IGBT Inverter, IGBT Converter TMdrive-30, TMdrive-P30

IGBT Inverter, IGBT Converter TMdrive-30, TMdrive-P30
6F3A4768
IGBT Inverter, IGBT Converter
TMdrive-30, TMdrive-P30
Instruction Manual
Oct, 2004
TOSHIBA MITSUBISHI-ELECTRIC
INDUSTRIAL SYSTEMS CORPORATION
© TOSHIBA MITSUBISHI-ELECTRIC
INDUSTRIAL SYSTEMS Corporation , 2004
All Rights Reserved.
TM_F50000B
6F3A4768
Maintenance, inspection, and adjustment of this equipment require specialized knowledge.
Read this manual completely and carefully before using this equipment.
Personnel who use this equipment should undergo specialized training provided by our
TMEIC on a for-fee basis.
Contact your TMEIC representative for details on training courses.
—1—
6F3A4768
Contents
1
Usage Notes .................................................................................................................................................6
1.1 To Prevent Electric Shocks! ...................................................................................................................8
1.2 TMdrive-30 Inspection and Maintenance and Recovery Procedures ....................................................9
1.2.1 Inspection and Maintenance Procedure (Power-off Procedure)....................................................9
1.2.2 Recovery Procedure (Power-on Procedure)............................................................................... 10
1.3 TMdrive-P30 Inspection and Maintenance and Recovery Procedures................................................11
1.3.1 Inspection and Maintenance Procedure (Power-off Procedure).................................................. 11
1.3.2 Recovery Procedure (Power-on Procedure)............................................................................... 12
1.4 Operation..............................................................................................................................................13
1.4.1 Normal operation of TMdrive-30................................................................................................ 13
1.4.2 Normal operation of TMdrive-P30 ............................................................................................. 13
1.4.3 Test operation (Common to TMdrive-30 and TMdrive-P30) ....................................................... 14
1.5 When a Fault Occurs ...........................................................................................................................15
1.6 Notes on Changing Parameter Settings ..............................................................................................17
2
Overview.....................................................................................................................................................18
2.1 Introduction...........................................................................................................................................18
2.2 Description of Terminology ..................................................................................................................19
2.3 Specifications of TMdrive-30 and TMdrive-P30...................................................................................20
2.3.1 Features.................................................................................................................................... 20
2.3.2 General Specifications (Structure)............................................................................................. 21
2.3.3 General (Electrical) Specifications............................................................................................. 22
2.3.4 TMdrive-30 Control Specifications (Speed sensor: PLG) ........................................................... 23
2.3.5 TMdrive-P30 Control Specifications (Speed sensor: Resolver) .................................................. 24
2.3.6 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control) ..................................... 25
2.3.7 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control with Driving Multiple
Motors)...................................................................................................................................... 26
2.3.8 TMdrive-30 Control Specifications (V/f control) ......................................................................... 27
2.3.9 TMdrive-30 Control Specifications............................................................................................. 28
2.3.10 Ratings...................................................................................................................................... 29
2.3.11 Protective Functions.................................................................................................................. 31
2.3.11.1 Current-related protection ........................................................................................... 33
2.3.11.2 Voltage Protection ...................................................................................................... 34
2.3.11.3 Motor Speed Protection (TMdrive-30)......................................................................... 34
2.3.11.4 Control Circuit and Power Supply ............................................................................... 34
2.3.11.5 Protection Associated with Motor and Break (TMdrive-30) .......................................... 35
2.3.11.6 Operation-related protection ....................................................................................... 36
2.3.11.7 Pre-charge-related protection (TMdrive-P30).............................................................. 36
2.3.11.8 Grounding detection-related protection (TMdrive-P30)................................................ 36
2.4 Product Code........................................................................................................................................39
2.4.1 TMdrive-30................................................................................................................................ 39
2.4.2 TMdrive-P30 ............................................................................................................................. 40
3
Interface ......................................................................................................................................................41
3.1 Power System Interface and Grounding ..............................................................................................41
3.1.1 Power supply............................................................................................................................. 41
3.1.1.1 TMdrive-30................................................................................................................. 41
3.1.1.2 TMdrive-P30............................................................................................................... 41
3.1.2 Grounding ................................................................................................................................. 41
3.2 Motor Interface (TMdrive-30) ...............................................................................................................43
3.2.1 One Motor ................................................................................................................................. 43
—2—
6F3A4768
3.2.2
Multiple Motors.......................................................................................................................... 43
3.3 Speed Sensor Interface (TMdrive-30)..................................................................................................44
3.3.1 PLG Interface (Differential Type)............................................................................................... 44
3.3.2 Resolver Interface ..................................................................................................................... 45
3.3.3 Sensor-less Vector Control ........................................................................................................ 47
3.3.4 Speed Pulse Signal Output (Single end type) ............................................................................ 48
3.4 Serial Transmission..............................................................................................................................49
3.4.1 Transmission Types .................................................................................................................. 49
3.4.2 TOSLINE-S20 Specifications .................................................................................................... 51
3.4.2.1 TOSLINE-S20 Connections ........................................................................................ 51
3.4.2.2 Scan Transmission ..................................................................................................... 52
3.4.3 ISBus Transmission Specifications............................................................................................ 57
3.4.3.1 ISBus Connection....................................................................................................... 57
3.4.3.2 Scan Transmission ..................................................................................................... 58
3.4.4 DeviceNet Transmission Specifications..................................................................................... 61
3.4.4.1 DeviceNet Connection................................................................................................ 61
3.4.4.2 Scan Transmission ..................................................................................................... 63
3.4.5 PROFIBUS Transmission Specifications ................................................................................... 69
3.4.5.1 PROFIBUS Connection .............................................................................................. 69
3.4.5.2 Scan Transmission ..................................................................................................... 70
3.4.6 Sequence Input/Output.............................................................................................................. 73
3.4.6.1 Sequence Input .......................................................................................................... 73
3.4.6.2 Sequence Output........................................................................................................ 76
3.4.6.3 Optional Sequence Output.......................................................................................... 78
3.4.7 Serial Input/Output Signals........................................................................................................ 79
3.4.7.1 Serial Input Signals..................................................................................................... 79
3.4.7.2 Serial Output Signals.................................................................................................. 80
3.4.8 Message Transmission.............................................................................................................. 81
3.4.9 Transmission Error Detection .................................................................................................... 81
3.4.9.1 Heartbeat ................................................................................................................... 83
3.5 P I/O Input/output .................................................................................................................................84
3.5.1 P I/O Input................................................................................................................................. 84
3.5.2 P I/O Output .............................................................................................................................. 88
3.6 Transmission Between Drives .............................................................................................................89
3.7 Motor Temperature Detection Circuit (TMdrive-30).............................................................................89
3.8 Analog Input/Output .............................................................................................................................90
3.8.1 Analog Input .............................................................................................................................. 90
3.8.2 Analog Output ........................................................................................................................... 92
3.8.2.1 General-purpose Analog Output ................................................................................. 92
3.8.2.2 Measurement Analog Output ...................................................................................... 94
3.9 Options (TMdrive-30) ...........................................................................................................................95
3.9.1 Motor Mounted Fan Circuit ........................................................................................................ 95
4
Structure.....................................................................................................................................................96
4.1 Dimensions of TMdrive-30 ...................................................................................................................96
4.2 Dimension of TMdrive-P30 ..................................................................................................................97
4.3 Operation Panel....................................................................................................................................98
4.3.1 Equipment Model Name/Software Version Display .................................................................. 100
4.3.2 Operation Data Display ........................................................................................................... 100
4.3.3 Operation Preparation Display................................................................................................. 101
4.3.4 FI (FIrst fault) Display.............................................................................................................. 102
4.3.5 FI Call ..................................................................................................................................... 102
4.3.6 Test Display ............................................................................................................................ 102
4.3.7 Software Resetting Operation.................................................................................................. 103
4.3.8 Software Error Display............................................................................................................. 104
—3—
6F3A4768
4.3.9
5
Relief Mode Display ................................................................................................................ 104
Operation..................................................................................................................................................105
5.1 Main Circuit Operation .......................................................................................................................105
5.1.1 Main circuit Operation of Two-level Inverter ............................................................................ 105
5.1.2 Two-level Converter Operation................................................................................................ 108
5.1.3 Main Circuit Operation for Three-level Inverter........................................................................ 110
5.1.4 Three-level Converter Operation ............................................................................................. 113
5.2 Main Circuit Configuration of TMdrive-30 ..........................................................................................115
5.2.1 Single Drive (1500kVA, 2000kVA)........................................................................................... 115
5.2.2 Twin-drive (2x1500kVA, 2x2000kVA) ...................................................................................... 116
5.3 Main Circuit Configuration of TMdrive-P30........................................................................................117
5.3.1 Single Converter (1700kW) ..................................................................................................... 117
5.3.2 Twin converter (2x1700kW) .................................................................................................... 118
5.4 Control Circuit TMdrive-30 .................................................................................................................119
5.4.1 Speed Reference .................................................................................................................... 120
5.4.2 Speed Control ......................................................................................................................... 122
5.4.2.1 Speed Control 1 (ASPR)........................................................................................... 122
5.4.2.2 Speed control gain switching (option)........................................................................ 123
5.4.2.3 Speed Control 2 (ASR) ............................................................................................. 124
5.4.2.4 Speed Control with RMFC Control (ASRR) ............................................................... 126
5.4.3 Torque Reference and Current Reference ............................................................................... 128
5.4.3.1 Tension Control (Option) .......................................................................................... 128
5.4.3.2 IQ Limit .................................................................................................................... 129
5.4.4 D-Q Axis Current Control......................................................................................................... 130
5.4.5 Voltage Reference................................................................................................................... 132
5.4.6 Speed Feedback ..................................................................................................................... 133
5.4.6.1 PLG.......................................................................................................................... 133
5.4.6.2 Resolver................................................................................................................... 134
5.5 Optional Function According to Application (TMdrive-30) .................................................................135
5.5.1 Auto Field Weakening Control................................................................................................. 135
5.5.2 Torque Control ........................................................................................................................ 136
5.5.3 Sensor-less Vector Control ...................................................................................................... 139
5.5.4 V/f Control............................................................................................................................... 139
5.5.5 JOG Operation........................................................................................................................ 140
5.5.6 Emergency Operation ............................................................................................................. 141
5.5.6.1 Emergency Operation Mode ..................................................................................... 141
5.5.6.2 E-HOLD Mode.......................................................................................................... 141
5.5.7 Shared Motion......................................................................................................................... 142
5.6 Control Circuit TMdrive-P30...............................................................................................................144
5.6.1 Voltage reference.................................................................................................................... 145
5.6.2 Voltage Control ....................................................................................................................... 145
5.6.3 D-Q Axis Current Control......................................................................................................... 146
5.6.4 Voltage Reference................................................................................................................... 148
5.6.5 Voltage Saturation Restraint Control (VSC) ............................................................................. 149
5.6.6 Reactive Current Voltage Control (RCV) (Optional) ................................................................. 150
6
Maintenance (Common to TMdrive-30 and TMdrive-P30) ..................................................................151
6.1 Daily Inspections ................................................................................................................................151
6.2 Regular Inspections............................................................................................................................152
6.3 Points of Maintenance........................................................................................................................152
6.3.1 Cleaning of Main Circuit and Control Circuit ............................................................................ 152
6.3.2 Enclosure and Structural Parts ................................................................................................ 153
6.3.3 Printed Circuit Boards ............................................................................................................. 153
6.4 Parts to be Regularly Renewed .........................................................................................................154
—4—
6F3A4768
6.5 Recommended Spare Parts...............................................................................................................155
6.6 Prohibition of Modifications ................................................................................................................159
6.7 Movement...........................................................................................................................................159
6.8 Disposal..............................................................................................................................................159
7
Data Control (Common to TMdrive-30 and TMdrive-P30) ..................................................................160
7.1 Setting Data........................................................................................................................................160
8
Fault and Recovery (Common to TMdrive-30 and TMdrive-P30).......................................................161
8.1 Cautions when Handling Fault ...........................................................................................................161
8.2 Traceback...........................................................................................................................................162
8.3 How to Repair.....................................................................................................................................163
8.3.1 Cautions on Repair.................................................................................................................. 163
8.3.2 Replacing Units ....................................................................................................................... 163
8.4 Restoring Setting Parameters............................................................................................................163
8.4.1 Reloading (Personal Computer Tool)....................................................................................... 163
—5—
6F3A4768
1 Usage Notes
This equipment includes high-voltage components. To prevent electric shock, burns, or other injuries when
using this equipment, and to maintain its performance, be sure to read this manual before using this equipment.
Also, observe all warning labels attached to the equipment.
The
and
marks have the following meanings:
: Electric shock warning
: Warning for safe work
Danger (Red Label)
[Warning Label Examples]
Failure to avoid locations or actions marked in this
manner may lead to serious injury or death.
DANGER
Primary circuit voltage
is supplied.
D AN GE R
Hazardous voltage can result in electric
shock.
Make sure that there is no electrical charge
before inspection or maintenance.
Warning (Orange Label)
Failure to avoid locations or actions marked in
this manner may lead to injury, albeit of a
somewhat lesser severity. Failure to follow these
directions may also lead to property loss, such as
damage to the equipment or components, or to
fires.
WARNING
Hazardous voltage can result in
electric shock.
Do not open the door while the
power is on.
Turn off the power supply to the
equipment before inspection or
maintenance.
WARNIN G
Hazardous voltage can result in electric
shock.
Do not open the door while the power
is on.
Opening the door during power receiving
will trip the circuit breaker.
—6—
6F3A4768
Notice (Green Label)
[Warning Label Examples]
These labels provide advice that can assure safe
operation, can prevent errors and performance
degradation in the equipment, and can be useful in
preventing breakdowns.
NOTICE
When operating or adjusting the
equipment and during maintenance/
inspections, be sure to observe the
precautions noted in the User's
Manual.
Others (White Labels)
The following are guidelines for
the replacement of parts.
These labels present items related to
maintaining the performance of the equipment.
—7—
PARTS
GUIDELINES
FOR
REPLACEMENT
COOLING FAN
3 YEARS
ELECTROLYTIC
CAPACITOR
7 YEARS
POWER SUPPLY
UNIT
7 YEARS
FUSE
7 YEARS
6F3A4768
1.1 To Prevent Electric Shocks!
The inverter (TMdrive-30) has 1250 V ac or more,
1800 V dc or more and 200 V ac or 220/230 V ac
circuits, and the converter (TMdrive-P30) has 1100 V
ac or more, 1800 V dc or more and 200 V ac or
220/230 V ac circuits, which are extremely
dangerous. Do not remove the protective covers
designed for shock prevention at any time other than
inspection and maintenance.
Do not touch internal parts with wet hands.
—8—
Do not touch the inside panel or parts of the
equipment while the power is being applied
or the motor is running.
6F3A4768
1.2 TMdrive-30 Inspection and Maintenance and Recovery Procedures
1.2.1 Inspection and Maintenance Procedure (Power-off Procedure)
Stop the
equipment
(1) Stop the load equipment, and verify that all electrically powered equipment has
stopped completely.
(2) Turn on the operation panel interlock switch by pressing it. Prohibit operation of the
inverter on the hardware (safety or emergency stop switch, etc).
(Note) When a common DC power supply is used, make sure that all devices
connected to the DC power supply have been stopped.
Turn off the main
power supply
(3) Before starting the inspection and maintenance of the inverter, stop the common
power supply panel supplies to the equipment and move the circuit breaker to the
safety area to prevent it from being turned on accidentally (safety maintenance in
twice).
(4) Wait for at least five minutes.
(5) Make sure that the charge lamp on the inverter panel is off.
Turn off the
control power
supply
Check the
voltage
(6) Turn off the control power supply MCCB ("CONTROL").
(7) Unlock the door padlock.
(8) Remove the screws (two places) on the front door of the inverter panel and open
the door with the door handle.
(9) Use a voltage checker and the like to check that the main circuit and the control
circuit are already discharged.
(10) Measure the voltage between check pins HIGH-LOW on the GDM board to check
the main circuit voltage is at a safe level.
(11) Measure the voltage between check pins P-CTR-OV-CTR on the GDM board to
check the control power supply voltage is at a safe level.
Replacement/
Maintenance
Work
(12) Perform safety measures (grounding, etc) according to need
(13) When the unit (IPU*) is replaced, see the Unit Replacement Manual (document No.
6F3A4795).
* IPU: An abbreviation for IGBT Power Unit
—9—
6F3A4768
1.2.2 Recovery Procedure (Power-on Procedure)
(1) Before turn on the power supply, check the DC power supply is off.
(2) Check the recovery status of the sections that were disconnected for inspection and
maintenance and the replaced parts (connector insertion status, conductor
tightening status, etc.)
Check
before
receiving
power
Close the
door and
tighten the
screws
Turn on the
control power
supply
(3) Release of the safety measures (grounding, etc).
(4) Check that operations of all supplied inverters are prohibited on the hardware
(safety or emergency stop switch, etc).
(5) Check that front doors of all supplied inverter panels are closed and the screws
(two places) are tightened.
(6) Close the front door of the inverter panel and tighten the screws (two places).
(7) Lock the door padlock.
(8) Turn on the control power supply MCCB ("CONTROL").
Note: Check that there is no error detected.
(9) Check that Fault or Alarm isn’t displayed on the operation panel on the automatic
control panel. If Fault or Alarm is displayed, check the fault message and then
recovery it.
Turn on the
DC power
supply unit
Prepare the
equipment
for operation
(10) Turn on the DC power supply unit main power.
(Note) When a common DC power supply is used, check that all devices connected
to the DC power supply are ready to receive power.
(11) Check the safety of the system and release of the operation prohibited on the
hardware (safety or emergency stop switch, etc).
— 10 —
6F3A4768
1.3 TMdrive-P30 Inspection and Maintenance and Recovery Procedures
1.3.1 Inspection and Maintenance Procedure (Power-off Procedure)
Stop the
equipment
(1) Check that all supplied inverters have stopped completely then turn off the "AC
MAIN CIRCUIT BREAKER" switch on the automatic control panel to stop the
equipment and to turn off move the circuit breaker. In addition, move the circuit
breaker to the safety area to prevent it from being turned on accidentally (safety
maintenance in twice).
(2) Check that the "ON" LED is off (unlit) and the "OFF" LED is on (lit) on the automatic
control panel.
(3) Prohibit operation of the converter on the hardware (safety or emergency stop
switch, etc).
Turn off the main
power supply
Turn off the
control power
supply
Check the
voltage
(4) Wait for at least five minutes.
(5) Make sure that the charge lamp on the inverter panel is off.
(6) Turn off the control power supply MCCB ("CONTROL"). The “OFF” LED on the
automatic control panel turns off (unlit).
(7) Unlock the door padlock.
(8) Remove the screws (two places) on the front door of the converter panel and open
the door with the door handle.
(9) Use a voltage checker and the like to check that the main circuit and the control
circuit are already discharged.
(10) Turn off the control power supply MCCB ("CONTROL"). The “OFF” LED on the
automatic control panel turns off (unlit)
(11) Measure the voltage between check pins HIGH-LOW on the GDM board to check
"the main circuit voltage is at a safe level.
Replacement/
Maintenance
Work
(12) Perform safety measures (grounding, etc) according to need
(13) When the unit (IPU*) is replaced, see the Unit Replacement Manual (document No.
6F3A4795).
* IPU: An abbreviation for IGBT Power Unit
— 11 —
6F3A4768
1.3.2 Recovery Procedure (Power-on Procedure)
(1)
Check
before
receiving
power
Before turn on the power supply, check the DC power supply is off.
(2) Check the recovery status of the sections that were disconnected for inspection and
maintenance and the replaced parts (connector insertion status, conductor
tightening status, etc.)
(3) Release of the safety measures (grounding, etc).
(4) Check that operations of all supplied inverters are prohibited on the hardware
(safety or emergency stop switch, etc).
(5) Check that front doors of all supplied inverter panels are closed and the screws
(two places) are tightened.
Close the door
and tighten the
screws
Turn on the
control power
supply
(6) Close the front door of the converter panel and tighten the screws (two places).
(7) Lock the door padlock.
(8) Turn on the control power supply MCCB(“CONTROL”).
The “OFF” LED on the automatic control panel turns off (lit).
(Note) Check that there is no error detected.
(9) Check that Fault or Alarm isn’t displayed on the operation panel on the automatic
control panel. If Fault or Alarm is displayed, check the fault message and then
recovery it.
Pre-charge
Turn on the
main power
supply
(10) Check the safety of the system and release of the operation prohibited on the
hardware (safety or emergency stop switch, etc).
(11) When the "AC MAIN CIRCUIT BREAKER" switch on the automatic control panel is
turned on, the pre-charge automatically starts. (If pre-charge does not start,
examine the items for which the electrical condition (UV) is not satisfied and satisfy
the condition.) During pre-charge, the "ON" LED on the automatic control board
blinks.
(12) The pre-charge completes in about 10 seconds. Upon completion of pre-charge,
the main power supply is turned on automatically. When the main power supply is
turned on, the "ON" LED on the automatic control board turns on (lit).
(This procedure is applicable only when the circuit breaker automatic interface is
provided (See Section 5.3). The circuit breaker can be operated in one of the
following three ways; from the main automatic control panel, from the circuit
breaker panel, or remotely.)
— 12 —
6F3A4768
1.4 Operation
Be sure to strictly adhere to the power-on procedure and power-off procedure (See Sections 1.2 and1.3).
Otherwise unnecessary stress will be incurred.
PROHIBITION
While the equipment is in operation and the motor
is running, do not turn off the main circuit power
supply or control power supply under any
circumstances.
Do not disconnect any unit during operation.
1.4.1 Normal operation of TMdrive-30
Normal operation through interface should be performed by the following procedure after confirming that the
necessary interface signals are securely connected.
(1) Set the speed command signal to the lowest state.
(2) Turn on the IL (Interlock) input signal and EXT (operation command) input signal.
(3) As the speed command signal is increased gradually, the motor rotates at a rate proportional to the speed
command signal. If the motor does not rotate normally, check the wiring of the main circuit inverter output
circuit and the speed detector again.
As for the rotational direction of the motor, the forward rotational direction differs depending on the machine
to drive. See the schematic diagram. To reverse the rotational direction, set the polarity of the speed
reference to negative. To reverse the rotational direction (forward rotation) by the positive speed reference,
reverse the polarity of the setting value of $CS_MOTOR_RPM, turn off the control power supply once then
turn it on again. Do not change the wiring of the resolver and the main circuit.
(4) If you turn off the EXT signal during rotation, the motor will slow down and stop.
1.4.2 Normal operation of TMdrive-P30
Normal operation through interface should be performed by the following procedure after checking that the
necessary interface signals are securely connected.
(1) Set the given voltage reference.
(2) Turn on the IL (Interlock) input signal and EXT (operation command) input signal.
(3) When the main power supply is turned on following the procedure in Section1.3.2, the operation ready
(READY) condition is satisfied and the operation starts.
(4) If you turn off the EXT signal during operation, the converter stops.
— 13 —
6F3A4768
1.4.3 Test operation
Test operation can be done using the maintenance tool.
Before performing test operation, check the following items:
(1) Check that the necessary signals are securely connected.
(2) Check that operation on the main unit side is off and the equipment is completely stopped.
(3) Contact the person in charge of field operations and obtain permission for individual operations.
After checking the above items, perform test operation.
The test mode shown in Table 1.4.1 is available for test operation.
Table 1.4.1 Test Mode
Test mode No.
Name
TEST-22
Speed step response
TEST-25
Load response
TEST-26
Flux current step
TEST-29
Acceleration/Deceleration
response
Purpose
To check the response of speed control by stepping up
speed reference.
To check the response of speed control by stepping up
torque reference.
To check the response of current control by stepping up
flux current reference.
To check the acceleration / deceleration response in
internal acceleration / deceleration rate by stepping up
speed reference input.
In order to use the test mode, operate the drive in the following procedure. Refer to the operation manual of
the support tool for the usage of a step response function.
(1) Check the operation of the drive equipment is off. The drive equipment cannot enter the test mode while
that is in operation.
(2) Select a required test mode by using step response function of the support tool. When the test mode is
chosen, the drive equipment enters the test mode (panel ready lump is blinking).
Set step value and step time in step response function.
(3) Operate the drive equipment at the motor speed which the test is performed (TEST-22,25).
Turn on the flux current by inputting operation command (EXT) etc (TEST-26).
Stand-by the motor acceleration by inputting operation command (EXT) (TEST-29).
(4) Push the step start button of step response function to perform the step response.
(5) After step response is finished, obtained data is displayed on the support tool.
Repetitive step response can be performed.
(6) Push test finish button of step response function to finish the test mode.
In addition, the test mode has an interlock as shown below.
▪ The drive equipment cannot enter the test mode while that is in operation.
▪ When the test mode except TEST-22 and TEST-25 is used, the drive equipment cannot finish
the test mode unless operation of the drive equipment is turned off.
— 14 —
6F3A4768
1.5 When a Fault Occurs
When a serious fault occurs, perform the following procedure to prevent further damage and to return the
equipment to service as soon as possible.
(1) Record the fault message displayed on the operation panel.
<Standard type operation panel>
Fault code (number) appears after “Fl-”.
“FI-“ display
Display change
Fault code (number) display
Fault code, fault symbol and their explanation are shown in the Fault Code Table on the next page.
<High function type operation panel>
Fault symbols (alphabet) are displayed. In order of fault occurrences, from first to tenth faults are displayed.
If the right arrow or enter button is pressed, it will alternate a comment display.
Active Fault Display
1.FUSE_
2.BLR_
3.AC_MCCB_
4.UVA
5.UV_READY
--- RESET FAULT NOW ---
62
159
155
222
287
Active Fault Display
1.IGBT Fuse
2.E Critical Fault
3.AC In MCCB Opn
4.E Ready Cnd Met
5.Elect Cond Met
--- RESET FAULT NOW ---
62
159
155
222
287
(2) Collect the trace back data.
Collect the data recorded in the non-volatile memory in the unit.
The latest 6 or 7 portions of trace back data are stored.
PC that maintenance tool is installed (option) can replay the trace back data.
(3) Check the apparent operating state of the equipment.
Perform the safety check described earlier before performing this check.
In addition, to recover from the fault, see "8 Fault and Recovery".
• Only use parts stipulated by Toshiba as replacements. Use of any parts other than those stipulated by
Toshiba may result in the equipment not being able to perform as desired, and also may result in safety
problems. If there are no spare parts on hand, order parts from Toshiba, or have Toshiba replace the
parts.
• This equipment includes parts that require periodic replacement. See "6.4 Parts to be Regularly
Renewed", for details. Be sure to order these parts in advance, since delivery may take time.
The three digits code appears after “Fl-” on the standard operation panel is indicated in Table 1.5.1.
• When a fault occurs, please wait for 30 seconds before “Fault-reset-operation”.
— 15 —
6F3A4768
Table 1.5.1 List of Fault Code
No.
Symbols
No.
48
49
50
51
52
53
54
56
57
58
59
60
61
64
65
66
67
68
69
70
72
73
74
75
76
77
82
83
86
87
89
90
91
92
96
97
99
109
110
112
115
116
117
118
120
121
122
123
124
125
126
127
128
OCA
OCD_U
OCD_V
OCD_W
OH_T_U
OH_T_V
OH_T_W
F_UP
F_VP
F_WP
F_UN
F_VN
F_WN
OCA_B
OCD_B_U
OCD_B_V
OCD_B_W
OH_T_B_U
OH_T_B_V
OH_T_B_W
F_UP_B
F_VP_B
F_WP_B
F_UN_B
F_VN_B
F_WN_B
OSS
OSS_FO
SP_ERR
SP_ERR2
CURU
CURW
CURU_B
CURW_B
F_C
F_C_B
GP_F
F_GND
F_PRE
PLD_ERR
DS_T
BLR_FAULT
CPU_A
CPU_M
SPA4_T
SPA3_T
SPA2_T
SPA1_T
SPA4
SPA3
SPA2
SPA1
CPSF
129
130
131
132
133
134
135
136
137
138
139
141
142
143
145
146
147
150
151
152
153
154
155
159
161
167
170
171
176
177
178
179
180
181
182
183
185
186
187
188
189
191
194
195
199
200
201
202
203
204
205
206
207
Symbols
MPSF
OVP
OVN
OVP_B
OVN_B
GDM_F_U
GDM_F_V
GDM_F_W
GDM_F_B_U
GDM_F_B_V
GDM_F_B_W
OCA
OCA_B
PLL
UVD
OL5
OL20
CL_T
C_FN_T
ACOFF
ACP_T
DCSW
AC_MCCB
BLR
UVD_B
C_FN_T_B
DCSW_B
AC_MCCB_B
UVP_B
UVN_B
UVP
UVN
OH_ACL_T
PRECHG_OH
SYS_ERR
PARA_ERR
AC_NL
GR_T
PHASE_ERR
BLA
STALL
UPS_ERR
TL_F1
TL_F2
N_IM
SPA4_T
SPA3_T
SPA2_T
SPA1_T
SPA4
SPA3
SPA2
SPA1
No.
Symbols
No.
208
209
210
211
212
213
214
215
219
221
222
223
224
226
227
230
231
235
237
238
240
241
246
247
250
251
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
272
273
274
275
279
282
287
288
292
293
295
298
UVS
IL
P_SW
QSTOP_FAULT
RDIR_PROT
PLL_ERR
MPSFA
ACSW_F
ACSW_F_B
UVA_EX
UVA
C_IL
AIN_FAULT
TL_F3
TL_F4
M_OH
B_HLTY
TUNE_IL
SPA1
SPA2
SPA1
SPA2
UVPSIL
ACSW_C
UVNSIL
ACSW_C_B
M_FN
SP_SIL
STCMD
GDM_F_U
GDM_F_V
GDM_F_W
GDM_F_B_U
GDM_F_B_V
GDM_F_B_W
GATE_U
GATE_V
GATE_W
GATE_U_B
GATE_V_B
GATE_W_B
TL_F1
TL_F2
TL_F3
TL_F4
TQZ_GB
ACSW_T
UV_READY
RNTD_C
M_FN_T
BR_F
CHG_START
ACSW_T_B
301
302
306
307
308
309
310
311
315
317
318
320
322
323
324
325
326
327
331
333
334
335
336
337
339
340
341
342
343
344
345
346
347
348
349
350
352
354
356
357
358
359
360
361
366
367
368
369
371
372
373
374
375
Symbols
SPA1
SPA2
P_SW
QSTOP_FAULT
RDIR_PROT
PLL_ERR
MPSFA
ACSW_F
ACSW_F_B
UVA_EX
UVA
AIN_FAULT
TL_F3
TL_F4
M_FN_T
BR_F
M_OH
B_HLTY
TUNE_IL
SPA1
SPA2
GR_T
STL_A
C_FN
C_FN_B
OH_ACL
MTMP_S
M_OH
M_OH_A
OL_A
CL_TA
GR_A
PRE_F
CUR_DIFF
M_FN
GR_T
AIN_FAULT
SOFT_STL
OH_U
OH_V
OH_W
OH_B_U
OH_B_V
OH_B_W
GR
SPA1
STL_A
C_FN
C_FN_B
OH_ACL
MTMP_S
M_OH
M_OH_A
For details of the fault codes, see the troubleshooting manual (6F3A4791).
— 16 —
No.
376
377
378
379
380
381
382
383
384
386
388
389
390
391
392
393
398
399
400
401
402
403
404
405
406
407
409
410
411
412
413
414
415
416
417
425
426
427
428
429
430
431
Symbols
OL_A
CL_TA
GR_A
PRE_F
CUR_DIFF
M_FN
GR_T
STPRQ
AIN_FAULT
SOFT_STL
OH_U
OH_V
OH_W
OH_B_U
OH_B_V
OH_B_W
GR
SPA1
ACSW_C
ACSW_C_B
GATE_U
GATE_V
GATE_W
GATE_U_B
GATE_V_B
GATE_W_B
SPA3
VDC_IL
PRE_CTT_IL
ACP
UVPSIL
UVNSIL
UV
ACSW_T
ACSW_T_B
DS
SPA4_T
SPA4
UV
P_SW
BLR
BLR_CPSF
6F3A4768
1.6 Notes on Changing Parameter Settings
The setting data for this equipment is stored in EEPROM that is nonvolatile memory, as shown in Fig. 1.6.1.
When the microcontroller is started (initialized) at power on the data in EEPROM is read as indicated by (1) and
that data is copied without change to RAM as indicated by (2). From that point on, the data in RAM is used to
control the system as indicated by (3).
Microcontroller
EEPROM
(1)
Initialization
Parameters copied to RAM.
• Saved parameters
(2)
RAM
(3)
Control software
• Execution parameters
(4)
Parameter modifications from
the personal computer
(6)
(5)
[Important]
Parameter save operation
Fig. 1.6.1 Memory Structure for Parameter Settings
When modifying the parameter settings from maintenance tool on the personal computer, the execution
parameters in RAM are modified. A "Set point control" operation is required to save those values. If this
operation is not performed, the previous values will be restored the next time the system is initialized.
The write operation that saves the parameters (from RAM to EEPROM) may require up to dozens of seconds to
complete. In addition, user comments can be attached to the setting value stored in EEPROM. Write time differs
depending on the number of parameters and thus make sure to wait until the user comment will be registered
(displayed) on the screen as EEPROM comment in the storage area. If the control power supply is turned off
during this operation, both the RAM and the EEPROM parameters may be set to incorrect values. If incorrect
values are stored, an error state (“Pl-183” will be displayed) will occur the next time the control power supply is
turned on, and it may become impossible to drive the motor normally. If this error state occurs, read "8 Fault and
Recovery" and follow those directions to recover from the problem.
Make sure that you never cut off the control power
when writing of the setting value to the parameter storage area “EEPROM” begins
until the user comment appears in the “EEPROM” area on the personal computer screen.
— 17 —
6F3A4768
2 Overview
2.1 Introduction
TMdrive-30 is a totally digital- and vector-controlled sine wave PWM inverter that performs highly precise and
efficient variable speed control of AC motors with a small to medium capacity. Also, TMdrive-P30 is an IGBT
converter that receives the AC power supply and converts it into the DC power for the IGBT inverter. This
equipment is power supply system-friendly because it controls the input current as sin wave. Before starting
operation of this equipment, thoroughly read this instruction manual to fully understand its contents.
This manual consists of the specifications of the equipment, names of blocks, concept of control, startup and
operation of the equipment, fault and recovery, maintenance points, and describes maintenance and operation
after the installation of the equipment.
○ Interfaces
For the connections with external equipment, read "3 Interface”.
○ Concept of control
To know how this equipment performs variable speed control over motors, read "5 Operation".
○ Startup and operation of equipment
For the procedure for preparations before starting the equipment and how to operate the equipment
independently on an experimental basis or how to check the operation status during line operation, read "1.4
Operation".
○ Maintenance
For the inspection points to keep the equipment in optimal conditions and cautions on handling internal parts,
read "6 Usage Notes”.
○ Fault and recovery
For action to be taken in the case of any fault in the equipment, read "8 Fault and Recovery".
○ Spare parts
For spare parts for emergency replacement, read "6.5 Recommended Spare Parts".
— 18 —
6F3A4768
2.2 Description of Terminology
This section describes the special terms used in this manual.
Table 2.2.1 Description of Terminology
Technical Term
Meaning and its contents
3-level inverter
Inverter that enables 3 levels of output.
The output phase voltage has three levels: (+), (0), and (-).
Main control circuit board
An abbreviation of Electrical Erasable Programmable Read Only Memory
Gate Drive Module
A gate drive circuit board that amplifies gate signals to turn on/off the IGBT.
An abbreviation of Insulated Gate Bipolar Transistor
An abbreviation of Liquid Crystal Display
An abbreviation of Light Emitting Diode
An abbreviation of Molded Case Circuit Breaker
Another name for a 3-level converter
An abbreviation for Neutral Point Clamped
Power electronics Processor Various Inverter control Integration (VII = 7) Toshiba’s
32-bits microcomputer for power electronics control
Switching power supply unit that outputs ±15 V dc and +5 V dc.
An abbreviation of Random Access Memory
Optical transmission device (Toshiba's product name). Exchanges operating
sequence signals and operation data with an external device equipped with this
transmission device.
An initialization process.
In this equipment, as the control power is turned from off to on, the data and circuits
are initialized.
A method that exchanges signals between this equipment and external equipment.
A reverse conversion circuit that converters DC main power voltage into AC voltage.
(DC → AC conversion)
A box containing IGBT inverter circuit and gate drive circuit board.
A box containing the IGBT converter circuit and gate drive circuit board.
A status, in which the current output from this equipment, exceeds the continuous
rating of this equipment.
A conversion circuit that receives AC power and converts it to DC voltage (AC → DC
conversion).
A reversible converter also allows inverter operation but the converter connected on
the power supply side is called a converter.
DC main circuit power supply for TMdrive-30. This unit is used as common power
supply.
TMdrive-P30, TMdrive-T30, and TMdrive-D30 series are provided.
A panel used for data display and basic operation.
A motor that receives the power from TMdrive-30
An abbreviation for ACTIVE STAR COUPLER. Equipment that performs
transmission signal branching for the Toshiba optical transmission device
TOSLINE-S20.
Optical transmission device (Toshiba's product name). Exchanges operating
sequence signals and operation data with an external device equipped with this
transmission device.
CTR circuit board
EEPROM
GDM circuit board
IGBT
LCD
LED
MCCB
NPC
PP7
PSM
RAM
TOSLINE-S20
Initialize
Interface
Inverter
Inverter unit
Converter unit
Overload
Converter
Common converter
Operation panel
Load
ASC
TOSLINE-S20
— 19 —
6F3A4768
2.3 Specifications of TMdrive-30 and TMdrive-P30
This section describes the features of TMdrive-30 and specifications of TMdrive-P30.
2.3.1 Features
(1) High performance and high reliability
Use of a large capacity IGBT improves the reliability, reduces the switching loss, and improves the control
performance. The control circuit uses a newly developed power electronics equipment control processor
PP7 and an eight-layered surface mounting circuit board, ensuring high component integration and high
reliability.
(2) Highly precise speed control (TMdrive-30)
Use of totally digital and vector control ensures highly precise speed control and high speed response.
(ωc = 60 rad/s, ωc = 20 rad/s for speed sensor-less control)
(3) Transient response and stability
Use of totally digital and vector control makes it possible to ensure stable operation characteristics
including the transient status.
(4) Quadrantal operation (TMdrive-30)
Quadrantal operation, normal, reverse, power running, and regenerative operations are made smoothly.
(Note: This feature applies only when the reverse-parallel thyristor converter (TMdrive-T30) or IGBT
converter (TMdrive-P30) is used.)
(5) Supporting various speed sensors (TMdrive-30)
Drives a squirrel-cage induction motor. A pulse generator or high-resolution brushless resolver can be
used as a speed detector installed in the motor. Speed sensor-less vector control is also possible.
(6) High power factor (TMdrive-P30), high efficiency
A high efficiency drive system can be constructed due to high efficiency achieved by sine wave PWM
control and small device loss. Because TMdrive-P30 can control the power waveform as sine wave, it
reduces power supply higher harmonic waves and can control the power supply factor as high as 1.
(7) Energy saving
With combined with a common converter (TMdrive-P30, TMdrive-T30 (reverse-parallel type)) having
power regeneration function, the energy is saved in applications where continuous regenerative operation
is made, or the acceleration and deceleration are made repeatedly.
The regenerative energy is stored as DC voltage and used to drive other inverters. Additionally, the power
is regenerated to the AC power supply by the common converter with the power regeneration function.
(8) Maintenance tool (optional test and adjustment support tool)
Not only as a maintenance, monitoring, and fault analysis tool, this tool can also be used as an adjustment
tool. To change the parameters and collect traceback data, this tool is required.
(9) Main unit (PC) transmission
Transmission via Toshiba integrated controller (V series) and TOSLINE-S20 can be performed. This
equipment also supports open transmission such as ISBus, Profibus, and DeviceNet (optional).
— 20 —
6F3A4768
2.3.2 General Specifications (Structure)
The general specifications (structure) of the equipment are shown in below.
Table 2.3.1 General Specifications (Structure) (TMdrive-30, TMdrive-P30)
Item
Installation
environment
Panel dimensions
Coating
Panel Type
Protection structure
type
Enclosure plate
thickness
Paint color
Coating thickness
Screws
Panel name and panel No.
Temperature: 0 to 40°C
Humidity: 85% maximun
Altitude: 1000 m maximum above sea
level
Vibration: 10 to 50 Hz, 0.5 G maximum
Installation location: Indoors
No corrosive gas
Height: 2300 mm
Depth: 800 mm
Note: Width varies with inverter capacity.
TMEIC panel enclosure
Semi-closed enclosure (IP20)
Conforms to JEM-1267 (1975)
Door: 2.3 mm
Rear and side panels: 1.6 mm
Enclosure: JEM1135 (1982) 5Y7/1
Channel base and hoist angle:
N1.5 Internal panels are not painted
(except some specific area)
External surface: approx. 40 µm
Internal surface: approx. 30 µm
Metric screws (ISO)
Material
Nameplate
Standard specification
Dimensions
Style and
No. of chars
Acrylic (affixed)
Panel name: 250 mm (wid.) × 31.5 mm
(hgt)
Panel number: 63 mm (wid.) × 31.5 mm
(hgt)
Style:
Round Gothic (Japanese or English)
No. of chars:
Panel name: up to 27 chars
Panel No: up to 13 chars
Plate color: White, Char. Color: black
— 21 —
Optional
specification
Humidity:
95% maximum
(Measures against
dew condensation,
such as a space
heater, are
required)
[1] IP32
[1] Other specified
color
(Only for
enclosure)
[1] Customer
specification is
acceptable.
Remarks
If altitude is more
than 1000 m,
dilate the
specification at the
rate of 1%/200 m.
6F3A4768
2.3.3 General (Electrical) Specifications
The general (electrical) specifications for the equipment are shown in below.
Table 2.3.2 General (Electrical) Specifications (TMdrive-30, TMdrive-P30)
Item
Power supply and
fluctuation range
Required capacity
Interrupting capacity
PWM frequency
Regenerative method
Grounding protection
(Detection)
Schematic diagram
code
Display unit
(Standard or
high-function type
selection)
MMI
Other
Main
circuit
Control power
Control method
Input voltage
Output voltage
Capacity lineup
Output rated current
Generated loss
Motor to drive
Maintenance tool
Analog input
Analog output
Sensor
I/O
Digital input
Digital output
PLG pulse output
(TMdrive-30)
Speed sensor
(TMdrive-30)
Standard specification
Optional specification
3-level PWM method
See the detailed explanation in
2.3.10, “Ratings.”
Squirrel-cage induction motor
(TMdrive-30)
200 V ac, 50 Hz or
200/230 V ac, 50/60 Hz
Voltage fluctuation range:
2000 frames or less (1 bank) 1 kVA
4000 frames or less (2 banks) 2 kVA
25 kA or less
1.5kHz
Power regeneration by the converter
or mounting a regenerative
resistance in the converter
Not provided: TMdrive-30
Provided: TMdrive-P30
IEC-60617 (JIS C0301 Group 1)
Standard unit
Display: 7-segment LED × 3
Operation unit: Fault reset switch
Panel interlock switch
Status display LED × 3
Other: Tool I/F connector
Not provided
Differential 2 ch, ±10 V
(Isolator not required)
Differential 2 ch, ±10 V
(Isolator not required)
Multi-level (24-110 V dc, 48-120 V
ac) 2 ch
(One of them is its usage fixed.)
External power can be used.
24 V dc, 6 ch (only for internal power
supply)
No. of channels: 24 V dc, 6 ch
Single end 2-phase type
Differential rotary encoder (PD)
or single end type rotary encoder
— 22 —
380 V ac - 5 Hz: Step-down
transformer is required
separately. Regulation: ±10%
High-function unit
Display: Monochrome display
graphic module
240 × 64 dots LCD
Operation unit: Keypad
Fault reset switch
Panel interlock switch
Status display LED × 3
Other: Tool I/F connector
(See other pages for details.)
PC tool
Resolver
(1× and 4× both are enabled.)
6F3A4768
2.3.4 TMdrive-30 Control Specifications (Speed sensor: PLG)
The table below shows the TMdrive-30 control specifications when the speed sensor is PLG.
Table 2.3.3 TMdrive-30 Control Specifications (Speed sensor: PLG)
Item
Required hardware
Output frequency range
Motor rotation speed
Number of motors to drive
Speed sensor (PLG) input
condition
PLG pulse output
Speed control range
Speed control accuracy
(Rated speed: 100%)
Speed setting resolution
Speed response
Torque control range
Torque control accuracy
Standard specification
None
0 to 120 Hz
4 poles: 3600 min-1 (Max)
2 poles: 7200 min-1 (Max)
One unit
PLG with 2-phase output must be
used.
(Frequency: 100 kHz maximum)
Through output of the same pulse
signals as PLG input (Max. 10kHz)
0% to 100%
Torque is limited at very low speed
±0.01% with digital input
±0.1% with analog input
1/25000 (digital setting)
1/1000 or more (analog setting)
ωc = 60 rad/s (Max)
0 to 100%
±30% without R2 compensation
R2 compensation
(Torque compensation with
motor temperature sensor)
Not provided
Field weakening range
(Base speed: Top speed)
Current response
Current control accuracy
1:3
ωc = 1000 rad/s (Max)
±2%
— 23 —
Optional specification
±3% with R2 compensation
* Motor temperature sensor is
required.
Provided (The following motor
sensor is required.)
[1] Platinum resistance
[2] RTD unit
These are listed as optional
devices.
1:5
6F3A4768
2.3.5 TMdrive-P30 Control Specifications (Speed sensor: Resolver)
The table below shows the TMdrive-30 control specifications when the speed sensor is a resolver.
Table 2.3.4 TMdrive-P30 Control Specifications (Speed sensor: Resolver)
Item
Output frequency range
Motor rotation speed
Number of motors to
drive
Speed sensor (resolver)
input condition
PLG pulse output
Speed control range
Speed control accuracy
(Rated speed: 100%)
Speed setting resolution
Speed response
Torque control range
Torque control accuracy
Standard specification
0 to 120 Hz
-1
-1
4 poles: 3600 min (Max) 2000 min for
4X type
-1
2 poles: 3600 min (Max)
One unit
Brushless resolver (1 kHz or 4 kHz)
1x type and 4x type can be used.
n
Available to output 2 pulse
0% to 100%
Torque is limited at very low frequency
±0.01% with digital input
±0.1% with analog input
1/25000 (digital setting)
1/1000 or more (analog setting)
ωc = 60 rad/s (Max)
0 to 100%
±30% without R2 compensation
R2 compensation
(Torque compensation
with motor temperature
sensor)
Not provided
Field weakening range
(Base speed: Top
speed)
Current response
Current control
accuracy
1:5
ωc = 1000 rad/s (Max)
±2%
— 24 —
Optional specification
<Optional>
±3% with R2 compensation
* Motor temperature sensor is
required.
Provided
(The following motor sensor is
required.)
[1] Platinum temperature sensor
[2] RTD unit
These are listed as optional devices.
6F3A4768
2.3.6 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control)
The table below shows the TMdrive-30 control specifications for speed sensor-less vector control.
Table 2.3.5 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control)
Item
Required hardware
Output frequency range
Motor rotation speed
Number of motors to drive
Speed sensor
Speed control range
Speed control accuracy
(Rated speed: 100%)
Speed setting resolution
Speed response
Torque control range
Torque control accuracy
R2 compensation
(Torque compensation with
motor temperature sensor)
Field weakening range
(Base speed: Top speed)
Current response
Current control accuracy
Standard specification
None
1.8 to 120 Hz
-1
4 poles: 3600 min (Max)
-1
2 poles: 7200 min (Max)
One unit
None
3% to 100%
Torque is limited at very low frequency
±0.5% with digital input
±0.5% with analog input
1/25000 (digital setting)
1/1000 or more (analog setting)
ωc = 20 rad/s (Max)
Not applicable
Not provided.
However, motor overheat protection is
possible.
1:1.5
ωc = 1000 rad/s (Max)
±2%
— 25 —
Optional specification
1.0 to 120 Hz
6F3A4768
2.3.7 TMdrive-30 Control Specifications (Speed Sensor-less Vector Control with Driving Multiple Motors)
The table below shows the TMdrvie-30 control specifications for multiple motor drive speed sensor-less vector
control.
Table 2.3.6 TMdrive-30 Control Specifications
(Speed Sensor-less Vector Control with Driving Multiple Motors)
Item
Required hardware
Output frequency range
Motor rotation speed
Speed sensor
Speed control range
Speed control accuracy
(Rated speed: 100%)
Speed setting resolution
Speed response
Torque control range
Torque control accuracy
R2 compensation
(Torque compensation with
motor temperature sensor)
Field weakening range
(Base speed: Top speed)
Current response
Current control accuracy
Minimum number of units
to drive
Standard specification
None
1.8 to 120 Hz
-1
4 poles: 3600 min (Max)
-1
2 poles: 7200 min (Max)
None
5% to 100%
Torque is limited at very low
frequency
±1.0% with digital input
±1.0% with analog input
1/25000 (digital setting)
1/1000 or more (analog setting)
ωc = 15 rad/s (Max)
Not applicable
Optional specification
Compensation is possible with
one representative unit.
Motor overheat protection is
possible.
1:1.2
ωc = 1000 rad/s (Max)
±2%
Not provided
Variation range of the
number of units
Not provided
Connecting additional
motors while operating
Not provided
— 26 —
Provided
Max current detection board is required.
(Refer to the optional devices.)
The number of units to disconnect is up
to 50%
(When all of the units are connected, it is
assumed to be 100%)
Possible if the following conditions are
met:
Caution plates must be affixed.
• The speed must be 30% maximum
of the rated speed.
• The number of units must be 50%
maximum of the connected units.
For ordering information of caution
plates, refer to the optional devices.
6F3A4768
2.3.8 TMdrive-30 Control Specifications (V/f control)
The table below shows the TMdrive-30 control specifications for V/f control.
Table 2.3.7 TMdrive-30 Control Specifications (V/f control)
Item
Required hardware
Output frequency range
Motor rotation speed
Speed sensor
Speed control
Speed setting resolution
Current control
Current limit function
Slip frequency
compensation
Standard specification
None
0.0 to 120 Hz
-1
4 poles: 3600 min (Max)
-1
2 poles: 7200 min (Max)
None
None
1/25000 (digital setting)
1/1000 or more (analog setting)
None
Equipped
Current limit: 0 ~ 400%
Equipped
Rated slip frequency: 0 ~ 10%
— 27 —
Optional specification
0.0 to 120Hz
6F3A4768
2.3.9 TMdrive-30 Control Specifications
The table below shows the TMdrive-P30 Control Specifications.
Table 2.3.8 TMdrive-30 Control Specifications
Item
Basic control
method
Voltage control
range
Voltage control
accuracy
Voltage response
Restart at
instantaneous
power failure
Standard specification
Optional specification
Voltage control
+ power factor control
+ dp axis current control
AC input voltage effective value x
2 or more
1800Vdc or less
±5%
ωc= 60rad/s (max.)
Not provided
Provided
— 28 —
6F3A4768
2.3.10 Ratings
Tables 2.3.9, 2.3.10 and 2.3.11 list the ratings in the TMdrive-30 and TMdrive-P30 standard specifications.
Tables 2.3.12 and 2.3.13 list the ratings with over-load level in the TMdrive-30 and TMdrive-P30.
Table 2.3.9 TMdrive-30 Ratings Table (Standard Specifications)
Output
DC voltage AC voltage
capacity
[Vdc]
[Vac]
[kVA]
1500
1500
2000
2000
2×900
1250
3000
2×1500
4000
2×2000
(Note) Generated loss is an approximate value.
Frame size
Rated
current
[Arms]
693
924
2×693
2×924
DC distribution
capability
[%]
[Adc]
70
686
70
914
70
2×686
70
2×914
Generated loss
[kW]
18.5
24.5
37.5
49.5
Table 2.3.10 TMdrive-P30 Ratings Table (Standard Specifications)
Frame
size
2000
4000
Output
capacity
[kVA]
1700
2×1700
DC
voltage
[Vdc]
2×900
2×900
AC voltage
[Vac]
1100V±10%
1100V±10%
Rated input
Rated output Generated
Input power factor
current [Arms] current [Adc] loss [kW]
929
2×929
944
2×944
34
2×34
0.95 or more
0.95 or more
Where, the rated input current is a value when
input voltage
= 1100Vac
input power factor
= 0.98
Device efficiency = 0.98
The output capacity is a value when the input voltage is 1100 V ac or more. The output capacity when the input
voltage is below 1100Vac is as follows:
Output capacity [kW] = 1700 x (input voltage effective value) / 1100 Vac (See Figure Fig. 2.3.1).
Output capacity
100%
95.5%
85.5%
Input voltage
940V
1050V 1100V
1210V
Fig. 2.3.1 Relationship between input voltage and Output Capacity
— 29 —
6F3A4768
Table 2.3.11 Ratings Table (Standard Specifications)
Converter
Rated input
voltage
2×900Vac
1100Vac
Type
Thyristor
IGBT
Diode
Inverter output voltage
Vector control with Sensor-less vector
sensor
control
1250Vac
1200Vac
1250Vac
1200Vac
1150Vac
1100Vac
1200Vac
1150Vac
1250Vac
1200Vac
Converter input
regulation
±10%
±10%
±10%
±5%
+10%/−0%
2×700Vac
Table 2.3.12 Ratings with over-load level (TMdrive-30)
Frame
DC
voltage
AC
voltage
Vdc
Vac
1500
2000
3000
Rated AC current
Arms
OL150%
-60s
693
1800
1250
4000
OL175%
-60s
594
OL200%
-60s
520
OL250%
-60s
416
OL300%
-60s
347
924
792
693
554
462
1386
1188
1040
832
693
1848
1584
1386
1109
924
Table 2.3.13 Ratings with over-load level (TMdrive-P30)
Frame
2000
4000
DC
voltage
AC voltage
Vdc
Vac
OL150
%
-60s
1100±10
929
796
697
557
465
1858
1593
1394
1115
929
1800
%
Rated AC current
Arms
OL175%
-60s
— 30 —
OL200%
-60s
OL250%
-60s
OL300%
-60s
6F3A4768
2.3.11 Protective Functions
Fig. 2.3.2 shows the protection schematic diagram of TMdrive-30. Fig. 2.3.3 shows the protection schematic
diagram of TMdrive-P30.
The equipment is protected not only by current and voltage signals but also by protection detection in the control
circuit.
F_U
F_V
F_W
M_FN
M_FN_T
+
C_FN_T
C_FN
BR_F
Brake Circuit
Option
M
Tmp.
SS
+
ACSW
Thermal
switch
OH_T
F_C
OCA
OL5, OL20
OL_A
STALL
Gate Control Board
OVP,N
UVP,N
TOSLINE-S20
OCD
GDM_F
ASPR
Limit
ACR
PWM
TL_F
CP_PSF
CPU
CL_T
CL_TA
Main Control
OS
SP_ERR
SP_ERR2
OSS_F0
M_OH
M_OH_A
MTMP_S
Fig. 2.3.2 TMdrive-30 Protection System Diagram
— 31 —
6F3A4768
F_U
F_V
F_W
C_FN_T
C_FN
+
Thermal
switch
PRE-CHARGE
CIRCUIT
+
PRE-CHARGE
CIRCUIT
OH_T
OCA
OL5, OL20
OL_A
F_C
Gate Control Board
OCD
GDM_F
TOSLINE-S20
AVR
Limit
ACR
OVP,N
UVP,N
PWM
TL_F
CP_PSF
CPU
CL_T
CL_TA
Main Control
Fig. 2.3.3 TMdrive-P30 Protection System Diagram
— 32 —
F_PRE
PRE_F
F_GND
GR
GR_T
6F3A4768
Each protection function is shown in below.
2.3.11.1
Current-related protection
(1) AC over-current
OCA
When the output current exceeds the setting value, overcurrent is detected and an instantaneous trip
occurs.
Operation level is automatically set from CS_FRAME_SIZE, CS_EOUIP_CURR, AND CS_VOLT_RANK.
The operation level varies depending on the equipment and it is approx. 50 to 100% of the overload rating.
Manual setting for $CP_OCA is also possible.
(2) IGBT overcurrent
OCD
If IGBT malfunctions in the voltage type inverter and converter, two IGBTs in the same phase may turn on,
resulting in DC short-circuit. In this case, the charged capacitor is short-circuited with an IGBT element,
excessive current is flown to the IGBT element, and the gate signal of the IGBT becomes abnormal. This
condition is detected and an instantaneous trip occurs.
(3) Overload detection
OL5, OL20,OL_A
5-minute and 20-minute RMS computation of the output current is performed and when the predetermined
value is exceeded, activated.
5-minute RMS setting or 20-minute RMS setting is provided.
$CP_RMS_5
: 5-minute RMS protection
$CP_RMS_20 : 20-minute RMS protection
$CP_RMS_A5 : 5-minute RMS alarm
$CP_RMS_A20 : 20-minute RMS alarm
<Example> The equipment allows the following operation pattern. Therefore, the setting value is 5-minute
RMS when overload rated current (for example, 150%) continues for one minute after 100% continuous
operation.
150%
100%
4 minutes
1 minute
Fig. 2.3.1 Allowable Overload Operation Pattern
$CP_RMS_5 =
$CP_RMS_20 =
(12 x 4 + 1.52 x 1 ) / 5 = 1.118 = 111.8 %
(12 x 19 + 1.52 x 1 ) / 5 = 1.03 = 103.1 %
(4) Current limit timer
CL_T,CL_TA
When the current limit is reached for the predetermined time period, CL_T is detected.
The standard setting is CL = 60.0 (s).
This function provides an alarm. A current limit alarm (CL_TA) is detected at TIME_CL x 80%.
(5) Low frequency overload STALL (TMdrive-30)
This is detected when large load is applied at low frequency.
— 33 —
6F3A4768
2.3.11.2
Voltage Protection
(1) DC overvoltage
OVP,OVN
Activated when the DC voltage supply exceeds the setting value.
The operation level is automatically set to 120% of the equipment rating from CP_OV_LVL and
CS_DC_VOLT. Manual setting for $CP_OV is also possible.
(2) DC undervoltage
UVP,UVN
Activated when the DC voltage supply drops below the setting value.
The standard setting is DC undervoltage (UVP, UVN) detection level = 50.0%.
2.3.11.3
Motor Speed Protection (TMdrive-30)
(1) Overspeed
OSS
Overspeed is detected when the motor speed exceeds the preset speed.
The standard setting is $CP_OSP = 115.0%.
(2) Overfrequency
OSS_FO
Excessive output frequency is detected when the output frequency exceeds the setting value.
As the standard setting, the frequency [Hz] corresponding to 115% of the maximum frequency is set at
$CP_OSS_FO.
For operation up to 50Hz, set $CP_ISS_FO = 58 Hz.
(3) Speed detection error
SP_ERR, SP_ERR2
Activated when a speed sensor error (disconnection, etc.) is detected.
When a resolver is used as the speed sensor and when sensor-less speed control is used, SP_ERR is
activated upon error detection.
When PLG is used as the speed sensor, SP_ERR2 is activated upon error detection.
2.3.11.4
Control Circuit and Power Supply
(1) Control power supply failure
CPSF
Activated when the control power supply drops below the control power loss detection level.
The higher the setting level, the shorter the time it takes to detect control power loss.
In the standard setting, PSF = 140.0 (V) is set when restart at power failure (optional) is not provided and
160.0 V is set when restart at power failure (optional) is provided.
(2) Gate power supply failure
GDM_F
The power for the gate is supplied from the control power supply via the switching transformer on the gate
board. An error on this circuit (board) is detected.
(3) Equipment ventilation fan stop
C_FN,C_FN_T
Activated when the cooling fan for the equipment stops.
The common use is that an alarm is output with a C_FN signal and the equipment is stopped when a
C_FN_T is activated after an elapse of time specified by the TIME_CFAN timer.
The standard setting is TIME_CFAN = 10.0 (s).
(4) Equipment overheat timer
OH_T
A temperature sensor is attached to the IGBT cooling fan of the equipment. If this is activated, the
equipment stops after an elapse of time specified by the TIME_OH timer.
The standard setting is TIME_OH = 5.0 (s).
(5) Phase fuse blown
F_U,V,W
A fuse is provided for each phase to prevent damage expansion at short-circuit occurrence. A blown fuse is
detected by the microswitch.
— 34 —
6F3A4768
(6) Capacitor fuse blown
F_C
A fuse is provided in the capacitor unit to prevent damage expansion at short-circuit occurrence. A blown
fuse is detected by the mocroswitch.
(7) Output contactor open
ACSW (optional) (TMdrive-30)
When the output contactor that should be on is off, an ACSW error is detected.
(8) Output open
AC_NL (TMdrive-30)
AC_NL is detected when the output open state is detected.
(9) CPU error
CPU_A, CPU_M
An error is detected (by watchdog detection) in the microprocessor that performs control operation.
A CPU error in the circuit board is detected by hardware to protect CPU.
(10) Transmission error
TL_F1 ~ TL_F4
An error is detected in main unit transmission and transmission between drives.
(11) Pre-charge fuse blown F_PRE (TMdrive-P30)
A fuse is provided on the pre-charge circuit to prevent damage expansion at short-circuit accident
occurrence. A blown fuse is detected by the microswitch.
(12) Grounding fuse blown
F_GND (TMdrive-P30)
A fuse is provided on the grounding circuit to prevent damage expansion at grounding accident occurrence.
A blown fuse is detected by the microswitch.
2.3.11.5
Protection Associated with Motor and Break (TMdrive-30)
(1) Motor overheat
M_OH,M_OH_A
When a temperature sensor is provided (optional) for the motor, temperature is detected to protect the
motor.
The standard setting is $CP_MOTOR_OH = 155°C.
An M_OH_A alarm is activated at 10°C lower (fixed) than this setting value.
(2) Motor temperature detector fault MTMP_S
When the temperature of the motor temperature sensor above exceeds 200°C (fixed value), a sensor fault
is assumed and MTMP_S is detected.
(3) Motor cooling fan stop
M_FN,M_FN_T
If the motor cooling fun circuit is located outside, the operation signal of the cooling fan circuit is connected
to the inverter. This enables the motor cooling fan interlock to be set.
It is also possible to output an alarm to outside by an M_FN signal and stop the equipment when an
M_FN_T signal is activated after an elapse of time specified by the TIME_MFAN timer.
The standard setting is TIME_MFAN = 0.0 (s).
(4) Electromagnetic brake energizing circuit fault
BR_F
When an electromagnetic brake is provided optionally, brake energizing circuit fault is detected.
— 35 —
6F3A4768
2.3.11.6
Operation-related protection
(1) External safely switch
UVS
This is a hardware interlock signal to operate the equipment. When this switch is turned off, the equipment
stops by hardware logic, regardless of the equipment’s software.
(2) External equipment electrical ready condition
UVA_EX
This is an interlock signal to operate the equipment. When this switch is turned off, the equipment stops.
(3) External interlock
IL
This is an operation interlock signal from external devices. This signal is a hardware or serial transmission
signal.
(4) Panel safety switch
P_SW
This is an interlock switch on the panel. With this switch, operation can be stopped from the panel.
2.3.11.7
Pre-charge-related protection (TMdrive-P30)
(1) Pre-charge failure
PRE_F
When pre-charge failure (such as pre-charge circuit contactor fault or blown fuse) is detected, PRE_F is
detected.
2.3.11.8
Grounding detection-related protection (TMdrive-P30)
(1) Converter grounding detection
GR
GR is detected when abnormal current is detected in the grounding circuit that is grounded with main circuit
via high resistance.
(2) Converter grounding detection timer
GR_T
Activated when abnormal current is detected in the grounding circuit.
The common use is that an alarm is output to outside with a GR signal and the equipment is stopped when
a GR_T signal is activated after an elapse of time specified by the TIME_GR timer.
The standard setting is TIME_GR = 0.1 (s).
Table 2.3.14 and Table 2.3.15 show the main protective functions of TMdrive-30 and TMdrive-P30
respectively.
*1 and *2 in the tables represent the following notes.
*1) Detection
Hardware: Items that all IGBT is directly turned off by hardware.
Software: Items that detects an error via software and activities a protection linked operation.
*2) Items with a “Yes” mark and “(Yes)” mark are selectable items by parameter settings.
The standard setting is the “Yes” mark side. To set to the “(Yes)” mark side, consider the setting carefully
from a viewpoint of the system.
— 36 —
6F3A4768
Table 2.3.14 Main Protective Functions of TMdrive-30
Detection *1
Item
Abbreviation
AC overcurrent
DC overvoltage (P,N)
DC overcurrent
CPU failure
Gate power supply failure
External safety switch
Panel safety switch
Phase fuse blown
Capacitor fuse blown
External interlock
Transmission error
Overspeed
Speed detection error
External equipment
electrical ready condition
Equipment ventilation fan
stop timer
Control power source
failure
Current limit timer
DC voltage drop (P,N)
Overload (5 min)
OCA
OVP, OVN
OCD
CPU_A,CPU_M
GDM_F
UVS
P_SW
F_U,V,W
F_C
IL
TL_F1~4
OSS
SP_ERR
UVA_EXT
Overload (20 min)
OL20
Equipment overheat timer
Output open
Low frequency overload
Motor cooling fan stop
Electromagnetic brake
energizing circuit fault
Equipment overheat
Motor cooling fan stop
Current limit alarm
Equipment ventilation fan
stop
Motor overheat
Motor temperature
detector fault
Overload alarm
Motor overheat alarm
Hardware
Software
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Linked operations *2
Medium
Minor
Major fault
fault
fault
Coast
Dec
Stop
Alarm
stop
stop
request
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
(Yes)
Yes
Yes
(Yes)
Yes
Yes
(Yes)
OH_T
AC_NL
STALL
M_FN_T
BR_F
Yes
Yes
Yes
Yes
Yes
Yes
Yes
OH
M_FN
CL_TA
C_FN
Yes
Yes
Yes
Yes
Yes
Yes
(Yes)
(Yes)
Yes
Yes
(Yes)
M_OH
MTMP_S
Yes
Yes
(Yes)
Yes
Yes
(Yes)
OL_A
M_OH_A
Yes
Yes
Yes
Yes
Yes
C_FN_T
CPSF
CL_T
UVP, VVN
OL5
Yes
— 37 —
Related setting
$CP_OCA
$CP_OV
$CP_OSP
(Yes)
$TIME_CFAN
$CP_PSF
$TIME_CL
$CP_RMS_5,
$CP_RMS_A
$CP_RMS_20,
$CP_RMS_A20
$TIME_OH
Yes
$TIME_MFAN
$TIME_BR
Yes
6F3A4768
Table 2.3.15 Main Protective Functions of TMdrive-P30
Detection *1
Item
Abbreviation
AC overcurrent
DC overvoltage
DC overcurrent
CPU failure
Gate power supply failure
External safety switch
Panel safety switch
Phase fuse blown
Capacitor fuse blown
Main power supply failure
Power supply
synchronization PLL error
Equipment overheat timer
External interlock
Transmission error
External equipment
electrical ready condition
Equipment ventilation fan
stop timer
Control power source
failure
Current limit timer
DC voltage drop (P,N)
Overload (5 min)
OCA
OVP, OVN
OCD
CPU_A,CPU_M
GDM_F
UVS
P_SW
F_U,V,W
F_C
MPSF
PLL
Overload (20 min)
OL20
AC input breaker open
timer
Grounding detection timer
Equipment overheat
Equipment ventilation fan
stop
Initial charge failure
Current limit alarm
Overload alarm
Grounding detection
alarm
ACSW_T
OH_T
IL
TL_F1~4
UVA_EXT
Hardware
Software
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Linked operations *2
Medium
Major fault
fault
Current
Stop
Gate block
input
request
stop
breaker trip
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Minor
fault
Alarm
$CP_OCA
$CP_OV
$CP_VREC_MPSF
$TIME_OH
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
GR_T
OH
C_FN
Yes
Yes
Yes
Yes
Yes
(Yes)
PRE_F
CL_TA
OL_A
GR_A
Yes
Yes
Yes
Yes
Yes
Yes
(Yes)
(Yes)
Yes
Yes
(Yes)
C_FN_T
CPSF
CL_T
UVP, VVN
OL5
— 38 —
Related setting
$TIME_CFAN
$CP_PSF
$TIME_CL
$CP_RMS_5,
$CP_RMS_A
$CP_RMS_20,
$CP_RMS_A20
$CP_GDI
Yes
6F3A4768
2.4
Product Code
Products codes are explained as follows.
2.4.1 TMdrive-30
The configuration of product code used for TMdrive-30 is shown below. First 9 letters are shown on the inverter
rated plate. See the schematic diagrams for optional functions.
Table 2.4.1 Product Code
Column
1
V T 3
5
7
1~4
5
Model
name
Type
Output voltage
Frame size
:5
TMdrive
-30
Enter the panel
structure
Enter the output
voltage class
Enter the frame
size
Japanese
J:
model
6
6
C:
1200V
system
10 11
7~9
10
1500:
152
2000:
202
3000:
302
4000:
402
Indication range of nameplate
<Product code example>
VT35JC152
VT35 TMdrive-30
J
Japanese specifications
C
Output voltage class: 1200V system (1250V)
152
1500 frame (1500kVA)
— 39 —
11
S/V classification 1 S/V classification 2
Specify whether
special
specifications are
required or not.
Blank
Standard
Blank
Standard
V:
Special
specifications
are applied
(Specify when
job No. is
issued.)
6F3A4768
2.4.2 TMdrive-P30
The configuration of production code used for TMdrive-P30 is shown below. First 9 letters are shown on the
inverter rated plate. See the schematic diagrams for optional functions.
Table 2.4.2 Products Code
Column 1
V T 3
1~4
Model
name
:G
TMdrive-P3
0
5
6
5
6
7
7~9
10
Type
Voltage
Frame size
Enter the panel
structure
Enter the input
voltage class
Enter the frame
size
Japanese
J:
model
C:
1200V
system
10 11
2000:
4000:
202
402
Indication range of nameplate
<Product code example>
VT3GJC202
VT3G TMdrive-P30
J
Japanese specifications
C
Output voltage: 1200V system (1100V)
202
2000 frames (1700kW)
— 40 —
S/V classification 1
11
S/V classification 2
Specify whether
special specifications
are required or not.
Blank
Standard
Blank
Standard
V:
Special
specifications
are applied
(Specify when
job No. is
issued.)
6F3A4768
3
Interface
The interface of TMdrive-30 and TMdrive-P30 with external devices consists of two major interface systems,
power supply system interface and control system interface.
3.1 Power System Interface and Grounding
3.1.1 Power supply
3.1.1.1 TMdrive-30
TMdrive-30 requires the main circuit DC power supply 2x900Vdc and control power supply 220/230Vac, 60Hz
or 200Vac, 50Hz. The main circuit DC power supply 2x900Vdc is received at 90P1, 90C1, and 90N1 of the
power supply conductor (called “common bus” hereafter) located at the bottom of the enclosure.
Power is supplied to the common bus from a separately installed common converter (such as TMdrive-P30).
220/230Vac-60Hz or 200Vac-50Hz is supplied to the power supply terminal (20R1, 20SI, and 20T1) as control
power supply.
3.1.1.2 TMdrive-P30
TMdrive-P30 requires the AC main power supply 1100Vac and control power supply 220/230Vac, 60Hz or
200Vac, 50Hz.
3.1.2 Grounding
Fig. 3.1.1 shows the recommended grounding circuit of TMdrive-30 and TMdrive-P30 with associated units.
TMdrive-30 and TMdrive-P30 are normally used together and the common DC bus bar is used to connect
between these two drive units. In this configuration, ground bus bar is also provided to connect between them.
This equipment should be grounded in the following way:
●
●
●
●
●
Connect the control ground from the ground bus bar (E1) to the drive unit ground trunk line (ED), at one
point.
Connect the main circuit neutral point and the motor ground to E2, and connect the ground from the
converter to EHT, at one point.
Wire the ED trunk line and EHT trunk line to the ground pole via the shortest route.
(For the purpose of fixing the ground potential of the equipment for high frequency components.)
When grounding a drive unit, use a ground pole executed with C-type grounding (100Ω or less ground
resistance).
When grounding the motor also, wire it to the ground pole via the shortest route.
Drive units can be installed in several ways, as shown in Table 3.1.1.
— 41 —
6F3A4768
Transformer
Separation
plate
Coupling
Terminal box E
Frame E
Motor
c) Connect the terminal
box ground terminal and
frame ground terminal
with a cable
Machine
d) For a single-core
cable, connect the
shield of each phase.
b) Shield of the main
circuit cable
EHT
If no neutral point is provided
in the converter, only E1 is
provided. In this case,
connect from INV to EHT.
EN
e) Motor ground cable
For a crane and ships, only one
type is provided and it is allowed.
Main circuit
neutral point
E1
E2
CONVERTER
ED
E1
E1
INVERTER
Drive unit control ground trunk line
EHT
(a2) Connect the drive unit ground from the panel
enclosures to the control ground trunk line (ED), at
one point.
Drive unit main circuit
ground trunk line
(a1) Connect the drive unit ground from the panel enclosures to the main circuit
ground trunk line (EHT), at one point. Ground it from the converter panel
enclosure, whenever possible.
f) When adding a drive unit to the existing ones,
install a ground trunk line, separately from the
existing ground trunk line.
Existing
drive unit
Existing
drive unit
Ground trunk line for existing drive unit.
Fig. 3.1.1 Recommended Ground Circuit
!
CAUTION
When recommendation grounding construction is not constructed,
a control equipment may incorrect-operate by the noise etc., or
may not function normally.
— 42 —
6F3A4768
Table 3.1.1 Grounding Types
Installation
symbol
Installation construction
class
Main types of equipment
grounded
EA
Class A Under 10 Ω
Lightning rods
EHT
Class A Under 10 Ω
Special high-voltage frames
EN
Class B Under 10 Ω
Transformer midpoints, insect
protection plates
ELT
Class C Under 10 Ω
Low-voltage equipment
grounding
ED
Class C Under 10 Ω
Drive units
ECG
Class C Under 10 Ω
PLC, control system grounding
Remarks
Use the shortest possible
lines for the ground trunk
Use the shortest possible
lines for the ground trunk
3.2 Motor Interface (TMdrive-30)
When connecting to the motor, use a shielded cable and be sure to connect it to the grounding conductor on both
the drive unit side and motor side.
3.2.1 One Motor
Connect the output terminals (U, V, W) of the equipment and motor terminals (R, S, T).
At this time, connect the output terminals of the equipment and motor terminals (U-R, V-S, W-T) as they are,
irrespective of the rotation direction of the motor. The rotation direction of the motor can be set by parameters of
the equipment. Do not change the cable interface to avoid confusions.
3.2.2 Multiple Motors
The sensor-less vector control, option, allows to control the parallel motor connections.
When multiple motors (n units) are connected in parallel, protection circuits are generally provided for each
motor.
— 43 —
6F3A4768
3.3 Speed Sensor Interface (TMdrive-30)
A pulse generator (PLG) or resolver is used as speed detector. At this time, note that the model of the XIO circuit
board may vary depending on the type of sensor.
ARND-3120A: PLG or sensor-less vector control
ARND-3120B: Resolver or sensor-less vector control
3.3.1 PLG Interface (Differential Type)
The number of PLG output pulses [P/rev] is selected so that the PLG output pulse frequency at the maximum
speed satisfies Equation 3.3.1. If it exceeds the specified range, the pulse may not be recognized, causing the
control not to be done.
Equation 3.3.1 3300 [Hz] ≤ (rated motor speed) [min-1] / 60 x PLG pulse count [P/rev] ≤ 100000[Hz]
When using a PLG as speed sensor, pulse count of PLG output depends on the pulse count of the speed sensor
and they become the same value (cannot be changed).
+15V
+5V
Jumper
setting
PGZ
0V
PGA
T1-14
T1-15
T1-12
T1-13
T1-16
T1-17
T1-11
T1-10
T1-1
+15V 0V
or +5V
PGB
PG
Fig. 3.3.1 PLG Interface
— 44 —
6F3A4768
3.3.2 Resolver Interface
When the high-performance vector control (optional) is specified, a resolver is connected to this equipment. An
optimal type is selected depending on the rated motor RPM from those shown in Table 3.3.1. (Either 1 kHz
excitation or 4 kHz excitation)
Table 3.3.1 Resolver Types
Type
Frange type
Stationary type
Pan-cake type
Rated RPM
1000 min-1 or less (4x)
1000 min-1 or more (1x)
(1000 min-1 or more can not be used)
Wiring diagram
Wiring diagram
Model
Model
Fig. 3.3.2
Fig. 3.3.2
TS2118N24E10N
a
TS2118N21E10N
b
TS2113N24E10NL
c
TS2113N21E10NL
d
TS2025N304E10
e
TS2025N301E10
e
Manufacturer: Tamagawa Seiki Co. Japan
The cable and wiring of the resolver may vary depending on the type of the resolver. For typical wiring, see Fig.
3.3.2. Always use the cables specified in Table 3.3.2. Additionally, the wiring is particularly vulnerable to noise.
Always pay special attention so that the cables are separated sufficiently from the main circuit and wire bundling
duct. The motor rotating direction and speed feedback polarity can be set using the parameters of the
equipment. Therefore, never change the feedback polarity by changing the resolver wiring.
Table 3.3.3 shows the relationship between the equipment parameter setting and rotating direction.
Table 3.3.2 Specified Cables for Resolver
Manufacturer
Specification No.
Cable specifications
Showa Densen
WS82-1066
KMPEV-CU
4 P × 2 mm
2
Fujikura Densen
II-35122 (TPK88-1001)
IPEV-S (Cu) 4 P × 2 mm
2
Furukawa Denko
HT-880320 (TPK88-2001)
KPEV-S (Cu) 4 P × 2 mm
2
Mitsubishi Denko
BST-89112
SPEV (Cu)
4 P × 2 mm
2
Hitachi Densen
SP20-23768A
KPEV-S (Cu) 4 P × 2 mm
2
Sumitomo Denko
No. 3-23968
JKEV-S
2
Nishinihon Densen
DK-89144
JKPEV-SCT 4 P 2 mm
4 P × 2 mm
2
Table 3.3.3 Rotating Direction Settings
Rotating direction when the power is supplied to R -> S->
T of the motor in that order
$FLG_WVU
Rotating direction when the positive speed reference is
applied
Polarity of $CS_MOTOR_RPM
CCW*1
(for reference)
1
CW
0
CW
CCW
CW
CCW
+
-
+
-
*1) CCW rotation can be obtained by supplying power in the order of R->S->T with wiring connection between
equipment and motor in reverse but do not use this way to avoid confusion.
CW (Clockwise):
Clockwise viewed from the opposite side of motor load
CCW (Counter-clockwise): Counter-clockwise viewed from the opposite side of motor load
When the directional setting is changed, make sure to initialize the system (turn on and then off the MCCB
“CONTROL”) to make the new setting effective.
— 45 —
6F3A4768
Drive unit
ARND-3120B/C/D
Resolver
G
H
R4 R
1x type
Resolver
4
S4 S2
TS2113N21E10
5
6
TB1-4
4x Type
3
S3
TB1-5
2
S1
cos
..
TB1-3
1
TB1-2
8
R2 R
Sin
..
TB1-7
7
c) TS2113 series (stationary type) 4x
Drive unit
F
R1 R3
EXcos
..
TB1-6
TB1-8
TS2113N24E10
E
ARND-3120B/C/D
TB1-9
6
R1 R3
TB1-1
5
TB1-4
4
S2 S4
D
S4 S2
TS2118N21E10
Exsin
..
cos
..
TB1-5
TB1-3
Resolver
3
S3
TB1-2
2
S1
Sin
..
TB1-7
TB1-6
TB1-8
TB1-9
TB1-1
1
Drive unit
EXcos
..
C
S3
b) TS2118 series (flange type) 1x
ARND-3120B/C/D
Exsin
..
TB1-4
4x type
a) TS2118 series (flange type) 4x
Drive unit
B
S1
TB1-5
Resolver TS2118N24E10
A
TB1-3
H
cos
..
Ye Wh Gr Wh Re Wh
Bl Wh
R2 R
Sin
..
TB1-2
G
TB1-7
F
R1 R3
EXcos
..
TB1-6
TB1-8
E
Exsin
..
Resolver
Relay
Terminal
Gr Wh Re Wh
S2 S4
ARND-3120B/C/D
TB1-9
D
TB1-1
C
S3
TB1-4
B
S1
Ye Wh
cos
..
TB1-5
TB1-3
A
Sin
..
TB1-2
Wh
TB1-7
Resolver
Relay
Terminal Bl
EXcos
..
TB1-6
TB1-8
TB1-9
TB1-1
Exsin
..
Drive unit
7
R1 R3
8
R4 R
1x Type
d) TS2113 series (stationary type) 1x
ARND-3120B/C/D
Exsin
..
EXcos
..
Sin
..
cos
..
TB1-4
TB1-5
TB1-3
TB1-2
TB1-7
TB1-6
TB1-8
TB1-9
TB1-1
4x type
1x type
1000
1500
2250 min
f) Selection standard of 1x and 4x
A
B
S1
Resolver
C
S3
D
S2 S4
E
F
R1 R3
TS2025N304E10
TS2025N301E10
G
H
R2 R
4x Type
1x Type
e) TS2025 Type (Pan-cake type)
Fig. 3.3.2 Type and Wiring of Resolvers
— 46 —
-1
6F3A4768
3.3.3 Sensor-less Vector Control
In this control, no speed sensors are required. Either of the following two XIO circuit board types is used.
ARND-3120A:
PLG or sensor-less control
ARND-3120B:
Resolver or sensor-less control
The following cautions must be observed when using the sensor-less vector control.
(1) PLG pulse signals obtained using the vector control with sensor cannot be obtained with sensor-less vector
control.
(2) The speed feedback signal obtained by operations of sensor-less vector control shows the specified
accuracy only when the inverter is supplying current to the motor. Therefore, if the motor is made to a coast
stop or when it is running by outside force, the speed feedback signal does not show correct values.
(3) Do not use the inverter in an application where the inverter is being started in the direction opposite the
motor that is currently running.
(4) When the motor is replaced, readjustment is required (except the case when the replaced motor is the
same type and form as before.)
(5) When field weakening control is used, rapid acceleration/deceleration such as current limit
acceleration/deceleration is not allowed.
When sensor-less vector control is used to drive multiple motors in parallel, be careful about the following as
well as above.
(1) A twin drive inverter cannot balance the current between bankers and thus it cannot be used in a system to
drive multiple motors in parallel. (For example, it is not possible to drive 20 motors with 10 motors in each
bank.)
(2) Motors running in parallel must have the same rating and the load devices of the motors must have the
same moment of inertia (GD2). If different rating motors are included or the load condition changes
continuously (GD2 is different), parallel operation is not possible.
(3) When motors are running at a constant speed of less than 10% and the load devices of the motors are
unbalanced, motors with no load or light load receive over excitation and thus require overheat measures.
(4) Stopping torque (torque required for motor + 50%) must be secured. (For example, when load torque 200%
is required, the motor must have 250% or more torque output.)
(5) Variation in the number of motors while running can be up to 50% at one time.
(6) When connecting an additional motor to the running inverter, design sequence so that a motor is added
only when the inverter output voltage is at 30% ( ≈ operation speed at 30%) or less. In this case, the number
of units connectable at the same time to the inverter is one unit or within 10% of the total number of motors.
(7) The minimum speed is 1.8 Hz. A continuous constant speed operation or jog run at a speed less than 1.8Hz
cannot be made.
(8) APC (position control) has limitations on how to stop the motor. For example, with a speed of 5% or less, a
coast stop or DC braking (DB) is possible but this cannot be applied in an application where targeted
stopped position accuracy cannot be obtained unless the speed is controlled and reduced to 5% or less.
— 47 —
6F3A4768
3.3.4 Speed Pulse Signal Output (Single end type)
When the resolver or PLG is used, the speed signal can be output as pulse signal. (These pulse signals cannot
be output in the sensor-less vector control.) Fig. 3.3.3 shows the PLG pulse output circuit. The power for pulses
is supplied from an external power supply. Prepare this external power supply in a range of 15 V to 48 V.
The PLG pulse output consists of two phases, PGA and PGB. When the motor rotates in the normal direction,
the pulse has 90°-advance phase. The pulse signals (power supply level supplied from outside) are insulated
from the control power supply in the equipment through a photo-coupler.
The pulse output count per motor revolution can be set as follows. At this time, make the settings so that the
pulse count at 100% speed does not exceed 10 kHz. If it exceeds 10 kHz, this may cause the pulses not to be
transmitted.
(1) 1x type resolver is used.
$CS_RES_TYPE = 1
$CS_PGOUT:
Any of 64, 128, 256, 512, and 1024 is set.
<Example> When the 100%-speed is 1800 min-1.
$CS_PGOUT is determined so that (1800/60) x $CS_PGOUT < 10000 is satisfied.
$CS_PGOUT < 10000/(1800/60) = 333
Therefore, $CS_PGOUT = 256.
(2) 4x type resolver is used.
$CS_RES_TYPE = 4
$CS_PGOUT:
Any of 256, 512, 1024, 2048, and 4096 is set.
<Example> When the 100%-speed is 400 min-1.
$CS_PGOUT is determined so that (400/60) x $CS_PGOUT <10000 is satisfied.
$CS_PG_OUT < 10000/(400/60) = 1500
Therefore, $CS_PGOUT = 1024.
(3) When PLG is used.
$CS_RES_TYPE = 1
$CS_PGOUT = 0
(Always set this value to “1”.)
(Always set this value to “0”.)
The output pulse count is the same as that input.
If the above setting is changed, always initialize the equipment (turn off the control power MCCB
“CONTROL”, and turn it on again) to make the newly set data valid.
PGA
PGB
ARND-3120
TB1-23
TB1-22
TB1-21
TB1-20
TB1-19
TB1-18
+15 V to 48 V 0 V
PG
Fig. 3.3.3 Speed Pulse Signal Output Circuit
— 48 —
6F3A4768
3.4 Serial Transmission
In addition to P-I/O, this drive equipment also supports serial data transmission using a transmission unit. The
TMdrive-10 can be set up to use one, the other, or both of these techniques. The serial data transmission unit
provides an interface with upstream programmable controllers (PLC units).
The serial data transmission unit provides two types of transmission: scan transmission and message
transmission, although it can be used for scan transmission only depending on the system specifications or
transmission type.
In addition, in this book, the case where drive equipment receives from external equipments, such as PLC, is
considered as "reception" or a "input", and the case where it transmits to external equipment from drive
equipment is considered as "transmission" or a "output".
(1) Scan transmission
This transmission system transmits data at specified intervals (at regular time). This system is used to input
and output the speed and sequence signals between the drive unit and PLC.
(2) Message transmission
This transmission system transmits data among specified stations at irregular time. This system is
applicable to transmission of a lot of data, such as trace-back data if a fault occurs. This transmission
corresponds by TOSLINE-S20 transmission and ISBus transmission. In TOSLINE-S20 transmission, it is
an option by system specification.
(3) Transmission unit
Unit of transmission data is called “word”. 1 word is 16 bits.
1 word of the number of scan memory word is 16 bits.
See 70 page to transmission data format.
3.4.1 Transmission Types
Depending on the scan transmission speed and the number of stations, two types of transmission systems are
available as shown in Table 3.4.1 to Table 3.4.4. An optimal transmission type suitable for the user’s application
is selected.
Table 3.4.1 Overview of TOSLINE-S20
Maximum number of stations
Scan memory words
Transmission speed of scan
transmission
Frame size of message
transmission
Standard version
PLC station: 1 unit
Drive station: 63 units
(ASC is used.)
Maximum 1024 words
16 words send and
receive/unit
64 stations × 16 words
Interval: 25 ms
8 stations × 16 words
Interval: 4 ms
544 bytes
— 49 —
High speed version
PLC station: 1 unit
Drive station: 4 units
Maximum 128 words
16 words send and
receive/unit
4 drive units × 16 words
Interval: 2 ms
2 drive units × 16 words
Interval: 1 ms
74 bytes
6F3A4768
Table 3.4.2 Overview of ISBus
Maximum number of stations
ISBus
Master or drive station: 32 units
Scan memory words
Transmission speed of scan
transmission
10 words send and receive/unit
Maximum 5Mbps
Frame size of message
transmission
128 bytes
Table 3.4.3 Overview of DeviceNet
Maximum number of stations
Scan memory words
Transmission speed of scan
transmission
Frame size of message
transmission
DeviceNet
Master or drive station: 64 units
4 words send and receive /unit,
4 words send and 10 words receive
/unit
125 kbps, 256 kbps, 500 kbps
Not supported
Table 3.4.4 Overview of PROFIBUS
Maximum number of stations
Scan memory words
Transmission speed of scan
transmission
Frame size of message
transmission
PROFIBUS
Cable type A
Master or drive station: 32 units
(with repeater)
Master or drive station: 99 units
(without repeater)
6 words send and receive /unit
9.6 kbps ~ 12 Mbps
(Set by Master side)
Not supported
— 50 —
6F3A4768
3.4.2 TOSLINE-S20 Specifications
Two types of TOSLINE-S20 are available depending on the connector type. As shown below, TOSLINE-S20
with the standard specifications uses F07-type optical connector. Table 3.4.5 shows the standard specifications.
Table 3.4.5 TOSLINE-S20 Hardware Specifications
TOSLINE-S20 transmission board type
ARND-8213A, 8217A
ARND-8110A, 8213D, 8217D
Connector type F07 type optical connector
FC type optical connector
Silica optical cable
Fiber
HPCF cable
specification*1) 200/230 µm (Core diameter/Clad
GI model 50/125 µm (Core diameter/Clad
diameter)
diameter)
Transmission
Maximum distance between stations: Same as left
distance
1 km
Overall length: 10 km or less
ASC22 SASC22*US
Applicable
ASC25 SASC25*US
FC connector: 10 ch
ASC model
FC connector: 2 ch
F07 connector: 8 ch
*1)The cable with which wavelength specification differs cannot be used.
Use ASC25(Active Star Coupler) to connect this standard specification TOSLINE-S20 and PLC.
Item
3.4.2.1 TOSLINE-S20 Connections
The connections may vary depending on the type of connector as shown in Fig. 3.4.1.
ASC25
FC connector × 2
F07 connector × 8
T3H
To be connected to other ASC.
F07 connector
Drive Equipment
F07 connector
...
Drive Equipment
a) Connections of F07 connector
T3H: 2 units can be
connected.
CIEMAC: 4 units × n
Optional circuit board
F07 connector
FC connector
Drive Equipment
F07 connector
FC connector
Drive Equipment
b) Connections of FC connector
Fig. 3.4.1 Examples of TOSLINE-S20 Connections
— 51 —
6F3A4768
3.4.2.2 Scan Transmission
This transmission system transmits data at specified intervals (at regular time). The drive unit contains inputs
and outputs. The input is command inputs, such as speed reference and sequence signals from the PLC.
The output is used to transmit actual speed and current values from the drive unit to host control or monitor units,
such as PLC. The scan transmission system uses a common memory system, in which data written on each
station is shared by all stations.
▪Common Memory System
Data is exchanged between the microcomputer of the drive unit and TOSLINE-S20 though dual-port RAM
(DPRAM). For details, see Fig. 3.4.2.
The microcomputer that controls the drive equipment writes (outputs) send data at a specified address of the
DPRAM in the TOSLINE-S20 at specified intervals (1 ms to 25 ms, this may vary depending on the type of
system).
Additionally, this microcomputer reads (inputs) data at a specified address of the DPRAM. Addresses, at which
each station writes data, are allocated (by each station) so that they are not duplicated.
The transmission system of the TOSLINE-S20 transmits data on this DPRAM to all stations at specified
intervals (this interval may vary depending on the number of stations connected). The data is then written to the
DPRAM on each station.
The same data on this DPRAM is then made on all stations. Therefore, this system is called “common memory”.
Use of the scan transmission makes it possible to transmit data between drive units (called transmission
between drive units), as well as data transmission between the drive unit and PLC.
▪Number of Transmission Words
The maximum number of transmission words which one station (drive equipment) treats is the following
number of words, when using transmission between drives. Smaller value than this is also available.
Data which drive equipment receives from PLC:
6 words
Data which drive equipment receives from other drive equipments:
4 words
Data which drive equipment outputs:
10 words
In case that transmission between drives is not used, the maximum number of transmission words is the
following number of words. Smaller value than this is also available.
Data which drive equipment receives from PLC:
10 words
Data which drive equipment outputs::
10 words
— 52 —
6F3A4768
Memory allocated to Drive-1
Control circuit
Input 6 W
Send
Output 10 W
Receive
Transmission
Memory allocated to Drive-2
Input 6 W
FC Connector
Output 10 W
Memory allocated to Drive-n
Input 6 W
Output 10 W
TOSLINE-S20
PLC
ASC25
System master equipment
Memory allocated to Drive-1
Control circuit
Receive
Send
Input 6 W
Output 10 W
Transmission
Memory allocated to Drive-2
Input 6 W
Output 10 W
Can be received
Memory allocated to Drive-n
using options.
Input 6 W
Output 10 W
TOSLINE-S20
Drive-1
Drive Equipment
Memory allocated to Drive-1
Control circuit
Receive
Send
Input 6 W
Output 10 W
Transmission
Memory allocated to Drive-2
Input 6 W
Output 10 W
Can be received
using options.
Memory allocated to Drive-n
Input 6 W
Output 10 W
TOSLINE-S20
Drive-2
Drive Equipment
Fig. 3.4.2 Description of Common Memory
— 53 —
6F3A4768
TL-S20 Master
(PLC)
ARND-8110
ARND-8213
ARND-8217
TL-S20 Slave
Drive Equipment
Common Memory $SCAN_R_ADRS+0
Optional Address defined by $SCAN_RCV01_AS
Common Memory $SCAN_R_ADRS+1
Optional Address defined by $SCAN_RCV02_AS
Common Memory $SCAN_R_ADRS+2
Optional Address defined by $SCAN_RCV03_AS
Common Memory $SCAN_R_ADRS+3
Optional Address defined by $SCAN_RCV04_AS
Common Memory $SCAN_R_ADRS+4
Optional Address defined by $SCAN_RCV05_AS
Common Memory $SCAN_R_ADRS+5
Optional Address defined by $SCAN_RCV06_AS
Drive Equipment $TL_OP_ST1
Common Memory $TL_OP_DT1
Drive Equipment $TL_OP_ST2
Optional Address defined by $SCAN_RCV07_AS
Common Memory $TL_OP_DT2
Drive Equipment $TL_OP_ST3
Optional Address defined by $SCAN_RCV08_AS
Common Memory $TL_OP_DT3
Drive Equipment $TL_OP_ST4
Optional Address defined by $SCAN_RCV09_AS
Common Memory $TL_OP_DT4
Optional Address defined by $SCAN_RCV10_AS
TL-S20 Master
(PLC)
Common Memory $SCAN_W_ADRS+0
Optional Address defined by $SCAN_WR01_AS
Common Memory $SCAN_W_ADRS+1
Optional Address defined by $SCAN_WR02_AS
Common Memory $SCAN_W_ADRS+2
Optional Address defined by $SCAN_WR03_AS
Common Memory $SCAN_W_ADRS+3
Optional Address defined by $SCAN_WR04_AS
Common Memory $SCAN_W_ADRS+4
Optional Address defined by $SCAN_WR05_AS
Common Memory $SCAN_W_ADRS+5
Optional Address defined by $SCAN_WR06_AS
Common Memory $SCAN_W_ADRS+6
Optional Address defined by $SCAN_WR07_AS
Common Memory $SCAN_W_ADRS+7
Optional Address defined by $SCAN_WR08_AS
Common Memory $SCAN_W_ADRS+8
Optional Address defined by $SCAN_WR09_AS
Common Memory $SCAN_W_ADRS+9
Optional Address defined by $SCAN_WR10_AS
Fig. 3.4.3 TOSLINE-S20 Transmission (Using transmission between drive units)
— 54 —
6F3A4768
TL-S20 Master
(PLC)
ARND-8110
ARND-8213
ARND-8217
TL-S20 Slave
Drive Equipment
Common Memory $SCAN_R_ADRS+0
Optional Address assigned by $SCAN_RCV01_AS
Common Memory $SCAN_R_ADRS+1
Optional Address assigned by $SCAN_RCV02_AS
Common Memory $SCAN_R_ADRS+2
Optional Address assigned by $SCAN_RCV03AS
Common Memory $SCAN_R_ADRS+3
Optional Address assigned by $SCAN_RCV04_AS
Common Memory $SCAN_R_ADRS+4
Optional Address assigned by $SCAN_RCV05_AS
Common Memory $SCAN_R_ADRS+5
Optional Address assigned by $SCAN_RCV06_AS
Common Memory $SCAN_R_ADRS+6
Optional Address assigned by $SCAN_RCV07_AS
Common Memory $SCAN_R_ADRS+7
Optional Address assigned by $SCAN_RCV08_AS
Common Memory $SCAN_R_ADRS+8
Optional Address assigned by $SCAN_RCV09_AS
Common Memory $SCAN_R_ADRS+9
Optional Address assigned by $SCAN_RCV10_AS
Common Memory $SCAN_W_ADRS+0
Common Memory $SCAN_W_ADRS+1
Optional Address assigned by $SCAN_WR01_AS
Common Memory $SCAN_W_ADRS+2
Optional Address assigned by $SCAN_WR03_AS
Common Memory $SCAN_W_ADRS+3
Optional Address assigned by $SCAN_WR04_AS
Common Memory $SCAN_W_ADRS+4
Optional Address assigned by $SCAN_WR05_AS
Common Memory $SCAN_W_ADRS+5
Optional Address assigned by $SCAN_WR06_AS
Common Memory $SCAN_W_ADRS+6
Optional Address assigned by $SCAN_WR07_AS
Common Memory $SCAN_W_ADRS+7
Optional Address assigned by $SCAN_WR08_AS
Common Memory $SCAN_W_ADRS+8
Optional Address assigned by $SCAN_WR09_AS
Common Memory $SCAN_W_ADRS+9
Optional Address assigned by $SCAN_WR10_AS
Optional Address assigned by $SCAN_WR02_AS
Fig. 3.4.4 TOSLINE-S20 Transmission (Using transmission between drive units)
— 55 —
6F3A4768
Table 3.4.6 shows the parameter settings. Since these settings may greatly affect operation of the entire system,
the settings must be determined by taking the configuration of the entire PLC system into consideration. For
details of settings, see the instruction manual for parameters and actually set data.
Table 3.4.6 Transmission Parameter Settings
Data name
$COMM_TYPE
Application
Transmission
mode selection
Setting value
example
0000 H
0400 H
21
6
Not used
TL-S20 standard version transmission
(ARND-8110)
TL-S20 high-speed version transmission
(ARND-8110),
or PROFIBUS transmission (ARND-8130)
TL-S20 standard version transmission
(ARND-8217)
TL-S20 high-speed version transmission
(ARND-8217)
Transmission not used
TL-S20 standard version transmission
TL-S20 high-speed version transmission
Transmission not used
Master station number
TL-S20 standard version transmission
Transmission cycle target time (ms)
TL-S20 high-speed version transmission
Not using transmission between drive units
10
Using transmission between drive units
0
0 to 1023
0 to 127
SERSEQDATA1,
SERSEQDATA2
Specifies data to
store received
data
Specifies data to
store received
data
Transmission not used
TL-S20 standard version transmission
TL-S20 high-speed version transmission
Sequence signal (input)
* Usage is fixed
When $SCAN_R_SIZE = 6 is set, 5 data can
be set freely.
When not used, Enter “DUST”.
Used to transmit data between drives
Data address of the opponent is specified as
$TL_OP_ST1 to 4 and $TL_OP_DT1 to 4
When not used, Enter “DUST”.
10 words are sent by scan transmission.
2400 H
0020 H
2020 H
$TL_SELF_NO
Own station No.
$TL_PC_NO
PLC station No.
$TL_CYC_TIME
Cycle time
Receiving word data
$SCAN_R_SIZE
$SCAN_R_ADRS
$SCAN_RCV01_AS
$SCAN_RCV02_AS
to
$SCAN_RCV06_AS
$SCAN_RCV07_AS
to
$SCAN_RCV10_AS
Drive-to-drive
transmission
Transmitting word
data
$SCAN_W_SIZE
$SCAN_W_ADRS
$SCAN_WR01_AS
$SCAN_WR02_AS
to
$SCAN_WR10_AS
$TL_OP_ST1
to
$TL_OP_ST4
$TL_OP_DT1
to
$TL_OP_DT4
Number of
receive words
setting
Start address of
receive data
Receiving
address 1
Receiving
address 2 to 6
Receiving
address 7 to 10
Explanation
0
1 to 64
1 to 5
0
Other
3 to 31
Number of send 10
words setting
Start address of 0
send data
0 to 1023
0 to 127
Sending
SSEQ_OUT1,
address 1
SSEQ_OUT2
Sending
Specifies data to
address 2 to 10 store received
data
Drive-to-Drive
0
transmission
1 to 64
opponent station 1 to 5
number
Drive-to-Drive
Specifies data to
transmission
store received
opponent word
data
data address
— 56 —
Transmission not used
TL-S20 standard version transmission
TL-S20 high-speed transmission
Sequence signal (output)
* Usage is fixed
When $SCAN_W_SIZE = 10 is set, 9 data
can be set freely.
When not used, Enter “DUST”.
Transmission not used
TL-S20 standard version transmission
TL-S20 high-speed transmission
4 data can be set freely.
When not used, Enter “DUST”.
6F3A4768
3.4.3 ISBus Transmission Specifications
ISBus hardware specifications are shown in below.
Table 3.4.7 ISBus Hardware Specifications
Item
Connector type
Cable
specification
Bus scan time
ISBus transmission board type
ARND-8204A
RJ45 Connector
Shielded twisted pair cable
Number
of node
2~4
5~8
6 ~ 16
17 ~ 32
Bus scan time [ms]
1
2
4
8
3.4.3.1 ISBus Connection
Example of connection is shown in Fig. 3.4.5.
ISBus Master
RX
TX
Drive Equipment
ARND-8204A
RX
TX
Drive Equipment
ARND-8204A
RX
TX
Drive Equipment
ARND-8204A
RX
TX
Fig. 3.4.5 Examples of ISBus Connection
— 57 —
6F3A4768
3.4.3.2 Scan Transmission
This transmission system transmits data at specified intervals (at regular time).
There are inputs and outputs as drive equipment. Inputs are command input of the speed reference and the
sequence signal from PLC etc. Outputs are used for transmission of the actual value of speed and current, etc.
from drive equipment to control / surveillance apparatus of upper side, such as PLC.
The Original Protocol of RS485 Driver
The communication protocol of ISBus is using the original protocol of RS485 driver.
The Number of Transmission Words
The number of send and receive transmission words which one station (drive equipment) treats are 10 words.
Sending and receiving contents are shown in Fig. 3.4.6 and Fig. 3.4.7. As for the first word, sending and
receiving perform bit transmission inside a transmission board. Although transmission data in ISBus master
(PLC) is 32 bits, these are divided into 16 bits and arranged perpendicularly in Fig. 3.4.6 and Fig. 3.4.7.
ISBus Master
PLC etc.
ARND-8204
Heartbeat
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
Transmission 1
QSTOP
UVS
EXT
CM_BUF1
CM_BUF2
ST
F
R
3S
2S
FLD
EXRST
R_TEN
Transmission Inp. 2
Transmission Inp. 3
Transmission Inp. 4
Transmission Inp. 5
Transmission Inp. 6
Transmission Inp. 7
Transmission Inp. 8
Transmission Inp. 9
Transmission Inp. 10
ISBus Slave
Drive Equipment
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
SERSEQDATA2
QSTOP
UVS
EXT
CM_BUF1
CM_BUF2
ST
F
R
3S
2S
Address defined by
$SCAN_RCV01_AS
ex.) SERSEQDATA1, 2, 4
FLD
HB
EXRST
R_TEN
Optional address defined by $SCAN_RCV02_AS
Optional address defined by $SCAN_RCV03_AS
Optional address defined by $SCAN_RCV04_AS
Optional address defined by $SCAN_RCV05_AS
Optional address defined by $SCAN_RCV06_AS
Optional address defined by $SCAN_RCV07_AS
Optional address defined by $SCAN_RCV08_AS
Optional address defined by $SCAN_RCV09_AS
Optional address defined by $SCAN_RCV10_AS
Fig. 3.4.6 ISBus (Receive)
— 58 —
6F3A4768
ISBus Master
PLC etc.
ARND-8204
Heartbeat
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
Transmission 1
BLR
UVA
SP_LMT
SSEQ_OUT_BIT0
READY
C_L
RNTD
FLDR
FD
RD
FAULT
ALARM
SSEQ_OUT_BIT3
SSEQ_OUT_BIT2
SSEQ_OUT_BIT1
HB
Transmission Inp. 2
Transmission Inp. 3
Transmission Inp. 4
Transmission Inp. 5
Transmission Inp. 6
Transmission Inp. 7
Transmission Inp. 8
Transmission Inp. 9
Transmission Inp. 10
ISBus Slave
Drive Equipment
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
SSEQ_OUT2
BLR
UVA
SP_LMT
SSEQ_OUT_BIT0
READY
C_L
RNTD
FLDR
FD
RD
FAULT
ALARM
SSEQ_OUT_BIT3
SSEQ_OUT_BIT2
SSEQ_OUT_BIT1
HB
Address defined by
$SCAN_WR01_AS
ex.) SSEQ_OUT1, 2, 4
Optional address defined by $SCAN_WR02_AS
Optional address defined by $SCAN_WR03_AS
Optional address defined by $SCAN_WR04_AS
Optional address defined by $SCAN_WR05_AS
Optional address defined by $SCAN_WR06_AS
Optional address defined by $SCAN_WR07_AS
Optional address defined by $SCAN_WR08_AS
Optional address defined by $SCAN_WR09_AS
Optional address defined by $SCAN_WR10_AS
Fig. 3.4.7 ISBus (Send)
— 59 —
6F3A4768
Table 3.4.8 shows the parameter settings. Since these settings may greatly affect operation of the entire system,
the settings must be determined by taking the configuration of the entire PLC system into consideration. For
details of settings, see the instruction manual for parameters and actually set data.
Table 3.4.8 ISBus Transmission Parameter Settings
Class
Data name
$SCAN_RCV01_AS
Application
Transmission mode
selection
Transmission
between drive units
Own station No.
PLC station No.
Cycle time
Number of receive
words setting
Start address of
receive data
Receiving address 1
$SCAN_RCV02_AS
~ $SCAN_RCV10_AS
Receiving address 2
to 10
Specifies data to store
received data
$SCAN_W_SIZE
Number of send
words setting
Start address of send
data
Sending
address 1
10
Fixed
0
Fixed
SSEQ_OUT2
$SCAN_WR02_AS
~ $SCAN_WR10_AS
Sending
address 2 to 10
Specifies data to store
received data
Sequence signal (output)
(Set sequence signal
(output) of Bit 0=HB)
Ex.) SP_F_OUT
$TL_OP_ST1
~ $TL_OP_ST4
Drive-to-Drive
transmission
opponent station
number
Drive-to-Drive
transmission
opponent word data
address
0
Do not use
DUST
Do not use
Drive-to-drive
transmission
Sending word data
Receiving word data
Common
$COMM_TYPE
$FLG_DSCAN
$TL_SELF_NO
$TL_PC_NO
$TL_CYC_TIME
$SCAN_R_SIZE
$SCAN_R_ADRS
$SCAN_W_ADRS
$SCAN_WR01_AS
$TL_OP_DT1
~ $TL_OP_DT4
Setting value example
Explanation
0040 H
ISBus Transmission
0
Do not use
2
1
21
10
Fixed
Fixed
Fixed (Auto)
Fixed
16
Fixed
SERSEQDATA2
Sequence signal (input)
(Set sequence signal
(input) of Bit 2=HB)
Ex.) SP_REF1
— 60 —
When not used, set
“DUST”.
When not used, set
“DUST”.
6F3A4768
3.4.4 DeviceNet Transmission Specifications
DeviceNet hardware specifications are shown in below.
Table 3.4.9 DeviceNet Hardware Specifications
Item
Connector type
Cable specification
Transmission
distance
DeviceNet transmission board type
ARND-8127A
Plug-in connector (open type)
Trunk line
One pair of twisted signal (#18):
One pair of twisted power source (#15):
Foil/stitch shielded drain wire (#18):
Drop line
One pair of twisted signal (#24):
One pair of twisted power source (#22):
Foil/stitch shielded drain wire (#22):
Transmission
speed [kbps]
125
250
500
DeviceNet power
supply
Blue/White
Black/Red
Open wire
Blue/White
Black/Red
Open wire
Depending on transmission speed
Maximum trunk cable length Maximum drop cable length
[m]
[m]
500 m
100 m
250 m
100 m
100 m
100 m
24 V±1%
3.4.4.1 DeviceNet Connection
Example of connection is shown in Fig. 3.4.8.
— 61 —
6F3A4768
DN311 or
T3H
DN311A(Scaner)
Power
DC 24 V
Drop cable
T-PDS Tool
Trunk cable
Drive
equipment
ARND-8127A
Drive
equipment
ARND-8127A
Fig. 3.4.8 Examples of DeviceNet Connection
— 62 —
6F3A4768
3.4.4.2 Scan Transmission
This transmission system transmits data at specified intervals (at regular time).
There are inputs and outputs as drive equipment. Inputs are command input of the speed reference and the
sequence signal from PLC etc. Outputs are used for transmission of the actual value of speed and current, etc.
from drive equipment to control / surveillance apparatus of upper side, such as PLC.
CAN
The communication protocol of DeviceNet is using a controller area network (CAN).
The Number of Transmission Words
The numbers of transmission words which one station (drive equipment) treats are 4 words receiving / 4
words sending (4W/4W mode), or 4 words receiving / 10 words sending (4W/10W mode).
DeviceNet Transmission Mode
The transmission mode of DeviceNet is 4W/4W mode or 4W/10W mode. The transmission mode is set up by
$SCAN_WR_SIZE.
The sending and receiving contents in the case of the 4W/4W mode are shown in Fig. 3.4.9 and Fig. 3.4.10. The
contents of transmission of DeviceNet master (PLC) is based on DeviceNet specifications Volume II Release 1.2
Instance 23 and 73.
DeviceNet Master
PLC etc.
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
Command input
IL_
BRTST
B
FLD
BC
ST
R_TEN
Net Ref
Net Ctrl
Fault Reset
Run Rev
Run Fwd
Speed Reference [min-1] x 2$DNET_SP_SCALE
DeviceNet slave
Drive equipment
ARND-8127
SERSEQDATA1
IL_
UVS
EXT
SPA1
BRTST
ST
F
R
3S
2S
B
FLD
BC_
HB
EXRST
R_TEN
Address defined by
$SCAN_RCV02_AS
ex.) SERSEQDATA1, 2, 4
25000
2$DNET_SP_SCALE x $CS_MOTOR_RPM [min-1]
SP_REF1
[25000/100%]
Address defined by
$SCAN_RCV01_AS
Torque Reference [Nm] x 2$DNET_TR_SCALE
4 x $CS_MOTOR_RPM [min-1] x $CS_SP_BASE [1000/100%]
2$DNET_TR_SCALE x 974 x $MA_MOTOR_KW [kW] x 98
TENS_R1
[4000/100%]
Address defined by
$SCAN_RCV03_AS
Process Reference [%] x 2$DNET_PRC_SCALE
$DNET_PRC_GAIN
2$DNET_PRC_SCALE
ex.) DROOP_GAIN_T
[10000/100%]
Address defined by
$SCAN_RCV04_AS
Fig. 3.4.9 DeviceNet 4W/4W Mode (Receive)
— 63 —
6F3A4768
DeviceNet Master
PLC etc.
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
Sequence output
UVA
C_L
RNTD
FLDR
C_FN
CUT
SP_LMT
UV
At Reference
Ref From Net
Ctrl From Net
Ready
Running 2 (Rev)
Running 1 (Fwd)
Warning
Faulted
Speed Feedback [min-1]
2$DNET_SP_SCALE
DeviceNet slave
Drive equipment
ARND-8127
*1
*2
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
SSEQ_OUT1
BLR
UVA
UV
READY
C_L
RNTD
FLDR
FD
RD
FAULT
ALARM
C_FN
CUT
SP_LMT
HB
Address defined by
$SCAN_WR02_AS
ex.) SSEQ_OUT1, 2, 4
*1) Indefinite value (Do not use At
Reference)
*2) BIT 6: Net Ref of Command input
(See Fig.3.4.7)
SP_F_OUT
[25000/100%]
2$DNET_SP_SCALE x $CS_MOTOR_RPM [min-1]
25000
Address defined by
$SCAN_WR01_AS
Torque Feedback [Nm]
2$DNET_TR_SCALE
2$DNET_TR_SCALE x 974 x $MA_MOTOR_KW [kW] x 98
4 x $CS_MOTOR_RPM [min-1] x $CS_SP_BASE [1000/100%]
T_R_OUT
[4000/100%]
Address defined by
$SCAN_WR05_AS
Process Feedback [%]
2$DNET_PRC_SCALE2
2$DNET_PRC_SCALE
$DNET_PRC_GAIN2
ex.)
I1_F_DSP
[4000/100%]
Address defined by
$SCAN_WR04_AS
Fig. 3.4.10 DeviceNet 4W/4W Mode (Send)
— 64 —
6F3A4768
The sending and receiving contents in the case of 4W/10W mode are shown in Fig. 3.4.11 and Fig. 3.4.12. As for
the first word, sending and receiving perform bit transmission inside a transmission board. The contents of
transmission of DeviceNet master (PLC) are based on DeviceNet specification Volume II Release 1.2 Instance 23
and 73.
DeviceNet Master
PLC etc.
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
Command input
IL_
BRTST
B
FLD
BC
ST
R_TEN
Net Ref
Net Ctrl
Fault Reset
Run Rev
Run Fwd
Option1 transmmition data
Option2 transmmition data
Option3 transmmition data
DeviceNet slave
Drive equipment
ARND-8127
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
SERSEQDATA1
IL_
UVS
EXT
SPA1
BRTST
ST
F
R
3S
2S
B
FLD
BC_
HB
EXRST
R_TEN
Address defined by
$SCAN_RCV01_AS
ex.) SERSEQDATA1,
2, 4
Optional address defined by $SCAN_RCV02_AS
Optional address defined by $SCAN_RCV03_AS
Optional address defined by $SCAN_RCV04_AS
Fig. 3.4.11 DeviceNet 4W/10W Mode (Receive)
— 65 —
6F3A4768
DeviceNet Master
PLC etc.
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
Sequence output
UVA
C_L
RNTD
FLDR
C_FN
CUT
SP_LMT
UV
At Reference
Ref From Net
Ctrl From Net
Ready
Running 2 (Rev)
Running 1 (Fwd)
Warning
Faulted
Option1 Receive Data
Option2 Receive Data
Option3 Receive Data
Option4 Receive Data
Option5 Receive Data
Option6 Receive Data
Option7 Receive Data
Option8 Receive Data
Option9 Receive Data
DeviceNet slave
Drive equipment
ARND-8127
*1
*2
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
SSEQ_OUT1
BLR
UVA
UV
READY
C_L
RNTD
FLDR
FD
RD
FAULT
ALARM
C_FN
CUT
SP_LMT
HB
Address defined by
$SCAN_WR02_AS
ex.) SSEQ_OUT1, 2, 4
*1) Indifinite value (Do not use At
Reference)
*2) BIT 6: Net Ref of Command input
(See Fig. 3.4.11)
Optional address defined by $SCAN_WR02_AS
Optional address defined by $SCAN_WR03_AS
Optional address defined by $SCAN_WR04_AS
Optional address defined by $SCAN_WR05_AS
Optional address defined by $SCAN_WR06_AS
Optional address defined by $SCAN_WR07_AS
Optional address defined by $SCAN_WR08_AS
Optional address defined by $SCAN_WR09_AS
Optional address defined by $SCAN_WR10_AS
Fig. 3.4.12 DeviceNet 4W/10W Mode (Send)
— 66 —
6F3A4768
Table 3.4.10 and Table 3.4.11 show the parameter settings. Since these settings may greatly affect operation of
the entire system, the settings must be determined by taking the configuration of the entire PLC system into
consideration. For details of settings, see the instruction manual for parameters and actually set data.
Table 3.4.10 DeviceNet Transmission Parameter Settings 4W/4W Mode
Conversion to
physical value
DeviceNet Transmission Only
Drive-to-drive
transmission
Sending word data
Receiving word data
Common
Class
Data name
$COMM_TYPE
Setting value example
2200 H
Explanation
DeviceNet Transmission
0
Do not use
2
1
21
4
Fixed
Fixed
Fixed (Auto)
Fixed
32
Fixed
SP_REF1
SERSEQDATA1
TENS_R1
Specifies data to store
received data
DUST
Speed reference 1
Sequence signal (input)
Tension (torque) reference 1
Ex.)DROOP_GAIN_T
When not used, set “DUST”.
Do not use
5
4W/4W mode select
0
Fixed
SP_F_OUT
SSEQ_OUT1
DUST
Specifies data to store
received data
T_R_OUT
DUST
Speed feedback
Sequence signal (output)
Do not use
Ex.)I1_F_DSP
When not used, set “DUST”.
Torque
Do not use
Drive-to-Drive
transmission opponent
station number
Drive-to-Drive
transmission opponent
word data address
0
Do not use
DUST
Do not use
$DNET_BAUD
Baud rate
$DNET_M_MACID
$DNET_MACID
$DNET_OPTION
$DNET_PRC_GAIN
$DNET_PRC_GAIN2
Master Mac ID
Mac ID
Option setting
Process input gain
Process output gain
125 [kbps]
250 [kbps]
500 [kbps]
Set ID of Master
Set ID of own station
Fixed
Process input gain
Process output gain
$DNET_PRC_SCALE
$DNET_SP_SCALE
$DNET_TR_SCALE
$DNET_SERIAL_NO
Process scale
Speed scale
Torque scale
Serial number
0
1
2
0 ~ 63
0 ~ 63
1
-32768 ~ 32767
-32768 ~ 32767
(Do not use 0)
-32768 ~ 32767
-128 ~ 127
-128 ~ 127
0 ~ 32767
CS_MOTOR_RPM
Rated motor speed
-25000.0
-1
~ 25000.0 min
CS_SP_BASE
Base speed
8.0 ~ 125.0%
Set base speed
MA_MOTOR_KW
Rated motor output
0.0 ~ 3276.7 kW
Set rated motor output
$FLG_DSCAN
$TL_SELF_NO
$TL_PC_NO
$TL_CYC_TIME
$SCAN_R_SIZE
$SCAN_R_ADRS
$SCAN_RCV01_AS
$SCAN_RCV02_AS
$SCAN_RCV03_AS
$SCAN_RCV04_AS
$SCAN_RCV05_AS
~ $SCAN_RCV10_AS
$SCAN_W_SIZE
$SCAN_W_ADRS
$SCAN_WR01_AS
$SCAN_WR02_AS
$SCAN_WR03_AS
$SCAN_WR04_AS
$SCAN_WR05_AS
$SCAN_WR06_AS
~ $SCAN_WR10_AS
$TL_OP_ST1
~ $TL_OP_ST4
$TL_OP_DT1
~ $TL_OP_DT4
Application
Transmission mode
selection
Transmission
between
drive units
Own station No.
PLC station No.
Cycle time
Number of receive words
setting
Start address of receive
data
Receiving address 1
Receiving address 2
Receiving address 3
Receiving address 4
Receiving address 5 ~ 10
Number of send words
setting
Start address of send
data
Sending address 1
Sending address 2
Sending address 3
Sending address 4
Sending address 5
Sending address 6 ~ 10
— 67 —
Process scale
Speed scale
Torque scale
Set the same number as
$DNET_MACID
Set rated motor speed
6F3A4768
Table 3.4.11 DeviceNet Transmission Parameter Settings 4W/10W Mode
Class
Data name
Conversion to
physical value
DeviceNet Transmission Only
Drive-to-drive
transmission
Sending word
data
Receiving word data
Common
$COMM_TYPE
$FLG_DSCAN
$TL_SELF_NO
$TL_PC_NO
$TL_CYC_TIME
$SCAN_R_SIZE
$SCAN_R_ADRS
$SCAN_RCV01_AS
$SCAN_RCV02_AS
~ $SCAN_RCV04_AS
$SCAN_RCV05_AS
~ $SCAN_RCV10_AS
$SCAN_W_SIZE
Application
Transmission mode
selection
Transmission
between
drive units
Own station No.
PLC station No.
Cycle time
Number of receive words
setting
Start address of receive
data
Receiving address 1
Receiving address 2 ~ 4
2200 H
Setting value example
Explanation
DeviceNet Transmission
0
Do not use
2
1
21
4
Fixed
Fixed
Fixed (Auto)
Fixed
32
Fixed
SERSEQDATA1
Sequence signal (input)
Ex.)SP_REF1
Specifies data to store
received data
When not used, set “DUST”.
Receiving address 5 ~
10
DUST
Do not use
Number of send words
setting
Start address of send
data
10
4W/10W mode select
0
Fixed
$SCAN_WR01_AS
$SCAN_WR02_AS
~ $SCAN_WR10_AS
$TL_OP_ST1
~ $TL_OP_ST4
Sending address 1
Sending address 2 ~ 10
SSEQ_OUT1
Sequence signal (output)
Ex.)SP_F_OUT
Drive-to-Drive
transmission opponent
station number
0
When not used, set “DUST”.
Do not use
$TL_OP_DT1
~ $TL_OP_DT4
Drive-to-Drive
transmission opponent
word data address
DUST
Do not use
$DNET_BAUD
Baud rate
125 [kbps]
250 [kbps]
500 [kbps]
$DNET_M_MACID
$DNET_MACID
$DNET_OPTION
$DNET_PRC_GAIN
$DNET_PRC_GAIN2
$DNET_PRC_SCALE
$DNET_SP_SCALE
$DNET_TR_SCALE
$DNET_SERIAL_NO
Master Mac ID
Mac ID
Option setting
Process input gain
Process output gain
Process scale
Speed scale
Torque scale
Serial number
0
1
2
0 ~ 63
0 ~ 63
1
1
1
0
0
0
0 ~ 32767
CS_MOTOR_RPM
Rated motor speed
Not used
CS_SP_BASE
Base speed
-25000.0
-1
~ 25000.0 min
8.0 ~ 125.0%
MA_MOTOR_KW
Rated motor output
0.0 ~ 3276.7 kW
Not used
$SCAN_W_ADRS
Specifies data to store
received data
— 68 —
Set ID of Master
Set ID of own station
Fixed
Do not use
Do not use
Do not use
Do not use
Do not use
Set the same number as
$DNET_MACID
Not used
6F3A4768
3.4.5 PROFIBUS Transmission Specifications
PROFIBUS hardware specifications are shown in below.
Table 3.4.12 PROFIBUS Hardware Specifications
Item
PROFIBUS transmission board type
ARND-8130A
9 pin D-Sub connector
Shielded twisted pair copper wire cable type A
Resistance
135 ~ 165 Ω
Connector type
Cable
specification
Capacitor
Loop resistance
Diameter
Cross-section
Transmission
distance
30 pf/m
110 Ω/km
0.64 mm
2
> 0.34 mm
Depending on transmission speed
Transmission speed [kbps]
9.6, 19.2, 45.45, 93.75
187.5
500
1500
3000, 6000, 12000
Maximum length per segment [m]
1200 m
1000 m
400 m
200 m
100 m
3.4.5.1 PROFIBUS Connection
Example of connection is shown in Fig. 3.4.13.
T3H
T3H-PROFIBUS master
Drive
equipment
ARND-8130A
T-PDS tool
AB-DT-PDP
(HMS)
Drive
PROFIBUS Cable
equipment
ARND-8130A
AB-DT-PDP
(HMS)
Fig. 3.4.13 Examples of PROFIBUS Connection
— 69 —
6F3A4768
3.4.5.2 Scan Transmission
This transmission system transmits data at specified intervals (at regular time).
There are inputs and outputs as drive equipment. Inputs are command input of the speed reference and the
sequence signal from PLC etc. Outputs are used for transmission of the actual value of speed and current, etc.
from drive equipment to control / surveillance apparatus of upper side, such as PLC.
DP Transmission Protocol (DP-V0)
This drive equipment corresponds to DP communication protocol (DP-V0) of PROFIBUS.
Number of Transmission Words
The number of send and receive transmission words which one station (drive equipment) treats are 6 words.
PROFIBUS Transmission Mode
The transmission mode of PROFIBUS has the mode 4 and the mode 5. The transmission mode is set up by
$TL_SELF_NO. The sending and receiving contents in the case of the transmission mode 4 are shown in Fig.
3.4.14.
PROFIBUS Master
PLC etc.
ARND-8130
PROFIBUS slave
Drive equipment
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
Optional address
Optional address
Optional address
Optional address
Optional address
Optional address
defined by $SCAN_RCV01_AS
defined by $SCAN_RCV02_AS
defined by $SCAN_RCV03_AS
defined by $SCAN_RCV04_AS
defined by $SCAN_RCV05_AS
defined by $SCAN_RCV06_AS
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
Optional address
Optional address
Optional address
Optional address
Optional address
Optional address
defined by $SCAN_WR01_AS
defined by $SCAN_WR02_AS
defined by $SCAN_WR03_AS
defined by $SCAN_WR04_AS
defined by $SCAN_WR05_AS
defined by $SCAN_WR06_AS
Fig. 3.4.14 PROFIBUS Transmission Mode 4
The sending and receiving contents in the case of the transmission mode 5 are shown in Fig. 3.4.15. As for the
first word, sending and receiving perform bit transmission inside a transmission board. The contents of transmission
of PROFIBUS master (PLC) are based on PROFIBUS Nutzerorganisation e.V. Profile for variable speed drives,
PROFIDRIVE Profile number: 3 Version: 2 Edition: September 1997.
Transmission data format
Data format of drive equipment is little endian. That is, as address in terms of bytes, upper byte of a word data
is in address m+1 and lower byte of word data is address m.
This arrangement of some PLCs is reverse. In this case, it is necessary to reverse upper/lower byte in PLC
application. Some master stations have this setting.
— 70 —
6F3A4768
PROFIBUS Master
PLC etc.
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
STW
B
HBR
FLD
R_TEN
ST
EXRST
EXT
UVS
PZD2
PZD3
PZD4
PZD5
PZD6
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
ZSW
RNTD
UV
SP_LMT
HBT
C_L
CUT
ALARM
FAULT
READY
PZD2
PZD3
PZD4
PZD5
PZD6
PROFIBUS slave
Drive equipment
ARND-8130
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
SERSEQDATA1
IL_
UVS
EXT
SPA1
BRTST
ST
F
R
3S
2S
B
FLD
BC_
HB
EXRST
R_TEN
Address defined by
$SCAN_RCV01_AS
ex.) SERSEQDATA1, 2, 4
Optional address defined by $SCAN_RCV02_AS
Optional address defined by $SCAN_RCV03_AS
Optional address defined by $SCAN_RCV04_AS
Optional address defined by $SCAN_RCV05_AS
Optional address defined by $SCAN_RCV06_AS
BIT
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
SSEQ_OUT1
BLR
UVA
UV
READY
C_L
RNTD
FLDR
FD
RD
FAULT
ALARM
C_FN
CUT
SP_LMT
HB
Address defined by
$SCAN_WR01_AS
ex.) SSEQ_OUT1, 2, 4
Optional address defined by $SCAN_WR02_AS
Optional address defined by $SCAN_WR03_AS
Optional address defined by $SCAN_WR04_AS
Optional address defined by $SCAN_WR05_AS
Optional address defined by $SCAN_WR06_AS
Fig. 3.4.15 PROFIBUS Transmission Mode 5
— 71 —
6F3A4768
Table 3.4.13 shows the parameter settings. Since these settings may greatly affect operation of the entire
system, the settings must be determined by taking the configuration of the entire PLC system into consideration.
For details of settings, see the instruction manual for parameters and actually set data.
Table 3.4.13 PROFIBUS Transmission Parameter Settings
Class
Data name
Application
Setting value example
$COMM_TYPE
Transmission mode
selection
$FLG_DSCAN
Transmission
between 0
drive units
PROFIBUS transmission 0
mode select
1
$TL_PC_NO
PLC station number
0
1
$TL_CYC_TIME
Cycle time
21
Fixed (automatic)
$SCAN_R_SIZE
Number of receive words 6
Scan transmission 6 words receive
setting
Start address of receive 0
Not used
data
32
Fixed in use
Receiving address 1
Specifies data to store Free setting
received data
(Available in mode 4
($TL_SELF_NO=4))
When not used, set “DUST”.
SERSEQDATA1
Sequence signal (input)
(Fixed in mode 5 ($TL_SELF_NO=5))
2
3
4
5
Receiving word data
$SCAN_R_ADRS
$SCAN_RCV01_AS
$SCAN_RCV02_AS
~$SCAN_RCV06_AS
Receiving address 2 ~ 6 Specifies data to store Set 5 data freely in case that
received data
$SCAN_R_SIZE=6.
When not used, set “DUST”.
$SCAN_RCV07_AS
~$SCAN_RCV10_AS
$SCAN_W_SIZE
Receiving address 7 ~ 10 DUST
Do not use
Number of send words
setting
Start address of send
data
Sending address 1
6
Scan transmission 6 words send
0
Fixed
Sending word data
$SCAN_W_ADRS
Drive-to-drive
transmission
Explanation
Not used
PROFIBUS Transmission
(ARND-8130)
Do not use
Not used
Mode 1 (For other equipment so do not
use)
Mode 2 (For other equipment so do not
use)
Mode 3 (For other equipment so do not
use)
Mode 4 6W/6W through mode
Mode 5 sequence bit transmission
mode
Not used
Fixed in use
Common
$TL_SELF_NO
0000 H
2400 H
$SCAN_WR01_AS
$SCAN_WR02_AS
~$SCAN_WR06_AS
Sending address 2 ~ 6
$SCAN_WR07_AS
~$SCAN_WR10_AS
$TL_OP_ST1
~$TL_OP_ST4
Sending address 7 ~ 10
$TL_OP_DT1
~$TL_OP_DT4
Specifies data to store Free setting
sent data
(Available in mode 4
($TL_SELF_NO=4))
When not used, set “DUST”.
SSEQ_OUT1
Sequence signal (output)
(Fixed in mode 5 ($TL_SELF_NO=5))
Specifies data to store Free setting
sent data
When not used, set “DUST”.
DUST
Do not use
Drive-to-drive
0
transmission
Other station number
Drive-to-drive
DUST
transmission
Other word data address
Do not use
— 72 —
Do not use
6F3A4768
3.4.6 Sequence Input/Output
3.4.6.1 Sequence Input
The first input data of transmission is specified to sequence data input, then set SERSEQDATA1,
SERSEQDATA2 or SERSEQDATA4. Table 3.4.14 ~ Table 3.4.16 show the bit signals of each sequence input.
In general, a value of 1 indicates either the normal or the operating state, and 0 indicates either an error or
stopped.
Table 3.4.14 SERSEQDATA1 Bit Signals
Bit
15 IL_
14 UVS
13 EXT
12 SPA1
11 BRTST
10 ST
9
8
7
F
R
3S
6
2S
5
4
3
2
B
FLD
BC_
HB
1
0
EXRST
R_TEN
Signal name
External interlock
Contents
1: Operation permitted
Off while running causes a coast stop
External safety switch
1: Operation permitted, contactor closed
Off while running causes a coast stop
Startup command
1: Startup command
Off while running can be selected either a deceleration stop
or a coast stop
Spare 1
1: Normal
Brake test
1: Brake released
Torque control selection
1: Tension control,
When torque control is
0: Speed control
selected
Load burden share slave
1: Slave (torque control)
When mechanical coupling is
selection
selected
Forward jog run command
1: Forward jog run command
Reverse jog run command
1: Reverse jog run command
3-speed reference command 1: 3-speed reference
(3S, 2S) = (0, 0):
command
2-speed reference command 1: 2-speed reference
1-speed reference command
command
Brake command
1: Brake release command
Field excitation command
1: Field excitation command (when EXT is off)
Brake close command
0: Brake close
Heart beat (transmission
Periodical rectangular wave signals
healthy)
External reset
1: reset request
Reverse winding command 1: Reverse winding, 0: Forward winding (Torque direction
when torque is controlled)
— 73 —
6F3A4768
Table 3.4.15 SERSEQDATA2 Bit Signals
Bit
15 QSTOP
Signal name
Emergency Stop command
14 UVS
External safety switch
13 EXT
Startup command
12 CM_BUF1 Command Buffer bit 1
11 CM_BUF2 Command Buffer bit 2
10 ST
Torque control selection
9 F
8 R
7 3S
Load burden share slave
selection
Forward jog run command
Reverse jog run command
3-speed reference command
6 2S
2-speed reference command
5
4
3
2
Not used
Field excitation command
Not used
Heart beat (transmission
healthy)
External reset
Reverse winding command
N.U.
FLD
N.U.
HB
1 EXRST
0 R_TEN
Contents
1: Emergency Stop
Off while running causes a emergency deceleration stop
1: Operation permitted, contactor closed
Off while running causes a coast stop
1: Startup command
Off while running can be selected either a deceleration stop
or a coast stop
1: Tension control,
0: Speed control
1: Slave (torque control)
When torque control is
selected
When mechanical coupling is
selected
1: Forward jog run command
1: Reverse jog run command
1: 3-speed reference
(3S, 2S) = (0, 0):
command
1: 2-speed reference
1-speed reference command
command
1: Field excitation command (when EXT is off)
Periodical rectangular wave signals
1: reset request
1: Reverse winding, 0: Forward winding (Torque direction
when torque is controlled)
— 74 —
6F3A4768
Table 3.4.16 SERSEQDATA4 Bit Signals
Bit
Signal name
Contents
15 N.U.
Not used
14 HB
Periodical rectangular wave signals
13 FLD
Heart beat (transmission
healthy)
Field excitation command
12 B
Brake command
1: Brake release command
11 SC_PPI
Speed control P/PI change
1: P control, 0: PI control
10 2S
2-speed reference command 1: 2-speed reference command
9
3S
3-speed reference command 1: 3-speed reference command
8
R_TEN
Reverse winding command
7
ST
6
LB
1: Reverse winding, 0: Forward winding (Torque
direction when torque is controlled)
Torque control selection
1: Tension control,
0: Speed control
Load barance between stands 1: Load balance control
5
N.U.
Not used
4
3
N.U.
N.U.
Not used
Not used
2
UVS
External safety switch
1
EXT
Startup command
0
EXRST
External reset
1: Field excitation command (when EXT is off)
1: Operation permitted, contactor closed
Off while running causes a coast stop
1: Startup command
Off while running can be selected either a
deceleration stop or a coast stop
1: reset request
— 75 —
6F3A4768
3.4.6.2 Sequence Output
The first output data of transmission is specified to sequence data output, then set SSEQ_OUT1, SSEQ_OUT2
or SSEQ_OUT4. Table 3.4.17 ~ Table 3.4.19 show the bit signals of each sequence output.
Generally, “1” indicate correct or operating state while “0” indicates error or stop state.
Table 3.4.17 SSEQ_OUT1 Bit Signals
Bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
N.U.
BLR
UVA
UV
READY
C_L
RNTD
FLDR
FD
RD
FAULT
ALARM
C_FN
CUT
SP_LMT
HB
Signal name
Not used
Electrical critical fault
Electrical condition ready condition
Electrical condition
Operation ready
Current limit
Running
Field energized
Forwarding
Reversing
Critical fault
Slight fault
Cooling fan stopped
Discontinuation detecting
Speed limit
Heart beat (transmission healthy)
Contents
1: Electrical critical fault
1: Condition met
1: Condition met
1: Operation ready
1: Current limiting
1: Running
1: Field energized (current running)
1: Forward detection
1: Reverse detection
1: Critical fault
1: Slight fault
1: Cooling fan stopped
1: Discontinuation detected
1: Speed limiting
Periodic rectangular wave signals
Table 3.4.18 SSEQ_OUT2 Bit Signals
Bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Signal name
BLR
Electrical critical fault
UVA
Electrical condition ready condition
SP_LMT
Speed limit
SSEQ_OUT_BIT0 Optional bit 0
READY
Operation ready
C_L
Current limit
RNTD
Running
FLDR_TD_ON
FD
RD
FAULT
ALARM
SSEQ_OUT_BIT3
SSEQ_OUT_BIT2
SSEQ_OUT_BIT1
HB
Field energized time delay
Forwarding
Reversing
Critical fault
Slight fault
Optional bit 3
Optional bit 2
Optional bit 1
Heart beat (transmission healthy)
— 76 —
Contents
1: Electrical critical fault
1: Condition met
1: Speed limiting
1: Operation ready
1: Current limiting
1: Running
1: Field energized (current running)
after time delay
1: Forward detection
1: Reverse detection
1: Critical fault
1: Slight fault
Periodic rectangular wave signals
6F3A4768
Table 3.4.19 SSEQ_OUT4 Bit Signals
Bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
HB
FAULT
ALARM
R_LMT
CUT
READY
F_LMT
UV
FLDR
QSTOP
BA
STALL
RNTD
C_L
OL_A
SP_LMT
Signal name
Heart beat (transmission healthy)
Critical fault
Slight fault
Reverse limit
Discontinuation detecting
Operation ready
Forward limit
Electrical condition
Field energized
Emergency stop
Brake answer
Low frequency overload
Running
Current limit
Overload alarm
Speed limit
— 77 —
Contents
Periodic rectangular wave signals
1: Critical fault
1: Slight fault
1: Reverse limit
1: Discontinuation detected
1: Operation ready
1: Forward limit
1: Condition met
1: Field energized (current running)
1: Emergency stop
1: Brake open
1: Low frequency overload
1: Running
1: Current limiting
1: Overload alarm
1: Speed limiting
6F3A4768
3.4.6.3 Optional Sequence Output
Table 3.4.20 shows the optional sequence outputs
Table 3.4.20 DT_WR_SEQ Bit Signals
Bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
N.U.
R_LIMIT_
F_LIMIT_
N.U.
N.U.
N.U.
BA
STALL
M_OH
N.U.
N.U.
STPRQ
CSCUT_
LR
OL_A
TRQ_LMT
Signal name
Not used
Reversing limit
Forwarding limit
Not used
Not used
Not used
Brake answer
Low frequency overload
Motor overheat
Not used
Not used
Intermediate fault (stop request)
Crop shear
Load relay
Overload alarm
Torque limit
— 78 —
Contents
0: Limit detection
0: Limit detection
1: Release detection
1: Low frequency overload
1: Motor overheat
1: Intermediate fault
0: Shear detected
1: Load ON
1: Overload alarm
1: Limit detection
6F3A4768
3.4.7 Serial Input/Output Signals
3.4.7.1 Serial Input Signals
Table 3.4.21 shows examples of names of data to be input through the serial communication.
Table 3.4.21 Interface Data Examples (Input)
Data name
SP_REF1
SP_REF2
SP_REFA1
TENS_R1
TENS_R2
EXT_TENS_GAIN
100%-count
25000
25000
25000
4000
4000
10000/Gain 1 Load division ratio
Torque division ratio against the master is set.
IQ_LMT_EXT
SERSEQDATA1
SERSEQDATA2
DT_RD_SEQ
DT_DRV_SEQ
4000
Bit signal
Bit signal
Bit signal
Bit signal
DROOP_GAIN_T
10000
ASPR_G_NO
0 to 3
ASPR_GAIN_EXT
Functions
Speed reference 1
Speed reference 2
Auxiliary speed reference 1
Tension (Torque) reference 1
Tension (Torque) reference 2
Multiplied by coefficient in EXT_TENS_GAIN.
100/Gain 1
External current limitation value (torque limit)
Serial sequence command
Serial sequence command
Serial sequence command
Drive-to-Drive transmission
This is used for receiving serial sequence output
(SSEQ_OUT1) of other drive.
Drooping on-line gain
Value in $CR_DROOP_GAIN is set as initial
value.
Speed control gain selection command
This is valid only when $ASPR_G_SEL = 1.
When the speed control gain correction setting is
changed, this value is changed to newly set value
with rate.
— 79 —
6F3A4768
3.4.7.2 Serial Output Signals
Signals that can be output through serial transmission are shown below:
Table 3.4.22 Interface Data Examples (Output)
Data name
SP_F_OUT
100%-count
Functions
25000
Speed feedback for control use
T_R_OUT
4000
Torque reference for control use
I1_F_DSP
4000
Motor primary current feedback for monitoring
ID_F
4000
Excitation current feedback
IQ_F
4000
Torque current feedback
SSEQ_OUT1
SSEQ_OUT2
Bit signal
Serial sequence output
DT_WR_SEQ
OLCHK_REC
10000
OL20CHK_REC
10000
DT_LB_CMP_EX
25000
LD_TRQ_OUT
4000
DT_ACC_TRQ
4000
DT_DNDT
DT_MT_POS
DT_MT_CNT
FI_CODE01 ~ 10
-1 ~ 399
PR_CODE01 ~ 10
-1 ~ 399
5 minutes ∑ I
2
2
20 minutes ∑ I
When 2-unit (upper/lower) load balance control master is
set, the speed correction is output to the slave drive.
Output is possible when the acceleration/deceleration
torque calculation is executed. Load torque (including
mechanical loss)
Output is possible when the acceleration/deceleration
torque calculation is executed. Acceleration (deceleration)
torque
Output is possible when the acceleration/deceleration
torque calculation is executed. Acceleration (deceleration)
[0.1 min-1/s]
Motor position (valid only when resolver 1x is used.)
−32768 to 32767/revolution
The count value per revolution may vary depending on the
value set in $DT_PG_PPR.
First fault display code #1 ~ #10
When fault occurred, the fault codes are stored in order of
fault occurrences from first to tenth. Below -1 are invalid
data.
Please refer to Table 1.5.1.
Preparation display code #1 ~ #10
When ready condition isn't met, the fault codes are stored in
order of code number from first to tenth. Below -1 are invalid
data.
Please refer to Table 1.5.1.
— 80 —
6F3A4768
3.4.8 Message Transmission
This transmission system transmits data among specified stations at irregular time. This system is applicable to
transmission of a lot of data, such as trace-back data if a fault occurs. This transmission system is optional
system specifications.
3.4.9 Transmission Error Detection
Table 3.4.23 shows the transmission error items.
Table 3.4.23 Transmission Error Items
Item
Purpose
Content
Detection method in transmission board
Detection method by the side of CTR board
TL_F1
Own station
error
CPU error etc. the
failures used as
the standard of
transmission
board
replacement.
TL_F2
Initialize
error
Connection
between
transmission
board and CTR
board is checked.
TL_F3
Transmission way
Transmission connection of
error
self-station and
master-station,
the error in
transmission way
power supply, etc.
are checked.
(The error of +5V
power supply are
detected as CTR
board error)
TL_F4
Transmission
error
between
drives
Transmission way
connection of
other station in
transmission
between drives is
checked.
If an error occurs in drive
equipment station (own
station) during transmission
in the online mode, own
station detects TL_F1 to
inform that the transmission
enters the off-line mode.
If the mode is not changed
to the on-line mode even
after the power is initialized,
drive equipment detects
TL_F2 to inform that the
transmission is in the
off-line mode.
If the transmission is in the
off-line mode, drive
equipment detects TL_F3 to
inform that the transmission
enters the off-line mode.
• Watch dog of transmission board CPU
• CN2 signal / SIP1
• The error in initialization processing
• Operation status of self-station
• Transmission way power supply fall
(PROFIBUS)
• The on-line state of the station on network
• The updating state of data of scan
memory
• The error in network power supply
(DeviceNet)
• Station status / on-line mode
• On-line map / master station on-line signal
• Scan healthy map / healthy signal of
received scan data
• Received heartbeat of scan transmission
(ISBus)
• The on-line state of the station on network
• The updating state of data of scan
memory
If the station specified by
TL_OP1_ST to
TL_OP4_ST is in the
off-line mode, drive
• On-line map / on-line signal of other
equipment detects TL_F4 to
station in transmission between drives
inform that the transmission
•
Scan
healthy map / healthy signal of
between drives enters the
received
scan data
off-line mode.
— 81 —
6F3A4768
Table 3.4.24 Transmission Error Detection Function in the Combination with each Transmission Board
Item
TL-S20
ISBus
DeviceNet
PROFIBUS
TL_F1
O
O
O
O
TL_F2
O
O
O
O
TL_F3
O
O
O
O
TL_F4
O
—*1
—*1
—*1
*1) Transmission between drives is not supported
If SCAN_RCV01_AS to SCAN_RCV10_AS for designation of application are set at “Not used” ("DUST") or if
TL_OP1_ST to TL_OP4_ST are set at “0”, the transmission error is not detected.
▪Support software “S20 loader (referred to as SLS)” for the TOSLINE-S20
If TOSLINE-S20 transmission is used, S20 loader (personal computer tool) is used to check the station address
or scan memory allocation connected to the same system (same PC station).
Start up the “S20 loader” and select the station connection diagram menu to check the station address or scan
memory allocation. Before starting up the “S20 loader”, make sure that the “LOADER” terminal on the
programmable controller station and personal computer are connected with the special S20 loader cable.
For further information on operating procedures, see the separate instruction manual for S20 loader (document
No. 6F3B0535).
— 82 —
6F3A4768
3.4.9.1 Heartbeat
Heartbeat (signal name: HB) is assigned to the following sequence input and output. The heartbeat signal is a
signal which circulates between a master station and drive equipment station while turning on and turning off.
The drive equipment detects TL_F3 when this signal does not change more than a fixed period.
Receiving heartbeat (From master station to drive equipment):
Bit 2 of sequence input SERSEQDATA1, 2, 4.
Sending heartbeat (From drive equipment to master station):
Bit 0 of sequence output SSEQ_OUT1, 2, 4
The master station changes heartbeat signal and the drive equipment replays the signal as it is. Therefore,
when the signal which the master station sent and the signal which the master station received from the drive
equipment are different more than a fixed period, the master station can detect the error of drive equipment
station.
PLC
A error of the drive equipement station can be detected when HB
(send) and HB (receive) are different more than a fixed period.
SERSEQDATA1, 2, 4: BIT2
HB (Send)
SSEQ_OUT1, 2, 4: BIT0
HB (Receive)
Invert
Drive equipment station
Transmission board
Scan transmission
receive
Scan transmission
send
CTR board
SERSEQDATA1, 2, 4: BIT2
HB (Receive)
SSEQ_OUT1, 2, 4: BIT0
HB (Send)
No change
motre than a
fixed period ?
N
Y
TL_F3_=0
Error
Fig. 3.4.16 The heartbeat
— 83 —
TL_F3_=1
Normal
6F3A4768
3.5 P I/O Input/output
3.5.1 P I/O Input
A total of 8 (DI0 to DI7) photo-coupler input buffers (PC) are provided as external hardware signal inputs. To
obtain needed bit information, DI1 to DI7 are specified by 2 parameters.
Selectable DI signals are assigned to DI_EX1 to DI_EX4 bits shown on the following pages. Specify data
number and bit number as a set data.
$DIn_IX (n: 1 to 7)
$DIn_BN (n: 1 to 7)
= Data number that the required bit belongs to
= Specifies the bit position within the data with number
Here, safety switch signal “UVS” is assigned to DIO.
An X mark in the table indicates that this equipment does not use the signal.
Table 3.5.1 DI Input Setting
Channel
Number
DI0
DI1
DI2
DI3
DI4
DI5
DI6
DI7
Assigned bit selection
Data selection 1 to 3
Bit selection 0 to 15
Select data number
Select the needed
that contains needed
bit position with
bit signal
number
$DI1_IX
$DI2_IX
$DI3_IX
$DI4_IX
$DI5_IX
$DI6_IX
$DI7_IX
$DI1_BN
$DI2_BN
$DI3_BN
$DI4_BN
$DI5_BN
$DI6_BN
$DI7_BN
— 84 —
Supply power
Power selection
from INT/EXT
Internal power
Remarks
Usage fixed (UVS)
Set to “2S” for fixed usage
in the setting value change
mode.
6F3A4768
Table 3.5.2 DI_EX1 (P I/O Input Allocation)
Bit
Signal name
15
IL_
External interlock
14
UVS
External safety switch
13
EXT
Startup command
12
SPA1
11
10
BRTST Brake test
ST
Torque control selection
9
8
7
6
5
4
3
2
O
0
Spare 1
Contents
1: Operation permitted
Off while running causes a coast stop
1: Operation permitted, contactor closed
Off while running causes a coast stop
1: Startup command
Off while running can be selected either a
coast stop or a deceleration stop
1: Normal
1: Brake released
1: Tension control,
When torque control
0: Speed control
is selected
Load burden share slave
1: Slave (torque
When mechanical
selection
control)
coupling is selected
F
Forward jog run command 1: Forward jog run command (EXT should be
off.)
R
Reverse jog run command 1: Reverse jog run command (EXT should be
off.)
3S
3-speed reference
1: 3-speed reference (3S, 2S) = (0, 0):
command
command
1-speed reference
2S
2-speed reference
1: 2-speed reference command
command
command
B
Brake command
1: Brake release command
FLD
Field excitation command 1: Field excitation command (when EXT is
off)
BC_
Brake close command
0: Brake close
SPA0
Spare 0
External reset
1: Reset request
O
R_TEN Reverse winding command 1: Reverse winding, 0: Forward winding
(Torque direction when torque is controlled)
— 85 —
TMdrive-3 TMdrive-P3
0
0
O
O
O
O
O
O
O
O
O
X
O
X
O
X
O
X
O
X
O
X
O
X
O
X
O
X
O
O
X
O
O
O
X
6F3A4768
Table 3.5.3 DI_EX2 (P I/O Input Allocation)
Bit
Signal name
Content
TMdrive-30 TMdrive-P3
0
X
X
15
N.U.
Not used
14
N.U.
Not used
X
X
13
N.U.
Not used
X
X
12
SPA4
Spare 4
O
O
11
SPA3
Spare 3
O
O
10
SPA2
Spare 2
O
O
9
BLA_
AC Circuit breaker
X
X
8
N.U.
Not used
X
X
7
OH_ACL_
X
O
O
O
O
X
X
X
5
HOLD
ACL overheating
Emergency hard I/O
operation
Emergency speed hold
4
3
QSTOP
Emergency stop
F_LMT_
Forward limit
O
O
2
R_LMT_
Reverse limit
O
X
1
B_HLTY
Brake normal (healthy)
O
X
0
BA
Brake answer
O
X
6
E_DRIVE
For external signal input
— 86 —
6F3A4768
Table 3.5.1 DI_EX3 (P I/O Input Allocation)
Bit
Signal name
15 QSTOP
14
13
12
11
10
UVS
EXT
CM_BUF1
CM_BUF2
ST
9
F
8
R
7
3S
6
2S
5
4
3
2
1
0
N.U.
FLD
LATCH_PG_POS
SPA0
EXRST
R_TEN
Description
Emergency stop command
External safety switch
Start command
Command buffer bit 1
Command buffer bit 2
Torque control selection
Emergency stop command when
1.
Operation enabled when 1
Start command when 1
Tension control when 1, speed
control when 0
Forward jog operation
Forward jog operation command
command
when 1
Reverse jog operation
Reverse jog operation command
command
when 1
3-speed reference command When 1, 3-speed reference
command
2-speed reference command When 1, 2-speed reference
command
Not used
Exicitation command
Excitation command when 1
PLG counter latch command Latches at signal rising/falling
Spare 0
External reset
Reset request when 1
Reverse command
Reverse wind when 1, forward
wind when 0
TMdrive
-30
TMdrive
-P30
O
X
O
O
O
O
O
O
O
O
O
X
O
X
O
X
O
X
O
X
X
O
O
O
O
X
X
X
X
O
O
X
TMdrive
-30
X
O
O
O
O
TMdrive
-P30
X
X
X
X
X
O
X
O
X
O
X
O
X
O
X
X
X
O
O
O
X
X
X
X
O
O
O
Table 3.5.2 DI_EX4 (P I/O Input Allocation)
Bit
Signal name
15
14
13
12
11
10
N.U.
SPA0
FLD
B
SC_PPI
2S
9
3S
8
R_TEN
7
ST
6
5
4
3
2
1
0
LB
N.U.
N.U.
N.U.
UVS
EXT
EXRST
Description
Not used
spare 0
Excitation command
Brake command
Speed control P/PI switching
2-speed reference command
Excitation command when 1
Brake release command when 1
P control when 1, PI control when 0
2-speed reference command when
1
3-speed reference command 3-speed reference command when
1
Reverse command
Reverse wind when 1, forward wind
when 0
Torque control selection
Tension control when 1, speed
control when 0
Load balance between stands Load balance control when 1
Not used
Not used
Not used
External safety switch
Operation enabled when 1
Start command
Start command when 1
External reset
Reset request when 1
— 87 —
6F3A4768
3.5.2 P I/O Output
A desired signal of the sequence data of the results processed inside the equipment can be output from the
input/output circuit board (ARND-3120). Entering data name including the sequence signal you want to output
into $DOn_AS and setting the bit specification of sequence signal to $DOn_BN, you can assign the sequence
signal (n = 0 to 5).
Using $SGN_DO_EX, you can inverse the bit of sequence signal output. To inverse the output polarity of “CUT”
only, set $SGN_DO_EX = FF7FH.
— 88 —
6F3A4768
3.6 Transmission Between Drives
Using the common memory of the TOSLINE-S20, it is possible to transmit data between drives. The following
describes typical operation examples.
(1) Master/slave
If one machine is driven by two units (two motors), one is determined as master and the other as slave.
Master: Speed control
Slave:
Torque control (Torque reference is input from the master.)
(2) Load balance
The operation is controlled so that two units are balanced. According to the signals from both units, the
speed of a unit, to which a larger load is applied, is reduced to ensure balanced operation.
3.7 Motor Temperature Detection Circuit (TMdrive-30)
(1) Platinum temperature sensor (ST-3A type, 1 kΩ)
The figure below shows the motor temperature detection circuit. The motor temperature is detected by the
platinum temperature sensor (platinum resistor) installed inside the motor. The voltage signal sent from the
platinum temperature sensor, which is read through the external terminal circuit board, is converted into a
digital value by the special A/D converter. This digital value is used to protect the motor from being
overheated, compensate variations in secondary resistance of the motor (R2 compensation: optional)
caused by temperature change, and provide the motor temperature data to external units (through the
optical transmission).
When an RTD unit is not used, the resistance of the platinum temperature sensor is approximately 1 kΩ.
(2) RTD unit
If a platinum resistor sensor (100 Ω) is used as temperature sensor, it is absolutely necessary to mount a
RDT unit (optional).
Since the working voltage range of the motor temperature detection circuit is 0 to 5V, the temperature
detection range of the RTD unit must be set so that the assumed temperature range is included in the
working voltage range.
The recommended RTD unit is listed as an optional device (Weidmüller WTS4 PT100/3V).
ST-3A temperature sensor approx. 1kΩ
TB2-3
Jumper setting
(1)
TB2-4
Temperature
sensor 100Ω
(2)
PT
Recommended
RTD unit
(optional)
A/D
RTD
ARND-3120
ARND-3110
Used voltage range: 0 to 5V (0 to 225°C)
Weidmüller
WTS4 PT100/3V
(output 0 to 10V)
Zero setting
Minimum temperature: 0°C
Span: 360 to 540°C
(Factory setting is 450°C)
RTD unit Switch setting pattern
1
2
3
4
5 6
Minimum temperature: 0°C
Span: 360 to 540°C
Drive Parameter:$MTMP_RTD_MAX=225
Fig. 3.7.1 Motor Temperature Detection Circuit
— 89 —
6F3A4768
3.8
Analog Input/Output
3.8.1 Analog Input
The equipment is provided with 2 general-purpose analog input channels (AIN1, AIN2).
An analog signal is input from the external terminal block board (ARND-3120) and converted to a digital value
through a 12-bit A/D converter. A ±10 V input is converted to count −2047 to 2047, and then data is subjected to gain
($AINn_GS) and offset ($AINn_OS) processing by software and is stored in the target data register with its storage
destination signal name ($AINn_AS) specified. (n = 1, 2)
Fig. 3.8.1 shows the input circuit. These inputs are set for a voltage input and thus you have to change jumper
settings to use 4-20 mA signal input.
Since this signal is directly connected to the control circuit, it is recommended to use an insulation unit for
environment with much noise.
±10V input JP1A
TB1-30
TB1-31
AIN1
4-20mA input JP1B
Gain
$AIN1_GS
±10V input JP1A
-
Offset
$AIN1_OS
ARND-3120
TB2-1
TB2-2
Data save address
$AIN1_AS
+
AIN2
4-20mA input JP1B
Gain
$AIN2_GS
Data save address
$AIN2_AS
+
-
Offset
$AIN2_OS
Fig. 3.8.1 Analog Input Circuit
[Setting example]
<Example 1> When speed reference is input from AIN1 in analog signal.
Set a 0 to 100% (count 0 to 25000) speed reference signal at 0 to +8 V so that it is stored in SP_REF1. Use a
personal computer (maintenance tool) for the setting.
The input characteristic is shown in Fig. 3.8.2.
Input count
25000
Set as follows:
$AIN1_OS = 0
$AIN1_AS = SP_REF1
$AIN1_GS = (25000 count/8 V) × 10 V = 31250
-8 V
8V
Input voltage
-25000
Fig. 3.8.2 Input Characteristic Example
— 90 —
6F3A4768
<Example 2> When 4-20 mA is used for speed reference signal to enter from AIN1.
Setting Jumpers “JP1A to Open” and “JP1B to Close”, 20 mA when entered corresponds to about 10 V output.
On the other hand, 4 mA input corresponds to 2 V output and thus set Gain and Offset so that 4 mA input
corresponds to 0 reference and 20 mA to 25000 count.
Then change the software setting so that this input data is stored in the speed reference signal SP_REF1.
TB1-30
4/20 mA signal
TB1-31
±10V input JP1A
AIN1
Gain
+
$AIN1_GS
-
4-20mA input JP1B
Data save address
$AIN1_AS
Offset
$GAIN1_OS
ARND-3120A/B
Fig. 3.8.3 Analog Input Circuit
— 91 —
6F3A4768
3.8.2 Analog Output
3.8.2.1 General-purpose Analog Output
Three channels, AOUT1 to AOUT3, are provided as general-purpose analog outputs. These general-purpose
analog outputs are output from the terminal circuit board (ARND-3120). You can select the output data from the
menu shown in Table 3.8.1. This is done by specifying the desired data code to the setting parameters
$AUTO1_CODE to $AOUT3_CODE.
<Example 1> Speed feedback is output from AOUT1 as 8 V signal at 100%-speed.
Current feedback is output from AOUT2 as 3 V signal at 100%-current.
$AOUT1_CODE:
$AOUT2_CODE:
Set 2 then SP_F signal will be output with the specified gain.
Set 8 then I1_F signal will be output with the specified gain.
AOUT1
$AOUT1_CODE
AOUT2
$AOUT2_CODE
AOUT3
$AOUT3_CODE
TB1-24
0VTB1-25
TB1-26
0VTB1-27
TB1-28
0VTB1-29
Fig. 3.8.4 General-purpose Analog Output Configuration
Table 3.8.1 Analog Output Code
Code Data name
0
Option
1
2
3
4
5
6
7
8
9
SP_R
SP_F
T_R
IQ_R
IQ_F
FL_R
I1_R
I1_F
FREQ
100%-count
25000/100%
25000/100%
4000/100%
4000/100%
4000/100%
10000/100%
4000/100%
4000/100%
10000/100%
D/A output
Separate
setting
8 V/100%
8 V/100%
3 V/100%
3 V/100%
3 V/100%
8 V/100%
3 V/100%
3 V/100%
8 V/100%
— 92 —
Description
Set output data name, gain and
offset separately for AOUT1, 2.
Speed reference (after rate)
Speed feedback
Torque reference
Torque current reference
Torque current feedback
Magnetic flux reference
Primary current reference
Primary current feedback
Frequency
6F3A4768
To output signals not listed in the table above, select 0 as code number and set data name, D/A gain and offset
in accordance with the channel.
$AOUTn_CODE:
$AOUTn_OP_AS:
$AOUTn_OP_GS:
$AOUTn_OP_OS:
Set 0
AOUTn
AOUTn
AOUTn
Data name
D/A conversion gain
Offset n: 1 to 3
Gain setting is the count for 10 V output.
<Example 2> SP_F (speed feedback) is output as 10 V signal at 100%-speed.
SP_F (speed feedback) is internally weighted 100% with 25000 count. To output 25000 count as 10V, set the
gain to 25000.
Analog output data names are normally protected. When they are protected, data names cannot be changed. To
release the protection, set bits 5 to 7 (corresponds to AOUT1 to 3) of $DA_AS_PRTOFF to 1. Analog output
settings can be changed anytime but be careful when you change the setting because if the output is used
outside when it is changed, it may cause disturbances.
— 93 —
6F3A4768
3.8.2.2 Measurement Analog Output
Five channels, D/A1 to D/A5, are provided as measurement analog outputs, and these are outputs from the
CTR board (ARND-3110). The configuration is shown below. Output data, gain and offset can be set on the PC
screen.
D/A1
D/A2
D/A3
D/A4
D/A5
Data output
$DA1_AS
$DA2_AS
$DA3_AS
$DA4_AS
$DA5_AS
Gain
$DA1_GS
$DA2_GS
$DA3_GS
$DA4_GS
$DA5_GS
Offset
$DA1_OS
$DA2_OS
$DA3_OS
$DA4_OS
$DA5_OS
D/A1
D/A2
D/A3
D/A4
D/A5
0V
Fig. 3.8.5 Measurement Analog Output Configuration
[Setting examples]
<Example 1> Speed feedback (SP_F) is output from D/A1.
The settings are made so that SP_F in a range of 0 to 125% (0 to 31250 counts) is output at 0 to +10 V. These
settings are made using the personal computer (maintenance tool).
$DA1_AS = SP_F
$DA1_GS = 31250 (125%)
$DA1_OS = 0 (0%)
<Example 2> Torque reference (T_R) is output from D/A2.
The settings are made so that T_R in a range of 50 to 125% (2000 to 5000 counts) is output at 0 to +10 V.
$OA2_AS = T_R
$OA2_GS = (5000 − 2000) = 3000 (75%)
$DA2_OS = 2000 (50%)
Analog output data names are normally protected. When they are protected, data names cannot be changed. To
release the protection, set bits 0 to 4 (corresponds to DA1 to 5) of $DA_AS_PRTOFF to 1. Analog output
settings can be changed anytime but be careful when you change the setting because if the output is used
outside when it is changed, it may cause disturbances.
— 94 —
6F3A4768
3.9
Options (TMdrive-30)
3.9.1 Motor Mounted Fan Circuit
It is also possible to manufacture a motor mounted fan circuit as an option or house it in the equipment.
When using it, be sure to check the rotation direction of the fan and change its phase rotation if necessary.
Reverse rotation of the fan cannot yield desired cooling effect.
When the auxiliary contacts of the mounted fan ON/OFF MCCB (contact is closed when turned on) are
connected to the P I/O input terminal on the input/output circuit board (XIO: ARND-3120) and the settings are
made according to "3.5.1 P I/O Input”, to interlock the fan rotation with equipment operation.
For detailed interface, see the wiring of the schematic connection diagram.
— 95 —
6F3A4768
4
Structure
The dimensions of TMdrive-30 are shown in Section 4.1. The dimensions of TMdrive-P30 are shown in Section
4.2.
4.1 Dimensions of TMdrive-30
1500, 2000 frames
Approximate mass: 1300kg
Control panel
Inverter panel
2300
600
800
1200
Fig. 4.1.1 1500, 2000 frames
3000, 4000 frames
Approximate mass: 2300kg
Inverter panel
(slave)
Control panel
Inverter panel
(master)
2300
1200
600
1200
Fig. 4.1.2 3000, 4000 frames
— 96 —
800
6F3A4768
4.2
Dimension of TMdrive-P30
2000 frames
Approximate mass: 1600kg
Pre-charge panel
Control panel
Converter panel
2300
400
600
800
1200
Fig. 4.2.1 2000 frames
4000 frames
Approximate mass: 2600kg
Pre-charge panel
Converter panel
(slave)
Control panel
Converter panel
(master)
2300
400
1200
600
1200
800
Fig. 4.2.2 4000 frames
<Notes>
(1) Front panel maintenance is adopted for all units.
(2) The dimensions indicated in the figures do not include the following.
• Channel base, lifting angle, side cover.
• Fans, handles and other protruded sections.
(3) To install in an electric room, it is necessary to reserve space for maintenance
(For details, see the dimensions drawing).
— 97 —
6F3A4768
4.3 Operation Panel
The standard type operation panel is shown in Fig. 4.3.1.
The LED display consists of 7 segments x 3 characters. The model name, software number, operation data,
operation preparation indication and FI (First Fault) are displayed with their abbreviations and numeric values.
Fig. 4.3.2 shows the display characters.
Three operational status display LEDs are provided: READY (green), RUN (green), and a LED used both as
ALARM and FAULT (red).
The FAULT REST switch is used for display and operation. This switch functions differently depending on how
you press. This is used not only for reset operation (FAULT REST operation) but also for switching between
display and operation.
Mode display LED
READY (lights in green)
RUN (lights in green)
ALARM (blinks in red) or FAULT (lights in red)
LCD display
7-segment × 3 alphanumeric characters
READY
RUN
ALARM/FAULT
Ethernet connector
Modular jack connector
to connect with PC.
Put the attached cap on
the connector when the
connector is not used.
TOOL
FAULT RESET INTERLOCK
Fault reset switch
Panel interlock switch
Operation interlock switch for the
equipment (with protective cover)
Fig. 4.3.1 Operation Panel
Numeric Characters
0
1
2
3 4
5
6
7
8
9
- -1
Alphabet Letters
Aa Bb Cc Dd Ee Ff Gg Hh Ii Jj Kk Ll M m
Nn Oo Pp Qq Rr Ss Tt Uu VvW w Xx Yy Zz
Fig. 4.3.2 LED Display (7-Segment Characters)
— 98 —
6F3A4768
Fig. 4.3.3 shows the overall screen transitions. Screen switching basically takes place at three-minute intervals.
Pressing FAULT REST for five seconds triggers one operation.
When the power supply is turned on, the model name and software version are displayed for three seconds,
respectively. Then the display mode is entered and the display is automatically switched between operation data
display, operation preparation display, and FI (FIrst Fault) display, in accordance with the READY, ALARM and
FAULT occurrence status.
If the READY condition is satisfied and ALARM is detected, the operation data display continues and the
operation preparation indication is shown cyclically. When a FAULT occurs, FI display appears.
Operation data display:
Operation data is shown in units of %.
Operation preparation display: The sequence signals that are not satisfied are indicated with a code number.
FI display: The fault sequence signals are indicated with code numbers in order of occurrence.
<Display Mode>
POWER ON
READY
established?
Equipment model name
displayed
Y
Display mode
N
Operation data display
ALARM exists?
FAULT RESET on
longer than 5 s?
Y
Y
N
Y
Y
FI display
Test display
FAULT RESET on?
Y
Electrical condition
(UV) not established
yet?
Y
N
FAULT RESET on
longer than 15 s?
Y
Software reset operation
Count down
N
FAULT RESET on
longer than 20 s?
Y
N
FAULT occurred?
FAULT RESET on
longer than 10 s?
Y
N
Operation preparation display
FI call display
FAULT RESET on or left
longer than 1 minute?
N
N
Screen
Yes/No answer
Software reset execution
Fig. 4.3.3 Entire Configuration of Display Screens
— 99 —
N
6F3A4768
The display items are described below.
4.3.1 Equipment Model Name/Software Version Display
When power is turned on, the model name and the lower three digits of the software version are displayed.
(Inverter)
(Converter)
Equipment Model Name: TMdrive-30
Equipment Model Name: TMdrive-P30
“30”
“P30”
Software version:
Software version:
“01A”
“01A”
To operation data display or
operation preparation display
To operation data display or
operation preparation display
Fig. 4.3.4 Equipment Model Name/Software Version Display
4.3.2 Operation Data Display
When “READY” is established, operation data will be displayed. Each screen will be displayed cyclically at
3-second intervals.
Numerical display range: -999 to 999%
(Inverter)
(Converter)
Speed Feedback
Title
SP_F_DSP
When positive: “SP”
Numeric Value
Title
VDC_F_DSP
When negative: “SP-”
100% -100%
100%
Primary Current Feedback
Primary Current Feedback
I1_F_DSP
Numeric Value
DC Output Voltage
I1_F_DSP
100%
100%
Output Power
Input Power
MOT_POWER_PCT
Title
MOT_POWR_PCT
When positive: “PO”
When positive: “PO”
When negative: “PO-”
Numeric Value
When negative: “PO-”
100% -100%
100% -100%
Title
Primary Voltage Reference
AC Input Voltage
E1_R_T
MAIN_VAC_F_FLT
Numeric Value
100%
100%
Fig. 4.3.5 Operation Data Display
— 100 —
6F3A4768
4.3.3 Operation Preparation Display
When the “READY” condition is unsatisfied, an unsatisfied sequence signal code number (three digits) is
displayed. The title “PI-“ and up to four code numbers are displayed cyclically. For example, if there are two
unsatisfied signals, three screens are displayed cyclically.
See Table 1.5.1 for code Nos. of sequence signals.
Preparation Information
"PI-”
1st Code No.
2nd Code No.
3rd Code No.
4th Code No.
Fig. 4.3.6 Operation Preparation Display
— 101 —
6F3A4768
4.3.4 FI (FIrst fault) Display
When a FAULT occurs, the fault sequence signal numbers (3 digits) for the faults that occurred within 10ms
after the first fault occurrence are displayed in order of occurrence (faults that occurred after 10ms are not
displayed). Title “FI-“ and up to four code numbers are cyclically displayed at three-second intervals. As in the
operation preparation display, if two fault signals are detected, three screens are displayed cyclically.
See Table 1.5.1 for code Nos. of sequence signals.
Pressing the “FAULT RESET” button switches the screen to the operation preparation screen where the
currently occurred faults are displayed in order of code numbers. Whether it is operation preparation display or
FI display can be distinguished with the title (“PI-“ or “FI-”).
FIrst fault
“FI-”
1st Code No.
2nd Code No.
3rd Code No.
4th Code No.
Fig. 4.3.7 FI (FIrst fault) Display
4.3.5 FI Call
Pressing “FAULT RESET” longer than 5 seconds in the Display mode will change the screen to the previous FI
display. (The screen will be the same as that in 4.3.4.)
The FI display can be redisplayed by this method even if FI display is overlooked when a fault has occurred.
4.3.6 Test Display
Pressing “FAULT RESET” longer than 10 seconds in the Display mode will appear Test display following 4.3.5.
In Test display, all segments will be lit following display of software versions. This display is used in checking
software versions of the main control board and LED faults.
Software version
“01A”
All segments lit
“888”
Fig. 4.3.8 Test Display
— 102 —
6F3A4768
4.3.7 Software Resetting Operation
Pressing “FAULT RESET” longer than 15 seconds in the Display mode when the electric condition (UV) is off
will set the Software Reset Operation screen following on the operations in 4.3.5 and 4.3.6.
In software resetting, initialize the system as in POWER-ON resetting while the power is turned on. By this,
setting changes that need initialization and initialization of the TOSLINE-S20 Transmission Option Boards
(ARND-8217) can be executed by panel operation without shutting down the power.
When stopping operation, release the button before counting down finishes.
Software reset start?
"rSt”
5 seconds before start
"St5”
4 seconds before start
"St4”
3 seconds before start
"St3”
2 seconds before start
"St2”
1 second before start
"St1”
0 second before start
"St0”
Software resetting execute
(Initializing)
"InI”
To Equipment model name/Software version
display
Fig. 4.3.9 Software Resetting
— 103 —
Countdown
6F3A4768
4.3.8 Software Error Display
When power is turned on, the software in the FLASH memory is checked. If an error is detected, software error
display appears.
When “Software Error” is displayed, the main control functions will not operate, disabling transmission and
connection of adjustment tools. Replace the main control board.
Software Error
“SFt”
”Err”
Fig. 4.3.10 Software Error Display
4.3.9 Relief Mode Display
If the main control CPU (PP7) malfunctions due to a drive unit setting error or hardware fault, the adjustment tool
may not be able to connect in the normal way. Especially, if data for tool connection (MAC address, IP address,
subnet mask, gateway address, panel name) is incorrect, the adjustment tool cannot be connected.
In this case, using the rescue mode enables you to connect the adjustment tool to the drive unit and correct and
save the setting values in the relevant file.
The Relief mode can be set by manual selection and automatic selection as follows:
a. Turn the power on while pressing FAULT RESET.
b. The MAC address of the main control board is an error.
c. Interrupt signal of the main control CPU (PP7) has become
an error during normal operation
(Manual selection: “999”)
(Auto selection: “999”)
(Auto selection: “998”)
Three-digit code number display is used. In the cases of “a” and “b” that are switching at startup time, “999” is
displayed. In the case of “c” that is switching during normal operation, “998” is displayed. All of the operation
status LEDs (READY, RUN, and FAULT) blink.
Press FAULT RESET during
initialization
or MAC address error
PP7 interrupt signal error
Fig. 4.3.11 Relief Mode Display
In the rescue mode, the adjustment tool is connected, ignoring the MAC address, IP address, subnet mask, and
gateway address. The panel name is “TM drive.” When you use the rescue mode, be sure to check and correct
these settings.
If the system does not recover even if setting values are corrected, hardware error has probably occurred. Save
the setting values to a file in the rescue mode and replace the main control board.
— 104 —
6F3A4768
5
Operation
5.1 Main Circuit Operation
5.1.1 Main circuit Operation of Two-level Inverter
Fig.5.1.1 shows the main circuit operation for one-phase (U-phase) of the two-level inverter.
P
P
IGBTU
IM
Virtual 0 V
N
IGBTU
Virtual neutral
point
IM
Virtual 0 V
N
IGBTX
a) IGBTU is on (positive current)
IGBTX
b) IGBTX is on (positive current)
IGBTU
P
Virtual neutral
point
IGBTU
P
Virtual neutral
point
IM
Virtual 0 V
N
Virtual neutral
point
IM
Virtual 0 V
N
IGBTX
c) IGBTX is on (negative current)
IGBTX
d) IGBTU is on (negative current)
Fig. 5.1.1 U-phase Main Circuit Operation
The following describes the IGBT control of the U-phase.
The main circuit for the U-phase is composed of IGBTU and IGBTX. As shown in Fig.5.1.1 a) to d), several
operation modes are provided according to the load current direction and gate signal. These operation modes
are controlled to output the sine wave voltage. As a matter of convenience, it is presumed that 600 V dc is input
and continues as follows.
— 105 —
6F3A4768
(1) When positive current is flowing into the motor:
When flowing the positive current, two states a) and b) are controlled by the on/off control of the IGBTU and
IGBTX to control the voltage output from the U-phase.
a) IGBTU is on. (IGBTX is off.)
IGBTU is on and IGBTX is off.
At this time, the IGBT1 outputs the positive potential (P) of the DC power supply. After that, the current
flows through a loop so that it flows into the motor and returns to virtual 0 V of the converter through the
virtual neutral point. (Actually, even though the neutral point is not connected, it seems that the current
flows through equivalent neutral point since the V and W phases are provided.)
b) IGBTX is on. (IGBTU is off.)
IGBTX is on and IGBTU is off.
When positive current is applied, the current does not flow into the IGBTX even though the IGBTX is on
(gate signal on) and the current flows through a diode built in the IGBTX package. At this time, the
negative potential (N) of DC power supply will be output. After that, the current flows through a loop so
that it flows into the motor and returns to virtual 0 V of the converter through the virtual neutral point.
(2) When negative current is flowing into the motor:
When flowing the negative current, two states c) and d) are controlled by the on/off control of the IGBTU
and IGBTX to control the voltage output from the U-phase.
c) IGBTX is on. (IGBTU is off.)
IGBTX is on and IGBTU is off.
At this time, since the IGBTX is on, the output of the U-phase becomes the negative potential (N) of DC
power supply. After that, the current flows through a loop so that it flows into the motor and returns to
virtual 0 V of the converter through the virtual neutral point.
d) IGBTU is on. (IGBTX is off.)
IGBTU is on and IGBTX is off.
When positive current is applied, the current does not flow into the IGBTU even though the IGBTU is on
(gate signal on) and the current flows through a diode built in the IGBTU package. At this time, the
positive potential (P) of DC power supply will be output. After that, the current flows through a loop so
that it flows into the motor and returns to virtual 0 V of the converter through the virtual neutral point.
When flowing the positive or negative current, the current may flow into the IGBT or diode. In both cases,
however, the voltage is the same. That is, when the gate signal to the IGBTU is on, the voltage becomes
the positive potential (P). On the contrary, when the gate signal to the IGBTX is on, the voltage becomes
the negative potential (N).
(3) Output voltage
In a two-level inverter (such as TMdrive-10), performs the on/off control of each IGBT at periodic intervals.
• When the power supply to IGBTU is made the same as that to IGBTX during a specified period, the
average output voltage becomes zero.
• When the IGBTU turn on period is made longer and the IGBTX turn on period shorter, the average
voltage becomes positive.
• When the IGBTX turn on period is made longer and the IGBTU turn on period shorter, the average
voltage becomes negative.
That is, by changing the turn on period of each IGBT, it is possible to control the output voltage to a desired
level ranging from positive voltage to negative voltage.
As described previously, it is possible to output the sine wave AC voltage with a desired frequency and
voltage level by the on/off control of the IGBTU and IGBTX.
Fig. 5.1.2 shows the waveform of the inverter output voltage (VM), and the IGBTU and IGBTX states.
Fig. 5.1.3 shows the waveform of the inverter output voltage (rectangular wave) and the average voltage
(sinusoidal wave).
— 106 —
6F3A4768
IGBTU on
P
P
N
Regular cycle
a) 0 V output
P
N
N
IGBTX on
b) + (positive) output
c) - (negative) output
Fig. 5.1.2 Average Output Voltage
Fig. 5.1.3 PWM Waveform
— 107 —
6F3A4768
5.1.2 Two-level Converter Operation
Fig. 5.1.4 shows the main circuit operation for one-phase (U-phase) of the two-level converter (TMdrive-P10).
This figure shows the main circuit operation for one-phase (U-phase) of the converter when DC voltage is 680V.
IGBTU
IGBTU
340V
Virtual neutral point
Virtual neutral point
Power
supply
340V
Power
supply
Virtual 0V
Virtual 0V
340V
340V
IGBTX
IGBTX
a)IGBTU ON (positive current)
IGBTU
b)IGBTX ON (positive current)
IGBTU
340V
340V
Virtual neutral point
Virtual neutral point
Power
supply
Power
supply
Virtual 0V
Virtual 0V
340V
340V
IGBTX
IGBTX
c)IGBTX ON (negative current)
d)IGBTU ON (negative current)
Fig. 5.1.4 U-phase Main Circuit
The following describes the IGBT control of U-phase.
The main circuit for U-phase is composed of IGBTU and IGBTX. As shown in Fig. 5.1.4 a) to d), operation mode
varies depending on the load current direction. These operation modes are controlled so that DC voltage will be
identical to the voltage reference and the power supply current becomes a sine wave. In the description below,
for convenience, it is assumed that 460Vac is input.
— 108 —
6F3A4768
(1) When positive current flows in the power supply (motor running)
By controlling two states a) and b) by turning on/off IGBT and IGTX, output voltage from U-phase is
controlled.
a) IGBTU is turned on (IGBTX off)
IGBTU turns on and IGBX turns off.
If the DC voltage is lower than the power supply voltage, the current flows into the DC capacitor through
the diode. On the other hand, even if the DC voltage is higher than the power supply voltage, when
IGBTX is turned off, IGBTU causes the current (that was flowing in the direction pointed by the arrow into
the power supply so far) to flow into the DC capacitor through FWD current of IGBTU.
Then the current flows through the loop that starts from virtual 0V of the converter and returns to the
neutral point of the power supply. (The neutral point is not connected actually but it can be assumed that
the current flows through the equivalent neutral point since V and W phases are provided).
b) IGBTX is turned on (IGBTU off)
IGBTX turns on and IGBTU turns off.
When IGBTX is turned on (gate signal is on), the positive current flows through IGBTX. In this mode, the
current becomes larger.
(2) When negative current flows in the power supply (regeneration)
For regeneration, two states a) and b) are controlled by turning on/off the IGBTU and IGBTX in the same
way as in motor running operation.
a) IGBTX is turned on (IGBTU off)
IGBTX turns on and IGBTU turns off.
In this case, since IGBTX is on, U-phase output becomes the negative potential (-340V output). Then the
current flows through the loop that starts from the virtual neutral point and returns to the virtual 0V of the
converter through the power supply.
b) IGBTU is turned on (IGBTX off)
IGBTU turns on and IGBTX turns off.
In this case, the current is controlled through IGBTU (340V output). Then the current flows the loop that
starts from the virtual neutral point and returns to the virtual 0V through the power supply.
Positive current and negative current may sometimes flow through IGBT and may sometimes flow
through diodes. However, the voltage is the same in both cases. That is, when IGBTU gate signal is on,
the voltage becomes 340V and when IGBTX gate signal is on, the voltage becomes –340V.
— 109 —
6F3A4768
5.1.3 Main Circuit Operation for Three-level Inverter
Fig. 5.1.5 and Fig. 5.1.6 show the main circuit operation for the three-level IGBT inverter.
P(+900V)
Q1
D5
Q2
Q3
D6
Q4
N(-900V)
(1) When Q1 and Q2 are ON (positive current)
P(+900V)
P(+900V)
Q1
Q1
D5
D5
Q2
Q3
D6
Q2
Q3
D6
Q4
Q4
N(-900V)
N(-900V)
(3) When Q3 and Q4 are ON (positive current)
(2) When Q2 and Q3 are ON (positive current)
Fig. 5.1.5 Main Circuit Operation for Three-level Inverter
— 110 —
6F3A4768
P(+900V)
Q1
D5
Q2
Q3
D6
Q4
N(-900V)
(4) When Q1 and Q2 are ON (negative current)
P(+900V)
P(+900V)
Q1
Q1
D5
D5
Q2
Q2
D6
Q3
Q3
D6
Q4
Q4
N(-900V)
N(-900V)
(5) When Q2 and Q3 are ON (negative current)
(6) When Q3 and Q4 are ON (negative current)
Fig. 5.1.6 Main Circuit Operation for Three-level Inverter
— 111 —
6F3A4768
In the three-level inverter, three levels of voltage (P-potential, C-potential, and N-potential) can be output by
turning on/off four IGBTs from 01 (IGBT1) to 04 (IGBT4). Fig. 5.1.7 shows the inverter output (phase) voltage
waveform and IGBT status. Fig. 5.1.8 shows the output voltage (rectangular wave) and average voltage (sine
wave) of the inverter.
Q1 and Q2 are ON
+900V
Q1 and Q2 are ON
+900V
0V
0V
Q1 and Q2 are ON
0V
Q2 and Q3 are ON
Regular cycle
(1) + voltage output
Q2 and Q3 are ON
Q3 and Q4 are ON
-900V
0 voltage output
Fig. 5.1.7 Average Output Voltage
Phase voltage
VU-0
VV-0
Motor line-to-line voltage
VU-V
Fig. 5.1.8 PWM Waveform of Three-level Inverter
— 112 —
Q3 and Q4 are ON
− voltage output
6F3A4768
5.1.4 Three-level Converter Operation
Fig. 5.1.9 and Fig.5.10 show the main circuit operation principle for the three-level IGBT converter.
P(+900V)
Q1
Power supply
Q2
D5
Q3
D6
Q4
N(-900V)
(1) When Q1 and Q2 are ON (positive current)
P(+900V)
P(+900V)
Q1
Q1
Power supply
Q2
D5
Q3
D6
Power supply
Q4
Q2
D5
Q3
D6
Q4
N(-900V)
N(-900V)
(2) When Q2 and Q3 are ON (positive current)
(3) When Q3 and Q4 are ON (positive current)
Fig. 5.1.9 Main Circuit Operation for Three-level Inverter
— 113 —
6F3A4768
P(+900V)
Q1
Power supply
Q2
D5
Q3
D6
Q4
N(-900V)
(4) When Q1 and Q2 are ON (negative current)
P(+900V)
P(+900V)
Q1
Q1
Power supply
Q2
D5
Q3
D6
Power supply
Q4
Q2
D5
Q3
D6
Q4
N(-900V)
N(-900V)
(5) When Q2 and Q3 are ON (negative current)
(6) When Q3 and Q4 are ON (negative current)
Fig. 5.1.10 Main Circuit Operation for Three-level Converter
In the three-level converter, three levels of voltage (P potential, C potential, and N potential) can be output by
turning on/off four IGBTs from 01 (IGBT1) to 04 (IGBT4).
— 114 —
6F3A4768
5.2
Main Circuit Configuration of TMdrive-30
5.2.1 Single Drive (1500kVA, 2000kVA)
Fig. 5.2.1 shows the circuit configuration of Cabinet type.
The DC power is supplied from the external DC main power supply to the main circuit through the common bus
at the lower portion of the enclosure, and then converted by the inverter into 3-phase AC power necessary to
drive the motor (frequency, voltage, and current are controlled).
Trunk line
Capacitor unit
DC common
power
IGBT stack
PG resolver
sensor-less
IM
DC common
power
Gate board is
common with
T-350W
Profibus
DeviceNet
SS
ASC
External I/O board
ARND-3120
Gate board
ARND-2711B
TOSLINE-S20
ISBus
External P-1/O
Internal P-I/O
Extended external P-I/O
TMdrive-30
External I/O circuit
is common with
TMdrive-10
1500kVA
2000 kVA
Main circuit interface board
ARND-3138A
Display unit is common
with TMdrive-10
Display unit
Speed
control
KPAD-3122A
(OPTION)
PP7
Current
control
PWM
Basic motor control function
PC
Resolver
PG
Transmission
CPU
SH2
Trunk line
transmission
Sensor-less
Extended transmission
grandchild board
(S-NET)
ARND-8217A (F07)
ARND-8217D(FC)
(ISBus)
ARND-8204A
(Profibus) (optional)
(DeviceNet) (optional)
Display control
Tool
transmission
Windows version
Maintenance tool
Main control board
ARND-3110D
Extended transmission grandchild board is common with TMdrive-10
Fig. 5.2.1 Wiring Diagram of TMdrive-30 Control (Single:1500kVA, 2000kVA)
The main circuit is composed of a capacitor and an inverter that converts the DC power into AC power. Basically,
the capacitor is intended to temporarily store reactive power of the induction motor. The IGBT unit consists of
three phase IGBT stacks, and the output power is supplied to the motor.
Hole CTs (HCTU and HCTW) are provided on the U-phase and W-phase outputs as current detectors.
— 115 —
6F3A4768
5.2.2 Twin-drive (2x1500kVA, 2x2000kVA)
Two-winding motor is used. The motor is insulated by two windings to control two sets of main circuits. There
are two inverter main circuits available, 2x1500kVA and 2x2000kVA.
The same phase of two winding sets is controlled by one control circuit board.
Capacitor unit
IGBT stack
Twin/slave
Main circuit has the
same configuration as
for the master side.
Gate board
ARND-2711B
Trunk line
Capacitor unit
DC common
power
IGBT stack
Twin/master
PG
Resolver
TOSLINE-S20
External P-I/O
ISBus
Sensor-less
IM
DC common
power
Profibus
DeviceNet
SS
ASC
Gate board
ARND-2711B
External I/O board
ARND-3120 B/C/D
Internal P-I/O
Extended external P-I/O
TMdrive-30
External I/O board is
common with TMdrive-10
2x1500 kVA
2x2000 kVA
Main circuit interface board
ARND-3138A
Display unit is common
with TMdrive-10
Display unit
DISP-3121A
KPAD-3122A
(OPTION)
Speed
Current
control
control
PP7
PWM
SH2
Basic motor control function
PC
Resolver
PG
Transmission CPU
Trunk line
transmission
Sensor-less
Display
control
Tool
transmission
Window version support tool
Main control board
Extended transmission
grandchild board
(S-NET)
ARND-8217A (F07)
ARND-8217D(FC)
(ISBus)
ARND-8204A
(Profibus) (optional)
(DeviceNet) (optional)
ARND-3110D
Extended transmission grandchild board is common with TMdrive-10
Fig. 5.2.2 Wiring Diagram of TMdrive-30 Control (2x1500kVA, 2x2000kVA)
— 116 —
6F3A4768
5.3
Main Circuit Configuration of TMdrive-P30
5.3.1 Single Converter (1700kW)
The main circuit configuration of TMdrive-P30 is described below. As shown in Fig. 5.3.1, 1100Vac is input
through the input transformer. IGBT converts this 1100Vac to 2x900Vdc, which is then supplied to the IGBT
inverter from a common bus at the bottom of the enclosure.
MCCB
PLLPSF
Control power supply
PLL control
PDM
ARND-8122A
Trunk line
IGBT stack
Circuit breaker
Capacitor unit
Trans.
%IZ 12% or
more
TOSLINE-S20
ISBus
P-I/O
Profibus
DeviceNet
ASC
CC
External I/O board
Gate board
ARND-2711B
TC
ACONX
“AC MAIN CIRCUIT
BREAKER”
ACOFFX
ON/OFF changing-over
switch
ARND-3120
Main circuit interface board
ARND-3138A
Display unit is common
with TMdrive-10
Display unit
DISP-3121A
Voltage
control
Current
control
PP7
PWM
KPAD-3122A
PC
Transmission
CPU SH2
Trunk line
transmission
Display
control Tool
transmisson
(OPTION)
Windows version
maintenance tool
Main control board ARND-3110D
Extended transmission grandchild board is common with TMdrive-10
Fig. 5.3.1 Basic Configuration
— 117 —
TMdrive-P30
External I/O
board is common
with TMdrive-10
1700kW
Extended transmission
grandchild board
(S-NET)
ARND-8217A (F07)
ARND-8217D(FC)
(ISBus)
ARND-8204A
(Profibus) (optional)
(DeviceNet) (optional)
6F3A4768
5.3.2 Twin converter (2x1700kW)
The twin-converter consists of two pairs of converter main circuits that are connected in parallel, as shown in Fig.
5.3.2. IGBT converts the input power to 2x900Vac, which is then supplied to the IGBT inverter from a common
bus at the bottom of the enclosure.
MCCB
PLLPSF
Control power supply
PLL control
PDM
ARND-8122A
Capacitor unit
IGBT stack
Trans.
%IZ 12%
or more
Gate board
ARND-2711B
Circuit breaker
Trunk line
IGBT stack
CC
Capacitor unit
TOSLINE-S20
P-I/O
TC
ISBus
Profibus
DeviceNet
ASC
Gate board
External I/O board
ARND-2711B
ACONX
ACOFFX
ON/OFF changing-over
switch
TMdrive-P30
ARND-3120
1700x2kW
“AC MAIN CIRCUIT
BREAKER”
External I/O board is
common with TMdrive-10
Main circuit interface board
ARND-3138A
Display unit is common
with TMdrive-10
Display unit
DISP-3121A
Voltage
control
Current
control
PP7
PWM
KPAD-3122A
(OPTION)
Transmission
CPU
SH2
Trunk line
transmission
PC
Display
control
Tool
transmission
Windows version
maintenance tool
Main control board ARND-3110D
Extended transmission grandchild board is common with TMdrive-10
Fig. 5.3.2 Two-bank Converter Configuration
— 118 —
Extended transmission
grandchild board
(S-NET)
ARND-8217A (F07)
ARND-8217D(FC)
(ISBus)
ARND-8204A
(Profibus) (optional)
(DeviceNet) (optional)
6F3A4768
5.4 Control Circuit TMdrive-30
Fig. 5.4.1 shows the TMdrive-30 control block diagram.
$ mark shows a setting parameters. $ mark is only for reference and the actual parameter does not include $.
These parameters must set properly.
Speed
Reference
5.4.1
Speed
Control
5.4.2
Torque
Reference
5.4.3
SFC
5.4.2
Tension
Control
5.4.3
D/Q axis
Current
Reference
5.4.4
D/Q axis
current
Control
5.4.4
Voltage
Reference
5.4.5
Id, Iq
Current Detection
Speed Detection
5.4.6
Fig. 5.4.1 Control Block Diagram
— 119 —
PWM
Control
5.4.5
6F3A4768
5.4.1 Speed Reference
An external speed reference with 25000 counts/100% weighing is input to SP_REF1 through the serial
transmission or analog input, and then the rate and limit processes are performed to output the SP_R signal.
The speed reference signal is positive for forward rotation and negative for reverse rotation.
Drooping
(option)
DROOP_R
Torque Reference
DROOP_GAIN_T
Initial value: $CR_DROOP_GAIN
Speed reference input
(option) FTC_SP_R
SP_T
25000 count/100%
EXT=1
EXTR=1
Impact compensation
(option) DT_IMP_T
Jogging (option)
JOG_R
SP_REF1
Serial transmission
or Analog
SP_REF2
Load Balance (option)
DT_LB_CMP_IN
Speed reference input (option)
SP_REFA1
<RATE><LIMIT>
+
+
+
+
+
+
+
+
+
SP_R_MEM
(E_HOLD
(option))
+
$FLT_DROOP
$CR_RATE_ACC
$CR_RATE_DEC
$CR_RATE_QSTOP
SP_TEST29
+
+
+
+
+
+
+
+
SP_R
5.4.2
SP_TEST22
$LMT_SP_F
$LMT_SP_R
+
X
SP_REFA2_D
Speed reference with gain (option)
1
213
13
SP_REFA2_G
2
10000
Fig. 5.4.2 Speed Reference
(1) SP_REF2 (option)
This is an auxiliary speed reference input. SP_REF1 is used as a main speed reference signal and
correction signal is input to SP_REF2. Both signals are added and used as speed reference for operation.
These signals are input through the serial data transmission or analog input.
(2) SP_REFA2_D, SP_DEFA2_G (option)
These signals are used to add a gain to the speed reference input.
The weight of SP_REFA2_G is gain 1 at 10000 counts.
<Example> When the line speed reference is input to SP_REFA2_D and (1/roll diameter) data to
SP_REFA2_G, the line speed is converted into the motor RPM by the drive unit.
— 120 —
6F3A4768
(3)
Drooping (option)
This optional function is used when transferring or machining one material by multiple drive units. In such
applications, when the speed of one motor is increased, a large load is applied to this motor and the load
applied to other motors is decreased. On the contrary, if the speed of one motor is decreased, the load
applied to other motors is increased.
This drooping function decreases the speed reference in proportion to the load if the torque reference (load)
increases. If the drooping function is installed in the system consisting of multiple drive units, the speed of
the motor, to which a large load is applied, is decreased to make the load applied to each motor balanced.
This drooping function is useful to make the load balanced, but may cause the speed control accuracy to
lower. Therefore, always pay special attention to the gain when using this function. To improve the speed
control accuracy, the drooping gain is changed from the PLC. At this time, the gain is input to
DROOP_GAIN_T.
— 121 —
6F3A4768
5.4.2 Speed Control
5.4.2.1 Speed Control 1 (ASPR)
Fig. 5.4.3 shows the speed control 1 (ASPR) block diagram.
Speed reference signal SP_R and the speed feedback are input with count 25000/100% weighting and the
deviation between these two is subjected to proportional/integral operations and output. After this signal is
subjected to speed filtering and torque limit processing, its torque reference SFC_T_R is output with count
4000/100% weighting.
Control response is performed with the following parameter settings.
$ASPR_A:
Anti-overshoot gain
Setting this parameter to a large value can reduce excessive overshoot.
Anti-overshoot time constant
Adjust this parameter to reduce overshoot.
Proportional gain
This parameter is set by GD2 and target response.
Response target
This parameter sets the target response with 0.01 rad/s unit.
$ASPR_AT:
$ASPR_P:
$ASPR_W1:
Note that if GD2 of the machine is extremely large compared to GD2 of the motor or if there is axial resonance,
the control response may not be increased.
<Integration>
25000/100%
Speed
reference
Section 5.4.1
SP_R
<Torque limit>
+
+
-
-
<Proportion>
<Filter>
+
+
+
$FLT_T_R
4000/100%
SFC_T_R
+
Limit calculation To Section
Section 5.4.3.2
5.4.3.1
Speed detection
Section 5.4.6
SP_F
<Anti-over>
<Speed control>
$ASPR_A: Anti-overshoot gain
$ASPR_AT: Anti-overshoot gain time constant
$ASPR_P: Proportional gain
$ASPR_W1: Response target
SFC (option)
Simulator
<ACR>
<Inertia>
Speed control gain
switching
(Option)
Switching of a
maximum of 4 stages
$ASPR_G_SEL
<Anti-overshoot>
<Proportion>
<Limit>
<Differentiation>
$FLT_SFC: ACR simulator
$OP_SFC_J: Inertia
$OP_SFC_P:
$OP_SFC_D:
$OP_SFC_A:
$LMT_SFC_D:
Proportion
Differentiation
Anti-overshoot
Differentiation limit
Fig. 5.4.3 Speed Control
— 122 —
SFC_DATA
To Section
5.4.4
6F3A4768
5.4.2.2 Speed control gain switching (option)
The speed control response is determined relative to load GD2. Therefore, as load GD2 fluctuates a great deal
(such as winder), the speed response changes (as GD2 grows with the same gain, the response slows down).
For such a case, this equipment is provided with a function to keep the operation stable by using different speed
control gains.
a) 4-stage switching
In this mode, the equipment is operated by switching 4 sets of speed control gains which were preset
through an external signal.
$ASPR_G_SEL:
Set 1 when switching speed control gain.
ASPR_G_NO:
Input the speed control gain set number. (0 to 3)
If there is any difference between the speed reference and actual speed, a shock is perceived at the
moment the gain is switched.
Try to switch the gain in a stationary state (when the speed is stable).
b) Continuous gain
This function changes the gain continuously through an external signal.
$ASPR_G_SEL:
Set 2 for continues switching of speed control gain.
ASPR_GAIN_EXT: Externally changed speed control gain. Gain 1 with 100.
ASPR_GAIN_EXT is limited to a value between 100 and 30000. In other words, the gain control function
operates in a direction in which the gain is increased. This function is used by presetting a gain when
GD2 is a minimum and adjusting the gain externally so that it is increased with respect to the preset gain.
(1) Simulator following control (SFC, option)
When the machine axes resonance, the simulator following control (SFC) function is available.
a) Simulator
With the SFC, a speed control output signal is input and an acceleration torque signal (simulation) is
obtained by the ACR simulator. This signal is input to the inertia simulator to obtain an estimated speed
signal.
ACR simulator:
First order lag operation
Inertia simulator:
Integral operation
b) Deviation
Calculates the deviation between the above estimated speed signal and actual speed signal.
c) Proportion
The above deviation signal is subjected to gain operation processing and added to the speed control
result. This proportional output is effective for the improvement of recovery response to an impact load
generated by biting of rolling material.
In normal speed control, the speed control output becomes a (load torque + acceleration torque)
reference. Adding SFC control makes the load torque signal an output from the SFC proportional term,
while the speed control output becomes equivalent to the acceleration/deceleration torque reference.
Because of this, the acceleration torque signal is obtained by the ACR simulator as shown in a) above.
d) Differentiation
The above deviation signal is differentiated and added to the torque reference.
This signal is effective for vibration control.
When the SFC function is not used, set each gain of SFC to 0.
— 123 —
6F3A4768
5.4.2.3 Speed Control 2 (ASR)
Fig. 5.4.4 shows the speed control 2 (ASR) block diagram.
The speed control circuit receives the speed reference signal SP_R and the speed feedback signals at the
weight rate of 25000 counts/100% and the deviation of these two proportional calculation outputs, and the
integral calculation result of the deviation of these two signals are output. This control operation works when
$FLG_ASR=1 is set. The control response is made with the following parameter settings.
$ASR_P_CMD:
$ASR_P_FBK:
$ASR_I:
$ASR_ERR_MAX:
$ASR_ERR_MIN:
Speed reference proportional gain
Speed feedback proportional gain
Integral gain
Target response x 0.5 is normally set.
Error deadband max. value These are used when the speed control error deadband
Error deadband min. value detection is used to select the tension control & the
speed control 2 (ASR) in the torque control mode.
$ASR_W0:
Speed control response
Target response x 2 is normally set.
gain
$ASR_J0:
Speed control inertia gain
When the machine’s GD2 is much larger than the motor’s GD2 or if the shaft resonance occurs, control response
may not be improved to higher level.
— 124 —
6F3A4768
$ASR_J0
Transmission
$ASR_W0 x ASR_J0_T
25000/100%
Speed
reference
5.4.1
SP_R
<Proportional>
+
<Filter>
+
+
-
X
<Proportional>
+
<Integration>
-
<Filter>
+
<Speed control 2>
$ASR_P_CMD:
$ASR_P_FBK:
$ASR_I:
$ASR_ERR_MAX:
$ASR_ERR_MIN:
Speed reference proportional gain
Speed feed back proportional gain
Speed control integral gain
Speed control error deadband max value
Speed control error deadband min value
$FLT_SP_MODL
<Friction loss>
$OP_TCMP_LOS
$OP_TCMP_LOS_DB
<Windage loss>
+
+
+
$OP_LOSFUNCm_SP
$OP_LOSFUNCn_TRQ
(m=0 to 4, n=1 to 4)
d/dt
$OP_TCMP_J_G
$FLG_TCMP
<Torque compensation>
Fig. 5.4.4 Speed Control 2
— 125 —
+
Limit
calculation
5.4.3.2
$FLT_T_R
Speed
detection
5.4.6
SP_F
<Torque limit>
4000/100%
T_R
5.4.3.1
6F3A4768
5.4.2.4 Speed Control with RMFC Control (ASRR)
Fig. 5.4.5 shows the speed control block with RMFC control (ASRR).
The speed reference signal SP_R and speed feedback SP_F are entered with a weight of 25000 count/100%.
The difference between SP_R and SP_F is proportionally integrated and output. After this signal is processed
with a speed filter and torque limit, the torque reference SFC_T_R is output with a weight of 4000 count/100%.
Control response is performed by the following parameter setting:
$ASPR_A:
Anti-overshoot gain
If overshoot is large, it can be suppressed by setting a large value.
$ASPR_AT: Simultaneous constant Regulate so as to reduce overshoot.
$ASPR_P:
Proportional gain
Set by GD2 and target response
$ASPR_W1: Response target
Set target response in the unit of 0.01rad/s.
Note that, if machine GD2 is excessively larger than the motor GD2 or if there is shaft resonance, control
response may not be set high.
When RMFC control is used, anti-overshoot gain $ASPR_A and simultaneous constant $ASPR_AT are not
used, so set 0 to both $ASPR_A and $ASPR_AT.
<Integral>
25000/100%
Speed
reference,
+
Section
5.4.1, SP_R
RMFC control
+
-
<Proportional>
$RMFC_P
<Torque limit>
<Inertia>
$RMFC_JM
<Proportional> +
+
<Filter>
<CLC>
+
+
-
$FLT_T_R
Speed
detection,
Section
5.4.6, SP_F
CLC reference
AREF2
Speed control
gain switching
(option)
Maximum
4-level switching
$ASPR_G_SEL
<Speed control>
$ASPR_P: Proportional gain
$ASPR_W1: Response target
<Anti-overshoot>
SFC (option) simulator
<ACR>
<Inertia>
<Proportional>
<Differential>
$FLT_SFC: ACR simulator
$OP_SFC_J: Inertia
<Limit>
$OP_SFC_P: Proportional
$OP_SFC_D: Differential
$OP_SFC_A: Anti-overshoot
$LMT_SFC_D: Differential limit
Fig. 5.4.5 Speed Control (ASRR)
— 126 —
SFC_DATA
To section
5.4.4
SFC_T_R
+
+
4000/100%
Limit
calculation,
Section
5.4.3.2
Section
5.4.3.1
6F3A4768
(1) RMFC: Reference Model Following Control
RMFC control consists of the following:
(1) A machine model where the system is approximated to an ideal one-inertia system.
(2) A speed controller that controls the machine system model.
This control system is called “Reference Model Following Control (RMFC) “because the motor speed is
controlled so that it will follow the model speed output from the reference model.
By combining RMFC control with speed control that comes after, it is possible to configure a
two-degree-of-freedom control system where the speed reference response and disturbance response can
be set separately.
(2) Variable current limiter control (CLC, option)
When performing tension control or torque control of load, it is possible to perform current control
according to the external reference (variable current limiter control (CLC)).
When performing CLC, enter ST signal (See Section 3.5.1) from outside and enter CLC reference by
analog input or transmission input. In this case, increase the external speed reference to the speed limit to
saturate the speed control output.
For speed control gain switching and SFC, see Section 5.4.2.1.
— 127 —
6F3A4768
5.4.3 Torque Reference and Current Reference
Signal SFC_T_R equivalent to the torque reference, which is the speed control results, is input to calculate the
torque limit and process di/dt in order to calculate the final torque reference signal T_R.
5.4.3.1 Tension Control (Option)
If optional tension control is used, the TRQ_REF signal obtained from the calculation results of the speed control
is compared with the tension reference TENS_R signal input externally to find the torque reference. In this
optional control, operation is made based on TENS_R used as torque reference during normal operation and
the speed control circuit functions as speed limit. (Operation is made based on the external torque reference in
winding machines. However, if materials are broken, operation is changed to the speed control operation.)
4000/100%
IMPACT_TEST25
Output of torque
reference speed
control
Section 5.4.2 +
SFC_T_R
<Torque limit>
TRQ_REF
4000/100%
<di/dt>
+
T_R
Torque reference
input
EXT_TRQ
(option)
A
B
Limit
calculation
$LMT_DIDT
Section 5.4.2..3
4000/100%
Tension reference +
TENS_R1
(option)
Min
+ TENS_R
+
A
B
Max
+
A
Tension auxiliary
reference input
TENS_R_A
B
A>B
(option)
Tension reference input
with gain
TENS_R2
(option)
X
1
Tension control
selection
sequence
CUT detection
If control by the output
signal of the speed
control continues for
60 ms or longer, this
status is determined
asCUT detection.
10000
EXT_TENS_GAIN
Reverse coiling option
command
SI_DATA1
R_TEN
Fig. 5.4.6 Torque Reference
— 128 —
CUT output
SSEQ_OUT1 Bit 2
To
Section
5.4.4
6F3A4768
5.4.3.2 IQ Limit
The IQ limit has a flat characteristic as a standard, but as shown in Fig. 5.4.7, it can also be set according to the
speed and operating conditions.
(1) Standard setting
The IQ limit has the following settings and flat characteristic.
The graph in the figure shows this characteristic.
$LMT_IQ_BAS:
Set 2000 (200%), etc. according to OL specification.
$LMT_IQ_TOP:
Set the same value as the value above.
$LMT_IQ_INV:
Set the same value as the value above.
$LMT_SP_BASE:
Set 1000 (100%).
(2) Speed rate
At a speed set by $LMT_SP_BASE or lower, the IQ limit is $LMT_IQ_BAS and it is a value on a straight line
between point ($LMT_SP_BASE, $LMT_IQ_BAS) and point (100% speed, $LMT_IQ_TOP) at higher
speed.
It is also possible to set the IQ limit during regenerative operation.
$LMT_IQ_BAS:
Set the IQ limit at a speed specified by $LMT_SP_BASE or lower.
$LMT_IQ_TOP:
Set the IQ limit at 100% speed.
$LMT_IQ_INV:
Set the IQ limit during regenerative operation.
$LMT_SP_BASE:
Set 1000 (100%).
Speed feedback
IQ limit
IQMAX4
IQ limit calculation
$LMT_IQ_BAS
$LMT_IQ_TOP
$LMT_IQ_INV
$LMT_SP_BASE
Forward rotation
deceleration
IQ limit
Section
5.4.4
IQ limit
ID limit calculation
$LMT_I1
Forward rotation
acceleration
Section
5.4.4
ID limit
$LMT_IQ_BAS
$LMT_IQ_INV
$LMT_IQ_TOP
100%
$LMT_SP_BASE
Reverse rotation
acceleration
Speed
Reverse rotation
deceleration
Fig. 5.4.7 IQ Limit
— 129 —
Magnetic
flux reference
FL_R
X
$LMT_TRQ
Section
5.4.3
Torque
limit
6F3A4768
5.4.4 D-Q Axis Current Control
Fig. 5.4.7 shows the block diagram of D-Q axis current control.
This system controls the current of an induction motor by separating it into a torque component and magnetic
flux component. This system controls the current on the D-Q coordinates and can handle both reference and
feedback values as DC values. This means that it can control the current from an AC motor as a DC value,
achieving high performance control irrespective of output frequencies.
(1) IQ control
The torque reference which is the result of the aforementioned speed control is input and divided by
magnetic flux to obtain an IQ reference. This IQ reference and IQ feedback signal are input and
proportional integral operations are carried out on them. An induction voltage compensation and L
compensation are added to this result to obtain an EQ reference.
(2) ID control
A magnetic flux reference is obtained according to the speed reference and an ID reference corresponding
to this magnetic flux is obtained. This ID reference and ID feedback signal are input and a proportional
integral operation is carried out. The L compensation is added to this result to obtain an ED reference.
— 130 —
6F3A4768
Induction voltage compensation
Flux
Reference
FL_R
$ACR_E2
Frequency F0
<Integral>
4000/100%
Torque
Reference
5.4.3
T_R
max
16384 CNT
<IQ Limit>
+
-
÷
<Proportional>
IQ_R
+
-
+
-
+
+
+
EQ_R
+
+
+
SFC
SFC_DATA
(option)
5.4.2
5.4.5
$LMT_E
Rated Current
Adjustment
$CS_MOTOR_CURR
$CS_EQUIP_CURR
Limit
5.4.3.2
L Compensation
ID_REF
IQ_FBK
<Anti-overshoot>
Frequency
F0
<Current Control>
$ACR_A:
Anti-overshoot
$ACR_P:
P gain
$ACR_W1: Response
$ACR_WL
IQ_REF
<Integral>
<ID Limit>
<Proportional>
ID_R
Limit
5.4.3.2
+
-
+
-
Rated Current
Adjustment
$CS_MOTOR_CURR
$CS_EQUIP_CURR
ID_FBK
Fig. 5.4.1 D-Q Axis Current Control
— 131 —
+
+
+
-
ED_R
5.4.5
max
16384 CNT
6F3A4768
5.4.5 Voltage Reference
(1) Voltage reference
EQ_R and ED_R, the results of current control, are input. Then, θ, the information of magnetic flux, is input
and a 3-phase voltage reference is obtained. Since in this case an interval is provided between ON and
OFF of the IGBTs, a dead time compensation is inserted. Furthermore, another compensation is inserted
for when the output voltage of a specific phase is saturated to output the voltage reference for PWM
control.
(2) PWM control
The PWM control section outputs gate pulse signals based on the voltage reference of each phase.
(3) Gate board
The gate board insulates gate signals generated by the PWM section and amplifies them to drive the
IGBTs.
Gate Pulse
Q-axis Voltage
Reference
EQ_R
5.4.4
Q
A-axis Voltage
Reference
ED_R
5.4.4
D
Flux Position
Q0CMP
VU_REF
3 Phase Voltage Reference
θ
X = D × cos(θ − Q × sin( θ))
Y = D × sin(θ + Q × cos( θ))
U= X
X

3
× Y
W = − +
2

2


V = −(U + W )
Dead Time Compensation
$DEAD_T_CMP
U
PWM
Control
Gate
Board
GDM
IGBT
VV_REF
V
WV_REF
W
Maximum Voltage
Compensation
Fig. 5.4.2 Voltage Reference
(4) Dead time compensation
In Fig. 5.4.2, the IGBTU and IGBTX are inserted in series between the "+" and "-" sides of the DC power
supply.
If both the IGBTU and IGBTX, are on at the same time, the DC power supply is shorted, causing an
overcurrent to flow in the IGBTU and IGBTX, which may destroy the main circuit. Moreover, the IGBT has
a nature that its on-state operation is quick, while its off-state operation is relatively slow. Therefore, on/off
control of the IGBTs works in such a way that when one IGBT is turned off, another IGBT is turned on after
a certain wait time. This wait time is called dead time.
Providing this dead time prevents DC short-circuits. However, this control prevents the desired voltage
from being output in the control circuit. This is why the dead time compensation is provided. However, the
Toshiba decides the settings and the user must not change them.
— 132 —
6F3A4768
5.4.6 Speed Feedback
A PLG (Pulse Generator) or a resolver can be selected for speed feedback (for details of the interface, see
section 3). Speed control with a TG is not provided because its performance is inferior.
5.4.6.1 PLG
A signal is detected from a 2-phase PLG attached to the motor and converted to a speed.
Detection is basically performed according to the pulse number measurement system. This system converts a
signal to a speed based on the fact that the pulse number inputted in a period (1ms) is proportional to the speed.
Since in this system, pulse signals from the PLG do not change at an extremely low speed or 0 speed, stable
speed detection is not possible. When it is necessary to operate the equipment for such a purpose (passing 0
speed in reversible operation has no problem), use a resolver.
Pulse signal
PGA-F
Section 3.3.1
Count 25000/100%
Speed detection
Speed detection
Pulse count measurement
Rotation direction detection
θ0 detection
PGB-F
Section 3.3.1
$CS_RES_TYPE = 1
$CS_RES_PGFLT (factory setting)
$CS_PGOUT = 0
$CS_PGCNT = 256 (PG pulse count)
Fig. 5.4.3 PLG Speed Detection
— 133 —
SP_F
6F3A4768
5.4.6.2 Resolver
A resolver is a sensor that detects the rotating angle (position) of the motor. This resolver converts changes in
position into speed signals at periodic intervals.
Two types of resolvers are available, 1x type and 4x type.
(1) 1x type
This type of resolver detects one electrical rotation as the motor rotates one rotation. This resolver is used
for relatively high-speed motors.
(2) 4x type
In this resolver, the number of resolver phases is increased. This resolver detects one electrical rotation as
the motor rotates 1/4 rotation. This resolver is used for low-speed motors (1000 min1 or less).
Oscillation
circuit
1 kHz
Frequency
difference
detection circuit
Detection circuit
Excitation
circuit 1 kHz
A
B
S1
C
S3
D
S2 S4
E
F
R1 R3
G
R2
Position detection circuit
θ0 detection
H
R
Resolver TS2118N24E10, 4 X type
Fig. 5.4.4 Resolver Speed Detection
— 134 —
VCO
d/dt
SP_F
6F3A4768
5.5
Optional Function According to Application (TMdrive-30)
5.5.1 Auto Field Weakening Control
Operation shown in Fig. 5.5.1 a) to make the magnetic flux constant is used for general operation method of the
induction motor. In TMdrive-30, operation is performed with the magnetic flux and ID_REF made constant. At
this time, the induced voltage is calculated by multiplying the speed by the magnetic flux. The voltage is then
increased in proportion to the speed.
In the auto field weakening control, when operating at a higher speed, the induced voltage is controlled at a
constant level based on the magnetic flux reference in inverse proportion to the speed feed back after the
voltage has reached the rated voltage.
If the speed exceeds the start speed of the field weakening control, the induced voltage becomes constant and
the motor output shows the constant output characteristics. (Fig. 5.5.1 b))
V, f
V, f
V
f
V,f
Magnetic flux
Speed
Magnetic flux
Speed
Speed
a) Constant magnetic flux
Speed
b) Field weakening control
Fig. 5.5.1 Field Weakening Control Characteristics
— 135 —
6F3A4768
5.5.2 Torque Control
In winding machines, the winding materials are controlled at a specified tension. Therefore, the host PLC
calculates the torque (reference) to be output from the motor. Additionally, the drive unit controls to output a
torque corresponding to this torque reference. Furthermore, operation is made with speed control when the
winding is completed or winding of next materials is started.
On the other hand, if operation based on the torque reference sent from the host PLC continues in case of a fault,
such as material breakage, overspeed may result. In such case, the control is automatically changed to the
speed control. (Torque control with speed limit function)
When using this torque control, set $FLG_TENSEL to “1”.
The following describes how to use the torque control for operation with normal rotation and positive torque.
Normal rotation and
positive torque
a) Winding (tension control and normal winding)
b) After winding (speed control)
Reverse rotation and negative torque
c) Winding (reverse winding)
Fig. 5.5.2 Tension Control
(1) Speed control
To operate with speed control, the speed reference corresponding to the line speed is input in the same
manner as described for normal operation.
When the EXT sequence signal is turned on and ST sequence signal is turned off, the speed control is
started.
(2) Torque control (with speed limit function)
As the operation preparation completed (READY) and operation command (EXT) signals are on, the torque
control selection (ST) signal is turned on. After that, the TRQ_REF signal is compared with the external
torque reference TENS_R1 signal. External torque reference TENS_R1, whichever is smaller, is detected
by the logic that picks up the minimum value, and then used as the torque reference T_R signal.
When performing the torque control with the speed limit function, the speed reference signal, which is
approximately 5% higher than the line speed, is input from the host PLC. As a result, the speed reference
5% higher than the actual speed is input and the TRQ_REF single showing the speed control calculation
result is saturated by the positive torque limit value. The external torque reference is then used for control.
(If operation is made with the external torque reference, the motor is actually operated at a speed
equivalent to the line speed. As the speed reference is increased 5%, the speed deviation always becomes
positive, causing the speed control calculation result to increase to the limit value.)
— 136 —
6F3A4768
4000/100%
Output of torque
reference
speed control
section 5.4.2
Speed controlling
+
IMPACT_TEST25
<Torque limit>
TRQ_REF
+
Torque reference
input
EXT_TRQ(option)
A
4000/100%
Tension reference + + TENS_R
TENS_R1 (option)
+
+
(option)
B
A
Tension auxiliary
reference input
TENS_R_A
(option)
Tension reference input
with gain
TENS_R2
A
B
X
Limit
$LMT_DIDT_P
calculation
$LMT_DIDT_N
section 5.4.3.2
Min
B
Max
4000/100%
<di/dt>
T_R
Tension control
selection sequence
Torque controlling
CUT detection
A>B
1
10000
If control by the output
signal of the speed
control continues for
60ms or longer, this
status is determined
as CUT detection.
CUT output
SSEQ_OUT1 Bit 2
EX_TENS_GAIN
Reverse coiling option
command
DI1_INP
R_TEN
Fig. 5.5.3 Torque Control
(3) Speed limit operation
If operation continues with the external torque reference even though materials are broken in the torque
control, the motor is accelerated. If the speed is accelerated to a level 5% or more higher than the line
speed, the saturation status of the speed control is cancelled. The TRQ_REF value becomes small and this
signal is then used for control. That is, the control is changed to the speed control.
(4) Cut detection
This detects that the operation is changed to the speed limit operation. When the control with the speed
control output signal (speed control) continues for 60 ms or longer, the cut signal is output. However, this
cut signal is used for the host PLC. Even though this signal is detected, the control state on the drive unit is
not changed.
— 137 —
6F3A4768
(5) Reverse winding option
There are two winding directions, normal winding and reverse winding, as shown in Figure Fig. 5.5.4 a) and
c). A desired winding direction is selected using the normal winding/reverse winding switch (R_TEN).
R_TEN:
0 = Normal winding
1 = Reverse winding
The TRQ_REF signal with the polarity is compared with the external torque reference TENS_R1 signal with
the polarity. By the logic picking up the maximum value, the larger external torque reference TENS_R1 is
used as the torque reference T_R.
Table 5.5.1 shows the polarity of each control amount.
Table 5.5.1 List of Polarities in Torque Control
External
speed
reference
Speed
bias
Speed
feedback
Tension
reference
Operation mode
-
+
-
+
Reverse
deceleration
+
-
+
-
Normal
deceleration
Normal winding
+
+
+
+
Reverse winding
-
-
-
-
Coiling direction
Payoff reel
Tension reel
Normal winding
(Normal re-winding)
Reverse winding
(Reverse
re-winding)
Payoff reel
Normal winding (normal re-winding)
Reverse deceleration operation
a)
Tension reel
Normal winding
Normal acceleration operation
Tension reel
Normal winding
Normal acceleration operation
Normal operation
b)
Payoff reel
Reverse winding (reverse re-winding)
Normal deceleration operation
c)
Payoff reel
Normal winding (normal re-winding)
Reverse deceleration operation
Reverse operation
Tension reel
Normal winding
Reverse acceleration operation
Reverse winding operation
Fig. 5.5.4 Normal and Reverse Winding Operations
— 138 —
Normal
acceleration
Reverse
acceleration
6F3A4768
5.5.3 Sensor-less Vector Control
This sensor-less vector control performs the vector control of the induction motor without use of the speed
sensor. Conventionally, there has been the V/f control without the speed sensor. However, this sensor-less
vector control provides the simple control feature of the V/f control and the high performance of the vector
control. The following describes the features of the sensor-less vector control.
(1) Sensor installation and wiring construction are not required.
(2) This control is applicable to motors, in which the sensor cannot be installed, such as two-axis motors or
super high-speed motors, and other motors, which require special sensors, such as explosion-proof
motors.
(3) This vector control technology is used for parallel drive of multiple motors, which is difficult to control by the
conventional vector control.
(4) This sensor-less vector control provides excellent stability and large start-up torque when compared to the
V/f control.
(5) The torque can be limited, ensuring stable rapid acceleration and deceleration.
5.5.4 V/f Control
The restrictions described in Section 3.3.3 are imposed to the multiple motor parallel drive method by
sensorless vector control. Especially pay attention to the following restrictions:
▪The change in the number of motor units can be allowed up to 50%.
▪Motors can be added during operation only when the operation speed is 30% or slower and the
number of units to be added does not exceed 50% of the connected units.
With these restrictions, in sensorless control, since “voltage is output, as a result of controlling current”,
excessive change in the number of units may cause a transient instability, which can result in equipment stop.
Whereas, V/f control is less affected by external disturbance such as a change in the number of units, since
“voltage is output according to frequency.”
Consequently, it is recommended to use V/f control for purposes where fast response is not critical and the
change in the number of motor units exceeds the restriction described above.
— 139 —
6F3A4768
5.5.5 JOG Operation
JOG operation is a mode that operates the inverter while JOG command is inputted, and has the following
features.
(1) Forward output by forward JOG command (F), reverse output by reverse JOG command (R).
(2) The 1st speed, 2nd speed and 3rd speed are provided for each forward JOG command and reverse JOG
command. Use 2nd speed command (2S) to select 2nd speed and 3rd speed command (3S) to select 3rd
speed.
(3) Each F, R, 2S and 3S command is inputted via sequence input or PI/O input.
Also, the function has the following restrictions.
(4) Startup command (EXT) is given priority over JOG command.
In addition, JOG command is detected at the rise of the signal, so JOG operation is not performed even
when startup command is turned off after start command cancels JOG operation.
(5) The command which is previously inputted among F and R, 2S and 3S is given priority.
Setting parameters shown in Table 5.5.2 are speed reference of JOG operation. JOG operation command
and an operation pattern is shown in Fig. 5.5.5.
Table 5.5.2 JOG Operation Command and Speed Reference Settings
Forward JOG Reverse JOG
command F
command R
Type
Forward JOG
1st speed
Forward JOG
2nd speed
Forward JOG
3rd speed
Reverse JOG
1st speed
Reverse JOG
2nd speed
Reverse JOG
3rd speed
$CR_JOG_FJ3S
$CR_JOG_FJ2S
$CR_JOG_FJ1S
2nd speed
command 2S
3rd speed
command 3S
Speed reference
setting
1
0
0
0
$CR_JOG_FJ1S
1
0
1
0
$CR_JOG_FJ2S
1
0
0
1
$CR_JOG_FJ3S
0
1
0
0
$CR_JOG_RJ1S
0
1
1
0
$CR_JOG_RJ2S
0
1
0
1
$CR_JOG_RJ3S
Speed reference
0
$CR_JOG_RJ1S
$CR_JOG_RJ2S
$CR_JOG_RJ3S
Forward JOG 0
command F
Reverse JOG 0
command R
2nd speed 0
command 2S
3rd speed 0
command 3S
Startup command 0
EXT
Fig. 5.5.5 JOG Operation Command and Operation Pattern
— 140 —
6F3A4768
5.5.6 Emergency Operation
In case of an emergency, the following two kinds of operations can be made by the PI/O signal.
5.5.6.1 Emergency Operation Mode
This operation mode is used to operate the equipment regardless of the signals sent from the TOSLINE-S20 in
the system with the transmission unit (TOSLINE-S20). Normally, if a fault occurs in the host PLC of the system
operated only with TOSLINE-S20 signals from the host PLC, drives units are operated only with I/O level signals
in this mode.
•
Contact, which is closed in the emergency operation mode, is connected to the terminal on the input/output
circuit board (XIO: ARND-3120).
•
Assign this input signal to E-DRIVE signal.
•
If the E-DRIVE signal is closed, the sequence data input from TOSLINE-S20 is omitted and operation is
made only with P I/O.
In the emergency operation, the sequence input of the P I/O input is mask-processed by $MSK_DI_EMG.
Therefore, sequence input signals different from normal operation are input.
5.5.6.2 E-HOLD Mode
In this operation mode, if a fault occurs in the main system, which is being operated, the contact is input to the
input/output circuit board (XIO: ARND-3120) to continue operation at a speed, at which the fault has occurred.
•
Contact, which is closed by the HOLD operation command, is connected to the terminal on the input/output
circuit board (XIO: ARND-3120).
•
Assign this input signal to HOLD signal.
•
If the external contact input to EXT is closed, the operation is made based on the external reference
regardless of HOLD inputs.
•
If the external contact input to EXT is opened and external contact input to HOLD is closed, that speed is
kept and operation continues based on that speed reference (E-HOLD state).
When stopping operation from the E-HOLD state, the external contact input to HOLD is opened or other
operation preparation (UV) conditions are turned off.
— 141 —
6F3A4768
5.5.7 Shared Motion
Two kinds of motors can be changed and controlled by one set of inverter. In this case, since the setting
parameters which responded with control of each motor is needed, the shared motion which changes setting
parameters simultaneously with motor change is used. The outline of the shared motion is shown in Fig. 5.5.6.
Setting parameter change signal 2S can be inputted via DI or LAN.
Via DI
: $FLG_CHGSYS=12345
Via LAN : $FLG_CHGSYS=6789
Input via DI or LAN
Setting parameter
change signal 2S
EEPROM
A bank
SRAM
(Parameters for motor A)
Parameters for motor
controlled now.
EEPROM
B bank
• Load timing from EEPROM to SRAM :
(1) Loading by parameter management function of the tool.
(2) Changing of 2S signal.
(Parameters for motor B)
• Save timing from SRAM to EEPROM :
(1) Saving by parameter management function of the tool.
Fig. 5.5.6 Shared Motion
Fig. 5.5.6 shows the setting value switching signal interface. Transmission input or DI signal input can be used
for signal input. You can specify whether transmission input is used or DI signal input is used by
$FLG_CHGSYS. When the DI signal is used, connect the 2S signal to the input terminal TB2-28 (D17) on the I/O
board.
SERSEQDATA1
Transmission
board
Bit6
Mask
processing
2S
$MSK_SERSEQ1
I/O board
(XIO)
Switching
signal
(2S)
$SCAN_RCV**_AS
=SERSEQDATA1
$FLG_CHGSYS
=6789(D)
Mask
processing
2S
$MSK_DI1
* DI7 fixed
Upper trunk line
Setting value
switching processing
$FLG_CHGSYS
=12345(D)
DI_EX1
TB2
-28
(DI7)
Bit6
Switching signal logic
0: Select bank A
1: Select bank B
Switched by $FLG_CHGSYS
$FLG_CHGSYS=12345
DI input
$FLG_CHGSYS=6789
Select transmission
Other switching signals are
not accepted.
$DI7_IX=1
$DI7_BN=6
Control software processing
TMdrive-30
Fig. 5.5.7 Setting Value Switching Signal Interface
— 142 —
6F3A4768
The setup of shared motion may not be completed normally at the beginning of adjustment at field. In this case,
setting parameter change cannot be performed using 2S signal. Therefore, the method that save parameters to
A bank and B bank EEPROM from a setting parameter file at the beginning of adjustment at field is shown in Fig.
5.5.8.
Turn on the operation panel
INTERLOCK switch
Input CHGSYS=BBBB(h) with the
tool (Select B bank)
Input CHGSYS=AAAA(h) with the
tool (Select A bank)
Download setting parameters from "change
use machine" (parameter used when 2S
signal is 1) parameter file with the tool
Download setting parameters from
"usual use machine" (parameter used when
2S signal is 0) parameter file with the tool
Check the below settings with the tool
$FLG_CHGSYS :
12345(In the case of 2S input by DI)
6789(In the case of 2S input by LAN)
$ASPR_G_SEL≠3
2S setting of $MSK_DI1
(In the case of LAN use,
2S setting of $MSK_SERSEQ1)
Check the below settings with the tool
$FLG_CHGSYS :
12345(In the case of 2S input by DI)
6789(In the case of 2S input by LAN)
$ASPR_G_SEL≠3
2S setting of $MSK_DI1
(In the case of LAN use,
2S setting of $MSK_SERSEQ1)
Execute saving from SRAM to
EEPROM with parameter
management of the tool
Execute saving from SRAM to
EEPROM with parameter
management of the tool
Turn off the operation panel
INTERLOCK switch
Fig. 5.5.8 The Setting Parameter Save Method to Each Bank of EEPROM
Bit signal B_CPUA_CHG_SET (bit 13 of CPUA_STS1) indicates which bank the inverter is actually selecting.
When B_CPUA_CHG_SET is 0, bank A is selected. When B_CPUA_CHG_SET is 1, bank B is selected.
— 143 —
6F3A4768
5.6
Control Circuit TMdrive-P30
The figure below shows the TMdrive-P30 control block diagram.
$ mark shows setting parameters. $ mark is only for reference and the actual parameter does not include $.
Voltage phase detection
(PLL) Section 5.6.3
Id, Iq current
detection
Voltage
reference
Section
5.6.1
Voltage
control
Section
5.6.2
D/q axis
current
reference
5.6.3
D/q axis
current
control
5.6.3
Voltage
reference
5.6.4
Voltage saturation
restraint control
5.6.6
Reactive current/
voltage control
5.6.6
Voltage detection
Fig. 5.6.1 Control Block Diagram
— 144 —
PWM
control
5.6.4
6F3A4768
5.6.1 Voltage reference
The voltage reference is set for $CW_V_R, with 10000 count/100% weighting. The standard setting is
$=_V_R=100%.
5.6.2 Voltage Control
The voltage control block is shown below. The voltage reference signal V_R and voltage feedback VDC_F are
input with 10000 count/100% weighting and the deviation between these two is subjected to
proportional/integral operations and output. After this signal is subjected to filtering and torque limit processing,
IQ_R is output with 4000 count/100% weighting.
Control response is performed with the following parameter settings:
$AVR_A
: Anti-overgain
$AVR_AT
$AVR_P
$AVR_W1
: Simultaneous constant
: Proportional gain
: Response target
If the overshoot is large, set this parameter to a large value, which
can reduce excessive overshoot.
Adjust this parameter to reduce overshot.
This parameter is set by a load condition and target response.
This parameter sets the target response with 0.01rad/s weighting.
The control response varies depending on the load condition (the total capacity of the connected inverter
capacitor). Be careful that if the number of units connected is changed drastically, control may be unstable.
<Integration>
<Current limit>
10000/100%
Voltage
reference
+
$CS_V_R
4000/100%
<Proportion>
+
+
-
<Filter>
-
+
Limit
$LMT_I1
10000/100%
Voltage
detection
VDC_F
<Anti-over>
<Voltage control>
$AVR_A: Anti-overgain
$AVR_AT: Simultaneous constant
$AVR_P: Proportional gain
$AVR_W1: Response target
Fig. 5.6.2 Voltage Control Block
— 145 —
$FLT_IQ_S
IQ_R
6F3A4768
5.6.3 D-Q Axis Current Control
Fig. 5.6.3 shows a block diagram of D-Q axis current control.
This system controls power supply current by separating it into active current and reactive current. This system
controls current on the D-Q coordinates and can handle both reference and feedback values as DC values. This
means that it can control AC as a DC value, achieving high-performance control.
(1) IQ control
The active current reference, which is the result of the voltage control described above, is used as an IQ
reference. This IQ reference and IQ feedback signal are input and proportional/integral operations are
carried out on them to obtain an EQ reference.
(2) ID control
The reactive current of the power supply is used as an ID reference. This ID reference and the ID feedback
signal are input and proportional/integral operations are carried out on them to obtain an ED reference.
(3) Voltage phase detection (PLL)
VD_FBK is obtained from the AD voltage by coordinate conversion. This VD_FBK is input to the
proportional integrator and integration is carried out on the output to obtain the phase of the input voltage
(CNV_Q0). This CNV_Q0 is used in coordinate conversion for calculating VD_FBK and coordinate
conversion for calculating voltage reference.
When CNV_Q0 is identical to the phase of the actual input voltage, VD_FDK becomes “0” logically. That is,
here, the phase of the input voltage is detected by performing proportional/integral control so that VD_FBK
always becomes “0.”
— 146 —
6F3A4768
<Voltage
reference>
<Current control>
<Proportion, Integrator>
4000CNT/100%
IQ_R
+
-1
IQ_F
Coordinate VV_REF
conversion
VW_REF
θ
$ACR_A
$ACR_W1
$ACR_P
1000CNT/100%
ID_S
VU_REF
EQ_R
4
PWM Control
+
4000CNT/100%
ID_F
-1
-
ED_R
<Voltage phase detection>
10000CNT/100%
VD_FBK
<Filter>
$FLT_PLL
AC voltage
Coordinate
conversion
<Proportion, Integrator>
DLT_Q
∫
dt
65536CNT/2π
CNV_QO
(Input voltage phase)
$PLL_P
$PLL_W1
VQ_FBK
θ
Fig. 5.6.3 Current Control, Voltage Phase Detection, PWM Control
— 147 —
6F3A4768
5.6.4 Voltage Reference
(1) Voltage reference
EQ_R and ED_R, the results of current control, are input. Then, the information of power supply phase is
input and a three-phase voltage reference is obtained. Since a timing interval is provided between the ON
and OFF of the IGBTs, dead time compensation is inserted here. In addition, compensation is also applied
here when the output voltage of a specific phase saturates and the voltage reference for PWM control is
output.
(2) PWM control
The PWM control section outputs gate pulse signals based on the voltage reference of each phase.
(3) Gate board
The gate board insulates gate signals generated by the PWM section and amplifies them to drive the
IGBTs.
Gate pulse
Q-axis
voltage
reference
Three-phase voltage reference
Q
X = D x cos(θ) - Q x sin(θ)
Y = D x sin(θ) + Q x cos(θ)
D-axis voltage
reference
ED_R 5.6.4
D
Power supply
phase
CNV_QO
θ
V
U=X
W = -( X/2 +
V = -( U + W )
U
VU_REF
PWM control
VV_REF
3/ 2 x Y )
W
WV_REF
Maximum voltage
compensation
Fig. 5.6.4 Voltage Control
— 148 —
Gate
board
GDM
IGBT
6F3A4768
5.6.5 Voltage Saturation Restraint Control (VSC)
If the AD voltage/DC voltage ratio becomes excessively large, the current control output of the converter
saturates, which may result in unsteady control. This can be prevented by voltage saturation restraint control
(VSC). The basic operation is to generate D-axis current reference according to the primary voltage reference
value.
Fig. 5.6.5 shows a control block diagram for the voltage saturation restraint control.
<Integration>
<Current limit>
4000/100%
Primary voltage
reference
E1_R
<Proportion> +
+
-
1000/100%
Control start level
$LMT_VSC
<Filter>
+
<VSC control>
$VSC_P: Proportional gain
$VSC_I : Integral gain
Limit
Upper limit:
$LMT_VSC_UL
Lower limit:
$LMT_VSC_LL
If PI control output is out of
the limit range, integration
operation of PI control stops.
Fig. 5.6.5 Voltage Saturation Restraint Control
— 149 —
$FLT_VSC
ID_R
6F3A4768
5.6.6 Reactive Current Voltage Control (RCV) (Optional)
Using the power regeneration function, reactive current voltage control (RCV) can be performed for the purpose
of improving the power factor of the AC power supply. The AD voltage command value as a reference is input
in RCV_REF_T through transmission and D-axis current reference ID_R is output so that the deviation from the
AC voltage feedback VAC_F at that time will become 0.
Fig. 5.6.6 shows a control block diagram for reactive current voltage control. Since this control outputs ID_R in
the same way as the voltage saturation restraint control in 5.6.5, if voltage saturation restraint control is active,
the output of the voltage saturation restraint control takes precedence to prevent the interference of both
controls.
Drooping gain
$RCV_DROOP
<Integration>
<Current limit>
10000/100%
DC voltage
reference
RCV_REF_T
4000/100%
+
-
10000/100%
DC voltage
feedback
VAC_F
<Proportion> +
+
<VSC control>
$VSC_P: Proportional gain
$VSC_I: Integral gain
ID_R
Limit
Upper limit:
$LMT_RCV_UL
Lower limit:
$LMT_RCV_LL
Fig. 5.6.6 Reactive Current Voltage Control
— 150 —
6F3A4768
6
Maintenance (Common to TMdrive-30 and TMdrive-P30)
Preparations for inspection and maintenance
Stop the
Turn off the main
Turn off the control
Check the main circuit
Electrical
→ power supply discharge → check
equipment → circuit power supply → power supply
See Chapter 1 for details.
The following points should be noted to use this equipment under the optimal conditions for a maximum period
of time.
(1) Install it correctly.
(2) Follow the correct operation procedure.
(3) Carry out appropriate daily and regular inspections based on a maintenance/inspection plan.
In particular, maintenance and inspection is an effective means to prevent accidental faults of the equipment.
Creating inspection check sheets and recording the equipment-specific characteristic changes and stability of
the components and storing those records helps you perform maintenance and inspection effectively by
preventing faults and investigate the causes of those faults. Maintenance and inspection comprises daily
inspections and regular inspections. Inspections should be carried out in short cycles and more detailed in the
beginning after the installation to prevent initial faults, while inspections after a certain period of time should be
focused on checking of characteristic deterioration of parts.
6.1
Daily Inspections
Daily inspections mainly consist of visual inspections on the following items. Any abnormalities discovered
should immediately be repaired.
(1) Installation environment check.
Temperature, humidity, presence of special gases, presence of dust.
(2) Abnormal sound or vibration of reactor, transformer, cooling fan, etc.
(3) Odor, smell of insulating substances, smell peculiar to each circuit device.
— 151 —
6F3A4768
6.2 Regular Inspections
Carry out regular inspections centered on the following points.
(1) Cleaning of cubicle interior
(2) Cleaning of air filter
(3) Circuit part discoloration, deformation, leakage (capacitor, resistor, reactor, transformer, etc.) check
(4) Board (resistor, capacitor discoloration, deformation, board discoloration, deformation, dirt, soldered part
deterioration, etc.) check and cleaning
(5) Wiring (discoloration due to heat, corrosion) check
(6) Tightened parts (looseness in bolts, nuts, screws) check
Before starting inspections of the main circuit of the equipment, be sure to carry out an electrical check
approximately 5 minutes after the DC input power supply is turned off. Note that even after the input power
supply is turned off the capacitors in the equipment still retain some charge, which may cause electric shock.
In order to prevent electric shock, be sure not to open the door while the equipment is operating. Never remove
the protective cover of the main circuit.
6.3 Points of Maintenance
6.3.1 Cleaning of Main Circuit and Control Circuit
The first thing to do in maintenance and inspection is cleaning. Cleaning (once a month to once a year) should
be carried out according to the conditions of the equipment. Before starting cleaning, turn off the power supply
and check that the main circuit voltage is reduced to 0. Use a suction or blowing means to remove dust in the
equipment. Note that an excessive pressure of compressed air may damage parts and wiring. Substances
stuck to the circuits which cannot be dropped off by blowing should be wiped away using a cloth.
As a basic rule, cleaning should start from the upper part and end at the lower part. Dirt or metal fractions may
fall from the upper part and checking the lower part first will prevent you from discovering or removing
substances which drop from the upper part.
— 152 —
6F3A4768
6.3.2 Enclosure and Structural Parts
(1) Cooling fan (any time)
Check if there is any abnormality with air flow, increased fan noise, etc. Particularly make sure you have
replaced and tightened the bolts again which you removed once. Untightened screws may damage the
bearing and blade, etc. due to vibration.
(2) Air filter (once a month to once a year)
Visually check if the air filter is clogged. Slightly hit it outside the room to drop off dust, remove dirt in an
aqueous solution with neutral detergent, wash it with water and dry it.
(3) Main circuit parts and entire enclosure (once a month to once a year)
Check if dust is stuck to the enclosure interior or if there is any discoloration, heat generation, abnormal
sound, odor or damage with the reactor, tightened parts of the conductor, fuses, capacitors and resistors.
Check if some wire or mounted parts are almost broken, disconnected, loose or damaged.
6.3.3 Printed Circuit Boards
The boards which are made up of ICs and electronic components must be protected from dust, corrosive gases
and temperature. Pay attention to the installation environment of the equipment. Regularly inspecting, cleaning
and maintaining it in an optimal environment is essential to the suppression of faults of the equipment.
Since most of the components and parts are small and vulnerable to external forces, when cleaning them, use
a brush, etc. to wipe off dust.
(1) Cautions on handling
• All maintenance work on the board should be carried out about 5 minutes after all power supplies are
turned off.
• When removing the board, disconnect all the connectors and wires and remove the fixing screws on the
upper part of the board. At this time, be careful not to drop the boards or fixing screws.
• When attaching the board, do so in the order opposite to the removing procedure.
At this time, connect all the connectors and wires correctly.
Note that since the control board contains capacitors, some parts continue to be live even after the
power is turned off. When storing it, place it with the aluminum frame facing down and be careful not to
cause short-circuits.
• The spare boards were shipped placed in a bag after antistatic measures were taken. Use this bag to
store it. Note that the antistatic measures are provided only for the bag inner side.
— 153 —
6F3A4768
6.4
Parts to be Regularly Renewed
To use the TOSVERT-250Wi under optimal conditions for a maximum period of time, it is necessary to regularly
renew (repair) components whose characteristics have deteriorated. Table 6.4.1 below shows the parts used
for the inverter equipment whose regular renewal is recommended and their recommended renewal period.
Table 6.4.1 Parts to be Regularly Renewed
Recommended
renewal period
Product name
Ventilation Fan
Large
3 years
Air filter
Aluminum electrolytic
capacitor
6 months
Main circuit
Board interior
Control power supply equipment
Fuse
Main circuit
Control
circuit
Board interior
•
Remarks
Can also be
cleaned.
7 years
7 years
7 years
7 years
7 years
7 years
Gate board
For replacement of the aluminum electrolytic capacitor in the board, contact Toshiba to secure the quality of
the board. A fee is charged for the replacement. Additionally, since the gate drive board (ARND-2711) does
not use any aluminum electrolytic capacitors, the capacitor replacement work is not required.
— 154 —
6F3A4768
6.5
Recommended Spare Parts
Spare parts are important for quick recovery of important facilities from faults.
When parts in the equipment have broken down, spare parts are required to shorten the mean time to repair
(MTTR). Since replacement of individual parts takes much time, it is recommended to replace by equipment.
Recommended spare parts for TMdrive-30 are shown in Table 6.5.1, and spare parts for TMdrive-P30 are
shown in Table 6.5.2 and Table 6.5.3.
The recommended spare rate and minimum amount can serve as the references for the minimum number of
spare parts relative to the total number of parts used. It is recommended to decide the amount according to the
number of parts used.
For the inverter stack, the following measures are taken to prevent trouble when spare parts are replaced. The
same applied to the multi-stage equipment.
• Replace the failing inverter stack with a spare inverter stack (by equipment) and restart the operation (to
minimize MTTR).
• Then, replace the failing parts of the failing inverter stack with spare parts.
When an IGBT has broken down, its replacement requires a work environment which will prevent electrostatic
destruction. Please contact our factory to request for repair service.
— 155 —
6F3A4768
Table 6.5.1 Spare Parts for TMdrive-30
2x2000
ARND-8204A
DISP-3121A
ARND-3120B
ARND-3110D
ARND-3138A
ARND-2711B
TSC
2Y3A1569G001
FXR425V5021UCES 5000UF
CDR20L123JC
12.5URD73TTF350
MS7V1-5BSM
2Y3A1560G001
MG400V1US51A
MG400V1US51
50VH2G41
800VHZ41
2Z33 33V-1.5W
EM1621R2D0UN2HS 1.2UF
EM162020D1UN2HZ 2.0UF
EM162020D1UN3HZ 2.0UF
EM162R22D0UN1HG 0.22UF
EM162R47D0UN2HW 0.47UF
DE1307E472Z3K
15500-0040
15497-2080
RM2 10-0HM-G
GS10A-560K-OHM-J(10W)
12.5URD273TTF1250
MS7V1-5BSM
US-602AYTFL
F6045G
ESD-R-38B
EF-2W 10K-0HM-J
AP6QS54-R
RS5FS51K-OHM-J
NNC-40EMBT 4000A-10V
NNC-30EMBT 3000A-10V
RS40H 20W-10K-OHM
VAS405MD-43F
GV2-ME20*13-18A
GV2-AF02
LWT50H-5FF
RWS30A-24
ATQ5
USM1
CM-21
PB5-200VA 200/220V,38V
GV2-ME06*1-1.6A-3P
GV-AD1010*1A+1A
HH54PW-FL DC24V
TP514X1
HB-20
CTR.CN1-DISP.CN1
CTR.CN3-DISP.CN3
CTR.CN14-XIO.CN1
MIF/CN13U-U.GDM/CN11
MIF/CN13V-V.GDM/CN11
MIF/CN13W-W.GDM/CN11
MIF/CN14U-U.GDM(S)/CN11
MIF/CN14V-V.GDM(S)/CN11
MIF/CN14W-W.GDM(S)/CN11
Model & Rating
2x1500
IS-BUS PWB
Display Unit
I/O Terminal PWB
Main Control PWB
Interface PWB
Gate PWB
Fuse for Gate PWB
Cap-Unit
Capacitor
Resistor
Fuse
Micro SW for Fuse
IGBT Power Unit
IGBT element
IGBT element
Diode
Diode
Zener Diode
Capacitor
Capacitor
Capacitor
Capacitor
Capacitor
Capacitor
Resistor
Resistor
Resistor
Resistor
Fuse
Micro SW for Fuse
Thermostat
Ferrite Core
Ferrite Core
Resistor
Lamp
Resistor
Hall effective CT
Hall effective CT
Resistor
Fan
MCCB
Attachment for MCCB
Power Supply Unit
Power Supply Unit
Control Fuse (Option)
Holder for Fuse (Option)
Receptacle (Option)
Transformer
MCCB for Fan
Auxiliary contact for MCCB
Relay
Socket for Relay
Air Filter
Cable
Cable
Cable
Cable
Cable
Cable
Cable
Cable
Cable
Type
1
1
1
1
IS-BUS
DISP
XIO
CTR
MIF
GDM
250V-1.6A
425VDC-5000uF-3S/4Px2
425VDC-5000uF
20W-12Ohm
1250V-350A
1
1
1
1
1
3
3
3
72
72
6
6
3
48
48
84
24
48
36
24
24
48
24
132
24
12
96
24
6
6
3
6
12
24
2
6
1
1
1
1
1
3
3
3
72
72
6
6
3
48
48
84
24
48
36
24
24
48
24
132
24
12
96
24
6
6
3
6
12
24
2
6
2
1
1
1
1
1
6
6
6
144
144
12
12
6
96
96
168
48
96
72
48
48
96
48
264
48
24
192
48
12
12
6
12
24
48
4
12
1
1
1
1
1
6
6
6
144
144
12
12
6
96
96
168
48
96
72
48
48
96
48
264
48
24
192
48
12
12
6
12
24
48
4
12
4
1700V-400A
1700V-400A
1700V-50A
1700V-800A
1.5W-33V
1600VDC-2.0uF
1600VDC-2.0uF
1600VDC-0.22uF
1600VDC-0.47uF
1600VDC-1.2uF
3.15kVDC-4700pF
120W-10Ohm
120W-10Ohm
2W-10Ohm
10W-560kOhm
1250V-1250A
2W-10kOhm
24VDC-13mA(RED)
5W-51kOhm
4000A/10V
3000A/10V
20W-10kOhm
AC230V, 50/60Hz
P5-8A,P15-1.5A,N15-1A
P24-1.3A
500VAC-5A
600VAC-30A
125VAC-15A
24VDC-4ab
— 156 —
2
1
2
1
1
1
1
1
1
1
1
2
2
4
4
9
1
1
1
1
1
1
2000
Product name
1500
Qty. used for each capacity
1
2
1
1
1
1
1
1
1
1
2
2
4
4
9
1
1
1
1
1
1
4
2
4
1
1
1
1
1
1
1
1
4
4
5
5
18
1
1
1
1
1
1
1
1
1
2
4
1
1
1
1
1
1
1
1
4
4
5
5
18
1
1
1
1
1
1
1
1
1
Recom.
level
A:10%
B:5%
C:0%
Total
quantity
used
Standard
recommended
quantity
A
A
A
A
A
A
A
C
C
C
A
C
A
C
C
C
C
C
C
C
C
C
C
C
C
C
C
C
A
C
C
C
C
C
B
C
C
C
C
A
C
C
B
B
A
C
C
C
C
C
B
C
B
B
B
B
B
B
B
B
B
B
4
4
4
4
4
18
18
18
432
432
36
36
18
288
288
504
144
288
216
144
144
288
144
792
144
72
576
144
36
36
18
36
72
144
12
36
6
6
6
12
4
4
4
4
4
4
4
4
12
12
28
28
54
4
4
4
4
4
4
2
2
2
1
1
1
1
1
1
1
0
0
0
3
0
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
0
0
0
0
0
1
0
0
0
0
1
0
0
1
1
1
0
0
0
0
0
1
0
2
1
1
1
1
1
1
1
1
1
6F3A4768
Table 6.5.2 Spare Parts for TMdrive-P30 (List 1)
IS-BUS PWB
Display Unit
I/O Terminal PWB
Main Control PWB
Interface PWB
Gate PWB
Fuse for Gate PWB
Cap-Unit
Capacitor
Resistor
IGBT Power Unit
IGBT element
IGBT element
Diode
Diode
Zener Diode
Capacitor
Capacitor
Capacitor
Capacitor
Capacitor
Capacitor
Resistor
Resistor
Resistor
Resistor
Fuse
Micro SW for Fuse
Thermostat
Ferrite Core
Ferrite Core
Resistor
Lamp
Resistor
Hall effective CT
Fuse
Micro SW for Fuse
Resistor
Fan
MCCB
Attachment for MCCB
Power Supply Unit
Power Supply Unit
Control Fuse (Option)
Holder for Fuse (Option)
Receptacle (Option)
Transformer
MCCB for Fan
Auxiliary contact for MCCB
Relay
Relay
Socket for Relay
Type
ARND-8204A
DISP-3121A
ARND-3120B
ARND-3110D
ARND-3138A
ARND-2711B
TSC
2Y3A1569G001
FXR425V5021UCES 5000UF
CDR20L123JC
2Y3A1560G001
MG400V1US51A
MG400V1US51
50VH2G41
800VHZ41
2Z33 33V-1.5W
EM1621R2D0UN2HS 1.2UF
EM162020D1UN2HZ 2.0UF
EM162020D1UN3HZ 2.0UF
EM162R22D0UN1HG 0.22UF
EM162R47D0UN2HW 0.47UF
DE1307E472Z3K
15500-0040
15497-2080
RM2 10-0HM-G
GS10A-560K-OHM-J(10W)
12.5URD273TTF1250
MS7V1-5BSM
US-602AYTFL
F6045G
ESD-R-38B
EF-2W 10K-0HM-J
AP6QS54-R
RS5FS51K-OHM-J
NNC-40EMBT 4000A-10V
12.5URD2*73TTF1600
MS7V1-5BSM
RS40H 20W-10K-OHM
VAS405MD-43F
GV2-ME20*13-18A
GV2-AF02
LWT50H-5FF
RWS30A-24
ATQ5
USM1
CM-21
PB5-200VA 200/220V,38V
GV2-ME06*1-1.6A-3P
GV-AD1010*1A+1A
HH54PW-FL DC24V
HH54PW-FL DC100/110V
TP514X1
Model & Rating
IS-BUS
DISP
XIO
CTR
MIF
GDM
250V-1.6A
425VDC-5000uF-3S/4Px2
425VDC-5000uF
20W-12Ohm
1700V-400A
1700V-400A
1700V-50A
1700V-800A
1.5W-33V
1600VDC-2.0uF
1600VDC-2.0uF
1600VDC-0.22uF
1600VDC-0.47uF
1600VDC-1.2uF
3.15kVDC-4700pF
120W-10Ohm
120W-10Ohm
2W-10Ohm
10W-560kOhm
1250V-1250A
2W-10kOhm
24VDC-13mA(RED)
5W-51kOhm
4000A/10V
1250V-1600A
20W-10kOhm
AC230V, 50/60Hz
P5-8A,P15-1.5A,N15-1A
P24-1.3A
500VAC-5A
600VAC-30A
125VAC-15A
24VDC-4ab
100/110VDC
— 157 —
2x1700
Product name
1700
Qty. used for each
capacity
1
1
1
1
1
1
1
3
3
3
72
72
3
48
48
84
24
48
36
24
24
48
24
132
24
12
96
24
6
6
3
6
12
24
2
6
2
3
3
1
1
1
1
1
6
6
6
144
144
6
96
96
168
48
96
72
48
48
96
48
264
48
24
192
48
12
12
6
12
24
48
4
12
4
6
6
1
4
1
1
1
1
1
1
1
1
4
4
3
3
6
2
1
1
1
1
1
1
1
1
2
2
3
3
6
Recom.
level
Total quantity
A:10%
used
B:5%
C:0%
A
A
A
A
A
A
A
C
C
C
A
C
C
C
C
C
C
C
C
C
C
C
C
C
C
C
A
C
C
C
C
C
B
C
C
A
C
C
A
C
C
B
B
A
C
C
C
C
C
B
B
C
2
2
2
2
2
9
9
9
216
216
9
144
144
252
72
144
108
72
72
144
72
396
72
36
288
72
18
18
9
18
36
72
6
18
6
9
9
6
1
2
2
2
2
2
2
2
2
6
6
6
6
12
Standard
recommended
quantity
1
1
1
1
1
1
1
0
0
0
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
0
0
0
0
0
1
0
0
1
0
0
1
0
0
1
1
1
0
0
0
0
0
1
1
0
6F3A4768
Table 6.5.3 Spare Parts for TMdrive-P30 (List 2)
MM2XPN DC24V
8PFA 250V-10A
1S1835
AP6QS54M-R
AP6QS54M-G
ASLN22211DN-R
ASTN5122
NNC-20CA-30A/4V
MLS30F400KNX900HZZ
RS60H 75K-OHM-60W
CC12BODKCV3SRF70Q20M
MC3E2-5BSM
CC1051 CPGRB 20.127 20
PS1 20.127PRE+MC-PS
MRC22N200KIA950CZZ
15MA300
GV2-ME20*13-18A
SC-0 AC220V 1A
SC-N4 AC220V 2A2B
HS 8KVA-200/1600-1300V
ARND-8122A
ARND-8216D
HB-20
CTR.CN1-DISP.CN1
CTR.CN3-DISP.CN3
CTR.CN14-XIO.CN1
MIF/CN13U-U.GDM/CN11
MIF/CN13V-V.GDM/CN11
MIF/CN13W-W.GDM/CN11
MIF/CN14U-U.GDM(S)/CN11
MIF/CN14V-V.GDM(S)/CN11
MIF/CN14W-W.GDM(S)/CN11
Model & Rating
24VDC
600V-1A
24VDC 13mA (Red)
24VDC 13mA (Green)
24VDC 18mA (Red)
IN:30AT/OUT:4V
300W-40Ω (2S-3P)
60W-75kΩ
1200V-20A
1500VAC/1000VDC-20A
220W-20Ω (1S-4P)
3000V-25A
550VAC-20A
AC100V-250V(0.22UF+470Ω)
P:200V-8kVA,S:1300/1450/1600V
PDM
GDI
— 158 —
2x1700
Relay
Socket for Relay
Diode
Switch
Switch
Switch
Switch
Hall effective CT
Resistor
Resistor
Fuse
Micro SW for Fuse
Fuse
Holder for Fuse
Resistor
Diode
MCCB
Contactor
Surge killer for Contactor
Trans
Voltage Detection PWB
Ground Detection PWB
Air Filter
Cable
Cable
Cable
Cable
Cable
Cable
Cable
Cable
Cable
Type
1700
Product name
Qty. used for each
Recommended
capacity
level
A:10%
B:5%
C:0%
1
1
2
2
2
1
1
1
1
1
6
1
1
1
2
2
8
8
1
1
1
2
1
1
9
1
1
1
1
1
1
2
2
2
1
1
1
1
1
6
1
1
1
2
2
8
8
1
1
1
2
1
1
18
1
1
1
1
1
1
1
1
1
B
C
C
C
C
C
C
C
C
C
A
C
A
C
C
C
C
C
C
C
A
A
B
B
B
B
B
B
B
B
B
B
Total
quantity
used
Standard
recommended
quantity
4
4
4
2
2
2
2
2
12
2
2
2
4
4
16
16
2
2
2
4
2
2
27
2
2
2
2
2
2
1
1
1
1
0
0
0
0
0
0
0
0
0
1
0
1
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
6F3A4768
6.6
Prohibition of Modifications
Modifying this equipment is dangerous.
When you need modifications, contact Toshiba.
6.7 Movement
Inspections may be required before moving the equipment which has been installed.
Contact Toshiba.
6.8 Disposal
When part or the entire equipment is disposed of, you need special handling for waste disposal.
Consult with waste disposal professionals.
— 159 —
6F3A4768
7
Data Control (Common to TMdrive-30 and TMdrive-P30)
7.1 Setting Data
We recommend you to save the inverter setting data as a personal computer data file.
It is recommended to control the setting data backed up in a file stored on the personal computer.
(1) File control
The setting data of the equipment is stored in the EEPROM as shown in Fig. 1.6.1. The EEPROM is a
non-volatile memory which is not erased by turning on/off of the power supply. But it may be erased by
some board fault, and so store it separately in a file on the personal computer. When the board is replaced,
the file should be loaded.
The setting data is treated as an ACCESS file whose extension is MDB. An example of data naming is
shown below Fig. 7.1.1.
C:\Program Files\Wi Tool\User\ABCequipment\SET2201A020401.MDB
Extension: “.MDB”
Stored date: Year Month Day
It is convenient to put the equipment manufacturing
item number in this portion.
Be sure to put a fine name which starts with "SET."
Create a folder whose name represents the equipment name, etc.
It should be a name easy to understand to the user.
There can be two or more hierarchies.
This is a folder created when the tool is installed.
Storage location (hard disk drive)
Fig. 7.1.1 Setting Data Filename
For the trace back data, replace "SET" by "TLB" so that it reads "TRB2201A020401.MDB".
— 160 —
6F3A4768
8
Fault and Recovery (Common to TMdrive-30 and TMdrive-P30)
8.1 Cautions when Handling Fault
When a fault occurs, you are likely to repeat trial and error, pressed by the feeling that you have to recover it
immediately. However, it is important to go back to the fundamentals and correctly understand the phenomena
of the fault.
To do this, it is necessary to record the phenomena and conditions of the fault in detail from the electrical and
mechanical standpoints, including the situation of the operator's operation. Collect as much data as possible on
the following items to describe the operation situation when the fault occurred. See also chapter 1.
(1) Operation panel display
Record the fault message (sequential fault display) shown on the operation panel display at the moment
the fault occurred.
(2) Collection of trace back data
Record the trace back data.
(3) Operation different from ordinary operation
Check if there was anything that affected the input power supply of the equipment at the moment the fault
occurred (for example, powering-on of large-capacity equipment which is connected to the common AC
power supply or short-circuits, etc.) and record it.
(4) Power failure
Check if the input power supply of the equipment was disconnected at the time of the fault (for example, if
the line of the AC power supply was switched or if the breaker was turned on or off) and record it.
(5) Load condition
Check if the power supply of the load (motor) connected to the equipment was turned on/off or the load was
drastically changed at the time of the fault and record it.
(6) Operation
Check what kind of operation the operator did in the central operator's room at the time of the fault and
record it.
(7) Installation environment
Check if there was any abnormal ambient temperature rise at the time of the fault or before and record it.
(Fault of air-conditioner or ventilation system)
(8) Changes
Check if there were any recent changes to other apparatuses around the equipment (for example, if some
electrical work was carried out on the apparatuses around the equipment) and record it.
(9) Inspection situation
Check if there was excessive dust or leak and record it.
(10) Lightning
Check if there was lightning in the neighborhood of the equipment and record it.
(11) Abnormal sound, odor
Check if there was any odor or abnormal sound around the equipment at the time of the fault and record it.
(12) Control power supply
Check if the control power supply of the equipment was functioning normally at the time of the fault and
record it.
Understanding the situation in this way serves as a reference to determine whether the nonconformity is
attributable to factors inside or outside the equipment. Further, this information becomes an important clue to
find out the cause of non-reproducible nonconformities or faults and it is important to keep precise record.
— 161 —
6F3A4768
8.2
Traceback
The drive unit features a traceback function that saves the status of the drive before and after fault occurrence.
Traceback data is useful for failure cause analysis. The inverter (TMdrive-30) and converter (TMdrive-P30) can
save traceback data for up to 7 fault occurrences, respectively.
Each traceback data consists of high-speed traceback 14 channels, standard traceback 28 channels, and long
traceback 8 channels, and sequence trace.
Table 8.2.1 lists the characteristics of high-speed, standard, and long traceback data. Figure 8.2.1 shows the
data collection time for each traceback data.
Table 8.2.1 Characteristics of Traceback Data
Type
Quantity of Sampling
256 items
High-speed
(30 items after fault
traceback
occurrence)
Sampling cycle
No. of
channels
Signals to be saved
Current control cycle
(When the carrier
frequency is 1536Hz,
325µs)
14ch
IU_F, IW_F, IQ_REF, ID_REF,
IQ_FBK, ID_FBK, EQ_R, ED_R,
E1_R, VU_REF, VV_REF,
VW_REF,
VU_REF_B, VV_REF_B
Standard
traceback
256 items
(30 items after fault
occurrence)
1ms
28ch
Set by $TRB01_OP_AS ~
$TRB28_OP_AS
Long
traceback
256 items
(items for 500ms after
fault occurrence)
Set by
$TRB_TIME_LONG
(standard: 10ms)
8ch
Set by $TRB_L1_OP_AS ~
$TRB_L8_OP_AS
Sequence traceback records the change of fault sequence for up to 400ms after the change of the first occurred
fault sequence.
Fault occurrence point
Sequence trace
400ms
High-speed traceback
55.2 ~ 73.6ms
226ms
Standard traceback
7.2 ~ 9.8ms
30ms
Long traceback
$TRB_TIME_LONG
×256 - 500ms
500ms
Time
Fig. 8.2.1 Traceback Data Collection Time
The recorded traceback data can be displayed and saved using the maintenance tool.
By adjusting the timer of the drive unit from the maintenance tool immediately after the fault occurrence and
before absorbing data, the fault occurrence time to be recorded as traceback data can be corrected to more
accurate time.
— 162 —
6F3A4768
8.3
How to Repair
8.3.1 Cautions on Repair
(1) Prepare necessary tools and drawings, etc. before starting the work.
(2) Be careful not to damage other parts when removing some parts.
(3) Do not make wrong connections when recovering from the fault and put markings, etc., if necessary.
(4) After recovery, check the wiring according to the schematic.
(5) Use right tools (torque wrench, etc.) when handling screws.
(6) Special cares are required when handling heavy articles.
(7) After the work has been completed, check the number of tools to make sure that no tools are left inside the
cubicle.
8.3.2 Replacing Units
For details of unit replacement, see the Unit Replacement Manual (document No. 6F3A4795)
8.4 Restoring Setting Parameters
In this equipment, as the control power is turned on, the program starts running automatically. In the following
case, the setting parameters need to be reloaded.
• The message, “PI-183” appears on the display. The setting data may be faulty.
• All of the setting data are changed completely. <Example> The circuit board is used in other equipment.
• The circuit board is replaced with a spare board.
8.4.1 Reloading (Personal Computer Tool)
The data can be loaded with the personal computer connected to this equipment. Using this personal computer
tool, the setting data saved in the FDD or HDD can be loaded.
For details, see the manual for the tool.
(1) Turn on the control power.
(2) Connect the personal computer tool.
(3) Log on to Access level 9 (Full access).
(4) Using “Setting value control,” setting data on FDD or HDD can be reloaded to the equipment RAM.
(5) Transfer this data to the EEPROM in the equipment.
(6) Turn off the control power, and turn it on again. (Initialization)
— 163 —
TOSHIBA MITSUBISHI-ELECTRIC
INDUSTRIAL SYSTEMS CORPORATION
TM_F50017B
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising