Nidec Unidrive M702, Unidrive HS72 Control Getting Started Manual

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Control Getting Started Guide

Unidrive M702 Unidrive HS72

Part Number: 0478-0251-04 Issue: 4

Contents

1 Safety information .......................................................................................3

1.1 Warnings, Cautions and Notes ................................................................................3

1.2 Important safety information. Hazards. Competence of designers and installers ....3

1.3 Responsibility ........................................................................................................... 3

1.4 Compliance with regulations ....................................................................................3

1.5 Electrical hazards .....................................................................................................4

1.6 Stored electrical charge ...........................................................................................4

1.7 Mechanical hazards ................................................................................................. 4

1.8 Access to equipment ................................................................................................4

1.9 Environmental limits .................................................................................................4

1.10 Hazardous environments .........................................................................................5

1.11 Motor ........................................................................................................................ 5

1.12 Mechanical brake control ......................................................................................... 5

1.13 Adjusting parameters ............................................................................................... 5

1.14 Electromagnetic compatibility (EMC) .......................................................................5

2 Introduction ..................................................................................................6

2.1 Operating modes ......................................................................................................6

3 Control connections ....................................................................................8

3.1 Position feedback connections .................................................................................8

3.2 Communications connections ................................................................................10

3.3 Shield connections .................................................................................................11

3.4 Control connections ...............................................................................................12

4 Getting started ...........................................................................................13

4.1 Quick start commissioning / start-up using Unidrive M Connect

4.2 Keypad / display .....................................................................................................16

4.3 Keypad operation ...................................................................................................17

4.4 Menu 0 ...................................................................................................................18

4.5 Menu structure .......................................................................................................19

4.6 Advanced menus ...................................................................................................20

4.7 Changing the operating mode ................................................................................21

4.8 Saving parameters .................................................................................................21

4.9 Restoring parameter defaults .................................................................................22

4.10 Displaying parameters with non-default values only ..............................................22

4.11 Displaying destination parameters only ................................................................. 22

4.12 Parameter access level and security .....................................................................23

4.13 NV Media Card operation .......................................................................................23

4.14 Transferring data ....................................................................................................26

5 Basic parameters (Menu 0) .......................................................................27

5.1 Parameter descriptions ..........................................................................................29

6 Running the motor .....................................................................................34

6.1 Quick start Connections .........................................................................................34

6.2 Quick Start commissioning / start-up .....................................................................36

7 Further information ...................................................................................47

7.1 Diagnostics .............................................................................................................47

(V02.00.00.00 onwards) .........................................................................................13

Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

1 Safety information

WARNING

CAUT ION

NOTE

1.1 Warnings, Cautions and Notes

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

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

Safety information Introduction Control connections Getting started

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

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

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

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

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

1.3 Responsibility

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

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

1.4 Compliance with regulations

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

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

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

2006/42/EC Safety of machinery.

2014/30/EU: Electromagnetic Compatibility.

Basic parameters

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Running the motor Further information

Unidrive M702 / HS72 Control Getting Started Guide 3 Issue Number: 4

1.5 Electrical hazards

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

• AC and DC supply cables and connections

• Output cables and connections

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

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

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

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

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

1.6 Stored electrical charge

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

1.7 Mechanical hazards

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

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

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

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

1.8 Access to equipment

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

1.9 Environmental limits

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

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1.10 Hazardous environments

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

1.11 Motor

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

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

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

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

1.12 Mechanical brake control

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

1.13 Adjusting parameters

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

1.14 Electromagnetic compatibility (EMC)

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

Safety information Introduction Control connections Getting started

Basic parameters

(Menu 0)

Unidrive M702 / HS72 Control Getting Started Guide 5 Issue Number: 4

Running the motor Further information

2Introduction

This guide covers the M702 and HS72 products.

The M702 drive is limited to 550 Hz; the HS72 drive is a high speed drive for applications above 550 Hz.

Universal AC and servo drive

This product delivers maximum machine performance.

• Universal high performance open and closed loop control for induction, servo, permanent magnet and linear motors

• Automation and motion option module for direct migration of SyPTPro / SM-Applications programs

• Onboard IEC 61131-3 programmable automation and motion control

• Flexibility with speed and position measurement, supporting multiple devices and all common interfaces

• NV Media Card for parameter copying and data storage

• Ethernet fieldbus communications

• Dual channel Safe Torque Off (STO) input

Optional features

• Select up to three option modules including programmable automation and motion control.

2.1 Operating modes

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

1. Open loop mode

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

2. RFC - A

With position feedback sensor Without position feedback sensor (Sensorless)

3. RFC - S

With position feedback sensor Without position feedback sensor (Sensorless)

2.1.1 Open loop mode

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

Open loop vector mode

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

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

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Fixed V/F mode

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

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

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.

2.1.2 RFC-A mode

Rotor Flux Control for Asynchronous (induction) motors (RFC-A) encompasses closed loop vector control with a position feedback device

With position feedback

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

Without position feedback (Sensorless)

Sensorless mode 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.

2.1.3 RFC- S

Rotor Flux Control for Synchronous (permanent magnet brushless) motors (RFC-S) provides closed loop control with position feedback device.

With position feedback

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.

Without position feedback

For use with permanent magnet brushless motors without a feedback device installed.

Flux control is not required because the motor is self excited by the permanent magnets which form part of the rotor.

Full torque is available all the way down to zero speed, with salient motors.

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Unidrive M702 / HS72 Control Getting Started Guide 7 Issue Number: 4

3 Control connections

NOTE

5 10

Drive encoder connector

Female 15-way D-type

Front view

End view

3.1 Position feedback connections

The following functions are provided via the 15-way high density D-type connector on the drive:

• Two position feedback interfaces (P1 and P2).

• One encoder simulation output.

• Two freeze trigger inputs (marker inputs).

• One thermistor input.

The P1 position interface is always available but the availability of the P2 position interface and the encoder simulation output depends on the position feedback device used on the P1 position interface.

Refer to the Control User Guide for information regarding the supported feedback devices on the P1 and P2 position interface and the encoder stimulation output.

Figure 3-1 Location of position feedback connection

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3.1.1 Position feedback connection details

NOTE

Table 3-1 P1 position feedback connection details

P1 Position

feedback

interface

Pr 03.038

AB (0) A A\ B B\ Z Z\

FD (1) F F\ D D\ Z Z\

FR (2) F F\ R R\ Z Z\

AB Servo (3) A A\ B B\ Z Z\ U U\ V V\ W W\

FD Servo (4) F F\ D D\ Z Z\ U U\ V V\ W W\

FR Servo (5) F F\ R R\ Z Z\ U U\ V V\ W W\

SC (6)

SC Hiperface (7)

EnDat (8) DATA DATA\ CLK CLK\

SC EnDat (9) A A\ B B\ DATA DATA\ CLK CLK\

SSI (10) DATA DATA\ CLK CLK\

SC SSI (11)

SC Servo (12)

BiSS (13) DATA DATA\ CLK CLK\

Resolver (14) Cos H Cos L Sin H Sin L Ref H Ref L

SC SC (15)

Commutation Only (16)

- One sine wave per revolution

- One cosine wave per revolution

- Freeze inputs are shown in the table above as ‘Frz’.

- The encoder power supply is selectable through parameter configuration to 5 Vdc, 8 Vdc and

123456789101112131415

(Cos)A\(Cos\)B(Sin)B\(Sin\)

Cos Cosref Sin Sinref DATA DATA\

(Cos)A\(Cos\)B(Sin)B\(Sin\)

ZZ\

Frz*3Frz\*

DATA DATA\ CLK CLK\

ZZ\UU\VV\WW\

Frz*3Frz\*

ZZ\

15 Vdc.

Th - Thermistor input.

Greyed cells are for P2 position feedback connections or simulated encoder outputs, refer to the Control User Guide for further information.

Frz and Frz\ on terminals 5 and 6 are for Freeze input 1. Frz2 and Frz2\ on terminals 11 and 12 are for Freeze input 2.

Connections

C*1C\*1D*2D\*2Frz2*3Frz2\*

UU\VV\W W\

0 V Th

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Unidrive M702 / HS72 Control Getting Started Guide 9 Issue Number: 4

3.2 Communications connections

1 1

The Unidrive M702/HS72 product offers Ethernet fieldbus communications.

Figure 3-2 Location of the communication connectors

Table 3-2 Ethernet port pin-outs

Pin Description

1 Transmit + 2 Transmit 3Receive + 4N/A 5N/A 6Receive 7N/A 8N/A

3.2.1 Ethernet cable

Standard UTP (unshielded twisted pair) and STP (shielded twisted pair) are supported although it is recommended that a minimum specification CAT5e is used in new installations. As the drive supports ‘Auto cross-over detection’, an Ethernet patch cable or a cross-over cable may be used.

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3.3 Shield connections

Cable

Cable shield

Twis ted

pair

shield

Cable shield

Twis ted

pair

shield

Connection

at motor

Connection

at drive

Ground clamp

on shield

Shield

connection

to 0V

Shield

connection

to 0V

The following guidelines should be followed to ensure suppression of radio-frequency emission and good noise immunity. It is particularly recommended that the guidelines for the

encoder cable be followed closely in order to avoid disturbance to the encoder operation from electrical noise. Use the grounding bracket and grounding clamp supplied with the drive to terminate the shields at the drive.

Figure 3-3 Grounding of signal cable shields using the grounding bracket

Motor cable: Use a motor cable with an overall shield. Connect the shield of the motor cable to the

ground terminal of the motor frame using a link that is as short as possible and not exceeding 50 mm (2 in) long. A full 360° termination of the shield to the terminal housing of the motor is beneficial. Encoder cable: For best shielding use cable with an overall shield and individual shields on twisted pairs, connect the cable as illustrated in Figure 3-4. Clamp the overall shield to grounded metallic surfaces at both the encoder and the drive. Brake resistor cable: The optional braking resistor should also be wired with shielded cable. If unshielded wire is required refer to the Control User Guide for guidance. Control cables: If the control wiring is to leave the enclosure, it must be shielded and the shield(s) clamped to the drive using the grounding bracket. Remove the outer insulating cover of the cable to ensure the shield(s) make contact with the bracket, but keep the shield(s) intact until as close as possible to the terminals.

Figure 3-4 Feedback cable shield connections

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Unidrive M702 / HS72 Control Getting Started Guide 11 Issue Number: 4

3.4 Control connections

For information on control connections, refer to the back cover of this guide.

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4 Getting started

4.1 Quick start commissioning / start-up using Unidrive M Connect (V02.00.00.00 onwards)

Unidrive M Connect is a Windows™ based software commissioning / start-up tool for Unidrive M/HS. Unidrive M Connect can be used for commissioning / start-up and monitoring, drive parameters can be uploaded, downloaded and compared and simple or custom menu listings can be created. Drive menus can be displayed in standard list format or as live block diagrams. Unidrive M Connect is able to communicate with a single drive or a network. Unidrive M Connect can be downloaded from www.controltechniques.com (file size approximately 100 MB).

Unidrive M Connect system requirements

• Windows 8, Windows 7 SP1, Windows Vista SP2, Windows XP SP3

• Minimum of 1280 x 1024 screen resolution with 256 colours

• Microsoft.Net Frameworks 4.0 (this is provided in the downloaded file)

• Note that you must have administrator rights to install Unidrive M Connect

Any previous copy of Unidrive M Connect should be uninstalled before proceeding with the installation (existing projects will not be lost). Included within Unidrive M Connect is the Parameter Reference Guide for Unidrive M702/HS72.

4.1.1 Power-up the drive

1. Start Unidrive M Connect, and on the ‘Project Management’ screen select ‘Scan Ethernet

network’ or ‘Scan all connected drives’.

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Basic parameters

(Menu 0)

Running the motor Further information

2. Select the discovered drive.

3. Select the ‘Online’ icon to connect with the drive. When a successful connection is made the icon will be highlighted orange.

4. Select ‘Set mode and region’.

If the required control mode is highlighted in the ‘Drive Settings’ dialog, then:

• Change the supply frequency, if required and select ‘Apply’, otherwise select ‘Cancel’.

• Select ‘Default parameters’ from the Dashboard and in the ‘Default Parameters’ dialogue, select ‘Apply’

If the required control mode is not highlighted in the ‘Drive Settings’ dialog then:

• Select the required mode and supply frequency.

• Select ‘Apply’.

5. Select ‘Setup’ and perform the steps highlighted (dotted lines indicate a step which may not need to be performed (see below):

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Action Detail

NOTE

Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

CAUT ION

Unidrive M Connect contains a database for induction motors and permanent magnet motors.

Motor Setup

Provision is also made to enter motor nameplate data. The next section describes the use of the motor database for a Leroy Somer LSRPM motor

used in RFC-S Sensorless mode.

This only needs to be performed in RFC-A (with feedback) mode Set Pr 03.024 = Feedback (0)

Enter:

• Encoder power supply in Pr. 03.036 = 5 V (0), 8 V (1) or 15 V (2). If output voltage from the encoder is >5 V, then the termination resistors must be disabled Pr 03.039 to 0.

Motor Feedback Setup

• Drive encoder Lines Per Revolution (LPR) in Pr 03.034 (set according to encoder)

• Drive encoder termination resistor setting in Pr 03.039:

0 = A-A\, B-B\ termination resistors disabled 1 = A-A\, B-B\, termination resistors enabled

The motor thermistor connection may be made either: Through the drive encoder port (terminal 15)

• Select thermistor type in P1 Thermistor Type (03.118)

Motor Thermistor Set-up

•Set P1 Thermistor Fault Detection (

Through terminal 8 (Digital Input 5 / Analog Input 3) of the control terminals (requires a drive with date code 1710 or later and control firmware V01.13.00.00 or later).

• Change Analog Input 3 Mode (07.015) from Disable (0) to either Therm Short Cct (7) or

Thermistor (8).

• Select the thermistor type in Analog Input 3 Thermistor Type (07.046)

Enter the required Acceleration rate and Deceleration rate

Ramps Setup

Autotune

Note: If a braking resistor is installed, set 'Ramp mode' to 'Fast'. Also ensure Pr 10.030 and Pr 10.031 and Pr 10.061 are set correctly, otherwise premature 'Brake R Too Hot' trips may be seen).

Not required when using data from the motor database for a Leroy Somer LSRPM motor used in RFC-S Sensorless mode.

03.123

) to either Temperature (1) or Temp or Short (2)

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Basic parameters

(Menu 0)

6. Select ‘Save parameters in drive’ to perform a parameter save. The drive is now ready to run.

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Running the motor Further information

4.2 Keypad / display

NOTE

4.2.1 Understanding the display

The keypad can only be mounted on the drive.

4.2.2 KI-Keypad

The KI-Keypad display consists of two rows of text. The upper row shows the drive status or the menu and parameter number currently being viewed. The lower row of the display line shows the parameter value or the specific trip type. The last two characters on the first row may display special indications. If more than one of these indications is active then the indications are prioritized as shown in Table 4-1.

When the drive is powered up the lower row will show the power up parameter defined by Parameter Displayed At Power-up (11.022).

Figure 4-1 KI-Keypad

1. Escape button

2. Start reverse (Auxiliary button)

3. Start forward

4. Navigation keys (x4)

5. Stop / Reset (red) button

6. Enter button

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

Table 4-1 Active action icon

Active action icon Description

Accessing non-volatile media card 1 1

Alarm active 1 2

Keypad real-time clock battery low 1 3

Drive security active and locked or unlocked

Motor map 2 active 2 1

User program running 3 1

Keypad reference active 4 1

Row

(1=top)

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Priority

in row

4.3 Keypad operation

To enter Edit Mode, press key

Status Mode

(Display not flashing)

Parameter

Mode

(Upper row

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 enter Parameter Mode, press key or

Temporary

Parameter

Mode

(Upper display flashing)

imeout

o return to Status Mode,

parameter is displayed

R/W parameter

To select parameter Press

To return to Parameter Mode, Press key to keep the new parameter value

Press key to ignore the new parameter v alue and return

the parameter to the pre-edited value

Press key

Timeout

Press key

4.3.1 Control buttons

The keypad consists of:

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

• Enter / Mode button - Used to toggle between parameter edit and view mode.

• Escape / Exit button - Used to exit from parameter edit or view mode. In parameter edit mode, if parameter values are edited and the exit button pressed the parameter value will be restored to the value it had on entry to edit mode.

• Start forward button - Use to provide a 'Run' command if keypad mode is selected.

• Start reverse button - Used to control the drive if keypad mode is selected and the reverse button is activated.

• Stop / Reset button - Used to reset the drive. In keypad mode can be used for 'Stop'.

Figure 4-2 Display modes

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The navigation keys can only be used to move between menus if Pr 00.049 has been set to show ‘All Menus’.

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Figure 4-3 Mode examples

WARNING

NOTE

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

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 4.8 Saving parameters on page 21.

4.4 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 5 Basic parameters (Menu 0) on page 27.

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4.5 Menu structure

Menu 0

....MM.000....

00.050

00.049

00.048

00.047

00.046

00.001

00.002

00.003

00.004

00.005

Moves between parameters

Menu 41

Menu 1

Menu 2

Moves between Menus

41.029

41.028

41.027

41.026

41.025

41.001

41.002

41.003

41.004

41.005

01.001

01.002

01.003

01.004

01.005

01.050

01.049

01.048

01.047

01.046

Option module menus (S.mm.ppp)*

The drive parameter structure consists of menus and parameters. The drive initially powers up so that only Menu 0 can be viewed. The up and down arrow buttons are used to navigate between parameters and once Pr 00.049 has been set to 'All Menus' the left and right buttons are used to navigate between menus. For further information, refer to section 4.12 Parameter access level and security on page 23.

Figure 4-4 Menu structure

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.

* The option module menus (S.mm.ppp) are only displayed if option modules are installed. Where S signifies the option module slot number and the mm.ppp signifies the menu and the parameter number of the option module's internal menus and parameter.

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4.6 Advanced menus

The advanced menus consist of groups or parameters appropriate to a specific function or feature of the drive. Menus 0 to 41 can be viewed on the KI-Keypad.

Table 4-2 Advanced menu descriptions

Menu Description

0 Commonly used basic set-up parameters for quick / easy programming 1 Frequency / Speed reference 2Ramps

3 Frequency slaving, speed feedback and speed control 4 Torque and current control 5 Motor control

6 Sequencer and clock 7 Temperature monitoring and motor thermistor set-up 8 Digital I/O

9 Programmable logic, motorized pot, binary sum, timers and scope 10 Status and trips 11 Drive set-up and identification, serial communications

12 Threshold detectors and variable selectors 13 Standard motion control 14 User PID controller

15 Option module slot 1 set-up menu 16 Option module slot 2 set-up menu 17 Option module slot 3 set-up menu

18 General option module application menu 1 19 General option module application menu 2 20 General option module application menu 3

21 Second motor parameters 22 Menu 0 set-up 23 Not allocated

24 Ethernet module (slot 4) set-up menu 25 Option module slot 1 application parameters 26 Option module slot 2 application parameters

27 Option module slot 3 application parameters 28 Option module slot 4 application parameters 29 Reserved menu

30 Onboard user programming application menu

31-41 Advanced motion controller setup parameters Slot 1 Slot 1 option menus*

Slot 2 Slot 2 option menus* Slot 3 Slot 3 option menus* Slot 4 Ethernet menus

*Only displayed when the option modules are installed.

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4.7 Changing the operating mode

NOTE

Changing the operating mode returns all parameters to their default value, including the motor parameters. User security status (00.049) and User security code (00.034) 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. terminals 11 and 13 are open or Pr 06.015 is Off (0)

2. Enter either of the following values in Pr mm.000, as appropriate: 1253 (50 Hz AC supply frequency) 1254 (60 Hz AC supply frequency)

3. Change the setting of Pr 00.048 as follows:

Pr 00.048 setting Operating mode

Safety information Introduction Control connections Getting started

The figures in the second column apply when the communications interface is used.

4. Either:

• Press the red reset button

• Toggle the reset digital input

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

Entering 1253 or 1254 in Pr mm.000 will only load defaults if the setting of Pr 00.048 has been changed.

(Induction motor with position feedback)

(Permanent magnet motor with position feedback)

Open-loop

(Induction motor)

RFC-A

RFC-S

4.8 Saving parameters

When changing a parameter in Menu 0, the new value is saved when pressing the Enter button to return to parameter view mode from parameter edit mode.

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

Procedure

1. Select ‘Save Parameters’* in Pr mm.000 (alternatively enter a value of 1000* in Pr mm.000)

2. Either:

• Press the red reset button

• Toggle the reset digital input, or

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

* If the drive is in the under voltage state (i.e. when the control terminal 9 and 10 are being supplied from a low voltage DC supply) a value of 1001 must be entered into Pr mm.000 to perform a save function.

Basic parameters

(Menu 0)

Running the motor Further information

Unidrive M702 / HS72 Control Getting Started Guide 21 Issue Number: 4

4.9 Restoring parameter defaults

Restoring parameter defaults by this method saves the default values in the drives memory. User security status (00.049) and User security code (00.034) are not affected by this procedure).

Procedure

1. Ensure the drive is not enabled, i.e. terminals 11 and 13 are open or Pr 06.015 is Off (0)

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

3. Either:

• Press the red reset button

• Toggle the reset digital input

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

4.10 Displaying parameters with non-default values only

By selecting 'Show non-default' in Pr mm.000 (Alternatively, enter 12000 in Pr mm.000), the only parameters that will be visible to the user will be those containing a non-default value. This function does not require a drive reset to become active. In order to deactivate this function, return to Pr mm.000 and select 'No action' (alternatively enter a value of 0). Please note that this function can be affected by the access level enabled, refer to section 4.9 Restoring parameter defaults on page 22 for further information regarding access level.

4.11 Displaying destination parameters only

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

Please note that this function can be affected by the access level enabled, refer to section 4.12 Parameter access level and security on page 23 for further information regarding access level.

22 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

4.12 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 41) in addition to Menu 0. The User Security determines whether the access to the user is read only or read write. Both the User Security and Parameter Access Level can operate independently of each other as shown in Table 4-3.

Table 4-3 Parameter access level and security

User security

status (11.044)

0 Menu 0

1 All Menus

2 Read-only Menu 0

3 Read-only

4 Status only

5 No access

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

Access level User security Menu 0 status

Open RW Not visible Closed RO Not visible Open RW RW Closed RO RO Open RO Not visible Closed RO Not visible Open RO RO Closed RO RO Open Not visible Not visible Closed Not visible Not visible Open Not visible Not visible Closed Not visible Not visible

Advanced menu

status

4.13 NV Media Card operation

4.13.1 Introduction

The Non-Volatile Media Card feature enables simple configuration of parameters, parameter back-up and drive cloning using a SMARTCARD or SD card. The drive offers backward compatibility for a Unidrive SP SMARTCARD.

The NV Media Card can be used for:

• Parameter copying between drives

• Saving drive parameter sets

• Saving a program

The NV Media Card is located at the top of the module under the drive display (if installed) on the lefthand side.

Ensure NV Media Card is inserted with the contacts facing the left-hand side of the drive.

The drive only communicates with the NV Media Card when commanded to read or write, meaning the card may be "hot swapped".

Safety information Introduction Control connections Getting started

Basic parameters

(Menu 0)

Running the motor Further information

Unidrive M702 / HS72 Control Getting Started Guide 23 Issue Number: 4

Figure 4-5 Installation of the NV Media Card

1. Installing the NV Media Card

2. NV Media Card installed

NV Media Card Part number

SD Card Adaptor (memory card not included) 82400000016400

8 kB SMARTCARD 2214-4246-03

64 kB SMARTCARD 2214-1006-03

24 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

4.13.2 NV Media Card support

Pr = Read +00.030

Drive reads all

parameters from the NV Media Card

Pr = Program +00.030

Programs all drive parameters to the NV Media Card

NOTE

Overwrites any data already in data block 1

Pr =Auto +00.030

Auto Save

Drive automatically

writes to the Media Card when a parameter save is performed

Pr = Boot +00.030

Boot

Auto Save

Drive boots from the NV Media Card on

power up and automatically writes to the Media Card when a parameter save is performed

The NV Media Card can be used to store drive parameters and / or PLC programs set from the Unidrive M/HS in data blocks 001 to 499.

The Unidrive M/HS is compatible with a Unidrive SP SMARTCARD and is able to read and translate the Unidrive SP parameter set into a compatible parameter set for Unidrive M/HS. This is only possible if the Unidrive SP parameter set was transferred to the SMARTCARD using the difference from defaults transfer method (i.e. 4yyy transfer). The Unidrive M/HS is not able to read any other type of Unidrive SP data block on the card. Although it is possible to transfer difference from default data blocks from a Unidrive SP into the Unidrive M/HS, the following should be noted:

1. If a parameter from the source drive does not exist in the target drive then no data is transferred for that parameter.

2. If the data for the parameter in the target drive is out of range then the data is limited to the range of the target parameter.

3. If the target drive has a different rating to the source drive then the normal rules for this type of transfer apply.

Figure 4-6 Basic NV Media Card operation

Safety information Introduction Control connections Getting started

The whole card may be protected from writing or erasing by setting the read-only flag, refer to the Control User Guide for further information.

The card should not be removed during data transfer, as the drive will produce a trip. If this occurs then either the transfer should be reattempted or in the case of a card to drive transfer, default parameters should be loaded.

Unidrive M702 / HS72 Control Getting Started Guide 25 Issue Number: 4

Basic parameters

(Menu 0)

Running the motor Further information

4.14 Transferring data

Data transfer, erasing and protecting the information is performed by entering a code in Pr mm.000 and then resetting the drive as shown in Table 4-4.

Table 4-4 SMARTCARD and SD card codes

Code Operation SMARTCARD SD card

2001

9555 Clear the warning suppression flag

9666 Set the warning suppression flag

9777 Clear the read-only flag

9888 Set the read-only flag

9999 Erase and format the NV media card

Transfer the drive parameters to parameter file 001 and sets the block as bootable. This will include the parameters from attached option modules.

Transfer the drive parameters to parameter file yyy. This will include

4yyy

the parameters from attached option modules.

5yyy Transfer the onboard user program to onboard user program file yyy.

Load the drive parameters from parameter file yyy or the onboard

6yyy

user program from onboard user program file yyy.

7yyy Erase file yyy.

Compare the data in the drive with file yyy. If the files are the same then Pr mm.000 (mm.000) is simply reset to 0 when the compare is

8yyy

complete. If the files are different a ‘Card Compare’ trip is initiated. All other NV media card trips also apply.

99 99

99 9

26 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

5 Basic parameters (Menu 0)

Safety information Introduction Control connections Getting started

Parameter

00.001 Minimum Reference Clamp ±VM_NEGATIVE_REF_CLAMP1 Hz / rpm 0.0 Hz

Maximum Reference

00.002

Clamp

00.003 Acceleration Rate 1

00.004 Deceleration Rate 1

00.005 Reference Selector

00.006 Symmetrical Current Limit ±VM_MOTOR1_CURRENT_LIMIT % 0.0 %

Open-loop Control Mode

00.007

Speed Controller Proportional Gain Kp 1

Low Frequency Voltage Boost

00.008

Speed Controller Integral Gain Ki1

Dynamic V to F Select Off (0) or On (1) Off (0)

Speed Controller

00.009

Differential Feedback Gain Kd 1

Motor Rpm ±180000 rpm 0rpm

00.010

Speed Feedback ±VM_SPEED rpm

Output Frequency ±VM_SPEED_FREQ_REF Hz

00.011

P1 Position 0 to 65535

00.012 Current Magnitude ±VM_DRIVE_CURRENT_UNIPOLAR A

00.013 Torque Producing Current ±VM_DRIVE_CURRENT A

00.014 Torque Mode Selector 0 or 1 0 to 5 0

00.015 Ramp Mode Select

00.016 Ramp Enable Off (0) or On (1) On (1)

Current Reference Filter

00.017

Time Cons tan t

P1 Thermistor Fault

00.018

Detection

00.022 Bipolar Reference Enable Off (0) or On (1) Off (0)

00.023 Jog Reference 0.0 to 400.0 Hz

00.024 Preset Reference 1 ±VM_SPEED_FREQ_REF rpm 0.0

±VM_POSITIVE_REF_CLAMP Hz / rpm

±VM_ACCEL_

RATE s /100 Hz

±VM_ACCEL_

RATE s /100 Hz

A1 A2 (0), A1 Preset (1), A2 Preset (2),

Preset (3), Keypad (4), Precision (5),

Ur S (0), Ur (1),

Fixed (2),

Ur Auto (3),

Ur I (4),

Square (5),

Current 1P (6)

0.0 to 25.0 %

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

Range Default

OL RFC-A RFC-S OL RFC-A RFC-S

0.0 rpm

±VM_ACCEL_RATE

s /1000 rpm

±VM_ACCEL_RATE

s /1000 rpm

Keypad Ref (6)

0.0000 to 200.000 s/rad

0.00 to 655.35 s2/rad

0.00000 to 0.65535 1/ rad

Fast (0), Standard (1) Standard (1)

0.0 to 25.0 ms 0.0 ms

None (0), Temperature (1),

Temp or Short (2)

0.0 to 4000.0 rpm

50Hz

default:

50.0 Hz 60Hz

default:

60.0 Hz

5.0

s/100 Hz

10.0

s/100 Hz

Ur I (4)

Size 3 to 6:

3.0 %

Size 7 & 8:

2.0 %

Size 9 ≥:

1.0 %

1500.0 rpm

1800.0 rpm

s/1000 rpm

None (0)

50Hz

default:

60Hz

default:

2.000

Preset (3)

0.0300 s/rad

0.10

s2/rad

0.00000 1/rad

0.0

3000.0 rpm

0.200

s/1000 rpm

0.200

s/1000 rpm

0.0100 s/rad

1.00

s2/rad

Temperature

(1)

Typ e

Basic parameters

(Menu 0)

Running the motor Further information

Unidrive M702 / HS72 Control Getting Started Guide 27 Issue Number: 4

Parameter

00.025 Preset Reference 2 ±VM_SPEED_FREQ_REF rpm 0.0

Preset Reference 3

Uni M:Overspeed

00.026

Threshold

Uni HS: Overspeed Threshold

Preset Reference 4

00.027

P1 Rotary Lines Per Revolution

00.028 Enable Auxiliary Key 0 to 2 0

NV Media Card Data

00.029

Previously Loaded

00.030 Parameter copying

00.031 Drive Rated Voltage 200 V (0), 400 V (1), 575 V (2), 690 V (3)

Maximum Heavy Duty

00.032

Rating

Catch A Spinning Motor

00.033

Motor Parameter Adaptive Control

00.034 User Security Code

00.037 Active IP Address 000.000.000.000 to 255.255.255.255

00.038 Current Controller Kp Gain 0 to 30000 20 150

00.039 Current Controller Ki Gain 0 to 30000 40 2000

00.040 Auto-tune 0 to 2 0 to 3 0 to 4 0

Maximum Switching

00.041

Frequency

00.042 Number Of Motor Poles Automatic (0) to 480 Poles (240) Automatic (0) 6 Poles (3)

Rated Power Factor 0.000 to 1.000 0.850

00.043

Position Feedback Phase Angle

00.044 Rated Voltage ±VM_AC_VOLTAGE_SET

Uni M: Rated Speed 0 to 33,000 rpm

00.045

Uni HS: Rated Speed 0 to 180,000 rpm

Motor Thermal Time Constant 1

00.046 Rated Current ±VM_RATED_CURRENT Maximum Heavy Duty Rating (11.032)

Uni M: Rated Frequency 0.0 to 550.0 Hz

00.047

Uni HS: Rated Frequency 0.0 to 3000 Hz

00.048 Drive Mode

±VM_SPEED_

FREQ_REF Hz

±VM_SPEED_

FREQ_REF Hz

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

Disable (0),

Enable (1),

Fwd Only (2),

Rev Only (3)

2 kHz (0), 3 kHz (1), 4 kHz (2), 6 kHz (3),

8 kHz (4), 12 kHz (5), 16 kHz (6)

Range Default

OL RFC-A RFC-S OL RFC-A RFC-S

0.0

0 to 40000 rpm

0 to 50000 rpm

1 to 100000 1024 4096

0 to 999

Auto (3), Boot (4)

0.000 to 99999.999 A

0 to 2 0

0 to 231-1

0.00 to

33,000.00

rpm

0 to

50,000 rpm

0.0 to

1667 Hz

Open-loop (1), RFC-A (2),

RFC-S (3), Regen (4)

0.0 to

359.9°

1.0 to

3000.0 s

0.0

Disable (0)

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

575 V drive: 575 V

690 V drive: 690 V

50Hz

default:

1500 rpm

60Hz

default:

1800 rpm

50Hz default: 50.0 Hz 60Hz default: 60.0 Hz

Open-loop

(1)

0.0

None (0)

3kHz (1)

50Hz

default:

1450 rpm

60Hz

default:

1750 rpm

89.0 s

RFC-A (2) RFC-S (3)

Typ e

28 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

Parameter

00.049 User Security Status

00.050 Software Version 0 to 99999999

00.051 Action On Trip Detection 0 to 31 0

RW = Read Write, RO = Read Only.

Read-only Menu 0 (2), Read-only (3),

Range Default

OL RFC-A RFC-S OL RFC-A RFC-S

Menu 0 (0), All Menus (1),

Status Only (4), No Access (5)

Menu 0 (0)

5.1 Parameter descriptions

5.1.1 Pr mm.000

Pr mm.000 is available in all menus, commonly used functions are provided as text strings in Pr mm.000 shown in Table 5-1. The functions in Table 5-1 can also be selected by entering the appropriate numeric values (as shown in Table 5-2) in Pr mm.000. For example, enter 7001 in Pr mm.000 to erase the file in NV media card location 001.

Table 5-1 Commonly used functions in Pr mm.000

String Action

Save parameters

Load file 1 Load the drive parameters or user program file from NV media card file 001

Save to file 1 Transfer the drive parameters to parameter file 001

Load file 2 Load the drive parameters or user program file from NV media card file 002

Save to file 2 Transfer the drive parameters to parameter file 002

Load file 3 Load the drive parameters or user program file from NV media card file 003

Save to file 3 Transfer the drive parameters to parameter file 003

Show non-default Displays parameters that are different from defaults

Destinations Displays parameters that are set

Reset 50 Hz Defs Load parameters with standard (50 Hz) defaults

Reset 60 Hz Defs Load parameters with US (60 Hz) defaults

Reset modules Reset all option modules

Read Enc.NP P1 Transfer electronic nameplate motor parameters to the drive from the P1 encoder

Read Enc.NP P2 Transfer electronic nameplate motor parameters to the drive from the P2 encoder

Save parameters when under voltage is not active and low voltage threshold is not active

Typ e

Safety information Introduction Control connections Getting started

Basic parameters

(Menu 0)

Unidrive M702 / HS72 Control Getting Started Guide 29 Issue Number: 4

Running the motor Further information

Table 5-2 Functions in Pr mm.000

Value Action

1000

1001 Save parameter under all conditions 1070 Reset all option modules 1233 Load standard (50 Hz) defaults 1234 Load standard (50 Hz) defaults to all menus except option module menus (i.e 15 to 20 and 24 to 28) 1244 Load US (60 Hz) defaults 1245 Load US (60 Hz) defaults to all menus except option module menus (i.e 15 to 20 and 24 to 28) 1253 Change drive mode and load standard (50 Hz) defaults 1254 Change drive mode and load US (60 Hz) defaults 1255 Change drive mode and load standard (50 Hz) defaults except for menus 15 to 20 and 24 to 28 1256 Change drive mode and load US (60 Hz) defaults except for menus 15 to 20 and 24 to 28 1299 Reset {Stored HF} trip.

2001*

4yyy* NV media card: Transfer the drive parameters to parameter file xxx 5yyy* NV media card: Transfer the onboard user program to onboard user program file xxx

6yyy*

7yyy* NV media card: Erase file xxx

8yyy* NV Media card: Compare the data in the drive with file xxx 9555* NV media card: Clear the warning suppression flag 9666* NV media card: Clear the warning suppression flag 9777* NV media card: Clear the read-only flag 9888* NV media card: Set the read-only flag 9999* NV media card: Erase and format the NV media card

110 S0

110 S1

110S2 As 110S0, but for performance object 1 110S3 As 110S1, but for performance object 1 110S4 As 110S0, but for performance object 2 110S5 As 110S1, but for performance object 2

110 S6

12000**

12001**

Save parameters when Under Voltage Active (Pr 10.016) is not active and Low Under Voltage Threshold Select mode (Pr 06.067 = Off) is not active.

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

NV media card: Load the drive parameters from parameter file xxx or the onboard user program from onboard user program file xxx

Transfer electronic nameplate motor object parameters from the drive to an encoder connected to the drive or an option module.

Transfer electronic nameplate motor objects parameters from an encoder connected to the drive or option module to the drive parameters.

Transfer electronic nameplate motor object parameters from the drive to an encoder connected to the drive or an option module in the Unidrive SP format.

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

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

* See section 4.13 NV Media Card operation on page 23 for more information on these functions. ** These functions do not require a drive reset to become active. All other functions require a drive reset to initiate the function.

30 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

Safety information Introduction Control connections Getting started

Unidrive M702 / HS72 Control Getting Started Guide 31 Issue Number: 4

Basic parameters

(Menu 0)

Running the motor Further information

Keypad reference

00.XXX

Key

Read-write

(RW)

parameter

Read-only

(RO)

parameter

Input terminals

Output terminals

The parameters are all shown intheir default settings

00.024

00.025

00.026

00.027

Preset

Reference1 Preset Reference2

Preset

Reference3 Preset Reference4

Preset references

0 1 2

3 4 5

Precision reference

Open Loop only

00.022

Bipolar Reference Select

00.028

Enable Forward / Reverse Key

Preset

Keypad

Precision

KeypadRef

00.005

Reference

Selector

Figure 5-1 Menu 0 logic diagram

32 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

Motor

control

Speed-Loop Proportional Gain

OL> Catch A Spinning Motor RFC-A, RFC-S

> Motor Full LoadRatedSpeed Autotune

Motor

Speed

00.033

00.006

00.007

Speed-Loop Integral

Gain

00.008

Speed-Loop Derivative Gain

00.009

RFC-A, RFC-S>

Speed-loop

PID

gains

15 way sub-D connector

ATZEROSPEED

Current Limit

Number Of Poles PowerFactor RatedVoltage RatedSpeed RatedCurrent Rated Frequency

00.042 ~ 00.047

Motor

parameters

Power stage

VoltageMode

Selector

Dynamic

V/f

Select

00.007

Boost Voltage

00.008

00.009

OL>

Motor-voltage control

Estimated Motor Speed

L1 L2 L3

U V W

Resistor optional

Drive

RUN

FORWARD

RUN REVERSE

Minimum Frequency/

Speed

Clamp

00.001

00.002

Ramps

Acceleration Rate

Deceleration Rate

Ramp Mode

Selector

00.003

00.004

00.015

RFC-A, RFC-S modes only

000.16

Maximum Frequency/

Speed

Clamp

Ramp

Enable

Digital output

00.027

00.026

Drive Encoder PPR

Overspeed Threshold

00.041

00.011

Maximum Switching Frequency

Output Frequency

SV> Motor Thermal Time Constant

00.014

TorqueMode Selector

00.017

Current Demand Filter Time

Constant

RFC-A, RFC-S>

RFC-A RFC-S

Torque

Producing

Current

Magnitude

Magnetising

Current

+ BR

RFC-A, RFC-S

00.010

00.013

00.012

Unidrive M702 / HS72 Control Getting Started Guide 33 Issue Number: 4

Safety information Introduction Control connections Getting started

Basic parameters

(Menu 0)

Running the motor Further information

6 Running the motor

WARNING

CAUT ION

WARNING

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.

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

The values of the motor parameters affect the protection of the motor. The default values in the drive should not be relied upon. It is essential that the correct value is entered in Pr 00.046 Rated Current. This affects the thermal protection of the motor.

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

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

6.1 Quick start Connections

6.1.1 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 6.2 Quick Start commissioning / start-up on page 36.

Table 6-1 Minimum control connection requirements for each control mode

Drive control method Requirements

Drive enable

Terminal mode

Keypad mode Drive enable

Communications

Speed / Torque reference Run forward / Run reverse

Drive enable Communications link

Table 6-2 Minimum control connection requirements for each mode of operation

Operating mode Requirements

Open loop mode Induction motor

RFC-A mode (with position feedback) Induction motor with position feedback

RFC-S mode (with position feedback) Permanent magnet motor with position feedback

34 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

Figure 6-1 Minimum connections to get the motor running in any operating mode

E E

Induction

motor

RFC-S

Marker pulse optional

Thermal overloadfor braking resistor to protectagainst fire risk. This must be wired to interrupt the AC supplyinthe event of a fault. This is not requiredifthe optional internal braking resistor is used

T e

n a

K e

p a

M o

Communications

port*

Keypad

Optional item, must

be installed

for keypad mode

L1 L2 L3

Fuses

L1 L2 L3UV W

U V W

Servo motor (permanent magnet)

Braking resistor

(optional)

Position feedback

connector 15 wayD-type**

5 10

U V W

RFC-A

Open loop

RUN FWD

RUNREV

24V

SAFE TORQUE OFF 1

SAFE TORQUE OFF 2

RFC-A

Sensorless

RFC-A

Sensorless

(size4illustrated)

Safety information Introduction Control connections Getting started

* Ethernet fieldbus communication ports.

** Position feedback port (refer to Table 3-1 P1 position feedback connection details on page 9).

Unidrive M702 / HS72 Control Getting Started Guide 35 Issue Number: 4

Basic parameters

(Menu 0)

Running the motor Further information

6.2 Quick Start commissioning / start-up

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

6.2.1 Open loop

Action Detail

Before power-up

Power-up the drive

Enter motor nameplate details

Ensure:

• The drive enable signal is not given (terminal 11 and 13)

• Run signal is not given

• Motor is connected

Verify that Open Loop mode is displayed as the drive powers up. If the mode is incorrect see section 4.7 Changing the operating mode on page 21. Ensure:

• Drive displays ‘Inhibit’

Enter:

• Motor rated frequency in Pr 00.047 (Hz)

• Motor rated current in Pr 00.046 (A)

• Motor rated speed in Pr 00.045 (rpm)

• Motor rated voltage in Pr 00.044 (V) - check if or connection

Set maximum frequency

Set accel. / decel. rates

Motor Thermistor Set-up

Enter:

• Maximum frequency in Pr 00.002 (Hz)

Enter:

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

• Deceleration rate in Pr 00.004 (s /100 Hz) (If braking resistor installed, set Pr 00.015 = FAST. Also ensure Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

The motor thermistor connection may be made either: Through the drive encoder port (terminal 15)

• Select thermistor type in P1 Thermistor Type (03.118)

•Set P1 Thermistor Fault Detection ( or Temp or Short (2)

Through terminal 8 (Digital Input 5 / Analog Input 3) of the control terminals (requires a drive with date code 1710 or later and control firmware V01.13.00.00 or later).

• Change Analog Input 3 Mode (07.015) from Disable (0) to either Therm Short Cct (7) or Thermistor (8).

• Select the thermistor type in Analog Input 3 Thermistor Type

03.123

) to either Temperature (1)

(07.046)

36 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

Action Detail

A rotating auto-tune will cause the motor to accelerate up to

/3 base speed in the direction selected regardless of the reference provided. Once complete the motor will coast to a stop. The enable signal must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

cos

∅

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

• A stationary auto-tune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. A stationary auto-tune measures the stator resistance of the motor and the voltage offset in the drive. These are required for good

Autotune

Save parameters

Run Drive is now ready to run

performance in vector control modes. A stationary auto-tune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043.

• A rotating auto-tune should only be used if the motor is uncoupled. A rotating auto-tune first performs a stationary auto-tune before

rotating the motor at

/3 base speed in the direction selected.

The rotating auto-tune measures the power factor of the motor.

To perform an auto-tune:

•Set Pr00.040 = 1 for a stationary auto-tune or set Pr 00.040 = 2 for a rotating auto-tune

• Close the Drive Enable signal (terminal 11 and 13). The drive will display ’Ready’.

• Close the run signal (terminal 7 or 8). The lower display will flash ’Autotune’ while the drive is performing the auto-tune.

• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor to come to a standstill.

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

Select ‘Save Parameters’ in Pr mm.000 (alternatively enter a value of

1000 in Pr mm.000) and press red reset button or toggle the reset digital input.

Safety information Introduction Control connections Getting started

Basic parameters

(Menu 0)

Unidrive M702 / HS72 Control Getting Started Guide 37 Issue Number: 4

Running the motor Further information

6.2.2 RFC-A mode (with position feedback)

If output voltage from the encoder is > 5 V, then the termination resistors must be disabled Pr 03.039 to 0.

NOTE

Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

CAUT ION

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 2.2 0 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

Induction motor with position 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 Setting up a feedback device in the Control User Guide.

Action Detail

Before power-up

Power-up the drive

Set motor feedback parameters

Ensure:

• Drive Enable signal is not given (terminal 11 and 13)

• Run signal is not given

• Motor and feedback device are connected

• Verify that RFC-A mode is displayed as the drive powers up. If the mode is incorrect see section section 4.7 Changing the operating mode on page 21.

Ensure:

• Drive displays ‘Inhibit’

Incremental encoder basic set-up

Enter:

• Drive encoder type in Pr 03.038 = AB (0): Quadrature encoder

• Encoder power supply in Pr. 03.036 = 5 V (0), 8 V (1) or 15 V (2).

• Drive encoder Lines Per Revolution (LPR) in Pr 03.034 (set according to encoder)

• Drive encoder termination resistor setting in Pr 03.039:

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:

Enter motor nameplate details

• Motor rated frequency in Pr 00.047 (Hz)

• Motor rated current in Pr 00.046 (A)

• Motor rated speed in Pr 00.045 (rpm)

• Motor rated voltage in Pr 00.044 (V) - check if or connection

Set maximum speed

Set acceleration / deceleration rates

Enter:

• Maximum speed in Pr 00.002 (rpm)

Enter:

• Acceleration rate in Pr 00.003 (s/1000 rpm)

• Deceleration rate in Pr 00.004 (s/1000 rpm) (If braking resistor installed, set Pr 00.015 = FAST. Also ensure Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

38 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

Action Detail

A rotating auto-tune will cause the motor to accelerate up to 2/3 base speed in the direction selected regardless of the reference

provided. Once complete the motor will coast to a stop. The enable signal must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal

or removing the drive enable.

WARNING

cos

∅

N rpm

saturation

breakpoints

The motor thermistor connection may be made either: Through the drive encoder port (terminal 15)

• Select thermistor type in P1 Thermistor Type (03.118)

Motor Thermistor Set-up

Autotune

•Set P1 Thermistor Fault Detection ( Temp or Short (2)

Through terminal 8 (Digital Input 5 / Analog Input 3) of the control terminals (requires a drive with date code 1710 or later and control firmware V01.13.00.00 or later).

• Change Analog Input 3 Mode (07.015) from Disable (0) to either Therm Short Cct (7) or Thermistor (8).

• Select the thermistor type in Analog Input 3 Thermistor Type (07.046)

• A stationary auto-tune 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 00.038 and Pr 00.039 are updated. A stationary auto-tune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043.

• A rotating auto-tune should only be used if the motor is uncoupled. A rotating auto-tune first performs a stationary auto-tune before rotating

the motor at tune measures the stator inductance of the motor and calculates the

power factor.

To perform an auto-tune:

•Set Pr00.040 = 1 for a stationary auto-tune or set Pr 00.040 = 2 for a rotating auto-tune

• Close the drive enable signal (terminal 11 and 13). The drive will display ‘Ready’.

• Close the run signal (terminal 7 or 8). The lower display will flash ‘Autotune’ while the drive is performing the auto-tune.

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

/3 base speed in the direction selected. The rotating auto-

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

Save parameters

Select ‘Save Parameters’ in Pr mm.000 (alternatively enter a value of 1000 in

Pr mm.000) and press red reset button or toggle the reset digital input.

Run Drive is now ready to run

03.123

Safety information Introduction Control connections Getting started

) to either Temperature (1) or

Basic parameters

(Menu 0)

Running the motor Further information

Unidrive M702 / HS72 Control Getting Started Guide 39 Issue Number: 4

6.2.3 RFC-A mode (Sensorless control)

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 1 445 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

Induction motor with sensorless control

Action Detail

Before powerup

Power-up the drive

Select RFC-A (Sensorless control) mode

Motor Thermistor Set-up

Enter motor nameplate details

Ensure:

• The drive enable signal is not given (terminal 31)

• Run signal is not given

• Motor is connected

Verify that RFC-A mode is displayed as the drive powers up. If the mode is incorrect see section 4.7 Changing the operating mode on page 21. Ensure: Drive displays ‘Inhibit’

•Set Pr03.024 = 1 or 3 to select RFC-A Sensorless mode

•Set Pr03.040 = 0000 to disable the wire break

The motor thermistor connection may be made either: Through the drive encoder port (terminal 15)

• Select thermistor type in P1 Thermistor Type (03.118)

•Set P1 Thermistor Fault Detection ( Temp or Short (2)

Through terminal 8 (Digital Input 5 / Analog Input 3) of the control terminals (requires a drive with date code 1710 or later and control firmware V01.13.00.00 or later).

• Change Analog Input 3 Mode (07.015) from Disable (0) to either Therm Short Cct (7) or Thermistor (8).

03.123

• Select the thermistor type in Analog Input 3 Thermistor Type (07.046)

• Motor rated frequency in Pr 00.047 (Hz)

• Motor rated current in Pr 00.046 (A)

• Motor rated speed in Pr 00.045 (rpm)

• Motor rated voltage in Pr 00.044 (V) - check if or connection

) to either Temperature (1) or

Set max speed

Set accel. / decel. rates

Enter:

• Maximum frequency in Pr 00.002 (rpm)

• Acceleration rate in Pr 00.003 (s /1000 rpm)

• Deceleration rate in Pr 00.004 (s /1000 rpm) (If braking resistor installed, set Pr 00.015 = FAST. Also ensure Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly).

If catch a spinning motor mode is not required then set Pr 06.009 to 0.

Select or deselect catch a spinning motor mode

40 Unidrive M702 / HS72 Control Getting Started Guide

If catch a spinning motor mode is required then leave Pr 06.009 at the default of 1, but depending on the size of the motor the value in Pr 05.040 may need to be adjusted. Pr 05.040 defines a scaling function used by the algorithm that detects the speed of the motor. The default value of Pr 05.040 is 1 which is suitable for small motors (< 4 kW). For larger motors the value in Pr 05.040 will need to be increased.

Issue Number: 4

Action Detail

It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).

NOTE

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected regardless of the reference

or removing the drive enable.

WARNING

cos

∅

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.

Autotune

To perform an auto-tune:

•Set Pr00.040 = 1 for a stationary autotune or set Pr 00.040 = 2 for a rotating autotune.

• Close the drive enable signal (terminal 31). The drive will display ‘Ready’ or ‘Inhibit’.

• Close the run signal (terminal 26 or 27). The lower display will flash ‘Autotune’ while the drive is performing the autotune.

• Wait for the drive to display ‘Ready’ or ‘Inhibit’ and for the motor to come to a standstill.

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

Save parameters

Run Drive is now ready to run

Select ‘Save Parameters’ in Pr mm.000 (alternatively enter a value of 1000 in

Pr mm.000) and press red reset button or toggle the reset digital input.

Safety information Introduction Control connections Getting started

Unidrive M702 / HS72 Control Getting Started Guide 41 Issue Number: 4

Basic parameters

(Menu 0)

Running the motor Further information

6.2.4 RFC-S mode (with position feedback)

If output voltage from the encoder is > 5 V, then the termination resistors must be disabled Pr 03.039 to 0.

NOTE

Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device

CAUT ION

Model No: 95UXXXXXXXXXXXX Volts: 380/480 Cont: 7.7Nm:4.81Arms Stall: 9.5Nm:5.91Arms Speed: 3000rpm Poles:6 Kt: 1.6Nm/Arms Ins Class: H

Brake: 12Nm 24V

0.67A

Serial No: XXXXXXXXXXX

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

0.02

1000rpm

0.03

0.04

Permanent magnet motor with a position feedback

For simplicity only an incremental quadrature encoder with commutation outputs will be considered here. For information on setting up one of the other supported speed feedback devices, refer to Setting up a feedback device in the Control User Guide.

Action Detail

Before powerup

Power-up the drive

Set motor feedback parameters

Enter motor nameplate details

Ensure:

• The drive enable signal is not given (terminal 11 and 13)

• Run signal is not given

• Motor and feedback device are connected

Verify that RFC-S mode is displayed as the drive powers up. If the mode is incorrect see section 4.7 Changing the operating mode on page 21. Ensure:

• Drive displays ‘inhibit’

Incremental encoder basic set-up

Enter:

• Drive encoder type in Pr. 03.038 = AB Servo (3): Quadrature encoder with commutation outputs

• Encoder power supply in Pr. 03.036 = 5 V (0), 8 V (1) or 15 V (2).

• Drive encoder Pulses Per Revolution in Pr 03.034 (set according to encoder)

• Drive encoder termination resistor setting in Pr 03.039:

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 current in Pr 00.046 (A) Ensure that this equal to or less than the Heavy Duty rating of the drive otherwise ‘Motor Too Hot’ trips may occur during the auto-tune.

• Number of poles in Pr 00.042

• Motor rated voltage in Pr 00.044 (V)

Set maximum speed

Set acceleration / deceleration rates

42 Unidrive M702 / HS72 Control Getting Started Guide

Enter:

• Maximum speed in Pr 00.002 (rpm)

Enter:

• Acceleration rate in Pr 00.003 (s/1000 rpm)

• Deceleration rate in Pr 00.004 (s/1000 rpm) (If braking resistor installed, set Pr 00.015 = Fast. Also ensure Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

Issue Number: 4

Action Detail

The rotating auto-tune will rotate the motor by up to 2 mechanical revolutions in the direction selected, regardless of the reference provided. After a short delay, the motor is further rotated through a electrical revolution. 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

The motor thermistor connection may be made either: Through the drive encoder port (terminal 15)

• Select thermistor type in P1 Thermistor Type (03.118)

Motor Thermistor Set-up

Autotune

•Set P1 Thermistor Fault Detection ( Temp or Short (2)

Through terminal 8 (Digital Input 5 / Analog Input 3) of the control terminals (requires a drive with date code 1710 or later and control firmware V01.13.00.00 or later).

• Change Analog Input 3 Mode (07.015) from Disable (0) to either Therm Short Cct (7) or Thermistor (8).

• Select the thermistor type in Analog Input 3 Thermistor Type (07.046)

The drive is able to perform either a stationary or a rotating auto-tune. The motor must be at a standstill before an auto-tune is enabled. A stationary auto-tune will give moderate performance whereas a rotating auto-tune will give improved performance as it measures the actual values of the motor parameters required by the drive.The drive is able to perform a stationary, rotating, mechanical load measurement or locked rotor test auto-tune. The motor must be at a standstill before an auto-tune is enabled. It is suggested that a rotating auto tune is used for accurate measurement for position feedback phase angle.

• A stationary auto-tune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. A stationary auto-tune is performed to locate the flux axis of the motor. The stationary auto-tune measures the stator resistance, inductance in flux axis, voltage offset at zero current, maximum voltage offset, inductance in torque axis with no load on the motor and current at maximum voltage offset of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated. If Sensorless mode is not selected then Position Feedback Phase Angle (03.025) is set- up for the selected position feedback.

• A rotating auto-tune should only be used if the motor is uncoupled. The rotating auto-tune will rotate the motor by up to 2 mechanical revolutions in the direction selected, regardless of the reference provided to obtain the position feedback phase angle. A stationary auto-tune is then performed to obtain stator resistance, inductance in flux axis, voltage offset at zero current, maximum voltage offset, inductance in torque axis with no load on the motor and current at maximum voltage offset of the motor. From the above obtained parameters the current loop gains are calculated, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated.

03.123

Safety information Introduction Control connections Getting started

) to either Temperature (1) or

Basic parameters

(Menu 0)

To perform an auto-tune:

• Set Pr 00.040 = 1 for a stationary auto-tune, Pr 00.040 = 2 for a rotating auto-tune.

• Close the run signal (terminal 7 or 8).

• Close the drive enable signal (terminal 11 and 13). The lower display will flash 'Autotune' while the drive is performing the test.

• Wait for the drive to display 'Ready' or 'Inhibit' and for the motor to come to a standstill.

If the drive trips it cannot be reset until the drive enable signal (terminal 11 and

13) has been removed.

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

Save parameters

Run Drive is now ready to run

Unidrive M702 / HS72 Control Getting Started Guide 43 Issue Number: 4

Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of 1000 in

Pr mm.000) and press red reset button or toggle the reset digital input.

Running the motor Further information

6.2.5 RFC-S mode (Sensorless)

Model No: 95UXXXXXXXXXXXX Volts: 380/480 Cont: 7.7Nm:4.81Arms Stall: 9.5Nm:5.91Arms Speed: 3000rpm Poles:6 Kt: 1.6Nm/Arms Ins Class: H

Brake: 12Nm 24V

0.67A

Serial No: XXXXXXXXXXX

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

0.02

1000rpm

0.03

0.04

Ld No-load Lq

Permanent magnet motor without position feedback

Action Detail

Before power-up

Power-up the drive

Enter motor nameplate details

Ensure:

• The drive enable signal is not given (terminal 31).

• Run signal is not given

• Motor is connected

Verify that RFC-S mode is displayed as the drive powers up. If the mode is incorrect see section 4.7 Changing the operating mode on page 21, otherwise restore parameter defaults (see section 4.9 Restoring parameter defaults on page 22). Ensure that the drive displays ‘inhibit’

Enter:

• Motor rated current in Pr 00.046 (A)+ Ensure that this equal to or less than the Heavy Duty rating of the drive otherwise ‘Motor Too Hot’ trips may occur during the autotune.

• Number of poles in Pr 00.042

• Motor rated voltage in Pr 00.044 (V)

Set maximum speed

Set acceleration / deceleration rates

Motor Thermistor Set-up

Autotune

Enter:

• Maximum speed in Pr 00.002 (rpm)

Enter:

• Acceleration rate in Pr 00.003 (s/1000 rpm)

The motor thermistor connection may be made either: Through the drive encoder port (terminal 15)

• Select thermistor type in P1 Thermistor Type (03.118)

•Set P1 Thermistor Fault Detection ( or Temp or Short (2)

Through terminal 8 (Digital Input 5 / Analog Input 3) of the control terminals (requires a drive with date code 1710 or later and control firmware V01.13.00.00 or later).

• Change Analog Input 3 Mode (07.015) from Disable (0) to either Therm Short Cct (7) or Thermistor (8).

• Select the thermistor type in Analog Input 3 Thermistor Type

03.123

) to either Temperature (1)

(07.046)

The drive is able to perform a stationary autotune. The motor must be at a standstill before an autotune is enabled. A stationary autotune will give moderate performance.

• A stationary autotune is performed to locate the flux axis of the motor. The stationary autotune measures the stator resistance, inductance in flux axis, inductance in torque axis with no load on the motor and values relating to deadtime compensation from the drive. Measured values are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated.

To perform an autotune:

•Set Pr00.040 = 1 or 2 for a stationary autotune. (Both perform the same tests).

• Close the run signal (terminal 26 or 27).

• Close the drive enable signal (terminal 31). The upper row of the display will flash 'Auto Tune' during the test.

• Wait for the drive to display 'Ready' or 'Inhibit'.

If the drive trips it cannot be reset until the drive enable signal (terminal

31) has been removed.

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

44 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

Action Detail

In sensorless mode, when the motor speed is below Pr 00.045 / 10, a special low speed algorithm must be used to control the motor. There

Check Saliency

Save parameters

Run Drive is now ready to run

are two modes available, with the mode chosen based on the saliency of the motor. The ratio No-load Lq (Pr 00.056) / Ld (Pr 05.024) provides a measure of the saliency. If this value is > 1.1, then Non-salient mode must be used (this is the default), otherwise Injection mode may be used. Set Pr 00.054 for the selected mode: Injection (0) or Non-salient (1).

Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of

1000 in Pr mm.000) and press red reset button or toggle the reset digital input.

6.2.6 Use of the motor database for a Leroy Somer LSRPM motor for use in RFC-S Sensorless mode.

Select ‘Motor Setup’ from the ‘Dashboard’.

On the ‘Motor Setup’ screen, select ‘Choose a motor’.

Safety information Introduction Control connections Getting started

Select the required motor database:

Unidrive M702 / HS72 Control Getting Started Guide 45 Issue Number: 4

Basic parameters

(Menu 0)

Running the motor Further information

Select the required motor from the list and click ‘OK’.

The data for the selected motor is displayed on the ‘Motor Setup’ screen. Click ‘Send to drive’ to set the associated parameters.

It is possible to set motor parameters for motor 2, by selecting the ‘Motor 2’ tab and following the same procedure.

46 Unidrive M702 / HS72 Control Getting Started Guide

Issue Number: 4

7 Further information

7.1 Diagnostics

For further information regarding diagnostics including trips and alarms, refer to the Control User Guide.

Safety information Introduction Control connections Getting started

Unidrive M702 / HS72 Control Getting Started Guide 47 Issue Number: 4

Basic parameters

(Menu 0)

Running the motor Further information

Getting started setup using default parameter settings

Run forward

Run reverse

Relay

(Over voltage

category II)

Drive OK

+24 V output

0 V

Digital output 1

Digital output 2

0 V

Digital input 4

Digital input 5 / Analog Input 3 (Motor thermistor)

+24 V input

0 V

Drive enable 1 (Safe Torque Off)

0 V

Drive enable 2

At zero speed

(Safe Torque Off)

0478-0251-04

Nidec Unidrive M702, Unidrive HS72 Control Getting Started Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Safety information

1.1 Warnings, Cautions and Notes

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

1.3 Responsibility

1.4 Compliance with regulations

1.5 Electrical hazards

1.6 Stored electrical charge

1.7 Mechanical hazards

1.8 Access to equipment

1.9 Environmental limits

1.10 Hazardous environments

1.11 Motor

1.12 Mechanical brake control

1.13 Adjusting parameters

1.14 Electromagnetic compatibility (EMC)

2Introduction

2.1 Operating modes

3 Control connections

3.1 Position feedback connections

3.2 Communications connections

3.3 Shield connections

3.4 Control connections

4 Getting started

4.1 Quick start commissioning / start-up using Unidrive M Connect (V02.00.00.00 onwards)

4.2 Keypad / display

4.3 Keypad operation

4.4 Menu 0

4.5 Menu structure

4.6 Advanced menus

4.7 Changing the operating mode

4.8 Saving parameters

4.9 Restoring parameter defaults

4.10 Displaying parameters with non-default values only

4.11 Displaying destination parameters only

4.12 Parameter access level and security

4.13 NV Media Card operation

4.14 Transferring data

5 Basic parameters (Menu 0)

5.1 Parameter descriptions

6 Running the motor

6.1 Quick start Connections

6.2 Quick Start commissioning / start-up

7 Further information

7.1 Diagnostics