Schneider Electric ATV71S383 Programming manual [ EN]

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Altivar 71

Variable speed drives for synchronous and asynchronous motors

Programming manual

Specification 383

Software V3.4

12/2009

AAV49426

www.schneider-electric.com

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Before you begin______________________________________________________________________________________________ 4 Documentation structure________________________________________________________________________________________ 5 Software enhancements ________________________________________________________________________________________ 6 Steps for setting up___________________________________________________________________________________________ 10 Factory configuration _________________________________________________________________________________________ 11 Application functions__________________________________________________________________________________________ 12 Setup - Preliminary recommendations ____________________________________________________________________________ 16 Graphic display terminal_______________________________________________________________________________________ 18

Description of terminal __________________________________________________________________________________ 18 Description of the graphic screen__________________________________________________________________________ 19 First power-up - [5. LANGUAGE] menu _____________________________________________________________________ 22 Subsequent power ups__________________________________________________________________________________ 23 Programming: Example of accessing a parameter_____________________________________________________________ 24 Quick navigation_______________________________________________________________________________________ 25

Integrated display terminal _______________________________________ ______________________________________________ 28

Functions of the display and the keys_______________________________________________________________________ 28 Accessing menus ______________________________________________________________________________________ 29

Accessing menu parameters _____________________________________________________________________________ 30 [2. ACCESS LEVEL] (LAC-)____________________________________________________________________________________ 31 Structure of parameter tables___________________________________________________________________________________ 34 Interdependence of parameter values ____________________________________________________________________________ 35 Finding a parameter in this document ____________________________________________________________________________ 36 [1.1 SIMPLY START] (SIM-)____________________________________________________________________________________ 37 [1.2 MONITORING] (SUP-) ____________________________________________________________________________________ 45 [1.3 SETTINGS] (SEt-) ________________________________________________________________________________________ 54 [1.4 MOTOR CONTROL] (drC-)_________________________________________________________________________________ 69 [1.5 INPUTS / OUTPUTS CFG] (I-O-) ___________________________________________________________________________ 101 [1.6 COMMAND] (CtL-)_______________________________________________________________________________________ 131 [1.7 APPLICATION FUNCT.] (FUn-) ____________________________________________________________________________ 144 [1.8 FAULT MANAGEMENT] (FLt-) _____________________________________________________________________________ 232 [1.9 COMMUNICATION] (COM-) _______________________________________________________________________________ 257 [1.10 DIAGNOSTICS] ________________________________________________________________________________________ 261 [1.11 IDENTIFICATION]______________________________________________________________________________________ 264 [1.12 FACTORY SETTINGS] (FCS-) ____________________________________________________________________________ 265 [1.13 USER MENU] (USr-)____________________________________________________________________________________ 268 [1.14 PROGRAMMABLE CARD] (PLC-) _________________________________________________________________________ 269 [3. OPEN/SAVE AS]_________________________________________________________________________________________ 270 [4. PASSWORD] (COd-)______________________________________________________________________________________ 272 [6 MONITORING CONFIG.]___________________________________________________________________________________ 274 [7 DISPLAY CONFIG.] _______________________________________________________________________________________ 278 [MULTIPOINT SCREEN] _____________________________________________________________________________________ 283 Maintenance_______________________________________________________________________________________________ 284 Faults - Causes - Remedies_______________________________________________________________ ____________________ 285 User settings tables _________________________________________________________________________________________ 291 Index of functions ___________________________________________________________________________________________ 293 Index of parameter codes_____________________________________________________________________________________ 295

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Before you begin

Read and understand these instructions bef ore performing any procedure on this drive.

DANGER

HAZARDOUS VOLTAGE

• Read and understand the Installation Manual before i nstalling or operating the ATV71 drive. Instal lation, adjustment, repair, and maintenance must be performed by qualified personnel.

• The user is responsible for compliance with all international and national electrical standards in force concerning protective grounding of all equipment.

• Many parts of this variable speed drive, including the printed circuit boards, operate at the line voltage. DO NOT TOUCH. Use only electrically insulated tools.

• DO NOT touch unshielded components or terminal strip screw connections with volta ge present.

• DO NOT short across terminals PA/+ and PC/- or across the DC bus capacitors.

• Install and close all the covers before applying power or starting and stopping the drive.

• Before servicing the variable speed drive

- Disconnect all power.

- Place a “DO NOT TURN ON” label on the variable speed drive disconnect.

- Lock the disconnect in the open position.

• Disconnect all power including external control power that may be present before servicing the drive. WAIT 15 MINUTES to allow the DC bus capacitors to discharge. Then follow the DC bus voltage measurement procedure given in the Installation Manual to verify that the DC voltage is less than 45 V. The drive LEDs are not accurate indicators of the absence of DC bus voltage.

Electric shock will result in death or serious injury.

CAUTION

DAMAGED EQUIPMENT

Do not operate or install any drive that appears damaged.

Failure to follow this instruction can result in equipment damage.

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Documentation structure

The following Altivar 71 technical documents are available on the Schneider-Electric website (www.schneider-electric.com) as well as on the CD-ROM supplied with the drive.

Installation Manual

This describes how to assemble and connect the drive.

Programming manual

This describes the functions, parameters and use of the drive terminal (integrated display terminal and graphic display terminal). The communication functions are not described in this manual, but in the manual for the bus or network used.

Communication Parameters Manual

This manual describes:

• The drive parameters with specific information for use via a bus or communication network.

• The operating modes specific to communication (state chart).

• The interaction between communication and local control.

Manuals for Modbus, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway, FIPIO and Modbus Plus, etc.

These manuals describe the assembly, connection to the bus or network, signaling, diagnostics, and configuration of the communicationspecific parameters via the integrated display terminal or the graphic display terminal. They also describe the communication services of the protocols.

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Software enhancements

Since the Altivar ATV 71 was first launched, it has benefited from the addition of several new functions. Software version has now been updated to V2.8. The new version can be substituted to the previous versions without making any changes. Although this documentation relates to versi on V2.8, it can st ill be used with previ ous versions, as the update s merely invol ves t he additi on of new values and parameters. None of the previous versions parameters have been modified or removed. The software version is indicated on the nameplate attached to the body of the drive.

Enhancements made to version V1.2 in comparison to V1.1

Factory setting

Note 1: In version V1.1, the analog input was 0 ± 10 V. For safety reasons, in the new vers ion this inpu t has been set t o 0 + 10 V. Note 2: In version V1.1, analog output AO1 was assigned to the motor f requency. In the new version, this output is not assigned

at all. With the exception of these two parameters, the factory settings of version V1.1 remain the same in the new version. The new functions are factory-set to disabled.

Motor frequency range

The maximum output frequency has been extended from 1000 to 1600 Hz (depending on the drive rating and control profile).

New parameters and functions

Menu [1.2 MONITORING] (SUP-)

Addition of internal states and values relating to the new functions described below.

Menu [1.3 SETTINGS] (SEt-)

• [High torque thd.] (ttH) page 67.

• [Low torque thd.] (ttL) page 67

• [Pulse warning thd.] (FqL) page 68

• [Freewheel stop Thd.] (FFt) page68

Menu [1.4 MOTOR CONTROL] (drC-)

• [rpm increment] (InSP) page 76.

• Extension of the following configurations to all drive ratings; previously limited to 45 kW (60 HP) for ATV71 (100 HP) for ATV71

[Noise reduction] (nrd) page 95

pppN4:synchronous motor [Sync. mot.] (SYn) page 70, sinus filter [Sinus filter] (OFI) page 72, noise reduction

, braking balance [Braking balance] (bbA) page 98.

Menu [1.5 INPUTS / OUTPUTS CFG] (I-O-)

• Input Al1 can now be configured to 0 +10 V or 0 ± 10 V via [AI1 Type] (AI1t) page 107.

• [AI net. channel] (AIC1) page 111

• New methods of assigning relays and logic outputs page 118 rotation, motor in reverse rotation, measured speed threshold reached, load variation detection.

• Analog output AO1 can now be used as a logic output and assigned to relay functions and logic outputs, page 123

• New method of modifying the scale of analog outputs page 125

max] (ASHx).

• New methods of assigning logic outputs page 126

• New methods of assigning alarm groups page 130 threshold reached, load variation detection.

: rope slack, high torque threshold, low torque threshold, motor in forwa rd

using the parameters [Scaling AOx min] (ASLx) and [Scaling AOx

: signed motor torque and measured motor speed.

: rope slack, high torque threshold, low torque threshold, measured speed

pppM3X and to 75 kW

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Software enhancements

Menu [1.7 APPLICATION FUNCT.] (Fun-)

• The summing, subtraction and multiplication reference fu nctions can now be assigned to virtual input [Network AI] (AIU1) page 151.

• New parameter [Freewheel stop Thd.] (FFt) page 156 or fast stop.

• Brake engage at regulated zero speed [Brake engage at 0] (bECd) page 176

• Weight [Weight sensor ass.] (PES) page 183

• New "rope slack" function page 187

• Use of the ramp [Acceleration 2] (AC2) page 195

• The torque limitation [TORQUE LIMITATION] (tOL-) page 202

increment] (IntP) and assigned to virtual input [Network AI] (AIU1).

• New "stop at distance calculated after deceleratio n limit swi tch" funct ion page 211

linear speed] (nLS) and [Stop corrector] (SFd).

• Positioning by sensors or limit switch [POSITIONING BY SENSORS] (LPO-) page 212 negative logic using [Stop limit config. (SAL) and [Slowdown limit cfg.] (dAL).

• Parameter set switching [PARAM. SET SWITCHING] (MLP-) page 215

[Freq. Th. att.] (FtA) and [Freq. Th. 2 at ta in . ] (F2A).

• New half-floor: [HALF FLOOR] (HFF-) menu page 229

, with the parameters [Rope slack config.] (rSd) and [Rope slack trq level] (rStL).

can now be assigned to virtual input [Network AI] (AIU1).

Menu [1.8 FAULT MANAGEMENT] (FLt)

• Possibility of reinitializing the drive without turning it off, via [Product reset] (rP) page 237.

• Possibility of reinitializing the drive via a logic input without turning it off, using [Product reset assig.] (rPA) page 237

• The possibility of configuring the "output phase loss" fault [Output Phase Loss] (OPL) page 242 extended to all drive ratings (previously limited to45 kW (60 HP) for ATV71

• The external fault [EXTERNAL FAULT] (EtF-) page 245

(LEt).

• New monitoring function based on speed measurement via "Pulse input" page 252

• New function for detecting load variation page 254

• Short-circuit faults on the braking unit can now be configured via [Brake res. fault Mgt] (bUb) page 256

used to set a threshold for switching to freewheel at the end of a stop on ramp

when starting and "waking up" the PID function.

can now be configured in whole % or in 0.1% increments using [Torque

, with the parameters [Stop distance] (Std), [Rated

can now be configured in positive logic or

can now be assigned to the frequency thresholds attained

to [Output cut] (OAC) has been

pppM3X and 75 kW (100HP) for ATV71pppN4).

can now be configured in positive or negat ive logic via [External fault config.]

, via the [FREQUENCY METER] (FqF-) menu.

, via the [DYNAMIC LOAD DETECT] (dLd-) menu.

Menu [7 DISPLAY CONFIG.]

In [7.4 KEYPAD PARAMETERS] page 284, the [KEYPAD CONTRAST] and [KEYPAD STAND-BY] parameters to adjust the contrast and stand-by mode of the graphic display unit.

Enhancements made to version V1.3 (S383) in comparison to V1.2

New parameters and functions

Menu [1.4 MOTOR CONTROL] (drC-)

New option of operating with Closed-loop synchronous motor page 83

• [Angle auto-test] (ASA) page 84

• [Angle offset value] (ASU) page 85

• [Sync.CL] (FSY) assignment page 71 of parameter [Motor control type] (Ctt)

Menu [1.5 INPUTS / OUTPUTS CFG] (I-O-)

• [Resolver Exct. Freq.] (FrES) and [Resolver poles nbr] (rPPn) page 115

Menu [1.7 APPLICATION FUNCT.] (Fun-)

• New "Inspection" function, page 227, with [Inspection] (ISP) and [Inspection speed] (ISrF) parameters.

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Software enhancements

Enhancements made to version V1.7 (S383) in comparison to V1.3 (S383)

New parameters and functions

Menu [1.1 SIMPLY START] (SIM-)

• Addition of a [Lift] (LIFt) macro configuration to the [Macro configuration] (CFG) parameter page 41

Menu [1.3 SETTINGS] (SEt-)

New parameters:

• [Fr.Loop.Stab] (StA) page 56

• [FreqLoopGain] (FLG) page 56

Menu [1.4 MOTOR CONTROL] (drC-)

This menu has been reorganized with parameters now appearing in a different order and some grouped under submenus to simplify configuration. The new submenus are as follows:

• [ENCODER FEEDBACK] (EnS-) page 75

• [ASYNC. MOTOR] (ASY-) page 76

• [SYNCHRONOUS MOTOR] (SYn-) page 81

• [ANGLE TEST SETTING] (ASA-) page 84

• [FLUXING BY LI] (FLI-) page 86

• [AUTOMATIC TUNE] (tUn-) page 88

• [SPEED LOOP] (SSL-) page 89

New parameters:

• [Boost] (bOO) page 95

• [Action Boost] (FAb) page 95

• [Increment EMF] (IPHS) page 81

• [Read motor param.] (rEqP) page 82

• [Status motor param] (rEtP) page 82

• [Angle setting type] (ASt) pages 84 and 87

• [Angle auto test] (ASL) page 84

• [Angle setting activ.] (AtA) page 85

• [Angle setting status] (AStS) page 85

• [Speed loop type] (SSL) page 89

• [Inertia Mult. Coef.] (JMUL) page 89

• [Estim. app. inertia] (JESt) page 89

• [Application Inertia] (JAPL) page 90

• [Fr.Loop.Stab] (StA) page 90

• [FreqLoopGain] (FLG) page 90

• [Feed forward] (FFP) page 91

• [Bandwidth feedfor.] (FFU) page 91

Parameters moved from menu [1.7 APPLICATION FUNCT.] (Fun-):

• [Motor fluxing] (FLU) page 86

• [Fluxing assignment] (FLI) page 86

• [Auto-tune assign.] (tUL) page 88

Menu [1.5 INPUTS / OUTPUTS CFG] (I-O-)

New encoder parameters:

• [Encoder protocol] (UECP) page 116

• [Encoder supply volt.] (UECU) page 116

• [Sincos lines count] (UELC) page 116

• [SSI pari t y] (SSCP) page 116

• [SSI frame size] (SSFS) page 116

• [Nbr of revolution] (EnMr) page 116

• [Turn bit resolution] (Entr) page 116

• [SSI code type] (SSCd) page 117

• [Encoder filter activ.] (FFA) page 117

• [Encoder filter value] (FFr) page 117

Menu [1.7 APPLICATION FUNCT.] (Fun-)

Removal of the following parameters (now located in the [1.4 MOTOR CONTROL] (drC-) menu):

• [Motor fluxing] (FLU)

• [Fluxing assignment] (FLI)

• [Auto-tune assign.] (tUL)

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Software enhancements

Enhancements made to version V1.9 (S383) in comparison to V1.7 (S383)

New parameters and functions

Menu [1.4 MOTOR CONTROL] (drC-)

• New method of assigning [Angle setting type] (ASt) page 87 : optimised measurement (without motion with memorization).

New parameter :

• [App. Inertia Coef.] (JACO) page 89

Removal from the sub-menu [ASYNC. MOTOR] (ASY-) of the following parameters (now located directly in the

[1.4 MOTOR CONTROL] (drC-) menu):

• [Boost] (bOO) page 95

• [Action Boost] (FAb) page 95

Menu [1.5 INPUTS / OUTPUTS CFG] (I-O-)

New encoder parameters:

• [Coder rotation inv.] (EnrI) page 114

• [Clock frequency] (EnSP) page 117

Menu [1.7 APPLICATION FUNCT.] (Fun-)

• New method of assigning for the parameters set switching [2 Parameter sets] (CHA1) page 215 and [3 Parameter sets] (CHA2) page 215 starting of the ramp (useful for lift application).

: switching during braking sequence. This new assignment allo ws to put higher gain when the brak e is open and before the

New sub-menu:

• [TOP Z MANAGEMENT] (tOP-) page 231 and if [Encoder type] (EnS) = [AABB] (AAbb).

New encoder parameter:

• [Stop on top Z] (tOSt) page 231

(the parameter can be accessed only if an encoder card VW 3A 411 has been inserted

Enhancements made to version V2.4 (S383) in comparison to V1.9 (S383)

New parameters and function

Menu [1.7 APPLICATION FUNCT.] (Fun-)

New sub-menu:

• [ROLLBACK MGT] (rbM-) page 181

- only for ATV71

-if [Motor control type] (Ctt) page 70

-if [Brake assignment] (bLC) page 175

New parameter of [ROLLBACK MGT] function:

• [Rollback MGT] (rbM) page 181

• [Rbk Compensation] (rbC) page 181

• [Rbk Damping] (rbd) page 181

pppM3X drives up to 45 kW and for ATV71pppN4 drives up to 75 kW,

. Menu can be accessed:

= [Sync.CL] (FSY) or [FVC] (FUC),

is assigned.

Enhancements made to version V2.8 (S383) in comparison to V2.4 (S383)

Menu [1.7 APPLICATION FUNCT.] (FUn-)

• The adjustment range [Time to restart] (ttr) page 177 can now be configured to 0 to 15.00 s.

Menu [7 DISPLAY CONFIG.]

•Addition in [7.4 KEYPAD PARAMETERS] page 284 parameter [Power up menu] to choose the menu displayed on the drive on power up

Enhancements made to version V3.4 (S383) in comparison to V2.8 (S383)

[1.7 APPLICATION FUNCT.] (Fun-) menu

New parameters and functions

• New parameter [REGEN CONNECTION] (AFE) page 232, used to connect an active front end

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Steps for setting up

INSTALLATION

v 1 Consult the Installation Manual

PROGRAMMING

Procedure applicable if the factory configuration, page 11, and use of the

[SIMPLY START] (SIM-) menu only are sufficient for the application.

b 2 Power up without run command

v If you are using a separate power

supply for the control section, follow the instructions on page 16.

b 3 Select the language, if the drive

has a graphic display terminal

b 4 Configure the [SIMPLY START]

(SIM-) menu

v 2-wire or 3-wire control v Macro configuration v Motor parameters

) Perform an auto-tuning

operation

v Motor thermal current v Acceleration and deceleration

ramps

v Speed variation range

Tips:

• Before you start programming, complete

the user setting tables, page 293

• Perform an auto-tuning operation to

optimize performance, page 43

• If you get lost, return to the factory

settings, page 269

Note: Check that the wiring of the drive is compatible with its configuration.

b 5 Start

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Factory configuration

Drive factory settings

The Altivar 71 is factory-set for the most common operating conditions:

• Macro configuration: Start/Stop

• Motor frequency: 50 Hz

• Constant torque application with asynchronous motor and sensorless flux vector control

• Normal stop mode on deceleration ramp

• Stop mode in the event of a fault: freewheel

• Linear, acceleration and deceleration ramps: 3 seconds

• Low speed: 0 Hz

• High speed: 50 Hz

• Motor thermal current = rated drive current

• Standstill injection braking current = 0.7 x rated drive current, for 0.5 seconds

• No automatic starts after a fault

• Switching frequency 2.5 kHz or 4 kHz depending on drive rating

• Logic inputs:

- LI1: forward, LI2: Forward (2 operating direction), 2-wire control on transition

- L13, L14, LI5, LI6: inactive (not assigned)

• Analog inputs:

- AI1: speed reference 0 +10 V

- AI2: 0-20 mA, inactive (not assigned)

• Relay R1: The contact opens in the event of a fault (or drive off).

• Relay R2: Inactive (not assigned)

• Analog output AO1: 0-20 mA, inactive (not assigned)

If the above values are compatible with the application, the drive can be used without changing the settings.

Option card factory settings

The option card inputs/outputs are not factory-set.

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Application functions

The tables on the following pages show the most common combinations of functions and applications, in order to guide your selection. The applications in these tables relate to the foll owing machines in particular:

• Hoisting: cranes, overhead cranes, gantries (vertical hoisting, translation, slewing), lifting platforms

• Elevators: elevators in retrofit up to 1.2 m/s

• Handling: palletizers/depalletizers, conveyors, roller tables

• Packing: carton packers, labeling machines

• Textiles: weaving looms, carding frames, washing machines, spinners, drawing frames

• Wood: automatic lathes, saws, milling

• High inertia: centrifuges, mixers, unbalanced machines (beam pumps, presses)

• Process

Each machine has its own special features, and the combinations listed here are neither mandatory nor exhaustive.

Some functions are designed specifically for a particular application. In this case, the application is identified by a tab in the margin on the relevant programming pages.

Motor control functions

Applications

Functions Page

V/f ratio Sensorless flux vector control Flux vector control with sensor 2-point vector control Open-loop synchronous motor Closed-loop synchronous motor Output frequency of up to 1600 Hz Motor overvoltage limiting DC bus connection (see User's Manual) Motor fluxing using a logic input Switching frequency of up to 16 kHz Auto-tuning

70 70 70 70 71 71 76 96

86 72 88

Hoisting

Lifts

Handling

Packing

Textiles

Wood

High inertia

Process

bbb bbbbbbbb bbbbbbbb bb

bbb

bb bb bb

bbb

bbbbbbbb

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Application functions

Functions on speed references

Functions Page

Applications

Differential bipolar reference 104 Reference delinearization (magnifying glass effect) 106 Frequency control input 140

- 150

Reference switching Reference summing 149 Reference subtraction 149 Reference multiplication 149 S ramps 152 Jog operation 160 Preset speeds 161 + speed/- speed using single action pushbuttons

(1 step) + speed/- speed using double action pushbuttons

(2 steps) +/- speed around a reference 166

Save reference 168 Inspection 227

141

164

Hoisting

Lifts

Handling

Packing

Textiles

Wood

High inertia

bbb bb

bb b b b b

bbb

bb b

bbbb b

Process

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Application functions

Application-specific functions

Functions Page

Applications

Fast stop 156 Limit switch management 169 Brake control 171 Load measurement 182 High-speed hoisting 184 Rope slack 187 PID regulator 189 Torque monitoring 198 Motor/generator torque limit 201 Load sharing 98 Line contactor control 205 Output contactor control 207 Positioning by limit switches or sensors 209 Stop at distance calculated after deceleration limit switch 211 ENA system (mechanical with unbalanced load) 93 Parameter switching 214 Motor or configuration switching 217 Traverse control 220 Stop configuration 156 Evacuation 229 Half floor 229 Rollback management 181

Hoisting

Lifts

Handling

Packing

Textiles

Wood

High inertia

Process

bb bbb bbb bb b b

b bb b bbbb

bb bb b

bb bb

b bbbbbbbb bbb

bbbb b b b

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Application functions

Safety functions/fault management

Functions Page

Applications

Power Removal (safety function, see User's Manual) Deferred stop on thermal alarm 244 Alarm handling 130 Fault management 235 to 258 IGBT tests 247 Catch a spinning load 239 Braking resistor thermal protection 256 Motor protection with PTC probes 235 Undervoltage management 246 4-20mA loss 248 Uncontrolled output cut (output phase loss) 242 Automatic restart 238 Use of the "Pulse input" input to measure the speed of

rotation of the motor Load variation detection 254

252

Hoisting

Lifts

Handling

Packing

Textiles

Wood

High inertia

Process

bbbbbbbb

bbbbbbbb bbbbbbbb bbbbbbbb

bbb bbbb bbbbbbbb

bbb bbbbbb

b bbb b

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Setup - Preliminary recommendations

DANGER

UNINTENDED EQUIPMENT OPERATION

• Before turning on and configuring the Altivar 71, check that the PWR (POWER REMOVAL) i nput is deact ivated (at state 0) in order to prevent unintended operation.

• Before turning on the drive, or when exiting the configuration menus, check that the inputs assigned to the run command are deactivated (at state 0) since they can cause the motor to start immediately.

Failure to follow these instructions will result in death or serious injury.

CAUTION

INCOMPATIBLE LINE VOLTAGE

Before turning on and configuring the drive, ensure that the li ne voltage is compatible with the sup ply voltage range shown on the drive nameplate. The drive may be damaged if the line voltage is not compatible.

Failure to follow this instruction can result in equipment damage.

CAUTION

• Avoid operating the contactor frequently (premature ageing of the filter capacitors).

• Cycle times < 60 s may result in damage to the pre-charge resistor.

Failure to follow this instruction can result in equipment damage.

DANGER

UNINTENDED EQUIPMENT OPERATION

• Check that changes made to the settings during operation do not present any danger.

• We recommend stopping the drive before making any changes.

Failure to follow these instructions will result in death or serious injury.

Turning on and configuring the drive

Separate control section power supply

When the drive control section is powered independently of the power section (P24 and 0V terminals), whenever an option card is added or replaced, only the power section must be supplied with power next time the drive is powered up. By default the new card would not be recogniz ed and it wo uld be impossi ble to confi gure it, th ereby causing the dri ve to lock in fau lt mode.

Power switching via line contactor

User adjustment and extension of functions

• The display unit and buttons can be used to modify the settings and to extend the functions described in the following pages.

• Return to factory settings is made easy by the [1.12 FACTORY SETTINGS] (FCS-) menu, see page 267

• There are three types of parameter:

- Display: Values displayed by the drive

- Adjustment: Can be changed during operation or when stopped

- Configuration: Can only be modified when stopped and no braking is taking place. Can be displayed during operation.

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Setup - Preliminary recommendations

CAUTION

• Motor thermal protection will not be provided by the drive if th e motor current is less t han 0.2 times the rate d drive current. Provide an alternative means of thermal protection.

Failure to follow this instruction can result in equipment damage.

CAUTION

• Motor thermal protection is no longer provided b y the drive. Provide an alternative means of thermal protection on every motor.

Failure to follow this instruction can result in equipment damage.

Starting

Important:

• In factory settings mode, the motor can only be supplied wit h power once the “forward”, “reverse” an d “DC injection st op” commands have been reset:

- On power-up or a manual fault reset or after a stop command

If they have not been reset, the drive will display "nSt" but will not start.

• If the automatic restart function has been configured ([Automatic restart] (Atr) parameter in the [1.8-FAULT MANAGEMENT] (FLt-) menu, see page 238

Test on a low power motor or without a motor

• In factory settings mode, [Output Phase Loss] (OPL) detection page 242 is active (OPL = YES). To check the drive in a test or maintenance environment without having to switch to a moto r with the same rating as the drive (part icularly useful in the case of high power drives), deactivate [Output Phase Loss] (OPL = no).

• Configure [Motor control type] (Ctt) = [V/F 2pts] (UF2) or [V/F 5pts] (UF5) ([1.4-MOTOR CONTROL] (drC-) menu, see page 70

), these commands are taken into account without a reset being necessary.

)

Using motors in parallel

• Configure [Motor control type] (Ctt) = [V/F 2pts] (UF2) or [V/F 5pts] (UF5) ([1.4-MOTOR CONTROL] (drC-) menu, see page 70)

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Graphic display terminal

1 Graphic display

2 Function keys

F1, F2, F3, F4, see page 19

3 STOP/RESET

button

4 RUN button

5 Navigation button:

• Press (ENT): - To save the current value

- To enter the selected menu or parameter

• Turn CW/ CCW:

- To increment or decrement a value

- To go to the next or previous line

- To increase or decrease the reference if control via the terminal is activated

7 ESC key: Aborts a value, a

parameter or a menu to return to the previous selection

6 Button for reversing the directi on

of rotation of the motor

HMI Modbus

Green LED: DC bus ON

Red LED: Fault

Although the graphic display terminal is optional for low-power drives, it is a standard component on high-power drives (see catalog). The graphic display terminal can be disconnected and connected remotely (on the door of an enclosure for example) using the cables and accessories available as options (see catalog).

Description of terminal

Note: Buttons 3, 4, 5 and 6 can be used to control the drive directly, if control via the terminal i s ac tivated.

Disconnected terminal

When the terminal is disconnected, 2 LEDs become visible:

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Graphic display terminal

F1 F2 F3 F4

RDY Term +0.00 Hz 0A

1 DRIVE MENU

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS / OUTPUTS CFG

Code << >> Quick

1 2

• Code F1

•HELP F1

• << F2

• >> F3

• Quick F4

Description of the graphic screen

1. Display line. Its content can be configured; the factory settings show:

• The drive state (see page 20

• The active control channel:

- Term: Terminals

- HMI: Graphic display terminal

- MDB: Integrated Modbus

- CAN: Integrated CANopen

- NET: Communication card

- APP: Controller Inside card

• Frequency reference

• Current in the motor

)

2. Menu line. Indicates the name of the current menu or submenu.

3. Menus, submenus, parameters, values, bar charts, etc., are displayed in drop-down window format on a maximum of 5 lines.

The line or value selected by the navigation button is displayed in reverse video.

4. Section displaying the functions assigned to the F1 to F4 keys and aligned with them, for example :

The function keys are dynamic and contextual. Other functions (application functions) can be assigned to these keys via the [1.6 COMMAND] menu. If a preset speed is assigned to a function key and i f the f unction he y is pres sed, the mo tor will run at this preset speed u ntil anothe r preset speed or JOG is pressed, speed reference is changed, or Stop key is pressed.

5. Indicates that there are no more levels below this display window. Indicates that there are more levels below this display window.

6. Indicates that this display window does not scroll further up. Indicates that there are more levels above this display window.

: Displays the code of the selected parameter, i.e., the code corresponding to the 7-segment display.

: Contextual help

: Navigate horizontally to the left, or go to previous menu/submenu or, for a val ue, go to the ne xt di git up, di spl ayed

in reverse video (see the example on page 21

: Navigate horizontally to the right or go to next menu/submenu (going to the [2 ACCESS LEVEL] menu in this

example) or, for a value, go to the next digit down, displayed in reverse video (see the example on page 21

: Quick navigation, see page 25.

AAV49426 12/2009 19

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Graphic display terminal

Drive state codes:

- ACC: Acceleration

- CLI: Current limit

- CTL: Controlled stop on input phase loss

- DCB: DC injection braking in progress

-DEC: Deceleration

- FLU: Motor fluxing in progress

-FST: Fast stop

- NLP: No line power (no line supply on L1, L2, L3)

- NST: Freewheel stop

- OBR: Auto-adapted deceleration

- PRA: Power Removal function active (drive locked)

- RDY: Drive ready

- RUN: Drive running

- SOC: Controlled output cut in progress

- TUN: Auto-tuning in progress

- USA: Undervoltage alarm

- ASA: Measurement of the phase-shift angle in progress

- ICC: Configuration encoder incorrect

20 AAV49426 12/2009

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Graphic display terminal

RDY Term +0.00Hz 0A

5 LANGUAGE

English

Français Deutsch Español Italiano

<< >> Quick

Chinese Turkish

Russian

PARAMETER SELECTION

1.3 SETTINGS Ramp increment Acceleration Deceleration Acceleration 2 Deceleration 2

Edit

RDY Term +0.00Hz 0A

Acceleration

9.51 s

Min = 0.01 Max = 99.99

<< >> Quick

RDY Term +0.00Hz 0A

Acceleration

951 s

Min = 0.01 Max = 99.99

<< >> Quick

Example configuration windows:

When only one selection is possible, the selection made is indicated by Example: Only one language can be chosen.

When multiple selection is possible, the selections made are indi cated by Example: A number of parameters can be chosen to form the [USER MENU].

Example configuration window for one value:

The << and >> arrows (keys F2 and F3) are used to select the digit to be modified, and the navigation button is rotated to increase or decrease this number.

AAV49426 12/2009 21

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Graphic display terminal

ATV31HU22N4383

2.2kW/3HP 380/480V Config. n°1

5 LANGUAGE

English

Français Deutsch Español Italiano

Chinese

RDY Term +0.00Hz 0.0A

2 ACCESS LEVEL

Basic

Standard Advanced Expert

RDY Term +0.00Hz 0.0A

1 DRIVE MENU

1.1 SIMPLY START

1.2. MONITORING

1.3. SETTINGS

1.4. MOTOR CONTROL

1.5. INPUTS / OUTPUTS CFG

Code << >> Quick

RDY Term +0.00Hz 0.0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick

First power-up - [5. LANGUAGE] menu

The first time the drive is powered up, the user will automatically be guided through the menus as far as [1. DRIVE MENU].

The parameters in the [1.1 SIMPLY START] submenu must be configured and auto-tuning performed before the motor is started up.

Display for 3 seconds following power-up

3 seconds

Automatically switches to [5 LANGUAGE] menu 3 seconds later. Select the language and press ENT.

ESC

Switches to [2 ACCESS LEVEL] menu (see page 31

)

Select the access level and press ENT.

Switches to [1 DRIVE MENU] (see page 27

)

Press ESC to return to [MAIN MENU]

22 AAV49426 12/2009

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Graphic display terminal

3 seconds later, switches to [1. DRIVE MENU] or to [1.14 PROGRAMMABLE CARD].

If no operator inputs are made, switches to "Display" automatically 10 seconds later (the display will vary depending on the selected configuration).

Users can return to [MAIN MENU] by pressing ENT or ESC.

3 seconds

10 seconds

ESC or ESC

ATV71HU22N4383

2.2kW/3HP 380/480V Config. n°1

RDY Term +38Hz 0A

1. DRIVE MENU

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS / OUTPUTS CFG Code << >> Quick

RDY Term +38Hz 0A

Frequency ref.

Min=0 Max=60

Quick

RDY Term +38Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick

38 Hz

RDY Term +0.00Hz 0A

1.14 PROGRAMMABLE CARD

Modbus add Prg C. :17

DATE/TIME SETTINGS

<< >> Quick

RDY Term +0.00Hz 0A

1.3 SETTINGS Ramp increment: 01

Acceleration 9.51 s

Deceleration: 9.67 s Acceleration 2: 12.58 s Deceleration 2: 13.45 s

Code << >> Quick

Menu selected in [Power up menu] page 284

ENT

or, if the Controller Inside card is present

Subsequent power ups

AAV49426 12/2009 23

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Graphic display terminal

RDY Term +0.00Hz 0A

1 DRIVE MENU

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS / OUTPUTS CFG Code << >> Quick

ENT

ESC

RDY Term +0.00Hz 0A

1.3 SETTINGS Ramp increment: 01

Acceleration 9.51 s

Deceleration: 9.67 s Acceleration 2: 12.58 s Deceleration 2: 13.45 s

Code << >> Quick

ENT

ENT or

ESC

RDY Term +0.00Hz 0A

Acceleration

9.51 s

Min = 0.01 Max = 99.99

<< >> Quick

Programming: Example of accessing a parameter

Accessing the acceleration ramp

Note:

• To select a parameter:

- Turn the navigation button to scroll vertically.

• To modify a parameter:

- Use the << and >> keys (F2 and F3) to scroll horizontally and select the digit to be modified (the selected di git chan ges to white on a black background).

- Turn the navigation button to modify the digit.

• To cancel the modification:

-Press ESC.

• To save the modification:

- Press the navigation button (ENT).

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Graphic display terminal

RDY Term +0.00Hz 0A

1.4 MOTOR CONTROL Standard mot. freq: 5 0Hz IEC Rated motor power: 0.37 kW (0.5 HP) Rated motor volt.: 206 V Rated mot. current: 1.0 A Rated motor freq.: 50.0 Hz

Code << >> Quick

ENT

RDY Term +0.00Hz 0A

QUICK NAVIGATION

RETURN TO MAIN MENU

DIRECT ACCESS TO... 10 LAST MODIFICATIONS GOTO MULTIPOINT SCREEN

Code

See page 285

RDY Term +0.00Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick

RDY Term +0.00Hz 0A

DIRECT ACCESS TO...

1.3

SETTINGS

<< >>

ENT

RDY Term +0.00Hz 0A

1.3 SETTINGS Ramp increment: 01

Acceleration 9.51 s

Deceleration: 9.67 s Acceleration 2: 12.58 s Deceleration 2: 13.45 s

Code << >> Quick

RDY Term +0.00Hz 0A

10 LAST MODIFICATIONS Acceleration: 10 s ENA prop.gain: 1.2 Rated mot. current: 15 A Preset speed 4: 20 Hz Preset speed 5: 30 Hz

Code

ESC

ENT

RDY Term +0.00Hz 0A

Rated mot. current

15.0 A

<< >>

Quick navigation

If the "Quick" function is displayed above the F4 key, you can gain quick access to a parameter from any screen.

Example:

Press F4 to access the Quick screen, which contains 4 selection options.

• [HOME]: Return to [MAIN MENU].

• [DIRECT ACCESS TO...]: Opens the direct access window, which will contain the text "1". The function keys << and >> (F2 and F3) can be used to select each of the numbers and the navigation button to increment or decrement the numbers: 1.3 in the example below.

• [10 LAST MODIFICATIONS]: Opens a window in which the l ast 10 parameters modified can be accessed directly.

AAV49426 12/2009 25

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Graphic display terminal

RDY Term +0.00Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick 6 MONITORING CONFIG. 7 DISPLAY CONFIG.

RDY Term +0.00Hz 0A

1 DRIVE MENU

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS / OUTPUTS CFG

Code << >> Quick

1.6 COMMAND

1.7 APPLICATION FUNCT.

1.8 FAULT MANAGEMENT

1.9 COMMUNICATION

1.10 DIAGNOSTICS

1.11 IDENTIFICATION

1.12 FACTORY SETTINGS

1.13 USER MENU

1.14 PROGRAMMABLE CARD

[MAIN MENU] - Menu mapping

Content of [MAIN MENU] menus

[1 DRIVE MENU] See next page [2 ACCESS LEVEL] Defines which menus can be accessed (level of complexity) [3 OPEN / SAVE AS] Can be used to save and recover drive configuration files [4 PASSWORD] Provides password protection for the configuration [5 LANGUAGE] Language selection [6 MONITORING CONFIG.] Customization of information displayed on the graphic display terminal during operation [7 DISPLAY CONFIG.] • Customization of parameters

• Creation of a customized user menu

• Customization of the visibility and protection mechanisms for menus and parameters

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Graphic display terminal

[1 DRIVE MENU]

RDY Term +0.00Hz 0A

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS / OUTPUTS CFG

1.6 COMMAND

1.7 APPLICATION FUNCT.

1.8 FAULT MANAGEMENT

1.9 COMMUNICATION

1.10 DIAGNOSTICS

1.11 IDENTIFICATION

1.12 FACTORY SETTINGS

1.13 USER MENU

1.14 PROGRAMMABLE CARD

1 DRIVE MENU

Code << >> Quick

Content of [1. DRIVE MENU] menus:

[1.1 SIMPLY START]: Simplified menu for a quick start [1.2 MONITORING]: Visualization of current, motor and input/output values [1.3 SETTINGS]: Accesses the adjustment parameters, which can be modified during operation [1.4 MOTOR CONTROL]: Moto r parameters (motor nameplate, auto-tuning, switching frequency, control algorithms, etc.) [1.5 INPUTS / OUTPUTS CFG]: I/O configuration (scaling, filtering, 2-wire control, 3-wire control, etc.) [1.6 COMMAND]: Configuration of command and reference channels (graphic displ ay t erminal , t erminals , bu s, e tc.) [1.7 APPLICATION FUNCT.]: Configuration of application functions (e.g., preset speeds, PID, brake logic con trol, etc.) [1.8 FAULT MANAGEMENT]: Configuration of fault management [1.9 COMMUNICATION]: Communication parameters (fieldbus) [1.10 DIAGNOSTICS]: Motor/drive diagnostics [1.11 IDENTIFICATION]: Identifies the drive and the internal options [1.12 FACTORY SETTINGS]: Access to configuration files and return to factory settings [1.13 USER MENU]: Specific menu set up by t he user in the [7. DISPLAY CONFIG.] menu [1.14 PROGRAMMABLE CARD]: Configuration of optional Controller Inside card

AAV49426 12/2009 27

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Integrated display terminal

• Four 7-segment displays

• Enters a menu or parameter, or saves the displayed parameter or value

• Returns to the previous menu or parameter, or increases the displayed value

• Exits a menu or parameter, or aborts the displayed value to return to the previous value in the memory

• Goes to the next menu or parameter, or decreases the displayed value

• 2 CANopen status LEDs

• 2 Modbus status LEDs

Note:

Low-power Altivar 71 drives (see catalog) feature an integrated display terminal with a 7-segment 4-digit display. The graphic display terminal described on the previous pages can also be connected to these drives as an option.

Functions of the display and the keys

• Pressing or does not store the selection.

• Press and hold down (>2 s) or to scroll through the data quickly.

Save and store the selection: ENT

The display flashes when a value is stored.

Normal display, with no fault present and no startup:

- 43.0: Display of the parameter selected in the SUP menu (default selection: motor frequency)

- CLI: Current limit

- CtL: Controlled st op on in pu t phase loss

- dCb: DC injection braking in progress

- FLU: Motor fluxing in progress

- FSt: Fast stop.

- nLP: No line power (no line supply on L1, L2, L3)

- nSt: Freewheel stop

- Obr: Auto-adapted deceleration

- PrA: Power Removal function active (drive locked)

- rdY = Drive ready

- SOC: Controlled output cut in progress

- tUn: Auto-tuning in progress

- USA: Undervoltage alarm

- ASA: Measurement of the phase-shift angle in progress

The display flashes to indicate the presence of a fault.

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Integrated display terminal

XXX

CtL-

FUn-

SIM-

I-O-

SEt-

SUP-

ESC

ENT

ESC

ENT

ESC

ENT

ESC

ENT

ESC

ENT

ESC

ENT

ESC

ENT

ESC

FCS-

LAC-

CON-

FLt-

ESC

ENT

ESC

ENT

ESC

ENT

ESC

ENT

ESC

ENT

ESC

SPL-

ESC

ENT

ESC

drC-

COd-

USr-

ESC

ENT

ESC

Displays the state of the drive

SETTINGS

APPLICATION FUNCT.

INPUTS / OUTPUTS CFG

FAULT MANAGEMENT

SIMPLY START

Menus

MONITORING

MOTOR CONTROL

COMMAND

Power-up

FACTORY SETTINGS

PASSWORD

ACCESS LEVEL

COMMUNICATION

(page 54) Adjustment parameters, can be modified during operation

(page 144

)Configuration of application functions (e.g., preset

speeds, PID, brake logic control, etc.)

(page 101

) I/O configuration (scaling, filtering, 2-wire control,

3-wire control, etc.)

(page 234

) Configuration of fault management

(page 37

) Simplified menu for fast startup

(page 45

) Visualization of current, motor and i nput/output values

(page 71

) Motor parameters (motor nameplate, auto-tuning,

switching frequency, control algorithms, etc.)

(page 131

) Configuration of command and reference channels

(graphic display terminal, terminals, bus, etc.)

(page 267

) Access to configuration files and return to factory

settings

(page 274

)

(page 31

)

(page 259

) Communication parameters (fieldbus)

(page 270

) Specific menu, set up by the user using the graphic

display terminal.

USER MENU

PROGRAMMABLE CARD

(page 271

) Menu for the Controller Inside card, if present.

Accessing menus

A dash appears after menu and submenu codes to differentiate them from parameter codes.

Examples: FUn- menu, ACC parameter.

AAV49426 12/2009 29

The grayed-out menus may not be accessible depending on the control access (LAC) configuration.

Page 30

Integrated display terminal

ENT

ACC 15.0

ENT

ESC

ENT

ESC

26.0 26.0

ESC

dEC

ENT

SEt-

Value or assignment

1 flash (save)

Parameter

(Next parameter)

ENT

ESC

last

ENT

ESC

I-O-

Alarm not selected

Alarm selected

Accessing menu parameters

Save and store the displayed selection :

The display flashes when a value is stored.

All the menus are "drop-down" type menus, which means that after the last pa rameter, if you continue to press , you will return to the first parameter and, conver sely, you can switch from the first parameter to the last parameter by pressing .

Selection of multiple assignments for one parameter

Example: List of group 1 alarms in [INPUTS / OUTPUTS CFG]

(I-O-) menu

A number of alarms can be selected by "checking" them as follows.

The digit on the right indicates: selected

not selected.

The same principle is used for all multiple select ions.

30 AAV49426 12/2009

Page 31

[2. ACCESS LEVEL] (LAC-)

RDY Term +0.00Hz 0A

2 ACCESS LEVEL

Basic

Standard Advanced Expert

<< >> Quick

RDY Term +0.00Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code << >> Quick

RDY Term +0.00Hz 0A

1. DRIVE MENU

1.1 SIMPLY START

1.2. MONITORING

1.3. SETTINGS

1.11. IDENTIFICATION

1.12. FACTORY SETTINGS

Code << >> Quick

1.13 USER MENU

RDY Term +0.00Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick

6 MONITORING CONFIG.

RDY Term +0.00Hz 0A

1 DRIVE MENU

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS / OUTPUTS CFG

Code << >> Quick

1.6 COMMAND

1.7 APPLICATION FUNCT.

1.8 FAULT MANAGEMENT

1.9 COMMUNICATION

1.10 DIAGNOSTICS

1.11 IDENTIFICATION

1.12 FACTORY SETTINGS

1.13 USER MENU

1.14 PROGRAMMABLE CARD

RDY Term +0.00Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick 6 MONITORING CONFIG. 7 DISPLAY CONFIG.

RDY Term +0.00Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick 6 MONITORING CONFIG. 7 DISPLAY CONFIG.

With graphic display terminal

Basic Access to 5 menus only, and access to 6 submenus only in the [1. DRIVE MENU] menu. A single function can be assigned to each input.

Standard This is the factory-set level. Access to 6 menus only, and access to all submenus in the [1. DRIVE MENU] menu. A single function can be assigned to each input.

AAV49426 12/2009 31

Advanced Access to all menus and submenus. Several functions can be assigned to each input.

Expert Access to all menus and submenus as for [Advanced] level, and access to additional parameters. Several functions can be assigned to each input.

Page 32

[2. ACCESS LEVEL] (LAC-)

XXX

SIM-

ESC

ENT

LAC-

ESC

ENT

ESC

COd-

Displays the state of the drive

ACCESS LEVEL

Power-up

With integrated display terminal:

Code Name/Description Factory setting

LAC-

bAS

• bAS: Limited access to SIM, SUP, SEt, FCS, USr, COd and LAC menus. Only one function can be assigned to

Std

each input.

Std Adu Epr

• Std: Access to all menus on the integrated display terminal. Only one function can be assigned to each input.

• AdU: Access to all menus on the integrated display terminal. Several functions can be assigned to each input.

• EPr: Access to all menus on the integrated display te rminal and access to additional p arameters. Several functions can be assigned to each input.

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[2. ACCESS LEVEL] (LAC-)

Comparison of the menus that can be accessed on the graphic display terminal/ integrated display terminal

Graphic display terminal Integrated display terminal Access level

[2 ACCESS LEVEL] LAC- (Access level) [3 OPEN/SAVE AS] [4 PASSWORD] COd- (Password) [5 LANGUAGE] [1 DRIVE MENU] [1.1 SIMPLY START] SIM- (Simply start)

[1.2 MONITORING] SUP- (Monitoring) [1.3 SETTINGS] SEt- (Settings) [1.11 IDENTIFICATION] [1.12 FACTORY SETTINGS] FCS- (Factory settings) [1.13 USER MENU] USr- (User menu)

A single function can be assigned to each input. A single function can be assigned to

each input.

[1.4 MOTOR CONTROL] drC- (Motor control) [1.5 INPUTS / OUTPUTS CFG] I-O- (I/O configuration) [1.6 COMMAND] CtL- (Command) [1.7 APPLICATION FUNCT.] FUn- (Application functions) [1.8 FAULT MANAGEMENT] FLt- (Fault management) [1.9 COMMUNICATION] COM- (Communication) [1.10 DIAGNOSTICS] [1.14 PROGRAMMABLE CARD] (1) PLC- (Controller Inside card) (1)

[6 MONITORING CONFIG.] -

A single function can be assigned to each input. A single function can be assigned to

each input.

[7 DISPLAY CONFIG.] -

Several functions can be assigned to each input. Several functions can be assigned

to each input.

Expert parameters Expert parameters

Several functions can be assigned to each input. Several functions can be assigned

to each input.

Basic bAS

Advanced AdU

Standard Std(factory setting)

Expert EPr

(1)Can be accessed if the Controller Inside card is present.

AAV49426 12/2009 33

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Structure of parameter tables

1. Name of menu on 4-digit 7-segment display.

2. Submenu code on 4-digit 7-segment display.

3. Parameter code on 4-digit 7-segment display.

4. Parameter value on 4-digit 7-segment display.

5. Name of menu on graphic display terminal.

6. Name of submenu on graphic display terminal.

7. Name of parameter on graphic display terminal.

8. Value of parameter on graphic display terminal.

The parameter tables in the descriptio ns of the various menus can be used wit h both the graphi c display terminal an d the integrated display terminal. They, therefore, contain information for these two terminals in accordance with the description below.

Example:

[1.7 APPLICATION FUNCT.] (FUn-)

Code Name/Description Adju s t ment rang e Factory setting

UPd-

USP

LI1

Note:

• The text in square brackets [ ] indicates what you will see on the graphic display terminal.

• The factory settings correspond to [Macro configuration] (CFG) = [Start/Stop] (StS). This is the macro configuration set at the factory.

b [+/- SPEED]

Function can be accessed for reference channel [Ref.2 channel] (Fr2) = [+/- speed] (UPdt) , see page 141

M [+ speed assignment]

v [No] (nO): function inactive v [LI1] (LI1)

[No] (nO)

34 AAV49426 12/2009

Page 35

Interdependence of parameter values

The configuration of certain parameters modifies the a dju stment ra nge of ot her p aramet ers, in order to redu ce t he risk of error s. This may result in the modification of a factory setting or a value you have already selected.

Example:

1. [Current Limitation] (CLI) page 62 set to 1.6 In or left at its factory setting, 1.5 In

2. [Switching freq.] (SFr) page 62

3. If [Switching freq.] (SFr) is increased to 4 kHz, [Current limitation] (CLI) is no longer restricted, but remains at 1.36 In. If you require

1.6 In, you must reset [Current Limitation] (CLI).

set to 1 kHz (and confirmed with "ENT") restricts [Current Limitation] (CLI) to 1.36 In

AAV49426 12/2009 35

Page 36

Finding a parameter in this document

RDY Term +0.00Hz 0A

1.3 SETTINGS Ramp increment: 01

Acceleration 9.51 s

Deceleration: 9.67 s Acceleration 2: 12.58 s Deceleration 2: 13.45 s

Code << >> Quick

Code

RDY Term +0.00Hz 0A

1.3 SETTINGS Ramp increment: 01

ACC 9.51 s

Deceleration: 9.67 s Acceleration 2: 12.58 s Deceleration 2: 13.45 s

Code << >> Quick

The following assistance with finding explanations on a parameter is provided:

• With the integrated display terminal: Direct use of the parameter code index, page 297

, to find the page giving details of the

displayed parameter.

• With the graphic display terminal: Select the required p arameter and press : [Code]. The parameter code is displayed instead of its name while the key is held down.

Example: ACC

Then use the parameter code index, page 297

, to find the page giving details of the displayed parameter.

36 AAV49426 12/2009

Page 37

[1.1 SIMPLY START] (SIM-)

RDY Term +0.00Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick

ENT

RDY Term +0.00Hz 0A

1 DRIVE MENU

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS / OUTPUTS CFG

Code << >> Quick

ENT

RUN Term +50.00Hz 80A

1.1 SIMPLY START

2/3 wire control

Macro configuration Customized macro Standard mot. freq Input phase loss

Code << >> Quick

XXX

SIM-

SUP-

ESC

ENT

ESC

LAC-

Displays the state of the drive

SIMPLY START

Power-up

With graphic display terminal:

With integrated display terminal:

The [1.1-SIMPLY START] (SIM-) menu can be used for fast startup, which is sufficient for the majority of applications.

The parameters in this menu can only be modified when the d rive is stopped a nd no run command is present, with the f ollowing exceptions:

• Auto-tuning, which causes the motor to start up

• The adjustment parameters on page 44

Note: The parameters of the [1.1 SIMPLY START] (SIM-) menu must be entered in the order in which they appear, as the later ones are dependent on the first ones. For example [2/3 wire control] (tCC) must be configured before any other parameters.

The [1.1 SIMPLY START] (SIM-) menu should be configured on its own or before the other drive configuration menus. If a modification has previously been made to any of them, in particular in [1.4 MOTOR CONTROL] (drC-), some [1.1 SIMPLY START] (SIM-) parameters may be changed, for example, the motor parameters, if a synchronous motor has been selected. Returning to the [1.1 SIMPLY START]

(SIM-) menu after modifying another drive configuration menu is unneces sary but does not pose any risk. Changes fol lowing modificat ion

of another configuration menu are not described, to avoid unnecessary complication in this section.

Macro configuration

Macro configuration provides a means of speeding up the configuration of functions for a specific field of application. 8 macro configurations are available:

• Start/stop (factory configuration)

• Handling

• General use

•Hoisting

•Lifts

• PID regulator

• Communication bus

•Master/slave

Selecting a macro configuration assigns the parameters in this macro configuration.

Each macro configuration can still be modified in the other menus.

AAV49426 12/2009 37

Page 38

[1.1 SIMPLY START] (SIM-)

Macro configuration parameters

Assignment of the inputs/outputs

Input/ output

AI1 [Ref.1

AI2 [No] [Summing ref. 2][Summing ref. 2][No]

AO1 [No] [No] [No] [No] R1 [No drive flt] [No drive flt] [No drive flt] [No drive flt] R2 [No] [No] [No] [Brk control] LI1 (2-wire) [Forward] [Forward] [Forward] [Forward] LI2 (2-wire) [Reverse] [Reverse] [Reverse] [Reverse] LI3 (2-wire) [No] [2 preset

LI4 (2-wire) [No] [4 preset

LI5 (2-wire) [No] [8 preset

LI6 (2-wire) [No] [Fault reset] [No] [No] LI1 (3-wire) Stop Stop Stop Stop LI2 (3-wire) [Forward] [Forward] [Forward] [Forward] LI3 (3-wire) [Reverse] [Reverse] [Reverse] [Reverse] LI4 (3-wire) [No] [2 preset

LI5 (3-wire) [No] [4 preset

LI6 (3-wire) [No] [8 preset

LI7 to LI14 [No] [No] [No] [No] LO1 to LO4 [No] [No] [No] [No] R3/R4 [No] [No] [No] [No] AI3, AI4 [No] [No] [No] [No] RP [No] [No] [No] [No] AO2 [I motor] [I motor] [I motor] [I motor] AO3 [No] [Sign. torque] [No] [Sign. torque]

F1 key [No] [No] [No] [No]

F2, F3, F4 keys

[Start/Stop] [M. handling] [Gen. Use] [Hoisting]

[Ref.1

channel]

[No] [No] [No] [No]

channel]

speeds]

[Ref.1 channel]

[Jog] [Fault reset]

[Fault reset] [External fault]

[Torque limitation]

[Jog] [Fault reset]

[Fault reset] [External fault]

[Torque limitation]

[Ref.1 channel]

[No]

Option cards

Graphic display terminal keys

[Lift]

[Ref.1 channel]

[No]

[No] [No drive flt] [Brk control] [Forward] [Reverse] [2 preset

speeds] [4 preset

speeds] [Fault reset]

[No] Stop [Forward] [Reverse] [2 preset

speeds] [4 preset

speeds] [Fault reset]

[No] [No] [No] [No] [No] [I motor] [Sign. torque]

[No]

[PID regul.] [Network C.] [Mast./slave]

[Ref.1 channel] (PID reference)

[PID feedback] [No] [Torque

[No] [No] [No] [No drive flt] [No drive flt] [No drive flt] [No] [No] [No] [Forward] [Forward] [Forward] [Reverse] [Reverse] [Reverse] [PID integral

reset] [2 preset PID

ref.] [4 preset PID

ref.] [No] [No] [No]

Stop Stop Stop [Forward] [Forward] [Forward] [Reverse] [Reverse] [Reverse] [PID integral

reset] [2 preset PID

ref.] [4 preset PID

ref.]

[No] [No] [No] [No] [No] [No] [No] [No] [No] [No] [No] [No] [No] [No] [No] [I motor] [I motor] [I motor] [PID Output] [No] [Motor freq.]

[No] Control

[No] [No] [No]

[Ref.2 channel] ([Ref.1 channel] = integrated Modbus) (1)

[Ref. 2 switching]

[Fault reset] [Fault reset]

[No] [No]

[Ref. 2 switching]

[Fault reset] [Fault reset]

[No] [No]

via graphic display terminal

[Ref.1 channel]

reference]

[Trq/spd switching]

[No]

In 3-wire control, the assignment of inputs LI1 to LI6 shifts.

(1) To start up with integrated Modbus, [Modbus Address] (Add) must first be configured, page 261.

Note: These assignments are reinitialized every time the macro configuration changes.

38 AAV49426 12/2009

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[1.1 SIMPLY START] (SIM-)

Macro configuration parameters

Other configurations and settings

In addition to the assignment of I/O, other parameters are assigned only in the Hoisting, Lift and Mast./slave macro configurations.

Hoisting and lift:

• [Movement type] (bSt) = [Hoisting] (UEr) page 175

• [Brake contact] (bCI) = [No] (nO) page 175

• [Brake impulse] (bIP) = [No] (nO) page 175

• [Brake release I FW] (Ibr) = [Rated mot. current] (nCr) page 175

• [Brake Release time] (brt) = 0.5 s page 176

• [Brake release freq] (bIr) = [Auto] (AUtO) page 176

• [Brake engage freq] (bEn) = [Auto] (AUto) page 176

• [Brake engage time] (bEt) = 0.5 s page 176

• [Engage at reversal] (bEd) = [No] (nO) page 177

• [Jump at reversal] (JdC) = [Auto] (AUtO) page 177

• [Time to restart] (ttr) = 0 s page177

• [Current ramp time] (brr) = 0 s page 179

• [Low speed] (LSP) = Rated motor slip calculated by the drive, page 44

• [Output Phase Loss] (OPL) page 242 = [Yes] (YES), but it is forced to [No] (nO) if [Motor control type] (Ctt) page 70 = [Sync. mot.]

(SYn). No further modifications can be made to this parameter.

• [Catch on the fly] (FLr) = [No] (nO) page 239

Lift:

• [Feed forward] (FFP) = 0 % page 91

. No further modifications can be made to this parameter.

Mast./slave:

• [Motor control type] (Ctt) = [SVC I] (CUC) page 70

Note: These assignments are forced every time the macro configuration changes, except for [Motor control type] (Ctt) for the Mast./slave macro configuration, if it is configured in [FVC] (FUC).

Return to factory settings:

Returning to factory settings with [Config. Source] (FCSI) = [Macro-Conf] (InI) page 269 configuration. The [Macro configuration] (CFG) parameter does not change, although [Customized macro] (CCFG) disappears.

Note:

• The factory settings that appear in the parameter tables correspond to [Macro con figuration] (CFG) = [Start/Stop] (StS). This is the macro configuration set at the factory.

will return the drive to the selected macro

AAV49426 12/2009 39

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[1.1 SIMPLY START] (SIM-)

UWV

L1 L3

ATV71H

KM10

R2A

R2C

(1)

AI1

LI1 LI2+24

Electromagnetic brake

Forward

(Ascend)

Reverse (Descend)

UWV

L1 L3

AI1

COMA01

LI1 LI2+24

COM AI2 UWV

LI1 +24

AI1

LI2

LI3 L1 L3L2

ATV 71Hpppp

Slave drive

ATV 71H

pppp

Master drive

TorqueSpeed

ReverseForward

Reverse

Forward

Example diagrams for use with the macro configurations

[Hoisting] (HSt) diagram

(1) A contact on the Preventa module must be inserted in the brake control circuit to engage it safely when the "Power Removal" safety

function is activated (see connection diagrams in the Installation Manual).

[Mast./slave] (MSL) diagram

When the two motors are mechanically connected, the Speed/torque contact closing results in operation in Mast./slave mode. The master drive regulates the speed and controls the slave drive in torque mode to ensure distribution of the load.

40 AAV49426 12/2009

Page 41

[1.1 SIMPLY START] (SIM-)

+24 LI1 LIx

ATV 71

+24 LI1 LI2 LIx

ATV 71

WARNING

UNINTENDED EQUIPMENT OPERATION

To change the assignment of [2/3 wire control] (tCC) press and hold down the “ENT” key for 2 s. The following function will be returned to factory settings: [2 wire type] (tCt) page 102

as will all functions which assign logic inputs. The macro configuration selected will also be reset it if h as been customized (loss of custom settings).

Check that this change is compatible with the wiring diagram used.

Failure to follow these instructions can result in death or serious injury.

WARNING

UNINTENDED EQUIPMENT OPERATION

To change the assignment of [Macro configuration ] (CFG) press and hold down the “ENT” key for 2 s. Check that the selected macro configuration is compatible with the wiring diagram used.

Failure to follow these instructions can result in death or serious injury.

Code Name/Description Adjustment range Factory setting

tCC

M [2/3 wire control]

2C 3C

v [2 wire] (2C) v [3 wire] (3C)

2-wire control: This is the input state (0 or 1) or edge (0 to 1 or 1 to 0), which controls running or stopping.

Example of "source" wiring:

3-wire control (pulse commands): A "forward" or "reverse" pulse is sufficient to command starting, a "stop" pulse is sufficient to command stopping.

Example of "source" wiring:

[2 wire] (2C)

LI1: forward LIx: reverse

LI1: stop LI2: forward LIx: reverse

AAV49426 12/2009 41

CFG

StS HdG HSt GEn PId nEt MSL

LIFt

CCFG

YES

M [Macro configuration]

v [Start/Stop] (StS): Start/stop v [M. handling] (HdG): Handling v [Hoisting] (HSt): Hoisting v [Gen. Use] (GEn): General use v [PID regul.] (PId): PID regulation v [Network C.] (nEt): Communication bus v [Mast./slave] (MSL): Master/slave v [Lift] (LIFt): Lifts

M [Customized macro]

Read-only parameter, only visible if at least one macro configuration parameter has been modified.

v [Yes] (YES)

[Start/Stop] (StS)

Page 42

[1.1 SIMPLY START] (SIM-)

100 - slip as a %

100

50 - slip in Hz

60 - slip in Hz

Code Name/Description Adjustment range Factory setting

bFr

IPL

nPr

UnS

nCr

FrS

nSP

50 60

YES

M [Standard mot. freq]

v [50Hz IEC] (50): IEC v [60Hz NEMA] (60): NEMA

This parameter modifies the presets of the following parameters:[Rated mo tor volt.] (UnS) below, [High speed]

(HSP) page 44

, [Freq. threshold] (Ftd) page 68, [Rated motor freq.] (FrS ) and [Max frequency] (tFr) .

M [Input phase loss]

v [Ignore] (nO): Fault ignored, to be used when the drive is supplied via a sin gle-phase supply or by the

DC bus.

v [Freewheel] (YES): Fault, with freewheel stop.

If one phase disappears, the drive switches to fault mode [Input phase loss] (IPL), but if 2 or 3 phases disappear, the drive continues to operate until it trips on an undervoltage fault.

This parameter is only accessible in this menu on ATV71H037M3 to HU75M3 drives (used with a single phase supply).

M [Rated motor power]

Rated motor power given on the nameplate, in kW if [Standard mot. freq] (bFr) = [50Hz IEC] (50), in HP if

[Standard mot. freq] (bFr) = [60Hz NEMA] (60).

M [Rated motor volt.]

Rated motor voltage given on the nameplate. ATV71

pppM3: 100 to 240 V

ATV71

pppN4: 200 to 480 V

M [Rated mot. current]

Rated motor current given on the nameplate.

M [Rated motor freq.]

Rated motor frequency given on the nameplate. The factory setting is 50 Hz, or preset to 60 Hz if [Standard mot. freq] (bFr) is set to 60 Hz.

M [Rated motor speed]

Rated motor speed given on the nameplate. 0 to 9999 rpm then 10.00 to 60.00 krpm on the integrated display terminal. If, rather than the rated speed, the nameplate indicates the synchronous speed and the slip in Hz or as a %, calculate the rated speed as follows:

[50Hz IEC] (50)

According to drive rating

0.25 to 1.5 In (1) According to drive

10 to 500 Hz 50 Hz

0 to 60000 RPM According to drive

According to drive rating

According to drive rating and [Standard

mot. freq] (bFr)

rating and [Standard

mot. freq] (bFr)

rating

• Nominal speed = Synchronous speed x or

• Nominal speed = Synchronous speed x (50 Hz motors) or

• Nominal speed = Synchronous speed x (60 Hz motors)

tFr

(1)In corresponds to the rated drive current indicated in the Installation Manual and on the drive nameplate.

42 AAV49426 12/2009

M [Max frequency]

The factory setting is 60 Hz, or preset to 72 Hz if [Standard mot. freq] (bFr) is set to 60 Hz. The maximum value is limited by the following conditions:

• It must not exceed 10 times the value of [Rated motor freq.] (FrS)

• It must not exceed 500 Hz if the drive rating is higher than ATV71HD37 (values between 500 Hz and 1600Hz are only possible for powers limite d to 37 kW (50 HP).

10 to 1600 Hz 60 Hz

Page 43

[1.1 SIMPLY START] (SIM-)

Code Name/Description Factory setting

tUn

dOnE

tUS

PEnd PrOG FAIL dOnE

PHr

YES

tAb

AbC ACb

M [Auto tuning]

[No] (nO)

v [No] (nO): Auto-tuning not performed. v [Yes] (YES): Auto-tuning is performed as soon as possible, then the parameter automatically changes to [Done]

(dOnE).

v [Done] (dOnE): Use of the values given the last time auto-tuning was performed.

Caution:

• It is essential that all motor parameters ([Rated motor volt.] (UnS), [Rated motor freq.] (FrS), [Rated mot.

current] (nCr), [Rated motor speed] (nSP), [Rated motor power] (nPr)) are configured correctly before

starting auto-tuning. If at least one of these parameters is modified after auto-t uning has been performed, [Auto tuning] (tUn ) will return to [No] (nO) and must be repeated.

• Auto-tuning is only performed if no stop command has been activated. If a "freewheel stop" or "fast stop" function has been assigned to a logic input, this input must be set to 1 (active at 0).

• Auto-tuning takes priority over any run or prefluxing commands, which will be taken into account after the auto-tuning sequence.

• If auto-tuning fails, the drive displays [No] (nO) and, depending on the configuration of [Autotune faul t mgt]

(tnL) page 256

• Auto-tuning may last for 1 to 2 seconds. Do not interrupt the process. Wait for the display to change to "[Done] (dOnE)" or "[No] (nO)".

Note: During auto-tuning the motor operates at rated current.

M [Auto tuning status]

(for information only, cannot be modified)

, may switch to [Auto-tuning] (tnF) fault mode.

[Not done] (tAb)

v [Not done] (tAb): The default stator resistance value is used to control the motor. v [Pending] (PEnd): Auto-tuning has been requested but no t yet performed. v [In Progress] (PrOG): Auto-tuning in progress. v [Failed] (FAIL): Auto-tuning has failed. v [Done] (dOnE): The stator resistance measured by the auto-tuning function is used to control the motor.

M [Output Ph rotation]

[ABC] (AbC)

v [ABC] (AbC): Forward v [ACB] (ACb): Reverse

This parameter can be used to reverse the direction of rotation of the motor without reversing the wiring.

AAV49426 12/2009 43

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[1.1 SIMPLY START] (SIM-)

CAUTION

For permanent magnet synchronous motors, the maximum permissible speed must not be exceeded, otherwise demagnetization may occur. The maximum speed pe rmitted by the mot or, drive ch ain or ap plicati on must not be exceeded at any time.

Failure to follow this instruction can result in equipment damage.

Parameters that can be changed during operation or when stopped

Code Name/Description Factory setting

ItH

ACC

dEC

LSP

HSP

M [Mot. therm. current]

Motor thermal protection current, to be set to the rated current indicated on the nameplate.

M [Acceleration]

Time to accelerate from 0 to the [Rated motor freq.] (FrS) (page 42). Make sure that this value is compatible with the inertia being driven.

M [Deceleration]

Time to decelerate from the [Rated motor freq.] (FrS) (page 42) to 0. Make sure that this value is compatible with the inertia being driven.

M [Low speed]

Motor frequency at minimum reference, can be set between 0 and [High speed] (HSP).

M [High speed]

Motor frequency at maximum reference, can be set bet ween [Low speed] (LSP) and [Max frequency] (tFr). The factory setting changes to 60 Hz if [Standard mot. freq] (bFr) = [60Hz NEMA] (60).

0.2 to 1.5 In (1) According to drive rating

0.1 to 999.9 s 3.0 s

50 Hz

(1)In corresponds to the rated drive current indicated in the Installation Manual and on the drive nameplate.

44 AAV49426 12/2009

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[1.2 MONITORING] (SUP-)

RDY Term +0.00Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick

ENT

RDY Term +0.00Hz 0A

1 DRIVE MENU

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS / OUTPUTS CFG

Code << >> Quick

ENT

RUN Term +50.00 Hz 80A

1.2 MONITORING

I/O MAP

PROG. CARD I/O MAP COMMUNICATION MAP Alarm groups : HMI Frequency ref. :

Code << >> Quick

XXX

SIM-

SEt-

SUP-

ESC

ENT

ESC

LAC-

Displays the state of the drive

MONITORING

Power-up

With graphic display terminal:

With integrated display terminal:

AAV49426 12/2009 45

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[1.2 MONITORING] (SUP-)

I/O I/O of the Controller Inside card if it is present Communication data and values

Drive internal drive states and values (see page 51

)

ENT

1 0

With graphic display terminal

This menu can be used to display the inputs/outputs, the drive internal states and values, and the communication data and values.

RUN Term +50.00Hz 80A

I/O MAP

PROG. CARD I/O MAP COMMUNICATION MAP Alarm groups: HMI Frequency ref.:

1.2 MONITORING

Code << >> Quick

I/O

RUN Term +50.00Hz 80A

LOGIC INPUT MAP

ANALOG INPUTS IMAGE

LOGIC OUTPUT MAP ANALOG OUTPUTS IMAGE FREQ. SIGNAL IMAGE

Code Quick

State 0

State 1

RUN Term +50.00Hz 80A

LOGIC INPUT MAP LI1 assignment

PR LI1 LI2 LI3 LI4 LI5 LI6 LI7 Forward

LI8 LI9 LI10 LI11 LI12 LI13 LI14 LI1 On Delay : 0 ms

<< >> Quick << >> Quick

I/O MAP

Move from one screen to another (from LOGIC INPUT MAP to FREQ. SIGNAL IMAGE) by turning the navigation button

Access to the selected input or output configuration: Press ENT.

RUN Term +50.00Hz 80A

Pre Fluxing

State 0

State 1

RUN Term +50.00Hz 80A RUN Term +50.00Hz 80A

ANALOG INPUTS IMAGE AI1 assignment

AI1 : 9.87 V Ref.1 channel

AI2 : 2.35 mA Forced local

Torque reference AI1 min value: 0.0 V AI1 max value: 10.0 V

Code << >> Quick Quick

RUN Term +50.00Hz 80A RUN Term +50.00Hz 80A

LOGIC OUTPUT MAP LO1 assignment

R1 R2 LO No

LO1 delay time : 0 ms LO1 active at : 1

LOA: 0000000000000010b LO1 holding time : 0 ms

<< >> Quick << >> Quick

RUN Term +50.00Hz 80A RUN Term +50.00Hz 80A

ANALOG OUTPUTS IMAGE AO1 assignment

AO1 : 9.87 V Motor freq.

AO1 min output : 4 mA AO1 max output : 20 mA AO1 Filter : 10 ms

Code << >> Quick Quick

RUN Term +50.00Hz 80A RUN Term +50.00Hz 80A

FREQ. SIGNAL IMAGE RP assignment RP input : 25.45 kHz Frequency ref. Encoder : 225 kHz RP min value : 2 kHz

RP max value : 50 kHz RP filter : 0 ms

Code << >> Quick Quick

46 AAV49426 12/2009

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[1.2 MONITORING] (SUP-)

ENT

1 0

With graphic display terminal

Controller Inside card I/O

State 0

State 1

State 0

State 1

RUN Term +50.00Hz 80A

PROG. CARD I/O MAP PROG CARD LI MAP

PROG. CARD AI MAP

PROG CARD LO MAP PROG. CARD AO MAP

Code Quick

RUN Term +50.00Hz 80A

PROG CARD LI MAP

LI51 LI52 LI53 LI54 LI55 LI56 LI57 LI58

LI59 LI60

<< >> Quick

RUN Term +50.00Hz 80A RUN Term +50.00Hz 80A

PROG CARD AI MAP AI51

AI51 : 0.000 mA

AI52 : 9.87 V

Move from one screen to another (from PROG CARD LI MAP to PROG. CARD AO MAP) by turning the navigation button

0 mA

Code << >> Quick << >> Quick

RUN Term +50.00Hz 80A

PROG CARD LO MAP

LO51 LO52 LO53 LO54 LO55 LO56

Min = 0.001 Max = 20,000

<< >> Quick

RUN Term +50.00Hz 80A RUN Term +50.00Hz 80A

PROG. CARD AO MAP AO51

AO51 : 0.000 mA

AO52 : 9.87 V

0 mA

Code << >> Quick << >> Quick

Min = 0.001 Max = 20,000

AAV49426 12/2009 47

Page 48

[1.2 MONITORING] (SUP-)

RUN Term +50.00Hz 80A

COMMUNICATION MAP Command Channel: Modbus Cmd value: ABCD Hex Active ref. channel: CANopen Frequency ref.: -12.5 Hz ETA state word: 2153 Hex

Code Quick W3141 : F230 Hex W2050 : F230 Hex W4325 : F230 Hex W0894 : F230 Hex COM. SCANNER INPUT MAP COM SCAN OUTPUT MAP CMD. WORD IMAGE FREQ. REF. WORD MAP MODBUS NETWORK DIAG MODBUS HMI DIAG CANopen MAP PROG. CARD SCANNER

RUN Term +50.00Hz 80A

COM. SCANNER INPUT MAP Com Scan In1 val.: 0 Com Scan In2 val.: 0 Com Scan In3 val.: 0 Com Scan In4 val.: 0 Com Scan In5 val.: 0

Code Quick Com Scan In6 val.: 0 Com Scan In7 val.: 0 Com Scan In8 val.: 0

RUN Term +50.00Hz 80A

COM SCAN OUTPUT MAP Com Scan Out1 val.: 0 Com Scan Out2 val.: 0 Com Scan Out3 val.: 0 Com Scan Out4 val.: 0 Com Scan Out5 val.: 0

Code Quick Com Scan Out6 val.: 0 Com Scan Out7 val.: 0 Com Scan Out8 val.: 0

RUN Term +50.00Hz 80A

CMD. WORD IMAGE Modbus cmd.: 0000 Hex. CANopen cmd.: 0000 Hex. COM. card cmd.: 0000 Hex. Prog. card cmd: 0000 Hex.

Code Quick

RUN Term +50.00Hz 80A

FREQ. REF. WORD MAP Ref. Modbus: 0.0 Hz Ref. CANopen: 0.0 Hz Com. card ref.: 0.0 Hz Prog. Card ref: 0.0 Hz

Code Quick

With graphic display terminal

Communication

[COMMUNICATION MAP] indicates the types of bus used for control or reference, the corresponding command and reference values, the status word, the words selected in the [DISPLAY CONFIG.] menu, etc. The display format (hexadecimal or decimal) can be configured in the [DISPLAY CONFIG.] menu.

[COM. SCANNER INPUT MAP] and [COM SCAN OUTPUT MAP]: Visualization of registers exchanged periodically (8 input and 8 output) for integrated Modbus and for fieldbus cards.

48 AAV49426 12/2009

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[1.2 MONITORING] (SUP-)

RUN Term +50.00Hz 80A

COMMUNICATION MAP Command Channel: Modbus Cmd value: ABCD Hex Active ref. channel: CANopen Frequency ref.: -12.5 Hz ETA state word: 2153 Hex

Communication via Modbus

RUN Term +50.00Hz 80A

MODBUS NETWORK DIAG COM LED : Mb NET frames nb. Mb NET CRC errors

Code Quick

Communication via the graphic display terminal

RUN Term +50.00Hz 80A

MODBUS HMI DIAG COM LED : Mb HMI frames nb. Mb HMI CRC errors

Code Quick

PDO configuration using the network tool. Some PDOs cannot be used.

RUN Term +50.00Hz 80A

PDO1 IMAGE Received PDO1-1 : FDBA Hex Received PDO1-2 Received PDO1-3 Received PDO1-4 Transmit PDO1-1 : FDBA Hex

Code Quick Transmit PDO1-2 Transmit PDO1-3 Transmit PDO1-4

RUN Term +50.00Hz 80A

PDO2 IMAGE Received PDO2-1 : FDBA Hex Received PDO2-2 Received PDO2-3 Received PDO2-4 Transmit PDO2-1 : FDBA Hex

Code Quick Transmit PDO2-2 Transmit PDO2-3 Transmit PDO2-4

RUN Term +50.00Hz 80A

PDO3 IMAGE Received PDO3-1 : FDBA Hex Received PDO3-2 Received PDO3-3 Received PDO3-4 Transmit PDO3-1 : FDBA Hex

Code Quick Transmit PDO3-2 Transmit PDO3-3 Transmit PDO3-4

Communication via CANopen

PDO images are only visible if CANopen has been enabled (address other than OFF) and if the PDOs are active.

RUN Term +50.00Hz 80A

CANopen MAP RUN LED: ERR LED: PDO1 IMAGE PDO2 IMAGE PDO3 IMAGE

Code Quick Canopen NMT state Number of TX PDO 0 Number of RX PDO 0 Error code 0 RX Error Counter 0 TX Error Counter 0

With graphic display terminal

Communication (continued)

The state of the LEDs, the periodic data, the address, the speed, and the format, etc,. is given for each bus.

LED off LED on

AAV49426 12/2009 49

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[1.2 MONITORING] (SUP-)

RUN Term +50.00Hz 80A

COMMUNICATION MAP Command Channel: Modbus Cmd value: ABCD Hex Active ref. channel: CANopen Frequency ref.: -12.5 Hz ETA state word: 2153 Hex

Controller Inside card

RUN Term +50.00Hz 80A

PROG. CARD SCANNER Input scanner Output scanner

Code Quick

RUN Term +50.00Hz 80A

Input scanner Prg.card. scan in1: 0 Prg.card. scan in2: 0 Prg.card. scan in3: 0 Prg.card. scan in4: 0 Prg.card. scan in5: 0

Code Quick Prg.card scan in6: 0 Prg.card scan in7: 0 Prg.card scan in8: 0

RUN Term +50.00Hz 80A

Output scanner PLC card.scan Out1: 0 PLC card.scan Out2: 0 PLC card.scan Out3: 0 PLC card.scan Out4: 0 PLC card.scan Out5: 0

Code Quick PLC card.scan Out6: 0 PLC card.scan Out7: 0 PLC card.scan Out8: 0

With graphic display terminal

Communication (continued)

[Input scanner] and [Output scanner]: Visualization of registers exchanged periodically (8 input and 8 output).

50 AAV49426 12/2009

Page 51

[1.2 MONITORING] (SUP-)

With graphic display terminal: Drive-internal states and values

Name/Description

[Alarm groups] (ALGr) [HMI Frequency ref.] (LFr)

[Internal PID ref.] (rPI)

[HMI torque ref.] (Ltr) [Multiplying coeff.] (MFr) [Frequency ref.] (FrH) [Torque reference] (trr) [Output frequency] (rFr) [Measured output fr.] (MMF) [Pulse in. work. freq.] (FqS) [Motor current] (LCr) [ENA avg speed] (AUS) [Motor speed] (SPd) [Motor voltage] (UOP) [Motor power] (OPr) [Motor torque] (Otr) [Mains voltage] (ULn) [Motor thermal state] (tHr) [Drv.thermal state] (tHd) [DBR thermal state] (tHb) [Consumption] (APH) [Run time] (rtH) [Power on time] (PtH) [IGBT alarm counter] (tAC) [PID reference] (rPC) [PID feedback] (rPF) [PID error] (rPE) [PID Output] (rPO) [Date/Time] (CLO)

[- - - - -] (o02)

[- - - - -] (o06) [Config. active] (CnFS) [Utilised param. set] (CFPS) [ALARMS] (ALr-) [OTHER STATE] (SSt-)

Current alarm group numbers in Hz. Frequency reference via the graphic display terminal (can be accessed if the function has been configured). as a process value. PID reference via graphic display terminal (can be accessed if the function has been configured). as a % of the rated torque. Torque reference via graphic display terminal. as a % (can be accessed if [Multiplier ref. -] (MA2,MA3) page 151 in Hz as a % of the rated torque (can be accessed if the function has been configured) in Hz in Hz: The measured motor speed is displayed if an encoder card has been inserted, oth erwise 0 appears. in Hz: Frequency of the "Pulse input" input used by the [FREQUENCY METER] (FqF-) function, page 253 in A in Hz: The parameter can be accessed if [ENA system] (EnA) = [Yes] (YES) (see page 94 in rpm in V as a % of the rated power as a % of the rated torque in V. Line voltage from the point of view of the DC bus, motor running or stopped. as a % as a % as a % (can only be accessed on high rating drives) in Wh, kWh or MWh (accumulated consumption) in seconds, minutes or hours (length of time the motor has been switched on) in seconds, minutes or hours (length of time the drive has been switched on) in seconds (length of time the "IGBT temperature" alarm has been active) as a process value (can be accessed if the PID function has been configured) as a process value (can be accessed if the PID function has been configured) as a process value (can be accessed if the PID function has been configured) in Hz (can be accessed if the PID function has been configured) Current date and time generated by the Controller Inside card (can be accessed if the card has been inserted) Words generated by the Controller Inside card (can be accessed if the card has been inserted)

Active configuration [Config. n°0, 1 or 2] [Set n°1, 2 or 3] (can be accessed if parameter switching has been enabled, see page 215 List of current alarms. If an alarm is present, a appears. List of secondary states:

- [In motor fluxing] (FLX): In motor fluxing

- [PTC1 alarm] (PtC1): Probe alarm 1

- [PTC2 alarm] (PtC2): Probe alarm 2

- [LI6=PTC alarm] (PtC3): LI6 = PTC probe alarm

- [Fast stop in prog.] (FSt): Fast stop in progress

- [Current Th. attained] (CtA): Current threshold attained ([Current threshold] (Ctd) page 67

- [Freq. Th. attained] (FtA): Frequency threshold attained ([Freq. threshold] (Ftd) page 68

- [Freq. Th. 2 attained] (F2A): 2 attained ([Freq. threshold 2] (F2d) page 68

- [Frequency ref. att.] (SrA): Frequency reference attained

- [Motor th. state att.] (tSA): Motor 1 thermal state attained

- [External fault alarm] (EtF): External fault alarm

- [Auto restart] (AUtO): Automatic restart in progress

- [Remote] (FtL): Line mode control

- [Auto-tuning] (tUn): Performing auto-tuning

- [Undervoltage] (USA): Undervoltage alarm

- [Cnfg.1 act.] (CnF1): Configuration 1 active

- [Cnfg.2 act.] (CnF2): Configuration 2 active

frequency threshold

)

- [HSP attained] (FLA): High speed attained

- [Load slipping] (AnA): Slipping alarm

- [Set 1 active] (CFP1): Parameter set 1

- [Set 2 active] (CFP2): Parameter set 2

- [Set 3 active] (CFP3): Parameter set 3

- [In braking] (brS): Drive braking

- [DC bus loading] (dbL): DC bus loading

- [Forward] (MFrd): Motor running forward

- [Reverse] (MrrS): Motor running in reverse

- [High torque alarm] (ttHA): Motor torque

- [Low torque alarm] (ttLA): Motor torque

- [Freq. meter Alarm] (FqLA): Measured

has been assigned)

)

active

overshooting high threshold [High torque

thd.] (ttH) page 67

undershooting low threshold [Low torque

thd.] (ttL) page 67

speed threshold attained: [Pulse warning

thd.] (FqL) page 68

AAV49426 12/2009 51

Page 52

[1.2 MONITORING] (SUP-)

State 1

State 0

LI1 LI2 LI3 LI4 LI5 LI6 LI7 LI8

State 1

State 0

LI9 LI10 LI11 LI12 LI13 LI14 PR

With integrated display terminal

This menu can be used to display the drive inputs, states and internal values.

Code Name/Description Adjustment range Factory setting

IOM-

LIA-

L1A

L14A

LIS1

LIS2

I/O MAP

b Logic input functions

Can be used to display the functions assigned to each input. If no functions have been assigned, nO is displayed. Use the and arrows to scroll through the functions. If a number of functions have been assigned to the same input, check that they are compatible.

b State of logic inputs LI1 to LI8

Can be used to visualize the state of logic inputs LI1 to LI8 (display segment assignment: high = 1, low = 0)

Example above: LI1 and LI6 are at 1; LI2 to LI5, LI7 and LI8 are at 0.

b State of logic inputs LI9 to LI14 and Power Removal

Can be used to visualize the state of logic inputs LI9 to LI14 and PR (Power Removal) (display segment assignment: high = 1, low = 0)

AIA-

AI1A AI2A AI3A AI4A

Example above: LI9 and LI14 are at 1, LI10 to LI13 are at 0 and PR (Power Removal) is at 1.

b Analog input functions

Can be used to display the functions assigned to each input. If no functions have been assigned, nO is displayed. Use the and arrows to scroll through the functions. If a number of functions h ave been assigned to the same input, check that they are compatible.

52 AAV49426 12/2009

Page 53

[1.2 MONITORING] (SUP-)

With integrated display terminal: Drive-internal states and values

Code Name/Description Unit

ALGr

rPI

MFr

FrH

trr

rFr

MMF

FqS

LCr

AUS

SPd

UOP

OPr

Otr

ULn

tHr

tHd

tHb

APH

rtH

PtH

tAC

rPC

rPF

rPE

rPO

CLO-

o02

o03

o04

o05

o06

CnFS

CFPS

Alarm groups: Current alarm group numbers Internal PID reference: PID reference via graphic display terminal (can be accessed if the func tion has been

configured).

Multiplication coefficient (can be accessed if [Multiplier ref. -] (MA2,MA3) page 151 Frequency ref. Hz Torque reference: Can be accessed if the function has been configured %. Output frequency Hz The measured motor speed is displayed if an encoder card has been inserted, otherwise 0 appears. Hz Frequency of the "Pulse input" input used by the [FREQUENCY METER] (FqF-) function, page 253 Motor current A ENA avg Motor speed rpm Motor voltage V Motor power % Motor torque % Line voltage: Line voltage from the point of view of the DC bus, motor running or stopped. V Motor thermal state % Drv thermal state % DBR thermal state: Can be accessed on high rating drives only. % Power consumption Wh, kWh or

Run time: Length of time the motor has been turned on seconds, Power on time: Length of time the drive has been turned on IGBT alarm counter: Length of time the "IGBT temperature" alarm has been active seconds PID reference: Can be accessed if the PID function has been configured as a process PID feedback: Can be accessed if the PID function has been configured PID error: Can be accessed if the PID function has been configured PID Output: Can be accessed if the PID function has been configured Hz tIME, dAY: Current date and time generated by the Controller Inside card (can be accessed if the card has

been inserted) Word generated by the Controller Inside card (can be accessed if the card has been inserted)

Word generated by the Controller Inside card (can be accessed if the card has been inserted) Word generated by the Controller Inside card (can be accessed if the card has been inserted) Word generated by the Controller Inside card (can be accessed if the card has been inserted) Word generated by the Controller Inside card (can be accessed if the card has been inserted) Config. active: CnF0, 1 or 2 (can be accessed if motor or configuration switching has been enabled, see

page 219

Utilised param. set: CFP1, 2 or 3 (can be accessed if parameter switching has been enabled, see page 215

SPEED: The parameter can be accessed if EnA = YES (see page 94)Hz

)

has been assigned) %

as a process

value

.Hz

MWh

minutes or

hours

value

)

AAV49426 12/2009 53

Page 54

[1.3 SETTINGS] (SEt-)

RDY Term +0.00Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick

ENT

RDY Term +0.00Hz 0A

1 DRIVE MENU

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS / OUTPUTS CFG

Code << >> Quick

ENT

RUN Term +50.00Hz 80A

1.3 SETTINGS

Ramp increment

Acceleration Deceleration Acceleration 2 Deceleration 2

Code << >> Quick

XXX

SIM-

SEt-

ESC

ENT

ESC

LAC-

drC-

Displays the state of the drive

ADJUST

Power-up

With graphic display terminal:

With integrated display terminal:

54 AAV49426 12/2009

Page 55

[1.3 SETTINGS] (SEt-)

DANGER

UNINTENDED EQUIPMENT OPERATION

• Check that changes made to the settings during operation do not present any danger.

• We recommend stopping the drive before making any changes.

Failure to follow these instructions will result in death or serious injury.

The adjustment parameters can be modified with the drive running or stopped.

Code Name/Description Adjustment range Factory setting

Inr

0.01

ACC

dEC

AC2

dE2

tA1

tA2

tA3

0.1

M [Ramp increment]

v [0,01]: ramp up to 99.99 seconds v [0,1]: ramp up to 999.9 seconds

v [1]: ramp up to 6000 seconds

This parameter is valid for [Acceleration] (ACC), [Deceleration] (dEC), [Acceleration 2] (AC2) and

[Deceleration 2] (dE2).

M [Acceleration]

Time to accelerate from 0 to the [Rated motor freq.] (FrS) (page 76). Make sure that this value is compatible with the inertia being driven.

M [Deceleration]

Time to decelerate from the [Rated motor freq.] (FrS) (page 76) to 0. Make sure that this value is compatible with the inertia being driven.

M [Acceleration 2]

See page 154 Time to accelerate from 0 to the [Rated motor freq.] (FrS). Make sure that this value is compatible with the inertia being driven.

M [Deceleration 2]

See page 154 Time to decelerate from the [Rated motor freq.] (FrS) to 0. Make sure that this value is compatible with the inertia being driven.

M [Begin Acc round]

See page 153 Rounding of start of acceleration ramp as a % of the [Acceleration] (ACC) or [Acceleration 2] (AC2) ramp time.

M [End Acc round]

See page 153

- Rounding of end of acceleration ramp as a % of the [Acceleration] (ACC) or [Acceleration 2] (AC2) ramp time.

- Can be set between 0 and (100% - [Begin Acc round] (tA1))

M Begin Dec round]

See page 153 Rounding of start of deceleration ramp as a % of the [Deceleration] (dEC) or [Deceleration 2] (dE2) ramp time.

0,01 - 0,1 - 1 0,1

0.01 to 6000 s (1) 3.0 s

0.01 to 6000 s (1) 5.0 s

0 to 100% 10%

10%

0 to 100% 10%

(1)Range 0.01 to 99.99 s or 0.1 to 999.9 s or 1 to 6000 s according to [Ramp increment] (Inr).

These parameters only appear if the corresponding function has been selected in another menu. When the parameters can

also be accessed and adjusted from within the confi guration menu for t he correspondin g function, thei r description is deta iled in these menus, on the pages indicated, to aid progra mming.

AAV49426 12/2009 55

Page 56

[1.3 SETTINGS] (SEt-)

CAUTION

For permanent magnet synchronous motors, the maximum permissible speed must not be exceeded, otherwise demagnetization may occur. The maximum spee d permit ted by the motor, drive cha in or ap plicati on must not be exceeded at any time.

Failure to follow this instruction can result in equipment damage.

Code Name/Description Adjustment range Factory setting

tA4

M [End Dec round]

See page 153

- Rounding of end of deceleration ramp as a % of the [Deceleration] (dEC) or [Deceleration 2] (dE2) ramp time.

- Can be set between 0 and (100% - [Begin Dec round] (tA3))

10%

LSP

HSP

ItH

SPG

SIt

SFC

StA

FLG

M [Low speed]

Motor frequency at minimum reference, can be set between 0 and [High speed] (HSP).

M [High speed]

Motor frequency at maximum reference, can be set bet ween [Low speed] (LSP) and [Max frequency] (tFr). The factory setting changes to 60 Hz if [Standard mot. freq] (bFr) = [60Hz NEMA] (60).

M [Mot. therm. current]

Motor thermal protection current, to be set to the rated current indicated on the nameplate.

M [Speed prop. gain]

This parameter can be accessed if [Speed loop type] (SSL) page 89 = [Standard] (Std). Speed loop proportional gain.

M [Speed time integral]

This parameter can be accessed if [Speed loop type] (SSL) page 89 = [Standard] (Std). Speed loop integral time constant.

M [K speed loop filter]

This parameter can be accessed if [Speed loop type] (SSL) page 89 = [Standard] (Std). Speed loop filter coefficient.

M [Fr.Loop.Stab]

This parameter can be accessed if [Speed loop type] (SSL) page 89 = [High perfor.] (HPF). Stability: Used to adapt the return to steady state after a speed transient, according to the dynamics of the machine. Gradually increase the stability to incre ase control loo p attenu at ion and thus re duce any overspe ed.

M [FreqLoopGain]

This parameter can be accessed if [Speed loop type] (SSL) page 89 = [High perfor.] (HPF). Frequency loop gain: Used to adapt the response of the machine speed accordin g to the dynamics. Gradua lly increase the gain to increase the control loop passband.

0 Hz

50 Hz

0.2 to 1.5 In (1) According to drive rating

0 to 1000% 40%

1 to 1000% 100%

0 to 100% 0

0 to 100% 20%

(1)In corresponds to the rated drive current indicated in the Installation Manual or on the drive nameplate.

These parameters only appear if the corresponding function has been selected in another menu. When the parameters can

also be accessed and adjusted from within the confi guration menu for t he correspondin g function, thei r description is deta iled in these menus, on the pages indicated, to aid progra mming.

56 AAV49426 12/2009

Page 57

[1.3 SETTINGS] (SEt-)

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

Standard speed loop - Parameter settings for [K speed loop filter] (SFC),

[Speed prop. gain] (SPG) and [Speed time integral] (SIt)

• The following parameters can only be accessed in vector control profil es: [Motor control type] (Ctt), page 70 = [SVC U] (UUC), [SVC I]

(CUC), [FVC] (FUC), [Sync. mot.] (SYn) or [Sync.CL] (FSY) if [Speed loop type](SSL) page 89 (EnA) page 94

= [Non] (nO).

• The factory settings are suitable for most applications.

General case: Setting for [K speed loop filter] (SFC) = 0

The regulator is an "IP" type with filtering of the speed reference, for applications requiring flexibility and stability (hoisting or high inertia, for example).

• [Speed prop. gain] (SPG) affects excessive speed.

• [Speed time integral] (SIt) affects the passband and response time.

Initial response Reduction in SIT Reduction in SIT

= [Standard] (Std) and if [ENA system]

Initial response Increase in SPG Increase in SPG

AAV49426 12/2009 57

Page 58

[1.3 SETTINGS] (SEt-)

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1 0,8 0,6 0,4 0,2

Reference division

Time in ms

Special case: Parameter [K speed loop filter] (SFC) not 0

This parameter must be reserved for specific applications that require a short response time (trajectory positioning or servo control).

- When set to 100 as described above the regulator is a “PI” type, without filtering of the speed reference.

- Settings between 0 and 100 will obtain an intermediate function between the settings below and those on the previous page.

Example: Setting for [K speed loop filter] (SFC) = 100

• [Speed prop. gain] (SPG) affects the passband and response time.

• [Speed time integral] (SIt) affects excessive speed.

Initial response Reduction in SIT Reduction in SIT

Initial response Increase in SPG Increase in SPG

58 AAV49426 12/2009

Page 59

[1.3 SETTINGS] (SEt-)

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

High performance speed loop - Parameter settings for [FreqLoopGain] (FLG) and

[

Fr.Loop.Stab] (StA)

These parameters can only be accessed if [Speed loop type] (SSL) page 89 = [High perf.] (HPF).

Inertia

The [Estim. app. inertia] (JESt) parameter, page 89, is the default value of the inertia being driven, estimated by the drive based on the motor parameters. Speed loop default settings are determined by the drive from this inertia. The value of the actual inertia being driven must be entered in the [Application Inertia] (JAPL) parameter, page 90 used by the drive to optimize speed loop settings, thus achiev ing the best results (provided that the exact value has been entered). The [App. Inertia Coef.] (JACO) parameter, page 89

, is used to fix the ratio between [Estim. app. inertia] (JESt) page 89 and

[Application Inertia] (JAPL).

Gains

These parameters are used to adjust the response of the speed loop obtained from the inertia, in particular when this is not known.

• [Fr.Loop.Stab] (StA): Used to adapt the return to steady state after a speed transient, according to the dynamics of the machine. Gradually increase the stability to increase control loop attenuation and thus reduce any overspeed.

• [FreqLoopGain] (FLG): Used to adapt the response of the machine speed transients according to the dynamics (passband). For machines with high resistive torque, high inertia or fast cycles, increas e the gain gradually.

. This value is then

Initial response Increase in StA Increase in StA

Initial response Increase in FLG Increase in FLG

Expert parameters

Two parameters from the [1.4 MOTOR CONTROL] (drC-) menu are accessible at Expert level and can be used to boost dynamics if necessary. See page 90

AAV49426 12/2009 59

Page 60

[1.3 SETTINGS] (SEt-)

CAUTION

Check that the motor will withstand this current without overheating.

Failure to follow this instruction can result in equipment damage.

CAUTION

Check that the motor will withstand this current without overheating.

Failure to follow this instruction can result in equipment damage.

Code Name/Description Adjustment range Factory setting

GPE

GIE

UFr

SLP

dCF

IdC

M [ENA prop.gain]

See page 94

M [ENA integral gain]

See page 94

M [IR compensation]

See page 95

M [Slip compensation]

See page 78

M [Ramp divider]

See page 156

M [DC inject. level 1]

See page 157 Level of DC injection braking current activated via logic input or selected as stop mode.

1 to 9999 250

0 to 9999 100

25 to 200% 100%

0 to 300% 100%

0 to 10 4

0.1 to 1.41 In (1) 0.64 In (1)

tdI

IdC2

tdC

(1)In corresponds to the rated drive current indicated in the Installation Manual or on the drive nameplate.

M [DC injection time 1]

See page 157 Maximum current injection time [DC inject. level 1] (IdC). After this time the injection current becomes

[DC inject. level 2] (IdC2).

M [DC inject. level 2]

See page 157 Injection current activated by logic input or selected as stop mode, once period of time [DC injection time 1] (tdI) has elapsed.

M [DC injection time 2]

See page 157 Maximum injection time [DC inject. level 2] (IdC2) for injection selected as stop mode only.

These parameters only appear if the corresponding function has been selected in another menu. When the parameters can also be accessed and adjusted from within the confi guration menu for t he correspondin g function, thei r description is deta iled in these menus, on the pages indicated, to aid progra mming.

0.1 to 30 s 0.5 s

0.1 In (2) to [DC inject.

level 1] (IdC)

0.1 to 30 s 0.5 s

0.5 In (1)

60 AAV49426 12/2009

Page 61

[1.3 SETTINGS] (SEt-)

CAUTION

Check that the motor will withstand this current without overheating.

Failure to follow this instruction can res u lt in equ ip m en t da m a ge .

CAUTION

Check that the motor will withstand this current without overheating.

Failure to follow this instruction can res u lt in equ ip m en t da m a ge .

AdC SdC2 Operation

YES x

≠ 0

Ct = 0

Run command

Speed

SdC1 SdC2

tdC1 tdC1 + tdC2

SdC1

SdC1 SdC2

tdC1

Code Name/Description Adjustment range Factory setting

SdC1

M [Auto DC inj. level 1]

Level of standstill DC injection current. This parameter can be accessed if [Auto DC injection] (AdC) pa ge 158 is not [No] (nO) This parameter is forced to 0 if [Motor control type] (Ctt) page 70

0 to 1.2 In (1) 0.7 In (1)

= [Sync. mot.] (SYn) or [Sync.CL] (FSY).

tdCI

SdC2

tdC2

M [Auto DC inj. time 1]

Standstill injection time. This para meter can be accessed if [Auto DC injection] (AdC) page 158 is not [No] (nO) If [Motor control type] (Ctt) page 70 corresponds to the zero speed maintenance time.

M [Auto DC inj. level 2]

2nd level of standstill DC injection current. This parameter can be accessed if [Auto DC injection] (AdC) page 158 This parameter is forced to 0 if [Motor control type] (Ctt) page 70

M [Auto DC inj. time 2]

2nd standstill injection time. This parameter can be accessed if [Auto DC injection] (AdC) page 158

0.1 to 30 s 0.5 s

= [FVC] (FUC) or [Sync. mot.] (SYn) or [Sync.CL] (FSY) this time

0 to 1.2 In (1) 0.5 In (1)

is not [No] (nO)

= [Sync. mot.] (SYn) or [Sync.CL] (FSY).

0 to 30 s 0 s

= [Yes] (YES)

Note: When [Moto r control type] (Ctt) page 70

= [FVC] (FUC) or [Sync.CL] (FSY):

[Auto DC inj. level 1] (SdC1), [Auto DC inj. level 2] (SdC2) and [Auto DC inj. time 2]

(tdC2) are not accessible. Only [Auto DC inj.

time 1] (tdC1) can be accessed. This then

corresponds to a zero speed maintenance time.

(1)In corresponds to the rated drive current indicated in the Installation Manual or on the drive nameplate.

AAV49426 12/2009 61

Page 62

[1.3 SETTINGS] (SEt-)

CAUTION

On ATV71p075N4 to U40N4, drives, if the RFI fi lters are disconnected (operation on a n IT system), the drive's switching frequency must not exceed 4 kHz.

Failure to follow this instruction can result in equipment damage.

CAUTION

Check that the motor will withstand this current, particularly in the case of permanent magnet synchronous motors, which are susceptible to demagnetization.

Failure to follow this instruction can result in equipment damage.

CAUTION

Check that the motor will withstand this current, particularly in the case of permanent magnet synchronous motors, which are susceptible to demagnetization.

Failure to follow this instruction can result in equipment damage.

Code Name/Description Adjustment range Factory setting

SFr

M [Switching freq.]

Switching frequency setting. Adjustment range: This can vary between 1 and 16 kHz, but the minimum and maximum values, as well as the factory setting, can be limited in accordance with the type of drive (ATV71H or W), the rating and the configuration of the [Sinus filter] (OFI) and [Motor surge limit] (SUL) parameters, page 96

According to rating According to rating

CLI

If the value is less than 2 kHz, [Current Limitation] (CLI) and [I Limit. 2 value] (CL2) page 62

1.36 In. Adjustment with drive running:

- If the initial value is less than 2 kHz, it is not possible to increase it above 1.9 kHz while running.

- If the initial value is greater than or equal to 2 kHz, a minimum of 2 kHz must be maintained while running. Adjustment with the drive stopped: No restrictions.

Note: In the event of excessive temperature rise, the drive will automatically reduce the switching frequency and reset it once the temperature returns to normal.

Note: If [Motor control type] (Ctt) page 70 setting the switching frequency to a value less than 2 kHz (in order to avoid speed instability). .

M [Current Limitation]

Used to limit the motor current. The adjustment range is limited to 1.36 In if [Switching freq.] (SFr) page 62

Note: If the setting is less than 0.25 In, the drive may lo ck in [Output Phase Loss ] (OPF) fault mode if this has been enabled (see page 242 has any effect..

are limited to

= [FVC] (FUC) or [Sync.CL] (FSY) we do not recommend

0 to 1.65 In (1) 1.5 In (1)

is less than 2 kHz.

). If it is less than the no-load motor c urrent, the limitation no longer

CL2

M [I Limit. 2 value]

See page 204 The adjustment range is limited to 1.36 In if [Switching freq.] (SFr) page 62 is less than 2 kHz.

Note: If the setting is less than 0.25 In, the drive may lo ck in [Output Phase Loss ] (OPF) fault mode if this has been enabled (see page 242 has any effect..

). If it is less than the no-load motor c urrent, the limitation no longer

0 to 1.65 In (1) 1.5 In (1)

(1)In corresponds to the rated drive current indicated in the Installation Manual or on the drive nameplate.

These parameters only appear if the corresponding function has been selected in another menu. When the parameters can

62 AAV49426 12/2009

also be accessed and adjusted from within the confi guration menu for t he correspondin g function, thei r description is deta iled in these menus, on the pages indicated, to aid progra mming.

Page 63

[1.3 SETTINGS] (SEt-)

CAUTION

Check that the motor will withstand this current without overheating.

Failure to follow this instruction can result in equipment damage.

Code Name/Description Adjustment range Factory setting

FLU

FnC FCt

FnO

M [Motor fluxing]

v [Not cont.] (FnC): Non-continuous mode v [Continuous] (FCt): Continuous mode. This option is not poss ibl e i f [ Angl e s ett i ng type] (ASt) page 84 or 87 is

[With load] (brC) or if [Auto DC injection] (AdC) page 158 [Freewheel] (nSt).

is [Yes] (YES) or if [Type of stop] (Stt) page 156 is

v [No] (FnO): Function inactive. This option is not possible if [Motor control type] (Ctt) page 70 = [SVC I] (CUC)

or [FVC] (FUC). If [Motor control type] (Ctt) page 70 replaced by [Not cont.] (FnC).

= [SVC I] (CUC), [FVC] (FUC) or [Sync. mot.] (SYn), the factory setting i s

v If [Motor control ty pe] (Ctt) page 70 = [SVC V] (UUC), the factory setting is replaced by [Not cont.] (FnC) at and

above 55 kW (75 HP) for ATV71 If [Motor control type] (Ctt) page 70

In order to obtain rapid high torque on startup, magnetic flux needs to already have been established in the motor.

•In [Continuous] (FCt) mode, the drive automatically builds up flux when it is powered up.

•In [Not cont.] (FnC) mode, fluxing occurs when the motor starts up.

The flux current is greater than nCr (configured rated motor current) when the flux is established and is then adjusted to the motor magnetizing current.

ppppM3X and at and above 90 kW (120 HP) for ATV71ppppN4.

= [Sync.CL] (FSY), [Motor fluxing] (FLU) is forced to [No] (FnO).

[No] (FnO)

If [Motor control type] (Ctt) page 70 ([No] (FnO) is not permitted); this parameter causes rotor angle detection or alignment (depending on the configuration of [Angle setting type] (ASt) page 84

• If [Brake assignment] (bLC) page 175

Note: If [Angle setting type] (ASt) = [W/o load] (nLd), the motor may rotate one full revolution during measurement.

tLS

JGF

JGt

(1)In corresponds to the rated drive current indicated in the Installation Manual or on the drive nameplate.

M [Low speed time out]

Maximum operating time at [Low speed] (LSP) (see page 44) Following operation at LSP for a defined period, a mot or stop is requested automatically. The motor wi ll restart if the reference is greater than LSP and if a run comman d is still present. Caution: A value of 0 indicates an unlimited period of time.

Note: If [Low speed time out] (only if a ramp stop can be configured).

M [Jog frequency]

See page 160 Reference in jog operation

M [Jog delay]

See page 160 Anti-repeat delay between 2 consecutive jog operations.

= [Sync. mot.] (SYn), the [Motor fluxing] (FLU) parameter MUST be active

) and not fluxing.

is not [No] (nO), the [Motor fluxing] (FLU) parameter has no effect.

0 to 999.9 s 0 s

(tLS) is not 0, [Type of stop] (Stt) page 156 is forced to [Ramp stop] (rMP)

0 to 10 Hz 10 Hz

0 to 2.0 s 0.5 s

These parameters only appear if the corresponding function has been selected in another menu. When the parameters can

also be accessed and adjusted from within the confi guration menu for t he correspondin g function, thei r description is deta iled in these menus, on the pages indicated, to aid progra mming.

AAV49426 12/2009 63

Page 64

[1.3 SETTINGS] (SEt-)

Code Name/Description Adjustment range Factory setting

SP2

SP3

SP4

SP5

SP6

SP7

SP8

SP9

SP10

SP11

SP12

SP13

SP14

M [Preset speed 2]

See page 163 Preset speed 2

M [Preset speed 3]

See page 163 Preset speed 3

M [Preset speed 4]

See page 163 Preset speed 4

M [Preset speed 5]

See page 163 Preset speed 5

M [Preset speed 6]

See page 163 Preset speed 6

M [Preset speed 7]

See page 163 Preset speed 7

M [Preset speed 8]

See page 163 Preset speed 8

M [Preset speed 9]

See page 163 Preset speed 9

M [Preset speed 10]

See page 163 Preset speed 10

M [Preset speed 11]

See page 163 Preset speed 11

M [Preset speed 12]

See page 163 Preset speed 12

M [Preset speed 13]

See page 163 Preset speed 13

M [Preset speed 14]

See page 163 Preset speed 14

0 to 1600 Hz 10 Hz

0 to 1600 Hz 15 Hz

0 to 1600 Hz 20 Hz

0 to 1600 Hz 25 Hz

0 to 1600 Hz 30 Hz

0 to 1600 Hz 35 Hz

0 to 1600 Hz 40 Hz

0 to 1600 Hz 45 Hz

0 to 1600 Hz 50 Hz

0 to 1600 Hz 55 Hz

0 to 1600 Hz 60 Hz

0 to 1600 Hz 70 Hz

0 to 1600 Hz 80 Hz

These parameters only appear if the corresponding function has been selected in another menu. When the parameters can

64 AAV49426 12/2009

also be accessed and adjusted from within the confi guration menu for t he correspondin g function, thei r description is deta iled in these menus, on the pages indicated, to aid progra mming.

Page 65

[1.3 SETTINGS] (SEt-)

Code Name/Description Adjustment range Factory setting

SP15

SP16

MFr

SrP

rPG

rIG

rdG

PrP

POL

POH

PAL

PAH

M [Preset speed 15]

See page 163 Preset speed 15

M [Preset speed 16]

See page 163 Preset speed 16

M [Multiplying coeff.]

Multiplying coefficient, can be accessed if [Multiplier ref.-] (MA2,MA3) page 151 has been assigned to the graphic terminal

M [+/-Speed limitation]

See page 167 Limitation of +/- speed variation

M [PID prop. gain]

See page 193 Proportional gain

M [PID integral gain]

See page 194 Integral gain

M [PID derivative gain]

See page 194 Derivative gain

M [PID ramp]

See page 194 PID acceleration/deceleration ramp, defined to go from [Min PID reference] (PIP1) to [Max PID reference]

(PIP2) and vice versa.

M [Min PID output]

See page 194 Minimum value of regulator output in Hz

M [Max PID output]

See page 194 Maximum value of regulator output in Hz

M [Min fbk alarm]

See page 194 Minimum monitoring threshold for regulator feedback

M [Max fbk alarm]

See page 194 Maximum monitoring threshold for regulator feedback

0 to 1600 Hz 90 Hz

0 to 1600 Hz 100 Hz

0 to 100% 100%

0 to 50% 10%

0.01 to 100 1

0.00 to 100 0

0 to 99.9 s 0

- 500 to 500 or -1600 to 1600 according to rating

0 to 500 or 1600 according to rating

See page 194 (1) 100

See page 194 (1) 1000

0 Hz

60 Hz

(1)If a graphic display terminal is not in use, values greater than 9999 will be displayed on the 4-digit display with a period mark after the

thousand digit, e.g., 15.65 for 15650.

These parameters only appear if the corresponding function has been selected in another menu. When the parameters can

AAV49426 12/2009 65

also be accessed and adjusted from within the confi guration menu for t he correspondin g function, thei r description is deta iled in these menus, on the pages indicated, to aid progra mming.

Page 66

[1.3 SETTINGS] (SEt-)

Code Name/Description Adjustment range Factory setting

PEr

PSr

rP2

rP3

rP4

Ibr

Ird

brt

bIr

bEn

tbE

M [PID error Alarm]

See page 194 Regulator error monitoring threshold

M [Speed input %]

See page 195 Multiplying coefficient for predictive speed input.

M [Preset ref. PID 2]

See page 197 Preset PID reference

M [Preset ref. PID 3]

See page 197 Preset PID reference

M [Preset ref. PID 4]

See page 197 Preset PID reference

M [Brake release I FW]

See page 175 Brake release current threshold for lifting or forward movement

M [Brake release I Rev]

See page 175 Brake release current threshold for lowering or reverse movement

M [Brake Release time]

See page 176 Brake release time dela y

M [Brake release freq]

See page 176 Brake release frequency threshold

M [Brake engage freq]

See page 176 Brake engage frequency threshold

M [Brake engage delay]

See page 176 Time delay before request to engage brake. To delay the engaging of the brake, for horizontal movement only, if you wish the brake to engage when the drive comes to a complete stop.

0 to 65535 (1) 100

1 to 100% 100%

See page 197 (1) 300

See page 197 (1) 600

See page 197 (1) 900

0 to 1.32 In (2) 0

0 to 5.00 s 0 s

[Auto] (AUtO)

0 to 10 Hz

[Auto] (AUtO)

0 to 10 Hz

0 to 5.00 s 0 s

[Auto] (AUtO)

(1)If a graphic display terminal is not in use, values greater than 9999 will be displayed on the 4-digit display with a period mark after the

thousand digit, e.g., 15.65 for 15650.

(2)In corresponds to the rated drive current indicated in the Installation Manual or on the drive nameplate.

These parameters only appear if the corresponding function has been selected in another menu. When the parameters can

66 AAV49426 12/2009

also be accessed and adjusted from within the confi guration menu for t he correspondin g function, thei r description is deta iled in these menus, on the pages indicated, to aid progra mming.

Page 67

[1.3 SETTINGS] (SEt-)

Code Name/Description Adjustment range Factory setting

bEt

JdC

ttr

tLIM

tLIG

trH

M [Brake engage time]

See page 176 Brake engage time (brake response time)

M [Jump at reversal]

See page 177

M [Time to restart]

See page 177 Time between the end of a brake engage sequence and the start of a brake release sequence

M [Motoring torque lim]

See page 202 Torque limitation in generator mode, as a % or in 0.1% incremen ts of the rate d torq ue in accorda nce with the

[Torque increment] (IntP) parameter, page 202

M [Gen. torque lim]

See page 202 Torque limitation in generator mode, as a % or in 0.1% increments of the rated torque in accordance with the

[Torque increment] (IntP) parameter, page 202

M [Traverse freq. high]

See page 225

0 to 5.00 s 0 s

[Auto] (AUtO)

0 to 10 Hz

0 to 15.00 s 0 s

0 to 300% 100%

0 to 10 Hz 4 Hz

[Auto] (AUtO)

trL

qSH

qSL

Ctd

ttH

ttL

(1)In corresponds to the rated drive current indicated in the Installation Manual or on the drive nameplate.

M [Traverse freq. low]

See page 225

M [Quick step High]

See page 225

M [Quick step Low]

See page 225

M [Current threshold]

Current threshold for [I attained] (CtA) function assigned to a relay or a logic output (see page 118).

M [High torque thd.]

High current threshold for [High tq. att.] (ttHA) function assigned to a relay or a logic output (see page 118), as a % of the rated motor torque.

M [Low torque thd.]

Low current threshold for [Low tq. att.] (ttLA) function assigned to a relay or a logic output (see page 118), as a % of the rated motor torque.

0 to 10 Hz 4 Hz

0 to [Traverse freq.

high] (trH)

0 to [Traverse freq.

low] (trL)

0 to 1.5 In (1) In (1)

-300% to +300% 100%

-300% to +300% 50%

0 Hz

These parameters only appear if the corresponding function has been selected in another menu. When the parameters can

AAV49426 12/2009 67

also be accessed and adjusted from within the confi guration menu for t he correspondin g function, thei r description is deta iled in these menus, on the pages indicated, to aid progra mming.

Page 68

[1.3 SETTINGS] (SEt-)

Code Name/Description Adjustment range Factory setting

FqL

Ftd

F2d

FFt

ttd

M [Pulse warning thd.]

Speed threshold measured by the FREQUENCY METER] FqF-) function, page 253, assigned to a relay or a logic output (see page 118

M [Freq. threshold]

Frequency threshold for [Freq.Th.att.] (FtA) function assigned to a relay or a logic output (see page 118), or used by the [PARAM. SET SWITCHING] (MLP-) function, page 215

M [Freq. threshold 2]

Frequency threshold for [Freq. Th. 2 at tain.] (F2A) function assigned to a relay or a logic output (see page 118), or used by the [PARAM. SET SWITCHING] (MLP-) function, page 215

M [Freewheel stop Thd]

See page 156 This parameter supports switching from a ramp stop or a fast stop to a freewheel stop below a low speed threshold. It can be accessed if [Type of stop] (Stt) = [Fast stop] (FSt) or [Ramp stop] (rMP).

v 0.0: Does not switch to freewheel stop. v 0,1 to 1600 Hz: Speed threshold below which the motor will switch to freewheel stop.

M [Motor therm. level]

See page 241 Trip threshold for motor thermal alarm (logic output or relay)

0 Hz to 30.00 kHz 0 Hz

0.0 to 1600 Hz [High speed] (HSP)

0.0 to 1600 Hz 0.0 Hz

0 to 118% 100%

LbC

M [Load correction]

See page 98 Rated correction in Hz.

0 to 1000 Hz 0

68 AAV49426 12/2009

Page 69

[1.4 MOTOR CONTROL] (drC-)

RDY Term +0.00Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick

ENT

RDY Term +0.00Hz 0A

1 DRIVE MENU

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS / OUTPUTS CFG

Code << >> Quick

ENT

RUN Term +50.00Hz 80A

1.4 MOTOR CONTROL

Standard mot. freq

Motor control type Max frequency Output Ph rotation Sinus filter

Code << >> Quick

XXX

SIM-

I-O-

ESC

ENT

ESC

LAC-

drC-

Displays the state of the drive

MOTOR CONTROL

Power-up

With graphic display terminal:

With integrated display terminal:

AAV49426 12/2009 69

Page 70

[1.4 MOTOR CONTROL] (drC-)

Voltage

Frequency

FrS

UnS

The profile is defined by the values of parameters UnS, FrS and U0.

The parameters in the [1.4 MOTOR CONTROL] (drC-) menu can only be modified when the drive is stopped and no run command is present, with the following exceptions:

• [Auto tuning] (tUn) page 88

• Parameters containing the sign

Code Name/Description Adjustment range Factory setting

and [Angle auto-test] (ASA) page 84, which can cause the motor to start up.

Tin the code column, which can be modified with the drive running or stopped.

bFr

Ctt

50 60

UUC

CUC

FUC

UF2

M [Standard mot. freq]

v [50Hz IEC] (50): IEC v [60Hz NEMA] (60): NEMA

This parameter modifies the presets of the following para meters: [High speed] (HSP) page 56

(Ftd) page 68

page 71

, [Rated motor volt.] (UnS) page 76, [Rated motor freq.] (FrS) page 76 and [Max frequency] (tFr)

M [Motor control type]

, [Freq. threshold]

[SVC V] (UUC)

v [SVC V] (UUC): Open-loop voltage flux vector control with automatic s lip c ompensat ion accordi ng to the load .

This type of control is recommended when replacing an ATV58. It supports operation wit h a number of motors connected in parallel on the same drive (if the motors are identical).

v [SVC I] (CUC): Open-loop current flux vector control. This type of control is recommended when replacing an

ATV58F used in an open-loop configuration. It does not support operation with a numbe r of motors connected in parallel on the same drive.

v [FVC] (FUC): Closed-loop current flux vector control for motor with encoder. This selection is only possible if

an encoder card has been inserted. This function i s not possible, however, when using an incremental encoder that generates signal "A" only. This type of control is recommended when replacing an ATV58F used in a closed-loop configuration. It provi des better performance in terms of speed and torque accuracy and enables torque to be obtained at zero speed. It does not support operation with a number of motors connected in parallel on the same drive.

It is essential that the encoder check detailed on page 74 selecting [FVC] (FUC).

is performed successfully before

v [V/F 2pts] (UF2): Simple V/F profile without slip compensation. It supports operation with:

- Special motors (wound rotor, tapered rotor, etc.)

- A number of motors in parallel on the same drive

- High-speed motors

- Motors with a low power rating in comparison to that of the drive

70 AAV49426 12/2009

Page 71

[1.4 MOTOR CONTROL] (drC-)

Voltage

Frequency

FrS

UnS

U3 U1

F1 F2

F4 F5

FrS > F5 > F4 > F3 > F2 > F1

The profile is defined by the values of parameters UnS, FrS, U0 to U5 and F0 to F5.

Code Name/Description Adjustment range Factory setting

Ctt

UF5

SYn

M [Motor control type] (continued)

v [V/F 5pts] (UF5): 5-segment V/F profile: Similar to V/F 2 pts profile but also supports the avoidance of

resonance (saturation).

v [Sync. mot.] (SYn): For permanent magnet synchronous motors with sinusoidal electromotive force (EMF) only.

This selection makes the asynchronous motor parameters inaccessible, and the synchron ous motor parameters accessible.

tFr

PHr

FSY

AbC ACb

v [Sync.CL] (FSY): Closed-loop synchronous motor. For permanent magnet synchronous motors with sinusoidal

electromotive force (EMF) only, with encoder. This selection is only possible if an encoder card has been inserted. It makes the asynchronous motor parameters inaccessible, and the synchronous motor parameters accessible. This function is not possible, however, when using an incremental encoder that generates signal "A" only.

It is essential that the encoder check detailed on page 74 selecting [Sync.CL] (FSY).

M [Max frequency]

The factory setting is 60 Hz, or preset to 72 Hz if [Standard mot. freq] (bFr) is set to 60 Hz. The maximum value is limited by the following conditions:

• It must not exceed 10 times the value of [Rated motor freq.] (FrS) page 76

[Nominal freq sync.] (FrSS) page 82

• It must not exceed 500 Hz if [Motor cont rol ty pe] (Ctt) (page 70 ATV71HD37. Values between 500 Hz and 1600 Hz are only possible in V/F control and for powers limited to 37 kW (50 HP). In this case, configure [Motor control type] (Ctt) before [Max frequency] (tFr).

M [Output Ph rotation]

for a synchronous motor.

is performed successfully before

10 to 1600 Hz

for an asynchronous motor or

) is not V/F or if the drive rating is higher than

[ABC] (AbC)

v [ABC] (AbC): Forward v [ACB] (ACb): Reverse

This parameter can be used to reverse the direction of rotation of the motor without reversing the wiring.

Do not modify the [Output Ph rotation] (PHr) parameter when [Motor control type] (Ctt) page

= [FVC] (FUC) or [Sync.CL] (FSY). The direction of rotation must be modifi ed, if required, before or during the encoder check procedure detailed on page 74

[FVC] (FUC) or [Sync.CL] (FSY). Otherwise, checking and measuring procedures must be performed

again ([Angle auto-test] (ASA) and [Angle offset value] (ASU) return to [No] (nO)).

, when [Motor control type] (Ctt) is not

AAV49426 12/2009 71

Page 72

[1.4 MOTOR CONTROL] (drC-)

CAUTION

If [Sinus filter] (OFI) = [Yes] (YES):

• [Max frequency] (tFr) page 42

must not exceed 100 Hz.

•Up to 45 kW (60 HP) for ATV71

pppM3X and 75 kW (100 HP) for ATV71pppN4 [Motor control type] (Ctt)

page 70

must be [V/F 2pts] (UF2), [V/F 5pts] (UF5), or [SVC V] (UUC) only.

• At and above 55 kW (75 HP) for ATV71

pppM3X and 90 kW (120 HP) for ATV71pppN4 [Motor control type]

(Ctt) page 70

must be [V/F 2pts] (UF2) or [V/F 5pts] (UF5) only.

Failure to follow this instruction can result in equipment damage.

CAUTION

On ATV71p075N4 to U40N4 drives, if the RFI filters are disconnected (operation on an IT system), the drive's switching frequency must not exceed 4 kHz.

Failure to follow this instruction can res u lt in equ ip m en t da m a ge .

Code Name/Description Adjustment range Factory setting

OFI

SFr

YES

M [Sinus filter]

[No] (nO)

v [No] (nO): No sinus filter v [Yes] (YES): Use of a sinus filter, to limit overvoltages on the motor and reduce the ground fault leakage current.

[Sinus filter] (OFI) is forced to [No] (nO) on ATV71

Note: The sett ings for [Current Limitation] (CL I) and [I Limit. 2 value] (CL2) page 62

[Sinus filter] (OFI) has been set to [Yes] (YES) and [Motor control type] (Ctt) page 70 [V/F 2pts] (UF2) or [V/F 5pts] (UF5). This is due to the fact that for certain ratings, this configuration will

result in a reduced factory setting (1.36 In) for current limitations.

M [Switching freq.]

1.36 In. Adjustment with drive running:

- If the initial value is less than 2 kHz, it is not possible to increase it above 1.9 kHz while running.

- If the initial value is greater than or equal to 2 kHz, a minimum of 2 kHz must be maintained while running. Adjustment with the drive stopped: No restrictions.

Note: In the event of excessive temperature rise, the drive will automatically reduce the switching frequency and reset it once the temperature returns to normal. Note: If [Motor control type] (Ctt) page 70 setting the switching frequency to a value less than 2 kHz as this can cause speed instability.

p037M3 and ATV71p075N4.

must be made once

has been set to

(1) According to rating According to rating

are limited to

= [FVC] (FUC) or [Sync.CL] (FSY) we do not recommend

(1)Parameter can also be acce s se d in the [1.3 SETTINGS] (SEt-) menu. I

Parameter that can be modified during operation or when stopped

72 AAV49426 12/2009

Page 73

[1.4 MOTOR CONTROL] (drC-)

CAUTION

Check that the motor will withstand this current, particularly in the case of permanent magnet synchronous motors, which are susceptible to demagnetization.

Failure to follow this instruction can result in equipment damage.

Code Name/Description Adjustment range Factory setting

CLI

(1)Parameter can also be acce s se d in the [1.3 SETTINGS] (SEt-) menu. (2)In corresponds to the rated drive current indicated in the Installation Manual and on the drive nameplate.

M [Current Limitation]

Used to limit the motor current. The adjustment range is limited to 1.36 In if [Switching freq.] (SFr) is less than 2 kHz.

Note: If the setting is less than 0.25 In, the drive may lo ck in [Output Phase Loss ] (OPF) fault mode if this has been enabled (see page 242 has any effect.

Parameter that can be modified during operation or when stopped

(1) 0 to 1.65 In (2) 1.5 In (2)

). If it is less than the no-load motor c urrent, the limitation no longer

AAV49426 12/2009 73

Page 74

[1.4 MOTOR CONTROL] (drC-)

Selecting the encoder

Follow the recommendations in the catalog and the Installat ion Manual.

Note 1: When an encoder is used with a VW3 A3 408 or VW3 A3 409 card, i t is onl y po ssib le to conf ig ure the "en code r" i npu t f or speed feedback. Functions can only be configured as references or inputs with a VW3 A3 401 to 407 and VW3 A3 411 card. Note 2: When an encoder is used with a VW3 A3 409 card, the drive remains locked in stop mode (and displays nSt) if the encoder is not fully configured.

Encoder check procedure

This procedure applies to all types of encoder.

1. Configure the parameters of the encoder used, pages 114

2. Set [Motor control type] (Ctt) to a value other than [FVC] (FUC) and [Sync.CL] (FSY), even if it is the requ ired configuration. For example,

use [SVC V] (UUC) for an asynchronous motor and [Sync. mot.] (SYn) for a synchronous motor.

3. Configure the motor parameters in accordance with the specifications on the rating plate.

• Asynchronous motor (see page 76

freq.] (FrS), [Rated motor speed] (nSP).

• Synchronous motor (see page 81

(PHS), [Autotune L d-axis] (LdS), [IAutotune L q-axis] (LqS), [Cust. stator R syn] (rSAS). [Current Limitation] (CLI) must not exceed

the maximum motor current, otherwise demagnetization may occur.

4. Set [Encoder usage] (EnU) = [No] (nO).

5. Perform auto-tuning.

6. Set [Encoder check] (EnC) = [Yes] (YES).

7. Check that the rotation of the motor is safe.

8. Set the motor rotating at stabilized speed

to monitor its behavior.

9. If it trips on an [Encoder fault] (EnF), [Encoder check] (EnC) returns to [No] (nO).

- Check the parameter settings and perform auto-tuning again (see steps 1 to 5 above).

- Check that the mechanical and electrical operation of the encoder, its power supply and connections are all OK.

- Reverse the direction of rotation of the motor ([Output Ph rotation] (PHr) parameter page 71

): [Rated motor power] (nPr), [Rated motor volt.] (UnS), [Rated mot. current] (nCr), [Rated motor

): [Nominal I sync] (nCrS), [Nom motor spdsync] (nSPS), [Pole pairs.] (PPnS), [Syn. EMF constant]

≈ 15% of the rated speed for at least 3 seconds, and use the [1.2-MONITORING] (SUP-) menu

to 117.

) or the encoder signals.

10. Repeat the operations from step 6 onwards until [Enco der check] (EnC) changes to [Done] (dOnE).

11. If necessary, change [Motor control type] (Ctt) to [FVC] (FUC) or [Sync.CL] (FSY). In the case of [Sync.CL] (FSY), go on to perform the

"Procedure for measuring the phase-shift angle between the motor and the encoder" page 83

74 AAV49426 12/2009

Page 75

[1.4 MOTOR CONTROL] (drC-)

Code Name/Description Adjustment range Factory setting

EnS-

EnC

EnU

YES

dOnE

nO SEC rEG

PGr

b [ENCODER FEEDBACK]

Can only be accessed if an encoder card has been inserted.

M [Encoder check]

Check encoder feedback. See procedure on previous page. This parameter can be accessed if an encoder card has been inserted (1).

v [Not done] (nO): Check not performed. v [Yes] (YES): Activates monitoring of the encoder. v [Done] (dOnE): Check performed successfully.

The check procedure checks:

- The direction of rotation of the encoder/motor

- The presence of signals (wiring continuity)

- The number of pulses/revolution

If a fault is detected, the drive locks in [Encoder fault] (EnF) fault mode.

M [Encoder usage]

This parameter can be accessed if an encoder card has been inserted (1).

v [No] (nO): Function inactive. v [Fdbk monit.] (SEC): The encoder provides sp eed feedback for monitoring only. v [Spd fdk reg.] (rEG): The encoder provides speed feedback for regulation and monitoring. This configurati on is

automatic if the drive is configured for closed-loop operation ([Motor control type] (Ctt) = [FVC] (FUC) or

[Sync.CL] (FSY). If [Motor control type] (Ctt) = [SVC V] (UUC) t he encoder operates in speed feedbac k mode

and enables static correction of the speed to be performe d. This configuration is not accessibl e for other [Motor

control type] (Ctt) values.

v [Speed ref.] (PGr): The encoder provides a reference. Can only be selected wit h an incremental e ncoder card.

[Not done] (nO)

[No] (nO)

(1)The encoder parameters can only be accessed if the encoder card has been inserted, and the available selections will depend on the

type of encoder card used. The encoder configuration can also be accessed in the [1.5 - INPUTS / OUTPUTS CFG] (I/O) menu.

AAV49426 12/2009 75

Page 76

[1.4 MOTOR CONTROL] (drC-)

100 - slip as a %

100

50 - slip in Hz

60 - slip in Hz

Asynchronous motor parameters:

These parameters can be accessed if [Motor control type] (Ctt) page 70 = [SVC V] (UUC), [S VC I] (CUC), [FVC] (FUC), [V/F 2pts] (UF2) or

[V/F 5pts] (UF5). In this case, the synchronous motor parameters cannot be accessed.

Code Name/Description Adjustment range

ASY-

nPr

UnS

nCr

FrS

InSP

b [ASYNC. MOTOR]

Can only be accessed if [Motor control type] (Ctt) page 70 = [SVC V] (UUC), [SVC I] (CUC), [FVC] (FU C ),

[V/F 2pts] (UF2), or [V/F 5pts] (UF5).

M [Rated motor power]

Rated motor power given on the nameplate, in kW if [Standard mot. freq] (bFr) = [50Hz IEC] (50), in HP if

[Standard mot. freq] (bFr) = [60Hz NEMA] (60).

M [Rated motor volt.]

Rated motor voltage given on the nameplate. ATV71

pppM3X: 100 to 240 V, ATV71pppN4: 200 to 480 V

M [Rated mot. current]

Rated motor current given on the nameplate.

M [Rated motor freq.]

Rated motor frequency given on the nameplate. The factory setting is 50 Hz, or preset to 60 Hz if [Standard mot. freq] (bFr) is set to 60 Hz. The maximum value is limited to 500 Hz if [Motor co ntrol type] (Ctt ) (page 70 higher than ATV71HD37. Values between 500 Hz and 1600 Hz are only possible in V/F control and for powers limited to 37 kW (50 HP). In this case, configure [Motor control type] (Ctt) before [Rated motor freq.] (FrS).

M [rpm increment]

Increment of parameter [Rated motor speed] (nSP).

v [x1 rpm] (1): Increment of 1 rpm, to be used if [Rated motor speed] (nSP) does not exceed 65535 rpm. v [x10 rpm] (10): Increment of 10 rpm, to be used if [Rated motor speed] (nSP) exceeds 65535 rpm.

Acc. to drive rating

0.25 to 1.5 In (1)

10 to 1600 Hz

) is not V/F or if the drive rating is

Note: Changing [rpm increment] (InSP) will restore [Rated motor speed] (nSP) to its factory setting.

nSP

(1)In corresponds to the rated drive current indicated in the Installation Manual and on the drive nameplate.

M [Rated motor speed]

Rated motor speed given on the nameplate. Adjustable between 0 and 65535 rpm if [rpm increment] (InSP) =

[x1 rpm] (1) or between 0.00 and 96.00 krpm if [rpm increment] (InSP) = [x10 rpm] (10).

0 to 9999 rpm then 10.00 to 65.53 or 96.00 krpm on the integrated display terminal. If, rather than the rated speed, the nameplate indicates the synchronous speed and the slip in Hz or as a %, calculate the rated speed as follows:

• Rated speed = Synchronous speed x or

• Rated speed = Synchronous speed x (50 Hz motors) or

• Rated speed = Synchronous speed x (60 Hz motors)

0 to 96000 rpm

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Code Name/Description Adjustment range Factory setting

ASY-

b [ASYNC. MOTOR] (continued)

M [U0]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 2pts] (UF2) or

[V/F 5pts] (UF5)

M [U1]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)

M [F1]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)

M [U2]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)

M [F2]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)

M [U3]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)

M [F3]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)

M [U4]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)

M [F4]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)

M [U5]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)

M [F5]

V/F profile setting. This parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)

0 to 600 or 1000 V according to rating

0 to 1600 Hz 0

0 to 600 or 1000 V according to rating

0 to 1600 Hz 0

0 to 600 or 1000 V according to rating

0 to 1600 Hz 0

0 to 600 or 1000 V according to rating

0 to 1600 Hz 0

0 to 600 or 1000 V according to rating

0 to 1600 Hz 0

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Motor voltage

Frequency

Rated motor freq. FrS

Max. voltage UCP

Freq. Const Power FCP

Rated motor volt. UnS

Code Name/Description Adjustment range Factory setting

ASY-

UC2

UCP

FCP

YES

b [ASYNC. MOTOR] (continued)

M [Vector Control 2pt]

v [No] (nO): Function inactive. v [Yes] (YES): Function active.

Used in applications in which the motor rated speed and frequency nee d to be exceeded in order to optimize operation at constant power, or when the maximum voltage of the motor needs to be limited to a value below the line voltage. The voltage/frequency profile must then be adapted in accordance with the motor's capabilities to operate at maximum voltage UCP and maximum frequency FCP.

M [V. constant power]

This parameter can be accessed if [Vector Control 2pt] (UC2) = [Yes] (YES)

M [Freq. Const Power]

This parameter can be accessed if [Vector Control 2pt] (UC2) = [Yes] (YES)

According to drive rating

According to drive rating and [Rated

motor freq.] (FrS)

[No] (nO)

According to drive rating and [Standard

mot. freq] (bFr)

= [Standard mot. freq]

(bFr)

SLP

(1)Parameter can also be acce s se d in the [1.3 SETTINGS] (SEt-) menu.

M [Slip compensation]

This parameter can be accessed if [Motor control type] (Ctt) is not [V/F 2pts] (UF2) or [V/F 5pts] (UF5). Adjusts the slip compensation around the value set by the rated motor speed. The speeds given on motor nameplates are not necessarily exact.

• If slip setting < actual slip: The motor is not rotating at the correct speed in steady state, but at a speed lower than the reference.

• If slip setting > actual slip: The motor is overcompensated and the speed is unstable.

Parameter that can be modified during operation or when stopped

(1) 0 to 300% 100%

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Asynchronous motor parameters that can be accessed in [Expert] mode

These include:

• Special parameters.

• Parameters calculated by the drive during auto-tuning, in read-only mode. For example, R1r, calculated cold stator resistance.

• The possibility of replacing some of these calculated parameters with ot her val ues, if nece ssary. For exa mple , R1w, measured cold stator resistance.

When a parameter Xyw is modified by the user, the drive uses it in place of the calculated parameter Xyr.

If auto-tuning is performed or if one of the motor parameters on which auto-tuning depends is modified ([Rated motor volt.] (UnS), [Rated

motor freq.] (FrS), [Rated mot. current] (nCr), [Rated motor speed] (nSP), [Rated motor power] (nPr)), parameters Xyw return to their factory

setting.

Code Name/Description Adjustment range Factory setting

ASY-

rSM M [Stator R measured]

IdM M [Idr]

LFM M [Lfr]

trM M [T2r]

nSL M [Nominal motor slip]

PPn M [Poles pair number]

b [ASYNC. MOTOR] (continued)

Cold stator resistance, calculated by the drive, in read-only mode. Value in milliohms (mΩ) up to 75 kW (100 HP), and in hundredths of milliohms (m

Magnetizing current in A, calculated by the drive, in read-only mode.

Leakage inductance in mH, calculated by the drive, in read-only mode.

Rotor time constant in mS, calculated by the drive, in read-only mode.

Nominal slip in Hz, calculated by the drive, in read-only mode. To modify the nominal slip, modify the [Rated motor speed] (nSP) (page 76

Number of pairs of poles, calculated by the drive, in read-only mode.

Ω/100) above 75 kW (100 HP).

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Asynchronous motor parameters that can be accessed in [Expert] mode, continued

Code Name/Description

ASY-

rSA M [Cust stator resist.]

IdA M [Idw]

LFA M [Lfw]

trA M [Cust. rotor t const.]

b [ASYNC. MOTOR] (continued)

Cold state stator resistance (per winding), modifiable value. In milliohms (mΩ) up to 75 kW (100 HP), and in hundredths of milliohms (m

10.00 to 65.53 (10000 to 65536).

Magnetizing current in A, modifiable value.

Leakage inductance in mH, modifiable value.

Rotor time constant in mS, modifiable value.

Ω/100) above 75 kW (100 HP). On the integrated display unit: 0 to 9999 then

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CAUTION

Check that the motor will withstand this current, particularly in the case of permanent magnet synchronous motors, which are susceptible to demagnetization.

Failure to follow this instruction can result in equipment damage.

Synchronous motor parameters:

These parameters can be accessed if [Motor control type] (Ctt) page 70 = [Sync. mot.] (SYn) or [Sync.CL] (FSY). In this case, the asynchronous motor parameters cannot be accessed.

Important: For synchronous motors, it is crucial to set the current limit. See [Current Limitation] (CLI) page 73

Code Name/Description Adjustment range Factory setting

SYn-

nCrS

nSPS

PPnS

IPHS

0.1

PHS

LdS

LqS

rSAS

b [SYNCHRONOUS MOTOR]

Can only be accessed if [Motor control type] (Ctt) page 70 = [Sync.CL] (FSY) or [Sync. mo t.] (SYn).

M [Nominal I sync.]

Rated synchronous motor current given on the nameplate.

M [Nom motor spdsync]

Rated synchronous motor speed given on the nameplate. On the integrated display unit: 0 to 9999 rpm then 10.00 to 60.00 krpm.

M [Pole pairs]

Number of pairs of poles on the synchronous motor.

M [Increment EMF]

Increment for the [Syn. EMF constant] (PHS) parameter.

v [0.1mV/rpm] (0.1): 0.1 mV per rpm

v [1 mV/rpm] (1): 1mV per rpm

M [Syn. EMF constant]

Synchronous motor EMF constant, in 0.1 mV per rpm or 1 mV pe r rpm (peak v oltage per ph ase), according to the value of [Increment EMF] (IPHS). On the integrated display unit: 0 to 9999 then 10.00 to 65.53 (10000 to 65536).

M [Autotune L d-axis]

Axis "d" stator inductance in mH (per phase). On motors with smooth poles [Autotune L d-axis] (LdS) = [Autotune L q-axis] (LqS) = Stator inductance L.

M [Autotune L q-axis]

Axis "q" stator inductance in mH (per phase). On motors with smooth poles [Autotune L d-axis] (LdS) = [Autotune L q-axis] (LqS) = Stator inductance L.

M [Cust. stator R syn]

Cold state stator resistance (per winding) The factory setting is replaced by the result of the auto-tuning operation, if it has been performed. The value can be entered by the user, if he knows it. Value in milliohms (m On the integrated display unit: 0 to 9999 then 10.00 to 65.53 (10000 to 65536).

Ω) up to 75 kW (100 HP), and in hundredths of milliohms (mΩ/100) above 75 kW (100 HP).

0.25 to 1.5 In (1) Acc. to drive rating

0 to 60000 rpm Acc. to drive rating

1 to 50 Acc. to drive rating

0 to 65535 Acc. to drive rating

0 to 655.3 Acc. to drive rating

Acc. to drive rating Acc. to drive rating

[0.1mV/rpm] (0.1)

(1)In corresponds to the rated drive current indicated in the Installation Manual and on the drive nameplate.

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Code Name/Description

SYn-

rEqP

rEtP

YES

dOnE

tAb PrOG FAIL dOnE

CUS

b [SYNCHRONOUS MOTOR] (continued)

M [Read motor param.]

This parameter can only be used with BDH, BRH and BSH type motors from the SchneiderElectric range.

Can only be accessed if [Encoder protocol] (UECP) page 116 Request to load motor parameters from the encoder EEPROM memory.

v [No] (nO): Loading not performed or has failed. v [Yes] (YES): Loading is performed as soon as possible, then the parameter automatically changes to

[Done] (dOnE).

v [Done] (dOnE): Loading done.

The following parameters are loaded: [Angle offset value] (ASU) page 85 page 81 page 81

(LqS) page 81

M [Status motor param]

Can only be accessed if [Encoder protocol] (UECP) page 116 = [Hiperface] (SCHP). Information on the request to load motor parameters from the en coder EEPROM memory (not modifiable).

v [Not done] (tAb): Loading has not been performed, default motor parameters will be used. v [In Progress] (PrOG): Loading in progress. v [Failed] (FAIL): Loading has failed. v [Done] (dOnE): Loading completed successfully. v [Customized] (CUS): Loading completed successfully but one or more motor parameters have

subsequently been modified by the user via the display terminal or serial link, or auto-tuning has been performed by [Auto-tuning] (tUn).

, [Nominal I sync.] (nCrS) page 81, [Pole pairs] (PPnS) page 81, [Syn. EMF constant] (PHS) , [Cust. stator R syn] (rSAS) page 81, [Autotune L d-axis] (LdS) page 81, and [Autot une L q-axis]

Note:

• During loading the drive is in "Freewheel Stop" state wi th the motor turned off.

• If a "line contactor" or "output contactor" function has been configured, the contactor closes during loading.

[No] (nO)

= [Hiperface] (SCHP).

, [Nom motor spdsync] (nSPS)

[Not done] (tAb)

Synchronous motor parameters that can be accessed in [Expert] mode

Code Name/Description

SYn-

rSMS M [R1rS]

FrSS M [Nominal freq sync.]

(1)Parameter can also be acce s se d in the [1.3 SETTINGS] (SEt-) menu. (2)In corresponds to the rated drive current indicated in the Installation Manual and on the drive nameplate.

b [SYNCHRONOUS MOTOR] (continued)

Cold state stator resistance (per winding), in read-only mode. This is the drive factory setting or the result of the auto-tuning operation, if it has been performed. Value in milliohms (m (100 HP). On the integrated display unit: 0 to 9999 then 10.00 to 65.53 (10000 to 65536).

Motor frequency at rated speed in Hz, calculated by the drive (rated motor frequency), in read-only mode.

Parameter that can be modified during operation or when stopped

Ω) up to 75 kW (100 HP), and in hundredths of milliohms (mΩ/100) above 75 kW

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WARNING

UNINTENDED EQUIPMENT OPERATION

Check that the rotation of the motor will not cause any dange rous movements.

Failure to follow this instruction can result in death or serious injury.

Closed-loop synchronous motor

Operation on a synchronous motor in a closed loop configuration requires an encoder providing the exact position of the motor rotor. The phase-shift angle of the encoder in relation to the rotor must therefore be determined. The drive can perform this measurement automatically.

Selecting a resolver type encoder

The number of poles on the motor must be a whole multiple of the number of poles on the resolver. For example, a 6-pole

resolver will not operate with an 8-pole motor. To obtain the best resolution, we recommend selec ting a resolver with the same number of poles as the motor.

Procedure for measuring the phase-shift angle between the motor and the encoder

Preliminary remarks:

Select the [Angle setting type] (ASt) measuring mode according to the type of machine being driven:

• [Angle setting type] (ASt) = [W/o load] (nLd): Measurement with motion, if the rotation of the motor is free (no load, brake released) and safe. During measurement current flows through the motor, which may cause it to rotate one full revolution.

• [Angle setting type] (ASt) = [With load] (brC): Measurement without motion, motor with or without load, brake engaged or released. This mode is recommended for a lift, for example. You must adhere to the following instructions:

- The motor rotor must not move during measurement, otherwise the result will be incorrect.

- In some cases, the measurement current can cause tripping on an [Overcurrent] (OCF) fault; if so, use [W/o load] (nLd) mode. This occurs when using low-inductance motors, high-speed motors, or motors in which the rat ed voltage is well bel ow the supply voltage of the drive.

- In some cases, the measurement can cause tripping on an [Angle error] (ASF) fault. This occurs if the motor rotor has moved during measurement (only detected in closed-loop mode), a motor phase is disconnected or if the motor inductance is too high, thus limiting the measurement current (in this case, use [W/o load] (nLd) mode).

• [Angle setting type] (ASt) = [Optimised] (brCO): measurement without motion, possible with or without load, brake engaged or released. Optimization of the angle detection time starting from the second detection request, even after a power off of the product.

1. First, follow the "Encoder check procedure" on page 74

2. Set [Motor control type] (Ctt) = [Sync.CL] (FSY).

3. If you have selected [Angle setting type] (ASt) = [W/o load] (nLd): measurement without motion, check that the mot or i s runn ing safel y

and can turn freely without resistive or driving torque. If these conditions are not met, the resulting measurement will be inaccurate.

4. Set [Angle auto-test] (ASA) = [Yes] (YES). The measurement is performed and [Angle auto-test] (ASA) changes to [Done] (dOnE). The [Angle offset value] (ASU) parameter changes from [No] (nO) to a numerical value proportional to the electrical angle measured (8191 = 360°).

5. If required, configure automatic measurements using [Angle setting activ.] (AtA). If [Angle setting type] (ASt) = [W/o load] (nLd), ensure that the safety conditions outlined earlier are met at all ti mes. If using a relative encoder (incremental or SinCos), it is recommended that you set [Angle setting activ.] (AtA) = [Power On] (POn) or

[Run order] (AUtO).

6. If an [Angle error] (ASF) fault occurs, [Angle auto-test] (ASA) returns to [No] (nO).

- Check that the parameters and instructions relating to this procedure have been carried out correctly and perform the measurement again.

Comments

The phase-shift angle must be re-measured each time:

• The motor is changed

• The encoder is changed

• The coupling between the motor and encoder is removed

•The [Output Ph rotation] (PHr) parameter is modified

•The [Coder rotation inv.] (EnRI) parameter is modified If a relative encoder (incremental or SinCos) is used, measurement must be repeated each time the motor is turned off/on. It is therefore recommended that you set [Angle setting activ.] (AtA) = [Power On] (POn) or [Run order] (AUtO).

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[1.4 MOTOR CONTROL] (drC-)

Code Name/Description Adjustment range

ASA-

ASt

ASA

brC nLd

brCO

YES

dOnE

b [ANGLE TEST SETTING]

Can only be accessed if [Motor control type] (Ctt) page 70 = [Sync.CL] (FSY)

M [Angle setting type]

Mode for measuring the phase-shift angle between the motor and the encoder.

v [With load] (brC): Measurement without motion , possible with or without load, brake engaged or released. v [W/o load] (nLd): Measurement with motion, only for free motors (brake released), without load. v [Optimised] (brCO): Measurement without motion, possi ble with or without load, brake engaged or released.

Optimization of the angle detection time starting from the second detection request, even after a power off of the product.

Note 1: If [Angle setting type] (ASt) = [W/o load] (nLd), the motor may rotat e one f ul l rev oluti on d uring

measurement. Note 2: If [Motor control type] (Ctt) = [Sync. mot.] (SYn) or [Sync.CL] (FSY) then [Angle setti ng t yp e]

(ASt) = [Optimised] (brCO)

M [Angle auto-test]

Measurement of the phase-shift angle between the motor and the encoder.

v [No] (nO): Measurement not performed or has failed, or [Output Ph rotation] (PHr) has been modified, or

[Coder rotation inv.] (EnRI) parameter has been modified.

v [Yes] (YES): Measurement is performed as soon as possible, then the parameter automatically changes to

[Done] (dOnE).

v [Done] (dOnE): Use of the value given the last time the measurement was performed.

Important:

• It is essential that all the motor parameters are configured correctly before performing measurements:

- [Nominal I sync] (nCrS), [Current Limitation] (CLI), [Nom motor spdsync] (nSPS), [Pole pairs.] (PPnS),

[Syn. EMF constant] (PHS), [Autotune L d-axis] (LdS), [IAutotune L q-axis] (LqS), [Cust. stator R syn]

(rSAS).

• Measurement is only performed if no stop command has been activated. If a "freewheel sto p" or "fast st op" function has been assigned to a logic input, this input must be set to 1 (active at 0).

• Measurement takes priority over any run commands, which will be taken into account after the measuremen t sequence.

• If measurement fails, the drive displays [No] (nO) and changes to [Angle Error] (ASF) fault mode.

• Measurement may take several seconds. Do not interrupt the process. Wait for the display to change to "[Done] (dOnE)" or "[No] (nO)".

[With load] (brC)

[No] (nO)

ASL

LI1

Note: If a "line contactor" or "output contactor" function has been configured, the contactor closes during measurement.

M [Angle auto test]

Measurement of the phase-shift angle between the motor and the encoder by means of a logic input or command bit.

v [No] (nO): Not assigned v [LI1] (LI1)

: :

v [...] (...): See the assignment conditions on page 139.

Measurement is performed when the assigned bit or input changes to 1.

Note: If a "line contactor" or "output contactor" function has been configured, the contactor closes during measurement.

[No] (nO)

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Code Name/Description Adjustment range

ASA-

AtA

ASU

AStS

POn

AUtO

tAb PEnd PrOG FAIL dOnE

CUS

b [ANGLE TEST SETTING] (continued)

M [Angle setting activ.]

Activation of automatic measurement of the phase-shift angle between the motor and encoder when using a relative encoder (incremental or SinCos).

v [No] (nO): Function inactive. v [Power On] (POn): Measurement is performed on each power-up (1). v [Run order] (AUtO): Measurement is performed on each run command if necessary, i.e., if parameter [Angle

offset value] (ASU) is set to [No] (nO).

This option is recommended for use with a VW3 A3 401 to 407 card or with VW3 A3 411 card, when the "line contactor" function has been configured (loss of angle on each stop) (1). If [Angle setting activ.] (AtA) = [Power On] (POn) or [Run order] (AUtO), it is advisable to set [Angle setting type]

(ASt) = [With load] (brC).

Note: If a "line contactor" or "output contactor" function has been configured, the contactor closes during measurement.

M [Angle offset value]

Phase-shift angle between the motor and the encoder.

v [No] (nO): Measurement has not been perfo rmed or has failed, or [Output Ph rotation] (PHr) has been modified,

or measurement has been lost due to powering down (1).

v 0 to 8191: Phase-shift angle. 8191 corresponds to 360°.

M [Angle setting status]

Information on the phase-shift angle measurement between the motor and the encoder (cannot be modified).

v [Not done] (tAb): Phase-shift angle not defined. v [Pending] (PEnd): Measurement requested but not yet performed. v [In Progress] (PrOG): Measurement in progress. v [Failed] (FAIL): Measurement failed. v [Done] (dOnE): Measurement performed successfully. v [Customized] (CUS): The phase-shift angle value has been entered by the user via the disp lay terminal or serial

link.

[No] (nO)

[Not done] (tAb)

(1)Powering down causes a loss of measurement data in the following cases:

• With a VW3 A3 401 to 407 card:

- Every time the power section is turned off, even if the drive con trol secti on has a sep arate power supply (for ex ample, if the "l ine

contactor" function has been configured).

• With a VW3 A3 409 card and a SinCos encoder:

- Every time the power section is turned off, if the drive control section does not have a separate power supply.

- Only when the drive control section is turned off (if it has a separate power supply via the 0 and P24 terminals).

- If the number of poles of the resolver is not a multiple of the number of poles of the motor.

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CAUTION

Check that the motor will withstand this current without overheating.

Failure to follow this instruction can result in equipment damage.

Code Name/Description Adjustment range Factory setting

FLI-

FLU

FnC

FCt

FnO

b [FLUXING BY LI]

Cannot be accessed if [Motor control type] (Ctt) page 70 = [Sync.CL] (FSY).

M [Motor fluxing]

v [Not cont.] (FnC): Non-continuous mode v [Continuous] (FCt): Continuous mode. This option is not possible if [Angle setting type] (ASt) page 87 is

[With load] (brC) or if [Auto DC injection] (AdC) page 158

is [Freewheel] (nSt).

v [No] (FnO): Function inactive. This option is not possible if [Motor control type] (Ct t) page 70 = [SVC I] (CUC)

or [FVC] (FUC). If [Motor control type] (Ctt) page 70 is replaced by [Not cont.] (FnC). If [Motor control type] (Ctt) page 70 and above 55 kW (75 HP) for ATV71

In order to obtain rapid high torque on startup, ma gnetic flux needs t o already have been esta blished in the motor.

•In [Continuous] (FCt) mode, the drive automatically builds up flux when it is powered up.

•In [Not cont.] (FnC) mode, fluxing occurs when the motor starts up .

The flux current is greater than nCr (configured rated motor current) when t he flux is established and is then adjusted to the motor magnetizing current.

(1) [No] (FnO)

is [Yes] (YES) or if [Type of stop] (Stt) page 156

= [SVC I] (CUC), [FVC] (FUC) or [Sync. mot.] (SYn), the factory setting

= [SVC V] (UUC), the factory setting is replaced by [Not cont.] (FnC) at

ppppM3X and at and above 90 kW (120 HP) for ATV71ppppN4.

If [Motor control type] (Ctt) page 70 active ([No] (FnO) is not permitted); this parameter causes rotor angle detection or alignment (according to the configuration of [Angle setting type] (ASt) page 87 If [Brake assignment] (bLC) page 175

FLI

LI1

(1)Parameter can also be acce s se d in the [1.3 SETTINGS] (SEt-) menu.

Parameter that can be modified during operation or when stopped

M [Fluxing assignment]

v [No] (nO): Function inactive v [LI1] (LI1)

: :

v [...] (...): See the assignment conditions on page 139.

Assignment is only pos s ib l e if [Motor fluxing] (FLU) = [Not cont.] (FnC):

- If an LI or a bit is assigned to the motor fluxing command, flux is built up when the assigned input or bit is at 1.

- If an LI or a bit has not been assigned, or i f t he assi gned LI or bit i s at 0 when a run comman d i s s ent , fluxing occurs when the motor starts.

= [Sync. mot.] (SYn), the [Motor fluxing] (FLU) parameter must be

is not [No] (nO), the [Motor fluxing] (FLU) parameter has no effect.

) and not fluxing.

[No] (nO)

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Code Name/Description Adjustment range Factory setting

FLI-

ASt

brC

nLd

brCO

b [FLUXING BY LI] (continued)

M [Angle setting type]

Rotor angle alignment or detection mode can be accessed if

[Motor control type] (Ctt) page 70

Mode for measuring the phase-shift angle between the motor and the encoder.

v [With load] (brC): Detection of angle without motion, possible with or without load, brake engaged or

released.

v [W/o load] (nLd): Alignment with motion, only for free motors (brake released), without load. v [Optimised] (brCO): Measurement without motion, possible with or without load, brake engaged or released.

Optimization of the angle detection time sta rting f rom the second detect ion reque st, eve n after a powe r off of the product.

Note 1: If [Angle setting type] (ASt) = [W/o load] (nLd), the motor may rotate one full revolution during measurement. Nota 2: If [Motor control type] (Ctt) = [Sync. mot.] (SYn) or [Sync.CL] (FSY) then [Angle setting

type] (ASt) = [Optimised] (brCO)

[With load] (brC)

= [Sync. mot.] (SYn).

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Code Name/Description Adjustment range

tUn-

tUn

AUt

YES

dOnE

YES

b [AUTOMATIC TUNE]

M [Auto tuning]

v [No] (nO): Auto-tuning not performed. v [Yes] (YES): Auto-tuning is performed as soon as possible, then the parameter automatically changes to [Done]

(dOnE).

v [Done] (dOnE): Use of the values given the last time auto-tuning was performed.

Important:

• It is essential that all the motor parameters are correctly configured before starting auto-tuning.

- Asynchronous motor: [Rated motor volt.] (UnS) , [Rated motor freq.] (FrS), [Rated mot. current] (nCr),

[Rated motor speed] (nSP), [Rated motor power] (nPr) page 76

- Synchronous motor: [Nominal I sync.] (nCrS), [Nom motor spdsync] (nSPS), [Pole pairs] (PPnS), [Syn.

EMF constant] (PHS), [Autotune L d-axis] (LdS), [Autotune L q-axis] (LqS) page 81

If at least one of these parameters (except [Syn. EMF constant] (PHS), [ Autotune L d-axis] (LdS), [Autotune L

q-axis] (LqS)) is modified after auto-tuning has been performed, [Auto tuning] (tUn) will return to [No] (nO) and

must be repeated.

• Auto-tuning is only performed if no stop command has been activated. If a "freewheel stop" or "fast stop" function has been assigned to a logic input, this input must be set to 1 (active at 0).

• Auto-tuning takes priority over any run or prefluxing commands, which will be taken into account after the auto-tuning sequence.

• If auto-tuning fails, the drive displays [No] (nO) and, depending on the configuration of [Autotune faul t mgt]

(tnL) page 256

• Auto-tuning may last for 1 to 2 seconds. Do not interrupt the process. Wait for the display to change to "[Done] (dOnE)" or "[No] (nO)".

Note:

• During auto-tuning the motor operates at rated current.

• If the "line contactor" or "output contactor" f unctio n has been confi gured, the co nta ctor clo ses d uring auto-tuning.

, may switch to [Auto-tuning] (tnF) fault mode.

M [Automatic autotune]

v [No] (nO): Function inactive. v [Yes] (YES): Auto-tuning is performed on every power-up.

Important: Same comments as for [Auto tuning] (tUn) above.

[No] (nO)

tUL

tUS

PEnd PrOG FAIL dOnE

LI1

tAb

CUS

M [Auto-tune assign.]

Assignment of auto-tuning to a logic input or control bit.

v [No] (nO): Not assigned v [LI1] (LI1)

: :

v [...] (...): See the assignment conditions on page 139.

Auto-tuning is performed when the assigned bit or input changes to 1. Important: Same comments as for [Auto tuning] (tUn) above.

M [Auto tuning state]

For information only, cannot be modified.

v [Not done] (tAb): The default stator resistance value is used to control the motor. v [Pending] (PEnd): Auto-tuning has been requested but not yet performed. v [In Progress] (PrOG): Auto-tuning in progress. v [Failed] (FAIL): Auto-tuning has failed. v [Done] (dOnE): The stator resistance measured by the auto-tuning function is used to control the motor. v [Customized] (CUS): Auto-tuning has been performed, but at least one parameter set by this auto-tuning

operation has subsequently been modified. The [Auto tuning] (tUn) parameter then returns to [No] (nO). The following auto-tuning parameters are affected:

• [Cust stator resist.] (rSA), [Idw] (IdA), [Lfw] (LFA) and [Cust. rotor t const.] (trA) page 80 motors

• [Cust. stator R syn] (rSAS) page 81

[Not done] (tAb)

for asynchronous

for synchronous motors

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Code Name/Description Adjustment range Factory setting

SSL-

SSL

SPG

SIt

SFC

JMUL

JESt

Std HPF

b [SPEED LOOP]

Cannot be accessed if [Motor control type] (Ctt) page 70 = [V/F 2pts] (UF2) or [V/F 5pts] (UF5).

M [Speed loop type]

Selection of speed loop type

v [Standard] (Std): Standard speed loop v [High perfor.] (HPF): High-pe rformance speed loop. We advise to deactivate [Dec ramp adapt.] (brA) =

[No] (nO) (see page 155

M [Speed prop. gain]

This parameter can be accessed if [Speed loop type] (SSL) = [Standard] (Std). Speed loop proportional gain.

M [Speed time integral]

This parameter can be accessed if [Speed loop type] (SSL) = [Standard] (Std). Speed loop integral time constant.

M [K speed loop filter]

This parameter can be accessed if [Speed loop type] (SSL) = [Standard] (Std). Speed loop filter coefficient.

)

(1)

0 to 1000% 40%

1 to 1000% 100%

0 to 100 0

M [Inertia Mult. Coef.]

This parameter can be accessed if [Speed loop type] (SSL) = [High perfor.] (HPF). Increment for [Application Inertia] (JAPL) and [Estim. app. inertia] (JESt) parameters, calculated by the drive, in read-only mode:

- 0.1 gm

M [Estim. app. inertia]

This parameter can be accessed if [Speed loop type] (SSL) = [High perfor.] (HPF). The inertia being driven is estimated by the drive according to the motor parameters, i n read-only mode. Speed loop default settings are determined by the drive from this inertia. Increment given by [Inertia Mult. Coef.] (JMUL):

- 0.1 gm

, 1 gm2, 10 gm2, 100 gm2, 1000 gm

, 1 gm2, 10 gm2, 100 gm2 or 1000 gm

1 to 9999 -

[Standard] (Std)

JACO

(1)Parameter can also be accessed in t he [1.3 SETTINGS] (SEt-) menu. Advice on setting the parameters in this menu can be found

on pages 57

M [App. Inertia Coef.]

This parameter can be accessed if [Speed loop type] (SSL) = [High perfor.] (HPF). Coefficient which fix the ratio between [Estim. app. inertia ] (JESt) and [App lication Inertia] (JAPL) parameters. The default value is equal to 1 or 30 if [Macro configuration] (CFG) page 41

type] (Ctt) page 70 [Application Inertia] (JAPL) = [Estim. app. inertia] (JESt) x [App. Inertia Coef.] (JACO).

to 59.

Parameter that can be modified during operation or when stopped

= [Sync. mot.] (SYn) or [Sync.CL] (FSY).

0.10 to 100 -

= [Lift] (LIFt) and [Motor control

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[1.4 MOTOR CONTROL] (drC-)

DANGER

UNINTENDED EQUIPMENT OPERATION

• If an incorrect value is entered in the [Application Inertia] (JAPL)parameter, it can cause speed instability and loss of motor control, which could lead to a sudden drop (in hoisting and lift applications, for example). The inertia may vary significantly according to the application; in general, it is very high for lifts. As such, the default value does not guarantee correct operation.

• It is essential to determine and enter the exact inertia value in high performance speed loop mode.

Failure to follow these instructions will result in death or serious injury.

Code Name/Description Adjustment range Factory setting

SSL-

JAPL

b [SPEED LOOP] (continued)

M [Application Inertia]

This parameter can be accessed if [Speed loop type] (SSL) = [High perfor.] (HPF). The value of the actual inertia being driven must be entered in this parameter. This value is then used by the drive to optimize speed loop settings, thus achieving t he best results (provided that the exact value has been entered).

[Application Inertia] (JAPL) = [Estim. app. inertia] (JESt) x [App. Inertia Coef.] (JACO), with [App. Inertia Coef.]

(JACO) = 1 or 30 if [Macro configuration] (CFG) page 41

[Sync. mot.] (SYn) or [Sync.CL] (FSY).

Increment given by [Inertia Mult. Coef.] (JMUL):

• 0.1 gm

, 1 gm2, 10 gm2, 100 gm2 or 1000 gm Note: If a motor parameter is modified, the estimated inertia is recalc ulate d and upd ate d (p arameters

[Estim. app. inertia] (JESt) and [Inertia Mult. Coef.] (JMUL)). [Application Inerti a] (JAPL) is also returned

to its default value according to the new value of [Estim. app. inertia] (JESt).

1 to 9999 -

= [Lift] (LIFt) and [Motor control type] (Ctt) page 70 =

StA

FLG

(1)Parameter can also be accessed in t he [1.3 SETTINGS] (SEt-) menu. Advice on setting the parameters in this menu can be found

on pages 57

M [Fr.Loop.Stab]

This parameter can be accessed if [Speed loop type] (SSL) = [High perfor.] (HPF). Stability: Used to adapt the return to steady state after a speed transient, according to the dynamics of the machine. Gradually increase the stability t o increase control loop atten uation an d thus reduce any overspeed.

M [FreqLoopGain]

This parameter can be accessed if [Speed loop type] (SSL) = [High perfor.] (HPF). Frequency loop gain: Used to adapt the respons e of the machine sp eed transients according to th e dynamics. For machines with high resistive torque, high inertia or fast cycles, increase the gain gradually.

to 59.

Parameter that can be modified during operation or when stopped

(1) 0 to 100% 20%

(1)

0 to 100%

20%

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Parameters that can be accessed in [Expert] mode

Code Name/Description Adjustment range Factory setting

SSL-

FFP

FFU

b [SPEED LOOP] (continued)

M [Feed forward]

This parameter can be accessed if [Speed loop type] (SSL) = [High perfor.] (HPF). Percentage of the high-performance regulator feedforward term. 100% corresponds to the term calculated using the value of [Application Inertia] (JAPL) page 90

M [Bandwidth feedfor.]

This parameter can be accessed if [Speed loop type] (SSL) = [High perfor.] (HPF). Bandwidth of the high-performance speed loop feedforward term, as a percentage of the predefined value.

Parameter that can be modified during operation or when stopped

0 to 200% 100%

20 to 500% 100%

Recommended procedure for setting the high-performance speed loop

1. Enter the motor parameters. If you subsequently modify one of these, you will have to perform this whole procedure again.

2. The value of the actual inertia being driven must be entered in the [Application Inertia] (JAPL) parameter, page 90

Note: If a motor parameter is modified, the estimated inertia is recalculated and updated (parameters [Estim. app. inertia] (JESt) and

[Inertia Mult. Coef.] (JMUL)). [Application Inertia] (JAPL) is also returned to its default value accordi ng to the new value of [Estim. app. inertia] (JESt).

3. Check the speed loop response time by first setting [Feed forward] (FFP) to 0 (see graphs on next page).

4. If necessary, adjust the bandwidth and stability using parameters [Fr.Loop.Stab] (StA) and [FreqLoopGain] (FLG) (see page 59

5. To optimize ramp following, increase the feedforward parameter [Feed forward] (FFP) as indicated on the next page until th e best result

is obtained.

6. Under exceptional circumstances, the feedforward term bandwidth can be adjust ed (as shown on the next page) to further improve ramp following or to reduce the speed reference's sensitivity to noise.

DANGER

UNINTENDED EQUIPMENT OPERATION

• If an incorrect value is entered in the [Application Inertia] (JAPL) parameter, page 90, it can cause speed instability and loss of motor control, which could lead to a sudd en drop (in hoisting and lif t applications, f or example). The inertia may vary signi ficantly according to the application; in general, it is very high for lifts. As such, the default value does not guarantee correct operation.

• It is essential to determine and enter the exact inertia value in high perf ormance speed loop mode.

Failure to follow these instructions will result in death or serious injury.

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0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

0 50045040035030025020015010050

1,2

0,8 0,6 0,4 0,2

Reference division

Time in ms

High-performance speed loop - Setting the [Feed forward] (FFP) and [Bandwidth

feedfor.] (FFU) parameters

[Feed forward] (FFP)

This is used to adjust the level of dynamic torque feedforward required for accelerating and decelerating the inertia. The effect of this parameter on ramp following is illustrated below. Increasing the value of FFP allows the ramp to be followed more closely. However, if the value is too high, overspeed occurs. The optimum setting is obtained when the speed follows the ramp precisely; this depends on the accuracy of the [Application Inertia] (JAPL) parameter, page 90

Initial response with FFP = 0 Increase in FFP Increase in FFP

, and the [Encoder filter value] (FFr) parameter setting, page 117.

Increase in FFP

[Bandwidth feedfor.] (FFU)

This is used to adjust the bandwidth of the dynamic torque feedforward term. The effect of this parameter on ramp following is illustrated below. Decreasing the value of FFU reduces the effect of noise on the speed reference (torque ripple). However, too great a decrease in relation to the ramp settings (o n short ramps) cause s a del ay, and ramp fol lowing is advers ely affe cted. Increasi ng the v alue o f FFU allows the ramp to be followed more closely, but also hei ghtens noise sensitivity. The o ptimum setting is obtained by reaching the best compromise between ramp following and the existing noise sensitivity.

Initial response with FFU = 100% Reduction in FFU Increase in FFU

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Beam pumps

[ENA SYSTEM]

ENA SYSTEM is a control profile designed for rotating machines with unbalanced load. It only applies to asynchronous motors. It is used primarily for oil pumps. The operating principle applied:

- Allows operation without a braking resistor

- Reduces mechanical stress on the rod

- Reduces line current fluctuations

- Reduces energy consumption by improving the electric power/current ratio

[ENA prop.gain]

This setting is used to achieve a compromise between the reduced energy consumption (and/or line current fluctuations) and the mechanical stress to which the rod is subject. Energy is saved by reducing current fluctuations and increasing the current while retaining the same average speed.

[ENA integral gain]

This setting is used to smooth the DC bus voltage.

Start up the machine with a low integral and proportional gain (proportional 25% and integral 10%) in order to avoid an overvoltage trip in the absence of a braking resistor. See if these settings are suitable.

Recommended adjustments to be made during operation:

• To eliminate the braking resistor and, therefore, the increase in the DC bus voltage: Display the machine speed on the graphic display terminal. Reduce the integral gain value until the machine speed dr ops. When this point is reached, increase the i ntegral gain until the machine speed stabilizes. Use the graphic display terminal or an oscilloscope to check that the DC bus voltage is stable.

• To save energy: Reducing the proportional gain (gradually) may increase energy savings by reduci ng the maximum value of the line current, but it will increase speed variations and, therefore, mechanical stress. The aim is to identify settings that will enable energy to be saved and minimize mechanical stress. When reducing the proportional gain, it may be necessary to readjust the integral gain in order to avoid an overvoltage trip.

Note: Once the adjustments are complete, check that t he pump starts up correctly. I f the ENA inte gral gain sett ing is to o low, this may lead to insufficient torque on startup.

[Reduction ratio]

This setting corresponds to the motor speed ahead of gearbox/speed after gearbox ratio. This parameter is used to display the average speed in Hz and the machine speed in customer units (e.g., i n strokes pe r minut e) on the graphi c displa y terminal . In order t o be displayed on the graphic display terminal, these values must be selected in the [1.2 MONITORING] (SUP-) menu.

Adjustment recommendations for prevention of tripping on an [Overspeed] (SOF) fault

ENA SYSTEM authorizes overspeed, which can trigger an [Overspeed] (SOF) fault. To avoid this occurring, it is advisable to increase the value of the following parameters slightly:

• [Max frequency] (tFr) page 71

• [Overspd. pulse thd.] (FqA) page 253, if the "frequency meter" function is configured

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Beam pumps

Code Name/Description Adjustment range Factory setting

SSL-

EnA

YES

GPE

GIE

rAP

(1)Parameter can also be acce s se d in the [1.3 SETTINGS] (SEt-) menu.

b [SPEED LOOP] (continued)

M [ENA system]

This parameter can be accessed if [Motor control type] (Ctt) = [SVC V] (UUC), see page 70.

Parameter that can be modified during operation or when stopped

v [No] (nO): Function inactive v [Yes] (YES): Function active

M [ENA prop.gain]

This parameter can be accessed if [ENA system] (EnA) = [Yes] (YES)

M [ENA integral gain]

This parameter can be accessed if [ENA system] (EnA) = [Yes] (YES)

M [Reduction ratio]

This parameter can be accessed if [ENA system] (EnA) = [Yes] (YES)

[No] (nO)

(1) 1 to 9999 250

(1) 0 to 9999 100

(1) 10.0 to 999.9 10

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Rated magnetizing current

Positive [Boost] (bOO)

Negative [Boost] (bOO)

[Action Boost] (FAb)

Magnetizing current

Frequency

Code Name/Description Adjustment range Factory setting

bOO M [Boost]

The parameter can be accessed if [ACCESS LEVEL] = [Expert] and if [Motor control type] (Ctt) page 70 is different from [Sync.CL] (FSY). Adjustment of the motor magnetizing current at low speed, as a % of the rated magnetizing current. This parameter is used to increase or reduce the time taken t o establish the torque . It allows gradual adjus tment up to the frequency set by [Action Boost] (FAb). Negative values apply particularly to tapered rotor motors.

FAb M [Action Boost]

The parameter can be accessed if [ACCESS LEVEL] = [Expert] and if [Motor control type] (Ctt) page 70 is different from [Sync.CL] (FSY). Frequency above which the magnetizing current is not longer affected by [Boost] (b OO).

UFr

M [IR compensation]

This parameter can be accessed if [Motor control type] (Ctt) page 70 is not [V/F 2pts] (UF2) or [V/F 5pts] (UF5). Used to optimize the torque at very low speed (increase [IR compensation] (UFr) if the torque is insufficient). Check that the [IR compensation] (UFr) value is not to o high when t he motor is warm (risk of i nstability).

-100% to 100% 0

0 to 500 Hz

(1) 25 to 200% 100%

nrd

YES

(1)Parameter can also be acce s se d in the [1.3 SETTINGS] (SEt-) menu.

M [Noise reduction]

v [No] (nO): Fixed frequency. Factory setting at and above 55 kW (75 HP) fo r ATV71 pppM3X an d at and above

90 kW (120 HP) for ATV71

pppN4.

v [Yes] (YES): Frequency with random modulation. Factory setting u p t o 45 kW (60 HP) f or ATV7 1pppM3X and

up to 75 kW (100 HP) for the ATV71 Random frequency modulation prevents any resonance, which may occur at a fixed frequency.

Parameter that can be modified during operation or when stopped

pppN4.

According to rating

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Code Name/Description Adjustment range Factory setting

SUL

YES

SOP

The value of the "SOP" parameter corresponds to the attenuation time of the cable used. It is defined to prevent the superimposition of voltage wave reflections resulting from long cable lengths. It limits overvoltages to twice the DC bus rated voltage. The tables on the following page give examples of correspo ndence be tween th e "SOP" parameter and the l ength o f the cabl e between the drive and the motor. For longer cable lengths, a sinus filter or a dV/dt prot ection filter must be used.

• For motors in parallel, the sum of all the cable lengths must be taken into consideration. Compare the length given in the table row corresponding to the power for one motor with that corresponding to th e total power, and select the shorter length. Example: Two

7.5 kW (10 HP) motors - take the lengths on the 15 kW (20 HP) table row, which are shorter than those on the 7.5 kW (10 HP) row, and divide by the number of motors to obtain t he length per motor (with unshielded "GORSE" cable and SOP = 6, the result is 40/2= 20 m maximum for each 7.5 kW (10 HP) motor).

M [Motor surge limit.]

This function limits motor overvoltages and is useful in the followi ng applications:

-NEMA motors

- Japanese motors

- Spindle motors

- Rewound motors

v [No] (nO): Function inactive v [Yes] (YES): Function active

This parameter is forced to [No] (nO) if [Sinus filter] (OFI) page 72 This parameter can remain = [No] (nO) for 230/40 0 V motors used at 2 30 V, or if the length of cable between the drive and the motor does not exceed:

- 4 m with unshielded cables

- 10 m with shielded cables

M [Volt surge limit. opt]

Optimization parameter for transient overvoltages at the motor terminals. Accessible if [Motor surge limit.]

(SUL) = [Yes] (YES).

Set to 6, 8, or 10

= [Yes] (YES).

μs, according to the following table.

[No] (nO)

10 μs

In special cases (for example, different types of cable, different motor powers in parallel, different cable lengths in parallel, etc.), we recommend using an oscilloscope to check the overvoltage values obtained at the motor terminals.

To retain the overall drive performance, do not increase the SOP value unnecessarily.

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Tables giving the correspondence between the SOP parameter and the cable length, for 400 V line supply

Altivar 71 Motor Cable cross-section Maximum cable length in meters

Reference Power Unshielded "GORSE" cable

kW HP in mm

ATV71H075N4 0.75 1 1.5 14 109.36 yd 76.55 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd ATV71HU15N4 1.5 2 1.5 14 109.36 yd 76.55 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd ATV71HU22N4 2.2 3 1.5 14 120.30 yd 71.08 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd ATV71HU30N4 3- 1.5 14 120.30 yd 71.08 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd ATV71HU40N4 451.5 14 120.30 yd 71.08 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd ATV71HU55N4 5.5 7.5 2.5 14 131.23 yd 71.08 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd ATV71HU75N4 7.5 10 2.5 14 131.23 yd 71.08 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd ATV71HD11N4 11 15 6 10 125.77 yd 65.62 yd 49.21 yd 109.36 yd 82.02 yd 60.15 yd ATV71HD15N4 15 20 10 8 114.83 yd 65.62 yd 43.74 yd 109.36 yd 76.55 yd 54.68 yd ATV71HD18N4 18.5 25 10 8 125.77 yd 65.62 yd 38.28 yd 164.04 yd 82.02 yd 54.68 yd ATV71HD22N4 22 30 16 6 164.04 yd 65.62 yd 43.74 yd 164.04 yd 76.55 yd 54.68 yd ATV71HD30N4 30 40 25 4 164.04 yd 60.15 yd 38.28 yd 164.04 yd 76.55 yd 54.68 yd ATV71HD37N4 37 50 35 5 218.72 yd 71.08 yd 54.68 yd 164.04 yd 76.55 yd 54.68 yd ATV71HD45N4 45 60 50 0 218.72 yd 60.15 yd 32.81 yd 164.04 yd 65.62 yd 43.74 yd ATV71HD55N4 55 75 70 2/0 218.72 yd 54.68 yd 27.34 yd 164.04 yd 60.15 yd 32.81 yd ATV71HD75N4 75 100 95 4/0 218.72 yd 49.21 yd 27.34 yd 164.04 yd 60.15 yd 32.81 yd

AWG SOP = 10 SOP = 8 SOP = 6 SOP = 10 SOP = 8 SOP = 6

Type H07 RN-F 4Gxx

Shielded "GORSE" cable Type GVCSTV-LS/LH

Altivar 71 Motor Cable cross-section Maximum cable length in meters

Reference Power Shielded "BELDEN" cable

kW HP in mm

ATV71H075N4 0.75 1 1.5 14 54.68 yd 43.74 yd 32.81 yd ATV71HU15N4 1.5 2 1.5 14 54.68 yd 43.74 yd 32.81 yd ATV71HU22N4 2.2 3 1.5 14 54.68 yd 43.74 yd 32.81 yd ATV71HU30N4 3- 1.5 14 54.68 yd 43.74 yd 32.81 yd ATV71HU40N4 451.5 14 54.68 yd 43.74 yd 32.81 yd ATV71HU55N4 5.5 7.5 2.5 14 54.68 yd 43.74 yd 32.81 yd ATV71HU75N4 7.5 10 2.5 14 54.68 yd 43.74 yd 32.81 yd ATV71HD11N4 11 15 6 10 54.68 yd 43.74 yd 32.81 yd ATV71HD15N4 15 20 10 8 54.68 yd 43.74 yd 32.81 yd ATV71HD18N4 18.5 25 10 8 54.68 yd 43.74 yd 32.81 yd ATV71HD22N4 22 30 16 6 82.02 yd 43.74 yd 27.34 yd ATV71HD30N4 30 40 25 4 82.02 yd 43.74 yd 27.34 yd ATV71HD37N4 37 50 35 5 82.02 yd 43.74 yd 27.34 yd ATV71HD45N4 45 60 50 0 82.02 yd 43.74 yd 27.34 yd ATV71HD55N4 55 75 70 2/0 82.02 yd 32.81 yd 16.40 yd ATV71HD75N4 75 100 95 4/0 82.02 yd 32.81 yd 16.40 yd

For 230/400 V motors used at 230 V, the [Motor surge limit.] (SUL) parameter can remain = [No] (nO).

AWG SOP = 10 SOP = 8 SOP = 6 SOP = 10 SOP = 8 SOP = 6

Type 2950x

Shielded "PROTOFLEX" cable Type EMV 2YSLCY-J

AAV49426 12/2009 97

Page 98

[1.4 MOTOR CONTROL] (drC-)

LbC

Torque

Nominal torque

Frequency

Code Name/Description Adjustment range Factory setting

Ubr

bbA

YES

M [Braking level]

DC bus voltage threshold above which the braking transistor cuts in to limit this voltage. ATV71

ppppM3p: factory setting 395 V.

ATV71

ppppN4: factory setting 785 V.

The adjustment range depends on the voltage rating of the drive and the [Mains voltage] (UrES) parameter, page 246

M [Braking balance]

v [No] (nO): Function inactive v [Yes] (YES): Function active, to be used on dri ves conn ected in pa rallel via thei r DC b us. Us ed to bala nce the

braking power between the drives. The [Braking level] (Ubr) parameter must be set to the same value on the various drives. The value[Yes] (YES) is possible only if [Dec ramp adapt.] (brA) = [No] (nO) (see page 155

According to drive voltage rating

[No] (nO)

)

LbA

LbC

YES

M [Load sharing]

When 2 motors are connected mechanically and therefor e at the same speed, and each is controlled by a drive, this function can be used to improve torque distri bution between the two mo tors. To do this, it varies the speed based on the torque.

v [No] (nO): Function inactive v [Yes] (YES): Function active

The parameter can only be accessed if [Motor control type] (Ctt) page 70

(UF5).

M [Load correction]

Rated correction in Hz. The parameter can be accessed if [Load sharing] (LbA) = [Yes] (YES)

[No] (nO)

is not [V/F 2pts] (UF2) or [V/F 5pts]

(1) 0 to 1000 Hz 0

(1)The parameter can also be accessed in the [1.3 SETTINGS] (SEt-) menu.

98 AAV49426 12/2009

Parameter that can be modified during operation or when stopped.

Page 99

[1.4 MOTOR CONTROL] (drC-)

Reference Speed

Ramp

Speed loop

Balancing

Filter

Torque reference

LBC LBC1 LBC2 LBC3

LBF

Speed

LBC1 LBC2

Torque

LBC3

Rated torque x (1 + LBC3)

LBC

Load sharing, parameters that can be accessed at expert level

Principle

The load sharing factor K is determined by the torque and speed, with two factors K1 and K2 (K = K1 x K2).

AAV49426 12/2009 99

Page 100

[1.4 MOTOR CONTROL] (drC-)

Code Name/Description Adjustment range Factory setting

LbC1

LbC2

LbC3

LbF

M [Correction min spd]

The parameter can be accessed if [Load sharing] (LbA) = [Yes] (YES) Minimum speed for load correction in Hz. Below this threshold, no corrections are made. Used to prevent correction at very low speed if this would hamper rotation of the motor.

M [Correction max spd]

The parameter can be accessed if [Load sharing] (LbA) = [Yes] (YES) Speed threshold in Hz above which maximum load correction is applied.

M [Torque offset]

The parameter can be accessed if [Load sharing] (LbA) = [Yes] (YES) Minimum torque for load correction as a % of th e rated t orque. Below thi s threshold, no c orrections are made. Used to avoid torque instabilities when the torque direction is not constant.

M [Sharing filter]

The parameter can be accessed if [Load sharing] (LbA) = [Yes] (YES) Time constant (filter) for correction in ms. Used in the even t of flexible mechanical coupling in order to avoid instabilities.

Parameter that can be modified during operation or when stopped.

0 to 999.9 Hz 0

[Correction min spd]

(LbC1) + 0.1

at 1000 Hz

0 to 300% 0%

100 ms to 20 s 100 ms

0,1

100 AAV49426 12/2009

Schneider Electric ATV71S383 Programming manual [ EN]

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

Before you begin

Documentation structure

Software enhancements

Steps for setting up

Factory configuration

Application functions

Setup - Preliminary recommendations

Graphic display terminal

Description of terminal

Description of the graphic screen

First power-up - [5. LANGUAGE] menu

Subsequent power ups

Programming: Example of accessing a parameter

QUICK NAVIGATION

Integrated display terminal

Functions of the display and the keys

Accessing menus

Accessing menu parameters

[2. ACCESS LEVEL] (LAC-)

LAC-

Structure of parameter tables

Interdependence of parameter values

Finding a parameter in this document

[1.1 SIMPLY START] (SIM-)

CCFG

[1.2 MONITORING] (SUP-)

L14A

ALGr

CLO-

CnFS

CFPS

[1.3 SETTINGS] (SEt-)

IdC2

SdC1

tdCI

SdC2

tdC2

SP10

SP11

SP12

SP13

SP14

SP15

SP16

tLIM

tLIG

[1.4 MOTOR CONTROL] (drC-)

InSP

nCrS

nSPS

PPnS

IPHS

rSAS

rEqP

rEtP

rSMS M [R1rS]

FrSS M [Nominal freq sync.]

AStS

JMUL

JESt

JACO

JAPL

LbC1

LbC2

LbC3