Control Techniques Reconditioned Unidrive M400 User Guide

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Control User Guide

Unidrive M400

Variable Speed AC drive for induction motors

Part Number: 0478-0349-03 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.

How to use this guide

NOTE

1 Safety information

2 Product information

3 Mechanical installation

4 Electrical installation

5 Getting started

6 Basic parameters

7 Running the motor

8 Optimization

9 NV media card operation

11 Advanced parameters

10 Onboard PLC

12 Diagnostics

13 UL listing information

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

operation and optimization.

There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1 Safety information contains general safety information. It is essential that the warnings are observed and the information considered when working with or designing a system using the drive.

This map of the user guide helps to find the right sections for the task you wish to complete, but for specific information, refer to Contents on page 4:

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

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

1.2 Important safety information. Hazards.

Competence of designers and installers ...............8

1.3 Responsibility ........................................................8

1.4 Compliance with regulations .................................8

1.5 Electrical hazards ..................................................8

1.6 Stored electrical charge ........................................8

1.7 Mechanical hazards ..............................................8

1.8 Access to equipment .............................................8

1.9 Environmental limits ..............................................8

1.10 Hazardous environments ......................................8

1.11 Motor .....................................................................9

1.12 Mechanical brake control ......................................9

1.13 Adjusting parameters ............................................9

1.14 Electromagnetic compatibility (EMC) ....................9

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

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

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

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

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

2.5 Keypad and display .............................................12

2.6 Nameplate description ........................................13

2.7 Options ................................................................14

3 Mechanical installation .......................17

3.1 Installing / removing options and keypad ............17

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

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

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

4.2 Communication connections ...............................21

4.3 Control connections ............................................22

4.4 Safe Torque Off (STO) ........................................26

5 Getting started .....................................28

5.1 Understanding the display ...................................28

5.2 Keypad operation ................................................28

5.3 Menu structure ....................................................30

5.4 Advanced menus ................................................31

5.5 Changing the operating mode .............................32

5.6 Saving parameters ..............................................32

5.7 Restoring parameter defaults ..............................32

5.8 Parameter access level and security ..................32

5.9 Displaying parameters with non-default

values only ..........................................................33

5.10 Displaying destination parameters only ..............33

5.11 Communications .................................................33

6 Basic parameters .................................34

6.1 Menu 0: Basic parameters ..................................34

6.2 Parameter descriptions .......................................40

6.3 Control terminal configurations and wiring ..........41

7 Running the motor .............................. 47

7.1 Quick start connections ...................................... 47

7.2 Changing the operating mode ............................ 47

7.3 Quick start commissioning / start-up .................. 52

8 Optimization ........................................ 54

8.1 Motor map parameters ....................................... 54

8.2 Maximum motor rated current ............................ 60

8.3 Current limits ...................................................... 60

8.4 Motor thermal protection .................................... 60

8.5 Switching frequency ........................................... 61

8.6 CT Modbus RTU specification ........................... 62

9 NV Media Card Operation .................. 67

9.1 Introduction ........................................................ 67

9.2 SD card support ................................................. 67

9.3 NV Media Card parameters ............................... 70

9.4 NV Media Card trips ........................................... 70

9.5 Data block header information ........................... 70

10 Onboard PLC ....................................... 71

10.1 Onboard PLC and Machine Control Studio ........ 71

10.2 Benefits .............................................................. 71

10.3 Features ............................................................. 71

10.4 Onboard PLC parameters .................................. 72

10.5 Onboard PLC trips ............................................. 72

11 Advanced parameters ........................ 73

11.1 Parameter ranges and Variable minimum/

maximums: ......................................................... 76

11.2 Menu 1: Frequency reference ............................ 82

11.3 Menu 2: Ramps .................................................. 86

11.4 Menu 3: Frequency control ................................ 89

11.5 Menu 4: Torque and current control ................... 94

11.6 Menu 5: Motor control ........................................ 97

11.7 Menu 6: Sequencer and clock .......................... 101

11.8 Menu 7: Analog I/O .......................................... 103

11.9 Menu 8: Digital I/O ........................................... 106

11.10 Menu 9: Programmable logic, motorized pot,

binary sum and timers ...................................... 112

11.11 Menu 10: Status and trips ................................ 118

11.12 Menu 11: General drive set-up ......................... 120

11.13 Menu 12: Threshold detectors, variable

selectors and brake control function ................ 122

11.14 Menu 14: User PID controller ........................... 128

11.15 Menu 15: Option module set-up ....................... 131

11.16 Menu 18: Application menu 1 ........................... 132

11.17 Menu 20: Application menu 2 ........................... 133

11.18 Menu 21: Second motor parameters ................ 134

11.19 Menu 22: Additional Menu 0 set-up ................. 135

11.20 Menu 24: Option Module Application ............... 136

4 Unidrive M400 Control User Guide

Issue Number: 3

12 Diagnostics ........................................137

12.1 Status modes (Keypad and LED status) ...........137

12.2 Trip indications ..................................................137

12.3 Identifying a trip / trip source .............................137

12.4 Trips, Sub-trip numbers ....................................139

12.5 Internal / Hardware trips ....................................158

12.6 Alarm indications ...............................................158

12.7 Status indications ..............................................159

12.8 Displaying the trip history ..................................159

12.9 Behaviour of the drive when tripped .................160

13 UL information ...................................161

13.1 UL file reference ................................................161

13.2 Option modules, kits and accessories ..............161

13.3 Enclosure ratings ..............................................161

13.4 Mounting ...........................................................161

13.5 Environment ......................................................161

13.6 Electrical Installation .........................................161

13.7 Motor overload protection and thermal

memory retention ..............................................161

13.8 External Class 2 supply ....................................161

13.9 Modular Drive Systems .....................................161

13.10 Requirement for Transient Surge Suppression .161

Unidrive M400 Control User Guide 5 Issue Number: 3

EU Declaration of Conformity

Nidec Control Techniques Ltd The Gro Newtown Powys UK SY16 3BE

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

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

Model number Interpretation Nomenclature aaaa - bbc ddddde

aaaa Basic series

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

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

ddddd Current rating Example 01000 = 100 A

e Drive format

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

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

standards:

M100, M101, M200, M201, M300, M400, M600, M700, M701, M702, M708, M709, M751, M753, M754, F300, H300, E200, E300, HS30, HS70, HS71, HS72, M000, RECT

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

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

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

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

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

EN 61000-3-2:2014

EN 61000-3-3:2013

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

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

G Williams

Vice President, Technology

Date: 6th September 2017

These electronic drive products are intended to be used with appropriate motors, controllers, electrical protection components and other equipment to form complete end products or systems. Compliance with safety and EMC regulations depends upon installing and configuring drives correctly, including using the specified input filters.

The drives must be installed only by professional installers who are familiar with requirements for safety and EMC. Refer to the Product Documentation. An EMC data sheet is available giving detailed information. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used.

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

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

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

6 Unidrive M400 Control User Guide

Issue Number: 3

EU Declaration of Conformity (including 2006 Machinery Directive)

G. Williams

Vice President, Technology

Date: 6th September 2017

Place: Newtown, Powys, UK

Nidec Control Techniques Ltd The Gro Newtown Powys UK SY16 3BE

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

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

Model No. Interpretation Nomenclature aaaa - bbc ddddde

aaaa Basic series M300, M400, HS30

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

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

ddddd Current rating Example 01000 = 100 A

e Drive format

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

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

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

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

TUV Rheinland Industrie Service GmbH

Am Grauen Stein

D-51105 Köln

Germany

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

The harmonized standards used are shown below:

EC type-examination certificate numbers:

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

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

Notified body identification number: 0035

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

EN 61800-5-1:2007

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

EN ISO 13849-1:2008 + AC:2009 Safety of Machinery, Safety-related parts of control systems, General principles for design

EN 62061:2005 + AC:2010 +

A1:2013

EN60204-1:2006 + A1:2009 +

AC:2010

EN 61508 Parts 1 - 7:2010 Functional safety of electrical/ electronic/programmable electronic safety-related systems

Person authorised to complete the technical file:

P Knight, Conformity Engineer.Newtown, Powys, UK

IMPORTANT NOTICE

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

energy

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

control systems

Safety of machinery — Electrical equipment of machines —Part 1: General requirements

Unidrive M400 Control User Guide 7 Issue Number: 3

Safety

WARNING

CAUTION

NOTE

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

1 Safety information

1.1 Warnings, Cautions and Notes

A Warning contains information which is essential for avoiding a safety hazard.

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

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

1.2 Important safety information. Hazards.

This guide applies to products which control electric motors either directly (drives) or indirectly (controllers, option modules and other auxiliary equipment and accessories). In all cases the hazards associated with powerful electrical drives are present, and all safety information relating to drives and associated equipment must be observed.

Specific warnings are given at the relevant places in this guide.

Drives and controllers are intended as components for professional incorporation into complete systems. If installed incorrectly they may present a safety hazard. The drive uses high voltages and currents, carries a high level of stored electrical energy, and is used to control equipment which can cause injury. Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction. System design, installation, commissioning/start-up and maintenance must be carried out by personnel who have the necessary training and competence. They must read this safety information and this guide carefully.

1.3 Responsibility

It is the responsibility of the installer to ensure that the equipment is installed correctly with regard to all instructions given in this guide. They must give due consideration to the safety of the complete system, so as to avoid the risk of injury both in normal operation and in the event of a fault or of reasonably foreseeable misuse.

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation of the equipment.

1.4 Compliance with regulations

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

This guide contains instructions for achieving compliance with specific EMC standards.

All machinery to be supplied within the European Union in which this product is used must comply with the following directives:

2006/42/EC Safety of machinery.

2014/30/EU: Electromagnetic Compatibility.

Competence of designers and installers

1.5 Electrical hazards

The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive. Hazardous voltage may be present in any of the following locations:

• AC and DC supply cables and connections

• Output cables and connections

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

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

The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections.

The STOP and Safe Torque Off functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit.

The drive must be installed in accordance with the instructions given in this guide. Failure to observe the instructions could result in a fire hazard.

1.6 Stored electrical charge

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

1.7 Mechanical hazards

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

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

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

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

1.8 Access to equipment

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

1.9 Environmental limits

Instructions in this guide regarding transport, storage, installation and use of the equipment must be complied with, including the specified environmental limits. This includes temperature, humidity, contamination, shock and vibration. Drives must not be subjected to excessive physical force.

1.10 Hazardous environments

The equipment must not be installed in a hazardous environment (i.e. a potentially explosive environment).

8 Unidrive M400 Control User Guide

Issue Number: 3

Safety

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running

the motor

1.11 Motor

The safety of the motor under variable speed conditions must be ensured.

To avoid the risk of physical injury, do not exceed the maximum specified speed of the motor.

Low speeds may cause the motor to overheat because the cooling fan becomes less effective, causing a fire hazard. The motor should be installed with a protection thermistor. If necessary, an electric forced vent fan should be used.

The values of the motor parameters set in the drive affect the protection of the motor. The default values in the drive must not be relied upon. It is essential that the correct value is entered in the Motor Rated Current parameter.

1.12 Mechanical brake control

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

1.13 Adjusting parameters

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

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

1.14 Electromagnetic compatibility (EMC)

Installation instructions for a range of EMC environments are provided in the relevant Power Installation Guide. If the installation is poorly designed or other equipment does not comply with suitable standards for EMC, the product might cause or suffer from disturbance due to electromagnetic interaction with other equipment. It is the responsibility of the installer to ensure that the equipment or system into which the product is incorporated complies with the relevant EMC legislation in the place of use.

Unidrive M400 Control User Guide 9 Issue Number: 3

Safety

Optional Build

Identification Label

Derivative Electrical Specifications

M400 - 03 4 00073

Unidrive M400 Product Line

Frame Size

Voltage Rating:

Current Rating:

Heavy Duty current rating x 10

Drive Format:

A - AC in AC out

Customer Code

A B 1 00

Customer Code:

00 = 50 Hz 01 = 60 Hz

Reserved:

Conformal Coating:

0 = Standard

IP / NEMA Rating:

1 = IP20 / NEMA 1

Brake Transistor

Brake

Cooling:

A = Air

Reserved

Documentation

Documentation:

2 - 200 V (200 - 240

- 400 V (380 - 480

- 575 V (500 - 575

- 690 V (500 - 690

± 10 %)

1 - 100 V (100 - 120 10 %)±

±±10 %)

5 6 10 %)

± 10 %)

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

N = No

E - AC in AC out (without internal choke)

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

2 Product information

2.1 Introduction

Open loop AC drive

Unidrive M400 delivers maximum machine performance with open loop vector and sensorless induction motor control, for dynamic and efficient machine operation.

Features

• Fast set-up and diagnosis with real-text display

• Onboard IEC 61131-3 programmable automation

• NV Media Card for parameter copying and data storage

• 24 Vdc Back-up supply (optional)

• EIA 485 serial communications interface (optional)

• Dual channel Safe Torque Off (STO) input

2.2 Model number

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

Figure 2-1 Model number

10 Unidrive M400 Control User Guide

Issue Number: 3

Safety

Available output

current

Overload limit -

Heavy Duty

Maximum continuous current (above 50% base speed) -

Normal Duty

Maximum continuous current -

Heavy Duty

Motor rated current set in the drive

Heavy Duty

- with high

overload capability

Normal Duty

Overload limit -

Normal Duty

NOTE

Motor total

current (Pr 04.001)

as a percentage

of motor rated

current

Motor speed as a percentage of base speed

100%

Max. permissible continuous current

100%

I t protection operates in this region

70%

50%15%

Pr = 0 Pr = 1

04.025

Motor total

current (Pr 04.001)

as a percentage

of motor rated

current

Motor speed as a

percentage of base speed

100%

Max. permissible continuous current

100%

I t protection operates in this region

70%

50%

Pr = 0

Pr = 1

04.025

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

2.3 Ratings

The size 1 to 4 drive is Heavy Duty rated only. The size 5 to 9 drive is dual rated. The setting of the motor rated current determines which rating applies Heavy Duty or Normal Duty. The two ratings are compatible with motors designed to IEC60034. The graph aside illustrates the difference between Normal Duty and Heavy Duty with respect to continuous current rating and short term overload limits.

Normal Duty Heavy Duty (default)

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

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

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

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

Operation of motor I2t protection

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

• Self ventilated (TENV/TEFC) induction motors

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

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

Motor I2t protection defaults to be compatible with:

• Forced ventilation induction motors

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

Unidri ve M400 Control User Guide 11 Issue Number: 3

Safety

1. Escape button

2. Start button (Green)

3. Navigation keys (x4)

4. Stop / Reset button (red)

5. Status LED

6. Enter button

NOTE

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

2.4 Operating modes

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

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

2. RFC - A

Without position feedback sensor

2.4.1 Open loop mode

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

Open loop vector mode

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

Typically 100 % torque is available down to 1 Hz for a 50 Hz motor.

Fixed V/F mode

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

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

Square V/F mode

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

2.4.2 RFC-A mode

Rotor Flux Control for Asynchronous (induction) motors (RFC-A) encompasses closed loop vector control without a position feedback device.

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

2.5 Keypad and display

The keypad and display provide information to the user regarding the operating status of the drive and trip codes, and provide the means for changing parameters, stopping and starting the drive, and the ability to perform a drive reset.

Figure 2-2 CI-Keypad

The keypad is not supplied with the drive.

12 Unidrive M400 Control User Guide

Issue Number: 3

Safety

Model number

Refer to User Guide

Date code

Input

voltage

Power rating

M400-022 00042 A

200-240V 0.75kW

1714

Model

number

Input voltage

Output

voltage

Serial

number

Input

frequency

Power rating

Date code

No. of phases & Typical input current

Heavy duty output current

Approvals

M400-022 00042 A

0.75kW

10.4A / 7.5A

Patents: www.ctpatents.info Manuals: www.ctmanuals.info

0-550Hz

Output

frequency

1714

8000001001

CE approval Europe

RCM - Regulatory Compliance Mark

Australia

UL / cUL approval

USA &

Canada

RoHS compliant China

Functional safety

USA &

Canada

EurAsian Conformity EurAsia

Key to approvals

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2.6 Nameplate description

Figure 2-3 Typical drive rating labels size 2

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

Date code format

The date code is four numbers. The first two numbers indicate the year and the remaining numbers indicate the week of the year in which the drive was built. This new format started in 2017.

Example:

A date code of 1710 would correspond to week 10 of year 2017.

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2.7 Options

Figure 2-4 Options available with the drive

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1. Remote mountable LCD keypad

2. AI-Backup adaptor

3. AI-485 Adaptor

4. Compact Interface (CI) keypad

5. CI-485 Adaptor interface

6. System Integration (SI) module

7. CT USB Comms cable

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Table 2-1 System Integration (SI) option module identification

Type Option module Color Name Further details

PLC

Advanced

parameters

Diagnostics

information

Fieldbus

Automation

(I/O expansion)

Purple SI-PROFIBUS

Medium

Grey

SI-DeviceNet

Light Grey SI-CANopen

Ye ll ow Green

SI-PROFINET V2

Beige SI-Ethernet

Brown Red SI-EtherCAT

Orange SI-I/O

Profibus option

PROFIBUS adaptor for communications with the drive

DeviceNet option

DeviceNet adaptor for communications with the drive

CANopen option

CANopen adaptor for communications with the drive

PROFINET V2 option

PROFINET V2 adapter for communications with the drive

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

EtherCAT option

EtherCAT adapter for communications with the drive

Extended I/O

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

• Digital I/O

• Digital Inputs

• Analog Inputs (differential or single ended)

•Relays

Table 2-2 Adaptor Interface (AI) option module identification

Type Option module Name Further details

AI-485 adaptor

Communications

AI-485 24V adaptor

AI-Backup adaptor

Backup

AI-Smart adaptor

EIA 485 serial communications option

Provides a EIA 485 serial communications interface via an RJ45 connector or alternative screw terminals.

EIA 485 serial communications option

Provides a EIA 485 serial communications interface via an RJ45 connector or alternative screw terminals. It also provides a +24 V Backup supply input.

+24 V Backup and SD card interface

Provides a +24 V Backup supply input and SD card interface

+24 V Backup and SD card interface

Supplied with 4 GB SD Card for parameter copying and application programs, and an input for 24 V Backup

Unidri ve M400 Control User Guide 15 Issue Number: 3

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Table 2-3 Keypad identification

Type Keypad Name Further Details

Onboard

PLC

Advanced

parameters

Diagnostics

information

Remote LCD keypad option

Remote Keypad with a LCD display

LCD keypad option

Keypad with a LCD display

Remote LCD keypad option

Remote Keypad with a LCD display and real time clock

Keypad

Remote-Keypad

CI-Keypad

Remote-Keypad RTC

Table 2-4 Compact Interface (CI) option module identification

Type Option Name Further Details

Communications CI-485 Adaptor

EIA 485 serial communications option

Provides a EIA 485 serial communications interface via an RJ45 connector.

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3 Mechanical installation

3.1 Installing / removing options and keypad

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

Figure 3-1 Installation of an SI option module (size 2 to 4)

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• With the option module tilted slightly backwards, align and locate the two holes in the rear of the option module onto the two tabs (1) on the drive.

• Press the option module onto the drive as shown in (2) until the connector mates with the drive, ensuring that the tab (3) retains the option module in place.

Check that the option module is securely located on the drive. Always ensure that the terminal cover is always replaced before use as this ensures that the option module is firmly secured.

Figure 3-2 Removal of an SI option module (size 2 to 4)

• Press down on the tab (1) to release the option module from the drive housing as shown.

• Tilt the option module slightly towards you and pull away from the drive housing (2).

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Figure 3-3 Installation of an SI option module (size 5 to 9)

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

• Align and insert the option module tab into the slot provided. This is shown in the detailed view (A).

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

Figure 3-4 Removal of an SI option module (size 5 to 9)

• To release the option module from the drive housing, press down on the tab (1) as shown in detailed view (A).

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

• Remove the option module by lifting away from the drive as shown in (3).

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Figure 3-5 Installing the AI-485 / AI-Backup Adaptor to the drive (AI-485 Adaptor shown)

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1. Identify the two plastic fingers on the underside of the AI-485 / AI-Backup Adaptor (1) - then insert the two fingers into the corresponding slots in the spring loaded sliding cover on the top of the drive.

2. Hold the adaptor firmly and push the spring loaded protective cover towards the back of the drive to expose the connector block (2) below.

3. Press the adaptor downwards (3) until the adaptor connector locates into the drive connection below.

Figure 3-6 Removal of the AI-485 / AI-Backup adaptor (AI-485 Adaptor shown)

* To remove the AI-485 / AI-Backup Adaptor, pull it up and away from the drive in the direction shown (1)

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Figure 3-7 Installing the CI-Keypad / CI-485 Adaptor on the drive (CI-Keypad shown)

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To remove the CI-Keypad / CI-485 Adaptor, reverse the installation procedure shown in Figure 3-7.

The CI-Keypad / CI-485 Adaptor can be installed / removed while the drive is powered up and running motor, providing that the drive is not operating in keypad mode.

3.2 Real time clock battery replacement

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

Low battery voltage is indicated by

Figure 3-8 Remote Keypad RTC (rear view)

low battery symbol on the keypad display.

Figure 3-8 above illustrates the rear view of the Remote Keypad RTC.

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

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

3. Reverse point 1 above to replace battery cover.

Ensure the battery is disposed of correctly.

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4 Electrical installation

4.1 24 Vdc supply

The 24 Vdc supply connected to the +24 V supply terminals on the AIBackup adaptor provides the following functions:

• It can be used as a back-up power supply to keep the control circuits

of the drive powered up when the line power supply is removed. This allows any fieldbus modules or serial communications to continue to operate. If the line power supply is re-applied, then the normal operation can carry on after the drive automatically re-initializes the power board parameters.

• It can be used to clone or load parameters and user programs in

order to pre-configure drives when the line power supply is not available. The keypad can be used to setup parameters if required. However, the drive will be in the Under Voltage state unless the line power supply is enabled, therefore diagnostics may not be possible. (Power down save parameters are not saved when using the 24 V back-up power supply input).

The working voltage range of the 24 V back-up power supply is as follows:

0 V (connected internally to 0V common - Control

0 V

Terminal 1)

+ 24 V + 24 V Backup supply input

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 19.2 V

Maximum continuous operating voltage 30.0 V

Minimum start up voltage 12.0 V

Minimum power supply requirement at 24 V 20 W

Maximum power supply continuous current 3 A

Recommended fuse 1 A, 50 Vdc

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

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

AI-Backup adaptor

4.2 Communication connections

Installing an AI-485 adaptor provides the drive with a 2 wire EIA 485 serial communications interface. This enables the drive set-up, operation and monitoring to be carried out with a PC or controller as required.

Figure 4-2 Location of the AI-485 adaptor option

4.2.1 EIA 485 serial communications

The drive only supports Modbus RTU protocol. See Table 4-1 for the connection details.

Standard Ethernet cables must not be used when connecting drives on a EIA 485 network as they do not have the correct twisted pairs for the pinout of the serial comms port.

Table 4-1 Serial communication port pin-outs (RJ45)

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

Table 4-2 Serial communication port pin-outs (screw terminal block)

Pin Function

1 120 Ω Termination resistor

2RX TX

30 V

4 +24 V (100 mA) output

5 Not connected

6 TX enable

7RX\ TX\

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

Pin Function

10 V

2 RX\ TX\ (if termination resistor required, link to pin 4)

3RX TX 4 120 Ω Termination resistor

5 TX Enable

6 +24 V (100 mA) output

The 24 Vdc Backup supply can be used on all frame sizes.

Unidri ve M400 Control User Guide 21 Issue Number: 3

The connections on the RJ45 connector and terminal block are in parallel.

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4.2.2 Isolation of the EIA 485 serial communication port

The serial communication port is single insulated and meets the requirements for ELV.

When using the communications port with a personal computer or centralised controller e.g. PLC, an isolation device must be included with a rated voltage at least equal to the drive supply voltage. Ensure that the correct fuses are installed at the drive input, and that the drive is connected to the correct supply voltage. If a serial communications converter other than the CT Comms cable is used to connect to other circuits classified as Safety Extra Low Voltage (SELV) (e.g. to a personal computer), then a safety isolating barrier must be included to maintain the SELV classification.

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

Table 4-3 Isolated serial comms lead details

Part number Description

4500-0096 CT USB Comms cable

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

4.3 Control connections

4.3.1 General

Table 4-4 The control connections consist of:

Function Qty Control parameters available Terminal number

Single ended analog input

Analog output 2 Source, mode, scaling 7, 8

Digital input 6 Destination, invert, logic select

Digital input / output 2

Digital output 2 Source, mode 7, 8

Frequency input 1

AB Encoder input 1

PWM or Frequency output

Motor thermistor input

Relay 1 Source, invert 41, 42

Drive enable (Safe Torque Off)

+ 10 V User output 1 4

+ 24 V User output 2 9, 17

0V common 2 1, 6

0V Safe Torque Off 2

Mode, offset, invert, scaling,

destination

Input / output mode select, destination / source, invert, logic select

Maximum reference, input limit, scaling, destination

Rotary lines per revolution, filter, frequency feedback, maximum frequency feedback, position scaling, position counter reset, input limit, frequency reference scaling

Source scaling, maximum

output frequency, mode

Mode, type, trip threshold, reset

threshold

2, 3, 5

5, 12, 13, 14, 15, 16

10, 11

15, 16

31 (STO 2 input), 34 (STO 1 input) [frame 1- 4] 31 (STO 1 input), 35 (STO 2 input) [frame 5 - 9]

32 (0 V STO 2), 33 (0 V STO 1) [frame 1- 4] 32 (0 V STO 1), 36 (0 V STO 2) [frame 5 - 9]

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Key:

Destination parameter:

Source parameter:

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

Indicates the parameter being output by the terminal

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

Mode parameter:

4-20 mA etc. Digital - indicates the mode of operation of the terminal.

All analog terminal functions can be programmed in menu 7.

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

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

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

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

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

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

The Safe Torque Off drive enable terminals are positive logic input only (see Figure 4-4 on page 23).

The 0V terminals on the Safe Torque Off are isolated from each other and the 0V common (size 1 to 4), the 0V terminals on the Safe Torque Off function on size 5 to 9 are common with the user 0V terminals.

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Frequency

Torque (active current)

Analog

frequency

reference 1

Analog

frequency

reference 2

0V common

+10 V

Relay (over-voltage category II)

Drive OK

At zero frequency

Run forward

Jog forward

select

Run reverse

Analog input 1/

input 2 select

+24 V

STO Channel 1

STO Channel 2

STO Input 1

STO1

0VSTO2

STO Input 2

STO Channel 1

STO Channel 2

STO Input 1

STO Input 2

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Figure 4-3 Default terminal functions

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4.3.2 Control terminal specification

1 0V common

Function

2 Analog input 1

Default function Frequency reference.

Type of input

Mode controlled by… Pr 07.007

Operating in voltage mode (default)

Full scale voltage range ±10 V ±3 %

Maximum offset ±30 mV

Absolute maximum voltage range

Input resistance 100 k 

Resolution 12 bits (11 bits plus sign)

Operating in current mode

Current ranges

Maximum offset 250 µA

Common mode input voltage range

Resolution 11 bits

External fuse rating 80 mA

Common to all modes

Sample rate 4 ms

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Common connection for all external devices.

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Bipolar single-ended analog voltage or unipolar differential current.

-18 V to +30 V relative to 0 V

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

0V to +12 V

Figure 4-4 Safe Torque Off inputs (size 1 to 4)

Figure 4-5 Safe Torque Off inputs (size 5 to 9)

Unidri ve M400 Control User Guide 23 Issue Number: 3

To avoid damage to the drive, a fuse or other over-current protection should be installed in the analog current input circuit.

When connecting a two wire sensor which has a 24 V input and a mA output, to the current input, the 24 V input can be connected to the +24 V terminal (9), while the mA output can be connected to the analog input 1 terminal (2). The analog input 1 return terminal (3) needs to be connected to the 0V terminal (1).

3 Analog input 1 return

Function

Return terminal for shunt resistor (current mode)

4 +10 V user output

Function Supply for external analog devices

Nominal voltage 10.2 V

Voltage tolerance ±3 %

Maximum output current 5 mA

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5 Analog input 2

Default function Frequency reference

Unipolar single-ended analog voltage,

Type of input

unipolar single-ended current or digital input (positive or negative logic).

Mode controlled by.... Pr 07.011

Operating in voltage mode (default)

Full scale voltage range 0 V to +10 V ±3 % Maximum offset ±30 mV Absolute maximum voltage

range

-18 V to +30 V relative to 0 V

Input resistance 100 k  Resolution 11 bits Sample rate 4 ms

Operating in current mode

Current ranges

0 to 20 mA ±4 %, 20 to 0 mA ±4 %,

4 to 20 mA ±4 %, 20 to 4 mA ±4 % Maximum offset 250 µA Absolute maximum voltage

range

-18 V to +30 V relative to 0 V

Resolution 11 bits Sample rate 4 ms

Operating in digital mode

Logic mode controlled by… Pr 08.010 Absolute maximum voltage

range

-18 V to +30 V relative to 0 V

Impedance 6.8 k  Input threshold 10 V ±0.8 V (IEC 61131-2)

Sample rate

1 ms when routed to destinations

Pr 06.035 or Pr 06.036, otherwise 4 ms.

6 0V common

Function Common connection for all external devices

7 Analog output 1

8 Analog output 2

Terminal 7 default function Frequency output Terminal 8 default function Motor active current

Unipolar single-ended analog voltage,

Type of output

unipolar single-ended current or digital output.

Mode controlled by… Pr 07.021, Pr 07.024

Operating in voltage mode (default)

Voltage range 0 to +10 V ±5 % Maximum offset 15 mV Minimum load resistance 500  Protection Short circuit relative to 0 V

Operating in current mode

Current ranges

0 to 20 mA ±4 %, 4 to 20 mA ±4 %

Maximum load resistance 500 

Operating in digital output mode

Nominal maximum output current 50 mA Voltage range 0 V to +24 V

Common to all modes

Resolution 0.1 % Sample rate 4 ms

10 Digital I/O 1

11 Digital I/O 2

Terminal 10 default function AT ZERO FREQUENCY output

Terminal 11 default function None

Positive or negative logic digital inputs,

Type

positive logic voltage source outputs. PWM or frequency output modes can be selected on output 1.

Input / output mode controlled by …

Pr 08.031, Pr 08.032

Operating as in input

Logic mode controlled by… Pr 08.010

Absolute maximum applied voltage range

-8 V to +30 V relative to 0 V

Impedance 6.8 k

Input threshold 10 V ±0.8 V (IEC 61131-2)

Operating as an output

Nominal maximum output current

50 mA

Maximum output current 200 mA (total including +24 Vout)

Common to all modes

Voltage range 0 V to +24 V

Sample rate

1 ms when routed to destinations Pr 06.035 or Pr 06.036, otherwise 4 ms.

12 Digital Input 3

13 Digital Input 4

Terminal 12 default function RUN FORWARD input

Terminal 13 default function RUN REVERSE input

Type Negative or positive logic digital inputs

Logic mode controlled by… Pr 08.010

Voltage range 0 V to +24 V

Absolute maximum applied voltage range

-18 V to +30 V relative to 0 V

Impedance 6.8 k

Input threshold 10 V ±0.8 V (IEC 61131-2)

Sample rate

1 ms when routed to destinations Pr 06.035 or Pr 06.036, otherwise 4 ms.

14 Digital Input 5

Terminal 14 default function Analog INPUT 1 / INPUT 2 select

Negative or positive logic digital input or

Type

motor thermistor input (bias for DIN44081 ptc, KTY84, PT1000, PT2000 and other types) mode can be selected.

Input mode controlled by… Pr 08.035

Operating as digital input

Logic mode controlled by… Pr 08.010

Voltage range 0 V to +24 V

Absolute maximum applied voltage range

-18 V to +30 V relative to 0 V

Impedance 6.8 k

Input threshold 10 V ±0.8 V (IEC 61131-2)

Sample rate

1 ms when routed to destinations Pr 06.035 or Pr 06.036, otherwise 4 ms.

9 +24 V user output

Function Supply for external digital devices

Voltage tolerance ±20 %

Maximum output current

200 mA (total including all Digital Outputs)

Protection Current limit and trip

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15 Digital Input 6

16 Digital Input 7

Terminal 15 default function JOG SELECT input

Terminal 16 default function None

Negative or positive logic digital inputs,

Type

frequency input (digital input 6) or AB encoder input (digital input 6 and 7).

Input mode controlled by... Pr 08.036

Operating as digital input

Logic mode controlled by… Pr 08.010

Operating as frequency or AB encoder input

Maximum input frequency 100 kHz

Common to all modes

Voltage range 0 V to +24 V

Absolute maximum applied

-18 V to +30 V relative to 0 V

voltage range Impedance 6.8 k

Input threshold 10 V ±0.8 V (IEC 61131-2)

Sample rate

1 ms when routed to destinations Pr 06.035 or Pr 06.036, otherwise 4 ms.

To use an encoder on the AB encoder input with 5 V encoder signals, a 5 V to 24 V level converter e.g. Motrona PU210, will be required.

17 +24 V user output

Function Supply for external digital devices.

Voltage tolerance ±20 %

Maximum output current 200 mA (total including all Digital

Protection Current limit trip.

Safe Torque Off function (drive enable) (frame size 1 to 4)

Type Positive logic only digital input

Voltage range 0 to +24 V

Absolute maximum applied voltage

Logic Threshold 10 V ±5 V

Low state maximum voltage for disable to SIL3 and PL e

Impedance

Low state maximum current for disable to SIL3 and PL e

Response time

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

32 0V STO2 (frame size 1 to 4)

Function Common connection for STO2

33 0V STO1 (frame size 1 to 4)

Function Common connection for STO1

Outputs)

30 V

5 V

>4 mA @ 15 V, <15 mA @30 V (IEC 61131-2, type 1)

0.5 mA

Nominal: 12 ms Maximum: 20 ms

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Type Positive logic only digital input

Voltage range 0 to +24 V

Absolute maximum applied voltage

30 V

Logic Threshold 10 V ±5 V

Low state maximum voltage for disable to SIL3 and PL e

Impedance

Low state maximum current for disable to SIL3 and PL e

Response time

5 V

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

3.3 k)

0.5 mA

Nominal: 6 ms Maximum: 20 ms

32 0V STO1 (Frame 5 to 9)

Function Common connection for STO1

36 0V STO2 (Frame 5 to 9)

Function Common connection for STO2

Relay contacts

Default function Drive OK indicator

Contact voltage rating

Contact maximum current rating

Contact minimum recommended rating

240 Vac, Installation over-voltage category II

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

12 V 100 mA

Contact type Normally open

Default contact condition

Closed when power applied and drive OK

Update rate 1 ms

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

4.3.3 Accuracy and resolution

Frequency:

The absolute frequency accuracy depends on the accuracy of the oscillator used with the drive microprocessor. The accuracy of the oscillator is ± 0.02 % , and so the absolute frequency accuracy is ± 0.02 % of the reference, when a preset frequency is used. If an analog input is used, the absolute accuracy is further limited by the absolute accuracy of the analog input.

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The following data applies to the drive only; it does not include the performance of the source of the control signals.

Open & closed loop resolution:

Preset frequency reference: 0.01 Hz

Analog input 1: 11 bit plus sign

Analog input 2: 11 bit

Current:

The resolution of the current feedback is 10 bit plus sign.

Accuracy: typical 2 %

worst case 5 %

4.4 Safe Torque Off (STO)

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

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

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

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

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

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

Machinery Applications

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

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

Type examination certificate number

01/205/5387.01/15 2015-01-29 M400 5 to 9

01/205/5383.02/15 2015-04-21 M400 1 to 4

This certificate is available for download from the TüV Rheinland website at: http://www.tuv.com.

Date of issue Model Frame sizes

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Safety Parameters as verified by TüV Rheinland:

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

Typ e Value

Percentage of SIL

3 allowance

Frame

sizes

Proof test interval 20 years All

High demand or a continuous mode of operation

PFH (1/h)

9.61 x 10

4.16 x 10

-11

1/h

<1 % 1 to 4

<1 % 5 to 9

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

PFDavg

8.4 x 10

3.64 x 10

-6

< 1 % 1 to 4

< 1 % 5 to 9

According to EN ISO 13849-1

Type Value Classification

Category 4

Performance Level (PL) e

(ST01)

MTTF

MTTF STO)

avg

(ST02)

(Single channel

>2500 years High

99 % High

Mission time 20 years

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

0.5 mA.

Lift (Elevator) Applications

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

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

Certificate of Conformity number

Date of issue Models

44799 13196202 2015-04-08 M400

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

For further information contact the supplier of the drive.

UL Approval

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

Safety Parameters as verified by UL:

According to IEC 61508-1 to 7

Typ e Value

Safety Rating SIL 3

SFF > 99 %

PFH (1/h)

4.43 x 10

(<1 % of SIL 3 allowance)

-10

1/h

HFT 1

Beta Factor 2 %

CCF Not applicable

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According to EN ISO 13849-1

Typ e Val ue

Category 4

Performance Level (PL) e

MTTF

2574 years

Diagnostic coverage High

CCF 65

Two-channel Safe Torque Off

The M400 models have dual channel STO.

The dual channel STO has two fully independent channels.

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

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

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

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

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

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

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

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

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

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

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

It is essential to observe the maximum permitted voltage of 5 V for a safe low (disabled) state of Safe Torque Off. The connections to the drive must be arranged so that voltage drops in the 0 V wiring cannot exceed this value under any loading condition. It is strongly recommended that the Safe Torque Off circuits be provided with a dedicated 0V conductors which should be connected to terminals 32 and 33 (sizes 1 to 4) and terminals 32 and 36 (sizes 5 to 9) at the drive.

Safe Torque Off over-ride

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

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

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

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

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5 Getting started

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

5.1 Understanding the display

5.1.1 CI-Keypad

The keypad can only be mounted on the drive.

The CI-Keypad display consists of up to four rows of text. The upper two rows show the drive status or the menu and parameter number currently being viewed. When in status mode, an area one character wide and four lines high on the right-hand side of the display, is reserved for displaying actions that are active on the drive. The possible active actions are given in Table 5-2.

The keypad powers up into the status state. The value of any two parameters can be permanently displayed on the bottom two rows of the screen in the status state. To do this enter the desired parameter numbers into Pr 00.022 (Status Mode Parameter 2) and Pr 00.023 (Status Mode Parameter 1).

Figure 5-1 CI-Keypad

1. Escape button

2. Start button (Green)

3. Navigation keys (x4)

4. Stop / Reset button (red)

5. Status LED

6. Enter button

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

The parameter value is correctly displayed on the keypad display as shown in the below table.

Table 5-1 Keypad display formats

Display formats Value

IP Address 127. 0. 0. 0

MAC Address 01ABCDEF2345

Time 12:34:56

Date 31-12-13 or 12-31-13

Version number 01.02.00.00

Character ABCD

32 bit number with decimal point 21474836.47

16 bit binary number 0100001011100101

Text A1 A2

Number 10.00 Hz

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Table 5-2 Active action icon

Active action icon Description

Alarm active

NV media card being accessed

Drive security active

User security unlocked

Motor map 2 active

User program running

Keypad reference active

Read only

5.2 Keypad operation

5.2.1 Control buttons

The keypad consists of:

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

• Enter / Mode button Used to change between parameter edit

and view mode, as well as entering data.

• Escape / Exit button Used to exit from parameter edit or view

mode. In parameter edit mode, if parameter values are edited and the exit button pressed the parameter value will be restored to the value it had on entry to edit mode.

• Start button Used to provide a 'Run' command if keypad

mode is selected.

• Stop / Reset button Used to reset the drive. In keypad mode

can be used for 'Stop'.

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Status Mode

buttons to

select another

parameter to

change if

required

Parameter View Mode

When returning

to Parameter

View Mode

use the

To select parameter press

To enter Edit Mode,

Edit Mode

press

Change parameter values by pressing

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

button

buttons

To enter Parameter View mode, press

button or

Timeout

or press

button

Press

To return to status mode,

Press

return the parameter to the pre-editied value

button to ignore new value

button to keep the new value

To return to Parameter View Mode,

Timeout

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Figure 5-2 Display modes

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The navigation buttons can only be used to move between menus if Pr 00.010 has been set to show 'All Menus'. Refer to section 5.8 Parameter access level and security on page 32.

If the Escape button is held down for 1 second, the display returns to status mode.

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Go to parameter :

0 . 0 0 . 0 0 0

Ready

0 . 00 Hz

0 . 0 %

Drive Overload

115 . 2 %

50 . 00 Hz

Trip

Over Volts

0 0 . 0 1 5

1 . 50 Hz

WARNING

NOTE

0 1 . 0 1 1

0 0 . 0 0 0 0 1 . 0 1 0

0 1 . 0 0 9

0 2 . 0 0 0

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5.2.2 Quick access mode

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

To enter the quick access mode, press and hold the Enter

button on the keypad while in 'parameter view mode'.

Figure 5-3 Quick access mode

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

• Inhibit', 'Ready' or 'Run'.

3. Status mode: trip status

When the drive is in trip condition, the upper row of the display will indicate that the drive has tripped and the lower row of the display will show the trip code. For further information regarding trip codes, refer to Table 12-2 Trip indications on page 139.

4. Status mode: Alarm status

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

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

information

5.2.3 Keypad shortcuts

In ‘parameter view mode’:

If the up and down keypad buttons are pressed together, then the

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

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

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

In 'parameter edit mode’:

If the up and down keypad buttons are pressed together, then the

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

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

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

Figure 5-4 Mode examples

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

New parameter values must be saved to ensure that the new values apply after the drive has been power cycled. Refer to section 5.6 Saving parameters on page 32.

5.3 Menu structure

The drive parameter structure consists of menus and parameters.

The drive initially powers up so that only Menu 0 can be viewed. The up and down arrow buttons are used to navigate between parameters and once Pr 00.010 has been set to 'All Menus', the left and right buttons are used to navigate between menus. For further information, refer to section 5.8 Parameter access level and security on page 32.

Figure 5-5 Parameter navigation

* Can only be used to move between menus if all menus

have been enabled (Pr 00.010). Refer to section

5.8 Parameter access level and security on page 32.

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.

5.3.1 CI-Keypad set-up menu

To enter the keypad set-up menu, press and hold the Escape

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

1. Parameter view mode: Read write or Read only

2. Status mode: Drive OK status

Escape or or button. Below are the keypad set-up

parameters.

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Table 5-3 CI-Keypad set-up parameters

Parameters Range Type

English, French,

Keypad.00 Language

German, Italian, Spanish and

Chinese Keypad.01 Show Units Off or On RW Keypad.02 Backlight Level 0 to 100 % RW Keypad.05 Show Raw Text Parameter Values Off or On RW

Keypad.06 Software Version

Keypad.07 Language version

00.00.00.00 to

99.99.99.99

00.00.00.00 to

99.99.99.99

Keypad.08 Font version 0 to 99 RO

The languages available will depend on the keypad software version.

* Keypad.08 will depend on the keypad software version.

It is not possible to access the keypad parameters via any communications channel.

5.4 Advanced menus

The advanced menus consist of groups or parameters appropriate to a specific function or feature of the drive. Menus 0 to 30 can be viewed on the Keypad.

The option module menu (1.mm.ppp) is only displayed if the option module is installed. Where 1 signifies the option module slot number and the mm.ppp signifies the menu and parameter number of the option module’s internal menus and parameters.

Table 5-4 Advanced menu descriptions

Menu Description

Commonly used basic set up parameters for quick / easy

programming 1 Frequency reference

2Ramps 3 Frequency control 4 Torque and current control

5 Motor control 6 Sequencer and clock 7 Analog I/O

8 Digital I/O

Programmable logic, motorized pot, binary sum, timers and 9

scope

10 Status and trips 11 Drive set-up and identification, serial communications

12 Threshold detectors and variable selectors 14 User PID controller 15 Option module slot 1 set-up menu

18 General option module application menu 1 20 General option module application menu 2 21 Second motor parameters

22 Menu 0 set-up 24 Option module slot 1 application menu 30 Onboard user programming application menu

Slot 1 Slot 1 option menus*

* Only displayed when the option module is installed.

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5.4.1 Display messages

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

Table 5-5 Status indications

Upper row

string

Description

The drive is inhibited and cannot be run. The Safe Torque Off signals are not applied to the Safe Torque Off terminals or

Inhibit

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

The drive is ready to run. The drive enable

Ready

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

Stop

The drive is stopped / holding zero frequency.

Run The drive is active and running. Enabled

Supply Loss Supply loss condition has been detected Enabled

The motor is being decelerated to zero

Deceleration

frequency because the final drive run has been deactivated.

dc Injection The drive is applying dc injection braking. Enabled

The drive has tripped and no longer

Trip

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

Under

Vol tag e

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

Heat The motor pre-heat function is active Enabled

5.4.2 Alarm indications

An alarm is an indication given on the display by alternating the alarm string with the drive status string on the display. Alarms strings are not displayed when a parameter is being edited.

Table 5-6 Alarm indications

Alarm string Description

Brake resistor overload. Braking Resistor Thermal

Brake Resistor

Motor Overload

Drive overload

Auto Tune

Limit Switch

Option Slot 1 Option slot alarm.

Low AC Low voltage mode. See Low AC Alarm (10.107).

Current Limit

24V Backup

Lost

Accumulator (10.039) in the drive has reached

75.0 % of the value at which the drive will trip.

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

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

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

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

Current limit active. See Current Limit Active (10.009).

24V Backup not present. See 24V Alarm Loss Enable (11.098)

information

Drive

output

stage

Disabled

Enabled

Disabled

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5.5 Changing the operating mode

Procedure

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

1. Ensure the drive is not enabled, i.e. drive is in Inhibit or Under Voltage State.

2. Change the setting of Pr 00.079 as follows:

Pr 00.079 setting Operating mode

1 Open-loop

2RFC-A

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

When the operating mode is changed, a parameter save is carried out.

3. Either:

Press the red reset button

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

5.6 Saving parameters

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

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

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

Procedure

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

2. Either:

• Press the red reset button

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

5.8 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 30) in addition to Menu 0.

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

Both the User Security and Parameter Access Level can operate independently of each other as shown in Table 5-7.

Table 5-7 Parameter access level and security

User

security

status

Access

level

Menu 0 status

(00.010)

0 Level 1 RW Not visible

1 Level 2 RW Not visible

2 All Menus RW RW

3 Status Only RW Not visible

4 No Access RW Not visible

The default settings of the drive are Parameter Access Level: Level 1 and user Security Open i.e. read / write access to Menu 0 with the advanced menus not visible.

5.8.1 User Security Level / Access Level

The drive provides a number of different levels of security that can be set by the user via User Security Status (00.010); these are shown in the

table below.

User Security

Status

(Pr 00.010)

Level 1 (0) Access to first 10 parameters in Menu 0 only.

Level 2 (1) Access to all parameters in Menu 0.

All Menus (2) Access to all menus.

Status Only (3)

The keypad remains in status mode and only first 10 parameters in Menu 0 can be viewed or edited.

The keypad remains in status mode and only first 10

No Access (4)

parameters in Menu 0 can be viewed or edited. Drive parameters cannot be accessed via a comms interface.

Description

Advanced menu

status

5.7 Restoring parameter defaults

Restoring parameter defaults by this method saves the default values in the drives memory. User security status (00.010) and User security code (00.025) are not affected by this procedure).

Procedure

5.8.2 Changing the User Security Level /Access Level

The security level is determined by the setting of Pr 00.010 or Pr 11.044. The Security Level can be changed through the keypad even if the User Security Code has been set.

1. Ensure the drive is not enabled, i.e. drive is in Inhibit or Under Voltage State.

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

3. Either:

• Press the red reset button

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

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5.8.3 User Security Code

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

Setting User Security Code

Enter a value between 1 and 9999 in Pr 00.025 and press the button; the security code has now been set to this value. In order to activate the security, the Security level must be set to desired level in Pr 00.010. When the drive is reset, the security code will have been

activated and the drive returns to Level 1 and the symbol is displayed in the right hand corner of the keypad display. The value of Pr 00.025 will return to 0 in order to hide the security code.

Unlocking User Security Code

Select a parameter that need to be edited and press the button, the display will now show ‘security code’. Use the arrow buttons to set

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

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

Disabling User Security

Unlock the previously set security code as detailed above. Set Pr 00.025

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

5.11 Communications

5.11.1 EIA 485 Serial communications

Communication is via the RJ45 connector or screw terminals (parallel connection). The drive only supports Modbus RTU protocol.

The communications port applies a 1.25 unit load to the communications network.

USB to EIA 485 Communications

An external USB hardware interface such as a PC cannot be used directly with the 2-wire EIA485 interface of the drive. Therefore a suitable converter is required.

A suitable USB to EIA485 isolated converter is available from Control Techniques as follows:

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

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

Serial communications set-up parameters

The following parameters need to be set according to the system

requirements.

5.9 Displaying parameters with non-

default values only

By selecting 'Show non-default' in Pr mm.000 (Alternatively, enter 12000 in Pr mm.000), the only parameters that will be visible to the user will be those containing a non-default value. This function does not require a drive reset to become active. In order to deactivate this function, return to Pr mm.000 and select 'No action' (alternatively enter a value of 0). Please note that this function can be affected by the access level enabled, refer to section 5.8 Parameter access level and security on page 32 for further information regarding access level.

5.10 Displaying destination parameters only

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

Please note that this function can be affected by the access level enabled, refer to section 5.8 Parameter access level and security on page 32 for further information regarding access level.

Serial communications set-up parameters

Serial Mode

(11.024)

Serial Baud Rate

(00.043)

Serial Address

(00.044)

Reset Serial

Communications

(00.045)

8 2 NP (0), 8 1 NP (1), 8 1 EP (2), 8 1 OP (3), 8 2 NP M (4), 8 1 NP M (5), 8 1 EP M (6), 8 1 OP M (7), 7 1 EP (8), 7 1 OP (9), 7 1 EP M (10), 7 1 OP M (11)

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

1 to 247

Off (0) or On (1)

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

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

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

When the above parameters are modified the changes do not have an immediate effect on the serial communication system. The new values are used after the next power up or if Reset Serial Communications is set to 1.

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6 Basic parameters

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

Parameter ranges and Variable minimum/maximums:

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

• The settings of other parameters

• The drive rating

• The drive mode

• Combination of any of the above

For more information please see section 11.1 Parameter ranges and Variable minimum/maximums: on page 76.

6.1 Menu 0: Basic parameters

Parameter

00.001 Minimum Speed {01.007} 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US

00.002 Maximum Speed {01.006} 0.00 to 500.00 Hz

00.003 Acceleration Rate 1 {02.011} 0.0 to 32000.0 s/100 Hz 5.0 s/100 Hz RW Num US

00.004 Deceleration Rate 1 {02.021} 0.0 to 32000.0 s/100 Hz 10.0 s/100 Hz RW Num US

00.005 Drive Configuration {11.034}

00.006 Motor Rated Current {05.007} 0.00 to Drive Rating A

00.007 Motor Rated Speed* {05.008} 0.0 to 33000.0 rpm

00.008 Motor Rated Voltage {05.009} 0 to 765 V

00.009 Motor Rated Power Factor** {05.010} 0.00 to 1.00 0.85 RW Num RA US

00.010 User Security Status {11.044}

00.011 Start/Stop Logic Select {06.004} 0 to 6 5 RW Num US

00.012 Input Logic Polarity {08.010} Negative Logic (0) or Positive Logic (1) Positive Logic (1) RW Txt US

00.015 Jog Reference {01.005} 0.00 to 300.00 Hz 1.50 Hz RW Num US

00.016 Analog Input 1 Mode {07.007}

00.017 Bipolar Reference Enable {01.010} Off (0) or On (1) Off (0) RW Bit US

00.018 Preset Reference 1 {01.021} 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US

00.019 Preset Reference 2 {01.022} 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US

00.020 Preset Reference 3 {01.023} 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US

00.021 Preset Reference 4 {01.024} 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US

00.022 Status Mode Parameter 2 {11.019} 0.000 to 30.999 4.020 RW Num PT US

00.023 Status Mode Parameter 1 {11.018} 0.000 to 30.999 2.001 RW Num PT US

00.024 Customer Defined Scaling {11.021} 0.000 to 10.000 1.000 RW Num US

00.025 User Security Code {11.030} 0 to 9999 0 RW Num ND PT US

Power-up Keypad Control

00.027

Mode Reference

00.028 Ramp Mode Select {02.004}

00.029 Ramp Enable {02.002} Off (0) or On (1) On (1) RW Bit US

00.030 Parameter Cloning {11.042}

AV (0), AI (1), AV Preset (2), AI Preset (3), Preset (4), Keypad (5),

{01.051} Reset (0), Last (1), Preset (2) Reset (0) RW Txt US

OL RFC-A OL RFC-A

Keypad Ref (6), Electronic Pot (7), Torque Control (8),

Level 1 (0), Level 2 (1), All Menus (2), Status Only (3),

4-20 mA Stop (-6), 20-4 mA Stop (-5), 4-20 mA Low (-4), 20-4 mA Low (-3), 4-20 mA Hold (-2), 20-4 mA Hold (- 1),

0-20 mA (0), 20-0 mA (1), 4-20 mA Trp (2), 20-4 mA Trp (3),

4-20 mA (4), 20-4 mA (5), Voltage (6)

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

Range(Ú) Default(Ö)

Pid Control (9)

50 Hz default:

60 Hz default:

No Access (4)

Fast boost (3)

None (0), Read (1), Program (2),

Auto (3), Boot (4)

Typ e

50 Hz default: 50.00 Hz 60 Hz default: 60.00 Hz

AV ( 0) R W Txt PT US

Maximum Heavy Duty Rating

(11.032) A

1500.0 rpm

1800.0 rpm

400 V drive 50 Hz: 400 V 400 V drive 60 Hz: 460 V

50 Hz default:

1450.0 rpm

60 Hz default:

110 V drive: 230 V 200 V drive: 230 V

575 V drive: 575 V 690 V drive: 690 V

1750.0 rpm

Level 1 (0) RW Txt ND PT

Voltage (6) RW Txt US

Standard (1) RW Txt US

None (0) RW Txt NC US

RW Num US

RW Num RA US

RW Num US

RW Num RA US

34 Unidrive M400 Control User Guide

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Advanced

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Diagnostics

information

Parameter

00.031 St op Mod e {06.001}

Dynamic V to F Select {05.013} 0 to 1

00.032

Flux Optimisation Select {05.013}

00.033 Catch A Spinning Motor {06.009}

00.034 Digital Input 5 Select {08.035}

00.035 Digital Output 1 Control {08.091} 0 to 21 0 RW US

00.036 Analog Output 1 Control {07.055} 0 to 15 0 RW US

Maximum Switching

00.037

Frequency

00.038 Auto-tune {05.012} 0 to 2 0 to 3 0 RW Num NC US

00.039 Motor Rated Frequency {05.006} 0.00 to 550.00 Hz

00.040 Number of Motor Poles*** {05.011} Automatic (0) to 32 (16) Poles Automatic (0) Poles RW Txt US

00.041 Control Mode {05.014}

00.042 Low Frequency Voltage Boost {05.015} 0.0 to 25.0 % 3.0 % RW Num US

00.043 Serial Baud Rate {11.025}

00.044 Serial Address {11.023} 1 to 247 1 RW Num US

00.045 Reset Serial Communications {11.020} Off (0) or On (1) Off (0) RW Bit ND NC

Brake Controller: Upper

00.046

Current Threshold

Brake Controller: Lower

00.047

Current Threshold

00.048 BC Brake Release Frequency {12.044} 0.00 to 20.00 Hz 1.00 Hz RW Num US

00.049 BC Brake Apply Frequency {12.045} 0.00 to 20.00 Hz 2.00 Hz RW Num US

00.050 BC Brake Delay {12.046} 0.0 to 25.0 s 1.0 s RW Num US

00.051 BC Post-brake Release Delay {12.047} 0.0 to 25.0 s 1.0 s RW Num US

00.053 BC Initial Direction {12.050} Ref (0), Forward (1), Reverse (2) Ref (0) RW Txt US

BC Brake Apply Through Zero

00.054

Threshold

00.055 BC Enable {12.041} Disable (0), Relay (1), Digital IO (2), User (3) Disable (0) RW Txt US

00.056 Tr ip 0 {10.020} 0 to 255 RO Txt ND NC PT PS

00.057 Tr ip 1 {10.021} 0 to 255 RO Txt ND NC PT PS

00.058 Tr ip 2 {10.022} 0 to 255 RO Txt ND NC PT PS

00.059 OUP Enable {11.047} Stop (0) or Run (1) Run (1) RW Txt US

00.060 OUP Status {11.048} -2147483648 to 2147483647 RO Num ND NC PT

Frequency Controller

00.065

Proportional Gain Kp1

Frequency Controller Integral

00.066

Gain Ki1

00.067 Sensorless Mode Filter {03.079}

00.069 Sp in Star t B oo st {05.040} 0.0 to 10.0 1.0 RW Num US

00.070 PID1 Output {14.001} ± 100.00 % RO Num ND NC PT

00.071 PID1 Proportional Gain {14.010} 0.000 to 4.000 1.000 RW Num US

00.072 PID1 Integral Gain {14.011} 0.000 to 4.000 0.500 RW Num US

00.073 PID1 Feedback Invert {14.006} Off (0) or On (1) Off (0) RW Bit US

00.074 PID1 Output Upper Limit {14.013} 0.00 to 100.00 % 100.00 % RW Num US

00.075 PID1 Output Lower Limit {14.014} ± 100.00 % -100.00 % RW Num US

00.076 Action on Trip Detection {10.037} 00000 to 11111 00000 RW Bin US

{05.018}

{12.042} 0 to 200 % 50 % RW Num US

{12.043} 0 to 200 % 10 % RW Num US

{12.051} 0.00 to 25.00 Hz 1.00 Hz RW Num US

{03.010}

{03.011}

0.667 (0), 1 (1), 2 (2), 3 (3),

Square (5), Fixed Tapered (6)

OL RFC-A OL RFC-A

Coast (0), Ramp (1),

Ramp dc I (2), dc I (3),

Timed dc I (4), Disable (5)

4 (4), 6 (5), 8 (6), 12 (7),

16 (8) kHz

Ur S (0), Ur (1), Fixed (2),

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

600 (1), 1200 (2), 2400 (3), 4800 (4), 9600 (5), 19200 (6),

38400 (7), 57600 (8), 76800 (9), 115200 (10)

Range(Ú) Default(Ö)

Coast (0), Ramp (1),

Ramp dc I (2), dc I (3),

Timed dc I (4), Disable (5),

No Ramp (6)

0 to 1 0RWNum US

Disable (0), Enable (1),

Fwd Only (2), Rev Only (3)

Input (0), Therm Short Cct (1),

Thermistor (2), Therm No Trip (3)

2 (2), 3 (3), 4 (4), 6 (5), 8 (6),

12 (7), 16 (8) kHz

0.000 to 200.000 s/rad

0.00 to 655.35 s2/rad 0.10 s2/rad

4 (0), 5 (1), 6 (2), 8 (3), 12 (4),

20 (5) ms

Type

Ramp (1) RW Txt US

0 RW Num US

Disable (0) RW Txt US

Input (0) RW Txt US

3 (3) kHz RW Txt US

50Hz: 50.00 Hz 60Hz: 60.00 Hz

Ur I (4) RW Txt US

19200 (6) RW Txt US

0.100 s/rad RW Num US

4 (0) ms RW Txt US

RW Num RA US

RW Num US

Unidri ve M400 Control User Guide 35 Issue Number: 3

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Advanced

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Parameter

Maximum Heavy Duty Current

00.077

Rating

00.078 Software Version {11.029} 00.00.00.00 to 99.99.99.99

00.079 User Drive Mode {11.031} Open loop (1), RFC A (2) Open-loop (1) RFC-A (2) RW Txt ND NC PT US

00.081 Reference Selected {01.001} -Pr 00.002 to Pr 00.002 or Pr 00.001 to Pr 00.002 Hz

00.082 Pre-ramp Reference {01.003} -Pr 00.002 to Pr 00.002 or Pr 00.001 to Pr 00.002 Hz RO Num ND NC PT

00.083 Final Demand Reference {03.001} -Pr 00.002 to Pr 00.002 or Pr 00.001 to Pr 00.002 Hz RO Num ND NC PT FI

00.084 D.C. Bus Voltage {05.005} 0 to 1190 V RO Num ND NC PT FI

00.085 Output Frequency {05.001} ± 550.00 Hz

00.086 Output Voltage {05.002} 0 to 930 V

00.087 Motor Rpm {05.004} ± 33000.0 rpm RO Num ND NC PT FI

00.088 Current Magnitude {04 .001} 0 to Drive Maximum Current A

00.089 Torque Producing Current {04.002} ± Drive Maximum Current A

00.090 Digital I/O Read Word {08 .020} 000000000000 to 111111111111 RO Bin ND NC PT

00.091 Reference On {01.011} Off (0) or On (1) RO Bit ND NC PT

00.092 Reverse Select {01.012} Off (0) or On (1) RO Bit ND NC PT

00.093 Jog Select {01.013} Off (0) or On (1) RO Bit ND NC PT

00.094 Analog Input 1 {07.001} ± 100.00 % RO Num ND NC PT FI

00.095 Analog Input 2 {07.002} ± 100.00 % RO Num ND NC PT FI

{11.032} 0.00 to Drive HD Current Rating A RO Num ND NC PT

OL RFC-A OL RFC-A

Range(Ú) Default(Ö)

Typ e

RO Num ND NC PT

RO Num ND NC PT FI

* Setting Pr 00.007 to 0.0 will disable slip compensation.

** Following a rotating autotune Pr 00.009 {05.010} is continuously written by the drive, calculated from the value of Stator Inductance (Pr 05.025). To manually enter a value into Pr 00.009 {05.010}, Pr 05.025 will need to be set to 0. Please refer to the description of Pr 05.010 in the Parameter Reference Guide for further details.

*** If this parameter is read via serial communications, it will show pole pairs.

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

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

36 Unidrive M400 Control User Guide

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Unidri ve M400 Control User Guide 37 Issue Number: 3

Safety

00.XXX

Key

Read-write

(RW)

parameter

Read-only

(RO)

parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

Analog reference

Keypad reference

00.018

Preset Reference 1

Preset frequency

reference

00.017

00.015

Bipolar

Analog Input 1

Analog

Input

1 Mode

Jog

Forward

Select

Jog

Reference

Analog Input 1/ Input 2 select

Analog Input 2

Reference Enable

Pad

Pad.Ref

E. Pot

tor Pid

6 7 8 9

01.015

set

01.050

00.005

Drive

Configuration

AV.Pr

AI.Pr

1 2 3 4

00.016

00.019

00.020

00.021

Preset Reference 2

Preset Reference 3

Preset Reference 4

00.094

Analog Input 1

00.095

Analog Input 2

00.093

Jog

Select

00.081

Reference

Selected

information

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Figure 6-1 Menu 0 logic diagram

Electrical

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Getting started

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38 Unidrive M400 Control User Guide

Issue Number: 3

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Frequency Controller Proportional Gain Kp1

Frequency Controller Integral Gain Ki1

Motor Rpm

00.065

00.066

RFC-A Frequency-loop

PID

gains

108

AT ZERO

FREQUENCY

Power stage

RUN REVERSE

RUN

FORWARD

Minimum

Speed

00.001

12 13

Ramps

Acceleration Rate 1

Deceleration Rate 1

Ramp Mode

Select

00.003

00.004

00.028

RFC-A mode only

00.029

00.002

Maximum

Speed

Ramp Enable

Analog outputs

TORQUE

Digital output

00.037

Maximum Switching

Frequency

Torque

Producing

Current

Current Magnitude

Magnetising Current

OL, RFC-A>

FREQUENCY

00.089

00.088

00.087

Control mode

Dynamic

V/f

Select

Low Frequency Voltage Boost

OL>

Motor-voltage control

Estimated Motor Speed

RFC-A>

00.041

00.042

00.087

00.032

00.092

00.091

Reference On

Reverse Select

00.082

Pre-ramp

Reference

00.083

Final Demand

Reference

00.006

Rated Current

Rated Speed

Rated Voltage

00.009

Power Factor

00.033

Catch A Spinning Motor

00.039

Rated Frequency

00.040

Motor Poles

00.085

00.086

00.087

Output

Frequency

Motor Rpm

Motor Parameters

Drive

U V W

Resistor optional

+ BR

L3L2L1

Output Voltage

00.007

00.008

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Unidri ve M400 Control User Guide 39 Issue Number: 3

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6.2 Parameter descriptions

6.2.1 Pr mm.000

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

Table 6-1 Commonly used functions in xx.000

Value

Equivalent

value

1001 1

6001 2

4001 3

6002 4

4002 5

6003 6

4003 7

12000 8

12001 9

1233 10

1244 11

1070 12

String Action

No Action No action

Save Parameters Save drive parameters to non-volatile memory

Load file 1 Load the data from file 1 on a non-volatile media card into the drive provided it is a parameter file

Save to file 1 Store the drive parameters in file 1 on a non-volatile media card

Load file 2 Load the data from file 2 on a non-volatile media card into the drive provided it is a parameter file

Save to file 2 Store the drive parameters in file 2 on a non-volatile media card

Load file 3 Load the data from file 3 on a non-volatile media card into the drive provided it is a parameter file

Save to file 3 Store the drive parameters in file 3 on a non-volatile media card

Show non-default Only display parameters that are different from their default value

Destinations Only display parameters that are used to set-up destinations

Reset 50 Hz defs Load 50 Hz defaults

Reset 60 Hz defs Load 60 Hz defaults

Reset modules Reset option module

Table 6-2 Functions in Pr mm.000

Value Action

1000 Save parameters when Under Voltage Active (Pr 10.016) is not active.

1001 Save parameters under all conditions

1070 Reset option module

1233 Load standard (50 Hz) defaults

1234 Load standard (50 Hz) defaults to all menus except option module menu 15

1244 Load US (60 Hz) defaults

1245 Load US (60 Hz) defaults to all menus except option module menu 15

1299 Reset {Stored HF} trip.

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

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

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

59999** Delete onboard user program

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

7yyy* NV media card: Erase file yyy

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

9555* NV media card: Clear the warning suppression flag

9666* NV media card: Clear the warning suppression flag

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

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

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

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

* See Chapter 9 NV Media Card Operation on page 67 for more information on these functions. ** Program cannot be deleted if the drive is active or if the user program is running.

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

40 Unidrive M400 Control User Guide

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6.3 Control terminal configurations and wiring

00.005 Drive Configuration

RW Txt PT US

RFC-A

Table 6-3 Parameter changes when drive configuration is changed

AV (0), AI (1), AV Preset (2),

AI Preset (3), Preset (4),

Keypad (5), Keypad Ref (6),

Electronic Pot (7),

Torque Control (8), Pid Control (9)

Ö AV ( 0 )

Optimization

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Advanced

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Diagnostics

information

Parameter

number

Description

AV A I

Preset

Drive Configuration

Preset Keypad

Keypad

Ref

Electronic

Pot

Torque

Control

Pid

Control

01.014 Reference select 0 0 1 1 3 4 6 3 0 1

06.004 Start/stop logic 5 5 5 5 5 5 5 5 5 5

07.007 Analog input 1 mode 6 4 6 4 6 6 6 6 4 4

07.010 Analog input 1 destination 01.036 01.036 01.036 01.036 01.036 01.036 01.036 01.036 01.036 0.000

07.011 Analog input 2 mode 6 6 7 7 7 6 6 7 6 6

07.014 Analog input 2 destination 01.037 01.037 01.046 01.046 01.046 01.037 01.037 09.027 04.008 0.000

07.051 Analog input 1 control 0 0 0 0 0 0 0 0 0 0

07.052 Analog input 2 control 0 0 0 0 0 0 0 0 0 0

08.022 Digital input 2 destination 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000

08.025 Digital input 5 destination 01.041 01.041 01.045 01.045 01.045 01.041 01.041 09.026 04.011 14.008

08.085 DI 5 Control 0 0 0 0 0 0 0 0 0 0

09.025 Motorized pot destination 0.000 0.000 0.000 0.000 0.000 0.000 0.000 01.021 0.000 0.000

14.003 PID 1 reference source 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 07.002

14.004 PID 1 feedback source 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 07.001

14.016 PID 1 destination 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 01.036

The setting of Pr 00.005 automatically sets the drive configuration

Value Text Description

0AV

1AI

2 AV Preset

3 AI Preset

4Preset

5Keypad

6 Keypad Ref

7 Electronic Pot

8 Torque Control

9Pid Control

Analog input 1 (voltage) or Analog input 2 (voltage) selected by terminal (Local/Remote)

Analog input 1 (current) or Analog input 2 (voltage) selected by terminal (Local/Remote)

Analog input 1 (voltage) or 3 presets selected by terminal

Analog input 1 (current) or 3 presets selected by terminal

Four presets selected by terminal

Keypad reference

Keypad reference with terminal control

Electronic Potentiometer Torque mode, Analog input 1 (current frequency reference) or Analog input 2 (voltage torque reference) selected by terminal PID mode, Analog input 1 (current feedback source) and Analog input 2 (voltage reference source)

Action will only occur if the drive is inactive, and no User Actions are running. Otherwise, the parameter will return to its pre altered value on exit from edit mode. All parameters are saved if this parameter changes.

Unidri ve M400 Control User Guide 41 Issue Number: 3

Safety

Voltage speed reference input (AI 1+)

AI 1-

Voltage speed reference input (AI 2)

Analog output 1 (motor frequency)

+ 10 V output

Analog output 2 (motor active current)

Digital output (zero frequency)

Unassigned

Run reverse

Run forward

Analog input 1/ input 2 select

+ 24 V output

Jog Forward

Unassigned

+ 24 V output

10k

Current speed reference input (AI 1+)

AI 1-

Voltage speed reference input (AI 2)

Analog output 1 (motor frequency)

+ 10 V output

Analog output 2 (motor active current)

Digital output (zero frequency)

Unassigned

Run reverse

Run forward

Analog input 1/ input 2 select

+ 24 V output

Jog Forward

Unassigned

+ 24 V output

10k

Current speed

reference input

information

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Figure 6-2 Pr 00.005 = AV

Electrical

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Figure 6-3 Pr 00.005 = AI

42 Unidrive M400 Control User Guide

Issue Number: 3

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Voltage speed reference input (AI 1+)

AI 1-

Reference select

Analog output 1 (motor frequency)

+ 10 V output

Analog output 2 (motor active current)

Digital output (zero frequency)

Unassigned

Run reverse

Run forward

+ 24 V output

Jog Forward

Unassigned

+ 24 V output

10k

Reference select

Terminal 5 Terminal 14

Reference selected

0 0 1 1

0 1 0 1

Analog reference 1*

Preset speed 2* Preset speed 3*

Preset speed 4*

Current speed reference input (AI 1+)

AI 1-

Reference select

Analog output 1 (motor frequency)

+ 10 V output

Analog output 2 (motor active current)

Digital output (zero frequency)

Unassigned

Run reverse

Run forward

+ 24 V output

Jog Forward

Unassigned

+ 24 V output

Current speed

reference input

Reference select

Terminal 5 Terminal 14

Reference selected

0 0 1 1

0 1 0 1

Analog reference 1*

Preset speed 2* Preset speed 3*

Preset speed 4*

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Figure 6-4 Pr 00.005 = AV Preset

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Figure 6-5 Pr 00.005 = AI Preset

* Refer to section 11.2 Menu 1: Frequency reference on page 82.

Unidri ve M400 Control User Guide 43 Issue Number: 3

Safety

Voltage speed reference input (AI 1+)

AI 1-

Reference select

Analog output 1 (motor frequency)

+ 10 V output

Analog output 2 (motor active current)

Digital output (zero frequency)

Unassigned

Reference select

Run forward

+ 24 V output

Jog Forward

Unassigned

+ 24 V output

Run reverse

Terminal 5 Terminal 14

Reference selected

0 0 1 1

0 1 0 1

Preset speed 1* Preset speed 2* Preset speed 3* Preset speed 4*

Voltage speed reference input (AI 1+)

AI 1-

0 V

Analog output 1 (motor frequency)

+ 10 V output

Analog output 2 (motor active current)

Digital output (zero frequency)

Unassigned

Analog input 1/ input 2 select

Run forward

+ 24 V output

Jog Forward

Unassigned

+ 24 V output

Run reverse

Voltage speed reference input (AI 2)

When Pr 00.005 is set to Keypad, to run in reverse:

•Set Pr 00.017 to On The Keypad reference can now be set to a negative frequency to run the motor in the reverse direction.

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Figure 6-6 Pr 00.005 = Preset

Electrical

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* Refer to section 11.2 Menu 1: Frequency reference on page 82.

Figure 6-7 Pr 00.005 = Keypad

44 Unidrive M400 Control User Guide

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Voltage speed reference input (AI 1+)

AI 1-

Analog output 1 (motor frequency)

+ 10 V output

Analog output 2 (motor active current)

Digital output (zero frequency)

Unassigned

Analog input 1/ input 2 select

Run forward

+ 24 V output

Jog Forward

Unassigned

+ 24 V output

Run reverse

Voltage speed reference input (AI 2)

Voltage speed reference input (AI 1+)

AI 1-

Analog output 1 (motor frequency)

+ 10 V output

Analog output 2 (motor active current)

Digital output (zero frequency)

Unassigned

Run forward

+ 24 V output

Jog Forward

Unassigned

+ 24 V output

Run reverse

DOWN

When Pr 00.005 is set to Electronic Pot, the following parameters may need to be adjusted:

•Pr 09.023: Motorized pot up/down rate (s/100 %)

•Pr 09.022: Motorized pot bipolar select (0 = unipolar, 1 = bipolar)

•Pr 09.021: Motorized pot mode: 0 = zero at power-up, 1 = last value at power-up, 2 = zero at power-up and only change when drive is running, 3 = last value at power-up and only change when drive is running, 4 = zero at power-up and drive disabled, only change when drive is running.

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Figure 6-8 Pr 00.005 = Keypad Ref

Electrical

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Figure 6-9 Pr 00.005 = Electronic Pot

Unidri ve M400 Control User Guide 45 Issue Number: 3

Safety

Current speed reference input (AI 1+)

AI 1-

Torque reference input (AI 2)

Analog output 1 (motor frequency)

+ 10 V output

Analog output 2 (motor active current)

Digital output (zero frequency)

Unassigned

Run reverse

Run forward

Torque mode select

+ 24 V output

Jog Forward

Unassigned

+ 24 V output

10k

Current speed

reference input

When torque mode is selected and the drive is connected to an unloaded motor, the motor speed may increase rapidly to the maximum speed (Pr 00.002 +10 %)

WARNING

PID feedback input (AI 1+)

AI 1-

Analog output 1 (motor frequency)

+ 10 V output

Analog output 2 (motor active current)

Digital output (zero frequency)

Unassigned

Run reverse

Run forward

PID enable

+ 24 V output

Jog Forward

Unassigned

+ 24 V output

4-20 mA PID

feedback input

0-10 V PID

reference input

PID reference input (AI 2)

When Pr 00.005 is set to Pid, the following parameters may need to be adjusted:

•Pr 14.010: PID proportional gain*

•Pr 14.011: PID integral gain*

•Pr 14.006: PID feedback invert*

•Pr 14.013: PID output upper limit (%)*

•Pr 14.014: PID output lower limit (%)*

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Figure 6-10 Pr 00.005 = Torque Control

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Figure 6-11 Pr 00.005 = PID Control

* Refer to section 11.14 Menu 14: User PID controller on page 128.

46 Unidrive M400 Control User Guide

Issue Number: 3

Safety

WARNING

CAUTION

WARNING

NOTE

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7 Running the motor

This chapter takes the new user through all the essential steps to running a motor for the first time, in each of the possible operating modes.

For information on tuning the drive for the best performance, see Chapter 8 Optimization on page 54.

Ensure that no damage or safety hazard could arise from the motor starting unexpectedly.

The values of the motor parameters affect the protection of the motor. The default values in the drive should not be relied upon. It is essential that the correct value is entered in Pr 00.006 Motor Rated Current. This affects the thermal protection of the motor.

If the drive is started using the keypad it will run to the speed defined by the keypad reference (Pr 01.017). This may not be acceptable depending on the application. The user must check in Pr 01.017 and ensure that the keypad reference has been set to 0.

If the intended maximum speed affects the safety of the machinery, additional independent over-speed protection must be used.

7.2 Changing the operating mode

Procedure

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

1. Ensure the drive is not enabled, i.e. drive is in Inhibit or Under Voltage State.

2. Change the setting of Pr 00.079 as follows:

Pr 00.079 setting Operating mode

1 Open-loop

2RFC-A

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

3. Either:

• Press the red reset button

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

When the operating mode is changed, a parameter save is carried out.

7.1 Quick start connections

7.1.1 Basic requirements

This section shows the basic connections which must be made for the drive to run in the required mode. For minimal parameter settings to run in each mode please see the relevant part of section 7.3 Quick start commissioning / start-up on page 52.

Table 7-1 Minimum control connection requirements for each

control mode

Drive control method Requirements

Drive enable

Terminal mode

Keypad mode Drive enable

Serial communications

Speed / Torque reference Run forward / Run reverse

Drive enable Serial communications link

Unidri ve M400 Control User Guide 47 Issue Number: 3

Safety

L1 L2 L3

Fuses

L1 L2 L3UVW

UVW

24 V

Run FWD Run REV

Induction motor

+10 V

Frequency Reference input

0 V

Braking

resistor

(optional)

T e

i n a

Thermal overload for braking resistor to protect against fire risk

STO2

STO1

o d e

e y

p a d

o d e

Optional keypad

item, must be

installed for

keypad mode

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Figure 7-1 Minimum connections to get the motor running in any operating mode (size 1 to 4)

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48 Unidrive M400 Control User Guide

Issue Number: 3

Safety

Thermal overload for braking resistor

to protect against fire risk. This must be wired to interrupt the AC supply in the event of a fault.

i n a

o d e

K e

y p a

o d e

Keypad Optional item,

must be installed for keypad mode

L1 L2 L3

Fuses

L1 L2 L3

Braking resistor

(optional)

24 V

Run FWD

Run REV

STO1

STO2

Frequency reference input

+10V

Open Loop

RFC-A

Sensorless

UVW

information

Figure 7-2 Minimum connections required to get the motor running in any mode (size 5)

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Unidri ve M400 Control User Guide 49 Issue Number: 3

Safety

Thermal overload for braking resistor

to protect against fire risk. This must be wired to interrupt the AC supply in the event of a fault.

i n a

o d e

K e

y p a

o d e

Keypad Optional item,

must be installed for keypad mode

Braking resistor

(optional)

24 V

Run FWD

Run REV

STO1

STO2

Frequency reference input

+10V

Open Loop

RFC-A

Sensorless

UVW

L1 L2 L3

Fuses

L1 L2 L3

information

Figure 7-3 Minimum connections required to get the motor running in any operating mode (size 6)

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50 Unidrive M400 Control User Guide

Issue Number: 3

Safety

Thermal overload for braking resistor

to protect against fire risk. This must be wired to interrupt the AC supply in the event of a fault.

T e

i n a

o d e

24 V

Run FWD

Run REV

STO1

STO2

Frequency reference input

+10V

L1 L2 L3

Fuses

L1 L2

Keypad Optional item,

must be installed for keypad mode

Open Loop

RFC-A

Sensorless

UVW

Braking resistor

(optional)

+DC

BRAKE

7 8 9

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Figure 7-4 Minimum connections required to get the motor running in any operating mode (size 7 onwards)

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Unidri ve M400 Control User Guide 51 Issue Number: 3

Safety

Motor rated current in Pr 06 (Amps)

Motor rated speed in Pr 07 (rpm / min-1)

Motor rated voltage in Pr 08 (Volts)

Motor rated power factor (cos φ) in Pr 09

00.002

100Hz

0.003

0.004

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected regardless of the reference provided. Once complete the motor will coast to a

stop. The enable signal must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

cos

∅

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7.3 Quick start commissioning / start-up

7.3.1 Open loop

Action Detail

Ensure:

• The drive enable signal is not given (terminals 31 & 34 on size 1 to 4 or terminals 31 & 35 on size 5 to 9 is open)

Before power-up

Power-up the drive

Enter motor nameplate details

• Run signal is not given, terminal 12/13 is open.

• Motor is connected to the drive.

• The motor connection is correct for the drive or .

• The correct supply voltage is connected to the drive.

Verify that open loop mode is displayed as the drive powers up. If the mode is incorrect see section 5.5 Changing the operating mode on page 32. Ensure:

• Drive displays ‘Inhibit’ (enable terminals are open).

If the drive trips, see section 12 Diagnostics on page 137.

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MOT. 3 LS 80 L T

734570 BJ 002 Kg

N 40 C S1IP 55 I cl.F

-1

V Hz min kW cos

230 50 2800 0,75 0,83 0,3

information

Set maximum speed

Set acceleration / deceleration rates

Autotune

Save parameters

Enter:

• Maximum speed in Pr 00.002 (Hz)

Enter:

• Acceleration rate in Pr 00.003 (s/100 Hz)

• Deceleration rate in Pr 00.004 (s/100 Hz) (If braking resistor is installed, set Pr 00.028 = FAST. Also ensure Pr 10.030 and Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before an autotune is enabled. A rotating autotune should be used whenever possible so the measured value of power factor of the motor is used by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. A stationary autotune measures the stator resistance of the motor and the dead time compensation for the drive. These are required for good performance in vector control modes. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.009.

• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a stationary autotune before rotating the motor at

/3 base speed in the direction selected. The

rotating autotune measures the power factor of the motor.

To perform an autotune:

•Set Pr 00.038 = 1 for a stationary autotune or set Pr 00.038 = 2 for a rotating autotune

• Close the Drive Enable signal (apply +24 V to terminal 31 & 34 on size 1 to 4 or terminals 31 & 35 on size 5 to 9). The drive will display ’ready’.

• Give a run command (apply +24 V to terminal 12 - Run forward or terminal 13 - Run reverse. The display will flash ’Auto Tune’ while the drive is performing the autotune.

• Wait for the drive to display ‘inhibit’ and for the motor to come to a standstill.

If the drive trips, see Chapter 12 Diagnostics on page 137.

• Remove the drive enable and run signal from the drive.

Select 'Save parameters' in Pr mm.000 (alternatively enter a value of 1001) and press the red reset button.

Run Drive is now ready to run

52 Unidrive M400 Control User Guide

Issue Number: 3

Safety

Motor rated current in Pr 06 (Amps)

Motor rated speed in Pr 07 (rpm / min-1)*

Motor rated voltage in Pr 08 (Volts)

Motor rated power factor (cos φ) in Pr 09

MOT. 3 LS 80 L T N

734570 BJ 002 Kg

40 C S1IP 55 I cl.F

V Hz min kW cos

-1

230 50 2800 0,75 0,83 0,3

00.002

100Hz

0.003

0.004

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected regardless of the reference provided. Once complete the motor will coast to a stop. The enable signal

must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

cos

∅

N rpm

saturation

breakpoints

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7.3.2 RFC - A mode

Action Detail

Ensure:

Before power-up

Power-up the drive

Enter motor nameplate details

• The drive enable signal is not given (terminal 31 & 34 on size 1 to 4 or terminals 31 & 35 on size 5 to 9 is

• Run signal is not given, terminal 12/13 is open.

• Motor is connected to the drive.

• The motor connection is correct for the drive or .

• The correct supply voltage is connected to the drive.

Verify that RFC-A mode is displayed as the drive powers up.

If the mode is incorrect see section 5.5 Changing the operating mode on page 32. Ensure:

• Drive displays ‘inhibit’ (enable terminals are open). If the drive trips, see Chapter 12 Diagnostics on page 137.

open

)

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Set maximum speed

Set acceleration / deceleration rates

Autotune

Save parameters

Enter:

• Maximum speed in Pr 00.002 (Hz)

Enter:

• Acceleration rate in Pr 00.003 (s/100 Hz)

• Deceleration rate in Pr 00.004 (s/100 Hz) (If braking resistor is installed, set Pr 00.028 = FAST. Also ensure Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before an autotune is enabled. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 04.013 and Pr 04.014 are updated. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.009.

• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a stationary autotune before rotating the motor at

/3 base speed in the direction selected. The rotating

autotune measures the stator inductance of the motor and calculates the power factor.

To perform an autotune:

•Set Pr 00.038 = 1 for a stationary autotune or set Pr 00.038 = 2 for a rotating autotune

• Close the drive enable signal (

to 9

). The drive will display ’ready’.

Give a run command (apply +24 V to terminal 12 - Run forward or terminal 13 - Run reverse. The display

•

apply +24 V to terminal 31 & 34 on size 1 to 4 or terminals 31 & 35 on size 5

will flash ‘Auto Tune’ while the drive is performing the autotune.

• Wait for the drive to display ’Inhibit’ and for the motor to come to a standstill

If the drive trips, see Chapter 12 Diagnostics on page 137.

• Remove the drive enable and run signal from the drive.

Select 'Save Parameters' in Pr

mm.000

(alternatively enter a value of 1001) and press red reset button.

Run The drive is now ready to run

* Slip is required for RFC-A mode.

Unidri ve M400 Control User Guide 53 Issue Number: 3

Safety

Output voltage

Pr / 2

00.008

Pr / 2

00.039

Output frequency

Output voltage characteristic

00.039

00.040 2

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

00.007 60

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

⎝⎠

⎛⎞

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8 Optimization

This chapter takes the user through methods of optimizing the drive set-up and maximize the performance. The auto-tuning features of the drive simplify the optimization tasks.

8.1 Motor map parameters

8.1.1 Open loop motor control

Pr 00.006 {05.007} Motor Rated Current Defines the maximum continuous motor current

• The rated current parameter must be set to the maximum continuous current of the motor. The motor rated current is used in the following:

• Current limits (see section section 8.3 Current limits on page 60, for more information)

• Motor thermal overload protection (see section section 8.4 Motor thermal protection on page 60, for more information)

• Vector mode voltage control (see Control Mode later in this table)

• Slip compensation (see Enable Slip Compensation (05.027), later in this table)

• Dynamic V/F control

Pr 00.008 {05.009} Motor Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.039 {05.006} Motor Rated Frequency Defines the frequency at which rated voltage is applied

The Motor Rated Voltage (00.008) and the Motor Rated Frequency (00.039) are used to define the voltage to frequency characteristic applied to the motor (see Control Mode, later in this table). The Motor Rated Frequency is also used in conjunction with the motor rated speed to calculate the rated slip for slip compensation (see Motor Rated Speed, later in this table).

Pr 00.007 {05.008} Motor Rated Speed Defines the full load rated speed of the motor

Pr 00.040 {05.011} Number of Motor Poles Defines the number of motor poles

The motor rated speed and the number of poles are used with the motor rated frequency to calculate the rated slip of induction machines in Hz.

Rated slip (Hz) = Motor rated frequency - (Number of pole pairs x [Motor rated speed / 60]) =

If Pr 00.007 is set to 0 or to synchronous speed, slip compensation is disabled. If slip compensation is required this parameter should be set to the nameplate value, which should give the correct rpm for a hot machine. Sometimes it will be necessary to adjust this when the drive is commissioned because the nameplate value may be inaccurate. Slip compensation will operate correctly both below base speed and within the field-weakening region. Slip compensation is normally used to correct for the motor speed to prevent speed variation with load. The rated load rpm can be set higher than synchronous speed to deliberately introduce speed droop. This can be useful to aid load sharing with mechanically coupled motors.

Pr 00.040 is also used in the calculation of the motor speed display by the drive for a given output frequency. When Pr 00.040 is set to ‘Automatic’, the number of motor poles is automatically calculated from the rated frequency Pr 00.039, and the motor rated speed Pr 00.007.

Number of poles = 120 x (Rated Frequency (00.039) / Rated Speed (00.007)) rounded to the nearest even number.

Pr 00.043 {05.010} Motor Rated Power Factor Defines the angle between the motor voltage and current

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. The power factor is used in conjunction with the Motor Rated Current (00.006), to calculate the rated active current and magnetising current of the motor. The rated active current is used extensively to control the drive, and the magnetising current is used in vector mode stator resistance compensation. It is important that this parameter is set up correctly. The drive can measure the motor rated power factor by performing a rotating autotune (see Autotune (Pr 00.038), below).

54 Unidrive M400 Control User Guide

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Pr 00.038 {05.012} Auto-tune

There are two autotune tests available in open loop mode, a stationary and a rotating test. A rotating autotune should be used whenever possible so the measured value of power factor of the motor is used by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary test measures the Stator Resistance (05.017), Transient Inductance (05.024), Maximum Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060) which are required for good performance in vector control modes (see Control Mode later in this table). The stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.009. To perform a Stationary autotune, set Pr 00.038 to 1, and provide the drive with both an enable signal (on terminals 31 & 34 on size 1

to 4 or terminals 31 & 35 on size 5 to 9) and a run signal (on terminals 12 or 13).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, as above, then a rotating test is performed in which the motor is accelerated with currently selected ramps up to a frequency of Motor Rated Frequency (00.039) x 2/3, and the frequency is maintained at that level for 4 seconds. Stator Inductance (05.025) is measured and this value is used in conjunction with other motor parameters to calculate Motor Rated Power Factor (00.009). To perform a Rotating autotune, set Pr 00.038 to 2, and provide the drive with both an enable signal (on terminals 31 & 34 on size 1

to 4 or terminals 31 & 35 on size 5 to 9) and a run signal (on terminals 12 or

13).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminals 31 & 34 on size 1

to 4 or terminals 31 & 35 on size 5 to 9, setting the Drive Enable (06.015) to OFF (0) or disabling the

drive via the Control Word (06.042) and Control Word Enable (06.043).

Pr 00.041 {05.014} Control Mode

There are several voltage modes available which fall into two categories, vector control and fixed boost.

Vector control

Vector control mode provides the motor with a linear voltage characteristic from 0 Hz to Motor Rated Frequency, and then a constant voltage above motor rated frequency. When the drive operates between motor rated frequency/50 and motor rated frequency/4, full vector based stator resistance compensation is applied. When the drive operates between motor rated frequency/4 and motor rated frequency/2 the stator resistance compensation is gradually reduced to zero as the frequency increases. For the vector modes to operate correctly the Motor Rated Power Factor (00.009), Stator Resistance (05.017), Maximum Deadtime Compensation (05.059) and current at Maximum Deadtime Compensation (05.060) are all required to be set up accurately. The drive can be made to measure these by performing an autotune (see Pr 00.038 Autotune). The drive can also be made to measure the stator resistance automatically every time the drive is enabled or the first time the drive is enabled after it is powered up, by selecting one of the vector control voltage modes.

(0) Ur S = The stator resistance is measured and the parameters for the selected motor map are over-written each time the drive is made to run. This test can only be done with a stationary motor where the flux has decayed to zero. Therefore this mode should only be used if the motor is guaranteed to be stationary each time the drive is made to run. To prevent the test from being done before the flux has decayed there is a period of 1 second after the drive has been in the ready state during which the test is not done if the drive is made to run again. In this case, previously measured values are used. Ur S mode ensures that the drive compensates for any change in motor parameters due to changes in temperature. The new value of stator resistance is not automatically saved to the drive's EEPROM.

(4) Ur I = The stator resistance is measured when the drive is first made to run after each power-up. This test can only be done with a stationary motor. Therefore this mode should only be used if the motor is guaranteed to be stationary the first time the drive is made to run after each power-up. The new value of stator resistance is not automatically saved to the drive's EEPROM.

(1) Ur = The stator resistance and voltage offset are not measured. The user can enter the motor and cabling resistance into the Stator Resistance (05.017). However this will not include resistance effects within the drive inverter. Therefore if this mode is to be used, it is best to use an autotune test initially to measure the stator resistance.

(3) Ur_Auto= The stator resistance is measured once, the first time the drive is made to run. After the test has been completed successfully the Control Mode (00.041) is changed to Ur mode. The Stator Resistance (05.017) parameter is written to, and along with the Control Mode (00.041), are saved in the drive's EEPROM. If the test fails, the voltage mode will stay set to Ur Auto and the test will be repeated next time the drive is made to run.

Fixed boost

The stator resistance is not used in the control of the motor, instead a fixed characteristic with low frequency voltage boost as defined by Pr 00.042 is used. Fixed boost mode should be used when the drive is controlling multiple motors. There are three settings of fixed boost available:

(2) Fixed = This mode provides the motor with a linear voltage characteristic from 0 Hz to Motor Rated Frequency (00.039), and then a constant voltage above rated frequency. (5) Square = This mode provides the motor with a square law voltage characteristic from 0 Hz to Motor Rated Frequency (00.039), and then a constant voltage above rated frequency. This mode is suitable for variable torque applications like fans and pumps where the load is proportional to the square of the speed of the motor shaft. This mode should not be used if a high starting torque is required. (6) Fixed Tapered = This mode provides the motor with a linear voltage characteristic with a tapered slip limit.

Unidri ve M400 Control User Guide 55 Issue Number: 3

Safety

Output voltage

Pr / 2

00.008

Pr / 2

00.039

Output frequency

Output voltage characteristic

(Fd)

Voltage boost

00.042

Pr 00.008

00.042

Pr 00.039

Pr + [(freq/Pr ) x (Pr - Pr )]00.042 00.039 00.008 00.039

Output

Voltage

Boost

Output

Frequency

Shaft speed

Demanded speed

Load

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Pr 00.041 {05.014} Control Mode (cont)

For mode 2 and 5, at low frequencies (from 0 Hz to ½ x Pr 00.039) a voltage boost is applied as defined by Pr 00.042 as shown below:

Pr 05.027 Enable Slip Compensation

When a motor, being controlled in open loop mode, has load applied a characteristic of the motor is that the output speed droops in proportion to the load applied as shown:

In order to prevent the speed droop shown above slip compensation should be enabled. To enable slip compensation Pr 05.027 must be set to 100 % (this is the default setting), and the motor rated speed must be entered in Pr 00.007 (Pr 05.008).

The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed. This is normally displayed on the motor nameplate, i.e. for a typical 18.5 kW, 50 Hz, 4 pole motor, the motor rated speed would be approximately 1465 rpm. The synchronous speed for a 50 Hz, 4 pole motor is 1500 rpm, so therefore the slip speed would be 35 rpm. If the synchronous speed is entered in Pr 00.007, slip compensation will be disabled. If too small a value is entered in Pr 00.007, the motor will run faster than the demanded frequency. The synchronous speeds for 50 Hz motors with different numbers of poles are as follows:

2 pole = 3000 rpm, 4 pole = 1500 rpm, 6pole =1000 rpm, 8 pole = 750 rpm

56 Unidrive M400 Control User Guide

Issue Number: 3

Safety

Output voltage

Pr / 2

00.008

Pr / 2

00.039

Output frequency

Output voltage characteristic

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8.1.2 RFC-A mode

Pr 00.006 {05.007} Motor Rated Current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor. The motor rated current is used in the following:

• Current limits (see section 8.3 Current limits on page 60, for more information).

• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 60, for more information)

• Vector control algorithm

Pr 00.008 {05.009} Motor Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.039 {05.006} Motor Rated Frequency Defines the frequency at which rated voltage is applied

The Motor Rated Voltage (00.008) and the Motor Rated Frequency (00.039) are used to define the voltage to frequency characteristic applied to the motor (see Control Mode (00.041), later in this table). The motor rated frequency is also used in conjunction with the motor rated speed to calculate the rated slip for slip compensation (see Motor Rated Speed (00.007), later in this table).

Pr 00.007 {05.008} Motor Rated Speed Defines the full load rated speed of the motor and slip

Pr 00.040 {05.011} Number of Motor Poles Defines the number of motor poles

The motor rated speed and motor rated frequency are used to determine the full load slip of the motor which is used by the vector control algorithm.

Incorrect setting of this parameter has the following effects:

• Reduced efficiency of motor operation

• Reduction of maximum torque available from the motor

• Reduced transient performance

• Inaccurate control of absolute torque in torque control modes

The nameplate value is normally the value for a hot motor; however, some adjustment may be required when the drive is commissioned if the nameplate value is inaccurate. A fixed value can be entered in this parameter.

When Pr 00.040 is set to 'Automatic', the number of motor poles is automatically calculated from the Motor Rated Frequency (00.039), and the Motor Rated Speed (00.007).

Number of poles = 120 x (Motor Rated Frequency (00.039 / Motor Rated Speed (00.007) rounded to the nearest even number.

Pr 00.009 {05.010} Motor Rated Power Factor Defines the angle between the motor voltage and current

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. If the Stator Inductance (05.025) is set to zero then the power factor is used in conjunction with the Motor Rated Current (00.006) and other motor parameters to calculate the rated active and magnetising currents of the motor, which are used in the vector control algorithm. If the stator inductance has a non-zero value this parameter is not used by the drive, but is continuously written with a calculated value of power factor. The stator inductance can be measured by the drive by performing a rotating autotune (see Autotune (Pr 00.038), later in this table).

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Pr 00.038 {05.012} Autotune

There are three autotune tests available in RFC-A mode, a stationary test, a rotating test and a mechanical load test. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive. A mechanical load test should be performed separately to a stationary or rotating autotune.

It is highly recommended that a rotating autotune is performed (Pr 00.038 set to 2).

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary autotune measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 04.013 and Pr 04.014 are updated. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.009. To perform a Stationary autotune, set Pr 00.038 to 1, and provide the drive with both an enable signal (on terminal 31 & 34 on size 1

to 4 or terminals 31 & 35 on size 5 to 9) and a run signal (on terminal

12 or 13).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, a rotating test is then performed which the motor is accelerated with currently selected ramps up to a frequency of Motor Rated Frequency (00.039) x 2/3, and the frequency is maintained at the level for up to 40 s. During the rotating autotune the Stator Inductance (05.025), and the motor saturation breakpoints (Pr 05.029, Pr 05.030, Pr 05.062 and Pr 05.063) are modified by the drive. The power factor is also modified for user information only, but is not used after this point as the stator inductance is used in the vector control algorithm instead. To perform a Rotating autotune, set Pr 00.038 to 2, and provide the drive with both an enable signal (on terminal 31 & 34 on size 1

to 4 or terminals 31 & 35 on size 5 to 9) and a run

signal (on terminal 12 or 13).

• The mechanical load test can measure the total inertia of the load and the motor. A series of progressively larger torque levels are applied to the motor (20 %, 40 % … 100 % of rated torque) to accelerate the motor up to ¾ x Motor Rated Speed (00.007) to determine the inertia from the acceleration/deceleration time. The test attempts to reach the required speed within 5s, but if this fails, the next torque level is used. When 100 % torque is used, the test allows 60 s for the required speed to be reached, but if this is unsuccessful, an Autotune 1 trip is initiated. To reduce the time taken for the test, it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level (05.021) to a non-zero value. When the test level is defined, the test is only carried out at the defined test level and 60 s is allowed for the motor to reach the required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to achieve the required torque level to accelerate the motor fast enough. If this is the case, the maximum speed reference should be reduced.

1. The motor must be stationary at the start of the test.

2. The motor is accelerated in the required direction up to ¾ of the maximum speed reference and then decelerated to zero speed.

3. The test is repeated with progressively higher torque until the required speed is reached. To perform a mechanical load test autotune, set Pr 00.038 to 3, and provide the drive with both an enable signal (on terminal 31 & 34 on size 1

to 4 or terminals 31 & 35 on size 5 to 9) and a run signal (on terminal 12 or 13). Following the completion of an autotune test the drive

will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal, setting the Drive Enable (06.015) to OFF (0) or disabling the drive via the control word (Pr 06.042 & Pr 06.043).

{04.013} / {04.014} Current Loop Gains

The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to change the gains to improve the performance. The Current Controller Kp Gain (04.013) is the most critical value in controlling the performance. The values for the current loop gains can be calculated by performing a stationary or rotating autotune (see Autotune Pr 00.038, earlier in this table) the drive measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor and calculates the current loop gains.

This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5 % overshoot. The equation for the integral gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed Sensorless RFC-A induction motor applications) the integral gain may need to have a significantly higher value.

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Frequency demand

Insufficient proportional gain

[]

00.065

Excessive proportional gain [

00.065]

Excessive integral gain [

00.066

]

Ideal response

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Frequency Loop Gains (00.065 {03.010}, Pr 00.066 {03.011})

The frequency loop gains control the response of the frequency controller to a change in frequency demand. The frequency controller includes proportional (Kp) and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for use by the frequency controller with Pr 03.016. If Pr 03.016 = 0, gains Kp1, Ki1 and Kd1 (Pr 03.010 to Pr 03.012) are used, and if Pr 03.016 = 1, gains Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) are used. Pr 03.016 may be changed when the drive is enabled or disabled.

Frequency Controller Proportional Gain (Kp), Pr 00.065 {03.010} and Pr 03.013

If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a frequency error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual frequencies. This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the frequency error for a given load. If the proportional gain is too high either the acoustic noise produced by numerical quantization becomes unacceptable, or the stability limit is reached.

Frequency Controller Integral Gain (Ki), Pr 00.066 {03.011} and Pr 03.014

The integral gain is provided to prevent frequency regulation. The error is accumulated over a period of time and used to produce the necessary torque demand without any frequency error. Increasing the integral gain reduces the time taken for the frequency to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application. For RFC-A Sensorless mode, it is unlikely that the integral gain can be increased much above 0.50.

Differential Gain (Kd), Pr 03.012 and Pr 03.015

The differential gain is provided in the feedback of the frequency 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.

Gain Change Threshold, Pr 03.017

If the Frequency Controller Gain Select (03.016) = 2, gains Kp1, Ki1 and Kd1 (Pr 03.010 to Pr 03.012) are used while the modulus of the frequency demand is less than the value held by Gain Change Threshold (03.017), else gains Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) will be used.

Tuning the frequency loop gains:

This involves the connecting of an oscilloscope to analog output 1 to monitor the frequency feedback. Give the drive a step change in frequency reference and monitor the response of the drive on the oscilloscope.The proportional gain (Kp) should be set up initially. The value should be increased up to the point where the frequency overshoots and then reduced slightly. The integral gain (Ki) should then be increased up to the point where the frequency becomes unstable and then reduced slightly. It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response approaches the ideal response as shown. The diagram shows the effect of incorrect P and I gain settings as well as the ideal response.

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0.00

0.70

1.00

Pr = 0 Pr = 1

04.025

1.00

1.05

Base speed/ frequency

50% of base

speed/frequency

0.00

0.70

1.00

Pr = 0 Pr = 1

04.025

1.00

1.01

Base speed/ frequency

50% of base speed/

frequency

15% of

base speed/

frequency

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8.2 Maximum motor rated current

Size 1 to 4:

The maximum motor rated current is the Maximum Heavy Duty Current Rating (00.077).

The values for the Heavy Duty rating can be found in the Power Installation Guide.

Size 5 onwards:

The maximum motor rated current allowed by the drive is greater than the Maximum Heavy Duty Current Rating (00.077). The ratio between the Normal Duty rating and the Maximum Heavy Duty Current Rating (00.077) varies between drive sizes. The values for the Normal and Heavy Duty rating can be found in the Power Installation Guide. If the

Motor Rated Current (00.006) is set above the Maximum Heavy Duty Current Rating (00.077), the current limits and the motor thermal

protection scheme are modified (see section 8.3 Current limits and section 8.4 Motor thermal protection below for further information).

8.3 Current limits

The default setting for the current limit parameters is:

• 165 % x motor rated torque producing current for open loop mode.

• 175 % x motor rated torque producing current for RFC-A mode.

There are three parameters which control the current limits:

• Motoring current limit: power flowing from the drive to the motor

• Regen current limit: power flowing from the motor to the drive

• Symmetrical current limit: current limit for both motoring and regen operation

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Figure 8-1 Motor thermal protection (Heavy Duty)

If Pr 04.025 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 04.025 is 1 the characteristic is intended for motors where the cooling effect of motor fan reduces with reduced motor speed below 50 % of base speed/ frequency. The maximum value for K1 is 1.05, so that above the knee of the characteristics the motor can operate continuously up to 105 % current.

Figure 8-2 Motor thermal protection (Normal Duty)

The lowest of either the motoring and regen current limit, or the symmetrical current limit applies.

The maximum setting of these parameters depends on the values of motor rated current, drive rated current and the power factor.

With size 5 upwards, increasing the motor rated current (Pr 00.006 / Pr 05.007) above the Heavy Duty rating (default value), will automatically reduce the current limits in Pr 04.005 to Pr 04.007. If the motor rated current is then set to or below the Heavy Duty rating, the current limits will be left at their reduced values.

The drive can be oversized to permit a higher current limit setting to provide higher accelerating torque as required up to a maximum of 1000 %.

8.4 Motor thermal protection

A time constant thermal model is provided to estimate the motor temperature as a percentage of its maximum allowed temperature.

The motor thermal protection is modelled using losses in the motor. The losses in the motor are calculated as a percentage value, so that under these conditions the Motor Protection Accumulator (04.019) would eventually reach 100 %.

Percentage losses = 100 % x [Load related losses]

Where:

Rated

)]

Load related losses = [I / (K

x I

Where:

I = Current Magnitude (00.088)

= Motor Rated Current (00.006)

Rated

If Motor Rated Current (00.006) ≤ Maximum Heavy Duty Current (00.077)

Both settings of Pr 04.025 are intended for motors where the cooling effect of the motor fan reduces with reduced motor speed, but with different speeds below which the cooling effect is reduced. If Pr 04.025 is 0 the characteristic is intended for motors where the cooling effect reduces with motor speed below 15 % of base speed/frequency. If Pr 04.025 is 1 the characteristic is intended for motors where the cooling effect reduces with motor speed below 50 % of base speed/frequency. The maximum value for K1 is 1.01, so that above the knee of the characteristics the motor can operate continuously up to 101 % current.

When the estimated temperature in Pr 04.019 reaches 100 % the drive takes some action depending on the setting of Pr 04.016. If Pr 04.016 is 0, the drive trips when Pr 04.019 reaches 100 %. If Pr 04.016 is 1, the current limit is reduced to (K - 0.05) x 100 % when Pr 04.019 reaches 100 %.

The current limit is set back to the user defined level when Pr 04.019 falls below 95 %. The thermal model temperature accumulator accumulates the temperature of the motor while the drive remains powered-up. By default, the accumulator is set to the power down value at power up. If the rated current defined by Pr 00.006 is altered, the accumulator is reset to zero.

The default setting of the thermal time constant (Pr 04.015) is 179 s which is equivalent to an overload of 150 % for 120 s from cold.

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8.5 Switching frequency

The default switching frequency is 3 kHz, however this can be increased up to a maximum of 16 kHz by Pr 00.037.

If switching frequency is increased from 3 kHz the following apply:

1. Increased heat loss in the drive, which means that derating to the

output current must be applied. See the derating tables for switching frequency and ambient temperature in the Power Installation Guide.

2. Reduced heating of the motor - due to improved output waveform

quality.

3. Reduced acoustic noise generated by the motor.

4. Increased sample rate on the speed and current controllers. A trade

off must be made between motor heating, drive heating and the demands of the application with respect to the sample time required.

Lowest switching frequency in RFC-A mode is 2 kHz.

Table 8-1 Sample rates for various control tasks at each

Background

switching frequency

0.667

3, 6, 12

1 kHz

Level 1 250 μs 167 μs

Level 2 250 μs

Level 3 1 ms Voltage controller

Level 4 4 ms Time critical user interface

kHz

2, 4, 8, 16

kHz

2 kHz = 250 μs 4 kHz = 125 μs 8 kHz = 125 μs

16 kHz = 125 μs

Open loop RFC-A

Peak limit

Current limit

and ramps

Non-time critical user

controllers

controller and

interface

Current

Speed

ramps

8.5.2 Maximum frequency

In all operating modes the maximum output frequency is limited to 550 Hz.

8.5.3 Over-modulation (open-loop only)

The maximum output voltage level of the drive is normally limited to an equivalent of the drive input voltage minus voltage drops within the drive (the drive will also retain a few percent of the voltage in order to maintain current control). 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 05.020 (Over-modulation enable) 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.

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,

• In order to maintain a higher output voltage with a low supply voltage.

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. The additional low order harmonics cause increased losses and heating in the motor.

8.5.4 Switching frequency/Output frequency ratio

With a default switching frequency of 3 kHz, the maximum output frequency should be limited to 250 Hz. Ideally, a minimum ratio of 12:1 should be maintained between the switching frequency and the output frequency. This ensures the number of switchings per cycle is sufficient to ensure the output waveform quality is maintained at a minimum level.

8.5.1 Field weakening (constant power) operation

The drive can be used to run an induction machine above synchronous speed into the constant power region. The speed continues to increase and the available shaft torque reduces. The characteristics below show the torque and output voltage characteristics as the speed is increased above the rated value.

Figure 8-3 Torque and rated voltage against speed

Care must be taken to ensure the torque available above base speed is sufficient for the application to run satisfactorily.

The saturation breakpoint parameters (Pr 05.029, Pr 05. 030, Pr 05.062 and Pr 05.063) found during the autotune in RFC-A mode ensure the magnetizing current is reduced in the correct proportion for the specific motor. (In open loop mode the magnetizing current is not actively controlled).

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Message data

SLAVE

ADDRESS

16bit CRC

message data

FUNCTION

CODE

Silent

interval

Master request

Time

frame detect

Slave frame

processing

Slave response

Slave response time

Master request

New master request can start here

minimum silence period

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8.6 CT Modbus RTU specification

This section describes the adaptation of the MODBUS RTU protocol offered on Control Techniques' products. The portable software class which implements this protocol is also defined.

MODBUS RTU is a master slave system with half-duplex message exchange. The Control Techniques (CT) implementation supports the core function codes to read and write registers. A scheme to map between MODBUS registers and CT parameters is defined. The CT implementation also defines a 32 bit extension to the standard 16 bit register data format.

8.6.1 MODBUS RTU

Physical layer

Attribute Description

Normal physical layer for multi-drop operation EIA485 2 wire

Bit stream Standard UART asynchronous symbols with Non Return to Zero (NRZ)

Each symbol consists of:-

Symbol

Baud rates 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 76800, 115200

* The drive will accept a packet with 1 or 2 stop bits but will always transmit 2 stop bits

RTU framing

The frame has the following basic format

1 start bit 8 data bits (transmitted least significant bit first) 2 stop bits*

The frame is terminated with a minimum silent period of 3.5 character times (for example, at 19200 baud the minimum silent period is 2 ms). Nodes use the terminating silence period to detect the end of frame and begin frame processing. All frames must therefore be transmitted as a continuous stream without any gaps greater or equal to the silence period. If an erroneous gap is inserted then receiving nodes may start frame processing early in which case the CRC will fail and the frame will be discarded.

MODBUS RTU is a master slave system. All master requests, except broadcast requests, will lead to a response from an individual slave. The slave will respond (i.e. start transmitting the response) within the quoted maximum slave response time (this time is quoted in the data sheet for all Control Techniques products). The minimum slave response time is also quoted but will never be less that the minimum silent period defined by 3.5 character times.

If the master request was a broadcast request then the master may transmit a new request once the maximum slave response time has expired.

The master must implement a message time out to handle transmission errors. This time out period must be set to the maximum slave response time + transmission time for the response.

8.6.2 Slave address

The first byte of the frame is the slave node address. Valid slave node addresses are 1 through 247 decimal. In the master request this byte indicates the target slave node; in the slave response this byte indicates the address of the slave sending the response.

Global addressing

Address zero addresses all slave nodes on the network. Slave nodes suppress the response messages for broadcast requests.

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8.6.3 MODBUS registers

The MODBUS register address range is 16 bit (65536 registers) which at the protocol level is represented by indexes 0 through 65535.

PLC registers

Modicon PLCs typically define 4 register 'files' each containing 65536 registers. Traditionally, the registers are referenced 1 through 65536 rather than 0 through 65535. The register address is therefore decremented on the master device before passing to the protocol.

File type Description

1 Read only bits ("coil")

2 Read / write bits ("coil")

3 Read only 16bit register

4 Read / write 16bit register

The register file type code is NOT transmitted by MODBUS and all register files can be considered to map onto a single register address space. However, specific function codes are defined in MODBUS to support access to the "coil" registers.

All standard CT drive parameters are mapped to register file '4' and the coil function codes are not required.

CT parameter mapping

The Modbus register address is 16 bits in size, of which the upper two bits are used for data type selection leaving 14 bits to represent the parameter address, taking into account the slave increments the address value by 1, this results in a theoretical maximum parameter address of 163.84 (limited to 162.99 in software) when the default standard addressing mode (see Serial Mode (11.024)) is used.

To access a parameter number above 99 in any drive menu then the modified addressing mode must be used (see Serial Mode (11.024)), this will allow access to parameter numbers up to 255 but also limit the maximum menu number to 63.

The Modbus slave device increments the register address by 1 before processing the command, this effectively prevents access to parameter Pr 00.000 in the drive or option module.

The table below shows how the start register address is calculated for both addressing modes.

Parameter Addressing mode Protocol register

0.mm.ppp

Standard mm x 100 + ppp - 1

Modified mm x 256 + ppp - 1

Examples

16-bit 32-bit

Decimal Hex (0x) Decimal Hex (0x)

0.01.021

0.01.000

0.03.161

Data types

The MODBUS protocol specification defines registers as 16 bit signed integers. All CT devices support this data size.

Refer to the section 8.6.7 Extended data types on page 65 for detail on accessing 32 bit register data.

8.6.4 Data consistency

All CT devices support a minimum data consistency of one parameter (16 bit or 32 bit data). Some devices support consistency for a complete multiple register transaction.

8.6.5 Data encoding

MODBUS RTU uses a 'big-endian' representation for addresses and data items (except the CRC, which is 'little-endian'). This means that when a numerical quantity larger than a single byte is transmitted, the MOST significant byte is sent first. So for example

16 - bits 0x1234 would be 0x12 0x34

Standard 120 00 78 16504 40 78

Modified 276 01 14 16660 41 14

Standard 99 00 63 16483 40 63

Modified 255 00 FF 16639 40 FF

Standard N/A N/A N/A N/A

Modified 928 03 A0 17312 43 A0

8.6.6 Function codes

The function code determines the context and format of the message data. Bit 7 of the function code is used in the slave response to indicate an exception.

The following function codes are supported:

Code Description

3 Read multiple 16 bit registers

6 Write single register

16 Write multiple 16 bit registers

23 Read and write multiple 16 bit registers

FC03 Read multiple

Read a contiguous array of registers. The slave imposes an upper limit on the number of registers, which can be read. If this is exceeded the slave will issue an exception code 2.

32 - bits 0x12345678 would be 0x12 0x34 0x56 0x78

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Table 8-2 Master request

Byte Description

Slave destination node address 1 through 247, 0 is global

1 Function code 0x03

2 Start register address MSB

3 Start register address LSB

4 Number of 16 bit registers MSB

5 Number of 16 bit registers LSB

6 CRC LSB

7 CRC MSB

Table 8-3 Slave response

Byte Description

0 Slave source node address

1 Function code 0x03

2 Length of register data in read block (in bytes)

3 Register data 0 MSB

4 Register data 0 LSB

3+byte count CRC LSB

4+byte count CRC MSB

FC06 Write single register

Writes a value to a single 16 bit register. The normal response is an echo of the request, returned after the register contents have been written. The register address can correspond to a 32 bit parameter but only 16 bits of data can be sent.

Table 8-4 Master request

Byte Description

0 Slave node address 1 through 247, 0 is global

1 Function code 0x06

2 Register address MSB

3 Register address LSB

4 Register data MSB

5 Register data LSB

6 CRC LSB

7 CRC MSB

Table 8-5 Slave response

Byte Description

0 Slave source node address

1 Function code 0x06

2 Register address MSB

3 Register address LSB

4 Register data MSB

5 Register data LSB

6 CRC LSB

7 CRC MSB

FC16 Write multiple

Writes a contiguous array of registers. The slave imposes an upper limit on the number of registers which can be written. If this is exceeded the slave will discard the request and the master will time out.

Table 8-6 Master request

Byte Description

0 Slave node address 1 through 247, 0 is global

1 Function code 0x10

2 Start register address MSB

3 Start register address LSB

4 Number of 16 bit registers MSB

5 Number of 16 bit registers LSB

6 Length of register data to write (in bytes)

7 Register data 0 MSB

8 Register data 0 LSB

7+byte count CRC LSB

8+byte count CRC MSB

Table 8-7 Slave response

Byte Description

0 Slave source node address

1 Function code 0x10

2 Start register address MSB

3 Start register address LSB

4 Number of 16 bit registers written MSB

5 Number of 16 bit registers written LSB

6 CRC LSB

7 CRC MSB

FC23 Read/Write multiple

Writes and reads two contiguous arrays of registers. The slave imposes an upper limit on the number of registers which can be written. If this is exceeded the slave will discard the request and the master will time out.

Table 8-8 Master request

Byte Description

0 Slave node address 1 through 247, 0 is global

1 Function code 0x17

2 Start register address to read MSB

3 Start register address to read LSB

4 Number of 16 bit registers to read MSB

5 Number of 16 bit registers to read LSB

6 Start register address to write MSB

7 Start register address to write LSB

8 Number of 16 bit registers to write MSB

9 Number of 16 bit registers to write LSB

10 Length of register data to write (in bytes)

11 Register data 0 MSB

12 Register data 0 LSB

11+byte count CRC LSB

12+byte count CRC MSB

Table 8-9 Slave response

Byte Description

0 Slave source node address

1 Function code 0x17

2 Length of register data in read block (in bytes)

3 Register data 0 MSB

4 Register data 0 LSB

3+byte count CRC LSB

4+byte count CRC MSB

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TYP1

bits 0 - 13

Type select Parameter address

X x 100+Y-1

bit 14 TYP0

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8.6.7 Extended data types

Standard MODBUS registers are 16bit and the standard mapping maps a single #X.Y parameter to a single MODBUS register. To support 32 bit data types (integer and float) the MODBUS multiple read and write services are used to transfer a contiguous array of 16bit registers.

Slave devices typically contain a mixed set of 16 bit and 32 bit registers. To permit the master to select the desired 16 bit or 32 bit access the top two bits of the register address are used to indicate the selected data type.

The selection is applied for the whole block access.

The 2bit type field selects the data type according to the table below:

Typ e f i e l d bits 15-14

If a 32 bit data type is selected then the slave uses two consecutive 16 bit MODBUS registers (in 'big endian'). The master must also set the correct 'number of 16 bit registers'.

Example, read Pr 20.021 through Pr 20.024 as 32 bit parameters using FC03 from node 8:

Table 8-10 Master request

Byte Value Description

Table 8-11 Slave response

Byte Value Description

3-6 Pr 20.021 data

7-10 Pr 20.022 data

11- 14 P r 20.023 data

15-18 Pr 20.024 data

19 CRC LSB

20 CRC MSB

Selected data

type

Comments

00 INT16 backward compatible

01 INT32

10 Float32

IEEE754 standard Not supported on all slaves

11 R eserve d

0 0x08 Slave destination node address

1 0x03 FC03 multiple read

20x47

30xE4

Start register address Pr 20.021 (16384 + 2021 - 1) = 18404 = 0x47E4

4 0x00 Number of 16bit registers to read

50x08

Pr 20.021 through Pr 20.024 is 4x32 bit registers = 8x16 bit registers

6 CRC LSB

7 CRC MSB

0 0x08 Slave destination node address

1 0x03 FC03 multiple read

20x10

Length of data (bytes) = 4x32 bit registers = 16 bytes

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The slave will sign extend the least significant word if a 16 bit parameter is accessed as a 32 bit parameter. The number of 16 bit registers must be even during a 32 bit access.

Example, If Pr 01.028 is a 32 bit parameter with a value of 0x12345678, Pr 01.029 is a signed 16 bit parameter with a value of 0xABCD, and Pr 01.030 is a signed 16 bit parameter with a value of 0x0123.

Number of 16 bit

registers

Response Comments

Read

Start register address

Standard 16 bit access to a 32 bit

Pr 01.028 127 1 0x5678

Pr 01.028 16511* 2 0x12345678 Full 32 bit access

Number of words

Pr 01.028 16511* 1 Exception 2

must be even for 32 bit access

Standard 16 bit access to a 32 bit

Pr 01.029 128 1 0xABCD

32 bit access to a

Pr 01.029 16512* 2 0xFFFFABCD

16 bit register will return 32 bit sign extended data

32 bit access to a

Pr 01.030 16513* 2 0x00000123

16 bit register will return 32 bit sign extended data

Standard 16 bit

Pr 01.028

Pr 01.029

127 2

0x5678,

0xABCD

access to a 32 bit register will return low 16 bit word of truncated data

Pr 01.028

Pr 01.029

16511* 4

0x12345678,

0xFFFFABCD

Full 32 bit access

* Bit 14 is set to allow 32 bit access.

Writes when actual parameter type is different from selected

The slave will allow writing a 32 bit value to a 16 bit parameter as long as the 32 bit value is within the normal range of the 16 bit parameter.

The slave will allow a 16 bit write to a 32 bit parameter. The slave will sign extend the written value, therefore the effective range of this type of write will be -32768 to +32767.

Examples, if Pr 01.028 has a range of ±100000, and Pr 01.029 has a range of ±10000.

Reads when actual parameter type is different from selected

The slave will send the least significant word of a 32 bit parameter if that parameter is read as part of a 16 bit access.

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Number of 16 bit

registers

Data Comments

Write

Start

address

Standard 16 bit write

Pr 01.028 127 1 0x1234

to a 32bit register. Value written = 0x00001234

Standard 16 bit write

Pr 01.028 127 1 0xABCD

to a 32 bit register. Value written = 0xFFFFABCD

Pr 01.028 16511 2 0x00001234

Pr 01.029 128 1 0x0123

Pr 01.029 16512 2 0x00000123

Value written = 0x00001234

Value written = 0x0123

Value written = 0x00000123

* Bit 14 is set to allow 32 bit access

8.6.8 Exceptions

The slave will respond with an exception response if an error is detected in the master request. If a message is corrupted and the frame is not received or the CRC fails then the slave will not issue an exception. In this case the master device will time out. If a write multiple (FC16 or FC23) request exceeds the slave maximum buffer size then the slave will discard the message. No exception will be transmitted in this case and the master will time out.

Exception message format

The slave exception message has the following format.

Byte Description

0 Slave source node address

1 Original function code with bit 7 set

2 Exception code

3CRC LSB

4CRC MSB

8.6.10 Device compatibility parameters

All devices have the following compatibility parameters defined:

Parameter Description

Device ID Unique device identification code

The minimum delay between the end of a Minimum slave response time

Maximum slave response time

Baud rate Baud rate used by Modbus RTU

32 bit float data type supported

Maximum buffer size Determines the maximum block size.

message from the master and the time at

which the master is ready to receive a

response from the slave.

When global addressing, the master

must wait for this time before issuing a

new message. In a network of devices,

the slowest time must be used

If this data type is not supported then an

over range error will be raised if this data

type is used

Exception codes

The following exception codes are supported.

Code Description

1 Function code not supported

registers

Parameter over range during block write FC16

The slave processes the write block in the order the data is received. If a write fails due to an out of range value then the write block is terminated. However, the slave does not raise an exception response, rather the error condition is signalled to the master by the number of successful writes field in the response.

Parameter over range during block read/write FC23

There will be no indication that there has been a value out of range during a FC23 access.

8.6.9 CRC

The CRC is a 16bit cyclic redundancy check using the standard CRC-16 polynomial x16 + x15 + x2 + 1. The 16 bit CRC is appended to the message and transmitted LSB first.

The CRC is calculated on ALL the bytes in the frame.

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9 NV Media Card Operation

9.1 Introduction

The Non-Volatile Media Card feature enables simple configuration of parameters, parameter back-up and drive cloning using an SD card.

The SD card can be used for:

• Parameter copying between drives

• Saving drive parameter sets

• Saving onboard user program

The NV Media Card (SD card) is located in the AI-Backup Adaptor.

The card is not hot swappable, but the AI-Backup Adaptor is ‘hot

swapped’ only if

Figure 9-1 Installation of the SD card

1. Installing the SD card

A flat bladed screwdriver or similar tool is required in order to insert / remove the SD card fully into / from the AI-Backup adaptor.

Before inserting / removing the SD card into / from the AI-Backup adaptor, the AI-Backup adaptor must be removed from the drive.

The drive supports SD cards formatted with the FAT32 file system only.

9.2 SD card support

An SD memory card can be inserted in the AI-Backup adaptor in order to transfer data to the drive, however the following limitations should be noted:

If a parameter from the source drive does not exist in the target drive then no data is transferred for that parameter.

If the data for the parameter in the target drive is out of range then the data is limited to the range of the target parameter.

If the target drive has a different rating to the source drive then the normal rules for this type of transfer apply as described later.

No checking is possible to determine if the source and target product types are the same, and so no warning is given if they are different.

If an SD card is used then the drive will recognise the following file types through the drive parameter interface.

File Type Description

Parameter file

Macro file

on display is off.

A file that contains all copied user save parameters from the drive menus (1 to 30) in difference from default format

The same as a parameter file, but defaults are not loaded before the data is transferred from the card

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It is possible for other data to be stored on the card, but this should not be stored in the <MCDF> folder and it will not be visible via the drive parameter interface.

9.2.1 Changing the drive mode

If the source drive mode is different from the target drive mode then the mode will be changed to the source drive mode before the parameters are transferred. If the required drive mode is outside the allowed range for the target then a {Card Drive Mode} trip is initiated and no data is transferred.

9.2.2 Different voltage ratings

If the voltage rating of the source and target drives is different then all parameters except those that are rating dependent (i.e. attribute RA=1) are transferred to the target drive. The rating dependent parameters are left at their default values. After the parameters have been transferred and saved to non-volatile memory a {Card Rating} trip is given as a warning. The table below gives a list of the rating dependent parameters.

Parameters

Standard Ramp Voltage (02.008)

Motoring Current Limit (04.005)

M2 Motoring Current Limit (21.027)

Regenerating Current Limit (04.006)

M2 Regenerating Current Limit (21.028)

Symmetrical Current Limit (04.007)

M2 Symmetrical Current Limit (21.029)

User Current Maximum Scaling (04.024)

Motor Rated Current (05.007)

M2 Motor Rated Current (21.007)

Motor Rated Voltage (05.009)

M2 Motor Rated Voltage (21.009)

Motor Rated Power Factor (05.010)

M2 Motor Rated Power Factor (21.010)

Stator Resistance (05.017)

M2 Stator Resistance (21.012)

Maximum Switching Frequency (05.018)

Transient Inductance /Ld (05.024)

M2 Transient Inductance /Ld (21.014)

Stator Inductance (05.025)

M2 Stator Inductance (21.024)

Injection Braking Level (06.006)

Supply Loss Detection Level (06.048)

9.2.3 Different option modules installed

If the Option ID Code (15.001) is different for any option module installed to the source drive compared to the destination drive then the parameters for the set-up for that option module are not transferred, but the parameters are set to their default values. After the parameters have been transferred and saved to non-volatile memory a {Card Option} trip is given as a warning.

These files can be created on a card by the drive and then transferred to any other drive including derivatives. If the Drive Derivative (11.028) is different between the source and target drives then the data is transferred but a {Card Product} trip is initiated.

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9.2.4 Different current ratings

If any of the current rating parameters (Maximum Heavy Duty Rating (11.032), Maximum Rated Current (11.060) or Full Scale Current Kc (11.061)) are different between the source and target then all parameters are still written to the target drive, but some may be limited by their allowed range. To give similar performance in the target compared to the source drive the frequency and current controller gains are modified as shown below. Note that this does not apply if the file identification number is larger than 500.

Gains Multiplier

Frequency Controller Proportional Gain Kp1 (03.010)

Frequency Controller Integral Gain Ki1

(03.011)

[Source Full Scale Current Kc (11.061)] /

[Target Full Scale Current Kc (11.061)]

Frequency Controller Proportional Gain Kp2 (03.013)

Frequency Controller Integral Gain Ki2

(03.014)

M2 Frequency Controller Proportional Gain Kp (21.017)

M2 Frequency Controller Integral Gain Ki (21.018)

Current Controller Kp Gain (04.013)

Current Controller Ki Gain (04.014)

M2 Current Controller Kp Gain (21.022)

M2 Current Controller Ki Gain (21.023)

9.2.5 Different variable maximums

It should be noted that if ratings of the source and target drives are different, or the option module installed to the source and target drives are different, it is possible that some parameters with variable maximums may be limited and not have the same values as in the source drive.

9.2.6 Macro files

Macro files are created in the same way as parameter files except that NV Media Card Create Special File (11.072) must be set to 1 before the file is created on the NV media card. NV Media Card Create Special File (11.072) is set to zero after the file has been created or the transfer fails. When a macro file is transferred to a drive, the drive mode is not changed even if the actual mode is different to that in the file, and defaults are not loaded before the parameters are copied from the file to the drive.

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The table below gives a summary of the values used in Pr mm.000 for NV media card operations. The yyy represents the file identification number.

Table 9-1 Functions in Pr mm.000

Value Action

Transfer the drive parameters to parameter file 001 and

2001

sets the block as bootable. This will include the parameters from any attached option module.

Transfer the drive parameters to parameter file yyy. This

4yyy

will include the parameters from any attached option module.

5yyy

Transfer the onboard user program to onboard user program file yyy.

59999* Delete onboard user program

6yyy

Load the drive parameters from parameter file yyy or the onboard user program from onboard user program file yyy.

7yyy Erase file yyy.

Compare the data in the drive with the file yyy. The data in the drive is compared to the data in the file yyy. If the files

8yyy

are the same then Pr mm.000 is simply reset to 0 when the compare is complete. If the files are different a {Card Compare} trip is initiated. All other NV media card trips also apply.

9555 Clear the warning suppression flag.

9666 Set the warning suppression flag.

9777 Clear the read-only flag.

9888 Set the read-only flag.

* Program cannot be deleted if the drive is active or if the user program is running.

9.2.7 Writing to the NV Media Card

4yyy - Writes defaults differences to the NV Media Card

The data block only contains the parameter differences from the last time default settings were loaded.

All parameters except those with the NC (Not copied) coding bit set are transferred to the NV Media Card. In addition to these parameters all menu 20 parameters (except Pr 20.000), can be transferred to the NV Media Card.

Writing a parameter set to the NV Media Card (Pr 00.030 =Program (2))

Setting Pr 00.030 to Program (2) and resetting the drive will save the parameters to the NV Media Card, i.e. this is equivalent to writing 4001 to Pr mm.000. All NV Media Card trips apply except 'Card Change'. If the data block already exists it is automatically overwritten. When the action is complete this parameter is automatically reset to None (0).

9.2.8 Reading from the NV Media Card

6yyy - Reading from NV Media Card

When the data is transferred back to the drive, using 6yyy in Pr mm.000, it is transferred to the drive RAM and the EEPROM. A parameter save is not required to retain the data after-power down. Set up data for any option module installed stored on the card are transferred to the drive. If the option module installed is different between source and destination drives, the menu for the option module slot where the option module category is different is not updated from the card and will contain its default values after the copying action. The drive will produce a 'Card Option' trip if the option module installed to the source and the destination drives are different. If the data is being transferred to the drive with different voltage or current rating a 'Card Rating' trip will occur.

The following drive rating dependant parameters (RA coding bit set) will not be transferred to the destination drive by a NV Media Card when the voltage rating of the destination drive is different from the source drive and the file is a parameter file.

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However, drive rating dependent parameters will be transferred if only the current rating is different. If drive rating dependant parameters are not transferred to the destination drive they will contain their default values.

Pr 02.008 Standard Ramp Voltage

Pr 04.005 to Pr 04.007 and Pr 21.027 to Pr 21.029 Motoring Current

Limits

Pr 04.024, User Current Maximum Scaling

Pr 04.041 User Over Current Trip Level

Pr 05.007, Pr 21.007 Rated Current

Pr 05.009, Pr 21.009 Rated Voltage

Pr 05.010, Pr 21.010 Rated Power Factor

Pr 05.017, Pr 21.012 Stator Resistance

Pr 05.018 Maximum Switching Frequency

Pr 05.024, Pr 21.014 Transient Inductance

Pr 05.025, Pr 21.024 Stator Inductance

Pr 06.006 Injection Braking Level

Pr 06.048 Supply Loss Detection Level

Pr 06.073 Braking IGBT Lower Threshold

Pr 06.074 Braking IGBT Upper Threshold

Pr 06.075 Low Voltage Braking IGBT Threshold

Reading a parameter set from the NV Media Card (Pr 00.030 = Read (1))

Setting Pr 00.030 to Read (1) and resetting the drive will transfer the parameters from the card into the drive parameter set and the drive EEPROM, i.e. this is equivalent to writing 6001 to Pr mm.000.

All NV Media Card trips apply. Once the parameters are successfully copied this parameter is automatically reset to None (0). Parameters are saved to the drive EEPROM after this action is complete.

9.2.9 Auto saving parameter changes (Pr 00.030 = Auto (3))

This setting causes the drive to automatically save any changes made to menu 0 parameters on the drive to the NV Media Card. The latest menu 0 parameter set in the drive is therefore always backed up on the NV Media Card. Changing Pr 00.030 to Auto (3) and resetting the drive will immediately save the complete parameter set from the drive to the card, i.e. all parameters except parameters with the NC coding bit set. Once the whole parameter set is stored only the individual modified menu 0 parameter setting is updated.

Advanced parameter changes are only saved to the NV Media Card when Pr mm.000 is set to 'Save Parameters' or a 1001 and the drive reset.

All NV Media Card trips apply, except 'Card Change'. If the data block already contains information it is automatically overwritten.

If the card is removed when Pr 00.030 is set to 3, Pr 00.030 is then automatically set to None (0).

When a new NV Media Card is installed Pr 00.030 must be set back to Auto (3) by the user and the drive reset so the complete parameter set is rewritten to the new NV Media Card if auto mode is still required.

When Pr 00.030 is set to Auto (3) and the parameters in the drive are saved, the NV Media Card is also updated, and therefore the NV Media Card becomes a copy of the drives stored configuration.

At power up, if Pr 00.030 is set to Auto (3), the drive will save the complete parameter set to the NV Media Card. The drive will display 'Card Write' during this operation. This is done to ensure that if a user puts a new NV Media Card in during power down the new NV Media Card will have the correct data.

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9.2.10 Booting up from the NV Media Card on every power up (Pr 00.030 = Boot (4))

When Pr 00.030 is set to Boot (4) the drive operates the same as Auto mode except when the drive is powered-up. The parameters on the NV Media Card will be automatically transferred to the drive at power up if the following are true:

• A card is inserted in the drive

• Parameter data block 1 exists on the card

• The data in block 1 is type 1 to 4 (as defined in Pr 11.038)

•Pr 00.030 on the card set to Boot (4)

The drive will display 'Booting Parameters' during this operation. If the drive mode is different from that on the card, the drive gives a 'Card Drive Mode' trip and the data is not transferred.

If 'Boot' mode is stored on the copying NV Media Card this makes the copying NV Media Card the master device. This provides a very fast and efficient way of re-programming a number of drives.

'Boot' mode is saved to the card, but when the card is read, the value of Pr 00.030 is not transferred to the drive.

9.2.11 Booting up from the NV Media Card on every

power up (Pr mm.000 = 2001)

It is possible to create a bootable parameter data block by setting Pr mm.000 to 2001 and initiating a drive reset. This data block is created in one operation and is not updated when further parameter changes are made.

Setting Pr mm.000 to 2001 will overwrite the data block 1 on the card if it already exists.

9.2.12 8yyy - Comparing the drive full parameter set

with the NV Media Card values

Setting 8yyy in Pr mm.000, will compare the NV Media Card file with the data in the drive. If the compare is successful Pr mm.000 is simply set to

0. If the compare fails a 'Card Compare' trip is initiated.

9.2.13 7yyy - Erasing data from the NV Media Card

values

Data can be erased from the NV Media Card either one block at a time or all blocks in one go.

• Setting 7yyy in Pr mm.000 will erase NV Media Card data block yyy

9.2.14 9666 / 9555 - Setting and clearing the NV

Media Card warning suppression flag

If the option module installed to the source and destination drive are different the drive will produce a 'Card Option' trip.

If the data is being transferred to a drive of a different voltage or current rating a 'Card Rating' trip will occur. It is possible to suppress these trips by setting the warning suppression flag. If this flag is set the drive will not trip if the option module or drive ratings are different between the source and destination drives. The option module or rating dependent parameters will not be transferred.

• Setting 9666 in Pr mm.000 will set the warning suppression flag

• Setting 9555 in Pr mm.000 will clear the warning suppression flag

9.2.15 9888 / 9777 - Setting and clearing the NV

Media Card read only flag

The NV Media Card may be protected from writing or erasing by setting the read only flag. If an attempt is made to write or erase a data block when the read only flag is set, a 'Card Read Only' trip is initiated. When the read only flag is set only codes 6yyy or 9777 are effective.

• Setting 9888 in Pr mm.000 will set the read only flag

• Setting 9777 in Pr mm.000 will clear the read only flag

When Pr 00.030 is set to Auto (3) the setting of Pr 00.030 itself is saved to the drive EEPROM but not the NV Media Card.

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9.3 NV Media Card parameters

Table 9-2 Key to parameter table coding

RW Read / Write ND No default value

RO Read only NC Not copied

Num Number parameter PT Protected parameter

Bit Bit parameter RA Rating dependant

Txt Text string US User save

Bin Binary parameter PS Power-down save

FI Filtered DE Destination

11.036 NV Media Card File Previously Loaded

RO Num NC PT

This parameter shows the number of the data block last transferred from an SD card to the drive. If defaults are subsequently reloaded this parameter is set to 0.

11.037 NV Media Card File Number

RW Num

This parameter should have the data block number which the user would like the information displayed in Pr 11.038 and Pr 11.03 9.

0 to 999

9.4 NV Media Card trips

After an attempt to read, write or erase data from a NV Media Card a trip is initiated if there has been a problem with the command.

See Chapter 12 Diagnostics on page 137 for more information on NV Media Card trips.

9.5 Data block header information

Each data block stored on a NV Media Card has header information detailing the following:

• NV Media Card File Number (11.037)

• NV Media Card File Type (11.038)

• NV Media Card File Version (11.039) The header information for each data block which has been used can be viewed in Pr 11.038 to Pr 11.039 by increasing or decreasing the data block number set in Pr 11.037. If there is no data on the card Pr 11.037 can only have a value of 0.

11.038 NV Media Card File Type

RO Txt ND NC PT

Displays the type of data block selected with Pr 11.037.

Pr 11.038 String Type

0 None No file selected

1 Open-loop Open-loop mode parameter file

2 RFC-A RFC-A mode parameter file

3 Reserved Reserved

4 Reserved Reserved

5 User Program Onboard user program file

11.039 NV Media Card File Version

RO Num ND NC PT

Displays the version number of the file selected in Pr 11.037.

11.042 {00.030} Parameter Cloning

RW Txt NC US

0 to 5

0 to 9999

None (0), Read (1),

Program (2), Auto (3),

Boot (4)

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10 Onboard PLC

10.1 Onboard PLC and Machine Control Studio

The drive has the ability to store and execute a 16 kB (less 4 kB of proxy) Onboard PLC user program without the need for additional hardware in the form of an option module.

Machine Control Studio is an IEC61131-3 development environment designed for use with Unidrive M and compatible application modules. Machine Control Studio is based on CODESYS from 3S-Smart Software Solutions.

All of the programming languages defined in the IEC standard IEC 61131-3 are supported in the Machine Control Studio development environment.

• ST (Structured text)

• LD (Ladder diagram)

• FBD (Function block diagram)

• IL (Instruction list)

• SFC (Sequential function chart)

• CFC (Continuous Function Chart). CFC is an extension to the

standard IEC programming languages

Machine Control Studio provides a complete environment for the development of user programs. Programs can be created, compiled and downloaded to a Unidrive M for execution, via the communications port on the front of the drive. The run-time operation of the compiled program on the target can also be monitored using Machine Control Studio and facilities are provided to interact with the program on the target by setting new values for target variables and parameters.

The Onboard PLC and Machine Control Studio form the first level of functionality in a range of programmable options for Unidrive M.

Machine Control Studio can be downloaded from www.controltechniques.com.

See the Machine Control Studio help file for more information regarding using Machine Control Studio, creating user programs and downloading user programs to the drive.

10.2 Benefits

The combination of the Onboard PLC and Machine Control Studio, means that the drive can replace nano and some micro PLCs in many applications

Machine Control Studio benefits from access to the standard CODESYS function and function block libraries as well as those from third parties. Functions and function blocks available as standard in Machine Control Studio include, but not limited to, the following:

• Arithmetic blocks

• Comparison blocks

•Timers

• Counters

• Multiplexers

• Latches

• Bit manipulation

Typical applications for the Onboard PLC include:

• Ancillary pumps

• Fans and control valves

• Interlocking logic

• Sequence routines

• Custom control words.

10.3 Features

The Unidrive M Onboard PLC user program has the following features:

10.3.1 Tasks

The Onboard PLC allows use of two tasks.

• Clock: A high priority real time task. The clock task interval can be set from 16 ms to 262 s in multiples of 16 ms. The parameter Onboard User Program: Clock Task Time Used (11.051) shows the percentage of the available time used by clock task. A read or write of a drive parameter by the user program takes a finite period of time. It is possible to select up to 10 parameters as fast access parameter which reduced the amount of time it takes for the user program to read from or write to a drive parameter. This is useful when using a clock task with a fast update rate as selecting a parameter for fast access reduces the amount of the clock task resource required to access parameters.

• Freewheeling: A non-real time background task. The freewheeling task is scheduled for a short period once every 256 ms. The time for which the task is scheduled will vary depending on the loading of the drive's processor. When scheduled, several scans of the user program may be performed. Some scans may execute in microseconds. However, when the main drive functions are scheduled there will be a pause in the execution of the program causing some scans to take many milliseconds. The parameter Onboard User Program: Freewheeling Tasks Per Second (11.050) shows the number of times the freewheeling task has started per second.

10.3.2 Variables

The Onboard PLC supports the use of variables with the data types of Boolean, integer (8 bit, 16 bit and 32 bit, signed and unsigned), floating point (64 bit only), strings and time.

10.3.3 Custom menu

Machine Control Studio can construct a custom drive menu to reside in menu 30 on the drive. The following properties of each parameter can be defined using Machine Control Studio:

• Parameter name

• Number of decimal places

• The units for the parameter to be display on the keypad.

• The minimum, maximum and default values

• Memory handling (i.e. power down save, user save or volatile)

• Data type. The drive provides a limited set of 1 bit, 8 bit, 16 bit and 32 bit integer parameters to create the customer menu.

Parameters in this customer menu can be accessed by the user program and will appear on the keypad.

10.3.4 Limitations

The Onboard PLC user program has the following limitations:

• The flash memory allocated to the Onboard PLC is 16 kB which includes the user program and its header which results in a maximum user program size of about 12 kB

• The Onboard PLC is provided with 2 kB of RAM.

• The drive is rated for 100 program downloads. This limitation is imposed by the flash memory used to store the program within the drive.

• There is only one real-time task with a minimum period of 16 ms.

• The freewheeling background task runs at a low priority. The drive is prioritized to perform the clock task and its major functions first, e.g. motor control, and will use any remaining processing time to execute the freewheeling task as a background activity. As the drive's processor becomes more heavily loaded, less time is spent executing the freewheeling task.

• Breakpoints, single stepping and online program changes are not possible.

• The Graphing tool is not supported.

• The variable data types REAL (32 bit floating point), LWORD (64 bit integer) and WSTRING (Unicode string), and retained variables are not supported.

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10.4 Onboard PLC parameters

The following parameters are associated with the Onboard PLC user program.

11.047 Onboard User Program: Enable

RW Txt US

This parameter stops and starts the user program.

0 - Stop the User Program

The onboard user program is stopped.

1 - Run the User Program

The user program will execute. Background task starts from the beginning.

11.048 Onboard User Program: Status

RO Txt NC PT

This parameter is read-only and indicates the status of the user program in the drive. The user program writes the value to this parameter.

0: Stopped

1: Running

2: Exception

3: No user program present

Stop (0) or Run (1)

-2147483648 to 2147483647

Run (1)

10.5 Onboard PLC trips

If the drive detects an error in the user program it will initiate a User Program trip. The sub-trip number for the User Program trip details the reason for the error. See Chapter 12 Diagnostics on page 137 for more information on the User Program trip.

11.049 Onboard User Program: Programming Events

RO Uni NC PT PS

This parameter holds the number of times an Onboard PLC user program download has taken place and is 0 on dispatch from the factory. The drive is rated for one hundred program downloads. This parameter is not altered when defaults are loaded.

11.050

RO Uni NC PT

This parameter shows the number of times the freewheeling task has started per second.

11.051 Onboard User Program: Clock Task Time Used

RO NC PT

This parameter shows the percentage of the available time used by the user program clock task.

0 to 65535

Onboard User Program: Freewheeling Tasks Per Second

0 to 65535

0.0 to 100.0 %

11.055

RO NC PT

This parameter shows the interval at which the clock task is scheduled to run at in ms.

Onboard User Program: Clock Task Scheduled Interval

0 to 262128 ms

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11 Advanced parameters

This is a quick reference to all parameters in the drive showing units, ranges limits etc, with block diagrams to illustrate their function. Full descriptions of the parameters can be found in the Parameter Reference Guide.

These advanced parameters are listed for reference purposes only. The lists in this chapter do not include sufficient information for adjusting these parameters. Incorrect adjustment can affect the safety of the system, and damage the drive and or external equipment. Before attempting to adjust any of these parameters, refer to the Parameter reference guide.

Table 11-1 Menu descriptions

Menu Description

Commonly used basic set up parameters for quick / easy

programming 1 Frequency reference 2Ramps

3 Frequency control 4 Torque and current control 5 Motor control

6 Sequencer and clock 7 Analog I/O 8 Digital I/O

Programmable logic, motorized pot, binary sum, timers and 9

scope

10 Status and trips 11 Drive set-up and identification, serial communications 12 Threshold detectors and variable selectors

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

18 General option module application menu 1 20 General option module application menu 2 21 Second motor parameters

22 Menu 0 set-up 24 Option module slot 1 application menu 30 Onboard user programming application menu

Slot 1 Slot 1 option menus**

** Only displayed when the option module is installed.

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Operation mode abbreviations:

Open-loop: Sensorless control for induction motors

RFC-A: Asynchronous Rotor Flux Control for induction motors

Default abbreviations:

Standard default value (50 Hz AC supply frequency)

USA default value (60 Hz AC supply frequency)

Parameter numbers shown in brackets {...} are the equivalent Menu 0 parameters. Some Menu 0 parameters appear twice since their function depends on the operating mode.

In some cases, the function or range of a parameter is affected by the setting of another parameter. The information in the lists relates to the default condition of any parameters affected in this way.

Table 11-2 Key to parameter table coding

Coding Attribute

RW Read/Write: can be written by the user

RO Read only: can only be read by the user

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

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

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

Bin Binary parameter

IP IP Address parameter

Mac Mac Address parameter

Date Date parameter

Time Time parameter

Chr Character parameter

Filtered: some parameters which can have rapidly changing

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 be transferred to the destination drive by non-volatile storage media when the rating of the destination drive is different

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

No default: The parameter is not modified when defaults are

loaded

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

during 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) state occurs.

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Table 11-3 Feature look-up table

Feature Related parameters (Pr)

Acceleration rates 02.010

02.011 to

02.019

02.032 02.033 02.034 02.002

Analog reference 1 01.036 07.010 07.001 07.007 07.008 07.009 07.028 07.051 07.030 07.061 07.062 07.063 07.064 Analog reference 2 01.037 07.014 01.041 07.002 07.011 07.012 07.013 07.032 07.031 07.065 07.066 07.067 07.068 Analog I/O Menu 7 Analog input 1 07.001 07.007 07.008 07.009 07.010 07.028 07.051 07.030 07.061 07.062 07.063 07.064 Analog input 2 07.002 07.011 07.012 07.013 07.014 07.028 07.031 07.052 07.065 07.066 07.067 07.068 Analog output 1 07.019 07.020 07.055 07.099 Analog output 2 07.022 07.023 07.024 07.056 07.102 Application menu Menu 18 Menu 20 At frequency indicator bit 03.006 03.007 03.009 10.006 10.005 10.007 Auto reset 10.034 10.035 10.036 10.001 Autotune 05.012 05.017 05.021 05.024 05.025 05.010 05.029 05.030 05.062 05.063 05.059 05.060 Binary sum 09.029 09.030 09.031 09.032 09.033 09.034 Bipolar reference 01.010 Brake control 12.040 to 12.047 12.050 12.051 Braking 10.011 10.010 10.030 10.031 06.001 02.004 02.002 10.012 10.039 10.040 10.061 Catch a spinning motor 06.009 05.040 Coast to stop 06.001 Copying 11.042 11.036 to 11.039 Cost - per kWh electricity 06.016 06.017 06.024 06.025 06.026 06.027 Current controller 04.013 04.014 Current feedback 04.001 04.002 04.017 04.004 04.020 04.024 04.026 10.008 10.009 10.017 Current limits 04.005 04.006 04.007 04.018 04.015 04.019 04.016 05.007 05.010 10.008 10.009 10.017 DC bus voltage 05.005 02.008 DC injection braking 06.006 06.007 06.001

Deceleration rates 02.020

02.021 to

02.029

02.004

02.035 to

02.037

02.002 02.008 06.001 10.030 10.031 10.039 02.009

Defaults 11.043 11.046 Digital I/O Menu 8 Digital I/O read word 08.020 Digital I/O T10 08.001 08.011 08.021 08.031 08.081 08.091 08.121 Digital I/O T11 08.002 08.012 08.022 08.082 08.122 Digital I/O T12 08.003 08.013 08.023 08.083 08.123 Digital input T13 08.004 08.014 08.024 08.084 08.124 Digital input T14 08.005 08.015 08.025 08.035 08.085 08.125 Digital input T15 08.006 08.016 08.026 08.036 08.086 08.126 Digital input T16 08.007 08.017 08.027 08.036 08.087 08.127 Direction 10.013 06.030 06.031 01.003 10.014 02.001 03.002 08.003 08.004 10.040 Drive active 10.002 10.040 Drive derivative 11.028 Drive OK 10.001 08.028 08.008 08.018 10.036 10.040 Dynamic performance 05.026 Dynamic V/F 05.013 Enable 06.015 08.039 08.040 06.038 External trip 10.032 Fan speed 06.045 Field weakening - induction motor 05.029 05.030 01.006 05.028 05.062 05.063 Filter change 06.019 06.018 06.021 06.022 06.023 Frequency reference selection 01.014 01.015 Frequency slaving 03.001 03.013 03.014 03.015 03.016 03.017 03.018 Hard speed reference 03.022 03.023 Heavy duty rating 05.007 11.032 High stability space vector modulation

05.019

I/O sequencer 06.004 06.030 06.031 06.032 06.033 06.034 06.042 06.043 06.041 Inertia compensation 02.038 04.022 03.018 Jog reference 01.005 02.019 02.029 Keypad reference 01.017 01.014 01.043 01.051 06.012 06.013 Limit switches 06.035 06.036 Line power supply loss 06.003 10.015 10.016 05.005 06.046 06.048 06.051 Logic function 1 09.001 09.004 09.005 09.006 09.007 09.008 09.009 09.010 Logic function 2 09.002 09.014 09.015 09.016 09.017 09.018 09.019 09.020

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Feature Related parameters (Pr)

Maximum speed 01.006

Menu 0 set-up Menu 22 Minimum speed 01.007 10.004 Motor map 05.006 05.007 05.008 05.009 05.010 05.011 Motor map 2 Menu 21 11.045 Motorized potentiometer 09.021 09.022 09.023 09.024 09.025 09.026 09.027 09.028 09.003 Offset reference 01.004 01.038 01.009 Onboard PLC 11.047 to 11.051 11.055 Open loop vector mode 05.014 05.017 05.088 Operating mode 11.031 05.014 Output 05.001 05.002 05.003 05.004 Over frequency threshold 03.008 Over modulation enable 05.020 PID controller Menu 14 Positive logic 08.010 Power up parameter 11.022 Preset speeds 01.015 01.021 to 01.028 01.014 01.042 01.045 to 01.047 01.050 Programmable logic Menu 9 Ramp (accel / decel) mode 02.004 02.008 06.001 02.002 02.003 10.030 10.031 10.039 Regenerating 10.010 10.011 10.030 10.031 06.001 02.004 02.002 10.012 10.039 10.040 Relay output 08.008 08.018 08.028 Reset 10.033 10.034 10.035 10.036 10.001 10.038 RFC mode (encoder less CLV mode)

05.040

Scope 09.055 to 09.073 S ramp 02.006 02.007 Sample rates 05.018 Safe Torque Off input 08.039 08.040 Security code 11.030 11.044 Serial comms 11.023 to 11.027 11.099 11.020 Skip speeds 01.029 01.030 01.031 01.032 01.033 01.034 01.035 Slip compensation 05.027 05.008 05.033 05.036 05.084 NV media card 11.036 to 11.039 11.042 Firmware version 11.029 11.035 Frequency controller 03.010 to 03.017 Estimated frequency 03.002 03.003 03.004 Reference selection 01.014 01.015 01.049 01.050 01.001 Status word 10.040 Supply 05.005 06.003 06.046 06.048 06.051 06.058 06.059 Switching frequency 05.018 05.035 05.038 07.034 07.035 Thermal protection - drive 05.018 05.035 07.004 07.005 07.035 10.018 Thermal protection - motor 04.015 05.007 04.019 04.016 04.025 08.035 Thermistor input 07.046 07.047 07.048 07.049 07.050 08.035 Threshold detector 1 12.001 12.003 to 12.007 Threshold detector 2 12.002 12.023 to 12.027 Time - filter change 06.019 06.018 06.021 06.022 06.023 Time - powered up log 06.020 06.019 06.017 06.018 06.084 Time - run log 06.019 06.017 06.018 06.084 Torque 04.003 04.026 05.032 Torque mode 04.008 04.011 Trip detection 10.037 10.038 10.020 to 10.029 Trip log 10.020 to 10.029 10.041 to 10.060 10.070 to 10.079 Under voltage 05.005 10.016 10.015 10.068 V/F mode 05.015 05.014 Variable selector 1 12.008 to 12.016 Variable selector 2 12.028 to 12.036 Voltage controller 05.031 Voltage mode 05.014 05.017 05.015 Voltage rating 11.033 05.009 05.005 Voltage supply 06.046 05.005 Warning 10.019 10.012 10.017 10.018 10.040 Zero frequency indicator bit 03.005 10.003

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11.1 Parameter ranges and Variable minimum/maximums:

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

• The settings of other parameters

• The drive rating

• The drive mode

• Combination of any of the above

The tables below give the definition of variable minimum/maximum and the maximum range of these.

VM_AC_VOLTAGE Range applied to parameters showing AC voltage

Units V

Range of [MIN] 0

Range of [MAX] 0 to 930

Definition

VM_AC_VOLTAGE_SET Range applied to the AC voltage set-up parameters

Units V

Range of [MIN] 0

Range of [MAX] 0 to 765

Definition

VM_AC_VOLTAGE[MAX] is drive voltage rating dependent. See Table 11-4

VM_AC_VOLTAGE[MIN] = 0

VM_AC_VOLTAGE_SET[MAX] is drive voltage rating dependent. See Table 11-4

VM_AC_VOLTAGE_SET[MIN] = 0

VM_ACCEL_RATE Maximum applied to the ramp rate parameters

Units s / 100 Hz, s/1000 Hz, s/Max Frequency

Range of [MIN]

Range of [MAX]

Open-loop: 0.0 RFC-A: 0.0

Open-loop: 0.0 to 32000.0 RFC-A: 0.0 to 32000.0

A maximum needs to be applied to the ramp rate parameters because the units are a time for a change of speed from zero to a defined level or to maximum speed. If the change of speed is to the maximum speed then changing the maximum speed changes the actual ramp rate for a given ramp rate parameter value. The variable maximum calculation ensures that longest ramp rate (parameter at its maximum value) is not slower than the rate with the defined level, i.e. 32000.0 s/100 Hz.

The maximum frequency is taken from Maximum Speed (01.006) if Select Motor 2 Parameters (11.045) = 0, or M2

Definition

Maximum Speed (21.001) if Select Motor 2 Parameters (11.045) = 1.

VM_ACCEL_RATE[MIN] = 0.0

If Ramp Rate Units (02.039) = 0:

VM_ACCEL_RATE[MAX] = 32000.0

Otherwise:

VM_ACCEL_RATE[MAX] = 32000.0 x Maximum frequency / 100.00

VM_DC_VOLTAGE Range applied to parameters showing DC voltage

Units V

Range of [MIN] 0

Range of [MAX] 0 to 1190

VM_DC_VOLTAGE[MAX] is the full scale d.c. bus voltage feedback (over voltage trip level) for the drive. This level is

Definition

drive voltage rating dependent. See Table 11-4

VM_DC_VOLTAGE[MIN] = 0

VM_DC_VOLTAGE_SET Range applied to DC voltage reference parameters

Units V

Range of [MIN] 0

Range of [MAX] 0 to 1150

VM_DC_VOLTAGE_SET[MAX] is drive voltage rating dependent. See Table 11-4

Definition

VM_DC_VOLTAGE_SET[MIN] = 0

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VM_DRIVE_CURRENT Range applied to parameters showing current in A

Units A

Range of [MIN] -9999.99 to 0.00

Range of [MAX] 0.00 to 9999.99

VM_DRIVE_CURRENT[MAX] is equivalent to the full scale (over current trip level) for the drive and is given by Full

Definition

Scale Current Kc (11.061).

VM_DRIVE_CURRENT[MIN] = - VM_DRIVE_CURRENT[MAX]

VM_FREQ Range applied to parameters showing frequency

Units Hz

Range of [MIN] -1100.00

Range of [MAX] 1100.00

This variable minimum/maximum defines the range of speed monitoring parameters. To allow headroom for overshoot

Definition

the range is set to twice the range of the speed references. VM_FREQ[MIN] = 2 x VM_SPEED_FREQ_REF[MIN] VM_FREQ[MAX] = 2 x VM_SPEED_FREQ_REF[MAX]

VM_MAX_SWITCHING_FREQUENCY Range applied to the maximum switching frequency parameters

Units User units

Range of [MIN]

Range of [MAX]

Open-loop: 0 (0.667 kHz) RFC-A: 2 (2 kHz)

Open-loop: 8 (16kHz) RFC-A: 8 (16kHz)

VM_SWITCHING_FREQUENCY[MAX] = Power stage dependent VM_SWITCHING_FREQUENCY[MIN] = 0 This variable maximum is used by the Minimum Switching Frequency (05.038) to define the minimum frequency limit

Definition

used if the inverter thermal model is actively reducing the switching frequency due to temperature. Note that parameter Maximum Switching Frequency (05.018) takes priority over parameter Minimum Switching Frequency (05.038) so is not limited by parameter Minimum Switching Frequency (05.038). The actual minimum switching frequency limit used is the lower of Maximum Switching Frequency (05.018) and Minimum Switching Frequency (05.038).

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Unidri ve M400 Control User Guide 77 Issue Number: 3

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Mrated

Rated

maxref

Tlimit

Trated

MOTOR1_CURRENT_LIMIT_MAX

Maximum current

Motor rated current

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

PF()21–+

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

100%×=

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VM_MOTOR1_CURRENT_LIMIT Range applied to current limit parameters (motor 1)

Units %

Range of [MIN] 0.0

Range of [MAX] 0.0 to 1000.0

VM_MOTOR1_CURRENT_LIMIT[MAX] is dependent on the drive rating and motor set-up parameters. VM_MOTOR1_CURRENT_LIMIT[MIN] = 0.0

Open-loop

VM_MOTOR1_CURRENT_LIMIT[MAX] = (I Where:

= I

Tlimit

= Pr 05.007 sin φ

Mrated

= Pr 05.007 x cos φ

Trated

cos φ = Pr 05.010

is 0.7 x Pr 11.061 when the motor rated current set in Pr 05.007 is less than or equal to Pr 11.032 (i.e. Heavy

MaxRef

duty), otherwise it is the lower of 0.7 x Pr 11.061 or 1.1 x Pr 11.060 (i.e. Normal Duty).

Definition

MaxRef

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Mrated

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/ I

MaxRef

Tlimit

))

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/ I

Trated

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Where:

Motor rated current is given by Pr 05.007 PF is motor rated power factor given by Pr 05.010 (MOTOR2_CURRENT_LIMIT_MAX is calculated from the motor map 2 parameters) The Maximum current is (1.5 x Rated drive current) when the rated current set by Pr 05.007 is less than or equal to the Maximum Heavy Duty current rating specified in Pr 11.032, 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

165.2%.

The rated active and rated magnetising currents are calculated from the power factor (Pr 05.010) and motor rated current (Pr 05.007) as:

rated active current = power factor x motor rated current rated magnetising current = √(1 - power factor

) x motor rated current

RFC-A

VM_MOTOR1_CURRENT_LIMIT[MAX] = (I

Tlimit

/ I

Trated

) x 100 %

Where:

= I

Tlimit

Mrated

Trated

φ1 = cos-1 (Pr 05.010) + φ2. φ1 is calculated during an autotune. See the variable minimum / maximum calculations in the Parameter Reference Guide for more information regarding φ

is 0.9 x Pr 11.061 when the motor rated current set in Pr 05.007 is less than or equal to Pr 11.032 (i.e. Heavy

MaxRef

x cos(sin-1(I

MaxRef

= Pr 05.007 x sin φ

= Pr 05.007 x cos φ

Mrated

/ I

MaxRef

))

duty), otherwise it is the lower of 0.9 x Pr 11.061 or 1.1 x Pr 11.060 (i.e. Normal Duty).

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78 Unidrive M400 Control User Guide

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Negative

Reference Clamp

Enable (01.008)

Bipolar Reference

Enable (01.010)

VM_NEGATIVE_REF_

CLAMP1[MIN]

VM_NEGATIVE_REF_

CLAMP1[MAX]

0 0 0.00 Pr 01.006

0 1 0.00 0.00

1 X -VM_POSITIVE_REF_CLAMP[MAX] 0.00

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VM_MOTOR2_CURRENT_LIMIT Range applied to current limit parameters (motor 2)

Units %

Range of [MIN] 0.0

Range of [MAX] 0.0 to 1000.0

VM_MOTOR2_CURRENT_LIMIT[MAX] is dependent on the drive rating and motor set-up parameters.

Definition

VM_MOTOR2_CURRENT_LIMIT[MIN] = 0.0 Refer to VM_MOTOR1_CURRENT_LIMIT for more information. For VM_MOTOR2_CURRENT_LIMIT[MAX] use Pr 21.007 instead of Pr 05.007 and Pr 21.010 instead of Pr 05.010.

VM_NEGATIVE_REF_CLAMP1 Limits applied to the negative frequency clamp (motor 1)

Units Hz

Range of [MIN] -550.00 to 0.00

Range of [MAX] 0.00 to 550.00

This variable maximum/minimum defines the range of the negative frequency clamp associated with motor map 1 (Minimum Speed (01.007)). The minimum and maximum are affected by the settings of the Negative Reference Clamp Enable (01.008), Bipolar Reference Enable (01.010) and Maximum Speed (01.006) as shown in the table below.

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VM_NEGATIVE_REF_CLAMP2 Limits applied to the negative frequency clamp (motor 2)

Units Hz

Range of [MIN] -550.00 to 0.00

Range of [MAX] 0.00 to 550.00

This variable maximum/minimum defines the range of the negative frequency clamp associated with motor map 2 (M2

Definition

Minimum Speed (21.002)). It is defined in the same way as VM_NEGATIVE_REF_CLAMP1 except that the M2 Maximum Speed (21.001) is used instead of Maximum Speed (01.006).

VM_POSITIVE_REF_CLAMP Limits applied to the positive frequency reference clamp

Units Hz

Range of [MIN] 0.00

Range of [MAX] 550.00

Definition

VM_POSITIVE_REF_CLAMP[MAX] defines the range of the positive reference clamp, Maximum Speed (01.006), which in turn limit the references.

VM_POWER Range applied to parameters that either set or display power

Units kW

Range of [MIN] -9999.99 to 0.00

Range of [MAX] 0.00 to 9999.99

VM_POWER[MAX] is rating dependent and is chosen to allow for the maximum power that can be output by the drive

Definition

with maximum AC output voltage, at maximum controlled current and unity power factor. VM_POWER[MAX] = √3 x VM_AC_VOLTAGE[MAX] x VM_DRIVE_CURRENT[MAX] / 1000 VM_POWER[MIN] = -VM_POWER[MAX]

VM_RATED_CURRENT Range applied to rated current parameters

Units A

Range of [MIN] 0.00

Range of [MAX] 0.00 to 9999.99

Definition

Unidri ve M400 Control User Guide 79 Issue Number: 3

VM_RATED_CURRENT [MAX] = Maximum Rated Current (11.060) and is dependent on the drive rating. VM_RATED_CURRENT [MIN] = 0.00

Safety

Negative Reference

Clamp Enable (01.008)

VM_SPEED_FREQ_REF[MAX] if Select

Motor 2 Parameters (11.045) = 0

VM_SPEED_FREQ_REF[MAX] if Select

Motor 2 Parameters (11.045) = 1

0 Maximum Speed (01.006) M2 Maximum Speed (21.001)

Maximum Speed (01.006) or |Minimum Speed (01.007)| whichever the larger

M2 Maximum Speed (21.001) or |M2 Minimum Speed (21.002)| whichever the

larger

Negative Reference Clamp Enable

(01.008)

Bipolar Reference Enable

(01.010)

VM_SPEED_FREQ_USER_REFS[MIN]

If Select Motor 2 Parameters (11.045) = 0

Minimum Speed (01.007), otherwise M2 Minimum Speed (21.002)

0 1 -VM_SPEED_FREQ_REF[MAX]

1 0 0.00

1 1 -VM_SPEED_FREQ_REF[MAX]

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VM_SPEED_FREQ_REF Range applied to the frequency reference parameters

Units Hz

Range of [MIN] -550.00 to 0.00

Range of [MAX] 0.00 to 550.00

This variable minimum/maximum is applied throughout the frequency and speed reference system so that the references can vary in the range from the minimum to maximum clamps. VM_SPEED_FREQ_REF[MIN] = -VM_SPEED_FREQ_REF[MAX].

Definition

VM_SPEED_FREQ_REF_UNIPOLAR Unipolar version of VM_SPEED_FREQ_REF

Units Hz

Range of [MIN] 0.00

Range of [MAX] 0.00 to 550.00

Definition

VM_SPEED_FREQ_REF_UNIPOLAR[MAX] = VM_SPEED_FREQ_REF[MAX] VM_SPEED_FREQ_REF_UNIPOLAR[MIN] = 0.00

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VM_SPEED_FREQ_USER_REFS Range applied to analog reference parameters

Units Hz

Range of [MIN] -550.00 to 550.00

Range of [MAX] 0.00 to 550.00

This variable maximum is applied to Analog Reference 1 (01.036), Analog Reference 2 (01.037) and Keypad Reference (01.017).

The maximum applied to these parameters is the same as other frequency reference parameters. VM_SPEED_FREQ_USER_REFS [MAX] = VM_SPEED_FREQ_REF[MAX] However the minimum is dependent on Negative Reference Clamp Enable (01.008) and Bipolar Reference Enable (01.010).

Definition

VM_SUPPLY_LOSS_LEVEL Range applied to the supply loss threshold

Units V

Range of [MIN] 0 to 1150

Range of [MAX] 0 to 1150

Definition

VM_SUPPLY_LOSS_LEVEL[MAX] = VM_DC_VOLTAGE_SET[MAX] VM_SUPPLY_LOSS_LEVEL[MIN] is drive voltage rating dependent. See Table 11-4

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Select Motor 2 Parameters (11.045) VM_TORQUE_CURRENT[MAX]

0 VM_MOTOR1_CURRENT_LIMIT[MAX]

1 VM_MOTOR2_CURRENT_LIMIT[MAX]

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VM_TORQUE_CURRENT Range applied to torque and torque producing current parameters

Units %

Range of [MIN] -1000.0 to 0.0

Range of [MAX] 0.0 to 1000.0

VM_TORQUE_CURRENT[MIN] = -VM_TORQUE_CURRENT[MAX]

Definition

VM_TORQUE_CURRENT_UNIPOLAR Unipolar version of VM_TORQUE_CURRENT

Units %

Range of [MIN] 0.0

Range of [MAX] 0.0 to 1000.0

VM_TORQUE_CURRENT_UNIPOLAR[MAX] = VM_TORQUE_CURRENT[MAX] VM_TORQUE_CURRENT_UNIPOLAR[MIN] =0.0 User Current Maximum Scaling (04.024) defines the variable maximum/minimums VM_USER_CURRENT which is applied to Percentage Load (04.020) and Torque Reference (04.008). This is useful when routing these parameters to

Definition

an analog output as it allows the full scale output value to be defined by the user. This maximum is subject to a limit of MOTOR1_CURRENT_LIMIT or MOTOR2_CURRENT_LIMIT depending on which motor map is currently active. The maximum value (VM_TORQUE_CURRENT_UNIPOLAR [MAX]) varies between drive sizes with default parameters loaded. For some drive sizes the default value may be reduced below the value given by the parameter range limiting.

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VM_USER_CURRENT Range applied to torque reference and percentage load parameters with one decimal place

Units %

Range of [MIN] -1000.0 to 0.0

Range of [MAX] 0.0 to 1000.0

VM_USER_CURRENT[MAX] = User Current Maximum Scaling (04.024) VM_USER_CURRENT[MIN] = -VM_USER_CURRENT[MAX] User Current Maximum Scaling (04.024) defines the variable maximum/minimums VM_USER_CURRENT which is applied to Percentage Load (04.020) and Torque Reference (04.008). This is useful when routing these parameters to

Definition

Table 11-4 Voltage ratings dependant values

Variable min/max

100 V 200 V 400 V 575 V 690 V

Voltage level

VM_DC_VOLTAGE_SET(MAX] 400 800 955 1150

VM_DC_VOLTAGE(MAX] Frame 1 to 4

VM_DC_VOLTAGE(MAX] Frame 5 to 9

VM_AC_VOLTAGE_SET(MAX] Frame 1 to 4

VM_AC_VOLTAGE_SET(MAX] Frame 5 to 9

510 870 N/A N/A

415 830 990 1190

240 480 N/A N/A

265 530 635 765

VM_AC_VOLTAGE[MAX] 325 650 780 930

VM_STD_UNDER_VOLTS[MIN] 175 330 435 435

VM_SUPPLY_LOSS_LEVEL{MIN] 205 410 540 540

Unidri ve M400 Control User Guide 81 Issue Number: 3

Safety

Preset Selector

Preset Selector Timer

Preset Selector Timer Reset

Keypad Control

Mode Reference

Analog Reference 1

Analog Reference 2

Preset Reference Select Bits 1 ~ 3

Menu 7

01.037

01.041

01.016

01.048

01.015

01.017

LOCAL/REMOTE

Menu 8

Reference

**Selector

Reference Selected

Indicator

01.049

01.014

Percentage Trim

Max O/P frequency x (% trim / 100)

Analog Input 1

Analog Reference

Preset Reference

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

01.051

Power-Up Keypad Control Mode Reference

1.20

Preset Selected Indicator

Preset References

~01.028

Scan Timer

01.043

01.042

Pr set to greater than 1

01.050

1 1 2 2 3 4

x x x x

Reference being used

01.050

Analog Reference 1 Preset Reference defined by Pr Analog Reference 2 Preset Reference defined by Pr

Keypad Control Mode Reference (01.017) Reserved Keypad Control Mode Reference (01.017)

Preset Reference defined by Pr 01.050

Reference Select Flag 1

Reference Select Flag 2

Reference Select Flag 3

01.036

01.021

Pr 01.049 Pr 01.050

Analog Input 2

Reference Selected

Reference Offset

Reference Offset Select

01.004

01.038

01.001

1 ~ 8

01.047

01.046

01.045

** Controlled by drive configuration (Pr )11.034

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

parameters

11.2 Menu 1: Frequency reference

Figure 11-1 Menu 1 logic diagram

Basic

Running

the motor

Optimization

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Advanced

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Diagnostics

information

82 Unidrive M400 Control User Guide

Issue Number: 3

Safety

Bipolar

reference

enable

Jog Select

Menu 6

Sequencer

01.010

01.013

Maximum Speed

Minimum Speed

Negative Reference Clamp Enable

Reverse Select

01.006

01.007

Sequencer (Menu 6)

Menu 8

RUNJOG FORWARD RUN REVERSE

Jog reference

01.005

x(-1)

01.008

[01.006] [01.007]

[01.007] [01.006]

[01.006]

[01.007]

01.071

01.070

Alternative reference

Clamped reference

01.072

Alternative reference enable

Pre-skip Filter Reference

Pre-ramp reference

Reference In Rejection Zone

Reference On

01.002 01.003

01.011

Menu 2

01.035

Skip

Reference

Skip

Reference

Skip

Reference

Skip

Reference

Band 1

Skip

Reference

Band 2

Skip

Reference

Band 3

01.029

01.030

01.031

01.032

01.033

01.034

01.057

Force Reference Direction

01.069

Reference

In rpm

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Unidri ve M400 Control User Guide 83 Issue Number: 3

Safety

information

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information

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installation

Getting started

Basic

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Running

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Optimization

NV Media Card

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Advanced

parameters

Diagnostics

information

Parameter

01.001 Reference Selected 0.00 to Pr 01.006 Hz RO Num ND NC PT

01.002 Pre-skip Filter Reference 0.00 to Pr 01.006 Hz

01.003 Pre-ramp Reference 0.00 to Pr 01.006 Hz

01.004 Reference Offset 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

01.005 Jog Reference 0.00 to 300.00 Hz 1.50 Hz RW Num US

01.006 Maximum Speed 0.00 to 550.00 Hz

01.007 Minimum Speed 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

01.008 Negative Reference Clamp Enable Off (0) or On (1) Off (0) RW Bit US

01.009 Reference Offset Select 0 to 2 0 RW Num US

01.010 Bipolar Reference Enable Off (0) or On (1) Off (0) RW Bit US

01.011 Reference On Off (0) or On (1) RO Bit ND NC PT

01.012 Reverse Select Off (0) or On (1)

01.013 Jog Select Off (0) or On (1) RO Bit N D NC PT

01.014 Reference Selector

01.015 Preset Selector 0 to 9 0 RW Num US

01.016 Preset Selector Timer 0.0 to 400.0 s 10.0 s RW Num US

01.017 Keypad Control Mode Reference VM_SPEED_FREQ_USER_REFS Hz 0.00 Hz RO Num NC PT PS

01.021 Preset Reference 1 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

01.022 Preset Reference 2 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

01.023 Preset Reference 3 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

01.024 Preset Reference 4 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

01.025 Preset Reference 5 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

01.026 Preset Reference 6 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

01.027 Preset Reference 7 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

01.028 Preset Reference 8 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

01.029 Skip Reference 1 0.00 to 550.00 Hz 0.00 Hz RW Num US

01.030 Skip Reference Band 1 0.00 to 25.00 Hz 0.50 Hz RW Num U S

01.031 Skip Reference 2 0.00 to 550.00 Hz 0.00 Hz RW Num US

01.032 Skip Reference Band 2 0.00 to 25.00 Hz 0.50 Hz RW Num U S

01.033 Skip Reference 3 0.00 to 550.00 Hz 0.00 Hz RW Num US

01.034 Skip Reference Band 3 0.00 to 25.00 Hz 0.50 Hz RW Num U S

01.035 Reference In Rejection Zone Off (0) or On (1) RO Bit ND NC PT

01.036 Analog Reference 1 VM_SPEED_FREQ_USER_REFS Hz 0.00 Hz RO Num NC

01.037 Analog Reference 2 VM_SPEED_FREQ_USER_REFS Hz 0.00 Hz RO Num NC

01.038 Percentage Trim ± 100.00 % 0.00 % RW Num NC

01.041 Reference Select Flag 1 Off (0) or On (1) Off (0) RW Bit NC

01.042 Reference Select Flag 2 Off (0) or On (1) Off (0) RW Bit NC

01.043 Reference Select Flag 3 Off (0) or On (1) Off (0) RW Bit NC

01.045 Preset Select Flag 1 Off (0) or On (1) Off (0) RW Bit NC

01.046 Preset Select Flag 2 Off (0) or On (1) Off (0) RW Bit NC

01.047 Preset Select Flag 3 Off (0) or On (1) Off (0) RW Bit NC

01.048 Preset Selector Timer Reset Off (0) or On (1) Off (0) RW Bit NC

01.049 ReferenceSelectedIndicator 1to6 RO Num ND NC PT

01.050 Preset Selected Indicator 1 to 8 RO Num ND NC PT

01.051 Power-up Keypad Control Mode Reference Reset (0), Last (1), Preset (2) Reset (0) RW Txt US

01.057 Force Reference Direction None (0), Forward (1), Reverse (2) None (0) RW Txt

01.069 Reference in rpm ± 33000.0 rpm RO Num ND NC PT

01.070 Clamped Reference 0.00 to Pr 01.006 Hz RO Num ND NC PT

01.071 Alternative Reference 0.00 to Pr 01.006 Hz 0.00 Hz RO Num NC

01.072 Alternative Reference Enable Off (0) or On (1) RO Bit ND NC PT

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

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

Range (Ú)Default (Ö)

OL RFC-A OL RFC-A

50 Hz: 50.00 Hz 60 Hz: 60.00 Hz

A1 A2 (0) RW Txt US

Typ e

RO Num ND NC PT

RW Num US

RO Bit ND NC PT

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

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

84 Unidrive M400 Control User Guide

Issue Number: 3

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Unidri ve M400 Control User Guide 85 Issue Number: 3

Safety

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

02.011

Acceleration Rate 1

02.012

Acceleration Rate 2

02.013

Acceleration Rate 3

02.014

Acceleration Rate 4

02.015

Acceleration Rate 5

02.016

Acceleration Rate 6

02.017

Acceleration Rate 7

02.018

Acceleration Rate 8

Acceleration rates 1 ~ 8

01.050

Preset Selected Indicator

02.019

Jog Acceleration

Rate

01.013

Jog Select

01.003

Pre-Ramp Reference

02.003

Ramp Hold

02.004

Ramp Mode Select

Acceleration

Reverse

Accel. Rate

Forward

Accel. Rate

Ramp Control

02.010

Acceleration Rate Selector

02.034 02.033

2.32

02.032

02.030

Acceleration Rate Selected

02.008

02.009

Standard Ramp Voltage

Deceleration Fail Detection Disable

02.039

Ramp Rate Units

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

02.042

Maximum Rate Of Change Of Acceleration 1

02.043

Maximum Rate Of Change Of Acceleration 2

02.011

Acceleration Rate 1

02.012

Acceleration Rate 2

02.013

Acceleration Rate 3

02.014

Acceleration Rate 4

02.015

Acceleration Rate 5

02.016

Acceleration Rate 6

02.017

Acceleration Rate 7

02.018

Acceleration Rate 8

02.011

Acceleration Rate 1

02.012

Acceleration Rate 2

02.013

Acceleration Rate 3

02.014

Acceleration Rate 4

02.015

Acceleration Rate 5

02.016

Acceleration Rate 6

02.017

Acceleration Rate 7

02.018

Acceleration Rate 8

information

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11.3 Menu 2: Ramps

Figure 11-2 Menu 2 logic diagram

Electrical

installation

Getting started

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Running

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Advanced

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information

86 Unidrive M400 Control User Guide

Issue Number: 3

Safety

02.006

S-Ramp Enable

02.007

Max Rate Of Change Of Acceleration

02.040

S-Ramp Percentage

Ramp Control

Deceleration

Forward Decel. rate

Reverse Decel. rate

02.001

Post-Ramp Reference

02.002

Ramp E (RFC-A mode only)

nable

Current control Menu 4 (Open-loop only)

Deceleration Rates 1 ~ 8

02.021

Deceleration Rate 1

02.022

Deceleration Rate 2

02.023

Deceleration Rate 3

02.024

Deceleration Rate 4

02.025

Deceleration Rate 5

02.026

Deceleration Rate 6

02.027

Deceleration Rate 7

02.028

Deceleration Rate 8

01.050

Preset Selected Indicator

02.029

Jog Deceleration Rate

01.013

Jog Select

02.038

Inertia

Compensation

Torque

d/dt

02.020

Deceleration Rate Selector

Deceleration Rate Select Bits

02.037 02.036 02.035

Ramps always enabled in Open-loop

02.031

Deceleration Rate Selected

03.018

05.032

Motor And Load Inertia

Torque PerAmp

02.041

S-Ramp Set-up Mode

02.044

Maximum Rate Of Change Of Acceleration 3

02.045

Maximum Rate Of Change Of Acceleration 4

02.021

Deceleration Rate 1

02.022

Deceleration Rate 2

02.023

Deceleration Rate 3

02.024

Deceleration Rate 4

02.025

Deceleration Rate 5

02.026

Deceleration Rate 6

02.027

Deceleration Rate 7

02.028

Deceleration Rate 8

02.021

Deceleration Rate 1

02.022

Deceleration Rate 2

02.023

Deceleration Rate 3

02.024

Deceleration Rate 4

02.025

Deceleration Rate 5

02.026

Deceleration Rate 6

02.027

Deceleration Rate 7

02.028

Deceleration Rate 8

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Unidri ve M400 Control User Guide 87 Issue Number: 3

Safety

information

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Advanced

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information

Parameter

02.001 Post Ramp Reference 0.00 to Pr 01.006 Hz RO Num ND NC PT

02.002 Ramp Enable

02.003 Ramp Hold Off (0) or On (1) Off (0) RW Bit US

02.004 Ramp Mode Select

02.005 Disable Ramp Output

02.006 S Ramp Enable Off (0) or On (1) Off (0) RW Bit US

02.007 Max Rate Of Change Of Acceleration 0.0 to 300.0 s²/100Hz 3.1 s²/100Hz RW Num US

02.008 Standard Ramp Voltage 0 to 1150 V

02.009 Deceleration Fail Detection Disable Off (0) or On (1) Off (0) RW Bit US

02.010 Acceleration Rate Selector 0 to 9 0 RW Num US

02.011 Acceleration Rate 1

02.012 Acceleration Rate 2 RW Num US

02.013 Acceleration Rate 3 RW Num US

02.014 Acceleration Rate 4 RW Num US

02.015 Acceleration Rate 5 RW Num US

02.016 Acceleration Rate 6 RW Num US

02.017 Acceleration Rate 7 RW Num US

02.018 Acceleration Rate 8 RW Num US

02.019 Jog Acceleration Rate 0.0 to 32000.0 s/100 Hz 0.2 s/100 Hz RW Num US

02.020 Deceleration Rate Selector 0 to 9 0 RW Num US

02.021 Deceleration Rate 1

02.022 Deceleration Rate 2 RW Num US

02.023 Deceleration Rate 3 RW Num US

02.024 Deceleration Rate 4 RW Num US

02.025 Deceleration Rate 5 RW Num US

02.026 Deceleration Rate 6 RW Num US

02.027 Deceleration Rate 7 RW Num US

02.028 Deceleration Rate 8 RW Num US

02.029 Jog Deceleration Rate 0.0 to 32000.0 s/100 Hz 0.2 s/100 Hz RW Num US

02.030 Acceleration Rate Selected 0 to 8

02.031 Deceleration Rate Selected 0 to 8

02.032 Acceleration Rate Select Bit 0 Off (0) or On (1) Off (0) RW Bit NC

02.033 Acceleration Rate Select Bit 1 Off (0) or On (1) Off (0) RW Bit NC

02.034 Acceleration Rate Select Bit 2 Off (0) or On (1) Off (0) RW Bit NC

02.035 Deceleration Rate Select Bit 0 Off (0) or On (1) Off (0) RW Bit NC

02.036 Deceleration Rate Select Bit 1 Off (0) or On (1) Off (0) RW Bit NC

02.037 Deceleration Rate Select Bit 2 Off (0) or On (1) Off (0) RW Bit NC

02.038 Inertia Compensation Torque

02.039 Ramp Rate Units

02.040 S Ramp Percentage 0.0 to 50.0 % 0.0 % RW Num US

02.041 S Ramp Set-up Mode 0 to 2 0 RW Num US

02.042 Maximum Rate Of Change Of Acceleration 1 0.0 to 300.0 s²/100Hz 0.0 s²/100Hz RW Num US

02.043 Maximum Rate Of Change Of Acceleration 2 0.0 to 300.0 s²/100Hz 0.0 s²/100Hz RW Num US

02.044 Maximum Rate Of Change Of Acceleration 3 0.0 to 300.0 s²/100Hz 0.0 s²/100Hz RW Num US

02.045 Maximum Rate Of Change Of Acceleration 4 0.0 to 300.0 s²/100Hz 0.0 s²/100Hz RW Num US

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

0 (s/100 Hz), 1 (s/maximum frequency),

Range (Ú) Default (Ö)

OL RFC-A OL RFC-A

Off (0) or On (1) On (1) RW Bit US

Fast boost (3)

Off (0) or On (1) Off (0) RW Bit US

110V drive: 375 V, 200V drive: 375 V

575V drive: 895 V, 690V drive: 1075 V

0.0 to 32000.0 s/100 Hz 5.0 s/100 Hz

0.0 to 32000.0 s/100 Hz 10.0 s/100 Hz

±1000.0 % RO Num ND NC PT

2 (s/1000 Hz)

Standard (1) RW Txt US

400V drive 50Hz: 750 V, 400V drive 60Hz: 775 V

0 (s/100 Hz) RW Num US

Typ e

RW Num RA US

RW Num US

RO Num ND NC PT

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

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

88 Unidrive M400 Control User Guide

Issue Number: 3

Safety

11.4 Menu 3: Frequency control

03.005

10.003

Zero

Frequency

Zero Frequency Threshold

01.007

Running At Or Below Minimum Frequency

Minimum Speed

03.006

10.005

Below Set-Frequency

At Frequency Lower Limit

10.007

Above Set-Frequency

At Frequency Upper Limit

10.006

At Frequency

10.004

01.010

Bipolar Reference

Enable

NOR

+0.5Hz

Over Speed Trip

+20%

01.006

03.008

Maximum

Speed

Over

Frequency

Threshold

03.008>0

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

02.001

01.011

Post Ramp Reference

Reference on

Hard Frequency Reference

Hard Frrequency Reference Select

03.023

03.022

05.001

Output

Frequency

Slip

compensation

Menu 5

Menu 2

03.007

01.003

Pre Ramp Reference

03.009

Absolute

At-Speed

Select

03.001

01.006

01.007

01.008

Maximum Speed

Minimum Speed

Negative Reference Clamp Enable

03.072

Motor Speed

Percent

Final Demand

Reference

information

Product

information

Mechanical

installation

Electrical

installation

Figure 11-3 Menu 3 Open-loop logic diagram

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

Operation

Onboard

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Advanced

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Diagnostics

information

Unidri ve M400 Control User Guide 89 Issue Number: 3

Safety

02.001

Post-Ramp Reference

03.023

01.011

Hard Frequency Reference Select

Reference

Final Demand Reference

03.022

Hard Frequency Reference

02.005

Disable Ramp

Output

VM_SPEED_FREQ_REF[MIN]

VM_SPEED_FREQ_REF[MAX]

03.001

03.079

Sensorless Mode Filter

03.080

d/dt

Sensorless

Position

01.006

01.007

01.008

Maximum Speed

Minimum Speed

Negative Reference Clamp Enable

03.072

Motor Speed

Percent

information

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Electrical

installation

Figure 11-4 Menu 3 RFC-A logic diagram

Getting started

Basic

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Optimization

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Advanced

parameters

Diagnostics

information

90 Unidrive M400 Control User Guide

Issue Number: 3

Safety

03.003

Frequency

Error

Frequency Controller Proportional Gain Kp1

Over Speed Trip

01.006

Max Speed

03.006

10.005

Below Set Frequency

At Frequency

Lower Limit

03.007

10.007

At Frequency Upper Limit

10.006

At Frequency

NOR

03.005

10.003

Zero

Frequency

Zero Frequency

Threshold

01.007

10.004

Running At Or

Below Minimum

Frequency

Min Speed

01.010

Bipolar Reference

Enable

+0.5 Hz

+20%

Frequency

Controller

Differential

Feedback

Gains

03.008

Over Frequency Threshold

03.008 >0

03.010

03.011 (Ki1)

(Kp1)

03.013

03.014 (Ki2)

(Kp2)

03.004

Frequency Controller

Output

Menu 4

Estimated Frequency

03.002

(Kd1)

(Kd2)

03.01503.012

Above Set Frequency

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

03.017

03.016

Frequency Controller

Gain Select

Gain Change

Threshold

01.003

Pre Ramp Reference

03.009

Absolute At-Speed Select

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information

Unidri ve M400 Control User Guide 91 Issue Number: 3

Safety

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

T10 Digital I/O 1

03.037

??.???

At Zero Frequency

10.003

Any valid parameter

Maximum Output Frequency

T10 Digital I/O 01 Output Select

Frequency Output or PWM Output Scaling

T10 DO1 Control

T10 DI/O 01 Source/ Destination B

T10 Digital IO1 Source/Destination A

08.121

08.091

08.021

≥1

03.038

08.031

2 or 3

0 to 1

Digital input 6

Encoder Filter

Frequency Feedback

Frequency Reference

Frequency Reference Scaling

Position Counter Reset

Maximum Frequency Feedback

Maximum Reference Frequency

Rotary Lines Per Revolution

Digital 6/7 Input Select

Digital input 7

Revolution Counter

08.126

08.026

08.036

03.127

03.142

03.029

03.032

03.128

03.143

03.134

32 Bit Position Counter

Position Scaling

Position

08.086

03.044

03.043

T15 DI6 Control

T15 DI 06 Destination B

??.???

06.031

??.???

T15 Digital input 6 Destination A

Jog Forward

Any unprotected bit parameter

03.035

03.036

≥1

03.045

03.047

03.048

03.049

03.050

Two Point Minimum

Frequency Drive Reference at Minimum Frequency Two Point Maximum Frequency

Drive Reference at Maximum Frequency

information

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Figure 11-5 Menu 3 Logic Diagram

Electrical

installation

Getting started

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information

92 Unidrive M400 Control User Guide

Issue Number: 3

Safety

information

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Electrical

installation

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Advanced

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Diagnostics

information

Parameter

03.001 Final Demand Reference

03.002 Estimated Frequency

03.003 Frequency Error

03.004 Frequency Controller Output

03.005 Zero Frequency Threshold 0.00 to 20.00 Hz 2.00 Hz RW Num US

03.006 At Frequency Lower Limit 0.00 to 550.00 Hz 1.00 Hz RW Num US

03.007 At Frequency Upper Limit 0.00 to 550.00 Hz 1.00 Hz RW Num US

03.008 Over Frequency Threshold 0.00 to 550.00 Hz 0.00 Hz RW Num US

03.009 Absolute At Frequency Select Off (0) or On (1) Off (0) RW Bit US

03.010 Frequency Controller Proportional Gain Kp1

03.011 Frequency Controller Integral Gain Ki1

03.012 Frequency Controller Differential Feedback Gain Kd1

03.013 Frequency Controller Proportional Gain Kp2 0.000 to 200.000 s/rad 0.100 s/rad RW Num US

03.014 Frequency Controller Integral Gain Ki2 0.00 to 655.35 s²/rad 0.10 s²/rad RW Num US

03.015 Frequency Controller Differential Feedback Gain Kd2

03.016 Frequency Controller Gain Select 0to2 0RWNum US

03.017 Gain Change Threshold 0.00 to 550.00 Hz 0.00 Hz RW Num US

03.018 Motor and Load Inertia 0.00 to 1000.00 kgm² 0.00 kgm² RW Num US

03.022 Hard Frequency Reference 0.00 to Pr 01.006 Hz 0.00 Hz RW Num US

03.023 Hard Frequency Reference Select Off (0) or On (1) Off (0) RW Bit US

03.029 Position (T15/16) 0 to 65535 RO Num ND NC PT FI

03.032 Position Counter Reset (T15/16) Off (0) or On (1) Off (0) RW Bit NC

03.035 Position Scaling Numerator (T15/16) 0.000 to 1.000 1.000 RW Num US

03.036 Position Scaling Denominator (T15/16) 0.000 to 100.000 1.000 RW Num US

03.037 Frequency Output or PWM Output Scaling (T10) 0.000 to 4.000 1.000 RW Num US

03.038 Maximum Output Frequency (T10) 1 (0), 2 (1), 5 (2), 10 (3) 5 (2) RW Txt US

03.042 Frequency Input High Precision Off (0) or On (1) Off (0) RW Bit US

03.043 Maximum Reference Frequency (T15) 0.00 to 100.00 kHz 10.00 kHz RW Num US

03.044 Frequency Reference Scaling (T15/16) 0.000 to 4.000 1.000 RW Num US

03.045 Frequency Reference (T15/16) ±100.00 % RO Num ND NC PT FI

03.047 Two Point Minimum Frequency (T15/16) ±100.00 % -100.00 % RW Num US

03.048 Drive Reference at Minimum Frequency (T15/16) ±100.00 % -100.00 % RW Num US

03.049 Two Point Maximum Frequency (T15/16) 0.00 to 100.00 % 100.00 % RW Num US

03.050 Drive Reference at Maximum Frequency (T15/16) 0.00 to 100.00 % 100.00 % RW Num US

03.072 Motor speed percent ±150.0 % RO Num ND NC PT FI

03.079 Sensorless Mode Filter

03.080 Sensorless Position 0to65535 RO Num ND NC PT

03.127 Frequency Feedback 0.00 to VM_SPEED_FREQ_REF Hz RO Num ND NC PT

03.128 Revolution Counter 0 to 65535 RO Num ND NC PT FI

03.134 Rotary Lines Per Revolution

03.142 Encoder Filter 1 to 31 ms 3 ms RW US

03.143 Maximum Frequency Feedback VM_SPEED_FREQ_REF Hz 50 Hz: 50 Hz: 60 Hz: 60 Hz RW US

Range (Ú) Default (Ö)

OL RFC-A OL RFC-A

-Pr 01.006 to Pr 01.006 or Pr 01.007 to Pr 01.006 Hz

-Pr 01.006 to Pr 01.006 or

Pr 01.007 to

Pr 01.006 Hz

-Pr 01.006 to Pr 01.006 or

Pr 01.007 to

Pr 01.006 Hz

VM_TORQUE_

CURRENT %

0.000 to 200.000 s/rad 0.100 s/rad RW Num US

0.00 to 655.35 s²/rad 0.10 s²/rad RW Num US

0.65535 1/rad

4(0), 5(1), 6(2), 8(3),

12 (4), 20 (5) ms

512 (0), 1024 (1), 2048 (2),4096 (3)

0.00000 to

0.00000 1/rad RW Num US

4(0)ms RW Txt US

1024 (1) RW Txt US

Typ e

RO Num ND NC PT FI

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

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

Unidri ve M400 Control User Guide 93 Issue Number: 3

Safety

04.008

10.00910.008

04.015 04.016

04.018

11.032

05.007

04.005

Motoring

Regenerating

Current limits

Symmetrical

Maximum

Heavy Duty

Rating

Motor Rated

Current

Final

Current Limit

Torque

Reference

Motor Thermal

Time Constant 1

Thermal

Protection

Mode

Rated

Load Reached

Current Limit

Active

Current

Magnitude

Magnetising

Current

04.020 - Percentage Load

04.002

04.020

10.01704.019

Motor

Protection

Accumulator

Motor Overload

Alarm

10.039

Braking Resistor

Thermal

Accumulator

04.004

Final

Current

Reference

Torque to

current

conversion

05.006

Output

Frequency

Final

Torque

Reference

05.001

Motor

Rated

Frequency

05.001

Motor map

2.01

Post Ramp

Reference

Output

Frequency

02.001

Torque Mode

Selector

04.011

04.013

04.014

P Gain

I Gain

Current Controller

10.009

Current

Limit

Active

2.01

Pre Ramp Reference

01.003

Menu 2 ramp

controller

04.025

Low Frequency

Thermal

Protection Mode

Overload detection

04.001

04.017

Torque

Producing

Current

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

04.003

04.026 - Percentage

Torque

04.024 - User Current

Maximum

Scaling

04.036

Motor

Protection

Accumulator

Power-up Value

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

11.5 Menu 4: Torque and current control

Figure 11-6 Menu 4 Open loop logic diagram

Running

the motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

94 Unidrive M400 Control User Guide

Issue Number: 3

Safety

04.004

Final

Current

Reference

03.004

03.001

03.002

04.008

10.00910.008

04.015 04.016

04.013

04.014

Current Controller P Gain

Current Controller I Gain

Current Controller

04.018

11.032

05.007

04.005

Motoring

Regenerating

Current limits

Symmetrical

Maximum

Heavy Duty

Rating

Motor Rated

Current

Estimated frequency

Final

Demand

Reference

Final

Current Limit

03.005

Zero

Frequency

Threshold

Frequency

Controller

Output

Torque

Reference

Frequency Over-Ride

Level

Coiler/Uncoiler

Frequency Over-Ride

Level

Motor Thermal

Time Constant 1

Thermal

Protection

Mode

Rated Load

Reached

Current Limit

Active

05.007 05.010

Motor Rated Power Factor

Motor Rated

Current

Torque Producing

Current

(Amp)

Current

Magnitude

Magnetising

Current

04.002

04.017

04.001

10.01704.019

Motor

Protection

Accumulator

Motor Overload

Alarm

10.039

Braking Resistor

Thermal

Accumulator

Torque Mode

Selector

04.011

04.003

Final

Torque

Reference

04.024

04.025

Low Frequency

Thermal

Protection Mode

Overload detection

User Current

Maximum Scaling

01.003

PreRamp Reference

04.022

02.038

Inertia

Compensation

Enable

Inertia

Compensation

Torque

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

04.020 - Percentage Load

04.036

Motor

Protection

Accumulator

Power-up Value

information

Product

information

Mechanical

installation

Electrical

installation

Figure 11-7 Menu 4 RFC-A logic diagram

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

Unidri ve M400 Control User Guide 95 Issue Number: 3

Safety

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

Parameter

04.001 Current Magnitude 0 to Drive Maximum Current A RO Num ND NC PT FI

04.002 Torque Producing Current ± Drive Maximum Current A

04.003 Final Torque Reference VM_TORQUE_CURRENT % RO Num ND NC PT FI

04.004 Final Current Reference VM_TORQUE_CURRENT %

04.005 Motoring Current Limit 0.0 to VM_MOTOR1_CURRENT_LIMIT % 165.0 %* 175.0 %** RW Num RA US

04.006 Regenerating Current Limit 0.0 to VM_MOTOR1_CURRENT_LIMIT % 165.0 %* 175.0 %** RW Num RA US

04.007 Symmetrical Current Limit 0.0 to VM_MOTOR1_CURRENT_LIMIT % 165.0 %* 175.0 %** RW Num RA US

04.008 Torque Reference VM_USER_CURR ENT % 0.0 % RW Num US

04.011 Torque Mode Selector 0 to 1 0 to 5 0 RW Num US

04.013 Current Controller Kp Gain 0.00 to 4000.00 20.00 RW Num US

04.014 Current Controller Ki Gain 0.000 to 600.000 40.000 RW Num US

04.015 Motor Thermal Time Constant 1 1 to 3000 s 179 s RW Num US

04.016 ThermalProtectionMode 00to11 00 RW Bin US

04.017 Magnetising Current 0 to Drive Maximum Current A

04.018 Final Current Limit VM_TORQUE_CURRENT % RO Num ND NC PT

04.019 Motor Protection Accumulator 0.0 to 100.0 %

04.020 Percentage Load VM_USER_CURRENT %

04.022 Inertia Compensation Enable Off (0) or On (1) Off (0) RW Bit US

04.024 User Current Maximum Scaling 0.0 to VM_TORQUE_CURRENT_UNIPOLAR % 165.0 %* 175.0 %** RW Num RA US

04.025 Low Frequency Thermal Protection Mode 0 to 1 0 RW Num US

04.026 Percentage Torque

04.036 Motor Protection Accumulator Power-up Value Power down (0), Zero (1), Real time (2) Power down (0) RW Txt US

04.041 User Over Current Trip Level 0 to 100 % 100 % RW Num RA US

VM_USER_

CURRENT %

Range (Ú)Default (Ö)

OL RFC-A OL RFC-A

Typ e

RO Num ND NC PT FI

RO Num ND NC PT PS

RO Num ND NC PT FI

* For size 9 the default is 141.9 %

** For size 9 the default is 150.0 %

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

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

96 Unidrive M400 Control User Guide

Issue Number: 3

Safety

02.001

Post Ramp Reference

05.010

05.011

Number Of Motor Poles

05.002

Output Voltage

05.003

Output Power (kW)

Ö 3 x V x I

Volt

L1 L2 L3

05.005

DC Bus Voltage

05.009

05.007

05.008

05.006

Motor Rated Frequency

Motor Rated Current

Motor Rated Speed

Motor Rated Voltage

Motor Rated Power Factor

04.002

04.020

04.017

04.001

Current Magnitude

Magnetising

Current

Torque

Producing

Current

Percentage

Load

Motormap

05.012

Autotune

05.014

Control Mode

05.001

Output Frequency

05.004

Motor

RPM

Slip Compensation

05.018

05.019

Maximum

Switching

Frequency

High Stability Space Vector Modulation

Hertz

05.020

05.035

Over Modulation Enable Auto Switching Frequency Change Diasble

05.031

Voltage Controller Gain

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

05.032

Torque Per

Amp

05.033

05.036

05.027

Enable Slip Compensation

Slip Compensation Limit

Slip Compensation Filter

Stator Resistance

05.015

Low Frequency Voltage Boost

05.013

Dynamic V To F Select

Transient Inductance

05.024

Stator Inductance

05.025

05.037

Switching

Frequency

05.042

Reverse Output Phase Sequence

information

Product

information

Mechanical

installation

Electrical

installation

11.6 Menu 5: Motor control

Figure 11-8 Menu 5 Open-loop logic diagram

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

Unidri ve M400 Control User Guide 97 Issue Number: 3

Safety

03.004

RFC-A

05.006

Motor Rated Frequency

05.008

Motor Rated Speed

05.009

Motor Rated Voltage

05.010

Motor Rated Power Factor

Motor Rated Current

05.011

Number Of Motor Poles

05.017

Stator Resistance

05.024

Transient Inductance

05.025

Stator Inductance

05.029

05.062

Saturation Break-Point 1

Saturation Break-Point 2

05.030

05.063

Saturation Break-Point 3

Saturation Break-Point 4

Flux Calculator

Current limits

Current control

Overload detection Current loop gains Torque reference

Menu 4

Reference

frame

transformation

03.002

Estimated frequency

Frequency

controller

output

Position

Flux

Magnitude

Current

References

Current

feedback

05.001

Flux angle

05.012

05.015

05.026

05.031

Autotune

Low frequency Voltage Boost

High Dynamic Performance Enable

Voltage Controller Gain

Output

Frequency

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

05.004

Motor Rpm

05.034

Percentage

Flux

05.032

Torque Per

Amp

information

Product

information

Mechanical

installation

Electrical

installation

Figure 11-9 Menu 5 RFC-A, logic diagram

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

98 Unidrive M400 Control User Guide

Issue Number: 3

Safety

04.002

04.017

04.001

RFC-A

05.009

Motor Rated Voltage

05.013

Flux Optimization

Select

Flux Controller

05.018

Maximum Switching Frequency

Modulator

05.003

Power Calculation ( 3 x V x I)Ö

05.002

Output Voltage

Output Power

05.005

Voltage Reference

DC Bus Voltage

Current Magnitude

Magnetising

Current

05.035

Auto Switching Frequency Change Disable

05.037

Switching

Frequency

05.038

Minimum Switching Frequency

05.042

Reverse Output Phase Sequence

05.028

Flux Control Compensation Disable

Output Frequency

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

Unidri ve M400 Control User Guide 99 Issue Number: 3

Safety

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running

the motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

information

Parameter

05.001 Output Frequency ± 550.00 Hz RO Num ND NC PT FI

05.002 Output Voltage 0 to 930 V RO Num ND NC PT FI

05.003 Output Power VM_POWER kW RO Num ND NC PT FI

05.004 Motor Rpm ± 33000.0 rpm

05.005 D.C. Bus Voltage 0 to 1190 V RO Num ND NC PT FI

05.006 Motor Rated Frequency 0.00 to 550.00 Hz 50Hz: 50.00 Hz, 60Hz: 60.00 Hz RW Num US

05.007 Motor Rated Current 0.00 to Drive Rating A Maximum Heavy Duty Rating (11.032) RW Num RA US

05.008 Motor Rated Speed 0.0 to 33000.0 rpm

05.009 Motor Rated Voltage 0 to 765 V

05.010 Motor Rated Power Factor 0.00 to 1.00 0.85 RW Num RA US

05.011 Number Of Motor Poles* Automatic (0) to 32 (16) Poles Automatic (0) Poles RW Txt US

05.012 Auto-tune 0 to 2 0 to 3 0 RW Num NC

Dynamic V To F Select 0 to 1 0 RW Num US

05.013

Flux Optimization Select 0to1 0to1 RW Num US

05.014 Control Mode

05.015 Low Frequency Voltage Boost 0.0 to 25.0 % 3.0 % RW Num US

05.017 Stator Resistance 0.0000 to 99.9999  0.0000  RW Nu m RA US

05.018 Maximum Switching Frequency

05.019 High Stability Space Vector Modulation Off (0) or On (1) Off (0) RW Bit US

05.020 Over Modulation Enable Off (0) or On (1) Off (0) RW Bit US

05.021 Mechanical Load Test Level 0 to 100 % 0 % RW Bit US

05.024 Transient Inductance 0.000 to 500.000 mH 0.000 mH RW Num RA US

05.025 Stator Inductance 0.00 to 5000.00 mH 0.00 mH RW Num RA US

05.026 High Dynamic Performance Enable Off (0) or On (1) Off (0) RW Bit US

05.027 Enable Slip Compensation ±150.0 % 100.0 % RW Num U S

05.028 Flux Control Compensation Disable Off (0) or On (1) Off (0) RW Bit US

05.029 Saturation Breakpoint 1 0.0 to 100.0 % 50.0 % RW Num US

05.030 Saturation Breakpoint 3 0.0 to 100.0 % 75.0 % RW Num US

05.031 Voltage Controller Gain 1 to 30 1 RW Num US

05.032 Torque Per Amp 0.00 to 500.00 Nm/A RO Num ND NC PT

05.033 Slip Compensation Limit 0.00 to 10.00 Hz 10.00 Hz RW N um US

05.034 Percen tage Flux 0.0 to 150.0 % RO Num ND NC PT

05.035 Auto-switching Frequency Change Disable 0 to 1 0 RW Num US

05.036 Slip Compensation Filter

05.037 Switching Frequency

05.038 Minimum Switching Frequency

05.040 Sp in Start B oost 0 .0 to 10. 0 1. 0 RW Nu m U S

05.042 Reverse Output Phase Sequence Off (0) or On (1) Off (0) RW Bit US

05.059 Maximum Deadtime Compensation 0.000 to 10.000 µs RO Num NC PT US

05.060 Current At Maximum Deadtime Compensation 0.00 to 100.00 % RO Num NC PT US

05.061 Disable Deadtime Compensation Off (0) or On (1) Off (0) RW Bit US

05.062 Saturation Breakpoint 2 0.0 to 100.0 % 0.0 % RW Num US

05.063 Saturation Breakpoint 4 0.0 to 100.0 % 0.0 % RW Num US

05.074 Boost End Voltage 0.0 to 100.0 % 50.0 % RW Num US

05.075 Boost End Frequency 0.0 to 100.0 % 50.0 % RW Num US

05.076 Second Point Voltage 0.0 to 100.0 % 55.0 % RW Num US

05.077 Second Point Frequency 0.0 to 100.0 % 55.0 % RW N um US

05.078 Third point voltage 0 .0 to 100.0 % 75.0 % RW Num US

05.079 Third point frequency 0.0 to 100.0 % 75.0 % RW Num US

05.080 Low acoustic noise enable Off (0) or On (1) Off (0) RW Bit US

Change to maximum drive switching

05.081

frequency at low output current

05.083 Voltage Shelving Disable Off (0) or On (1) Off (0) RW Bit US

Low Frequency Slip Boost 0.0 to 100.0 % 0.0 % RW Num US

05.084

Low Frequency Estimator Threshold

05.088 Ur Mode Pre-Flux Delay 0.0 to 0.7 s 0.1 s RW Num US

Ur S (0), Ur (1),

Fixed (2), Ur Auto (3),

Ur I (4), Square (5),

Fixed Tapered (6)

0.667 (0), 1 (1), 2 (2),

3 (3), 4 (4), 6 (5), 8 (6),

12 (7), 16 (8) kHz

64 (0), 128 (1), 256 (2),

0.667 (0), 1 (1), 2 (2),

3 (3), 4 (4), 6 (5), 8 (6),

12 (7), 16 (8) kHz

Range (Ú) Default (Ö)

OL RFC-A OL RFC-A

RO Num ND NC PT FI

50 Hz: 1500.0 rpm 60 Hz: 1800.0 rpm

110 V drive: 230 V, 200 V drive: 230 V

400 V drive 50 Hz: 400 V,

400 V drive 60 Hz: 460 V

575 V drive: 575 V, 690 V drive: 690 V

Ur I (4) RW Txt US

2(2), 3(3), 4(4),

6(5), 8(6), 12(7),

16 (8) kHz

512 (3) ms

0 to VM_MAX_SWITCHING_

FREQUENCY kHz

Off (0) or On (1) Off (0) RW Bit US

2(2), 3(3), 4(4),

6(5), 8(6), 12(7),

16 (8) kHz

0.0 to 100.0 % 0.0 %

128 (1) ms RW Txt US

0.667 (0) kHz 2 (2) kHz RW Txt RA

50 Hz: 1450.0 rpm 60 Hz: 1750.0 rpm

3 (3) kHz RW Txt RA US

RW Num US

RW Num RA US

RO Txt ND NC PT

RW Num US

Typ e

* If this parameter is read via serial communications, it will show pole pairs.

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

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

100 Unidrive M400 Control User Guide

Issue Number: 3

Control Techniques Reconditioned Unidrive M400 User Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

EU Declaration of Conformity

1 Safety information

1.1 Warnings, Cautions and Notes

1.3 Responsibility

1.4 Compliance with regulations

1.5 Electrical hazards

1.6 Stored electrical charge

1.7 Mechanical hazards

1.8 Access to equipment

1.9 Environmental limits

1.10 Hazardous environments

1.11 Motor

1.12 Mechanical brake control

1.13 Adjusting parameters

1.14 Electromagnetic compatibility (EMC)

2 Product information

2.1 Introduction

2.2 Model number

2.3 Ratings

2.4 Operating modes

2.4.1 Open loop mode

2.4.2 RFC-A mode

2.5 Keypad and display

2.6 Nameplate description

2.7 Options

3 Mechanical installation

3.1 Installing / removing options and keypad

3.2 Real time clock battery replacement

4 Electrical installation

4.1 24 Vdc supply

4.2 Communication connections

4.2.1 EIA 485 serial communications

4.2.2 Isolation of the EIA 485 serial communication port

4.3 Control connections

4.3.1 General

4.3.2 Control terminal specification

4.3.3 Accuracy and resolution

4.4 Safe Torque Off (STO)

5 Getting started

5.1 Understanding the display

5.1.1 CI-Keypad

5.2 Keypad operation

5.2.1 Control buttons

5.2.2 Quick access mode

5.2.3 Keypad shortcuts

5.3 Menu structure

5.3.1 CI-Keypad set-up menu

5.4 Advanced menus

5.4.1 Display messages

5.4.2 Alarm indications

5.5 Changing the operating mode

5.6 Saving parameters

5.8 Parameter access level and security

5.8.1 User Security Level / Access Level

5.7 Restoring parameter defaults

5.8.2 Changing the User Security Level /Access Level

5.8.3 User Security Code

5.11 Communications

5.11.1 EIA 485 Serial communications

5.10 Displaying destination parameters only

6 Basic parameters

6.1 Menu 0: Basic parameters

6.2 Parameter descriptions

6.2.1 Pr mm.000

6.3 Control terminal configurations and wiring

7 Running the motor

7.2 Changing the operating mode

7.1 Quick start connections

7.1.1 Basic requirements

7.3 Quick start commissioning / start-up

7.3.1 Open loop

7.3.2 RFC - A mode

8 Optimization

8.1 Motor map parameters

8.1.1 Open loop motor control