Control Techniques Reconditioned Unidrive M400 Quick Start Guide

Control Quick Start Guide

Unidrive M400

Manufacturing Automation drive Fast set-up and diagnosis with real-text display, plus integrated Machine Control Studio based PLC

Part Number: 0478-0267-04 Issue: 4

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 UK

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

The contents of this publication are believed to be correct at the time of printing. In the interests of a commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the contents of the guide, without notice.

All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher.

Contents

1 Safety information .......................................................................................5

1.1 Warnings, Cautions and Notes ................................................................................5

1.2 Important safety information. Hazards. Competence of designers and installers ....5

1.3 Responsibility ...........................................................................................................5

1.4 Compliance with regulations .................................................................................... 5

1.5 Electrical hazards .....................................................................................................6

1.6 Stored electrical charge ...........................................................................................6

1.7 Mechanical hazards .................................................................................................6

1.8 Access to equipment ................................................................................................6

1.9 Environmental limits ................................................................................................. 6

1.10 Hazardous environments .........................................................................................7

1.11 Motor ........................................................................................................................7

1.12 Mechanical brake control .........................................................................................7

1.13 Adjusting parameters ...............................................................................................7

1.14 Electromagnetic compatibility (EMC) .......................................................................7

2 Introduction ..................................................................................................8

2.1 Operating modes ......................................................................................................8

3 Options .........................................................................................................9

4 Control connections ..................................................................................10

4.1 Control terminal configurations and wiring .............................................................10

4.2 Safe Torque Off (STO) ...........................................................................................16

5 Optional LCD keypad and display ............................................................17

5.1 Saving parameters .................................................................................................18

5.2 Restoring parameter defaults .................................................................................18

6 Basic parameters (Menu 0) .......................................................................19

6.1 Menu 0: Basic parameters .....................................................................................19

6.2 Unidrive M400 parameter descriptions ..................................................................26

7 Running the motor .....................................................................................50

8 Diagnostics ................................................................................................52

8.1 Alarm indications ....................................................................................................56

9 NV Media Card Operation .........................................................................57

10 Machine Control Studio ............................................................................58

11 Default control connections .....................................................................59

Unidrive M400 Control Quick Start Guide

Issue Number: 4

1 Safety information

WARNING

CAUT ION

NOTE

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. Competence of designers and installers

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.

Unidrive M400 Control Quick Start Guide 5 Issue Number: 4

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.

6 Unidrive M400 Control Quick Start Guide

Issue Number: 4

1.10 Hazardous environments

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

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.

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 Quick Start Guide 7 Issue Number: 4

2Introduction

M400 minimizes machine downtime with its optional intuitive advanced LCD Keypad that offers realtext multi-language display for rapid set-up and superior diagnostics. Its onboard PLC with real-time tasking can be used for simple logic control using Machine Control Studio programming software (powered by CODESYS) to enhance drive application capability.

2.1 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

2.1.1 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.

2.1.2 RFC-A mode

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 such as operating large motors with light loads at low frequencies.

8 Unidrive M400 Control Quick Start Guide

Issue Number: 4

3Options

Table 3-1 System Integration (SI) option module identification

Type Option module Color Name Further details

Purple SI-PROFIBUS

Fieldbus

Automation

(I/O expansion)

Medium

Grey

Light Grey SI-CANopen

Beige SI-Ethernet

Brown Red SI-EtherCAT

Yellow Green SI-PROFINET V2

Orange SI-I/O

SI-DeviceNet

See relevant option

module User Guide

Unidrive M400 Control Quick Start Guide 9 Issue Number: 4

Table 3-2 Adaptor Interface (AI) option module identification

Type Option module Name

AI-485 Adaptor

Communications

Backup AI-Backup Adaptor

Backup AI-SMART Adaptor

AI-485 24 V Adaptor

4 Control connections

For information on the default control connections, refer to the back cover of this guide. The functionality of the control connections change depending on the setting of Pr 00.005.

4.1 Control terminal configurations and wiring

00.005 Drive Configuration

RW Txt PT US



RFC-A

The setting of Pr 00.005 automatically sets the drive configuration.

Value Text Description

0AV

1AI

2 AV Preset

3AI Preset

4Preset

5Keypad

6 Keypad Ref

7 Electronic Pot

8 Torque Control

9 Pid Control

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.

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)

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)



AV ( 0)

10 Unidrive M400 Control Quick Start Guide

Issue Number: 4

Figure 4-1 Pr 00.005 = AV

Voltage speed reference input (AI 1+)

AI 1-

Voltage speed reference input (AI 2)

0 V

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

Figure 4-2 Pr 00.005 = AI

Unidrive M400 Control Quick Start Guide 11 Issue Number: 4

Figure 4-3 Pr 00.005 = AV Preset

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*

Figure 4-4 Pr 00.005 = AI Preset

* Refer to the Control User Guide.

12 Unidrive M400 Control Quick Start Guide

Issue Number: 4

Figure 4-5 Pr 00.005 = Preset

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.

* Refer to the Control User Guide.

Figure 4-6 Pr 00.005 = Keypad

Unidrive M400 Control Quick Start Guide 13 Issue Number: 4

Figure 4-7 Pr 00.005 = Keypad Ref

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:

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

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

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

Figure 4-8 Pr 00.005 = Electronic Pot

* Refer to the Control User Guide.

14 Unidrive M400 Control Quick Start Guide

Issue Number: 4

Figure 4-9 Pr 00.005 = Torque Control

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-

0 V

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:

• PID proportional gain*

• PID integral gain*

• PID feedback invert*

• PID output upper limit (%)*

• PID output lower limit (%)*

Figure 4-10 Pr 00.005 = PID Control

* Refer to the Control User Guide.

Unidrive M400 Control Quick Start Guide 15 Issue Number: 4

4.2 Safe Torque Off (STO)

WARNING

STO2

STO1

ST01

Safe Torque Off

STO2

STO1

ST01

Safe Torque Off

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 either one or both STO inputs are 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 behavior 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.

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 0 V conductors which should be connected to terminals 32 and 36 at the drive.

Figure 4-11 Frame 1 to 4 STO connections Figure 4-12 Frame 5 and above STO

connections

16 Unidrive M400 Control Quick Start Guide

Issue Number: 4

Frame 1 to 4

NOTE

The 0 V terminals on the Safe Torque Off are isolated from each other and the 0 V common. On the size 2 110 V drives or when connecting single phase to a dual rated 200 V unit, the supply should be connected to L1 and L3.

Frames 5 and above

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

5 Optional LCD keypad and display

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

Figure 5-1 Unidrive M400 keypad detail

(1) The Enter button is used to enter parameter view or edit mode, or to accept a parameter edit.

(2) The Navigation buttons can be used to select individual parameters or to edit parameter values.

In keypad mode, the ‘Up’ and ‘Down’ buttons are also used to increase or decrease the motor speed.

(3) The Start button (green) is used to start the drive in keypad mode.

(4) The Stop / Reset button (red) is used to stop and reset the drive in keypad mode. It can also be

used to reset the drive in terminal mode.

(5) The Escape button is used to exit from the parameter edit / view mode or disregard a parameter

edit.

The keypad is not supplied with the drive.

It is possible to display alternative parameters on the multi line LCD display such as current magnitude. Refer to the Control User Guide for further information.

Unidrive M400 Control Quick Start Guide 17 Issue Number: 4

Table 5-2 Status indications

Upper row

string

Inhibit

Ready

Stop The drive is stopped / holding zero frequency. Enabled

Run The drive is active and running. Enabled

Supply Loss Supply loss condition has been detected Enabled

Deceleration

dc Injection The drive is applying DC injection braking. Enabled

Trip

Under

Vol tag e

Heat The motor pre-heat function is active Enabled

The drive is inhibited and cannot be run. The Safe Torque Off signal is not applied to Safe Torque Off terminals or is set to 0.

The drive is ready to run. The drive enable is active, but the drive inverter is not active because the final drive run is not active.

The motor is being decelerated to zero frequency because the final drive run has been deactivated.

The drive has tripped and no longer controlling the motor. The trip code appears in the lower display.

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

Description

Drive output

stage

Disabled

Enabled

Disabled

5.1 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

5.2 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

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

18 Unidrive M400 Control Quick Start Guide

Issue Number: 4

6 Basic parameters (Menu 0)

Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive.

6.1 Menu 0: Basic parameters

() Default ()

Parameter

00.001 Minimum Speed 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US

00.002 Maximum Speed 0.00 to 550.00 Hz

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

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

00.005 Drive Configuration

00.006 Motor Rated Current 0.00 to Drive Rating A

00.007

Motor Rated Speed

00.008 Motor Rated Voltage 0 to 765 V

Motor Rated Power

00.009

Factor**

00.010 User Security Status

Start/Stop Logic

00.011

Select

00.012 Input Logic Polarity

00.015 Jog Reference 0.00 to 300.00 Hz 1.50 Hz RW Num US

00.016 Analog Input 1 Mode

Bipolar Reference

00.017

Enable

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

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

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

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

Status Mode

00.022

Parameter 2

Status Mode

00.023

Parameter 1

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

Range

OL RFC-A OL RFC-A

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

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)

0.0 to 33000.0 rpm

0.00 to 1.00 0.85 RW Num RA US

Level 1 (0), Level 2 (1),

All Menus (2), Status Only (3),

No Access (4)

0 to 6 5 RW Num US

Negative Logic (0) or

Positive Logic (1)

4-20 mA Stop (-6),

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)

Off (0) or On (1) Off (0) RW Bit US

0.000 to 30.999 4.020 RW Num PT US

0.000 to 30.999 2.001 RW Num PT US

AV ( 0) RW Txt PT US

Maximum Heavy Duty

Rating A

50Hz

default:

1500.0 rpm 60Hz

default:

1800.0 rpm

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

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

Positive Logic (1) RW Txt US

default:

1450.0 rpm

default:

1750.0 rpm

Level 1 (0) RW Num ND PT

Voltage (6) RW Txt US

RW Num US

RW Num RA US

50Hz

RW Num US

60Hz

RW Num RA US

Type

Unidrive M400 Control Quick Start Guide 19 Issue Number: 4

() Default ()

Parameter

Customer Defined

00.024

Scaling

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

Power-up Keypad

00.027

Control Mode Reference

00.028 Ramp Mode Select

00.029 Ramp Enable

00.030 Parameter Cloning

00.031 Stop Mode

Dynamic V to F

00.032

Select / Flux Optimization Select

Catch A Spinning

00.033

Motor

00.034 Digital Input 5 Select

Digital Output 1

00.035

Control

Analog Output 1

00.036

Control

Maximum Switching

00.037

Frequency

00.038 Autotune 0 to 2 0 to 3 0 RW Num NC US

Motor Rated

00.039

Frequency

Number of Motor

00.040

Poles***

00.041 Control Mode

Low Frequency

00.042

Voltage Boost

00.043 Serial Baud Rate

00.044 Serial Address 1 to 247 1 RW Num US

Reset Serial

00.045

Communications

Brake Controller

00.046

Upper Current Threshold

Brake Controller

00.047

Lower Current Threshold

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

Fixed Tapered (6)

Range

OL RFC-A OL RFC-A

0.000 to 10.000 1.000 RW Num US

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

Fast (0), Standard (1),

Std boost (2), Fast boost (3)

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

Auto (3), Boot (4)

Coast (0), Ramp (1),

Ramp dc I (2),

dc I (3),

Timed dc I (4),

Disable (5)

Disable (0), Enable (1),

Fwd Only (2), Rev Only (3)

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

Thermistor (2), Therm No Trip (3)

0.667 (0), 1 (1),

2 (2), 3 (3), 4 (4),

16 (8) kHz

0.00 to 550.00 Hz

Auto (0) to 32 (16) Auto (0) RW Num US

Ur S (0), Ur (1),

Fixed (2),

Ur Auto (3),

Ur I (4),

Square (5),

600 (1), 1200 (2),

2400 (3), 4800 (4), 9600 (5),

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

76800 (9), 115200 (10)

Off (0) or On (1) On (1) RW Bit US

Coast (0), Ramp (1),

Ramp dc I (2),

dc I (3),

Timed dc I (4),

Disable (5),

No Ramp (6)

0 to 1 0 RW Num US

0 to 21 0 RW Num US

0 to 14 0 RW Txt US

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

8 (6), 12 (7),

16 (8) kHz

0.0 to 25.0 % 3.0 % RW Num US

Off (0) or On (1) Off (0) RW ND NC US

0 to 200 % 50 % RW Num US

0 to 200 % 10 % RW Num US

Standard (1) RW Txt US

None (0) RW Txt NC US

Ramp (1) RW Txt 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 T xt US

19200 (6) RW Txt US

RW Num US

Typ e

20 Unidrive M400 Control Quick Start Guide

Issue Number: 4

() Default ()

Parameter

Brake Controller

00.048

Brake Release Frequency

Brake Controller

00.049

Brake Apply Frequency

Brake Controller

00.050

Brake Delay

Brake Controller

00.051

Post-brake Release Delay

Brake Controller

00.053

Initial Direction

Brake Controller

00.054

Brake Apply Through Zero Threshold

Brake Controller

00.055

Enable

00.056 Trip 0 0 to 255

00.057 Trip 1 0 to 255

00.058 Trip 2 0 to 255

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

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

Frequency Controller

00.065

Proportional Gain Kp1

Frequency Controller

00.066

Integral Gain Ki1

Sensorless Mode

00.067

Filter

00.069 Spin Start Boost 0.0 to 10.0 1.0 RW Num US

00.070 PID1 Output ±100.00 % RO Num ND NC PT

PID1 Proportional

00.071

Gain

00.072 PID1 Integral Gain 0.000 to 4.000 0.500 RW Num US

PID1 Feedback

00.073

Invert

PID1 Output Upper

00.074

Limit

PID1 Output Lower

00.075

Limit

Action on Trip

00.076

Detection

Maximum Heavy

00.077

Duty Current Rating

00.078 Software Version 0 to 99.99.99.99 RO Num ND NC PT

00.079 User Drive Mode Open loop (1), RFC A (2)

00.081 Reference Selected

00.082 Pre-ramp Reference

Final Demand

00.083

Reference

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

00.085 Output Frequency ±550.00 Hz RO Num ND NC PT FI

-Pr 00.002 to Pr 00.002 or Pr 00.001

Range

OL RFC-A OL RFC-A

0.00 to 20.00 Hz 1.00 Hz RW Num US

0.00 to 20.00 Hz 2.00 Hz RW Num US

0.0 to 25.0 s 1.0 s RW Num US

Ref (0), Forward (1), Reverse (2) Ref (0) RW Txt US

0.00 to 25.00 Hz 1.00 Hz RW Num US

Disable (0), Relay (1), Digital IO (2), User (3)

0.000 to

200.000 s/rad

0.00 to

655.35 s2/rad

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

12 (4), 20 (5) ms

0.000 to 4.000 1.000 RW Num US

Off (0) or On (1) Off (0) RW Bit US

0.00 to 100.00 % 100.00 % RW Num US

±100.00 % -100.00 % RW Num US

0 to 31 0 RW Num ND NC PT US

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

to Pr 00.002 Hz

Disable (0) RW Txt US

RO Txt ND NC PT PS

0.100 s/rad RW Num US

RW Num US

RO Num ND NC PT

RO Num ND NC PT FI

Open loop

(1)

0.10 s2/rad

4 (0) ms RW Txt US

RFC-A (2) RW Txt ND NC PT US

Type

Unidrive M400 Control Quick Start Guide 21 Issue Number: 4

() Default ()

Parameter

00.086 Output Voltage 0 to 930 V RO Num ND NC PT FI

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

00.088 Current Magnitude 0 to Drive Maximum Current A RO Num ND NC PT FI

Torque Producing

00.089

Current

Digital I/O Read

00.090

Word

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

00.092 Reverse Select Off (0) or On (1)

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

00.094 Analog Input 1 ±100.00 %

00.095 Analog Input 2 ±100.00 %

Range

OL RFC-A OL RFC-A

±Drive Maximum Current A RO Num ND NC PT FI

00 00 000 000 00 t o 111111111111 RO Bin ND NC PT

RO Bit ND NC PT

RO Num ND NC PT FI

Typ e

* Setting Pr 00.007 to 0.0 will disable slip compensation. ** Following a rotating autotune, Pr 00.009 is continuously written to by the drive, calculated from the value of

Stator Inductance (Pr 05.025). To manually enter a value into Pr 00.009, Pr 05.025 will need to be set to 0. 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.

Read / Write

No default value

Read only

Not copied

Num

Number parameter

Protected parameter

Bit

Bit parameter

Rating dependent

Txt Text string Bin

US User save PS

Binary parameter

Power-down save

FI Filtered

DE Destination

22 Unidrive M400 Control Quick Start Guide

Issue Number: 4

Unidrive M400 Control Quick Start Guide 23 Issue Number: 4

Figure 6-1 Menu 0 logic diagram

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

24 Unidrive M400 Control Quick Start Guide

Issue Number: 4

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

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

Unidrive M400 Control Quick Start Guide 25 Issue Number: 4

6.2 Unidrive M400 parameter descriptions

Key:

Read /

Write

default value

00.001 Minimum Speed

RW Num US

RFC-A

Set Pr 00.001 at the required minimum output frequency of the drive for both directions of rotation. The drive speed reference is scaled between Pr 00.001 and Pr 00.002. Pr 00.001 is a nominal value; slip compensation may cause the actual frequency to be higher. When the drive is jogging, Pr 00.001 has no effect.

00.002 Maximum Speed

RW Num US

RFC-A

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

Read

only

Not

copied



Number

Num

parameter

Protected

parameter

0.00 to Pr 00.002 Hz

0.00 to 550.00 Hz

Bit

Bit parameter

Rating dependent

Txt Text string Bin

US User save PS



Binary parameter

Power-down save

FI Filtered

DE Destination

0.00 Hz

50.0 Hz default: 50.00 Hz

60.0 Hz default: 60.00 Hz

00.003 Acceleration Rate 1

RW Num US

RFC-A



0.0 to 32000.0 s/100 Hz



5.0 s/100 Hz

Set Pr 00.003 at the required rate of acceleration. Note that larger values produce lower acceleration. The rate applies in both directions of rotation.

26 Unidrive M400 Control Quick Start Guide

Issue Number: 4

00.004 Deceleration Rate 1

NOTE

RW Num US

RFC-A

Set Pr 00.004 at the required rate of deceleration. Note that larger values produce lower deceleration. The rate applies in both directions of rotation.

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

Value Text Description



00.005 Drive Configuration

RW Txt PT US



0AV

1AI

2 AV Preset

3 AI Preset

4Preset

5Keypad

6 Keypad Ref

7 Electronic Pot

8 Torque Control

9Pid Control

0.0 to 32000.0 s/100 Hz

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)

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)



10.0 s/100 Hz

AV ( 0)

A change to Pr 00.005 is set by pressing the ENTER button on exit from parameter edit mode. The drive must be disabled, stopped or tripped for a change to take place. If Pr 00.005 is changed while the drive is running, when the ENTER button is pressed on exit from parameter edit mode, Pr 00.005 will change back to its previous value.

When the setting of Pr 00.005 is changed, the appropriate drive configuration parameters are set back to their default values.

Unidrive M400 Control Quick Start Guide 27 Issue Number: 4

00.006 Motor Rated Current

RW Num RA US

RFC-A

The rated current parameter must be set to the maximum continuous current of the motor (taken from the name plate). The motor rated current is used in the following:

• Current limits

• Motor thermal overload protection

• Vector mode voltage control

• Slip compensation

• Dynamic V/F control



00.007 Motor Rated Speed

RW Num US



RFC-A

Set to the rated speed of the motor (taken from the motor name plate). The motor rated speed is used to calculate the correct slip speed for the motor.

00.008 Motor Rated Voltage

RW Num RA US

RFC-A



0.00 to Drive Rating A

0.0 to 33000.0 rpm

0 to 765 V



Maximum Heavy

Duty Rating A

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

50 Hz default: 1450.0 rpm

60 Hz default: 1750.0rpm

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

The Rated Voltage (00.008) and the Rated Frequency (00.039) are used to define the voltage to frequency characteristic applied to the motor. The Rated Frequency (00.039) is also used in conjunction with the Motor Rated Speed (00.007) to calculate the rated slip for slip compensation.

00.009 Motor Rated Power Factor

RW Num RA US

RFC-A

Enter the motor rated power factor cos

The drive can measure the motor rated power factor by performing a rotating autotune (see Autotune (Pr 00.038).



0.00 to 1.00



 (taken from the motor name plate).

0.85

28 Unidrive M400 Control Quick Start Guide

Issue Number: 4

00.010 User Security Status

RW Num ND NC PT US

RFC-A

This parameter controls access via the drive keypad as follows:

Value Text Function

RFC-A

This parameter changes the functions of the input terminals which are normally associated with the enabling, starting and stopping the drive.



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

1 Level 2 Access to all parameters in Menu 0.

2 All Menus Access to all menus.

3Status Only

4 No Access

00.011 Start/Stop Logic Select

RW Num US



Level 1 (0), Level 2 (1),

All Menus (2), Status Only (3),

No Access (4)

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

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

0 to 6



Level 1 (0)

Pr 00.011 Terminal 11 Terminal 12 Terminal 13 Latching

0 User programmable Run Forward Run Reverse No

1 /Stop Run Forward Run Reverse Yes

2 User programmable Run Forward/Reverse No

3 /Stop Run Forward/Reverse Yes

4 /Stop Run Jog Forward Yes

5 User programmable Run Forward Run Reverse No

6 User programmable

Action will only occur if the drive is inactive. If the drive is active, the parameter will return to its prealtered value on exit from edit mode.

Unidrive M400 Control Quick Start Guide 29 Issue Number: 4

User

programmable

User

programmable

User

programmable

00.012 Input Logic Polarity

RW Txt US

RFC-A

Can be set to zero to change the logic for DI/O1-7 to negative logic, so that the state parameter is 0 if the digital I/O is high or 1 if the digital I/O is low.

RFC-A

Defines the reference when jog is enabled.



00.015 Jog Reference

RW Num US



00.016 Analog Input 1 Mode

RW Txt US



RFC-A

Negative Logic (0) or

Positive Logic (1)

0.00 to 300.00 Hz

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)



Positive Logic (1)

1.50 Hz

Voltage (6)

Defines the mode of analog input 1.

The table below gives all the possible analog input modes.

Value Text Function

-6 4-20 mA Stop Stop on loss

-5 20-4 mA Stop Stop on loss

-4 4-20 mA Low 4-20 mA switching to equivalent of 4 mA input current on loss

-3 20-4 mA Low 20-4 mA switching to equivalent of 20 mA input current on loss

-2 4-20 mA Hold 4-20 mA hold at level before loss on loss

-1 20-4 mA Hold 20-4 mA hold at level before loss on loss

0 0-20 mA 0-20 mA

1 20-0 mA 20-0 mA

2 4-20 mA Trp 4-20 mA trip on loss

3 20-4 mA Trp 20-4 mA trip on loss

4 4-20 mA 4-20 mA no action on loss

5 20-4 mA 20-4 mA no action on loss

6 Voltage Voltage

30 Unidrive M400 Control Quick Start Guide

Issue Number: 4

In 4-20 mA and 20-4 mA modes loss of input is detected if the current falls below 3 mA.

NOTE

If both analog inputs (A1 and A2) are to be set-up as voltage inputs, and if the potentiometers are supplied from the drive's +10 V rail (terminal T4), they must have a resistance >4 k each.

00.017 Bipolar Reference Enable

RW Bit US

RFC-A

Pr 00.017 determines whether the reference is uni-polar or bi-polar.

See Minimum Speed (00.001). Allows negative speed reference in keypad mode.

RFC-A

If the preset reference has been selected (see Pr 00.005), the speed at which the motor runs is determined by these parameters.

See Drive Configuration (00.005).



00.018 to 00.021 Preset Reference 1 to 4

RW Num US



Off (0) or On (1)

0.0 to Pr 00.002 Hz



Off (0)

0.00 Hz

00.022 Status Mode Parameter 2

RW Num PT US

RFC-A

This parameter and Status Mode Parameter 1 (00.023) define which parameters are displayed in Status mode. The values can be alternated by pressing the Escape key, if the drive is running.

RFC-A

See Status Mode Parameter 2 (00.022).

Unidrive M400 Control Quick Start Guide 31 Issue Number: 4



00.023 Status Mode Parameter 1

RW Num PT US



0.000 to 30.999



4.020

2.001

00.024 Customer Defined Scaling

RW Num US

RFC-A

This parameter defines the scaling applied to Status Mode Parameter 1 (00.023). The scaling is only applied in the Status mode.

RFC-A

If any number other than 0 is programmed into this parameter, user security can be applied so that no parameters except Pr 00.010 can be adjusted with the keypad. When this parameter is read via a keypad it appears as zero. Refer to the Control User Guide for further information.

RFC-A

Defines which value of keypad control mode reference is displayed at power-up.



00.025 User Security Code

RW Num ND NC PT US



00.027 Power-up Keypad Control Mode Reference

RW Txt ND NC PT US



0.000 to 10.000

0-9999

Reset (0), Last (1), Preset (2)



1.000

Reset (0)

Value Text Description

0 Reset Keypad reference is zero

1 Last Keypad reference is the last used value

2 Preset Keypad reference is copied from Preset Reference 1 (00.018)

00.028 Ramp Mode Select

RW Txt US

RFC-A

Defines the mode used by the ramp system.

Fast ramp is linear deceleration at programmed rate, normally used when a braking resistor is installed.



0: Fast ramp

1: Standard ramp

2: Standard ramp with motor voltage boost

3: Fast ramp with motor voltage boost

Fast (0), Standard (1),

Std boost (2), Fast boost (3)



Standard (1)

32 Unidrive M400 Control Quick Start Guide

Issue Number: 4

Standard ramp is controlled deceleration to prevent DC bus over-voltage trips, normally used when there is no braking resistor installed.

If a high motor voltage mode is selected, deceleration rates can be faster for a given inertia but motor temperatures will be higher.

00.029 Ramp Enable

RW Bit US

RFC-A Off (0) or On (1) On (1)

Setting Pr 00.029 to 0 allows the user to disable the ramps. This is generally used when the drive is required to closely follow a speed reference which already contains acceleration and deceleration ramps.

RFC-A

* Only a value of 3 or 4 in this parameter is saved.

If Pr 00.030 is equal to 1 or 2, this value is not transferred to the EEPROM or the drive. If Pr 00.030 is set to a 3 or 4 the value is transferred.

Parameter string Parameter value Comment

For further information, please refer to Chapter 8 Diagnostics on page 52.

 

00.030 Parameter Cloning

RW Txt NC US*

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



None 0 Inactive

Read 1 Read parameter set from the NV Media Card

Program 2 Programming a parameter set to the NV Media Card

Auto 3 Auto save

Boot 4 Boot mode

Auto (3), Boot (4)



None (0)

00.031 Stop Mode

RW Txt US

Coast (0), Ramp (1),



RFC-A

Defines how the motor is controlled when the run signal is removed from the drive.

Unidrive M400 Control Quick Start Guide 33 Issue Number: 4

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

Timed dc I (4), Disable (5)

Coast (0), Ramp (1),

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

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

No Ramp (6)



Ramp (1)

Value Text Description

0 Coast Coast stop

1 Ramp Ramp stop

2 Ramp dc I Ramp stop + 1 second dc injection

3 dc I Injection braking stop with detection of zero speed

4 Timed dc I Timed injection braking stop

5 Disable Disable

6 No Ramp No ramp (RFC-A mode only)

See the Control User Guide for further information.

00.032 Dynamic V To F Select / Flux Optimisation Select

RW Num US

RFC-A

Open loop:

Set to 1 to enable Dynamic V to F mode.

RFC-A:

If this parameter is set to 1, the flux is reduced so that the magnetizing current is equal to the torque producing current, to optimize copper losses and reduce iron losses in the motor under low load conditions.



0: Fixed linear voltage to frequency ratio (constant torque - standard load)

1: Voltage to frequency ratio dependant on load current. This gives a higher motor efficiency.

0 to 1



00.033 Catch a Spinning Motor

RW Txt US

RFC-A

If the drive is to be configured in fixed boost mode (Pr 00.041 = Fd or SrE) with catch a spinning motor software enabled, an autotune (see Pr 00.038 on page 38) must be carried out to measure the motor's stator resistance beforehand. If a stator resistance is not measured, the drive may trip on Over Volts or OI ac while trying to catch a spinning motor.



Pr 00.033 Text Function

0 Disable Disabled

1 Enable Detect all frequencies

2 Fwd Only Detect positive frequencies only

3 Rev Only Detect negative frequencies only

Disable (0), Enable (1),

Fwd Only (2), Rev Only (3)



Disable (0)

34 Unidrive M400 Control Quick Start Guide

Issue Number: 4

00.034 Digital Input 5 Select

1, 2or3

DI/O 05 Select

Digital input5

Digital Input 5

Thermistor Input

Thermistor input

Pr 00.034

RW Txt US

RFC-A

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



Thermistor (2), Therm No Trip (3)



This parameter selects the function of Digital Input 5 (terminal 14).

Value Text Function

0 Input Digital input

1 Therm Short Cct

2 Thermistor

Temperature measurement input with short circuit detection (Resistance <50 )

Temperature measurement input without short circuit detection but with th trip

3 Therm No Trip Temperature measurement input with no trips

Figure 6-1 Thermistor input

Input (0)

Unidrive M400 Control Quick Start Guide 35 Issue Number: 4

00.035 DO1 Control

RW Num US

RFC-A

Defines the behaviour of digital output 1 (terminal 10).



Value Description

0 User defined by Digital IO1 Source/Destination A

1 Drive running signal

2 Frequency arrived signal

3 Frequency level detection signal

4 Frequency level detection signal

5 Overload detection signal

6 Power off state

7 External fault stop

8 Frequency upper limit

9 Frequency lower limit

10 Drive running at zero frequency

14 Drive Ready

15 Drive OK

18 Brake release

19 Torque limiting (Valid while the torque is limited by torque limiting value 1/2)

20 Forward or reverse

21 Motor 1 or 2

0-21



36 Unidrive M400 Control Quick Start Guide

Issue Number: 4

00.036 Analog Output 1 Control

RW Txt US

RFC-A

Defines the functionality of Analog Output 1 (terminal 7).

Value Description

RFC-A

Defines the maximum switching frequency that can be used by the drive.

See the Power Installation Guide for drive derating data.



0 User defined by Analog Output 1 Source A

1 Frequency output

2 Frequency reference

3 Motor speed

4 Current Magnitude

6 Torque output

7 Torque current output

8 Voltage output

9 DC bus voltage (0~800 V)

10 Analog Input 1

11 Analog Input 2

12 Power output (0~2 x Pe)

13 Torque limitation

14 Torque reference (0~300 %)

00.037 Maximum Switching Frequency

RW Txt US

0.667 (0), 1 (1), 2 (2), 3 (3), 4 (4),



Pr 00.037 Text Description

0 0.667 667 Hz switching frequency

1 1 1 kHz switching frequency

2 2 2 kHz switching frequency

3 3 3 kHz switching frequency

4 4 4 kHz switching frequency

5 6 6 kHz switching frequency

6 8 8 kHz switching frequency

7 12 12 kHz switching frequency

8 16 16 kHz switching frequency

6 (5), 8 (6), 12 (7), 16 (8) kHz

2 (2), 3 (3), 4 (4), 6 (5), 8 (6), 12 (7),

0 to 14

16 (8) kHz



3 (3) kHz

Unidrive M400 Control Quick Start Guide 37 Issue Number: 4

00.038 Autotune

WARNING

RW Num NC US

RFC-A 0 to 3

Defines the auto-tune test to be performed.

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.

Open Loop and RFC-A:

1. A stationary autotune can be used when the motor is loaded and it is not possible to remove the

2. A rotating autotune should only be used if the motor is unloaded. A rotating autotune first

RFC-A only:

3. This test measures the total inertia of the load and the motor. A series of progressively larger

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 and 35, setting the Drive Enable to Off (0) or disabling the drive via the Control Word and Control Word Enable



load from the motor shaft. To perform a Stationary autotune, set Pr 00.038 to 1,

performs a stationary autotune, as above, then a rotating test is performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency (00.039) x 2/3, and the frequency is maintained at that level for 4 seconds. To perform a Rotating autotune, set Pr 00.038 to 2.

torque levels are applied to the motor to accelerate the motor up to 3/4 x Motor Rated Speed (Pr 00.007) to determine the inertia from the acceleration/deceleration time.

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.

0 to 2



00.039 Motor Rated Frequency

RW Num US

RFC-A

Enter the value from the rating plate of the motor. Defines the voltage to frequency ratio applied to the motor.



0.00 to 550.00 Hz



50 Hz: 50.00 Hz 60 Hz: 60.00 Hz

38 Unidrive M400 Control Quick Start Guide

Issue Number: 4

00.040 Number Of Motor Poles

NOTE

RW Num US

RFC-A

Set to the number of poles of the motor. The auto mode calculates the number of motor poles from the settings of Pr 00.007 and Pr 00.039.



00.041 Control Mode

RW Txt US



RFC-A

Defines the drive output mode, which can either be a voltage mode or a current mode.

Value Text Description

0 Ur S Stator resistance and voltage offset measured at each start

1 Ur No measurements

2 Fixed Fixed boost mode.

3 Ur Auto Stator resistance and voltage offset measured at first drive enable

4 Ur I Stator resistance and voltage offset measured at each power-up

5 Square Square law characteristic

6 Fixed Tapered Fixed boost with taper

Auto (0) to 32 (16)

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

Ur Auto (3), Ur I (4), Square (5),

Fixed Tapered (6)



Auto (0)

Ur I (4)

The drive default setting is Ur I mode which means that the drive will carry out an autotune every time the drive is powered-up and enabled. If the load is not going to be stationary when the drive is powered-up and enabled, then one of the other modes should be selected. Not selecting another mode could result in poor motor performance or OI ac, Motor Too Hot or Over Volts trips.

00.042 Low Frequency Voltage Boost

RW Num US

RFC-A

Determines the boost level when Pr 00.041 is set to Fixed, Square or Fixed Tapered modes.

Unidrive M400 Control Quick Start Guide 39 Issue Number: 4



0.0 to 25.0 %



3.0 %

00.043 Serial Baud Rate

NOTE

RW Txt US

RFC-A

Defines the serial baud rate of the drive

Changing the parameters does not immediately change the serial communications settings. See Reset Serial Communications (00.045) for more details.

RFC-A

Used to define the unique address for the drive for the serial interface. The drive is always a slave address 0 is used to globally address all slaves, and so this address should not be set in this parameter.

Changing the parameters does not immediately change the serial communications settings. See Reset Serial Communications (00.045) for more details.

RFC-A



00.044 Serial Address

RW Num US



00.045 Reset Serial Communications

RW Bit ND NC US



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)



19200 (6)

Off (0)

Set to On (1) to update communications set-up.

The display will briefly display On and return to Off on reset.

00.046 Brake Controller Upper Current Threshold

RW Num US

RFC-A

Defines the upper current threshold for the brake. See Brake Controller Brake Release in Parameter Reference Guide.



0 to 200 %



50 %

40 Unidrive M400 Control Quick Start Guide

Issue Number: 4

00.047 Brake Controller Lower Current Threshold

RW Num US

RFC-A

Defines the lower current limit for the brake. See Brake Controller Brake Release in Parameter Reference Guide.

RFC-A

Defines the Brake Release Frequency. See Brake Controller Brake Release in Parameter Reference Guide.

RFC-A

Defines the Brake Apply Frequency. See Brake Controller Brake Release in Parameter Reference Guide.



00.048 Brake Controller Brake Release Frequency

RW Num US



00.049 Brake Controller Brake Apply Frequency

RW Num US



0 to 200 %

0.00 to 20.00 Hz



10 %

1.00 Hz

2.00 Hz

00.050 Brake Controller Brake Delay

RW Num US

RFC-A

Defines the pre-brake release delay. See Brake Controller Brake Release in Parameter Reference Guide.

RFC-A

Defines the post-brake release delay.

Unidrive M400 Control Quick Start Guide 41 Issue Number: 4



00.051 Brake Controller Post-brake Release Delay

RW Num US



0.0 to 25.0 s



1.0 s

00.053 Brake Controller Initial Direction

RW Txt US

RFC-A

Defines the initial direction of the brake.

See Brake Controller Brake Release in Parameter Reference Guide.

00.054 Brake Controller Brake Apply Through Zero Threshold

RW Num US

RFC-A

Defines if the brake is applied through zero threshold. See Brake Controller Brake Release in Parameter Reference Guide.

00.055 Brake Controller Enable

RW Txt US

RFC-A

Ref (0), Forward (1), Reverse (2)



Value Text

0Ref

1Forward

2 Reverse



0.00 to 25.00 Hz

Disable (0), Relay (1),

Digital IO (2), User (3)



Ref (0)

1.00 Hz

Disable (0)

Value Text

0 Disable

1 Relay

2 Digital IO

3User

If Brake Controller Enable (00.055) = Disable, the brake controller is disabled.

If Brake Controller Enable (00.055) = Relay, the brake controller is enabled with I/O set up to control the brake via the relay output. Drive ok is re-routed to digital I/O.

If Brake Controller Enable (00.055) = Digital I/O, the brake controller is enabled with I/O set up to control the brake via digital I/O. Drive ok is routed to the relay output.

If Brake Controller Enable (00.055) = User, the brake controller is enabled, but no parameters are set up to select the brake output.

42 Unidrive M400 Control Quick Start Guide

Issue Number: 4

00.056 to 00.058 Trip 0 to 2

RO Txt ND NC PT PS

RFC-A

These parameters show the last 3 trips.

RFC-A

Enables the onboard user program.

Onboard user programming provides a background task that loops continuously and a timed task that is executed each time at a defined rate. For further information refer to the Control User Guide.

RFC-A

This parameter indicates the status of the user program in the drive. For further information, refer to the Control User Guide.



00.059 OUP Enable

RW Txt US



00.060 OUP Status

RO Num ND NC PT



-2147483648 to 2147483647

0 to 255

Stop (0) or Run (1)



Run (1)

00.065 Frequency Controller Proportional Gain Kp1

RW Num US

RFC-A 0.000 to 200.000 s/rad 0.100 s/rad

Defines the proportional gain for frequency controller 1.

RFC modes only.

The controller includes a feed forward proportional gain (Kp), a feed forward integral gain (Ki), and a differential feedback gain (Kd).

Proportional gain (Kp)

If Kp is non-zero and Ki is 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.

Integral gain (Ki)

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 reference 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.

Unidrive M400 Control Quick Start Guide 43 Issue Number: 4

 

00.066 Frequency Controller Integral Gain Ki1

RW Num US

RFC-A

Defines the integral gain for frequency controller 1. See Frequency Controller Proportional Gain Kp1 (00.065).

RFC-A

Defines the time constant for the filter applied to the output of the frequency estimator system.

RFC-A

Spin Start Boost (00.069) is used by the algorithm that detects the frequency of a spinning motor when the drive is enabled and Catch A Spinning Motor (00.033)  1. For smaller motors the default value of 1.0 is suitable, but for larger motors Spin Start Boost (00.069) may need to be increased.

If Spin Start Boost (00.069) is too small the drive will detect zero speed whatever the frequency of the motor, and if Spin Start Boost (00.069) is too large the motor may accelerate away from standstill when the drive is enabled.

 

0.00 to 655.35 s

00.067 Sensorless Mode Filter

RW Txt US

 

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

20 (5) ms

00.069 Spin Start Boost

RW Num US



0.0 to 10.0

/rad 0.10 s2/rad

4 (0) ms



1.0

00.070 PID1 Output

RO Num ND NC PT

RFC-A

This parameter is the output of the PID controller. For further information, refer to the Parameter

Reference Guide.

RFC-A

Proportional gain applied to the PID error. For further information, refer to the Parameter Reference Guide.



00.071 PID1 Proportional Gain

RW Num US



±100.00 %

0.000 to 4.000



1.000

44 Unidrive M400 Control Quick Start Guide

Issue Number: 4

00.072 PID1 Integral Gain

RW Num US

RFC-A

Integral gain applied to the PID error. For further information, refer to the Parameter Reference Guide.

RFC-A

This parameter allows the PID feedback source to be inverted. For further information, refer to the

Parameter Reference Guide.

RFC-A

This parameter with PID1 Output Lower Limit (Pr 00.075) allows the output to be limited to a range. For further information, refer to the Parameter Reference Guide.



00.073 PID1 Feedback Invert

RW Bit US



00.074 PID1 Output Upper Limit

RW Num US



0.000 to 4.000

Off (0) or On (1)

0.00 to 100.00 %



0.500

Off (0)

100.00 %

00.075 PID1 Output Lower Limit

RW Num US

RFC-A

See PID1 Output Upper Limit (Pr 00.074).

RFC-A

Unidrive M400 Control Quick Start Guide 45 Issue Number: 4



00.076 Action On Trip Detection

RW Num ND NC PT US



Bit 0: Stop on defined non-important trips

Bit 1: Disable braking resistor overload detection

Bit 2: Disable phase loss stop

Bit 3: Disable braking resistor temperature monitoring

Bit 4: Disable parameter freeze on trip. Refer to Parameter Reference Guide.

±100.00 %

0 - 31



-100.00 %

00.077 Maximum Heavy Duty Rating

RO Num ND NC PT

RFC-A

Displays the maximum heavy duty current rating of the drive.

RO Num ND NC PT

RFC-A

Displays the software version in the drive.

RW Txt ND NC PT US

RFC-A RFC-A (2)

Defines the mode of the drive.

RO Num ND NC PT

RFC-A

0.00 to Drive HD Current Rating A



00.078 Software Version



00.079 User Drive Mode



00.081 Reference Selected

-Pr 00.002 to Pr 00.002 or Pr 00.001



0 to 99.99.99.99

Open loop (1), RFC A (2)

to Pr 00.002 Hz



Open loop (1)



This is the basic reference selected from the available sources.

00.082 Pre-ramp Reference

RO Num ND NC PT

RFC-A

The Pre-ramp Reference is the final output from the reference system that is fed into the ramp system.

-Pr 00.002 to Pr 00.002 or Pr 00.001



to Pr 00.002 Hz



46 Unidrive M400 Control Quick Start Guide

Issue Number: 4

00.083 Final Demand Reference

RO Num ND NC PT FI

RFC-A

Open loop mode:

Final Demand Reference shows the fundamental drive output frequency from the Post Ramp Reference and the Hard Frequency Reference.

RFC mode:

Final Demand Reference shows the reference at the input to the frequency controller, which is the sum of the Post Ramp Reference, if the ramp output is not disabled and the hard frequency reference (if enabled). If the drive is disabled Final Demand Reference shows 0.00.

RO Num ND NC PT FI

RFC-A

Voltage across the internal DC bus of the drive.

RO Num ND NC PT FI

RFC-A

Open loop mode:

The Output Frequency is the sum of the Post Ramp Reference and the motor slip compensation frequency.

RFC-A mode:

The output frequency is not controlled directly, but the Output Frequency is a measurement of the frequency applied to the motor.

-Pr 00.002 to Pr 00.002 or Pr 00.001



00.084 D.C. Bus Voltage



00.085 Output Frequency



to Pr 00.002 Hz

0 to 1190 V

± 550.00 Hz



00.086 Output Voltage

RO Num ND NC PT FI

RFC-A

The Output Voltage is the rms line to line voltage at the AC terminals of the drive.

Unidrive M400 Control Quick Start Guide 47 Issue Number: 4



0 to 930 V



00.087 Motor Rpm

RO Num ND NC PT FI

RFC-A

Motor Rpm = 60 x Frequency / Pole pairs

where

Pole pairs = the numeric value of Number Of Motor Poles (Pr 00.040) (i.e. 3 for a 6 pole motor)

The frequency used to derive the Motor Rpm is the Final Demand Reference (Pr 00.083).

RFC-A

Current Magnitude is the instantaneous drive output current scaled so that it represents the r.m.s. phase current in Amps under steady state conditions.

RFC-A

Torque Producing Current is the instantaneous level of torque producing current scaled so that it represents the r.m.s. level of torque producing current under steady state conditions.



00.088 Current Magnitude

RO Num ND NC PT FI



00.089 Torque Producing Current

RO Num ND NC PT FI



±33000.0 rpm

0 to Drive Maximum Current A

± Drive Maximum Current A



00.090 Digital I/O Read Word

RO Bin ND NC PT

RFC-A

Digital I/O Read Word reflects the state of digital inputs/outputs 1 to 5 and the relay.

00.091 Reference On

RO Bit ND NC PT

RFC-A

Reference On, which is controlled by the drive sequencer, indicates that the reference from the reference system is active.

000000000000 to 111111111111



Off (0) or On (1)



48 Unidrive M400 Control Quick Start Guide

Issue Number: 4

00.092 Reverse Select

RO Bit ND NC PT

RFC-A

Reverse Select, which is controlled by the drive sequencer, is used to invert Reference Selected (Pr 00.081) or the Jog Reference (Pr 00.015).

RFC-A

Jog Select, which is controlled by the drive sequencer, is used to select the Jog Reference (Pr 00.015).

RFC-A

This parameter displays the level of the analog signal present at analog input 1 (terminal 2).

RFC-A

This parameter displays the level of the analog signal present at analog input 2 (terminal 5).



00.093 Jog Select

RO Bit ND NC PT



00.094 Analog Input 1

RO Num ND NC PT FI



00.095 Analog Input 2

RO Num ND NC PT FI



Off (0) or On (1)

±100.00 %



Unidrive M400 Control Quick Start Guide 49 Issue Number: 4

7 Running the motor

0.02

100Hz

0.03

0.04



Motor rated current in Pr 00.006 (Amps)



Motor rated speed in Pr 00.007 (rpm / min-1)



Motor rated voltage in Pr 00.008 (Volts)



Motor rated power factor in (cos ) Pr 00.009

cos





This section takes a new user through all the essential steps to running a motor for the first time.

Table 7-1 Open Loop and RFC-A

Action Detail

Ensure:

• The drive enable signal is not given, terminal 31 and

Before power up

Power up the drive

Enter minimum and maximum speeds

Enter accel and decel rates

Enter motor nameplate details

Ready to autotune

Autotune

Autotune complete

Tuning of frequency controller gains (RFC-A mode only)

Save parameters

50 Unidrive M400 Control Quick Start Guide

35 is open

• The run signal is not given, terminal 12/13 is open

• The motor is connected to the drive

• The motor connection is correct for the drive  or Y

• The correct supply voltage is connected to the drive

The default setting is Open Loop vector mode. For RFC-A

mode set Pr 00.079 to RFC-A, then press the stop/reset button to save the parameters. Ensure: The drive displays: Inhibit (enable terminals are open)

Enter:

• Minimum speed Pr 00.001 (Hz)

• Maximum speed Pr 00.002 (Hz)

Enter:

• Acceleration rate Pr 00.003 (s/100 Hz)

• Deceleration rate Pr 00.004 (s/100 Hz)

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. 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 & 35). The drive will display ’Ready’.

• Give a Run command (apply +24 V to terminal 12 Run forward or terminal 13 - Run reverse). The lower 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.

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

When the autotune has been completed, Pr set to 0

00.038

will be

Depending on the application, the frequency controller gains

00.065

(Pr and Pr

00.066

) may need to be adjusted.

Select ‘Save Parameters’ in Pr mm.000 (alternatively

enter a value of 1001) and press the Stop / Reset button to save parameters.

V Hz min kW cos

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

MOT. 3 LS 80 L T

734570 BJ 002 Kg

N 40 C S1IP 55 I cl.F

-1

Issue Number: 4

Ready to run

Run

Increasing and decreasing speed

Stopping

The drive is now ready to run the motor. Close the Run Forward or Run Reverse terminals.

Changing the selected analog frequency reference will increase and decrease the speed of the motor.

To stop the motor by following the selected deceleration rate, open either the run forward or run reverse terminal. If the enable terminal is opened while the motor is running, the drive output is immediately disabled and the motor will coast to a stop.

Unidrive M400 Control Quick Start Guide 51 Issue Number: 4

8 Diagnostics

WARNING

Users must not attempt to repair a drive if it is faulty, nor carry out fault diagnosis other than through the use of the diagnostic features described in this chapter. If a drive is faulty, it must be returned to the supplier of the drive for repair.

Table 8-1 Trip indication

Trip code Condition Description

An Input 1 Loss

An Input 1 OI

An Input 2 Loss

An Input 2 OI

Autotune

Autotune Stopped

Brake R Too Hot

Card Access

Card Boot

Card Busy

Card Compare

Card Data Exists

Card Drive Mode

Card Error

Card Full

Card No Data

Card Option

Card Product

Analog input 1 current loss

Analog input 1 over-current Current input on analog input 1 exceeds 24 mA.

Analog input 2 current loss

Analog input 2 over-current Current input on analog input 2 exceeds 24 mA.

Measured inertia has exceeded the parameter range

Autotune test stopped before completion

Braking resistor overload timed

out (I

NV Media Card Write fail Unable to access the NV Media Card.

The Menu 0 parameter modification cannot be saved to the NV Media Card

NV Media Card cannot be accessed as it is being accessed by an option module

NV Media Card file/data is different to the one in the drive

NV Media Card data location already contains data

NV Media Card parameter set not compatible with current drive mode

NV Media Card data structure error

NV Media Card full There is not enough space left on the card.

NV Media Card data not found

NV Media Card trip; option modules installed are different between source drive and destination drive

NV Media Card data blocks are not compatible with the drive derivative

Current loss was detected in current mode on Analog input 1 (Terminal 2).

Current loss was detected in current mode on Analog input 2 (Terminal 5).

The drive has tripped during a rotating autotune or mechanical load measurement test.

The drive was prevented from completing an autotune test, because either the drive enable or the drive run signals were removed.

Braking resistor overload has timed out.

The necessary boot file has not been created on the NV media card fitted to the drive to take the new parameter value. This occurs when Parameter Cloning (00.030) is changed to auto or boot mode, but the drive is not subsequently reset.

The Card Busy trip indicates that an attempt has been made to access a file on NV Media Card, but the NV Media Card is already being accessed by an option module. No data is transferred.

Trip is initiated if the parameters on the NV Media Card are different to the drive.

Attempt has been made to store data on a NV Media Card in a data block which already contains data.

The drive mode in the data block on the NV Media Card is different from the current drive mode.

Attempt has been made to access the NV Media Card but an error has been detected in the data structure on the card. Resetting the trip will cause the drive to erase and create the correct folder structure.

Attempt has been made to access non-existent file or block on the NV Media Card.

The Card Option trip indicates that parameter data or default difference data is being transferred from the NV Media Card to the drive, but the option module category is different between the source and destination drives.

If Drive Derivative is different between the source and target drives. Refer to the Control User Guide.

52 Unidrive M400 Control Quick Start Guide

Issue Number: 4

Trip code Condition Description

Sub-trip Reason

1 External Trip = 1

Sub-trip Reason

1 External Trip = 1

NV Media Card Trip; The voltage

Card Rating

Card Read Only

Card Slot

Control Word

Current Offset

Data Changing

Derivative ID

Derivative Image

Destination

Drive Config

EEPROM Fail

External Trip

and / or current rating of the source and destination drives are different

NV Media Card has the Read Only bit set

NV Media Card trip; Option module file transfer has failed

Trip initiated from the Control

Word

Current feedback offset error Current offset is too large to be trimmed.

Drive parameters are being changed

Derivative file error Contact the supplier of the drive.

Derivative product image error Contact the supplier of the drive

Two or more parameters are writing to the same destination parameter

Drive configuration Contact the supplier of the drive.

Default parameters have been loaded

External trip is initiated

The current and / or voltage ratings are different between source and destination drives.

Attempt has been made to modify a read-only NV Media Card or a read-only data block.

The Card Slot trip is initiated, if the transfer of an option module file to or from a module failed because the option module does not respond correctly.

Initiated by setting bit 12 on the control word when the control word is enabled. Refer to the Parameter

Reference Guide.

A user action or a file system write is active that is changing the drive parameters and the drive has been commanded to enable.

The dest trip indicates that destination output parameters of two or more logic functions (Menus 7 and

8) within the drive are writing to the same parameter.

The cause of the trip can be identified from the sub trip number displayed after the trip string.

Refer to the Control User Guide.

The cause of the trip can be identified from the sub trip number displayed after the trip string.

Refer to the Control User Guide.

Fan Fail

File Changed

FW Incompatible

HFxx trip

Hot Rect/Brake

I cal. range

I/O Overload

Keypad Mode

Unidrive M400 Control Quick Start Guide 53 Issue Number: 4

Fan fail Indicates the fan or fan circuitry has failed

File changed A file has been changed, power cycle to clear the trip

Firmware Incompatibility

Hardware faults

Hot rectifier/brake

Current calibration range Current calibration range error.

Digital output overload

Keypad has been removed when the drive is receiving the reference from the keypad

The user firmware is incompatible with the power firmware.

Internal drive hardware fault (see the Control User Guide).

Over-temperature detected on input rectifier or braking IGBT.

The total current drawn from the AI-Adaptor 24 V supply or from the digital output has exceeded the limit.

The Keypad Mode trip indicates that the drive is in keypad mode [Reference Selector = 4 or 6] and the keypad has been removed or disconnected from the drive. Refer to the Control User Guide.

Trip code Condition Description

trip indicates a motor thermal overload based on the output current and motor thermal time constant. The drive will trip on Motor Too Hot when the accumulator

Motor Too Hot

No power board

OHt Brake

OHt Control

OHt dc bus

OHt Inverter

OHt Power

OHt Rectifier

Output current overload timed

out (I

No power board

Braking IGBT over-temperature Braking IGBT over-temperature

Control stage over-temperature Control stage over-temperature

DC bus over temperature

Inverter over temperature based on thermal model

Power stage over temperature

Rectifier over temperature

gets to 100 %. This can occur when:

• There is excessive mechanical load

• Ensure the load is not jammed / sticking

• Check the load on the motor has not changed

• Ensure the motor rated current is not zero

No communication between the power and control boards.

DC bus component over temperature based on a software thermal model.

IGBT junction over-temperature has been detected based on a software thermal model.

This trip indicates that a power stage over-temperature has been detected.

The OHt Rectifier trip indicates that a rectifier over- temperature has been detected.

The instantaneous drive output current has exceeded the set limit.

Possible solutions:

•Increase acceleration/deceleration rate

• If seen during autotune reduce the voltage boost

• Check for short circuit on the output cabling

• Check integrity of the motor insulation using an

insulation tester

• Is the motor cable length within limits for the frame size

• Reduce the values in the current loop gain parameters

Over current has been detected in braking IGBT or braking IGBT protection has been activated.

Possible cause:

• Check brake resistor wiring

• Check braking resistor value is greater than or equal to the minimum resistance value

• Check braking resistor insulation

Option module did not acknowledge notifying the drive that communications with the drive has been stopped during the drive mode changeover within the allocated time.

Excessive motor speed (typically caused by mechanical load driving the motor).

OI ac

OI Brake

Option Disable

Out Phase Loss

Output phase s/c

Over Speed

Instantaneous output over current detected

Braking IGBT over current detected: short circuit protection for the braking IGBT activated

Option module does not acknowledge during drive mode changeover

Output phase loss detected Phase loss has been detected at the drive output.

Output phase short-circuit Over-current detected on drive output when enabled.

Motor frequency has exceeded the over frequency threshold

54 Unidrive M400 Control Quick Start Guide

Issue Number: 4

Trip code Condition Description

The Over Volts trip indicates that the DC bus voltage has exceeded the maximum limit. Possible solutions:

• Increase Deceleration Rate 1 (Pr 00.004)

• Decrease the braking resistor value (staying above the minimum value).

• Check nominal AC supply level.

• Check for supply disturbances which could cause the DC bus to rise.

• Check motor insulation using a insulation tester.

The drive has detected an input phase loss or large supply imbalance.

No communications between power and control.

Error in the configuration data stored in the power system.

Error has been detected in the power down save parameters saved in non-volatile memory.

One or more internal power supply rails are outside limits or overloaded.

The measured stator resistance during an autotune test has exceeded the maximum possible value of Stator Resistance. Refer to the Control User Guide.

Option module in option slot 1 on the drive is a different type to that installed when parameters were last saved on the drive.

Option module in option slot 1 on the drive has detected an error.

Option module in option slot 1 on the drive has indicated a hardware fault.

Option module in option slot 1 on the drive has been removed since the last power up.

Option module installed in Slot 1 has started the option watchdog function and then failed to service the watchdog correctly.

Soft start relay in the drive failed to close or the soft start monitoring circuit has failed.

STO board not installed.

Hardware trip (HF01 –HF19) has occurred and the drive has been power cycled. Enter 1299 to xx.000 to clear trip

The Sub-array RAM trip indicates that an option module derivative image has requested more parameter RAM than is allowed.

The Th Brake Res trip is initiated if the hardware based braking resistor thermal monitoring is connected and the resistor overheats.

The Th Short Circuit trip indicates that the motor thermistor connected to terminal 14 (digital input 5) on the control connections, is short circuit or low impedance (<50 Ω).

Over Volts

Phase Loss

Power Board HF

Power Comms

Power Data

Power Down Save

PSU

Resistance

Slot 1 Different

Slot 1 Error

Slot 1 HF

Slot 1 Not Fitted

Slot 1 Watchdog

Soft Start

STO Error

Stored HF

Sub-array RAM

Temp Feedback

Th Brake Res

Th Short Circuit

DC bus voltage has exceeded the peak level or maximum continuous level for 15 seconds

Supply phase loss

Power board HF Power processor hardware fault.

Communication has been lost / errors detected between power and control

Power system configuration data error

Power down save error

Internal power supply fault

Measured resistance has exceeded the parameter range

Option module in option slot 1 has changed

Option module in option slot 1 has detected a fault

Option module 1 hardware fault

Option module in option slot 1 has been removed

Option module watchdog function service error

Soft start relay failed to close, soft start monitor failed

No Safe Torque Off board installed

Hardware trip has occurred during last power down

RAM allocation error

Internal thermistor has failed Internal thermistor has failed.

Brake resistor over temperature

Motor thermistor short circuit

Unidrive M400 Control Quick Start Guide 55 Issue Number: 4

Trip code Condition Description

Thermistor

User OI ac

User Prog Trip

User Program

User Save

Watchdog

Motor thermistor overtemperature

User OI ac

Trip generated by an onboard user program

On board user program error

User Save error / not completed

Control word watchdog has timed out

The Thermistor trip indicates that the motor thermistor connected to terminal 14 (digital input 5) on the control connections has indicated a motor over temperature.

The User OI ac trip is initiated if the output current of the drive exceeds the trip level set by User Over Current Tri p L evel. Refer to the Control User Guide.

This trip can be initiated from within an onboard user program

An error has been detected in the onboard user program image.

The User Save trip indicates that an error has been detected in the user save parameters saved in nonvolatile memory.

The Watchdog trip indicates that the control word has been enabled and has timed out

8.1 Alarm indications

In any mode, an alarm is an indication given on the display by alternating the alarm string with the drive status string display. If an action is not taken to eliminate any alarm except "Auto Tune, Limit Switch or 24V Backup Lost" the drive may eventually trip. Alarms are not displayed when a parameter is being edited.

Table 8-2 Alarm indications

Alarm string Description

Brake resistor overload. Braking Resistor Thermal Accumulator in the drive

Brake Resistor

Motor Overload

Drive Overload

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

Limit Switch

Low AC Low voltage mode. See Low AC Alarm in the Control User Guide.

Current limit Current limit active. See Current Limit Active in the Control User Guide.

24V Backup Lost

has reached 75.0 % of the value at which the drive will trip. Refer to the Power Installation Guide.

Motor Protection Accumulator in the drive has reached 75.0 % of the value at

which the drive will trip and the load on the drive is >100 %, reduce motor current (load). Refer to the Parameter Reference Guide.

Drive over temperature. Percentage Of Drive Thermal Trip Level in the drive is greater than 90 %. Refer to the Parameter Reference Guide.

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

24V backup not present. See 24V Alarm Loss Enable in the Control User

Guide.

56 Unidrive M400 Control Quick Start Guide

Issue Number: 4

9 NV Media Card Operation

12111

Pr = +00.030 Read

Drive reads all parameters from the NV Media Card

Pr = Prog +00.030 ram

Programs all drive parameters to the NV Media Card

NOTE

Overwrites any data already in data block 1

Pr = Auto +00.030

Drive automatically writes to the Media Card when a parameter save is performed

Pr = oot +00.030 B

Drive boots from the NV Media Card on power up and automatically writes to the Media Card when a parameter save is performed

121

NOTE

Figure 9-1 Installing the AI-Backup adaptor (SD Card)

1. Identify the two plastic fingers on the underside of the 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.

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

Figure 9-2 Basic NV Media Card operation

The whole card may be protected from writing or erasing by setting the read-only flag, refer to the Control User Guide for further information. The card should not be removed during data transfer, as the drive will

produce a trip. If this occurs then either the transfer should be reattempted or in the case of a card to drive transfer, default parameters should be loaded.

Unidrive M400 Control Quick Start Guide 57 Issue Number: 4

The drive supports SD cards formatted with the FAT32 file system only.

10 Machine Control Studio

Machine Control Studio programming software powered by CODESYS Machine Control Studio software provides a flexible and intuitive environment for programming Unidrive M's new automation and motion control features. This new software offers programming for

the Unidrive M400's onboard PLC. Machine Control Studio is powered by CODESYS, the leading open software for programmable

machine control. The programming environment is fully EN/IEC 61131-3 compliant, meaning that it is familiar and therefore fast and easy to use for control engineers around the world.

The following EN/IEC 61131-3 programming languages are supported:

• Structured Text (ST)

• Function Block Diagram (FBD)

• Structured Function Chart (SFC)

• Ladder Diagram (LD)

• Instruction List (IL) Also supported:

• Continuous Function Chart (CFC)

Onboard intelligence

• Programmable Logic Control (PLC) - memory: 12 kB

• 1 x Real-time task (16 ms), 1 x Background task

Intuitive IntelliSense functionality helps to write consistent and robust programming, speeding up software development. Programmers have access to a vibrant open-source community for function blocks. Machine Control Studio supports customers' own function block libraries, with on-line monitoring of program variables with user defined watch windows and help for on-line change of program, in line with current PLC practices.

Download Machine Control Studio from: www.drive-setup.com.

58 Unidrive M400 Control Quick Start Guide

Issue Number: 4

11 Default control connections

24 V user

Digital I/O1

Digital I/O 2

Digital input 3

Digital input 4

Digital input 5

Digital I/O

1 ph/3 ph AC power supply

0 V

Analog I/O

Analog input 1+

Analog input 1-

Drive ok

Relay**

AC supply

DC bus/Brake

Motor

0 V

Digital input 6

Digital input 7

Analog output 1

Analog output 2

Zero frequency

Run forward

Run reverse

Jog forward

Analog input 1/

Analog input 2 select

24 V user

User enable 2 / STO input 2

0 V

STO2

STO1

0 V

ST01

User enable 1 / STO input 1

Safe Torque Off

10 V user

Analog input 2

Frequency reference 1

Frequency reference 2

Frequency output

Torque producing current output

Stop

Start

Reset

Thermal protection device

Braking resistor

Main contactor power supply

Optional

Unassigned

Quick start setup using default parameter set

NOTE

Figure 11-1 Frame 1 to 4 connections

* Unidrive M400 uses Safe Torque Off (drive enable) inputs and terminal 11 is unassigned. ** 250 Vac maximum (UL class 1).

Unidrive M400 Control Quick Start Guide 59 Issue Number: 4

Figure 11-2 Frame 5 and above default control connections

24 V user

Digital I/O1

Digital I/O 2

Digital input 3

Digital input 4

Digital input 5

Digital I/O

0 V

Analog I/O

Analog input 1+

Analog input 1-

Drive ok

Relay**

DC bus/Brake

0 V

Digital input 6

Digital input 7

Analog output 1

Analog output 2

Zero frequency

Run forward

Run reverse

Jog forward

Analog input 1/

Analog input 2 select

24 V user

User enable 2 / STO input 2

0 V

STO2

STO1

0 V

ST01

User enable 1 / STO input 1

Safe Torque Off

10 V user

Analog input 2

Frequency reference 1

Frequency reference 2

Frequency output

Torque producing current output

3 ph AC power supply

AC supply Motor

Stop

Start

Reset

Thermal protection device

Braking resistor

Main contactor power supply

Optional

Unassigned

Quick start setup using default parameter settings

0V Input***

24V Input***

NOTE

* Unidrive M400 uses Safe Torque Off (drive enable) inputs and terminal 11 is unassigned. ** 250 Vac maximum (UL class 1).

*** Size 6 and larger only.

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

0478-0267-04

Control Techniques Reconditioned Unidrive M400 Quick Start Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Safety information

1.1 Warnings, Cautions and Notes

1.2 Important safety information. Hazards. Competence of designers and installers

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)

2Introduction

2.1 Operating modes

3Options

4 Control connections

4.1 Control terminal configurations and wiring

4.2 Safe Torque Off (STO)

5 Optional LCD keypad and display

5.1 Saving parameters

5.2 Restoring parameter defaults

6 Basic parameters (Menu 0)

6.1 Menu 0: Basic parameters

6.2 Unidrive M400 parameter descriptions

7 Running the motor

8 Diagnostics

8.1 Alarm indications

9 NV Media Card Operation

10 Machine Control Studio

11 Default control connections