Control Techniques Reconditioned Affinity User Guide

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Advanced User Guide

Affinity

Building Automation HVAC/R drive

Part Number: 0474-0011-03 Issue: 3

Original Instructions

For the purposes of compliance with the EU Machinery Directive 2006/42/EC, the English version of this manual is the Original Instructions. Manuals

in other languages are Translations of the Original Instructions.

Documentation

Manuals are available to download from the following locations: http://www.drive-setup.com/ctdownloads

The information contained in this manual is believed to be correct at the time of printing and does not form part of any contract. The manufacturer reserves the right to change the specification of the product and its performance, and the contents of the manual, without notice.

Warranty and Liability

In no event and under no circumstances shall the manufacturer be liable for damages and failures due to misuse, abuse, improper installation, or abnormal conditions of temperature, dust, or corrosion, or failures due to operation outside the published ratings. The manufacturer is not liable for consequential and incidental damages. Contact the supplier of the drive for full details of the warranty terms.

Environmental policy

Control Techniques Ltd operates an Environmental Management System (EMS) that conforms to the International Standard ISO 14001.

Further information on our Environmental Policy can be found at: http://www.drive-setup.com/environment

Restriction of Hazardous Substances (RoHS)

The products covered by this manual comply with European and International regulations on the Restriction of Hazardous Substances including EU directive 2011/65/EU and the Chinese Administrative Measures for Restriction of Hazardous Substances in Electrical and Electronic Products.

Disposal and Recycling (WEEE)

When electronic products reach the end of their useful life, they must not be disposed of along with domestic waste but should be recycled by a specialist recycler of electronic equipment. Control Techniques products are designed to be easily dismantled into their major component parts for efficient recycling. The majority of materials used in the product are suitable for recycling.

Product packaging is of good quality and can be re-used. Large products are packed in wooden crates. Smaller products are packaged in strong cardboard cartons which have a high recycled fibre content. Cartons can be re-used and recycled. Polythene, used in protective film and bags for wrapping the product, can be recycled. When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

REACH legislation

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

Further information on our compliance with REACH can be found at: http://www.drive-setup.com/reach

Registered Office

Nidec Control Techniques Ltd

The Gro

Newtown

Powys

SY16 3BE

Registered in England and Wales. Company Reg. No. 01236886.

The contents of this publication 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.

Contents

1 Parameter structure.......................................................................................................5

1.1 Menu 0 ...................................................................................................................................................5

1.2 Advanced menus ...................................................................................................................................8

1.3 Solutions Modules .................................................................................................................................8

1.4 Drive and Building Automation Network (BAN) Interface software version ...........................................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 Parameter access level and security ...................................................................................................12

2.7 Alarm and trip display ..........................................................................................................................13

2.8 Keypad control mode ...........................................................................................................................13

2.9 Drive reset ...........................................................................................................................................13

2.10 Second motor parameters ...................................................................................................................13

3 Parameter x.00 .............................................................................................................14

3.1 Parameter x.00 reset ...........................................................................................................................14

3.2 Saving parameters in drive EEPROM .................................................................................................14

3.3 Loading defaults ..................................................................................................................................15

3.4 SMARTCARD transfers .......................................................................................................................15

3.5 Display non-default values or destination parameters .........................................................................15

4 Typical parameter description format .......................................................................16

4.1 Parameter ranges and variable maximums: ........................................................................................17

4.2 Sources and destinations ....................................................................................................................20

4.3 Update rates ........................................................................................................................................20

5 Advanced parameter descriptions.............................................................................22

5.1 Overview ..............................................................................................................................................22

5.2 Feature look-up table ...........................................................................................................................23

5.3 Menu 1: Frequency/speed reference ...................................................................................................26

5.4 Menu 2: Ramps ...................................................................................................................................40

5.5 Menu 3: Speed feedback and speed control .......................................................................................49

5.6 Menu 4: Torque and current control ....................................................................................................60

5.7 Menu 5: Motor control ..........................................................................................................................77

5.8 Menu 6: Sequencer and clock .............................................................................................................95

5.9 Menu 7: Analog I/O ............................................................................................................................111

5.10 Menu 8: Digital I/O .............................................................................................................................122

5.11 Menu 9: Programmable logic, motorized pot and binary sum ...........................................................130

5.12 Menu 10: Status and trips ..................................................................................................................140

5.13 Menu 11: General drive set-up ..........................................................................................................159

5.14 Menu 12: Threshold detectors, variable selectors and brake control function ...................................172

5.15 Menu 13: Not used ............................................................................................................................184

5.16 Menu 14: Advanced process PID ......................................................................................................186

5.17 Menus 15 and 16: Solutions Module slots .........................................................................................200

5.18 Menu 17: Building Automation Interface ............................................................................................201

5.19 Menu 18: Application menu 1 ............................................................................................................207

5.20 Menu 19: Application menu 2 ............................................................................................................208

5.21 Menu 20: Application menu 3 ............................................................................................................209

5.22 Menu 21: Second motor parameters .................................................................................................210

5.23 Menu 22: Additional menu 0 set-up ...................................................................................................217

5.24 32 bit parameters ...............................................................................................................................218

6 PC communications protocol...................................................................................219

6.1 ANSI communications protocol ..........................................................................................................219

Affinity Advanced User Guide 3 Issue Number: 3

6.2 CT Modbus RTU specification .......................................................................................................... 221

7 Building Automation Network ................................................................................. 226

7.1 Introduction ....................................................................................................................................... 226

7.2 BACnet ............................................................................................................................................. 226

7.3 Metasys N2 ....................................................................................................................................... 230

8 Performance .............................................................................................................. 234

8.1 Digital speed reference ..................................................................................................................... 234

8.2 Analog reference .............................................................................................................................. 234

8.3 Analog outputs .................................................................................................................................. 234

8.4 Digital inputs and outputs ................................................................................................................. 234

8.5 Current feedback .............................................................................................................................. 235

8.6 Bandwidth ......................................................................................................................................... 235

9 Rotor Flux Control (RFC) mode............................................................................... 236

9.1 Introduction ....................................................................................................................................... 236

9.2 Setting up the RFC mode ................................................................................................................. 236

9.3 Further Tuning .................................................................................................................................. 236

4 Affinity Advanced User Guide

Issue Number: 3

Parameter

Menu 0

....XX.00....

0.50

0.49

0.48

0.47

0.46

0.01

0.02

0.03

0.04

0.05

Moves between parameters

Moves between Menus

Menu 0

0.04

0.05

0.06

Menu 2

2.21

Menu 1

1.14

Menu 4

4.07

5 0

150

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

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 2.6 Parameter access level and security on page 12.

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 19 fixed parameters and 40 programmable parameters that are defined in menu 11 and menu 22. Menu 0 parameters are copies of advanced menu parameters, and although these parameters are accessible via drive serial 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‘

Affinity Advanced User Guide 5 Issue Number: 3

Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

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

Menus 11 and 22 can be used to change most of the parameters in menu 0. Menu 0 can also contain up to 59 parameters by setting up menu 22.

Table 1-1 Menu 0 parameters

Range(

Parameter

0.00 xx.00 {x.00} 0 to 32,767 0

0.01 Minimum reference clamp {1.07} ±3,000.0Hz

0.02 Maximum reference clamp {1.06} 0 to 3,000.0Hz

0.03 Acceleration rate {2.11}

0.04 Deceleration rate {2.21}

0.05 Reference select {1.14} A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), PAd (4), Prc (5) A1.A2 (0)

0.06 Current limit {4.07} 0 to CURRENT_LIMIT_MAX % 110

OL> Voltage mode select {5.14}

0.07

RFC> Speed controller P gain {3.10}

OL> Voltage boost {5.15}

0.08

RFC> Speed controller I gain {3.11} 0.00 to 655.35 1/rad 0.10 OL> Dynamic V/F {5.13} OFF (0) or On (1)

0.09

RFC> Speed controller D gain {3.12}

OL> Estimated motor speed {5.04} ±180,000 rpm

0.10

RFC> Motor speed {3.02} ±SPEED_MAX rpm

0.11 Drive output frequency {5.01} ±SPEED_FREQ_MAX Hz ±1250 Hz

0.12 Total motor current {4.01} 0 to DRIVE_CURRENT_MAX A

0.13 Percentage load {4.20} ±USER_CURRENT_MAX %

0.14 Ramp mode select {2.04}

0.15 Sleep/wake threshold {6.53} ±SPEED_FREQ_MAX Hz/rpm 0.0

0.16 Sleep/wake delay time {6.54} 0.0 to 250.0 s 10.0

0.17 RFC> Current demand filter 1 {4.12}

0.18 Spin start boost {5.40} 0.0 to 10.0

0.19 Analog input 2 mode {7.11}

0.20 Analog input 2 destination {7.14}Pr 0.00 to Pr 50.99 Pr 1.37

0.21 Analog input 3 mode {7.15}

0.22 Date {6.16} 0 to 311299

0.23 Time {6.17} 0.00 to 23.59

0.24 Date/Time selector {6.19} 0 to 5 3

0.25 Date format {6.20} Std (0), Std.ds (1), US (2), US.ds (3) EUR> Std (0), USA> US (2)

0.26 Low load detection level {4.27} 0.0 to 100.0 % 0.0

Low load detection speed / frequency

0.27

threshold

0.28 Trip on abnormal load detection {4.29} OFF (0) or On (1) OFF (0)

0.29 SMARTCARD parameter data {11.36 } 0 to 999 0

0.30 Parameter cloning {11 .4 2} nonE (0), rEAd (1), Prog (2), AutO (3), boot (4) nonE (0)

0.31 Drive rated voltage {11 .3 3} 200 (0), 400 (1), 575 (2), 690 (3) V

0.32 Drive current scaling {11.32} 0.00 to 9999.99A

0.33 Catch a spinning motor {6.09} 0 to 3 0 to 1 0 1

0.34 User security code {11.3 0} 0 to 999 0

0.35 PC comms mode {11.24} AnSI (0), rtU (1), Lcd (2) rtU (1)

0.36 PC comms baud rate {11. 25}

0.37 PC comms address {11.23} 0 to 247 1

0.38 Hold zero speed / Motor pre-heat enable {6.08} OFF (0) or On (1) OFF (0)

0.39 Motor pre-heat current magnitude {6.52} 0 to 100 % 0

0.40 Autotune {5.12} 0 to 2 0 to 4 0

0.41 Maximum switching frequency {5.18} 3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5) kHz 3 (0)

Ur (1), Fd (2), Ur_Auto (3),

{4.28} 0.0 to +SPEED_FREQ_MAX Hz/rpm 0.0

OL RFC OL RFC

0.0 to 3,200.0 s/100Hz

Ur_S (0),

Ur_I (4), SrE (5)

0.0 to 25.0% of motor rated voltage

FASt (0)

Std ( 1)

Std. hV (2 )

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

4-20 (4), 20-4 (5), VOLt (6)

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

4-20 (4), 20-4 (5), VOLt (6), th.SC (7),

4800 (4), 9600 (5), 19200 (6), 38400 (7),

th (8), th.diSp (9)

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

57600 (8) Modbus RTU only,

115200 (9) Modbus RTU only

) Default()

±SPEED_LIMIT_

MAX Hz/rpm

SPEED_LIMIT_

MAX Hz/rpm

0.000 to 3,200.000 s/1,000rpm

0.0000 to 6.5535

0.0 to 25.0 ms

-1

1/rad s

0.00000 to

0.65535 (s)

FASt (0)

Std ( 1)

EUR> 50.0 USA> 60.0

EUR> 40.0 USA> 33.3

Fd (2)

Size 1 to 3: 3.0 Size 4 & 5: 2.0

Size 6: 1.0

OFF (0)

0.0

Std ( 1)

1.0

4-20 (4)

VOLt (6)

19200 (6)

EUR> 1,500.0

USA> 1800.0 EUR> 13.333

US A > 11. 111

EUR> 13.333

US A > 11. 111

0.0300

0.00000

0.0

6 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

0.42 No. of motor poles {5.11} 0 to 60 (Auto to 120 pole) 0 (Auto)

0.43 Motor rated power factor {5.10} 0.000 to 1.000 0.850

0.44 Motor rated voltage {5.09} 0 to AC_VOLTAGE_SET_MAX V

Motor rated full load speed (rpm)

0.45

0.46 Motor rated current {5.07} 0 to RATED_CURRENT_MAX A Drive rated current [11.3 2]

0.47 Rated frequency {5.06} 0 to 3,000.0 Hz 0 to 1,250.0 Hz

0.48 Operating mode selector {11.31} OPEn LP (1), RFC (2), OPEn LP (1) RFC (2)

0.49 Security status {11.44} L1 (0), L2 (1), Loc (2)

0.50 Software version {11.2 9} 1.00 to 99.99

0.51 Positive logic select {8.29} OFF (0) or On (1) On (1)

0.52 Timer 1 start date {9.35} 0 to 311299 0

0.53 Timer 1 start time {9.36} 0.00 to 23.59 0.00

0.54 Timer 1 stop date {9.37} 0 to 311299 0

0.55 Timer 1 stop time {9.38} 0.00 to 23.59 0.00

0.56 Timer 1 repeat function {9.39} 0 to 6 0

0.57 Timer 1 enable {9.40} OFF (0) or On (1) OFF (0)

0.58 Timer 1 destination {9.43}Pr 0.00 to Pr 50.99 Pr 0.00

Keypad and

display

Parameter

Parameter x.00

Parameter

description format

{5.08} 0 to 180,000 rpm

Advanced parameter

descriptions

OL RFC OL RFC

PC comms

protocol

) Default()

Range(

0.00 to

40,000.00 rpm

Building automation

network

400V drive: EUR> 400, USA> 460

EUR> 1,500 USA> 1,800

Performance RFC mode

200V drive: 230

575V drive: 575 690V drive: 690

EUR> 1,450.00 USA> 1,770.00

EUR> 50.0 USA> 60.0

* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved

Coding Attribute

OL Open loop

rfc RFC

{X.XX} Cloned / copied 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

Bi Bipolar parameter

Uni Unipolar parameter

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

Filtered: some parameters which can have rapidly changing

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

Destination: This parameter selects the destination of an

input or logic function.

Rating dependent: this parameter is likely to have different values and ranges with drives of different voltage and current ratings. Parameters with this attribute will not be transferred to the destination drive by SMARTCARDs when

the rating of the destination drive is different from the source drive and the file is a parameter file. However, the value will be transferred if only the current rating is different and the file is a differences from default type file.

Not cloned / copied: not transferred to or from

SMARTCARDs during cloning.

PT Protected: cannot be used as a destination.

User save: parameter saved in drive EEPROM when the

user initiates a parameter save.

Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) trip occurs. Power-

down save parameters are also saved in drive EEPROM when the user initiates a parameter save.

Affinity Advanced User Guide 7 Issue Number: 3

Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

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 serial comms and Solutions Modules. Advanced menu parameters can only be 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

function 13 Not used 14 Advanced process PID 15 Slot 1 Solutions Module menu 16 Slot 2 Solutions Module menu 17 Building Automation Network 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 22 Additional menu 0 set-up

1.3 Solutions Modules

Any Solutions Module type is recognized with all drive types in any slots. The relevant template is used to define menu 15 for the module type installed in slot 1 and menu 16 for slot 2.

1.4 Drive and Building Automation Network (BAN) Interface 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 xx.yy.zz, where Pr 11.29 displays xx.yy and Pr 11.3 4 displays zz, i.e. for software version 01.01.00, Pr 11.29 would display 1.01 and Pr 11.34 would display 0.

The software version of the Building Automation Network (BAN) Interface can be checked by looking at Pr 17.02 and Pr 17.51. The software version takes the form of xx.yy.zz, where Pr 17.02 displays xx.yy and Pr 17.51 displays zz.

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

8 Affinity Advanced User Guide

Issue Number: 3

Parameter

Mode (black) button

Joypad

Fwd / Rev (blue) button Stop/reset (red) button Start (green) button

Control buttons

Help button

NOTE

Use

* keys

to select parameter for editing

To enter Edit Mode, press key

Status Mode

(Display not flashing)

Parameter Mode

(Parameter number on upper line flashing)

Edit Mode

(Flashing character on upper line to be edited)

Change parameter values

using keys.

When returning to Parameter Mode use the

keys to select another parameter to change, if required

To exit Edit Mode, press key

To enter Parameter Mode, press key or

Tem por ary Parameter Mode

(Parameter number on upper line flashing)

Timeout**

To return to Status Mode, press

key

rdy 0

rpm

Est imat ed mo t or RPM

0. 1 0 0

rpm

Est imat ed mo t or RPM

0. 0 0 0

Fr e q u e c yn Re f e r e c ens

0. 0 0 0

Fr e q u e c yn Re f e r e c ens

0. 0 0 0

Fr e q u e c y

nReferecens

Timeout**

parameter

R/W parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

2 Keypad and display

2.1 Understanding the display

2.1.1 BA-Keypad (LCD)

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.

Figure 2-1 BA-Keypad

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

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 select Hand / Off / Auto modes

4. Help button - 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 drive parameters are accessed as shown in Figure 2-2.

Figure 2-2 Display modes

Affinity Advanced User Guide 9 Issue Number: 3

Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

2.3 Status mode

In status mode, the first row displays a four letter mnemonic on the left indicating the status of the drive together with the parameter last viewed or edited on the right.

State

Inhibited: enable input is inactive inh

Ready: enable closed, but inverter not active rdy

Stopped: inverter active, but holding zero speed/frequency stop

Mains loss: decelerating to zero in mains loss ride-through or stop modes

Decelerating: speed/frequency is ramping to zero after a stop

dc injection: dc injection stop is active dc

Tripped: drive is tripped trip

Drive is running with Hand / Off / Auto disabled run

Drive is running in Auto mode auto

Drive is running in Hand mode hand

Drive is stopped off

Upper

row

acuu

dec

2.4 Parameter view mode

In this mode the first row shows the menu.parameter number on the left and the parameter value on the right. The second row gives a parameter value range of -9,999,999 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. 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 41 is reached. A single Right key action when Menu 41 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 41. 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.

descriptions

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 minimum is reached. However when using 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.

The BA-Keypad contains two menus, menu 40 and menu 41. The parameters in these menus are listed Table 2-1 on page 11.

PC comms

protocol

Building automation

network

Performance RFC mode

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.

10 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Table 2-1 Menu 40 parameter descriptions

Parameter

Range(

) Default()

40.00 Parameter 0 0 to 32767 0 RW Uni English (0), Custom (1),

40.01 Language selection

French (2), German (3),

English (0) RW Txt US

Spanish (4), Italian (5)

40.02 Software version

40.03 Save to flash

40.04 LCD contrast

Drive and attribute database upload was

40.05

bypassed

40.06 Browsing favourites control

40.07 Keypad security code

40.08 Communication channel selection

40.09 Hardware key code

40.10 Drive node ID (Address)

40.11 Flash ROM memory size

40.19 String database version number

40.20 Screen saver strings and enable

40.21 Screen saver interval

40.22 Turbo browse time interval

Idle (0), Save (1), Restore (2),

Disable (0), Slot1 (1), Slot2 (2),

Slot3 (3), Slave (4), Direct (5)

None (0), Default (1), User (2) Default (1) RW Txt US

999999 RO Uni PT

Default (3)

Idle (0) RW Txt

0 to 31 16 RW Uni US

Updated (0), Bypass (1) RO Txt PT

Normal (0), Filter (1) Normal (0) RW Txt

0 to 999 0RWUniUS

Disable (0) RW Txt US

0 to 999 0RWUniUS 0 to 255 1RWUniUS

4Mbit (0), 8Mbit (1) RO Txt PT US

0 to 999999 RO Uni PT

0 to 600 120 RW Uni US

0 to 200ms 50ms RW Uni US

Table 2-2 Menu 41 parameter descriptions

Parameter

) Default()

Range(

41.00 Parameter 0 0 to 32767 0 RW Uni

41.01 to

Browsing filter source F01 to F50 Pr 0.00 to Pr 391.51 0RWUni

41.50

41.51 Browsing favourites control Normal (0), Filter (1) Normal (0) RW Txt

Typ e

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar

Bit Bit parameter Txt Text string FI Filtered DE Destination

NC Not cloned / copied RA Rating dependent PT Protected US User save

PS Power down save

For more information about the BA Keypad, see the SM-Keypad Plus User Guide.

Affinity Advanced User Guide 11 Issue Number: 3

Parameter

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

Pr 22.00 Pr 22.01 Pr 22.02 Pr 22.03

Pr 22.28 Pr 22.29

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

L2 access selected

- All parameters visible

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

Pr 19.00 Pr 19.01 Pr 19.02 Pr 19.03

Pr 19.49 Pr 19.50

Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Pr 20.49 Pr 20.50

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

L1 access selected

- Menu 0 only visible

Pr 21.00 Pr 21.01 Pr 21.02 Pr 21.03

Pr 21.30 Pr 21.31

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.50

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

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

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

Pr 22.00

Pr 22.01

Pr 22.02

Pr 22.03

Pr 22.28

Pr 22.29

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

User security open

- All parameters: Read / Write access

User security closed

0.49 11.44

- All parameters: Read Only access

(except Pr and Pr )

Pr 22.00

Pr 22.01

Pr 22.02

Pr 22.03

Pr 22.28

Pr 22.29

Pr 0.49

Pr 21.00

Pr 21.01

Pr 21.02

Pr 21.03

Pr 21.30

Pr 21.31

Pr 21.00

Pr 21.01

Pr 21.02

Pr 21.03

Pr 21.30

Pr 21.31

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

2.6 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 22) 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

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.

User Security

Menu 0

status

2.6.1 Access Level

The access level is set in Pr 0.49 and allows or prevents access to the advanced menu parameters.

Advanced

menus status

2.6.3 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.

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

2.6.2 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 22)

The Access Level can be changed through the keypad even if the User Security has been set.

12 Affinity Advanced User Guide

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.

Issue Number: 3

Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

2.7 Alarm and trip display

An alarm can flash alternately with the data displayed on the second row when one of the following conditions occur. If action is not taken to eliminate the alarm, except "Auto tune", "Lt" and "PLC", the drive may eventually trip. Alarms flash once every 640ms except "PLC" which flashes once every 10s. Alarms are not displayed when a parameter is being edited.

Alarm string Alarm condition

br.rS

OVLd

hot Heatsink or control board alarms are active

Auto tune Auto tune in progress

PLC On-board PLC program is running

When a trip occurs the drive switches to status mode and "trip" is shown on the top left and the trip string flashes on the top right. If the trip is a power module trip and the drive is a multi-module drive, the number of the power module that initiated the trip flashes alternately with the trip string. The read only parameters listed below are frozen with any trip except UV trip 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 HF16 then no key action

is recognized.

Parameter Description

1.01 Frequency reference/Speed reference

1.02 Frequency reference/Speed reference

1.03 Pre-ramp reference

2.01 Post-ramp reference

3.01 Final speed reference

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

5.05 DC bus voltage

7.01 Analog input 1

7.02 Analog input 2

7.03 Analog input 3

Braking resistor (Pr 10.39 > 75.0% and the braking IGBT is active)

Motor overload (Pr 4.20 > 75% and the drive output current > Pr 5.07)

Indicates that a limit switch is active and that it is causing the motor to be stopped (i.e. forward limit switch with forward reference etc.)

Mode Unit

Open loop Hz

rfc rpm

2.9 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 operable, 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 therefore the parameters must be re-programmed 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 not 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.

2.10 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 ‘mot 2 is displayed on the bottom left.

2.8 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.

Affinity Advanced User Guide 13 Issue Number: 3

Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

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

2001

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

9555 Clear SMARTCARD warning suppression flag

9666 Set SMARTCARD warning suppression flag

9777 Clear SMARTCARD read-only flag

9888 Set SMARTCARD read-only flag

9999 Erase SMARTCARD

*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.

3.1 Parameter x.00 reset

When an action is started by setting Pr x.00 to one of the above values and initiating a drive reset this parameter is cleared when the action is completed successfully. If the action is not started, e.g. because the drive is enabled and an attempt is made to load defaults, etc., Pr x.00 is not cleared and no trip is produced.

If the action is started and then fails for some reason, a trip is always produced and Pr x.00 is not cleared. It should be noted that parameter saves etc. can also be initiated with the cloning parameter (Pr 11. 42). If actions that can be initiated by either parameter are started and then completed successfully, Pr x.00 and Pr 11.42 are cleared if they have a value less than 3.

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. 42 has a value of 3 or 4 it will operate correctly causing parameters to be saved to the SMARTCARD each time a parameter save is performed.

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 parameter to a card and create a bootable difference from default SMARTCARD block with data block number 1 and clear Pr 11. 42. If data block 1 exists it is over written.

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

3.2 Saving parameters in drive EEPROM

Drive parameters are saved to the drive EEPROM by setting Pr x.00 to 1000 or 1001 and initiating a drive reset. In addition to user saved parameters, power down save parameters are also saved by these actions and/or by changing the drive mode, but not by any other actions that result in parameters being saved to drive EEPROM (i.e. loading defaults). Power down save parameters are not saved at power down unless the drive is supplied from a normal line power supply, thereby giving the user the option of saving these parameters when required.

When the parameter save is complete, Pr x.00 is reset to zero by the drive. Care should be taken when saving parameters because this action can take between 400ms and several seconds depending on how many changes are stored in the EEPROM. If the drive is powered down during a parameter save it is possible that data may be lost. When the drive is operating from a normal line power supply then it will stay active for a short time after the power is removed, however, if the drive is being powered from a 24V control supply, or it is being operated from a low voltage battery supply, the drive will power down very quickly after the supply is removed. The drive provides two features to reduce the risk of data loss when the drive is powered down:-

1. If Pr x.00 is set to 1000 a parameter save is only initiated on drive reset if the drive is supplied from a normal line power supply (Pr

10.16 = 0 and Pr 6.44 = 0). 1001 must be used to initiate a save if the drive is not supplied from a normal line power supply.

2. Two banks of arrays are provided in EEPROM to store the data. When a parameter save is initiated the data is stored in a new bank and only when the data store is complete does the new bank become active. If the power is removed before the parameter save is complete, a SAVE.Er trip (user save parameter save error) or PSAVE.Er trip (power down save parameter save error) will be produced when the drive is powered up again, indicating that the drive has reverted to the data that was saved prior to the last parameter save.

The second feature will significantly reduce the possibility of completely invalidating all saved data, which would result in an EEF trip on the next power-up. However the following points should be noted:

1. If the power is removed during a parameter save the current data that is being saved to the EEPROM that is different from the last data saved in the EEPROM will be lost and a SAVE.Er or PSAVE.Er trip will occur on power-up.

2. This feature does not apply when user save parameters are saved automatically by adjusting the values in menu 0 with an LED keypad. However, the time taken to save parameters in this way is very short, and is unlikely to cause data loss if the power is removed after the parameter has been changed. It should be noted that any parameter changes made in this way are included in the currently active bank in the EEPROM, so that if the power is removed during a subsequent save initiated via Pr x.00 that results in an SAVE.Er trip, the changes made via menu 0 will be retained and not lost.

3. User save parameters are saved to drive EEPROM after a transfer of data from an electronic nameplate in an encoder.

4. User save parameters are saved to drive EEPROM after a transfer of data from a SMARTCARD.

5. This feature is not provided for data saved to a SMARTCARD, and so it is possible to corrupt the data files on a SMARTCARD if the power is removed when data is being transferred to the card.

6. User save parameters are saved to drive EEPROM after defaults are loaded.

7. When the drive mode is changed all data in the EEPROM is deleted and then restored with the defaults for the new mode. If the power is removed during a change of drive mode, an EEF trip is likely to occur on the next power-up. After a change of drive mode the power down save parameters are also saved.

14 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

8. As these parameters are not saved if the power is removed unless the drive is supplied with a normal line power supply, this ensures that the power down save parameters are always stored correctly for the new drive mode. The first time parameters are saved after the change of drive mode, however the save will take slightly longer than a normal parameter save.

9. When an Solutions Modules is changed for a different type in a slot, or a module is inserted when one was not present previously or a module is removed the EEPROM is forced to re-initialise itself on the next parameter saves. On the first parameter save one bank is cleared and then written to, and on the next parameter save the other bank is cleared and re-written. Each of these parameter saves takes slightly longer than a normal parameter save.

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

3.3 Loading defaults

When defaults are loaded the user save parameters are automatically saved to the drive EEPROM in all modes. Standard defaults are loaded by setting 1233 in Pr x.00 performing a drive reset.

The following differences from standard defaults are available when different values are set in Pr x.00.

US Default Differences (Pr x.00 = 1244 and perform a drive reset)

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Pr Description Default Modes

Max reference

1.06

clamp

Max reference

1.06

clamp

2.08 Standard ramp volts 775V Open-loop, RFC 400V

5.06 Rated frequency 60.0Hz Open-loop All

5.08 Rated load rpm 1800rpm Open-loop All

5.08 Rated load rpm 1770rpm RFC All

5.09 Rated voltage 460V Open-loop, RFC 400V

6.20 Date format US (2) Open-loop, RFC All

M2 Max reference

21.01

clamp

M2 Max reference

21.01

clamp

M2 Rated

21.06

frequency

21.09 M2 Rated voltage 460V Open-loop, RFC 400V

60.0Hz Open-loop All

1800rpm RFC All

60.0Hz Open-loop All

1800rpm RFC All

60.0Hz Open-loop All

Voltage

rating

3.4 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.

3.5 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.

Affinity Advanced User Guide 15 Issue Number: 3

Parameter

NOTE

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

4 Typical parameter description format

In the sections which follow, typical parameter descriptions are given for each advanced parameter set. Each parameter has its own detailed information block as shown here.

5.11 Number of motor poles

Drive modes

Coding

Range Open-loop, RFC 0 to 60 (Auto to 120 POLE)

Default Open-loop, RFC

Second motor parameter

Update rate

The first row gives the menu parameter number and name. The other rows describe 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 it via the keypad.

The following types of parameter are possible:

Open-loop - The control strategy is V/F mode with fixed boost or open-loop vector control.

RFC - The control strategy is rotor flux oriented vector control with closed-loop current operation for induction motors without position feedback.

Coding

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 BA-Keypad as being "OFF" or "On" ("OFF"= 0, "On" = 1).

The coding defines the attributes of the parameter as follows:

Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 111

0 (Auto) 3 (6 POLE)

Open-loop, RFC Pr 21.11

Background read

Coding Attribute

Bit 1 bit parameter

SP Spare: not used

Filtered: some parameters which can have rapidly changing values are filtered when displayed on

the drive keypad for easy viewing.

DE Destination: indicates that this parameter can be a destination parameter.

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

VM Variable maximum: the maximum of this parameter can vary.

DP Decimal place: indicates the number of decimal places used by this parameter.

No default: when defaults are loaded (except when the drive is manufactured or on EEPROM

failure) this parameter is not modified.

and the file is a parameter file. However, the value will be transferred if only the current rating is different and the file is a differences from default type file.

NC Not cloned / copied: not transferred to or from SMARTCARDs during cloning / copying.

NV Not visible: not visible on the keypad.

PT Protected: cannot be used as a destination.

US User save: saved in drive EEPROM when the user initiates a 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 default of zero. Non-bit parameters are unipolar if this flag is one.

Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) trip

occurs. Power-down save parameters are also saved in drive EEPROM when the user initiates a parameter save.

16 Affinity Advanced User Guide

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Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

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 the above.

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, RFC 40000.0rpm]

SPEED_LIMIT_MAX [40000.0rpm]

SPEED_MAX [40000.0rpm]

RATED_CURRENT_MAX [9999.99A]

DRIVE_CURRENT_MAX [9999.99A]

AC_VOLTAGE_SET_MAX [690V]

AC_VOLTAGE_MAX [930V]

dc _VOLTAGE_SET_MAX [1150V]

dc _VOLTAGE_MAX [1190V]

Maximum speed (RFC 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

In RFC mode SPEED_LIMIT_MAX = 40,000rpm.

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 K The motor rated current can be increased above K

up to a level not exceeding 1.36 x KC). (Maximum motor

rated current is the maximum normal duty current rating.) 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 = K

/ 0.45

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

Maximum AC output voltage

This maximum has been chosen to allow for maximum AC voltage that can be produced by the drive including 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

Maximum dc voltage set-point

200V rating drive: 0 to 400V, 400V rating drive: 0 to 800V 575V rating drive: 0 to 955V, 690V rating drive: 0 to 1150V

Maximum DC bus voltage

The maximum measurable DC bus voltage. 200V drives: 415V, 400V drives: 830V, 575V drives: 990V, 690V drives: 1190V

Affinity Advanced User Guide 17 Issue Number: 3

Parameter

Maximum current limit



Maximum current

]

+ PF2 - 1

]

x 100%= Motor rated current

Maximum current limit



Maximum current

]

+ cos(1)2 - 1

]

x 100%

= Motor rated current

cos(

)

structure

MOTOR1_CURRENT_LIMIT_MAX [1000.0%]

Keypad and

display

Maximum Definition

Parameter x.00

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

Where: The Maximum current is either 1.1 x drive rating or 1.5 x KC if the motor rated current set in Pr

the drive current scaling given by Pr

Motor rated current is given by Pr 5.07

PF is motor rated power factor given by Pr 5.10

RFC

Where: The Maximum current is either

or equal to the

Motor rated current is given by Pr 5.07

= cos-1(PF) - 2. This is measured by the drive during an autotune. See Menu 4 in the Advanced User



Guide for more information regarding 2.

PF is motor rated power factor given by Pr 5.10

drive current scaling

Advanced parameter

descriptions

11.32

1.1 x drive rating or 1.75 x KC if given by Pr

11.32

PC comms

protocol

Building automation

network

the motor rated current set in Pr

Performance RFC mode

5.07

is more than

5.07

is more than

Maximum current limit settings for motor map 2

MOTOR2_CURRENT_LIMIT_MAX [1000.0%]

TORQUE_PROD_CURRENT_MAX [1000.0%]

USER_CURRENT_MAX [1000.0%]

POWER_MAX [9999.99kW]

The values given in square brackets indicate the absolute maximum value allowed for the variable maximum.

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

Maximum power in kW

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 DRIVE_CURRENT_MAX

18 Affinity Advanced User Guide

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Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Table 4-2 Maximum motor rated current (sizes 1 to 6)

Model Kc

Maximum normal duty

current rating

BA1201 4.3 5.2 BA1202 5.8 6.8 BA1203 7.5 9.6 BA1204 10.6 11 BA2201 12.6 15.5 BA2202 17.0 22.0 BA2203 25.0 28.0 BA3201 31.0 42.0 BA3202 42.0 54.0 BA4201 56.0 68.0 BA4202 68.0 80.0 BA4203 80.0 104.0 BA1401 2.1 2.8 BA1402 3.0 3.8 BA1403 4.2 5.0 BA1404 5.8 6.9 BA1405 7.6 8.8 BA1406 9.5 11.0 BA2401 13.0 15.3 BA2402 16.5 21.0 BA2403 23.0 29.0 BA3401 32.0 35.0 BA3402 40.0 43.0 BA3403 46.0 56.0 BA4401 60.0 68.0 BA4402 74.0 83.0 BA4403 96.0 104.0 BA5401 124.0 138.0 BA5402 156.0 168.0 BA6401 154.2 202.0 BA6402 180.0 236.0 BA3501 4.1 5.4 BA3502 5.4 6.1 BA3503 6.1 8.4 BA3504 9.5 11.0 BA3505 12.0 16.0 BA3506 18.0 22.0 BA3507 22.0 27.0 BA4601 19.0 22.0 BA4602 22.0 27.0 BA4603 27.0 36.0 BA4604 36.0 43.0 BA4605 43.0 52.0 BA4606 52.0 62.0

Advanced parameter

descriptions

PC comms

protocol

Model Kc

Building automation

network

Performance RFC mode

Maximum normal duty

current rating

BA5601 63.0 84.0 BA5602 85.0 99.0 BA6601 85.7 125.0

BA6602 107.1 144.0 BAMD12X1 133.7 192 BAMD12X2 164.5 248 BAMD12X3 214.2 312 BAMD12X4 248.5 350 BAMA14X1 154.2 202 BAMA14X2 180.0 236 BAMD14X1 154.2 202 BAMD14X2 180.0 246 BAMD14X3 205.7 290 BAMD14X4 248.5 330 BAMA16X1 85.7 125 BAMA16X2 107.1 144 BAMD16X1 85.7 125 BAMD16X2 107.1 144 BAMD16X3 123.4 168 BAMD16X4 144.0 192

4.1.1 Default

The default values given are the standard drive defaults which are loaded after a drive reset with 1233 in Pr x.00.

4.1.2 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.

4.1.3 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.

Affinity Advanced User Guide 19 Issue Number: 3

Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

4.2 Sources and destinations

4.2.1 Sources

Some functions have source pointer parameters, i.e. drive outputs, PID controller etc. The source pointer parameter range is Pr 0.00 to Pr 21.51. The source pointer is set up to point to a parameter which supplies the information to control the source, and this is referred to as the source data parameter. For example, Pr 7.19 is the source pointer parameter for analog output 1. If Pr 7.19 is set to a value of 18.11, then Pr 18.11 is the source data parameter, and as the value of Pr 18.11 is modified the analog output level is changed.

1. If the parameter number in the source pointer parameter does not exist the input is taken as zero.

2. If the source is not a bit type source (i.e. not a digital output etc.) then the source level is defined by (source data value x 100%) / source data parameter maximum. Generally the result is rounded down to the nearest unit, but other rounding effects may occur depending on the internal scaling of the particular source function.

3. If the source is a bit, i.e. a digital output, and the source data parameter is a bit parameter then the input to the source function follows the value of the source data parameter.

4. If the source is a bit, i.e. a digital output, and the source data parameter is not a bit parameter the source input is zero if the source data value is less than source data parameter maximum / 2 rounded down to the nearest unit. The source input is one if the source data value is greater than or equal to source data parameter maximum / 2 rounded down to the nearest unit. For example if the source pointer parameter is set to 18.11, which has a maximum of 32767, the source input is zero if the source data value is less than 16383 and one if it is greater than this.

4.2.2 Destinations

Some functions have destination pointer parameters, i.e. drive inputs, etc. The destination pointer parameter range is P 0.00 to Pr 21.51. The destination pointer parameter is set up to point to a parameter, which receives information from the function referred to as the destination parameter.

1. If the parameter number in the destination pointer 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 parameter value does not operate in the same way as a source described above, but is always either 0 or 1 depending on the state of the function output whether the destination parameter is a bit parameter or not.

descriptions

4. If the function output is not a bit value (i.e. analog input) and the

5. If the function output is not a bit value and the destination parameter

6. If more than one destination selector is routed to the same

PC comms

protocol

destination parameter is not a bit parameter, the destination value is given by (function output x destination parameter maximum) / 100%. Generally the result is rounded down to the nearest unit, but other rounding effects may occur depending on the internal scaling of the particular source function (rounded down to nearest unit). Pr 1.36 and Pr 1.37 are a special case. The scaling shown in the description of parameter Pr 1.08 is used when any non-bit type quantity is routed to these parameters.

is a bit value, the destination value is 0 if the function output is less than 50% of its maximum value, otherwise it is 1.

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.

Building automation

network

Performance RFC mode

4.2.3 Sources and destinations

1. Bit and non-bit parameters may be connected to each other as sources or destinations. The scaling is as described previously.

2. All new source and destination routing only changes to new set-up locations when the drive is reset.

When a destination pointer parameter within the drive or a dumb Solutions Modules (SM-I/O plus) is changed 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 header table as shown below.

3.03 Speed error

Drive modes RFC

Coding

Range RFC ±SPEED_MAX rpm

Update rate 4ms write

Some parameters have an increased update in special circumstances.

Bit SP FI DE Txt VM DP ND RA NC NV PT US

1 11111

BU PS

20 Affinity Advanced User Guide

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Parameter x.00

Parameter

description format

Advanced parameter

descriptions

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Building automation

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Performance RFC mode

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 250s 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.

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 250s 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.

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 250s by selecting the reference from particular sources, but only in RFC mode. 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.

Affinity Advanced User Guide 21 Issue Number: 3

Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

5 Advanced parameter descriptions

5.1 Overview

Table 5-1 Menu description

number

Commonly used basic set up parameters for quick / easy

programming

1 Frequency / speed reference

2Ramps

3 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, motorized pot and binary sum

10 Status and trips

11 General drive set-up

12 Threshold detectors and variable selectors

13 Not used

14 Advanced process PID

15, 16 Solutions Module slots

17 Building Automation Network

18 Application menu 1

19 Application menu 2

20 Application menu 3

21 Second motor parameters

22 Additional Menu 0 set-up

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

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

Bi Bipolar parameter

Uni Unipolar parameter

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

Filtered: some parameters which can have rapidly changing

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

Destination: This parameter selects the destination of an

input or logic function.

when the rating of the destination drive is different from the source drive and the file is a parameter file. However, the value will be transferred if only the current rating is different and the file is different to the default file type.

Not cloned / copied: not transferred to or from

SMARTCARDs during cloning / copying.

PT Protected: cannot be used as a destination.

User save: parameter saved in drive EEPROM when the

user initiates a parameter save.

Power-down save: parameter automatically saved in drive

EEPROM when the under volts (UV) trip occurs or when the user initiates a parameter save.

Description

PC comms

protocol

Building automation

network

Performance RFC mode

22 Affinity Advanced User Guide

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Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

5.2 Feature look-up table

Feature Parameter number (Pr)

Acceleration rates 2.10 2.11 to 2.19 2.32 2.33 2.34 2.02 Analog speed reference 1 1.36 7.10 7.01 7.07 7.08 7.09 7.25 7.26 7.30 Analog speed reference 2 1.37 7.14 1.41 7.02 7.11 7.12 7.13 7.28 7.31 Analog I/O Menu 7 Analog input 1 7.01 7.07 7.08 7.09 7.10 7.25 7.26 7.30 Analog input 2 7.02 7.11 7.12 7.13 7.14 7.28 7.31 Analog input 3 7.03 7.15 7.16 7.17 7.18 7.29 7.32 Analog output 1 7.19 7.20 7.21 7.33 Analog output 2 7.22 7.23 7.24 Application menu Menu 18 Menu 19 Menu 20 At speed indicator bit 3.06 3.07 3.09 10.06 10.05 10.07 Auto reset 10.34 10.35 10.36 10.01 Autotune 5.12 5.17 5.23 5.24 5.25 5.10 5.29 5.30 Binary sum 9.29 9.30 9.31 9.32 9.33 9.34 Bipolar speed 1.10 Brake control 12.40 to 12.48 Braking 10.11 10.10 10.30 10.31 6.01 2.04 2.02 10.12 10.39 10.40 Building Automation Network Menu 17 Catch a spinning motor 6.09 Cloning 11.42 11.36 to 11.40 Coast to stop 6.01 Comms 11.23 to 11.26 Cost - per kWh electricity 6.24 6.25 6.26 6.27 6.28 Current controller 4.13 4.14 Current feedback 4.01 4.02 4.17 4.04 4.12 4.20 4.23 4.24 4.26 10.08 10.09 10.17 Current limits 4.05 4.06 4.07 4.18 4.15 4.19 4.16 5.07 5.10 10.08 10.09 10.17 DC bus voltage 5.05 2.08 dc injection braking 6.06 6.07 6.01 Deceleration rates 2.20 2.21 to 2.29 2.04 2.35 to 2.37 2.02 2.08 6.01 10.30 10.31 10.39 Defaults 11.43 11.46 Digital I/O Menu 8 Digital I/O read word 8.20 Digital I/O T24 8.01 8.11 8.21 8.31 Digital I/O T25 8.02 8.12 8.22 8.32 Digital I/O T26 8.03 8.13 8.23 8.33 Digital input T27 8.04 8.14 8.24 Digital input T28 8.05 8.15 8.25 8.39 Digital input T29 8.06 8.16 8.26 8.39 Digital output T22 8.08 8.18 8.28 Direction 10.13 6.30 6.31 1.03 10.14 2.01 3.02 8.03 8.04 10.40 Display timeout 11.41 Drive active 10.02 10.40 Drive current scaling 5.07 11.32 Drive derivative 11.28 Drive OK 10.01 8.27 8.07 8.17 10.36 10.40 Dynamic performance 5.26 Dynamic V/F 5.13 Enable 6.15 8.09 8.10 External trip 10.32 8.10 8.07 Fan speed 6.45 Fast disable 6.29 Filter change 6.21 6.22 Fire mode 1.53 1.54 Frequency reference selection 1.14 1.15 Hard speed reference 3.22 3.23 High stability space vector modulation I/O sequencer 6.04 6.30 6.31 6.32 6.33 6.34 6.42 6.43 6.41 Inertia compensation 2.38 5.12 4.22 3.18 Jog reference 1.05 2.19 2.29 Keypad operating mode 1.52 Keypad reference 1.17 1.14 1.43 1.51 6.12 6.13 Kt 5.32

5.19

Affinity Advanced User Guide 23 Issue Number: 3

Parameter

structure

Keypad and

display

Parameter x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Feature Parameter number (Pr)

Limit switches 6.35 6.36 Line power supply loss 6.03 10.15 10.16 5.05 Logic function 1 9.01 9.04 9.05 9.06 9.07 9.08 9.09 9.10 Logic function 2 9.02 9.14 9.15 9.16 9.17 9.18 9.19 9.20 Low load detection 4.20 4.27 4.28 4.20 10.6 Low voltage supply 6.44 6.46 Maximum speed 1.06 Menu 0 set up 11.01 to 11.22 Menu 22 Minimum speed 1.07 10.04 Modules - number of 11.35 Motor map 5.06 5.07 5.08 5.09 5.10 5.11 Motor map 2 Menu 21 11.45 Motor pre-heat 6.08 6.52 Motorized potentiometer 9.21 9.22 9.23 9.24 9.25 9.26 9.27 9.28 Offset speed reference 1.04 1.38 1.09 Onboard PLC 11.47 to 11.51 Open collector digital outputs 8.30 Open loop vector mode 5.14 5.17 5.23 Operating mode 0.48 11.31 Output 5.01 5.02 5.03 5.04 Overspeed threshold 3.08 PID controller Menu 14 Positive logic 8.29 Power up parameter 11.22 11.21 Precision reference 1.18 1.19 1.20 1.44 Preset speeds 1.15 1.21 to 1.28 1.16 1.14 1.42 1.45 to 1.48 1.50 Programmable logic Menu 9 Quasi square operation 5.20 Ramp (accel / decel) mode 2.04 2.08 6.01 2.02 2.03 10.30 10.31 10.39 Real time clock 6.16 6.17 6.18 6.19 6.20 Regenerating 10.10 10.11 10.30 10.31 6.01 2.04 2.02 10.12 10.39 10.40 Relay output 8.07 8.17 8.27 Reset 10.33 8.02 8.22 10.34 10.35 10.36 10.01 RFC mode 3.24 3.42 4.12 5.40 S ramp 2.06 2.07 Sample rates 5.18 Security code 11.30 11.44 Serial comms 11.23 to 11.26 Skip speeds 1.29 1.30 1.31 1.32 1.33 1.34 1.35 Sleep mode 6.53 6.54 Slip compensation 5.27 5.08 SMARTCARD 11.36 to 11.40 11.42 Software version 11.29 11.34 Speed controller 3.10 to 3.17 3.19 3.20 3.21 Speed feedback 3.02 3.03 3.04 Speed reference selection 1.14 1.15 1.49 1.50 1.01 Status word 10.40 Supply 6.44 5.05 6.46 Switching frequency 5.18 5.35 7.34 7.35 Thermal protection - drive 5.18 5.35 7.04 7.05 7.06 7.32 7.35 10.18 Thermal protection - motor 4.15 5.07 4.19 4.16 4.25 7.15 Thermistor input 7.15 7.03 Threshold detector 1 12.01 12.03 to 12.07 Threshold detector 2 12.02 12.23 to 12.27 Time - filter change 6.21 6.22 Time - powered up log 6.16 6.17 6.19 6.20 Time - run log 6.16 6.17 6.19 6.20 Timer functions 9.35 to 9.53 Torque 4.03 4.26 5.32 Torque mode 4.08 4.11 4.09 4.10 Trip detection 10.37 10.38 10.20 to 10.29 Trip log 10.20 to 10.29 10.41 to 10.60 6.28 6.49 Under voltage 5.05 10.16 10.15 V/F mode 5.15 5.14 Variable selector 1 12.08 to 12.15

Performance RFC mode

24 Affinity Advanced User Guide

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Parameter

description format

Advanced parameter

descriptions

Feature Parameter number (Pr)

Variable selector 2 12.28 to 12.35 Voltage controller 5.31 Voltage mode 5.14 5.17 5.23 5.15 Voltage rating 11.33 5.09 5.05 Voltage supply 6.44 6.46 5.05 Warning 10.19 10.12 10.17 10.18 10.40 Zero speed indicator bit 3.05 10.03

PC comms

protocol

Building automation

network

Performance RFC mode

Affinity Advanced User Guide 25 Issue Number: 3

Menu 1

Preset reference

*selector

Preset reference scan time

Keypad

Reference

Precision reference

Precision-reference update disable

Analog reference 1

Analog reference 2

Analog reference 2 select

Preset reference select bits 1 ~ 3

Preset reference Scan-timer reset

Analog input 1

Analog input 2

Memory

Menu 7

1.37

1.41

1.16

1.48

1.15

1.17

1.20

1.18

Precision reference trim

1.19

Preset

reference

select

Keypad

reference

select

Precision

reference

select

LOCAL/REMOTE

Menu 8

Level

reference

selected

Reference

offset

Reference

offset mode select

Reference

*selector

Reference

selected

indicator

1.49

1.14

1.09

1.04

Reference

percentage

trim

1.38

1.01

Analog reference

Preset reference

Keypad reference

Precision reference

0.XX

Key

Read-write

(RW)

parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all show n in their default settings

1.51

Power-up keypad control mode reference

1.20

Preset reference selected

indicator

Preset references 1 to 8

1.21 ~ 1.28

Scan timer

1.47

1.46

1.45

1.44

1.43

1.42

Pr set to greater than 1

1.50

Pr 1.49

1 1 2 2 3 4 5

Pr 1.50

x x x

Reference being used

1.50

Analog reference 1

Preset reference defined by Pr

Analog reference 2

Preset reference defined by Pr

Keypad reference Precision reference

Preset reference defined by Pr

1.50

1.36

Set to 4 when

Hand/Off selected

Set to value in

Pr on transition from Auto to Hand

1.03

Sleep mode

active

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

5.3 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 the drive operates in RFC mode a speed reference is produced.

Figure 5-1 Menu 1 logic diagram

*Refer to Pr 1.14 on page 31.

26 Affinity Advanced User Guide

Issue Number: 3

Parameter

Bipolar reference

select

1.10

Pre-filter

reference

Pre-ramp reference

Maximum freq./speed "clamp"

Minimum freq./speed "clamp" (Maximum reverse freq./speed)

Negative minimum speed

select

Reference enabled

indicator

Reverse selected

indicator

Skip freq./ speed 1

Reference in skip freq./speed band indicator

1.12

x(-1)

1.08

[1.06]

[1.07]

[1.06]

[1.07]

1.06

1.07

1.11

Sequencer (Menu 6)

1.02

1.03

Skip

freq./

speed 2

Skip

freq./

speed 3

Skip freq./

speed band 1

Skip freq./

speed band 2

Skip freq./

speed band 3

1.29

1.30

1.31

1.32

1.33

1.34

1.35

Menu 8

RUN FORWARD

1.53

Fire mode

reference

FIRE MODE

ACTIVE

1.54

Fire mode

activate

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 1

Affinity Advanced User Guide 27 Issue Number: 3

Menu 1

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

1.01 Frequency/speed reference selected

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11111

Range Open-loop, RFC ±SPEED_FREQ_MAX Hz/rpm

Update rate 4ms write

1.02 Pre-skip filter reference

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11111

Range Open-loop, RFC, RFC ±SPEED_FREQ_MAX Hz/rpm

Update rate 4ms write

1.03 Pre-ramp reference

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11111

Range Open-loop, RFC ±SPEED_FREQ_MAX Hz/rpm

Update rate 4ms write

PC comms

protocol

Building automation

network

Performance RFC mode

1.04 Reference offset

Drive modes Open-loop, RFC

Coding

Range

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Open-loop RFC

±3,000.0 Hz ±40,000.0 rpm

Default Open-loop, RFC 0

Update rate

Background read when precision reference is active 4ms write otherwise

See Pr 1.09 on page 30.

1.05 Jog reference

Drive modes Open-loop, RFC

Coding

Range

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Open-loop RFC

0 to 400.0 Hz 0 to 4,000.0 rpm

Default Open-loop, RFC 0.0

Update rate 4ms read

Reference used for jogging. See section 5.8 Menu 6: Sequencer and clock on page 95 for details on when the jog mode can be activated.

28 Affinity Advanced User Guide

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structure

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display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 1

1.06

Maximum reference clamp

Drive modes Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Coding

1 111

RFC: VM = 1

Range

Default

Second motor parameter

Open-loop RFC

Open-loop, RFC 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

Update rate Background read

See below.

1.07 Minimum reference clamp

Drive modes Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Coding

1111

RFC: VM = 1

Range

Open-loop RFC

±3,000.0 Hz* ±SPEED_LIMIT_MAX rpm*

Default Open-loop, RFC 0.0

Second motor parameter

Open-loop, RFC 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 RFC

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, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 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)

Affinity Advanced User Guide 29 Issue Number: 3

Menu 1

1.07

Pr =0 (

1.10

unipolar mode)

Pr =0 (

1.08

neg min ref disabled)

-100% 100%

SPEED_FREQ_MAX

-100% 100%

-SPEED_FREQ_MAX

SPEED_FREQ_MAX

-100% 100%

-SPEED_FREQ_MAX

Pr =1 (bipolar mode)

1.10

Pr =0 (

1.08

neg min ref disabled)

-100% 100%

SPEED_FREQ_MAX

Pr =0 (

1.10

unipolar mode)

Pr =1 (

1.08

neg min ref enabled)

Pr =1 (bipolar mode)

1.10

Pr =1 (

1.08

neg min ref enabled)

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

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.

Reference limits

With reference to the block diagram for Menu 1 (Figure 5-1 on page 26) the following table shows the limits applied to the reference by various 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, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 0

Update rate

When this parameter is 0 the reference is given by

Pr 1.01 = selected reference x (100 + Pr 1.38) / 100

Background read when precision reference is active 4ms read otherwise

and when this parameter is 1 the reference is given by

Pr 1.01 = selected reference + Pr 1.04

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Performance RFC mode

Menu 1

1.10 Bipolar reference enable

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 0

Update rate 4ms read

See Pr 1.08 on page 29.

1.11 Reference enabled indicator

1.12 Reverse selected indicator

1.13 Jog selected indicator

Drive modes Open-loop, RFC

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. Pr 1.11 will be active if a run command is given, the drive is enabled and the drive is healthy/ok. This parameter can be used as an interlock in an Onboard PLC program to show that the drive is able to respond to a speed or torque demand.

1.14 Reference selector

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range Open-loop, RFC 0 to 5

Default Open-loop, RFC 0 (A1.A2)

Second motor parameter

Open-loop, RFC 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.

Affinity Advanced User Guide 31 Issue Number: 3

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Performance RFC mode

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

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, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range Open-loop, RFC 0 to 9

Default Open-loop, RFC 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)

32 Affinity Advanced User Guide

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Performance RFC mode

Menu 1

1.16 Preset reference selector timer

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range Open-loop, RFC 0 to 400.0 s

Default Open-loop, RFC 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.

1.17 Keypad control mode reference

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 1 1 1

Range Open-loop, RFC ±SPEED_FREQ_MAX Hz/rpm

Default Open-loop, RFC 0.0

Update rate 4ms read

The drive can be controlled from the keypad if Pr 1.14 is set to 4.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 down, the rate of change of keypad reference increases with time. The units used for displaying the keypad reference for different modes are given below.

Mode Unit

Open loop Hz

RFC rpm

See also Pr 1.51 on page 36 (Power-up keypad control mode reference).

1.18 Precision reference coarse

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 11

Range Open-loop, RFC ±SPEED_FREQ_MAX Hz/rpm

Default Open-loop, RFC 0.0

Update rate Background read

See below.

1.19 Precision reference fine

Drive modes Open-loop, RFC

Coding

Range

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

3111

Open-loop RFC

0.000 to 0.099 Hz

0.000 to 0.099 rpm

Default Open-loop, RFC 0.000

Update rate Background read

Open loop

The frequency reference resolution is restricted to 0.1Hz from normal parameters, however the resolution can be improved by using the precision reference. Pr 1.18 defines the coarse part of reference (either positive or negative) with a resolution of 0.1Hz and Pr 1.19 defines the fine part of the reference (always positive) with a resolution of 0.001Hz. The final reference is given by Pr 1.18 + Pr 1.19. Therefore Pr 1.19 increases positive references away from zero, and decreases negative references towards zero.

RFC

As with open-loop a higher resolution speed reference can be programmed by selecting these parameters. In this case the speed will have a resolution of 0.001 rpm.

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Performance RFC mode

1.20 Precision reference update disable

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 0

Update rate Background read

When this bit is 0, the precision reference parameters are read and stored in internal memory. Because the precision reference has to be set in two parameters, this bit is provided to prevent the drive reading the parameters while the reference is being updated. Instead, the drive uses the value stored in memory preventing the possibility of data skew.

1.21 Preset reference 1

1.22 Preset reference 2

1.23 Preset reference 3

1.24 Preset reference 4

1.25 Preset reference 5

1.26 Preset reference 6

1.27 Preset reference 7

1.28 Preset reference 8

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 11

Range Open-loop, RFC ±SPEED_FREQ_MAX Hz/rpm

Default Open-loop, RFC 0.0

Update rate 4ms read

1.29 Skip reference 1

1.31 Skip reference 2

1.33 Skip reference 3

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

RFC: DP = 0

Range

Default

Open-loop RFC

Update rate Background read

See below.

1.30 Skip reference band 1

1.32 Skip reference band 2

1.34 Skip reference band 3

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

RFC: DP = 0

Range

Default

Open-loop RFC

Update rate Background read

1111

0.0 to 3,000.0 Hz 0 to 40,000 rpm

0.0 0

1111

0.0 to 25.0 Hz 0 to 250 rpm

0.5 5

34 Affinity Advanced User Guide

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Performance RFC mode

Menu 1

Three skip references are available to prevent continuous operation at a speed which would cause mechanical resonance. When a skip reference parameter is set to 0 that filter is disabled. The skip reference band parameters define the frequency or speed range either side of the programmed skip reference over which references are rejected. The actual reject band is therefore twice that programmed in these parameters, with the skip reference parameters defining the centre of the band. When the selected reference is within a band, the lower limit of the band is passed through to the ramps such that reference is always less than demanded.

1.35 Reference in rejection zone

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 111

Update rate 4ms write

This parameter indicates that the selected reference is within one of the skip reference zones such that the motor speed is not as demanded.

1.36 Analog reference 1

1.37 Analog reference 2

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111 1

Range Open-loop, RFC ±SPEED_FREQ_MAX Hz/rpm

Default Open-loop, RFC 0

Update rate 4ms write

Although most parameters can be controlled from analog inputs, these two parameters are a special case in that if an analog input is directed to one of these parameters, the scan rate of that analog input is increased to 250s as long as:

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.

These are special parameters when a non-bit type quantity uses these parameters as a destination (not just from analog inputs). The scaling and limiting applied is as described with Pr 1.08 on page 29.

1.38 Percentage trim

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

21 1

Range Open-loop, RFC ±100.00 %

Default Open-loop, RFC 0.00

Update rate 4ms read

See Pr 1.09 on page 30.

1.41 Analog reference 2 select

1.42 Preset reference select

1.43 Keypad reference select

1.44 Precision reference select

1.45 Preset reference 1 select

1.46 Preset reference 2 select

1.47 Preset reference 3 select

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 0

Update rate 4ms read

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Performance RFC mode

Pr 1.41 to Pr 1.44 control Pr 1.49. The priority order is Pr 1.44 (highest), Pr 1.43, Pr 1.42, Pr 1.41 (lowest). If more than one parameter is active, the highest priority takes precedence.

Pr 1.41 = 1 forces Pr 1.49 = 2 (see table in Pr 1.14 on page 31 and Pr 1.15 on page 32) Pr 1.42 = 1 forces Pr 1.49 = 3 (always selects preset references) Pr 1.43 = 1 forces Pr 1.49 = 4 (always selects keypad control mode) Pr 1.44 = 1 forces Pr 1.49 = 5 (always selects precision reference)

Pr 1.45 to Pr 1.47 control Pr 1.50.

Pr 1.45 controls Pr 1.50 bit 0* Pr 1.46 controls Pr 1.50 bit 1* Pr 1.47 controls Pr 1.50 bit 2*

*See the description with Pr 1.14 and Pr 1.15 on page 32 for more information.

1.48 Reference timer reset flag

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 0

Update rate Background read

When this flag is set, the preset timer for auto preset timer mode (Pr 01.15 = 9) is reset and preset 1 is selected. This can be used to start a new sequence of reference selection by a programmable input terminal or function. When this bit is zero the preset selection will follow the timer even when the drive is disabled.

1.49 Reference selected indicator

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111 1

Range Open-loop, RFC 1 to 5

Update rate 4ms write

Indicates the reference currently selected.

1.50 Preset reference selected indicator

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111 1

Range Open-loop, RFC 1 to 8

Update rate 4ms write

Indicates the preset reference currently being selected.

1.51 Power-up keypad control mode reference

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range Open-loop, RFC 0 to 2

Default Open-loop, RFC 0

Update rate N/A

Selects the value of the keypad control mode (Pr 1.17) at power-up as follows:

0 rESEt zero

1 LASt last value used before power-down

2 PrS1 Preset 1, Pr 1.21, before power-down

36 Affinity Advanced User Guide

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Performance RFC mode

5.3.1 Hand / Off / Auto

1.52 Enable hand/off/auto keypad operating mode

Drive modes Open-loop, RFC

Coding

Range Open-loop, RFC 0 to 3

Default Open-loop, RFC 1

Update rate Background read

Hand / Off / Auto functions are enabled if Pr 1.52 is set to a non-zero value, otherwise the keypad buttons are allocated as follows:

• Blue - Forward/Reverse

• Green - Run

• Red - Reset

When Hand / Off / Auto functions are enabled (Pr 1.52 set to either 1, 2 or 3), then the keypad buttons will be allocated as follows:

• Blue - Auto

• Green - Hand

• Red - Off/Reset

The value in Pr 1.52 selects Hand/Off/Auto mode on power-up as shown in Table 5-3.

Table 5-3 Hand/Off/Auto mode

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Menu 1

Pr 1.52 Power up

0 Hand/Off/Auto disabled

1 Auto Mode

2 Off Mode

3 See table Table 5-4

Table 5-4 Power-up modes if Pr 1.52 = 3

Power-down Power-up

Hand Off

Off Off

Auto Auto

Auto

In Auto mode, the reference for the motor speed/frequency will be selected by the value set in Pr 0.05.

Hand

The speed/frequency reference Pr 0.05 is automatically set to keypad reference. The motor speed is determined by the value in the keypad control mode reference Pr 1.17, which can be adjusted by pressing the Up/Down arrows on the keypad.

When Hand is selected from Auto, Pr 1.17 will be set to the value of the Pre-ramp reference (Pr 1.03) on mode transition, so the current motor speed is maintained.

If Hand mode is selected from Off mode, the motor will ramp up to the speed determined by the value in Pr 1.17.

Off

In Off mode, the motor will be stopped. The speed/frequency reference (Pr 0.05) is automatically set to keypad reference, allowing the value in the

keypad control mode reference (Pr 1.17) to be modified by pressing the Up/Down arrow keys. If Hand mode is then subsequently selected, the motor will ramp up to the speed determined by the value in Pr 1.17.

1.53 Fire mode reference

Drive modes Open-loop, RFC

Coding

Range Open-loop, RFC

Default

Update rate Background read

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 1 11

-SPEED_FREQ_MAX to +SPEED_FREQ_MAX Hz/rpm

Open-loop RFC

0.0Hz

0.0rpm

Affinity Advanced User Guide 37 Issue Number: 3

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CAUTION

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Performance RFC mode

1.54 Fire mode activate

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Default Open-loop, RFC 0

Update rate Background read

Emergency ventilation or fire mode allows for the purging of air from a structure during a fire. It is enabled if Pr 1.53 is set to a non zero value and activated when Pr 1.54 is set to one. When activated, the pre-ramp reference (Pr 1.03) is set to the value of Pr 1.53 and the normal drive controls are overridden as follows:

1. Drive enable is only controlled by the Enable input (Pr 6.15). The control word (Pr 6.43) cannot be used to disable the drive.

2. The internal run command is forced to be active. The normal drive sequencing bits (Pr 6.30 to Pr 6.34) and the control word have no effect.

3. The limit switch functions (Pr 6.35 and Pr 6.36) have no effect and will not stop the motor.

4. The hard speed reference is forced to zero. The hard speed reference should not be used when fire mode is likely to be activated as this will cause an abrupt change of speed.

5. The hand/off/auto function is disabled. If this system is in the hand state when fire mode is activated it will be forced to the off state, in order that the hand state is not active when fire mode is de-activated.

6. Keypad mode is disabled.

7. All latching mode states are reset.

If the fire mode activate parameter is subsequently set to zero the drive returns to normal operation. The fire mode activate parameter does not have the RW attribute set, and so it must be controlled from a digital input. This prevents fire mode from being enabled via the keypad, serial comms or a correctly functioning Solutions Modules.

If the drive is in the tripped state when fire mode is activated, the trip is reset and thereafter only the trips listed in the table below can be initiated while fire mode is active.

Trip

number

String Cause of trip

2 OU DC bus over-voltage

3 OI.AC AC instantaneous over-current

4 OI.br Braking resistor instantaneous over current

5 PS Drive power supply fault

8 PS.10V 10V user power supply overload

9 PS.24V 24V internal power supply overload

21 O.ht1 Power device over temperature based on thermal model

31 EEF EEProm failure

36 SAVE.Er User parameter save error

37 PSAVE.Er Power down save parameter error

103 OIbr.P Power module braking IGBT over current

104 OIAC.P Power module over current detected from the module output currents

105 Oht2.P Power module heatsink over temperature

106 OU.P Power module DC bus over-voltage

107 Ph.P Power module phase loss detection

108 PS.P Power module power supply fail

109 OIdc.P Power module over current detected from on state voltage monitoring

110 Unid.P Power module unidentified trip

200 SL1.HF Slot 1 Solutions Module failure

205 SL2.HF Slot 2 Solutions Module failure

210 SL3.HF Slot 3 Solutions Module failure

217 to 232 HF17 to HF32 Hardware faults

Most of the trips included in the table are initiated in hardware and cannot be prevented in fire mode. These can be reset using the auto-reset function. The number of reset attempts can be set to a value from 1 to 5, or set to infinite attempts - see Pr 10.34, Number of auto-reset attempts on page 155 for details.

SLx.HF trips are allowed because these provide a watchdog function for most Solutions Modules and cannot be reset. HF17 to HF32 are hardware related faults that will prevent the drive from operating and cannot be reset. EEF, SAVE.Er and PSAVe.Er indicate that the parameter data taken from EEPROM is incorrect at power-up, and so the drive cannot run.

It is possible for the drive to become damaged when operating in fire mode because some of the drive thermal protection trips are disabled.

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Menu 2

Affinity Advanced User Guide 39 Issue Number: 3

Menu 2

0 0 0

0 0 1

0 1 0

0 1 1

1 0 0

1 0 1

1 1 0

1 1 1

Acceleration rate select bits

2.11

Acceleration rate 1

2.12

Acceleration rate 2

2.13

Acceleration rate 3

2.14

Acceleration rate 4

2.15

Acceleration rate 5

2.16

Acceleration rate 6

2.17

Acceleration rate 7

2.18

Acceleration rate 8

Acceleration rates 1 ~ 8

1.50

Preset reference selected indicator

2.19

Jog acceleratio n

rate

1.13

Jog selected

indicator

1.03

Pre-ramp speed

reference

2.03

Ramp hold

2.04

Ramp mode

select*

NtN

Acceleration

Reverse accel. rate

Forward accel. rate

Ramp control

2.10

Acceleration

rate selector

2.34

2.32

2.33

2.32

0.XX

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown at their default settings

Parameter

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Parameter

x.00

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Performance RFC mode

5.4 Menu 2: Ramps

The pre-ramp frequency or speed reference passes through the ramp block controlled by menu 2 before being used by the drive to produce the basic output frequency (Open-loop modes), or as an input to the speed controller (RFC mode). The ramp block includes: linear ramps, an S ramp function for ramped acceleration and deceleration, deceleration ramp control to prevent rises in the DC bus voltage within the drive that would cause an overvoltage trip if no braking resistor is installed.

Figure 5-2 Menu 2 logic diagram

40 Affinity Advanced User Guide

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Parameter

2.06

S-Ramp enable**

2.07

S-Ramp acceleration

limit

2.08

Standard ramp voltage*

Ramp control

Deceleration

Forward Decel. rate

Reverse Decel. rate

2.01

Post-ramp

reference

2.02

Ramp

(RFC only)

enable

Current control Menu 4

(Open-loop only)

Deceleration rate select bits

2.21

Deceleration rate 1

2.22

Deceleration rate 2

2.23

Deceleration rate 3

2.24

Deceleration rate 4

2.25

Deceleration rate 5

2.26

Deceleration rate 6

2.27

Deceleration rate 7

2.28

Deceleration rate 8

Deceleration rates 1 ~ 8

785

2.37

1.50

Preset reference

selected indicator

2.29

Jog deceleration

rate

1.13

Jog selected

indicator

2.38

Inertia compensation

torque

(RFC only)

d/dt

2.20

Deceleration rate selector

2.36

2.35

Ramps always enabled

in Open-loop

structure

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Performance RFC mode

Menu 2

* For more information refer to Pr 2.04 on page 42.

** For more information refer to Pr 2.06 on page 43.

Affinity Advanced User Guide 41 Issue Number: 3

Menu 2

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structure

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Parameter

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descriptions

2.01 Post ramp reference

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11111

Range Open-loop, RFC ±SPEED_FREQ_MAX Hz/rpm

Update rate 4ms write

2.02 Ramp enable

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Default RFC 1

Update rate 4ms read

2.03 Ramp hold

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 0

Update rate 4ms read

PC comms

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Performance RFC mode

If this bit is set the ramp will be held. If S ramp is enabled the acceleration will ramp towards zero causing the ramp output to curve towards a constant speed.

2.04 Ramp mode select

Drive modes Open-loop, RFC

Coding

Range

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Open-loop RFC

0 to 2 0 to 1

Default Open-loop, RFC 1

Update rate 4ms read

This parameter does not affect the acceleration ramp, and the ramp output always rises at the programmed acceleration rate subject to the current limits. It is possible under some unusual circumstances in open-loop mode (i.e. with highly inductive supplies), for the motor to reach a low speed in standard ramp mode, but not completely stop. It is also possible if the drive attempts to stop the motor with an overhauling load in any mode, that the motor will not stop when standard ramp mode or fast ramp mode is used.

If the drive is in the deceleration state, the rate of fall of the frequency or speed is monitored. If this does not fall for 10 seconds, the drive forces the frequency or the speed reference to zero. This only applies when the drive is in the deceleration state, and not when the reference is simply set to zero. If the speed or frequency reference is set to zero with an overhauling or very high inertia load, then the drive may not decelerate.

0: Fast ramp

Fast ramp is used where the deceleration follows the programmed deceleration rate subject to current limits.

1: Standard ramp

Standard ramp is used during deceleration if the voltage rises to the standard ramp level (Pr 2.08). It causes a controller to operate, the output of which changes the demanded load current in the motor. As the controller regulates the DC bus voltage, the motor deceleration increases as the speed approaches zero speed. When the motor deceleration rate reaches the programmed deceleration rate, the controller ceases to operate and the drive continues to decelerate at the programmed rate.

If the standard ramp voltage (Pr 2.08) is set lower than the nominal DC bus level, the drive will not decelerate the motor, but it will coast to a rest. The output of the ramp controller (when active) is a current demand that is fed to the frequency changing current controller (Open-loop mode) or the torque producing current controller (RFC mode). The gain of these controllers can be modified with Pr 4.13 and Pr 4.14.

42 Affinity Advanced User Guide

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Parameter

DC Bus voltage

Motor Speed

Programmed deceleration

rate

Controller operational

structure

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Performance RFC mode

Menu 2

2: Standard ramp with motor voltage boost

This mode is the same as normal standard ramp mode except that the motor voltage is boosted by 20%. This increases the losses in the motor giving faster deceleration.

2.06 S ramp enable

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 0

Update rate 4ms read

Setting this parameter enables the S ramp function. S ramp is disabled during deceleration when the standard ramp voltage controller is active. When the motor is accelerated again after decelerating in standard ramp mode, the acceleration ramp used by the S ramp function is reset to zero.

2.07 S ramp acceleration limit

Drive modes Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Coding

1111

RFC: DP = 3

Range

Default

Open-loop RFC

0.0 to 300.0 s

0.000 to 100.000 s

3.1

1.500

/100Hz

/1,000rpm

Update rate Background read

This parameter defines the maximum rate of change of acceleration/deceleration. If the S ramp is disabled (Pr 2.06 = 0) a linear ramp is used and the time in seconds taken for the ramp output to change by frequency (f*) or speed (w*) is given by:

Frequency (Open-loop mode)

f* x A / 100

Ramp =

where A is the selected ramp rate in s / 100Hz

Speed (RFC)

w* x A / 100

Ramp =

Where A is the selected ramp rate in s / 1000rpm

If the S ramp is enabled (Pr 2.06 = 1) then the ramp time is extended as shown in the diagram below.

Affinity Advanced User Guide 43 Issue Number: 3

Menu 2

Acceleration Actual Speed

Programmed ramp rate

T/2 T/2 T/2T/2

S ramp acceleration ramp

Demanded Speed

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

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Performance RFC mode

The time taken in seconds for the ramp output to change by frequency (f*) or speed (w*) is given below. Two cases are given because the total ramp time must be calculated with a different equation depending on whether the acceleration is able to reach the selected ramp rate (A) or not. If the required change is small the selected ramp rate is not reached and the ramp does not include the central linear ramp region. If the required change is larger, the ramp does include the central linear region as shown in the diagram above.

Frequency (Open-loop mode)

f*

= 100 x J / A

linear

where:

A is the selected ramp rate in s / 100Hz

J is parameter Pr 2.07, the S ramp acceleration limit in s If the required change is less than f*

= 2  (f* x J / 100)

Ramp1

= (f* x A / 100) + (J / A)

Ramp2

/ 100Hz

linear

then T

should be used, but if the speed change is greater or equal to f*

Ramp1

linear TRamp2

should be used.

Speed (RFC)

w*

= 1000 x J / A

linear

where:

A is the selected ramp rate in s / 1000rpm

J is Pr 2.07, the S ramp acceleration limit in s If the required change is less than w*

used.

= 2  (w* x J / 1000)

Ramp1

= (w* x A / 1000) + (J / A)

Ramp2

The default values for the ramp rate and S ramp acceleration limit have been chosen such that for the default maximum speed the curved parts of the S ramp are 25% of the original ramp if S ramp is enabled. Therefore the ramp time is increased by a factor of 1.5.

/ 1000rpm

linear

then T

should be used, but if the speed change is greater or equal to w*

Ramp1

linear

Ramp1

should be

2.08 Standard ramp voltage

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 111

Range Open-loop, RFC 0 to dc _VOLTAGE_SET_MAX V

200V rating drive: 375

Default Open-loop, RFC

400V rating drive: EUR: 750 / USA: 775 575V rating drive: 895 690V rating drive: 1,075

Update rate Background read

This voltage is used as the control level for standard ramp mode. If this parameter is set too low, the machine will coast to a rest, and if it is set too high and no braking resistor is used, the drive may indicate an OU trip. The minimum level should be greater than the voltage produced on the DC bus by the highest supply voltage. Normally the DC bus voltage will be approximately the rms supply line voltage x 2.

44 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 2

2.09 Deceleration failure detection

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC OFF (0)

Update rate Background read

Deceleration failure detection is provided to force the drive to change from the decelerating state to the appropriate stop state if the motor frequency or speed is held at a constant level for 10s or more when the standard ramp voltage controller is active. When the drive is connected to a highly inductive supply, it is possible for the d.c. link voltage to rise as the motor frequency/speed falls. This rise in d.c. link voltage causes the standard ramp d.c. link voltage controller to prevent any further deceleration.

In some applications with very high inertia, the motor frequency/speed must fall very slowly or else the power fed into the d.c. link will cause an overvoltage trip. In these applications it may be necessary to disable the deceleration failure detection system by setting this parameter to 1.

2.10 Acceleration rate selector

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range Open-loop, RFC 0 to 9

Default Open-loop, RFC 0

Update rate 4ms read

The acceleration rate is selected as follows.

0 Ramp rate selection by terminal input 1 - 8 Ramp rate defined by parameter number, i.e. 1 = Pr 2.11, 2 = Pr 2.12, etc. 9 Ramp rate selection by Pr 1.50

When Pr 2.10 is set to 0, the acceleration ramp rate selected depends on the state of bit Pr 2.32 to Pr 2.34. These bits are for control by digital inputs such that ramp rates can be selected by external control. The ramp rate selected depends on the binary code generated by these bits as follows:

Pr 2.34 Pr 2.33 Pr 2.32 Ramp defined by

00 0 Pr 2.11

00 1 Pr 2.12

01 0 Pr 2.13

01 1 Pr 2.14

10 0 Pr 2.15

10 1 Pr 2.16

11 0 Pr 2.17

11 1 Pr 2.18

When Pr 2.10 is set to 9, the appropriate acceleration rate is automatically selected depending on the value of Pr 1.50, and so an acceleration rate can be programmed to operate with each reference. Since the new ramp rate is selected with the new reference, the acceleration applies towards the selected preset if the motor needs to accelerate to reach the preset.

Affinity Advanced User Guide 45 Issue Number: 3

Menu 2

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

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network

Performance RFC mode

2.11 Acceleration rate 1

2.12 Acceleration rate 2

2.13 Acceleration rate 3

2.14 Acceleration rate 4

2.15 Acceleration rate 5

2.16 Acceleration rate 6

2.17 Acceleration rate 7

2.18 Acceleration rate 8

Drive modes Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Coding

1111

RFC: DP = 3

Range

Default

Second motor parameter

Open-loop RFC

Open-loop, RFC Pr 21.04 for Pr 2.11 only

0.0 to 3,200.0 s/100Hz

0.000 to 3,200.000 s/1000rpm

EUR> 40.0, USA> 33.0 EUR> 13.333, USA> 11.111

Update rate 4ms read

RFC

If an acceleration rate is selected where the parameter is set to 0.000, the acceleration ramp is disabled and the reference changes instantly to its new value during acceleration.

Open-loop

If either an acceleration or deceleration rate is selected where the parameter is set to 0.0 in open-loop mode, the ramps are disabled for both acceleration and deceleration. This disables the voltage controller, used for standard ramp and mains loss ride through, and the frequency based current limits.

2.19 Jog acceleration rate

Drive modes Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Coding

1111

RFCL: DP = 3

Range

Default

Open-loop RFC

0.0 to 3200.0 s/100Hz

0.000 to 3200.000 s/1000rpm

0.2

0.000

Update rate Background read

The jog acceleration rate is only used when accelerating towards the jog reference and when changing the jog reference.

2.20 Deceleration rate selector

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range Open-loop, RFC 0 to 9

Default Open-loop, RFC 0

Update rate 4ms read

The acceleration rate is selected as follows:

0 Ramp rate selection by terminal input 1 - 8 Ramp rate defined by parameter number, i.e. 1 = Pr 2.21, 2 = Pr 2.22, etc. 9 Ramp rate selection by Pr 1.50

46 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

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network

Performance RFC mode

Menu 2

When Pr 2.20 is set to 0, the deceleration ramp rate selected depends on the state of bit Pr 2.35 to Pr 2.37. These bits are for control by digital inputs such that ramp rates can be selected by an external control. The ramp rate selected depends on the binary code generated by these bits as follows:

02.37 02.36 02.35 Ramp defined by

00 0 Pr 2.21

00 1 Pr 2.22

01 0 Pr 2.23

01 1 Pr 2.24

10 0 Pr 2.25

10 1 Pr 2.26

11 0 Pr 2.27

11 1 Pr 2.28

When Pr 2.20 is set to 9, the appropriate deceleration rate is automatically selected depending on the value of Pr 1.50, and so a deceleration rate can be programmed to operate with each reference. Since the new ramp rate is selected with the new reference, the deceleration applies towards the selected preset if the motor needs to decelerate to reach the preset.

2.21 Deceleration rate 1

2.22 Deceleration rate 2

2.23 Deceleration rate 3

2.24 Deceleration rate 4

2.25 Deceleration rate 5

2.26 Deceleration rate 6

2.27 Deceleration rate 7

2.28 Deceleration rate 8

Drive modes Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Coding

1111

RFC: DP = 3

Range

Default

Second motor parameter

Open-loop RFC

Open-loop, RFC Pr 21.05 for Pr 2.21 only

0.0 to 3,200.0 s/100Hz

0.000 to 3,200.000 s/1000rpm

EUR> 40.0, USA> 33.0 EUR> 13.333, USA> 11.111

Update rate 4ms read

RFC

If a deceleration rate is selected where the parameter is set to 0.000, the deceleration ramp is disabled and the reference changes instantly to its new value during deceleration.

Open-loop

If either an acceleration or deceleration rate is selected where the parameter is set to 0.0 in open-loop mode, the ramps are disabled for both acceleration and deceleration. This disables the voltage controller used for standard ramp and mains loss ride through, and the frequency based current limits.

2.29 Jog deceleration rate

Drive modes Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Coding

1111

RFC: DP = 3

Range

Default

Open-loop RFC

0.0 to 3,200.0 s/100Hz

0.000 to 3,200.000 s/1000rpm

0.2

0.000

Update rate Background read

The jog deceleration rate is only used when the drive is changing speed (when the jog reference has changed, or to stop from the jog reference. It is not used to go from the jog to the run state. This prevents the fast ramps normally used with jog from being used when changing between running and jogging.

Affinity Advanced User Guide 47 Issue Number: 3

Menu 2

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

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descriptions

PC comms

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Performance RFC mode

2.32 Acceleration select bit 0

2.33 Acceleration select bit 1

2.34 Acceleration select bit 2

2.35 Deceleration select bit 0

2.36 Deceleration select bit 1

2.37 Deceleration select bit 2

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Update rate 4ms read

These bits are provided for control by logic input terminals for external ramp selection (see Pr 2.10 and Pr 2.20).

2.38 Inertia compensation torque

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range RFC ±1,000.0 %

Update rate 4ms write

The motor and load inertia (Pr 3.18), motor torque per amp (Pr 5.32) and the rate of change of the ramp output (Pr 2.01), are used to produce a torque feed forward value that should accelerate or decelerate the load at the required rate. This value can be used as a feed forward term that is added to the speed controller output if Pr 4.22 is set to one. Pr 2.38 shows the torque value as a percentage of rated active current.

48 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 3

5.5 Menu 3: Speed feedback and speed control

Menu 3 relates to different functions depending on the drive mode selected as shown in the table below. The menus for some drive modes are significantly different, and therefore the complete menu is covered in different sections.

Drive mode section Menu 3 functions

Open-loop Frequency slaving

“Zero speed” and “at speed” detectors

RFC

Frequency/Speed accuracy and resolution

Digital reference resolution

When a preset frequency/speed is used the reference resolution is 0.1Hz or 0.1rpm. Improved resolution can be obtained by using the precision reference (0.001Hz or 0.001rpm).

Analog reference resolution

In Open-loop modes the frequency reference controlled by an analog input has a maximum resolution of 12 bits plus sign, but this is reduced if the window time constant/filter period for this input controller by Pr 7.26, is reduced below the default value of 4.0ms. The resolution of the frequency reference from analog inputs 2 or 3 is 10 bits plus sign.

In RFC mode the resolution from analog input 1 is better than 16 bits plus sign provided the speed reference is routed via Pr 1.36, Pr 1.37 or Pr 3.22 in high speed update mode. The resolution from analog inputs 2 or 3 is 10 bits plus sign.

Accuracy

The absolute frequency and speed accuracy depends on the accuracy of the crystal used with the drive microprocessor. The accuracy of the crystal is 100ppm, and so the absolute frequency/speed accuracy is 100ppm (0.01%) of the reference, when a preset speed is used. If an analog input is used the absolute accuracy is further limited by the absolute accuracy and non-linearity of the analog input.

Speed feedback, speed controller “Zero speed”, “at speed” and overspeed detectors

Affinity Advanced User Guide 49 Issue Number: 3

Menu 3

2.01

Post ramp reference

3.05

10.03

At zero speed

indicator

Zero speed threshold

1.07

10.04

At or below min. speed indicator

Minimum speed

Overspeed trip (O.SPd)

1.06

Max. frequency

3.06

10.05

Below at-speed window indicator

At speed lower limit

3.07

10.07

Above at-speed window indicator

At speed upper limit

10.06

At speed indicator

+20%

5.01

Motor frequency

Slip compensation Menu 5

0.XX

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

Menu 2

1.10

Bipolar reference

select

NOR

The parameters are all shown at their default settings

1.03

Pre ramp reference

3.09

Absolute at-speed detect mode

+0.5Hz

Open-loop

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter descriptions: Open-loop

Figure 5-3 Menu 3 Open-loop logic diagram

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

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network

Performance RFC mode

3.05 Zero speed threshold

Drive modes Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Coding

Range Open-loop 0.0 to 20.0 Hz

Default Open-loop 1.0

Update rate Background read

If the post ramp reference (Pr 2.01) is at or below the level defined by this parameter in either direction, the Zero speed flag (Pr 10.03) is 1, otherwise the flag is 0.

3.06 At speed lower limit

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range Open-loop 0.0 to 3,000.0 Hz

Default Open-loop 1.0

Update rate Background read

50 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

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display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

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Performance RFC mode

Menu 3

Open-loop

3.07 At speed upper limit

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range Open-loop 0.0 to 3,000.0 Hz

Default Open-loop 1.0

Update rate Background read

3.09 Absolute “at speed” select

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop 0

Update rate Background read

"At speed" flag (Pr 10.06) is set if the post-ramp reference (Pr 2.01) is on the boundaries or within the at speed window. Flags Pr 10.07 and Pr 10.05 are set if the reference is above or below the window respectively.

If Pr 3.09 = 0 reference window mode is used and the "at speed" condition is true if

(|Pr 1.03| - Pr 3.06)  |Pr 2.01|  (|Pr 1.03| + Pr 3.07)

(If the lower limit is less than zero then zero is used as the lower limit.)

If Pr 3.09 = 1 absolute window mode is used and the "at speed" condition is true if

Pr 3.06  |Pr 2.01|  Pr 3.07

The speed detector system also includes an overspeed trip in open-loop mode. The level cannot be set by the user, but the drive produces an overspeed trip if the final frequency (Pr 5.01) exceeds 1.2 x SPEED_FREQ_MAX.

Affinity Advanced User Guide 51 Issue Number: 3

Menu 3

3.03

Speed error

Speed loop gains

3.04

Speed controller output

Menu 4

Overspeed trip

(O.SPd)

1.06

Max reference clamp

3.06

10.05

Below at-speed

window indicator

At speed lower limit

3.07

10.07

Above at-speed

window indicator

At speed upper limit

10.06

At speed

indicator

NOR

3.05

10.03

At zero speed

indicator

Zero speed threshold

1.07

10.04

At or below min.

speed indicator

Minimum speed

1.10

Bipolar reference

select

+5min

-1

+20%

1.03

Pre ramp reference

3.09

Absolute at-speed

detect mode

Speed controller differential feedback gains

0.XX

Key

Read-write

(RW)

parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown at their default settings

3.08

Overspeed threshold

3.08

Speed controller

gain select

3.10

3.11

(Ki1)

(Kp1)

3.13

3.14

(Ki2)

(Kp2)

3.16

(Kd1)

(Kd2)

3.153.12

3.02

Speed feedback

2.01

Post-ramp reference

3.23

1.11

Hard speed reference

selector

Reference enabled indicator

3.01

Final speed reference

3.22

Hard speed reference

RFC sensorless speed feedback

calculator

3.42

Drive encoder filter

RFC

Parameter

structure

Keypad and

display

Parameter descriptions: RFC

Figure 5-4 Menu 3 RFC logic diagram

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

52 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

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display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

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network

Performance RFC mode

Menu 3

RFC

3.01 Final speed reference

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 11111

Range RFC ±SPEED_MAX rpm

Update rate 4ms write

This is the final speed demand at the input to the speed regulator formed by the sum of the ramp output and the hard speed reference (if the hard speed reference is enabled). If the drive is disabled this parameter will show 0.0.

3.02 Speed Feedback

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 11111

Range RFC ±SPEED_MAX rpm

Update rate 4ms write

The speed feedback is derived from the sensorless feedback calculation.

3.03 Speed error

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 11111

Range RFC ±SPEED_MAX rpm

Update rate 4ms write

The speed error is the difference between the final speed demand and the speed feedback in rpm. This does not include the effect of the D term in the speed controller feedback branch.

3.04 Speed controller output

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 11111

Range RFC ±TORQUE_PROD_CURRENT_MAX %

Update rate 4ms write

The output of the speed regulator is a torque demand given as a percentage of rated motor torque. This is then modified to account for changes in motor flux if field weakening is active, and then used as the torque producing current reference.

3.05 Zero speed threshold

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range RFC 0 to 200 rpm

Default RFC 5

Update rate Background read

If the speed feedback (Pr 3.02) is at or below the level defined by this parameter in either direction the Zero speed flag (Pr 10.03) is 1, otherwise the flag is 0.

3.06 At speed lower limit

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range RFC 0 to 40,000 rpm

Default RFC 50

Update rate Background read

Affinity Advanced User Guide 53 Issue Number: 3

Menu 3

RFC

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

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descriptions

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Performance RFC mode

3.07 At speed upper limit

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range RFC 0 to 40,000 rpm

Default RFC 50

Update rate Background read

"At speed" flag (Pr 10.06) is set if the speed feedback (Pr 3.02) is on the boundaries or within the at speed window. Flags Pr 10.07 and Pr 10.05 are set if the reference is above or below the window respectively.

If Pr 3.09 = 0 reference window mode is used and the "at speed" condition is true if

(|Pr 1.03| - Pr 3.06)  |Pr 3.02|  (|Pr 1.03| + Pr 3.07)

(If the lower limit is less than zero then zero is used as the lower limit.)

If Pr 3.09 = 1 absolute window mode is used and the "at speed" condition is true if

Pr 3.06  |Pr 3.02|  Pr 3.07

3.08 Overspeed threshold

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range RFC 0 to 40,0000 rpm

Default RFC 0

Update rate Background read

If the speed feedback (Pr 3.02) exceeds this level in either direction an overspeed trip is produced. If this parameter is set to zero the overspeed threshold is automatically set to 1.2 x SPEED_FREQ_MAX.

3.09 Absolute “at speed” detect

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default RFC 0

Update rate Background read

See Pr 3.06 and Pr 3.07 on page 54.

3.10

3.13

Speed controller proportional gain (Kp1)

Speed controller proportional gain (Kp2)

Drive modes RFC

Coding

Range RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

4111

0.0000 to 6.5335 (1/ rad s

Default RFC 0.0300

Second motor parameter

RFC Pr 21.17

Update rate Background read

-1

)

54 Affinity Advanced User Guide

Issue Number: 3

Parameter

Spee d reference (wr*)

Spee d feedback (wr)

To rq u e reference (Te*)

structure

Keypad and

display

Parameter

x.00

Parameter

description format

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descriptions

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Performance RFC mode

Menu 3

RFC

3.11

3.14

Speed controller integral gain (Ki1)

Speed controller integral gain (Ki2)

Drive modes RFC

Coding

Range RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

2 111

0.00 to 653.35 s/rad s

Default RFC 0.10

Second motor parameter

RFC Pr 21.18

Update rate Background read

3.12

3.15

Speed controller differential feedback gain (Kd1)

Speed controller differential feedback gain (Kd2)

Drive modes RFC

Coding

Range RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

5 111

0.00000 to 0.65335 s

Default RFC 0.00000

Second motor parameter

RFC Pr 21.19

Update rate Background read

-1

/rad s

-1

3.16

Speed controller gain select

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default RFC 0

Update rate 4ms read

The following diagram shows a generalized representation of the speed controller. The controller includes proportional (Kp) and integral (Ki) feedforward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains, and either set may be selected for use by the speed controller with Pr 3.16. If Pr 3.16 = 0, gains Kp1, Ki1 and Kd1 are used, if Pr 3.16 = 1, gains Kp2, Ki2 and Kd2 are used. Pr 3.16 may be changed when the drive is enabled or disabled.

Proportional gain (Kp)

If Kp has a value and Ki is set to zero the controller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load.

Affinity Advanced User Guide 55 Issue Number: 3

Menu 3

Ki 1/s

L(s)

w*(s) rads

-1

w(s)

Speed controller

Ki.Kd

rads

-1

Kp+Ki/s

Ki.Kd

Kc.Kt L(s)

w*(s)

w(s)

delay

RFC

Parameter

structure

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Parameter

x.00

Parameter

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Performance RFC mode

Integral gain (Ki)

The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time, and used to produce the necessary torque demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level, and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately, increasing the integral gain also reduces the system damping giving overshoot after a transient.

For a given integral gain, the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application. The integral term is implemented in the form of (Ki x error), and so the integral gain can be changed when the controller is active without causing large torque demand transients.

Differential gain (Kd)

The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced by under-damping however, for most applications the proportional and integral gains alone are sufficient. It should be noted that the differential term is limited internally so that it is ineffective if speed in rpm x Kd x Ki is greater than 170.

To analyze the performance of the speed controller it may be represented as an s-domain model as shown below.

Where:

Kc is the conversion between the speed controller output and the torque producing current. A value of unity at the output of the speed controller gives a torque producing current equal to Kc. The drive automatically compensates the torque producing current for flux variations in field weakening, and so Kc can be assumed to have a constant value even in field weakening. See menu 4 for the value of Kc each drive size).

Kt is the torque constant of the motor (i.e. torque in Nm per amp of torque producing current). This value is normally available for a servo motor from the manufacturer, however for induction motors the value must be calculated from:-

Kt = Motor rated torque / Motor rated torque producing current = Motor rated torque / (Motor rated current

- No load current2)

L(s) is the transfer function of the load.

The s-domain system above may be used to determine the performance of systems with a relatively low bandwidth. However, the real drive system also includes non-ideal delays due to the torque controller response, speed measurement and control delays. These delays, which can be approximated with a simple unity gain transport delay (T

) as shown below, should be taken into account for more accurate results.

delay

The speed controller gains used in previous Unidrive products were in internal drive units. Conversion between the previous internal units and the SI units used in this product are given in the table below.

Gain Conversion from previous internal units to new SI units

Kp Kp_old / 17103

Ki Ki_old / 94.41

Kd Kd_old / 46376

56 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 3

RFC

3.17

Speed controller set-up method

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range RFC 0 to 3

Default RFC 0

Update rate Background (1s) read

The user may enter the required speed controller gains into Pr 3.10 to Pr 3.15. However, if the load is predominantly a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains, provided a value of motor plus load inertia (Pr 3.18) and the motor torque per amp (Pr 5.32) are set-up correctly. The gain values are calculated to give a required compliance angle or bandwidth. The calculated values for Kp and Ki are written to Pr 3.10 and Pr 3.11 once per second when one of these set-up methods is selected (i.e. Pr 3.17 = 1 or 2). The values are calculated from a linear model assuming a pure inertia load, not including unwanted delays in the speed and current controllers. The Kd gain is not affected. If Pr 3.17 is set to 3 automatic gain set up is not active, but Kp is boosted by a factor of 16.

0: user set-up

With the default value the user should enter the required speed controller gains.

1: Bandwidth set-up

If bandwidth based set-up is required, the following parameters must be set correctly: Pr 3.20 = required bandwidth, Pr 3.21 = required damping factor, Pr 3.18 = motor + load inertia (it is possible to measure the load inertia as part of the auto-tuning process, see Pr 5.12 on page 84), Pr 5.32 = motor torque per amp.

Ki = J / (Kc x Kt) x (2 x Bandwidth / Kbw)

= Pr 3.18 / (Kc x Pr 5.32) x (2 x Pr 3.20 / Kbw)

Where: Kbw = [ (22 + 1) +((22 + 1)2 + 1) ]

Kp = 2   [(Ki x J) / (Kc x Kt)] = 2   [(Pr 3.11 x Pr 3.18) / (Kc x Pr 5.32)]

2: Compliance angle set-up

If compliance angle based set-up is required the following parameters must be set correctly: Pr 3.19 = required compliance angle, Pr 3.21 = required damping factor, Pr 3.18 = motor + load inertia (it is possible to measure the load inertia as part of the auto-tuning process, see Pr 5.12 on page 84), Pr 5.32 = motor torque per amp.

Ki = 1 / Compliance angle (rad s

-1

)

Kp = 2   [(Ki x J) / (Kc x Kt)] = 2   [(Pr 3.11 x Pr 3.18) / (Kc x Pr 5.32)]

3: Kp gain times 16

If this parameter is set to 3, the Kp gain (from whichever source) is multiplied by 16. This is intended to boost the range of Kp for applications with very high inertia. It should be noted that if high values of Kp are used, it is likely that the speed controller output will need to be filtered (see Pr 4.12), or the speed feedback will need to be filtered (see Pr 3.42). If the feedback is not filtered, it is possible the output of the speed controller will be a square wave which changes between the current limits causing the integral term saturation system to malfunction.

3.18

Motor and load inertia

Drive modes RFC

Coding

Range RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

5 111

0.00000 to 90.00000 kg m

Default RFC 0.00000

Update rate Background (1s) read

The motor and load inertia represents the total inertia driven by the motor. This is used to set the speed controller gains (see Pr 3.13 on page 54) and to provide torque feed-forwards during acceleration when required. (see Pr 4.11 on page 69) (It is possible to measure the inertia as part of the autotune process, see Pr 5.12 on page 84.

3.19

Compliance angle

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 111

Range RFC 0.0 to 359.9 °mechanical

Default RFC 4.0

Update rate Background (1s) read

The compliance angle is the required angular displacement when the drive delivers a torque producing current equivalent to the current scaling (Kc) with no field weakening.

Affinity Advanced User Guide 57 Issue Number: 3

Menu 3

RFC

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

3.20

Bandwidth

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range RFC 0 to 255 Hz

Default RFC 10 Hz

Update rate Background (1s) read

The bandwidth is defined as the theoretical 3dB point on the closed-loop gain characteristic of the speed controller as a second order system. At this point the phase shift is approximately 60°. This parameter is used to define the bandwidth used for setting up the speed loop gain parameters automatically when Pr 3.17 = 1.

3.21

Damping factor

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range RFC 0.0 to 10.0

Default RFC 1.0

Update rate Background (1s) read

This is the damping factor related to the response of the system to a torque transient, and so if the damping factor is unity the response to a load torque transient is critically damped. The step response of the speed controller gives approximately 10% overshoot with unity damping factor. This parameter is used to define the damping factor used for setting up the speed loop gain parameters automatically when Pr 3.17 = 1 or 2.

3.22

Hard speed reference

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 111

Range RFC ±SPEED_FREQ_MAX rpm

Default RFC 0.0

Update rate 4ms read

3.23

Hard speed reference selector

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default RFC 1

Update rate 4ms read

The hard speed reference is a reference value which does not pass through the ramp system (Menu 2). It is added to the normal post ramp speed reference. Its value may be written from the keypad, via serial comms or from an analog input. The hard speed reference is selected when Pr 3.23 = 1.

3.24

Closed-loop vector mode

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range RFC 3

Default RFC 3

Update rate Background read

Pr 3.24 can only be set to 3 (RFC mode) - Closed loop vector without position feedback with no maximum limit.

A filter with a 4ms time constant/filter is automatically included in the speed feedback, as this is required for this system to operate correctly. Particularly when operating above rated speed it may be necessary to include further filtering (Pr 4.12 set to a value between 1.0 and 5.0ms) to achieve stable operation.

58 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 3

RFC

3.42

Drive encoder filter

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range RFC 0 to 5 (0 to16 ms)

Default RFC 0

Update rate Background read

0 = 0ms, 1 = 1ms, 2 = 2ms, 3 = 4ms, 4 = 8ms, 5 = 16ms

A sliding window filter may be applied to the feedback taken from the drive encoder. This is particularly useful in applications where the drive encoder is used to give speed feedback for the speed controller, and where the load includes a high inertia and hence the speed controller gains are very high. Under these conditions without a filter on the feedback, it is possible for the speed loop output to change constantly from one current limit to the other and lock the integral term of the speed controller.

This parameter also defines a filter on the output of the speed estimator which is used as the speed feedback. A filter with a 4ms time constant/filter is always present on the output of the speed estimator, but this filter may be extended as follows: 0 = 4ms, 1 = 8ms, 2 = 16ms, 3 = 32ms, 4 = 64ms, 5 = 128ms. The output of the speed estimator can include some ripple, which increases as the drive passes into field weakening, and the filter can be used to remove this ripple. This is particularly useful when using standard ramp or spinning start with a low friction high inertia load, and can prevent over voltage trips when the drive has no braking resistor.

Affinity Advanced User Guide 59 Issue Number: 3

Menu 4

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

5.6 Menu 4: Torque and current control

The scaling of the current feedback is based on the rating of the drive as follows:

Level x Rated drive current

Over-current trip 1/0.45 = 2.22

Open-loop peak limit 1.75

RFC 1.75

Open-loop maximum standard operating current 1.5

Current scaling (Kc) 1.0 Maximum Normal Duty current rating 1.36* Maximum motor rated current 1.36*

Current scaling (Kc) is 1 per unit current and is related to the scaling of the drive current feedback. For most drive sizes, Kc is the same as the drive current scaling defined by Pr 11.3 2. The drive current scaling is the maximum value of rated motor current (defined by Pr 5.07 or Pr 21.07) that can be set for operation with the force vented motor protection characteristic - Pr 4.25 = 0 (see Pr 4.16 for more details). If the Kc and drive current scaling are the same, then the drive uses 1.75 x Drive current scaling for the open-loop peak limit and the maximum standard operating current for closedloop modes. This is the limit up to which the drive can control current normally. The current range above this is allowed for current controller overshoot and for additional current feedback pulses associated with long cable operation. For some drive sizes the drive current scaling is larger than Kc, therefore the potential overload is reduced below 1.75 x Kc.

The motor rated current (defined by Pr 5.07 or Pr 21.07), may be increased above the drive current scaling up to the maximum Normal Duty rated current. When the motor rated current is above the drive current scaling, the drive always provides a motor protection scheme that is intended for variable torque applications (see Pr 4.16 on page 72 for more details). The maximum rated current is the maximum rated current allowed for Normal Duty operation.

Table below gives the current scaling (Kc), Drive current scaling and Maximum normal duty rated current for all drive sizes and voltage ratings.

Table 5-5 Current ratings

200V 400V 575V 690V

Model

BA1201 4.3 4.3 5.2 BA1401 2.1 2.1 2.8 BA3501 4.1 4.1 5.4 BA4601 18 18 22

BA1202 5.8 5.8 6.8 BA1402 3.0 3.0 3.8 BA3502 5.4 5.4 6.1 BA4602 22 22 27

BA1203 7.5 7.5 9.6 BA1403 4.2 4.2 5.0 BA3503 6.1 6.1 8.4 BA4603 27 27 36

BA1204 10.6 10.6 11 BA1404 5.8 5.8 6.9 BA3504 9.5 9.5 11 BA4604 36 36 43

BA2201 12.6 12.6 15.5 BA1405 7.6 7.6 8.8 BA3505 12 12 16 BA4605 43 43 52

BA2202 17 17 22 BA1406 9.5 9.5 11 BA3506 18 18 22 BA4606 52 52 62

BA2203 25 25 28 BA2401 13 13 15.3 BA3507 22 22 27 BA5601 62 62 84

BA3201 31 31 42 BA2402 16.5 16.5 21

BA3202 42 42 54 BA2403 23 25 29

BA4201 56 56 68 BA3401 32 32 35 BA6602 107.1 125 144

BA4202 68 68 80 BA3402 40 40 43 BAMA16X1 85.7 100 125

BA4203 80 80 104 BA3403 46 46 56 BAMA16X1 107.1 125 144

BA5201 105 105 130 BA4401 60 60 68

BA5202 130 130 154 BA4402 74 74 83

BAMD12X1 133.7 156 192 BA4403 96 96 104

BAMD12X2 164.5 192 248 BA5401 124 124 138

BAMD12X3 214.2 250 312 BA5402 156 156 168

BAMD12X4 248.5 290 350 BA6401 154.2 180 205

Current

scaling

(Kc)

Drive current scaling

Max

Normal

Duty rated

current

Model

BA6402 180 210 236

BAMA14X1 154.2 180 202

BAMA14X2 180.0 210 236

BAMD14X1 154.2 180 202

BAMD14X2 180.0 210 246

BAMD14X3 205.7 246 290

BAMD14X4 248.5 290 330

Current

scaling

(Kc)

Drive current scaling

Max

Normal

Duty

rated

current

Model

Current scaling

(Kc)

Drive current scaling

Max

Normal

Duty rated

current

Model

BA5602 84 84 99

BA6601 85.7 100 125

BAMD16X1 85.7 100 125

BAMD16X1 107.1 125 144

BAMD16X1 123.4 144 168

BAMD16X1 144.0 168 192

Current scaling

(Kc)

Drive current scaling

Max

Normal

Duty

rated

current

60 Affinity Advanced User Guide

Issue Number: 3

Parameter

Stator flux (in steady state)

Open-loop mode



cos (PF)

-1

ssx

ssy

MOTOR1_CURRENT_LIMIT_MAX

Maximum current

Motor rated current

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

PF21–+

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

100%=

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 4

BAMAxxxx and BAMDxxxx drive modules can be connected in parallel provided all power modules have the same voltage and current rating to make a larger drive. The currents are then defined as follows:

Current scaling (Kc)

Kc is the sum of Kc for all the modules.

Maximum drive current scaling

Maximum drive current scaling = 0.95 x Sum of maximum drive current scaling for all the modules.

Maximum rated current

Maximum rated current = 0.95 x Sum of maximum normal duty rated current for all the modules.

5.6.1 Open-loop

In this mode the drive operates in the stator flux reference frame under steady state conditions. The absolute maximum controlled motor current is defined by the peak limit system as 1.75 x Kc. However, the drive does not normally operate at this level, but uses the peak limit system as protection against over-current trips. Under normal operation the motor current is limited to 1.50 x Kc, allowing a safety margin between the maximum normal operating current and the peak limit level. Therefore a motor with the same current rating as the drive can produce at least 150% torque when the drive operates in current limit.

DRIVE_CURRENT_MAX is full scale current feedback, i.e. Kc / 0.45.

The relationship between the voltage and current for open-loop operation is shown in the following vector diagram.

Definitions:

vs = motor terminal voltage vector

= motor current vector

= y axis component of current

= x axis component of current

v* = no load y axis voltage reference

MOTOR1_CURRENT_LIMIT_MAX is used as the maximum for some parameters such as the user current limits. This is defined in the vector diagram as follows (with a maximum of 1000%):

Where

Motor rated current is given by Pr 5.07 PF is motor rated power factor given by Pr 5.10 (MOTOR2_CURRENT_LIMIT_MAX is calculated from the motor map 2 parameters) The Maximum current is either (1.5 x Kc) when the rated current set by Pr 5.07 (or Pr 21.07 if motor map 2 is selected) is less than or equal to the Drive currentscaling, otherwise it is (1.1 x Maximum motor rated current).

For example, with a motor of the same rating as the drive and a power factor of 0.85, the maximum current limit is 113.6%.

The above calculation is based on the assumption that the flux producing current (Pr 4.17) in the stator flux reference frame does not vary with the load, and remains at the level for rated load. This is not the case, and the flux producing current will vary as the load is increased. Therefore the maximum current limit may not be reached before the drive reduces the current limit to prevent the peak limit from becoming active.

Affinity Advanced User Guide 61 Issue Number: 3

Menu 4

Rotor flux

RFC mode



cos (PF)

-1

ssx



ssy

WLi

mr s s y



WLi (steady state)

mr s sx

MOTOR1_CURRENT_LIMIT_MAX

Maximum current

Motor rated current

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

cos(

1–+

cos





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

100%=

2-tan

RsI

sxR

2 fRLsI

syR

–

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

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

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Performance RFC mode

The rated active and rated magnetising currents are calculated from the power factor (Pr 5.10) and motor rated current (Pr 5.07) as:

rated active current = power factor x motor rated current

rated magnetising current = (1 - power factor

) x motor rated current

In this mode of operation the drive only requires the motor rated current and the power factor at rated load to set up the maximum current limits, scale the current limits correctly and calculate the rated active and magnetizing currents. The user may enter the nameplate values in Pr 5.07 and Pr 5.10 respectively, and the drive will operate satisfactorily. Alternatively the drive can perform an auto-tune test on the motor to measure the power factor at rated load by measuring Rs (stationary test), L

(stationary test), and Ls (rotating test). See Pr 5.12 on page 84 for details.

5.6.2 RFC

In this mode the drive operates in the Rotor Flux Reference frame. The maximum normal operating current is controlled by the current limits.

DRIVE_CURRENT_MAX is full scale current feedback, i.e. Kc / 0.45.

The relationship between the voltage and current for RFC operation is shown in the following vector diagram.

Definitions:

vs = motor terminal voltage vector

= motor current vector

= y axis component of current

= x axis component of current

MOTOR1_CURRENT_LIMIT_MAX is used as the maximum for some parameters such as the user current limits. The magnetizing current (isx) remains constant except in field weakening where it is reduced to control the motor voltage. The maximum current limit is defined as follows (with a maximum of 1000%):

Where:

Motor rated current is given by Pr 5.07



PF is motor rated power factor given by Pr 5.10 (MOTOR2_CURRENT_LIMIT_MAX is calculated from the motor map 2 parameters) The Maximum current is either (1.75 x Kc) when the rated current set by Pr 5.07 (or Pr 21.07 if motor map 2 is selected) is less than or equal to the drive current scaling, otherwise it is (1.1 x Maximum rated current).



can be derived directly by the drive auto-tune. However, if the auto-tune is not carried out 1 is derived from 

noted that the drive autotune would make the total y axis voltage under rated load conditions equal to the rated voltage (V the following equation.

62 Affinity Advanced User Guide

-1

= cos

(PF) - 

and the power factor. It should be

Issue Number: 3

), therefore 2 is given by

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 4

Where:

is the motor stator resistance (Pr 5.17)

is the rated frequency (Pr 5.06)

is the transient inductance (H) (Pr 5.24 / 1000)

L

is the rated voltage (Pr 5.09)

sxR

and I

are the currents in the x and y axes of the Rotor Flux Reference frame under rated load

syR

are derived as I

syR

= Pr 5.07 x (1 - Pr 5.102) and I

sxR

= Pr 5.07 x Pr 5.10 for the purposes of calculating 

syR

. This calculation gives a

result that is reasonably accurate for most purposes.



rated active current = cos( rated magnetising current = (1 - cos(

) x motor rated current



)2) x motor rated current

In this mode of operation the drive requires the following parameters to set the maximum current limits, scale the current limits correctly and calculate the rated active and magnetising currents.

Parameters Current limit accuracy

Motor rated current, power factor at rated load (R

and Ls are zero)

Motor rated current, power factor at rated load, measured values of R

and L

Motor rated current, power factor at rated load, measured values of R

, Ls and L

Exact current limits based on all measured values

Moderate accuracy

Good accuracy

Affinity Advanced User Guide 63 Issue Number: 3

Menu 4

4.08

4.10

4.09

10.09

10.08

4.15

4.16

4.18

11. 32

5.07

4.05

Motoring

Regenerating

Current limits

Symmetrical

Drive rated continuous

current

Motor rated

current

Over-riding

current limit

4.03

To rq u e

demand

Torque reference

offset

Torque

reference*

Torque

reference

offset

enable

Motor thermal

time constant

Motor protection

mode

At 100%

load

indicator

Current limit

active

indicator

Active

current

Current

magnitude

Magnetising

current

4.02 - Active current (Amp)

4.20 - Percentage torque current

4.02

4.20

4.17

4.01

10.17

4.19

Motor

overload

accumulator

Motor current

overload alarm

indicator

10.39

Braking energy

overload indicator

4.04

Percentage

current

demand

Torque to

current

conversion

5.06

Motor

frequency

5.01

Motor

rated

frequency

5.01

Motor map

2.01

Post ramp

reference

Motor

frequency

2.01

Torque mode

selector*

4.11

4.13

4.14

P gain

I gain

Current loop

10.09

Current

limit

active

2.01

Pre ramp reference

1.03

Menu 2 ramp

controller

0.XX

Key

Read-write

(RW)

parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown at their default settings

4.25

Low speed

protection mode

Overload detection

Parameter

structure

Keypad and

display

Parameter

x.00

5.6.3 Parameter descriptions Parameter descriptions: Open-loop

Figure 5-5 Menu 4 Open-loop logic diagram

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

64 Affinity Advanced User Guide

Issue Number: 3

Parameter

4.04

Current

demand

Filter

3.04

3.01

3.02

4.08

4.09

10.09

10.08

4.15

4.16

4.13

4.14

Current loop

P gain

Current loop

I gain

Current controller

4.18

11.3 2

5.07

4.05

Motoring

Regenerating

Current limits

Symmetrical

Drive rated continuous

current

Motor rated

current

Speed

feedback

Final speed demand

Over-riding current limit

Speed loop

output

Torque reference

offset

Torque

reference

Motor thermal time constant

Motor protection

mode

At 100%

load

indicator

Current limit

active

indicator

5.07 5.10

Motor

rated

power

factor

Motor

rated

current

Active

current

(Amp)

Current

magnitude

Magnetising

current

4.02

4.17

4.01

10.17

4.19

Motor

overload

accumulator

Motor current

overload alarm

indicator

10.39

Braking energy

overload indicator

Torque mode

selector*

4.11

4.10

Tor q ue

reference

offset

enable

4.03

Torque

demand

0.XX

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown at their default setti ngs

4.23

Current demand

filter 1

4.12

Current demand

filter 2

3.16

Speed

controller

gain

select

4.24

4.25

Low speed

protection mode

Overload detection

User current max scaling

RFC sensorless speed feedback

calculator

4.22

2.38

Inertia

compensation

enable

Inertia

compensation

torque

structure

Keypad and

display

Parameter

x.00

description format

Parameter descriptions: RFC

Figure 5-6 Menu 4 RFC Logic diagram

Parameter

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 4

Affinity Advanced User Guide 65 Issue Number: 3

Menu 4

4.02

Resultant output current Pr

4.01

4.17

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

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Performance RFC mode

4.01 Current magnitude

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 121 1 1 1

Range Open-loop, RFC 0 to DRIVE_CURRENT_MAX A

Update rate 4ms write

This parameter is the rms current from each output phase of the drive. The phase currents consist of an active component and a reactive component. The three phase currents can be combined to form a resultant current vector as shown below:

The resultant current magnitude is displayed by this parameter. The active current is the torque producing current for a motor drive. The reactive current is the magnetizing or flux producing current for a motor drive.

4.02 Active current

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

112111

Range Open-loop, RFC ±DRIVE_CURRENT_MAX A

Update rate 4ms write

Open-loop and RFC

The active current is the torque producing current in a motor drive.

Direction of active current Direction of rotation Torque direction

+ + Forward (accelerating)

- + Reverse (decelerating)

+ - Forward (decelerating)

- - Reverse (accelerating)

The active current is aligned with the y axis of the reference frame. In open-loop mode, the x axis of the reference frame is aligned with the stator flux vector. In RFC mode the x axis of the reference frame is aligned with the rotor flux vector. The motor torque is proportional to the torque producing current when field weakening is not active. Once field weakening is active, the torque producing current is boosted to compensate for the reduction in motor flux.

4.03 Torque demand

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111111

Range Open-loop, RFC ±TORQUE_PROD_CURRENT_MAX %

Update rate 4ms write

Open-loop

The torque demand is the sum of the torque reference (Pr 4.08) and the torque offset (Pr 4.09), if enabled. The units of the torque demand are % of rated torque. 100% rated torque is defined as the torque produced by 100% rated active current.

RFC

The torque demand can be derived from the speed controller and/or the torque reference and offset. The units of the torque demand are % of rated torque. 100% rated torque is defined as the torque produced by 100% rated active current.

66 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 4

4.04 Current demand

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111111

Range Open-loop, RFC ±TORQUE_PROD_CURRENT_MAX %

Update rate 4ms write

Open-loop

The current demand is derived from the torque demand. Provided the motor is not field weakened, the torque and current demands are the same. In field weakening the current demand is increased with reduced flux:

Pr 4.04 = Pr 4.03 x frequency / rated frequency

The current demand is subject to the current limits.

RFC

The current demand is derived from the torque demand. Provided the motor is not field weakened, the torque and current demands are the same. In the field weakening range the current demand is increased with reduced flux unless Pr 5.28 = 1. The level of flux is derived from the motor model within the drive controllers.

Pr 4.04 = Pr 4.03 x flux / rated flux

4.05 Motoring current limit

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 1 111

Range Open-loop, RFC 0 to MOTOR1_CURRENT_LIMIT_MAX %

Default Open-loop, RFC 110.0*

Second motor parameter

Open-loop, RFC Pr 21.27

Update rate Background read

4.06 Regen current limit

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 1 111

Range Open-loop, RFC 0 to MOTOR1_CURRENT_LIMIT_MAX %

Default Open-loop, RFC 110.0*

Second motor parameter

Open-loop, RFC Pr 21.28

Update rate Background read

4.07 Symmetrical current limit

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 1 111

Range Open-loop, RFC 0 to MOTOR1_CURRENT_LIMIT_MAX %

Default Open-loop, RFC 110.0*

Second motor parameter

Open-loop, RFC Pr 21.29

Update rate Background read

* These are the maximum default values. If the variable maximum of this parameter (MOTOR1_CURRENT_LIMIT_MAX) gives a lower value with the default value of Motor rated current (Pr 5.07) the default of this parameter is at the lower value.

Affinity Advanced User Guide 67 Issue Number: 3

Menu 4

Kp Pr

4.13

Ki Pr

4.14

Current limit active

current limit

Post ramp reference

Ramp

Active current

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

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Building automation

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Performance RFC mode

Open-loop

The motoring current limit applies in either direction of rotation when the machine is producing motoring torque. Similarly the regen current limit applies in either direction when the machine is producing regenerating torque. The symmetrical current limit can override either motoring or regenerating current limit if it is set at a lower value than either limit.

The current limits are compared with the active current, and if the current exceeds a limit the error value passes through the PI controller to give a frequency component which is used to modify the ramp output. The direction of the modification is always to reduce the frequency to zero if the active current is over the motoring limit, or to increase the frequency towards the maximum if the current is over the regenerating limit. Even when the current limit is active the ramp still operates, therefore the proportional and integral gains (Pr 4.13 and Pr 4.14) must be high enough to counter the effects of the ramp. See Pr 4.13 and Pr 4.14 on page 70 for gain setting.

RFC

4.08 Torque reference

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

12 11

Range Open-loop, RFC ±USER_CURRENT_MAX %

Default Open-loop, RFC 0.00

Update rate 4ms read

4.09 Torque offset

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 11

Range Open-loop, RFC ±USER_CURRENT_MAX %

Default Open-loop, RFC 0.0

Update rate 4ms read

The torque offset is added to the torque reference when Pr 4.10 is 1. The torque offset is updated every 4ms when connected to an analog input, and so Pr 4.08 should be used for fast updating if required.

4.10 Torque offset select

Drive modes Open-loop, RFC

Coding

Default Open-loop, RFC 0

Update rate 4ms read

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

68 Affinity Advanced User Guide

Issue Number: 3

Parameter

P Pr

4.13

I Pr

4.14

Current demand

Active current

Frequency reference

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 4

4.11 Torque mode selector

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range Open-loop, RFC 0 to 1

Default Open-loop, RFC 0

Update rate 4ms read

Open loop

If this parameter is 0 normal frequency control is used. If this parameter is set to 1, the current demand is connected to the current PI controller giving closed loop torque/current demand as shown below. The current error is passed through proportional and integral terms to give a frequency reference which is limited to the range ±SPEED_FREQ_MAX .

RFC

When this parameter is set to 1, the ramps are not active while the drive is in the run state. When the drive is taken out of the run state but not disabled, the appropriate stopping mode is used. It is recommended that coast stopping or stopping without ramps is used. However if ramp stop mode is used, the ramp output is pre-loaded with the actual speed at the changeover point to avoid unwanted jumps in the speed reference.

0: Speed control mode

The torque demand is equal to the speed loop output.

1: Torque control

The torque demand is given by the sum of the torque reference and the torque offset if enabled. The speed is not limited in any way, however the drive will trip at the overspeed threshold if runaway occurs.

4.12 Current demand filter 1

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 111

Range RFC 0.0 to 25.0 ms

Default RFC 0.0

Update rate Background read

This filter introduces a lag in the speed loop, and therefore the speed loop gains may need to be reduced to maintain stability as the filter time constant is increased. Alternative time constants/filters can be selected depending on the value of the speed controller gain selector (Pr 3.16). If Pr

3.16 = 0 Pr 4.12 is used, if Pr 3.16 = 1 Pr 4.23 is used.

4.13 Current controller Kp gain

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range Open-loop, RFC 0 to 30,000

Default

Second motor parameter

Drive voltage rating: Open-loop, RFC

RFC Pr 21.22

200V 400V 575V 690V 20 20 20 20 75 150 180 215

Update rate Background read

Affinity Advanced User Guide 69 Issue Number: 3

Menu 4

DC Bus voltage controller

P Pr

4.13

I Pr

4.14

Frequency reference

Active current

DC Bus capacitor

Current demand

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

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Performance RFC mode

4.14 Current controller Ki gain

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range Open-loop, RFC 0 to 30,000

Default

Second motor parameter

Drive voltage rating: Open-loop, RFC

RFC Pr 21.23

200V 400V 575V 690V 40 40 40 40 1,000 2,000 2,400 3,000

Update rate Background read

Open-loop

These parameters control the proportional and integral gains of the current controller used in the open loop drive. As already mentioned, the current controller either provides current limits or closed loop torque control by modifying the drive output frequency. The control loop is also used in its torque mode during mains loss, or when the controlled mode standard ramp is active and the drive is decelerating to regulate the flow of current into the drive. Although the default settings have been chosen to give suitable gains for less demanding applications, it may be necessary for the user to adjust the performance of the controller. The following is a guide to setting the gains for different applications.

Current limit operation

The current limits will normally operate with an integral term only, particularly below the point at which field weakening begins. The proportional term is inherent in the loop. The integral term must be increased sufficiently to counter the effect of the ramp which is still active even in current limit.

For example, if the drive is operating at constant frequency and is overloaded, the current limit system will try to reduce the output frequency to reduce the load. At the same time the ramp will try to increase the frequency to the demand level. If the integral gain is increased too far, the first signs of instability will occur when operating around the point where field weakening begins. These oscillations can be reduced by increasing the proportional gain.

A system has been included to prevent regulation because of the opposite actions of the ramps and the current limit. This can reduce the actual level that the current limit becomes active by 12.5%. This still allows the current to increase up to the current limit set by the user. However the current limit flag (Pr 10.09) could become active up to 12.5% below the current limit depending on the ramp rate used.

Torque control

Again the controller will normally operate with an integral term only, particularly below the point where field weakening begins. The first signs of instability will appear around base speed, and can be reduced by increasing the proportional gain. The controller can be less stable in torque control mode rather than when it is used for current limiting. This is because load helps to stabilise the controller, and under torque control the drive may operate with light load. Under current limit the drive is often under heavy load unless the current limits are set at a low level.

Mains loss and controlled standard ramp

The DC bus voltage controller becomes active if mains loss detection is enabled and the drive supply is lost, or controlled standard ramp is being used and the machine is regenerating. The DC bus controller attempts to hold the DC bus voltage at a fixed level by controlling the flow of current from the drive inverter into its DC bus capacitors. The output of the DC bus controller is a current demand which is fed into the current PI controller as shown in the following diagram.

Although it is not usually necessary, the DC bus voltage controller can be adjusted with Pr 5.31. However it may often be necessary to adjust the current controller gains to obtain the required performance. If the gains are not suitable, it is best to set up the drive in torque control first. Set the gains to a value that does not cause instability around the point at which field weakening occurs.

It should now be possible to revert back to open loop speed control in standard ramp mode. To test the controller, the supply should be removed while the motor is running. It is likely that the gains can be increased further if required, because the DC bus voltage controller has a stabilizing effect provided that the drive is not required to operate in torque control mode.

70 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 4

RFC

The proportional gain Kp (Pr 4.13) is the most critical value in controlling the performance of the current controllers. Either the value can be set by auto-tuning (see Pr 5.12), or it can be set by the user so that:-

Kp = (L / T) x (Ifs / Vfs) x (256 / 5)

Where:

T is the sample time of the current controllers. The drive compensates for any change of sample time, and so it should be assumed that the sample time is equivalent to the lowest sample rate of 167s. L is the motor inductance. For a servo motor this is half the phase to phase inductance that is normally specified by the manufacturer. For an induction motor this is the per phase transient inductance (Ls). This is the inductance value stored in Pr 5.24 after the auto-tune test is carried out. I

is the peak full scale current feedback = Kc x 2 / 0.45. Where Kc is the current scaling for each size of drive.

is the maximum DC bus voltage.

Therefore:

Kp = (L / 167s) x (Kc x 2 / 0.45 / Vfs) x (256 / 5) = K x L x Kc

Where:

K =

2 / (0.45 x V

x 167s) x (256 / 5)

There is one value of the scaling factor K for each drive voltage rating as shown in the table below

Drive voltage rating

200V 415V 2,322

400V 830V 1,161

575V 990V 973

690V 1190V 809

The integral gain Ki (Pr 4.14) is less critical and should be set so that

Ki = Kp x 256 x T /

m

where



is the motor time constant/filter (L / R).

R is the per phase stator resistance of the motor (i.e. half the resistance measured between two phases).

Therefore

Ki = (K x L x Kc) x 256 x 167us x R / L = 0.0427 x K x R x Kc

The above equations give the gain values that are calculated by the auto-tune system, and these should give the best response at all switching frequencies with minimal overshoot. If necessary the gains can be adjusted to improve performance as follows:

1. The integral gain (Ki) can be used to improve the performance of the current controllers by reducing the effects of inverter non-linearity. These effects become more significant with higher switching frequency. These effects will be more significant for drives with higher current ratings and higher voltage ratings. If Ki is increased by a factor of 4 it is possible to get up to 10% overshoot in response to a step change of current reference. For high performance applications, it is recommended that Ki is increased by a factor of 4 from the auto-tuned values. As the inverter non-linearity is worse with higher switching frequencies it is may be necessary to increase Ki by a factor of 8 for operation with 16kHz switching frequency.

2. It is possible to increase the proportional gain (Kp) to reduce the response time of the current controllers. If Kpi is increased by a factor of 1.5 then the response to a step change of reference will give 12.5% overshoot. It is recommended that Ki is increased in preference to Kpi.

4.15 Thermal time constant/filter

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range Open-loop, RFC 0.0 to 3000.0

Default Open-loop, RFC 89.0

Second motor parameter

Open-loop, RFC Pr 21.16

Update rate Background read

Affinity Advanced User Guide 71 Issue Number: 3

Menu 4

I /(K*Motor Rated Current)

Te mp

Motor total

current (Pr 4.01)

as a percentage

of motor rated

current

Motor speed as a percentage of base speed

100%

Max. permissible continuous current

100%

I t protection operates in this region

70%

50%15%

Open loop: Proportion of rated frequency Pr 5.06.

RFC: Proportion of rated speed Pr 5.08. Rated current (Pr 5.07 or Pr 21.07) drive current rating.

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

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network

Performance RFC mode

4.16 Thermal protection mode

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 111

Range Open-loop, RFC 0 to 1

Default Open-loop, RFC 0

Update rate Background read

The motor is modelled thermally in a way that is equivalent to the electrical circuit shown as follows.

The temperature of the motor as a percentage of maximum temperature, with a constant current magnitude of I, constant value of K and constant value of motor rated current (set by Pr 5.07 or Pr 21.07) after time t is given by

Temp = [I

/ (K x Motor rated current)2] (1 - e

-t/

) x 100%

This assumes that the maximum allowed motor temperature is produced by K x Motor rated current and that  is the thermal time constant/filter of the point in the motor that reaches its maximum allowed temperature first.  is defined by Pr 4.15. The estimated motor temperature is given by Pr 4.19 as a percentage of maximum temperature. If Pr 4.15 has a value between 0.0 and 1.0 the thermal time constant/filter is taken as 1.0.

If the rated current (defined by Pr 5.07 or Pr 21.07 depending on which motor is selected) is less or equal to the drive current scaling then Pr 4.25 can be used to select 2 alternative protection characteristics (see diagram below). If Pr 4.25 is 0 the characteristic is for a motor which can operate at rated current over the whole speed range. Induction motors with this type of characteristic normally have forced cooling. If Pr 4.25 is 1 the characteristic is intended for motors where the cooling effect of motor fan reduces with reduced motor speed below half of rated speed. The maximum value for K is 1.05, so that above the knee of the characteristics the motor can operate continuously up to 105% current.

The maximum value for K is 1.01, so that above the knee of the characteristics the motor can operate continuously up to 101% current.

72 Affinity Advanced User Guide

Issue Number: 3

Parameter

Motor total

current (Pr 4.01)

as a percentage

of motor rated

current

Motor speed as a percentage of base speed

100%

Max. permissible continuous current

100%

I t protection operates in this region

70%

50%15%

Pr = 0 Pr = 1

4.25

Open loop: Proportion of rated frequency Pr 5.06.

RFC: Proportion of rated speed Pr 5.08. Rated current (Pr 5.07 or Pr 21.07) drive current rating.

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 4

When the estimated temperature reaches 100% the drive takes some action depending on the setting of Pr 4.16. If Pr 4.16 is 0, the drive trips when the threshold is reached. If Pr 4.16 is 1, the current limit is reduced to (K - 0.05) x 100% when the temperature is 100%. The current limit is set back to the user defined level when the temperature falls below 95%.

The time for some action to be taken by the drive from cold with constant motor current is given by:

= -(Pr 4.15) x ln(1 - (K x Pr 5.07 / Pr 4.01)2)

trip

Alternatively the thermal time constant/filter can be calculated from the trip time with a given current from:

Pr 4.15 = -T

/ ln(1 - (K / Overload)2)

trip

For example, if the drive should trip after supplying 150% overload for 60 seconds with K = 1.05 then

Pr 4.15 = -60 / ln(1 - (1.05 / 1.50)

) = 89

The thermal model temperature accumulator is reset to zero at power-up and accumulates the temperature of the motor while the drive remains powered-up. Each time Pr 11. 45 is changed to select a new motor, or the rated current defined by Pr 5.07 or Pr 21.07 (depending on the motor selected) is altered, the accumulator is reset to zero.

4.17 Reactive current

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

112111

Range Open-loop, RFC ±DRIVE_CURRENT_MAX A

Update rate 4ms write

The drive reactive current is shown in this parameter for all modes.

4.18 Overriding current limit

Drive modes Open-loop, RFC

Coding

Range Open-loop, RFC 0 to TORQUE_PROD_CURRENT_MAX %

Update rate Background write

The current limit applied at any time depends on whether the drive is motoring or regenerating and also on the level of the symmetrical current limit.

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Pr 4.18 gives the limit level that applies at any instant.

Affinity Advanced User Guide 73 Issue Number: 3

111 1 1 1

Menu 4

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

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Performance RFC mode

4.19 Overload accumulator

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 1 1 1

Range Open-loop, RFC 0 to 100.0 %

Update rate Background write

See Pr 4.16 on page 72.

4.20 Percentage load

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111111

Range Open-loop, RFC ±USER_CURRENT_MAX %

Update rate Background write

Open-loop, RFC

This parameter displays the actual torque producing current (Pr 4.02) as a percentage of rated active current. Positive values indicate motoring and negative values indicate regenerating.

4.22 Inertia compensation enable

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default RFC 0

Update rate Background read

If this parameter is set to 1, the drive calculates a torque reference from the motor and load inertia (Pr 3.18), and the rate of change of speed reference. The torque reference is added to the speed controller output to provide inertia compensation. This can be used in speed or torque control applications to produce the torque required to accelerate or decelerate the load inertia.

4.23 Current demand filter 2

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range RFC 0.0 to 25.0 ms

Default RFC 0.0

Update rate Background read

The current demand filter time constant/filter is defined by this parameter if the speed gain select (Pr 3.16) is 1.

4.24 User current maximum scaling

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 1 111

Range Open-loop, RFC 0.0 to TORQUE_PROD_CURRENT_MAX %

Default

Open-loop RFC

165.0*

175.0*

Update rate Background read

* These are the maximum default values. If the variable maximum of this parameter (TORQUE_PROD_CURRENT_MAX which is defined by MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is active) gives a lower value with the default value of Motor rated current (Pr 5.07 or Pr 21.07) default of this parameter is at the lower value.

The maximum for Pr 4.08 and Pr 4.20 is defined by this parameter

74 Affinity Advanced User Guide

Issue Number: 3

Parameter

NOTE

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 4

4.25 Low speed thermal protection mode

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 1

Update rate Background read

See Pr 4.16 on page 72.

Pr 4.25 is always set to 1

4.26 Percentage torque

Drive modes Open-loop

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111111

Default Open-loop ±USER_CURRENT_MAX %

Update rate Background read

Pr 4.26 shows the torque producing current (Pr 4.02) as a percentage of the active torque producing current, but with an additional adjustment above base speed so that this parameter shows percentage torque. Below base speed Pr 4.26 is equal to Pr 4.20. Above base speed the percentage torque producing current (shown in Pr 4.20) is adjusted as follows:

Pr 4.26 = Pr 4.20 x rated frequency / frequency

4.27 Low load detection level

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range Open-loop, RFC 0.0 to 100.0%

Default Open-loop, RFC 0.0

Update rate Background read

4.28 Low load detection speed / frequency threshold

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 1 111

Range Open-loop, RFC 0.0 to SPEED_FREQ_MAX Hz/rpm

Default Open-loop, RFC 0.0

Update rate Background read

4.29 Trip on abnormal load detection

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Default Open-loop, RFC 0

Update rate Background read

Affinity Advanced User Guide 75 Issue Number: 3

Menu 4

100

120

-100 -50 0 50 100

Motor speed (% Rated)

Typical load (% Rated)

04.28

-04.28

04.27

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

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Advanced parameter

descriptions

PC comms

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Performance RFC mode

The low load detection function is provided so that loss of load can be detected and the necessary action taken. The low load detection function is disabled if Pr 4.27 is set to zero.

In order that the detector can be used with typical fan and pump load characteristics (i.e. where the load is relatively light at low motor speed), the detector is only active when the output frequency or speed is above the level defined by Pr 4.28. The motor must also be at the required speed (i.e. not accelerating or decelerating), so Pr 10.06 (At Speed) must be 1 for the low load detector to be active.

Once the detector is active, the low load condition is detected when Pr 4.20 (percentage load) falls below Pr 4.27, so the condition for detecting low load is given by:

(Pr 10.06 = 1) AND (|Output frequency or speed| > Pr 4.28) AND (Pr 4.20 < Pr 4.27)

If Pr 4.29 is zero when low load is detected, then a "Load" warning message is displayed on the keypad. If Pr 4.29 is 1 then a drive trip is initiated. The diagram below shows a typical fan load and operating areas (shaded), where the low load detection is active.

76 Affinity Advanced User Guide

Issue Number: 3

Parameter

2.01

Post ramp reference

5.10

5.11

Motor rated power factor

Motor number of poles

5.02

Motor voltage

5.03

Total motor power (kW)

Ö 3xVxI

Volt

L1 L2 L3

5.05

DC Bus voltage

5.09

Motor rated voltage

5.07

5.08

Motor rated current

Motor rated full load RPM

5.06

Motor rated frequency

5.23

Voltage offset

5.17

Stator resistance

5.15

Voltage boost

5.13

Dynamic V/f select

Transient inductance

4.02

4.20

4.17

4.01

Motor current magnitude

Motor magnetising current

Motor active current

Percentage active current

Motormap

5.12

Autotune

5.24

5.14

Voltage mode

5.01

Motor frequency

5.04

Estimated motor speed

Slip

compensation

0.XX

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

Slip compensation

enable

5.27

The parameters are all shown at their default settings

5.18

5.19

PWM switching frequency

High stability space vector modulation

Hertz

5.20

5.35

Quasi square wave enable

Disable auto switching frequency change

5.31

Voltage controller gain

structure

Keypad and

display

Parameter

x.00

Parameter

description format

5.7 Menu 5: Motor control

Open loop

Figure 5-7 Menu 5 Open-loop logic diagram

Advanced parameter

descriptions

PC comms

protocol

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network

Performance RFC mode

Menu 5

Affinity Advanced User Guide 77 Issue Number: 3

Menu 5

3.04

5.06

Motor rated frequency

5.08

Motor full load

rated speed

5.09

Motor rated voltage

5.10

Motor rated power factor

5.25

Motor stator

inductance

5.29

Motor saturation

break-point 1

5.30

Motor saturation

break-point 2

5.07

Motor rated current

5.11

Motor number

of poles

5.17

Motor stator

resistance

5.24

Motor transient inductance

Flux Calculator

Current limits

Current control

Overload detection

Current loop gains

Torque reference

Current demand filter

Menu 4

Reference

frame

transformation

3.02

Speed

feedback

Speed-loop

controller

output

Position

feedback

Flux

magnitude

Current

references

Current

feedback

5.01

Flux angle

5.12

5.15

5.26

5.31

Auto-tune

Low frequency voltage boost

High dynamic performance enable

Voltage controller gain

0.XX

Key

Read-write

(RW)

parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown at their default settings



RFC sensorless speed feedback calculator

Parameter

structure

Keypad and

display

RFC

Figure 5-8 Menu 5 RFC logic diagram

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

78 Affinity Advanced User Guide

Issue Number: 3

Parameter

4.02

4.17

4.01

5.09

Motor rated

voltage

5.21

Field gain

reduction

Flux Controller

5.18

Maximum switching

frequency

Modulator

5.03

Power calculation (V x 1)

5.02

Output

voltage

Output

power

5.05

Voltage reference

DC bus voltage

Motor current magnitude

Motor magnetising current

Motor active current

5.35

Disable auto

switching

frequencychange

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 5

Affinity Advanced User Guide 79 Issue Number: 3

Menu 5

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

5.01 Output frequency

Drive modes Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Coding

111111

RFC: VM = 0

Range

Open-loop RFC

±SPEED_FREQ_MAX Hz ±1250.0 Hz

Update rate 250s write

Open-loop

Although the range for scaling purposes is ±SPEED_FREQ_MAX, the actual parameter value can be increased beyond this range by slip compensation. This parameter gives the output frequency of the drive, i.e. the sum of the post ramp reference and the slip compensation.

RFC

In these modes the output frequency is not controlled directly, and so the output frequency displayed in this parameter is calculated by measuring the frequency of the controller reference frame.

5.02 Output voltage

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 1111

Range Open-loop, RFC 0 to AC_VOLTAGE_MAX V

Update rate Background write

This is the modulus of the rms line to line voltage at the inverter output at the drive output frequency.

5.03 Output power

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

112111

Range Open-loop, RFC ±POWER_MAX kW

Update rate Background write

Open-loop and RFC mode

The output power is the dot product of the output voltage and current vectors. Positive power indicates power flowing from the drive to the motor (motoring), and negative power indicates power flowing from the motor to the drive (regen).

5.04 Motor rpm

Drive modes Open-loop

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range Open-loop ±180,000 rpm

Update rate Background write

The motor rpm is calculated from the post ramp reference (Pr 2.01) for normal operation, or the slave frequency demand (Pr 3.01) if frequency slaving is being used. The speed of rotation is calculated as follows:

rpm = 60 x frequency / no. of pole pairs

If frequency slaving is being used there will be an error due to the slip frequency. However, in normal operation the result will be reasonably accurate provided that the slip compensation has been set up correctly in the rated full load rpm parameter (Pr 5.08).

5.05 DC bus voltage

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 1111 1

Range Open-loop, RFC 0 to +dc _VOLTAGE_MAX V

Update rate Background write

Voltage across the internal DC bus of the drive.

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5.06 Rated frequency

Drive modes Open-loop, RFC

Coding

Range

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Open-loop RFC

0 to 3000.0 Hz 0 to 1250.0 Hz

Default Open-loop, RFC EUR: 50.0 Hz, USA: 60.0 Hz

Second motor parameter

Open-loop, RFC Pr 21.06

Update rate Background read

Open loop

The motor rated frequency and the motor rated voltage (Pr 5.09) are used to define the voltage to frequency characteristic applied to the motor (see Pr 5.09 on page 82). The motor rated frequency is also used in conjunction with the motor full load rpm to calculate the rated slip for slip compensation (see Pr 5.08 on page 82).

RFC

The motor rated frequency is used in conjunction with the motor full load rpm to calculate the rated slip of the machine for the vector control algorithm

(see Pr 5.08 on page 82). The test frequency used for the rotating auto-tune test is

/3 x Pr 5.06.

5.07 Motor rated current

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

12 1 111

Range Open-loop, RFC 0 to RATED_CURRENT_MAX A

Default Open-loop, RFC

Second motor parameter

Open-loop, RFC Pr 21.07

Drive current scaling (i.e. the value of Pr 11.32 )

Update rate Background read

The rated current should be set at the motor nameplate value for rated current. The value of this parameter is used as follows:

Current limits Motor thermal protection

Open-loop

Vector mode voltage control Slip compensation Dynamic V to F control

Current limits

RFC

Motor thermal protection Vector control algorithm

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5.08 Rated load rpm / Rated speed

Drive modes Open-loop, RFC

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Coding

111

RFC DP=2

Range

Default

Second motor parameter

Open-loop, RFC

Open-loop, RFC Pr 21.08

0 to 180,000 rpm

0.00 to 40,000.00 rpm

EUR: 1,500, USA: 1,800 EUR: 1450.00, USA: 1,770.00

Update rate Background read

Open loop

The rated load rpm is used with the motor rated frequency and number of poles to calculate the rated slip of induction machines in Hz.

rated slip (Hz) = rated motor frequency - (no. of pole pairs x motor full load rpm / 60)

= Pr 5.06 - ((Pr 5.11 / 2) x Pr 5.08 / 60)

If Pr 5.08 is set to 0 or to synchronous speed slip, compensation is disabled. If slip compensation is required, this parameter should be set to the nameplate value, which should give the correct rpm for a hot machine. Sometimes it will be necessary to adjust this value when the drive is commissioned, because the nameplate value may be inaccurate. Slip compensation will operate correctly both below base speed and within the field weakening region. Slip compensation is normally used to correct for the motor speed to prevent speed droop as load is applied. The rated load rpm can be set higher than synchronous speed to deliberately introduce speed droop. This can be useful to aid load sharing with mechanically coupled motors.

RFC

Rated load rpm is used with motor rated frequency to determine the full load slip of the motor which is used by the vector control algorithm. Incorrect setting of this parameter has the following effects:

• Reduced efficiency of motor operation

• Reduction of maximum torque available from the motor

• Reduced transient performance

• Inaccurate control of absolute torque in torque control modes

The nameplate value is normally the value for a hot machine, however, some adjustment may be required when the drive is commissioned if the nameplate value is inaccurate.

5.09 Rated voltage

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

11 111

Range Open-loop, RFC 0 to AC_VOLTAGE_SET_MAX V

200V rating drive: 230V

Default Open-loop, RFC

400V rating drive: EUR: 400V, USA: 480V 600V rating drive: 575V 690V rating drive: 690V

Second motor parameter

Open-loop, RFC Pr 21.09

Update rate Level 4 read

Open loop

The rated voltage is used in conjunction with the motor rated frequency (Pr 5.06) to define the voltage to frequency characteristic applied to the motor. The following operating methods selected by Pr 5.14 are used to define the drive frequency to voltage characteristic.

Open-loop vector mode: Ur_S, Ur or Ur_I

A linear characteristic is used from 0Hz to rated frequency, and then a constant voltage above rated frequency. When the drive operates between rated frequency/50 and rated frequency/4, full vector based stator resistance (Rs) compensation is applied.

However there is a delay of 0.5s when the drive is enabled during which only partial vector based compensation is applied to allow the machine flux to build up. When the drive operates between rated frequency/4 and rated frequency/2 the Rs compensation is gradually reduced to zero as the frequency increases. For the vector modes to operate correctly the stator resistance (Pr 5.17), motor rated power factor (Pr 5.10) and voltage offset (Pr 5.23) are all required to be set up accurately.

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Parameter

Voltage boost Pr

5.15

Output voltage

5.09

Pr / 2

5.09

Pr / 2

5.06

Output frequency

Output voltage characteristic

5.09

5.15

5.06

Pr + [(freq/Pr ) x (Pr - Pr )]

5.15 5.06 5.09 5.15

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Menu 5

Fixed boost mode: Fd

A linear characteristic is used from 0Hz to rated frequency, and then constant voltage above rated frequency. Low frequency voltage boost as defined by Pr 5.15 is applied as shown below.

Square law mode: SrE

A square law characteristic is used from 0Hz to rated frequency, and then constant voltage above rated frequency. Low frequency voltage boost raises the start point of the square law characteristic as shown below.

RFC

The rated voltage is used by the field controller to limit the voltage applied to the motor. Normally this is set to the nameplate value.

In order that current control can be maintained, it is necessary for the drive to leave some 'headroom' between the machine terminal voltage and the maximum available drive output voltage. The drive allows over-modulation of the PWM inverter, which can produce a fundamental voltage that is higher than the drive input voltage, but would cause substantial odd harmonic distortion if used in steady state operation.

Accordingly the drive uses a headroom limit which allows the inverter to give a steady state output voltage equivalent to the input voltage minus voltage drops inside the drive. This gives enough headroom for the current controllers to operate satisfactorily. However, for good transient performance at high speed the rated voltage should be set below 95% of the minimum supply voltage to the drive.

The rated voltage is also used in conjunction with the motor rated frequency (Pr 5.06) during the rotating auto-tune test (see Pr 5.12 on page 84), and in the calculations required for automatic optimization of the rated motor slip. It is important therefore, that the correct rated voltage for the motor is used.

In some applications it may be necessary to restrict the voltage applied to the motor to a level lower than the nameplate rated voltage of the motor. In this case the rated frequency (Pr 5.06) must be adjusted to maintain the ratio of rated voltage and frequency given on the motor nameplate. The rated frequency will then be different to the nameplate value, and so the rated speed must be changed from the nameplate value to give the correct rated slip.

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5.10 Rated power factor

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

3 1 111

Range Open-loop, RFC 0.000 to 1.000

Default Open-loop, RFC 0.850

Second motor parameter

Open-loop, RFC Pr 21.10

Update rate Background read

Open loop

The power factor is the true power factor of the motor i.e. the angle between the motor voltage and current. The power factor is used in conjunction with the motor rated current (Pr 5.07), to calculate the rated active current and magnetizing current of the motor. The rated active current is used extensively to control the drive, and the magnetizing current is used in vector mode Rs compensation. It is important that this parameter is set up correctly.

RFC

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. If the stator inductance is set to zero (Pr 5.25), then the power factor is used in conjunction with the motor rated current and other motor parameters, to calculate the rated active and magnetizing currents which are used in the vector control algorithm. If the stator inductance has a non-zero value, this parameter is not used by the drive, but is continuously written with a calculated value of power factor.

5.11 Number of motor poles

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 111

Range Open-loop, RFC 0 to 60 (Auto to 120 POLE)

Default Open-loop, RFC 0 (Auto)

Second motor parameter

Open-loop, RFC Pr 21.11

Update rate Background read

Open-loop

This parameter is used in the calculation of motor speed and in applying the correct slip compensation. When auto is selected the number of motor poles is automatically calculated from the rated frequency (Pr 5.06) and the rated load rpm (Pr 5.08). The number of poles = 120 * rated frequency / rpm rounded to the nearest even number.

RFC

This parameter must be set correctly for the vector control algorithms to operate correctly. When auto is selected the number of motor poles is automatically calculated from the rated frequency (Pr 5.06) and the rated load rpm (Pr 5.08). The number of poles = 120 * rated frequency / rpm rounded to the nearest even number.

5.12 Autotune

Drive modes Open-loop, RFC

Coding

Range

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Open-loop, RFC

0 to 2 0 to 4

Default Open-loop, RFC 0

Update rate Background read

If this parameter is set to a non-zero value, the drive is enabled and a run command is applied in either direction. The drive performs an auto-tune test for the drive modes listed below. All tests that rotate the motor are carried out in the forward direction if Pr 1.12 = 0 or the reverse direction if Pr 1.12 = 1.

For example, if the test is initiated by applying run reverse (Pr 6.32 = 1), the test is performed in the reverse direction. It should be noted however that the motor may jump in either direction by up to half an electrical revolution at the start of the phasing test, and then move in the required direction for the remainder of the test. The test will not start unless the drive is disabled before the test is initiated by applying the enable or run, i.e. it will not start if the drive is in the stop state.

In RFC mode it is not possible to go into the stop state if Pr 5.12 has a non-zero value. (If Pr 5.12 is set to 4 in RFC mode then no test is carried out, but the current loop gains are re-calculated. For these actions the drive does not need to be enabled.)

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Menu 5

It is important that the motor is at standstill before the auto-tune test is performed if the correct results are to be obtained. The parameters modified by the auto-tune tests are defined below when the second motor parameters are not selected (i.e. Pr 11. 45 = 0).

If the second motor is selected for the duration of the tests (i.e. Pr 11.45 = 1), the second motor parameters in menu 21 are modified instead, and not the parameters described below. When the test has successfully completed, the drive is disabled and will enter the inhibit state.

The motor can only be restarted if the enable is removed either from the enable input if Pr 6.15 is set to zero, or by using control word (Pr 6.42). As the tests progresses, the calculated parameters are saved to EEPROM as indicated. If for any reason the test fails and the drive trips, no further parameters are calculated or stored in EEPROM. (If the drive is in Auto or Boot cloning modes (Pr 11.42 = 3 or 4) the parameters are also saved to the SMARTCARD where it is indicated that parameters are saved to EEPROM.)

Open-loop

In this mode the following parameters are used in the vector control algorithm.

Parameter Basic algorithm Slip compensation

Rated frequency Pr 5.06  Rated current Pr 5.07  Rated load rpm Pr 5.08



Rated voltage Pr 5.09  Power factor Pr 5.10  No. of poles Pr 5.11  Stator resistance (R

Transient inductance (Ls)

)

Pr 5.17 

Pr 5.24

All the above parameters can be set by the user. The auto-tune test can be used to overwrite the user or default settings as described below. Accurate values of stator resistance and voltage offset are required even for moderate performance in vector mode (an accurate value of power factor is less critical).

1: Stationary test

• A stationary test is performed to measure the stator resistance (Pr 5.17) and voltage offset (Pr 5.23). The power factor (Pr 5.10) is not affected.

•Pr 5.17 and Pr 5.23 are saved to EEPROM.

2: Rotating test

• The stationary test is performed and the parameters saved to EEPROM as described above.

• A stationary test is performed to measure the transient inductance (Pr 5.24). The transient inductance is not used directly by the drive, but is an intermediate value in determining the power factor after the rotating test.

•Pr 5.24 is saved to EEPROM.

• A rotating test is performed in which the motor is accelerated with the currently selected ramps to

/3 of rated speed and held at this speed for

several seconds. Once the test is complete the power factor (Pr 5.10) is updated and the motor coasts to a stop. The motor should be unloaded for this test to produce correct results.

•Pr 5.10 is saved to EEPROM.

RFC

In this mode the following parameters are used in the vector control algorithm.

Parameter

is zero If Ls is not zero

If L

Required for good

performance

Required for excellent

performance

Rated frequency Pr 5.06    Rated current Pr 5.07    Rated load rpm Pr 5.08    Rated Voltage Pr 5.09    Power factor Pr 5.10 



No. of poles Pr 5.11   

Stator resistance (R Transient inductance (L

Stator inductance (L

Motor saturation breakpoint 1 Pr 5.29  Motor saturation breakpoint 2 Pr 5.30 

)

Pr 5.17   

Pr 5.24   

Pr 5.25

 

All the above parameters can be set by the user. The motor set-up is constantly recalculated in the background task, therefore modifying these parameters even after auto-tune will affect the performance of the drive. The auto-tune test can be used to overwrite the user or default settings as described below. It should be noted that the current loop gains (Pr 4.13 and 4.14) are not updated as part of any test if either the stator resistance or the transient inductance for the active motor map are zero.

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1. Stationary test

• A stationary test is performed to measure the stator resistance (Pr 5.17)

•Pr 5.17 is saved to EEPROM.

• A stationary test is performed to measure the transient inductance (Pr 5.24). When this test is complete the current loop gains (Pr 4.13 and Pr

4.14) are over-written with the correct values based on the calculations given in Menu 4. A moderately accurate value of 

as described in menu

4 can be obtained from the measured stator resistance and transient inductance to set the correct current limits and flux level in the motor.

•Pr 4.13, Pr 4.14 and Pr 5.24 are saved to EEPROM.

2. Rotating test

• The stationary tests are performed and the parameters saved to EEPROM as described above.

• A rotating test is performed in which the motor is accelerated using the ramp rate defined by Pr 2.11 (or Pr 21.04 if motor 2 is selected) to

/3 of

rated frequency and held at this frequency for up to 36 seconds. During the rotating test, the stator inductance (Pr 5.25) and the motor saturation breakpoints (Pr 5.29 and Pr 5.30) are calculated. The power factor is also modified for user information only, and is not used after this point because the stator inductance will have a non-zero value. When the test is complete the motor coasts to a stop. The motor should be unloaded for this test to produce correct results.

•Pr 5.25, Pr 5.29 and Pr 5.30 are saved to EEPROM.

3. Inertia measurement

• The drive attempts to accelerate the motor in the forward direction up to

made, starting with rated torque/16, and then increasing the torque progressively to x

/4 x rated load rpm and then back to standstill. Several attempts may be

/4, x1/2 and x1 rated torque if the motor cannot be

accelerated to the required speed. 5s acceleration time is allowed during the first four attempts and 60s on the final attempt. If the required speed is not achieved on the final attempt, the test is aborted and a tuNE1 trip is initiated. If the test is successful, the acceleration and deceleration times are used to calculate the motor and load inertia which is written to Pr 3.18.

•Pr 3.18 is saved to EEPROM.

The calculated value of inertia is dependant on the value of the motor torque per amp parameter (Pr 5.32), which is calculated by the drive using an efficiency of 0.9. Therefore the inertia may be inaccurate if the motor efficiency is substantially different from 0.9. However, if the inertia is used for automatic speed loop gain set up the calculated gains will not be affected because Kt is also used in these calculations and any inaccuracy cancels out.

The test algorithm attempts to remove the effect of any load on the motor other than the torque required to accelerate and decelerate the motor, i.e. friction and windage losses, static torque load etc. Provided the average torque during acceleration, and the average torque during deceleration are the same, the effect of the additional torque is removed and the inertia value is calculated correctly.

4. Current controller gain calculation only

• No current is applied to the motor.

• The current loop gains are calculated based on the value of the motor inductance (Pr 5.24) and resistance (Pr 5.17) and written to Pr 4.13 and Pr 4.14.

•Pr 4.13 and Pr 4.14 are saved to EEPROM.

This is intended to be used as a method of setting up the current loop gains from user defined values of motor inductance and resistance. The drive should not be enabled to perform these calculations. If the parameter is set to 4, it is automatically cleared by the drive once the calculation has completed. It should be noted that the value changes back to zero within a few hundred milliseconds of being set to 4 by the user.

Open-loop, RFC

The auto-tune tests may be aborted by removing the run command or the enable, or if a trip occurs. During the auto-tune tests, the following trips can occur in addition to the other drive trips.

Trip code Reason Test which can cause trip

tunE1 The motor did not reach the required speed RFC 3

tunE2 The motor could not be stopped RFC 3

tunE3 The calculated inertia is out of range RFC 3

Motor poles or encoder lines set up incorrectly.A trip is initiated if the speed is not within ±6.25% of the

tunE7

expected no load speed just after the motor has

RFC 2 ramped up to speed. This trip will not occur if the motor poles are set to more than 12.

tunE Auto-tune stopped before completion All

rS* Stator resistance too high

Open-loop 1, 2

RFC 1

*The rS trip is produced if the drive cannot achieve the necessary current levels to measure the stator resistance during the test (i.e. there is no motor connected to the drive), or if the necessary current level can be achieved, but the calculated resistance exceeds the maximum values for the particular drive size or it exceeds 65.000. The maximum measurable value for a particular drive size can be calculated from the following formula.

= dc _VOLTAGE_MAX x 0.45 / (Kc x 2)

max

where Kc is the current scaling factor for the drive

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Performance RFC mode

Menu 5

5.13 Dynamic V to F / flux optimise select

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop 0

Update rate Background read

Open-loop

Setting this bit enables dynamic V to f mode which is intended for applications where power loss should be kept to a minimum under low load conditions. The rated frequency used to derive the voltage to frequency characteristic of the drive is varied with load:

if |active current| < 0.7 x rated active current motor rated frequency = Pr 5.06 x (2 - (active current / (0.7 x rated active current)))

else if |active current|  0.7 x rated active current motor rated frequency = Pr 5.06

Although the rated frequency varies, the value shown as Pr 5.06 does not vary from that set by the user.

5.14 Voltage mode select

Drive modes Open-loop

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 111

Range Open-loop 0 to 5

Default Open-loop 2

Update rate Background read

0: Ur_S, Stator resistance and voltage offset measured at each start

The stator resistance (Pr 5.17) and the voltage offset (Pr 5.23) are measured, and the parameters over-written each time the drive is started. This test can only be done with a stationary machine where the flux has decayed to zero. Therefore this mode should only be used if the machine is guaranteed to be stationary each time the drive is enabled. To prevent the test from being done before the flux has decayed, there is a period of 1 second after the drive has been in the ready state during which the test is not done if the drive is re-started. In this case, previously measured values are used. The new values of stator resistance and voltage offset are not automatically saved to EEPROM or the SMARTCARD.

1: Ur, No measurements

The stator resistance and voltage offset are not measured. The user can enter the motor and cabling resistance into the stator resistance parameter. However this will not include resistance effects within the drive inverter. Therefore if this mode is to be used, it is best to use the auto-tuning stationary test initially to measure the stator resistance.

2: Fd, Fixed boost mode. Neither the stator resistance nor the voltage offset are used, instead a fixed characteristic with boost applied as defined by Pr 5.15 is used.

3: Ur_Auto, Stator resistance and voltage offset measured at first drive enable

The stator resistance and voltage offset are measured once, the first time the drive is enabled. After the test has been completed successfully the mode is changed to Ur mode. The stator resistance and voltage offset are written to the parameters for the currently selected motor map and these parameters along with this parameter are saved in the EEPROM (and the SMARTCARD if Pr 11.42 = 3 or 4).

4: Ur_I, Stator resistance and voltage offset measured at each power-up

The stator resistance and voltage offset are measured when the drive is first enabled, and at each subsequent power-up. The new values of stator resistance and voltage offset are not automatically saved to EEPROM or the SMARTCARD.

5: SrE, Square law characteristic

Neither the stator resistance nor the voltage offset are used, instead a fixed square law characteristic with boost applied as defined by Pr 5.15 is used.

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5.15 Low frequency voltage boost

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Range Open-loop, RFC 0.0 to 25.0 % of motor rated voltage

Default Open-loop, RFC See below

Update rate Background read

Voltage boost is used in fixed boost mode and square law mode for Open-loop mode, and also during the rotating auto-tune test in RFC mode. In open-loop mode, the default is dependant on the frame size as given in the table below.

Drive sizes Default

BA1xxx, BA2xxx, BA3xxx 3.0%

BA4xxx, BA5xxx 2.0%

BA6xxx, BAMxxxx 1.0%

5.17 Stator resistance

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

31 111

Range Open-loop, RFC 0.0 to 65.000

Default Open-loop, RFC 0.00

Second motor parameter

Open-loop, RFC Pr 21.12

Update rate Background read

Pr 5.17 shows the stator resistance of the motor. The units vary with the drive size to ensure that the full range of likely resistances can be represented with suitable resolution. The table below shows the units. Therefore 1.000 in the parameter represents the resistance shown in the units column.

Drive size Units

BA1xxx to BA5xxx 1 Ohm

BA6xxx, BAMxxxx 0.01 Ohms

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5.18 Maximum switching frequency

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 1 111

Range Open-loop, RFC 0 to 5 (3, 4, 6, 8, 12, 16 kHz)*

Default Open-loop, RFC 0 (3 kHz)

Update rate Background read

*The maximum switching frequency available is limited for some drive sizes as shown inTable 5-6 below.

Table 5-6 maximum switching frequency

200V kHz 400V kHz 575V kHz 690V kHz

BA1201 16 BA1401 16 BA3501 8 BA4601 8

BA1202 16 BA1402 16 BA3502 8 BA4602 8

BA1203 16 BA1403 16 BA3503 8 BA4603 8

BA1204 16 BA1404 16 BA3504 8 BA4604 8

BA2201 16 BA1405 16 BA3505 8 BA4605 8

BA2202 16 BA1406 16 BA3506 8 BA4606 8

BA2203 16 BA2401 16 BA3507 8 BA5601 8

BA3201 12 BA2402 16

BA3202 12 BA2403 16

BA4201 8 BA3401 16

BA4202 8 BA3402 16

BA4203 8 BA3403 12

BA5201 8 BA4401 8

BA5202 8 BA4402 8

BAMD12X1 6 BA4403 8

BAMD12X2 6 BA5401 8

BA5602 8

BA6601 6

BA6602 6

BAMA16X1 6

BAMA16X2 6

BAMD16X1 6

BAMD16X2 6

BAMD16X3 6

BAMD16X4 6

BAMD12X3 6 BA5402 8

BAMD12X4 6 BA6401 6

BA6402 6

BAMA14X1 6

BAMA14X2 6

BAMD14X1 6

BAMD14X2 6

BAMD14X3 6

BAMD14X4 6

Performance RFC mode

Menu 5

This parameter defines the required switching frequency. The drive may automatically reduce the actual switching frequency (without changing this parameter) if the power stage becomes too hot. The switching frequency can reduce from 12kHz to 6kHz to 3kHz, or 16kHz to 8kHz to 4kHz. An estimate of the IGBT junction temperature is made, based on the heatsink temperature and an instantaneous temperature drop using the drive output current and switching frequency.

The estimated IGBT junction temperature is displayed in Pr 7.34. If the temperature exceeds 135°C, the switching frequency is reduced (if this is possible i.e >4kHz) and this mode is enabled (see Pr 5.35 on page 94).

Reducing the switching frequency reduces the drive losses and the junction temperature displayed in Pr 7.34 also reduces. If the load condition persists the junction temperature may continue to rise. If the temperature exceeds 145°C and the switching frequency cannot be reduced, the drive will initiate an O.ht1 trip. Every 20ms the drive will attempt to restore the switching frequency if the higher switching frequency will not take the IGBT temperature above 135°C.

The following table gives the sampling rate for different sections of the control system for different switching frequencies.

3, 6, 12kHz 4, 8, 16kHz Open-loop RFC

3 = 167s

Level 1

6 = 83s

125s Peak limit Current controllers

12 = 83s

Level 2 250s 250s

Current limit and

ramps

Speed controller

and ramps

Level 3 1ms 1ms Voltage controller

Level 4 4ms 4ms Time critical user interface

Background N/A N/A Non-time critical user interface

Affinity Advanced User Guide 89 Issue Number: 3

Menu 5

Parameter

structure

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Parameter

x.00

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description format

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Performance RFC mode

5.19 High stability space vector modulation

Drive modes Open-loop

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, 0

Update rate Background read

Normally the drive will use space vector modulation to produce the IGBT control signals. High stability space vector modulation offers three advantages in an open loop drive, but the acoustic noise produced by the motor may increase slightly

• It is possible for instability to occur around motor rated frequency/2 on light load. The drive uses dead-time compensation to reduce this effect, however it is still possible that some machines will be unstable. To prevent this, high stability space vector modulation should be enabled by setting this parameter.

• As the output voltage approaches the maximum available from the drive pulse deletion occurs. This can cause unstable operation with a lightly or fully loaded machine. High stability space vector modulation will reduce this effect.

• High stability space vector modulation also gives a small reduction in drive heat loss.

5.20 Quasi-square enable

Drive modes Open-loop

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop 0

Update rate Background read

Open loop

The maximum modulation level of the drive is normally limited to unity, giving an output voltage equivalent to the drive input voltage minus voltage drops within the drive. If the motor rated voltage is set at the same level as the supply voltage, some pulse deletion will occur as the drive output voltage approaches the rated voltage level.

If Pr 5.20 is set to 1, the modulator will allow over modulation so that as the output frequency increases beyond the rated frequency, the voltage continues to increase above the rated voltage. The modulation depth will increase beyond unity first producing trapezoidal and then quasi-square waveforms. This can be used for example to obtain high output frequencies with a low switching frequency which would not be possible with space vector modulation limited to unity modulation depth.

The disadvantage is that the machine current will be distorted as the modulation depth increases above unity, and will contain a significant amount of low order odd harmonics of the fundamental output frequency.

As the rated voltage parameter is increased for a given DC bus voltage, the modulation depth is also increased. Therefore if the rated voltage is set to a level higher than the supply voltage the point at which pulse dropping, over-modulation and quasi-square operation each begin, may occur at a frequencies below the rated frequency.

5.21 Field gain reduction

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default RFC 0

Update rate Background read

A suitable field controller gain is automatically set by the drive from the motor parameters. However by setting this parameter to 1, it is possible to reduce this gain by a factor of 2 if instability problems occur above base speed.

5.23 Voltage offset

Drive modes Open-loop

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1 1 111

Range Open-loop 0.0 to 25.0 V

Default Open-loop 0.0

Second motor parameter

Open-loop Pr 21.13

Update rate Background read

Due to various effects in the drive inverter, a voltage offset must be produced before any current flows. To obtain good performance at low frequencies where the machine terminal voltage is small, this offset must be taken into account. The value shown in Pr 5.23 is this offset given in line to line rms volts. It is not possible for the user to measure this voltage easily, and so the automatic measurement procedure should be used (see Pr

5.14 on page 87).

90 Affinity Advanced User Guide

Issue Number: 3

Parameter

jwL

R2/sjwL

Steady state per phase equivalent circuit of an induction motor

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 5

5.24

Transient inductance (L

)

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

31 111

Range Open-loop, RFC 0.000 to 500.000 mH

Default Open-loop, RFC 0.000

Second motor parameter

Open-loop, RFC Pr 21.14

Update rate Background read

Open-loop, RFC

With reference to the diagram below, the transient inductance is defined as

L

= L1 + (L2.Lm / (L2 + Lm))

Based on the parameters normally used for the motor equivalent circuit for transient analysis, i.e. L

= L1 + Lm, Lr = L2 + Lm, the transient inductance

is given by

L

= Ls - (L

/ Lr)

The transient inductance is used as an intermediate variable to calculate the power factor in open-loop mode. It is used in the vector algorithm, for cross-coupling compensation and to set the current controller gains in RFC mode.

5.25

Stator inductance (L

)

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

2 1 111

Range RFC 0.00 to 5000.00 mH

Default RFC 0.00

Second motor parameter

RFC Pr 21.24

Update rate Background read

This parameter holds the stator inductance of the motor with rated flux. If the motor flux is reduced, the value of stator inductance used by the vector control algorithm is modified using the motor saturation breakpoints (Pr 5.29 and Pr 5.30). Stator inductance (L

) = L1 + Lm from the steady state

equivalent circuit. It should be noted that if this parameter is changed from a non-zero value to zero, the power factor (Pr 5.10) is automatically set to

0.850. The same applies to the motor map 2 stator inductance (Pr 21.24) and motor map 2 power factor (Pr 21.10).

5.26 High dynamic performance enable

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default RFC 0

Update rate Background read

When this bit is set, the drive provides a cross-coupling feed forward voltage as produced by the transient inductance, and a frequency based voltage feed forward term. These voltages improve the transient performance of the current controllers

Affinity Advanced User Guide 91 Issue Number: 3

Menu 5

Parameter

structure

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Parameter

x.00

Parameter

description format

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descriptions

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Performance RFC mode

5.27 Enable slip compensation

Drive modes Open-loop

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

1111

Default Open-loop 1

Update rate Background read

The level of slip compensation is set by the rated frequency and rated speed parameters. Slip compensation is only enabled when this parameter is set to 1 Pr 5.08 is set to a value other than zero or synchronous speed.

5.28 Field weakening compensation disable

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default RFC 0

Update rate Background read

When the flux in the motor is reduced below its rated level, the level of torque producing current required for a given amount of shaft torque is higher than the rated level. In speed control the compensation prevents gain reduction at higher speeds. In torque control the compensation maintains the torque at the correct level for a given torque demand. In some applications using speed control, it may be desirable to have a reduction of gain as the motor flux is reduced to maintain stability. If this is required Pr 5.28 should be set to 1. It should be noted that although field weakening is possible in servo mode, gain compensation is not applied in this mode.

5.29 Motor saturation breakpoint 1

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

Range RFC 0 to 100 % of rated flux

Default RFC 50

Second motor parameter

RFC Pr 21.25

Update rate Background read

111

92 Affinity Advanced User Guide

Issue Number: 3

Parameter

i_mag (%)

flux (%)

50 75 100

100%

5.30

5.29

structure

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Performance RFC mode

Menu 5

5.30 Motor saturation breakpoint 2

Drive modes RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range RFC 0 to 100 % of rated flux

Default RFC 75

Second motor parameter

RFC Pr 21.26

Update rate Background read

The rated level of flux in most induction motors causes saturation. Therefore the flux against flux producing current characteristic is non-linear. The effects of saturation are to cause a step increase in torque when operating in torque mode, as the speed increases into the field weakening region. The drive can include the effects of saturation by representing the flux producing current to flux characteristic as a series of three lines as shown below:

If Pr 5.29 and Pr 5.30 have their default values of 50 and 75, the characteristic becomes one line and there will be a linear relationship between the drive estimate of flux and the flux producing current. If Pr 5.29 and Pr 5.30 are increased above 50 and 75 the drive estimate of flux can include the effect of saturation. It is unlikely that information will be available to set up these parameters, and so the values are determined during the rotating auto-tune test.

5.31 Voltage controller gain

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Range Open-loop, RFC 0 to 30

Default Open-loop, RFC 1

Update rate Background read

This parameter controls the gain of the voltage controller used for mains loss and standard ramp control. If the parameter is set to 1, the gain used is suitable for applications where the drive is used alone. Higher values are intended for applications where the DC bus of each drive is connected in parallel, and the drive is used as a master for mains loss control. This is intended for use in applications where each drive is locked together using open-loop frequency slaving. (If motors are locked together using digital-locking using a master for mains loss control, it is unlikely that the system will be stable during mains loss unless the power rating of the master is much higher than the combined rating of the slaves. This is due to the lag created by the master motor inertia.)

5.32 Motor torque per amp (Kt)

Drive modes RFC

Coding BitSPFIDETEVMDPNDRANCNVPTUSRWBUPS

RFC 21 1

Range RFC

0.00 to 500.00 NmA

-1

Update rate Background (1s) read

This parameter shows the motor torque per amp of active (torque producing) current used to calculate the speed controller gains when the automatic set-up methods are active (i.e. Pr 3.17 = 1 or 2).

Affinity Advanced User Guide 93 Issue Number: 3

Menu 5

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Performance RFC mode

RFC

The drive calculates the motor torque per amp of active current using the motor parameters as shown below assuming a motor efficiency of 90%.

3 x Vrated x Irated x Rated power factor x Efficiency

Kt =

Rated speed (rad s

3 x Pr 5.09 x Pr 5.07 x Pr 5.10 x 0.9

Kt =

(2 x Pr 5.08 / 60) x Rated active current

-1

) x Rated active current

Rated active current is the active current when the motor current is equal to the rated motor current and is defined at the start of the description of menu 4.

5.35 Disable auto-switching frequency change

Drive modes Open-loop, RFC

Coding

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 0

Update rate

Background read

The drive thermal protection scheme (see Pr 5.18 on page 89), reduces the switching frequency automatically when necessary to prevent the drive from overheating. It is possible to disable this feature by setting this bit parameter to 1. If the feature is disabled, the drive trips immediately when the IGBT temperature is too high.

5.37 Actual switching frequency

Drive modes Open-loop, RFC

Coding

Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS

11111

Range Open-loop, RFC 0 to 7

Update rate

Background write

Pr 5.37 shows the actual switching frequency used by the inverter. The maximum switching frequency is set with parameter Pr 5.18, but this may be reduced by the drive if automatic switching frequency changes are allowed (Pr 5.35=1). Pr 5.37 also indicates if the sample time for the current controllers have been reduced to allow for RFC mode.

Value String Switching frequency Current controller Sample time

(kHz)

(s)

03 3 167

14 4 125

26 6 83

38 8 125

412 12 83

516 16 125

66 rEd 6 167

7 12 rEd 12 167

5.40 Spin start boost

Drive modes Open-loop, RFC

Coding

Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS

1111

Range Open-loop, RFC 0.0 to 10.0

Default Open-loop, RFC 1.0

Update rate

Background read

If Pr 6.09 is set to enable the catch a spinning motor function in open-loop mode or RFC mode without position feedback (RFC mode) (Pr 3.24 = 1 or

3), this parameter will define a scaling function used by the algorithm which detects the speed of the motor.

It is likely that for smaller motors the default value of 1.0 is suitable, but for larger motors this parameter may need to be increased. If the value of this parameter is too large, the motor may accelerate from standstill when the drive is enabled. If the value of this parameter is too small, the drive will detect the motor speed as zero even if the motor is spinning.

94 Affinity Advanced User Guide

Issue Number: 3

6.12

Keypad

STOP

1.11

Reference

enabled

indicator

1.12

Reverse

selected

indicator

1.13

Jog

selected

indicator

RUN

STOP/ RESET

FWD/REV

RESET

1.49

Reference selected

indicator

Logic 1

Open loop only

6.06

Injection

braking level*

6.07

Injection

braking time*

6.17

Power

consumption

meter reset

6.21

Time

interval

between

filter changes

6.22

Filter

change

required/done

6.27

Electricity cost

per kWh

Clock control

Time before filter

change due

6.28

Running

cost

6.23

Power meter

Inverter enable

RFC only

Menu 2

Menu 3

Ramp

Hard speed

reference

enable

5.03

Total motor power

0.XX

Key

Read-write

(RW)

parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown at their default settings

Pr = 4

1.49

Sequencer

6.01

6.03

6.08

6.09

6.40

Stop mode

*selector

Line power supply loss mode** Hold zero speed/ Motor pre-heat

*****enable Catch a spinning motor***

Enable sequencer latching

5.05

DC bus voltage

Low voltage supply

Drive power supply monitor

6.44

Active supply

6.18

6.17

Time Day of

week

6.16

Date

6.19

Date/time selector

0 1 2 3 4 5

Power up time Slot 1 RTC Slot 2 RTC Internal RTC Run time Set time

6.25

6.26

Pr = 0

1.52

6.15

6.30

6.31

6.32

6.33

6.42

6.34

6.37

6.43

Jog reverse

Run

Forward / Reverse

Run reverse

Jog forward

Run forward

Drive enable

Control word

enable

6.35

6.36

Limit switch 2

Limit switch 1

6.29

Hardware

enable

Menu 8

6.04

Stop / Start

***select

T25 digital I/O 2

T26 digital I/O 3

T27 digital input 4

6.39

Not stop

Fire mode

active

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

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5.8 Menu 6: Sequencer and clock

Figure 5-9 Menu 6 logic diagram

Advanced parameter

descriptions

PC comms

protocol

Building automation

network

Performance RFC mode

Menu 6

Affinity Advanced User Guide 95 Issue Number: 3

Menu 6

Parameter

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6.01 Stop mode

Drive modes Open-loop, RFC

Coding

Range

Default

BitSP FI DETEVMDPNDRANCNVPTUSRWBUPS

1 111

Open-loop RFC

Open-loop, RFC

0 to 5 0 to 2

1 1

Update rate Background read

Open-loop

Stopping is in two distinct phases: decelerating to stop, and stopped.

Stopping Mode Phase 1 Phase 2 Comments

0: Coast Inverter disabled

1: Ramp

2: Ramp followed by dc injection

Ramp down to zero frequency

Low frequency current 3: dc injection with zero speed detection

injection with detection of

low speed before next

phase.

4: Timed dc injection braking stop

Inject dc at level specified

by Pr 6.06 for time specified

by Pr 6.07.

Drive cannot be re-enabled for 1s

Wait for 1s with inverter enabled

Inject dc at level specified by Pr 6.06 for time defined by Pr

6.07

Inject dc at level specified by Pr 6.06 for time defined by Pr

6.07

No phase 2.

5:Disable Inverter disabled No phase 2.

Delay in phase 2 allows rotor flux to decay.

The drive automatically senses low speed and therefore it adjusts the injection time to suit the application. If the injection current level is too small, the drive will not sense low speed (normally a minimum of 50-60% is required).

Allows the drive to be immediately disabled and then reenabled again immediately if required.

Performance RFC mode

Once modes 3 or 4 have begun, the drive must go through the ready state before being restarted either by stopping, tripping or being disabled. If this parameter is set to 5 (Disable stopping mode), the disable stopping mode is used when the run command is removed, and will allow the drive to be started immediately by reapplying the run command. However, if the drive is disabled by removing the drive enable (i.e. via the secure disable input or the drive enable (Pr 6.15), then the drive cannot be re-enabled for 1s.

RFC

Only one stopping phase exists, and the ready state is entered as soon as the single stopping action is complete. It should be noted that the stop condition is detected when the speed feedback is below the zero speed threshold (Pr 3.05) for at least 16ms. If the speed is not stable, it is possible that the stop condition may not be detected. In this case the system should be made more stable or alternatively the zero speed threshold should be raised.

Stopping Mode Action

0: Coast Inhibits the inverter

1: Ramp Stop with ramp

2: No ramp Stop with no ramp

If coast stop is selected, the inverter is inhibited immediately when the run command is removed. If however hold zero speed is also selected (Pr 6.08 = 1), then the inverter will be re-enabled to hold zero speed. The result is that the inverter is disabled for one sample and then enabled to ramp the motor to a stop. If coast stop is required Pr 6.08 should be set to zero to disable hold zero speed.

If stop with ramp is selected, the relevant ramp rate is used to stop the motor even if Pr 2.02 is set to zero to disable ramps.

The motor can be stopped with position orientation after stopping. This mode is selected with the position controller mode (Pr 13.10). When this mode is selected Pr 6.01 has no effect.

96 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

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x.00

Parameter

description format

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Performance RFC mode

Menu 6

6.03 Line power loss mode

Drive modes Open-loop, RFC

Coding

Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS

1111

Range Open-loop, RFC 0 to 2

Default Open-loop, RFC 0

Update rate Background read

0: dis

There is no line power loss detection and the drive operates normally only as long as the DC bus voltage remains within specification (i.e. >Vuu). Once the voltage falls below Vuu a UU trip occurs. This will reset itself if the voltage rises again above VuuRestart as shown in Table 5-7 Voltages and voltage ratings on page 97.

1: Stop

Open-loop

The action taken by the drive is the same as for ride through mode except the ramp-down rate is at least as fast as the deceleration ramp setting, and the drive will continue to decelerate and stop even if the line power is re-applied. If normal or timed injection braking is selected, the drive will use ramp mode to stop on loss of line power. If ramp stop followed by injection braking is selected, the drive will ramp to a stop and then attempt to apply dc injection. If the line supply is reapplied the drive restarts after it reaches the ready state provided the necessary controls are still active to initiate a start.

RFC

The speed reference is set to zero and the ramps are disabled allowing the drive to decelerate the motor to a stop under current limit. If the line power is re-applied while the motor is stopping, any run signal is ignored until the motor has stopped. If the current limit value is set at a very low level, the drive may enter a UU trip before the motor has stopped. If the line power is reapplied the drive restarts after it reaches the ready state provided the necessary controls are still active to initiate a start.

2: ride.th

The drive detects line power loss when the DC bus voltage falls below Vml hold the DC bus level at Vml force the DC bus voltage above the detection threshold Vml

. This causes the motor to decelerate at a rate that increases as the speed falls. If the line power is re-applied, it will

and the drive will continue to operate normally. The output of the line power loss

. The drive then enters a mode where a closed-loop controller attempts to

controller is a current demand that is fed into the current control system, and therefore the gain parameters Pr 4.13 and Pr 4.14 must be set up for optimum control. See Pr 4.13 and Pr 4.14 on page 70 for set-up details.

Table 5-7 Voltages and voltage ratings

Voltage level 200V drive 400V drive 575V drive 690V drive

Vuu 175 350 500 500

Vml

205* 410* 540* 540*

Vml1 - 10V Vml1 - 20V Vml1 - 25V Vml1 - 25V

Vml1 + 10 Vml1 + 15 Vml1 + 50 Vml1 + 50

Vuu Restart 215 425 590 590

is defined by Pr 6.48. The values given in the table are the default values.

* Vml

6.04 Start/stop logic select

Drive modes Open-loop, RFC

Coding

Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS

111

Range Open-loop, RFC 0 to 4

Default Open-loop, RFC 4

Update rate Background read

This parameter is provided to allow the user to select several predefined digital input routing macros to control the sequencer. When a value between 0 and 3 is selected the drive processor continuously updates the destination parameters for digital I/O T25, T26 and T27, and the enable sequencer latching bit (Pr 6.40). When a value of 4 is selected the destination parameters for these digital I/O and Pr 6.40 can be modified by the user. (Note any changes made to the destination parameters only become active after a drive reset.)

Pr 6.04 T25 (Pr 8.22) T26 (Pr 8.23) T27 (Pr 8.24) Pr 6.40

0Pr 6.29* Pr 6.30 Run Forward Pr 6.32 Run Reverse 0 (non latching)

1Pr 6.39 Not stop Pr 6.30 Run Forward Pr 6.32 Run Reverse 1 (latching)

2Pr 6.29* Pr 6.34 Run Pr 6.33 Fwd /Rev 0 (non latching)

3Pr 6.39 Not stop Pr 6.34 Run Pr 6.33 Fwd/Rev 1 (latching)

4 User prog User prog User prog User prog

* Pr 6.29 can be used as a fast disable parameter. See Pr 6.29 on page 103 for more information.

Affinity Advanced User Guide 97 Issue Number: 3

Menu 6

CAUTION

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Parameter

x.00

Parameter

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Performance RFC mode

6.06 Injection braking level

Drive modes Open-loop

Coding

Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS

1 1 111

Range Open-loop 0 to 150.0 %

Default Open-loop 100.0 %

Update rate Background read

Defines the current level used during dc injection braking as a percentage of motor rated current as defined by Pr 5.07.

6.07 Injection braking time

Drive modes Open-loop

Coding

Bit SP FI DETEVMDPNDRANCNVPTUSRWBUPS

1 111

Range Open-loop 0.0 to 25.0 s

Default Open-loop 1.0

Update rate Background read

Defines the time of injection braking during phase 1 with stopping modes 3 and 4 (see Pr 6.01 on page 96) for injection braking stop.

6.08 Hold zero speed / Motor pre-heat enable

Drive modes Open-loop, RFC

Coding

Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 0

Update rate Background read

Pre-heat mode is enabled if Pr 6.08 is set to a 1 and Pr 6.52 is set to a value greater than zero. When the run command is removed and the motor has reached standstill, the drive applies a percentage (determined by the value in Pr 6.52) of the motor rated current. When pre-heat is active, then the keypad displays the status "Heat".

Hold zero speed is enabled if Pr 6.08 is set to a one and Pr 6.52 is set to zero. When the run command is removed and the motor has reached standstill, the drive continues to apply the magnetizing current. The level of magnetizing current cannot be modified. When hold zero speed is active, then the keypad displays the status "StoP".

The drive cannot be switched between hold zero speed and pre-heat mode if any one of these modes is active. The drive should either be disabled or running in order to change the mode.

The value in Pr 6.52 should not be set too high because it could damage the motor or cause the motor thermal protection to operate and trip the drive.

6.09 Catch a spinning motor

Drive modes Open-loop, RFC

Coding

Range

Default

BitSP FI DETEVMDPNDRANCNVPTUSRWBUPS

111

Open-loop RFC

3 1

0 1

Update rate Background read

Open-loop

When the drive is enabled with this parameter at zero, the output frequency starts at zero and ramps to the required reference. When the drive is enabled with this parameter at a non-zero value, the drive performs a start-up test to determine the motor speed and then sets the initial output frequency to the synchronous frequency of the motor.

The test is not carried out and the motor frequency starts at zero:-

• if the run command is given when the drive is in the stop state.

• OR when the drive is first enabled after power-up with Ur_I voltage mode.

• OR when the run command is given with Ur_S voltage mode.

98 Affinity Advanced User Guide

Issue Number: 3

Parameter

structure

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x.00

Parameter

description format

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Performance RFC mode

Menu 6

Using the default parameters, the length of the test is approximately 200ms. However if the motor has a short rotor time constant/filter (usually found in smaller motors) the time may be shorter. The drive will set the test time automatically if the motor parameters including the rated load rpm, are set up correctly for the motor.

For the test to operate correctly, it is important that the stator resistance (Pr 5.17, Pr 21.12) is set up correctly. This applies even if fixed boost (Fd) or square law (SrE) voltage mode is being used. The test uses the rated magnetizing current of the motor during the test, therefore the rated current (Pr 5.07, Pr 21.07 and Pr 5.10, Pr 21.10) and power factor should be set to values close to those of the motor, although these parameters are not as critical as the stator resistance. For larger motors, it may be necessary to increase Pr 5.40 (spin start boost) from its default value of 1.0 for the drive to successfully detect the motor speed.

It should be noted that a stationary lightly loaded motor with low inertia may move slightly during the test. The direction of the movement is undefined. Restrictions may be placed on the direction of this movement and on the frequencies detected by the drive as follows:

Pr 6.09 Function

0 Disabled

1 Detect all frequencies

2 Detect positive frequencies only

3 Detect negative frequencies only

RFC

When the drive is enabled with this bit at zero, the post ramp reference (Pr 2.01) starts at zero and ramps to the required reference. When the drive is enabled with this parameter at one, the post ramp reference is set to the motor speed. When RFC mode is used feedback and catch a spinning motor is not required, this parameter should be set to zero as this avoids unwanted movement of the motor shaft when zero speed is required. When RFC mode is used with larger motors, it may be necessary to increase Pr 5.40 (spin start boost) from its default value of 1.0 for the drive to successfully detect the motor speed.

6.12 Enable stop key

Drive modes Open-loop, RFC

Coding

Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS

111

Default Open-loop, RFC 0

Update rate Background read

This parameter permanently enables the Stop key on the drive such that the drive will always stop when the Stop key is pressed. If keypad mode is selected this has no effect because the Stop key is automatically enabled.

The sequencer logic has been designed so that pressing the Stop key (whether the Stop key is enabled or not), does not make the drive change from a stopped to a running condition. As the Stop key is also used to reset trips, this means that if the Stop key is pressed when the drive is tripped, the trip will be reset but the drive does not start. (This does not apply to the UU trip which cannot be reset by the user, but is automatically reset when the DC bus voltage is high enough).

Preventing the drive from starting when the stop key is pressed is implemented as follows:-

Sequencer latching not enabled (Pr 6.40=0)

If the Stop key is pressed when the Stop key is enabled (Pr 6.12=1), or when the drive is tripped the sequencer run is removed, and so the drive stops or remains stopped respectively. The sequencer run can only then be reapplied after at least one of the following conditions occurs:-

1. Run forward, Run reverse and Run sequencing bits all zero

2. OR the drive is disabled via Pr 6.15 or Pr 6.29

3. OR Run forward and Run reverse are both active and have been for 60ms.

4. OR The drive is in the UU state.

The drive can then be restarted by activating the necessary bits to give a normal start.

Sequencer latching enabled (Pr 6.40=1)

If the Stop key is pressed when the stop key is enabled (Pr 6.12=1) or when the drive is tripped the sequencer run is removed, and so the drive stops or remains stopped respectively. The sequencer run can only then be reapplied after at least one of the following conditions occurs.

1. Run forward, Run reverse and Run sequencing bits all zero after the latches

2. OR Not stop sequencing bit is zero

3. OR the drive is disabled via Pr 6.15 or Pr 6.29

4. OR Run forward and Run reverse are both active and have been for 60ms.

5. OR The drive is in the UU state.

The drive can then be restarted by activating the necessary bits to give a normal start. Note that Run forward and Run reverse

together will reset the stop key condition, but the latches associated with Run forward and Run reverse must then be reset before the drive can be restarted. It should be noted that holding the Run key and pressing the Stop key to reset the drive without stopping does not apply unless keypad reference mode is selected.

Affinity Advanced User Guide 99 Issue Number: 3

Menu 6

Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

6.15 Drive enable

Drive modes Open-loop, RFC

Coding

Bit SP FI DETEVMDPNDRANCNVPTUSRWBUPS

1 111

Default Open-loop, RFC 1

Update rate 4ms read

Setting this parameter to 0 will disable the drive. It must be at 1 for the drive to run.

6.16 Date

Drive modes Open-loop, RFC

Coding

Bit SP FI DETEVMDPNDRANCNVPTUSRWBUPS

11111

Default Open-loop, RFC 0 to 311299

Update rate Background read/write

6.17 Time

Drive modes Open-loop, RFC

Coding

Bit SP FI DETEVMDPNDRANCNVPTUSRWBUPS

21 1 1 11

Default Open-loop, RFC 0.0 to 23.59

Update rate Background read/write

PC comms

protocol

Building automation

network

Performance RFC mode

6.18 Day of week

Drive modes Open-loop, RFC

Coding

Bit SP FI DETEVMDPNDRANCNVPTUSRWBUPS

111 1

Default Open-loop, RFC 0 to 6

Update rate Background write

6.19 Date / Time selector

Drive modes Open-loop, RFC

Coding

Bit SP FI DETEVMDPNDRANCNVPTUSRWBUPS

Range Open-loop, RFC 0 to 5

Default Open-loop, RFC 3

Update rate Background read

111

100 Affinity Advanced User Guide

Issue Number: 3

Control Techniques Reconditioned Affinity User Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Parameter structure

1.1 Menu 0

1.2 Advanced menus

1.3 Solutions Modules

1.4 Drive and Building Automation Network (BAN) Interface software version

2 Keypad and display

2.1 Understanding the display

2.1.1 BA-Keypad (LCD)

2.2 Keypad operation

2.2.1 Control buttons

2.3 Status mode

2.4 Parameter view mode

2.5 Edit mode

2.6 Parameter access level and security

2.6.1 Access Level

2.6.3 User Security

2.6.2 Changing the Access Level

2.7 Alarm and trip display

2.9 Drive reset

2.10 Second motor parameters

2.8 Keypad control mode

3 Parameter x.00

3.1 Parameter x.00 reset

3.2 Saving parameters in drive EEPROM

3.3 Loading defaults

3.4 SMARTCARD transfers

4 Typical parameter description format

4.1 Parameter ranges and variable maximums:

4.1.1 Default

4.1.2 Second motor parameter

4.1.3 Update rate

4.2 Sources and destinations

4.2.1 Sources

4.2.2 Destinations

4.2.3 Sources and destinations

4.3 Update rates

4.3.1 Speed reference update rate

4.3.2 Hard speed reference update rate

4.3.3 Torque reference update rate

5 Advanced parameter descriptions

5.1 Overview

5.2 Feature look-up table

5.3 Menu 1: Frequency/speed reference

5.3.1 Hand / Off / Auto

5.4 Menu 2: Ramps

5.5 Menu 3: Speed feedback and speed control

5.6 Menu 4: Torque and current control

5.6.1 Open-loop

5.6.2 RFC

5.6.3 Parameter descriptions Parameter descriptions: Open-loop

5.7 Menu 5: Motor control

5.8 Menu 6: Sequencer and clock