TDE MACNO MINIOPD EXP, OPD EXP User Manual

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MINIOPD EXP - OPD EXP

USER’S MANUAL - ASYNCHRONOUS

USER’S

MANUAL - ASYNCHRONOUS

Tecnologie Digitali Elettroniche S.p.A.

SOMMARY

1 Introduction ............................................................................................. 5

1.1 Parameters (P) ........................................................................................................................ 5

1.2 Connections (C) ...................................................................................................................... 5

1.3 Input logic functions (I) ............................................................................................................ 6

1.4 Internal values (D) ................................................................................................................... 6

1.5 Output logic functions (o) ........................................................................................................ 6

2 ASYNCHRONOUS PARAMETERS ........................................................ 7

2.1 DRIVE AND MOTOR COUPLING ........................................................................................... 7

2.1.1 DRIVE PLATE ................................................................................................................ 7

2.1.2 MOTOR PLATE .............................................................................................................. 8

2.1.3 MOTOR SENSOR .......................................................................................................... 9

2.1.4 AUTOTUNING CONTROL AND MOTOR MEASURED MODEL ................................. 11

2.1.5 Identifying models of induction motor ........................................................................... 19

2.2 MOTOR CONTROL .............................................................................................................. 23

2.2.1 Acceleratio ramps and speed limit ................................................................................ 24

2.2.2 Speed COntrol .............................................................................................................. 26

2.2.3 Torque and current limits .............................................................................................. 29

2.2.4 Current control .............................................................................................................. 32

2.2.5 Voltage/Flux control ...................................................................................................... 33

2.3 Protection .............................................................................................................................. 35

2.3.1 Voltage limits ................................................................................................................ 35

2.3.2 Thermal protection ....................................................................................................... 42

2.4 V/F control ............................................................................................................................. 44

2.4.1 Automatic Setting of working Voltage/frequency .......................................................... 44

2.4.2 Manual Setting of working Voltage/frequency characteristic ........................................ 45

2.4.3 Load effect compensation ............................................................................................ 47

2.4.4 Particular control functions ........................................................................................... 48

3 Standard application ............................................................................. 49

3.1 Input ...................................................................................................................................... 49

3.1.1 Analog reference .......................................................................................................... 49

3.1.2 Digital speed reference ................................................................................................ 53

3.1.3 Frequency speed reference.......................................................................................... 55

3.1.4 Digital inputs configurations.......................................................................................... 61

3.1.5 Second sensor ............................................................................................................. 62

3.2 OUTPUT ............................................................................................................................... 63

3.2.1 Digital output configurations ......................................................................................... 63

3.2.2 Analog outputs configurations ...................................................................................... 64

3.2.3 Frequency OUTPUT ..................................................................................................... 67

3.3 MOTION CONTROL ............................................................................................................. 71

3.3.1 Incremental position loop ............................................................................................. 71

User’s manual

 PID controller ................................................................................................................ 73

3.3.2

4 Fieldbus ................................................................................................ 76

4.1 MODBUS parameters ........................................................................................................... 76

4.1.1 Application Configuration .............................................................................................. 76

4.1.2 Managed services ........................................................................................................ 77

4.2 Can open............................................................................................................................... 80

4.2.1 Configuration of the application .................................................................................... 80

4.2.2 Managed services ........................................................................................................ 81

4.2.3 Emergency Object (EMCY) .......................................................................................... 83

4.2.4 Network Management Objects (NMT) .......................................................................... 83

4.2.5 Objects dictionary : communication profile area .......................................................... 84

4.2.6 Objects’ dictionary : manufacturer specific profile area ................................................ 85

5 Generic parameters .............................................................................. 92

5.1 keys ....................................................................................................................................... 92

5.2 Data storing ........................................................................................................................... 92

5.2.1 Storage and recall of the working parameters ............................................................. 92

5.3 Digital commands and control ............................................................................................... 94

5.3.1 Drive ready ................................................................................................................... 94

5.3.2 Drive switch on / RUN .................................................................................................. 94

5.3.3 Drive switch off / STOP ................................................................................................ 95

5.3.4 Safety Stop ................................................................................................................... 95

6 Alarms .................................................................................................. 96

6.1 Maintenance and controls ..................................................................................................... 96

6.1.1 Malfunctions without an alarm: troubleshooting ............................................................ 96

6.1.2 Malfunctions with an alarm: troubleshooting ................................................................. 97

7 Display ................................................................................................ 101

7.1 Physical disposition ............................................................................................................. 101

7.2 Layout of the internal dimensions ........................................................................................ 101

7.2.1 Parameters (par) ........................................................................................................ 102

7.2.2 Application Parameters (app) ..................................................................................... 103

7.2.3 Connections (con) ...................................................................................................... 103

7.2.4 allarmS (all) ................................................................................................................ 104

7.2.5 Internal Values (int) .................................................................................................... 105

7.2.6 Logic functions of input (inp) ....................................................................................... 105

7.2.7 Logic Functions of output (OUt) .................................................................................. 106

7.3 status of rest ........................................................................................................................ 106

7.4 Main Menu .......................................................................................................................... 107

7.4.1 Under-Menu of parameters, application parameters and connections management

(par, app e con) ......................................................................................................................... 108

7.4.2 Visualization of the internal dimensions (INT) ............................................................ 110

7.4.3 Alarms (ALL) .............................................................................................................. 110

7.4.4 visualization of the input and output (inp and out) ...................................................... 111

7.5 Programming Key ............................................................................................................... 113

8 List of parameters ............................................................................... 114



1 INTRODUCTION

To help the customer during the configuration of the drive, the manual is organized to follow faithfully the structure of the configurator (OPDExplorer) that allows, according to a logical sequence, to set all the sizes needed for the proper functioning of the drive.

In particular, each chapter refers to a specific folder of OPDExplorer which includes all the relative parameters.

Also, at the beginning of each chapter of the manual, is showed the location of the folder in the OPDExplorer tree, which the chapter refer, and the complete table of sizes of the folder in question. The control values are divided as follows:

• Parameters

• Connections

• Input logic functions

• Internal values

• Output logic functions

In the tables of the control value, the last column on the right “Scale” shows the internal representation base of the parameters. This value is important if the parameters have to be read or written with a serial line or fieldbus and represent the factor which to divide the value stored to obtain the real value set, as following indicated:

Examples: MAIN_SUPPLY Æ P87 – Main supply voltage Value = 400 Scale = 10 Int. rep. = 4000

1.1 PARAMETERS (P)

The parameters are drive configuration values that are displayed as a number within a set range. The parameters are mostly displayed as percentages, which is especially useful if the motor or drive size

have to be changed in that only the reference values (P61÷P65) have to be modified and the rest

changes automatically. The parameters are split up into free, reserved and TDE MACNO reserved parameters. The following rules apply:

Free parameters (black text in OPDExplorer): may be changed without having to open any key, even

when running;

Reserved parameters (blu text

opened the reserved parameter key in P60 or the TDE MACNO reserved parameters key in P99;

TDE MACNO reserved parameters (violet text

standstill after having opened the TDE MACNO reserved parameters key in P99. While the key for these parameters is closed, they will not be shown on the display.

Take careful note of the reference values for each parameter so that they are set correctly.

in OPDExplorer): may be changed only at a standstill after having

in OPDExplorer): may be changed only at a

1.2 CONNECTIONS (C)

The connections are drive configuration values that are displayed as a whole number in the same way as a digital selector.

User’s manual

They are split up into free, reserved and TDE MACNO reserved connections, and are changed in the same way as the parameters. The internal representation base is always as whole number

1.3 INPUT LOGIC FUNCTIONS (I)

The input logic functions are 32 commands that come from configured terminal board logic inputs, from the serial line, and from the fieldbus. The meaning of this logical functions depend on the application, so please refer to specific documentation.

1.4 INTERNAL VALUES (D)

Internal values are 128 variables within the drive that can be shown on the display or via serial on the supervisor. They are also available from the fieldbus. The first 64 values are referred to motor control part and are always present. The second 64 values are application specific. Pay close attention to the internal representation base of these values as it is important if readings are made via serial line or fieldbus.

1.5 OUTPUT LOGIC FUNCTIONS (O)

The logic functions are 64, the first 32 display drive status and second 32 are application specific. All output functions can be assigned to one of the 4 logic outputs.

2 ASYNCHRONOUS PARAMETERS

The “Asyncrhonous Parameters” are used to control the current or speed of a feedback vector induction motor. The speed and current reference values are generated by the application. See the application parameters for further information. As an absolute position value is not required for the sensors (managed with an optional internal electronic board) incremental TTL Encoders and incremental Sin/Cos Encoders may be used. Absolute sensors such as Resolver can also be used,

as can digital sensors such as Endat or Hiperface if required.

The “Asyncrhonous Parameters” also manages the auto-tuning test, which is crucial if the control is to adapt perfectly to the motor and to ensure excellent dynamic performance all-round.

2.1 DRIVE AND MOTOR COUPLING

This section is usefull during motor start-up to obtain the best coupling between drive and motor. It’s very important to follow the correct sequence explained in the next paragraphs

2.1.1 DRIVE PLATE

Name Description Min Max Default UM Scale

MAIN_SUPPLY

DRV_I_NOM P53 - Rated drive current 0.0 3000.0 0 A 10

DRV_I_PEAK

I_OVR_LOAD_SEL C56 - Current overload 0 3 3 1

PRC_DRV_I_MAX P103 - Drive limit current 0.0 800.0 200 % DRV_I_NOM 40.96

DRV_F_PWM P101 - PWM frequency 1000 16000 5000 Hz 1

DRV_F_PWM_CARATT

DRV_E_CARATT

DEAD_TIME

T_RAD

T_JUNC

OVR_LOAD_T_ENV

This parameters are related to the drive characteristic. The user has to set only the main supply voltage and select the current overload.

P87 - Main Supply voltage

P113 - Maximum drive current

P156 - PWM frequency for drive definition P167 - Characterization voltage P157 - Dead time duration P104 - Radiator time constant P116 - Junction time constant P155 - Ambient temperature reference value during overload

180.0 780.0 400 V rms 10

0.0 3000.0 0 A 10

1000 16000 5000 Hz 1

200.0 690.0 400 V rms 10

0.0 20.0 4 µs 10

10.0 360.0 80 s 10

0.1 10.0 3.5 s 10

0.0 150.0 40 °C 10

User’s manual

2.1.1.1 DRIVE CURRENT OVERLOAD SELECTION

Four types of drive overload can be set on C56

NB: the choice also changes the rated drive current as shown by the tables in the installation file and

the correct value is always displayed in ampere rms in P53.

The delivered current is also used to calculate the operating temperature reached by the power component junctions with the drive presumed to be working with standard ventilation at the maximum ambient temperature permitted. If this temperature reaches the maximum value permitted for the junctions, the delivered power limit is restricted to a value that is just over the rated drive current, i.e. the system’s effective thermal current (see following table).

Now the drive will only overload if the temperature drops below the rated value, which will only occur after a period of operation at currents below the rated current.

The junction temperature calculation also considers the temperature increase that occurs while operating at low frequencies (below 2.5 Hz) due to the fact that the current is sinusoidal and thus has peak values that are higher than the average value. With electrical operating frequencies lower than

2.5Hz, the drive goes into maximum overload for 20-30ms after which the maximum current limit is reduced by √2 as shown by the following table:

C56 Max. drive current Drive thermal current Limit below 2.5 Hz

0 120% I NOM AZ for 30 seconds 103% I NOM AZ 84% I NOM AZ

1 150% I NOM AZ for 30 seconds 108% I NOM AZ 105% I NOM AZ

2 200% I NOM AZ for 30 seconds 120% I NOM AZ 140% I NOM AZ

3٭

N.B. = the overload time illustrated is calculated with the drive running steady at the rated motor current. If the average delivered current is lower than the rated motor current, then the overload time will increase. Thus the overload will be available for a longer or identical time to the ones shown. N.B. 3٭ = the 200% overload is available until junction temperatures are estimated to be 95% of the rated value; at the rated value the maximum limit becomes 180%. For repeated work cycles, TDE MACNO is available to estimate the drive’s actual overload capacity

C56 Overload type for rated drive current (P53)

0 120% for 30 seconds

1 150% for 30 seconds

2 200% for 30 seconds

3 200% for 3 seconds and 155% for 30 seconds

200% I NOM AZ for 3 seconds

110% I NOM AZ 140% I NOM AZ

155% I NOM AZ for 30 seconds

2.1.2 MOTOR PLATE

Name Description Min Max Default UM Scale

PRC_MOT_I_NOM

MOT_V_NOM

MOT_F_NOM

PRC_MOT_V_MAX

P61 - Rated motor current ( I NOM MOT) P62 - Rated motor voltage P63 - Rated motor frequency P64 - Max. operating voltage

10.0 100.0 100 % DRV_I_NOM 327.67

100.0 1000.0 380 Volt 10

10.0 800.0 50.0 Hz 10

1.0 200.0 100 % MOT_V_NOM 40.96

Name Description Min Max Default UM Scale

MOT_SPD_MAX

MOT_COS_PHI

MOT_POLE_NUM

PRC_MOT_I_THERM

MOT_TF_THERM

P65 - Max. operating speed (n MAX) P66 - Nominal power factor P67 - Number of motor poles P70 - Motor thermal current P71 - Motor thermal time constant

50 60000 2000 RPM 1

0.500 1.000 0.894 1000

1 12 4 1

10.0 110.0 100 % PRC_MOT_I_NOM 10

30 2400 180 s 1

Setting the parameters that establish the exact type of motor used is important if the drive is to run correctly. These parameters are:

Name Description

PRC_MOT_I_NOM P61 - Rated motor current ( I NOM MOT)

MOT_V_NOM P62 - Rated motor voltage

MOT_F_NOM P63 - Rated motor frequency

MOT_POLE_NUM P67 - Number of motor poles

These parameters are fundamental in that they are the basis of all the motor operating characteristics: frequency, speed, voltage, current, torque and thermal protection. P62 and P63 can be read directly on the motor rating plate and P61 can be calculated with the following formula:

P61 = (Inom_motor *100.0))/(Inom_drive)

Example: Drive: OPEN 22 Inom_drive = 22A overload 200% Motor: MEC series, Vn = 380V, f = 50Hz, Inom_motore = 20A, P61 = (20*100)/22 = 90.9% P62 = 380.0 P63 = 50.0

There are also parameters that establish the maximum values for voltage, thermal current and operating speed:

Name Description

PRC_MOT_V_MAX P64 - Max. operating voltage

MOT_SPD_MAX P65 - Max. operating speed (n MAX)

PRC_MOT_I_THERM P70 - Motor thermal current

MOT_TF_THERM P71 - Motor thermal time constant

These important parameters must be specified alongside the exact characteristics of the feedback

sensor used. Once the sensor has been established, the “Sensor and motor pole tests” can be

carried out (enabled with C41) which will confirm that the parameters have been set correctly.

2.1.3 MOTOR SENSOR

User’s manual

Name Description Min Max Default UM

Range

SENSOR_SEL C00 - Speed sensor

RES_POLE

ENC_PPR

EN_TIME_DEC_ENC

RES_TRACK_LOOP_BW

RES_TRACK_LOOP_DAMP P90 - D Traking loop bandwidth 0.00 5.00 0.71 100

RES_CARR_FRQ_RATIO C67 - Resolver carrier frequency

EN_SENSOR_TUNE C68 - Enable sensor auto-tuning 0 1 0 1

EN_INV_POS_DIR C76 - Invert positive cyclic versus 0 1 0 1

KP_SINCOS1_CHN

OFFSET_SIN1

OFFSET_COS1

OFFSET_SINCOS_ENC

SENSOR_FRQ_IN D39 - Input frequency 0 kHz 16

HW_SENSOR1 D63 - Sensor1 presence 0 1

SENS1_ZERO_TOP D55 - Sensor1 Zero Top 0 pulses 1

EN_SINCOS_PREC_POS

P68 - Number of absolute sensor poles P69 - Number of encoder pulses/revolution C74 - Enable incremental encoder time decode P89 - Tracking loop bandwidth direct decoding of resolver

P164 - Resolver or Incremental Sin/Cos sine and cosine signal amplitude compensation P165 - Resolver or Incremental Sin/Cos sine offset P166 - Resolver or Incremental Sin/Cos cosine offset D38 - Compensation Sin/Cos analog/digital term

C70 - Enable SinCos AnalogDigital compensation into position

1 Encoder 4 Resolver 5 Resolver RDC 8 Sin/Cos incr

1 12 2 1

0 60000 1024 pulses/rev 1

0 1 0 1

100 10000 1800 rad/s 1

Range

-3

-2

-1 0 f PWM 1 f PWM x 2 2 f PWM x 4 3 f PWM x 8

0.0 200.0 100 %

-16383 16383 0 1

0 1 0 1

f PWM ÷ 8 f PWM ÷ 4 f PWM

0 pulses 1

1 1

0 1

Scal

163.8 4

For correct motor sensor setup is necessary to set the motor sensor present:

Name Description

SENSOR_SEL C00 - Speed sensor

and, for the specific sensor present, the following parameters. For the TTL encoder and the incremental sin-cos encoder:

Name Description

ENC_PPR P69 - Number of encoder pulses/revolution

And for the resolver:

RES_POLE P68 - Number of absolute sensor poles

RES_CARR_FRQ_RATIO C67 - Resolver carrier frequency

Name Description

After that is necessary proceed with the auto tuning procedure.

2.1.3.1 FINE SETUP MOTOR SENSOR

For some kind of sensor, after the auto tuning procedure is possible set some sensor parameter to increase the performance.

2.1.3.1.1 FINE SETUP FOR RESOLVER

The fine tuning resolver setup allows to set, with a semiautomatic procedure, any offset and a multiplicative factor to adjust the signals acquired by the resolver channels in order to increase system performance. The procedure begins by setting C68 = 1 and giving a reference speed that the motor can run at 150 rpm. The motor have to run for about 30 seconds after stop the test is completed. Automatically updates the values of P165 and P166 (offset) and P164 (multiplication factor to adjust the amplitude)

2.1.3.1.2 FINE SETUP FOR INCREMENTAL SIN/COS ENCODER

The fine tuning incremental sin/cos encoder setup allows to set, with a semiautomatic procedure, any offset and a multiplicative factor to adjust the signals acquired by the

incremental sin/cos encoder channels in order to increase system performance.

The procedure begins by setting C68 = 2 and giving a reference speed that the motor can do one o two turns . After stop the test is completed. Automatically updates the values of P165 and P166 (offset) and P164 (multiplication factor to adjust the amplitude)

2.1.4 AUTOTUNING CONTROL AND MOTOR MEASURED MODEL

User’s manual

Name Description Min Max Default UM Scale

EN_TEST_CONN

PRC_I_TEST_CONN

EN_AUTOTUNING C42 - Enable auto-tunings

DIS_DEF_START_AUTO

TEST3-4_ACC_TIME

PRC_I_TEST_DELTA_VLS

TEST_CONN_FEEDBACK

EN_TEST_SPD

TEST_SPD_T_MAX

TEST_SPD_MAX

TEST_SPD_SPACE_MAX

PRC_MOT_FRICTION P136 - Friction torque 0.0 100.0 0 % MOT_T_MOM 40.96

START_TIME P169 - Start up time 0 19999 10 ms 1

C41 - Enable sensor and motor phase tests P114 - Current in connection tests for UVW, Poles and reading Rs

C75 - Disable Autotuning starting from default values P121 - Test 3 and 4 acceleration time P129 - Test current to establish VLS P79 - Connection tests: Encoder: pulses counted, Resolver or Sin Cos Enc: time reading

C53 - Enable test of start-up time

P130 - Torque during startup test P132 - Speed during startup test P134 - Maximum revolutions during start-up test

0 1 0 1

0.0 100.0 100 % DRV_I_NOM 327.67

Range 0 No 1 Test 1 and 2 2 Test 3 and 4 3 All

0 1 0 1

0.01 199.99 6.8 s 100

0.0 100.0 30.0 % 327.67

-19999 19999 0 0

Range 0 Not enabled 1 Start up 2 Step

0.0 100.0 100 % MOT_T_NOM 40.96

-100.00 100.00 100 % MOT_SPD_MAX 163.84

0.00 3000.0 100 revolutions 10

0 1

Speed test are useful for measure total system inertia and to set correctly speed regulator gains. For safety reasons it’s possible to limit maximum speed test with parameter P130, maximum motor torque with parameter P132 and maximum space admitted for test with P134 revolutions. The drive doesn’t go over these limits during test execution.

2.1.4.1 START-UP TIME

Start-up time is defined like the time needed to reach maximum speed (P65) with nominal motor torque.

This autotest is useful to measure total system inertia and frictions. For enable this test set C53=1 (EN_TEST_SPD = 1 Start Up). In the display appears “Auto”. Give the run command and automatically the motor starts to move and than return to zero speed. At this point switch off the run command. Parameter P169 is set with the start-up time in milliseconds, parameter P136 is set with friction measured in percent of motor nominal torque. Automatically C53 is cleared to 0 and the test is finished.

If the space admitted is enough the speed profile is trapezoidal:

SPD_RIF=TEST_SPD_ MAX (P132)

T_RIF=TEST_SPD_T_MAX (P130)

T_RIF= - TEST_SPD_T_MAX (P130)

time

Otherwise:

T_RIF=TEST_SPD_T_MAX (P130)

time

T_RIF= - TEST_SPD_T_MAX (P130)

User’s manual

2.1.4.2 STEP RESPONSE

Step response is a common mode to test speed loop stability and dynamic performance. For enable this test set C53=2 (EN_TEST_SPD = 2 Step). In the display appears “Auto”. At this point all speed reference are ignored, instead a fixed speed reference is calculated equals to maximum test torque (P130) divided by speed regulator proportional gain. In this way giving this step speed reference, the torque requested doesn’t go over maximum torque admitted. Linear ramps are automatically disabled. Giving the run command, motor starts and try to follow the reference with its dynamic performance. Evaluating the speed response it’s possible to understand the system stability and speed loop bandwidth. With Real Time Graph is possible to see the motor speed response. Set:

Post Trigger Points = 90% Trigger Type = standard +03 Speed Reference Trigger level = 1% Trigger slope = ascending Sample Time = 1

Channels = 2

Channel A = Standard - o03 Reference speed value after ramps Channel B = Standard - o49 Rotation speed not filtered

Set speed regulator gain and look the step response. Try and repeat until the speed response has good stability and bandwidth. Motor runs at constant speed until the run command is on. Switch off the run command to stop the motor and start a new test. Step response test is finished only when C53 is manually clear to 0.

2.1.4.2.1 SPEED REGULATOR GAIN SETTING SUGGESTIONS

1. First of all disable integral part setting lead time constant P32 with a big value (> 500ms).

2. Try to find the best proportional gain P31 and filter time constant P33 to obtain a step response with max overshoot of 20%. It’s important to evaluate also the acoustic and electrical motor noise.

3. Reduce lead time constant P32 up to minimum value without increase the overshoot

Name Description Min Max Default UM Scale

PRC_MOT_T_MAX P41 - Maximum torque at full load 0.0 400.0 400.0 % MOT_T_NOM 40.96

MOT_COS_PHI P66 - Nominal power factor 0.500 1.000 0.894 1000

PRC_MOT_I_T_NOM P72 - Nominal torque current 5.0 100.0 95.2 % PRC_MOT_I_NOM 327.67

PRC_MOT_I_FLX_NOM P73 - Nominal flux current 5.0 100.0 30.2 % PRC_MOT_I_NOM 327.67

T_ROTOR P74 - Rotor time constant Tr 10 10000 182 ms 1

T_STATOR P75 - Stator time constant Ts 0.0 50.0 8.5 ms 10

PRC_DELTA_VRS

PRC_DELTA_VLS

MOT_T_NOM P78 - Nominal motor torque 0.5 3000.0 0.0 Nm 10

PRC_DEAD_TIME_CMP P102 - Dead time compensation 0.0 100.0 22.0 ‰ PRC_MOT_V_MAX 32.76

MOT_V0

K_FLX45 P131 - Magnetic characteristic point 1 0.0 120.0 90.2 % 40.96

K_FLX55 P133 - Magnetic characteristic point 2 0.0 120.0 90.5 % 40.96

K_FLX65 P135 - Magnetic characteristic point 3 0.0 120.0 91.1 % 40.96

K_FLX75 P137 - Magnetic characteristic point 4 0.0 120.0 91.8 % 40.96

K_FLX82 P139 - Magnetic characteristic point 5 0.0 120.0 92.7 % 40.96

K_FLX88 P141 - Magnetic characteristic point 6 0.0 120.0 94.2 % 40.96

K_FLX93 P143 - Magnetic characteristic point 7 0.0 120.0 95.8 % 40.96

K_FLX97 P145 - Magnetic characteristic point 8 0.0 120.0 98.1 % 40.96

K_FLX100 P147 - Magnetic characteristic point 9 0.0 120.0 100.0 % 40.96

K_FLX102 P149 - Magnetic characteristic point 10 0.0 120.0 102.0 % 40.96

PRC_DEAD_TIME_CMP_XB

PRC_DEAD_TIME_CMP_YC

PRC_DEAD_TIME_CMP_X0 P153 - Xoo = dead zone amplitude 0.0 50.0 0 % DRV_I_NOM 163.84

P76 - Voltage drop due to stator resistor P77 - Voltage drop due to leakage inductance

P128 - Voltage motor at nominal speed with no load

P151 - Xb = cubic coupling zone amplitude P152 - Yc = compensation at rated drive current

1.0 25.0 2.0 % MOT_V_NOM 327.67

5.0 100.0 20.0 % MOT_V_NOM 327.67

0.0 100.0 100.0 % MOT_V_NOM 327.67

0.0 50.0 0.0 % DRV_I_NOM 163.84

50.0 100.0 100 % DEAD_TIME_COMP 327.67

The first step for the auto-tuning procedure is the sensor test. After to set the correct parameters in the Motor sensor section is necessary to complete the autotuning procedure for the sensor present and selected.

2.1.4.3 TTL ENCODER

2.1.4.3.1 SENSOR PARAMETERS

It’s necessary to have set correctly the parameter P69 in order to define the Encoder

2.1.4.3.2 SPEED SENSOR TEST

It is in two parts:

o Check that the direction of rotation of the motor phases and the Encoder

User’s manual

correspond;

o Check that the number of motor poles is written correctly in parameter P67 and the

Encoder used is correctly define as pulses per revolution with parameter P69

Correct operation requires a no-load motor so decouple it from the load.

After setting the drive to STOP and opening the reserved parameter key (P60=95), set C41=1 to enable the test. To start the test enable RUN command with its digital input.

Once the test has started the motor will rotate in the positive direction at low speed and all Encoder edges are counted.

During the test, the motor will make a complete revolution at low speed.

Do not worry if this revolution is a little noisy

In the first step is checked if the cyclic sense of motor phases and Encoder channels is the same: after 1 second parameter P79 is updated with the test result and the drive consequently goes in alarm A14 or it starts the second test:

o P79=0 : meaning that is missing at least one Encoder channel, therefore A14 code

0 is triggered

o P79<0 : meaning that Encoder channels are exchanged, therefore A14 code 0 is

triggered

o P79>0 : everything is ok

In the second part is checked the Encoder pulses reading, well known from P69 parameter the number of edges in a mechanical turn (P69x4, because are counted both two channels edge). At the end of the test, P79 is updated again with the total edges number:

o |P79- (P69x4)|/(P69x4) < 12,5% : test is successful

otherwise the alarm A15 code 3 is triggered. In the first check if it is correct the Encoder number of pulses per revolution and the number of motor poles.

o P79 < (P69x4): the real pulses counted are less than expected. Encoder could

have some problems or the motor load is too high. Try to increase the test current with parameter P114 that is the percentage of rated drive current applied in the test

o P79 > (P69x4) : the real pulses counted are more than expected. Could be some

noise in the Encoder signals.

The test is successful if the drive switch off and does not trigger an alarm. Now disable RUN command by setting its digital input to 0. The subsequent tests can now be carried out.

Note: for encoder with more than 8192 ppr the data showed in P79 loses of meaning

2.1.4.4 RESOLVER

2.1.4.4.1 SENSOR PARAMETERS

It’s necessary have to set correctly the parameter P68 Note: resolve poles number cannot be grater than motor poles number (P67), otherwise it is

triggered the alarm A15 with code 0.

2.1.4.4.2 SPEED SENSOR TEST

It is in two parts:

o Check that the direction of rotation of the motor phases and the Resolver

correspond;

o Check that the number of motor poles is written correctly in parameter P67 and the

Resolver used is correctly define as poles number with parameter P68

Correct operation requires a no-load motor so decouple it from the load.

After setting the drive to STOP and opening the reserved parameter key (P60=95), set C41=1 to

enable the test. To start the test enable RUN command. Once the test has started the motor will rotate in the positive direction at low speed and some measure are done on Resolver signals.

During the test, the motor will make a complete revolution at low speed.

Do not worry if this revolution is a little noisy.

In the first step is checked if the cyclic sense of motor phases and Resolver channels is the same:

after 1 second parameter P79 is updated with the pulses number counted (there are 65536 pulses

every turn/Resolver polar couples) and the drive consequently goes in alarm A14 or it starts the second test:

o P79<0 : meaning that Resolver channels are exchanged, therefore A14 code 0 is

triggered

o P79>0 : everything is ok

In the second part is checked the Resolver channels reading, well known that current test frequency is 0,5Hz the time needed for read again the same Resolver position is equal to:

2 testtime ⋅=

number couplepolar Motor

[seconds]

number couplepolar Resolver

At the end of the test, P79 is updated again with the time test measured in ms:

o |P79- time test| < 500ms : test is successful

otherwise the alarm A15 code 3 is triggered. In the first check if it is correct the Resolver poles

number and the number of motor poles, with help of P79.

The test is successful if the drive switch off and does not trigger an alarm. Now disable RUN command by setting its digital input to 0. The subsequent tests can now be carried out.

2.1.4.5 INCREMENTAL SIN COS ENCODER

2.1.4.5.1 SENSOR PARAMETERS

It’s necessary to have set correctly the parameter P69

2.1.4.5.2 SPEED SENSOR TEST

. It is in two parts:

o Check that the direction of rotation of the motor phases and the Encoder

correspond;

o Check that the number of motor poles is written correctly in parameter P67 and the

Encoder used is correctly define as pulses per revolution with parameter P69

Correct operation requires a no-load motor so decouple it from the load.

After setting the drive to STOP and opening the reserved parameter key (P60=95), set C41=1 to

enable the test. To start the test enable RUN command. Once the test has started the motor will rotate in the positive direction at low speed and all Encoder edges are counted.

During the test, the motor will make a complete revolution at low speed.

Do not worry if this revolution is a little noisy

User’s manual

it starts the second test:

o P79=0 : meaning that is missing at least one Encoder channel, therefore A14 code

0 is triggered

o P79<0 : meaning that Encoder channels are exchanged, therefore A14 code 0 is

triggered

o P79>0 : everything is ok

o |P79- (P69x4)|/(P69x4) < 12,5% : test is successful

otherwise the alarm A15 code 3 is triggered. In the first check if it is correct the Encoder number of pulses per revolution and the number of motor poles.

o P79 < (P69x4): the real pulses counted are less than expected. Encoder could

have some problems or the motor load is too high. Try to increase the test current with parameter P114 that is the percentage of rated motor current applied in the test (default value 50%).

o P79 > (P69x4) : the real pulses counted are more than expected. Could be some

noise in the Encoder signals.

The test is successful if the drive switch off and does not trigger an alarm. Now disable RUN command. The subsequent tests can now be carried out

2.1.4.6 AUTO-TUNING PROCEDURES

2.1.4.6.1 SENSOR TESTS

This is the first test to be carried out. It is in two parts:

o Check that the direction of rotation of the motor phases and the sensor correspond; o Check that the number of motor poles is written correctly in parameter P67 and the

speed sensor used is set correctly.

Correct operation requires a no-load motor so decouple it from the load.

After setting the drive to STOP and opening the reserved parameter key (P60=95), set C41=1 to

enable the test. The following setting will appear on the display:

The drive is now ready to start the test. To start reading, enable RUN with its digital input or working with connection C21 (commands in series)Once the test has started, this setting will appear on the display:

and the motor will rotate in the positive direction first to ensure the direction matches and will then rotate again to ensure the motor phases and the sensor are set correctly.

During the test, the motor will make a complete revolution at low speed.

Do not worry if this revolution is a little noisy.

If the drive sets off an alarm during the test, an error has occurred. Check to see which alarm has been triggered and deal with the problem accordingly:

o If A14 code=1 is enabled, the test current is too low, check if the motor phases are

correctly connected to the drive

o If A14 code=0 is enabled, connections U,V,W do not match the internal phases of

the drive. Invert two phases and repeat the test.

o If A15 code=3 is enabled, the values set do not comply with the motor pole and

sensor settings.

At the end of the test, check parameter P79 as it may give some indication as to the problem. See

the “Feedback Option” file for the meaning of P79 as it depends on which sensor is used. The test is successful if this setting appears on the display:

and the drive does not trigger an alarm. Now disable RUN by setting its digital input to 0 or clearing C21. The subsequent tests can now be carried out.

2.1.4.6.2 FINE SENSOR SETUP

After the first part of the autotunning, in some case, is possible to set some parametes regarding the sensor to obtain a better system performance. Dopo la prima parte dell’autotaratura, in alcuni casi, si possono settare alcuni parametri relativi al sensore in modo da migliorare le prestazione del sistema:

2.1.4.6.3 ENCODER TIME DECODE

By default (C74=0) the speed is measuring counting the number of pulses in the PWM period. This produces a poor resolution especially at low speed and the consequent need of signal filtering (see the related core document, P33 parameter of speed regulator).

Setting C74=1 the speed calculation is done measuring the time between one Encoder pulse to the

other. This technique has a maximum resolution of 12.5 ns, so the measure can be very accurate. The Encoder time decode needs Incremental Encoder pulses with duty-cycle of 50%, a correct pulses time distribution and the cables would be shielded very well

2.1.5 IDENTIFYING MODELS OF INDUCTION MOTOR

2.1.5.1 MOTOR AUTO-TUNING PARAMETERS

Name Description

PRC_MOT_T_MAX P41 - Maximum torque at full load

MOT_COS_PHI P66 - Nominal power factor

PRC_MOT_I_T_NOM P72 - Nominal torque current

PRC_MOT_I_FLX_NOM P73 - Nominal flux current

T_ROTOR P74 - Rotor time constant Tr

T_STATOR P75 - Stator time constant Ts

PRC_DELTA_VRS P76 - Voltage drop due to stator resistor

PRC_DELTA_VLS P77 - Voltage drop due to leakage inductance

MOT_T_NOM P78 - Nominal motor torque

These parameters are extremely important for modelling the motor correctly so that it can be used to

its full potential. The best procedure for obtaining the correct values is the “Auto-tuning test”, which

User’s manual

is enabled with connection C42: this test must be carried out with the motor decoupled from the load. Failure to do so may invalidate the results. If the tests cannot be carried out for any reason, these values will have to estimated by reading the motor plate and following these points:

• The magnetizing current value is sometimes shown on the motor plate under I0. In this case, P73 = I

/ Inom motore. If this value is not available, it will have to be estimated: set P73 to a value

that supplies a no-load motor running at rated speed with a three-phase alternate voltage which is effective but slightly lower than the rated motor voltage. Then change P73 until d18 displays a value of about 96 - 97% .

• Once P73 is established, rated torque current P72 can be established as:

100

− P73

• The rotor time constant (in seconds) can be calculated with the following formula:

Tr ⋅⋅=

6,28

with fs rated slip frequency. P74 = Tr in milliseconds

P73

P72

Establish fs by reading the rated slip value, usually in rpm, on the motor plate, then compare it with the rated speed and multiply everything by the rated motor frequency. Check P74 by forcing the motor to request a torque current:

- changing the speed reference value brusquely

- applying different loads to the motor

and observing the behaviour of the stator voltage module. If this value is correct, the voltage

should only vary slightly in the transient phase.

These other parameters are not as important and the default values may be left if more reliable data are unavailable. This test reads the basic electrical parameters that characterise the induction motor being used so that it can be modelled according to the rotor magnetic flux. After these values have been established, the PI regulators in the current and flux loops are self-set .

There are 4 test functions. Each requires a no-load motor, i.e. decoupled from th e load , if they

are to function correctly.

Connection C42 is used to enable these tests. See the table below:

C42 Enabled function

0 No test enabled

Only Tests 1 and 2 enabled. Motor does not

need to be rotating.

Only Tests 3 and 4 enabled. Motor needs to be

rotating.

All tests enabled. Tests carried out in quick

succession.

The display will show the following setting according to which tests are enabled:

Test 1 and 2 enabled

Test 3 and 4 enabled

The drive is now ready to start the test. Start reading by enabling RUN with its digital input and setting C21=1 (command in series). Once the tests have started, this setting will appear alongside:

The test finishes successfully if this setting appears the following indicaton and the drive does not trigger an alarm.

Now disable RUN by setting its digital input to 0 or clearing C21=0.

The tests may be halted at any moment by disabling RUN results will be saved. Once C42

automatically reloaded, on the contrary if C75=1 remain active actual data.

In order to refine data measured it’s better to execute Autotuning test the first time with C75=0 and then the second time with C75=1.

≠0 has been set again, if C75=0 the default values of the parameters being tested will be

the drive will trigger an alarm (A7) but any

2.1.5.1.1 TEST 1: READING STATOR DROP AND DEAD TIME COMPENSATION

This test establishes the voltage drop caused by the stator resistor and the IGBT. It also estimates the signal amplitude required to compensate for the effects of the dead times so that the internal representation base of the stator voltage and the one actually generated match. During this reading, the motor remains still in its original position and a range of flux currents are emitted. By reading the voltages and the correlated voltages the required values can be collected. This test modifies the following parameters:

Name Description

PRC_DELTA_VRS P76 - Voltage drop due to stator resistor

PRC_DEAD_TIME_CMP P102 - Dead time compensation

2.1.5.1.2 TEST 2: LEARNING THE TOTAL LEAKAGE INDUCTION DROP REPORTED TO THE STATOR

This test establishes the voltage drop due to the total leakage inductance reported to the stator in order to calculate the proportional gain of the current loop PI. During this test, the motor stays practically still in its original position. Flux currents in a range of values and frequencies are emitted so that by reading the voltages and correlated voltages the required values can be collected. The motor has a tendency to rotate, but this phenomenon is managed in such a way that readings are only taken when the speed is equal to zero, otherwise the results may be unreliable. Nevertheless it is important that the motor does not rotate at a speed exceeding more than several

tens of revolutions per minute. If it does, stop the test by disabling RUN and lower parameter P129 as

this is the test current used to establish This test modifies the following parameters:

Name Description

PRC_DELTA_VLS P77 - Voltage drop due to leakage inductance

I_REG_KP P83 - Kpc current regulator proportional gain

During this test the motor may start rotating, but at low speed

ΔV

LS .

2.1.5.1.3 READING THE MAGNETIZING CURRENT AND THE MAGNETIZING CHARACTERISTIC

This test has the dual task of establishing the motor magnetizing current and reading its magnetic characteristic. During this test, the motor is rotated at high speed (about 80% of the rated speed) and readings are taken at a range of voltages. After establishing the magnetizing value, 10 points of the magnetic characteristic are taken, after which linear interpolation is carried out in order to obtain a curve similar to the one below.

During this test the motor will rotate at a speed equal to about 80% of the rated value.

User’s manual

102

100

45,0 55,0 75,0 82,0 88,0 93,065,0 97,0 100,0 102,0

NOM

The term K

φ is equal to:

Id I

ΦΦNOM

i.e. it is the coefficient that when multiplied by the normalized flux in relation to the rated flux gives the normalized flux current in relation to the magnetizing current. The characteristic is assumed to be constant for normalized fluxes under 45%. At the end of these readings, the results will be shown in the parameters below, which may still be changed by the user.

1 2 3 4 5 6 7 8 9 10

φ/

φNOM

45.0% 55.0% 65.0% 75.0% 82.0% 88.0% 93.0% 97.0% 100.0% 102.0%

P131 P133 P135 P137 P139 P141 P143 P145 P147 P149

Kφ

..... ...... ...... ...... ...... ....... ....... ....... ...... ......

The magnetizing current may also be viewed in the parameter below:

Name Description

PRC_MOT_I_FLX_NOM P73 - Nominal flux current

2.1.5.1.4 TEST 4: READING THE ROTOR TIME CONSTANT AND

ESTIMATING THE STATOR TIME CONSTANT

This test establishes the rotor time constant from the motor and helps to estimate the stator time constant by using data from other auto-tuning values. During the test, the motor is rotated at the same speed as the previous test and then it goes in free revolution

During the test, the motor rotates at a speed equal to about 80% of the rated speed and is temporarily left to idle.

The following parameters are modified at the end of the test:

Name Description

PRC_MOT_T_MAX P41 - Maximum torque at full load

T_ROTOR P74 - Rotor time constant Tr

T_STATOR P75 - Stator time constant Ts

MOT_T_NOM P78 - Nominal motor torque

V_REG_KP P80 - Kpi voltage regulator proportional gain

V_REG_TF P82 - Tfi voltage regulator (filter) time constant

I_REG_TI P84 - Tic current regulator lead time constant

I_REG_TF P85 - Tfc current regulator (filter) time constant

By the end of this test, the current and flow regulators will have been completely self-set and made compatible with the motor connected to the drive.

These readings also help estimate the Maximum motor torque (P41) which is important if the motor

flux has to be considerably weakened. The speed regulator gains are set with the default values so that the user can set the most suitable gains for the applications. The speed loop bandwidth depends heavily on the overall load inertia, thus high frequency values can only be obtained if the motor-load coupling has no elasticity or mechanical play and if the speed sensor resolution is good enough not to introduce too much noise.

Name Description

END_SPD_REG_KP P31 - KpV final speed regulator proportional gain

END_SPD_REG_TI P32 - TiV final speed regulator lead time constant

END_SPD_REG_TF P33 - TfV final speed regulator (filter) time constant

2.2 MOTOR CONTROL

The regulation system consists of a speed regulation loop and a flux or voltage regulation loop according to drive operation. These loops manage the reference values from the application and generate reference values for the internal torque and flux current loops. All the loops are controlled by integral proportional regulators with an error signal filter and work with normalized signals so that the regulation constants are as independent as possible from the size of the motor in relation to the drive and from the system mechanics. An additional space loop that overlaps the speed loop can also be enabled.

User’s manual

Regulation controls speed by default; here the application manages the speed reference values, and the torque request is used as a reference value added to the speed regulator output (feed-forward). Note that it is a torque control and not a current control, consequently during flux weakening the control automatically generates the request for the active current needed to obtain the required torque.

2.2.1 ACCELERATIO RAMPS AND SPEED LIMIT

Name Description Min Max Default UM Scale

PRC_CW_SPD_REF_ MAX PRC_CCW_SPD_REF _MAX

CW_ACC_TIME P21 - CW acceleration time 0.01 199.99 10 s 100

CW_DEC_TIME P22 - CW deceleration time 0.01 199.99 10 s 100

CCW_ACC_TIME P23 - CCW acceleration time 0.01 199.99 10 s 100

CCW_DEC_TIME P24 - CCW deceleration time 0.01 199.99 10 s 100

TF_RND_RAMP P25 - Rounded filter time constant 0.1 20.0 5 s 10

DEC_TIME_EMCY

EN_LIN_RAMP P236 - Enable linear ramp 0 1 0 1

EN_RND_RAMP C27 - Rounded ramp 0 1 0 1

EN_INV_SPD_REF P237 - Invert reference signal software 0 1 0 1

EN_DB C81 - Enable dead zones

DB1_START P179 - Dead zone 1 initial speed 0 30000 0 rpm 1

DB1_END P180 - Dead zone 1 final speed 0 30000 0 rpm 1

DB2_START P181 - Dead zone 2 initial speed 0 30000 0 rpm 1

DB2_START P182 - Dead zone 2 final speed 0 30000 0 rpm 1

PRC_TOT_APP_SPD_ REF

PRC_END_SPD_REF

P18 - Max. CW speed reference value limit P19 - Max. CCW speed reference value limit

P30 - Emergency brake deceleration time

D02 - Speed reference value before ramp D03 - Speed reference value after ramp

-105.0 105.0 105.02 % MOT_SPD_MAX 163.84

0.01 199.99 10 s 100

Range 0 Not enable 1 Zone 1 2 Zone 2

-100 100 0 % MOT_SPD_MAX 163.84

0 1

In the standard application, by default (P236=1), the speed reference value passes across a ramp circuit that graduates its variations before it is used. Parameters P21, P22, P23 and P24 can be used

to establish independent acceleration and deceleration slopes in both directions of movement, establishing the time required to pass from 0 to 100% in seconds. In particular (see diagram):

P21 sets the time the reference value requires to accelerate from 0 to +100% P22 sets the time the reference value requires to decelerate from 100% to 0% P23 sets the time the reference value requires to accelerate from 0% to -100% P24 sets the time the reference value requires to decelerate from -100% to 0%

Setting sensitivity is 10 msec and the time must be between 0.01 and 199.99 seconds. The default values are the same for all the parameters and are equal to 10 sec.

In the standard application, ramps can be enabled via a configurable logic input (I22) which works

parallel to connection P236: I22=H is the same as setting P236=1. This input ensures maximum flexibility in ramp use in that the ramps are enabled only when required. In the other application please refer to the specific documentation in order to enable the ramps

The ramp may also be rounded in the starting and finishing phases by setting C27=1 via the rounding time set in seconds in P25 with resolution 0.1 sec and a range from 1 to 199.9 sec. (default 10 sec).

100%

P24

-100%

P23

P21 P22

2xP25

Rounding can be enabled on its own with C27=1, which will filter the overall speed reference value only. Some special applications may enable the linear ramps differently. See the respective instruction file for further information.

2.2.1.1 FREQUENCY JUMPS TO AVOID RESONANCES

Using the parameters P179, P180, P181 and P182 it is possible to exclude, as working frequencies, all those frequencies falling within the two bands defined between P179 - P77 and P78 – P182, where P179, P77, P78 and P182 are expressed as % of the maximum working frequency (see diagram)

Wherever exclusion bands are pre-set the drive behaves in the following way: If the set frequency reference falls within the exclusion band it is maintained at the lower value of the band, if the set value is less than the mid band value, while if the value is greater than the mid band value it assumes the upper value.

User’s manual

In a transitional phase however the system passes through all of the band’s frequencies (ramp). The use or otherwise of the exclusion bands requires the setting of the corresponding connection C38: Band 1 (P179-P180) C81=0 (Default) not excluded, C81=1 excluded Band 2 (P181-P182) C81<2 not excluded, C81=2 excluded For example if the working fmax = 50Hz and the plant presents two resonance frequencies which are quite clear at 45Hz and 35Hz the frequencies between 43 - 47 Hz and 33 - 37 Hz could be excluded setting

P179 = (33/50)* 100.0 = 66.0% P180 = (37/50)* 100.0 = 74.0%

First band

P181 = (43/50)* 100.0 = 86.0% P182 = (47/50)* 100.0 = 94.0%

Second band

C81=2 Enables both exclusion bands

2.2.2 SPEED CONTROL

Name Description Min Max Default UM Scale

END_SPD_REG_KP

END_SPD_REG_TI

END_SPD_REG_TF

EN_TF2_SPD_REG

START_SPD_REG_TF

PRC_SPD_THR_GAIN_CHG

START_SPD_REG_KP

START_SPD_REG_TI

EN_SPD_REG_MEM_CORR

EN_SPD_REG_D C72 - Enable feedforward 0 1 0 1

SPD_REG_KD_TF2

PRC_MOT_SPD_MAX P51 - Maximum speed for alarm 0.0 125.0 120.0 % MOT_SPD_MAX 163.84

PRC_END_SPD_REF

PRC_MOT_SPD D04 - Speed reading -100 100 0 % MOT_SPD_MAX 163.84

PRC_T_REF D05 - Torque request -100 100 0 % MOT_T_NOM 40.96

MOT_SPD D21 - Motor rotation speed 0 rpm 1

P31 - KpV final speed regulator proportional gain P32 - TiV final speed regulator lead time constant P33 - TfV final speed regulator (filter) time constant C69 - Enable 2nd order filter on speed regulator P34 - TfV initial speed regulator (filter) time constant P44 - End speed for speed PI gain change P45 - KpV initial speed PI proportional gain P46 - TiV initial speed PI lead time constant C77 - Enable PI speed gains compenstation

P168 - Second order feedforword filter

D03 - Speed reference value after ramp

0.1 400.0 4 10

0.1 3000.0 80 ms 10

0.0 25.0 0.8 ms 10

0 1 0 1

0.0 25.0 0.8 ms 10

0.0 100.0 0 % MOT_SPD_MAX 163.84

0.1 400.0 4 10

0.1 3000.0 80 ms 10

0 1 0 1

0.0 1000.0 0.0 ms 10

-100 100 0 % MOT_SPD_MAX 163.84

2.2.2.1 MANAGING SPEED REFERENCE VALUES

The application generates two speed reference values:

o One , sysSpeedReference, is a percentage of the maximum speed (set in parameter P65)

displayed in internal value d33 and on monitor o41.

o The other, sysSpeedRefPulses is electrical pulses for a period of PWM. This particular

reference is used so as not to be lose any pulses if the frequency input is used. Internal normalization is done with 65536 pulses per mechanical revolution.

After these two reference values have been processed they are added together in order to obtain the total speed reference value.

2.2.2.2 INVERTING AND LIMITING SPEED REFERENCE VALUES

In the standard application, logic function I12 “Speed reference value inversion”, which is assigned to an input (the default is input 6), or connection P237 are used to invert the reference value

according to the following logic (OR-exclusive):

I12 = 0 P237 = 0 Reference value not inverted (default values) I12 = 1 P237 = 0 Reference value inverted I12 = 0 P237 = 1 Reference value inverted I12 = 1 P237 = 1 Reference value not inverted

The reference value is inverted before the ramp thus, if the ramp is not disabled, the direction of rotation changes gradually (default C36=0 and I12=0). There is another chance, to invert positive speed rotation setting C76=1. Enabling this function, with the same speed reference and speed measured, the motor rotates in reverse direction. Parameters P18 and P19 are used to limit the total reference value within a range set between these two values; P18 is the maximum limit (positive speed) and P19 is the minimum limit (negative speed). These two parameters may be set at a range from operation within the 2 quadrants or within just one quadrant.

The following settings are provided by way of example:

P18 = 100.0% P19 = 100.0% -100.0% < speed reference value < 100% P18 = 30.0% P19 = 20.0% -20.0% < speed reference value < 30% P18 = 80.0% P19 = -20.0% 20.0% < speed reference value < 80.0% P18 = -30.0% P19 = 60.0% -60.0% < speed reference value < -30.0%

±105%, thus special settings may be used to limit

2.2.2.3 2ND ORDER SPEED REGULATOR FILTER

The speed regulator filter can be changed by using a 2nd order one.

To enable this function set C69=1. Parameter P33 will always set the filter time constant in

milliseconds, and thus its natural pulsation, given that internal damping is always set to 0.8 so that the filter is quick to respond but does not overshoot. Note that enabling a 2nd order filter means reducing the margin of system stability, hence the filter time constant value must be thought through carefully before setting so as not to create instability:

User’s manual

[

]

I° II°

-40dB/dec

-20dB/dec

Useful area for 2nd order filter

By taking as reference the 1st order filter time constant tolerated by the system, the 2

order filter has to be set to double frequency (half time) so that it has the same phase margin. The effects of the 2nd order filter will be better than the 1st order filter only when the frequency is double that of the 2nd order filter. Example: if a 1st order filter with a time constant P33=0.8 ms passes to a 2nd order filter, P33=0.4 ms has to be set to have the same stability margin.

2.2.2.4 VARIABLE SPEED REGULATOR GAINS

Speed regulator gains can be varied according to actual speed: P45 is the proportional gain at zero speed, P46 is the initial lead time constant and P34 is the initial filter time constant. Setting P44 (a

percentage of the maximum speed) with the end variation gain speed establishes a linear gain variation that ranges from the initial values (P45,P46 and P34) to the final values in P31,P32,P33. Setting P44=0.0 disables this function so that the gains set in P31, P32 and P33 are used.

P45

P46

P34

P32

P33

P31

Ta lead time constant

Tf filter time constant

Kp proportional gain

P44

speed in % of max speed

2.2.2.5 TORQUE FEED-FORWARD ON SPEED REFERENCE

It’s possible to enable the Torque feed-forward on speed reference using C72 connection:

It’ possible to estimate the torque reference needing for the speed variation requested with the speed

reference derivative using a II° order filter (time constant in P168 in ms) and taking account of total

inertia (setting parameter P169 Startup time).

C72 Speed refere nce t_r i f

τ = P16 8

% Nominal motor torque

P169

The Startup time is the time necessary for motor and load to reach the maximum speed (set in P65) with the nominal motor torque. This data has to be set in milliseconds in parameter P169. It’s useful to set some milliseconds of filter (P168) on order to avoid too much noise on torque reference for the time derivative. When it’s enabled this function the torque reference produced is added to the speed regulator output. The torque feed-forward can be very useful in the servo-drive application when the target is to follow very promptly the speed reference, because it increases the bandwidth without using high gains on speed regulator. Note1: torque feed-forward isn’t appropriate in load variable inertia applications.

2.2.3 TORQUE AND CURRENT LIMITS

Name Description Min Max Default UM

PRC_DRV_I_PEAK P40 - Current limit 0.0 200.0 200 % DRV_I_NOM 40.96

PRC_MOT_T_MAX

PRC_DRV_CW_T_MAX

PRC_DRV_CCW_T_MAX

PRC_DRV_T_MAX D30 - Maximum torque -100 100 0 % MOT_T_NOM 40.96

PRC_DRV_I_T_MAX

PRC_DRV_I_MAX D29 - Current limit -100 100 0 % DRV_I_NOM 40.96

P41 - Maximum torque at full

load

P42 - Maximum torque in the

positive direction of rotation

P43 - Maximum torque in the

negative direction of rotation

D31 - Maximum torque by

current limit

0.0 400.0 400.0 % MOT_T_NOM 40.95

0.0 400.0 400.0 % MON_T_NOM 40.96

-400.0 -0.0 -400.0 % MOM_T_NOM 40.96

-100 100 0 % MOT_T_NOM 40.96

Scal

2.2.3.1 CHOOSING THE ACTIVE TORQUE LIMIT

The positive and negative torque limits are chosen to restrict the following values:

o P42 / P43 = maximum torque, in both directions according to rated torque; o Maximum torque linked to maximum motor torque according to the rated torque

(parameter P41);

o Maximum torque set by the current limit; o Maximum torque limit reference value generated by the application: sysMaxTorque

(symmetrical), sysMaxPositiveTorque and sysMaxNegativeTorque (asymmetrical)

o Maximum torque limited by the regulator output in order to back up the bus voltage

should the mains fail;

o Maximum torque controlled in the startup phase with the motor magnetized; o Maximum torque limited in the controlled braking phase (as long as this function is

enabled by setting C47=1).

User’s manual

(

sysMaxPositiveTorque

sysMaxTorque

Maximum torque set by current limit

P98

Vbus_rif

1P23

V controller brake

C34=1

C47

P41

Maximum motor torque

Vbus

sysMaxNegativeTorque

regulator

Φnom

)

C34=1 Mns off

C47

P42

P43

Maximum torque CW

D30

Maximum torque CCW

2.2.3.2 MAXIMUM MOTOR TORQUE LIMIT

The induction motor has a maximum torque that depends on its construction characteristics. The graph below illustrates the progress of a torque curve according to speed with the motor powered by a constant frequency (Ns). The same graph can also be referred to when an inverter is used, reading it as torque delivered according to slip, i.e. the difference between the rotation speed of the electrical values and the rotor (Ns – N in the graph).

Id = starting current

In = rated current Io = no-load current

Md = starting torque Ma = acceleration torque Mm = max. torque Mn = rated torque

Nn = rated speed Ns = synchronism speed

3-phase induction motor torque (M) and current (I) curve accordin

to number of revolutions (N).

The graph illustrates how the delivered torque increases according to slip up to a certain point represented by the maximum motor torque. If the maximum torque is exceeded, control is lost in that the torque decreases even when the current is increased.

It is proved that the maximum motor torque decreases during flux weakening in proportion to the square of the φ/φnom ratio. Thus the motor has three working areas:

 Constant torque: the maximum torque is available up to the rated speed (as long as the

current to deliver it is available);

 Constant power: over the rated speed, flux is reduced proportionally to speed, the

available torque also drops in proportion to speed, the power delivered is constant;

 Maximum torque: after reaching the maximum torque, which decreases with the square

of the speed, the available torque will start to drop with the square of the speed and the power delivered will decrease in proportion to the speed.

Max. torque

Available torque

CONSTANT

Power delivered

MAXIMUM TORQUE ZONE

TORQUE ZONE

CONSTANT POWER ZONE

Nominal speed

Speed

To ensure regulation stability, P41 must be set with the Maximum torque divided by Rated motor

torque. This limit will decrease during flux weakening with the square of the speed.

2.2.3.3 MAXIMUM CURRENT LIMIT

The drive is fitted with a maximum current limiting circuit that cuts in if exceeded, restricting the

maximum current delivered to the lowest value from among parameter P40, the value calculated by

the drive thermal image circuit, and the motor thermal protection circuit. P40 is used to programme the maximum current limit delivered by the drive from 0% to the maximum

authorised value, which depends on the type of overload chosen with connection C56.

Drive thermal image

Motor thermal protection

P40

LIMITE

FLUSSO

Q MAX

Maximum torque set by current limit

- I

LIM

FLUSSO

Possibile limit on flux current

If the current limit exceeds the flux current, then only the torque current will be limited and thus the maximum torque delivered is limited. Otherwise, the delivered torque is set to zero and the flux current is also limited

User’s manual

2.2.4 CURRENT CONTROL

Name Description Min Max Default UM Scale

I_REG_KP

I_REG_TI

I_REG_TF

PRC_I_REG_KP_COE FF

PRC_I_DECOUP

DIS_I_DECOUP

I_DELAY_COMP

PRC_IQ_REF D07 - Request torque current Iq rif -100 100 0 % DRV_I_NOM 40.96

PRC_ID_REF D08 - Request magnetizing current Id rif -100 100 0 % DRV_I_NOM 40.96

PRC_IQ D15 - Current torque component -100 100 0 % DRV_I_NOM 40.96

PRC_ID D16 - Current magnetizing component -100 100 0 % DRV_I_NOM 40.96

PRC_VQ_REF D20 - Vq rif -100 100 0 % MOT_V_NOM 40.96

PRC_VD_REF D22 - Vd rif -100 100 0 % MOT_V_NOM 40.96

MOT_I D11 - Current module 0 A rms 16

EL_FRQ D13 - Rotor flux frequency 0 Hz 16

ACTV_POW D01 - Active power delivered 0 kW 16

SLI_FREQ D34 - Slip frequency -20 20.0 0 Hz 40.96

PRC_MOT_T D35 - Actual torque produced -400 400 0 % MOT_T_NOM 40.96

Current regulators generate the voltage reference values required to ensure torque and flux currents that are equal to their reference values. The current signals processed by these regulators are expressed according to the maximum drive current, which means that they are affected by the ratio between the rated motor current and the rated drive current (P61). To ensure good control, this ratio should not drop below 35 - 40% i.e. Do not use a drive that is more than two and a half times larger than the motor, nor a motor that is more than one and a half times larger than the drive. The flux current is displayed as a percentage of the rated motor current in d16, while the torque current is displayed as a percentage of the rated motor current in d15. The constants of these

regulators are established in engineering units by parameters P83, proportional gain Kp; P84, time in

ms of the lead time constant Ta equal to the integral regulator time constant multiplied by the gain

(Ta = Ti*Kp); and P85, filter constant in ms.

Parameters P83 and P84 cannot be changed directly because they are considered to be

perfectly calculated by the auto-tuning. P83 can only be changed by accessing TDE MACNO

reserved parameter P126 “Multiplication coefficient Kp and current loop”

There is dynamic decoupling between the direct axis and the orthogonal axis with a low default gain. Should there be any doubts as to whether the dynamic decoupling is working properly, then it can be

disabled by setting C59=1.

P83 - Kpc current regulator proportional gain P84 - Tic current regulator lead time constant P85 - Tfc current regulator (filter) time constant P126 - KpI Corrective coeff. estimated Kp for current loops P158 - Corrective coefficient for decoupling terms C59 - Disable dynamic decoupling + feedfoward P160 - PWM delay compensation on the currents

0.1 100.0 2.6 10

0.0 1000.0 8.5 ms 10

0.0 25.0 0 ms 10

0.0 200.0 100 % 40.96

0.0 200.0 0 % 40.96

0 1 0 1

-800.0 800.0 40 % TPWM 40.96

2.2.5 VOLTAGE/FLUX CONTROL

Name Description Min Max Default UM Scale

PRC_FLX_REF P35 - Flux Reference 0.0 120.0 100 % MOT_FLX_NOM 40.96

V_REF_COEFF

PRC_FLX_MIN P52 - Minimum Flux admitted 0.0 100.0 2 % MOT_FLX_NOM 40.96

V_REG_KP

V_REG_TF

MOD_INDEX_MAX P122 - Max. modulation index 0.500 0.995 0.98 1000

PRC_V_REF_DCBUS

PRC_V_REG_KP_COEFF

V_DELAY_COMP

V_REF

MOT_V

PRC_MOT_V

MOD_INDEX D19 - Modulation index -100 100 0 40.96

MOT_FLX D27 - Motor Flux 0 % MOT_FLX_NOM 40.96

The flux regulator generates the request for the flux current required to maintain the magnetic rotor

flux equal to the reference value set in parameter P35 when the working area is with Constant

torque.

P36 - Kv Max operating voltage multiply factor

P80 - Kpi voltage regulator proportional gain P82 - Tfi voltage regulator (filter) time constant

P125 - Voltage reference function of DC bus P127 - KpV Corrective coeff. estimated Kp for voltage loops P161 - PWM delay compensation on the voltages D09 - Voltage reference value at max. rev. D17 - Stator voltage reference value module D18 - Stator voltage reference value module

0.0 100.0 100 327.67

0.1 100.0 9.1 10

0.0 1000.0 11 ms 10

0.0 100.0 96.00 % 327.67

0.0 200.0 100 % 40.96

-800.0 800.2 50.0 % TPWM 40.96

-100 100 0 % MOT_V_NOM 40.96

0 V rms 16

-100 100 0 % MOT_V_NOM 40.96

Constant torque working area

Vol tag e regulator

P80; P81 an d P82

Flux current reference value

P35

Flux reference val ue

D27

Estimated flux

When operating with Constant Power the regulator generates a request for the flux current required

to ensure the stator voltage module is the same as the voltage reference value and thus to weaken the flux gradually as the speed increases. The active voltage reference value (displayed in d09) is always the smallest of the three values,

which are all normalized in relation to the rated motor voltage (P62):

o Parameter P64 “Maximum operating voltage” multiplied by coefficient P36; o A term linked to the direct bus voltage with a margin set with P125 (default 96%), because

the maximum stator voltage that can be delivered may not exceed the direct voltage divided by √2;

A term linked to the estimated stator voltage to be applied during flux weakening based on the required current so that there is a margin with regard to the maximum voltage available and thus to be better equipped to deal with variations in the required torque

User’s manual

(

)

P64

Vnom2

Estimated flux weakening voltage

P36

0-100%

D09

125PVbus××

Voltage reference value

D18

Constant power working area

fluxweakeni n

80; P81 and P82

Del iver ed voltage module

Voltage regulator

Flux current reference value

The flux current is normalized in relation to the magnetizing current (P73), the rotor flux is normalized in relation to the rated flux and is displayed as a percentage in d27. The stator voltage module is normalized in relation to the rated motor voltage (P62) and is displayed as a percentage in d18 and as a value in Volt rms in d17

The constants of this regulator are established in engineering units by parameters P80, proportional gain Kp; P81, time in ms of the lead time constant Ta equal to the integral regulator time constant multiplied by the gain (Ta = Ti*Kp); and P82, filter constant in ms.

Parameters P80 and P81 cannot be changed directly because they are considered to be

perfectly calculated by the auto-tuning.

They can only be changed by accessing TDE MACNO reserved parameter P127 “Multiplication

coefficient Kp and Ta flux loop”

The voltage/flux regulator limit is normally set at

± rated motor current so that the total flux may be

changed quickly during the transient state. If the estimated flux drops below 5% of the rated flux, the lower voltage regulator limit is brought to a value that will generate a flux of at least 4%. This is done so as not to lose control in a zone where the flux has been weakened widely.

2.2.5.1 STARTUP WITH A MOTOR MAGNETIZED

C38 provides 3 different ways for starting up the motor:

C38=0

C38=1 Enable independent flux

C38=2 Machine always magnetized

Standard

operation

When the machine is magnetized, it means that the motor is powered and th at a cu rrent equal

to the magnetizing current is being delivered. Thus special care must be taken especially

when C38

≠ 0 in that a voltage ≠ 0 may be created on terminals U,V,W without enabling the

When RUN is enabled, the machine is magnetized with the maximum delivered torque at zero for a time equal to P29. The flux is then checked to see whether it exceeds the minimum (P52). If it does, the torque is “freed”, if it does not the drive triggers alarm A2 “Machine not magnetized”.

In this case, logic input (I15) is used to magnetize the machine. After setting I15=H (configuring one of the logic inputs as required) the machine is magnetized with the maximum delivered torque at zero for a time equal to P29. The flux is then checked to see whether it exceeds the minimum (P52). If it does, the torque is “freed”; the display shows that the machine has been magnetized and the next time the RUN command is enabled, the motor will start up straight away. If the flux does not exceed the minimum, the drive triggers alarm A2 “Machine not magnetized”

The machine is always magnetized. If the flux drops below the minimum value (P52) the drive triggers alarm A2.

If the drive is ready, the motor will start up as soon as the Run command is enabled.

RUN command

2.2.5.2 WAIT FOR MOTOR DEMAGNETIZING

When the drive is switched off it is dangerous to switch on immediately, due to the unknown magnetic flux position that could produce a motor over–current. The only chance it’s to wait the time needed for the magnetic flux to reduce itself with its time constant that depend on the motor type and can vary from few milliseconds to hundreds of milliseconds. For this reason has been introduced the parameter P28 that set the wait time after power switch off after that, it’s possible to switch on the power another time: also if the user gives the RUN command during this wait time, the drive waits to complete it before enabling another time the power. Parameter P28 is defined in time units of 100us so the default value 10000 correspond to 1 second.

2.3 PROTECTION

2.3.1 VOLTAGE LIMITS

Name Description Min Max Default UM Scale

MAIN_SUPPLY P87 - Main Supply voltage 180.0 780.0 400 V rms 10

DCBUS_MIN_MAIN_LOST

DCBUS_REF_MAIN_LOST

DCBUS_REG_KP

KP_DCBUS

DCBUS_MIN

DCBUS_MAX

DCBUS_BRAKE_ON

DCBUS_BRAKE_OFF

DCBUS_REF

RECT_BRIDGE_SEL

PW_SOFT_START_TIME P154 - Soft start enabling time 150 19999 500 ms 1

MAIN_LOST_SEL C34 - Managing mains failure

ALL_RST_ON_MAIN

EN_DCBUS_MAX_CTRL C47 - Enable smart brake 0 1 0 1

EN_PW_SOFT_START C37 - Enable soft start 0 1 1 1

DC_BUS D24 - Bus voltage 0 V 16

P97 - Minimum voltage level for forced mains off P98 - Voltage reference value in Support 1 P86 - Kp3 Bus control proportional gain P105 - Corrective factor for Bus voltage P106 - Minimum voltage of DC Bus P107 - Maximum voltage of DC Bus P108 - Bus voltage threshold for brake ON P109 - Bus voltage threshold for brake OFF P123 - Smart brake voltage cutin level

C45 - Rectification bridge 0 = diodes, 1 = semicontrolled

C35 - Automatic alarm reset when mains back on

100.0 1200.0 425 V 10

220.0 1200.0 600 V 10

0.05 10.00 3.5 100

80.0 200.0 100 % 10

220.0 1200.0 400 V 10

350.0 1200.0 800 V 10

350.0 1200.0 770 V 10

350.0 1200.0 760 V 10

300.0 1200.0 750 V 10

Range

0 Diods

Half controller

bridge

Range

Trying to

1 Recovery 2 Free

work

Emergency

brake

0 1 0 1

0 1

User’s manual

2.3.1.1 POWER SOFT START

The bridge rectifier build in the drive may be uncontrolled (diode) or semi-controlled (up to OPEN 40 it is uncontrolled). If the diode bridge is implemented, the power soft start function acts bypassing a soft start resistor (in series with the output of the power bridge), after the DC Bus Voltage has charged; otherwise the same function unblocks the semi-controlled input power bridge permitting the gradual charge of the DC Bus voltage and supplying the drive feeding for the following work.

N.B: It is fundamental to correctly set up the connection C45 build in Power Bridge : 0= uncontrolled (diode) ; 1 = semi-controlled

The function becomes active if the connection C37=1 and the presence of mains supply voltage becomes noticed, with the following logic:

Mains supply presence: in case the presence of alternated mains supply voltage becomes noticed once (at soft start) with the logic power input MAINS_OFF=H, from that moment the control refers only to the MAINS_OFF to check the mains presence. Otherwise, in the case of drive feeding with a

continuous direct voltage on the DC Bus, it is possible to begin the soft start, even if the measured voltage on the DC Bus exceeds the indicated value in P97.

Mains break out: the mains break becomes noticed either when the MAINS_OFF signal is

monitored (if this went to the high logic level at least one time during the soft start) either monitoring directly the DC Bus voltage with minimum threshold setup in P97. The function of “Soft start enable” may be assigned to one of the logic input thus to enable or disable the soft start through an external contact. The power fault alarm (power fault A03), that checks drive over current, insert the soft start limiting current. The soft start follows the following criteria

C37 A03 Mains Presence Soft start enable oL10

X H X OFF L

X L X OFF L

0 L X OFF L

1 L L OFF L

1 L H ON H

From default PR.ON=1 and C37=1 thus connecting the drive to the mains supply, the power is enable immediately with the soft charging of the capacitors. The soft start charge of the intermediate circuit capacitors lasts a preset time set in P154, after this time the voltage level is checked to verify the voltage level reached: if this is below the minimum (P97), the soft start alarm starts.

The drive is not enabled to switch on if soft start function has not ended successfully.

2.3.1.2 VOLTAGE BREAK CONTROL FOR MAINS FEEDING

The mains break control is configurable through the following connections:

Name Description

MAIN_LOST_SEL C34 - Managing mains failure

ALL_RST_ON_MAIN C35 - Automatic alarm reset when mains back on

2.3.1.2.1 CONTINUING TO WORK (C34=0; DEFAULT)

This operating procedure is adapted to those applications in which it is fundamental to have unchanged working conditions in each situation. Setting C34=0 the drive, even if the mains supply voltage is no longer available, continues to work as though nothing has been modified over the control, pulling the energy from the present capacitor to the inner drive. This way making the intermediate voltage of the DC Bus will begin to go down depending on the applied load; when it reaches the minimum tolerated value (in parameter P106) the drive goes into alarm A10 of minimum voltage and leaves to go to the motor in free evolution. Therefore, this function will allow exceeding short-term mains break out (tenths/hundredths of milliseconds on the basis of the applied load) without changing the motor operation in any way.

DC bus voltage

540V

speed

400V

Break mains

If the alarm condition starts, there is the possibility to enable, setting C35=1 the alarms to an automatic reset at the mains restore.

Return mains

Minimum voltage allowed (P106)

C34=0 Continue to work

time

2.3.1.2.2 RECOVERY OF KINETIC ENERGY (C34=1)

This operating procedure is adapted to those applications in which it is temporarily possible to reduce the speed of rotation to confront the mains break. This function particularly adapts in the case of fewer applied motors and with high energy. The qualification of such a function is obtained setting C34=1. During the mains break out, the voltage control of the DC Bus is achieved using a proportional regulator, with fixed proportional gain set in P86 (default=3.5), that controls the DC Bus voltage d24, compare it with the threshold in P98 (default=600V) and functions on the torque limits d30 of the motor that, in time, will slow down to work in recovery. Such regulation, when qualified (C34=1), at mains break out (o.L.12=H) or if the DC Bus voltage goes below the threshold set in P97 (425V), replaces the normal regulation (o.L.13=H) and is excluded when mains supply is on.

User’s manual

540V

DC bus voltage

speed

400V

Break mains

If the alarm condition starts, there is the possibility to enable, setting C35=1 the alarms to an automatic reset at the mains restore

Return mains

Minimum voltage allowed (P106)

C34=1 Recovery of Kinetic Energy

2.3.1.2.3 OVERCOMING MAINS BREAKS OF A FEW SECONDS WITH FLYING RESTART (C34=2)

This operating procedure is adapted to those applications in which it is fundamental to not go into alarm in the case of mains break out and is temporarily prepared to disable the power in order for the motor to resume when the mains returns. The qualification of such a function is obtained setting C34=2. When there is a mains break or if the voltage of the Bus goes below the threshold set in P97r (425 V), the drive is immediately switched off, the motor rotates in free evolution and the Bus capacitors slowly discharges. If the mains returns in a few seconds, a fast recovery of the motor is carried out in a way in which the working regulation of the machine is resumed.

time

540V

400V

Break mains

Minimum voltage allowed (P106)

Return mains

DC bus voltage

speed

C34=2 Free motor

Time of soft start

time

At the return of the mains, it will need to wait for the time of soft start for the gradual recharging of capacitors for the motor to be able to resume.

2.3.1.2.4 EMERGENCY BRAKE (C34=3)

This particular control is adapted to those applications in which the machine may be stopped with an emergency brake in case of mains breaks. Under this circumstance, the linear ramps becomes qualified and the ramp time is imposed with the parameter P30. When the minimum speed is reached, alarm A10 of minimum voltage starts and the motor is left rotating in free evolution. If in the meantime the mains returns, the emergency brake will be not interrupted.

DC bus voltage

540V

C34=3 Emergency brake

speed

Minimum speed (P52)

Break mains

Return mains

time

2.3.1.3 BRAKING MANAGEMENT

The drive is in a position to work on four quadrants, therefore is also in a position to manage the motor recovery Energy. There are three different, possible controls:

2.3.1.3.1 RECOVERY MAINS ENERGY

To be able to restore the kinetic Energy into the mains, it is necessary to use another OPEN drive ,

specifically the AC/DC Active Front End (AFE). A Power Factor Controller deals with the position to

have a power factor close to unity. Specific documentation is sent back from specific details. This solution is adapted to those applications in which the additional cost justifies another drive with a lot of energy that is recovered in the mains or for particular thermal dissipation problems in the use of a braking resistor.

U V

Mains

User’s manual

Inductor

AC/DC

AFE

OPEN drive

Drive

OPEN drive

U V

Motor

The use of an AC/DC AFE permits a controlled voltage level of the intermediate power (DC Bus) and raises to best control the motors winded to a voltage close to the line voltage. The drive’s dynamic behavior results in a way that optimizes the work as motor or generator. There is a possibility to connect more than one drive to the DC Bus, with the advantage of energy exchange between drives in case of contemporary movements and only one energy exchange with the mains.

DC bus voltage

Recovery of mains energy

speed

time

2.3.1.3.2 BRAKING WITH DC BUS CONTROL (C47=1)

A further possibility of recovery control of kinetic energy exists: if the outer braking resistance is not

present (or is not working properly), it is possible to enable (setting C47=1) the braking with DC Bus control. This function, when the Bus voltage reaches the threshold set in P123, limits the maximum

admitted regenerated torque, slowing down the motor. In practice, the motor will slow down in minimum time thus the over voltage alarm does not start. This function is not active by default (C47=0) in a way to leave the intervention of the braking circuit.

P12

Controlled braking of the DC Bus

speed

DC bus voltage

2.3.1.3.3 KINETIC ENERGY DISSIPATION ON BREAKING RESISTANCE

The standard solution for the OPEN drive is the dissipation of kinetic Energy on braking resistor. All the OPEN drives are equipped with an eternal braking circuit, while the braking resistor must be connected externally, with the appropriate precautions. With this solution, the Bus’ maximum level of voltage becomes limited through a power device that connects in parallel the resistor with the DC Bus capacitors, if the voltage exceeds the threshold

value in P108, the drive keeps it inserted until the voltage goes below the value of P109; in such a

way, the energy that the motor transfers onto the DC Bus during the braking, is dissipated from the resistor. This solution guarantees good dynamic behavior also in braking mode. In the follow figure it’s shown the Bus voltage and the speed during a dissipation on breaking resistance.

P10

DC bus voltage

Energy dissipation on breaking resistor

speed

A maximum voltage limit allowed exists for the DC Bus voltage. This is checked by the software

(threshold P107), and by the hardware circuitry: in case the voltage exceeds this level, the drive will immediately go into an over voltage alarm A11 to protect the internal capacitors.

In case of A11 alarm condition starts, verify the correct dimensioning of the braking resistor power.

Refer to the installation manual for the correct dimensioning of the outer braking resistor.

The braking resistor may reach high temperatu

machine to favor the heat dissipation and prevent accidental contact from the operators.

es, therefore appropriately place the

User’s manual

2.3.2 THERMAL PROTECTION

Name Description Min Max Default UM Scale

Range

MOT_THERM_PRB_SEL

MOT_TEMP_MAX

DRV_THERM_PRB_SEL

MOT_PRB_RES_THR

PRC_MOT_DO_TEMP_THR

KP_MOT_THERM_PRB

KP_DRV_THERM_PRB

DRV_TEMP_MAX

DRV_START_TEMP_MAX

DRV_DO_TEMP_THR

EN_MOT_THERMAL_ALL

MOT_THERM_CURV_SEL

DRV_TEMP

MOT_TEMP D26 - Motor temperature 0 °C 16

REG_CARD_TEMP

MOT_PRB_RES

PRC_DRV_I_THERM D28 - Motor thermal current -100 100 0 % soglia All 40.96

C46 - Enable motor thermal probe management (PTC/NTC)

P91 - Maximum motor temperature (if read with PT100) C57 - Enable radiator heat probe management (PTC/NTC) P95 - Motor NTC or PTC resistance value for alarm P96 - Motor thermal logic output 14 cut-in threshold P115 - Multiplication factor for motor PTC/NTC/PT100 analog reference value P117 - Multiplication factor for radiator PTC/NTC analog reference value P118 - Max. temperature permitted by radiator PTC/NTC P119 - Max. temperature permitted by radiator PTC/NTC for start-up P120 - Radiator temperature threshold for logic output o.15 C32 - Motor thermal switch ' Block drive ?

C33 - Auto-ventilated thermal motors

D25 - Radiator temperature reading

D40 - Regulation card temperature D41 - Thermal probe resistance

0 No 1 PTC 2 NTC 3 I23 4 KTY84-130

0.0 150.0 130 °C 10

0 1 1 1

0 19999 1500 Ohm 1

0.0 200.0 100 % PRC_MOT_I_THERM 40.96

0.00 200.00 100 163.84

0.0 150.0 90 °C 10

0.0 150.0 75 °C 10

0.0 150.0 80 °C 10

0 1 1 1

Range 0 1 2 3

0 °C 16

0 Ohm 1

1 1

0 1

2.3.2.1 MOTOR THERMAL PROTECTION

Parameters P70 (thermal current as a % of the rated motor current), P71 (motor thermal constant in

seconds) and the current delivered by the drive are used to calculate the presumed operating temperature of the motor considering an ambient temperature equal to the permitted maximum; the losses are evaluated with the square of the absorbed current and filtered with the motor thermal constant. When this value exceeds the maximum thermal current set in P70 (value proportional to the

square of this current) the thermal protection cuts in, enabling logic output o.L.1 and alarm A06. The action taken may be programmed via connection C32 and by enabling alarm A06:

If A06 is disabled, no action will be taken. If A06 is enabled, action will depend on C32:

• C32 = 0 (default value) the thermal alarm will cut in and reduce the current limit to match

the motor thermal current.

• C32 = 1 the thermal alarm cuts in and stops the drive immediately.

[%]

Internal value d28 and analog output 28 display a second-by-second reading of the motor thermal current as a percentage of the rated motor current. When 100% is reached, the motor thermal switch cuts in.

P96 can be set with an alarm threshold which, when breached, commutes logic output o.L.14 to a

high level indicating the approximation to the motor thermal limit. The maximum motor thermal current depends on the operating frequency, provided that the motor does not have assisted ventilation regardless of its revolutions. Four permitted thermal current curves are used to reduce the current in accordance with motor operating frequency (see diagram); the required curve is chosen with Connection C33 as per the table.

Itermica / Inominale

100

Curve 0

Curve 2

Curve 1

Curve 3

100 120

flav/fnm [%]

C33 Characteristics

2 [default] Typical curve for self-ventilated motors

3 Curve for motors that heat up excessively with curve 2

No reduction according to frequency; to be chosen for

assisted ventilation motors

Choose for self-ventilated high speed motors (2 poles) where

ventilation is more efficient. There is no current reduction for

frequencies over 70% of the rated frequency

The drive can manage the motor thermal probe. For the correct wiring of the probe, make reference to the installation manual. The connection C46 selects the type of probe used:

C46 Description Visualizationin d26

0 No motor thermal protection enabled

PTC management: The thermal resistance is measured and

compared to the maximum setup in the parameter P95, If the temperature exceeds the threshold, the A5 alarm starts. NTC management: The thermal resistance is measured and

compared to the minimum setup in the parameter P95, If the value is below, the A5 alarm starts.

Termo-switch management: it’s possible to configure a

logic input to I23 function, in this case if this input goes to a low level the A5 alarm starts

4 KTY84 Motor temperature (D26)

Thermal probe resistance in Ω (D41)

-----

User’s manual

2.4 V/F CONTROL

Name Description Min Max Default UM Scale

EN_VF_CNTL C80 - Enable V/f control 0 1 0 1

PRC_VF_SLIP_CMP

VF_TF_SLIP_CMP

PRC_VF_BOOST

VF_EN_DCJ C83 - Enable dc brake 0 1 0 1

PRC_VF_DCJ_I_MAX

PRC_VF_DCJ_F_MAX

VF_EN_CHR_AUTOSET

PRC_VF_CHR_V1

PRC_VF_CHR_F1

PRC_VF_CHR_V2

PRC_VF_CHR_F2

PRC_VF_V_REG_D

VF_EN_SEARCH

PRC_VF_FSTART_SEARCH

PRC_VF_FMIN_SEARCH

PRC_VF_T_MAX_SEARCH

VF_EN_STALL_ALL C82 - Enable stall alarm 0 1 1 1

VF_STALL_TIME

PRC_VF_V_MAX_STATIC

VF_EN_ENGY C86 - Enable energy saving 0 1 0 1

VF_TI_ENGY

PRC_VF_FLX_MIN_ENGY

VF_TF_I_MAX_AL P190 - Current alarm filter 0.0 150.0 10.0 ms 10

VF_EN_OPEN_LOOP

VF_EN_BYPASS

P170 - Slip motor compensation P171 - Slip compensation factor filter P172 - Stator voltage drop compensation

P173 - Current limit during continuous braking P174 - Continuous breaking maximum frequency limit C88 - Calculate V/f characteristic nominal knee P175 - V/f characteristic point 1 voltage P176 - V/f characteristic point 1 frequency P177 - V/f characteristic point 2 voltage P178 - V/f characteristic poitn 2 frequency P183 - Voltage regulator derivative coefficient multiplying term

C84 - Enable search during motor rotation

P184 - Initial search frequency with rotating motor P185 - Minimum search frequency with rotating motor P191 - Torque limit during fly restart

P186 - Working time during limit P187 - Vs amplitude maximum static value

P188 - Energy saving regulator filter time constant P189 - Energy saving admissible minimum flux

C85 - Enable open loop working state

C87 - Enable flux angle bypass - frequency input

0.0 400.0 0.0

0.0 150.0 35.0 ms 10

0.0 400.0 70.0

0.0 100.0 100.0 % DRV_I_NOM 40.96

0.0 100.0 0.0

0 1 0 1

0.0 100.0 0.0

0.0 100.0 100.0 % 327.67

Range 0 No 1 Freq + 2 Freq 3 Rif 0 + 4 Rif 0 -

0.0 100.0 100.0

0.0 100.0 2.9

0.0 100.0 150.0 % DRV_T_NOM 40.96

1 100 30 s 40.96

0.0 100.0 97.5

100 2000 400 ms 1

0.0 100.0 20.0 % MOT_FLX_NOM 40.96

Range 0 No

Imax

in V/f

Imax

in V

0 1 0 1

0 1

PRC_MOT_F_MAX

PRC_DELTA_VRS

PRC_MOT_F_MAX

PRC_MOT_V_MAX

PRC_MOT_F_MAX

PRC_MOT_V_MAX

PRC_MOT_F_MAX

PRC_MOT_V_MAX

40.96

327.67

2.4.1 AUTOMATIC SETTING OF WORKING VOLTAGE/FREQUENCY

“V/f control” manages the an asynchronous motor without feedback. This type of control has a good dynamic performance also in flux weakening area (4-5 times base frequency) and it’s able to start the motor also with high load (2 times the nominal motor torque), but

it’s no useful in that application where it’s necessary to produce torque in steady state at frequency below 1Hz (in this case we recommend to use a motor with feedback and a Vector control).

To enable the voltage-frequency control set C80=characteristic

The most easier way to set the voltage-frequency characteristic is to use the automatic procedure. First of all set the maximum motor voltage (P64) and the maximum working speed (P65) and then set C88=1 .

Name Description

PRC_MOT_V_MAX P64 - Max. operating voltage

MOT_SPD_MAX P65 - Max. operating speed (n MAX)

VF_EN_CHR_AUTOSET C88 - Calculate V/f characteristic nominal knee

Automatically the drive set the voltage-frequency characteristic in two possible way:

1. Linear way :

In this case, none characteristic points are set (P174-P175-P176-P177=0) and the maximum operating voltage P64 is set:

2. Characteristic FLUX WEAKENING AREA:

3. When the maximum motor frequency is greater than nominal frequency automatically is set one characteristic point into nominal knee:

P175= 100%

2.4.2 MANUAL SETTING OF WORKING VOLTAGE/FREQUENCY CHARACTERISTIC

Using the parameters P175 , P176 , P177 and P178 it is possible to define a three-section working curve by points (so as to be better able to adjust to the desired characteristics).

User’s manual

Points P176 and P178 define the frequency percentage with reference to the maximum working frequency while points P175 and P177 define the percentage voltage with reference to the maximum working voltage (P64). The following curve should clarify the explanation.

"TYPICAL CURVE WITH QUADRATIC TORQUE LOAD"

If a number of points which is less than two is sufficient to define the curve just program at 0 the frequencies of the points which are not used (P176 and/or P178), so that they will not be considered in the interpolation. There are some limitations on setting the characteristic:

- Frequencies (P176 and P178) must be in rising order and the distance between two adjacent points must be greater than 5%

- Corresponding voltages (P175 and P177) must be in rising order. If this limitations are not respected the system doesn’t take in account the point whose component was set wrongly and it is cleared to 0. Every time one of this parameters (from P175 to P178) is changed, it is better to verify if the system has accepted the new value. A linear type Voltage-Frequency characteristic is provided for the default for which P175=P176=P177=P178=0.

STANDARD CURVE FOR A MOTOR WORKING IN CONSTANT TORQUE IN ALL ITS

CHARACTERISTICS

As an example we calculate the settings of the parameters in the case of a motor with a rated voltage of 380 Volts and a frequency of 50 Hz, which we want to work at full flux up to 50 Hz and a constant voltage from 50 Hz to 75 Hz. Having traced the desired voltage-frequency we see that to program it is sufficient to use only one section point (see diagram). From the maximum speed frequency desired (P65) and from the maximum working voltage (P64) we can calculate the P177 and P178 values with reference to the maximum values, while P175 and P176 will remain at 0.

CURVE FOR MOTOR WORKING ALSO IN FLUX WEAKENING ARE A

2.4.3 LOAD EFFECT COMPENSATION

2.4.3.1 VOLTAGE STATOR DROP COMPENSATION (START UP UNDER LOAD)

Using P36 parameter it is possible to increase the voltage value at low frequencies so as to compensate for the drop due to the stator resistance and so as to be able to have current and the refore torque even in the start up phase; this is necessary if the motors starts up under load. The value which can be set refers to the drop voltage on the Stator Resistor (P66) and can be adjusted from 0 up to a maximum of 400.0%. Particular care must be taken in setting the P172 value as it determines the current values fed at low speed: a value too low for P30 results in limiting the torque of the motor, while a value too high results in feeding high currents at low speed, whatever the load condition is. In the start up under load it is useful to introduce a waiting time on the common ‘converter running so that the motor can magnetize itself, so that it has from the outset the torque expected available. The P29 parameter makes it possible to quantify this wait time in milliseconds, in which the system is in an on-line state, but the frequency reference is forcibly held at 0. The most suitable value for P29 should be chosen according to the rating of the motor and the load conditions, but in any case should be from a minimum of 400ms for motors of 7.5 KW up to 1s for motors of 55KW.

2.4.3.2 SLIP COMPENSATION

By using parameter P170 it is possible to partly compensate for the motor’s fall in speed when it takes up the load; the adjustment is in fact that regulation of motor controls stator frequency and does not control the real speed. This compensation is obtained by increasing the motor’s working frequency by a quantity which is proportional to the percentage working torque multiplied by the percentage value set in P170 , in relation to the motor’s rated frequency. The value to be set depends both on the motor’s rating and poles, in any case it can in general terms vary from 4% for a 7.5 KW motor to 1,8 - 2.0% for 45 KW motors. In default the compensation is excluded P170 = 0.

User’s manual

2.4.4 PARTICULAR CONTROL FUNCTIONS

2.4.4.1 MOTOR FLYING RESTART

Since the driver has a maximum current limit it can always be started running with no problems even if the motor is already moving, for example, by inertia or dragged by part of the load. In that event, on starting up, given that normally the frequency reference starts from values close to zero to gradually rise with the ramp times to the working value, the motor is first subjected to a sudden deceleration, within the limit, to then hook onto the reference and follow it with the ramp; this may be undesirable from a mechanical standpoint, and the process could also trigger the overvoltage alarm for converters which do not have a braking device. To avoid this it is possible to suitably program connection C84 , “Enable motor flying restart“, which makes it possible to identify the speed of rotation of the motor, stressing it as little as possible, and to position the output reference from the ramp at a value corresponding to that rotation so as to start from that reference to then go on to working values. This motor search function is primarily in one direction and thus needs to know in advance the direction of rotation of the motor, positive frequency or negative frequency, which must be programmed in C84 ; if the selection is wrong the motor is first braked to about zero speed to then follow the reference to go to working speed (as if the search function had not been used). If there is a passive load and the inertia keeps the motor in rotation, it’s possible to select a search dependently upon the sign of enabled frequency reference (C84=3-4). There are two different values for C84 to enable this kind of search, the only difference is for manage the case in which the frequency reference was zero: in this particular situation with C84=3 the system searches for positive frequency, while with C84=4 the search will be made for negative frequency. The C50 connection has five programming values which are selected as indicated below :

o C84=0 flying restart doesn’t enabled o C84=1 flying restart managed with positive frequency quadrant search o C84=2 flying restart managed with negative frequency quadrant search o C84=3 flying restart managed dependently upon the sign of enabled frequency

reference (like C84=1 for 0) o C84=4 flying restart managed dependently upon the sign of enabled frequency reference (like C84=2 for 0)

The start frequency in motor flying restart can be set in parameter P184 (default 100%) in percentage

of maximum frequency. This parameter can help the search algorithm limiting the range of frequency.

With parameter P185 it’s possible to set the minimum target frequency in order to inject an active

current also if the motor is stopped. If the maximum frequency is greater than 250% of nominal motor frequency could be some problems in the motor flying restart because it’s difficult to inject the active current with a slip so high. In that case the only possibility is to reduce the start search frequency (with P184) on condition that really the motor cannot run more quickly.

If it’s enabled the motor flying restart, the power is switch-on with the motor standstill and

there is low load, it’s possible to have a transient initial state in which the motor starts

running in the searching sense

If the flying restart doesn’t work correctly it’s possible to increase the reserved parameter P191 (default value 5%) for increase the admitted search window . In default the flying restart isn’t managed ( C84=0 )

3 STANDARD APPLICATION

3.1 INPUT

3.1.1 ANALOG REFERENCE

Name Description Min Max Default UM Scale

KP_AI1

OFFSET_AI1

AI1 D42 - Analog Input AI1 -100 100 0 % 163.84

EN_AI1

REF_AI1

AI1_SEL

KP_AI2

OFFSET_AI2

AI2 D43 - Analog Input AI2 -100 100 0 % 163.84

EN_AI2

REF_AI2

AI2_SEL

KP_AI3

OFFSET_AI3

AI3 D44 - Analog Input AI3 -100 100 0 % 163.84

EN_AI3

REF_AI3

AI3_SEL

TF_TRQ_REF_AN

P01 - Corrective factor for analog reference 1 (AUX1) P02 - Corrective offset for analog reference 1 (AUX1)

P200 - Enable analog reference value A.I.1 D64 - Reference from Analog Input AI1

P203 - Meaning of analog input A.I.1

P03 - Corrective factor for analog reference 2 (AUX2) P04 - Corrective offset for analog reference 2 (AUX2)

P201 - Enable analog reference value A.I.2 D65 - Reference from Analog Input AI2

P204 - Meaning of analog input A.I.2

P05 - Corrective factor for analog reference 3 (AUX3) P06 - Corrective offset for analog reference 3 (AUX3)

P202 - Enable analog reference value A.I.3 D66 - Reference from Analog Input AI3

P205 - Meaning of analog input A.I.3

P206 - Filter time constant for analog torque reference value

-400.0 400.0 100 % 10

-100.0 100.0 0 % 163.84

0 1 0 1

-100 100 0 % 163.84

Range 0 Speed ref. 1 Torque ref.

Torque limit

3 Set point PID 4 Feedback PID

-400.0 400.0 100 % 10

-100.0 100.0 0 % 163.84

0 Speed ref. 1 Torque ref.

3 Set point PID 4 Feedback PID

-400.0 400.0 100 % 10

-100.0 100.0 0 % 163.84

0 Speed ref. 1 Torque ref.

3 Set point PID 4 Feedback PID

0.0 20.0 0 ms 10

ref.

Manual set

point PID

0 1 0 1

-100 100 0 % 163.84

Range

Torque limit

ref.

Manual set

point PID

0 1 0 1

-100 100 0 % 163.84

Range

Torque limit

ref.

Manual set

point PID

0 1

1 1

2 1

User’s manual

PRC_T_REF_AN

PRC_APP_T_REF

PRC_T_MAX_AN_POS

PRC_APP_T_MAX

MUL_AI_IN_SEL

MUL_AI_OUT_SEL

MUL_AI_MAX

MUL_AI_MIN

MUL_KCF_MAX

MUL_KCF_MIN

STR_MUL_AI

PRC_SPD_TOT_AN

MUL_KP D73 - Multiplication factor -100.0 100.0 0 % 16

PRC_SPD_REF_AN D74 - Speed reference -100 100 0 % MOT_SPD_MAX 163.84

PRC_APP_SPD_REF

D68 - Analog Torque reference from Application D10 - Torque reference value (application generated) D70 - Analog Torque Max from Application D32 - Maximum torque imposed (application generated) P241 - Multiplication factor selection P242 - Multiplication factor target P243 - Max analog input value for multiplication factor P244 - Min analog input value for multiplication factor P245 - Multiplication factor with max analog input (MUL_AI_MAX) P246 - Multiplication factor with min analog input (MUL_AI_MAX) P248 - Storing input multilpicative factor D72 - Speed reference from AI1 + AI2 + AI3

D33 - Speed reference (application generated)

-400 400 0 % MOT_T_NOM 40.96

-100 100 0 % MOT_T_NOM 40.96

-400 400 0 % MOT_T_NOM 40.96

-100 100 0 % MOT_T_NOM 40.96

0 4 0 1

0 2 0 1

-180.00 180.00 100.0 % A.I. 163.84

-180.00 180.00 0.0 % A.I. 163.84

-100.0 100.0 1.0 100

-100.0 100.0 -1.0 100

0 2 0 1

-100 100 0 % MOT_SPD_MAX 163.84

User’s manual

It’s possible to enable separately all references using connections or logic input functions. For speed and torque references the active reference is the sum of all enabled references, for torque limit prevails the more constrain active reference, between the sum of analog and the Fieldbus references

There can be up to 3 differential analog inputs (A.I.1

÷ A.I.3) ± 10V which, after being digitally

converted with a resolution of 14 bits, can be:

o conditioned by digital offset and a multiplicative coefficient o enabled independently through configurable logic inputs or connections o configured as meaning through the corresponding connection (P203 ÷ P205) o added together for the references with the same configuration

For example in the case of A.I.1, the result of the conditioning is given by the following equation:

REF1= ((A.I.1/10)*P1) + P2

By selecting a suitable correction factor and offset the most varied linear relationships can be obtained between the input signal and the reference generated, as exemplified below.

REF

100%

REF

100%

REF1

+100%

-10V

-100%

Default setting

REF1

100%

20%

+10V

P1=100.0 P2=0

+10V

Vin

P1=80.0 P2=20.0

Vin

-5V

REF1

100%

20%

+5V

P1=200.0 P2=0

+10V

Vin

P1=-80.0 P2=100.0

Vin

-100%

+10V

P1=200.0 P2=-100.0

Note: for the offset parameters (P02, P04 and P06) an integer representation has been used on the basis of 16383, in order to obtain maximum possible resolution for their settings.

For example if P02=100 offset = 100/16383 = 0.61%

Vin

As said above, the enabling of each analog input is independent and can be set permanently by using the corresponding connection or can be controlled by a logic input after it has been suitably configured.

For example to enable input A.I.1 the connection P200 or the input logic function I03 can be used,

with the default allocated to logic input 3. The connections P203

÷and P205 are used to separately configure the three analog inputs available:

C203 ÷ C205 Description

0 Speed ref.

1 Torque ref.

2 Torque limit ref.

3 Set point PID

4 Feedback PID

5 Manual set point PID

Several inputs can be configured to the same meaning so that the corresponding references, if enabled, will be added together. Note: using the appropriate multiplicative coefficient for each reference it is therefore possible to execute the subtraction of two signals. In the case of the torque limit, if there is no analog input configured to the given meaning and enabled, the reference is automatically put at the maximum that can be represented, i.e. 400%. In internal quantities d32 it is possible to view the torque limit imposed by the application.

In the case of the torque reference there is a first order filter with time constant that can be set in milliseconds in parameter P206. In the internal quantity d10 the torque reference can be viewed as set by the application

3.1.2 DIGITAL SPEED REFERENCE

Name Description Min Max Default UM Scale

PRC_SPD_JOG

EN_SPD_JOG

PRC_SPD_REF_JOG D76 - Jog Speed reference -100 100 0 % MOT_SPD_MAX 163.84

PRC_START_DG_POT

EN_MEM_DG_POT

PRC_MAX_REF_DG_POT

PRC_MIN_REF_DG_POT

DG_POT_RAMPS

EN_DG_POT

PRC_SPD_REF_DG_POT

PRC_APP_SPD_REF

P211 - Digital speed reference value (JOG1) P212 - Enable jog speed reference

P213 - Motor potentiometer starting speed P214 - Load final digital potentiometer reference value P215 - CW motor potentiometer speed reference value P216 - CCW motor potentiometer speed reference value P217 - Digital potentiometer acceleration time P218 - Enable motor potentiometer reference value(A.I.4) D67 - Digital Potentiometer Speed reference D33 - Speed reference (application generated)

-100.00 100.00 0 % MOT_SPD_MAX 163.84

0 1 0 1

-100.0 100.0 2.00 % MOT_SPD_MAX 163.84

0 1 0 1

-105.0 105.0 105.02 % MOT_SPD_MAX 163.84

-105.0 105.0 -105.02 % MOT_SPD_MAX 163.84

0.3 1999.9 50 s 10

0 1 0 1

-100 100 0 % MOT_SPD_MAX 163.84

User’s manual

3.1.2.1 DIGITAL SPEED REFERENCE (JOG)

The value programmed in parameter P211 can be used as digital speed reference either by

activating the logic function “Enable Jog” I.05 assigned to an input (default input L.I.5) or with the

connection P212=1. The resolution is 1/10000 of the maximum working speed.

3.1.2.2 DIGITAL POTENTIOMETER SPEED REFERENCE

A function that makes it possible to obtain a terminal board adjustable speed reference through the

use of two logic inputs to which are assigned the input functions digital potentiometer up I09” (ID_UP_POTD) and “Digital potentiometer down I10” (ID_DN_POTD) .

The reference is obtained by increasing or decreasing an internal counter with the ID_UP_POTD and ID_DN_POTD functions respectively.

The speed of increase or decrease set by parameter P217 (acceleration time of the digital

potentiometer) which sets how many seconds the reference takes to go from 0 to 100%, keeping the ID_UP_POTD active (this times is the same as to go from 100.0% to 0.0% by holding ID_DN_POTD active). If ID_UP_POTD are ID_DN_POTD are activated at the same time the reference remains still. The movement of the reference is only enabled when the converter is in RUN. The functioning is summarised in the following table :

Converter running

ID_UP_POTD

on-line

H H L x x increases

H L H x x decreases

H L L x x stopped

H H H x x stopped

L x x x x stopped

L -> H x x L L P8

L -> H x x H L REF4 L.v.

L -> H x x L H REF4 L.v.

L -> H x x H H REF4 L.v.

ID_DN_

POTD

DP.LV C20 REF

H = active x = does not matter L = not active L -> H = From Off-line to On-line

The digital potentiometer reference requires, to be enabled, activation of function I06 after allocating an input or activating connection P218 (P218=1) . In the parameters P215 and P216 the maximum and the minimum admitted reference values can be

marked for the digital potentiometer reference.

3.1.3 FREQUENCY SPEED REFERENCE

Name Description Min Max Default UM Scale

REF_FRQ_IN D12 - Frequency in input 0 KHz 16

FRQ_REF_SEL

EN_FRQ_REF

FRQ_IN_SEL C09 - Frequency input setting 0 3 1 1

FRQ_IN_PPR_SEL

TF_TIME_DEC_FRQ

PRC_APP_FRQ_SPD_REF

PRC_SPD_REF_TIME_DEC

KP_TIME_DEC_FRQ

MAXV_VF

FRQ_IN_NUM

KP_NEG_VF

KP_POS_VF

FRQ_IN_DEN

OFFSET_VF

P224 - Frequency speed reference selection P223 - Enable frequency speed reference value

P220 - Encoder pulses per revolution P225 - Filter time constant of frequency input decoded in time D14 - Frequency speed reference value (application generated) D77 - Time Decode Frequency input Speed reference P226 - Corrective factor for frequency input decoded in time P88 - High precision analog speed reference value: Voltage matches max. speed P221 - NUM - Frequency input slip ratio P159 - High precision analog speed reference value:VCO setting for negative voltage reference values P150 - High precision analog speed reference value:VCO setting for positive voltage reference values P222 - DEN - Frequency input slip ratio P10 - Offset for high precision analog reference value

0 2 0 1

0 1 0 1

0 9 5 1

0.0 20.0 1.6 ms 10

-100 100 0 % MOT_SPD_MAX 163.84

0.0 200.0 100 163.84

2500 10000 10000 mVolt 1

-16383 16383 100 1

-16383 16383 4096 1

0 16383 100 1

-19999 19999 0 1/100 mV 1

User’s manual

3.1.3.1 SPEED FREQUENCY REFERENCE MANAGEMENT

This speed reference in pulses can be provided in 4 different ways (alternatives to each other), that can be selected by means of connection C09.

C09 Description Mode of working

Analogic

1 Digital encoder 4 track frequency reference (default)

2 Digital f/s Frequency reference (freq. and up/down) counting all edges

3 Digital f/s 1 edge Frequency reference (freq. and up/down) counting one edge

Analog reference ±10V (optional)

To be used Speed reference in pulses must be enabled either by activating the function “ Enable

reference in frequency I19 “assigned an input or by means of connection P223=1 .

The incremental position reference is always enabled and it’s possible to add an offset depending on analog and digital speed reference enable.

3.1.3.2 DIGITAL FREQUENCY REFERENCE

About the digital frequency reference, there are two working modes can be selected with C09:

o Setting C09 = 1 a reference can be provided with an encoder signal with 4 tracks of a

maximum range varying between 5V and 24V and a maximum frequency of 300KHz.

o Setting C09 = 2 a speed reference can be provided with an frequency signal with a

maximum range varying between 5V and 24V and a maximum frequency of 300KHz. (setting C09 =3 will be manage the same input, but internally will be count only rising edge, this option is useful only if it is used the time decode)

The number N of impulses/revolution for the reference is set by connection C220:

N 0 1 2 3 4 5 6 7 8 9

N° of impulses/revolution Disable 64 128 256 512 1024 2048 4096 8192 16384

There are the parameters P221 and P222 that permit specification of the ratio between the reference

speed and input frequency as a Numerator/Denominator ratio. In general terms, therefore, if you want the speed of rotation of the rotor to be X rpm, the relationship to use to determine the input frequency is the following:

and vice versa

Let us now look at a few examples of cascade activation (MASTER SLAVE) with frequency input according to a standard encoder. By a MASTER drive the simulated encoder signals A,/A,B,/B are picked up to be taken to the frequency input of the SLAVE. By means of parameters P221 and P222 the slipping between the two is programmed.

N° of pulses/revolution = 512 N° of pulses/revolution = 512

The slave goes at the same speed as the master

Master Slave

P65 = 2500 rpm P65 = 2500 rpm

P221 = P222 = 100

User’s manual

N° of pulses/revolution = 512 N° of pulses/revolution = 512

The slave goes at the half speed as the master

Master Slave

P65 = 2500 rpm P65 = 2500 rpm

P221 = 50 P222 = 100

N° of pulses/revolution = 512 N° of pulses/revolution = 512

The slave goes at the double speed as the master

Master Slave

P65 = 2500 rpm P65 = 2500 rpm

P221 = 100 P222 = 50

To obtain good performance at low speed it is necessary to select an encoder resolution for the master that sufficiently high.

More precisely, the signal coming from the encoder can be adapted according to the report P221/P222 and, if necessary, one of the analog input

3.1.3.3 FREQUENCY SPEED REFERENCE MANAGEMENT

The speed reference in pulses is very accurate (no pulses is lost) but for its nature it has an irregular shape because are counted the edges every sampling period (TPWM) and this produce a speed reference with many noise. Also if the frequency input is constant, between a PWM period and another could be counted a variable number of pulses, reference, expecially when the frequency input decreases. For not use a big filter with frequency reference it’s possible to use its time decode that has a good resolution. It is measured the time between various edges of frequency input with resolution of 25ns, reaching a percentage resolution not less than 1/8000 (13 bit) working to 5KHz of PWM (increasing PWM resolution decreases linearly).

There are 3 different ways to manage frequency speed reference, selectable with parameter

P224 (FRQ_REF_SEL):

P224 Description

0 1 2

Enabling the frequency speed reference can be done by the parameter P223 = 1 (EN_FRQ_REF) or bringing at active logic state input function I19.

± one pulse. This produce a low resolution

Pulses reference

Decoded in time reference

Pulses and decoded in time reference

)

/AB/BA

)

3.1.3.3.1 PULSES REFERENCE (P224=0)

sysSpeedPercRef

Input

Encod

FRQ_IN_SEL (C09

0.0

Selector

Selecto

FRQ_IN_NUM(P221)

BASE

FRQ_IN_PPR_SEL

(P220)

Multiply

OUT

IN Mul

FRQ IN DEN (P222

Division

OUT

Div

ID_EN_FRQ_REF (I19) O

EN FRQREF (P223

0.0

Selector

sysSpeedRefPuls

Sel

In this mode, the speed reference is given only in pulses ensuring maximum correspondence masterslave, but with a strong granular signal especially for low frequency input.

Linear ramps are not enabled.

3.1.3.3.2 DECODED IN TIME REFERENCE (P224=1)

Input

Encod

FRQ IN SEL (C09

Selector

FRQ_IN_NUM(P221)

FRQ_IN_PPR_SE

BASE

TF_TIME_DEC_FRQ

FRQIN DEN (P222

Time_Deco

Multiply

OUT

IN Mul

OUT

(P225)

Filter 1° order

IN TimeF

KP TIME DEC FRQ(P2

Division

OUT

IN Div

ID_EN_FRQ_REF (I19) OR

OUT

Multiply

IN Mul

Selector

Sel

OUT

sysSpeedPercR

sysSpeedRefPul

In this working mode the frequency speed reference is decoded in time with maximum linearity also for very low input frequencies. In this mode is possible to create a dynamic electrical axis, possibly with linear ramps enabled, but that is not rigid in the sense that there is no guarantee master-slave phase maintenance.

User’s manual

3.1.3.3.3 PULSES AND DECODED IN TIME REFERENCE (P224=2)

)

Input

Encod

FRQ_IN_SEL (C09

Selecto

FRQ_IN_NUM(P221)

BASE

FRQ_IN_PPR_SE

Time_Dec

TF_TIME_DEC_FRQ

Multiply

OUT

IN Mul

FRQIN DEN (P222

ID_EN_FRQ_REF (I19) O

OUT

(P225)

Filter 1° order

IN TimeF

KP TIME DEC FRQ(P2

Divisio

IN Div

OUT

Multipl

IN Mul

Ramps

Selecto

Sel

OUT

sysSpeedPercR

Ramps

sysSpeedRefPul

This is the most complete and powerful mode, which makes use of both references:

 the frequency speed reference decoded in time ("sysSpeedPercReference”) has very good

resolution also for low frequency input, thus allows high speed regulator gains

 the pulses speed reference (“sysSpeedRefPulses "), going to impose a reference to the

integral part of the speed regulator, will not miss pulses, ensuring maximum precision in the master-slave electrical axes

If the linear ramps are enabled will act only after the first starting, then going to exclude themselves.

3.1.4 DIGITAL INPUTS CONFIGURATIONS

The control requires up to 8 optically insulated digital inputs (L.I.1 … L.I.8.) whose logic functions can

be configured by means of connection C1

The following table shows the logic functions managed by standard application:

NAME INPUT LOGIC FUNCTIONS

I 00 ID_RUN Run command L.I.4 L

I 01 ID_CTRL_TRQ Torque control L

I 02 ID_EN_EXT External enable L.I.2 H

I 03 ID_EN_SPD_REF_AN Enable analog reference A.I.1. L.I.3 L

I 04 ID_EN_TRQ_REF_AN Enable analog reference A.I.2. L.I.5 L

I 05 ID_EN_JOG Enable speed jog L.I.7 L

I 06 ID_EN_SPD_REF_POTD Enable digital potentiometer speed reference L

I 07 ID_EN_LIM_TRQ_AN Enable analog reference A.I.3. L

I 08 ID_RESET_ALR Alarms reset L.I.1 L

I 09 ID_UP_POTD digital potentiometer UP L

I 10 ID_DN_POTD digital potentiometer DOWN L

I 11 ID_LAST_V_POTD Load last digital potentiometer value L

I 12 ID_INV_SPD_REF Invert speed reference value L.I.6 L

I 14 ID_EN_FLDB_REF Enable FIELD-BUS reference values L

I 16 ID_EN_PAR_DB2 Enable second parameter bank L

I 17 ID_EN_LP_SPZ_AXE Enable space loop for electrical axis L

I 18

I 19 ID_EN_SPD_REF_FRQ Enable frequency speed reference value L

I 22 ID_EN_RAMP Enable liner ramps L.I.8 L

I 23 ID_TC_SWT_MOT Motor termo-switch L

I 24 ID_BLK_MEM_I_SPD Freeze PI speed regulator integral memory L

I 25 ID_EN_OFS_LP_SPZ Enable offset on overlap position loop reference L

I 26 ID_EN_SB Enable speed regulator second bank L

I 27 ID_RUN Enable Digital Setpoint PID L.I.4 L

I 28 Enable Automatic PID Control

I 29 Enable reference from Output PID

I 30 Enable Digital Manual Setpoint PID

ID_EN_SPD_REF_FRQ_

Enable frequency speed reference value decoded in time

÷ C8.

DEFAULT

INPUT

DEFAULT

STATUS

User’s manual

NB: pay particular attention to the fact that it is absolutely not possible to assign the same logic function to two different logic inputs: after changing the connection value that sets a determined input, check that the value has been accepted, if not check that another has not already been allocated to that input. In order to disable a logic input it’s necessary to assign to it the logic function -1 : this is the only value that can be assigned to more than one inputs.

For example, to assign a specific logic function to logic input 1 you must first write the desired logic number for connection I01 : I01 = 14 Æ logic input 1 can be used to enable Fieldbus references The logic functions that have been configured become active ( H ) when the input level is at high

status (20V < V < 28V), and there is a 2.2ms hardware filter. With the connection C79 it’s possible to

enable the active logic low state for a particular digital input, it’s necessary to sum 2 to the power of ordinal input number:

For example to set digital inputs I0 and I3 to active low state, set:

922C79

=+=

The functions that have not been assigned assume default value ; for example, if the function

“external enable“ is not assigned it becomes, as default, “active ( H )” so the converter is as if there were no assent from the field

3.1.4.1 INPUT LOGIC FUNCTIONS SET IN OTHER WAYS

In reality the input logic functions can also be set by serial connection and by fieldbus, with the following logic:

o I00 Run : stands alone, it has to be confirmed by terminal board inputs, by the serial

and by the fieldbus, though in the case of the latter the default is active and so, if unaltered, controls only the terminal board input.

o I01

÷ I31: is the parallel of the corresponding functions that can be set at the terminal

board, the serial or the fieldbus

3.1.5 SECOND SENSOR

Name Description Min Max Default UM Scale

Range 0 1 Encoder 2 3 4 Resolver

SENSOR2_SEL C17 - Sensor2 selection

RES2_POLE P16 - Number of absolute sensor2 poles 1 160 2 1

ENC2_PPR

EN_TIME_DEC_ENC2

EN_INV_POS2_DIR C20 - Invert sensor2 positive cyclic versus 0 1 0 1

EN_SENSOR2_TUNE C19 - Enable sensor2 auto-tuning

RES2_TRACK_LOOP_BW

RES2_TRACK_LOOP_DAM P

KP_SENS2

P17 - Number of encoder2 pulses/revolution C18 - Enable incremental encoder2 time decode

P48 - Tracking loop bandwidth direct decoding of resolver2

P49 - Damp factor Traking loop resolver2 0.00 5.00 0.71 100

P07 - Second sensor amplitude compensation

5 Resolver RDC 6 7 8 Sin/Cos incr 9

10 Endat 1317 11 Endat 1329 12 13

0 60000 1024

0 1 0 1

Range

1 Yes

100 10000 1800 rad/s 1

0.0 200.0 100 % 163.84

0 1

pulse

s/rev

0 1 0 No

Name Description Min Max Default UM Scale

OFFSET_SIN_SENS2 P08 - Second sensor sine offset -16383 16383 0 1

OFFSET_COS_SENS2 P09 - Second sensor cosine offset -16383 16383 0 1

HW_SENSOR2 D62 - Sensor2 presence 0 1

SENS2_SPD D51 - Second sensor rotation speed 0 rpm 1

SENS2_TURN_POS

SENS2_N_TURN

SENS2_FRQ_IN D54 - Second sensor Frequency input 0 KHz 16

SENS2_ZERO_TOP D56 - Sensor2 Zero Top 0

EN_SINCOS_PREC_POS

D52 - Second sensor Absolute mechanical position (on current revolution) D53 - Second sensor Number of revolutions

C70 - Enable SinCos Analog-Digital compensation into position

0 1 0 1

1638

pulse

3.2 OUTPUT

3.2.1 DIGITAL OUTPUT CONFIGURATIONS

The control can have up to 4 optically insulated digital outputs (L.O.1 … L.O.4) whose logic functions

can be configured as active high (H) by means of connection C10

÷ C13.

The following table shows the logic functions managed by standard application:

DEFAULT

NAME OUTPUT LOGIC FUNCTIONS

OUTPUT

O 00 OD_DRV_READY Drive ready L.O.2

O 01 OD_ALR_KT_MOT Moto thermal alarm

O 02 OD_SPD_OVR_MIN Speed exceed minimum L.O.4

O 03 OD_DRV_RUN Drive running L.O.1

O 04 OD_RUN_CW CW / CCW

O 05 OD_K_I_TRQ Current/torque relay

O 06 OD_END_RAMP End of ramp L.O.3

O 07 OD_LIM_I Drive at current limit

O 08 OD_LIM_TRQ Drive at torque limit

O 09 OD_ERR_INS Tracking incremental error > threshold (P37 ane P39)

O 10 OD_PREC_OK Power soft-start active

O 11 OD_BRK Braking active

O 12 OD_POW_OFF No mains power

O 13 OD_BUS_RIG Bus regeneration enable (Support 1 )

O 14 OD_IT_OVR Motor thermal current above threshold (P96)

O 15 OD_KT_DRV Radiator overheating (higher than P120 threshold)

O 16 OD_SPD_OK Speed reached (absolute value higher than P47)

O 17 OD_NO_POW_ACC Power electronic card not supplied

O 18

O 19 OD_POS_INI_POL Regulation card supplied and DSP not in reset state

O 20 SENS1 Absolute position available

O 21 Motor holding brake

User’s manual

If you wish to have the logic outputs active at the low level (L) you need just configure the connection

corresponding to the chosen logic function but with the value denied: for example, if you want to associate the function “ end of ramp ” to logic output 1 active low, you have to program connection 10 with the number -6 ( C10=-6 ).

Note: if you want to configure Output logic 0 to active low you have to set the desired connection to value -32

3.2.2 ANALOG OUTPUTS CONFIGURATIONS

Name Description Min Max Default UM Scale

AO1_SEL C15 - Meaning of programmable analog output 1 -99 100 11 1

AO2_SEL C16 - Meaning of programmable analog output 2 -99 100 4 1

PRC_AO1_10V P57 - % value of 10V for analog output A 100.0 400.0 200 % 10

PRC_AO2_10V P58 - % value of 10V for analog output B 100.0 400.0 200 % 10

OFFSET_AO1 P110 - Offset A/D 1 -100.0 100.0 0 % 327.67

OFFSET_AO2 P111 - Offset A/D 2 -100.0 100.0 0 % 327.67

There can be a maximum of two analog outputs, VOUTA and VOUTB To each of the two outputs can be associated an internally regulated variables selected from the list here below; the allocation is made by programming the connection corresponding to the output

concerned, C15 for VOUTA and C16 for VOUTB, with the number given in the table below corresponding to the relative quantities. By means of the parameters P57 (for VOUTA) and P58 (for

VOUTB) it is also possible to set the percentage of the variables selected to correspond to the maximum output voltage (default values are P57=P58=200% so 10V in output correspond to 200% of variable selected). The default for VOUTA is a signal proportional to the current supplied by converter (C15=11), in VOUTB the signal is proportional to the working speed (C16=4). It is also possible to have the absolute internal variable value desired: to do this it is simply necessary to program the connection corresponding to the denied desired number: for example taking C15=-21 there will be an analog output signal proportional to the absolute value of the working frequency. It is also possible to have a analog output fixed to +10V: to do this it is simply necessary to program the connection corresponding to 64.

POSSIBLE CONNECTIONS

C15

VOUTA

100

± 10 V, 2mA.

C16

THE DARKER LINE INDICATES THE DEFAULT PROGRAMMING

VOUTB

100

DEFAULT

OUTPUT LOGIC FUNCTIONS

OUTPUT

O 00 Actual mechanical position read by sensor[100%=180]

O 01 Actual electrical position read by sensor(delta m) [100%=180]

O 02 Reference speed value before ramps [% n mAX]

O 03 Reference speed value after ramps [% n MAX]

O 04 Rotation speed (filtered Tf= 8 TPWM, 1.6ms at 5KHz) [% n MAX] A.0.2

O 05 Torque request [% C NOM MOT]

O 06 Internal value: status (MONITOR only)

O 07 Request to current loop r torque current [% I NOM AZ]

O 08 Request to current loop for flux current [% I NOM AZ]

O 09 Request voltage at maximum rev. [% VNOM MOT]

O 10 Internal value: alarms (MONITOR only)

O 11 Current module [% I NOM AZ] A.0.1

O 12 Sensor 1 Zero Top [100%=180]

O 13 U phase current reading [% I MAX AZ]

O 14 Internal value: inputs (MONITOR only)

O 15 Torque component of current reading [% I NOM AZ]

O 16 Magnetizing component of current reading [% I NOM AZ]

O 17 U phase voltage duty-cycle

O 18 Stator voltage reference value module [% VNOM MOT]

O 19 Modulation index [0<->1]

O 20 Request Q axis voltage (Vq_rif) [% VNOM]

O 21 Delivered power [% PNOM]

O 22 Request D axis voltage (Vd_rif) [% VNOM]

O 23 Torque produced [% C NOM MOT]

O 24 Bus voltage [100%=900V]

O 25 Radiator temperature reading [% 37,6°]

O 26 Motor temperature reading [% 80°]

O 27 Rotor flux [% NOM]

O 28 Motor thermal current [% alarm threshold A6]

O 29 Current limit [% I MAX AZ]

O 30 CW maximum torque [% C NOM MOT]

O 31 CCW maximum torque [% C NOM MOT]

O 32 Internal value: outputs (MONITOR only)

O 33 Internal value: inputs_hw (MONITOR only)

O 34 V phase current reading [% I MAX AZ]

O 35 W phase current reading [% I MAX AZ]

O 36 Actual electrical position (alfa_fi ) [100%=180 ]

O 37 Analog input A.I.1 [100%=16383]

O 38 Analog input A.I.2 [100%=16383]

O 39 Analog input A.I.3 [100%=16383]

O 40 Sensor 2 Zero Top

O 41 Application speed reference value ("sysSpeedPercReference") [% n MAX]

O 42 Application torque reference value ("sysTorqueReference") [% C NOM MOT]

O 43 Application positive torque limit ("sysMaxTorque") [% C NOM MOT]

O 44

Frequency speed reference value from application ("sysSpeedRefPulses") [Pulses per TPWM]

User’s manual

O 45 O 46 Amplitude to the square of sine and cosine feedback signals [1=100%] O 47 Sen_theta (Direct resolver and Sin/Cos Encoder) [Max amplitude = 200%] O 48 Cos_ theta (Direct resolver and Sin/Cos Encoder) [Max amplitude = 200%] O 49 Rotation speed not filtered [% n MAX] O 50 Delta pulses read in PWM period in frequency input [Pulses per PWM] O 51 Overlapped space loop memory lsw [Electrical pulses (x P67) O 52 Overlapped space loop memory msw [Electrical turns (x P67)] O 53 Incremental SIN theta Sin/Cos Encoder O 54 Incremental COS theta Sin/Cos Encoder O 55 Ended initial reset O 56 PTM motor thermal probe O 57 PTR radiator thermal probe O 58 Pulses read by sensor O 59 SENS2 Rotation speed not filtered O 60 SENS2 Actual position O 61 SENS2 Sin_theta O 62 SENS2 Cos_theta O 63 SYNC delay measured O 64 Application negative torque limit (“sysMaxNegative Torque”) [%C NOM MOT] O 65 Energy dissipated on breaking resistence [joule] O 66 Analog input A.I.16 bit [100%=16383] O 68 Stop in position target [100%=180] O 69 Stop in position actual position [100%=180] O 70 Stop in position error [100%=180] O 71 Stop in position o33 timer [ms] O 85 Setpoint PID O 86 Process value PID O 87 Component P of PID O 88 Component I of PID O 89 Component D of PID O 90 Error SP-PV of PID O 91 Output PID

Overlapped space loop reference value from application ("sysPosRefPulses")[Pulses per TPWM]

3.2.3 FREQUENCY OUTPUT

Name Description Min Max Default UM Scale

ENC_OUT_ZERO_TOP C49 - TOP zero phase for simulated encoder 0 3 0 1

ENC_OUT_DIR C50 - Invert channel B simulated encoder 0 1 0 1

ENC_OUT_PPR_SEL C51 - Choose pulses ev. simulated encoder 0 11 5 1

ENC_OUT_SEL C52 - Simulated encoder selection 0 3 0 1

OPD_ENC_OUT_SEL C54 - Incremental/absolute Simulated Encoder 0 2 0 1

PRC_ENC_OUT_LOOP

With C52 I possible select the signal for the frequency output as indicated in the follow table:

P124 - Simulated encoder Kv gain multiplication coeff.

C52 Value Description

0 OPD_ENC_OUT

1 SENS1

2 SENS2

3 FRQ_IN

The frequency output is the simulated encoder that can be configures conforming the follow paragraph

The frequency output is the squared signal from the motor speed (sensor 1)

The frequency output is the squared signal from the speed sensor 2

The frequency output is the squared signal from the frequency input

0.0 100.0 100 % 327.67

3.2.3.1 SIMULATED ENCODER SIGNALS

The frequency of the output signals depends on the motor revolutions, the number of sensor poles

and the selection made (see connection C51 in the core file) and their behaviour in time depends on rotation sense (CW or CCW) and on C50 as shown in the figures below

d21>0 C50=0 d21>0 C50=1

d21<0 C50=0

d21<0 C50=1

User’s manual

The simulated encoder outputs are all driven by a “LINE DRIVER”. Their level in the standard drive version is referred to +5V and then it is connected to the internal supply (TTL +5V). In option (to be requested in the ordering) there is the possibility to refer the signal level to an external supply whose value must be between +5V and +24V, connection on terminal 5 and 6. In the connected device it is better to use a differential input to avoid loops with the 0V wire, to limit noise effects it is better to load this input (10mA max).

It is necessary to use a twisted shielded cable

to make a proper connection.

WARNING: the external power supply GND is connected with the 0V of the drive (it is not

optoisolated).

WARNING: for the encoder simulation with internal supply (standard drive version) you must

not connect the terminal 5 (Vccin), because it could seriously damage the drive, and set the

SW1 switch as indicated in the follow image.

SW1

WARNING: for the encoder simulation with external supply, you must connect the terminal 5

(Vccin) and 6 (GND) and set the SW1 switch as indicated in the follow image.

SW1

3.2.3.2 CONFIGURATION OF THE ENCODER SIMULATION OUTPUT

The two bidirectional simulation encoder channels could have a number of pulses per motor

revolution selectable with C51 according to the following table, that also depends on the number of

sensor polar couples:

C51 Pul/rev motor/(P68/2)

0 0

1 64

2 128

3 256

4 512

5 1024

6 2048

7 4096

8 8192

9 16384

10 32768

11 65536

WARNING: The choice of the number of pulses for revolution depends on th e maximum speed

and the number of sensor polar couples (P68/2). In the following table are r ep orted this

limitation. If it is selected a number of pulses too high compared with the maximum speed it is

triggered the alarm A15 code =1.

Maximum speed (rpm) x P68/2 Pul/rev motor/(P68/2)

400 65536

800 32768

1600 16384

3200 8192

6400 4096

12800 2048

25600 1024

32767 512

NB: In the particular case of Resolver decoded with RDC19224, the choice of the number of pulses

for revolution depends on the maximum speed and the number of sensor polar couples (P68/2) in this way:

Maximum speed (rpm) x P68/2 Pul/rev motor/(P68/2)

1500 16384

6000 4096

24000 1024

The default value is C51=5 correspond to 1024 pul/rev.

As can be seen, the number of pulses also depends on the number of sensor poles which are set in

parameter P68, and, in particular, the above-mentioned values are valid if the sensor is two-pole

. The pulse output is controlled by a line driver (ET 7272); the limitation of the number of pulses regards the maximum speed is done for limit the maximum frequency for channel to 437KHz.

3.2.3.3 INCREMENTAL OR ABSOLUTE SIMULATED ENCODER

The C54 connection allows to select two different modes of working for simulated encoder:

 In cremental Simulated Encoder C54=0 (default): in this mode the simulated encoder

channels follow the motor rotation in incremental way and the third channel (zero pulse) looses of meaning

 Absolu te Simu lated Encoder C54=1: in this mode also the third channel (zero pulse) is

managed but in the first edge of sensor zero pulse there will be a correction into simulated encoder channels.

This choice is significant only for sensors with a zero pulse (Encoder, Encoder and Hall sensors, Sin/Cos Encoder), in the other case (Resolver, Endat) the Simulated Encoder is always absolute, without any correction into simulated encoder channels. The third channel generates a number of zero pulses in phase with channel A, equal to the number of

sensor poles divided by two (P68/2); in particular there is one single zero pulse per motor revolution

with a two-pole sensor. The position of the zero pulse depends on the fit of the sensor on the drive shaft; with reference to the original position, decoding the zero of the sensor position, this position may be changed with

jumps of 90° electrical (with reference to the sensor) by means of connection C49 according to the

following table:

User’s manual

C49 Displacement

0 +0°

1 +90°

2 +180°

3 +270°

The default value is 0. These electrical degrees correspond to the mechanical degrees if the resolver has two poles .

Connection C50 inverts the encoder B channel, thus inverting its phase with respect to channel A,

with the same motor rotation direction.

By default C50=0

By P124 (default = 100%) is possible to reduce the loop gain. This can increase the stability of the system, but reduce the speed response.

3.3 MOTION CONTROL

3.3.1 INCREMENTAL POSITION LOOP

Name Description Min Max Default UM Scale

FLW_ERR_MAX_LSW

POS_REG_KP P38 - Kv position loop proportional gain 0.0 100.0 4 10

FLW_ERR_MAX_MSW

EN_POS_REG P239 - Enable overlapped space loop 0 1 0 1

EN_POS_REG_MEM_CLR

Continuous position control during rotation is used to synchronise both speed and space with the speed reference value used.

To enable this function, set input function I17 “Enable overlapped space loop” to high logic level or set C239=1. From then on, an internal counter will be save any position errors regarding the space

crossed by the reference value. If the drive RUN command is disabled, the error will be accumulated until it can be corrected once RUN has been enabled again.

Using parameters P37 (65536=1 mechanical turn) and P39 (number of mechanical turns) it’s possible

to set a maximum tracking error threshold, if the absolute error value becomes greater than this

value, the logic output o.9 “Tracking error” goes at high level.

The overlapped space loop reference value is generated by the application and regards the “theta_rif_pos” value, which is also expressed in electrical pulses for a period of PWM. Note that once this function has been enabled, the overlapped space loop reference value will become the real position reference value, while the other speed reference values will represent feedforward.

The space loop regulator is a pure proportional gain and its gain can be set on P38: set a value that

ensures a quick response, but one that does not make the motor vibrate at a standstill. The continuous position control is most commonly applied to the electric axis: by taking the speed reference value from the MASTER’s Simulated Encoder and taking it to the SLAVE’s frequency input, the motion of the two motors can be synchronised. Once the overlapped space loop is enabled, the two motors will always maintain the same relative position whatever their load. If the SLAVE reaches its torque limit, the counter will save the position error and then correct it as long as the internal counter limit has not been reached, in which case the synchronisation will be lost.

P37 - Maximum tracking error (less significative part)

P39 - Maximum tracking error (less significative part)

P240 - Enable overlapped space loop memory clear in stop

-32767 32767 32767 ppr 1

0 32767 0 rpm 1

0 1 0 1

3.3.1.1 FREQUENCY SPACE REFERENCE (ELECTRICAL AXES)

Managing a frequency space reference means always guarantee the same phase angle between master and slave. To do this work is necessary to enable the overlapped position loop with parameter P239 or bringing at active state input function I17.

It should then provide a speed feed-forward reference, the best solution is to use the frequency speed reference decoded in time (P224=1 and P219=0), alternatively, wanting to work in pulses, clear P224=0.

Note: Wanting to manage in space the frequency reference, it’s not possible to enable pulses and decoding in time reference(P224 = 2).

The recommended block diagram is:

User’s manual

_IN_

)

Selector

/BA

(

)

Input

Encod

FRQ

0.0

SEL (C09

Selecto

FRQ_IN_NUM(P221)

FRQ_IN_PPR_SEL

BASE

P220

Multiply

OUT

IN Mul

FRQ IN DEN (P222

Division

OUT

IN Div

ID_EN_FRQ_REF (I19) O

EN FRQREF (P22

0.0

sysPosRefPulses

Selector

Sel

Time_Dec

IN OUT

TF_TIME_DEC_FRQ

(P225)

Filter 1° order

IN TimeF

KP TIME DEC FRQ(P22

OUT

Multiply

IN Mul

OUT

sysSpeedPercRef

The frequency speed reference decoded in time ("sysSpeedPercReference”) has to be enabled with

P223=1 o I19=H ,it has very good resolution also for low frequency input, thus allows high speed

regulator gains

The pulses space reference (“sysPosRefPulses”) has to be enabled with C65=1 o I17=H from then on will not miss pulses, ensuring maximum precision in the master-slave electrical axes.

Since the overlapped position loop is enabled, it is useless enable also the linear ramps on frequency speed reference decoded in time.

3.3.2 PID CONTROLLER

User’s manual

For a better understanding of the PID function it is useful to identify three parts of the controller structure:

1. PID input signals. In this section conditioning and setting of the analog references (see chapterxxx),Frequency reference (see chapter xxxx) and second sensor (see…) is considered and managed. The output of this part can be used as input to the PID regulator block.

2. PID Regulator Block. This is the PID regulator or controller with its parameter and setting as gains and scaling factors.

3. PID output signals . This section is used for conditioning and managing the PID regulator output signal to be used as reference input in the drive.

PID Input signals there considers three different possible setting of OPD Explorer: Set Point PID

Regulator, Feed back PID Regulator and Manual set point PID Controller. In all the three different setting the signals coming from the analog inputs AI1,AI2, and AI3, from the frequency input as speed reference and from the second sensor are eventually either added or compared together. With the exception of the feedback setting the reference can be a digital set point with the appropriate configurations. The three generated signals as from above will be then after treated thru a scaling block as here below written:

With reference to the input signals and specifically for only the manual set point and the reference set point it is possible to have an acceleration and deceleration time with the appropriate

parameters. The time has to be intended from the minimum value to reach the set value and

viceversa. The PID regulator can work in two different ways as for the actual value of input “auto” handled with a selector set by parameter P262 and the input I28. If signal “auto” is “false” PID output is related to the manual set-point, while if “auto” is true the PID works in automatic way. With the following premises:

- Input “SP” is the regulation reference with PID enabled (“auto”=TRUE) displayed thru internal value “ACT_SP_PID” (D83)

- Input “PV” is the feedback signal of the regulator with PID enabled (“auto”=TRUE) displayed thru internal value “ACT_PV_PID” (D85)

- Input “KP_Filter” defines the time for the first order filter that acts only on the proportional part

- Thru input “Man_SP” it is possible to set the output value “XOUT” when PID is disabled (“auto”=”False”);

- The PID parameters are:

• “KP” proportional gain

• “TI” integral time defined in ms (if set = 0 integral gain is disabled)

• “TD” derivative time defined in ms (if set = 0 integral gain is disabled)

- Thru inputs “XMAX” (parameter “LMN_MIN_OUT_PID” P277) and “XMIN” (parameter “LMN_MIN_OUT_PID” P276) it is possible to limit the regulation value as “XOUT”. When output “XOUT” reaches its regulation limit the integral part will be freezed and blocked.

In manual mode “Error” (error value displayed in D92) = SP - PV; “LMN_P” (proportional part displayed in D89) = 0.0; “LMN_I” (integral part displayed in D90) = Man_SP - (KP * Error); “LMN_D” (derivative part displayed in D91)= 0.0; “XOUT” (PID regulator output displayed in D93) = Man_SP

(Auto = false) PID ouput has following value :

User’s manual

In automatic mode “Error” (error value displayed in D92) = SP - PV; “LMN_P” (proportional part displayed in D89) = filtered (KP * Error); “LMN_I” ((integral part displayed in D90) = LMN_I + (KP * Error / (T_DRW_PWM * TI); “LMN_D”( derivative part displayed in D91)=TD*KP*(Error - Error_Last)*T_DRW_PWM; “XOUT” (PID regulator output displayed in D93) = LMN_P + LMN_I + LMN_D

Whereas T_DRW_PWM = 1000 / P101 with P101 = PWM frequency and Error_Last is the error value of the previous control cycle.

N.B. In the folder “PID Controller” with the parameter "EN_PID" ( P249 - Enabling Genera PID Control) is possible to disable the PID control function. If this parameter is disabled the PIC control is not active.

(auto = true) ) PID ouput has following value :

4 FIELDBUS

4.1 MODBUS PARAMETERS

The OPEN drive products line is compatible with the protocol of the serial communication Modbus rtu. At a physical level , the supported standard is the RS485, see the drive installation manual for information about it. Specifications about the Modbus Protocol are available at the Internet address :

www.modicon.com/TECHPUBS/intr7.html

Name Description Min Max Default UM Scale

MODBUS_ADDR P92 - Serial identification number 0 255 1 1

MODBUS_BAUD P93 - Serial baud rate 192 Kbit/s 1

4.1.1 APPLICATION CONFIGURATION

4.1.1.1 NODE CONFIGURATION

The drive configuration as Modbus node requires the correct configuration of the following parameters:

Name Description Range Default

P92 Serial identification number

P93 Serial baud rate 19,2 ; 38,4 ; 57,6 19,2 Kbit/s

By setting these parameters in real time, they will become instantly active :

Note: the communication mode in broadcast with address = 0 is not managed

0÷255

4.1.2 MANAGED SERVICES

The drive represents the slave in the communication : this means that it is only able to answer to messages received if its address (settable in P92) corresponds with the one indicated in the message itself. If the address is wrong or there is an error of communication in CRC, the drive will not send any answer, as the protocol requires. Every word transmitted is composed by 11 bit : 1 bit for start, 8 bit for the data and 1-2 bit for stop. The parity check is not supported.

Start

Dato

Stop

The Modbus protocol requires a long functions series; our application requires less than these : in the following table you can find the implemented functions and their codification :

Code Function Description

1 Read Coil Status Reading of digital input/output

03 Read Holding Registers Reading of memorised data

15 Force Multiple Coils Writing of digital inputs

16 Preset Multiple Registers Writing of memorised data

Hereinafter you can find the description of the action and of the related address of each function.

4.1.2.1 01 READ COIL STATUS

This function allows the user to read the status of the digital inputs and outputs. It is important to underline that the standard management of the digital inputs requires that the RUN enable must be given both via terminal board and via serial line; all the other inputs instead can be commanded by one of the two ways just listed. The default RUN input from the serial line is high while all the others are low: in this way the user who is not using it, can have the total control of digital inputs from the terminal board. Thanks to Read Coil Status function it is possible to read the status of the digital inputs and related outputs you are interested in, just specifying the correct address written in the following table :

starting address(hex) Max number of data Description

0300 32 Digital input logical functions

0320 32 Standard digital outputs logical functions

0340 32 Applicative digital output logical functions

The order number of the inputs and the outputs is the one specified in the related tables (see specific description of the control’s core) .

User’s manual

4.1.2.2 03 READ HOLDING REGISTER

This function allows the user to read the values of all the Parameters, Connections, Internal Sizes and some status variables. Writing the correct address you can access these data (see the table under for the address) ; considering the internal representation you can rightly interpret the read data : as usual it is necessary to see the related tables in the specific description of the core :

starting address (hex) Max number of data Description

0000 200 Parameters table

00C8 100 Connections table

012C 100 Application Data table

0380 64 Internal sizes

0200 1 Drive status

0202 1 Drive alarms

0203 1 Alarm enabling

0300 1 Digital input logical functions

0320 1 Standard digital outputs logical functions

0340 1 Applicative digital output logical functions

052C 800 Representation parameters table

084C 400 Representation connection table

0C00 128 Analog outputs and monitor values

0D00 500 Representation extra parameters table

09DC 64 Representation internal parameters table

It is not possible to read more than 127 registers at a time due to the memory limits of the buffer. The order number of the parameters, of the connections and of the internal sizes is the one related to the lists contained in the description of the control’s core. See the specific documentation for data area application. The status variable is the same for all the implementations; hereinafter you can find the meaning of the most important bit :

1 = Mains supply off

8 3

Brake : 0 = off ; 1 = on

Drive status

1 = Power soft start on

1 = Drive ready

1 = alarm actives

Working state: 0 = generator 1 = motor

Drive state : 0 = Stop 1 = Run

referring to alarms and their enabling, the order number for the bit of the word corresponds to the number of the alarm itself. (e.g. A2= external enable corresponding to the bit 2 of drive alarms )

4.1.2.3 15 (OF HEX) FORCE MULTIPLE COILS

This function enables to set the value of digital inputs via serial line. As previously said, the digital inputs via serial line are all parallel to the related digital inputs via terminal board except the RUN enable ( where the two inputs are in series )

Starting address Max data number Digital inputs

Starting address(hex) Max data number Description

0360 32 Digital inputs

4.1.2.4 16 (10 HEX) PRESET MULTIPLE REGISTERS

This function allows to set the value of the parameters, connections and to enable the alarms even if the corresponding keys are opened. To correctly set these data it is required the right address ( that you can find in the following table) and it is necessary to consider the internal data representation, referring to the specific descriptions of the core. The application area’s meaning depends on the present application (see specific documentation):

starting address Max data number Description

0000 200 Parameters table

00C8 100 Connections table

012C 100 Applications data table

0203 1 Alarms enabling

0360 1 Digital input

If it is written a value not included in the range, the value will be ignored and the previous one will remain valid.

4.1.2.5 EXCEPTION RESPONSES

The following exception codes in the answer are managed:

Code Name Description

01 Not managed function The drive doesn’t manage this Modbus function

02 Wrong data address The address is not valid

03 Wrong data value The data number required is too big

User’s manual

4.2 CAN OPEN

Name Description Min Max Default UM Scale

ID_CANOPEN P162 - CAN BUS node ID 1 127 1 1

Range 0 1 M 1 800 k

CANOPEN_BAUD_SEL C48 - CAN Baud rate

EN_FLDBUS_REF

PRC_T_REF_FLDBUS D69 - Fieldbus Torque reference -400 400 0 % MOT_T_NOM 40.96

PRC_T_MAX_FLDBUS

PRC_SPD_REF_FLDBUS D75 - Fieldbus Speed reference -100 100 0 % MOT_SPD_MAX 163.84

SPD_REF_PULS_FLDBUS

PRC_APP_T_REF

PRC_APP_T_MAX

PRC_APP_SPD_REF

PRC_APP_FRQ_SPD_REF

EN_SYNC_REG

SYNC_REG_KP

SYNC_REG_TA

SYNC_DELAY

PWM_SYNC_OFFSET

P247 - Enable FIELD-BUS reference values

D71 - Fieldbus Torque Max reference

D78 - Fieldbus Speed Reference in Pulses D10 - Torque reference value (application generated) D32 - Maximum torque imposed (application generated) D33 - Speed reference (application generated) D14 - Frequency speed reference value (application generated) C23 - Enable CANOpen SYNC traking loop P11 - CanOpen SYNC loop regulator Proportional gain P12 - CanOpen SYNC loop regulator lead time constant D57 - Delay from SYNC reception to Speed routine execution D58 - PWM offset for SYNC delay control

2 500 k 3 250 k 4 125 k 5 50 k 6 20 k 7 10 k

0 1 0 1

-400 400 0 % MOT_T_NOM 40.96

0 Pulses per Tpwm 1

-100 100 0 % MOT_T_NOM 40.96

-100 100 0 % MOT_SPD_MAX 163.84

0 1 0 1

0 200 5 1

2000

0 us 1

0 pulses 1

0 1

400 1

4.2.1 CONFIGURATION OF THE APPLICATION

4.2.1.1 CONFIGURATION OF THE NODE

The drive configuration as CAN node includes the use of the following customer parameters ( of conventional use ):

Name Description Min Max Default

ID_CANOPEN P162 - CAN BUS node ID 1 127 1

Range 0 1 M 1 800 k

CANOPEN_BAUD_SEL C48 - CAN Baud rate

These parameters must be rightly configured and saved in the permanent memory of the drive (C63=1). At start up these data are considered and become operating.

2 500 k 3 250 k 4 125 k 5 50 k 6 20 k 7 10 k

4.2.1.2 CONFIGURATION OF THE COMMUNICATION OBJECTS

The configuration of the communication objects CAN OPEN DS301 can uniquely be done via CAN. At first switch on, the drive is a non-configured node which satisfies the “pre defined connection set” for the identifiers allocation; for this, the following objects are available: rx SDO with COB-ID = 600h + ID CAN node (parameter P162) tx SDO with COB-ID = 580h + ID CAN node an emergency object with COB-ID = 80h + ID CAN node NMT objects (Network Management) : in broadcast (COB-ID=0) for Module Control services and COB-ID = 700h + ID CAN node for Error Control. The SYNC object in broadcast with COB-ID = 80h With the SDO available, the drive can be totally configured as CAN node and only after the communication objects can be saved in the permanent memory using the proper command “store parameters” (1010h)” on the Sub-Index 2. Also the object “restore default parameters (1011h)” Sub-Index 2 is managed to load all the default communication objects and to save them automatically in the permanent memory (switch off and then on the drive to make objects operating ).

4.2.2 MANAGED SERVICES

4.2.2.1 SERVICE DATA OBJECT (SDO)

SDO are used to access the objects dictionary. In our implementation a maximum of 4 server SDO can be available which can be configured with the following objects:

1200h 1 1201h 2 1202h 3 1203h 4

server SDO parameter

The transfer mode depends on the length of the data to be transferred : up to 4byte data length, the

modality expedited is used as it is simple and immediate; for bigger size objects the modality segmented and block are both supported. See the specific Communication Profile DS301 for having

details on the different transmission modes; hereinafter are written only some peculiarities of our implementation: a writing access to SDO must indicate the number of significant byte (data set size) the writing data by SDO is liable to the same rules ( drive state, keys, tolerated range…) seen for the other modalities of parameters modify (serial and keyboard). If SDO are structured in more segments, the drive will start writing the data at the indicated address with the first segment, without using a temporary buffer A controller is intended to avoid that two SDOs access the same object at the same time. With the transmission in block modality, the computation of CRC and the “Protocol Switch Threshold” are not supported. It is possible to set the block size of the SDO Block Download service at the address 2000h of the objects dictionary, in the manufacturer specific section.

4.2.2.2 PROCESS DATA OBJECT (PDO)

PDO are used for the data exchange in real-time in the objects dictionary that supports this function.

4.2.2.3 TRANSMIT PDO

In our implementation up to a maximum of 4 TPDO can be configured with the following objects : 1800h 1 1801h 2 1802h 3 1803h 4

User’s manual

Transmit PDO Communication parameter

the 5 Sub-Index related to every type of TPDO are all managed : it is possible to set the transmission type (see the following table), the inhibit time with 100

μs resolution and the period of the event timer

with 1ms resolution

transmission type PDO transmission

0 Synchronous: data are refreshed and transmitted with every SYNC received.

1-240

241-251 ---------- reserved --------------------------

252 Data are refreshed and sent at the following RTR when the SYNC is received

253

254

255 Manufacturer specific : it is settable time by time

Synchronous and cyclical: the number indicates how many SYNC are in between two following transmissions

Data are refreshed and sent when the RTR is received (remote transmission request)

Event timer : cyclical transmission with a period time settable in ms in the SubIndex 5

Note: in the transmission type 255, it is possible to choose on which event the TPDO transmission works. The event choice can be effectuated only during the compiling the software code. The TPDO mapping can be dynamically effectuated by rightly configuring the following communication objects: 1A00h 1 1A01h 2 1A02h 3 1A03h 4

Transmit PDO Mapping parameter

the PDO mapping must be done by following these instructions:

1- the number of the mapped objects in Sub-Index 0 must be equal to zero 2- the addresses of all mapped objects must be configured

3- the correct number of mapped objects in the Sub-Index 0 must be

indicated

4.2.2.4 RECEIVED PDO

In our implementation a maximum of 4 RPDO can be configured with the following objects: 1400h 1 1401h 2 1402h 3 1403h 4 The first 2 Sub-Index related to each RPDO are managed: in this way it is possible to set the transmission type:

Receive PDO Communication parameter

transmission type PDO receiving

0-240

241-253 ---------------------------- reserved --------------------------

254 Asynchronous: the values received in the RPDO are immediately activated.

synchronous: when the following SYNC is received, the values received on the RPDO will be activated.

The RPDO mapping can be dynamically effectuated by rightly configuring the following communication objects:

1600h 1 1601h 2 1602h 3 1603h 4 RPDO mapping must be executed by following the next directives as well:

Receive PDO Mapping parameter

Set the number of mapped objects in Sub-Index 0 to be equal to zero Configure the addresses of all mapped objects Indicate the correct number of mapped objects in Sub-Index 0

4.2.3 EMERGENCY OBJECT (EMCY)

The emergency object is transmitted by the drive when a new enabled alarm comes trough or when one or more alarms are reset. The Emergency telegram is made by 8byte as shown in the following table:

Byte 0 1 2 3 4 5 6 7

Emergency

meaning

Error Code

Error

Manufacturer specific

alarms LSB –MSB

In our implementation only two codes of the error code are implemented : 00xx = Error Reset or No Error 10xx = Generic Error Speaking of the Error register (object 1001h), the following bits are managed corresponding to the following alarms:

Bit Meaning Corresponding alarms

0 General error all 1 Current A3 2 Voltage A10 - A11 -A13 3 temperature A4 - A5 - A6

In Manufacturer specific only the bytes 3 and 4 are assigned which contain the state of the various alarms of the drive. Further 3 bytes for the transmission of possible other user’s data are available. The management of 1003h “pre-defined error field “ object memorises the chronology of the alarm events (from start up of the drive) up to a maximum of 32 elements. At every new alarm event 4 bytes are memorised, 2 are mandatory and correspond to the Error Code; the other 2 are Manufacturer specific and in our specific case correspond to the state of all the drive alarms.

MSB LSB

Additional information Error code

alarms MSB alarms LSB Error code MSB Error code LSB

4.2.4 NETWORK MANAGEMENT OBJECTS (NMT)

This function allows the NMT master to check and set the state to every NMT slave. All the services of Module Control and also the Node Guarding Protocol which uses the COB-ID = 700h + ID CAN node are implemented: this allows the slave to communicate that the bootup ended and the pre-operational modality is active, thus the master can interrogate the different slaves with an RTR. The Life guarding function is implemented as well: the drive (NMT slave) can be set up by the objects:

100Ch Guard time in ms 100Dh Life time factor (multiplier factor)

User’s manual

their product yields the Node life time

note: node life time is internally saturated in the period time of 32767/fpwm sec.

Life guarding is enabled only if life time Node is different to zero; in this case the check-up starts after having received the first RTR from the NMT master. The Communication profile DS301 doesn’t decide which action it has to start if the time constrain of life guarding hasn’t been respected. It’s possible to decide how to act, during the firmware compilation step. By default, no action is done.

4.2.5 OBJECTS DICTIONARY : COMMUNICATION PROFILE AREA

The following objects of the communication profile are supported:

Index (hex) Object Name Type Access

1000 VAR Device type UNSIGNED32 Reading

1001 VAR Error register UNSIGNED8 Reading

1002 VAR Manufacturer status register UNSIGNED32 Reading

1003 ARRAY Pre-defined error field UNSIGNED32 Reading

1005 VAR COB-ID SYNC UNSIGNED32 Reading/writing

1006 VAR Communication cycle period UNSIGNED32 Reading/writing

1008 VAR Manufacturer device name Vis-String constant

1009 VAR Manufacturer hardware version Vis-String constant

100A VAR Manufacturer software version Vis-String constant

100C VAR Guard time UNSIGNED16 Reading/writing

100D VAR Life time factor UNSIGNED8 Reading/writing

1010 ARRAY Store parameters UNSIGNED32 Reading/writing

1011 ARRAY Restore dafault parameters UNSIGNED32 Reading/writing

1014 VAR COB-ID EMCY UNSIGNED32 Reading/writing

1015 VAR Inhibit Time EMCY UNSIGNED16 Reading/writing

1018 RECORD Identity Object Identity (23h) Reading

1200 RECORD 1st Server SDO parameter SDO parameter Reading/writing

1201 RECORD 2nd Server SDO parameter SDO parameter Reading/writing

1202 RECORD 3rd Server SDO parameter SDO parameter Reading/writing

1203 RECORD 4th Server SDO parameter SDO parameter Reading/writing

1400 RECORD 1st receive PDO parameter PDO CommPar Reading/writing

1401 RECORD 2nd receive PDO parameter PDO CommPar Reading/writing

1402 RECORD 3rd receive PDO parameter PDO CommPar Reading/writing

1403 RECORD 4th receive PDO parameter PDO CommPar Reading/writing

1600 RECORD 1st receive PDO mapping PDO Mapping Reading/writing

1601 RECORD 2nd receive PDO mapping PDO Mapping Reading/writing

Index (hex) Object Name Type Access

1602 RECORD 3rd receive PDO mapping PDO Mapping Reading/writing

1603 RECORD 4th receive PDO mapping PDO Mapping Reading/writing

1800 RECORD 1st transmit PDO parameter PDO CommPar Reading/writing

1801 RECORD 2nd receive PDO parameter PDO CommPar Reading/writing

1802 RECORD 3rd receive PDO parameter PDO CommPar Reading/writing

1803 RECORD 4th receive PDO parameter PDO CommPar Reading/writing

1A00 RECORD 1st transmit PDO mapping PDO Mapping Reading/writing

1A01 RECORD 2nd transmit PDO mapping PDO Mapping Reading/writing

1A02 RECORD 3rd transmit PDO mapping PDO Mapping Reading/writing

1A03 RECORD 4th transmit PDO mapping PDO Mapping Reading/writing

4.2.6 OBJECTS’ DICTIONARY : MANUFACTURER SPECIFIC PROFILE AREA

The words reported in bold type can be mapped in PDO.

Index

(hex)

2000 VAR INTEGER16 Block size

2001 VAR DOMAIN Tab_formati

2002 VAR DOMAIN Tab_con_formati

2003 VAR DOMAIN Tab_exp_int

2004 VAR DOMAIN Tab_exp_osc

2005 VAR DOMAIN Tab_par_def

2006 VAR DOMAIN Tab_con_def

2007 VAR INTEGER16 hw_software

2008 VAR INTEGER16 hw_sensore

2009 VAR INTEGER16 K_zz Monitor counter Reading

200A VAR INTEGER16 Via_alla_conta Monitor trigger Reading

200B VAR DOMAIN Tab_monitor_A

200C VAR DOMAIN Tab_monitor_B

200D ARRAY INTEGER16 Tab_par [200]

200E ARRAY INTEGER16 Tab_con [100]

200F ARRAY INTEGER16 Tab_int [64]

2010 VAR

2011 VAR

2012 ARRAY INTEGER16 Tab_osc [64]

Object Type Name Description Access

UNSIGNED

Tab_inp_dig

Tab_out_dig

SDO Block size Block

Download

Formats of the 200

parameters

Formats of the 100

connections

Formats of the 64 internal

values

Formats of the 64 monitor’s

sizes

Values of the default

parameters

Values of the default

connections

Sensor managed by the

firmware

Sensor managed by

electronic card

Data saved in the channel A

of the monitor

Data saved in the channel B

of the monitor

Actual values of the

parameters

Actual values of the

connection

Actual values of the internal

words

Actual values of the logical

input’s functions

Actual values of the logical

output’s functions

Actual values of the

checked words

Reading/writing

reading

Reading

reading

Reading

Reading/writing

Reading

User’s manual

2013 VAR UNSIGNED16 ingressi

2014 VAR UNSIGNED16 ingressi_hw

2015 VAR UNSIGNED16 uscite_hw

2016 VAR

2017 VAR UNSIGNED16 stato Variable of the drive’s status Reading

2018 VAR UNSIGNED16 allarmi Drive alarms’ status Reading

2019 VAR UNSIGNED16 abilitazione_allarmi

201A VAR INTEGER16 f_fieldbus

201B VAR INTEGER16 limit_fieldbus

201C VAR INTEGER16 trif_fieldbus

201D VAR INTEGER16 theta_fieldbus

201E ARRAY INTEGER16

201F VAR UNSIGNED32 Ingressi_wr

2020 VAR UNSIGNED32 Ingressi

2021 VAR UNSIGNED32 Uscite_standard_rd Reading standard inputs Reading

UNSIGNED

Tab_inp_dig_field

Tab_dati_applicazione

[100]

Logical status of the 8

inputs of the terminal board

Logical status of the 3 inputs from the power

Logical status of the 4 digit

outputs

Values set by CAN of the

output logical function

Word for enabling drive’s

alarms

Speed reference in % of

in 16384

MAX

torque limit in % di Tnom in

Speed reference in electr.

Data Area available for the

Writing application logical

4095

torque reference in % di

Tnom in 4095

pulses x Tpwm

application

Writing standard logical

inputs

Reading

Reading/writing

Reading

Reading/writing

Reading

2022 VAR UNSIGNED16 word_vuota Unused Word Reading/writing

2023 VAR UNSIGNED32 double_vuota Unused Double word Reading/writing

2024 VAR DOMAIN Tab_formati_extra

Formats of extra

parameters

Reading

4.2.6.1 FORMAT PARAMETERS TABLE (TAB_FORMAT 2001H)

This table is made by 800word (200*4) 4 words for each parameter :

1st word : it defines the parameter typology, its internal representation and the number of decimal and integer digits which are shown up on the display. Each nibble has the following meaning:

0x 0 0 0 0 (in hexadecimal)

number of digits visualised in decimal number of digits visualised in integer internal representation :

0 Direct value 1 Percent of the base (100/base) 2 Proportional to the base (1/base) 3 Direct value unsigned

Type of parameter:

0 Not managed 1 free (changeable on-line) 2 Reserved (changeable off-line + key P60) 4 TDE (changeable off-line + key P99)

For example: 0x1231 Æ free parameter proportional to the base: the real value is = internal representation/base

word).

word : it defines the min. value admitted in the internal representation of the parameter

word : it defines the max value admitted in the internal representation of the parameter

word : it defines the representation base of the parameter

example 1: (hexadecimal if leaded by ‘0x…’):

word = 0x1131

word = 0000 free parameter in percent of the base: the real value is = (internal

word = 8190 representation divided by the base)*100

word = 4095 if the current value is 1000Æ (1000/4095)*100 = 24,4% the variation range is included between 0 and 200%

example 2 : (hexadecimal if leaded by ‘0x…’):

1st word = 0x2231

word = 5 reserved parameter proportional to the base : the real value is

word = 1000 internal representation divided by the base

word = 10

4 if the current value is 400Æ (400/10) = 40,0% the variation range is included between 0,5 and 100%

4.2.6.2 FORMAT CONNECTIONS TABLE ( TAB_WITH_FORMATS

2002H)

This table is composed by 400 words (100x4), 4words for each connection:

word : it defines the type of connection ,its internal representation and the number of integer and

1 decimal digits that will show up on the display. Each nibble has the following meaning:

0x 0 0 0 0 (hexadecimal)

Number of digits visualised in decimal Number of digits visualised in integer Internal representation :

0 Direct value 1 Percent of the base (100/base) 2 Proportional to the base (1/base)

Parameter type:

0 Not managed 1 free (changeable on-line) 2 Reserved (change off-line + key P60) 4 TDE (change off-line + key P99)

2nd word : it defines the min admitted value in the internal representation of the connection

word : it defines the max admitted value in the internal representation of the connection

word : it defines the base of the representation of the connection (always 1)

The internal representation is always the direct value.

Example (hexadecimal if leaded by ‘0x…’) :

1st word = 0x2020

word = 0 reserved connection : its value is included between 0 and 18

word = 18

word = 1

User’s manual

4.2.6.3 FORMAT EXTRA PARAMETERS TABLE (TAB_FORMAT 2026H)

This table is made by 1000word (200*5) 5 words for each parameter :

word : it defines the parameter typology, its internal representation and the number of decimal and

integer digits which are shown up on the display. Each nibble has the following meaning:

0x 0 0 0 0 (in hexadecimal)

number of digits visualised in integer internal representation :

Type of parameter:

number of digits visualised in decimal

0 Direct value 1 Percent of the base (100/base) 2 Proportional to the base (1/base) 3 Direct value unsigned

0 Not managed 1 free (changeable on-line) 2 Reserved (changeable off-line + key P60) 4 TDE (changeable off-line + key P99)

For example:

0x1231 Æ free parameter proportional to the base: the real value is = internal representation/base

word).

2nd word : it defines the min. value admitted in the internal representation of the parameter

word : it defines the max value admitted in the internal representation of the parameter

word : it defines the representation base of the parameter

word : it defines the default value of the parameter

example: (hexadecimal if leaded by ‘0x…’):

1st word = 0x1131

word = 0000 free parameter in percent of the base: the real value is = (internal

word = 8190 representation divided by the base)*100

word = 4095

word = 4095 if the current value is 1000Æ (1000/4095)*100 = 24,4% the variation range is included between 0 and 200% the default value is 100%

4.2.6.4 FORMAT OF INTERNAL VALUES TABLE (TAB_EXP_INT 2003H)

This table is composed by 64 words, one word for each internal value :

1st word : it defines the representation of the internal values

0x 0 0 0 0 (hexadecimal)

internal representation :

1 Direct value /2 to the power of… 2 Percent with base 4095 3 Percent with base 32767 4 Percent with base 16383

example 1 (hexadecimal if leaded by ‘0x…’) 0x0002 internal representation of the value : percent of 4095. For example if its value is 2040 Æ (2040/4095)*100 = 49,8%

Example 2 (hexadecimal if leaded by ‘0x…’) 0x0041 internal representation of the size : direct value divided by 2 For example if its value is 120 Æ (120/24) = 7,5

4.2.6.5 FORMAT OF MONITOR VALUES TABLE (TAB_EXP_OSC 2004H)

This table is composed by 64 words, one word for each monitor value. 1st word : it defines the representation of internal values :

0x 0 0 0 0 (hexadecimal)

internal representation :

2 Percent with base 4095 3 Percent with base 32767 4 Percent with base 16383

example 1 (hexadecimal if leaded by ‘0x…’): 0x0003 internal representation of the internal value: percent of 32767. For example if its value is 5000 Æ (5000/32767)*100 = 15,2%

4.2.6.6 MANAGEMENT OF THE SPEED SENSOR (HW_SOFTWARE 2007H AND HW_SENSOR 2008H)

The two variables hw_software and hw_sensor can assume the following values :

value Corresponding senso

0 --- none --1 Incremental encoder 2 Incremental encoder + Hall probes 4 Resolver 8 Sinuisoidal encoder Sin/Cos analog 9 Sinuisoidal encoder Sin/Cos absolute analog 10 Endat

hw_software represents the managed sensor of the version of the drive firmware. hw_sensor represents the sensor managed by the feedback board mounted in the drive.

User’s manual

4.2.6.7 MANAGEMENT OF THE MONITOR (OBJECTS FROM 2009H TO 200CH +2012H)

These objects are related to the monitor of the drive internal values.

K_zz (2009h) is the internal counter of the 2000 points circular buffer. Start_count If ≠0 it indicates that the trigger event set with C14 went off Tab_monitor_A (200Bh) and Tab_monitor_B (200Ch) are circular buffer where the internal values

selected by C15 and C16 are stored Moreover parameter P54,P55 and P56 are involved. P54 sets the sample time of the monitor( units = PWM period); P55 sets the post-trigger points; P56 sets the trigger level if this is effectuated on the monitored internal values See the product documentation for detailing of the monitored internal values

The object Tab_osc (2012h) is an array of 64 internal values with the most recent values of all the

monitoring variables. In this way the single objects can be mapped as PDOs to keep under control the internal values of the drive.

4.2.6.8 INPUT LOGIC FUNCTIONS (OBJECTS 2010H, 2013H, 2014H, 2016H, 201FH, 2020H, 2021H, 2022H)

The management of the input logic functions is totally controlled via CAN.

In the variable inputs (2013h) it is possible to read the status of the 8 input available in the terminal-

box in the less significant bit. The 8 logic input are configured by the C1-C8 connections, each one checking a particular input logic function.

Standard input logic functions (I00 ÷ I28)

The status of the 32 input logic functions is available in two different dictionary objects:

the array Tab_inp_dig (2010h) in which it’s possible to read function by function using sub-index ( logic state 0 = low ; 32767 = high) and the 32 bit variable Ingressi_standar d_rd (2021h) in which

every bit is related to the state of corresponding function. Via CAN it’s possible to set the status of the input logic functions: writing function by function with the

array Tab_inp_dig_field (2016h) (0=low, 32767=high) or setting the state of all 32 logic functions writing the 32bit variable Ingressi_standard_wr (201Fh). The implemented logic provides that:

- The 0 logic input function (drive switch on/off) is given by the logic AND of the different input channels : terminal board, field-bus and serial line

- All the other logic functions can be set high by the logic OR of the different channels.

At start up, Tab_inp_dig_field [0]=high : in this way if this value is never over-written, the drive can be controlled via terminal-board.

Application input logic functions (I29 ÷ I63)

The status of the 32 application input logic functions is available in the 32 bit variable

Ingressi_appl_rd (2022h) in which every bit is related to the state of corresponding function.

Via CAN it’s possible to set the status of all application input logic functions writing the 32bit variable

Ingressi_appl_wr (2020h).

The implemented logic provides that:

- The 32 application input logic functions can be set via CAN

- If one application input logic function is configured to a connector logic input, the physical state imposes the state of corresponding logic function.

4.2.6.9 OUTPUT LOGIC FUNCTIONS (OBJECTS 2011H, 2015H, 2023H)

Via CAN bus ,it is possible the monitoring the state of :

- the status of the 4 logic outputs in the 4 less significant bits of the variable output (2015h)

- the status of the 32 logic output functions in the array Tab_out_dig (2011h) using the subindex. Like the inputs logic levels are: 0=low and 32767=high

- the status of all 32 output logic functions in the 32 bit variable Uscite_logiche_rd (2023h) in which every bit is related to the corresponding function

4.2.6.10 STATUS WORDS (OBJECTS 2017H, 2018 AND 2019H)

the object 2017h is available as status word of the drive with the following meaning:

1 = Mains break

Break : 0 = off ; 1 = on

Status

1 = Power switch on

1 = Drive ready

The object 2018h is available as the status of the different alarms of the drive bit by bit; for example, the status of A8 alarm is shown by the bit n.8 of the word. The object 2019h is the alarm enabling mask. Again the meaning is bit by bit. This variable is available as read only access ; see parameter P163 for read and write access.

1 = Alarm active

Operating: 0 = generator 1 = motor

Drive status: 0 = Stop 1 = Run

4.2.6.11 CONTROL REFERENCE VIA CAN BUS (OBJECTS 201AH,201BH,201CH AND 201DH)

These objects can be used to give: speed-reference, torque-reference, torque-limit to the drive. For doing this it is necessary to enable their management, setting C52=1.

f_fieldbus (201A) = speed reference in percent of the max speed set. Base representation is equal

to16384; thus 16384 is equal to 100%.

Theta_fieldbus (201D) = speed reference in electric pulses per period of PWM, considering that

there are 65536 pulses per revolution and that the term ‘electric’ means they must be multiplied by the number of polar pairs of the motor.

Trif_fieldbus (201C) = couple reference in percent of the nominal torque of the motor. Base of

Representation = 4095 : thus 4095 is = 100%

Limit_fieldbus (201A) = torque limit in percent of the nominal torque of the motor ( it is in alternative

to the other existing limits, the most restricted is the one that values). Representation base is 4095 : thus 4095 = 100%

User’s manual

5 GENERIC PARAMETERS

5.1 KEYS

Name Description Min Max Default UM Scale

RES_PAR_KEY

TDE_PAR_KEY

P60 and P99 are two parameter that if correctly set allow some reserved parameter (only at a standstill). In particular:

• If the value of P60 is the same of the key is possible to modify the reserved parameters

• If the value of P99 is the same of the key is possible to modify the TDE parameters

5.2 DATA STORING

P60 – Access key to reserved parameters P99 – Access key to TDE parameters

0 65535 0 1

0 19999 0 1

Name Description Min Max Default UM Scale

DEF_PAR_RD C61 - Read default parameters 0 1 0 1

EEPROM_PAR_RD C62 - Read parameters from EEPROM 0 1 0 1

EEPROM_PAR_WR C63 - Save parameters in EEPROM 0 1 0 1

PAR_ACT_BANK C60 - Parameter bank active 0 1 0 1

5.2.1 STORAGE AND RECALL OF THE WORKING PARAMETERS

The drive has three types of memory: The non permanent work memory (RAM), where the parameters become used for operation and modified parameters become stored; such parameters become lost due to the lack of feeding regulation. The permanent work memory (FLASH), where the actual working parameters become stored to be used in sequence (C63=1, Save Parameters on FLASH). The permanent system memory where the default parameters are contained. When switched on, the drive transfers the permanent memory parameters on to the working memory in order to work. If the modifications carry out on the parameters, they become stored in the work memory and therefore become lost in the break of feeding rather than being saved in the permanent memory. If after the work memory modifications wants to return to the previous security, it is acceptable to load on such a memory, a permanent memory parameter (Load FLASH Parameter C62=1). If for some reason the parameters in FLASH change, it is necessary to resume the default parameters (C61=1 Load Default Parameters), to make the appropriate corrections and then save them in the permanent working parameter (C63=1). It is possible to save the data in the permanent memory also at drive switched on/RUN, while the loading may only be affected aside with drive switched off/STOP, after having opened the key to reserved parameters.

System permanent memory with default parameters (FLASH)

Save parameters in FLASH

Permanent memory (FLASH)

Because the default parameters are standard to be different than those that are personalized, it is correct that after the installation of each drive, there is an accurate copy of permanent memory parameters to be in the position to reproduce them on an eventual drive exchange.

Restore the default parameters

C61=1

Non permanent memory (RAM)

C63=1 C62=1

Loading the FLASH parameters

Reading parameters and connections at start up

5.2.1.1 ACTIVE BANK PARAMETERS

This function allows to switch over the internal sets of parameters and connections between two distinct memory banks (drive must be switched off, no RUN). To activate this function, it is necessary to use the logic input I16, configuring it on a logic input on both banks. The connection C60 indicates the actual data bank in the permanent memory: C60=0 bank 0; C60=1 bank 1. The commutation of the functions logic stage I16 brings an automatic variation of data of C60 and a successive automatic reading of data from the permanent memory.

C60

Indicates the active bank

RAM working

memory

On the front of commutation of I16

changes C60 and a reading from

FLASH is required

For initial configuration of the input function I16, follow these steps:

1. Prepare in RAM, the data in bank 0, configuring input function I16 and holding it to a low logic level (make sure C60=0).

2. Save to the permanent memory with C63=1.

3. Always keep I16=L, prepare in RAM the data from bank 1, configuring the same input to the function I16.

4. Set C60=1 and save the data in the permanent memory with C63=1.

5. At this point, changing the state of logic input corresponding to function I16, the bank’s commutation will have automatic reading

Permanent memory

FLASH

Data bank 0

Data bank 1

User’s manual

5.3 DIGITAL COMMANDS AND CONTROL

Name Description Min Max Default UM Scale

SW_RUN_CMD C21 - Run software enable 0 1 1 1

EN_STOP_MIN_SPD C28 - Stop with minimum speed 0 1 0 1

DRV_SW_EN C29 - Drive software enable 0 1 1 1

ALL_RESET C30 - Reset alarms 0 1 0 1

ALL_COUNT_RESET C44 - Reset alarm counters 0 2 0 1

EN_BRAKE_R_PROT

EN_STO_ONLY_SIG

EN_BOOT C98 - Enable boot mode 0 1 0 1

SPD_ISR D45 - Speed routine duration 0 us 64

I_ISR D46 - Current routine duration 0 us 64

SPD_ISR D45 - Speed routine duration 0 us 64

C71 - Enable braking resistance protection C73 - Enable Safety STOP only like signaling

0 1 0 1

5.3.1 DRIVE READY

The Drive Ready condition (o.L.0=H) is given by alarms are not active and at the same time both the

software and hardware enables:

* The software enable, given by state of the connection C29, (C29=1 of default).

* The external enable (the function of the input is assigned to the default input L.I.2) If an enable is missing or an alarm is active, the ready drive signal goes into an non-active state o.L.0=L and this state remains until the causes that brought about the alarm conditions are removed and the alarms are reset. An alarm reset can be achieved by activating the function “Alarm reset” that, by default, is assigned to input L.1 (or setting C30=1). Keep in mind that the “Alarm reset” is achieved by the active front of the signal, not on the active level.

5.3.2 DRIVE SWITCH ON / RUN

When the drive is “Ready to switch on / RUN” o.L.0=H, motor may start running “Drive switch on/run” o.L.3=H, by activating both the hardware and software switch on enables: * Function “Logic switch on/RUN input” (default input 4 assigned) RUN=H * Software switch on/RUN C21 (C21=1) is active by default. Switch on/RUN disable and enable (from STOP offline, to RUN online) is given by the logic of the following table:

Drive ready o.L.0 Switch on / RUN C21 ON-LINE

L X X L

H L X L

H X 0 L

H H 1 H

It is mentioned that the input function “Switch on/RUN input” can given also via serial line or field-bus. See for details the Standard Application Manual.

5.3.3 DRIVE SWITCH OFF / STOP

By default, the drive switch off instantaneously as soon as one of the switch on functions is disabled (immediate shutdown); that may also cause an almost immediate rotation shutdown, if the motor is loaded and the inertia is low, while coasting if the motor is without load and mechanical inertia is high. Using the connection C28, it is possible to choose to switch off the drive only with motor at minimum speed. With C28=1, 0=immediate switch off by default, when SWITCH ON/RUN function is disable, the speed reference is brought to zero, thus the motor starts to slowdown following the ramp (the drive is still switched on). The system is switched off /STOP (offline) only once the motor absolute speed goes below the threshold set in P50 (2.0% default), that is when the motor is almost motionless (shutdown for minimum speed). Calibrating P50 may coincide the drive block with the motionless motor. The state of speed above

the minimum is signaled from the logical output function o.L.2, moreover the output function o.L.16 is

available, that signals the drive speed (absolute value) is above the threshold speed level P47. In every way, whichever is the chosen type of shutdown, there is an immediate drive block in presence of any alarm condition, oL.0 = L.

5.3.4 SAFETY STOP

The OPEN drive converters have the possibility to give the separated IGBT supply. This supply voltage can be see like safety STOP input and there are two different managements for this input,

selectable with C73 connection:

For OPEN DRIVE versions with Safe Torque Off safety function (STO) according to EN 618005-2 and EN 13849-1 see STO installation manual

5.3.4.1 MACHINE SAFETY (C73=0)

Setting C73=0 (default) the Safety STOP is compatible with EN945-1 specification against accidental

starts. When this input is at low logical level the IGBT power bridge isn’t supplied and the motor couldn’t run more than 180°/motor poles couple for brushless motor (for asynchronous motors the movement is zero), also if there is a brake in the power bridge.

The converter signals this state with the alarm A13.1, the output o17 “Power electronic not supplied” goes at high level, the output o0 “Drive ready” goes at low level and the Power Soft start

command is taken off. To recover the normal converter state, follow this steps:

 Give +24V to the IGBT driver supply input (Safety STOP). At this point the converter

goes at low level the output o17 “Power electronic not supplied”.

 Reset the converter alarms for eliminate the alarm A13.The normal converter state is

recovered.

 After 500ms the converter is able to start the Soft start sequence

5.3.4.2 POWER PART ENABLE INPUT (C73=1)

Setting C73=1 the Safety STOP is like a Power part enable input. Like in the preceding case,

when this input is at low logical level the IGBT power bridge isn’t supplied and the motor couldn’t run more than 180°/motor poles couple for brushless motor (for asynchronous motors the movement is zero), also if there is a brake in the power bridge.

The converter signals this state with the output o17 “Power electronic not supplied” that goes at

high level, the Power Soft start command is taken off, but unlike before no alarms goes at active state. To recover the normal converter state, follow this steps:

 Give +24V to the IGBT driver supply input (Safety STOP). At this point the converter

goes at low level the output o17 “Power electronic not supplied”.

 After 500ms the converter is able to start the Soft start sequence

In this case it isn’t necessary to reset the alarms after take back at high level the Safety STOP input, it will be sufficient to wait 500ms + soft start time, after that the converter could be goes on run.

User’s manual

6 ALARMS

6.1 MAINTENANCE AND CONTROLS

The drive has a range of functions that cut in if there is a fault in order to prevent damage to both the drive and the motor. If a protection switch cuts in, the drive output is blocked and the motor coasts. If one or more of the protection switches (alarms) cut in, they are signalled on the displays, which start to flash and to show a cycle of all the alarms triggered (the 7-segment display shows the alarms that have been set off in hexadecimal). Should the drive malfunction or an alarm be triggered, check the possible causes and act accordingly. If the causes cannot be traced or if parts are found to be faulty, contact TDE MACNO and provide a detailed description of the problem and its circumstances. The alarm indication are divide in 16 categories (A0÷A15) and for each alarm can be present code to identify better the alarm (AXX.YY)

6.1.1 MALFUNCTIONS WITHOUT AN ALARM: TROUBLESHOOTING

MALFUNCTION POSSIBLE CAUSES CORRECTIVE ACTION

RUN command not given Check operating status of input I00

Ensure wiring is correct and check mains and

Motor does not run

Motor does not turn

Motor direction inverted Wrong Positive direction Invert positive speed rotation setting C76=1.

Speed reference value inverted Invert reference value

Motor revolutions cannot be regulated

Irregular motor

acceleration and braking

Terminals L1, L21 and L3 are not wired properly or the power voltage is disabled

Terminals U,V and W are not wired properly

An alarm has been triggered See following paragraph

Parameters programmed incorrectly

No reference signal

Excessive load Reduce motor load

Acceleration – deceleration time/times is/are too low

Load too high Reduce load

motor connection

Check any contactors upstream and downstream of drive are closed

Check parameter values via the programming unit and correct any errors

Check wiring and apply reference signal if not present

Check parameters and change if necessary

Number of motor revolutions too high or too low

Excessive load Reduce load

Motor does not turn smoothly

Rated motor speed, minimum or maximum speed, offset, or reference gain value are set incorrectly

Motor load changes a lot or displays excessive load points

Check parameters and compare setting with motor rating plate

Reduce load points.

Increase motor size or use a larger frequency drive

6.1.2 MALFUNCTIONS WITH AN ALARM: TROUBLESHOOTING

ALARM DESCRIPTION CORRECTIVE ACTION

A0.0

A0.1

A1.0

A1.1

A1.2

A1.3

A2.0

Over –current alarm

Motor in stall

Loaded default parameters

EEPROM Read failure

EEPROM Write failure

EEPROM Read and write failure

Motor not fluxed

It has been measured a current greater than its limit

Drive worked in torque or current limit for a time equal to P186 seconds

EEPROM data related to a different core

A Check Sum error occurred while the EEPROM was reading the values. Default values loaded automatically.

When data is being written in the EEPROM the required values are always shown afterwards: an alarm triggers if differences are detected.

Alarms A1.1 and A1.2 appears There are some problems with EEPROM.

Magnetic flux (d27) is below the minimum flux set in P52.

Check if in a transient state the active current reference is increased to high values in a short time. Eventually increase the current limit regulator gain.

If the motor has to work in limit for a long time, disable this alarm set C82=0 or lengthen the limit time admitted increasing P186. The motor is in stall because it has not been given sufficient voltage boost at low frequencies: increase the parameter P172. The start-up load is too high: reduce it or increase the rating of motor and drive.

It’s possible to reset this alarm but keep attention: now all parameters have its default value.

Try rereading the values with the EEPROM . The reading may have been disturbed in some way. If the problem continues contact TDE as there must a memory malfunction.

Try rewriting the values in the EEPROM . The information may have been disturbed in some way. If the problem continues contact TDE as there must be a memory malfunction.

Check that the motor is properly connected to the drive.

Try to increase parameter P29 (machine magnetizing waiting time) and reduce P52 if necessary as this specifies the minimum flux alarm threshold.

A3.0 Power failure

Application

A4.0

alarm

Motor

A5.0

temperature too high

The drive output current has reached a level that has set off an alarm; this may be caused by an overcurrent due to leakage in the wires or the motor or to a short circuit in the phases at the drive output. There may also be a regulation fault.

This alarm is application specific. Please refer to specific documentation

Connection C46 runs a range of motor heat probes. If C46=1 or 2, a PTC/NTC is being used and its Ohm value (d41) has breached the safety threshold (P95). If C46 = 3 a digital input has been configured to I23 logical input function and this input is in not active state. If C46=4, a KTY84 is being used: the temperature reading (d26) must be higher than the maximum temperature (P91).

Check d27 to ensure that the flux increases when RUN is enabled.

Check the connection wires on the motor side, in particular on the terminals, in order to prevent leakages or short circuits. Check the motor insulation by testing the dielectric strength, and replace if necessary.

Check the drive power circuit is intact by opening the connections and enabling RUN; if the safety switch cuts in, replace the power. If the safety switch cuts in only during operation, there may be a regulation problem (replace along with current transducers) or vibrations causing transient D.C.

Check the temperature reading in d26 and then check the motor. With a KTY84, if -273.15 appears the electrical connection towards the motor heat probe has been interrupted. If the reading is correct and the motor is overheating, check that the motor cooling circuit is intact. Check the fan, its power unit, the vents, and the air inlet filters on the cabinet. Replace or clean as necessary. Ensure that the ambient temperature around the motor is within the limits permitted by its technical characteristics.

User’s manual

ALARM DESCRIPTION CORRECTI VE ACTION

Check the temperature reading on d25 and then check the radiator. If -273.15 is displayed, the electrical connection towards the radiator heat probe has been interrupted. If the reading is correct and the motor is overheating, check that the drive cooling circuit is intact. Check the fan, its power unit, the vents, and the air inlet filters on the cabinet. Replace or clean as necessary. Ensure that the ambient temperature around the drive is within the limits permitted by its technical characteristics.

Check parameter P118 is set correctly.

Check the correct setting of parameters P140, P142 and P144 compared to the Resistance plate. Check the correct dimensioning of Braking Resistance Maximum Power related to maximum speed, load inertia and braking time.

Check the correct setting of parameters P140, P146 and P148 compared to the Resistance plate. Check the correct dimensioning of Braking Resistance Average Power related to maximum speed, load inertia and braking time

Verify the presence of the connection of the probe and that it is correct.

Check the motor load. Reducing it may prevent the safety switch cutting in.

Check the thermal current setting, and correct if necessary (P70). Check that the heat constant value is long enough (P71). Check that the safety heat curve suits the motor type and change the curve if necessary (C33).

A5.1

A5.2

A5.3

A5.4

A6.0

Radiator temperature too high

Brake resistance adiabatic energy protection

Brake resistance dissipated power

Motor thermal probe not connected

Motor I2t thermal alarm

The radiator temperature (d25) is higher than the maximum (P118).

The Adiabatic Energy dissipated on Braking resistance during the time selected in P144 has overcame the threshold set in KJoule in P142 The Average Power dissipated on Braking has overcome the threshold set in Watt in P146

Thermal probe not detected the presence.

The motor electronic overload safety switch has cut in due to excessive current absorption for an extensive period.

A7.0

A8.0

A8.1

A8.2

A8.3

A9.0

Auto-tuning test unfinished

Missing enable logic input from the field

Watchdog alarm LogicLab

Fast task LogicLab too long

Application out of service

Hardware board and firmware are incompatible

The RUN command was disabled during a test. Run command switched off too early.

A digital input has been configured to I02 logical input function and this input is in not active state

A LogicLab watchdog alarm on slow cycle appears

The logicLab fast task is too long in time

There is no valid application running in the drive

Feedback option card and drive firmware

incompatible

Reset the alarms and repeat the test by re-enabling it.

The external safety switch has cut in disabling drive enable. Restore and reset.

The connection has been broken. Check and eliminate the fault.

Input function has been assigned, but enable has not been given. Authorise or do not assign the function.

Check if the LogicLab slow task duration is greater than 500 ms and try to reduce this execution time

Try to reduce the LogicLab fast task execution time under admitted limit. Please refer to the specific documentation.

Reload the application using OPDExplorer

Check internal values d62 and d63 for the firmware and option card codes. There must be some irregularity.

A9.1

A9.2

Sensor presence

Overspeed (more than 10 consecutive Tpwm)

Sensor not connected Check the connection towards the sensor.

Overspeed: speed reading higher than threshold set in P52.

In a transient state, the speed reading has exceeded the permitted limit. Adjust the speed regulator gains or raise the limit in P52.

ALARM DESCRIPTION CORRECTIVE ACTION

Undervoltage may occur when the mains transformer is not powerful enough to sustain the loads or when powerful motors are started up on the same line.

Try to stabilise the line by taking appropriate measures. If necessary, enable the BUS support function for mains failure (C34=1). This however can only help motors with light loads.

A10.0

DC Bus under minimum threshold admitted

Intermediate drive circuit voltage (DC Bus see d24) has dropped below the minimum value (P106).

Emergency

A10.1

A11.1 HW detection

A11.2 SW detection

A11.3

A12.0 Software alarm C29 different from 1 Check and enable connection C29 “Drive software enable”

A12.1

A12.2

A12.3

A13.0

bracking on main supply lost

HW + SW detection

Run whitout power soft start

Run with T.radiator too high

Comunication problems with power card

Rectifier bridge problem

With connection C34= 3 was been select the emergency brake when main supply is lost. This has occurred

Intermediate drive circuit voltage (DC Bus see d24) has exceeded the maximum analog thresold value.

Intermediate drive circuit voltage (DC Bus see d24) has exceeded the maximum value (P107).

A11.0 and A11.1 appears

RUN without Power Soft start Check why the Power Soft start isn’t enabled

RUN with Trad>P119 Check the radiator temperature (d25)

Problems in the communication with the power card

The bridge that enables the line by gradually loading the DC bus condensers has not managed to load the intermediate drive circuit sufficiently within the time set (P154).

Try to understand why main supply is lost.

The safety switch cuts in mainly due to excessively short braking times. The best solution is to lengthen the braking times.

An overvoltage in the mains may also trigger the safety switch.

If the drive is fitted with a braking circuit, check that the resistance value is not too high to absorb the peak power.

If the resistor is not too hot, check the resistor and connection continuity and ensure that the circuit functions correctly.

Please contact TDEMacno assistance

Check the voltage of the three input phases.

Try switching off and then back on, measuring the DC Bus level (with the monitor or tester).

If the problem repeats, contact TDE as there must be a soft start circuit malfunction.

A13.1

A14.0

A14.1

A15.0

A15.1

User’s manual

Safe Torque Off

Motor phase inverted

Motor not connected

Wrong number of Motor/Sensor poles

Simulated encoder pulses

Safe Torque Off: +24Vare missing in connectors S1 and S3. For this reason it’s enabled certified STOP function

During autotuning was been detected that motor phase are not connected in the same order of feedback

During autotuning was been detected that drive and motor aren’t connected properly

Motor/sensor parameters being written

Simulated Encoder pulses

Bring +24V to connectors S1 and S3.

If the user want to use the Safe Torque Off function without alarms, it’s necessary to set C73=1.

Swap over two phases and repeat the connection tests.

Check motor phases

Number of motor poles (P67) set incorrectly or more sensor poles (P68) than motor poles have been set.

Number of revolutions per pulse selected (C51) is not compatible with the maximum speed (P65). See “Feedback Option” enclosure.

ALARM DESCRIPTION CORRECTI VE ACTION

A15.3

Wrong Sensor pulses number read in Autotest

An error occurred during the “Sensor and motor poles” test.

See specific test description in the “Feedback Option” enclosure.

MiniOPD’s Specific Alarms Date:03/12/2010

The new MiniOPD consists of 2 fast-communicating microprocessors. One microprocessor is located in the Regulation board (as in standard OPDs); the second one is located in the Power board. Thanks to this new configuration, the MiniOPD features some types of alarms that are not included in the OPD series. These alarms have been renamed, so as to guarantee maximum compatibility with those who already use the OPD series.

MiniOPD’s specific alarms are listed in Table 1:

Alarm

A.10.0

A.10.5

A.10.6

A.10.7

A.10.8

A.10.15

These alarms take the form of sub-alarms of alarm A.10, to indicate that they all depend on the Power board. If Alarm A.10.0 – Minimum Voltage of Power Circuit – occurs first, followed by a second alarm from the Power board (typically a Communication Alarm or 15V Wrong Power Supply Alarm), the latter alarms are not shown by the Drive, as they are a direct consequence of alarm A.10.0.

Description

Minimum voltage of Power circuit

Overcurrent alarm detected by Power board

Communication alarm: communication fault with Power board

Alarm due to Power board fault (Micro’s watchdog)

Alarm due to wrong power supply in the Power board (15V wrong)

Alarm - Brake (hardware)

Table 1

100

TDE MACNO MINIOPD EXP, OPD EXP User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual