Emerson unidrive sp User Manual

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Page 1

User Guide

Free Standing

Model sizes 6 to 9

Universal Variable Speed AC Drive for induction and servo motors

Part Number: 0471-0122-01 Issue: 1

www.controltechniques.com

Page 2

General Information

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed drive with the motor.

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

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

Drive software version

This product is supplied with the latest software version. If this drive is to be connected to an existing system or machine, all drive software versions should be verified to confirm the same functionality as drives of the same model already present. This may also apply to drives returned from a Control Techniques Service Centre or Repair Centre. If there is any doubt please contact the supplier of the product.

The software version of the drive can be checked by looking at Pr 11.29 and Pr 11.34. This takes the form of xx.yy.zz where Pr 11.29 displays xx.yy and Pr 11.34 displays zz. (e.g. for software version 01.01.00, Pr 11.29 = 1.01 and Pr 11.34 displays 0).

Environmental statement

Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other relevant information is available on request, or can be found at www.greendrives.com.

The electronic variable-speed drives manufactured by Control Techniques have the potential to save energy and (through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product manufacture and end-of-life disposal.

Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the products easy to dismantle into their major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools, whilst other parts are secured with conventional fasteners. Virtually all parts of the product are suitable for recycling.

Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these containers can be recycled. Polythene, used on the protective film and bags for wrapping product, can be recycled in the same way. Control Techniques' packaging strategy prefers easily-recyclable materials of low environmental impact, and regular reviews identify opportunities for improvement.

When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

REACH legislation

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

For current information on how this requirement applies in relation to specific Control Techniques products, please approach your usual contact in the first instance. Control Techniques position statement can be viewed at: http://www.controltechniques.com/REACH

Page 3

How to use this guide

NOTE

1 Safety information

2 Product information

3 Mechanical installation

4 Electrical installation

5 Getting started

6 Basic parameters

7 Running the motor

8 Optimization

9 SMARTCARD operation

11 Advanced parameters

12 Technical data

13 Diagnostics

14 UL listing information

10 Onboard PLC

This user guide provides complete information for installing and operating the drive from start to finish. The information is in logical order, taking the reader from receiving the drive through to fine tuning the performance.

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

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

Page 4

Contents

1 Safety Information .................................7

1.1 Warnings, Cautions and Notes .............................7

1.2 Electrical safety - general warning ........................7

1.3 System design and safety of personnel ................7

1.4 Environmental limits ..............................................7

1.5 Compliance with regulations .................................7

1.6 Motor .....................................................................7

1.7 Adjusting parameters ............................................7

2 Product information ..............................8

2.1 Model number .......................................................8

2.2 Ratings ..................................................................9

2.3 Operating modes .................................................12

2.4 Compatible encoders ..........................................12

2.5 Drive features ......................................................13

2.6 Nameplate description ........................................15

2.7 Options ................................................................15

2.8 Items supplied with the drive ...............................18

3 Mechanical Installation .......................19

3.1 Safety information ...............................................19

3.2 Planning the installation ......................................20

3.3 Terminal cover removal .......................................20

3.4 Installing fuses in a Free Standing drive .............24

3.5 Baying Free Standing drives ...............................24

3.6 Free standing drive dimensions ..........................32

3.7 External EMC filter ..............................................36

3.8 Electrical terminals ..............................................39

3.9 Solutions Module installation / removal ...............42

3.10 Routine maintenance ..........................................43

4 Electrical Installation ...........................44

4.1 Power connections ..............................................45

4.2 AC supply requirements ......................................50

4.3 Auxiliary power supply ........................................51

4.4 Control 24Vdc supply ..........................................53

4.5 Ratings ................................................................53

4.6 Output circuit and motor protection .....................56

4.7 Braking ................................................................58

4.8 Ground leakage ...................................................59

4.9 EMC (Electromagnetic compatibility) ..................59

4.10 Serial communications connections ....................63

4.11 Control connections ............................................63

4.12 Encoder connections ...........................................67

4.13 SAFE TORQUE OFF (SECURE DISABLE) ........69

5 Getting Started.................................... 72

5.1 Understanding the display .................................. 72

5.2 Keypad operation ............................................... 72

5.3 Menu structure ................................................... 73

5.4 Menu 0 ............................................................... 74

5.5 Advanced menus ............................................... 75

5.6 Changing the operating mode ............................ 76

5.7 Saving parameters ............................................. 76

5.8 Restoring parameter defaults ............................. 76

5.9 Parameter access level and security ................. 77

5.10 Displaying parameters with non-default

values only ......................................................... 78

5.11 Displaying destination parameters only ............. 78

5.12 Serial communications ....................................... 78

6 Basic parameters ................................ 80

6.1 Single line descriptions ...................................... 80

6.2 Full descriptions ................................................. 84

7 Running the motor .............................. 94

7.1 Quick start Connections ..................................... 94

7.2 Changing the operating mode ............................ 94

7.3 Quick Start commissioning/start-up ................... 98

7.4 Quick start commissioning/start-up (CTSoft) ... 102

7.5 Setting up a feedback device ........................... 102

8 Optimization ...................................... 106

8.1 Motor map parameters ..................................... 106

8.2 Maximum motor rated current .......................... 116

8.3 Current limits .................................................... 116

8.4 Motor thermal protection .................................. 116

8.5 Switching frequency ......................................... 117

8.6 High speed operation ....................................... 117

9 SMARTCARD operation ................... 119

9.1 Introduction ...................................................... 119

9.2 Transferring data .............................................. 120

9.3 Data block header information ......................... 122

9.4 SMARTCARD parameters ............................... 122

9.5 SMARTCARD trips ........................................... 123

10 Onboard PLC ..................................... 125

10.1 Onboard PLC and SYPTLite ............................ 125

10.2 Benefits ............................................................ 125

10.3 Limitations ........................................................ 125

10.4 Getting started .................................................. 126

10.5 Onboard PLC parameters ................................ 126

10.6 Onboard PLC trips ........................................... 127

10.7 Onboard PLC and the SMARTCARD .............. 127

4 Unidrive SP Free Standing User Guide

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Page 5

11 Advanced parameters .......................128

11.1 Menu 1: Frequency / speed reference ..............136

11.2 Menu 2: Ramps .................................................140

11.3 Menu 3: Frequency slaving, speed

feedback and speed control ..............................143

11.4 Menu 4: Torque and current control ..................148

11.5 Menu 5: Motor control .......................................152

11.6 Menu 6: Sequencer and clock ..........................157

11.7 Menu 7: Analog I/O ...........................................159

11.8 Menu 8: Digital I/O ............................................162

11.9 Menu 9: Programmable logic, motorized pot,

binary sum and timers .......................................165

11.10 Menu 10: Status and trips .................................168

11.11 Menu 11: General drive set-up .........................169

11.12 Menu 12: Threshold detectors, variable

selectors and brake control function .................170

11.13 Menu 13: Position control .................................176

11.14 Menu 14: User PID controller ............................182

11.15 Menus 15, 16 and 17: Solutions Module

set-up ................................................................185

11.16 Menu 18: Application menu 1 ...........................221

11.17 Menu 19: Application menu 2 ...........................221

11.18 Menu 20: Application menu 3 ...........................221

11.19 Menu 21: Second motor parameters ................222

11.20 Menu 22: Additional Menu 0 set-up ..................223

11.21 Advanced features ............................................224

12 Technical Data ...................................233

12.1 Drive technical data ..........................................233

12.2 Optional external EMC filters ............................241

13 Diagnostics ........................................242

13.1 Trip indications ..................................................242

13.2 Alarm indications ...............................................258

13.3 Status indications ..............................................258

13.4 Displaying the trip history ..................................259

13.5 Behaviour of the drive when tripped .................259

14 UL Listing Information ......................260

14.1 Common UL information ...................................260

14.2 Power dependant UL information .....................260

14.3 AC supply specification .....................................260

14.4 Maximum continuous output current .................260

14.5 Safety label .......................................................260

14.6 UL listed accessories ........................................260

List of figures ....................................261

List of tables ......................................263

Index ...................................................265

Unidrive SP Free Standing User Guide 5 Issue Number: 1 www.controltechniques.com

Page 6

Declaration of Conformity (size 6 to 9 Free Standing drives)

Control Techniques Ltd

The Gro

Newtown

Powys

SY16 3BE

SP6411 SP6412

SP6431 SP6432

SP6611 SP6612

SP6631 SP6632

SP7411 SP7412

SP7431 SP7432

SP7611 SP7612

SP7631 SP7632

SP8411 SP8412 SP8413 SP8414

SP8431 SP8432 SP8433 SP8434

SP8611 SP8612 SP8613 SP8614

SP8631 SP8632 SP8633 SP8634

SP9411 SP9413 SP9414 SP9415

SP9431 SP9433 SP9434 SP9435

SP9611 SP9613 SP9614 SP9615

SP9631 SP9633 SP9634 SP9635

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

harmonized standards:

These products comply with the Low Voltage Directive 2006/95/EC, the Electromagnetic Compatibility (EMC) Directive 2004/108/EC and the CE Marking Directive 93/68/EEC.

Executive Vice President, Technology

Newtown

Date: 8th August 2007

These electronic drive products are intended to be used with appropriate motors, controllers, electrical protection components and other equipment to form complete end products or systems. Compliance with safety and EMC regulations depends upon installing and configuring drives correctly, including using the specified input filters. The drives must be installed only by professional assemblers who are familiar with requirements for safety and EMC. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used. Refer to the User Guide. An EMC Data Sheet is also available giving detailed EMC information.

EN 61800-5-1*

EN 61800-3

EN 61000-6-2

*Clause 5.2.3.8 of EN 61800-5-1:2003 (breakdown of components test) has been amended to eliminate the 30A ground (earth) fuse, in accordance with the draft edition 2 of IEC 61800-5-1

Adjustable speed electrical power drive systems safety requirements - electrical, thermal and energy

Adjustable speed electrical power drive systems. EMC product standard including specific test methods

Electromagnetic compatibility (EMC). Generic standards. Immunity standard for industrial environments

6 Unidrive SP Free Standing User Guide

www.controltechniques.com Issue Number: 1

Page 7

Safety

WARNING

CAUTION

NOTE

Information

Product

information

Mechanical

Installation

Electrical

Installation

Getting Started

Basic

parameters

Running

the motor

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL Listing

Information

1 Safety Information

1.1 Warnings, Cautions and Notes

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

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

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

1.2 Electrical safety - general warning

The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive.

Specific warnings are given at the relevant places in this User Guide.

1.3 System design and safety of

The drive is intended as a component for professional incorporation into complete equipment or a system. If installed incorrectly, the drive may present a safety hazard.

The drive uses high voltages and currents, carries a high level of stored electrical energy, and is used to control equipment which can cause injury.

Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction. System design, installation, commissioning/ start-up and maintenance must be carried out by personnel who have the necessary training and experience. They must read this safety information and this User Guide carefully.

The STOP and SAFE TORQUE OFF (SECURE DISABLE) function functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit. The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections.

With the sole exception of the SAFE TORQUE OFF (SECURE DISABLE) function, none of the drive functions must be used to ensure safety of personnel, i.e. they must not be used for safetyrelated functions.

Careful consideration must be given to the functions of the drive 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.

The SAFE TORQUE OFF (SECURE DISABLE) function has been approved

prevention of unexpected starting of the drive. It may be used in a safety-related application. The system designer is responsible for

ensuring that the complete system is safe and designed correctly according to the relevant safety standards.

personnel

as meeting the requirements of EN954-1 category 3 for the

1.4 Environmental limits

Instructions in this User Guide regarding transport, storage, installation and use of the drive must be complied with, including the specified environmental limits. Drives must not be subjected to excessive physical force.

1.5 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 earth (ground) connections.

This User Guide contains instruction for achieving compliance with specific EMC standards.

Within the European Union, all machinery in which this product is used must comply with the following directives:

98/37/EC: Safety of machinery. 89/336/EEC: Electromagnetic Compatibility.

1.6 Motor

Ensure the motor is installed in accordance with the manufacturer’s recommendations. Ensure the motor shaft is not exposed.

Standard squirrel cage induction motors are designed for single speed operation. If it is intended to use the capability of the drive to run a motor at speeds above its designed maximum, it is strongly recommended that the manufacturer is consulted first.

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

The values of the motor parameters set in the drive affect the protection of the motor. The default values in the drive should not be relied upon.

It is essential that the correct value is entered in parameter 0.46 motor rated current. This affects the thermal protection of the motor.

1.7 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.

Independent approval by BGIA has been given.

Unidrive SP Free Standing User Guide 7 Issue Number: 1 www.controltechniques.com

Page 8

Safety

Unidrive product line SP- solution platform

SP frame size 6- Size 6

Voltage rating 4- 380V to 480V

1- Dynamic brake control 3- No dynamic brake control

Current rating step

Disconnect None supplied (default)

Input fuses none supplied F1- Ferraz DIN80

(factory fitted)

Enclosure rating

SP 6 4

-E23

-F1 -D1

7- Size 7

6- 500V to 690V

D1- Switch disconnector

IP21 (default) E 23- IP23

Unidrive product line SP- solution platform

SP frame size 8- Size 8

Voltage rating 4- 380V to 480V

1- Dynamic brake control 3- No dynamic brake control

Current rating step

Plinth depth

-100mm plinth depth

Input fuses none supplied

F1- Ferraz DIN80 (factory fitted)

Enclosure rating

9- Size 9

6- 500V to 690V

-B1 -200mm plinth depth

IP21 (default)

E 23- IP23

SP 8 4 1 1

-E23

-F1 -B1-P12

Input pulse number

6 pulse default

12 -12 pulse

SPMD

Module 2

SPMD

Module 1

(Master)

Front

SPMD

Module 4

SPMD

Module 3

SPMD

Module 2

SPMD Master

Module 1

Front

Cubicle

SP8XXX SP9XXX

Information

Product

information

Mechanical

Installation

Electrical

Installation

Getting Started

Basic

parameters

Running

the motor

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

2 Product information

Unidrive SP Free Standing cubicles are made up to one or more SPM modules (SPMA / SPM), depending on size and current ratings.

2.1 Model number

The way in which the model numbers for the Unidrive SP range are formed is illustrated below.

Figure 2-1 Unidrive SP Free Standing size 6 and 7 order codes

UL Listing

Information

Figure 2-2 Unidrive SP Free Standing size 8 and 9 order codes

Figure 2-3 Drive configuration

8 Unidrive SP Free Standing User Guide

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Page 9

Safety

Available output

current

Overload limit -

Heavy Duty

Maximum continuous current (above 50% base speed) -

Normal Duty

Maximum continuous current -

Heavy Duty

Motor rated current set in the drive

Heavy Duty

- with high

overload capability

Normal Duty

Overload limit -

Normal Duty

NOTE

Motor total

current (Pr 4.01)

as a percentage

of motor rated

current

Motor speed as a percentage of base speed

100%

Max. permissible continuous current

100%

I t protection operates in this region

70%

50%15%

Pr = 0 Pr = 1

4.25

Motor total

current (Pr 4.01)

as a percentage

of motor rated

current

Motor speed as a percentage of base speed

100%

Max. permissible

continuous current

100%

I t protection operates in this region

70%

50%

Pr = 0

Pr = 1

4.25

Information

Product

information

Mechanical

Installation

Electrical

Installation

Getting Started

Basic

parameters

Running

the motor

Optimization

SMARTCARD

operation

2.2 Ratings

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

Normal Duty Heavy Duty (default)

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

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

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

The speed at which the low speed protection takes effect can be changed by the setting of Pr 4.25. The protection starts when the motor speed is below 15% of base speed when Pr 4.25 = 0 (default) and below 50% when Pr 4.25 = 1.

Operation of motor I2t protection (It.AC trip)

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

• Self ventilated (TENV/TEFC) induction motors

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

If the application uses a self ventilated (TENV/TEFC) induction motor and increased thermal protection is required for speeds below 50% base speed, then this can be enabled by setting Pr 4.25 = 1.

Motor I2t protection defaults to be compatible with:

• Forced ventilation induction motors

• Permanent magnet servo motors

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL Listing

Information

Unidrive SP Free Standing User Guide 9 Issue Number: 1 www.controltechniques.com

Page 10

Safety

565758

Information

Product

information

Mechanical

Installation

Electrical

Installation

Getting Started

Basic

parameters

Running

the motor

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL Listing

Information

The continuous current ratings given are for maximum 40°C (104°F) for the standard drive and 33°C (91°F) for the IP23 variant, 1000m altitude and

3.0 kHz switching. Derating is required for higher switching frequencies, higher ambient temperatures and high altitude. For further information, refer to section 12.1.1 Power and current ratings (Derating for switching frequency and temperature) on page 229.

Table 2-1 400V standard (IP21) Free Standing drive ratings at 40°C (104°F) 6 pulse or 12 pulse (380V to 480V ±10%)

Normal Duty Heavy Duty

Model

Maximum

continuous

output current

Peak

current

AAkWhpA

64X1 205 226 110 150 180 232 270 90 150

64X2 236 260 132 200 210 271 315 110 150

74X1 290 319 160 250 238 307 357 132 200

74X2 335 369 185 280 290 373 435 160 250

74X2* 350 385 200 300 290 374 435 160 250

84X1 389 428 225 300 335 432 503 185 280

84X2 450 495 250 400 389 502 584 225 300

84X3 545 600 315 450 450 581 675 250 400

84X4 620 682 355 500 545 703 818 315 450

94X1 690 759 400 600 620 800 930 355 500

94X3 900 990 500 800 790 1019 1185 450 700

Nominal

power

at 400V

Motor power

at 460V

Maximum

continuous

output current

Open loop

peak

current

Closed

loop peak

current

Nominal

power

at 400V

kW hp

Motor

power

at 460V

94X4 1010 1111 560 900 900 1125 1305 500 800

94X5 1164 1280 675 1000 1010 1303 1515 560 900

*When used in a maximum ambient temperature of 35ºC, the Normal Duty output current rating of the SP74X2 is 350A allowing the drive to run 200kW motors.

Table 2-2 690V standard (IP21) Free Standing drive ratings at 40°C (104°F) 6 pulse or 12 pulse (500V to 690V ±10%)

Normal duty Heavy duty

Model

Maximum

continuous

output

current

Peak

current

Nominal

power at

690V

Motor

power at

575V

Maximum

continuous

output

current

Open loop

peak

current

Closed

loop peak

current

Nominal power at

690V

Motor

power at

575V

AAkWhpA AAkWhp

66X1 125 138 110 125 100 129 150 90 110

66X2 144 158 132 150 125 161 188 110 125

76X1 168 185 160 150 144 186 216 132 150

76X2 192 211 185 200 168 217 252 160 150

86X1 231 254 200 250 186 240 279 185 200

86X2 266 293 225 300 231 298 347 200 250

86X3 311 342 315 350 266 343 399 250 250

86X4 355 391 355 400 311 401 467 315 350

96X1 400 440 400 450 347 448 521 355 350

96X3 533 586 500 600 466 601 699 450 500

96X4 616 678 560 700 533 688 800 500 600

96X5 711 782 630 800 622 802 933 560 700

10 Unidrive SP Free Standing User Guide

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Safety

565758

Information

Product

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Mechanical

Installation

Electrical

Installation

Getting Started

Basic

parameters

Running

the motor

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Table 2-3 400V IP23 Free Standing drive ratings at 33°C (91°F) 6 pulse or 12 pulse (380V to 480V ±10%)

Normal Duty Heavy Duty

Model

Maximum

continuous

output current

Peak

current

AAkWhpA

64X1-E23 205 226 110 150 180 232 270 90 150

64X2-E23 236 260 132 200 210 271 315 110 150

74X1-E23 290 319 160 250 238 307 357 132 200

74X2-E23 335 369 185 280 290 374 435 160 250

84X1-E23 389 428 225 300 335 432 503 185 280

84X2-E23 450 495 250 400 389 502 584 225 300

84X3-E23 545 600 315 450 450 581 675 250 400

84X4-E23 620 682 355 500 545 703 818 315 450

94X1-E23 690 759 400 600 620 800 930 355 500

94X3-E23 900 990 500 800 790 1019 1185 450 700

94X4-E23* 1010 1111 56 0 90 0 900 1125 1305 500 800

94X5-E23* 1164 1280 675 1000 1010 1303 1515 560 900

Nominal

power

at 400V

Motor power

at 460V

Maximum

continuous

output current

Open

loop peak

current

Technical

Closed

loop peak

current

Diagnostics

Data

Nominal

power

at 400V

kW hp

UL Listing

Information

Motor power

at 460V

*Ratings for SP94X4 E23 and SP94X5 E23 are for an ambient temperature of 30°C

Table 2-4 690V IP23 Free Standing drive ratings at 33°C (104°F) 6 pulse or 12 pulse (575V to 690V ±10%)

Normal duty Heavy duty

Maximum

continuous

output

current

Open

loop peak

current

Model

Maximum

continuous

output

current

Peak

current

Nominal power at

690V

Motor

power at

575V

AAkWhpAAAkWhp

66X1-E23 125 138 110 125 100 129 150 90 110

66X2-E23 144 158 132 150 125 161 188 110 125

76X1-E23 168 185 160 150 144 186 216 132 150

76X2-E23 192 211 185 200 168 217 252 160 150

86X1-E23 231 254 200 250 186 240 279 185 200

86X2-E23 266 293 225 300 231 298 347 200 250

86X3-E23 311 342 315 350 266 343 399 250 250

86X4-E23 355 391 355 400 311 401 467 315 350

96X1-E23 400 440 400 450 347 448 521 355 350

96X3-E23 533 586 500 600 466 601 699 450 500

96X4-E23* 616 678 560 700 533 688 800 500 600

Closed

loop peak

current

Nominal

power at

690V

Motor

power at

575V

96X5-E23* 711 782 630 800 622 802 933 560 700

* Ratings for SP96X4 E23 and SP96X5 E23 are for an ambient temperature of 30°C

Unidrive SP Free Standing User Guide 11 Issue Number: 1 www.controltechniques.com

Page 12

Safety

NOTE

Information

Product

information

Mechanical

Installation

Electrical

Installation

Getting Started

Basic

parameters

Running

the motor

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL Listing

Information

2.2.1 Typical short term overload limits

The maximum percentage overload limit changes depending on the selected motor. Variations in motor rated current, motor power factor and motor leakage inductance all result in changes in the maximum possible overload. The exact value for a specific motor can be calculated using the equations detailed in Menu 4 in the Advanced User Guide.

Typical values are shown in the table below for closed loop vector (VT) and open loop (OL) modes:

Table 2-5 Typical overload limits for size 6 to 9

Operating mode Closed loop from cold Closed loop from 100% Open loop from cold Open loop from 100%

Normal Duty overload with motor rated current = drive rated current 110% for 165s 110% for 9s 110% for 165s 110% for 9s Heavy Duty overload with motor rated current = drive rated current 150% for 60s 150% for 8s 129% for 97s 129% for 15s

Generally the drive rated current is higher than the matching motor rated current allowing a higher level of overload than the default setting. The time allowed in the overload region is proportionally reduced at very low output frequency on some drive ratings.

The maximum overload level which can be attained is independent of the speed.

2.3 Operating modes

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

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

2. RFC mode

3. Closed loop vector

Servo

4. Regen

2.3.1 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.

For further details refer to section 8.1.1 Open loop motor control on page 106.

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 1Hz for a 50Hz 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 4Hz for a 50Hz motor.

Quadratic V/F mode

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

2.3.2 RFC 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.

For further details, refer to section 8.1.2 RFC mode on page 108.

2.3.3 Closed loop vector mode

For use with induction motors with a feedback device installed. The drive directly controls the speed of the motor using the feedback

device to ensure the rotor speed is exactly as demanded. Motor flux is accurately controlled at all times to provide full torque all the way down to zero speed.

2.3.4 Servo

For use with permanent magnet brushless motors with a feedback device installed.

The drive directly controls the speed of the motor using the feedback device to ensure the rotor speed is exactly as demanded. Flux control is not required because the motor is self excited by the permanent magnets which form part of the rotor.

Absolute position information is required from the feedback device to ensure the output voltage is accurately matched to the back EMF of the motor. Full torque is available all the way down to zero speed.

2.3.5 Regen

Free Standing drives are not intended to be used in regen mode.

2.4 Compatible encoders

Table 2-6 Encoders compatible with Unidrive SP

Encoder type

Quadrature incremental encoders with or without marker pulse

Quadrature incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse

Forward / reverse incremental encoders with or without marker pulse

Forward / reverse incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse

Frequency and direction incremental encoders with or without marker pulse

Frequency and direction incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse

Sincos incremental encoders SC (6) Heidenhain sincos encoders with Endat comms for

absolute position Stegmann sincos encoders with Hiperface comms

for absolute position Sincos encoders with SSI comms for absolute

position SSI encoders (Gray code or binary) SSI (10) Endat comms only encoders EndAt (8) UVW commutation only encoders* Ab.SErvo (3)

* This feedback device provides very low resolution feedback and should not be used for applications requiring a high level of performance

Pr 3.38 setting

Ab (0)

Ab.SErvo (3)

Fr (2)

Fr.SErvo (5)

Fd (1)

Fd.SErvo (4)

SC.EndAt (9)

SC.HiPEr (7)

SC.SSI (11)

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Safety

Ground

connections

Ground

connections

Motor

connections

Braking terminals

(optional)

Internal fuse

location

Braking terminals

(optional)

Motor

connections

Internal fuse

location

AC supply

connections

Rating

label

Solutions Module slot 2

SMARTCARD slot

Keypad connection

Serial port connector

Encoder connection

Control terminals

Solutions Module slot 1

Solutions Module slot 3

Status LED

Relay terminals

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2.5 Drive features

Figure 2-4 Features of the size 6 and 7 Free Standing drive

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Page 14

Safety

Motor

connections

AC supply

connections

24V power

supply

Ground

connections

Internal fuse

location

SMARTCARD slot

Keypad connection

Encoder connection

Ratings

label

Brake

connections

(optional)

Motor

connections

Brake

connections

(optional)

Status LED Rating label

Solutions Module slot1

Serial port connector

Relay terminals

Control terminals

Solutions Module slot 2 Solutions Module slot 3

AC supply

connections

Internal fuse

location

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Figure 2-5 Features of the size 8 and 9 Free Standing drive

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14 Unidrive SP Free Standing User Guide

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Safety

Model

Heavy Duty / Normal Duty power rating

Customer and date code

Approvals

Please read manual before connecting.

SP8414 315/355kW

STDN39

Electric Shock Risk: Wait 10 mins between disconnecting supply & removing covers

Serial No: 3000005001

Made in U.K

Serial number

SP 150 TH

I/P 380-480V 50-60Hz 3ph 678A O/P 0-480V

540/620A

Input voltage

Output voltage

Input

frequency

No. of phases & Typical input current for Normal Duty rating

Heavy Duty /

Normal Duty

rating output current

www.controltechniques.com

CUS

LISTED8D14

IND. CONT. EQ.

E171230

CE approval Europe

C Tick approval Australia

UL / cUL approval

USA &

Canada

Key to approvals

CT Comms cable

Feedback Automation Fieldbus

Keypad

SMARTCARD*

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2.6 Nameplate description

See Figure 2-1 and Figure 2-2 for location of the drive rating labels.

Figure 2-6 Typical drive rating label

2.7 Options

Figure 2-7 Options available with Unidrive SP

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* A SMARTCARD is provided as standard. For further information, refer to Chapter 9 SMARTCARD operation on page 119.

Unidrive SP Free Standing User Guide 15 Issue Number: 1 www.controltechniques.com

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Safety

Inputs Outputs

• Incremental encoders • Quadrature

• SinCos encoders • Frequency and direction

• SSI encoders • SSI simulated outputs

• EnDat encoders

• Digital inputs x 3

• Analog output (voltage) x 1

• Digital I/O x 3 • Relay x 2

• Analog inputs (voltage) x 2

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All Solutions Modules are color-coded in order to make identification easy. The following table shows the color-code key and gives further details on their function.

Table 2-7 Solutions Module identification

Type Solutions Module Color Name Further Details

Universal Feedback interface

Feedback interface for the following devices:

Light Green

SM-Universal Encoder Plus

Resolver interface

Light Blue SM-Resolver

Feedback interface for resolvers. Simulated quadrature encoder outputs

Incremental encoder interface

Feedback

Brown SM-Encoder Plus

Feedback interface for incremental encoders without commutation signals. No simulated encoder outputs available

Incremental encoder interface

Feedback interface for incremental encoders without commutation signals. Simulated encoder output for quadrature, frequency and

Dark Brown

SM-Encoder Output Plus

direction signals

Drive encoder input converter

Provides screw terminal interface for encoder wiring and spade terminal for shield

Single ended encoder interface

Provides an interface for single ended ABZ or UVW encoder signals, such as those from hall effect sensors. 15V and 24V versions are available.

N/A

15-way D-type converter

Single ended encoder interface (15V or 24V)

Extended I/O interface

Increases the I/O capability by adding the following to the

Yellow SM-I/O Plus

existing I/O in the drive:

Automation

(I/O

Expansion)

Yellow SM-I/O 32

Dark Yellow SM-I/O Lite

Dark Red SM-I/O Timer

Turquoise SM-I/O PELV

Olive SM-I/O 120V

Cobalt Blue

SM-I/O 24V Protected

Extended I/O interface

Increase the I/O capability by adding the following to the existing I/O in the drive:

• High speed digital I/O x 32

• +24V output

Additional I/O

1 x Analog input (± 10V bi-polar or current modes) 1 x Analog output (0-10V or current modes) 3 x Digital input and 1 x Relay

Additional I/O with real time clock

As per SM-I/O Lite but with the addition of a Real Time Clock for scheduling drive running

Isolated I/O to NAMUR NE37 specifications

For chemical industry applications 1 x Analog input (current modes) 2 x Analog outputs (current modes) 4 x Digital input / outputs, 1 x Digital input, 2 x Relay outputs

Additional I/O conforming to IEC 61131-2 120Vac

6 digital inputs and 2 relay outputs rated for 120Vac operation

Additional I/O with overvoltage protection up to 48V

2 x Analog outputs (current modes) 4 x Digital input / outputs, 3 x Digital inputs, 2 x Relay outputs

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Table 2-7 Solutions Module identification

Type Solutions Module Color Name Further Details

Applications Processor (with CTNet)

Dark Green SM-Applications

processor for running pre-defined and /or customer created

application software with CTNet support

Applications Processor

White SM-Applications Lite

processor for running pre-defined and /or customer created

application software

Motion Controller

Automation

(Applications)

Dark Blue SM-EZMotion

/2 axis motion controller with processor for running customer

created application specific software

Applications Processor (with CTNet)

Moss Green

SM-Applications Plus

processor for running pre-defined and /or customer created application software with CTNet support. Enhanced performance over SM-Applications

Applications Processor

White

SM-Applications Lite V2

processor for running pre-defined and /or customer created application software. Enhanced performance over SMApplications Lite

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Fieldbus

Purple SM-PROFIBUS-DP

Medium Grey SM-DeviceNet

Dark Grey SM-INTERBUS

Pink SM-CAN

Light Grey SM-CANopen

Red SM-SERCOS

Beige SM-Ethernet

Profibus option

PROFIBUS DP adapter for communications with the drive

DeviceNet option

Devicenet adapter for communications with the drive

Interbus option

Interbus adapter for communications with the drive

CAN option

CAN adapter for communications with the drive

CANopen option

CANopen adapter for communications with the drive

SERCOS option

Class B compliant. Torque velocity and position control modes supported with data rates (bit/s): 2MB, 4MB, 8MB and 16MB. Minimum 250μs network cycle time. Two digital high speed probe inputs 1μs for position capture

Ethernet option

10 base-T / 100 base-T; Supports web pages, SMTP mail and multiple protocols: DHCP IP addressing; Standard RJ45 connection

Brown Red SM-EtherCAT

Pale Green SM-LON

EtherCAT option

EtherCAT adapter for communications with the drive

LonWorks option

LonWorks adapter for communications with the drive

SLM interface

The SM-SLM allows SLM feedback to be connected directly to

SLM Orange SM-SLM

the Unidrive SP drive and allows operation in either of the following modes:

• Encoder only mode

• Host mode

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Table 2-8 Keypad identification

Type Keypad Name Further Details

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SM-Keypad

LED keypad option

Keypad with a LED display for size 1 to 9

Keypad

SM-Keypad Plus

LCD keypad option

Keypad with an alpha-numeric LCD display with Help function

2.8 Items supplied with the drive

The drive is supplied with a printed manual, a SMARTCARD, a safety information booklet, the Certificate of Quality, and a CD ROM containing all related product documentation and software tools. All accessories (e.g. control connectors) are supplied installed to the drive.

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3 Mechanical Installation

This chapter describes how to use all mechanical details to install the drive. Key features of this chapter include:

• Baying of Free Standing drives

• Terminal location and torque settings

• Solutions Module installation

3.1 Safety information

Follow the instructions The mechanical and electrical installation instructions must be adhered to. Any questions or doubt should be referred to the supplier of the equipment. It is the responsibility of the owner or user to ensure that the installation of the drive and any external option unit, and the way in which they are operated and maintained, comply with the requirements of the Health and Safety at Work Act in the United Kingdom or applicable legislation and regulations and codes of practice in the country in which the equipment is used.

Competence of the installer The drive must be installed by professional assemblers who are familiar with the requirements for safety and EMC. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used.

The weights of the size 6 to 9 Free Standing drives are as follows:

Size 6: 199 kg (438 lb) Size 7: 214 kg (471 lb) Size 8: 266 kg (586 lb) Size 9: 532 kg (1173 lb)

Lift the drive by the method detailed in Figure 3-2 on page 20. Do not tilt the drive. The centre of gravity of the unit is high. An overturning unit can cause physical injury.

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Figure 3-1 Removing a Free Standing drive from packaging

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Figure 3-2 Lifting the Free Standing drive

1. Attach “D” shackles to each rope

2. Attach each shackle to the lifting plate. Ensure angle of each rope is

>45°.

3.2 Planning the installation

The following considerations must be made when planning the installation:

3.2.1 Access

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

The standard Free Standing drive is rated for IP21. An IP23 version is also available.

3.2.2 Environmental protection

The drive must be protected from:

• moisture, including dripping water or spraying water and condensation.

• contamination with electrically conductive material

• contamination with any form of dust which may restrict the fan, or impair airflow over various components

• temperature beyond the specified operating and storage ranges

• corrosive gasses

3.2.3 Cooling

The inlet and outlet vents on the drive must not be restricted or covered. The ambient temperature must not exceed the specified operating temperature of the drive. Some size 8 and size 9 models are installed with a fan in the roof of the enclosure.

Care must be taken when installing Unidrive SP Free Standing drives side by side, to prevent recirculation of heated air. Where a Free Standing drive with no roof fan is installed next to a drive with a roof fan it is recommended that some additional baffling be added between the roof canopies to prevent recirculation of heated air in the drive with no roof fan. If no baffling is added between drives fitted with roof fans and those without a distance of 0.5 metres must be maintained between drives.

Certain Unidrive SP size 6 and 7 Free Standing drives are fitted with smaller roof fans, baffling should also be fitted if installed side by side

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with a Unidrive size 8 or 9 Free Standing drive (with larger roof fan) or a distance of 0.5 metres (19.69in) must also be maintained between drives.

A distance of 300mm (11.81in) should be maintained between the top of the Free Standing drive roof canopy and the ceiling of the room in which the Free Standing drive is installed.

Refer to Table 12-8 Roof mounted fans on page 236 for details of which Free Standing models have roof fans fitted.

3.2.4 Electrical safety

The installation must be safe under normal and fault conditions. Electrical installation instructions are given in Chapter 4 Electrical Installation on page 44.

3.2.5 Electromagnetic compatibility

Variable speed drives are powerful electronic circuits which can cause electromagnetic interference if not installed correctly with careful attention to the layout of the wiring.

Some simple routine precautions can prevent disturbance to typical industrial control equipment.

If it is necessary to meet strict emission limits, or if it is known that electromagnetically sensitive equipment is located nearby, then full precautions must be observed. In-built into the drive, is an internal EMC filter, which reduces emissions under certain conditions. If these conditions are exceeded, then the use of an external EMC filter may be required at the drive inputs, which must be located as close to the drive as possible. A suitable location, such as a SP-Incomer Shell, must be made available for the housing filters and allowance made for carefully segregated wiring. Both levels of precautions are covered in section

4.9 EMC (Electromagnetic compatibility) on page 59.

3.2.6 Hazardous areas

The drive must not be located in a classified hazardous area .

3.3 Terminal cover removal

Isolation device The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed.

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

Normally, the capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the capacitors may fail to discharge, or be prevented from being discharged by a voltage applied to the output terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the capacitors will not be discharged. In this case, consult Control Techniques or their authorized distributor.

20 Unidrive SP Free Standing User Guide

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Safety

Control

Input / output

878

Information

Figure 3-3 Location and identification of terminal covers for Free Standing drives

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Unidrive SP Free Standing User Guide 21 Issue Number: 1 www.controltechniques.com

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Safety

Pozi Pz4

Pozi Pz2

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Figure 3-4 Removing the size 6, 7 and 8 terminal covers from the Free Standing drive

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22 Unidrive SP Free Standing User Guide

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Pozi Pz4

Pozi Pz2

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Figure 3-5 Removing the size 9 terminal covers from the Free Standing drive

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Unidrive SP Free Standing User Guide 23 Issue Number: 1 www.controltechniques.com

Page 24

Safety

CAUTION

1 2

Lower mounting hole for DIN80 type fuse

Lower mounting hole for DIN110 type fuse

Upper mounting stud

111

Loosely secure fuse to

lower mounting hole with M10x25 (Hex Head bolt)

Secure fuse to upper mounting stud with M10 nut

Tighten three M10 nut and three M10 hexhead bolts to 12 Nm (8.8 lb ft)

1 1

2 2 2

Loosely secure fuse to

lower mounting hole with M10x25 (Hex Head bolt)

Secure fuse to upper mounting stud with M10 nut

Tighten three M10 nut and three M10 hexhead bolts to 12 Nm (8.8 lb ft)

1 1

2 2 2

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3.4 Installing fuses in a Free Standing drive

Fuses must be installed. Free Standing drives can be ordered with or without mains supply fuses. Factory fitted fuses are indicated by a -F1 suffix after the order code. See section 2.1 Model number on page 8 for more information on order codes. Alternatively mains supply fuses (type DIN80 only) can be purchased separately from Control Techniques. See Table 4-5 on page 55 for further information.

Instructions for installing fuses on 6 pulse drives are shown in shown in section 3.4.1. See section section 3.5.3 Electrical connections for baying a size 9 master to slave for information on installing fuses on 12 pulse drives.

Figure 3-8 Installing DIN80 type fuses

Ensure fuses are aligned with the busbar.

3.4.1 Sizes 6&7 or sizes 8&9 (with date code S17)

Figure 3-6 Size 6&7or sizes 8&9 with date code S17 or earlier

The six M10 nuts holding the fuses must be tightened to a torque of 12N m (8.8lb.ft)

3.4.2 Size 8 & 9 (with date code S18 or later)

Unidrive SP size 8 and 9 Free Standing with date code of S18 or later can accept type DIN80 or type DIN110 fuses.

Figure 3-7 Identification of fuse mounting holes

Figure 3-9 Installing DIN110 type fuses

3.5 Baying Free Standing drives

This section describes how to connect or 'bay' the master and slave drives of a size 9 together, or an incomer to a size 8 or 9 Free Standing drive.

3.5.1 Preparation for baying

The following diagrams show how to prepare the incomer/applications shell and the size 8 / 9 Free Standing drives for baying.

1. Remove all front, rear and side panels as shown. All screws for these are Pozi Pz4

2. Disconnect the ground cable connections from the front, rear and side panels by removing the M6 nuts and star washers.

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Figure 3-10 Preparation for baying the incomer/applications shell

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An incomer shell is supplied with no side panels.

Figure 3-11 Preparation for baying the size 8 Free Standing drive

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Safety

Remove panels as shown

Location of paralleling cable

on size 9 master

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Figure 3-12 Preparation for baying the size 9 Free Standing drive (slave and master)

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The total weight of the size 9 Free Standing drive is: 532 kg (1173 lb), i.e. 266 kg (586 lb) per enclosure. Lift the drive by the method detailed in Figure 3-2 on page 20. Do not tilt the drive. The centre of gravity of the unit is high. An overturning unit can cause physical injury.

26 Unidrive SP Free Standing User Guide

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Safety

Location of rectifier status connector on slave cubicle

Location of rectifier status connector on master

Connect status connections together prior to joining cubicles

Position the Free Standing drive and incomer together

Fix in two places (front and back) with M10 nuts and bolts,

through the lifting plates

Fix in four places (two at the front and two at the back) with

M6 nuts, bolts and washers

Lifting plates M10 fastening (2 places)

1. M10 flange headed set screw

2. M10 nut

3. Incomer frame

4. Free Standing drive frame

Frames M6 fastening (4 places)

1. M6 nut

2. M6 star lock washer

3. In

5. M6 screw

comer frame

Free Standing drive frame

Once the Free Standing drive and incomer are in position they must be bolted to the floor

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Figure 3-13 Location of the rectifier status connectors for size 9 Free Standing drive

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3.5.2 Baying of Free Standing drives / incomers

The following generic drawing demonstrates how to bay any type of Free Standing drive or incomer together.

Figure 3-14 Baying of Free Standing drive and incomer

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3.5.3 Electrical connections for baying a size 9 master to slave

Figure 3-15 Installing the parallel cable from a size 9 master to slave

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1. Remove size 9 slave interface cover

2. Connect the paralleling cable to the size 9 slave input slot

3. Replace size 9 slave interface cover

4. Replace all size 9 Free Standing drive panels

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4 5

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6 pulse size 9 input busbar connections

Figure 3-16 Input busbar connections between the 6 pulse size 9 master and slave (and incomer)

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1. Master and slave cubicles bayed together From the size 9 baying kit:

2. Fit the safety ground link with (M10 nuts) (torque 20Nm [14.75 lb ft])

3. Fit the incomer EMC plate with (M8 x 20 screws) (torque 12Nm [8.85 lb ft])

4. & 5. Fit the input parallel busbar with (M8 x 20 screws) (torque 17Nm [12.5 lb ft]); and M6 x 30 insulating spacer with (M6 x 12 screws) (torque 12Nm [8.85 lb ft])

6. Fit the input parallel busbar with (M8 x 20 screws) (torque 17Nm [12.5 lb ft])

Unidrive SP Free Standing User Guide 29 Issue Number: 1 www.controltechniques.com

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12 pulse size 9 input busbar connections

Figure 3-17 Input busbar connections between the 12 pulse size 9 master and slave (and incomer)

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1. Fit the safety ground busbar (top) with supplied M10 nuts and EMC gland joining plate (bottom) with existing M8x20 torx screws

2. a) Fit the following to the size 8 or 9 slave cubicle: Safety ground busbar (top) with 2 x M10 nuts and EMC baying plate (bottom) with supplied 2 x M8x20 torx screws and 2 x M8 nuts b) Mechanically bay the 12 pulse incomer cubicle c) Complete safety and EMC ground connections: Fit supplied 2 x M10 nuts and M10 x 25 bolts to connect safety ground busbar. Also fit 2 x M8x20 torx screws and M8 nuts to connect EMC baying plate to 12 pulse incomer cubicle.

3. Fit: 2 x 12 pulse busbar fuse links with supplied M6x16 torx screws

4. Fit: 2 x 12 pulse busbars, 4 x 30mm insulator, 6 x M6x16 screws, 4 x M8x20 screws, L1(A) terminal marker

Pre-fit insulators to busbars before fitting to cubicle.

30 Unidrive SP Free Standing User Guide

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5. Fit 400A fuses with 4 x M10 nuts supplied

Factory fitted fuses are available as a selectable option, alternatively fuses can be ordered and supplied separately. It is recommended to fit the fuses integral with this baying procedure. The fuses can be easily independently removed should the need arise when in service.

6. Fit: 2 x 12 pulse busbars, 2 x 12 pulse busbar fuse links, 4 x 30mm insulators, 8 x M6x16 torx screws, 4 x M8x20 torx screws, 4 x M10 nuts to fit

400A fuses, L2(A) terminal marker

7. Fit: 2 x 12 pulse busbars, 2 x 12 pulse busbar fuse links, 4 x M6x16 torx screws, 4 x M8x20 torx screws, 4 x M10 nuts to fit 400A fuses, L3(A) terminal

marker

8. Repeat procedure for fitting L1(B), L2(B) and L3(B) input busbars

3.5.4 Electrical connections for baying an incomer to size 8 and 9

The following diagrams look at specific features of baying a 6 pulse incomer to a 6 pulse drive, and baying the master and slave cabinets of a 6 pulse size 9 together. All images show the appropriate components exploded and installed.

Figure 3-18 Baying a 6 pulse incomer to a 6 pulse Free Standing drive (size 8 shown)

1. Install paralleling busbars from incomer to the Free Standing drive input terminals and mount with M8 screws (17 N m, [12.5 lb.ft])

2. Install EMC bracket when EMC filter required

3. Install ground clamp

3.5.5 Gland plate removal

The images below shows how to remove the gland plate from a Free Standing drive.

Figure 3-19 Removing the cable gland plate from the Free Standing drive for "glanding off" the cable

Unidrive SP Free Standing User Guide 31 Issue Number: 1 www.controltechniques.com

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Safety

600mm

(23.622in)

520mm

(20.472in)

315mm (12.402in)

404.6mm (15.929in)

∅

20mm (0.787in)

400mm

(15.748in)

600mm

(23.622in)

2209.0mm

(86.7in)

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3.6 Free standing drive dimensions

Figure 3-20 Incomer/applications shell dimensions

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32 Unidrive SP Free Standing User Guide

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630mm

(24.80in)

400mm

(15.75in)

404.6mm (15.93in)

315mm

(12.40in)

∅

20mm (0.79in)

520mm

(20.47in)

600mm

(23.62in)

2330mm

(91.73in)

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Figure 3-21 Size 6 and 7 drives with integral line side options

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Unidrive SP Free Standing User Guide 33 Issue Number: 1 www.controltechniques.com

Page 34

Safety

400mm

(15.748in)

600mm

(23.622in)

2209mm

(86.7in)

600mm

(23.622in)

520mm

(20.472in)

315mm (12.402in)

404.6mm (15.929in)

∅

20mm (0.787in)

7 8

Dimensions shown above are for IP21 drives

Note:-

Dimensions for IP23 drives are:-

H - 2248.5 mm (88.521 in) D - 653 mm (25.70 in) W =- 404.6 mm (15.929 in)

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Figure 3-22 Size 6, 7 and 8 Free Standing drive dimensions

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34 Unidrive SP Free Standing User Guide

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Safety

800mm

(31.496in)

600mm

(23.622in)

2205mm

(86.811in)

600mm

(23.622in)

520mm

(20.472in)

∅

20mm (0.787in)

89.60mm (3.528in)

719.60mm (28.331in)

809.20mm (31.858in)

Dimensions shown above are for IP21 drives

Note:-

Dimensions for IP23 drives are:-

H - 2248.5 mm (88.521 in) D - 653 mm (25.70 in) W - 809.2 mm (31.85 in)

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Figure 3-23 Size 9 Free Standing drive dimensions

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Unidrive SP Free Standing User Guide 35 Issue Number: 1 www.controltechniques.com

Page 36

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NOTE

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3.7 External EMC filter

In order to provide our customers with a degree of flexibility, external EMC filters have been sourced from two manufacturers: Schaffner & Epcos. Filter details for each drive rating are provided in the tables below. Both the Schaffner and Epcos filters meet the same specifications

Table 3-1 Size 6 and 7 Free Standing drive EMC filter details

Drive

CT part no Weight

Epcos

SP64X1 4200-6815 15 kg (33.0 lb) SP64X2 4200-6816 21 kg (46.3 lb) SP66X1 4200-6804 21 kg (46.3 lb) SP66X2 4200-6804 21 kg (46.3 lb) SP74X1 4200-6817 21 kg (46.3 lb) SP74X2 4200-6817 21 kg (46.3 lb) SP76X1 4200-6804 21 kg (46.3 lb) SP76X2 4200-6804 21 kg (46.3 lb)

Table 3-2 Size 8 and 9 Free Standing drive EMC filter details for 6 pulse drives

Drive

CT part no. Weight CT part no. Weight

Schaffner Epcos

SP84X1 4200-6808 11 kg (25.3 lb) 4200-6801 22 kg (48.5 lb) SP84X2 4200-6808 11 kg (25.3 lb) 4200-6801 22 kg (48.5 lb) SP84X3 4200-6808 11 kg (25.3 lb) 4200-6801 22 kg (48.5 lb) SP84X4 4200-6809 18 kg (39.7 lb) 4200-6802 28 kg (61.7 lb) SP86X1 4200-6811 10.5 kg (23.1 lb) 4200-6804 21 kg (46.3 lb) SP86X2 4200-6811 10.5 kg (23.1 lb) 4200-6804 21 kg (46.3 lb) SP86X3 4200-6812 10.5 kg (23.1 lb) 4200-6805 21 kg (46.3 lb) SP86X4 4200-6812 10.5 kg (23.1 lb) 4200-6805 21 kg (46.3 lb) SP94X1 4200-6809 18 kg (39.7 lb) 4200-6802 28 kg (61.7 lb) SP94X3 4200-6809 18 kg (39.7 lb) 4200-6802 28 kg (61.7 lb) SP94X4 4200-6810 27 kg (59.5 lb) 4200-6803 34 kg (75.0 lb) SP94X5 4200-6810 27 kg (59.5 lb) 4200-6803 34 kg (75.0 lb) SP96X1 4200-6812 10.5 kg (23.1 lb) 4200-6805 21 kg (46.3 lb) SP96X3 4200-6813 11 kg (25.3 lb) 4200-6806 22 kg (48.5 lb) SP96X4 4200-6814 18 kg (39.7 lb) 4200-6807 28 kg (61.7 lb) SP96X5 4200-6814 18 kg (39.7 lb) 4200-6807 28 kg (61.7 lb)

Contact the supplier of the drive for information on EMC filters for 12 pulse drives.

36 Unidrive SP Free Standing User Guide

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Safety

EFHGGCZ

CYV

Y: 12 mm

∅

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Figure 3-24 Size 6 , 7, 8 and 9 EPCOS external EMC filter

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Table 3-3 Size 6, 7, 8 and 9 EPCOS External EMC filter dimensions

CT part no. A B C D E F G H W V Z

4200 - 6804 4200 - 6815 40 mm 190 mm 190 mm 4200 - 6816

300 mm 120±0.5 mm

4200 - 6817 235 mm 4200 - 6801 4200 - 6802

350 mm 145±0.5 mm

4200 - 6803 400 mm 170±0.5 mm 92±3 mm 590±2 mm 4200 - 6805 300 mm 120±0.5 mm 4200 - 6806 4200 - 6807 80 mm 275 mm 3 mm 52±3 mm 454±3 mm Ø14

350 mm 145±0.5 mm

60 mm 260 mm 260 mm

260 mm

2 mm

60 mm 260 mm

3 mm 440±2 mm

80 mm 300 mm 2.5 mm

60 mm

260 mm

275 mm

235 mm 2 mm 42±3 mm

42±2 mm 116 mm

52±3 mm

166 mm

116 mm

390±2 mm

460±2 mm

M10 Ø11

Ø14

M12 384±3 mm Ø11 434±3 mm

M10

Ø11

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EFH

CYV

Y: 12 mm

∅

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Figure 3-25 Size 8 and 9 Schaffner external EMC filter

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Table 3-4 Schaffner External EMC filter dimensions

CT part no. A B C D E F G H W V Z

4200-6808

4200-6811

300±1 mm 120±1 mm

4200-6813 4200-6809

350±1 mm 145±1 mm 280±1 mm 255 mm

4200-6810 400±1 mm 170±1 mm 300±1 mm 275 mm 90 mm 160 mm 580 mm

142 mm

260±1 mm 235 mm 2 mm 40 mm

60 mm

3 mm

50 mm 177 mm 450 mm

122 mm4200-6812

380 mm

Ø10.5

M12

Ø144200-6814

38 Unidrive SP Free Standing User Guide

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Safety

M10 nut 17mm AF

Output

terminals

Input terminals

M10 nut and bolt

Ground

terminals

Internal fuse

location

M10 nut 17mm AF

M10 nut

17mm AF

Output

terminals

M10 nut

and bolt

Ground

terminals

Internal fuse

location

M10 nut

17mm AF

Input terminals

M10 nut

17mm AF

Control terminals

2.5mm

Relay terminals

3mm

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3.8 Electrical terminals

3.8.1 Location of the power and ground terminals

Figure 3-26 Location of power and ground terminals on Free Standing drives sizes 6 & 7

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Unidrive SP Free Standing User Guide 39 Issue Number: 1 www.controltechniques.com

Page 40

Safety

Control terminals

2.5mm

Relay terminals

3mm

M10 nut 17mm AF

M10 nut

17mm AF

10.5mm

Output

terminals

Output

terminals

Input busbar

Internal fuse

location

M10 nut 17mm AF

Internal fuse

location

M10 nut

17mm AF

M10

Ground stud

10.5mm

Input busbar

M10

Ground stud

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Figure 3-27 Locations of the power and ground terminals on Free Standing drives sizes 8 and 9

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40 Unidrive SP Free Standing User Guide

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WAR NING

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3.8.2 Terminal sizes and torque settings

To avoid a fire hazard and maintain validity of the UL listing, adhere to the specified tightening torques for the power and ground terminals. Refer to the following tables.

Table 3-5 Drive control and relay terminal data

Model Connection type Torque setting

All Plug-in terminal block 0.5 N m (0.4 lb ft)

Tab l e 3-6 Te r mina l dat a

Model

AC terminals

size

6 2 x M10 2 x M10 7 2 x M10 2 x M10

2 x M10 clearance holes per

phase for parallel cables.

Torque tolerance ±10%

Table 3-7 EPCOS external EMC filter terminal data

DC and braking

terminals

Internal fuse

12 N m

(8.8 lb ft)

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CT Part

Number

Power

Connections

Max Torque

Ground Connections

Ground

Stud Size

Max torque

4200 - 6804 30 N m M10 10 N m (7.4 lb ft) 4200 - 6815 30 N m M10 10 N m (7.4 lb ft) 4200 - 6816 30 N m M10 10 N m (7.4 lb ft) 4200 - 6817 30 N m M10 10 N m (7.4 lb ft) 4200 - 6801 30 N m M10 10 N m (7.4 lb ft) 4200 - 6802 60 N m M12 15.5 N m (11.4 lb ft) 4200 - 6803 60 N m M12 15.5 N m (11.4 lb ft) 4200 - 6805 30 N m M10 10 N m (7.4 lb ft) 4200 - 6806 30 N m M10 10 N m (7.4 lb ft) 4200 - 6807 60 N m M12 15.5 N m (11.4 lb ft)

Table 3-8 Schaffner external EMC Filter terminal data

CT part number

Power

connections

Ground connections

Max torque Ground stud size Max torque

4200-6808 48 N m M12 4200-6811 48 N m M12 4200-6812 48 N m M12 4200-6813 48 N m M12 4200-6809 83 N m M12 4200-6814 83 N m M12 4200-6810 83 N m M12

Unidrive SP Free Standing User Guide 41 Issue Number: 1 www.controltechniques.com

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Safety

CAUTION

Solutions Module in slot 1

Solutions Module in slot 2

Solutions Module

in slot 3

NOTE

BAA

NOTE

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3.9 Solutions Module installation / removal

Power down the drive before installing / removing the Solutions Module. Failure to do so may result in damage to the product.

Figure 3-28 Installation and removal of a Solutions Module

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To install the Solutions Module, press down in the direction shown above until it clicks into place. To remove the Solutions Module, press inwards at the points shown (A) and pull in the direction shown (B). The drive has the facility for all three Solutions Module slots to be used at the same time, as illustrated.

It is recommended that the Solutions Module slots are used in the following order: slot 3, slot 2 and slot 1.

Figure 3-29 Installation and removal of a keypad

To install, align the keypad and press gently in the direction shown until it clicks into position. To remove, while pressing the tabs inwards (A), gently lift the keypad in the direction indicated (B).

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

42 Unidrive SP Free Standing User Guide

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3.10 Routine maintenance

The drive should be installed in a cool, clean, well ventilated location. Contact of moisture and dust with the drive should be prevented.

Regular checks of the following should be carried out to ensure drive / installation reliability are maximized:

Environment

Ambient temperature Ensure the enclosure temperature remains at or below maximum specified

Dust

Moisture Ensure the drive enclosure shows no signs of condensation

Electrical

Screw connections Ensure all screw terminals remain tight

Crimp terminals

Cables Check all cables for signs of damage

Ensure the drive remains dust free – check that the heatsink and drive fan are not gathering dust. The lifetime of the fan is reduced in dusty environments.

Ensure all crimp terminals remains tight – check for any discoloration which could indicate overheating

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4 Electrical Installation

Many cable management features have been incorporated into the product, this chapter shows how to optimize them. Key features include:

• SAFE TORQUE OFF (SECURE DISABLE) function

• EMC compliance with shielding / grounding accessories

• Product rating, fusing and cabling information

• Brake resistor details (selection / ratings)

Electric shock risk

The voltages present in the following locations can cause severe electric shock and may be lethal:

• AC supply cables and connections

• DC and brake 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.

Isolation device

The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed.

STOP function

The STOP function does not remove dangerous voltages from the drive, the motor or any external option units.

Fuses

The AC supply to the drive must be installed with suitable protection against overload and short circuits. Table 4-3 on page 54 shows the recommended fuse ratings. Failure to observe this requirement will increase the risk of fire.

SAFE TORQUE OFF (SECURE DISABLE) function

The SAFE TORQUE OFF (SECURE DISABLE) function does not remove dangerous voltages from the drive, the motor or any external option units.

Stored charge

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

Equipment supplied by plug and socket

Special attention must be given if the drive is installed in equipment which is connected to the AC supply by a plug and socket. The AC supply terminals of the drive are connected to the internal capacitors through rectifier diodes which are not intended to give safety isolation. If the plug terminals can be touched when the plug is disconnected from the socket, a means of automatically isolating the plug from the drive must be used (e.g. a latching relay).

Permanent magnet motors

Permanent magnet motors generate electrical power if they are rotated, even when the supply to the drive is disconnected. If that happens then the drive will become energized through its motor terminals. If the motor load is capable of rotating the motor when the supply is disconnected, then the motor must be isolated from the drive before gaining access to any live parts.

44 Unidrive SP Free Standing User Guide

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Safety

Input connections

Mains

Supply

L1 L2

Optional EMC

filter

Fuses

Supply

ground

L3L2L1

Fuses*

Motor

Optional ground

connection

Output connections

Thermal

overload

protection

device

Optional (SPxx1x brake versions only)

+DC

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4.1 Power connections

4.1.1 AC and DC connections

Figure 4-1 Unidrive SP size 6 Free Standing drive power connections

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* Free Standing drives are available fitted with or without fuses. If cubicles are supplied without fuses, the user must fit them during the installation. Fuses may be purchased from Control Techniques, see Figure 4-3 on page 54, Figure 4-4 on page 54 and Figure 4-5 on page 55 for more information.

** Cable shield must be bonded to gland plate.

Unidrive SP Free Standing User Guide 45 Issue Number: 1 www.controltechniques.com

Page 46

Safety

Motor

Optional ground connection

Output connections

Input connections

Mains

Supply

L1 L2

Optional EMC

filter

Fuses

Supply

ground

L3L2L1

Fuses*

Thermal

overload

protection

device

Optional (SP7x1x brake versions only)

+DC

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Figure 4-2 Unidrive SP size 7 Free Standing drive power connections

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** Cable shield must be bonded to gland plate.

46 Unidrive SP Free Standing User Guide

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Safety

WVU

Motor

Optional ground connection

Output connections

Input connections

Mains

Supply

L1 L2

Optional EMC

filter

Fuses

Supply

ground

L3L2L1

Fuses*

BR+DC

Per cubicle (SP8x1x brake versions only)

Thermal

overload

protection

device

Thermal overload

protection

device

Information

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Installation

Figure 4-3 Unidrive SP size 8 Free Standing drive power connections

Electrical

Installation

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** Cable shield must be bonded to gland plate.

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Page 48

Safety

WVU

Output connections

Input connections

Mains

Supply

L1 L2

Optional EMC

filter

Fuses

Supply

ground

L3L2L1

Fuses*

WVU

Motor

Optional ground

connection

Mains

Supply

L1 L2

Optional EMC

filter

Fuses

Supply

ground

L3L2L1

Fuses*

Both motor cables must be the

same length. The minimum cable

length between motor and drive is

15m. Consult the supplier of the

drive if shorter cables are required.

CAUTION

BR+DC

Per cubicle (SP9x1x brake versions only)

Thermal overload

protection

device

Thermal overload

protection

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Figure 4-4 Unidrive SP size 9 Free Standing drive power connections

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** Cable shield must be bonded to gland plate.

48 Unidrive SP Free Standing User Guide

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Ground

connections

Ground

connections

6 7

WAR NING

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4.1.2 Ground connections

Figure 4-5 Unidrive SP size 6 and 7 Free Standing drive ground

connections

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Figure 4-6 Unidrive SP size 8 and 9 Free Standing drive ground

connections

The ground loop impedance must conform to the requirements of local safety regulations.

The drive must be grounded by a connection capable of carrying the prospective fault current until the protective device (fuse, etc.) disconnects the AC supply.

The ground connections must be inspected and tested at appropriate intervals.

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WARNING

100

----------

-------

2π f I

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

×=

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4.2 AC supply requirements

Voltage:

SPx4xx 380V to 480V ±10%

SPx6xx 500V to 690V ±10% Number of phases: 3 Maximum supply imbalance: 2% negative phase sequence (equivalent

to 3% voltage imbalance between phases). Frequency range: 48 to 65 Hz For UL compliance only, the maximum supply symmetrical fault current

must be limited to 100kA

4.2.1 Supply types

Drives rated for supply voltage up to 575V are suitable for use with any supply type, i.e. TN-S, TN-C-S, TT, IT, with grounding at any potential, i.e. neutral, centre or corner ("grounded-delta").

Grounded delta supplies >575V are not permitted. Drives are suitable for use on supplies of installation category III and

lower, according to IEC60664-1. This means they may be connected permanently to the supply at its origin in a building, but for outdoor installation additional over-voltage suppression (transient voltage surge suppression) must be provided to reduce category IV to category III.

Operation with IT (ungrounded) supplies:

Special attention is required when using internal or external EMC filters with ungrounded supplies, because in the event of a ground (earth) fault in the motor circuit the drive may not trip and the filter could be over-stressed. In this case, either the filter must not be used (removed) or additional independent motor ground fault protection must be provided. Refer to Table 4-1. For details of ground fault protection contact the supplier of the drive.

A ground fault in the supply has no effect in any case. If the motor must continue to run with a ground fault in its own circuit then an input isolating transformer must be provided and if an EMC filter is required it must be located in the primary circuit.

Unusual hazards can occur on ungrounded supplies with more than one source, for example on ships. Contact the supplier of the drive for more information.

Table 4-1 Behavior of the drive in the event of a motor circuit ground

Drive size Internal filter only

(earth) fault with an IT supply

External filter (in addition

to the internal filter)

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• Large DC drives having no or inadequate line reactors connected to the supply.

• Direct-on-line started motor(s) connected to the supply such that when any of these motors are started, the voltage dip exceeds 20%.

Such disturbances may cause excessive peak currents to flow in the input power circuit of the drive. This may cause nuisance tripping, or in extreme cases, failure of the drive.

Drives of low power rating may also be susceptible to disturbance when connected to supplies with a high rated capacity.

All Free Standing drives have internal AC line chokes, so they do not require additional AC line reactors except for cases of excessive phase unbalance or extreme supply conditions.

When required, each drive must have its own reactor(s). Three individual reactors or a single three-phase reactor should be used.

Reactor current ratings

The current rating of the line reactors should be as follows: Continuous current rating:

Not less than the continuous input current rating of the drive

Repetitive peak current rating:

Not less than twice the continuous input current rating of the drive

4.2.3 Input inductor calculation.

To calculate the inductance required (at Y%), use the following equation:

Where:

I = drive rated input current (A)

L = inductance (H) f = supply frequency (Hz) V = voltage between lines

May not trip – precautions required

• Do not use EMC filter

• Use ground leakage relay

6 to 9

May not trip – precautions required

• Remove the EMC filter

• Use ground leakage relay

4.2.2 Supplies requiring line reactors

Input line reactors reduce the risk of damage to the drive resulting from poor phase balance or severe disturbances on the supply network.

Where line reactors are to be used, reactance values of approximately 2% are recommended. Higher values may be used if necessary, but may result in a loss of drive output (reduced torque at high speed) because of the voltage drop.

For all drive ratings, 2% line reactors permit drives to be used with a supply unbalance of up to 3.5% negative phase sequence (equivalent to 5% voltage imbalance between phases).

Severe disturbances may be caused by the following factors, for example:

• Power factor correction equipment connected close to the drive.

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Internal wiring to internal 240V fan

User wiring

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4.3 Auxiliary power supply

Model sizes 8 and 9 with date code Q45 and earlier, require an auxiliary 230V power supply to each enclosure for the roof fan (mounted to SP8XX4 and SP9XX5) and to feed the internal 24V power supply. The 24V power supply is used to supply the rectifier control electronics and the heatsink fans on the power module.

Figure 4-7 Location of size 8 and 9 Free Standing drive 24V power

supply

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Figure 4-8 SP8XX4 and SP9XX5 24V power supply

For all size 6 & 7, and size 8 & 9 units that have a date code of R48 and later, a mains transformer has been introduced for Unidrive SP 8XXX and 9XXX Free Standing drives. The new transformer eliminates the requirement for a separate external 230V power source. A connection from the L1 and L2 input phases is transformed to 230V single phase to supply the AC to DC 24V power supply and directly supply the 230Vac roof fan in the SP84x4 and SP94x5 models.

CT part number: 8510-0000 Current rating: 10A Input voltage: 85 to 123 / 176 to 264Vac auto switching

Cable size: 0.5mm

(20AWG)

Supply fuse: 5A slow-blow For the SP8XX4 and SP9XX5 models, the design of the 24V power

supply is different due to the additional fan on the Free Standing drive roof, as shown in Figure 4-8.

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Figure 4-9 Location of size 8 and 9 Free Standing drive mains transformer

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The transformer has a number of selectable input voltages. As standard, the spur connection from the L1 phase is now parked in the lower right hand terminal during shipment. This parked terminal is not connected to any of the primary windings, therefore depending on variances in the 400V or 690V supply, this cable must be connected by the user to either the 380V, 400V, 480V, 575V or 690V connection.

Until the cable is moved from the parked position to the terminals identified above, the drive will not power up using the three phase supply. The ground and 0V wires are also pre-fitted and must not be changed.

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4.4 Control 24Vdc supply

The 24Vdc input on the Unidrive SP has three main functions.

• It can be used to supplement the drive’s own internal 24V when multiple SM-Universal Encoder Plus, SM-Encoder Output Plus or SM-I/O Plus or SM-I/O32 modules are being used, and the current drawn by these modules is greater than the drive can supply. (If too much current is drawn from the drive, the drive will initiate a 'PS.24V' trip).

• It can be used as a back-up power supply to keep the control circuits of the drive powered up when the line power supply is removed. This allows any fieldbus modules, application modules, encoders or serial communications to continue to operate.

• It can be used to commission / start the drive when line power supply voltages are not available, as the display operates correctly. However, the drive will be in the UV trip state unless the line power supply is present, therefore diagnostics may not be possible. (Power down save parameters are not saved when using the 24V back-up power supply input).

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

Maximum continuous operating voltage: 30.0 V Minimum continuous operating voltage: 19.2 V Nominal operating voltage: 24.0 V Minimum start up voltage: 21.6 V Maximum power supply requirement at 24V: 60 W Recommended fuse: 3 A, 50 Vdc

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

4.5 Ratings

The input current is affected by the supply voltage and impedance.

Typical input current

The values of typical input current are given to aid calculations for power flow and power loss. The values of typical input current are stated for a balanced supply.

Maximum continuous input current

The values of maximum continuous input current are given to aid the selection of cables and fuses. These values are stated for the worst case condition with the unusual combination of stiff supply with bad balance. The value stated for the maximum continuous input current would only be seen in one of the input phases. The current in the other two phases would be significantly lower.

The values of maximum input current are stated for a supply with a 2% negative phase-sequence imbalance and rated at the supply fault current given in Table 4-2.

Table 4-2 Supply fault current used to calculate maximum input currents

Model Symmetrical fault level (kA)

All 100

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Table 4-3 400V Free Standing drive input current, fuse and cable size rating

Cable size

EN60204 UL508C

Output

Installation

method

Input/ Output

kcmil/AWG

Model

Maximum

input

current

HRC fuse or breaker

Breaker

Rating

HRC

IEC class

HRC

class J

Semi-

conductor

IEC class aR

AAAA A

Input

Installation

method

SP64X1 185 400 250 250 400 1 x 95 C 1 x 120 C 1 x 300 kcmil SP64X2 213 400 300 300 400 1 x 120 C 1 x 150 C 1 x 350 kcmil SP74X1 262 400 400 400 400 1 x 185 C 1 x 185 C 1 x 500 kcmil SP74X2 302 630 425 450 400 1 x 240 C 1 x 240 C 2 x 4/0 AWG SP84X1 351 630 500 500 400 2 x 120 C 2 x 150 C 2 x 250 kcmil SP84X2 406 630 630 600 800 2 x 150 C 2 x 185 C 2 x 300 kcmil SP84X3 492 800 800 SP84X4 599 1000 800 SP94X1 622 1000 1000 SP94X3 713 1250 1250 SP94X4 812 1600 1250

SP94X5 911 1600 1600 SP84X1-P12 2 x 175 2 x 250 250 SP84X2-P12 2 x 203 2 x 400 300 SP84X3-P12 2 x 246 2 x 400 400 SP84X4-P12 2 x 299 2 x 400 425 SP94X1-P12 2 x 311 2 x 630 425 SP94X3-P12 2 x 356 2 x 630 500 SP94X4-P12 2 x 406 2 x 630 630 SP94X5-P12 2 x 455 2 x 800 800

800 2 x 240 C 2 x 240 C 2 x 500 kcmil 800 2 x 240 C 3 x 185 C 3 x 300 kcmil 400 4 x 150 C 4 x 185 C 3 x 350 kcmil 800 4 x 240 C 4 x 240 C 3 x 500 kcmil 800 4 x 240 C 4 x 240 F 3 x 500 kcmil 800 4 x 240 F 4 x 240 G 3 x 500 kcmil 400 2 x 120 C 2 x 150 C 2 x 250 kcmil 400 2 x 150 C 2 x 185 C 2 x 300 kcmil 400 2 x 240 C 2 x 240 C 2 x 500 kcmil 400 2 x 240 C 4 x 150 C 3 x 300 kcmil 400 4 x 150 C 4 x 185 C 3 x 350 kcmil 400 4 x 240 C 4 x 240 C 3 x 500 kcmil 400 4 x 240 C 4 x 240 F 4 x 500 kcmil 400 4 x 240 F 4 x 240 G 4 x 500 kcmil

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Table 4-4 690V Free Standing drive input current, fuse and cable size rating

Cable size

Output

Installation

method

Input/ Output

kcmil/AWG

Model

Maximum

input

current

HRC fuse or breaker

Breaker

Rating

HRC

IEC

class gG

class J

Semi-

conductor

IEC class aR

AAAA A

Input

EN60204 UL508C

Installation

method

SP66X1 113 400 300 300 400 1 x 50 C 1 x 50 C 1 x 2/0 AWG

SP66X2 130 400 300 300 400 1 x 70 C 1 x 70 C 1 x 3/0 AWG

SP76X1 152 400 250 250 400 1 x 70 C 1 x 95 C 1 x 4/0 AWG

SP76X2 173 400 250 250 400 1 x 95 C 1 x 95 C 1 x 250 kcmil

SP86X1 208 400 300 300 400 1 x 120 C 1 x 150 C 1 x 350 kcmil

SP86X2 240 400 350 350 800 1 x 150 C 1 x 185 C 1 x 400 kcmil

SP86X3 281 400 400 400 800 1 x 185 C 1 x 240 C 2 x 3/0 AWG

SP86X4 320 630 500 500 800 1 x 240 C 2 x 120 C 2 x 4/0 AWG

SP96X1 361 630 500 500 800 2 x 150 C 2 x 150 C 2 x 250 kcmil

SP96X3 481 800 800

SP96X4 556 800 800

SP96X5 641 1000 1000

800 2 x 240 C 2 x 240 C 2 x 400 kcmil 800 2 x 240 C 4 x 150 C 3 x 300 kcmil

800 4 x 150 C 4 x 185 C 3 x 350 kcmil SP86X1-P12 2 x 104 2 x 250 200 200 400 2 x 70 C 2 x 70 C 1 x 350 kcmil SP86X2-P12 2 x 120 2 x 400 200 200 400 2 x 70 C 2 x 95 C 1 x 400 kcmil SP86X3-P12 2 x 140 2 x 400 250 225 400 2 x 95 C 2 x 120 C 2 x 3/0 AWG SP86X4-P12 2 x 160 2 x 400 250 250 400 2 x 120 C 2 x 120 C 2 x 4/0 AWG SP96X1-P12 2 x 180 2 x 400 250 250 400 2 x 150 C 2 x 150 C 2 x 250 kcmil SP96X3-P12 2 x 240 2 x 400 350 350 400 2 x 240 C 2 x 240 C 2 x 400 kcmil SP96X4-P12 2 x 278 2 x 400 400 400 400 2 x 240 C 4 x 150 C 3 x 300 kcmil SP96X5-P12 2 x 320 2 x 630 500 500 400 4 x 150 C 4 x 185 C 3 x 350 kcmil

The Semiconductor IEC class aR fuses for sizes 6, 7, 8 and 9 drives must be installed within the enclosure, see Figure on page 24. These parts may be purchased from Control Techniques, see Table 4-5.

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Table 4-5 Fuses

Fuse IEC aR Part No.

400A 4300-0400 800A 4300-0800

Table 4-6 Installation class

Key to the cable installation method (ref: IEC60364-5-52:2001)

B1 Separate Cables in Conduit B2 Multi-core cable in conduit

C Multi-core cable in free-air E On perforated tray F Separate cables bunched in groups of three, in free air

G Individual cables separated vertically in free air

Cable sizes are from IEC60364-5-52:2001 table A.52.C with correction factor for 40°C ambient of 0.87 (from table A52.14) for cable installation method B2 (multicore cable in conduit).

Cable size may be reduced if a different installation method is used, or if the ambient temperature is lower.

The recommended cable sizes above are only a guide. The mounting and grouping of cables affects their current-carrying capacity, in some cases smaller cables may be acceptable but in other cases a larger cable is required to avoid excessive temperature or voltage drop. Refer to local wiring regulations for the correct size of cables.

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The recommended output cable sizes assume that the motor maximum current matches that of the drive. Where a motor of reduced rating is used the cable rating may be chosen to match that of the motor. To ensure that the motor and cable are protected against overload, the drive must be programmed with the correct motor rated current.

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Normal capacitance

Shield or armour separated from the cores

High capacitance

Shield or armour close to the cores

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UL listing is dependent on the use of the correct type of UL-listed fuse, and applies when symmetrical short-circuit current does not exceed 100kA. See Chapter 14 UL Listing Information on page 260 for sizing information.

Fuses

The AC supply to the drive must be installed with suitable protection against overload and short-circuits. Table 4-3 on page 54 and Table 4-4 on page 54 show the recommended fuse ratings. Failure to observe this requirement will cause risk of fire.

A fuse or other protection must be included in all live connections to the AC supply.

See Chapter 14 UL Listing Information on page 260 for UL listing requirements.

Fuse types

The fuse voltage rating must be suitable for the drive supply voltage.

Ground connections

The drive must be connected to the system ground of the AC supply. The ground wiring must conform to local regulations and codes of practice.

4.5.1 Main AC supply contactor

The recommended AC supply contactor type is AC1.

4.6 Output circuit and motor protection

The output circuit has fast-acting electronic short-circuit protection which limits the fault current to typically no more than five times the rated output current, and interrupts the current in approximately 20µs. No additional short-circuit protection devices are required.

The drive provides overload protection for the motor and its cable. For this to be effective, Pr 0.46 Motor rated current must be set to suit the motor.

Pr 0.46 Motor rated current must be set correctly to avoid a risk of fire in the event of motor overload.

There is also provision for the use of a motor thermistor to prevent overheating of the motor, e.g. due to loss of cooling.

4.6.1 Cable types and lengths

Since capacitance in the motor cable causes loading on the output of the drive, ensure the cable length does not exceed the values given in Table 4-7.

Use 105°C (221°F) (UL 60/75°C temp rise) PVC-insulated cable with copper conductors having a suitable voltage rating, for the following power connections:

• AC supply to external EMC filter (when used)

• AC supply (or external EMC filter) to drive

• Drive to motor

• Drive to braking resistor

Table 4-7 Maximum motor cable lengths

Model

Maximum Permissible motor cable length

3 kHz 4 kHz 6 kHz

SP64X1 SP64X2 SP74X1

250m

(820 ft)

185m

(607 ft)

125m

(410 ft) SP74X2 SP84X1 SP84X2 SP84X3 SP84X4 SP94X1

500m

(1640 ft)

370m

(1241ft)

250m

(820ft) SP94X2 SP94X3 SP94X4 SP66X1 SP66X2 SP76X1

250m

(820 ft)

185m

(607 ft)

125m

(410 ft) SP76X2 SP86X1 SP86X2 SP86X3 SP86X4 SP96X1

500m

(1640 ft)

370m

(1241ft)

250m

(820ft) SP96X3 SP96X4 SP96X5

• Cable lengths in excess of the specified values may be used only when special techniques are adopted; refer to the supplier of the drive.

• The default switching frequency is 3kHz for open-loop and closedloop vector and 6kHz for servo.

High-capacitance cables

The maximum cable length is reduced from that shown in Table 4-7, if high capacitance motor cables are used.

Most cables have an insulating jacket between the cores and the armor or shield; these cables have a low capacitance and are recommended. Cables that do not have an insulating jacket tend to have high capacitance; if a cable of this type is used, the maximum cable length is half that quoted in the tables. (Figure 4-10 shows how to identify the two types.)

Figure 4-10 Cable construction influencing the capacitance

The cable used for Table 4-7 is shielded and contains four cores. Typical capacitance for this type of cable is 130pF/m (i.e. from one core to all others and the shield connected together).

4.6.2 Motor winding voltage

The PWM output voltage can adversely affect the inter-turn insulation in the motor. This is because of the high rate of change of voltage, in conjunction with the impedance of the motor cable and the distributed nature of the motor winding.

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For normal operation with AC supplies up to 500Vac and a standard motor with a good quality insulation system, there is no need for any special precautions. In case of doubt the motor supplier should be consulted.

Special precautions are recommended under the following conditions, but only if the motor cable length exceeds 10m:

• AC supply voltage exceeds 500V

• Operation of 400V drive with continuous or very frequent sustained braking

• Multiple motors connected to a single drive

For multiple motors, the precautions given in section 4.6.3 Multiple motors should be followed.

For the other cases listed, it is recommended that an inverter-rated motor be used. This has a reinforced insulation system intended by the manufacturer for repetitive fast-rising pulsed voltage operation.

Users of 575V NEMA rated motors should note that the specification for inverter-rated motors given in NEMA MG1 section 31 is sufficient for motoring operation but not where the motor spends significant periods braking. In that case an insulation peak voltage rating of 2.2kV is recommended.

If it is not practical to use an inverter-rated motor, an output choke (inductor) should be used. The recommended type is a simple iron-cored component with a reactance of about 2%. The exact value is not critical. This operates in conjunction with the capacitance of the motor cable to increase the rise-time of the motor terminal voltage and prevent excessive electrical stress.

4.6.3 Multiple motors

Open-loop only

If the drive is to control more than one motor, one of the fixed V/F modes should be selected (Pr 5.14 = Fd or SrE). Make the motor connections as shown in Figure 4-11 and Figure 4-12. The maximum cable lengths in Table 4-7 apply to the sum of the total cable lengths from the drive to each motor. It is recommended that each motor is connected through a protection relay since the drive cannot protect each motor individually. For sinusoidal filter or an output inductor must be connected as shown in Figure 4-12, even when the cable lengths are less than the maximum permissible. For details of inductor sizes refer to the supplier of the drive.

Figure 4-11 Preferred chain connection for multiple motors

connection, a

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Figure 4-12 Alternative connection for multiple motors

4.6.4 A / Δ motor operation

The voltage rating for A and Δ connections of the motor should always be checked before attempting to run the motor.

The default setting of the motor rated voltage parameter is the same as the drive rated voltage, i.e.

400V drive 400V rated voltage 690V drive 690V rated voltage

A typical 3 phase motor would be connected in for 200V operation, however, variations on this are common e.g.

A for 400V operation or Δ

A 690V Δ 400V

Incorrect connection of the windings will cause severe under or over fluxing of the motor, leading to a very poor output torque or motor saturation and overheating respectively.

4.6.5 Output contactor

If the cable between the drive and the motor is to be interrupted by a contactor or circuit breaker, ensure that the drive is disabled before the contactor or circuit breaker is opened or closed. Severe arcing may occur if this circuit is interrupted with the motor running at high current and low speed.

A contactor is sometimes required to be installed between the drive and motor for safety purposes.

The recommended motor contactor is the AC3 type. Switching of an output contactor should only occur when the output of

the drive is disabled. Opening or closing of the contactor with the drive enabled will lead to:

1. OI.AC trips (which cannot be reset for 10 seconds)

2. High levels of radio frequency noise emission

3. Increased contactor wear and tear The Drive Enable terminal (T31) when opened provides a SECURE

DISABLE function. This can in many cases replace output contactors. For further information see section 4.13 SAFE TORQUE OFF (SECURE

DISABLE) on page 69.

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4.7 Braking

Braking occurs when the drive is decelerating the motor, or is preventing the motor from gaining speed due to mechanical influences. During braking, energy is returned to the drive from the motor.

When the motor is being braked by the drive, the maximum regenerated power that the drive can absorb is equal to the power dissipation (losses) of the drive.

When the regenerated power is likely to exceed these losses, the DC bus voltage of the drive increases. Under default conditions, the drive brakes the motor under PI control, which extends the deceleration time as necessary in order to prevent the DC bus voltage from rising above a user defined set-point.

If the drive is expected to rapidly decelerate a load, or to hold back an overhauling load, a braking resistor must be installed.

Table 4-8 shows the DC voltage level at which the drive turns on the braking transistor.

Table 4-8 Braking transistor turn on voltage

Drive voltage rating DC bus voltage level

400V 780V 690V 1120V

When a braking resistor is used, Pr 0.15 should be set to FASt ramp mode.

High temperatures

Braking resistors can reach high temperatures. Locate braking resistors so that damage cannot result. Use cable having insulation capable of withstanding high temperatures.

4.7.1 Braking resistor

Overload protection

When a braking resistor is used, it is essential that an overload protection device is incorporated in the braking resistor circuit; this is described in Figure 4-13 on page 59.

Ensure that the braking resistor is mounted in a ventilated metal housing that will perform the following functions:

• Prevent inadvertent contact with the resistor

• Allow adequate ventilation for the resistor When compliance with EMC emission standards is required, external

connection requires the cable to be armored or shielded, since it is not fully contained in a metal enclosure.

Internal connection does not require the cable to be armored or shielded.

Minimum resistances and power ratings

Table 4-9 Minimum resistance values and peak power rating for

(kW)

Average

Power for

60s (kW)

132

180

254

360

528

136

166

261

333

544

the braking resistor at 40°C (104°F)

Instantaneous

Power Rating

Model

SP64X1 SP64X2 110 SP74X1 SP74X2 160 SP84X1 SP84X2 220 SP84X3 SP84X4 320 SP94X1 SP94X3 440 SP94X4 SP94X5 640 SP66X1 SP66X2 112 SP76X1 SP76X2 198 SP86X1 SP86X2 225 SP86X3 SP86X4 396 SP96X1 SP96X3 450 SP96X4 SP96X5 792

Minimum

resistance*

Ω resistor 122

Ω resistor 160

3.8

Ω resistors 244

2 x 5

Ω resistors 320

2 x 3.8

Ω resistors 488

4 x 5

Ω resistors 640

4 x 3.8

Ω resistor 125

Ω resistor 202

6.2

Ω resistors 250

2 x 10

Ω resistors 404

2 x 6.2

Ω resistors 500

4 x 10

Ω resistors 808

4 x 6.2

* Resistor tolerance: ±10%

Connections from the brake resistor should be kept separate. The resistor tolerance should not be more than ± 10 % and the resistor should be matched to within ± 5%.

On SP Size 8, 12 pulse drives the DC bus connections are commoned between the SPMD modules, hence one braking resistor can be used when braking power required is low.

On SP Size 9, 12 pulse drives the DC bus connections are commoned between the SPMD modules in each enclosure, but this is not connected between the enclosures, hence two bake resistors (one resistor with each enclosure) can be used when the required braking power is low.

For high-inertia loads or under continuous braking, the continuous power dissipated in the braking resistor may be as high as the power rating of the drive. The total energy dissipated in the braking resistor is dependent on the amount of energy to be extracted from the load.

The instantaneous power rating refers to the short-term maximum power dissipated during the on intervals of the pulse width modulated braking control cycle. The braking resistor must be able to withstand this dissipation for short intervals (milliseconds). Higher resistance values require proportionately lower instantaneous power ratings.

In most applications, braking occurs only occasionally. This allows the continuous power rating of the braking resistor to be much lower than the power rating of the drive. It is essential, though, that the instantaneous power rating and energy rating of the braking resistor are sufficient for the most extreme braking duty that is likely to be encountered.

Optimization of the braking resistor requires a careful consideration of the braking duty.

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Select a value of resistance for the braking resistor that is not less than the specified minimum resistance. Larger resistance values may give a cost saving, as well as a safety benefit in the event of a fault in the braking system. Braking capability will then be reduced, which could cause the drive to trip during braking if the value chosen is too large.

Thermal protection circuit for the braking resistor

The thermal protection circuit must disconnect the AC supply from the drive if the resistor becomes overloaded due to a fault. Figure 4-13 shows a typical circuit arrangement.

Figure 4-13 Typical protection circuit for a braking resistor

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4.8 Ground leakage

The ground leakage current is dependant on whether the internal EMC filter is fitted or not. By default, the drive is supplied with the filter installed.

Size 6 to 9 Free Standing: 56mA* AC at 400V 50Hz

18µA DC with a 600V DC bus (33MΩ)

* Proportional to the supply voltage and frequency. Note that there is an internal voltage surge protection device connected

to ground. Under normal circumstances this carries negligible current.

When the internal filter is installed the leakage current is high. In this case a permanent fixed ground connection must be provided, or other suitable measures taken to prevent a safety hazard occurring if the connection is lost.

4.8.1 Use of residual current device (RCD)

There are three common types of ELCB / RCD:

1. AC - detects AC fault currents

2. A - detects AC and pulsating DC fault currents (provided the DC current reaches zero at least once every half cycle)

3. B - detects AC, pulsating DC and smooth DC fault currents

• Type AC should never be used with drives.

• Type A can only be used with single phase drives

• Type B must be used with three phase drives

4.7.2 Braking resistor software overload protection

The Unidrive SP software contains an overload protection function for a braking resistor. In order to enable and set-up this function, it is necessary to enter two values into the drive:

• Resistor short-time overload time (Pr 10.30)

• Resistor minimum time between repeated short-time overloads (Pr 10.31)

This data should be obtained from the manufacturer of the braking resistors.

Pr 10.39 gives an indication of braking resistor temperature based on a simple thermal model. Zero indicates the resistor is close to ambient and 100% is the maximum temperature the resistor can withstand. An OVLd alarm is given if this parameter is above 75% and the braking IGBT is active. An It.br trip will occur if Pr 10.39 reaches 100%, when Pr 10.37 is set to 0 (default value) or 1.

If Pr 10.37 is equal to 2 or 3 an It.br trip will not occur when Pr 10.39 reaches 100%, but instead the braking IGBT will be disabled until Pr 10.39 falls below 95%. This option is intended for applications with parallel connected DC buses where there are several braking resistors, each of which cannot withstand full DC bus voltage continuously. With this type of application it is unlikely the braking energy will be shared equally between the resistors because of voltage measurement tolerances within the individual drives. Therefore with Pr 10.37 set to 2 or 3, then as soon as a resistor has reached its maximum temperature the drive will disable the braking IGBT, and another resistor on another drive will take up the braking energy. Once Pr 10.39 has fallen below 95% the drive will allow the braking IGBT to operate again.

See the Unidrive SP Advanced User Guide for more information on Pr 10.30, Pr 10.31, Pr 10.37 and Pr 10.39.

This software overload protection should be used in addition to an external overload protection device.

Only type B ELCB / RCD are suitable for use with 3 phase inverter drives.

If an external EMC filter is used, a delay of at least 50ms should be incorporated to ensure spurious trips are not seen. The leakage current is likely to exceed the trip level if all of the phases are not energized simultaneously.

4.9 EMC (Electromagnetic compatibility)

The requirements for EMC are divided into three levels in the following three sections:

1. Section 4.9.2 General requirements for EMC Ground (earth) connections for all applications, to ensure reliable operation of the drive and minimize the risk of disturbing nearby equipment. The immunity standards specified in Surge immunity of control circuits - long cables and connections outside a building on page 62 will be met, but no specific emission standards. Note also the special requirements given in Surge immunity of control circuits - long cables and connections outside a building Surge immunity of control circuits - long cables and connections outside a building on page 62 for increased surge immunity of control circuits where control wiring is extended.

2. Section 4.9.3 Compliance with EN 61800-3 (standard for Power Drive Systems) , requirements for meeting the EMC standard for power drive systems, IEC61800-3 (EN61800-3).

3. Section 4.9.4 Variations in the EMC wiring Interruptions to the motor cable , requirements for meeting the generic emission. Standards for the industrial environment, IEC61000-6-4, EN610006-4, EN50081-2.

The recommendations of section 4.9.2 will usually be sufficient to avoid causing disturbance to adjacent equipment of industrial quality. If particularly sensitive equipment is to be used nearby, or in a nonindustrial environment, then the recommendations of section 4.9.3 or section 4.9.4 should be followed to give reduced radio-frequency emission.

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In order to ensure the installation meets the various emission standards described in:

• The Declaration of Conformity at the front of this manual.

• Chapter 12 Technical Data on page 233. The correct external EMC filter must be used and all of the guidelines in

section 4.9.2 must be followed.

High ground leakage current

When an EMC filter is used, a permanent fixed ground connection must be provided which does not pass through a connector or flexible power cord. This includes the internal EMC filter.

The installer of the drive is responsible for ensuring compliance with the EMC regulations that apply where the drive is to be used.

4.9.1 Grounding hardware

The master/slave interface is supplied with a grounding clamp and a grounding bracket to facilitate EMC compliance. They provide a convenient method for direct grounding of cable shields without the use of "pig-tails". Cable shields can be bared and clamped to the grounding

bracket using metal clips or clamps

(not supplied) or cable ties. Note that the shield must in all cases be continued through the clamp to the intended terminal on the drive, in accordance with the connection details for the specific signal.

A suitable clamp is the Phoenix DIN rail mounted SK14 cable clamp (for cables with a maximum outer diameter of 14mm). Figure 4-14 shows details for the installation of the grounding bracket.

Figure 4-14 Installation of grounding bracket (master/slave)

Loosen the ground connection nuts and slide the grounding bracket in the direction shown. Once in place, re-tighten the ground connection nuts.

A faston tab is located on the grounding bracket for the purpose of connecting the drive 0V to ground should the user require to do so.

4.9.2 General requirements for EMC Ground (earth) connections

If ground connections are made using a separate cable, they should run parallel to the appropriate power cable to minimize emissions.

If the control circuit 0V is to be grounded, this should be done at the system controller only to avoid injecting noise currents into the 0V circuit.

The incoming supply ground should be connected to the earth/ground terminal inside the cubicle. This should be used as a common ‘clean’ ground for all components inside the drive.

Use four core cable to connect the motor to the drive. The ground conductor in the motor cable must be connected directly to the earth/ ground terminal of the drive and motor. It must not be connected directly to the power earth/ground busbar.

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

Feedback device cable shielding

Shielding considerations are important for PWM drive installations due to the high voltages and currents present in the output (motor) circuit with a very wide frequency spectrum, typically from 0 to 20 MHz.

The following guidance is divided into two parts:

1. Ensuring correct transfer of data without disturbance from electrical noise originating either within the drive or from outside.

2. Additional measures to prevent unwanted emission of radio frequency noise. These are optional and only required where the installation is subject to specific requirements for radio frequency emission control.

To ensure correct transfer of data, observe the following:

Resolver connections:

• Use a cable with an overall shield and twisted pairs for the resolver signals.

• Connect the cable shield to the drive 0V connection by the shortest possible link ("pigtail").

• It is generally preferable not to connect the cable shield to the resolver. However in cases where there is an exceptional level of common-mode noise voltage present on the resolver body, it may be helpful to connect the shield there. If this is done then it becomes essential to ensure the absolute minimum length of "pigtails" at both shield connections, and possibly to clamp the cable shield directly to the resolver body and to the drive grounding bracket.

• The cable should preferably not be interrupted. If interruptions are unavoidable, ensure the absolute minimum length of "pigtail" in the shield connections at each interruption.

Encoder connections:

• Use a cable with the correct impedance.

• Use a cable with individually shielded twisted pairs.

• Connect the cable shields to 0V at both the drive and the encoder, using the shortest possible links ("pigtails").

• The cable should preferably not be interrupted. If interruptions are unavoidable, ensure the absolute minimum length of "pigtail" in the shield connections at each interruption. Preferably, use a connection method which provides substantial metallic clamps for the cable shield terminations.

The above applies where the encoder body is isolated from the motor and where the encoder circuit is isolated from the encoder body. Where there is no isolation between the encoder circuits and the motor body, and in case of doubt, the following additional requirement must be observed. This gives the best possible noise immunity.

• The shields must be directly clamped to the encoder body (no pigtail) and to the drive grounding bracket. This may be achieved by clamping of the individual shields or by providing an additional overall shield which is clamped.

The recommendations of the encoder manufacturer must also be adhered to for the encoder connections.

In order to guarantee maximum noise immunity for any application double shielded cable as shown should be used.

In some cases single shielding of each pair of differential signals cables, or a single overall shield with individual shield on the thermistor connections is sufficient. In these cases all the shields should be connected to ground and 0V at both ends.

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Twisted

pair

cable

Twisted pair shield

Cable

Cable overall shield

Cable

Cable shield

Twisted

pair

shield

Cable shield

Twisted

pair

shield

Connection

at motor

Connection

at drive

Ground clamp on shield

Shield

connection

to 0V

Shield

connection

to 0V

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If the 0V is required to be left floating a cable with individual shields and an overall shield must be used. Figure 4-15 and Figure illustrate the preferred construction of cable and the method of clamping. The outer sheath of the cable should be stripped back enough to allow the clamp to be installed. The shield must not be broken or opened at this point. The clamps should be installed close to the drive or feedback device, with the ground connections made to a ground plate or similar metallic ground surface.

Figure 4-15 Feedback cable, twisted pair

Figure 4-16 Feedback cable connections

To ensure suppression of radio frequency emission, observe the following:

• Use a cable with an overall shield.

• Clamp the overall shield to grounded metallic surfaces at both the encoder and the drive, as illustrated in Figure 4-16 above.

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Operation in the first environment

An external EMC filter will always be required.

This is a product of the restricted distribution class according to IEC 61800-3. In a residential environment this product may cause radio interference in which case the user may be required to take adequate counter measures.

Operation in the second environment

In all cases a shielded motor cable must be used. Where a filter is required, follow the guidelines given in section 12.1.23 Electromagnetic

compatibility (EMC) on page 240.

The second environment typically includes an industrial low voltage power supply network which does not supply buildings used for residential purposes. Operating the drive in this environment without an external EMC filter may cause interference to nearby electronic equipment whose sensitivity has not been considered. The user must take remedial measures if this situation arises. If the consequences of unexpected disturbance are severe, it is recommended that the guidelines in section 4.9.4 Variations in the EMC wiring Interruptions to the motor cable be adhered to.

Refer to section 4.9 EMC (Electromagnetic compatibility) on page 59 for further information on compliance with EMC standards and definitions of environments.

4.9.4 Variations in the EMC wiring Interruptions to the motor cable

The motor cable should ideally be a single length of shielded or armored cable having no interruptions. In some situations it may be necessary to interrupt the cable, as in the following examples:

• Connecting the motor cable to a terminal block in the drive

enclosure.

• Installing a motor isolator / disconnect switch for safety when work is

done on the motor.

In these cases the following guidelines should be followed.

Terminal block in the enclosure

The motor cable shields should be bonded to the back-plate using uninsulated metal cable-clamps which should be positioned as close as possible to the terminal block. Keep the length of power conductors to a minimum and ensure that all sensitive equipment and circuits are at least 0.3m (12 in) away from the terminal block.

Using a motor isolator / disconnect-switch

The motor cable shields should be connected by a very short conductor having a low inductance. The use of a flat metal coupling-bar is recommended; conventional wire is not suitable.

The shields should be bonded directly to the coupling-bar using uninsulated metal cable-clamps. Keep the length of the exposed power conductors to a minimum and ensure that all sensitive equipment and circuits are at least 0.3m (12 in) away.

The coupling-bar may be grounded to a known low-impedance ground nearby, for example a large metallic structure which is connected closely to the drive ground.

4.9.3 Compliance with EN 61800-3 (standard for

Meeting the requirements of this standard depends on the environment

Power Drive Systems)

that the drive is intended to operate in, as follows:

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Isolator

Coupling bar

From the Drive

To the motor

(If required)

Signal from plant Signal to drive

0V 0V

30V zener diode e.g. 2xBZW50-15

Signal from plant Signal to drive

0V 0V

2 x 15V zener diode e.g. 2xBZW50-15

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Figure 4-17 Connecting the motor cable to an isolator /

disconnect switch

Surge immunity of control circuits - long cables and connections outside a building

The input/output ports for the control circuits are designed for general use within machines and small systems without any special precautions.

These circuits meet the requirements of EN61000-6-2 (1kV surge) provided the 0V connection is not grounded. In applications where they may be exposed to high-energy voltage surges, some special measures may be required to prevent malfunction or damage. Surges may be caused by lightning or severe power faults in association with grounding arrangements which permit high transient voltages between nominally grounded points. This is a particular risk where the circuits extend outside the protection of a building.

As a general rule, if the circuits are to pass outside the building where the drive is located, or if cable runs within a building exceed 30m (98.5 ft), some additional precautions are advisable. One of the following techniques should be used:

1. Galvanic isolation, i.e. do not connect the control 0V terminal to ground. Avoid loops in the control wiring, i.e. ensure every control wire is accompanied by its return (0V) wire.

2. Shielded cable with additional power ground bonding. The cable shield may be connected to ground at both ends, but in addition the ground conductors at both ends of the cable must be bonded together by a power ground cable (equipotential bonding cable) with cross-sectional area of at least 10mm2, or 10 times the area of the signal cable shield, or to suit the electrical safety requirements of the plant. This ensures that fault or surge current passes mainly through the ground cable and not in the signal cable shield. If the building or plant has a well-designed common bonded network this precaution is not necessary.

3. Additional over-voltage suppression - for the analog and digital inputs and outputs, a Zener diode network or a commercially available surge suppressor may be connected in parallel with the input circuit as shown in Figure 4-18 and Figure 4-19. If a digital port experiences a severe surge its protective trip may operate.

(O.Ld1 trip code 26). For continued operation after such an event, the trip can be reset automatically by setting Pr 10.34 to a value of 5.

Figure 4-18 Surge suppression for digital and unipolar inputs and

outputs

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outputs

Surge suppression devices are available as rail-mounting modules, e.g. from Phoenix Contact:

Unipolar TT-UKK5-D/24 DC Bipolar TT-UKK5-D/24 AC These devices are not suitable for encoder signals or fast digital data

networks because the capacitance of the diodes adversely affects the signal. Most encoders have galvanic isolation of the signal circuit from the motor frame, in which case no precautions are required. For data networks, follow the specific recommendations for the particular network.

Figure 4-19 Surge suppression for analog and bipolar inputs and

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4.10 Serial communications connections

The Unidrive SP has a serial communications port (serial port) as standard supporting 2 wire EIA485 communications. Please see Table 4-10 for the connection details for the RJ45 connector.

Figure 4-20 Location of the RJ45 serial comms connector

Table 4-10 Connection details for RJ45 connector

Pin Function

1 120Ω Termination resistor 2RX TX 3 Isolated 0V 4 +24V (100mA) 5 Isolated 0V 6 TX enable 7RX\ TX\

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

Shell Isolated 0V

The communications port applies a 2 unit load to the communications network.

Minimum number of connections are 2, 3, 7 and shield. Shielded cable must be used at all times.

4.10.1 Isolation of the serial communications port

The serial communications port of the Unidrive SP is double insulated and meets the requirements for SELV in EN50178.

In order to meet the requirements for SELV in IEC60950 (IT equipment) it is necessary for the control computer to be grounded. Alternatively, when a lap-top or similar device is used which has no provision for grounding, an isolation device must be incorporated in the communications lead.

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

Table 4-11 Isolated serial comms lead details

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

When using the CT EIA232 Comms cable the available baud rate is limited to 19.2k baud.

Part number Description

4500-0087 CT EIA232 Comms cable 4500-0096 CT USB Comms cable

4.10.2 Multi-drop network

The Unidrive SP can be used on a 2 wire EIA485 multi-drop network using the drive's serial communications port when the following guidelines are adhered to.

Connections

The network should be a daisy chain arrangement and not a A, although short stubs to the drive are allowed.

The minimum connections are pins 2 (RX TX), 3 (isolated 0V), 7 (RX\ TX\) and the shield.

Pin 4 (+24V) on each drive can be connected together but there is no power sharing mechanism between drives and therefore the maximum power available is the same as a single drive. (If pin 4 is not linked to the other drives on the network and has an individual load then the maximum power can be taken from pin 4 of each drive.)

Termination resistors

If a drive is on the end of the network chain then pins 1 and 8 should be linked together. This will connect an internal 120Ω termination resistor between RXTX and RX\TX\. (If the end unit is not a drive or the user wishes to use their own termination resistor, a 120Ω termination resistor should be connected between RXTX and RX\TX\ at the end unit.)

If the host is connected to a single drive then termination resistors should not be used unless the baud rate is high.

CT Comms Cable

The CT Comms Cable can be used on a multi-drop network but should only be used occasionally for diagnostic and set up purposes. The network must also be made up entirely of Unidrive SPs.

If the CT Comms Cable is to be used, then pin 6 (TX enable) should be connected on all drives and pin 4 (+24V) should be linked to at least 1 drive to supply power to the converter in the cable.

Only one CT Comms Cable can be used on a network.

4.11 Control connections

4.11.1 General

Table 4-12 The Unidrive SP control connections consist of:

Function Qty Control parameters available

Differential analog input 1

Single ended analog input

Analog output 2 Source, mode, scaling, 9,10 Digital input 3 Destination, invert, logic select 27,28,29

Digital input / output 3

Relay 1 Source, invert 41,42 Drive enable (Secure

Disable) +10V User output 1 4 +24V User output 1 Source, invert 22

0V common 6

+24V External input 1 2

Destination, offset, offset trim, invert, scaling

Mode, offset, scaling, invert,

destination

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

131

Key:

Destination parameter:

Source parameter:

Mode parameter:

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

indicates the parameter being output by the terminal

analog - indicates the mode of operation of the terminal, i.e. voltage 0-10V, current 4-20mA etc.

digital - indicates the mode of operation of the terminal, i.e. positive / negative logic (the Drive Enable terminal is fixed in positive logic), open collector.

All analog terminal functions can be programmed in menu 7.

Ter mi nal

number

5,6

7,8

24,25,26

1, 3, 11, 21,

23, 30

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Polarized signal connectors

21 31

0V common External 24V supply

common

Analog frequency/speed reference 1

Connections for

single-ended

input signal

Connections for

differential

input signal

0V common

Analog input 2

Analog input 1

common

12563

2122232425262728293031

At zero speed

Reset

Run forward

Run reverse

Analog input 1/

input 2 select

Jog forward select

SAFE TORQUE OFF

(SECURE DISABLE) /

Drive enable**

Status relay

Drive OK

Speed / frequency

0V common

Analog

frequency/speed

reference 2

4711910

Torque (active

current)

Analog input 3

Motor thermistor*

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

The setting of Pr 1.14 and Pr 6.04 can cause the function of digital inputs T25 to T29 to change. For more information, please refer to section

11.21.1 Reference modes on page 224 and section 11.21.7 Start / stop

logic modes on page 230.

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

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

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

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Figure 4-21 Default terminal functions

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Any signal cables which are carried inside the motor cable (i.e. motor

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

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

The Secure Disable / drive enable terminal is a positive logic input only. It is not affected by the setting of Pr 8.29 Positive logic select.

The common 0V from analog signals should, wherever possible, not be connected to the same 0V terminal as the common 0V from digital signals. Terminals 3 and 11 should be used for connecting the 0V common of analog signals and terminals 21, 23 and 30 for digital signals. This is to prevent small voltage drops in the terminal connections causing inaccuracies in the analog signals.

* With software V01.07.00 and later, Analog input 3 is configured as a motor thermistor input. With software V01.06.02 and earlier, Analog input 3 has no default function. Refer to Analog input 3 on page 65.

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**The Secure Disable / Drive enable terminal is a positive logic input only.

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4.11.2 Control terminal specification

1 0V common

Function

2 +24V external input

Function

Nominal voltage +24.0Vdc Minimum continuous operating

voltage Maximum continuous operating

voltage Minimum start-up voltage 21.6Vdc Recommended power supply 60W 24Vdc nominal Recommended fuse 3A, 50Vdc

3 0V common

Function

4 +10V user output

Function Supply for external analog devices

Voltage tolerance ±1% Nominal output current 10mA Protection Current limit and trip @ 30mA

Precision reference Analog input 1

5 Non-inverting input

6 Inverting input

Default function Frequency/speed reference

Type of input

Full scale voltage range ±9.8V ±1% Absolute maximum

voltage range Working common mode voltage

range Input resistance Resolution 16-bit plus sign (as speed reference) Monotonic Yes (including 0V) Dead band None (including 0V) Jumps None (including 0V) Maximum offset Maximum non linearity 0.3% of input Maximum gain asymmetry 0.5% Input filter bandwidth single pole ~1kHz

Sampling period

Common connection for all external devices

To supply the control circuit without providing a supply to the power stage

+19.2Vdc

+30.0Vdc

Common connection for all external devices

Bipolar differential analog (For single-ended use, connect terminal 6 to terminal 3)

±36V relative to 0V

±13V relative to 0V

Ω ±1%

100k

700

μV

250

μs with destinations as Pr 1.36, Pr 1.37

3.22 in closed loop vector or servo

or Pr mode. 4ms for open loop mode and all other destinations in closed loop vector or servo mode.

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7 Analog input 2

Default function Frequency/speed reference

Type of input

Mode controlled by... Pr

Operating in Voltage mode

Full scale voltage range ±9.8V ±3% Maximum offset ±30mV Absolute maximum voltage range ±36V relative to 0V Input resistance

Operating in current mode

Current ranges

Maximum offset Absolute maximum voltage

(reverse bias) Absolute maximum current +70mA Equivalent input resistance

Common to all modes

Resolution 10 bit + sign

Sample period

Bipolar single-ended analog voltage or unipolar current

7.11

>100k

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

250

μA

−36V max

Ω at 20mA

≤200

250

μs when configured as voltage input

with destinations as Pr Pr

3.22 or Pr 4.08 in closed loop vector or

servo mode. 4ms for open loop mode, all other destinations in closed loop vector or servo mode, or any destination when configured as a current input.

1.36, Pr 1.37,

8 Analog input 3

Default function

Type of input

Mode controlled by... Pr

Operating in Voltage mode (default)

Voltage range ±9.8V ±3% Maximum offset ±30mV Absolute maximum voltage range ±36V relative to 0V Input resistance

Operating in current mode

Current ranges

Maximum offset Absolute maximum voltage

(reverse bias) Absolute maximum current +70mA Equivalent input resistance

Operating in thermistor input mode

Internal pull-up voltage <5V Trip threshold resistance

Reset resistance

Short-circuit detection resistance

Common to all modes

Resolution 10 bit + sign

Sample period

V01.07.00 and later: Motor thermistor input (PTC) V01.06.02 and earlier: Not configured

Bipolar single-ended analog voltage, unipolar current or motor thermistor input

7.15

>100k

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

μA

250

−36V max

Ω at 20mA

≤200

Ω ±10%

3.3k

Ω ±10%

1.8k

Ω ±40%

250

μs when configured as voltage input

with destinations as Pr

3.22 or Pr 4.08 in closed loop vector or

Pr servo mode. 4ms for open loop mode, all other destinations in closed loop vector or servo mode, or any destination when configured as a current input.

1.36, Pr 1.37,

T8 analog input 3 has a parallel connection to terminal 15 of the drive encoder connector.

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9 Analog output 1

10 Analog output 2

Terminal 9 default function

Terminal 10 default function Motor active current

Type of output

Mode controlled by... Pr

Operating in Voltage mode (default)

Voltage range ±10V ±3% Maximum offset ±200mV Maximum output current ±35mA Load resistance Protection 35mA max. Short circuit protection

Operating in current mode

Current ranges

Maximum offset Maximum open circuit voltage +15V Maximum load resistance

Common to all modes

Resolution 10-bit (plus sign in voltage mode)

Update period

OL> Motor FREQUENCY output signal CL> SPEED output signal

Bipolar single-ended analog voltage or unipolar single ended current

7.21 and Pr 7.24

Ω min

0 to 20mA ±10% 4 to 20mA ±10%

μA

600

μs when configured as a high speed

250 output with sources as Pr all modes or Pr vector or servo mode. 4ms when configured as any other type of output or with all other sources.

3.02, Pr 5.03 in closed loop

4.02, Pr 4.17 in

24 Digital I/O 1

25 Digital I/O 2

26 Digital I/O 3

Terminal 24 default function AT ZERO SPEED output

Terminal 25 default function DRIVE RESET input

Terminal 26 default function RUN FORWARD input

Type

Input / output mode controlled by... Pr

Operating as an input

Logic mode controlled by... Pr 8.29 Absolute maximum applied voltage

range Impedance Load <2mA @ 15Vdc Input thresholds 10.0V ±0.8V

Operating as an output

Open collector outputs selected Pr 8.30 Nominal maximum output current 200mA (total including terminal 22) Maximum output current 240mA (total including terminal 22)

Common to all modes

Voltage range 0V to +24V

Sample / Update period

Positive or negative logic digital inputs, positive or negative logic push-pull outputs or open collector outputs

8.31, Pr 8.32 and Pr 8.33

±30V

250

μs when configured as an input with

destinations as Pr all other cases.

6.35 or Pr 6.36. 4ms in

11 0V common

Function

Common connection for all external devices

21 0V common

Function

Common connection for all external devices

22 +24V user output (selectable)

Terminal 22 default function +24V user output

Can be switched on or off to act as a fourth

Programmability

Nominal output current 200mA (including all digital I/O) Maximum output current 240mA (including all digital I/O) Protection Current limit and trip

digital output (positive logic only) by setting the source Pr

8.18

8.28 and source invert Pr

23 0V common

Function

Common connection for all external devices

27 Digital Input 4

28 Digital Input 5

29 Digital Input 6

Terminal 27 default function RUN REVERSE input

Terminal 28 default function ANALOG INPUT 1 / INPUT 2 select

Terminal 29 default function JOG SELECT input

Type Negative or positive logic digital inputs Logic mode controlled by... Pr Voltage range 0V to +24V Absolute maximum applied voltage

range Load <2mA @ 15V Input thresholds 10.0V ±0.8V

Sample / Update period

8.29

±30V

μs with destinations as Pr 6.35 or

250

6.36. 4ms in all other cases.

30 0V common

Function

Common connection for all external devices

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Drive encoder connector

Female 15-way D-type

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31 Drive enable (SECURE DISABLE function)

Type Positive logic only digital input Voltage range 0V to +24V Absolute maximum applied voltage ±30V Thresholds 15.5V ±2.5V

Response time

Nominal: 8ms Maximum: 20ms

The drive enable terminal (T31) provides a SECURE DISABLE function. The SECURE DISABLE function meets the requirements of EN954-1 category 3 for the prevention of unexpected starting of the drive. It may be used in a safety-related application in preventing the drive from generating torque in the motor to a high level of integrity.

Refer to section 4.13 SAFE TORQUE OFF (SECURE DISABLE) on page 69 for further information.

Relay contacts

Default function

Contact voltage rating 240Vac, Installation over-voltage category II

Contact maximum current rating

Contact minimum recommended rating

Contact type Normally open Default contact condition Closed when power applied and drive OK Update period 4ms

Drive OK indicator

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

0.5A DC 30V inductive load (L/R = 40ms)

12V 100mA

A fuse or other over-current protection should be installed to the relay circuit.

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4.12 Encoder connections

Figure 4-22 Location of encoder connection

Table 4-13 Encoder types

Setting of

Pr 3.38

(0)

(1)

(2)

Ab.SErVO

(3)

Fd.SErVO

(4)

Fr.SErVO

(5)

(6)

SC.HiPEr

(7)

EndAt

(8)

SC.EndAt

(9)

SSI

(10)

SC.SSI

(11)

Quadrature incremental encoder with or without marker pulse

Incremental encoder with frequency pulses and direction, with or without marker pulse Incremental encoder with forward pulses and reverse pulses, with or without marker pulse Quadrature incremental encoder with UVW commutation signals, with or without marker pulse Encoder with UVW commutation signals only (Pr 3.34 set to zero)* Incremental encoder with frequency pulses and direction with commutation signals**, with or without marker pulse Incremental encoder with forward pulses and reverse pulses with commutation signals**, with or without marker pulse

SinCos encoder without serial communications

Absolute SinCos encoder with HiperFace serial communications protocol (Stegmann) Absolute EndAt serial communications encoder (Heidenhain) Absolute SinCos encoder with EnDat serial communications protocol (Heidenhain)

Absolute SSI only encoder

Absolute SinCos encoder with SSI

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* This feedback device provides very low resolution feedback and should not be used for applications requiring a high level of performance

** The U, V & W commutation signals are required with an incremental type encoder when used with a servo motor. The UVW commutation signals are used to define the motor position during the first 120

electrical

rotation after the drive is powered-up or the encoder is initialized.

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Table 4-14 Drive encoder connector details

Setting of Pr 3.38

Ter min al

1AFF A F F Cos

(0)

(1)

(2)

Ab.SErVO

(3)

Fd.SErVO

(4)

Fr.SErVO

(5)

(6)

SC.HiPEr

(7)

EndAt

(8)

SC.EndAt

(9)

SSI

(10)

Cos Cos

SC.SSI

(11)

2 A\ F\ F\ A\ F\ F\ Cosref Cosref Cosref 3BDR B D R Sin Sin Sin 4 B\ D\ R\ B\ D\ R\ Sinref Sinref Sinref 5Z*

Encoder input - Data (input/output)

6 Z\* Encoder input - Data\ (input/output)

Simulated encoder

Aout, Fout**

Simulated encoder

Aout\, Fout\**

Simulated encoder

Bout, Dout**

Simulated encoder

Bout\, Dout\**

Simulated encoder

Aout, Fout**

Simulated encoder

Aout\, Fout\**

Simulated encoder

Bout, Dout**

Simulated encoder

Bout\, Dout\**

W Encoder input - Clock (output) 12 W\ Encoder input - Clock\ (output) 13 +V*** 14 0V common 15 th****

* Marker pulse is optional ** Simulated encoder output only available in open-loop *** The encoder supply is selectable through parameter configuration to

5Vdc, 8Vdc and 15Vdc

**** Terminal 15 is a parallel connection to T8 analog input 3. If this is to

be used as a thermistor input, ensure that Pr 7.15 is set to ‘th.sc’ (7), ‘th’ (8) or ‘th.diSP’ (9).

SSI encoders typically have maximum baud rate of 500kBaud. When a SSI only encoder is used for speed feedback with a closed loop vector or servo motor, a large speed feedback filter (Pr 3.42) is required due to the time taken for the position information to be transferred from the encoder into the drive. The addition of this filter means that SSI only encoders are not suitable for speed feedback in dynamic or high-speed applications.

4.12.1 Specifications

Feedback device connections

Ab, Fd, Fr, Ab.SErVO, Fd.SErVO and Fr.SErVO encoders

1 Channel A, Frequency or Forward inputs

2 Channel A\, Frequency\ or Forward\ inputs

3 Channel B, Direction or Reverse inputs

4 Channel B\, Direction\ or Reverse\ inputs

Type EIA 485 differential receivers

Maximum input frequency

Line loading <2 unit loads

Line termination components

Working common mode range +12V to –7V

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

V01.06.01 and later: 500kHz V01.06.00 and earlier: 410kHz

Ω (switchable)

120

±25V

5 Marker pulse channel Z

6 Marker pulse channel Z\

7 Phase channel U

8 Phase channel U\

9 Phase channel V

10 Phase channel V\

11 Phase channel W

12 Phase channel W\

Type EIA 485 differential receivers

Maximum input frequency 512kHz

Line loading

Line termination components

Working common mode range +12V to –7V

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

32 unit loads (for terminals 5 and 6) 1 unit load (for terminals 7 to 12)

Ω (switchable for terminals 5 and 6,

120 always in circuit for terminals 7 to 12)

+14V to -9V

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SC, SC.HiPEr, EndAt, SC.EndAt, SSI and SC.SSI encoders

1 Channel Cos*

2 Channel Cosref*

3 Channel Sin*

4 Channel Sinref*

Type Differential voltage

Maximum Signal level

Maximum input frequency See Table 4-15

Maximum applied differential voltage and common mode voltage range

1.25V peak to peak (sin with regard to sinref and cos with regard to cosref)

±4V

For the SinCos encoder to be compatible with Unidrive SP, the output signals from the encoder must be a 1V peak to peak differential voltage (across Sin to Sinref and Cos to Cosref).

The majority of encoders have a DC offset on all signals. Stegmann encoders typically have a 2.5Vdc offset. The Sinref and Cosref are a flat DC level at 2.5Vdc and the Cos and Sin signals have a 1V peak to peak waveform biased at 2.5Vdc.

Encoders are available which have a 1V peak to peak voltage on Sin, Sinref, Cos and Cosref. This results in a 2V peak to peak voltage seen at the drive's encoder terminals. It is not recommended that encoders of this type are used with Unidrive SP, and that the encoder feedback signals should meet the above parameters (1V peak to peak).

Resolution: The sinewave frequency can be up to 500kHz but the resolution is reduced at high frequency. Table 4-15 shows the number of bits of interpolated information at different frequencies and with different voltage levels at the drive encoder port. The total resolution in bits per revolution is the ELPR plus the number of bits of interpolated information. Although it is possible to obtain 11 bits of interpolation information, the nominal design value is 10 bits.

* Not used with EndAt and SSI communications only encoders.

Table 4-15 Feedback resolution based on frequency and voltage level

Volt/Freq 1kHz 5kHz 50kHz 100kHz 200kHz 500kHz

1.2 11 11 10 10 9 8

1.0 11 11 10 9 9 7

0.8 10 10 10 9 8 7

0.610109987

0.4999876

5 Data**

6 Data\**

11 Clock***

12 Clock\***

Type EIA 485 differential transceivers

Maximum frequency 2MHz

Line loading

Working common mode range +12V to –7V

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

32 unit loads (for terminals 5 and 6) 1 unit load (for terminals 11 and 12)

±14V

** Not used with SC encoders. *** Not used with SC and SC.HiPEr encoders.

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Frequency slaving outputs (open loop only)

Ab, Fd, Fr, SC, SC.HiPEr, EndAt, SC.EndAt, SSI and SC.SSI encoders

7 Frequency slaving out channel A

8 Frequency slaving out channel A\

9 Frequency slaving out channel B

10 Frequency slaving out channel B\

Type EIA 485 differential transceivers

Maximum output frequency 512kHz

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

±14V

Common to all Encoder types

13 Encoder supply voltage

Supply voltage

Maximum output current 300mA for 5V and 8V

5.15V ±

2%, 8V ±5% or 15V ±5%

200mA for 15V

The voltage on terminal 13 is controlled by Pr 3.36. The default for this parameter is 5V (0) but this can be set to 8V (1) or 15V (2). Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

If the 15V encoder supply is selected then the termination resistors must be disabled.

The termination resistors should be disabled if the outputs from the encoder are higher than 5V.

14 0V common

15 Motor thermistor input

This terminal is connected internally to terminal 8 of the signal connector. Connect only one of these terminals to a motor thermistor. Analog input 3 must be in thermistor mode, Pr 7.15 = th.SC (7), th (8) or th.diSP (9).

4.13 SAFE TORQUE OFF (SECURE DISABLE)

The SAFE TORQUE OFF (SECURE DISABLE) 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 SAFE TORQUE OFF (SECURE DISABLE) 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 (SECURE DISABLE) function is fail-safe, so when the SAFE TORQUE OFF (SECURE DISABLE) 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 (SECURE DISABLE) is also independent of the drive firmware.

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WARNING

Stop

Star t

Drive

Enable

K1 (or at drive output)

+24V

Drive

Using contactor

Using SECURE DISABLE

T31

3 ~

Stop

Star t

+24V

Stop

Star t

Drive

Enable

+24V

Safety relay

Two-channel interlocks

Reset

K1 K2

3 ~

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This meets the requirements of EN954-1 category 3 for the prevention of operation of the motor.

On drives with date code P04 and later the SAFE TORQUE OFF (SECURE DISABLE) input also meets the requirements of EN 81-1 clause 12.7.3 b) as part of a system for

preventing unwanted operation of the motor in a lift (elevator).

Independent approval has been given by BGIA.

Independent approval of concept has been given by TÜV. Please

consult the separate guide for lift applications for further information. SAFE TORQUE OFF (SECURE DISABLE) can be used to eliminate

electro-mechanical contactors, including special safety contactors, which would otherwise be required for safety applications.

Note on response time of SAFE TORQUE OFF (SECURE DISABLE), and use with safety controllers with self-testing outputs (drives with date code P04 and later).

SAFE TORQUE OFF (SECURE DISABLE) has been designed to have a response time of greater than 1ms, so that it is compatible with safety controllers whose outputs are subject to a dynamic test with a pulse width not exceeding 1ms.

For applications where a fast-acting disable function is required, please see section 11.21.10 Fast Disable on page 232.

Note on the use of servo motors, other permanent-magnet motors, reluctance motors and salient-pole induction motors

When the drive is disabled through SAFE TORQUE OFF (SECURE DISABLE), a possible (although highly unlikely) failure mode is for two power devices in the inverter circuit to conduct incorrectly.

This fault cannot produce a steady rotating torque in any AC motor. It produces no torque in a conventional induction motor with a cage rotor. If the rotor has permanent magnets and/or saliency, then a transient alignment torque may occur. The motor may briefly try to rotate by up to 180° electrical, for a permanent magnet motor, or 90° electrical, for a salient pole induction motor or reluctance motor. This possible failure mode must be allowed for in the machine design.

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The following diagrams illustrate how the SAFE TORQUE OFF (SECURE DISABLE) input can be used to eliminate contactors and safety contactors from control systems. Please note these are provided for illustration only, every specific arrangement must be verified for suitability in the proposed application.

In the first example, illustrated in Figure 4-23, the SAFE TORQUE OFF (SECURE DISABLE) function is used to replace a simple power contactor in applications where the risk of injury from unexpected starting is small, but it is not acceptable to rely on the complex hardware and firmware/software used by the stop/start function within the drive.

Figure 4-23 Start / stop control EN954-1 category B - replacement

of contactor

The design of safety-related control systems must only be done by personnel with the required training and experience.

The SAFE TORQUE OFF (SECURE DISABLE) 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.

To maintain category 3 according to EN954-1 the environment limits given in section 12.1 Drive technical data on page 233 must be adhered to.

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

SAFE TORQUE OFF (SECURE DISABLE) does not provide electrical isolation. The supply to the drive must be disconnected by an approved isolation device before gaining access to power connections.

In the second example, illustrated in Figure 4-24 and Figure 4-25, a conventional high-integrity system which uses two safety contactors with auxiliary contacts with connected movement is replaced by a single SAFE TORQUE OFF (SECURE DISABLE) system. This arrangement meets EN954-1 category 3.

Figure 4-24 Category 3 interlock using electromechanical safety

contactors

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Stop

Star t

Drive

+24V

Safety relay

Interlocks

Reset

Drive run

(Pr )

10.02

Protected wiring (screened or segregated)

3 ~

NOTE

Stop

Star t

Drive

+24V

Safety relay

Two-channel interlocks

Reset

K1 K2

3 ~

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The safety function of the example circuit is to ensure that the motor does not operate when the interlocks are not signalling a safe state. The safety relay is used to check the two interlock channels and detect faults in those channels. The stop/start buttons are shown for completeness as part of a typical arrangement, they do not carry out a safety function and are not necessary for the safe operation of the circuit.

Figure 4-25 Category 3 interlock using SAFE TORQUE OFF

(SECURE DISABLE) with protected wiring

In the conventional system, a contactor failure in the unsafe direction is detected the next time the safety relay is reset. Since the drive is not part of the safety system it has to be assumed that AC power is always available to drive the motor, so two contactors in series are required in order to prevent the first failure from causing an unsafe event (i.e. the motor driven).

With SAFE TORQUE OFF (SECURE DISABLE) there are no single faults in the drive which can permit the motor to be driven. Therefore it is not necessary to have a second channel to interrupt the power connection, nor a fault detection circuit.

It is important to note that a single short-circuit from the Enable input (SAFE TORQUE OFF (SECURE DISABLE)) to a DC supply of approximately +24V would cause the drive to be enabled. For this reason, Figure 4-25 shows the wire from the Enable input to the safety relay as "protected wiring" so that the possibility of a short circuit from this wire to the DC supply can be excluded, as specified in ISO 13849-2. The wiring can be protected by placing it in a segregated cable duct or other enclosure, or by providing it with a grounded shield. The shield is provided to avoid a hazard from an electrical fault. It may be grounded by any convenient method, no special EMC precautions are required.

If the use of protected wiring is not acceptable, so that the possibility of this short circuit must be allowed for, then a relay must be used to monitor the state of the Enable input, together with a single safety contactor to prevent operation of the motor after a fault. This is illustrated in Figure 4-26.

The auxiliary relay K2 must be located in the same enclosure and close to the drive, with its coil connected as closely as possible to the drive enable / SAFE TORQUE OFF (SECURE DISABLE) input.

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Figure 4-26 Use of contactor and relay to avoid the need for

protected wiring

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Upper display

Lower display

Mode (black) button

Joypad

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

Control buttons

Mode (black) button

Joypad

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

Control buttons

Help button

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5 Getting Started

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

5.1 Understanding the display

There are two keypads available for the Unidrive SP. The SM-Keypad has an LED display and the SM-Keypad Plus has an LCD display. Both keypads can be installed on the drive but the SM-Keypad Plus can also be remotely mounted on an enclosure door.

5.1.1 SM-Keypad (LED)

The display consists of two horizontal rows of 7 segment LED displays. The upper display shows the drive status or the current menu and

parameter number being viewed. The lower display shows the parameter value or the specific trip type.

Figure 5-1 SM-Keypad Figure 5-2 SM-Keypad Plus

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

Both the SM-Keypad and the SM-Keypad Plus can indicate when a SMARTCARD access is taking place or when the second motor map is active (menu 21). These are indicated on the displays as follows.

SMARTCARD access taking place

Second motor map active

The decimal point after the fourth digit in the upper display will flash.

The decimal point after the third digit in the upper display will flash.

5.1.2 SM-Keypad Plus (LCD)

The display consists of three lines of text. The top line shows the drive status or the current menu and parameter

number being viewed on the left, and the parameter value or the specific trip type on the right.

The lower two lines show the parameter name or the help text.

SM-Keypad SM-Keypad Plus

The symbol ‘CC’ will appear in the lower left hand corner of the display

The symbol ‘Mot2’ will appear in the lower left hand corner of the display

5.2 Keypad operation

5.2.1 Control buttons

The keypad consists of:

1. Joypad - used to navigate the parameter structure and change parameter values.

2. Mode button - used to change between the display modes – parameter view, parameter edit, status.

3. Three control buttons - used to control the drive if keypad mode is selected.

4. Help button (SM-Keypad Plus only) - displays text briefly describing the selected parameter. The Help button toggles between other display modes and parameter help mode. The up and down functions on the joypad scroll the help text to

allow the whole string to be viewed. The right and left functions on the joypad have no function when help text is being viewed. The display examples in this section show the SM-Keypad 7 segment LED display. The examples are the same for the SM-Keypad Plus except that

the information displayed on the lower row on the SM-Keypad is displayed on the right hand side of the top row on the SM-Keypad Plus.

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Use

* keys

to select parameter for editing

To enter Edit Mode, press key

Status Mode

(Display not flashing)

Parameter Mode

(Upper display flashing)

Edit Mode

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

using keys.

When returning to Parameter Mode use the

keys to select another parameter to change, if required

To exit Edit Mode, press key

To enter Parameter Mode, press key or

Temporary Parameter Mode

(Upper display flashing)

Timeout**

To return to Status Mode, press

key

parameter

R/W parameter

Pr value

5.05

Menu 5. Parameter 5

Trip type (UU = undervolts)

Drive status = tripped

Trip StatusAlarm Status

Parameter

View Mode

Healthy Status

Status Mode

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Figure 5-3 Display modes

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* can only be used to move between menus if L2 access has been enabled (Pr 0.49). Refer to section 5.9 on page 77. **Timeout defined by Pr 11.4 1 (default value = 240s).

Figure 5-4 Mode examples

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

For new parameter-values to apply after the AC supply to the drive is interrupted, new values must be saved. Refer to section 5.7 Saving parameters on page 76.

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

5.3 Menu structure

The drive parameter structure consists of menus and parameters. The drive initially powers up so that only menu 0 can be viewed. The up

and down arrow buttons are used to navigate between parameters and once level 2 access (L2) has been enabled (see Pr 0.49) the left and right buttons are used to navigate between menus. For further information, refer to section 5.9 Parameter access level and security on page 77.

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Menu 0

....XX.00....

0.50

0.49

0.48

0.47

0.46

0.01

0.02

0.03

0.04

0.05

Moves between parameters

Moves between Menus

Menu 0

0.04

0.05

0.06

Menu 2

2.21

Menu 1

1.14

Menu 4

4.07

5 0

150

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Figure 5-5 Parameter navigation

* can only be used to move between menus if L2 access has been enabled (Pr 0.49). Refer to section 5.9 Parameter access level and security on page 77.

The menus and parameters roll over in both directions. i.e. if the last parameter is displayed, a further press will cause the

display to rollover and show the first parameter. When changing between menus the drive remembers which parameter

was last viewed in a particular menu and thus displays that parameter.

Figure 5-6 Menu structure

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5.4 Menu 0

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

Appropriate parameters are copied from the advanced menus into menu 0 and thus exist in both locations.

For further information, refer to Chapter 6 Basic parameters on page 80.

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5.5 Advanced menus

The advanced menus consist of groups or parameters appropriate to a specific function or feature of the drive. Menus 0 to 22 can be viewed on all keypads. Menus 40 and 41 are specific to the SM-Keypad Plus (LCD). Menus 70 to 91 can be viewed with an SM-Keypad Plus (LCD) only when an SM-Applications is installed.

Table 5-1 Advanced menu descriptions

Menu Description LED LCD

Commonly used basic set up parameters for quick

/ easy programming 1 Frequency / speed reference 99 2Ramps 99

Slave frequency, speed feedback and speed 3

control 4 Torque and current control 99 5 Motor control 99 6 Sequencer and clock 99 7 Analog I/O 99 8 Digital I/O 99

Programmable logic, motorized pot and binary 9

sum

10 Status and trips 99 11 General drive set-up 99 12 Threshold detectors and variable selectors 99 13 Position control 99 14 User PID controller 99

15,

Solutions Module set-up 99

16, 17

18 Application menu 1 99 19 Application menu 2 99 20 Application menu 3 99 21 Second motor parameters 99 22 Additional Menu 0 set-up 99 40 Keypad configuration menu X 9 41 User filter menu X 9 70 PLC registers X 9 71 PLC registers X 9 72 PLC registers X 9 73 PLC registers X 9 74 PLC registers X 9 75 PLC registers X 9 85 Timer function parameters X 9 86 Digital I/O parameters X 9 88 Status parameters X 9 90 General parameters X 9 91 Fast access parameters X 9

5.5.1 SM-Keypad Plus set-up menus

Table 5-2 Menu 40 parameter descriptions

Parameter

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

40.01 Language selection

French (2), German (3),

Spanish (4), Italian (5)

40.02 Software version

40.03 Save to flash

Idle (0), Save (1),

Restore (2), Default (3)

40.04 LCD contrast

Drive and attribute database

40.05

upload was bypassed

40.06 Browsing favourites control

Updated (0), Bypass (1)

Normal (0), Filter (1)

40.07 Keypad security code

Communication channel

40.08

selection

Disable (0), Slot1 (1), Slot2

(2), Slot3 (3), Slave (4),

40.09 Hardware key code

40.10 Drive node ID (Address)

40.11 Flash ROM memory size

40.12 Replacement macro enable None (0), Replace (1)

40.13 Replacement macro number

40.14 Wizard macro enable

40.15 Wizard macro number

40.16 Assistance on action macro enable

40.17 Assistance on action macro number

4Mbit (0), 8Mbit (1)

None (0), Wizard (1)

None (0), Action (1)

40.19 String database version number 0 to 999999

40.20 Screen saver strings and enable

None (0), Default (1),

40.21 Screen saver interval

40.22 Turbo browse time interval

Table 5-3 Menu 41 parameter descriptions

Parameter

41.00 Parameter 0 0 to 32767

41.01

Browsing filter source F01 to F50 Pr 0.00 to Pr 391.51

41.50

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

Ú)

Range(

999999

0 to 31

0 to 999

Direct (5)

0 to 999 0 to 255

0 to 255

User (2) 0 to 600

0 to 200ms

Range(

Ú)

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5.5.2 Display messages

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

Trip types are not listed here but can be found in Chapter 6 Basic parameters on page 80 if required.

Table 5-4 Alarm indications

Lower

display

br.rS Braking resistor overload

Braking resistor I

t accumulator (Pr 10.39) in the drive has reached

75.0% of the value at which the drive will trip and the braking IGBT is active.

Hot

Heatsink or control board or inverter IGBT over temperature alarms are active

• The drive heatsink temperature has reached a threshold and the drive will trip ‘Oh2’ if the temperature continues to rise (see the ‘Oh2’ trip).

• The ambient temperature around the control PCB is approaching the over temperature threshold (see the ‘O.CtL’ trip).

OVLd Motor overload

The motor I

t accumulator in the drive has reached 75% of the value at

which the drive will be tripped and the load on the drive is >100%

Auto tune Autotune in progress

The autotune procedure has been initialised. 'Auto' and 'tunE' will flash alternatively on the display.

Lt Limit switch is active

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

PLC Onboard PLC program is running

An Onboard PLC program is installed and running. The lower display will flash 'PLC' once every 10s.

Table 5-5 Solutions Module and SMARTCARD status indications

on power-up

Lower

display

boot

A parameter set is being transferred from the SMARTCARD to the drive during power-up. For further information, please refer to section

9.2.4 Booting up from the SMARTCARD on every power up (Pr 11.42 =

boot (4)) on page 121.

cArd

The drive is writing a parameter set to the SMARTCARD during powerup. For further information, please refer to section 9.2.3 Auto saving parameter changes (Pr 11.42 = Auto (3)) on page 121.

The drive is writing information to a Solutions Module.

Description

5.6 Changing the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters. (Pr 0.49 Security status and Pr 0.34 User security code are not affected by this procedure.)

Procedure

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

1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 6.15 is Off (0)

2. Enter either of the following values in Pr xx.00, as appropriate: 1253 (EUR, 50Hz AC supply frequency) 1254 (USA, 60Hz AC supply frequency)

3. Change the setting of Pr 0.48 as follows:

Pr 0.48 setting Operating mode

1 Open-loop

2 Closed-loop vector and RFC mode

3 Closed-loop Servo

Free Standing drives are not intended to

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

4. Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).

Entering 1253 or 1254 in Pr xx.00 will only load defaults if the setting of Pr 0.48 has been changed.

be used in regen mode

5.7 Saving parameters

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

Enter 1000* in Pr. xx.00 Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).

*If the drive is in the under voltage trip state or is being supplied from a low voltage DC supply, a value of 1001 must be entered into Pr xx.00 to perform a save function.

5.8 Restoring parameter defaults

Restoring parameter defaults by this method saves the default values in the drive’s memory. (Pr 0.49 and Pr 0.34 are not affected by this procedure.)

Procedure

1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 6.15 is Off (0)

2. Enter 1233 (EUR 50Hz settings) or 1244 (USA 60Hz settings) in Pr xx.00.

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Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.49 Pr 0.50

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

Pr 22.00 Pr 22.01 Pr 22.02 Pr 22.03

Pr 22.28 Pr 22.29

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

L2 access selected

- All parameters visible

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.49 Pr 0.50

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

Pr 19.00 Pr 19.01 Pr 19.02 Pr 19.03

Pr 19.49 Pr 19.50

Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Pr 20.49 Pr 20.50

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

L1 access selected

- Menu 0 only visible

Pr 21.00 Pr 21.01 Pr 21.02 Pr 21.03

Pr 21.30 Pr 21.31

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.50

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

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

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.49 Pr 0.50

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

Pr 22.00

Pr 22.01

Pr 22.02

Pr 22.03

Pr 22.28

Pr 22.29

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

User security open

- All parameters: Read / Write access

User security closed

0.49 11.44

- All parameters: Read Only access

(except Pr and Pr )

Pr 22.00 Pr 22.01 Pr 22.02 Pr 22.03

Pr 22.28 Pr 22.29

Pr 0.49

Pr 21.00

Pr 21.01

Pr 21.02

Pr 21.03

Pr 21.30

Pr 21.31

Pr 21.00

Pr 21.01

Pr 21.02

Pr 21.03

Pr 21.30

Pr 21.31

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3. Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).

5.9 Parameter access level and security

The parameter access level determines whether the user has access to menu 0 only or to all the advanced menus (menus 1 to 22) in addition to menu 0.

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

Both the User Security and Parameter Access Level can operate independently of each other as shown in the table below:

Parameter

Access Level

User Security

Menu 0

status

L1 Open RW Not visible L1 Closed RO Not visible L2 Open RW RW L2 Closed RO RO

RW = Read / write access RO = Read only access The default settings of the drive are Parameter Access Level L1 and

user Security Open, i.e. read / write access to Menu 0 with the advanced menus not visible.

5.9.1 Access Level

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

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5.9.2 Changing the Access Level

The Access Level is determined by the setting of Pr 0.49 as follows:

String Value Effect

L1 0 Access to menu 0 only

L2 1 Access to all menus (menu 0 to menu 22)

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

5.9.3 User Security

The User Security, when set, prevents write access to any of the parameters (other than Pr. 0.49 and Pr 11.44 Access Level) in any menu.

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Setting User Security

Enter a value between 1 and 999 in Pr 0.34 and press the button; the security code has now been set to this value. In order to activate the security, the Access level must be set to Loc in Pr 0.49. When the drive is reset, the security code will have been activated and the drive returns to Access Level L1. The value of Pr 0.34 will return to 0 in order to hide the security code. At this point, the only parameter that can be changed by the user is the Access Level Pr 0.49.

Unlocking User Security

Select a read write parameter to be edited and press the button, the upper display will now show CodE. Use the arrow buttons to set the

security code and press the button. With the correct security code entered, the display will revert to the

parameter selected in edit mode. If an incorrect security code is entered the display will revert to

parameter view mode.

To lock the User Security again, set Pr 0.49 to Loc and press the reset button.

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Disabling User Security

Unlock the previously set security code as detailed above. Set Pr 0.34 to 0 and press the button. The User Security has now been disabled,

and will not have to be unlocked each time the drive is powered up to allow read / write access to the parameters.

5.10 Displaying parameters with nondefault values only

By entering 12000 in Pr xx.00, the only parameters that will be visible to the user will be those containing a non-default value. This function does not require a drive reset to become active. In order to deactivate this function, return to Pr xx.00 and enter a value of 0.

Please note that this function can be affected by the access level enabled, refer to section 5.9 Parameter access level and security for further information regarding access level.

5.11 Displaying destination parameters only

By entering 12001 in Pr xx.00, the only parameters that will be visible to the user will be destination parameters. This function does not require a drive reset to become active. In order to deactivate this function, return to Pr xx.00 and enter a value of 0.

Please note that this function can be affected by the access level enabled, refer to section 5.9 Parameter access level and security for further information regarding access level.

5.12 Serial communications

5.12.1 Introduction

The Unidrive SP has a standard 2-wire EIA485 interface (serial communications interface) which enables all drive set-up, operation and monitoring to be carried out with a PC or controller if required. Therefore, it is possible to control the drive entirely by serial communications without the need for a SM-keypad or other control cabling. The drive supports two protocols selected by parameter configuration:

• Modbus RTU

• CT ANSI

Modbus RTU has been set as the default protocol, as it is used with the PC-tools commissioning/start-up software as provided on the CD ROM.

The serial communications port of the drive is a RJ45 socket, which is isolated from the power stage and the other control terminals (see section 4.10 Serial communications connections on page 63 for connection and isolation details).

The communications port applies a 2 unit load to the communications network.

USB/EIA232 to EIA485 Communications

An external USB/EIA232 hardware interface such as a PC cannot be used directly with the 2-wire EIA485 interface of the drive. Therefore a suitable converter is required.

Suitable USB to EIA485 and EIA232 to EIA485 isolated converters are available from Control Techniques as follows:

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

• CT EIA232 Comms cable (CT Part No. 4500-0087)

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

5.12.2 Serial communications set-up parameters

The following parameters need to be set according to the system requirements.

0.35 {11.24} Serial mode

RW Txt US

AnSI (0)

rtU (1)

This parameter defines the communications protocol used by the 485 comms port on the drive. This parameter can be changed via the drive keypad, via a Solutions Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original protocol. The master should wait at least 20ms before send a new message using the new protocol. (Note: ANSI uses 7 data bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and no parity.)

Comms value String Communications mode

0AnSI ANSI 1 rtU Modbus RTU protocol

2Lcd

Modbus RTU protocol, but with an SMKeypad Plus only

ANSIx3.28 protocol

Full details of the CT ANSI communications protocol are the Advanced User Guide.

Modbus RTU protocol

Full details of the CT implementation of Modbus RTU are given in the Advanced User Guide.

Modbus RTU protocol, but with an SM-Keypad Plus only

This setting is used for disabling communications access when the SMKeypad Plus is used as a hardware key. See the Advanced User Guide for more details.

0.36 {11.25} Serial communications baud rate

RW Txt US

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

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

19200 (6), 38400 (7),

57600 (8)*, 115200 (9)*

* only applicable to Modbus RTU mode This parameter can be changed via the drive keypad, via a Solutions

Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original baud rate. The master should wait at least 20ms before sending a new message using the new baud rate.

When using the CT EIA232 Comms cable the available baud rate is limited to 19.2k baud.

0.37 {11.23} Serial communications address

RW Txt US

0 to 247

Used to define the unique address for the drive for the serial interface. The drive is always a slave.

rtU (1)

19200 (6)

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Modbus RTU

When the Modbus RTU protocol is used addresses between 0 and 247 are permitted. Address 0 is used to globally address all slaves, and so this address should not be set in this parameter

ANSI

When the ANSI protocol is used the first digit is the group and the second digit is the address within a group. The maximum permitted group number is 9 and the maximum permitted address within a group is

9. Therefore, Pr 0.37 is limited to 99 in this mode. The value 00 is used to globally address all slaves on the system, and x0 is used to address all slaves of group x, therefore these addresses should not be set in this parameter.

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

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

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6 Basic parameters

6.1 Single line descriptions

Ú) Default(Ö)

Parameter

0.00 xx.00

0.01 Minimum reference clamp {1.07} ±3,000.0Hz ±SPEED_LIMIT_MAX Hz/rpm 0.0 RW Bi PT US

0.02 Maximum reference clamp {1.06}

0.03 Acceleration rate

0.04 Deceleration rate {2.21}

0.05 Reference select {1.14}

0.06 Current limit {4.07} 0 to Current_limit_max % 138.1 165.7

OL> Voltage mode select {5.14}

0.07

CL> Speed controller P gain {

OL> Voltage boost {5.15}

0.08

CL> Speed controller I gain {

OL> Dynamic V/F {5.13}

0.09

CL> Speed controller D gain { OL> Estimated motor speed {5.04} ±180,000 rpm RO Bi FI NC PT

0.10

CL> Motor speed { OL & VT> Drive output

frequency

0.11

SV> Drive encoder position {

0.12 Total motor current {4.01} 0 to Drive_current_max A RO Uni FI NC PT

OL & VT> Motor active current

0.13

SV> Analog input 1 offset trim

0.14 Torque mode selector {4.11} 0 to 1 0 to 4 Speed control mode (0) RW Uni US

0.15 Ramp mode select {2.04}

OL> T28 and T29 autoselection disable

0.16

CL> Ramp enable { OL> T29 digital input

destination

0.17

CL> Current demand filter time constant

0.18 Positive logic select {8.29} OFF (0) or On (1) On (1) RW Bit PT US

0.19 Analog input 2 mode {7.11}

0.20 Analog input 2 destination {7.14}Pr 0.00 to Pr 21.51 Pr 1.37 RW Uni DE PT US

0.21 Analog input 3 mode {7.15}

0.22 Bipolar reference select {1.10} OFF (0) or On (1) OFF (0) RW Bit US

0.23 Jog reference {1.05} 0 to 400.0 Hz 0 to 4000.0 rpm 0.0 RW Uni US

0.24 Pre-set reference 1 {1.21} ±Speed_limit_max rpm 0.0 RW Bi US

0.25 Pre-set reference 2 {1.22} ±Speed_limit_max rpm 0.0 RW Bi US

OL> Pre-set reference 3 {1.23}

0.26

CL> Overspeed threshold {

OL> Pre-set reference 4 {1.24}

0.27

CL> Drive encoder lines per revolution

0.28 Keypad fwd/rev key enable {6.13} OFF (0) or On (1) OFF (0) RW Bit US

{x.00} 0 to 32,767 0 RW Uni

{

2.11} 0.0 to 3,200.0

3.10}

3.11} 0.00 to 655.35 1/rad 0.10 1.00 RW Uni US

3.12} 0.00000 to 0.65535 (s) 0.00000 RW Uni US

3.02} ±Speed_max rpm RO Bi FI NC PT

5.01}

{

3.29}

4.02} ±Drive_current_max A RO Bi FI NC PT

{

{7.07} ±10.000 %

8.39}

{

2.02} OFF (0) or On (1) On (1) RW Bit US

{8.26}

4.12} 0.0 to 25.0 ms

{

3.08} 0 to 40,000 rpm 0RWUni US

3.34} 0 to 50,000 1024 4096 RW Uni US

{

OL VT SV OL VT SV

0 to

3,000.0Hz

s/100Hz

0.0 to 3,200.0 s/100Hz

A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), PAd (4),

Ur_S (0),

Ur (1), Fd (2),

Ur_Auto (3),

Ur_I (4),

SrE (5)

0.0 to 25.0%

of motor rated

voltage

OFF (0) or On

(1)

±Speed_freq_

max Hz

FASt (0)

Std (1)

Std.hV (2)

OFF (0) or On

(1)

Pr 0.00 to

21.51

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

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

±Speed_freq_

max Hz/rpm

±Speed_freq_

max Hz/rpm

Range(

-1

EUR> 50.0 USA> 60.0

5.0 2.000 0.200 RW Uni

10.0 2.000 0.200 RW Uni US

Ur_I (4) RW Txt US

1.0

0 RW Bit US

OFF (0) RW Bit US

Pr 6.31 RW Uni DE PT US

0.0 RW Bi US

SPEED_LIMIT_MAX Hz/rpm

0.000 to 3,200.000 s/1,000rpm

Prc (5)

0.0000 to 6.5535 1/rad s

±1250 Hz RO Bi FI NC PT

0 to 65,535

ths of a

1/2

revolution

FASt (0)

Std (1)

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

th (8), th.diSp (9)

EUR> 1,500.0

USA> 1,800.0

A1.A2 (0) RW Txt NC US

0.0300 0.0100 RW Uni US

Std ( 1) RW Txt US

VOLt (6) RW Txt US

th (8) RW Txt PT US

3,000.0 RW Uni

150.0

0.000

0.0

RW Uni RA US

RW Uni US

RO Uni FI NC PT

RW Bi US

RW Uni US

Typ e

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SMARTCARD parameter

0.29

data

0.30 Parameter copying {11.42 } nonE (0), rEAd (1), Prog (2), AutO (3), boot (4) nonE (0) RW Txt NC *

0.31 Drive rated voltage {11.33 } 200 (0), 400 (1), 575 (2), 690 (3) V RO Txt NC PT

Maximum Heavy Duty

0.32

current rating OL> Catch a spinning motor {6.09} 0 to 3 0 RW Uni US

0.33

VT> Rated rpm autotune {

0.34 User security code {11.30} 0 to 999 0 RW Uni NC PT PS

0.35 Serial comms mode {11.2 4} AnSI (0), rtu (1), Lcd (2) rtU (1) RW Txt US

0.36 Serial comms baud rate {11. 25}

0.37 Serial comms address {11 .2 3} 0 to 247 1 RW Uni US

0.38 Current loop P gain {4.13} 0 to 30,000

0.39 Current loop I gain {4.14}

0.40 Autotune {5.12} 0 to 2 0 to 4 0 to 6 0 RW Uni

Maximum switching

0.41

frequency

0.42 No. of motor poles {5.11} 0 to 60 (Auto to 120 pole) 0 (Auto) 6 POLE (3) RW Txt US

OL & VT> Motor rated power factor

0.43

SV> Encoder phase angle {

0.44 Motor rated voltage {5.09} 0 to AC_voltage_set_max V

OL & VT> Motor rated full load speed (rpm)

0.45

SV> Motor thermal time constant

0.46 Motor rated current {5.07} 0 to Rated_current_max A Drive rated current [11.3 2] RW Uni RA US

0.47 Rated frequency {5.06}

0.48 Operating mode selector {11.31 }

0.49 Security status {11 .44} L1 (0), L2 (1), Loc (2) RW Txt PT US

0.50 Software version {11.2 9} 1.00 to 99.99 RO Uni NC PT

0.51 Action on trip detection {10.37} 0 to 15 0 RW Uni US

Mechanical

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Electrical

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{

11.36 } 0 to 999 0 RO Uni NC PT US

11.32 } 0.00 to 9999.99A RO Uni NC PT

{

5.16} 0 to 2 0 RW Uni US

{

5.18} 3 (0), 4 (1), 6 (2) kHz 3 (0) 6 (2) RW Txt RA US

5.10} 0.000 to 1.000 0.850 RW Uni US

{

3.25} 0.0 to 359.9° 0.0 RW Uni US

5.08}

{

4.15} 0.0 to 3000.0 20.0 RW Uni US

{

Getting Star ted

OL VT SV OL VT SV

300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),

0 to 180,000

rpm

0 to 3,000.0 Hz0 to 1,250.0

Basic

parameters

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

57600 (8) Modbus RTU only, 115200 (9) Modbus RTU only

OPEn LP (1), CL VECt (2),

SErVO (3), rEgEn (4)

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Ú) Default(Ö)

Range(

0 to 30,000 All voltage

0.00 to

40,000.00

rpm

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Typ e

19200 (6) RW Txt US

All voltage ratings: 20

ratings 40

400V drive: EUR> 400, USA> 460

EUR> 1,500 USA> 1,800

EUR> 50.0 USA> 60.0

OPEn LP (1) CL VECt (2) SErVO (3) RW Txt NC PT

200V drive: 75 400V drive: 150 575V drive: 180 690V drive: 215

200V drive: 1000 400V drive: 2000 575V drive: 2400 690V drive: 3000

200V drive: 230

575V drive: 575 690V drive: 690

EUR>

1,450.00

USA>

1,770.00

RW Uni US

RW Uni RA US

RW Uni US

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

Key:

Coding Attribute

OL Open loop CL Closed loop vector and Servo VT Closed loop vector SV Servo

{X.XX} Copied advanced parameter

RW Read/write: can be written by the user

RO Read only: can only be read by the user

Bit 1 bit parameter: ‘On’ or ‘OFF’ on the display

Bi Bipolar parameter Uni Unipolar parameter Txt Text: the parameter uses text strings instead of numbers.

Filtered: some parameters which can have rapidly changing

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

Destination: This parameter selects the destination of an

input or logic function.

Coding Attribute

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

source drive and the file is a parameter file. However, with software V01.09.00 and later the value will be transferred if only the current rating is different and the file is a differences from default type file.

Not copied: not transferred to or from SMARTCARDs

during copying.

PT Protected: cannot be used as a destination.

User save: parameter saved in drive EEPROM when the

user initiates a parameter save. Power-down save: parameter automatically saved in drive

EEPROM when the under volts (UV) trip occurs. With software version V01.08.00 and later, power-down save

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

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Analogue

input

2 mode

0.19

Analogue reference

Keypad reference

0.XX

Key

Read-write

(RW)

parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

0.24

0.25

0.26

0.27

Preset frequency 1

Preset frequency 2

Preset frequency 3

Preset frequency 4

Preset frequency reference

Analogue

reference 2

1.37

0.20

??.??

Any unprotected variable parameter

??.??

Analogue

input 2

destination

0.13

The function of the two digital inputs are controlled by the setting of Pr (reference selector). See table below for details.

0.05

Precision reference

0.05

Reference selector

Analogue

input 2

offset trim

Open Loop only

0.05

Reference selector

0.24

Bipolar

reference

select

0.28

Enable forward / reverse key

0.23

Jog reference

A1.A2 Local/Remote Jog

A1.Pr Preset reference selectors

A2.Pr Preset reference selectors

Pr Preset reference selectors

PAd Local/Remote Jog Prc Local/Remote Jog

Pr T28 T29

0.05

Digital inputs T28 & T29

A1.A2

A1.Pr

A2.Pr

PAd

Prc

Information

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Figure 6-1 Menu 0 logic diagram

Electrical

Installation

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Advanced

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Technical

Data

Diagnostics

UL Listing

Information

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Information

OL> FREQUENCY CL> SPEED

TORQUE

Motor control

Speed-loop proportional gain

OL> Catch a spinning motor VT> Motor full load rated speed autotune

Motor speed

0.33

0.06

0.07

Speed-loop integral gain

0.08

Speed-loop derivative gain

0.09

0.10

CL> Speed-loop PID gains

9 10

15 way sub-D connector

AT ZERO SPEED

Current limit

No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

0.42 ~ 0.47

Motor parameters

Power stage

Voltage mode

selector

Dynamic V/f

select

0.07

Boost voltage

0.08

0.09

OL> Motor-voltage control

Estimated motor speed

0.10

L1 L2 L3

U V W

Resistor optional

Drive

RUN

FORWARD

RUN REVERSE

RESET

Minimum frequency/ speed clamp

0.01

0.02

26 27 25

Ramps

Acceleration rate

Deceleration rate

Ramp mode

selector

0.03

0.04

0.15

Closed loop only

0.16

Maximum frequency/ speed clamp

Ramp enable

Analogue outputs Digital output

0.27

0.26

Drive encoder ppr

Overspeed threshold

0.41

0.11

PWM switching frequency

Drive output frequency

SV> Motor thermal time constant

0.14

Torque mode selector

0.17

Current demand filter time constant

CL>

0.13 0.12

OL & VT> Motor active current

Total motor current

Magnetising current

+ BR

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Data

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6.2 Full descriptions

6.2.1 Parameter x.00

0.00 {x.00} Parameter zero

RW Uni

Pr x.00 is available in all menus and has the following functions.

Value Action

1000

1001 Save parameters under all conditions 1070 Reset all option modules 1233 Load standard defaults 1244 Load US defaults 1253 Change drive mode with standard defaults 1254 Change drive mode with US defaults

1255

1256

2001*

3yyy*

4yyy*

5yyy*

6yyy* Transfer SMART Card data block number yyy to the drive 7yyy* Erase SMART Card data block number yyy

8yyy*

9555* Clear SMARTCARD warning suppression flag 9666* Set SMARTCARD warning suppression card 9777* Clear SMARTCARD read-only flag 9888* Set SMARTCARD read-only flag 9999* Erase SMARTCARD data block 1 to 499

110zy

12000** Display non-default values only 12001** Display destination parameters only

* See Chapter 9 SMARTCARD operation on page 119 for more information of these functions. ** These functions do not require a drive reset to become active. All other functions require a drive reset to initiate the function.

0 to 32,767

Save parameters when under voltage is not active (Pr 10.16 = 0) and low voltage DC supply is not active (Pr 6.44 = 0).

Change drive mode with standard defaults (excluding menus 15 to 20)

Change drive mode with US defaults (excluding menus 15 to

20) Transfer drive parameters as difference from default to a

bootable SMARTCARD block in data block number 001 Transfer drive EEPROM data to a SMART Card block

number yyy Transfer drive data as difference from defaults to SMART

Card block number yyy Transfer drive ladder program to SMART Card block number

yyy

Compare drive parameters with SMART Card data block number yyy

Transfer electronic nameplate parameters to/from drive from/ to encoder. See the Advanced User Guide for more information on this function.

6.2.2 Speed limits

0.01 {1.07} Minimum reference clamp

RW Bi PT US

±3,000.0Hz

±SPEED_LIMIT_MAX Hz/rpm

0.0

Optimization

Closed-loop

Set Pr rotation. The drive speed reference is scaled between Pr

(The drive has additional over-speed protection.)

Open-loop

Set Pr 0.02 at the required maximum output frequency for both directions of rotation. The drive speed reference is scaled between Pr 0.01 and Pr 0.02. [0.02] is a nominal value; slip compensation may cause the actual frequency to be higher.

Closed-loop

Set Pr rotation. The drive speed reference is scaled between Pr

For operating at high speeds see section 8.6 High speed operation on page 117.

SMARTCARD

operation

0.01

at the required minimum motor speed for both directions of

0.02 {1.06} Maximum reference clamp

RW Uni US

SPEED_LIMIT_MAX Hz/rpm

0.02

at the required maximum motor speed for both directions of

Onboard

PLC

0 to 3,000.0Hz

Advanced

parameters

Technical

SV 3,000.0

Data

Diagnostics

0.01

and Pr

EUR> 50.0 USA> 60.0

EUR> 1,500.0

USA> 1,800.0

0.01

and Pr

UL Listing

Information

6.2.3 Ramps, speed reference selection, current limit

0.03 {2.11} Acceleration rate

RW Uni US

Set Pr 0.03 at the required rate of acceleration. Note that larger values produce lower acceleration. The rate applies in

both directions of rotation.

Set Pr 0.04 at the required rate of deceleration. Note that larger values produce lower deceleration. The rate applies in

both directions of rotation.

0.0 to 3,200.0 s/100Hz

0.000 to 3,200.000

0.04 {2.21} Deceleration rate

RW Uni US

s/1,000rpm

0.0 to 3,200.0 s/100Hz

0.000 to 3,200.000 s/1,000rpm

VT 2.000

SV 0.200

VT 2.000

SV 0.200

5.0

10.0

0.02

(When the drive is jogging, [0.01] has no effect.)

Open-loop

Set Pr 0.01 at the required minimum output frequency of the drive for both directions of rotation. The drive speed reference is scaled between Pr 0.01 and Pr 0.02. [0.01] is a nominal value; slip compensation may cause the actual frequency to be higher.

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0.06[]

RATED

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

100×=

0.06[]

RATED

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

100×=

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0.05 {1.14} Reference selector

RW Txt NC US

0 to 5

A1.A2 (0)

Use Pr 0.05 to select the required frequency/speed reference as follows:

Setting

A1.A2 0

A1.Pr 1

A2.Pr 2

Analog input 1 OR analog input 2 selectable by digital input, terminal 28

Analog input 1 OR preset frequency/speed selectable by digital input, terminal 28 and 29

Analog input 2 OR preset frequency/speed selectable by digital input, terminal 28 and 29

Pr 3 Pre-set frequency/speed

PAd 4 Keypad reference

Prc 5 Precision reference

Setting Pr 0.05 to 1, 2 or 3 will re-configure T28 and T29. Refer to Pr 8.39 (Pr 0.16 in OL) to disable this function.

0.06 {4.07} Current Limit

RW Uni RA US

OL 165.0

0 to Current_limit_max %

CL 175.0

Pr 0.06 limits the maximum output current of the drive (and hence maximum motor torque) to protect the drive and motor from overload.

Set Pr 0.06 at the required maximum torque as a percentage of the rated torque of the motor, as follows:

(%)

Where:

Required maximum torque

Motor rated torque

RATED

Alternatively, set 0.06 at the required maximum active (torqueproducing) current as a percentage of the rated active current of the motor, as follows:

0.07 {3.10} Speed controller proportional gain

RW Uni US

0.0000 to 6.5535

-1

1/rad s

VT 0.0300

SV 0.0100

Software V01.10.00 and later, the defaults are as above. Software V01.09.01 and earlier, the default is 0.0100 in Closed-loop

vector and servo mode.

Closed-loop

Pr 0.07 (3.10) operates in the feed-forward path of the speed-control loop in the drive. See Figure 11-4 on page 144 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization on page 106.

0.08 {5.15} Low frequency voltage boost

RW Uni US

0.0 to 25.0% of motor

rated voltage

1.0

Open-loop

When 0.07 Voltage mode selector is set at Fd or SrE, set Pr 0.08 (5.15) at the required value for the motor to run reliably at low speeds.

Excessive values of Pr 0.08 can cause the motor to be overheated.

0.08 {3.11} Speed controller integral gain

RW Uni US

0.00 to 655.35 1/rad

VT 0.10

SV 1.00

Software V01.10.00 and later, the defaults are as above. Software V01.09.01 and earlier, the default is 1.00 in Closed-loop vector

and servo modes.

Closed-loop

Pr 0.08 (3.11) operates in the feed-forward path of the speed-control loop in the drive. See Figure 11-4 on page 144 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization on page 106.

(%)

0.09 {5.13} Dynamic V/F / flux optimize select

RW Bit US

Where:

Required maximum active current

Motor rated active current

RATED

6.2.4 Voltage boost, (open-loop), Speed-loop PID gains (closed-loop)

0.07 {5.14} Voltage mode selector

RW Txt US

Ur_S (0), Ur (1), Fd (2),

Ur_Auto (3), Ur_I (4),

SrE (5)

Ur_I (4)

Open-loop

Set Pr 0.09 (5.13) at 0 when the V/f characteristic applied to the motor is to be fixed. It is then based on the rated voltage and frequency of the motor.

Set Pr 0.09 at 1 when reduced power dissipation is required in the motor when it is lightly loaded. The V/f characteristic is then variable resulting in the motor voltage being proportionally reduced for lower motor currents. Figure 6-2 shows the change in V/f slope when the motor current is reduced.

OFF (0) or On (1)

OFF (0)

Open-loop

There are six voltage modes available, which fall into two categories, vector control and fixed boost. For further details, refer to section Pr

0.07 {5.14} Voltage mode on page 107.

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Motor

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AC supply

voltage

IMOTOR

Active current

Total current

Magnetising current

Information

Figure 6-2 Fixed and variable V/f characteristics

0.09 {3.12} Speed controller differential feedback gain

RW Uni US

Closed-loop

Pr 0.09 (3.12) operates in the feedback path of the speed-control loop in the drive. See Figure 11-4 on page 144 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization on page 106.

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0.00000 to 0.65535(s)

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0.00000

6.2.5 Monitoring

0.10 {5.04} Estimated motor speed

RO Bit FI NC PT

Open-loop

Pr 0.10 (5.04) indicates the value of motor speed that is estimated from the following:

0.12 Post-ramp frequency reference

0.42 Motor - no. of poles

0.10 {3.02} Motor speed

RO Bi FI NC PT

Closed-loop

Pr 0.10 (3.02) indicates the value of motor speed that is obtained from the speed feedback.

0.11 {5.01} Drive output frequency

RO Bi FI NC PT

Open-loop & closed loop vector Pr 0.11 displays the frequency at the drive output.

0.11 {3.29} Drive encoder position

RO Uni FI NC PT

Servo

Pr 0.11 displays the position of the encoder in mechanical values of 0 to 65,535. There are 65,536 units to one mechanical revolution.

±180,000 rpm

±Speed_max rpm

±SPEED_FREQ_MAX Hz

±1250.0 Hz

0 to 65,535

ths of a revolution

1/2

Basic

Running

the motor

Optimization

Pr 0.12 displays the rms value of the output current of the drive in each of the three phases. The phase currents consist of an active component and a reactive component, which can form a resultant current vector as shown in the following diagram.

The active current is the torque producing current and the reactive current is the magnetizing or flux-producing current.

Open-loop & closed loop vector

When the motor is being driven below its rated speed, the torque is proportional to [0.13].

Servo

Pr 0.13 can be used to trim out any offset in the user signal to analog input 1.

SMARTCARD

operation

0.12 {4.01} Total motor current

RO Uni FI NC PT

0 to Drive_current_max A

0.13 {4.02} Motor active current

RO Bi FI NC PT

±Drive_current_max A

0.13 {7.07} Analog input 1 offset trim

RW Bi US

Onboard

PLC

±10.000 %

Advanced

parameters

Technical

Data

Diagnostics

0.000

UL Listing

Information

6.2.6 Jog reference, Ramp mode selector, Stop and torque mode selectors

0.14 {4.11} Torque mode selector

RW Uni US

0.14

is used to select the required control mode of the drive as follows:

Setting Open-Loop Closed-Loop

0 Frequency control Speed control 1 Torque control Torque control 2 3

0 to 1

0 to 4

Speed control (0)

Torque control with speed override

Coiler/uncoiler mode

Speed control with torque feed-

forward

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DC Bus voltage

Motor Speed

Programmed deceleration

rate

Controller operational

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0.15 {2.04} Ramp mode select

RW Txt US

FASt (0)

Std (1)

Std.hV (2)

FASt (0)

Std (1)

Pr 0.15 sets the ramp mode of the drive as shown below:

0: Fast ramp

Fast ramp is used where the deceleration follows the programmed deceleration rate subject to current limits. This mode must be used if a braking resistor is connected to the drive.

1: Standard ramp

Standard ramp is used. During deceleration, if the voltage rises to the standard ramp level (Pr

2.08

) it causes a controller to operate, the output of which changes the demanded load current in the motor. As the controller regulates the link voltage, the motor deceleration increases as the speed approaches zero speed. When the motor deceleration rate reaches the programmed deceleration rate the controller ceases to operate and the drive continues to decelerate at the programmed rate. If the standard ramp voltage (Pr

2.08

) is set lower than the nominal DC bus level the drive will not decelerate the motor, but it will coast to rest. The output of the ramp controller (when active) is a current demand that is fed to the frequency changing current controller (Open-loop modes) or the torque producing current controller (Closed-loop vector or Servo modes). The gain of these controllers can be modified with Pr

4.13

and Pr

4.14

Reference select 0.05

A1.A2 (0)

A1.Pr (1)

A2.Pr (2)

Pr (3)

PAd (4)

Prc (5)

Reference selection by terminal input

Analogue reference 1 or presets selected by terminal input

Analogue reference 2 or presets selected by terminal input

Preset reference selected by terminal input

Keypad reference selected

Precision reference selected

Terminal 28

function

Local / remote selector Jog select

Preset select bit 0 Preset select bit 1

Local / remote selector Jog select

Terminal 29

function

Setting Pr 0.16 to 1 disables this automatic set-up, allowing the user to define the function of digital inputs T28 and T29.

0.16 {2.02} Ramp enable

RW Bit US

OFF (0) or On (1)

On (1)

Closed-loop

Setting Pr 0.16 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.

0.17 {8.26} T29 digital input destination

RW Uni DE PT US

Pr 0.00 to Pr 21.51

Pr 6.31

2: Standard ramp with motor voltage boost

This mode is the same as normal standard ramp mode except that the motor voltage is boosted by 20%. This increases the losses in the motor, dissipating some of the mechanical energy as heat giving faster deceleration.

0.16 {8.39} T28 and T29 auto-selection disable

RW Bit US

OFF (0) or On (1)

Open-loop

When Pr 0.16 is set to 0, digital inputs T28 and T29 are set up

OFF (0)

automatically with destinations according to the setting of the reference select Pr 0.05.

Open-loop

Pr 0.17 sets the destination of digital input T29. This parameter is normally set-up automatically according to the reference selected by Pr 0.05. In order to manually set-up this parameter, the T28 and T29 auto-selection disable (Pr 0.16) must be set.

0.17 {4.12} Current demand filter time constant

RW Uni US

0.0 to 25.0 ms

0.0

Closed-loop

A first order filter, with a time constant defined by Pr 0.17, is provided on the current demand to reduce acoustic noise and vibration produced as a result of position feedback quantization noise. The filter introduces a lag in the speed loop, and so the speed loop gains may need to be reduced to maintain stability as the filter time constant is increased.

0.18 {8.29} Positive logic select

RW Bit PT US

OFF (0) or On (1)

On (1)

Pr 0.18 sets the logic polarity for digital inputs and digital outputs. This does not affect the drive enable input or the relay output.

0.19 {7.11} Analog input 2 mode

RW Txt US

0 to 6

VOLt (6)

In modes 2 & 3 a current loop loss trip is generated if the current falls below 3mA. In modes 2 & 4 the analog input level goes to 0.0% if the input current falls below 4mA.

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value

0 0-20 0 - 20mA 1 20-0 20 - 0mA 2 4-20.tr 4 - 20mA with trip on loss Trip if I < 3mA 3 20-4.tr 20 - 4mA with trip on loss Trip if I < 3mA 4 4-20 4 - 20mA with no trip on loss 0.0% if I ≤ 4mA 5 20-4 20 – 4mA with no trip on loss 100% if I ≤ 4mA 6 VOLt Voltage mode

0.20 {7.14} Analog input 2 destination

RW Uni DE PT US

Pr 0.20 sets the destination of analog input 2.

0.21 {7.15} Analog input 3 mode

RW Txt PT US

Software V01.07.00 and later, the default is th (8) Software V01.06.02 and earlier, the default is VOLt (6) In modes 2 & 3 a current loop loss trip is generated if the current falls

below 3mA. In modes 2 & 4 the analog input level goes to 0.0% if the input current

falls below 4mA.

value

0 0-20 0 - 20mA 1 20-0 20 - 0mA 2 4-20.tr 4 - 20mA with trip on loss Trip if I < 3mA 3 20-4.tr 20 - 4mA with trip on loss Trip if I < 3mA 4 4-20 4 - 20mA with no trip on loss 0.0% if I ≤ 4mA 5 20-4 20 - 4mA with no trip on loss 100% if I ≤ 4mA 6 VOLt Voltage mode

7th.SC

8th

9th.diSp

0.22 {1.10} Bipolar reference select

RW Bit US

Pr 0.22 determines whether the reference is uni-polar or bi-polar as follows:

Pr 0.22 Function

0 Unipolar speed/frequency reference

string

Pr 0.00 to Pr 21.51

0 to 9

string

Thermistor mode with short-

Thermistor mode with no

short-circuit detection Thermistor mode with

display only and no trip

OFF (0) or On (1)

Mode Comments

circuit detection

Pr 1.37

th (8)

Th trip if R > 3K3 Th reset if R < 1K8 ThS trip if R < 50R

Th trip if R > 3K3 Th reset if R < 1K8

OFF (0)

0.23 {1.05} Jog reference

RW Uni US

Enter the required value of jog frequency/speed. The frequency/speed limits affect the drive when jogging as follows:

Pr 0.01 Minimum reference clamp No Pr 0.02 Maximum reference clamp Yes

0.24 {1.21} Preset reference 1

RW Bi US

0.25 {1.22} Preset reference 2

RW Bi US

0.26 {1.23} Preset reference 3

RW Bi US

Open-loop

If the preset reference has been selected (see Pr 0.05), the speed at which the motor runs is determined by these parameters.

0.26 {3.08} Overspeed threshold

RW Uni US

Closed-loop

If the speed feedback (Pr 3.02) exceeds this level in either direction, an overspeed trip is produced. If this parameter is set to zero, the overspeed threshold is automatically set to: 120% x SPEED_FREQ_MAX.

0.27 {1.24} Preset reference 4

RW Bi US

Open-loop Refer to Pr 0.24 to Pr 0.26.

0.27 {3.34} Drive encoder lines per revolution

RW Uni US

ÚÖ

Closed-loop

Enter in Pr 0.27 the number of lines per revolution of the drive encoder.

0 to 400.0 Hz

0 to 4,000.0 rpm

Frequency-limit parameter Limit applies

±Speed_limit_max rpm

±Speed_freq_max Hz/rpm

0 to 40,000 rpm

±Speed_freq_max Hz/rpm

0 to 50,000

0.0

1024

4096

1 Bipolar speed/frequency reference

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0.28 {6.13} Keypad fwd/rev key enable

RW Bit US

OFF (0) or On (1)

OFF (0)

When a keypad is installed, this parameter enables the forward/reverse key.

0.29 {11.36} SMARTCARD parameter data

RO Uni NC PT US

0 to 999

This parameter shows the number of the data block last transferred from a SMARTCARD to the drive.

0.30 {11.42} Parameter copying

RW Txt NC *

0 to 4

nonE (0)

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

If Pr 0.30 is equal to 1 or 2 this value is not transferred to the EEPROM or the drive. If Pr 0.30 is set to a 3 or 4 the value is transferred.

String

nonE 0 Inactive

rEAd 1 Read parameter set from the SMARTCARD Prog 2 Programming a parameter set to the SMARTCARD Auto 3 Auto save

boot 4 Boot mode

For further information, please refer to Chapter 9 SMARTCARD operation on page 119.

0.31 {11.33} Drive rated voltage

RO Txt NC PT

Pr 0.31 indicates the voltage rating of the drive.

0.32 {11.32} Maximum Heavy Duty current rating

RO Uni NC PT

Pr 0.32 indicates the maximum continuous Heavy Duty current rating.

value

200V (0), 400V (1), 575V (2),

690V (3)

0.00 to 9,999.99 A

Comment

Pr 0.33 Function

0 Disabled 1 Detect all frequencies 2 Detect positive frequencies only 3 Detect negative frequencies only

0.33 {5.16} Rated rpm autotune

RW Uni US

0 to 2

Closed-loop vector

The motor rated full load rpm parameter (Pr 0.45) in conjunction with the motor rated frequency parameter (Pr 0.46) defines the full load slip of the motor. The slip is used in the motor model for closed-loop vector control. The full load slip of the motor varies with rotor resistance which can vary significantly with motor temperature. When Pr 0.33 is set to 1 or 2, the drive can automatically sense if the value of slip defined by Pr 0.45 and Pr 0.46 has been set incorrectly or has varied with motor temperature. If the value is incorrect parameter Pr 0.45 is automatically adjusted. The adjusted value in Pr 0.45 is not saved at power-down. If the new value is required at the next power-up it must be saved by the user.

Automatic optimization is only enabled when the speed is above 12.5% of rated speed, and when the load on the motor load rises above 62.5% rated load. Optimization is disabled again if the load falls below 50% of rated load.

For best optimization results the correct values of stator resistance (Pr

5.17), transient inductance (Pr 5.24), stator inductance (Pr 5.25) and saturation breakpoints (Pr 5.29, Pr 5.30) should be stored in the relevant parameters. These values can be obtained by the drive during an autotune (see Pr 0.40 for further details).

Rated rpm auto-tune is not available if the drive is not using external position/speed feedback.

The gain of the optimizer, and hence the speed with which it converges, can be set at a normal low level when Pr 0.33 is set to 1. If this parameter is set to 2 the gain is increased by a factor of 16 to give faster convergence.

0.34 {11.30} User security code

RW Uni NC PT PS

0 to 999

If any number other than 0 is programmed into this parameter, user security is applied so that no parameters except parameter 0.49 can be adjusted with the keypad. When this parameter is read via a keypad it appears as zero.

For further details refer to section 5.9.3 User Security on page 77.

0.33 {6.09} Catch a spinning motor

RW Uni US

0 to 3

Open-loop

When the drive is enabled with Pr 0.33 = 0, the output frequency starts at zero and ramps to the required reference. When the drive is enabled when Pr 0.33 has a non-zero value, the drive performs a start-up test to determine the motor speed and then sets the initial output frequency to the synchronous frequency of the motor. Restrictions may be placed on the frequencies detected by the drive as follows:

0.35 {11.24} Serial comms mode

RW Txt US

AnSI (0), rtu (1), Lcd (2)

rtU (1)

This parameter defines the communications protocol used by the EIA485 comms port on the drive. This parameter can be changed via the drive keypad, via a Solutions Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original protocol. The master should wait at least 20ms before send a new message using the new protocol. (Note: ANSI uses 7 data bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and no parity.)

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Comms value String Communications mode

0 AnSI ANSI 1 rtU Modbus RTU protocol

2Lcd

Modbus RTU protocol, but with an SMKeypad Plus only

ANSIx3.28 protocol

Full details of the CT ANSI communications protocol are the Advanced User Guide.

Modbus RTU protocol

Full details of the CT implementation of Modbus RTU are given in the Advanced User Guide.

Modbus RTU protocol, but with an SM-Keypad Plus only

This setting is used for disabling communications access when the SMKeypad Plus is used as a hardware key.

0.36 {11.25} Serial comms baud rate

RW Txt US

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

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

19200 (6), 38400 (7),

19200 (6)

57600 (8)*, 115200 (9)*

* only applicable to Modbus RTU mode This parameter can be changed via the drive keypad, via a Solutions

0.37 {11.23} Serial comms address

RW Uni US

0 to 247

Used to define the unique address for the drive for the serial interface. The drive is always a slave.

Modbus RTU

When the Modbus RTU protocol is used addresses between 0 and 247 are permitted. Address 0 is used to globally address all slaves, and so this address should not be set in this parameter

ANSI

0.38 {4.13} Current loop P gain

RW Uni US

ÚÖ

0 to 30,000

All voltage ratings: 20

200V drive: 75 400V drive: 150 575V drive: 180 690V drive: 215

0.39 {4.14} Current loop I gain

RW Uni US

ÚÖ

0 to 30,000

All voltage ratings: 40

200V drive: 1,000 400V drive: 2,000 575V drive: 2,400 690V drive: 3,000

These parameters control the proportional and integral gains of the current controller used in the open loop drive. The current controller either provides current limits or closed loop torque control by modifying the drive output frequency. The control loop is also used in its torque mode during line power supply loss, or when the controlled mode standard ramp is active and the drive is decelerating, to regulate the flow of current into the drive.

0.40 {5.12} Autotune

RW Uni

0 to 2

0 to 4

0 to 6

Open-Loop

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.

• The stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft.

• A rotating autotune first performs a stationary autotune, before rotating the motor at

/3 base speed in the forward direction for

several seconds. The motor must be free from load for the rotating autotune.

To perform an autotune, set Pr 0.40 to 1 for a stationary test or 2 for a rotating test, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

To perform an autotune, set Pr 0.40 to 1 for a stationary test or 2 for a rotating test, and provide the drive with an enable signal (on terminal 31) and press the green (hand) button.

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 (SECURE DISABLE) signal from terminal 31, setting the drive enable parameter Pr 6.15 to OFF (0) or disabling the drive via the control word (Pr 6.42 & Pr 6.43).

For further information refer to section Pr 0.40 {5.12} Autotune on page 106.

Closed-loop

There are three autotune tests available in closed loop vector mode, a stationary test, a rotating test and an inertia measurement test. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive. An inertia measurement test should be performed separately to a stationary or rotating autotune.

• The stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft.

• A rotating autotune first performs a stationary autotune, before rotating the motor at

/3 base speed in the forward direction for

approximately 30 seconds. The motor must be free from load for the rotating autotune.

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• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop gains, below) and to provide torque feed forwards when required during acceleration. During the inertia measurement test

the motor speed changes from

/3 to 2/3 rated speed in the forward

direction several times. The motor can be loaded with a constant torque load and still give an accurate result, however, non-linear loads and loads that change with speed will cause measurement errors.

To perform an autotune, set Pr 0.40 to 1 for a stationary test, 2 for a rotating test, or 3 for an inertia measurement test and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

Setting Pr 0.40 to 4 will cause the drive to calculate the current loop gains based on the previously measured values of motor resistance and inductance. The drive does apply any voltage to the motor during this test. The drive will change Pr 0.40 back to 0 as soon as the calculations are complete (approximately 500ms).

For further information refer to section Pr 0.40 {5.12} Autotune on page 109.

Servo

There are five autotune tests available in servo mode, a short low speed test, a normal low speed test, an inertia measurement test, a stationary test and a minimal movement test. A normal low speed should be done where possible as the drive measures the stator resistance and inductance of the motor, and from these calculates the current loop gains. An inertia measurement test should be performed separately to a short low speed or normal low speed autotune.

• A short low speed test will rotate the motor by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the forward direction, and measure the encoder phase angle. The motor must be free from load for this test.

• A normal low speed test will rotate the motor by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the forward direction. This test measures the encoder phase angle and updates other parameters including the current loop gains. The motor must be free from load for this test.

• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains and to provide torque feed forwards when required during acceleration. During the inertia measurement test the motor speed changes from

/3 to 2/3 rated speed in the forward direction several times. The

motor can be loaded with a constant torque load and still give an accurate result, however, non-linear loads and loads that change with speed will cause measurement errors.

• The stationary test only measures the motor resistance and inductance, and updates the current loop gain parameters. This test does not measure the encoder phase angle so this test needs to be done in conjunction with either the short low speed or minimal movement tests.

• The minimal movement test will move the motor through a small angle to measure the encoder phase angle. This test will operate correctly when the load is an inertia, and although a small amount of cogging and stiction is acceptable, this test cannot be used for a loaded motor.

To perform an autotune, set Pr 0.40 to 1 for a short low speed test, 2 for a normal low speed test, 3 for an inertia measurement test, 4 for a stationary test or 5 for a minimal movement test, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

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Setting Pr 0.40 to 6 will cause the drive to calculate the current loop gains based on the previously measured values of motor resistance and inductance. The drive does apply any voltage to the motor during this test. The drive will change Pr 0.40 back to 0 as soon as the calculations are complete (approximately 500ms).

For further information refer to section Pr 0.40 {5.12} Autotune on page 112.

0.41 {5.18} Maximum switching frequency

RW Txt RA US

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

VT 3 (0)

SV 6 (2)

3 (0)

This parameter defines the required switching frequency. The drive may automatically reduce the actual switching frequency (without changing this parameter) if the power stage becomes too hot. A thermal model of the IGBT junction temperature is used based on the heatsink temperature and an instantaneous temperature drop using the drive output current and switching frequency. The estimated IGBT junction temperature is displayed in Pr 7.34. If the temperature exceeds 145°C the switching frequency is reduced if this is possible (i.e >3kHz). Reducing the switching frequency reduces the drive losses and the junction temperature displayed in Pr 7.34 also reduces. If the load condition persists the junction temperature may continue to rise again above 145°C and the drive cannot reduce the switching frequency further the drive will initiate an ‘O.ht1’ trip. Every second the drive will attempt to restore the switching frequency to the level set in Pr 0.41.

The full range of switching frequencies is not available on all ratings of Unidrive SP. See section 8.5 Switching frequency on page 117, for the maximum available switching frequency for each drive rating.

6.2.7 Motor parameters

0.42 {5.11} No. of motor poles

RW Txt US

0 to 60 (Auto to 120 Pole)

ÚÖ

VT Auto (0)

SV 6 POLE (3)

Open-loop

This parameter is used in the calculation of motor speed, and in applying the correct slip compensation. When auto is selected, the number of motor poles is automatically calculated from the rated frequency (Pr 0.47) and the rated full load rpm (Pr 0.45). The number of poles = 120 * rated frequency / rpm rounded to the nearest even number.

Closed-loop vector

This parameter must be set correctly for the vector control algorithms to operate correctly. When auto is selected, the number of motor poles is automatically calculated from the rated frequency (Pr 0.47) and the rated full load rpm (Pr 0.45). The number of poles = 120 * rated frequency / rpm rounded to the nearest even number.

Servo

This parameter must be set correctly for the vector control algorithms to operate correctly. When auto is selected the number of poles is set to 6.

Auto (0)

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0.43 {5.10} Motor rated power factor

RW Uni US

ÚÖ

0.000 to 1.000

0.850

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current.

Open-loop

The power factor is used in conjunction with the motor rated current (Pr 0.46) to calculate the rated active current and magnetizing current of the motor. The rated active current is used extensively to control the drive, and the magnetizing current is used in vector mode Rs compensation. It is important that this parameter is set up correctly.

This parameter is obtained by the drive during a rotational autotune. If a stationary autotune is carried out, then the nameplate value should be entered in Pr 0.43.

Closed-loop vector

If the stator inductance (Pr 5.25) contains a non-zero value, the power factor used by the drive is continuously calculated and used in the vector control algorithms (this will not update Pr 0.43).

If the stator inductance is set to zero (Pr 5.25) then the power factor written in Pr 0.43 is used in conjunction with the motor rated current and other motor parameters to calculate the rated active and magnetizing currents which are used in the vector control algorithm.

This parameter is obtained by the drive during a rotational autotune. If a stationary autotune is carried out, then the nameplate value should be entered in Pr 0.43.

0.43 {3.25} Encoder phase angle

RW Uni US

0.0 to 359.9°

0.0

The phase angle between the rotor flux in a servo motor and the encoder position is required for the motor to operate correctly. If the phase angle is known it can be set in this parameter by the user. Alternatively the drive can automatically measure the phase angle by performing a phasing test (see autotune in servo mode Pr 0.40). When the test is complete the new value is written to this parameter. The encoder phase angle can be modified at any time and becomes effective immediately. This parameter has a factory default value of 0.0, but is not affected when defaults are loaded by the user.

0.44 {5.09} Motor rated voltage

RW Uni RA US

200V drive: 230

AC_VOLTAGE_SET_MAX V

0 to

400V drive: EUR> 400

USA> 460

575V drive: 575 690V drive: 690

Open-loop & Closed-loop vector

Enter the value from the rating plate of the motor.

0.45 {5.08} Motor rated full load speed (rpm)

RW Uni US

0 to 180,000 rpm

0.00 to 40,000.00 rpm

EUR> 1,500 USA> 1,800

EUR> 1,450.00 USA> 1,770.00

Open-loop

This is the speed at which the motor would rotate when supplied with its base frequency at rated voltage, under rated load conditions (=

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synchronous speed - slip speed). Entering the correct value into this parameter allows the drive to increase the output frequency as a function of load in order to compensate for this speed drop.

Slip compensation is disabled if Pr 0.45 is set to 0 or to synchronous speed, or if Pr 5.27 is set to 0.

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

Closed loop vector

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

• Reduced efficiency of motor operation

• Reduction of maximum torque available from the motor

• Failure to reach maximum speed

• Over-current trips

• Reduced transient performance

• Inaccurate control of absolute torque in torque control modes The nameplate value is normally the value for a hot machine, however, some adjustment may be required when the drive is commissioned if the nameplate value is inaccurate. The rated full load rpm can be optimized by the drive (For further information, refer to section 8.1.3 Closed loop vector motor control on page 111).

0.45 {4.15} Motor thermal time constant

RW Uni US

0 to 3000.0

20.0

Servo

Pr 0.45 is the motor thermal time constant of the motor, and is used (along with the motor rated current Pr 0.46, and total motor current Pr 0.12) in the thermal model of the motor in applying thermal protection to the motor.

Setting this parameter to 0 disables the motor thermal protection. For further details, refer to section 8.4 Motor thermal protection on

page 116.

0.46 {5.07} Motor rated current

RW Uni RA US

0 to Rated_current_max A

Drive rated current [11. 32]

Enter the name-plate value for the motor rated current.

0.47 {5.06} Rated frequency

RW Uni US

0 to 3,000.0Hz

0 to 1,250.0Hz

EUR> 50.0, USA> 60.0

Open-loop & Closed-loop vector

Enter the value from the rating plate of the motor.

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6.2.8 Operating-mode selection

0.48 {11.31} Operating mode selector

RW Txt NC PT

OL 1

1 to 4

VT 2

SV 3

The settings for Pr 0.48 are as follows:

Setting Operating mode

OPEn LP 1 Open-loop

CL VECt 2 Closed-loop vector

SerVO 3 Servo rEgEn 4 Regen

This parameter defines the drive operating mode. Pr xx.00 must be set to 1253 (European defaults) or 1254 (USA defaults) before this parameter can be changed. When the drive is reset to implement any change in this parameter, the default settings of all parameters will be set according to the drive operating mode selected and saved in memory.

6.2.9 Status information

0.49 {11.44} Security status

RW Txt PT US

0 to 2

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This parameter controls access via the drive keypad as follows:

Value String Action

0 L1 Only menu 0 can be accessed 1 L2 All menus can be accessed

2 Loc

Lock user security when drive is reset.

(This parameter is set to L1 after reset.)

The keypad can adjust this parameter even when user security is set.

0.50 {11.29} Software version number

RO Uni NC PT

1.00 to 99.99

The parameter displays the software version of the drive.

0.51 {10.37} Action on trip detection

RW Uni US

0 to 15

Each bit in this parameter has the following functions:

Bit Function

0 Stop on non-important trips 1 Disable braking IGBT trips 2 Disable phase loss trip (Unidrive SP size 0 only)

Disable braking resistor temperature monitoring failure

detection. (Unidrive SP size 0 only)

Stop on non-important trips

If bit 0 is set to zero then the drive simply trips when a non-important trip occurs. Non-important trips are: th, ths, Old1, cL2, cL3, SCL. If bit 0 is set to one the drive will stop before tripping when one of these trips is initiated, except in Regen mode where the drive trips immediately.

Disable braking IGBT trips

For details of braking IGBT trip mode see Pr 10.31.

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7 Running the motor

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

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

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

The values of the motor parameters affect the protection of the motor. The default values in the drive should not be relied upon. It is essential that the correct value is entered in Pr 0.46 Motor rated current. This affects the thermal protection of the motor.

If the keypad mode has been used previously, ensure that

the keypad reference has been set to 0 using the buttons as if the drive is started using the keypad it will run to

the speed defined by the keypad reference (Pr 0.35).

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

Speed and position feedback

Suitable devices are:

• Incremental encoder (A, B or F, D with or without Z) with commutation signals (U, V, W)

• Incremental encoder with forward and reverse outputs (F, R with or without Z) and commutation outputs (U, V, W)

• SINCOS encoder (with Stegmann Hiperface, EnDat or SSI communications protocols)

• EnDat absolute encoder

For Solutions Module terminal information see section 11.15 Menus 15, 16 and 17: Solutions Module set-up on page 185 or the appropriate Solutions Module option user guide.

7.2 Changing the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters. (Pr 0.49 and Pr 0.34 are not affected by this procedure.)

Procedure

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

1. Enter either of the following values in Pr xx.00, as appropriate: 1253 (EUR, 50Hz AC supply frequency) 1254 (USA, 60Hz AC supply frequency)

2. Change the setting of Pr 0.48 as follows:

Pr 0.48 setting Operating mode

1 Open-loop

7.1 Quick start Connections

7.1.1 Basic requirements

This section shows the basic connections which must be made for the drive to run in the required mode. For minimal parameter settings to run in each mode please see the relevant part of section 7.3 Quick Start commissioning/start-up on page 98.

Table 7-1 Minimum control connection requirements for each

Terminal mode

Keypad mode Drive Enable

Serial communications

Table 7-2 Minimum control connection requirements for each

Open loop mode Induction motor

Closed loop vector mode

Closed loop servo mode

control mode

Drive control method Requirements

Drive Enable Speed reference Run forward or run reverse command

Drive Enable Serial communications link

mode of operation

Operating mode Requirements

Induction motor with speed feedback

Permanent magnet motor with speed and position feedback

2 Closed-loop vector and RFC mode

3 Closed-loop Servo

Free Standing drives are not intended

to be used in regen mode

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

3. Either:

• Press the red reset button

• Toggle the reset digital input

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

10.38 to 100 (ensure that Pr. xx.00 returns to 0).

Speed feedback

Suitable devices are:

• Incremental encoder (A, B or F, D with or without Z)

• Incremental encoder with forward and reverse outputs (F, R with or without Z)

• SINCOS encoder (with, or without Stegmann Hiperface, EnDat or SSI communications protocols)

• EnDat absolute encoder

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A A

B B

U U

V V

W W

A A

B B

UVW

Z Z

Marker pulse optional

Encoder screening connected to

Drive 0V open at encoder end Thermal overload for braking resistor

to protect against fire risk. This must be

wired to interrupt the AC supply in the event of a fault.

p e

n L

o o p

L o o p

e d

V e

v o

1 A F Cos

2 A\ F\ Cos\

3 B D Sin 4 B\ D\ Sin\

5 Z Data

6 Z\ Data\

7 U Fout* Aout* Fout* Aout* 8 U\ Fout\* Aout\* Fout\* Aout\* 9 V Dout* Bout* Dout* Bout* 10 V\ Dout\* Bout\* Dout\* Bout\*

11 W Clk

12 W\ Clk\

13 +V +V 14 0V 0V 15 Th Th

Ter min al

Encoder connections

Encoder connector

15 way D-type

5 10

Induction motor

Servo motor (permanent magnet)

Serial

communications

port

*Simulated encoder output only available in open-loop

18Pin

Function

1 Termination resistor

2 RX TX 3 Isolated 0V 4 +24V 5 Isolated 0V 6 TX enable 7 RX\ TX\ 8 RX\ TX\ Shell Isolated 0V

T15, the motor thermistor is common to Anip 3.

This input is set to Thermistor mode as default in

closed loop vector mode. Set Pr to disable this trip

7.15

R F C

Information

Figure 7-1 Minimum connections to get the motor running in any operating mode

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30312829262724252321221011896745

312

Speed

reference

input

RUN FWD

RUN REV

DRIVE ENABLE

24V

+10V

Pr =PAd (4)

0.05

TerminalMod

ypadMod

SM-Keypad / SM-Keypad Plus.

Optional item; must be fitted for keypad mode.

U V

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Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

VHzmin-1kW cosφA 230 400

50 1445 2.20 0.80 8.50

4.90

CN = 14.5Nm

240 415

50 1445 2.20 0 .76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0, 46A P=110W R.F 32MN

I.E.C 34 1(87)

0.02

100Hz

0.03

0.04

A rotating autotune will cause the motor to accelerate up to

base speed in the direction selected regardless of the reference provided. Once complete the motor will coast to a stop. The enable signal must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

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7.3 Quick Start commissioning/start-up

7.3.1 Open loop

Action Detail

Ensure:

Before power-up

• The drive enable signal is not given (terminal 31)

• Run signal is not given

• Motor is connected

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Power-up the drive

Enter motor nameplate details

Set maximum frequency

Set acceleration / deceleration rates

Ensure:

• Drive displays ‘inh’ If the drive trips, see Chapter 13 Diagnostics on page 242.

Enter:

• Motor rated frequency in Pr 0.47 (Hz)

• Motor rated current in Pr 0.46 (A)

• Motor rated speed in Pr 0.45 (rpm)

• Motor rated voltage in Pr 0.44 (V) - check if or connection

Enter:

• Maximum frequency in Pr 0.02 (Hz)

Enter:

• Acceleration rate in Pr 0.03 (s/100Hz)

• Deceleration rate in Pr 0.04 (s/100Hz)

(If braking resistor installed, set Pr 0.15 = FAST. Also

ensure Pr 10.30 and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.)

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

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. A stationary autotune measures the stator

Autotune

resistance of the motor and the voltage offset in the drive. These are required for good performance in vector control modes. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 0.43.

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

base speed in the direction

selected. The rotating autotune measures the power factor of the motor.

To perform an autotune:

•Set Pr 0.40 = 1 for a stationary autotune or set Pr 0.40 = 2 for a rotating autotune

• Close the Drive Enable signal (terminal 31). The drive will display ’rdY’.

• Close the run signal (terminal 26 or 27). The lower display will flash ’Auto’ and ’tunE’ alternatively, while the drive is performing the autotune.

• Wait for the drive to display ’rdY’ or ‘inh’ and for the motor to come to a standstill.

If the drive trips, see Chapter 13 Diagnostics on page 242. Remove the drive enable and run signal from the drive.

Save parameters

Run Drive is now ready to run

98 Unidrive SP Free Standing User Guide

Enter 1000 in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr

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returns to 0)

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Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

VHzmin-1kW cosφA 230 400

50 1445 2.20 0.80 8.50

4.90

CN = 14.5Nm 240 415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

I.E.C 34 1(87)

0.02

1000rpm

0.03

0.04

NOTE

A rotating autotune will cause the motor to accelerate up to

WARNING

cos

∅

N rpm

saturation

breakpoints

Information

Product

information

Mechanical

Installation

Electrical

Installation

Getting Star ted

Basic

parameters

Running

the motor

7.3.2 RFC mode

Software V01.10.00 or later should be used for RFC mode.

Induction motor

Action Detail

Ensure:

Before power-up

Power-up the drive

Select RFC mode and disable encoder wire-break trip

Enter motor nameplate details

Set maximum speed

Set acceleration / deceleration rates

Select or deselect catch a spinning motor mode

• Drive Enable signal is not given (terminal 31)

• Run signal is not given

• Motor and feedback device are connected Ensure:

• Drive displays ‘inh’ If the drive trips, see Chapter 13 Diagnostics on page 242.

•Set Pr 3.24 = 1 or 3 to select RFC mode

•Set Pr 3.40 = 0

Enter:

• Motor rated frequency in Pr 0.47 (Hz)

• Motor rated current in Pr 0.46 (A)

• Motor rated speed (base speed - slip speed) in Pr 0.45 (rpm)

• Motor rated voltage in Pr 0.44 (V) - check if or connection

Enter:

• Maximum speed in Pr 0.02 (rpm)

Enter:

• Acceleration rate in Pr 0.03 (s/1000rpm)

• Deceleration rate in Pr 0.04 (s/1000rpm) (If braking resistor installed, set Pr 0.15 = FAST. Also ensure Pr 10.30 and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.)

If catch a spinning motor mode is not required then set Pr 6.09 to 0. If catch a spinning motor mode is required then leave Pr 6.09 at the default of 1, but depending on the size of the motor the value in Pr 5.40 may need to be adjusted. Pr 5.40 defines a scaling function used by the algorithm that detects the speed of the motor. The default value of Pr 5.40 is 1 which is suitable for small motors (<4kW). For larger motors the value in Pr 5.40 will need to be increased. Approximate values of Pr 5.40 for different motor sizes are as follows, 2 for 11kW, 3 for 55kW and 5 for 150kW. If the value of Pr 5.40 is too large the motor may accelerate from standstill when the drive is enabled. If the value of this parameter is too small the drive will detect the motor speed as zero even if the motor is spinning.

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

It is highly recommended that a rotating autotune is performed (Pr 0.40 set to 2).

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL Listing

Information

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of

Autotune

the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr

0.38 and Pr 0.39 are updated. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 0.43.

• A rotating autotune should only be used if the motor is un stationary autotune before rotating the motor at

coupled. A rotating autotune first performs a

base speed in the direction selected. The rotating

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

To perform an autotune:

•Set Pr 0.40 = 1 for a stationary autotune or set Pr 0.40 = 2 for a rotating autotune

• Close the Drive Enable signal (terminal 31). The drive will display ’rdY’.

• Close the run signal (terminal 26 or 27). The lower display will flash ’Auto’ and ’tunE’ alternatively, while the drive is performing the autotune.

• Wait for the drive to display ’rdY’ or ‘inh’ and for the motor to come to a standstill.

If the drive trips, see Chapter 13 Diagnostics on page 242.

Remove the drive enable and run signal from the drive.

Save parameters

Enter 1000 in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

Run Drive is now ready to run

Unidrive SP Free Standing User Guide 99 Issue Number: 1 www.controltechniques.com

Page 100

Safety

NOTE

Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

CAUTION

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

VHzmin-1kW cosφA 230 400

50 1445 2.20 0.80 8.50

4.90

CN = 14.5Nm 240 415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

I.E.C 34 1(87)

0.02

1000rpm

0.03

0.04

A rotating autotune will cause the motor to accelerate up to

The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

cos

∅

N rpm

saturation

breakpoints

Information

Product

information

Mechanical

Installation

Electrical

Installation

Getting Star ted

Basic

parameters

Running

the motor

Optimization

SMARTCARD

operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL Listing

Information

7.3.3 Closed loop vector mode

Induction motor with incremental encoder feedback

For simplicity only an incremental quadrature encoder will be considered here. For information on setting up one of the other supported speed feedback devices, refer to section 7.5 Setting up a feedback device on page 102.

Action Detail

Ensure:

Before power-up

Power-up the drive

Set motor feedback parameters

Enter motor nameplate details

Set maximum speed

Set acceleration / deceleration rates

• Drive Enable signal is not given (terminal 31)

• Run signal is not given

• Motor and feedback device are connected

Ensure:

• Drive displays ‘inh’ If the drive trips, see Chapter 13 Diagnostics on page 242.

Incremental encoder basic set-up

Enter:

• Drive encoder type in Pr 3.38 = Ab (0): Quadrature encoder

• Encoder power supply in Pr.

If output voltage from the encoder is >5V, then the termination resistors must be disabled Pr

3.36

= 5V (0), 8V (1) or 15V (2)

3.39

to 0.

• Drive encoder Lines Per Revolution (LPR) in Pr 3.34 (set according to encoder)

• Drive encoder termination resistor setting in Pr. 3.39:

0 = A-A\, B-B\, Z-Z\ termination resistors disabled 1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled 2 = A-A\, B-B\, Z-Z\ termination resistors enabled

Enter:

• Motor rated frequency in Pr 0.47 (Hz)

• Motor rated current in Pr 0.46 (A)

• Motor rated speed (base speed - slip speed) in Pr 0.45 (rpm)

• Motor rated voltage in Pr 0.44 (V) - check if or connection

Enter:

• Maximum speed in Pr 0.02 (rpm)

Enter:

• Acceleration rate in Pr 0.03 (s/1000rpm)

• Deceleration rate in Pr 0.04 (s/1000rpm) (If braking resistor installed, set Pr 0.15 = FAST. Also ensure Pr

10.30 and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.)

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

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load

from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr

Autotune

0.38 and Pr 0.39 are updated. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 0.43.

• A rotating autotune should only be used if the motor is un stationary autotune before rotating the motor at

coupled. A rotating autotune first performs a

base speed in the direction selected. The rotating

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

To perform an autotune:

•Set Pr 0.40 = 1 for a stationary autotune or set Pr 0.40 = 2 for a rotating autotune

• Close the Drive Enable signal (terminal 31). The drive will display ‘rdY’

• Close the run signal (terminal 26 or 27). The lower display will flash ‘Auto’ and ‘tunE’ alternatively, while the drive is performing the autotune.

• Wait for the drive to display ‘rdY’ or ‘inh’ and for the motor to come to a standstill

If the drive trips, see Chapter 13 Diagnostics on page 242.

Remove the drive enable and run signal from the drive.

Save parameters

Enter 1000 in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

Run Drive is now ready to run

100 Unidrive SP Free Standing User Guide

www.controltechniques.com Issue Number: 1

Emerson unidrive sp User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Declaration of Conformity (size 6 to 9 Free Standing drives)

1 Safety Information

1.1 Warnings, Cautions and Notes

1.2 Electrical safety - general warning

1.4 Environmental limits

1.5 Compliance with regulations

1.6 Motor

1.7 Adjusting parameters

2 Product information

2.1 Model number

2.2 Ratings

2.2.1 Typical short term overload limits

2.3 Operating modes

2.3.1 Open loop mode

2.3.2 RFC mode

2.3.3 Closed loop vector mode

2.3.4 Servo

2.3.5 Regen

2.4 Compatible encoders

2.5 Drive features

2.6 Nameplate description

2.7 Options

2.8 Items supplied with the drive

3 Mechanical Installation

3.1 Safety information

3.2 Planning the installation

3.2.1 Access

3.2.2 Environmental protection

3.2.3 Cooling

3.2.4 Electrical safety

3.2.5 Electromagnetic compatibility

3.2.6 Hazardous areas

3.3 Terminal cover removal

3.4 Installing fuses in a Free Standing drive

3.4.1 Sizes 6&7 or sizes 8&9 (with date code S17)

3.4.2 Size 8 & 9 (with date code S18 or later)

3.5 Baying Free Standing drives

3.5.1 Preparation for baying

3.5.2 Baying of Free Standing drives / incomers

3.5.3 Electrical connections for baying a size 9 master to slave

3.5.4 Electrical connections for baying an incomer to size 8 and 9

3.5.5 Gland plate removal

3.6 Free standing drive dimensions

3.7 External EMC filter

3.8 Electrical terminals

3.8.1 Location of the power and ground terminals

3.8.2 Terminal sizes and torque settings

3.9 Solutions Module installation / removal

3.10 Routine maintenance

4 Electrical Installation

4.1 Power connections

4.1.1 AC and DC connections

4.1.2 Ground connections

4.2 AC supply requirements

4.2.1 Supply types

4.2.3 Input inductor calculation.

4.2.2 Supplies requiring line reactors

4.3 Auxiliary power supply

4.4 Control 24Vdc supply

4.5 Ratings

4.5.1 Main AC supply contactor

4.6 Output circuit and motor protection

4.6.1 Cable types and lengths

4.6.2 Motor winding voltage

4.6.3 Multiple motors

4.6.5 Output contactor

4.7 Braking

4.7.1 Braking resistor

4.8 Ground leakage

4.8.1 Use of residual current device (RCD)

4.7.2 Braking resistor software overload protection

4.9 EMC (Electromagnetic compatibility)

4.9.1 Grounding hardware

4.9.2 General requirements for EMC Ground (earth) connections

4.9.4 Variations in the EMC wiring Interruptions to the motor cable

4.10 Serial communications connections