Rockwell Automation FlexPak 3000 Digital DC Drive User Manual

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FlexPak 3000 Digital DC Drive Software Reference Manual Version 4.3

Instruction Manual

D2-3405-2

The information in this manual is subject to change without notice.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Throughout this manual, the following notes are used to alert you to safety considerations:

ATTENTION:Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.

Important: Identifies information that is critical for successful application and understanding of the product. The thick black bar shown on the outside margin of this page will be used throughout this instruction manual to

signify new or revised text or figures.

ATTENTION:Only qualified electrical personnel familiar with the construction and operation of this equipment and the hazards involved should install, operate, or service this equipment. Read

and understand this manual in its entirety before proceeding. Failure to observe this precaution could result in severe bodily injury or loss of life.

Reliance, FlexPak, AutoMax, and E.S.P. are trademarks of Rockwell Automation. DeviceNet is a trademark of the Open DeviceNet Vendor Association.

Chapter 1 ‘ Introduction

1.1 Before You Start..............................................................................................1-1

1.2 Where to Find Information...............................................................................1-1

1.3 Conventions.....................................................................................................1-1

1.4 Getting Assistance from Reliance Electric.......................................................1-2

1.5 Drive Description ............................................................................................. 1-2

Chapter 2 Drive Sequencing

2.1 Run and Jog Sequencing ................................................................................ 2-2

2.2 Stop Sequencing ............................................................................................. 2-2

Chapter 3 Initial Configuration

3.1 Selecting a Control Source........... ...... ....... ...... ....... ...... ....... ...... ......................3-1

3.2 Configuring the AC Line Parameters............................................................... 3-2

3.3 Self-Tuning Parameters...................................................................................3-3

Chapter 4 Configuring the Speed Reference

4.1 Configuring the Speed Reference Source Block.............................................4-2

4.1.1 Configuring the Keypad (OIM) Speed Reference..................................4-4

4.1.2 Configuring the Analog Auto Reference................................................4-4

4.1.3 Configuring the Analog Manual Reference ........................................... 4-6

4.1.4 Configuring the Serial Speed Reference...............................................4-8

4.1.5 Configuring the Network Speed Reference...........................................4-8

4.1.6 Configuring the Motor-Operated Potentiometer (MOP) Reference.......4-8

4.1.7 Configuring the Preset Speed References..........................................4-11

4.2 Configuring Trim............................................................................................4-13

4.3 Speed Reference Ramp................................................................................4-16

4.3.1 Configuring the Speed Reference Ramp ............................................ 4-18

4.4 Final Speed Reference Logic ........................................................................ 4-23

4.4.1 Configuring Jog ...................................................................................4-25

4.4.2 Configuring Current Compounding......................................................4-28

ONTENTS

Contents

Chapter 5 Configuring the Speed/Voltage Loop

5.1 Configuring the Speed Loop Scan Time..........................................................5-2

5.2 Configuring the Speed Loop Feedback...........................................................5-3

5.2.1 Configuring Armature Voltage Feedback..............................................5-3

5.2.2 Configuring AC or DC Analog Tachometer Feedback .......................... 5-6

5.2.3 Configuring the Pulse Encoder Feedback.............................................5-9

5.2.4 Configuring Speed Loop Feedback Lead/Lag Block...........................5-11

5.3 Reading the Speed Loop Error Signal........................................................... 5-12

5.4 Configuring the Speed Loop Forward Path Lag Block ..................................5-13

5.5 Configuring the Speed Loop Current Limits ..................................................5-14

5.6 Configuring the Speed Loop PI Block............................................................5-17

5.7 Configuring Parameters for Winding Applications ......................................... 5-20

Chapter 6 Configuring the Current Minor Loop

6.1 Configuring Inertia Compensation....................................................................6-2

6.2 Selecting and Conditioning CML Reference Selection ....................................6-3

6.3 Configuring the Armature Current Feedback...................................................6-6

6.4 Configuring the CML Forward Path..................................................................6-9

Chapter 7 Configuring the Metering Outputs

Chapter 8 Configuring the Field Supply

8.1 Configuring Field Economy..............................................................................8-2

8.2 Configuring the Enhanced Field Supply...........................................................8-4

8.3 Configuring the Field Current Regulated Supply..............................................8-5

8.3.1 Configuring Automatic Field Weakening................................................8-8

Chapter 9 Configuring the Outer Control Loop

9.1 Enabling the Outer Control Loop......................................................................9-2

9.2 Outer Control Loop Signal Processing.............................................................9-4

9.2.1 Configuring the OCL Reference Path....................................................9-4

9.2.2 Configuring the Outer Control Loop Forward Path ................................9-6

9.3 Configuring the Outer Control Loop Feedback Path........................................9-9

Chapter 10 Configuring a Network

10.1 Configuration for All Networks........................................................................10-2

10.2 Configuring Parameters for DeviceNet ..........................................................10-7

10.3 Configuring Parameters for the AutoMax Network.........................................10-8

10.4 Configuring Parameters for the ControlNet Network......................................10-9

Chapter 11 Configuring Parameters for the I/O Expansion Kit

11.1 Configuring the Digital Outputs......................................................................11-2

11.2 Configuring the Analog Inputs........................................................................11-5

11.3 Configuring the Analog Outputs.....................................................................11-8

11.4 Configuring the Frequency Input..................................................................11-10

11.5 Configuring the Frequency Output...............................................................11-11

Chapter 12 Configuring the Drive to Use Level Detectors

Chapter 13 Troubleshooting the FlexPak 3000 Drive

13.1 Fault and Alarm Messages, Descriptions, and Code Numbers .....................13-1

13.2 Adjusting the Tachometer or Encoder Loss Sensitivity................................13-12

13.3 Phase Locked Loop (PLL) Maximum Error..................................................13-13

13.4 SCR Diagnostics and Adjusting Open SCR Sensitivity................................13-14

13.5 Armature Phase Fire Test............................................................................13-16

13.6 Setting Reversed Tachometer or Reversed Encoder Lead Detection .........13-19

13.7 Setting Up Inverting Fault Avoidance...........................................................13-20

13.8 Checking the AC Line Period and Voltage...................................................13-22

13.9 Checking Drive Information..........................................................................13-23

Appendix A Block Diagrams............................................ ...... ....... ...... ......................................... A-1

Appendix B New Features in Version 4.3.................................................................................... B-1

Appendix C Parameter Settings Record......................................................................................C-1

FlexPak 3000 DC Drive Software Reference

Appendix D Numeric Parameter List............................................................................................D-1

Glossary ......................................................................................................................Glossary-1

Index ........................................................................................................................... Index-1

Contents

III

FlexPak 3000 DC Drive Software Reference

List of Figures

Figure 1.1 – Block Diagram of the FlexPak 3000 Drive............................................ 1-2

Figure 2.1 – Drive Sequencing Overview................................................................. 2-1

Figure 4.1 – Speed Reference Overview.................................................................. 4-1

Figure 4.2 – Speed Reference Source Select Block Diagram.................................. 4-3

Figure 4.3 – MOP Block Diagram.............................................................................4-9

Figure 4.4 – Preset Speed Block Diagram .............................................................4-11

Figure 4.5 – Speed Reference Ramp Block Diagram............................................. 4-17

Figure 4.6 – S-Curve Rounding..............................................................................4-21

Figure 4.7 – Speed Reference Mode Select Block Diagram..................................4-23

Figure 5.1 – Speed Loop Block Diagram.................................................................. 5-1

Figure 5.2 – Armature Voltage Block Diagram.........................................................5-3

Figure 5.3 – AC or DC Analog Tachometer Feedback Block Diagram..................... 5-6

Figure 5.4 – Pulse Encoder Feedback Block Diagram.............................................5-9

Figure 6.1 – Current Minor Loop Reference Path Block Diagram ............................ 6-1

Figure 6.2 – Current Minor Loop Block Diagram...................................................... 6-6

Figure 7.1 – Metering Outputs Block Diagram.........................................................7-1

Figure 8.1 – Field Block DIagram if Field Current Regulator Kit is Installed.............8-5

Figure 9.1 – Outer Control Loop Block Diagram.......................................................9-1

Figure 9.2 – Outer Control Loop Enable Logic......................................................... 9-2

Figure 9.3 – OCL Reference Signal Rounding......................................................... 9-6

Figure 11.1 – Digital Outputs Block Diagram.......................................................... 11-2

Figure 11.2 – Analog Inputs Block Diagram........................................................... 11-5

Figure 11.3 – Analog and Frequency Outputs Block Diagram ...............................11-8

Figure 11.4 – Frequency Input Block Diagram..................................................... 11-10

Figure 12.1 – Level Detectors Block Diagram ........................................................ 12-1

Figure 13.1 – SCR Armature Current During Normal Operation ..........................13-14

Figure 13.2 – Load SCRs Fail to Turn On............................................................13-15

Figure 13.3 – Thyristors Fail to Conduct............................................................... 13-17

Contents

FlexPak 3000 DC Drive Software Reference

List of Tables

Table 4.1 – Effect of Control Source and Reference Settings..................................4-2

Table 4.2 – Preset Speed Reference Selections.................................................... 4-11

Table 4.3 – Conditions Indicated by

Table 7.1 – Options for Metering Parameters .......................................................... 7-4

Table 9.1 – OCL Enable Signal Source.................................................................... 9-2

Table 9.2 – Conditions Indicated by

Table 11.1 – Options for Metering Parameters .................................................... 11-12

Table 13.1 – Fault Codes ...................................................................................... 13-1

Table 13.2 – Alarm Codes ................................. ...... ....... ...... ....... ...... ....................13-9

Table 13.3 – Inverting Fault Avoidance Settings .................................................13-21

0 (P.490)..............................................4-25

DIG IN

0 (P.490)................................................ 9-3

DIG IN

Contents

VII

VIII

FlexPak 3000 DC Drive Software Reference

1.1 Before You Start

This manual assumes that the hardware has already been installed. See the FlexPak 3000 drive hardware manual, D2-3404, for detail.

HAPTER

Introduction

Important:

See the

Before operating the drive, you must perform Quick Start and the self-tuning procedure, described in the configure the most commonly used parameters through one menu and includes self-tuning. This helps you set up the drive as quickly as possible.

manual for information on configuring parameters and using Quick Start.

OIM

1.2 Where to Find In formation

This manual describes the software of the FlexPak 3000 drive DC drive. It does not describe hardware or the operator interface. To find information on:

• Hardware, including installation and wiring information: See D2-3404, FlexPak 3000 DC Drive Hardware Reference.

• The Operator Interface Module ( parameters, and using Quick Start: See D2-3344, FlexPak 3000 Drive Operator Interface Module (

• Kits: See the instruction manual supplied with the kit.

This manual groups parameters by function. To find a specific parameter, see the index or Appendix D, Numeric Parameter List, for a list of parameters with their page numbers.

) User Guide.

OIM

), including setting parameters, saving

OIM

manual. Quick Start lets you

OIM

Introduction

As you change parameter values, you can record them using the table in Appendix C, Parameter Settings Record.

1.3 Conventions

Parameter names: In most instances, parameter names are shown as the parameter name followed by the parameter number. For example:

For text parameter options, the options are shown in all caps. For example:

ACCELERATION TIME

(P.001).

TERMBLK

1-1

1.4 Getting Assistance from Reliance Electric

If you have any questions or problems with the products described in this instruction manual, contact your local Reliance Electric sales office. For technical assistance, call 1-800-726-8112.

1.5 Drive Description

The FlexPak 3000 drive drive is a full-wave power converter without back rectifier, complete with a digital current minor loop and a digital major loop for armature voltage or speed regulation by tachometer or encoder feedback. Figure 1.1 shows the block diagram of the drive.

The drive employs a wireless construction and uses a keypad (

) for drive setup,

OIM

including parameter adjustments and measurement unit selection, monitoring, and diagnostics. Multiple language capability in English, French, German, Spanish, and Italian is built-in. Reference, feedback, and metering signals can be interfaced to the drive.

The drive can be controlled:

• Locally by the Operator Interface Module (

OIM

• Remotely by using the terminals at the Regulator board terminal strip.

• Remotely by the CS3000 software or a an optional network kit (AutoMax, ControlN et, or others).

The reference source ( through the

OIM

KEYPAD, TERMBLK, NETWORK

, or

) can be selected

SERIAL

1-2

Figure 1.1 – Block Diagram of the FlexPak 3000 Drive

FlexPak 3000 DC Drive Software Reference

HAPTER

Drive Sequencing

This chapter describes run, jog, and stop sequencing of the FlexPak 3000 drive. Figure 2.1 shows an overview of the sequencing of the drive.

To Figure 4.5,

Reference Ramp Block Diagram Speed Reference Mode Select Block Diagram

To Figure 4.7,

Reference Mode Sele ct Bloc k Diagram

To Figure 6.1,

Loop Reference Path Block Diagram

To Figure 4.7,

Reference Mode Sele ct Bloc k Diagram

To Figure 4.7,

Reference Mode Sele ct Bloc k Diagram

To Figure 4.5,

Ramp Block Diagram

Figure 4.7,

Mode Select Block Diagram

To fault processing

To Figure 4.2,

Reference Source Select Bloc k Diagram Speed Reference Mode Select Block Diagram

Speed

, and Figure 4.7,

Speed

Current Minor

Speed

Speed Reference

, and

Speed Reference

Speed

, and Figure 4.7,

Drive Sequencing

Figure 2.1 – Drive Sequencing Overview

2-1

2.1 Run and Jog Sequencing

When powered, the drive is in one of three operating states:

•

armature not active (main contactor open)

•

run mode

•

jog mode

The drive is in run mode if it was started by the the completion of a stop sequence.

Important:

If you switch from jog mode to run mode, the drive accelerates or decelerates to the selected run reference as configured by

(P.002).

TIME

The drive is in jog mode if it was started by the mode until the completion of a stop sequence or until the asserted. If the run mode. You cannot switch from run mode to jog mode by asserting the

input. You must stop the drive before switching to jog mode.

JOG

2.2 Stop Sequencing

ATTENTION:

stop circuit outside of the drive circuitry. This circuit must disable the

The FlexPak 3000 drive can be stopped by:

system in case of improper operation. Uncontrolled machine operation can result if this procedure is not followed. Failure to observe this precaution could result in bodi ly inj ury.

The user must provide an external, hardwired emergency

input. It remains in run mode until

RUN

input. It remains in jog

JOG

input is

RUN

input is asserted, the drive switches from jog mode to

RUN

ACCELERATION TIME

(P.001) or

DECELERATION

2-2

•

Asserting an active stop input

•

Opening a permissive input (coast/DB interlock or customer interlock)

•

Deasserting the jog input if the drive is in jog mode. Deasserting the jog input will not initiate the stop sequence until the speed feedback is less than or equal to

SPEED THRESHOLD

whichever occur s last.

•

Detecting a fault condition

There are three types of stop sequences: Coast/DB, ramp, and current limit. The type of stop sequence used depends on the source of the stop and your parameter configuration, as described below.

If a run or jog command is received while the drive is in a ramp or current limit stop sequence, the stop sequence will be aborted and the drive will continue running or jogging. Coast/DB stop sequences cannot be aborted.

(P.113) or until the

JOG OFF DELAY TIME

FlexPak 3000 DC Drive Software Reference

(P.121) is exceeded,

STOP

Coast/DB Stop Sequencing

Coast/DB stop sequencing is used when one of these conditions occurs:

•

an active stop input is asserted and

•

a permissive input is opened

•

a fault condition is detected

STOP MODE SELECT

(P.114) is set to

COAST/DB

In a coast/DB stop sequence:

1. Armature firing angle is forced to a small non-zero value.

2. The drive waits until armature current reaches discontinuous conduction.

3. The main contactor is opened and the DB contactor is closed.

Ramp Stop Sequencing (Run Mode)

Run mode ramp stop sequencing is used when all of these conditions exist:

•

an active stop input is asserted

•

STOP MODE SELECT

•

the drive is in run mode

(P.114) is set to

RAMP STOP

In a ramp stop sequence from run mode:

1. A zero reference is input to the S-curve block.

2. The speed reference ramps toward zero at the rate set by

(P.002) or

DECEL SELECT

RAMP STOP DECEL TIME

(P.122)).

3. The drive waits until speed feedback falls below

(P.018) (as determined by the setting of

STOP SPEED THRESHOLD

DECELERATION TIME

4. A zero reference is input to the current minor loop reference path.

5. The drive waits until armature current reaches discontinuous conduction.

6. The main contactor is opened and the DB contactor is closed.

Ramp Stop Sequencing (Jog Mode)

In jog mode, ramp stop sequencing is used when all of these conditions exist

•

STOP MODE SELECT

•

the drive is in jog mode

•

the jog input is deasserted

(P.114) is set to

RAMP STOP

STOP

(P.113).

Drive Sequencing

•

Speed feedback is less than or equal to

DELAY TIME

(P.121) is exceeded, whichever occurs last

STOP SPEED THRESHOLD

In a ramp stop sequence from jog mode:

1. A zero reference is input to the jog reference ramp block.

2. The jog reference ramps toward zero at the rate set by

(P.013).

3. The drive waits until speed feedback falls below

STOP SPEED THRESHOLD

(P.113) or

JOG ACCEL/DECEL TIME

JOG OFF

(P.113).

2-3

4. A zero reference is input to the current minor loop reference path.

5. The drive waits until armature current reaches discontinuous conduction.

6. The main contactor is opened and the DB contactor is closed.

Current Limit Stop Sequencing

Current limit stop sequencing is used when one of these conditions occurs:

•

an active stop input is asserted,

STOP MODE SELECT

(P.114) is set to

CURRENT LIMIT

and the drive is in run mode

•

the jog input is deasserted when the drive is in jog mode and (P.114) is set to

CURRENT LIMIT

sequence until the speed feedback is less than or equal to (P.113) or until the

JOG OFF DELAY TIME

. Deasserting the jog input will not initiate the stop

STOP SPEED THRESHOLD

(P.121) is exceeded, whichever occurs last.

STOP MODE SELECT

In a current limit stop sequence:

1. From run mode: A zero reference is input to the speed loop reference path at the speed loop summing junction.

From jog mode: A zero reference is input to the jog reference ramp block.

2. Jog mode only: The jog reference ramps toward zero at the rate set by

ACCEL/DECEL TIME

3. The drive waits until speed feedback falls below

(P.013).

STOP SPEED THRESHOLD

JOG

If the drive is regenerative (S6R), this phase of the current limit stop sequence takes little time. If the drive is non-regenerative (S6), the motor coasts during this phase of the current limit stop sequence.

4. A zero reference is input to the current minor loop reference path.

5. The drive waits until armature current reaches discontinuous conduction.

6. The main contactor is opened and the DB contactor is closed.

(P.113).

2-4

FlexPak 3000 DC Drive Software Reference

This chapter describes settings you might need to make when initially starting your drive, including selecting a control source and changing the settings of the AC line parameters. Before using the parameters in this chapter, perform Quick Start (see the

manual for detail).

OIM

3.1 Selecting a Control Sou rce

The control source determines the source of drive control signals. Control signals include drive operating signals, such as run and jog, and the drive reference.

HAPTER

Initial Configuration

CONTROL SOURCE

Selects the source of the drive control signals.

You can select the control source on the your

OIM

manual.

using the front panel key ( ). See

OIM

(P.000)

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

If the drive is configured as a current (torque) regulator (jumper J15 is set to

CURRENT

The possible control sources are:

•

), the control source can only be set to

KEYPAD

TERMBLK

hardware manual for terminal descriptions and wiring instructions.

: Control is through the keypad.

: Control is through Regulator board terminals 16 through 20. See the

KEYPAD SERIAL TERMBLK NETWORK

KEYPAD

Configurable

OIM

keypad:

TERMBLK

NETWORK

Initial Configuration

•

NETWORK

Communication kit, DeviceNet Interface kit, or ControlNet Network Communicaiton kit.

•

SERIAL

: Control is through a network such as the AutoMax Network

: Control is through a personal computer running the CS3000 software.

3-1

3.2 Configuring the AC Line Parameters

In addition to performing Quick Start, you might need to configure the AC line parameters for your application. Generally, you only need to configure these parameters if the default values for these parameters are incorrect for your application. These parameters should be configured before completing Quick Start. See the manual for information on Quick Start.

OIM

NOMINAL AC LINE FREQ

The nominal AC line frequency (typically 50 or 60 Hz).

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

NOMINAL AC LINE VOLTS

The nominal AC line

voltage.

RMS

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.306)

(P.307)

48 to 62 Hz 60 Hz Configurable Current Minor Loop (

AC Line

200 to 575 VAC 230 VAC Configurable Current Minor Loop (

AC Line

) - Three Phase

CML

) - Three Phase

CML

3-2

FlexPak 3000 DC Drive Software Reference

3.3 Self-Tuning Parameters

See the

SELF TUNE BRIDGE

Determines the

(P.220)

Parameter Range:

direction the motor shaft will rotate during the speed loop self-tune process b y selecting the

SCR

bridge. If the reverse bridge will be

Default Setting: Parameter Type: OIM Menu Path(s):

predominant in the application, select

REVERSE

For non-regenerative (S6) drives, this is fixed to Must be set before starting speed loop self-tuning.

SELF TUNE FIELD RANGE

Ratio of motor top speed to base speed. Typical value is 1.00, where

TOP SPEED

(P.011) is equal to base speed. Applies to speed loop tuning only.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

manual for detail on using self-tuning and the self-tuning parameters.

OIM

FORWARD REVERSE

FORWARD

Tunable Current Minor Loop (

) - Tuning - Self Tuning

CML

Setup

Speed/Voltage Loop (

) - Tuning - Self Tuning

SPD

Setup

FORWARD

(P.218)

0.90 to 5.00

1.00 Tunable Current Minor Loop (

Setup

Speed/Voltage Loop (

Setup

) - Tuning - Self Tuning

CML

) - Tuning - Self Tuning

SPD

Initial Configuration

Must be set before starting speed loop self-tuning.

3-3

SELF TUNE STABILITY

(P.219)

Determines the self-tune stability, which configures the performance of the speed loop.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

10 to 100 25 Tunable Current Minor Loop (

) - Tuning - Self Tuning

CML

Setup

Speed/Voltage Loop (

) - Tuning - Self Tuning

SPD

Setup

Low values increase the speed loop response. High values decrease the speed response, but result in more stability. The typical value is 25. This parameter applies to speed loop tuning only.

Must be set before starting speed loop self-tuning.

3-4

FlexPak 3000 DC Drive Software Reference

HAPTER

Configuring the Speed Reference

The FlexPak 3000 drive can be configured as a speed regulator or as an armature voltage regulator, depending on the value of the phrase “speed loop” refers to either configuration unless otherwise noted.

The drive can also be configured as either a speed/voltage or current regulator. If the drive is to be configured as a current regulator, skip this chapter and see Chapter 6.

The speed reference is the speed the speed loop tries to maintain. The drive processes and scales the speed reference input for use by the speed loop.

The speed loop uses the selected reference value and attempts to keep the speed feedback from the motor equal to the reference value. If the feedback is less than the reference, the speed loop increases the motor speed by commanding more current to the motor. If the reference is less than the feedback, the speed loop decreases the motor speed by commanding less current to the motor. The speed loop tries to minimize the amount of error between the speed reference and the speed feedback. The speed and accuracy with which the speed loop responds to reference or motor load changes is determined by the speed loop parameters.

Processing the speed reference consists of three major blocks, shown in figure 4.1.

FEEDBACK SELECT

(P.200). In this chapter,

T o Figure6.2,

Current Minor Loop Block Diagram

(Figure 9.1)

To Figure 5.1,

(Figure 4.2)

Figure 4.1 – Speed Reference Overview

In the speed reference source select block, the selected reference is scaled and the amplitude is limited. See section 4.1.

In the speed reference ramp block, the reference value from the speed reference source select block is modified based on your parameter settings. For example, trim and rate limiting are applied. See section 4.3.

(Figure 4.5)

(Figure 4.7)

Speed Loop Block Diagram

In the speed reference mode select block, the ramped speed reference signal is summed with current compounding and outer control loop outputs. See section 4.3.

Configuring the Speed Reference

4-1

4.1 Configuring the Speed Reference Source Block

The speed reference can be either automatic or manual. An automatic (auto) reference usually comes from a device such as a reference typically comes from a speed potentiometer or the manual for information on auto and manual references.

or a network master. A manual

PLC

keypad. See the

OIM

ATTENTION:

auto, the drive will ramp to the reference lev el provided by the new source

at the rate specified by (P.002). Be aware that an abrupt speed change might occur, depending on the new reference and the rate specified in these parameters. Failure to observe this precaution could result in bodily injury.

If an I/O Expansion kit is installed, the selected speed reference can be overridden by a preset speed reference if selected (terminals 59 and 60). See section 4.1.7.

Table 4.1 shows the possible control source and reference source settings. It also shows the display for the key indicator under .

Most systems will use one primary reference source. For example, you might use a network for your reference most of the time, but have the terminal strip reference available for occasions when the network is not running or for troubleshooting.

The block diagram for the speed reference source is shown in figure 4.2.

Table 4.1 – Effect of Control Source and Reference Settings

Control Source Reference Set Through:

KEYPAD

TERMBLK

(Regulator type is speed/voltage)

Automatic reference from the terminal strip as set by

REFERENCE SELECT OIM MANUAL KEYPAD REF

AUTO

(P.103)

Automatic reference from the terminal strip as set by

REFERENCE SELECT

AUTO

(P.103)

Manual reference from the terminal strip as set by

(P.106)

AUTO

(P.103)

SERIAL

MANUAL REF SELECT

Automatic reference from the terminal strip as set by

REFERENCE SELECT

Serial device (PC)

NETWORK

TERMBLK

(Regulator type is current/torque)

Network

Automatic reference from the terminal strip as set by

REFERENCE SELECT

AUTO

(P.103)

When switching from auto to manual or from manual to

ACCELERATION TIME

OIM

Key Indicator

AUTO TERMBLK REF RPM

(P .001) or

DECELERATION TIME

OIM Reference Display

(Monitor Mode) Units

percentage, or user-defined units

AUTO TERMBLK REF

MANUAL

AUTO

MANUAL SERIAL REF

AUTO

not available)

AUTO

not available)

(Manual

NETWORK REF

TORQUE REF MOTOR LOAD

From network

units

4-2

FlexPak 3000 DC Drive Software Reference

Current

To Figure 6.1,

To Figure 4.5, Speed

Reference Ramp Block

Path Block D iagram

Minor Loop Reference

Diagram

T o Figur e4.5, Speed

Reference Ramp Block

Diagram

Configuring the Speed Reference

Block Diagram

Frequency Input

From Figure11.4,

Figure 4.2 – Speed Reference Source Select Block Diagram

Analog

Inputs Block Diagram

From Figure11.2,

4-3

4.1.1 Configuring the Keypad (OIM) Speed Reference

CONTROL SOURCE SELECT

must be set to

KEYPAD

to use the keypad reference. When manual mode is selected, you enter the speed reference manually through the See the

manual for information on setting the speed reference through the

OIM

The keypad reference cannot be configured to less than greater than

MINIMUM SPEED

MAXIMUM SPEED

ATTENTION:

(P.003).

(P.004). The default value of the keypad reference is

When switching from auto to manual or from manual to

auto, the drive will ramp to the reference lev el provided by the new source

at the rate specified by (P.002). Be aware that an abrupt speed change might occur, depending

ACCELERATION TIME

on the new reference and the rate specified in these parameters. Failure to observe this precaution could result in bodily injury.

4.1.2 Configuring the Analog Auto Reference

CONTROL SOURCE SELECT

auto input as a speed reference. When you use this speed reference, the signal is the analog auto reference from terminals 19(+) and 20(–) of the Regulator board. Note that this input can also be used as a current reference to the current mi nor loop.

You must specify the type of signal that is at terminals 19 and 20 by setting

SIGNAL TYPE ANLG AUTO SIGNAL TYPE

(P.100) and jumpers J10 and J12 on the Regulator board. The settings of

manual for information on setting the jumpers.

must be set to

TERMBLK, SERIAL

(P.100) and the jumpers must be the same. See the hardware

MINIMUM SPEED

(P .001) or

, or

KEYPAD

OIM OIM

(P.003) or

DECELERATION TIME

to use the a nal og

ANLG AUTO

. .

The drive used the

ANLG AUTO ZERO ADJ

and 20 of the Regulator board to produce the

ANALOG AUTO REFERENCE

The analog reference value in auto mode. This is the value output by the drive after all hardware and software scaling.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

ANLG AUTO GAIN ADJ

(P.102) to scale the analog auto reference signal from terminal 19

(P.188)

(P.101),

ANALOG AUTO REFERENCE

ANLG AUTO SIGNAL TYPE

(P.100), and

(P.188) signal.

n/a n/a Output Drive Reference - Drive Reference Scaling

Drive Reference - Test Points

4-4

FlexPak 3000 DC Drive Software Reference

ANLG AUTO GAIN ADJ

(P.101)

Scales the analog

Parameter Range:

auto reference signal after it is conditioned by the drive hardware.

Default Setting: Parameter Type: OIM Menu Path(s):

Typically, this parameter is set to 1.000.

Example

ANLG AUTO SIGNAL TYPE

only 82% of the drive’s full scale value. To produce the drive’s full scale value, change

Important:

ANLG AUTO SIGNAL TYPE

Selects the type of signal applied to the drive analog auto reference input. This is the signal at terminals 19 and 20 on the Regulator board.

Parameter Range:

Default Setting: Parameter Type:

(P.100) is set to 0-10V, a 0 to 8.2VDC signal produces

ANLG AUTO GAIN ADJ

Adjust the zero point ( gain adjust.

(P.100)

0.750 to 1.250

1.000 Tunable Drive Reference - Drive Reference Scaling



------- -

to properly scale the signal to 1.22 .

ANLG AUTO ZERO ADJ

(P.102)) before setting the

1.22



8.2

0–10V +/–10V 4-20mA 10-50mA

0–10V Configurable

ANLG AUTO ZERO ADJ

Removes any offset from the analog auto reference signal.

Configuring the Speed Reference

OIM Menu Path(s):

Important:

Jumpers J10 and J12 must be set for the type of analog auto reference

Drive Reference - Drive Reference Configure

selected. See the hardware manual for instruct ion.

(P.102)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

ANALOG AUTO REFERENCE

reference signal is set to its minimum value (for example, 0 volts or 4mA), adjust

ANLG AUTO ZERO ADJ

up or down until

–200 to 200 0 Tunable Drive Reference - Drive Reference Scaling

(P.188) is not equal to zero when the analog auto

ANALOG AUTO REFERENCE

(P.188) equals zero.

4-5

AUTO REFERENCE SELECT

(P.103)

AUTO REFERENCE SELECT

determines if the drive uses a frequency or analog input reference source when the drive is in and

CONTROL SOURCE SELECT KEYPAD, TERMBLK SERIAL

is set to

AUTO

mode

, or

4.1.3 Configuring the Analog Manual Reference

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

When

AUTO REFERENCE SELECT

ANALOG FREQUENCY

ANALOG

Configurable Drive Reference - Drive Reference Configure

is set to

FREQUENCY IN

, the reference is from the

frequency input (terminals 39, 40, and 41 on the I/O Expansion kit). When

AUTO REFERENCE SELECT

is set to

ANALOG

, the reference is from the analog

auto input (terminals 19 and 20 on the Regulator board). If the I/O Expansion kit is not installed, this parameter is automatically configured to

ANALOG

CONTROL SOURCE SELECT

and cannot be changed.

must be set to

TERMBLK

to use the analog manual reference input as a speed reference. This reference can only be used when the drive is configured as a speed regulator and

MANUAL REF SELECT

(P.106) is set to

ANALOG

When you use this speed reference, the drive uses the analog manual reference from terminals 16(+10V), 17(+), and 18(–) of the Regulator board.

The software uses the parameters described in this section to scale the analog manual reference signal at terminal 16, 17, and 18 to produce the

REFERENCE

The analog manual reference input can also be used for the trim reference. Make sure they are not being used for both functions at the same time.

ANALOG MAN REFERENCE

The analog reference value in manual mode. This is the value output by the drive after all hardware and software scaling.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

This parameter is only used when the drive is configured as a speed/voltage regulator.

(P.192) signal.

(P.192)

ANALOG MAN

n/a n/a Output Drive Reference - Drive Reference Scaling

Drive Reference - Drive Reference Test Points

4-6

FlexPak 3000 DC Drive Software Reference

ANLG MAN REF GAIN ADJ

(P.104)

Scales the analog

Parameter Range:

manual speed reference signal after it is conditioned by the drive hardware.

Default Setting: Parameter Type: OIM Menu Path(s):

Typically, this parameter is set to 1.000.

Important:

ANLG MAN REF ZERO ADJ

Removes any offset from the analog manual reference signal.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

ANALOG MAN REFERENCE

terminal 17 on the Regulator board, adjust the analog auto reference signal is set to its minimum value (for example, 0 volts or 4mA), adjust down until

Adjust the zero point ( the gain adjust.

(P.105)

(P.192) is not equal to zero when 0 volts is applied to

ANALOG MAN REFERENCE

0.750 to 1.250

1.000 Tunable Drive Reference - Drive Reference Scaling

ANLG MAN REF ZERO ADJ

(P.105)) before setting

–200 to 200 0 Tunable Drive Reference - Drive Reference Scaling

ANLG MAN ZERO ADJ

(P.192) equals zero.

up or

MANUAL REF SELECT

Sets the source of the reference for the speed loop when the drive is in manual mode and

SOURCE SELECT

TERMBLK

Configuring the Speed Reference

CONTROL

is set

(P.106)

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

When set to

ANALOG

, the analog

on the Regulator board) is the speed reference. When set to

MOP, MOP OUTPUT

be adjusted through terminals 62 and 63 on the I/O Expansion kit. See the I/O Expansion kit manual for more information.

If the I/O Expansion kit is not installed, the parameter value is fixed to

ANALOG MOP

ANALOG

Configurable Drive Reference - Drive Reference Configure

MANUAL

reference input (terminals 16, 17 and 18

(P.191) is the speed reference. This reference can

ANALOG

4-7

4.1.4 Configuring the Serial Speed Reference

CONTROL SOURCE SELECT

must be set to

the CS3000 software) and

AUTO/MANUAL

(in the FlexPak 3000 drive or through

SERIAL

must be set to

MANUAL

to use the serial

speed reference. If you are using the serial reference from a source such as the CS3000 software, the

reference is input directly from the serial source to the speed reference ramp. The only parameter related to the serial speed reference is

SPD SOURCE SELECT OUT

(P.193).

You can use this parameter to check the reference value.

4.1.5 Configuring the Network Speed Reference

CONTROL SOURCE SELECT

When the control source is

must be set to

NETWORK

, the drive is forced into automatic mode.

NETWORK

The only parameter related to the network speed reference is (P.193). You can use this parameter to check the reference value.

to use the network speed reference.

SPD SOURCE SELECT OUT

4.1.6 Configuring the Motor-Operated Potentiometer (MOP) Reference

The

MOP

•

function can be used as a manual reference for the speed loop. To use the

MOP

function:

The I/O Expansion kit must be installed.

CONTROL SOURCE SELECT

must be set to

TERMBLK

•

MANUAL REF SELECT

•

Switches must be attached to digital inputs 3 and 4 (terminals 63 and 64) of the I/O Expansion kit. These inputs decrement and increment, respectively, the

(P.106) must be set to

MOP

MOP OUTPUT

(P.191) value.

•

The

The decremented when digital input 3 (terminal 62) is

MAXIMUM SPEED

same time, the

MOP ACCEL TIME OUTPUT

block from limiting the rate of change from the limit equal to

DECELERATION TIME

To obtain a negative

When when the drive is stopped following a run or jog. If it is its present level when the drive is stopped.

block is shown in figure 4.3.

MOP

output is incremented when digital input 4 (terminal 63) is ON and

MOP

ON. MOP OUTPUT

(P.004) and

output remains at its present value.

MOP

(P.115) and

can change from zero to

ACCELERATION TIME. MOP DECEL TIME

MINIMUM SPEED

MOP DECEL TIME

TOP SPEED

(P.003). If both digital inputs are ON at the

(P.120) set the time in which the

and vice versa. To prevent the S-curve

MOP OUTPUT, MOP ACCEL TIME

has a low limit equal to

reference, the reverse direction must be selected.

MOP

MOP RESET ENABLE

is ON, the

output goe s t o

MOP

MOP RESET ENABLE

MINIMUM SPEED

, the

OFF

MOP OUTPUT

also affects the

is limited between

MOP

has a low

at the moment

remains at

operation of the keypad reference, even if the I/O Expansion kit is not installed.

4-8

FlexPak 3000 DC Drive Software Reference

To Figure 4.2, Speed Reference Source Select B lock Diagram

Figure 4.3 – MOP Block Diagram

* Default Selection

To Figure 4.2, Speed Reference Source Select Block Diagram

DIG IN

3 (P.497)

The state of digital input 3 (terminal 62 on the I/O Expansion kit), which is the

MOP

decrement input.

DIG IN

4 (P.498)

The state of digital input 4 (terminal 63 on the I/O Expansion kit), which is the

MOP

increment input.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

The input is 0VDC is applied.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

ON OFF

n/a Output Input/Output - Digital I/O

when +24VDC is applied for more than 10msec. It is

ON OFF

n/a Output Input/Output - Digital I/O

OFF

when

Configuring the Speed Reference

The input is

when +24VDC is applied for more than 10msec. It is

0VDC is applied.

OFF

when

4-9

MOP ACCEL TIME

(P.115)

Minimum time in which

MOP OUTPUT

can change from zero to

TOP SPEED

MOP DECEL TIME

Minimum time in which

MOP OUTPUT

can change from

to zero.

SPEED

MOP OUTPUT

The output of the motor-operated potentiometer (

TOP

(P.191)

MOP

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.120)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

Parameter Range: Default Setting:

ACCELERATION TIME

to 300.0 seconds

5.0 seconds Tunable Drive Reference - Drive Reference Ramp

DECELERATION TIME

to 300.0 seconds

5.0 seconds Tunable Drive Reference - Drive Reference Ramp

MINIMUM SPEED

MAXIMUM SPEED

n/a

Parameter Type: OIM Menu Path(s):

To get a negative If the I/O Expansion kit is not installed,

MOP RESET ENABLE

Determines if

OUTPUT

MOP

(P.191) and the keypad reference values reset or stay at the present level when the drive stops.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

When reference are reset to I/O Expansion kit is not installed. If it is set to keypad reference remain at their present levels when the drive is stopped.

(P.116)

MOP RESET ENABLE

Output Drive Reference - Drive Reference Test Points

reference, the reverse direction must be selected.

MOP

MOP OUTPUT

OFF ON

OFF

is meaningless.

Configurable Drive Reference - Drive Reference Configure

is set to ON (enabled),

MINIMUM SPEED

(P.003) when the drive is stopped, even if the

MOP OUTPUT

(disabled),

OFF

and the keypad

MOP OUTPUT

and the

4-10

FlexPak 3000 DC Drive Software Reference

4.1.7 Configuring the Preset Speed References

These parameters are only available if the I/O Expansion kit is installed. The three preset speed references override the auto or manual speed/voltage loop

reference when

CONTROL SOURCE SELECT

are selected using one or two digital inputs. When both digital inputs are in the state, no preset speed is selected. When one or both digital inputs are in the one of the three preset speed references is selected as shown in table 4.2.

Table 4.2 – Preset Speed Reference Selections

is set to

TERMBLK

. Preset speed references

OFF

state,

Digital Input 1

(Terminal 59)

OFF OFF

OFF ON PRESET SPEED

ON OFF PRESET SPEED

ON ON PRESET SPEED

From Figure4.2, Speed

Reference Source Select

Block Diagram

Digital Input 2

(Terminal 60) Speed/Voltage Loop Reference

Selected auto or manual reference

Figure 4.4 – Preset Speed Block Diagram

1 (P.117) 2 (P.118) 3 (P.119)

* Default Selection

To Figure 4.5, Speed Reference Ramp Block Diagram

DIG IN

1 (P.495)

The state of digital input 1 (terminal 59 on the I/O Expansion kit).

Configuring the Speed Reference

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

ON OFF

n/a Output Input/Output - Digital I/O

Digital inputs 1 and 2 (terminals 59 and 60) select which, if any, used as the reference for the speed/voltage control loop.

The input is

when +24VDC is applied for more than 10 msec. It is

0VDC is applied.

PRESET SPEED

when

OFF

4-11

DIG IN

2 (P.496)

The state of digital input 2 (terminal 60 on the I/O Expansion kit).

PRESET SPEED PRESET SPEED PRESET SPEED

1 (P.117) 2 (P.118) 3 (P.119)

These parameters set up to three preset speed references when the

TYPE

REGULATOR

jumper (J15 on the Regulator board) is set for the speed/voltage control loop.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

ON OFF

n/a Output Input/Output - Digital I/O

Digital inputs 1 and 2 (terminals 59 and 60) select which, if any, preset speed is used as the reference for the speed/voltage control loop.

The input is

when +24VDC is applied for more than 10 msec. It is

OFF

0VDC is applied.

Parameter Range:

MINIMUM SPEED

MAXIMUM SPEED (RPM

user-defined units)

Default Setting: Parameter Type: OIM Menu Path(s):

To use these speeds,

CONTROL SOURCE SELECT

250

RPM

Tunable Drive Reference - Drive Reference Configure

must be set to

TERMBLK

when

4-12

The preset speeds are selected through digital input 1 and digital input 2 on the I/O Expansion kit, as shown in table 4.2.

If the I/O Expansion kit is not installed, the digital inputs are set to

and cannot

OFF

be changed. The selected auto or manual reference is used for the reference. The preset speed reference passes through the same control blocks as other

speed references.

FlexPak 3000 DC Drive Software Reference

4.2 Configuring Trim

The trim feature allows an offset to be added to or subtracted from the speed reference. The amount of trim can be proportional to the upstream speed reference or incremental. An incremental trim signal is derived from the resultant

PERCENTAGE OUT

(P.196) and the specified

TOP SPEED

(P.011).

DRAW

Trim is based on the signal from the source you select in

TRIM REFERENCE SELECT

(P.108). The choices are:

•

ANALOG MANUAL

: The trim reference signal is based on the analog manual reference

signal (terminals 16, 17, and 18) after it has been limited and scaled.

•

: The trim reference signal is based on the value set in

TRIM REF REGISTER

(P.107).

•

ANALOG IN

1 or 2: (I/O Expansion kit only.) The trim reference signal is based on

analog in 1 or 2 from the I/O Expansion kit.

•

NETW IN REG

1, 2, OR 3: (Network only.) The trim reference signal is based on

network input register 1, 2, or 3.

The selected trim reference is limited to within ±

(P.109) to generate

RANGE

modifies set to

PROPORTIONAL

DECELERATION TIME

DRAW PERCENTAGE OUT

and

ACCELERATION TIME

TOP SPEED

(P.196).

and multiplied with

DRAW PERCENTAGE OUT

when

TRIM REFERENCE SELECT

TRIM

The input that can be used for the manual trim reference can also be used as the analog manual reference. Make sure this input (terminals 16, 17, and 18 on the Regulator board) is not being used for both functions at the same time.

Example

To use an analog manual reference to generate a 0 to 10% trim adjustment to the speed reference setting, make these settings:

•

These settings will provide a 0 to 10% trim adjustment through the entire speed range.

Configuring the Speed Reference

Set

TRIM REFERENCE SELECT

Set

TRIM RANGE

Set

TRIM MODE SELECT

(P.109) to 10%

(P.108) to

(P.110) to

ANALOG MANUAL

INCREMENTAL

4-13

ANALOG MAN TRIM REF

(P.194)

The trim reference value used when

TRIM REFERENCE SELECT

(P.108) is set

ANALOG MANUAL

Parameter Range: Default Setting: Parameter Type:

OIM Menu Path(s):

DRAW PERCENTAGE OUT

The product of the selected trim reference value and

TRIM RANGE

value.

TRIM MODE SELECT

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

DRAW PERCENTAGE OUT

rates when

DRAW PERCENTAGE OUT

modifies the speed reference signal when

PROPORTIONAL

(P.110)

(P.196)

TRIM MODE SELECT

INCREMENTAL

n/a n/a Output Drive Reference - Drive Reference Scaling

Drive Reference - Drive Reference Test Points

n/a n/a Output Drive Reference - Drive Reference Test Points

dynamically changes the acceleration and deceleration

is set to

PROPORTIONAL

is also used to generate the

TRIM MODE SELECT

TRIM OUTPUT

is set to

signal, which

Selects the type of trim mode to be used by the drive.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

•

NO TRIM

•

INCREMENTAL

: No trim is used.

: Depending on the polarity of the trim reference, adds to or

subtracts from the speed reference a constant value that is proportional to

(P.011).

SPEED

•

PROPORTIONAL

: Depending on the polarity of the trim reference, adds to or

NO TRIM INCREMENTAL PROPORTIONAL

NO TRIM

Tunable Drive Reference - Drive Reference Trim

TOP

subtracts from the speed reference a value that varies based on the speed reference value. Proportional trim allows multiple drive sections with a common reference to operate and ramp at different values.

Proportional is a type of draw. By using draw, one section can operate 10% faster than an upstream section. When a ramp occurs on the common reference, the two sections will support the 10% draw throughout the ramp.

S-CURVE ROUNDING

will interfere with the acceleration and deceleration rates so that the draw will not be constant. Therefore, it is recommended that when

TRIM MODE SELECT

is set to

PROPORTIONAL

S-CURVE ROUNDING

. Incremental trim is not affected

be set to 0%

by this limitation.

4-14

FlexPak 3000 DC Drive Software Reference

TRIM OUTPUT

(P.197)

Actual signal used to trim the selected speed loop reference signal.

TRIM RANGE

Uses the selected trim reference signal to generate

PERCENTAGE OUT

(P.196). Determines how much the trim signal will affect the drive reference.

(P.109)

DRAW

TRIM REF REGISTER

Drive register to manually set the trim reference value used by the drive when is

TRIM REFERENCE SELECT

(P.108) is set

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.107)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

n/a n/a Output Drive Reference - Drive Reference Test Points

0.0 to 100.0%

0.0% Tunable Drive Reference - Drive Reference Trim

±100.0% 0% Tunable Drive Reference - Drive Reference Trim

Configuring the Speed Reference

4-15

TRIM REFERENCE SELECT

(P.108)

Trim reference selection.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

MANUAL

IN 1

1 2 3

Tunable Drive Reference - Drive Reference Trim

The choices are:

•

ANALOG MANUAL

: The reference is

TRIM REF REGISTER

(P.107).

: The reference is the analog manual reference input from terminals 16, 17, and 18 of the Regulator board. Do not select this option if this input is being used for the analog manual speed reference.

•

ANALOG IN

1 or 2: The reference is from an I/O Expansion kit analog input. These

are only available if an I/O Expansion kit is installed.

•

NETW IN REG

1, 2, or 3: The reference is from a communication register. These options are available only if a network kit is installed. Note that the network input registers are updated only when Control Source (P.000) is set to

NETWORK

and

the network is active.

4.3 Speed Reference Ramp

From the speed reference source select block, the value of (P.193) is amplitude-limited by a minimum/maximum block. This block limits the reference between

MINIMUM SPEED

modify the results from this block using

BYPASS

(P.111). The inverter block changes the sign of the signal based on the

forward/reverse signal. If your automatic speed reference signal is already conditioned, you can bypass the

S-curve block by using

AUTO MODE RAMP BYPASS

amplitude limit block while in auto mode by using If you use the S-curve block, S-curve smoothing rounds the

(P.193) signal. It provides a smoother transition from constant level speed to the acceleration or deceleration condition. This helps reduce machine wear.

The S-curve block controls how fast the speed reference changes based on the

ACCELERATION TIME

(P.001), (P.014). Within the S-curve block, change allowed for ramping. When a step change occurs on the input, the output’s rate of change increases by rate is reached. The rate is maintained until the output reaches a distance from the input where the rate begins decreasing in

The speed reference ramp block diagram is shown in figure 4.5.

(P.003) and

DECELERATION TIME

S-CURVE ROUNDING

MAXIMUM SPEED

REVERSE DISABLE

(P.112). You can also bypass the

AUTO MODE MIN BYPASS

(P.002), and S-

specifies the maximum rate of

until the acceleration or deceleration

S-CURVE ROUNDING

SPD SOURCE SELECT OUT

(P.004). You can

(P.015) and

AUTO MODE MIN

(P.111)

SPD SOURCE SELECT OUT

CURVE ROUNDING

intervals.

4-16

FlexPak 3000 DC Drive Software Reference

Block Diagram

Reference Path

To Figure 6.1,

T o Figure4.7,

Speed Reference

Current Minor Loop

Mode Select Block

Diagram

Configuring the Speed Reference

Reference Source

Select Block Diagram

From Figure4.2, Speed

Source Select

Block Diagram

From Figure4.2,

Speed Reference

Source Select

From Figure4.2,

Speed Reference

Figure 4.5 – Speed Reference Ramp Block Diagram

Block Diagram

Source Select

Block Diagram

From Figure 4.2,

Speed Reference

4-17

4.3.1 Configuring the Speed Reference Ramp

ACCELERATION TIME

Sets the minimum time that the selected speed reference can changed from zero to

TOP SPEED

(P.011).

(P.001)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

TRIM MODE SELECT

might be modified by Trim.

AUTO MODE MIN BYPASS

Disables the

SPEED

while in auto mode. If the drive is in manual mode, this parameter has no effect and the

MINIMUM SPEED

(P.003) limit cannot be bypassed.

MINIMUM

(P.003) limit

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

(P.111)

0.1 to 300.0 seconds

5.0 seconds Tunable Drive Reference - Drive Reference Ramp

Quick Start

(P.110) is set to

DRAW PERCENTAGE OUT

OFF ON

OFF

Tunable Drive Reference - Drive Reference Limits

PROPORTIONAL

, the actual time to accelerate

(P.196). See section 4.2, Configuring

4-18

ATTENTION:

this parameter is set to

conditions for operating personnel by providing suitable guards, audible or visual alarms, or other devices to indicate that the drive is operating at or near zero speed. Failure to observe this precaution could result in severe bodily injury or loss of life.

This drive can operate at and maintain zero speed when

. The user is responsible for assuring safe

FlexPak 3000 DC Drive Software Reference

AUTO MODE RAMP BYPASS

(P.112)

Bypasses the speed loop S-curve block while in auto mode. If the drive is in manual mode, this parameter has no effect and the S-curve block cannot be bypassed.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

When function is bypassed. The bypass is automatically disabled during a ramp stop sequence and the drive will always ramp to a stop.

DECELERATION TIME

AUTO RAMP BYPASS

ATTENTION:

auto, the drive will ramp to the reference lev el provided by the new source

(P.002)

OFF ON

OFF

Tunable Drive Reference - Drive Reference Ramp

is ON and the drive is in auto mode, the speed loop ramp

When switching from auto to manual or from manual to

ACCELERATION TIME

(P .001) or

DECELERATION TIME

Sets the minimum time in which the selected speed reference can change from

TOP SPEED

(P.011) to 0.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

TRIM MODE SELECT

might be modified by Trim.

0.1 to 300.0 seconds

5.0 seconds Tunable Drive Reference - Drive Reference Ramp

Quick Start

(P.110) is set to

DRAW PERCENTAGE OUT

PROPORTIONAL

, the actual time to decelerate

(P.196). See section 4.2, Configuring

Configuring the Speed Reference

4-19

MAXIMUM SPEED

(P.004)

The maximum speed of the drive that can be supported by the application or process.

MINIMUM SPEED

Selects the minimum speed of the drive without being stopped. It is typically greater than zero.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

If raising this value causes

, an alarm is generated.

SPEED

This is typically set to base speed from the motor nameplate.

ATTENTION:

as determined by the equipment manufacturer, of the motor or the driven

equipment. Failure to observe this precaution could result in bodily injury .

1 to

TOP SPEED (RPM

500

RPM

Tunable Drive Reference - Drive Reference Limits

Quick Start

MINIMUM SPEED

Do not allow the motor to exceed the maximum safe speed,

to become less than 10% of

or user-defined units)

(P.003)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

0 to

MAXIMUM SPEED (RPM

250

RPM

Tunable Drive Reference - Drive Limits

Quick Start

MAXIMUM

or user-defined units )

If it is less than 10% of

RAMP STOP DECEL TIME

The deceleration time used during ramp stop sequences when

STOP DECEL SELECT STOP DECEL TIME

is set to

RAMP

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

This parameter allows you to configure separate deceleration times for stopping and decelerating.

MAXIMUM SPEED

ATTENTION:

this parameter is set to zero. The user is responsible for assuring safe conditions for operating personnel by providing suitable guards, audible or visual alarms, or other devices to indicate that the drive is operating at or near zero speed. Failure to observe this precaution could result in severe bodily injury or loss of life.

This drive can operate at and maintain zero speed when

, an alarm is generated.

(P.018)

0.1 to 300.0 seconds

5.0 seconds Tunable Additional Parameters (listed by parameter number)

4-20

FlexPak 3000 DC Drive Software Reference

REVERSE DISABLE

(P.015)

When ON,

DISABLE

does not

REVERSE

allow the speed reference to drop below zero.

When

, the speed

OFF

reference can drop below zero and the drive can operate in the reverse direction.

S-CURVE ROUNDING

The amount of reference smoothing (rounding) of the speed loop S-curve output.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

OFF ON

OFF

Configurable Drive Reference - Drive Reference Limits

Quick Start

REVERSE DISABLE

•

The drive has a non-regenerative (S6) power unit.

•

FEEDBACK SELECT

•

FEEDBACK SELECT

applies only to regenerative drives. is forced to ON when:

is set to AC is

PULSE TACH

TACH

and

PULSE TACH QUADRATURE

(P.014)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

0 to 50% 0% Tunable Drive Reference - Drive Reference Ramp

(P.208) is

OFF

S-CURVE ROUNDING

is set as a percentage of

ACCELERATION TIME

(P.001). Rounding is performed at the beginning and end of a speed loop reference change. If

TRIM MODE SELECT

(P.110) is set to

PROPORTIONAL, S-CURVE ROUNDING

should be set to 0%. If there is S-curve rounding and proportional trim, the actual trim will interfere with the be constant. If and the

S-CURVE ROUNDING

TRIM MODE SELECT

DECELERATION TIME

ACCELERATION TIME

are not affected.

is set to 0%, the speed loop performs a linear ramp function. If

and the

DECELERATION TIME

(P.110) is set to

and draw will not

INCREMENTAL, ACCELERATION TIME

it is set to 50%, the entire ramp time is smoothed: 50% at the beginning and 50% at the end. Refer to figure 4.6.

Figure 4.6 – S-Curve Rounding

Configuring the Speed Reference

4-21

SPD SOURCE SELECT OUT

(P.193)

The selected speed reference source value in units you defined. It is an input to the speed reference ramp section.

RPM

or the

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

SPEED RAMP INPUT TP

The value of the speed reference signal immediately before the speed loop S-curve block.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

SPEED RAMP OUTPUT

The value of the speed reference signal immediately after the speed loop S-curve block.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

n/a n/a Output Drive Reference - Drive Reference Test Points

(P.198)

n/a n/a Output Drive Reference – Drive Reference Test Points

(P.199)

n/a n/a Output Drive Reference – Drive Reference Test Points

STOP DECEL SELECT

Selects which deceleration time will be used for ramp stop sequences,

DECELERATION TIME

(P.002) or

DECEL TIME

4-22

RAMP STOP

(P.018).

(P.122)

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

This only affects ramp stop times. Speed changes when the drive is running use

DECELERATION TIME

regardless of the

1 =

DECELERATION TIME

2 =

RAMP STOP DECEL TIME

1 Configurable Additional Parameters (listed by parameter number)

STOP DECEL SELECT

FlexPak 3000 DC Drive Software Reference

choice.

STOP MODE SELECT

(P.114)

Selects how the drive

Parameter Range:

responds to a normal stop command. Opening a permissive input will

Default Setting:

always cause a coast stop.

Parameter Type: OIM Menu Path(s):

If the drive is configu red as a current regulato r, only

STOP SPEED THRESHOLD

Configures the threshold speed below which the main contactor will automatically open after a ramp stop or current limit stop is asserted.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.113)

RAMP

COAST CURRENT

COAST/DB

LIMIT

Tunable Drive Reference - Drive Reference Configure

can be selected.

or user-defined units

0 to

MAXIMUM SPEED (RPM

RPM

COAST/DB

Tunable Drive Reference - Drive Reference Configure

4.4 Final Speed Reference Logic

From Figure 9.1,

From Figure4.5, Speed Reference

Outer Control

Loop Block Diagram

Ramp Block Diagram

In the last part of the speed reference, the signals from the speed reference ramp and current minor loop are summed and limited by

TOP SPEED

to determine the speed

reference sent to the speed loop. The final value that is sent to the speed loop is the

SPD LOOP REFERENCE

Figure 4.7 – Speed Reference Mode Select Block Diagram

(P.295). The block diagram is shown in figure 4.7.

To Figure 5.1,

Loop Block Diagram

Speed

Configuring the Speed Reference

4-23

SPD LOOP REFERENCE

(P.295)

The final speed loop reference value used by the speed loop regulator in the drive.

TOP SPEED

The highest running speed of the motor. This input is the b asis of speed loop scaling.

(P.011)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

TOP SPEED

•

If there is no field weakening, the top speed is typically the same as the motor nameplate base speed.

depends on several factors:

n/a n/a Output

- Speed/Voltage Loop (

SPD

Drive Reference - Drive Reference Test Points

5 to 5000 500 Configurable Drive Reference - Drive Reference Limits

Quick Start

RPM

) Test Points

SPD

•

If there is field weakening, the top speed is the same as the field-weakened speed. Top speed is typically more than the base speed when field weakening is applied.

Whenever and J14 to make sure they are set as indicated by J11 and J14 changed. See the hardware manual for more information.

TOP SPEED

ANLG TACH VLT RNG

ATTENTION:

base speed or (if the Field Current Regulator kit is installed) the field weakened speed. The user is responsible for assuring safe conditions for operating personnel by setting this parameter properly. Failure to observe this precaution could result in bodily injury.

ATTENTION:

of the motor or driven equipment as determined by the equipment manufacturer. Failure to observe this precaution could result in bodily injury.

is changed, you should check the positions of jumpers J11

ANLG TACH VLT SCL

(P.793). The tachometer wiring might also need to be

Before starting the drive, this parameter must be set to

Do not allow the motor to exceed the maximum safe speed

(P.792)

4-24

FlexPak 3000 DC Drive Software Reference

4.4.1 Configuring Jog

For information on jog sequencing, see section 2.1, Run and Jog Sequencing. When you use a jog input (terminals 4 and 1 on the Regulator board or pressing

), the jog signal is conditioned as shown in figure 4.7.

DIG IN

0 (P.490)

DIG IN

SELECT

(P.428) is set to

JOG SPEED SELECT

, you can use digital input 0 (terminals 12 and 14 on the Regulator board) to choose between two jog speeds, as set by

JOG SPEED

1 (P.012) and

JOG SPEED

2 (P.017).

When digital input 0 is:

•

Off (0 V):

•

On (+24 V):

JOG SPEED

1 (P.012) is selected.

2 (P.017) is selected.

Switching between the two jog speeds while jogging causes the drive to accelerate or decelerate to the new jog speed at the rate set by

Only

JOG SPEED

1 (P.012) is used if

ATTENTION:

This drive can operate at and maintain zero speed when

either of the jog speed parameters (

DIG IN

SELECT

JOG SPEED

(P . 017)) is set to zero . The user is r esponsible f or assuring safe cond itions for operating personnel by providing suitable guards, audible or visual

JOG ACCEL/DECEL TIME

is not set to

JOG SPEED SELECT

1 (P.012) and

(P.013).

JOG SPEED

alarms, or other devices to indicate that the drive is operating at or near zero speed. Failure to observe this precaution could result in severe bodily injury or loss of life.

Indicates the state of digital input 0 (terminal 12 on the Regulator board).

Configuring the Speed Reference

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

0 is ON when +24VDC is applied for more than 10msec. It is

DIG IN

(see table 4.3 for detail)

OFF

n/a Output Additional Parameters (listed by parameter number)

is applied.

Table 4.3 – Conditions Indicated by

DIG

IN 0

SELECT

(P.428)

Setting

BRUSH WEAR INPUT

JOG SPEED SELECT JOG SPEED

OCL ENABLE OCL

Condition if

ON OFF

Brushes OK Brushes Worn

2 selected

enabled

DIG IN

OFF

0 (P.490)

0 (P.490) Reads:

JOG SPEED

disabled

OCL

when 0VDC

1 selected

4-25

DIG IN

SELECT

(P.428)

Determines which

Parameter Range:

function is controlled by digital input 0 (terminal 12 on the Regulator board).

Default Setting: Parameter Type: OIM Menu Path(s):

The functions can be:

•

BRUSH WEAR MOTOR BRUSH WEAR LOW

Monitor Detector kit installed to use this option.

•

JOG SPEED SELECT SPEED

•

OCL ENABLE

NETWORK

installed, the outer control loop enable signal is digital input 5. See section 9.1 for information.

JOG ACCEL/DECEL TIME

1 =

BRUSH WEAR INPUT

2 =

JOG SPEED SELECT

3 =

OCL ENABLE

1 Configurable Additional Parameters (listed by parameter number)

: The input is from a brush wear indicator. If the input is

alarm is generated. You must have the E.S.P. Brush

: The input determines whether

2 (P.017) will be used when the drive is jogging.

: Enables the outer control loop if

CONTROL SOURCE SELECT

and if the I/O Expansion kit is not installed. If an I/O Expansion kit is

(P.013)

JOG SPEED

OFF

1 (P.012) or

is not set

, the

JOG

Sets the minimum time that the jog reference can change from zero to

(P.011) and

SPEED

from

TOP SPEED

TOP

zero.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

The

S-CURVE ROUNDING

0.1 to 300.0 seconds

3.0 seconds Tunable Drive Reference - Drive Reference Ramp

Quick Start

parameter does not affect the setting of this parameter.

4-26

FlexPak 3000 DC Drive Software Reference

JOG OFF DELAY TIME

(P.121)

Specifies the minimum delay between removing the jog input and opening of the main contactor in the drive.

JOG RAMP OUTPUT

The jog reference value immediately after the jog ramp function.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

0.0 to 10.0 seconds

1.0 second Configurable Drive Reference - Drive Reference Configure

Releasing the jog input will not cause the contactor to open until the speed feedback is less than or equal to

is exceeded, whichever occurs last.

TIME

STOP SPEED THRESHOLD

or until t h e

JOG OFF DELAY

This delay reduces the wear on the contactor when repeatedly opening and closing the

input in a short period of time.

JOG

(P.294)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

n/a n/a Output Drive Reference - Drive Reference Test Points

JOG SPEED

1 (P.012)

The operating speed while the drive is jogging if

SELECT

(P.428) is set

JOG SPEED SELECT

DIG IN

and digital input 0 (terminal 12 on the Regulator board) is off.

JOG SPEED

2 (P.017)

The operating speed when the drive is jogging if

SELECT

(P.428) is set

JOG SPEED SELECT

DIG IN

and digital input 0 (terminal 12 on the Regulator board) is on.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

0 to

MAXIMUM SPEED (RPM

250

RPM

or user-defined units )

Tunable Drive Reference - Drive Reference Configure

Quick Start

0 to

MAXIMUM SPEED (RPM

250

RPM

or user-defined units )

Tunable Additional Parameters (listed by parameter number)

Configuring the Speed Reference

4-27

4.4.2 Configuring Current Compounding

Current compounding is used for load sharing between drives. If there is a change in the reference. See figure 4.7 for the block diagram.

feedback, current compounding either increases or decreases the speed

CML

CURRENT COMPOUND TP

The current compounding value that is subtracted from the conditioned speed reference.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

CURRENT COMPOUNDING

Sets the level of current compounding.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.293)

(P.209)

n/a n/a Output Speed/Voltage Loop (

(

) - Test Points

SPD

– 50 to 50% 0% Tunable Speed/Voltage Loop (

(

) Tuning

SPD

) - Speed/Voltage Loop

SPD

) - Speed Voltage Loop

SPD

4-28

FlexPak 3000 DC Drive Software Reference

HAPTER

Configuring the Speed/Voltage Loop

This chapter describes configuring the speed/voltage loop functions. These include jog, lead/lag, speed loop lag, current limits, the speed loop

The full speed loop block diagram, including these features, is shown in figure 5.1.

block, and winding.

(SPD LOOP

REFERENCE

From figure 4.7,

Speed Reference Mode Select Block Diagram

(SPD LOOP ERROR)

NEGATIVE CURRENT LIM

From I/O Expansion Board

Inputs Block Diagram

Armature

Voltage

(internal)

(CML FEEDBACK)

8 sample average

Pulse Encoder

(from optional

From Network

ANALOG MANUAL TRIM REF

Analog Tachometer (+ hi) terminal 21 (+ lo) terminal 22 (–) terminal 23

Pulse Encoder kit)

POSITIVE CURRENT LIM From I/O Expansion Board

Inputs Block Diagram

From Network

MOTOR RATED

ARM VOLTS

A/D

ANLG TACH VOLTS/1000

A/D

F/D

PULSE TACH PPR PULSE TACH

{

From Network

SPD LOOP PI INIT VAL

ANALOG MANUAL TRIM REF

ANALOG IN 1

{

ANALOG IN 2

NETW IN REG 1, 2, 3

ARM VOLTAGE

GAIN ADJ

Software Scaling

Software

Scaling

IR COMPENSATION

ANALOG TACH

GAIN ADJ

Software Scaling

TOP SPEED

Software Scaling

*REGISTER ANALOG IN 1 ANALOG IN 2

NETW IN REG 1, 2, 3

*ZERO

*REGISTER

NEG CURRENT

ARM VOLTAGE ZERO ADJ

(IR COMPENSATION TP)

ANALOG TACH ZERO ADJ

QUADRATURE

POS CURRENT LIM SEL

SPD LOOP PI

PROP GAIN

SPD LOOP PI INIT SEL

KP HI

INIT

WLD RST

SPD LOOP PI

LEAD FREQ

LIM SEL

INV

(ARMATURE

VOLTAGE)

–

(ANALOG TACH FEEDBACK)

(PULSE TACH

FEEDBACK)

SPD LOOP CUR LIM

(SPD LOOP

OUTPUT)

SPD LOOP

PI LIMITS

NEG CUR LIM

INV EN

*ARMATURE VOLT

DC TACH

AC TACH

PULSE TACH

SPD LOOP

LAG FREQ

Internal Sequencing

(Drive Stopped)

NETWORK

Off

FEEDBACK

SELECT

To figure 6.1,

Minor Loop Reference Path Block Diagram

(Other)

Current

SPD LOOP

WLG

SPEED FEEDBACK GAIN

(SPD LOOP

FEEDBACK)

LAG BYPASS

OFF

*ON

CONTROL SOURCE

SELECT

To figure 6.1,

Current Minor Loop Reference Path Block Diagram

MUL

Gain

IN OUT

DIV

1000

Lead/Lag Lag/Lead

WLD

SPD LEADLAG

LOW FREQ

(SPD LOOP LAG OUTPUT)

SPD LOOP PI RESET (Network)

KEYPAD, TERMBLK,

WRATIO

SPD LEADLAG RATIO

*BYPASS LEAD/LAG LAG/LEAD

UNDERWIND

or SERIAL

NETWORK

ENABLE

CONTROL

SOURCE

SELECT

SPD LEADLAG

SELECT

Configuring the Speed/Voltage Loop

Figure 5.1 – Speed Loop Block Diagram

5-1

5.1 Configuring the Speed Loop S can Time

The scan time of the speed loop can be configured using paramete r P.019 (Speed Loop Scan Time). The drive must be stopped to modify the value of this parameter. Note that P.019 applies only to closed loop speed control using actual measured motor velocity via tachometer or encoder-type devices.

SPD LOOP SCAN TIME

Selects the speed loop scan time for closed loop operation.

Parameter Range: 0 = 5 msec

Default Setting: 5 msec Parameter Type: Configurable OIM Menu Path(s): Additional Parameters

When scan time is fixed at 10 msec regardless of the setting of P.019.

When active speed loop scan time is determined by the parameter setting of P.019.

(P.019)

FEEDBACK SELECT

1 = 10 msec

(P.200) is set to armature voltage, the active speed loop

is changed from armature voltage to any other setting, the

5-2

FlexPak 3000 DC Drive Software Reference

5.2 Configuring the Speed Loop Feedback

Feedback can come from the armature voltage or from an encoder or tachometer. The parameters you need to configure depend on which feedback source you are using, as set by

FEEDBACK SELECT

(P.200).

FEEDBACK SELECT

Selects the type of feedback signal that is used for the speed/voltage loop.

(P.200)

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

PULSE TACH

and AC

TACH

(Pulse Encoder kit or AC Tachometer Feedback kit).

NEGATIVE CURRENT LIM

•

AC TACH

•

PULSE TACH

is selected.

is selected and

(P.006) is set to 0 and

ATTENTION:

overspeed condition. This parameter must be configured by a qualified

person who understands the significance of setting it. Failure to observe this precaution could result in bodily injury.

ARMATURE VOLT

TACH

PULSE

TACH

ARMATURE VOLT

Configurable Speed/Voltage Loop (

(

) Feedback

SPD

Quick Start

can only be selected if the appropriate kit is installed

REVERSE DISABLE

PULSE TACH QUADRATURE

The incorrect configuration of this parameter can cause an

) - Speed Voltage Loop

SPD

(P.015) is set ON if:

(P.208) is set to

OFF

5.2.1 Configuring Armature Voltage Feedback

FEEDBACK SELECT

voltage and scales it with the

VOLTAGE ZERO

armature voltage signal. The armature voltage block is shown in figure 5.2.

Configuring the Speed/Voltage Loop

is set to armature voltage, the drive reads the internal armature

MOTOR RATED ARM VOLTS, ARM VOLTAGE GAIN

, and

ARM

parameter values. These values are summed together to produce the

To Figure 5.1, Speed Loop Block Diagram

Figure 5.2 – Armature Voltage Block Diagram

5-3

ATTENTION:The incorrect configuration of these parameters can cause an overspeed condition. They must be configured by a qualified person

who understands the significance of configuring them. Failure to observe this precaution could result in bodily injury.

ARM VOLTAGE GAIN ADJ

Scales the armature voltage signal after the drive hardware conditions the signal. In most cases, this parameter is set to

1.000.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

Important: Adjust the zero point (

ARM VOLTAGE ZERO ADJ

Removes any offset from the armature voltage signal.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

ARMATURE VOLTAGE

ARM VOLTAGE ZERO ADJ

(P.204)

configuring gain.

(P.205)

0.750 to 1.250

1.000 Tunable Speed/Voltage Loop (

(

) Feedback

SPD

ARM VOLTAGE ZERO ADJ

) - Speed/Voltage Loop

SPD

(P.205)) before

–200 to 200 0 Tunable Speed/Voltage Loop (

(

) Feedback

SPD

) - Speed/Voltage Loop

SPD

(P.289) is not equal to zero when the drive is stopped, adjust

up or down until

ARMATURE VOLTAGE

(P.289) equals zero.

ARMATURE VOLTAGE

Armature voltage value after all hardware and software scaling but before any compensation.

5-4

(P.289)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

n/a n/a Output Speed/Voltage Loop (

(

) Test Points

SPD

Speed/Voltage Loop (

(

) T uning - Speed/Voltage Loop (

SPD

Current Minor Loop (

Diagnostics - Armature Phase Fire Test

SCR

) - Speed/Voltage Loop

SPD

) - Speed/Voltage Loop

SPD

) -

CML

FlexPak 3000 DC Drive Software Reference

Feedback Scaling -

CML

) Feedback

SPD

IR COMPENSATION

(P.206)

Sets the armature

Parameter Range:

voltage loss compensation value used when the drive is configured as a voltage regulator.

Default Setting: Parameter Type: OIM Menu Path(s):

This parameter is also used by the Field Current Regulator kit to set the field-weakened threshold. See section 8.3.

IR COMPENSATION

set to the percent If this data is not available on the motor data sheet, you can set this empirically so

that the no-load and full-load speeds are as close as possible when operating as a voltage regulator.

IR COMPENSATION TP

The level of IR

COMPENSATION

being subtracted from the measured armature voltage.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.290)

0 to 50% 0% Tunable Speed/Voltage Loop (

(

) Tuning

SPD

) - Speed/Voltage Loop

SPD

Quick Start Field - Field Current Regulator - Field Loop Tuning

is normally determined from the motor data sheet. It should be

drop of the motor.

n/a n/a Output Speed/Voltage Loop (

(

) Test Points

SPD

) - Speed/Voltage Loop

SPD

The value of

MOTOR RATED ARM VOLTS

The rated armature voltage as it is listed on the motor nameplate.

Configuring the Speed/Voltage Loop

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

This must always be set properly, regardless of the setting of (P.200).

IR COMPENSATION TP

(P.009)

is determined by the equation:

IR COMPENSATION CML FEEDBACK•MAXIMUM CURRENT

------------------- --------------------------------- ----------------------------- --------------------------------- ---------------------------------------- --------------------=

10 000

•

160 to 675 volts 240 volts Configurable Speed/Voltage Loop (

(

) Feedback

SPD

) - Speed/Voltage Loop

SPD

Quick Start

FEEDBACK SELECT

5-5

5.2.2 Configuring AC or DC Analog Tachometer Feedback

You only need to configure these parameters if your feedback device is an AC or DC analog tachometer.

FEEDBACK SELECT

is set to DC

, feedback is from a DC tachometer. (See the

TACH

hardware manual and your tachometer manual for wiring information.) If

FEEDBACK SELECT

(P.200) is set to AC

, feedback is from an AC tachometer

TACH

connected to an AC Tachometer Feedback kit. See the AC Tachometer Feedback kit manual for information.

The gain and zero parameters for the analog tachometer are a method of eliminating any offset introduced by the tachometer. You only need to set these parameters if you need to adjust the tachometer feedback value.

The analog tachometer block diagram is shown in figure 5.3.

To Figure 5.1, Speed Loop Block Diagram

Figure 5.3 – AC or DC Analog Tachometer Feedback Block Diagram

ATTENTION:

The incorrect configuration of these parameters can cause

an overspeed condition. These parameters must be configured by a

qualified person who understands the significance of configuring them. Failure to observe this precaution could result in bodily injury.

ANALOG TACH FEEDBACK

The digital value of the analog tachometer feedback input after all hardware and software scaling. For use with analog tachometer feedback (AC or DC) only.

5-6

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.291)

n/a n/a Output Speed/Voltage Loop (

(

) Test Points

SPD

Speed/Voltage Loop (

Loop (

) Feedback

SPD

FlexPak 3000 DC Drive Software Reference

) - Speed/Voltage Loop

SPD

) Tuning - Speed/Voltage

SPD

ANALOG TACH GAIN ADJ

(P.201)

Scales the analog

Parameter Range:

tachometer feedback signal after it has been conditioned by the drive hardware. Typically, it will be

1.000.

Default Setting: Parameter Type: OIM Menu Path(s):

Important:

ANALOG TACH ZERO ADJ

Removes any offset from the analog tachometer feedback signal.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

ANALOG TACH FEEDBACK

adjust equal to zero.

Adjust the zero point ( configuring gain.

(P.202)

(P.291) is not equal to zero when the drive is stopped,

ANALOG TACH ZERO ADJ

0.750 to 1.250

1.000 Tunable Speed/Voltage Loop (

(

) Feedback

SPD

ANALOG TACH ZERO ADJ

–200 to + 200 0 Tunable Speed/Voltage Loop (

(

) Feedback

SPD

up or down until

ANALOG TACH FEEDBACK

)-Speed / Voltage Loop

SPD

(P.202)) before

)-Speed / Voltage Loop

SPD

(P.291) is

ANLG TACH VOLTS

Analog tachometer scaling from the tachometer nameplate in volts per 1000

RPM

/1000 (P.203)

Parameter Range:* Default Setting: Parameter Type: OIM Menu Path(s):

Units are volts DC for DC tachometers or volts AC Use of an AC tachometer requires the AC Tachometer Feedback kit. Whenever

ANLG TACH VOLTS

jumpers J11 and J14 to make sure they are set as indicated by J11

(P.792) and J14

SCL

ANLG TACH VLT RNG

need to be changed. See the hardware manual for more information. *Depending on the setting of

200.0 to prevent the tachometer voltage from exceeding 250V.

18.0 to 200.0

18.0

VOLTS

/1000

VOLTS

RPM

/1000

RPM

Configurable Speed/Voltage Loop (

(

) Feedback

SPD

) – Speed/Voltage Loop

SPD

for AC tachometers.

RMS

/1000 is changed, you should check the positions of

(P.793). The tachometer wiring might also

TOP SPEED

(P.011), the high limit might be less than

ANLG TACH VLT

Configuring the Speed/Voltage Loop

5-7

J11

ANLG TACH VLT SCL

(P.792)

Position in which to set the J11 hardware jumper based on the values of (P.011) and

TACH VOLTS

TOP SPEED

ANLG

/1000

(P.203).

J14

ANLG TACH VLT RNG

Position in which to set the J14 hardware jumper based on the values of (P.011) and

TACH VOLTS

TOP SPEED

ANLG

/1000

(P.203).

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

(P.793)

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

16 31 62 125 250

n/a Output Drive Information - Correct Scaling Jumper Positions

Quick Start Speed/Voltage Loop (

) Feedback

(

SPD

LOW HIGH

) - Speed/Voltage Loop

SPD

n/a Output Drive Information - Correct Scaling Jumper Positions

Quick Start Speed/Voltage Loop (

(

) Feedback

SPD

) - Speed/Voltage Loop

SPD

5-8

The tachometer wiring must match the setting shown here. See the hardware manual for wiring information.

FlexPak 3000 DC Drive Software Reference

5.2.3 Configuring the Pulse Encoder Feedback

You only need to configure the pulse encoder feedback parameters if you have the Pulse Encoder (Tachometer) kit installed. If you have a regenerative drive, you must use a quadrature pulse encoder.

The pulse encoder block diagram is shown in figure 5.4.

Figure 5.4 – Pulse Encoder Feedback Block Diagram

To Figure 5.1, Speed Loop Block Diagram

PULSE TACH FEEDBACK

The digital value from the pulse encoder after hardware and software scaling. For use with pulse encoder feedback only.

PULSE TACH PPR

Pulse encoder pulses per revolution ( from the pulse encoder nameplate.

PPR

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.207)

Parameter Range:

)

Default Setting: Parameter Type:

ATTENTION:

an overspeed condition. These parameters must be set by a qualified person who understands the significance of setting them. Failure to observe this precaution could result in bodily injury.

The incorrect configuration of these parameters can cause

(P.292)

n/a n/a Output Speed/Voltage Loop (

(

) Test Points

SPD

18 to 2500 18

PPR

Configurable

PPR

) - Speed/Voltage Loop

SPD

OIM Menu Path(s):

Configuring the Speed/Voltage Loop

Speed/Voltage Loop (

(

) Feedback

SPD

) - Speed/Voltage Loop

SPD

5-9

PULSE TACH QUADRATURE

(P.208)

Enables or disables

Parameter Range:

pulse encoder quadrature.

Default Setting:

A quadrature pulse encoder must be used on regenerative drives that use a

Parameter Type: OIM Menu Path(s):

pulse encoder.

Set

OFF

PULSE TACH QUADRATURE

SELECT

(P.015) set to

PULSE TACHOMETER KIT

Indicates whether or not the Pulse Encoder (Tachometer) kit is installed in the drive and if it has passed diagnostics.

Parameter Range:

Default Setting: Parameter Type:

ON OFF

Configurable Speed/Voltage Loop (

(

SPD

for a bidirectional pulse encoder.

for a unidirectional pulse encoder.

type,

NEGATIVE CURRENT LIM

(preventing reverse direction).

is set to

OFF

(P.006) will be set to 0 and

(P.798)

INSTALLED NOT

INSTALLED

FAILED

n/a Output

DIAGS

) Feedback

and

PULSE TACH

) - Speed/Voltage Loop

SPD

is the selected

REVERSE DISABLE

FEEDBACK

OIM Menu Path(s):

Drive Information

If the Pulse Encoder (Tachometer) kit has failed diagnostics, the drive is not operable (the armature cannot become active).

5-10

FlexPak 3000 DC Drive Software Reference

5.2.4 Configuring Speed Loop Feedback Lead/Lag Block

Lead/lag adjustments compensate for backlash or coupling issues because of the feedback device.

To enable this block, set disable this block, set

SPD LEADLAG SELECT

(P.216) to

LEAD/LAG

BYPASS

LAG/LEAD

. To

When this block is enabled, the selected feedback signal is fed into the lead/lag block. The

SPD LEADLAG LOW FREQ

(P.214) and

SPD LEADLAG RATIO

used to calculate the high break frequency. the low break frequency and the

SPD LEADLAG RATIO

SPD LEADLAG LOW FREQ

(P.213) is the ratio maintained

(P.213) input values are

(P.214) specifies

between the low break and high break frequencies. The low break frequency and ratio settings are multiplied to determine the high break frequency. For example, if the low break frequency is 0.50rad/s and the ratio is 10, high break frequency is 5.00rad/s.

The transfer functions for lead/lag and lag/lead are:

Lead/Lag: Lag/Lead:

----------+

low

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

----------- -+

high

----------- -+

high

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

----------+

low

Where:

•

SPD LEADLAG LOW FREQ

low

•

SPD LEADLAG LOW FREQ

high

(P.214)

(P.214) *

SPD LEADLAG RATIO

(P.213)

SPD LEADLAG LOW FREQ

Specifies the low break frequency of the speed feedback lead/lag block.

Parameter Range: 0.01 to 69.81

Default Setting: Parameter Type: OIM Menu Path(s):

SPD LEADLAG SELECT

•

BYPASS

•

LAG/LEAD

•

LEAD/LAG

(P.214)

when:

RAD/S

•

FEEDBACK SELECT

•

SPD LOOP SCAN TIME

0.01 to 139.62

•

FEEDBACK SELECT

•

SPD LOOP SCAN TIME

1.00

RAD/S

Tunable Speed/Voltage Loop (

) Tuning

(

SPD

is set to:

: This parameter has no effect.

: This parameter specifies the lead break frequency. : This parameter specifies the lag break frequency.

RAD/S

(P.200) =

(P.019) = 10

when:

(P.200) ≠

(P.019) = 5

) - Speed/Voltage Loop

SPD

ARMATURE VOLT

Configuring the Speed/Voltage Loop

5-11

SPD LEADLAG RATIO

(P.213)

Specifies the ratio

Parameter Range:

between the low and high break frequencies of the speed feedback lead/lag block.

Default Setting: Parameter Type: OIM Menu Path(s):

For example, if this parameter is set to 10, the high break frequency is 10 times the low break frequency (set by

SPD LEADLAG SELECT

Determines if and how the lead/lag block will act on the speed loop feedback signal.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

(P.216)

2 to 20 2 Tunable Speed/Voltage Loop (

SPD LEADLAG LOW FREQ

is set to

BYPASS

LEAD/LAG BYPASS

LEAD

LAG

BYPASS

Tunable Speed/Voltage Loop (

(

SPD

) - Tuning

SPD

, this parameter has no effect.

) - Speed/Voltage Loop

SPD

) Tuning

If used directly by the speed loop summing junction.

5.3 Reading the Speed Loop Er ror Signal

The speed loop error signal is determined by subtracting from the

SPD LOOP ERROR

The speed loop error signal, which is the difference between

SPD LOOP REFERENCE

(P.295) and

FEEDBACK

SPD LOOP

(P.296).

SPD LOOP FEEDBACK

The final speed/voltage loop drive feedback value after scaling.

(P.297)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

Parameter Range: Default Setting: Parameter Type:

BYPASS

is selected, the lead/lag block is bypassed and the feedback signal is

SPD LOOP REFERENCE

(P.296)

(P.295).

n/a n/a Output

- Speed/Voltage Loop (

SPD

n/a n/a Output

SPD LOOP FEEDBACK

) Test Points

SPD

(P.296)

5-12

OIM Menu Path(s):

- Speed/Voltage Loop (

SPD

) Test Points

SPD

FlexPak 3000 DC Drive Software Reference

5.4 Configuring the Speed Loop Forward Path Lag Block

Lag adjustments compensate for noisy feedback or reference signals. The speed loop lag block serves as a low pass frequency compensation filter. A positive or negative step input to the lag block drives the output to increase or decrease its value in the direction of the input. A lower lag break frequency will exhibit a slower step response than a higher one.

The lag transfer function is: , where ω

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

--------- -+

SPD LOOP LAG FREQ

lag

(P.215).

SPD LOOP LAG BYPASS

Determines if the speed loop forward path lag block will act upon the speed loop error signal.

SPD LOOP LAG FREQ

Specifies the lag break frequency for the speed loop forward path lag block.

SPD LOOP LAG

BYPASS

is ON, this parameter has no effect.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

signal.

(P.215)

Parameter Range: 0.01 to 139.62

Default Setting: Parameter Type:

(P.217)

ON OFF

Tunable Speed/Voltage Loop (

(

) Tuning

SPD

, the lag block is bypassed and does not affect the speed loop forward path

RAD/S

•

FEEDBACK SELECT

•

SPD LOOP SCAN TIME

0.01 to 279.25

•

FEEDBACK SELECT

•

SPD LOOP SCAN TIME

1.00

RAD/S

Tunable

) - Speed/Voltage Loop

SPD

when

(P.200) =

ARMATURE VOLT

(P.019) = 10

when

(P.200) ≠

(P.019) = 5

ARMATURE VOLT

OIM Menu Path(s):

SPD LOOP LAG OUTPUT

The value immediately after the speed loop forward path lag block.

Configuring the Speed/Voltage Loop

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.298)

Speed/Voltage Loop (

) Tuning

(

SPD

n/a n/a Output

- Speed/Voltage Loop (

SPD

) - Speed/Voltage Loop

SPD

) Test Points

SPD

5-13

5.5 Configuring the Speed Loop Current Limits

Armature current is typically limited through two parameters, (P.005) and

NEGATIVE CURRENT LIM

(P.006). Configure these parameters so they limit

POSITIVE CURRENT LIM

armature current to a range that is consistent with normal operation of the application. The current limits can also come from:

•

Analog inputs 1 and 2 on the I/O Expansion kit.

•

Network input registers 1, 2, or 3 from a network.

When

POS CURRENT LIM SEL

(P.223) or

NEG CURRENT LIM SEL

(P.224) is set to

the register values are automatically clamped to prevent a minimum (non-zero) current condition.

Normally, the negative current limit is input as a positive value, then converted to a negative value by an inverter. If needed, the inverter can be disabled by the

LIM INV EN

current limit is 150.0%

(P.226) parameter. For example, if the inverter is enabled and the negative

, the actual negative current limit used is –150.0%

FLA

ATTENTION:

When analog inputs or network registers are used to

NEG CUR

FLA

control current limits, bipolar values are permitted for the postive and

negative current limits of the current and speed loops. Extreme care must be exercised when setting the current limit values in this case. If the negative current limit is set to a non-zero value, the current loop reference will be clamped to this minimum value, possibly causing unexpected motor or machine operation, including rapid acceleration or overspeed. Failure to observe this precaution could result in bodily injury .

If you change

CURRENT LIM SEL

NEG CUR LIM INV EN

(P.224) are automatically set to

(P.226),

POS CURRENT LIM SEL

. When this occurs, an

(P.223) and

NEG

alarm is generated to notify you of a possible change in the current limits. Make sure the settings of

CURRENT LIM

(P.005), and

POS CURRENT LIM SEL

NEGATIVE CURRENT LIM

(P.223),

NEG CURRENT LIM SEL

(P.224),

(P.006) are correct for your

POSITIVE

application before operating the drive.

5-14

FlexPak 3000 DC Drive Software Reference

NEG CURRENT LIM SEL

(P.224)

Selects the sou rce for

Parameter Range:

the negative current limit.

selected,

CURRENT LIM

is used as the limit.

NEGATIVE

(P.006)

Default Setting: Parameter Type: OIM Menu Path(s):

The I/O Expansion kit must be installed to use the I/O Expansion board) or

A network kit must be installed to select the network input registers ( 2, or 3). Note that the network input registers are updated only when Control Source (P.000) is set to

This parameter is affected by

NEG CUR LIM INV EN

Enables or disables the negative current limit inverter to the speed loop PI block low limit input.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

(P.226)

IN 1

1 2 3

Configurable Speed/Voltage Loop (

(

SPD

Current Minor Loop (

ANALOG IN

NETWORK

and the network is active.

NEG CUR LIM INV EN

DISABLED ENABLED

ENABLED

) Tuning

ANALOG IN

2 (terminals 52 and 53).

(P.226).

) - Speed/Voltage Loop

SPD

) -

CML

Tuning

CML

1 (terminals 50 and 51 on

NETW IN REG

Configurable Additional Parameters (listed by parameter number)

When this parameter is set to

CURRENT LIM

When this parameter is set to is restricted to negative values.

When you change this parameter value:

•

Carefully check your current limit scheme and the values of (P.005) and

Configuring the Speed/Voltage Loop

(P.006) are restricted to positive values.

Alarm A00052 occurs. The parameters

NEG CURRENT LIM SEL

are automatically set to

NEGATIVE CURRENT LIM

set to

ENABLE

LIM INV EN

and

NEGATIVE CURRENT LIM

DISABL ED

NEGATIVE CURRENT LIM

changes the value of

ENABLED, POSITIVE CURRENT LIM

DISABLED

, the range of

(P.224) and

NEGATIVE CURRENT LIM

POS CURRENT LIM SEL

(P.006) is inverted. For example, if

is set to 150%

NEGATIVE CURRENT LIM

(P.006) to avoid unintended drive operation.

(P.005) and

NEGATIVE

(P.006)

(P.223)

NEG CUR LIM INV EN

, changing

FLA

NEG CUR

to –150%

POSITIVE CURRENT LIM

FLA

5-15

NEGATIVE CURRENT LIM

(P.006)

This parameter only

Parameter Range:

needs to be set for regenerative drives.

Selects the highest amount of current (% full load amps) for the

Default Setting: Parameter Type:

reverse bridge. Used as a low limit for the speed loop when

NEG CURRENT

LIM SEL

block

(P.224) is set

OIM Menu Path(s):

*The range is clamped to zero:

•

For non-regenerative drives.

•

The range of (P.226).

POS CURRENT LIM SEL

FEEDBACK SELECT

NEGATIVE CURRENT LIM

(P.223)

When

NEG CUR LIM INV EN

0 to

When

NEG CUR LIM INV EN

–

MAXIMUM CURRENT

±150 %

FLA

Tunable Speed/Voltage Loop (

(

) Tuning

SPD

Current Minor Loop ( Quick Start

(P.200) is set to AC is

PULSE TACH

and

depends on the setting of

(P.226) =

MAXIMUM CURRENT

FLA

(P.226) =

to 0 (%

) - Speed/Voltage Loop

SPD

) -

CML

TACH

PULSE TACH QUADRATURE

Tuning

CML

NEG CUR LIM INV EN

ENABLED

)

DISABLED

)

FLA

(P.208) is

OFF

Selects the sou rce for the positive current limit.

selected,

CURRENT LIM

POSITIVE

(P.005)

is used as the limit.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

The I/O Expansion kit must be installed to use the I/O Expansion board) or

IN 1

1 2 3

Configurable Speed/Voltage Loop (

(

) Tuning

SPD

Current Minor Loop (

ANALOG IN

2 (terminals 52 and 53).

) - Speed/Voltage Loop

SPD

) -

CML

Tuning

CML

1 (terminals 50 and 51 on

A network option board must be installed to select the network input registers (

NETW IN REG

when Control Source (P.000) is set to This parameter is affected by

1, 2, or 3). Note that the network input registers are updated only

NETWORK

NEG CUR LIM INV EN

and the network is active.

(P.226).

5-16

FlexPak 3000 DC Drive Software Reference

POSITIVE CURRENT LIM

(P.005)

Sets the highest amount of current (% full load amps) for the forward bridge. Used as a high limit for the speed loop when

POS CURRENT

LIM SEL

block

(P.223) is set

5.6 Configuring the Speed Loop P I Block

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

0 to

MAXIMUM CURRENT

150 %

FLA

Tunable Speed/Voltage Loop (

(

) Tuning

SPD

Current Minor Loop ( Quick Start

The proportional-integral transfer function is:

sωld



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



where:

•

Kp=

SPD LOOP PI PROP GAIN

•

ωld =

SPD LOOP PI LEAD FREQ

(P.211)

(P.212)

)

FLA

) - Speed/Voltage Loop

SPD

) -

CML

Tuning

CML

When

CONTROL SOURCE SELECT

values to the speed loop

is set to

block. This allows you to switch between current and

NETWORK

, you can reset and assign initial

speed regulation without stopping the drive.

The

block is reset when

SPD LOOP PI RESET

reset when the drive is stopped. While reset is asserted, the output of the

is asserted. The PI block is also held in

block is

the initial value.

The initial value is determined by

CONTROL SOURCE SELECT

zero (

SPD LOOP PI INIT SEL

When the

block reset is used, the system must be set to minimize the error between

is not set to

set to

SPD LOOP PI INIT SEL

NETWORK

ZERO

and

SPD LOOP PI INIT VAL

, the bl ock uses an initial value of

the actual reference and the commanded reference when changing regulation schemes to minimize bumps in regulation. For example, when changing from speed to current regulation, the speed loop

block’s initial value should be updated with the

actual armature current feedback just before the change is made. The speed reference should be set to speed feedback before changing from current to speed regulation.

You can pretorque the speed regulator by setting the speed loop

bloc k’s ini tia l value

to the desired starting torque value and releasing the block from reset after starting the drive. The initial torque will be the initial value as the drive begins to ramp to the reference speed.

Configuring the Speed/Voltage Loop

5-17

SPD LOOP OUTPUT

(P.299)

Speed loop PI block

Parameter Range:

output value.

Default Setting: Parameter Type: OIM Menu Path(s):

SPD LOOP PI INIT SEL

Selects the sou rce for the initial value of the speed loop when

CONTROL

SOURCE SELECT

NETWORK

CONTROL SOURCE SELECT NETWORK, SPD LOOP PI INIT SEL

ZERO

block

is set

is not set to

is forced to

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

n/a n/a Output

- Speed/Voltage Loop (

SPD

Current Minor Loop (

0 =

ZERO

1 =

SPD LOOP PI INIT VAL

2 =

ANALOG MAN TRIM REF

CML

SPD

) -

CML

(P.194)

) Test Points Test Points

0 Configurable This parameter is available over the network, It

cannot be viewed through the

OIM

Refer to the appropriate network communication manual for register map assignments.

SPD LOOP PI INIT VAL

The initial value of the speed loop when

CONTROL

SOURCE SELECT

NETWORK

LOOP PI INIT SEL

to 1 (

SPD LOOP PI INIT

VAL

block

and

is set

SPD

is set

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

This parameter is forced to 0 if Refer to the appropriate network communication manual for register map

assignments.

–32768 to 32767 0 Tunable This parameter is only available over the network, It

cannot be viewed through the

CONTROL SOURCE SELECT

is not set to

OIM

NETWORK

5-18

FlexPak 3000 DC Drive Software Reference

SPD LOOP PI LEAD FREQ

(P.212)

Speed loop PI block

Parameter Range:

lead break frequency.

Default Setting: Parameter Type: OIM Menu Path(s):

A setting of 0.00 allows proportional-only speed loop control. This parameter is set by the speed loop self-tuning procedure. You can also enter it

directly. Self-tuning will overwrite values entered manually.

SPD LOOP PI PROP GAIN

Speed loop PI block proportional gain.

Parameter Range: Default Setting: Parameter Type:

(P.211)

0.00 to 282.74

•

FEEDBACK SELECT

•

SPD LOOP SCAN TIME

0.00 to 327.67

•

FEEDBACK SELECT

•

SPD LOOP SCAN TIME

3.00

RAD/S

(P.200) =

RAD/S

(P.200) ≠

Tunable Speed/Voltage Loop (

(

) Tuning

SPD

0.10 to 128.00

4.40 Tunable

when

ARMATURE VOLT

(P.019) = 10

when

ARMATURE VOLT

(P.019) = 5

) - Speed/Voltage Loop

SPD

SPD LOOP PI RESET

While this is ON, the speed loop held in reset and the block’s output is the initial value selected by

SPD LOOP PI INIT

(Drop_1, register

VAL

39 of the alternate network register map).

block is

OIM Menu Path(s):

Speed/Voltage Loop (

(

) - Tuning

SPD

) - Speed/Voltage Loop

SPD

This parameter is set by the speed loop self-tuning procedure. You can also enter it directly. Self-tuning will overwrite values entered manually.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

SPD LOOP PI RESET

is forced

0 =

OFF

1 =

0 Tunable This parameter is only available over the network. It

cannot be viewed through the

when

OFF

CONTROL SOURCE SELECT

OIM

is not

NETWORK

Refer to the appropriate network communication manual for register map assignments.

Configuring the Speed/Voltage Loop

5-19

5.7 Configuring Parameters for Winding Applications

These options are only available when using the AutoMax Network Communication board ( (P.914) is set to 2 (

CONTROL SOURCE SELECT

ALTERNATE

board. For diameter-dependent loads, you can scale the feedback to the speed loop. The

feedback is scaled through a multiplier block. The operation of the multiplier block is:

•

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

1000

Where:

•

A is a speed feedback multiplier (gain)

•

B is the speed feedback from the lead/lag block output

is set to

NETWORK

and

NETW REGISTER MAP SEL

)) or when using the ControlNet Network Communication

When

NETW REGISTER MAP SEL

network register

SPEED FEEDBACK GAIN

the multiplier block is not being used, you must write a value of 1000 to the

FEEDBACK GAIN

(P.914) is set to

(alternate map, Drop_1, register 38). Even if

ALTERNATE

, the source for A is the

SPEED

unity gain. If the web is underwound, set

bit 5) to

ENABLE

. This enables two inverters, one in the speed loop feedback path

UNDERWIND ENABLE

(alternate map, Drop_1, register 32,

immediately before the feedback summing junction, and one at the input to the limit block.

Refer to the appropriate network communication manual for register map assignments.

CML

5-20

FlexPak 3000 DC Drive Software Reference

UNDERWIND ENABLE

Setting this bit to 1 enables two inverter blocks that permit underwind operation.

Setting this bit to 0 disables the two inverter blocks and permits overwind operation.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

Refer to the appropriate network communication manual for register map assignments.

0 = 1 =

DISABLED ENABLED

(overwind)

(underwi n d ) 0 Configurable This parameter is only available over the network. It

cannot be viewed through the

OIM

To use this register,

(P.914) must be set to

CONTROL SOURCE SELECT

must be set to

ALTERNATE

NETWORK

and

NETW

The inverters are located in the speed loop feedback path (see figure 5.1) and the current minor loop reference path (see figure 6.1).

CONTROL SOURCE SELECT

the

UNDERWIND ENABLE

ENABLED

, the motor can rotate in the opposite direction when the drive is restarted

is changed from

NETWORK

bit is set to the default of

to any other control source,

DISABLED

. If the setting was

with a control source other than the network.

ATTENTION:

to another value,

cause the motor to rotate in the opposite direction than it did under network control. The active speed reference should be set to zero before

When

CONTROL SOURCE SELECT

UNDERWIND ENABLE

is changed from

is forced to

DISABLED

NETWORK

. This could

starting the driv e from the ne w control source. Slo wly increa se the speed reference until the proper rotation direction can be determined. If it is incorrect, change the setting of the

FORWARD/REVERSE

input. The active speed reference is based on the new control source and the auto or manual setting. Failure to observe this precaution could result in severe bodily injury or loss of life.

Configuring the Speed/Voltage Loop

5-21

SPEED FEEDBACK GAIN

Controls the gain of the speed loop feedback path.

This is typically a value that is related to the diameter of the roll in a winder application.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

1000 to 32000 1000 Tunable This parameter is only available over the network. It

cannot be viewed through the

OIM

Refer to the appropriate network communication manual for register map assignments.

1000 corresponds to a gain of 1.000 and 32,000 to a gain of 32.000. To access this regist er,

(P.914) must be set to

CONTROL SOURCE SELECT

ALTERNATE

must be set to

NETWORK

and

NETW

To bypass the multiplier block, set this register to 1000 (1.000). This is the also the value

SPEED FEEDBACK GAIN

ORIGINAL

SELECT

CONTROL SOURCE SELECT

the

UNDERWIND ENABLE

ENABLED

. The

SPEED FEEDBACK GAIN

is not set to

NETWORK

, the motor can rotate in the opposite direction when the drive is restarted

is forced to when

NETW REGISTER MAP SEL

block is bypassed when

is changed from

NETWORK

bit is set to the default of

to any other control source,

DISABLED

. If the setting was

(P.914) is set

CONTROL SOURCE

with a control source other than the network.

ATTENTION:

to another value,

cause the motor to rotate in the opposite direction than it did under network control. The active speed reference should be set to zero before

When

CONTROL SOURCE SELECT

UNDERWIND ENABLE

is changed from

is forced to

DISABLED

NETWORK

. This could

starting the drive from the new control source. Slowly increase the speed reference until the proper rotation direction can be determined. If it is incorrect, change the setting of the

FORWARD/REVERSE

input. The active speed reference is based on the new control source and the auto or manual setting. Failure to observe this precaution could result in severe bodily injury or loss of life.

5-22

FlexPak 3000 DC Drive Software Reference

HAPTER

Configuring the Current Minor Loop

In all FlexPak 3000 drive configurations, the central control loop is the current minor loop ( through the motor armature.

). This is the control loop that regulates the amount of current flowing

CML

From Figure 9.1,

Control Loop Block

From Figure 4.2,

Reference Source Select

From Figure 5.1,

Speed Loop Block

S-curve rate output from

Speed Reference

Figure 4.5,

Ramp Block Diagram

From Figure 5.1,

Loop Block Diagram

Outer

Diagram

Speed

Block Diagram

Speed

The a forward path that includes a proportional and integral ( input to the feedback. The output of the

is a simple control loop composed of a reference path, a feedback path, and

CML

) block. See figure 6.2. The

block, known as the error, is the difference between the reference and

block determines the level of current flowing through the

motor armature. When a reference change occurs, the error becomes non-zero, causing the

block output to change. This results in a higher or lower level of current

flowing through the armature until the feedback again becomes equal to the reference. Figure 6.1 shows the details of the

the

MAXIMUM CURRENT

From Figure 11.2,

Analog Inputs Block Diagram

regulator block diagram.

CML

FWD/REV

(SPD LOOP OUTPUT)

NORMALIZED INERTIA

Software

Scaling

From Network

NEG CUR LIM

INV EN

ENABLED

*DISABLED

*NONE

INTERNAL ANALOG IN 1 ANALOG IN 2

NETW IN REG 1, 2, 3

CURRENT LIM

INERTIA

COMP

SELECT

NEGATIVE

OCL TYPE3

POSN REG EN

CURRENT/TORQUE

*SPEED/VOLTAGE

reference path. Figure 6.2 shows the details of

CML

From Figure 5.1,

Speed Loop Block Diagram

*SPD LOOP CUR LIM

POSITIVE

CURRENT LIM

(J15 REGULATOR

TYPE)

UNDERWIND

*SPD LOOP PI LIMITS

ENABLE

CML REF LIMIT SELECT

LIMIT

(CML

RATELIM

ACC DEC

CML REF

RATE LIMIT

REFERENCE)

* = Default Selection

To Figure 6.2, Current Minor Loop Block Diagram

Configuring the Current Minor Loop

Figure 6.1 – Current Minor Loop Reference Path Block Diagram

6-1

6.1 Configuring Inertia Compensation

INERTIA COMP SELECT

Selects the source of the inertia compensation signal.

The analog input choices are only available if the I/O Expansion kit is installed.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

When the rate output from the speed/voltage loop S-curve block based on the combined inertia of the motor and its connected load.

Inertia compensation circuit supports constant diameter, constant field current applications. The compensation signal is summed with the speed/voltage loop block output to form the reference to the

When is scaled based on the combined inertia of the motor and its connected load, as set through the

(P.221)

INTERNAL

NORMALIZED INERTIA

NONE INTERNAL ANALOG ANALOG IN NETW IN REG NETW IN REG NETW IN REG

NONE

IN 1

1 2 3

Configurable Speed/Voltage Loop (

(

) Tuning

SPD

) - Speed/Voltage Loop

SPD

is selected, the inertia compensation signal is generated by scaling

CML

is selected, rate output from the speed/voltage loop S-curve block

(P.222) .

MAXIMUM CURRENT

The highest amount of current (positive or negative) for a given application.

This input is the b asis of armature cur rent scaling.

6-2

A network kit must be installed to select the network input registers (

NETW IN REG

2, or 3). Note that the network input registers are updated only when Control Source (P.000) is set to

NETWORK

and the network is active.

(P.007)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

MAXIMUM CURRENT

The setting of (P.395). Check you change

MAXIMUM CURRENT

is limited to 200% of

ARM I FB RESISTOR

25 to 200 % 150 %

FLA

Configurable Current Minor Loop (

MOTOR RATED ARM AMPS

CML

can affect the value of J18

(P.395) and the setting of the J18 jumper if

FlexPak 3000 DC Drive Software Reference

) -

Feedback Scaling

CML

ARM I FB RESISTOR

NORMALIZED INERTIA

(P.222)

The time required to accelerate the motor and load inertia from zero to motor base speed at

RATED ARM VOLTS

MOTOR

(P.009) and

HOT FLD AMPS

MOTOR

(P.510).

6.2 Selecting and Conditioni ng CML Reference Selec tion

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

0.05 to 65.20 seconds

1.00 second Tunable Speed/Voltage Loop (SPD) - Speed/Voltage Loop

(SPD) Tuning

This parameter is set by the speed loop self-tuning procedure. You can also enter it directly. Self-tuning will overwrite values entered manually.

A hardware jumper, J15, configures the drive as a current/torque or speed/voltage regulator. When J15 is set to the

reference.

CML

TORQUE REFERENCE

CURRENT

, the input signal

can come from an analog input, frequency input, or a network master. When J15 is set to (P.299) is the

reference. The software reads the setting of hardware jumper J15

CML

SPEED

TORQUE REFERENCE

, the signal

SPD LOOP OUTPUT

(P.189) is

only at powerup. See the hardware manual for information on setting jumpers. The selected

reference passes through an amplitude limit block and a rate limit

CML

block. See figure 6.1 for the block diagram. The amplitude limit block prevents the reference signal from becoming greater than or

less than the limits selected by

CML REF LIMIT SELECT

either the values set by parameters

CURRENT LIM

(P.005), or the limit values being used by the speed loop PI block.

NEGATIVE CURRENT LIM

(P.311). These limits can be

(P.006) and

POSITIVE

The rate limit block limits the rate of change of the selected valu e you inpu t for minimum allowable time (in milliseconds) that the reference can change from zero to

MAXIMUM CURRENT

is clamped to zero. The amplitude and rate-limited output parameter

CML REF LIMIT SELECT

Selects the sou rce for the

positive and

CML

negative current limits.

Configuring the Current Minor Loop

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

If you select

NEGATIVE CURRENT LIM

If you select used by the speed loop

(P.311)

SPD LOOP PI LIMITS

reference based on

CML

CML REF RATE LIMIT

(P.303).

CML REF RATE LIMIT

(P.303) defines the

(P.007). When the drive is stopped, the output of the rate limit block

reference appears as the

CML

CML REFERENCE

(P.396).

1 =

SPD LOOP PI LIMITS

2 =

1 Configurable Additional Parameters (listed by parameter number)

, the

loop limits are

CML

POSITIVE CURRENT LIM

(P.005) and

(P.006).

block.

, the

loop ref erenc e limi ts are t he same as thos e

CML

6-3

CML REF RATE LIMIT

(P.303)

Minimum time for

REFERENCE

from zero to

CURRENT

to change

MAXIMUM

CML

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

This parameter is set by the directly. Self-tuning will overwrite values entered manually.

CML REFERENCE

The amplitude and

(P.396)

Parameter Range:

rate limited value of the selected reference.

CML

Default Setting: Parameter Type: OIM Menu Path(s):

NEG CUR LIM INV EN

Enables or disables the negative current limit inverter to the speed loop

block

low limit input.

Parameter Range:

Default Setting: Parameter Type:

(P.226)

1 to 1000 msec 40 msec Tunable Current Minor Loop (

self-tuning procedure. You can also enter it

CML

) -

CML

Tuning

n/a n/a Output Current Minor Loop (

DISABLED ENABLED

ENABLED

CML

) -

CML

Test Points

Configurable

6-4

OIM Menu Path(s):

When this parameter is set to

CURRENT LIM

(P.006) are restricted to positive values.

When this parameter is set to

Additional Parameters (listed by parameter number)

ENABLED, POSITIVE CURRENT LIM

DISABLED

, the range of

NEGATIVE CURRENT LIM

is restricted to negative values. When you change this parameter value:

•

Alarm A00052 occurs.

•

The parameters

NEG CURRENT LIM SEL

are automatically set to

•

The value of

LIM INV EN

changing

to change to –150%

LIM

NEGATIVE CURRENT LIM

is set to

NEG CUR LIM INV EN

ENABLE

and

FLA

(P.224) and

POS CURRENT LIM SEL

(P.006) is inverted. For example, if

NEGATIVE CURRENT LIM

DISABLED

causes the value of

is set to 150%

Carefully check your current limit scheme and the values of (P.005) and

NEGATIVE CURRENT LIM

(P.006) to avoid unintended drive operation.

FlexPak 3000 DC Drive Software Reference

(P.005) and

NEGATIVE

(P.006)

(P.223)

NEG CUR

FLA

NEGATIVE CURRENT

POSITIVE CURRENT LIM

TORQUE REFERENCE

(P.189)

Torque (current)

Parameter Range:

reference value.

Default Setting: Parameter Type: OIM Menu Path(s):

Used as the reference. See section 6.3.

UNDERWIND ENABLE

Setting this bit to 1 enables two inverter blocks that permit underwind operation.

Setting this bit to 0 disables the two inverter blocks and permits overwind operation.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

Refer to the appropriate network communication manual for register map assignments.

n/a n/a Output Current Minor Loop (

reference when the drive is configured as a current/torque

CML

0 = 1 =

DISABLED ENABLED

(overwind)

(underwind)

CML

) -

CML

Test Points

0 Configurable This parameter is only available over the network. It

cannot be viewed through the

OIM

To use this register,

(P.914) must be set to

CONTROL SOURCE SELECT

ALTERNATE

must be set to

NETWORK

and

NETW

The inverters are located on the speed loop feedback path (figure 5.1) and the reference path (figure 6.1).

CONTROL SOURCE SELECT

the

UNDERWIND ENABLE

ENABLED

, the motor can rotate in the opposite direction when the drive is restarted

is changed from

NETWORK

bit is set to the default of

to any other control source,

DISABLED

. If the setting was

with a control source other than the network.

ATTENTION:

to another value,

cause the motor to rotate in the opposite direction than it did under network control. The active speed reference should be set to zero before

When

CONTROL SOURCE SELECT

UNDERWIND ENABLE

is changed from

is forced to

DISABLED

NETWORK

. This could

starting the drive from the new control source. Slowly increase the speed reference until the proper rotation direction can be determined. If it is incorrect, change the setting of the

FORWARD/REVERSE

input. The active speed reference is based on the new control source and the auto or manual setting. Failure to observe this precaution could result in severe bodily injury or loss of life.

CML

Configuring the Current Minor Loop

6-5

6.3 Configuring the Armature Curre nt Feedback

Current transformers and a rectifier bridge are used to determine the armature current feedback signal that is scaled by a burden resistor (hardware scaling). Ideally, the selected burden resistor would scale the feedback signal so that 3 volts corresponds to

MAXIMUM CURRENT

one of four values, it is likely that none of the available burden resistors will result in ideal scaling. Therefore, software scaling is used to adjust the output of the A/D converter to the appropriate level. The FlexPak 3000 drive automatically calculates and sets the software scale factor based on

ARM AMPS

(P.008), and

set appropriately, hardware jumper J18 must be set according to parameter

FB RESISTOR

(P.395).

An additional gain block in the feedback path allows you to adjust the current feedback signal by a maximum of ±10% (gain range of 0.900 to 1.100). The

(P.300) is typically set for unity gain.

ADJ

The FlexPak 3000 drive limits the combination of the two gains (software and user scale factors) to a range of 0.800 and 2.000. For example, suppose the FlexPak 3000 drive sets the software scale factor to 1.950. to a maximum value of 1.025 (2.000/1.950) to prevent the combined gain from exceeding 2.000.

(P.007). However, since burden resistor selection is limited to

(P.010),

MOTOR RATED

CML FEEDBACK GAIN

(P.300) is limited

MAXIMUM CURRENT

CT TURNS RATIO

(P.007). After these parameters have been

CML FEEDBACK GAIN ADJ

ARM I

From Figure 6.1, Current

Minor Loop Reference

Path Block Diagram

The scaled

feedback value appears as

CML

See figure 6.2 for block diagram.

CML FEEDBACK

(P.397).

6-6

Figure 6.2 – Current Minor Loop Block Diagram

FlexPak 3000 DC Drive Software Reference

CML FEEDBACK

(P.397)

The

feedback

CML

Parameter Range:

signal after all hardware and software scaling.

Default Setting: Parameter Type: OIM Menu Path(s):

CML FEEDBACK GAIN ADJ

The

feedback

CML

gain adjustment. In most cases, this is set for unity gain. Typically, it will be set to 1.000.

Parameter Range:* Default Setting: Parameter Type: OIM Menu Path(s):

*The range might be affected by the software scaling factor calculated by the drive.

(P.300)

n/a n/a Output Current Minor Loop (

Armature Phase Fire Test Current Minor Loop ( Current Minor Loop (

0.900 to 1.100

1.000 Tunable Current Minor Loop (

CML

CML CML

CML

) -

Diagnostics -

SCR

) -

Feedback Scaling

CML

) -

Test Points

CML

) -

Feedback Scaling

CML

ARM I FB RESISTOR

Indicates the burden resistor position required to properly scale armature current feedback.

(P.395)

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

The value of this parameter is based on the values of

MAXIMUM CURRENT

(P.007), and one of these parameters, check the reading of sure the setting of jumper J18 on the Regulator board matches.

1 (15 Ω) 2 (20 Ω) 3 (30 Ω) 4 (39 Ω)

n/a Output Drive Information – Correct Scaling Jumper Positions

Current Minor Loop (

CML

) –

CML

Quick Start

CT TURNS RATIO

MOTOR RATED ARM AMPS

(P.008). If you change any

ARM I FB RESISTOR

Feedback Scaling

(P.010),

and make

Configuring the Current Minor Loop

6-7

MOTOR RATED ARM AMPS

(P.008)

The rated armature current from the motor nameplate.

CT TURNS RATIO

The drive current transformer turns ratio (Tp/Tn).

See Regulator board replacement instructions for information on determining the

TURNS RATIO

parameter is not restored if a Restore Defaults is done.

. This

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

The setting of (P.395). Check you change

MOTOR RATED ARM AMPS

ATTENTION:

amps or drive current rating listed on the motor nameplate. If this is

configured incorrectly , o v ercurrent or excess heating of the motor could result. Failure to observe this precaution could result in damage to, or destruction of, the equipment.

(P.010)

Parameter Range:

Default Setting:

Parameter Type:

0 to 3000.0 amps

8.0 amps Configurable Current Minor Loop (

Quick Start

MOTOR RATED ARM AMPS

ARM I FB RESISTOR

This parameter must be less than the motor rated armature

139 208 417 833 2000 5230

OTHER

n/a (set at the factory based on the drive horsepower and AC line voltage.

Configurable

) -

CML

can affect the value of J18

Feedback Scaling

CML

ARM I FB RESISTOR

(P.395) and the setting of the J18 jumper if

6-8

OIM Menu Path(s):

The setting of CT Check

CT TURNS RATIO

ARM I FB RESISTOR

ATTENTION:

of the burden resistor value. Do not change this parameter from its

factory default value unless you are replacing the Regulator board. Failure to observe this precaution could result in damage to, or destruction of, the equipment.

TURNS RATIO

The

Current Minor Loop (

can affect the value of J18

) -

CML

Feedback Scaling

CML

ARM I FB RESISTOR

(P.395).

(P.395) and the setting of the J18 jumper if you change

CT TURNS RATIO

parameter is used in the calculation

FlexPak 3000 DC Drive Software Reference

Drive Current Transformer Turns Ratio (Tp/Tn) Value to Enter

1.5 HP @ 230 VAC / 3 HP @ 460 VAC 139 2 thru 7.5 HP @ 230 VAC / 5 thru 15 HP @ 460 VAC 208 10 thru 15 HP @ 230 VAC / 20 thru 30 HP @ 460 VAC 417 20 thru 30 HP @ 230 VAC / 40 thru 60 HP @ 460 VAC 833 40 thru 75 HP @ 230 VAC / 75 thru 150 HP @ 460 VA C 2000 100 thru 150 HP @ 230 VAC / 200 thru 300 HP @ 460 VAC 5230 400 to 600 HP @ 460 VAC 7770 7A 139 29A 208 55A 417 110A 833 265A 2000

6.4 Configuring the CML Forward Path

The proportional-integral (PI) controller adjusts the armature firing angle,

(P.399), to compensate for any difference between the reference and the

DELTA

feedback signals. When the drive is stopped, this block’s output is clamped to zero. Proportional gain is set by

changed by adjusting

ARMATURE BRIDGE POL

Indicates which bridge is currently active.

indicates

OFF

the forward brid ge.

indicates the

reverse bridge.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

(P.394)

CML PI PROP GAIN

CML PI LEAD FREQUENCY

OFF ON

(P.301). The integral time constant can be

n/a Output Current Minor Loop (

(P.302)

CML

) -

CML

Test Points

ARMATURE

Configuring the Current Minor Loop

6-9

ARMATURE DELTA

(P.399)

Indicates the

Parameter Range:

armature firing angle in microseconds.

Default Setting: Parameter Type: OIM Menu Path(s):

CML ERROR

The

error signal.

CML

(P.398)

Parameter Range:

It is the difference between

REFERENCE

and

CML

CML FEEDBACK

(P.397).

(P.396)

Default Setting: Parameter Type: OIM Menu Path(s):

CML PI LEAD FREQUENCY

(P.302)

n/a n/a Output Current Minor Loop (

Current Minor Loop (

Armature Phase Fire Test

n/a n/a Output Current Minor Loop (

CML CML

CML

) ) -

) -

CML SCR

CML

Test Points Diagnostics -

Test Points

The lead break frequency for the

CML

proportional-integral (

) block.

CML PI PROP GAIN

Proportional gain for the integral (

proportio nal -

CML

) block.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

This parameter is set by the

10 to 500 100

RAD/S

Tunable Current Minor Loop (

self-tuning procedure. You can also enter it

CML

) -

directly. Self-tuning will overwrite values entered manually.

(P.301)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

This parameter is set by the directly. Self-tuning will overwrite values entered manually.

0.000 to 4.000

0.250 Tunable Current Minor Loop (

self-tuning procedure. You can also enter it

CML

) -

CML

Tuning

6-10

FlexPak 3000 DC Drive Software Reference

HAPTER

Configuring the Metering Outputs

The FlexPak 3000 drive offers two filtered outputs that can be used to source external meters. These outputs are at terminals 24 through 26 on the Regulator board. See the hardware manual for information on wiring these outputs.

These outputs can be modified by the parameters described in this chapter.

From Figure4.2,

From Figure4.5,

From Figure5.1,

From Figure 9.1,

From Figure8.1,

From Figure6.2,

From Figure5.1,

From Figure4.5,

Speed Reference Ramp Block Diagram

Speed Loop Block Diagram

Outer Control Loop Block Diagram

Field Block DIagram if Field

Current Regulator Kit is Installed

Current Minor

Loop Block Diagram

Speed Loop

Block Diagram

Speed Reference

Ramp Block Diagram

Speed Reference Source

Select Block Diagram

Figure 7.1 – Metering Outputs Block Diagram

Configuring the Metering Outputs

7-1

METER OUT

GAIN ADJ

(P.400)

Scales the meter output 1 signal at the Regulator board terminal strip.

METER OUT

Selects the drive output that will source meter output 1 (terminals 24 and 25 on the Regulator board).

SELECT

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

METER OUT

adjustment. See figure 7.1. Adjust the zero point (

SELECT

(P.404) can be set to

METER OUT

(P.404)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

1.100 to 1.900

1.000 Tunable Input/Output - Meter Outputs

FULL SCALE

ZERO ADJ

See table 7.1 for options

CML FEEDBACK

Tunable Input/Output - Meter Outputs

(P.402)) before adjusting gain.

for an accurate gain

METER OUT

Removes any offset from the meter output 1 signal at the Regulator board terminal strip.

ZERO ADJ

(P.402)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

METER OUT

See figure 7.1.

SELECT

–200 to 200 0 Tunable Input/Output - Meter Outputs

(P.404) can be set to

for an accurate zero adjustment.

ZERO

7-2

FlexPak 3000 DC Drive Software Reference

METER OUT

GAIN ADJ

(P.401)

Scales the meter output 2 signal at the Regulator board terminal strip.

METER OUT

Selects the drive output that will source meter output 2 (terminals 25 and 26 on the Regulator board).

SELECT

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

METER OUT

adjustment. See figure 7.1. Adjust the zero point (

SELECT

(P.405) can be set to

METER OUT

(P.405)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

0.100 to 1.900

1.000 Tunable Input/Output - Meter Outputs

FULL SCALE

ZERO ADJ

See table 7.1 for options

SPD LOOP FEEDBACK

Tunable Input/Output - Meter Outputs

(P.403)) before adjusting gain.

for an accurate gain

METER OUT

Removes any offset from the meter output 2 signal at the Regulator board terminal strip.

ZERO ADJ

(P.403)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

METER OUT

See figure 7.1.

SELECT

–200 to 200 0 Tunable Input/Output - Meter Outputs

(P.405) can be set to

for an accurate zero adjustment.

ZERO

Configuring the Metering Outputs

7-3

Table 7.1 – Options for Metering Parameters

Signal Selected Full Scale Value

CML FEEDBACK CML REFERENCE CML ERROR SPD LOOP OUTPUT

SPD LOOP FEEDBACK SPD LOOP REFERENCE SPD LOOP ERROR SPEED RAMP OUTPUT SPEED RAMP INPUT TP SPD SOURCE SELECT OUT TRIM OUTPUT ANALOG TACH FEEDBACK PULSE TACH FEEDBACK OCL OUTPUT

ARMATURE VOLTAGE

POWER OUTPUT

FIELD REFERENCE FIELD FEEDBACK

OCL REFERENCE OCL RAMP OUTPUT OCL FEEDBACK NETW IN REG NETW IN REG NETW IN REG FULL SCALE

(P.397)

(P.396)

(P.398)

(P.299)

(P.296)

(P.295)

(P.297)

(P.199)

(P.198)

(P.197)

(P.292)

(P.848)

(P.289)

(P.590)

(P.589) (P.845)

(P.846)

(P.847) 1 (P.905) 2 (P.906) 3 (P.907)

(P.193)

(P.291)

MOTOR RATED ARM AMPS

MAXIMUM CURRENT

------------------- --------------------------------- ------- -×

100

MAXIMUM CURRENT

TOP SPEED (RPM

MOTOR RATED ARM VOLTS

MOTOR RATED ARM VOLTS MOTOR RATED ARM AMPS

MOTOR HOT FLD AMPS

(% full load amps)

)

(amps)

4095 (counts)

(volts)

MAXIMUM CURRENT

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

100

(amps)

watts

ZERO

7-4

FlexPak 3000 DC Drive Software Reference

HAPTER

Configuring the Field Supply

The FlexPak 3000 drive can be used with one of three types of field supplies:

•

Standard Field Supply: Provides field control for the standard drive. All configuration for the standard field supply is through hardware. There are no parameters related to the standard field supply. This supply generates a fixed field voltage and does not provide field economy.

•

Optional Enhanced Field Supply: Provides electronic field trim, field economy, and higher voltage field supplies than the standard field supply. The Enhanced Field Supply kit must be installed to use this field supply.

•

Field Current Regulated Supply: Replaces the standard or enhanced field excitation supply with a current regulated supply. It provides user-adjustable field economy, constant horsepower operation, and user-adjustable field loss. The Field Current Regulator kit must be installed to use this field supply.

The Field Current Regulator kit is standard for drives that are 150 to 600HP @ 460VAC or 75 to 300HP at 230VAC. It is optional for lower HP drives.

The parameters you will configure for the field supply depend on the supply that is installed in your drive. You can check the Field Current Regulator kit is installed. If

NOT INSTALLED

kit, or an incorrectly installed or failed Field Current Regulator kit. Check your drive and installation notes to verify the type of field supply.

FLD CURRENT REGULATOR

Indicates whether or not the Field Current Regulator kit is installed. If it is installed, lists the rating of the kit that is installed.

Note that if “20 is displayed, a 15 amp Field Current Regulator kit is installed.

AMP

Parameter Range:

Default Setting: Parameter Type:

”

OIM Menu Path(s):

FLD CURRENT REGULATOR

, you have either the standard field supply, an Enhanced Field Supply

(P.586) to determine if

(P.586) reports

(P.586)

NOT INSTALLED

AMP

n/a Output Field - Field Current Regulator

Field - Standard/enhanced Field Supply Drive Information

Configuring the Field Supply

8-1

8.1 Configuring Field Economy

Field economy is available if the Enhanced Field Supply kit or Field Current Regulator kit is installed. It is not available if you are using the standard field supply.

Field economy reduces the field voltage when the motor is at rest, reducing standby power consumption and prolongs the insulation life of the motor field windings.

When the Field Current Regulator kit is installed, the drive enters field economy when the drive is first powered up. When the armature becomes active, the drive goes to full field. After the drive stops, field economy becomes active after the time specified by

FIELD ECONOMY DELAY ECONOMY REF

(P.511).

When the Enhanced Field Supply kit is installed, the drive powers up at full field. Field economy is fixed at 45% of AC line voltage. After the drive stops, field economy becomes active after the time specified by

(P.501). The field economy level is adjustable through

FIELD ECONOMY DELAY

(P.501).

FIELD

FIELD ECONOMY ACTIVE

The field current reference for the field loop changes depending on whether or not field economy is active. If field economy is:

•

Inactive:

•

Active: and used as the field current reference.

You can check the value of the field current reference by looking at

(P.590)

. This reference is summed with

If the Field Current Regulator kit is installed, you can adjust the field economy current level using (P.513) must be above field loss logic is disabled while in field economy.

FIELD ECONOMY ACTIVE

(P.599) indicates when field economy is active.

FIELD REF REGISTER

MOTOR HOT FLD AMPS

FIELD ECONOMY REF

FIELD LOSS THRESHOLD

ATTENTION:

a motor overvoltage condition. Configure

(P.513) is limited and is the field current reference. (P.510) and

FIELD FEEDBACK

(P.511).

FIELD ECONOMY REF

and fed into the field PI block.

(P.511) are multiplied

FIELD REFERENCE

and/or

FIELD REF REGISTER

(P.512) to avoid field loss faults. The

The incorrect configuration of these parameters can cause

MOTOR HOT FLD AMPS

to the motor’s nameplate value. Failure to observe this precaution can result in bodily injury and damage to the equipment.

(P.599)

(P.510)

Indicates the present state of field economy.

This parameter has no effect if the standard field supply is installe d.

8-2

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

ON OFF

n/a Output Field - Standard/enhanced Field Supply

Field - Field Current Regulator - Field Loop Test

Points

FlexPak 3000 DC Drive Software Reference

FIELD ECONOMY DELAY

(P.501)

After the motor stops,

Parameter Range:

the drive maintains full field for

ECONOMY DELAY

FIELD

minutes before entering field economy.

Default Setting: Parameter Type: OIM Menu Path(s):

When the motor starts again, the drive immediately returns to full field.

ECONOMY DELAY

economy cannot be disabled. This parameter has no effect when the Enhanced Field Supply kit or standard field

supply is installed.

FIELD ECONOMY REF

Only available if the Field Current Regulator kit is installed.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.511)

0 to 27 minutes 5 minutes Tunable Field - Standard/enhanced Field Supply

Field - Field Current Regulator - Field Loop Configure

FIELD

does not affect operation of the standard field supply. Field

0 to 100% 0% Tunable Field - Field Current Regulator - Field Loop Configure

The percentage of economy mode. This parameter must be set above the (P.512) value to avoid field loss faults.

This parameter has no effect when the Enhanced Field Supply kit or standard field supply is installed.

FIELD REF REGISTER

Current reference for the field control loop. This is the field current reference when the drive is not in field economy.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

FIELD REF REGISTER

avoid Only available if the Field Current Regulator kit is installed.

(P.513)

FIELD LOSS

MOTOR HOT FLD AMPS

0 to

MOTOR HOT FLD AMPS

Tunable Field - Field Current Regulator - Field Loop Tuning

should be set greater than

faults.

(P.510) set as a reference for field

FIELD LOSS THRESHOLD

(P.512) to

Configuring the Field Supply

8-3

8.2 Configuring the Enhanced Field Supply

These parameters are available only if the Enhanced Field Supply kit is installed.

ENHANCED FLD VOLT ADJ

Adjusts the field output voltage.

ENHANCED FLD VOLT

has no effect on

ADJ

the operation of the standard field supply or the Field Current Regulator kit.

J20

FIELD LOSS DETECT

Indicates th e posi tio n of jumper J20,

LOSS DETECT

enables or disables field current loss detection. This jumper is only read on powerup.

FIELD

, which

Parameter Range:

Default Setting:

Parameter Type: OIM Menu Path(s):

Increasing terminals. Decreasing

ENHANCED FLD VOLT ADJ ECONOMY ACTIVE

See the Enhanced Field Supply kit manual for detail on setting this jumper.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

(P.500)

ENHANCED FLD VOLT ADJ

has no effect when the drive is in field economy (

(P.599) reads ON).

(P.597)

0 to 180 (J21 set to B-C) 0 to 120 (J21 set to A-C)

84 0 when the Field Current Regulator kit is installed

Tunable Field - Standard/enhanced Field Supply

increases the output voltage at the F1 and F2

decreases the output voltage.

FIELD

ENABLE DISABLE

n/a Output Drive Information

Field - Standard/enhanced Field Supply

8-4

J20 should only be set to the

Important:

Jumper J20 is ignored if the Field Current Regulator kit is installed. Therefore, placing J20 in the detection. See manual D2-3336 for information on the Field Current Regulator kit.

ATTENTION:

and inhibit drive operation using one of the drive interlocks when this jumper is positioned to the motor to run at dangerously high speeds. Provide external field current loss detection and inhibit drive operation using one of the drive interlocks if this jumper is positioned to precaution could result in bodi ly inj ury.

The user must provide external field current loss detection

DISABLE

DISABL E

position when an external field supply is used.

DISABLE

. Misapplication of this jumper can cause

position will not disable field loss

DISABLE

FlexPak 3000 DC Drive Software Reference

. Failure to observe this

FLD SUPPLY JUMPER

(P.598)

Indicates th e posi tio n of Regulator board jumper J21,

. It does not

SUPPLY

FIELD

indicate the position of the jumper on the Enhanced Field Supply kit.

8.3 Configuring the Field Current Regulated Supply

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

A-C

n/a Output Drive Information

Field - Standard/enhanced Field Supply

This jumper must be at the same setting as the jumper on the Enhanced Field Supply kit, positions A-C or B-C.

This jumper is only available if the Enhanced Field Supply kit is installed. This jumper is only read on powerup.

These parameters are only available if the Field Current Regulator kit is installed.

The Field Current Regulator kit replaces the standard field excitation supply with a current regulated supply. It provides field economy and constant horsepower (above base speed) operation. See figure 8.1 for the block diagram. See the Field Current Regulator kit manual, D2-3336, for a full description of the field block.

From Figure 11.2,

Inputs Block Diagram

Analog

* Default Selection

Figure 8.1 – Field Block DIagram if Field Current Regulator Kit is Installed

Configuring the Field Supply

8-5

FIELD DELTA

(P.588)

The field firing angle in degrees.

FIELD FEEDBACK

Motor field current feedback signal after scaling and gain.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.589)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

0 to 180 n/a Output Field - Field Current Regulator - Field Loop Test

+/n/a Output Field - Field Current Regulator - Field Loop Feedback

Field - Field Current Regulator - Field Loop Test

DEGREE

Points

MOTOR HOT FLD AMPS

Scaling Points

FIELD PI LEAD FREQ

Lead frequency for the field current block.

FIELD PI PROP GAIN

Proportional gain setting for the field current

block.

(P.515)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.514)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

0 to 282.70

1.50 rad/s Tunable Field - Field Current Regulator - Field Loop Tuning

0.10 to 128.00

0.50 Tunable Field - Field Current Regulator - Field Loop Tuning

RAD/S

8-6

FlexPak 3000 DC Drive Software Reference

FIELD REF SELECT

(P.521)

Selects the reference source for the field current regulator.

FIELD REFERENCE

Field current reference.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

1 =

2 =

ANALOG MAN TRIM REF

3 =

ANALOG IN

4 =

ANALOG IN

2 1 Configurable Additional Parameters (listed by parameter number)

An I/O Expansion kit must be installed to select

is the

FIELD REF REGISTER

(P.513), which can also be modified through a

network register (drop_1, register 37).

(P.590)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

n/a n/a Output Field - Field Current Regulator - Field Loop Test

Points

ANALOG IN

1 or

ANALOG IN

When

FIELD ECONOMY ACTIVE

field reference. When

FIELD ECONOMY ACTIVE

FLD FEEDBACK GAIN ADJ

Gain adjustment for the field current feedback.

In most cases, this will be set for unity gain (1.000).

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.516)

(P.599) is

, it is the limited value of the selected

OFF

(P.599) is ON, it is the field economy reference.

0.900 to 1.100

1.000 Tunable Field - Field Current Regulator - Field Loop Feedback

Scaling

Configuring the Field Supply

8-7

MOTOR HOT FLD AMPS

(P.510)

Motor nameplate valu e of the rated hot field amps. This input is the basis of field current scaling.

8.3.1 Configuring A utomatic Field Weakening

Parameter Range:

0.11 to installed supply rating (4.00, 10.00, or 20.00 amps)

Default Setting: Parameter Type: OIM Menu Path(s):

0.01 amps

Configurable Field - Field Current Regulator - Field Loop Feedback

Scaling

If the factory defaults are restored, or if a valid value has not yet been entered for this parameter, the DC field voltage is fixed at 150V on a 230VAC line, or at 300V on a 460VAC line.

ATTENTION:

motor overvoltage condition. Configure

the motor nameplate value. F ailure to observe this precaution can result in bodily injury and damage to the equipment.

The incorrect configura tion of this pa rameter can ca use a

MOTOR HOT FLD AMPS

(P.510) to

The Field Current Regulator kit can provide automatic field weakening. Field weakening can only be used with speed-regulated drives.

Important:

Automatic field weakening cannot be used if

ARMATURE VOLT

FEEDBACK SELECT

is set to

When

ARMATURE VOLTAGE

(P.289) exceeds

FLD WEAKEN THRESHOLD

(P.518), the field begins to weaken and the field control loop begins regulating armature voltage. When field auto weakening is enabled, the drive uses the values of (P.289) and

FLD WEAKEN THRESHOLD

(P.518) to try to maintain a zero input to the first PI block. If armature voltage increases, a negative value is input to the decreases the high limit to the next

block. This reduces field current, subsequently

lowering the armature voltage, bringing the input to the first

compensation is used, the threshold where the field control loop begins regulating

armature voltage is

FLD WEAKEN THRESHOLD

(P.518) less IR

ARMATURE VOLTAGE

block, which

block closer to zero.

COMPENSATION

(P.206) at

rated armature current.

To use automatic field weakening, set

To turn off automatic field weakening, set

FIELD AUTO WEAKEN

automatic f ield w eak en ing is disab led , the f ield curre nt

(P.517) to

ENABLE

(P.517) to

block high limit is fixed at 180

DISABLE

. If

degrees.

If needed, you can use

FLD WEAKEN LEAD FREQ

(P.519) to modify the lead frequency and gain of the field auto weaken

ATTENTION:

The incorrect configuration of the parameters for this loop

can cause a motor overvoltage condition. Configure

(P .510) to the motor’ s nameplate value. F ailure to observe this precaution can result in bodily injury and damage to the equipment.

(P.520) and

FLD WEAKEN PROP GAIN

block.

MOTOR HOT FLD AMPS

8-8

FlexPak 3000 DC Drive Software Reference

FIELD AUTO WEAKEN

(P.517)

Enables or disables

Parameter Range:

automatic field weakening by the field control loop. When it is disabled, the field current

block high limit is fixed at 180 degrees.

Default Setting: Parameter Type: OIM Menu Path(s):

FEEDBACK SELECT

and cannot be changed.

FIELD DELTA HIGH LIM

High limit of the field current

block.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.587)

is set to

DISABLED

ENABLED

DISABLED

Configurable

Field - Field Current Regulator - Field Loop Configure

ARMATURE VOLT

0 to 180

130

DEGREE

, this is automatically set to

DEGREE

DISABLED

Configurable

Field - Field Current Regulator - Field Loop Configure

FIELD LOSS THRESHOLD

The value that is compared to

FEEDBACK

FIELD

(P.589) to

check for field loss.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

FIELD LOSS THRESHOLD

set to 85% of the motor nameplate field weaken current.

(P.512)

50 to 100% of

FEEDBACK SELECT VOLT

0 to 100% of

FEEDBACK SELECT TACH

60% of

MOTOR HOT FLD AMPS

, or AC

TACH

Configurable

Field – Field Current Regulator – Field Loop

Configure

is set as a percentage of

(P.510) when

(P.200) is set to

(P.510) when

(P.200) is set to DC

(P.510)

MOTOR HOT FLD AMPS

ARMATURE

TACH, PULSE

. It is usually

Configuring the Field Supply

8-9

FLD WEAKEN LEAD FREQ

(P.520)

block lead

Parameter Range:

frequency of the field control loop’s armature voltage regulator.

Default Setting: Parameter Type: OIM Menu Path(s):

FLD WEAKEN PROP GAIN

The proportional gain of the field control loop’s armature voltage regulator.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

FLD WEAKEN THRESHOLD

Sets the point at which the fi eld contro l loop begins regulating armature voltage and the field begins to weaken.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

(P.519)

(P.518)

0.01 to 282.70

0.50

RAD/S

Tunable Field - Field Current Regulator - Field Loop Tuning

0.01 to 128.00

1.60 Tunable Field - Field Current Regulator - Field Loop Tuning

0 to 120% of 95% of

MOTOR RATED ARM VOLTS

(P.009)

(P.009) Tunable Field - Field Current Regulator - Field Loop Tuning

8-10

compensation is used, the threshold is

armature current.

FLD WEAKEN THRESHOLD

FlexPak 3000 DC Drive Software Reference

at rated

{

HAPTER

Configuring the Outer Control Loop

The outer control loop ( control in a web processing system. The signal. The block diagram for the

The

•

can be configured as a:

OCL

Type 1 position regulator, which uses proportional-only cont rol in the forward path. Type 2 position regulator, which uses proportional-plus-integral control to reduce

) is typically used to provide dancer position or tension

OCL

trims the speed/voltage loop reference

OCL

is shown in figure 9.1.

OCL

steady state error to zero.

•

Type 3 position regulator, which inputs the

output directly into the current minor

OCL

loop.

•

Other

To configure the

PI LEAD FREQ

To configure the

PI LEAD FREQ

When enabled, the Important: Scaling units of some

schemes.

OCL

as a type 1 position regulator, set the lead break frequency (

OCL

(P.809)) equal to zero (this sets the PI block to proportional only).

as a type 2 position regulator, set the lead break frequency (

OCL

(P.809)) to a non-zero value.

executes every 20 msec.

OCL

parameters are not predefined and must be set

OCL

by you. See the

manual to create

OIM

user-defined units.

OCL

REFERENCE

OCL REF REGISTER

From Figure 11.2,

Inputs Block Diagram

Figure 11.4,

Frequency

Input Block Diagram

(CML FEEDBACK)

8 sample average

From Figure 11.2,

Analog

Inputs Block Diagram

SPD LOOP OUTPUT

ANALOG AUTO REFERENCE

Analog

and

From Network

*REGISTER ANALOG IN 1 ANALOG IN 2

FREQUENCY IN

NETW IN REG 1, 2, 3

*NONE

CML FEEDBACK

ANALOG IN 1

ANALOG IN 2

SPD LOOP OUTPUT

ANALOG AUTO REFERENCE

NETW IN REG 1, 2, 3

SELECT

OCL FEEDBACK

Configuring the Outer Control Loop

OCL

(OCL REFERENCE)

output of OCL

SELECT

(OCL FEEDBACK)

enable logic

OCL LEADLAG

LOW FREQ

RST\

RAMP TIME

INITV

RST\

WLD

output of OCL

enable logic

OCL REF

ROUNDING

SMOOTHING

S-CURVE

INITV

ACC DEC

OCL REF

L/L

OCL LEADLAG RATIO

(OCL RAMP

OUTPUT)

–

OCL

LEADLAG

SELECT

*BYPASS LEAD/LAG LAG/LEAD

RATIO

output of OCL

enable logic

OCL PI

PROP GAIN

OCL PI

LEAD FREQ

SPEED RAMP OUTPUT

Figure 9.1 – Outer Control Loop Block Diagram

OCL PI POSITIVE LIMIT

INITV

PI GAIN

RST\ WLD

OCL PI NEGATIVE LIMIT

(in RPM)

OCL TRIM RANGE

MUL

ABS

TOP SPEED

MUL

GAIN

DIV

*DISABLED

ENABLED

OCL PROP

TRIM SELECT

(OCL OUTPUT)

To Figure 4.7,

Speed Reference Mode Select Block Dia

ram

To Figure 6.1,

CML Ref Block

ram

Dia

9-1

9.1 Enabling the Outer Control Loop

ATTENTION:

An abrupt speed change could occur when the outer

control loop is enabled. Make sure proper safeguards are in place before

To enable the

SELECT

The

OCL

or if the drive is not running, all reset and

enabling the outer control loop. Failure to observe this precaution can result in severe bodi ly injury or loss of life.

, either the I/O Expansion kit must be installed,

OCL

must be set to

enable signal (

OCL OUTPUT

NETWORK

OCL ENABLE

(P.848) is zero.

, or

OCL

Table 9.1 shows the source of the

Table 9.1 – OCL Enable Signal Source

I/O Expansion Board

Control Source

NETWORK

KEYPAD, TERMBLK

SERIAL

CONTROL SOURCE

DIG IN

SELECT

(P.849)) must be ON to execute the

(P.428) must set to

OCL ENABLE

. If it is

OCL

OFF

functions (S-curve, PI, and lead/lag) are held in

enable signal for the various control sources.

OCL

Installed OCL Enable Signal Source

n/a Network

OCL

Enable

Yes I/O Expansion kit Digital Input

5 (terminal 64)

No Regulator board Digital

Input 0 (terminal 12) set to 0

To check the status of the The

enable logic is shown in figure 9.2.

OCL

Figure 9.2 – Outer Control Loop Enable Logic

OCL ENABLE

, see parameter

OCL ENABLE

* Default Selection

(P.849).

9-2

FlexPak 3000 DC Drive Software Reference

DIG IN

0 (P.490)

Indicates the state of digital input 0 (terminal 12 on the Regulator board).

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

0 is ON when +24VDC is applied for more than 10msec. It is

DIG IN

(see table 9.2 for detail)

OFF

n/a Output Additional Parameters (listed by parameter number)

is applied.

Table 9.2 – Conditions Indicated by

DIG

IN 0

SELECT

(P.428)

Setting

BRUSH WEAR INPUT

JOG SPEED SELECT

OCL ENABLE OCL

Condition if

ON OFF

OK Worn

Jog Speed 2 active Jog Speed 1 active

enabled

DIG IN

OFF

0 (P.490)

0 (P.490) Reads:

disabled

OCL

when 0VDC

DIG IN

SELECT

Determines which function is controlled by digital input 0 (terminal 12 on the Regulator board).

(P.428)

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

The signal can be:

•

OCL ENABLE

NETWORK

•

BRUSH WEAR MOTOR BRUSH WEAR LOW

: Enables the outer control loop if

and if the I/O Expansion kit is not installed.

: The input is from a brush wear indicator. If the input is

Monitor Detector kit installed to use this option.

•

JOG SPEED SELECT

2 (P.017) will be used when the drive is jogging.

SPEED

: The input determines whether

1 =

BRUSH WEAR INPUT

2 =

JOG SPEED SELECT

3 =

OCL ENABLE

1 Configurable Additional Parameters (listed by parameter number)

alarm is generated. You must have the E.S.P. Brush

CONTROL SOURCE SELECT

JOG SPEED

1 (P.012) or

is not set

, the

OFF

JOG

Configuring the Outer Control Loop

9-3

DIG IN

5 (P.499)

State of the outer control loop enable input (termin al 64 on the I/O Expansion kit).

OCL ENABLE

The status of the enable signal. indicates the

(P.849)

OCL

OFF

OCL

disabled (held in reset).

means it is

operating.

9.2 Outer Control Loop Signal Processing

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

5 is ON when +24VDC is applied for more than 10msec. It is

DIG IN

is applied.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

ON OFF

n/a Output Input/Output - Digital I/O

ON OFF

n/a Output Outer Control Loop (

OCL

) -

OCL

when 0VDC

OFF

Test Points

The

9.2.1 Configuring the OCL Reference Path

You can configure the speed/voltage loop from being “jerked” when the output ramps smoothly from the setpoint to reduce mechanical wear.

The

RAMP TIME

amount of rounding and minimum amount of time of the

OCL

performed at the beginning and end of an You can check the output of the block through

OCL RAMP OUTPUT

The outer control loop reference S-curve block output in

user-defined

OCL

units.

reference signal passes through a reference and a forward path.

OCL

to include an S-curve block. This prevents the

OCL

is enabled. The S-curve block

OCL

OCL FEEDBACK

reference signal is fed into the S-curve block, where it is modified by

OCL

(P.802) and

OCL REF ROUNDING

(P.847) value to the

(P.803). These parameters determine the

reference ramp when the

OCL

reference

OCL

S-curve block output changes from 0 to full scale and vice versa. Rounding is

reference change.

OCL

OCL RAMP OUTPUT

(P.846).

(P.846)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

n/a n/a Output Outer Control Loop (

OCL

) -

OCL

Test Points

OCL REF

9-4

FlexPak 3000 DC Drive Software Reference

OCL REFERENCE

(P.845)

The reference value

Parameter Range:

for the outer control loop. Displayed in

user-defined

OCL

units.

Default Setting: Parameter Type: OIM Menu Path(s):

OCL REFERENCE SELECT

Selects the reference for the outer control loop.

Parameter Range:

Default Setting: Parameter Type: OIM Menu Path(s):

(P.800)

n/a n/a Output Outer Control Loop (

IN 1

REG

1 2 3

ANALOG ANALOG IN FREQUENCY IN NETW NETW IN REG NETW IN REG

Configurable Outer Control Loop (

OCL

) -

OCL

Test Points

Configure

If The I/O Expansion kit must be installed to use

the I/O expansion board), (terminals 39, 40, and 41).

A communication kit must be installed to select the communication registers ( when Control Source (P.000) is set to

OCL REF RAMP TIME

The ramp time for the outer control loop reference.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

Sets the minimum amount of time for the to full scale and vice versa. If set to 0.0, the S-curve block is bypassed.

Important:

NETW IN REG

is selected, the reference is from

(P.802)

(P.801).

1 (terminals 50 and 51 on

FREQUENCY IN

ANALOG IN

OCL REF REGISTER

ANALOG IN

2 (terminals 52 and 53), or

1, 2, or 3). Note that the network input registers are updated only

NETWORK

and the network is active.

0.0 to 300.0 seconds

10.0 seconds Tunable Outer Control Loop (

S-curve block output to change from 0

OCL

) -

OCL

Tuning

If the S-curve block is bypassed, rapid speed change can result.

Configuring the Outer Control Loop

9-5

OCL REF REGISTER

(P.801)

The reference for the outer control loop that is used when

REFERENCE SELECT

OCL

(P.800) is set to

OCL REF ROUNDING

Specifies the amount of reference smoothing (rounding) for the outer control loop.

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

–4095 to 4095 0 Tunable Outer Control Loop (

OCL

) -

Configure

OCL

Typically used in applications where a constant reference is needed.

(P.803)

Parameter Range: Default Setting: Parameter Type: OIM Menu Path(s):

It is set as a percentage of beginning and end of an

OCL REF ROUNDING

is set to 0%, the to 50%, the entire ramp time is smoothed: 50% at the beginning of the reference change and 50% at the end. If bypassed),

OCL REF ROUNDING

0 to 50% 0% Tunable Outer Control Loop (

OCL REF RAMP TIME

reference change.

OCL

OCL REF RAMP TIME

has no effect on the

) -

OCL

Tuning

OCL

. Rounding is performed at the

performs a linear ramp function. If it is set

(P.802) is 0.0 (S-curve block

reference signal.

OCL

9-6

Figure 9.3 – OCL Reference Signal Rounding

9.2.2 Configuring the Outer Control Loop Forward Path

The difference between the

OCL RAMP OUTPUT

lead/lag has been applied, if selected) is summed with the into a

PI LEAD FREQ

values of

The signal from the amount of control the of trim is set through

block. In the PI block, gain (

OCL PI PROP GAIN

(P.809)) are applied. The output of the PI block is clamped within the

OCL PI POSITIVE LIMIT

block is fed into the

OCL

OCL TRIM RANGE

(P.810) and

signal has on the speed/voltage loop reference. The amount

(P.812).

(P.846) and

feedback signal (after

OCL

(P.808)) and lead frequency (

OCL PI NEGATIVE LIMIT

trim range block. Trim determines the

OCL

FlexPak 3000 DC Drive Software Reference

feedback and then fed

OCL

(P.811) .

Rockwell Automation FlexPak 3000 Digital DC Drive User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual