing
rate of change does not take place when adjusting any other digit other
than the least significant digit since a digit can only have one of 10
different values. Holding the Up or Down will cause an auto repeat and
roll over to more significant digits but the rate of change is unaltered. If
the maximum or minimum is exceeded when adjusting any other digit
than the least significant one, the maximum value will flash on the
display to warn the user that the maximum or minimum has been
reached. If the user releases the Up or Down key before the flashing
stops the last in range value will re-appear on the display. If the Up or
Down key is held the display will stop flashing after 3 seconds and the
maximum value will be written to the parameter.
Parameters can be set to 0 by pressing the Up and Down keys
simultaneously.
2.6 SM-Keypad Plus advanced operation
All keypads built after data code N10 have software version 4.02.00
programmed and will support 5 languages (English, French, German,
Spanish and Italian) in addition to the original capability of a user defined
parameter set. This software also gives the user access to two new
menus for SM-Keypad Plus. Menu 40 is for SM-Keypad Plus set up,
menu 41 selects commonly used parameters for quick browsing.
Keypads built prior to N10 will support one user defined extra parameter
set only.
2.6.1 Browsing filter
Pr 40.06 Browsing Filter
The user is able to define their own browsing filter using menu 41. This
allows the user to chose up to 20 parameters for quick browsing in one
vertical menu. (Menu 41 is saved using Pr 40.03).
When in browsing filter mode the first routed parameter will be Pr 41.00,
which will be called 'F00'. The next parameters are the user routed filter
parameters called 'F01' etc.
When the browsing filter has been activated the only parameters
accessible to the user are those specified in the filter. The user scrolls
through the parameters using the up and down joy pad buttons; the left
and right buttons are not used.
NOTE
Pr 71.02 for the SM-Applications in slot 2 is expressed as Pr271.02.
2.6.2 'Hardware key' feature
This feature can be used to prevent unauthorised modification of the
drive parameters via the user interfaces (display or serial comms) on the
front of the drive unless the user has the mating SM-Keypad with the
correct code programmed.
Pr 40.07 Keypad security code
• To lock LCD Keypad internal menus (menus 40 and 41)
• To unlock LCD Keypad internal menus:
Pr 40.09 Hardware key code
Procedure for setting through LCD keypad on RJ45(RS485) port.
• Set up drive security code in Pr 0.34 / Pr 11.30
• Set hardware key code in Pr 40.09 to the same value as the security
• Save the SM-Keypad Plus internal menu by setting Pr 40.03 to save
• Set SM-Keypad Plus internal menu security by writing a code to
• Lock the drive by setting Pr 0.49 / Pr 11.44 to LOC and pressing
The user will have read/write access to the drive parameters but not the
LCD keypad internal menus (Menu 40 and 41) with the specific keypad still
fitted. Any other keypad (SM-Keypad Plus or SM-Keypad without the
correct code programmed ) will provide read only access to all parameters.
Enter code into Pr 40.07.
Exit edit mode - this saves the menu and code.
Enter keypad security code in Pr x.00 (e.g. Pr 40.00).
Press mode (Pr 40.00 and Pr 40.07 will return to zero).
code (Pr 0.34 / Pr 11. 30 becomes value hidden)
(Pr 40.03 will return to idle once save is complete)
Pr 40.07 (Pr 40.09 becomes value hidden)
STOP/RESET (will return to L1)
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
Procedure for preventing user access via the RJ45(RS485) port on
the drive.
• Connect PC to RJ45 port and change Pr 11.24 to LCD (this will now
prevent access via a PC), (Timeout error will show on CTsoft, this is
normal)
• Without powering the drive off place the SM-Keypad Plus with
correct hardware key into the RJ45 port and carry out a drive
parameter save.
The user will have read/write access to the drive parameters but not the
SM-Keypad Plus internal menus (menu 40 and 41), and the comms port
will be disabled.
Procedure for resetting hardware key and comms access.
• Unlock the SM-Keypad Plus internal menu security to make Pr 40.09
visible. (See Pr 40.07)
•Zero Pr 40.09
• Unlock drive security by entering the correct code in Pr 0.34 /
Pr 11.30.
• Save the internal SM-Keypad Plus menu (see Pr 40.03 above)
• If the comms port lock is on (i.e.Pr 11 .24 set to LCD) put an SMKeypad onto the front of the drive and turn Pr 11.24 to RTU mode
and carry out a drive save.
The user will now have read/write access to the drive parameters and
the SM-Keypad Plus internal menus (menu 40 and 41).
2.7 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 21) 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 the table below:
Parameter
Access Level
User Security
Menu 0
status
L1 Open RW Not visible
L1 Closed RO Not visible
L2 Open RW RW
L2 Closed RO RO
RW = Read / write access RO = Read only access
The default settings of the drive are Parameter Access Level L1 and
user Security Open, i.e. read / write access to Menu 0 with the advanced
menus not visible.
Advanced
menus status
Unid rive SP Ad vanced User Guide 11
Issue Number: 7 www.controltechniques.com
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
2.7.1 Access Level
The access level is set in Pr 0.49 and allows or prevents access to the
advanced menu parameters.
L1 access selected
Pr 0.00
Pr 0.01
Pr 0.02
Pr 0.03
Pr 1.00
Pr 1.01
Pr 1.02
Pr 1.03
- Menu 0 only visible
............
............
............
............
Pr 19.00
Pr 19.01
Pr 19.02
Pr 19.03
Pr 20.00
Pr 20.01
Pr 20.02
Pr 20.03
............
............
Pr 0.49
Pr 0.50
L2 access selected
Pr 0.00
Pr 0.01
Pr 0.02
Pr 0.03
Pr 1.49
Pr 1.50
Pr 1.00
Pr 1.01
Pr 1.02
Pr 1.03
............
............
Pr 19.49
Pr 19.50
- All parameters visible
............
............
............
............
Pr 20.00
Pr 20.01
Pr 20.02
Pr 20.03
Pr 20.49
Pr 20.50
Pr 21.00
Pr 21.01
Pr 21.02
Pr 21.03
............
............
Pr 0.49
Pr 0.50
Pr 1.49
Pr 1.50
............
............
Pr 20.49
Pr 20.50
Pr 21.49
Pr 21.50
2.7.2 Changing the Access Level
The Access Level is determined by the setting of Pr 0.49 as follows:
String Value Effect
L1 0 Access to menu 0 only
L2 1 Access to all menus (menu 0 to menu 21)
The Access Level can be changed through the keypad even if the User
Security has been set.
2.7.3 User Security
The User Security, when set, prevents write access to any of the
parameters (other than Pr. 0.49 Access Level) in any menu.
User security open
Pr 0.00
Pr 0.01
Pr 0.02
Pr 0.03
Pr 0.49
Pr 0.50
Pr 1.00
Pr 1.01
Pr 1.02
Pr 1.03
Pr 1.49
Pr 1.50
User security closed
Pr 0.00
Pr 0.01
Pr 0.02
Pr 0.03
Pr 0.49
Pr 0.50
Pr 1.00
Pr 1.01
Pr 1.02
Pr 1.03
Pr 1.49
Pr 1.50
Setting User Security
Enter a value between 1 and 999 in Pr 0.34 and press the button;
the security code has now been set to this value. In order to activate the
security, the Access level must be set to Loc in Pr 0.49. When the drive
is reset, the security code will have been activated and the drive returns
to Access Level L1. The value of Pr 0.34 will return to 0 in order to hide
the security code. At this point, the only parameter that can be changed
by the user is the Access Level Pr 0.49.
Unlocking User Security
Select a read write parameter to be edited and press the button, the
upper display will now show 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 display will revert to
parameter view mode.
To lock the User Security again, set Pr 0.49 to Loc and press the
reset button.
Disabling User Security.
Unlock the previously set security code as detailed above. Set Pr 0.34 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.
- All parameters: Read / Write access
............
............
............
............
Pr 20.00
Pr 20.01
Pr 20.02
Pr 20.03
Pr 21.00
Pr 21.01
Pr 21.02
Pr 21.03
............
............
............
............
Pr 20.49
Pr 20.50
Pr 21.49
Pr 21.50
- All parameters: Read Only access
............
............
............
............
Pr 20.00
Pr 20.01
Pr 20.02
Pr 20.03
Pr 21.00
Pr 21.01
Pr 21.02
Pr 21.03
............
............
............
............
Pr 20.49
Pr 20.50
Pr 21.49
Pr 21.50
12 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
2.8 Alarm and trip display
In any mode an alarm flashes alternately with the data displayed on the
2nd row when one of the following conditions occur. If action is not taken
to eliminate the all alarms except “Auto tune” the drive may eventually
trip. Warnings are not displayed when a parameter is being edited.
Alarm string Alarm condition
br.rS
OVLd
hot Heatsink or control board alarms are active
When a trip occurs the drive switches to status mode and “trip” is shown
on the 1st row and the trip string flashes on the 2nd row. The read only
parameters listed below are frozen until the trip is cleared. For a list of
the possible trip strings see Pr 10.20. Pressing any of the parameter
keys changes the mode to the parameter view mode. If the trip is HF01
to HF19 then no key action is recognised.
Parameter Description
1.01 Frequency/speed reference
1.02 Frequency/speed reference
1.03 Pre-ramp reference
2.01 Post-ramp reference
3.01 Frequency slaving demand/Final speed ref
3.02 Speed feedback
3.03 Speed error
3.04 Speed controller output
4.01 Current magnitude
4.02 Active current
4.17 Magnetising current
5.01 Output frequency
5.02 Output voltage
5.03 Power
5.04 DC bus voltage
7.01 Analog input 1
7.02 Analog input 2
7.03 Analog input 3
Braking resistor (Pr 10.37 > 75.0% and the braking
IGBT is active)
Motor overload (Pr 4.17 > 75% and the drive output
current > Pr 5.07)
2.9 Keypad control mode
The drive can be controlled from the keypad if Pr 1.14 is set to 4. The
Stop and Run keys automatically become active (the Reverse key may
be optionally enabled with Pr 6.13). The frequency/speed reference is
defined by Pr 1.17. This is a read only parameter that can only be
adjusted in status mode by pressing the Up or Down keys. If keypad
control mode is selected, then pressing the Up or Down keys in status
mode will cause the drive to automatically display the keypad reference
and adjust it in the relevant direction. This can be done whether the drive
is disabled or running. If the Up or Down keys are held the rate of
change of keypad reference increases with time. The units used for to
display the keypad reference for different modes are given below.
Mode Unit
Open loop Hz
Closed loop rpm
Servo rpm
2.10 Drive reset
A drive reset is required to: reset the drive from a trip (except some
“Hfxx” trips which cannot be reset); and other functions as defined in
Section 3. A reset can be performed in four ways:
1. Stop key: If the drive has been set up such that the stop key is not
operative then the key has a drive reset function only. When the stop
function of the stop key is enabled, a reset is initiated while the drive
is running by holding the Run key and then pressing the Stop key.
When the drive is not running the Stop key will always reset the
drive.
2. The drive resets after a 0 to 1 transition of the Drive Reset parameter
(Pr 10.33). A digital input can be programmed to change this
parameter.
3. Serial comms, fieldbus or applications Solutions Module: Drive reset
is triggered by a value of 100 being written to the User trip parameter
(Pr 10.38).
If the drive trips EEF (internal EEPROM error) then it is not possible to
reset the drive using the normal reset methods described above. 1233 or
1244 must be entered into Pr x.00 before the drive can be reset. Default
parameters are loaded after an EEF trip, and so the parameters should
be reprogrammed as required and saved in EEPROM.
If the drive is reset after a trip from any source other than the Stop key,
the drive restarts immediately, if:
1. A non-latching sequencer is used with the enable active and one of
run forward, run reverse or run active
2. A latching sequencer is used if the enable and stop\ are active and
one of run forward, run reverse or run is active.
If the drive is reset with the Stop key the drive does not restart until a not
active to active edge occurs on run forward, run reverse or run.
2.11 Second motor parameters
An alternative set of motor parameters are held in menu 21 which can be
selected by Pr 11.45 . When the alternative parameter set is being used
by the drive the decimal point after the right hand digit in the 1st row is
on.
2.12 Special display functions
The following special display functions are used.
1. If the second motor map is being used the decimal point second
from the right of the first row is on.
2. When parameters are saved to a SMARTCARD the right-most
decimal point on the first row flashes for 2 seconds.
During power up one or more of the following actions may be required.
Each action may take several seconds, and so special display strings
are shown.
Display
string
loading
Action
If a SMARTCARD is present with Pr 11.42 set to boot the
boot
parameters from the card must be transferred to the drive
EEPROM.
If the drive is in auto or boot mode (Pr 11.42 set to 3 or 4) the
card
drive ensures that the data on the card is consistent with the
drive by writing to the card.
It may be necessary for a Solutions Module to transfer
parameter information from the drive. This is only carried out
if the parameter information held by the Solutions Module is
for a different drive software version. The drive allows up to 5
seconds for this process.
Unid rive SP Ad vanced User Guide 13
Issue Number: 7 www.controltechniques.com
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
2.13 SM-Keypad Plus: Menus 41 and 42
2.13.1 Keypad configuration menu
40.00 Zero parameter
The local keypad Zero Parameter works like every other Pr xx.00 in the
Unidrive SP. Entry of a 4-digit number followed by a RESET will allow
change of drive operation mode, save drive parameters, etc.
Three digit numbers are used to unlock keypad security (menus 40 and
41 only). If a keypad security code has been previously entered in
Pr 40.07, then the security code must be entered into Pr xx.00 to unlock
the security. When keypad security is enabled, Pr 40.00 and Pr 41.00
are the only parameters, which can be modified.
40.01 Language select
This parameter allows a change the language (English, custom, French,
German, Spanish or Italian). If the SM-Keypad Plus has a date code
prior top N10, it will only display English and custom. This parameter is
not automatically saved.
40.02 Software version
The software revision of the SM-Keypad Plus firmware is shown here.
Revision 04.01.02 would be displayed as 40102.
40.03 Save configuration to flash
Permits storage and retrieval of local menus 40 and 41 to/from FLASH
memory.
Idle: do nothing
Save: copies menu 40 and 41 to FLASH memory
Restore: restores menu 40 and 41 from FLASH memory
Defaults: sets menu 40 and 41 to factory default values
After completion of a save, restore or default operation, local parameter
Pr 40.03 will revert to "Idle" to give a visual indication that the operation
completed successfully.
Avoid reading or writing to FLASH memory whilst the drive is running.
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
During filtered browsing, only the UP and DOWN arrows on the joypad
are used, the LEFT and RIGHT arrows are ignored.
Any parameter on the Unidrive SP, the Keypad Plus or its attached
option modules can be specified in the filtered browsing list in Menu 41.
Any invalid filter parameter specifications, such as a parameter on an
option module that is not fitted, will be ignored.
40.07 Keypad security code
A three-digit code (1 - 999) that, once entered, renders all parameters in
local menus 40 and 41 READ-ONLY. Once keypad security has been
enabled, this parameter is also read-only and its value is displayed as
zero to prevent unauthorized persons from seeing the code.
The only way to remove keypad security once it has been enabled is to
enter the keypad security code into parameter zero of menu 40 or 41.
40.08 Enable string DB upload
Disable: Normal Keypad Plus operation
Enable: Keypad Plus devoted to custom string database upload
only.
Allows upload of the "custom" language from a PC into the SM-Keypad
Plus FLASH memory. When string database upload is enabled, all
normal SM-Keypad Plus operations are stopped and the keypad waits
for communication from the PC (browsing away from this parameter is
not permitted).
A "Keypad String Editor" PC tool is available for use with this feature.
The hardware set-up is shown below. The CT comms cable is used to
connect the PC tool to the drive.
Figure 2-4
SM-Keypad Plus
Drive
Keypad string
485 port
editor tool
40.04 LCD contrast
Changes the contrast of the LCD Display
0: Minimum contrast (5 x 8 character backgrounds are quite
visible)
32: Maximum contrast (5 x 8 character backgrounds are barely
visible)
40.05 SMARTCARD save/restore
This parameter is reserved for future software versions.
40.06 Browsing filter
Selects between normal browsing (all parameters) and filtered browsing.
Normal:Access to all parameters in the drive and installed option
modules
Filter: Access to only those parameters specified in Menu 41 (20
maximum)
When filter browsing is chosen, the SM-Keypad Plus immediately jumps
to the first parameter F00 in the list provided by local menu 41.
Parameter F00 is a standard parameter zero and is fixed. Parameters
F01 through F20 are user-specified. Parameter F21 is a copy of this
parameter (Pr 40.06) and provides an escape from filtered browsing.
CT Comms
cable
COM1
The drive should be set to "inhibit" operational mode before commencing
a upload. This upload operation takes about 15 minutes. When
completed, return local parameter Pr 40.08 to "disable" to resume
normal SM-Keypad Plus operation.
40.09 Hardware key security code
A four-digit code (1 to 9999) that, if equal to the current Unidrive SP
security code, bypasses drive security and allows read / write access to
all drive parameters. Once a hardware key security code has been
entered, this parameter Pr 40.09 becomes read-only and its value is
displayed as zero to prevent unauthorised persons from seeing the
code.
The hardware security code is automatically saved to FLASH memory.
This feature allows an SM-Keypad Plus to be programmed with a
hardware key security code which matches the drive security. The drive
parameters cannot be modified by any other method once the hardware
key security code has been set.
14 Unidrive SP Advanced User Guide
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Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
This permits service personnel to have exclusive access to drive settings
preventing any possibility of tampering by untrained or unauthorised
personnel.
The only way to remove a hardware key security code is to successfully
disable drive security first by entering the proper security code.
40.10 Keypad serial address
The serial address is by default set to 01. This parameter allows it to be
changed. This only matters when the SM-Keypad Plus is fitted through
the RS-485 port. When the SM-Keypad Plus is plugged directly into the
drive the serial address is forced to 01 in any case.
Making this change is a bit touchy. Plug the SM-Keypad Plus into the
RS-485 port and plug a standard LED Keypad directly into the drive.
Browse to local parameter Pr 40.10 on the SM-Keypad Plus and browse
to Pr 00.37 on the SM-Keypad. Place both parameters into "modify"
mode.
Increment the serial address from 1 to 2 on the SM-Keypad Plus and
then immediately increment the serial address on the SM-Keypad. You
should see both values change. Keep doing this in sequence until the
desired serial address is attained.
40.11 Keypad memory size
Displays the FLASH memory size.
The SM-Keypad Plus has been manufactured with 4 Mbit and 8 Mbit
FLASH memory devices. Keypads fitted with 8 Mbit FLASH devices can
support all six languages (English, custom, French, German, Spanish
and Italian). SM-Keypad Plus units fitted with the smaller 4 Mbit FLASH
devices can only support two languages (English, custom).
Owners of SM-Keypad Plus units built prior to date code N10 should
note that the SM-Keypad Plus String Editor tool can be used to copy any
of the other languages into the "custom" language, giving a bi-lingual
keypad (English and Spanish, for example).
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
Some typical filter parameter specifications might be:
0.00 Skip this filter specification
1.23 Drive Pr 1.23 (Preset speed 3)
13.02 Drive Pr 13.02 (Position error)
40.01 Keypad Pr 40.01 (Language select)
SM-Apps in first SM-Application Module installed slot Pr 72.05
72.05
(PLC Register 6)
172.05 SM-Apps in slot 1 Pr 72.05 (PLC register 6)
386.04 SM-Apps in slot 3 Pr 86.04 (Digital output 1)
Any illegal specifications are ignored during browsing. This includes
non-existent parameters or parameters associated with a Solutions
Module that is not fitted.
When filtered browsing is enabled, the menu and parameter display
mmpp is replaced by F00 to F21 (filter parameter numbers). This is a
reminder that filtered browsing is selected.
41.21 Browsing filter
This is a duplicate of Pr 40.06. It is fixed and read-only within Menu 41.
This is to ensure that the filtered browsing list will include an escape
parameter to allow resumption of normal browsing.
2.13.2 Browsing filter menu
41.00 Zero parameter
The local keypad zero parameter works like every other Pr xx.00 in the
Unidrive SP. Entry of a 4-digit number followed by a RESET will allow
change of drive operation mode, save drive parameters, etc.
Three digit numbers are used to unlock keypad security (menus 40 and
41 only). If a keypad security code has been previously entered in
Pr 40.07, then the security code must be entered into Pr xx.00 to unlock
the security. When keypad security is enabled, Pr 40.00 and Pr 41.00
are the only parameters, which can be modified.
41.01 to 41.20 Browsing filter Fnn source
Up to twenty parameters can be selected for the filter-browsing list.
These parameters may be anywhere on the Unidrive SP or on any of the
application modules fitted. Any local SM-Keypad Plus parameter can
also be chosen. Any parameter specification set to zero will be skipped.
Filter parameters are entered in the following format: S M M . P P
S: Slot number (1, 2, 3 or blank)
M M: Menu number
P P: Parameter number
If a slot number is not specified, the SM-Keypad Plus will search for the
first installed SM-Applications module and assign that slot to the
specification.
Unid rive SP Ad vanced User Guide 15
Issue Number: 7 www.controltechniques.com
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
3 Parameter x.00
Parameter x.00 is available in all menus and has the following functions.
Value Action
1000
1001 Save parameters under all conditions
1070 Reset all Solutions Modules
1233 Load standard defaults
1244 Load US defaults
1253 Change drive mode with standard defaults
1254 Change drive mode with US defaults
1255
1256
3yyy
4yyy
5yyy
6yyy Transfer SMARTCARD data block yyy to the drive
7yyy Erase SMARTCARD data block yyy
8yyy Compare drive parameters with block yyy
9999 Erase SMARTCARD
9888 Set SMARTCARD read-only flag
9777 Clear SMARTCARD read-only flag
110zy
*12000 Display non-default values only
*12001 Display destination parameters only
*These functions do not require a drive reset to become active. All other
functions require a drive reset.
Saving parameters
When parameters are saved all user save (US) parameters are saved to
EEPROM within the drive. Normally Pr x.00 is set to 1000 to save
parameters. When the parameter save is complete Pr x.00 is reset to
zero by the drive. The drive must not be in the under voltage condition
(Pr 10.16 = 0) and must not be using the 48V supply (Pr 6.44 = 0) for this
action to occur. Saving parameters can take between 400ms and
several seconds depending on the number of parameter values that are
different from the values already saved in EEPROM within the drive. If
the power is removed from the drive during a parameter save it is
possible for the EEPROM data to be corrupted giving an EEF failure
when the drive is next powered up. If the drive is operating from the 24V
supply (under voltage condition is active) or from the 48V supply (Pr 6.44
= 1) the power down time is very short. Therefore using Pr x.00 = 1000
to save parameters is a safe method that minimises the risk of corrupting
the data in EEPROM. However, if it is necessary to save parameters
when the drive is in the under voltage condition or when operating from
the 48V supply, Pr x.00 should be set to 1001 to initiate the parameter
save.
Loading defaults
When defaults are loaded the new parameters are automatically saved
to the drive EEPROM in all modes.
SMARTCARD
It should be noted that there could be some conflict between the actions
of Pr x.00 and Pr 11. 42 (Parameter cloning) when the drive is reset. If Pr
11.42 has a value of 1 or 2 and a valid action is required from the value
of Pr x.00 then only the action required by Pr x.00 is performed. Pr x.00
and Pr 11.42 are then reset to zero. If Pr 11.4 2 has a value of 3 or 4 it will
Save parameters when under voltage is not active (Pr
10.16 = 0) and 48V supply is not active (Pr 6.44 = 0).
Change drive mode with standard defaults (excluding
menus 15 to 20)
Change drive mode with US defaults (excluding menus
15 to 20)
Transfer drive EEPROM data to a SMARTCARD block
number yyy
Transfer drive data as difference from defaults to
SMARTCARD block number yyy
Transfer drive ladder program to SMARTCARD block
number yyy
Transfer electronic nameplate parameters to/from drive
from/to encoder
Macros
operate correctly causing parameters to be save to a SMARTCARD
each time a parameter save is performed.
The following differences from standard defaults are available:
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
3.1 US default differences (1244)
Pr Description Default Modes
Max reference
1.06
clamp
Max reference
1.06
clamp
2.08 Standard ramp volts 775V
5.06 Rated frequency 60.0Hz Open-loop All
5.08 Rated load rpm 1800rpm Open-loop All
5.08 Rated load rpm 1770rpm Closed-loop vector All
5.09 Rated voltage 460V
M2 Max reference
21.01
clamp
M2 Max reference
21.01
clamp
M2 Rated
21.06
frequency
21.09 M2 Rated voltage 460V
60.0Hz Open-loop All
1800rpm Closed-loop vector All
Open-loop, Closed-
loop vector, Servo
Open-loop, Closed-
loop vector, Servo
60.0Hz Open-loop All
1800rpm Closed-loop vector All
60.0Hz Open-loop All
Open-loop, Closed-
loop vector, Servo
Voltage
rating
400V
400V
400V
3.2 SMARTCARD transfers
Drive parameters, set-up macros and internal ladder programs can be
transferred to/from SMARTCARDs. See Pr 11.36 to Pr 11. 40.
3.3 Electronic nameplate transfers
Some encoders using Stegmann 485 or EnDat comms can hold motor
data. The data can be transferred to/from the encoder by writing 110zy
to parameter x.00 and resetting the drive where z is 0 for the drive or 1, 2
or 3 for Solutions Module slots 1, 2 or 3 respectively. See Chapter
8 Electronic nameplate on page 368 for details.
3.4 Display non-default values or destination parameters
If a value of 12000 is written to Pr x.00, then only parameters that are
different from the last defaults loaded and Pr x.00 are displayed. If a
value of 12001 is written to Pr x.00, then only destination parameters are
displayed. This function is provided to aid locating destination clashes if
a dESt trip occurs.
16 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
Macros
4 Parameter description
format
In the following sections descriptions are given for the advanced
parameter set. With each parameter the following information block is
given.
5.11 Number of motor poles
Drive modes
Coding
Range Open-loop, Closed-loop vector, Servo 0 to 60 (Auto to 120 POLE)
Default
Second motor
parameter
Update rate
Open-loop, Closed-loop vector, Servo
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1111
Open-loop
Closed-loop vector
Servo
Open-loop
Closed-loop vector, Servo
0 (Auto)
0 (Auto)
3 (6 POLE)
Pr 21.18
Background read
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
The top row gives the menu.parameter number and the parameter
name. The other rows give the following information.
Drive modes
The drive modes are the modes in which this parameter is accessible. If
the parameter is not present the parameter is skipped when accessing
from the keypad. The following types are possible.
Open-loop - with the Unidrive SP hardware and open loop drive mode
selected. The control strategy is V/F mode with fixed boost or open-loop
vector.
Closed-loop vector - with the Unidrive hardware and closed-loop vector
mode selected. The control strategy is rotor flux oriented vector control
with closed-loop current operation for induction motors. The drive can be
operated with or without position feedback.
Servo - with the Unidrive hardware and servo mode selected. The
control strategy is rotor flux oriented vector control with closed-loop
current operation for permanent magnet synchronous motors. The drive
must be operated with position feedback.
Regen - with the Unidrive hardware and regen mode selected. The drive
operates as a PWM rectifier.
Coding
The coding defines the attributes of the parameter as follows:
Coding Attribute
Bit 1 bit parameter
SP Spare: not used
Filtered: some parameters which can have rapidly changing
FI
values are filtered when displayed on the drive keypad for
easy viewing.
Destination: indicates that this parameter can be a
DE
destination parameter.
TE Text: the parameter uses text strings instead of numbers.
VM Variable maximum: the maximum of this parameter can vary.
Decimal place: indicates the number of decimal places used
DP
by this parameter.
No default: when defaults are loaded (except when the drive
ND
is manufactured or on EEPROM failure) this parameter is not
modified.
Rating dependant: this parameter is likely to have different
values and ranges with drives of different voltage and current
ratings. This parameters is not transferred by SMARTCARDs
RA
when the rating of the destination drive is different from the
source drive.
Not cloned: not transferred to or from SMARTCARDs during
NC
cloning.
NV Not visible: not visible on the keypad.
PT Protected: cannot be used as a destination.
User save: saved in drive EEPROM when the user initiates a
US
parameter save.
RW Read/write: can be written by the user.
Bit default one/unsigned: Bit parameters with this flag set to
one have a default of one (all other bit parameters have a
BU
default of zero. Non-bit parameters are unipolar if this flag is
one.
Power-down save: automatically saved in drive EEPROM at
PS
power-down.
NOTE
This guide will show all bit parameters (with the Bit coding), as having a
parameter range of "0 to 1", and a default value of either "0" or "1". This
reflects the value seen through serial communications. The bit
parameters will be displayed on the SM-Keypad (if used) as being "OFF"
or "On" ("OFF"= 0, "On" = 1).
Unid rive SP Ad vanced User Guide 17
Issue Number: 7 www.controltechniques.com
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
4.1 Parameter ranges and variable maximums:
The two values provided define the minimum and maximum values for
the given parameter. In some cases the parameter range is variable and
dependant on either:
• other parameters,
• the drive rating,
• drive mode
• or a combination of these.
The values given in Table 4-1 are the variable maximums used in the
drive.
Table 4-1 Definition of parameter ranges & variable maximums
Maximum Definition
SPEED_FREQ_MAX
[Open-loop 3000.0Hz,
Closed-loop vector and Servo
40000.0rpm]
SPEED_LIMIT_MAX
[40000.0rpm]
SPEED_MAX
[40000.0rpm]
RATED_CURRENT_MAX
[9999.99A]
DRIVE_CURRENT_MAX
[9999.99A]
Maximum speed (closed-loop mode) reference or frequency (open-loop mode) reference
If Pr 1.08 = 0: SPEED_FREQ_MAX = Pr 1.06
If Pr 1.08 = 1: SPEED_FREQ_MAX is Pr 1.06 or – Pr 1.07 whichever is the largest
(If the second motor map is selected Pr 21.01 is used instead of Pr 1.06 and Pr 21.02 instead of Pr 1.07)
Maximum applied to speed reference limits
A maximum limit may be applied to the speed reference to prevent the nominal encoder frequency from
exceeding 400kHz. The maximum is defined by
SPEED_LIMIT_MAX (in rpm) = 400kHz x 60 / ELPR = 2.4x10
40,000 rpm.
ELPR is equivalent encoder lines per revolution and is the number of lines that would be produced by a
quadrature encoder.
Quadrature encoder ELPR = number of lines per revolution
F and D encoder ELPR = number of lines per revolution / 2
Resolver ELPR = resolution / 4
SINCOS encoder ELPR = number of sine waves per revolution
Serial comms encoder ELPR = resolution / 4
This maximum is defined by the device selected with the speed feedback selector (Pr 3.26) and the ELPR set
for the position feedback device.
Maximum speed
This maximum is used for some speed related parameters in menu 3. To allow headroom for overshoot etc.
the maximum speed is twice the maximum speed reference.
SPEED_MAX = 2 x SPEED_FREQ_MAX
Maximum motor rated current
RATED_CURRENT_MAX ≤ 1.36 x Maximum Heavy Duty current rating (Pr 11.3 2)
The rated current can be increased above the rated drive current up to a level not exceeding 1.36 x Maximum
Heavy Duty current rating (Pr 11.3 2). The actual level varies from one drive size to another, refer to Table 4-2.
Maximum drive current
The maximum drive current is the current at the over current trip level and is given by:
DRIVE_CURRENT_MAX = Maximum Heavy Duty current rating (Pr 11.3 2) / 0.45
Macros
Serial comms
protocol
7
Electronic
nameplate
Performance
/ ELPR subject to an absolute maximum of
Feature look-
up table
18 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
√
structure
MOTOR1_CURRENT_LIMIT_MAX
[1000.0%]
Keypad and
display
Maximum Definition
Parameter x.00
2
]
2
]
Serial comms
+ PF2 - 1
+ cos(ϕ
protocol
]
)2 - 1
1
Parameter
description format
Maximum current limit settings for motor map 1
This maximum current limit setting is the maximum applied to the current limit parameters in motor map 1.
Open Loop
Maximum
current limit
Where:
The Maximum current is either (1.5 x Heavy Duty rating) when the rated current set in Pr 5.07 is less than or
equal to the maximum Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x Normal Duty rating).
Motor rated current is given by Pr 5.07
PF is motor rated power factor given by Pr 5.10
Closed Loop Vector
Maximum
current limit
Where:
The Maximum current is either (1.75 x Heavy Duty rating) when the rated current set in Pr 5.07 is less than or
equal to the maximum Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x Normal Duty rating).
Motor rated current is given by Pr 5.07
ϕ1 = cos-1(PF) - ϕ2. This is measured by the drive during an autotune. See section Closed-loop vector on
page 82 for more information regarding ϕ2.
PF is motor rated power factor given by Pr 5.10
Servo
Maximum
current limit
Advanced parameter
descriptions
Maximum current
[[
PF
√[[
= Motor rated current
=
[
Maximum current
cos(ϕ
Maximum current
Motor rated current
1
]
Macros
)
x 100%
x 100%= Motor rated current
]
x 100%
Electronic
nameplate
Performance
Feature look-
up table
MOTOR2_CURRENT_LIMIT_MAX
[1000.0%]
TORQUE_PROD_CURRENT_MAX
[1000.0%]
USER_CURRENT_MAX
[1000.0%]
REGEN_REACTIVE_MAX
AC_VOLTAGE_SET_MAX
[690V]
Where:
Maximum current is drive rated current (Pr 11.32) x 1.75
Motor rated current is given by Pr 5.07
Maximum current limit settings for motor map 2
This maximum current limit setting is the maximum applied to the current limit parameters in motor map 2.
The formulae for MOTOR2_CURRENT_LIMIT_MAX are the same for MOTOR1_CURRENT_LIMIT_MAX
except that Pr 5.07 is replaced with Pr 21.07 and Pr 5.10 is replaced with Pr 21.10.
Maximum torque producing current
This is used as a maximum for torque and torque producing current parameters. It is
MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is
currently active.
Current parameter limit selected by the user
The user can select a maximum for Pr 4.08 (torque reference) and Pr 4.20 (percentage load) to give suitable
scaling for analog I/O with Pr 4.24. This maximum is subject to a limit of MOTOR1_CURRENT_LIMIT_MAX.
or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is currently active.
USER_CURRENT_MAX = Pr 4.24
Reactive current limit in regen mode
The drive applies a limit to the reactive current reference in regen mode to limit the total current to
DRIVE_CURRENT_MAX.
Rated drive current 1.75×
REGEN_REACTIVE_MAX
Where:
Rated drive current is given in Table 5-3 on page 78.
Regen unit rated current is given by Pr 5.07
Maximum output voltage set-point
Defines the maximum motor voltage that can be selected.
200V drives: 240V, 400V drives: 480V
575V drives: 575V, 690V drives: 690V
------------------------------------------------------------- ------------
Regen unit rated current
2
–
Pr 4.07
2
100%×=
Unid rive SP Ad vanced User Guide 19
Issue Number: 7 www.controltechniques.com
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Maximum Definition
Maximum AC output voltage
This maximum has been chosen to allow for maximum AC voltage that can be produced by the drive including
AC_VOLTAGE_MAX
[930V]
quasi-square wave operation as follows:
AC_VOLTAGE_MAX = 0.78 x DC_VOLTAGE_MAX
200V drives: 325V, 400V drives: 650V
575V drives: 780V, 690V drives: 930V
DC_VOLTAGE_SET_MAX
[1150V]
Maximum DC voltage set-point
200V rating drive: 0 to 400V, 400V rating drive: 0 to 800V
575V rating drive: 0 to 950V, 690V rating drive: 0 to 1150V
Maximum DC bus voltage
DC_VOLTAGE_MAX
[1190V]
The maximum measurable DC bus voltage.
200V drives: 415V, 400V drives: 830V
575V drives: 995V, 690V drives: 1190V
Maximum power in kW
POWER_MAX
[9999.99kW]
The maximum power has been chosen to allow for the maximum power that can be output by the drive with
maximum AC output voltage, maximum controlled current and unity power factor. Therefore
POWER_MAX = √3 x AC_VOLTAGE_MAX x RATED_CURRENT_MAX x 1.75
The values given in square brackets indicate the absolute maximum value allowed for the variable maximum.
Electronic
nameplate
Performance
Feature look-
up table
Table 4-2 Maximum motor rated current
Model
Maximum Heavy Duty
current rating (Pr
11.32)
Maximum Normal
Duty current rating
SP1201 4.3 5.2
SP1202 5.8 6.8
SP1203 7.5 9.6
SP1204 10.6 11
SP2201 12.6 15.5
SP2202 17 22
SP2203 25 28
SP3201 31 42
SP3202 42 54
SP1401 2.1 2.8
SP1402 3 3.8
SP1403 4.2 5.0
SP1404 5.8 6.9
SP1405 7.6 8.8
SP1406 9.5 11
SP2401 13 15.3
SP2402 16.5 21
SP2403 25 29
SP3401 32 35
SP3402 40 43
SP3403 46 56
SP3501 4.0 5.4
SP3502 5.4 6.1
SP3503 6.1 8.4
SP3504 9.5 11
SP3505 12 16
SP3506 18 22
SP3507 22 27
Default
The default values given are the standard drive defaults which are
loaded after a drive reset with 1233 in Pr x.00.
Second motor parameter
Some parameters have an equivalent second motor value that can be
used as an alternative when the second motor is selected with Pr 11 .45.
Menu 21 contains all the second motor parameters. In this menu the
parameter specifications include the location of the normal motor
parameter which is being duplicated.
Update rate
Defines the rate at which the parameter data is written by the drive
(write) or read and acted upon by the drive (read). Where background
update rate is specified, the update time depends on the drive processor
load. Generally the update time is between 2ms and 30ms, however, the
update time is significantly extended when loading defaults, changing
drive mode, transferring data to/from a SMARTCARD, or transferring
blocks of parameters or large CMP data blocks to/from the drive (not a
Solutions Module) via the drive serial comms port.
4.2 Sources and destinations
Sources
Some functions have source parameters, i.e. drive outputs, PID
controller etc. The source parameter range is Pr 0.00 to Pr 21.51.
1. If the source parameter does not exist the input is taken as zero.
2. The input is given by (source value x 100%) / source parameter
maximum.
Destinations
Some functions have destination parameters, i.e. drive inputs, etc. The
destination parameter range is Pr 0.00 to Pr 21.51.
1. If the destination parameter does not exist then the output value has
no effect.
2. If the destination parameter is protected then the output value has
no effect.
3. If the function output is a bit value (i.e. a digital input) the destination
value is either 0 or 1 depending on the state of the function output. If
the function output is not a bit value (i.e. analog input) the
destination value is given by (function output x destination
parameter maximum) / 100%. Pr 1.36 and Pr 1.37 are a special
case. The scaling shown in the description of Pr 1.08 is used when
any non-bit type quantity is routed to these parameters.
4. If more than one destination selector is routed to the same
destination, the value of the destination parameter is undefined. The
drive checks for this condition where the destinations are defined in
any menu except menus 15 to 17. If a conflict occurs a dESt trip
occurs that cannot be reset until the conflict is resolved.
Sources and destinations
1. Bit and non-bit parameters may be connected to each other as
sources or destinations. The maximum for bit parameters is taken as
one.
2. All new source and destination routing only changes to new set-up
locations when the drive is reset.
20 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
3. When a destination is changes the old destination is written to zero,
unless the destination change is the result of loading defaults or
transferring parameters from a SMARTCARD. When defaults are
loaded the old destination is set to its default value. When
parameters are loaded from a SMARTCARD the old destination
retains its old value unless a SMARTCARD value is written to it.
4.3 Update rates
Update rates are given for every parameter in the hearder table as
shown below.
3.03 Speed error
Drive modes Closed-loop vector, Servo
Coding
Range Closed-loop vector, Servo ±SPEED_MAX rpm
Update rate 4ms write
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1 11111
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
Some parameters have an increased update in special circumstances.
4.3.1 Speed reference update rate
The normal update rate for the speed references (via menu 1) is 4ms,
however it is possible to reduce the sample time to 250µs by selecting
the reference from particular sources. The fast update rate is only
possible provided the conditions given below are met. (Note: high speed
updating is not provided for frequency references - i.e. Open-loop
mode.)
Analog input references (not including I/O expansion Solutions
Module)
1. The reference must be derived via Pr 1.36 or Pr 1.37
2. The analog inputs must be in voltage mode with zero offset
3. Bipolar mode must be used or unipolar mode with the minimum
speed (Pr 1.07) set to zero
4. No skip bands are enabled, i.e. Pr 1.29, Pr 1.31 and Pr 1.33 must be
zero.
5. The jog and velocity feed-forward references must not be enabled.
Applications and fieldbus Solutions Modules
Pr 91.02 must be used to define the speed reference (this parameter is
only visible from the Solutions Modules). Any value written to Pr 91.02
should be automatically mapped into preset Pr 1.21 by the Solutions
Module.
In fast update mode the references are sampled every 250µs. A sliding
window filter may be applied to analog input 1 (see Pr 7.26) in normal or
high speed updating modes. The default value for this filter is 4ms,
therefore Pr 7.26 must be set to zero to obtain the fastest possible
update rate.
When fast updating is used the scaling is performed by a simple
multiplication. This minimises software execution time, but also ensures
that there is no loss of resolution from the v to f converter used to
implement analog input 1. Therefore the speed of the motor may be
controlled with infinite resolution from analog input 1 except for
deadband effects around zero reference. The scale factor used for the
multiplication cannot exactly duplicate the scaling for the two stage
conversion (i.e. conversion in menu 7 to a percentage of full scale, and
conversion to 0.1rpm units) used when high speed updating is not in
operation. Therefore the absolute scaling of the analog inputs varies
slightly between normal and high speed updating. The amount of
difference depends on the maximum speed, user scaling in menu 7, and
the analog input 1 the filter time. The worst case difference for analog
input 1 is 0.12% of full scale, and for analog inputs 2 and 3 the difference
is less than 0.12% with a maximum speed of 50rpm or more. Typical
differences (1500rpm maximum speed, menu 7 scaling of 1.000, analog
input 1 filter of 4ms) are 0.015% for analog input 1 and 0.004% for
analog inputs 2 and 3.
4.3.2 Hard speed reference update rate
The normal update rate for the hard speed reference is 4ms, however it
is possible to reduce the sample time to 250µs by selecting the
reference from particular sources. The fast update rate is only possible
provided the conditions given below are met.
Analog inputs (not including I/O expansion Solutions Module)
The analog inputs must be in voltage mode with zero offset
Limitations are the same as for the references via menu 1 described
above.
Applications and fieldbus Solutions Modules
For faster update rate Pr 91.03 must be used (this parameter is only
visible from the Solutions Modules). Any value written to Pr 91.03 is
automatically mapped into the hard speed reference Pr 3.22.
Encoder reference
It is possible to use the drive encoder as the source for the hard speed
reference. To do this the drive encoder reference destination (Pr 3.46)
should be routed to the hard speed reference parameter. If, and only if,
the maximum drive encoder reference (Pr 3.43) is set to the same value
as the maximum reference value (SPEED_FREQ_MAX), and the
scaling (Pr 3.44) is 1.000, the drive takes the encoder pulses directly.
This gives a form of reference slaving where the integral term in the
speed controller accumulates all pulses from the reference and tries to
match them to the feedback from the motor encoder. Pulses are lost if
the reference reaches a minimum or maximum limit including zero speed
in unipolar mode. The reference is sampled every 250µs. When a
position feedback Solutions Module writes to the hard speed reference,
although the module can write every 250µs, the data is only acted on
every 4ms. When the reference comes from a Solutions Module there is
no guarantee that all pulses are counted. The encoder reference can be
scaled in high speed update mode by modifying the number of encoder
lines per revolution.
4.3.3 Torque reference update rate
The normal update rate for the torque reference (Pr 4.08) is 4ms,
however it is possible to reduce the sample time to 250µs by selecting
the reference from particular sources, but only in closed-loop vector or
servo modes. The fast update rate is only possible provided the
conditions given below are met.
Analog inputs 2 or 3 on the drive
The analog inputs must be in voltage mode with zero offset.
Unid rive SP Ad vanced User Guide 21
Issue Number: 7 www.controltechniques.com
Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
Macros
5 Advanced parameter descriptions
5.1 Overview
Table 5-1 Menu descriptions
Menu no. Description
1 Frequency / speed reference
2Ramps
3 Slave frequency, 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
9 Programmable logic, motorised pot and binary sum
10 Status and trips
11 General drive set-up
12 Threshold detectors and variable selectors
13 Position control
14 User PID controller
15, 16, 17 Solutions Module slots
18 Application menu 1
19 Application menu 2
20 Application menu 3
21 Second motor parameters
Table 5-2 gives a full key of the coding which appears in the following parameter tables.
Table 5-2 Key to parameter coding
Coding Attribute
Bit 1 bit parameter
SP Spare: not used
Filtered: some parameters which can have rapidly changing
FI
values are filtered when displayed on the drive keypad for
easy viewing.
Destination: indicates that this parameter can be a
DE
destination parameter.
Txt Text: the parameter uses text strings instead of numbers.
VM Variable maximum: the maximum of this parameter can vary.
Decimal place: indicates the number of decimal places used
DP
by this parameter.
No default: when defaults are loaded (except when the drive
ND
is manufactured or on EEPROM failure) this parameter is not
modified.
Rating dependant: this parameter is likely to have different
values and ranges with drives of different voltage and current
ratings. These parameters are not transferred by
RA
SMARTCARDs when the rating of the destination drive is
different from the source drive.
Not cloned: not transferred to or from SMARTCARDs during
NC
cloning.
NV Not visible: not visible on the keypad.
PT Protected: cannot be used as a destination.
User save: saved in drive EEPROM when the user initiates a
US
parameter save.
RW Read/write: can be written by the user.
Bit default one/unsigned: Bit parameters with this flag set to
one have a default of one (all other bit parameters have a
BU
default of zero. Non-bit parameters are unipolar if this flag is
one.
Power-down save: automatically saved in drive EEPROM at
PS
power-down.
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
22 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
Menu 1
Unid rive SP Ad vanced User Guide 23
Issue Number: 7 www.controltechniques.com
Menu 1
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
5.2 Menu 1: Frequency/speed reference
Menu 1 controls the main reference selection. When the drive operates in open-loop mode a frequency reference is produced, and when Unidrive SP
operates in closed-loop vector or servo modes a speed reference is produced.
Figure 5-1 Menu 1 logic diagram
LOCAL/REMOTE
Analog reference
Analog input 1
Menu 7
Analog input 2
Preset reference
Preset reference
1.47
1.21 ~ 1.28
Preset
references
1 to 8
Scan timer
*selector
1.46
Preset reference select bits 1 ~ 3
1.16
Preset
reference
scan time
1.48
Preset refere nce
Scan-timer reset
Keypad reference
1.45
1.51
Analog
reference 1
1.36
1.37
Analog
reference 2
1.15
1.20
Preset
reference
selected
indicator
Power-up keypad
control mode
reference
Menu 8
Analog reference 2
1.41
select
Preset reference
1.42
select
Keypad refere nce
1.43
select
Precision reference
1.44
select
Reference
*selector
1.14
Reference selec ted
indicator
1.49
+
+
1.09
1.01
Level of
reference
selected
1.50
Pr set to
1.50
greater than 1
Pr 1.49
Pr 1.50
1
1
2
2
3
4
5
Reference being used
1
Analog reference 1
>1
Preset reference defined by Pr
1
Analog reference 2
>1
Preset reference defined by Pr
x
Preset reference defined by Pr
x
Keypad reference
x
Preceision reference
1.50
1.50
1.50
1.38
Reference
percentage
trim
1.04
Reference
offset
Reference
offset mode
select
1.17
Keypad
Reference
Precision reference
Precision
reference
1.18
1.19
Precision
reference trim
Precision-ref erence
update disable
1.20
Memory
The parameters are all shown in their default settings
Input
terminals
Output
terminals
Key
0.XX
0.XX
Read-write (RW)
paramete r
Read-only (RO)
paramete r
*Refer to Pr 1.14 on page 29.
24 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
JOG RUN FORWARD RUN R EVERSE
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
Menu 1
Bipolar
reference
select
Jog selected
indicator
1.10
1.05
Jog
reference
Menu 6
Sequencer
1.13
Reverse
selected
indicator
x(-1)
Velo city
feed-forward
reference
1.39
Position control
1.12
Menu 13
1.40
Sequencer (Menu 6)
Feed-forward
selected
indicator
Negative
minimum
speed
select
1.08
Menu 8
1.06
Maximum
freq./speed
"clamp"
1.07
Minimum
freq./speed
"clamp"
(Maximum
reverse
freq./speed)
[1.06]
[1.07]
[1.07]
[1.06]
[1.06]
[1.06]
[1.06]
Reference in skip
freq./speed band
indicator
Reference
1.11
enabled
indicator
Pre-filter
1.02 1.03
reference
1.29
Skip freq./
speed 1
1.30
Skip freq./
speed band
1
1.35
1.31
Skip freq./
speed 2
1.32
Skip freq./
speed band
2
Pre-ramp
reference
1.33
Skip freq./
speed 3
1.34
Skip freq./
speed band
3
Menu 2
[1.07]
Unid rive SP Ad vanced User Guide 25
Issue Number: 7 www.controltechniques.com
Menu 1
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
Macros
1.01 Frequency/speed reference selected
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
11111
Range Open-loop, Closed-loop vector, Servo ±SPEED_FREQ_MAX Hz/rpm
Update rate 4ms write
1.02 Pre-skip filter reference
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
11111
Range Open-loop, Closed-loop vector, Servo ±SPEED_FREQ_MAX Hz/rpm
Update rate 4ms write
1.03 Pre-ramp reference
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
11111
Range Open-loop, Closed-loop vector, Servo ±SPEED_FREQ_MAX Hz/rpm
Update rate 4ms write
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
1.04 Reference offset
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Range
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Open-loop
Closed-loop vector, Servo
±3,000.0 Hz
±40,000.0 rpm
Default Open-loop, Closed-loop vector, Servo 0
Update rate
Background read when precision reference is active
4ms write otherwise
See Pr 1.09 on page 28.
1.05 Jog reference
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Range
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1111
Open-loop
Closed-loop vector, Servo
0 to 400.0 Hz
0 to 4,000.0 rpm
Default Open-loop, Closed-loop vector, Servo 0.0
Update rate 4ms read
Reference used for jogging. See section 5.7 Menu 6: Sequencer and clock on page 122 for details on when the jog mode can be activated. The jog
reference can be used for relative jogging in digital lock mode (see section 5.14 Menu 13: Position control on page 206).
26 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
Menu 1
1.06
Maximum reference clamp
Drive modes Open-loop, Closed-loop vector, Servo
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
Coding
1 111
Closed-loop vector and servo: VM = 1
Range
Default
Second motor
parameter
Open-loop
Closed-loop vector and Servo
Open-loop
Closed-loop vector
Servo
Open-loop, Closed-loop vector, Servo Pr 21.01
0 to 3,000.0 Hz
±SPEED_LIMIT_MAX rpm
EUR: 50.0, USA: 60.0
EUR: 1,500.0, USA: 1,800.0
3,000.0
Update rate Background read
See below.
1.07 Minimum reference clamp
Drive modes Open-loop, Closed-loop vector, Servo
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
Coding
1111
Closed-loop vector and Servo: VM = 1
Range
Open-loop
Closed-loop vector and Servo
±3,000.0 Hz
±SPEED_LIMIT_MAX rpm
Default Open-loop, Closed-loop vector, Servo 0.0
Second motor
parameter
Open-loop, Closed-loop vector, Servo Pr 21.02
Update rate Background read
The range shown for Pr 1.07 shows the range used for scaling purposes (i.e. for routing to an analog output etc.). Further range restrictions are
applied as given below.
Pr 1.08
(Neg min ref enable)
Pr 1.10
(Bipolar mode enable)
Open-loop Closed-loop vector and Servo
0 0 0 to Pr 1.06 0 to Pr 1.06
010 0
1 0 -3,000 to 0Hz -SPEED_LIMIT_MAX to 0 rpm
1 1 -3,000 to 0Hz -SPEED_LIMIT_MAX to 0 rpm
The same limits are applied to Pr 21.02, but based on the value of Pr 21.01.
(If the second motor map is selected Pr 21.01 is used instead of Pr 1.06 and Pr 21.02 instead of Pr 1.07)
1.08 Negative minimum reference clamp enable
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Open-loop, Closed-loop vector, Servo 0
Update rate Background read
The effects of the reference clamps (Pr 1.06 and 1.07), the negative minimum clamp enable (Pr 1.08) and the bipolar reference enable parameters
are defined below.
The variable maximum limit for reference parameters, SPEED_FREQ_MAX, is defined as:
If Pr 1.08 = 0: SPEED_FREQ_MAX = Pr 1.06
If Pr 1.08=1: SPEED_FREQ_MAX is Pr 1.06 or -Pr 1.07 whichever is the largest
(If the second motor map is selected Pr 21.01 is used instead of Pr 1.06 and Pr 21.02 instead of Pr 1.07)
Unid rive SP Ad vanced User Guide 27
Issue Number: 7 www.controltechniques.com
Menu 1
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
Analog input scaling
The following diagrams show the scaling applied when analog inputs are used to define the reference and are routed via Pr 1.36 or Pr 1.37.
up table
SPEED_FREQ_MAX
Pr
1.07
-100% 100%
Pr =0 (
1.10
unipolar mode)
1.08
Pr =0 (
SPEED_FREQ_MAX
-100% 100%
Pr =0 (
Pr =1 (
neg min ref disabled)
1.10
unipolar mode)
1.08
neg min ref enabled)
SPEED_FREQ_MAX
-100% 100%
-SPEED_FREQ_MAX
Pr =1 (bipolar mode)
1.10
Pr =0 (
1.08
neg min ref disabled)
SPEED_FREQ_MAX
-100% 100%
-SPEED_FREQ_MAX
Pr =1 (bipolar mode)
1.10
Pr =1 (
1.08
neg min ref enabled)
Reference limits
With reference to the block diagram for Menu 1 (Figure 5-1 on page 24) the following table shows the limits applied to the reference by variaous
blocks in the reference system. It should be noted that the minimum limit in the main reference limits block changes when either the jog reference or
velocity feedforward references are active. When one of these is active: if Pr 1.08 = 0 the minimum = -Pr 1.06 [-Pr 21.01 for motor map2], if Pr 1.08
= 1 the minimum = -Pr 1.07 [-Pr 21.02 for motor map 2].
Minimum Maximum
Keypad control reference (Pr 1.17)
Bipolar/unipolar selector
Main reference limits
Unipolar mode: Pr 1.07, or 0 if Pr 1.07 < 0
Bipolar mode: -SPEED_FREQ_MAX
Unipolar mode: Pr 1.07, or 0 if Pr 1.07 < 0
Bipolar mode: no limit applied
Neg minimum ref disabled: -Pr 1.06
Neg minimum ref enabled: Pr 1.07
SPEED_FREQ_MAX
No maximum limit applied
Pr 1.06
1.09 Reference offset select
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Open-loop, Closed-loop vector, Servo 0
Update rate
Background read when precision reference is active
4ms read otherwise
When this parameter is 0 the reference is given by
Pr 1.01 = selected reference x (100 + Pr 1.38) / 100
and when this parameter is 1 the reference is given by
Pr 1.01 = selected reference + Pr 1.04
28 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
Menu 1
1.10 Bipolar reference enable
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Open-loop, Closed-loop vector, Servo 0
Update rate 4ms read
See Pr 1.08 on page 27.
1.11 Reference enabled indicator
1.12 Reverse selected indicator
1.13 Jog selected indicator
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Update rate 4ms read
These parameters are controlled by the drive sequencer as defined in Menu 6. They select the appropriate reference as commanded by the drive
logic.
1.14 Reference selector
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1111
Range Open-loop, Closed-loop vector, Servo 0 to 5
Default Open-loop, Closed-loop vector, Servo 0 (A1.A2)
Second motor
parameter
Open-loop, Closed-loop vector, Servo Pr 21.03
Update rate 4ms read
Pr 1.14 defines how the value of Pr 1.49 is derived as follows:
Value of Pr 1.14 Display String Pr 1.49
0 A1.A2 (Analog ref 1. Analog ref 2) *Selected by terminal input
1 A1.Pr (Analog ref 1. Preset speeds) 1
2 A2.Pr (Analog ref 2. Preset speeds) 2
3 Pr (Preset speeds) 3
4 Pad (Keypad reference) 4
5 Prc (Precision reference) 5
*Pr 1.41 to Pr 1.44 can be controlled by digital inputs to force the value of Pr 1.49:
all bits equal to zero gives 1,
Pr 1.41 = 1 then Pr 1.49 = 2
Pr 1.42 = 1 then Pr 1.49 = 3
Pr 1.43 = 1 then Pr 1.49 = 4
Pr 1.44 = 1 then Pr 1.49 = 5
The bit parameters with lower numbers have priority over those with higher numbers.
Pr 1.49 and Pr 1.50 then define the reference as follows:
Pr 1.49 Pr 1.50 Reference
1 1 Analog reference 1 (Pr 1.36)
1 >1 Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28)
2 1 Analog reference 2 (Pr 1.37)
2 >1 Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28)
3 x** Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28)
4 x** Keypad reference (Pr 1.17)
5 x** Precision reference (Pr 1.18 and Pr 1.19)
** x = any value
Unid rive SP Ad vanced User Guide 29
Issue Number: 7 www.controltechniques.com
Menu 1
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
Keypad reference
If Keypad reference is selected the drive sequencer is controlled directly by the keypad keys and the keypad reference parameter (Pr 1.17) is
selected. The sequencing bits, Pr 6.30 to Pr 6.34, have no effect and jog is disabled.
1.15 Preset selector
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Range Open-loop, Closed-loop vector, Servo 0 to 9
Default Open-loop, Closed-loop vector, Servo 0
Update rate 4ms read
Pr 1.15 defines how the value of Pr 1.50 is derived as follows:
Value of Pr 1.15 Pr 1.50
0 Selected by terminal input*
11
22
33
44
55
66
77
88
9 Selected by timer**
*Pr 1.45 to Pr 1.47 can be controlled by digital inputs to define the value of Pr 1.50 as follows:
**The presets are selected automatically in turn. Pr 1.16 defines the time between each change.
Pr 1.47 Pr 1.46 Pr 1.45 Pr 1.50
0001
0012
0103
0114
1005
1016
1107
1118
Pr 1.49 and Pr 1.50 then define the reference as follows:
Pr 1.49 Pr 1.50 Reference
1 1 Analog reference 1 (Pr 1.36)
1 >1 Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28)
2 1 Analog reference 2 (Pr 1.37)
2 >1 Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28)
3 x Preset defined by Pr 1.50 (Pr 1.21 to Pr 1.28)
4 x Keypad reference (Pr 1.17)
5 x Precision reference (Pr 1.18 and Pr 1.19)
1.16 Preset reference selector timer
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1111
Range Open-loop, Closed-loop vector, Servo 0 to 400.0 s
Default Open-loop, Closed-loop vector, Servo 10.0
Update rate Background read
This parameter defines the time between preset reference changes when Pr 1.15 is set to 9. If Pr 1.48 is set to 1 then the preset counter and timer are
reset and preset 1 will be selected.
30 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
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