Control Techniques Unidrive 3204, Unidrive 3402 User Manual

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User Guide

Unidrive

Model sizes 1 to 5

Universal Variable Speed AC Drive for induction and servo motors

Part Number: 0460-0083-09

Issue Number: 9

General Information

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed drive with the motor.

The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the contents of the guide, without notice.

All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher.

Drive software version

This product is supplied with the latest version of user-interface and machine control software. If this product is to be used in a new or existing system with other drives, there may be some differences between their software and the software in this product. These differences may cause this product to function differently. This may also apply to drives returned from a Control Techniques Service Centre.

If there is any doubt, contact a Control Techniques Drive Centre.

Environmental statement

Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other relevant information is available on request, or can be found at www.greendrives.com.

The electronic variable-speed drives manufactured by Control Techniques have the potential to save energy and

(through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product manufacture and end-of-life disposal.

Nevertheless, when the products eventually reach the end of their useful life, they can very easily be dismantled into their major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools, whilst other parts are secured with conventional screws. Virtually all parts of the product are suitable for recycling.

Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, whilst smaller products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these containers can be recycled. Polyethylene, used on the protective film and bags for wrapping product, can be recycled in the same way. Control Techniques' packaging strategy favours easily-recyclable materials of low environmental impact, and regular reviews identify opportunities for improvement.

When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

Copyright © August 2003 Control Techniques Drives Limited

Issue Number: 9

Software: V03.02.12 onwards

How to use this User Guide

This User Guide provides complete information for installing and operating a Unidrive from start to finish.

The information is in logical order, taking the reader from receiving the drive through to fine tuning the performance.

NOTE

There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1

Safety

Information

on page 7 contains general safety information. It is essential that the warnings are observed and the

information considered when working with or designing a system using the drive.

This map of the user guide helps to find the right sections for the task you wish to complete:

1 Safety information

2 Product information

3 Mechanical installation

4 Electrical installation

5 Getting started

6 Menu 0

7 Running the motor

8 Optimisation

9 Macros

10 Advanced parameters

11 Technical data

12 Diagnostics

13 UL listing information

Declaration of Conformity ................... 6

1 Safety Information .................................7

1.1

Warnings, Cautions and Notes .............................7

1.2

Electrical safety - general warning ........................7

1.3

System design and safety of personnel ................7

1.4

Environmental limits ..............................................7

1.5

Compliance with regulations .................................7

1.6

Motor .....................................................................7

1.7

Adjusting parameters ............................................7

2 Product Information ..............................8

2.1

Ratings ..................................................................8

2.2

Model number .......................................................8

2.3

Nameplate description - drive identification ..........9

2.4

Model variants .......................................................9

2.5

Operating modes .................................................10

2.6

Drive features ......................................................11

2.7

Option Modules ...................................................12

2.8

More information .................................................12

2.9

Items supplied with the drive ...............................13

3 Mechanical Installation .......................14

3.1

Safety information ...............................................14

3.2

Planning the installation ......................................14

3.3

Terminal cover removal .......................................14

3.4

Ingress protection ................................................15

3.5

Option module fitting / removal ...........................15

3.6

Mounting methods ...............................................16

3.7

Enclosure ............................................................24

3.8

Ventilation ...........................................................26

3.9

Baffle plates ........................................................28

3.10 Ambient temperature ...........................................28

3.11 RFI filters .............................................................29

3.12 Power terminals ..................................................35

3.13 Routine maintenance ..........................................36

4 Electrical Installation ...........................37

4.1

Power connections ..............................................37

4.2

AC supply requirements ......................................40

4.3

Supplying the drive with DC / DC bus paralleling 40

4.4

Ratings ................................................................40

4.5

Output circuit and motor protection .....................41

4.6

Braking ................................................................43

4.7

Ground leakage ...................................................44

4.8

EMC (Electromagnetic compatibility) ..................44

4.9

Control connections ............................................49

4.10 Encoder connections ...........................................54

4.11 Configuring a Unidrive size 5 system ..................56

Contents

5 Getting Started .................................... 58

5.1

Understanding the display .................................. 58

5.2

Keypad operation ............................................... 58

5.3

Menu structure ................................................... 59

5.4

Advanced keypad functions ............................... 60

5.5

Menu 0 ............................................................... 60

5.6

Advanced menus ............................................... 60

5.7

Changing the operating mode ............................ 61

5.8

Saving parameters ............................................. 61

5.9

Defaulting the drive ............................................ 61

5.10 Parameter security ............................................. 62

5.11 Serial Communications ...................................... 63

6 Menu 0 ................................................. 64

6.1

Single line descriptions ...................................... 64

6.2

Menu 0 full descriptions ..................................... 72

7 Running the motor .............................. 81

7.1

Quick start set-up ............................................... 81

7.2

Quick Start commissioning ................................. 84

7.3

Quick start P.C. commissioning (UniSoft /

VTCSoft) ............................................................ 87

8 Optimisation ........................................ 92

8.1

Motor map parameters ....................................... 92

8.2

Current limits ...................................................... 98

8.3

Motor thermal protection .................................... 99

8.4

Switching frequency ........................................... 99

8.5

High speed operation ......................................... 99

9 Macros ............................................... 101

9.1

Introduction ...................................................... 101

9.2

How to load a macro ........................................ 102

9.3

Macro terminal connection changes ................ 102

9.4

Macro logic diagrams and Menu 0 parameter changes ............................................................ 106

9.5

Unidrive VTC macro differences ...................... 122

4

Unidrive User Guide www.controltechniques.com Issue Number: 9

10 Advanced Parameters ......................123

10.1 Menu 1: Speed references and limits ...............124

10.2 Menu 2: Ramps (accel. / decel.) .......................128

10.3 Menu 3: Speed feedback / frequency slaving ...131

10.4 Menu 4: Current control ....................................135

10.5 Menu 5: Machine control ...................................139

10.6 Menu 6: Sequencing logic .................................143

10.7 Menu 7: Analog I/O ...........................................145

10.8 Menu 8: Digital I/O ............................................148

10.9 Menu 9: Programmable logic ............................152

10.10 Menu 10: Status flags / trip log .........................155

10.11 Menu 11: Menu 0 customisation / drive specific ratings ...............................................................156

10.12 Menu 12: Programmable thresholds .................157

10.13 Menu 13: Digital lock / orientation .....................160

10.14 Menu 14: Programmable PID function ..............166

10.15 Menu 15: Regen ...............................................169

10.16 Menu 16 Small option module set-up ...............171

10.17 Menu 17: Large option module set-up ..............179

10.18 Menu 18: Application menu 1 ...........................179

10.19 Menu 19: Application menu 2 ...........................180

10.20 Menu 20: Large option module .........................180

10.21 Unidrive VTC parameter range and default differences ........................................................181

10.22 Advanced Features ...........................................182

11 Technical Data ...................................190

11.1 Drive ..................................................................190

11.2 Optional RFI filters ............................................197

12 Diagnostics ........................................198

12.1 Trip indications ..................................................198

12.2 Alarm indications ...............................................204

12.3 Status indications ..............................................204

12.4 Displaying the trip history ..................................204

13 UL Listing Information ......................205

13.1 AC supply specification .....................................205

13.2 Maximum continuous output current .................205

13.3 Safety label .......................................................205

Index ...................................................206

Unidrive User Guide

5

Issue Number: 9 www.controltechniques.com

Declaration of Conformity

Control Techniques Ltd

The Gro

Newtown

Powys

UK

SY16 3BE

UNI1201

UNI2201

UNI3201

UNI1202

UNI2202

UNI3202

UNI1203

UNI2203

UNI3203

UNI1204 UNI1205

UNI3204

UNI1401

UNI2401

UNI3401

UNI4401

UNI5401

UNI1402

UNI2402

UNI3402

UNI4402

UNI1403

UNI2403

UNI3403

UNI4403

UNI1404

UNI3404

UNI4404

UNI1405

UNI3405

UNI4405

The AC variable speed drive products listed above, including the VTC,

LFT (all sizes) and REGEN (UNI3401 to UNI4405 only) variants, have been designed and manufactured in accordance with the following

European harmonised, national and international standards:

EN 60249

IEC326-1

IEC326-5

IEC326-6

IEC664-1

EN 60529

UL94

UL508C

EN 50081-1 1

EN 50081-2

EN 50082-2

EN 61800-3

Base materials for printed circuits

Printed boards: general information for the specification writer

Printed boards: specification for single- and doublesided printed boards with plated-through holes

Printed boards: specification for multilayer printed boards

Insulation co-ordination for equipment within lowvoltage systems: principles, requirements and tests

Degrees of protection provided by enclosures (IP code)

Flammability rating of plastic materials

Standard for power conversion equipment

Generic emission standard for the residential, commercial and light industrial environment

Generic emission standard for the industrial environment

Generic immunity standard for the industrial environment

Adjustable speed electrical power drive systems - Part

3: EMC product standard including specific test methods

1 Conducted emission sizes 1 to 3, not size 4 or 5. See the relevant EMC

Data Sheet.

These products comply with the Low Voltage Directive 73/23/EEC, the

Electromagnetic Compatibility (EMC) Directive 89/336/EEC and the CE

Marking Directive 93/68/EEC.

W. Drury

Executive Vice President, Technology

Newtown

Date: 26 September 2001

These electronic drive products are intended to be used with appropriate motors, controllers, electrical protection components and other equipment to form complete end products or systems.

Compliance with safety and EMC regulations depends upon installing and configuring drives correctly, including using the specified input filters. The drives must be installed only by professional assemblers who are familiar with requirements for safety and EMC. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used. A Unidrive EMC Data Sheet is also available giving detailed EMC information.

6

Unidrive User Guide www.controltechniques.com Issue Number: 9

Safety

Information

Product

Information

Mechanical

Installation

Electrical

Installation

1 Safety Information

Getting

Started

1.1 Warnings, Cautions and Notes

WARNING

CAUTION

Menu 0

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

NOTE

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

1.2 Electrical safety - general warning

The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive.

Specific warnings are given at the relevant places in this User Guide.

1.3 System design and safety of personnel

The drive is intended as a component for professional incorporation into complete equipment or a system. If installed incorrectly, the drive may present a safety hazard. The drive uses high voltage and currents, carries a high level of stored electrical energy, and is used to control equipment which can cause injury.

Close attention is required to the electrical installation and the system design to avoid hazards, either in normal operation or in the event of equipment malfunction. System design, installation, commissioning and maintenance must be carried out by personnel who have the necessary training and experience. They must read this safety information and this

User Guide carefully.

The STOP function of the drive does not remove dangerous voltages from the output of the drive or from any external option unit.

Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended functions or through incorrect operation due to a fault.

In any application where a malfunction of the drive could lead to damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk.

The STOP and START controls or electrical inputs of the drive must not be relied upon to ensure safety of personnel. If a safety hazard could exist from unexpected starting of the drive, an interlock that electrically isolates the drive from the AC supply must be installed to prevent the motor being inadvertently started.

To ensure mechanical safety, additional safety devices such as electromechanical interlocks and overspeed protection devices may be required. The drive must not be used in a safety critical application without additional high integrity protection against hazards arising from a malfunction.

Under certain conditions, the drive can suddenly discontinue control of the motor. If the load on the motor could cause the motor speed to be increased (e.g. in hoists and cranes), a separate method of braking and stopping must be used (e.g. a mechanical brake).

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

1.4 Environmental limits

Instructions in this User Guide regarding transport, storage, installation and use of the drive must be complied with, including the specified environmental limits. Drives must not be subjected to excessive physical force.

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

1.5 Compliance with regulations

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

This User Guide contains instruction for achieving compliance with specific EMC standards.

Within the European Union, all machinery in which this product is used must comply with the following directives:

98/37/EC: Safety of machinery.

89/336/EEC: Electromagnetic Compatibility.

1.6 Motor

Ensure the motor is installed in accordance with the manufacturer’s recommendations. Ensure the motor shaft is not exposed.

Standard squirrel cage induction motors are designed for single speed operation. If it is intended to use the capability of the drive to run a motor at speeds above its designed maximum, it is strongly recommended that the manufacturer is consulted first.

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

1.7 Adjusting parameters

Some parameters have a profound effect on the operation of the drive.

They must not be altered without careful consideration of the impact on the controlled system. Measures must be taken to prevent unwanted changes due to error or tampering.

Unidrive User Guide

7

Issue Number: 9 www.controltechniques.com

Safety

Information

Product

Information

Mechanical

Installation

Electrical

Installation

Getting

Started

2 Product Information

2.1 Ratings

Table 2-1 200V drive ratings (200V to 240V ±10%)

Menu 0

Model

1201

1202

1203

1204

1205

2201

2202

Nominal rating kW hp

0.37

0.5

0.55

0.75

0.75

1.1

1

1.5

2.2

3

4

3

4

5

Output current*

(A)

2.1

2.8

3.8

5.6

9.5

12

16

2.4

3.5

4.6

6.5

8.6

10.8

14.3

Running the motor

Typical

Input current (A)

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

* The output currents are given for maximum 40°C (104°F) ambient, 1,000m altitude and 3kHz switching. Derating is required for higher switching frequencies, ambient temperatures

>40°C (104°F) and high altitudes. For further information, refer

to section 11.1.1

Power and current ratings on page 190.

** Multiples of 300A output current with 120% overload or multiples of 240A with 150% overload

NOTE

N

A Unidrive size 5 consists of a control module with one or more power modules connected in parallel.

i.e. UNI5401 = 1 x control module and 1 x power module

UNI5402 = 1 x control module and 2 x power modules etc.

2.2 Model number

The way in which the model numbers for the Unidrive range are formed is illustrated below.

UNI 1 2 05 LFT LV

2203 5.5

10 25 19.8

3201

3202

3203

3204

7.5

11

15

22

15

20

25

30

34

46

60

74

26

39

53

78

Table 2-2 400V drive ratings (380V to 480V ±10%)

Model

1401

1402

1403

1404

1405

2401

2402

Nominal rating

@380V @460V kW

0.75

1.1

1.5

2.2

4

5.5

7.5

hp

1

1.5

2

3

5

7.5

10

Output current*

(A)

2.1

2.8

3.8

5.6

9.5

12

16

Typical

Input current

(A)

3.0

4.3

5.8

8.2

10.0

13.0

17.0

5

2403

3401

3402

3403

3404

3405

4401

4402

4403

4404

4405

5401

5402

5403

5404

5405

5406

5407

5408

11 15

15

18.5

22

30

37

45

55

75

90

110

160

320

480

640

800

960

1120 1400

1280 1600

200

400

600

800

1000

1200

25

30

30

40

50

75

100

125

150

150

25

34

40

46

60

70

96

124

156

180

202

300**

600**

900**

1200**

1500**

1800**

2100**

2400**

21.0

52

66

76

91

27

32

40

123

145

181

280

560

840

1120

1400

1680

1960

2240

Model:

UNI - Unidrive

Model size:

1 - Size 1

2 - Size 2

3 - Size 3

4 - Size 4

5 - Size 5

Voltage rating:

2 - 200V

4 - 400V

Power rating:

Depends on model size.

See section 2.1

Ratings

Model variant:

- Standard

variant

LFT - LFT variant

VTC - VTC variant

REGEN - Regen

variant

See section 2.4

Model variants more details

for

Voltage rating:

LV - Low voltage (200V)

- Medium voltage (400V)

8

Unidrive User Guide www.controltechniques.com Issue Number: 9

Safety

Information

Product

Information

Mechanical

Installation

Electrical

Installation

Getting

Started

Menu 0

Running the motor

2.3 Nameplate description - drive identification

The drive label is found on the top surface of the control pod (right angles to the display) on Unidrive sizes 1 to 3 and size 5 control module, and on the side of the Unidrive size 4 and size 5 power module.

Figure 2-1 Typical drive rating labels

Optimisation Macros

Unidrive size 1 to 4 rating label

Advanced

Parameters

Key to Approvals

Drive ratings

Model

Drive type

(STD,LV,

VTC, LFT) Power rating

UNI3401 VTC 15kW

STDJ41

INPUT

IT IS ESSENTIAL TO READ

THE MANUAL BEFORE

CONNECTING THE DRIVE.

OUTPUT

VOLTAGE 50/60 Hz 3Ph 380/480V 380/480V

CURRENT (A) 27A 34.0A

OVERLOAD: 40.8A FOR 60 SECS

SOFTWARE VERSION: 03.02.11

IND.

R

CONT..

EQ.

MADE IN THE U.K.

Customer and date code

Approvals

R

CE approval

Technical

Data

Diagnostics

UL Listing

Information

C Tick approval

UL / cUL approval

Europe

Australia

USA &

Canada

Unidrive size 5 control module rating label

Model

Hardware revision

UNIDRIVE SIZE 5

CONTROL MODULE HW2

IT IS ESSENTIAL TO READ

THE MANUAL BEFORE

CONNECTING THE DRIVE.

TO BE USED IN CONJUNCTION

WITH UNIDRIVE SIZE 5 HW2

POWER MODULES (S)

SOFTWARE VERSION: 03.02.11

STDL01

IND.

CONT..

EQ.

R

3000005001 MADE IN THE U.K.

Customer and date code

Approvals

Unidrive size 5 power module rating label

Model

Drive ratings

UNI5401 POWER MODULE HW2 110V FAN FITTED STDL01

VOLTAGE 50/60 Hz 3Ph

CURRENT (A)

OVERLOAD: 150 FOR 60 SECS

OVERLOAD: 120 FOR 60 SECS

IT IS ESSENTIAL TO READ

THE MANUAL BEFORE

CONNECTING THE DRIVE.

INPUT

380/480V

220.0A

280.0A

OUTPUT

380/480V

240.0A

300.0A

HEATSINK FAN

110V/120V 50/60HZ

R

IND.

CONT..

EQ.

MADE IN

THE U.K.

Dual current rating

Customer and date code

Heatsink fan ratings

Approvals

2.4 Model variants

2.4.1 Unidrive standard industrial (STD)

...for constant torque loads (All frame sizes)

Operating modes:

Open Loop

Closed Loop vector

Servo

Regen

Overload:

Open loop 150% for 60s

Closed loop vector 175% for 60s (sizes 1 to 4), 150%* for 60s (size

5)

Servo 175% for 4s (sizes 1 to 4), 150%* for 4s (size 5)

Regen 150% for 60s

* Multiples of 300A output current with 120% overload or multiples of

240A with 150% overload

Figure 2-2 Constant torque load

Percent kW and torque

100

Torque

80

60

40

20

0 kW

50

Percent speed

100

Unidrive User Guide

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Issue Number: 9 www.controltechniques.com

Safety

Information

Product

Information

Mechanical

Installation

150%

100%

0

0

Current

0

2

60

40

20

0

20

Electrical

Installation

2.4.2 Unidrive LFT

...for lift applications

Overloads and operating modes as Unidrive standard industrial, in addition: low acoustic noise

9kHz default switching frequency

S4/S5 duty cycle only

Figure 2-3 Standard S4/S5 duty cycle (Unidrive LFT)

Frequency / speed

50Hz

1500

RPM

60

2.4.3 Unidrive VTC

...for quadratic load (variable torque) applications (fans and pumps)

Open loop fixed boost mode only

120% overload for 60s

Figure 2-4 Variable torque mode

Percent kW and torque

100

80

Torque

50

Percent speed

100

2.4.4 Unidrive REGEN

All sizes of Unidrive can be used in regen mode. However, Unidrive sizes 3 and 4 require an internal modification before being used in a regen system.

This modification is already completed if the drive has been ordered as a

Unidrive REGEN.

2.5 Operating modes kW

Getting

Started

Menu 0

All variants of Unidrive (except VTC) are designed to operate in any of the following modes:

1. Open loop mode

V/f mode (V/ Hz)

Open loop vector

2. Closed loop vector

3. Servo

4. Regen

Unidrive VTC can only operate in open loop quadratic V/f mode.

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

2.5.1 Open Loop mode (OL)

For use with standard AC induction motors.

The drive applies power to the motor at frequencies varied by the user.

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

V/f mode

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

Typically 100% torque at 4Hz.

Open loop vector mode

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

Typically 100% torque at 1Hz.

2.5.2 Closed loop vector mode (VT)

For use with induction motors with a speed feedback device fitted.

The drive directly controls the speed of the motor using the feedback device to ensure the rotor speed is exactly as demanded. Motor flux is accurately controlled at all times to provide full torque all the way down to zero speed.

Typically 175% torque at 0rpm.

2.5.3 Servo (SV)

For use with permanent magnet brushless motors with a speed and position feedback device fitted.

The drive directly controls the speed of the motor using the feedback device to ensure the rotor speed is exactly as demanded. Flux control is not required because the motor is self excited by the permanent magnets which form part of the rotor.

Absolute position information is required from the feedback device to ensure the output voltage is accurately matched to the back EMF of the motor.

Typically 175% torque at 0rpm

2.5.4 Regen

For use as a regenerative front end for four quadrant operation.

Regen operation allows bi-directional power flow to and from the AC supply. This provides far greater efficiency levels in applications which would otherwise dissipate large amounts of energy in the form of heat in a braking resistor.

The harmonic content of the input current is negligible due to the sinusoidal nature of the waveform when compared to a conventional bridge rectifier or thyristor front end.

See the Regen Installation Guide for more information on this operating mode.

2.5.5 Key to operating mode abbreviations

Abbreviations are throughout this User Guide to define the operating mode for which the information applies as follows:

OL> Open loop

CL> Closed loop (which incorporates closed loop vector and servo mode)

VT> Closed loop vector mode

SV> Servo

10

Unidrive User Guide www.controltechniques.com Issue Number: 9

Safety

Information

Product

Information

Mechanical

Installation

Electrical

Installation

Getting

Started

2.6 Drive features

Figure 2-5 Features of the drive (Size 1 to 5)

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Upper display

Lower display

Programming keys

{

Large option module connection

Control keys

Forward / Reverse

Stop / Reset

Run

Small option module connection

Control connectors

AC

In

AC

In

Encoder connection

5

AC

In

AC

Out

AC

In

AC

Out

AC

In

AC

Out

AC

In

AC

Out

Sharing choke

AC

Out

Sharing choke

AC

Out

NOTE

N

Unidrive size 5 consists of a control module and one or more power modules.

For power ratings greater than 160kW / 200hp, multiple power modules

(up to a maximum of 8) can be connected in parallel.

When multiple power modules are used, an output sharing choke is required before the drive outputs are connected together.

Unidrive User Guide

11

Issue Number: 9 www.controltechniques.com

Safety

Information

Product

Information

Mechanical

Installation

Electrical

Installation

Getting

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Menu 0

2.7 Option Modules

The following option modules are available for use with Unidrive.

Figure 2-6 Unidrive options available for all sizes

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UD78 UD71 UD70

UD55 UD53 UD52 UD51 UD50

Servo RS232

RS485

Applications module Cloning module

Resolver Sin Cos

Encoder

Second

Encoder

Extra I/O

9901 11 destination addr

F1

F2 F3

M

UD73 UD74 UD75 UD76 UD77 UD77 UD77

Universal

Keypad

Profibus-DP Interbus CT Net Modbus

Plus

Device

Net

CAN CANopen

Unidrive sizes 1 to 4 have built in braking transistors; for Unidrive size 5 a braking option can be fitted if required as shown below:

Figure 2-7 Braking option available for Size 5

12

Size 5 Braking option

The drive must be powered down for a minimum duration of

10 minutes before an option module is fitted or removed.

WARNING

2.8 More information

The following manuals are also available providing full information on the various option modules, regen mode and advanced product use:

• Unidrive Advanced User Guide

• Regen Installation Guide

• UD50 User Guide (Additional I/O small option module)

• UD51 User Guide (Second encoder small option module)

• UD52 User Guide (SINCOS encoder interface small option module)

• UD53 User Guide (Resolver interface small option module)

• UD55 User Guide (Cloning interface small option module)

• UD70 User Guide (Large option module and software)

• UD71 User Guide (Serial communications large option module)

• UD73 User Guide (Profibus-DP large option module)

• UD74 User Guide (Interbus large option module)

• UD75 CT Net User Guide (Large option module)

• UD76 User Guide (Modbus Plus large option module)

• UD77 User Guide (Device Net large option module)

• UD78 User Guide (Servo large option module)

• CAN User Guide (Large option module)

• CANopen User Guide (Large option module)

• Universal Keypad User Guide

• Universal Keypad Advanced User Guide

Please also see the Unisoft drive commissioning software which contains a help file detailing full advanced parameter descriptions and other useful information.

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2.9 Items supplied with the drive

Size 1

Certificate of quality

Safety Booklet

Mounting brackets

Size 2

Certificate of quality

Safety Booklet

Mounting brackets

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Size 3

Certificate of quality

Safety Booklet

Mounting brackets

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Certificate of quality

Safety Booklet

Mounting brackets

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Data

Size 5 control

Certificate of quality

Safety Booklet

Mounting brackets

Diagnostics

UL Listing

Information

Size 5 power

Certificate of quality

Interface leads

Control connectors

1 2 3 4 5 6 7 8 9 10 11

Control connectors

1 2 3 4 5 6 7 8 9 10 11

Control connectors

1 2 3 4 5 6 7 8 9 10 11

Control connectors

1 2 3 4 5 6 7 8 9 10 11

Control connectors

1 2 3 4 5 6 7 8 9 10 11

Gasket foam Gasket foam Gasket foam Gasket foam

Power connector

L1 L2 L3 U V W + .

-

Power connector

UL Warning label

CAUTION

Risk of Electric Shock

Power down unit 10minutes before removing cover

UL Warning label

CAUTION

Risk of Electric Shock

Power down unit 10minutes before removing cover

UL Warning label

CAUTION

Risk of Electric Shock

Power down unit 10minutes before removing cover

UL Warning label

CAUTION

Risk of Electric Shock

Power down unit 10minutes before removing cover

UL Warning label

CAUTION

Risk of Electric Shock

Power down unit 10minutes before removing cover

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3 Mechanical Installation

Menu 0

This chapter describes how to use all mechanical features to install the drive. Key features of this chapter include:

• Option module fitting

• Mounting methods

• Enclosure sizing and layout

• Terminal location and torque settings

3.1 Safety information

WARNING

Follow the instructions

The mechanical and electrical installation instructions must be adhered to. Any questions or doubt should be referred to the supplier of the equipment. It is the responsibility of the owner or user to ensure that the installation of the drive and any external option unit, and the way in which they are operated and maintained, comply with the requirements of the Health and Safety at Work Act in the United Kingdom or applicable legislation and regulations and codes of practice in the country in which the equipment is used.

WARNING

Competence of the installer

The drive must be installed by professional assemblers who are familiar with the requirements for safety and EMC. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used.

3.2 Planning the installation

The following considerations must be made when planning the installation:

3.2.1 Access

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

3.2.2 Environmental protection

The drive must be protected from:

• moisture, including dripping water or spraying water and condensation. An anti-condensation heater may be required, which must be switched off when the drive is running.

• contamination with electrically conductive material

• contamination with any form of dust which may restrict the fan, or impair airflow over various components

• temperature beyond the specified operating and storage ranges

3.2.3 Cooling

The heat produced by the drive must be removed without its specified operating temperature being exceeded. Note that a sealed enclosure gives much reduced cooling compared with a ventilated one, and may need to be larger and/or use internal air circulating fans.

For further information, please refer to section 3.7.2

Enclosure sizing on page 24.

3.2.4 Electrical safety

The installation must be safe under normal and fault conditions.

Electrical installation instructions are given in Chapter 4 Electrical

Installation on page 37.

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If it is necessary to meet strict emission limits, or if it is known that electromagnetically sensitive equipment is located nearby, then full precautions must be observed. These will include the use of RFI filters at the drive inputs, which must be located very close to the drives. Space must be made available for the filters and allowance made for carefully

segregated wiring. Both levels of precautions are covered in section

4.8

EMC (Electromagnetic compatibility) on page 44.

3.2.7 Hazardous areas

The drive must not be located in a classified hazardous areas unless it is installed in an approved enclosure and the installation is certified.

3.3 Terminal cover removal

Isolation device

The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed.

WARNING

WARNING

Stored charge

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

Normally, the capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the capacitors may fail to discharge, or be prevented from being discharged by a voltage applied to the output terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the capacitors will not be discharged. In this case, consult Control

Techniques or their authorised distributor.

3.3.1 Removing the terminal covers

Unidrive sizes 1 to 4 and the size 5 control module are fitted with one or two terminal covers depending on the model size. When model sizes 1,

3 and 4 are through-panel mounted, the terminal cover(s) must first be removed in order for access to be gained to the lower mounting holes.

Figure 3-1 Removing the terminal covers

The terminal cover(s) of all models must be removed for access to the electrical connectors.

3.2.5 Fire protection

The drive enclosure is not classified as a fire enclosure. A separate fire enclosure must be provided.

3.2.6 Electromagnetic compatibility

Variable speed drives are powerful electronic circuits which can cause electromagnetic interference if not installed correctly with careful attention to the layout of the wiring.

Some simple routine precautions can prevent disturbance to typical industrial control equipment.

14

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Figure 3-2 View from the underside showing how a terminal cover is removed from the drive

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3.4 Ingress protection

Size 1 to 4:

Gland plate(s) not fitted: IP00

Gland plate(s) fitted; cable glands not fitted: IP10

Gland plate(s) fitted; cable-glands fitted: IP40, NEMA 1

Size 5 power and control modules: IP00

3.5 Option module fitting / removal

UL Listing

Information

Remove terminal covers, as follows:

1. Working on either side of the terminal cover, push the inner edge of the cover firmly outward until it becomes unclipped.

2. Swing the side of the cover outward and upward until the remaining clips become released.

3. Remove the gland plate

Figure 3-3 Removing the three terminal covers on the Size 5 power module

Power down the drive before fitting / removing an option module. Failure to do so may result in damage to the product.

CAUTION

The small option module should be placed under the two green securing clips in the main housing beneath the drive display and pushed firmly into place. Ensure the two connectors mate securely.

Figure 3-4 Fitting of a Unidrive small option module

The large option module slides into the space directly beneath the drive display so that only the front face of the module can be seen. Ensure the module clicks into place indicating that the two connectors have mated successfully.

Figure 3-5 Fitting of a Unidrive large option module

M5 pozidriv screw

Remove the three terminal covers on the power module, as follows:

1. Remove the two pozidriv screws.

2. Remove the upper cover.

3. Remove the two pozidriv screws.

4. Remove the lower cover until it is released from the middle cover.

5. Remove the four screws that are now revealed.

6. Remove the middle cover.

All the power terminals and ribbon-cable connectors are now accessible.

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3.6 Mounting methods

Unidrive sizes 1 to 4 can be either through hole or surface mounted using the appropriate brackets.

The Unidrive size 5 consists of two modules:

• the control module should be surface mounted

• the power module must be through hole mounted.

The following drawings show the dimensions of the drive and mounting holes for each method to allow a back plate to be prepared.

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WARNING

Lifting the drive

The weights of model sizes 3 and 4 are 22kg (49lbs) and

70kg (154lbs) respectively; the size 5 power module exceeds

100kg (220lbs). Use appropriate safeguards when lifting these models.

WARNING

If the drive has been used at high load levels for a period of time, the heatsink may be hot. Human contact with the heatsink should be restricted.

Figure 3-6 Surface mounting of model sizes 1 and 2

0.787in

0.787in

Model size 1

Back-plate

13.524in

13.031in

13.189in

14.409in

3.740in

1.870in

7.874in

16

Model size 2

Back-plate

3.740in

7.480in

13.189in

14.409in

0.650in

0.650in

13.524in

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Figure 3-7 Surface mounting of model sizes 3 and 4

Model size 3

Back-plate

1.772in

13.189in 14.488in

13.622in

6.890in

Model size 4

14.764in

7.382in

9.843in

10.236in

0.650in

0.650in

0.669in

0.669in

27.559

in

30.118

in

Back-plate

28.071in

19.685in

2.559in

5.650in

5.650in

2.559in

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Figure 3-8 Through-panel mounting of model sizes 1 and 2

Back-plate

Model size 1

13.189in

14.331in

11.614in

13.583in

Model size 2

3.740in

13.189in

14.331in

7.874in

4.724in

3.150

in

Back-plate

0.512in

0.650in

3.406in

0.650in

11.614in

13.583in

0.512in

7.165in

7.480in

NOTE

N

When drives are through-panel mounted, a baffle plate is required to ensure the correct level of air-flow is maintained through the heatsink.

For further information, please refer to section 3.9

Baffle plates on page 28.

18

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Figure 3-9 Through-panel mounting of model sizes 3 and 4

Model size 3

Back-plate

0.650in

0.650in

13.189in 14.331in

11.299in

13.583in

Model size 4

14.764in

27.559in 29.252in

10.236in

4.724in

5.512in

0.276

in

0.630

in

2.717in

2.717in

5.177in

7.362in

14.094in

0.138in

2.559in

25.591in

28.248in

Back-plate

19.685in

0.295in

5.118in 5.118in

0.669in

7.559in

9.902in

18.972in

NOTE

N

When drives are through-panel mounted, a baffle plate is required to ensure the correct level of air-flow is maintained through the heatsink.

For further information, please refer to section 3.9

Baffle plates on page 28.

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Figure 3-10 Unidrive Size 5 overall dimensions

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35.5mm

(1.398in)

1248mm

(49.134in)

1319mm

(51.926in)

20

315mm

(12.402in)

35.5mm

(1.398in)

278mm

(10.945in)

355mm

(13.976in)

340mm

(13.386in)

484mm

(19.055in)

144mm

(5.669in)

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Figure 3-11 Unidrive Size 5 mounting dimensions

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Rear view of power module

278mm

(10.945in)

Exhaust port

144mm

(5.669in)

Exhaust port

Side view of power module

Heatsink duct

Heatsink duct

1248mm

(49.134in)

Inlet port

(internal fan)

154mm

(6.063in)

256mm

(10.079in)

139mm

(5.472in)

Inlet port

(external fan)

Inlet port

(internal fan)

Alternative inlet port

(external fan)

144mm

(5.669in)

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33.5mm

1.319in

16.5mm

0.650in

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Figure 3-12 Unidrive size 5 backplate mounting holes and aperture

Location of aperture in relation to the outline of the power module

315mm

12.402in

282mm

11.102in

16.5mm

0.650in

Locations and dimensions of the mounting holes in relation to the aperture

203mm

7.992in

37.5mm

1.476in

37.5mm

1.476in

∅ 11mm

0.433in

23.5mm

0.925in

Outline of the power module

Aperture

20mm

0.787in

28.5mm

1.122in

339mm

13.346in

28.5mm

1.122in

20mm

0.787in

∅ 8mm

0.315in

1319mm

51.929in

∅ 8mm

0.315in

1252mm

49.291in

1286mm

50.630in

670mm

26.378in

590mm

23.228in

33.5mm

1.319in

Figure 3-13 Unidrive Size 5 control module surface mounting

10mm

0.413in

∅ 11mm

0.433in

20mm

(0.787in)

20mm

(0.787in)

Back-plate

335mm

(13.189in)

368mm

(14.488in)

345mm

(13.583in)

332mm

(13.071in)

47.5mm

(1.870in)

143mm

(5.630in)

95mm

(3.740in)

NOTE

N

The Unidrive size 5 control module should be located within 2m of the power module to allow the interconnections to be made using the ribbon cables supplied with the power module.

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Table 3-1 General views of the mounting brackets

Model size

Through-panel Surface

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Hole size

1 M6

Upper and lower

2 M6

Upper and lower

Upper

3 M6

Lower

4

Upper

M6

(throughpanel)

M8

(surface)

Lower

5 M6

Upper and lower

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3.7 Enclosure

3.7.1 Enclosure Layout

Please observe the clearances in the diagram below taking into account any appropriate notes for other devices / auxiliary equipment when planning the installation.

Figure 3-14 Enclosure layout

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Locate as required

AC supply contactor and fuses or MCB Ensure minimum clearances are maintained for the drive and RFI filter

Forced or convection air-flow must not be restricted by any object or cabling

Control module

(size 5

only)

> 100mm

(3.937in)

> 5mm

(0.197in)

> 100mm

(3.937in)

Optional

RFI filter

> 5mm

(0.197in)

> 100mm

(3.937in)

Locate as close to the drive as possible

(to keep the cable as short as possible) respecting the minimum clearances

Controller

> 5mm

(0.197in)

Drive

> 5mm

(0.197in)

Note: for EMC compliance

1) A separate RFI filter is

required for each drive

2) Power cabling must be

at least 100mm (4in) from

the drive in all directions

Note: Footprint RFI filters are available for Unidrive frame sizes 1 and 2

Indicates minimum clearance required from device

> 100mm

(3.937in)

Optional braking resistor and overload

Signal cables

Plan for all signal cables to be routed at least

300mm (12in) from the drive and any power cable

Locate resistor external to cubicle

(preferably near to or at the top of the cubicle)

3.7.2 Enclosure sizing

1. Add the dissipation figures from section 11.1.2

Power dissipation (all versions) on page 191 for each drive that is to be installed in the

enclosure.

2. If an RFI filter is to be used with each drive, add the dissipation

figures from section 11.2.1

Ratings on page 197 for each RFI filter

that is to be installed in the enclosure.

3. If the braking resistor is to be mounted inside the enclosure, add the average power figures for each braking resistor that is to be installed in the enclosure.

4. Calculate the total heat dissipation (in Watts) of any other equipment to be installed in the enclosure.

5. Add the heat dissipation figures obtained above. This gives a figure in Watts for the total heat that will be dissipated inside the enclosure.

Calculating the size of a sealed enclosure

The enclosure transfers internally generated heat into the surrounding air by natural convection (or external forced air flow); the greater the surface area of the enclosure walls, the better is the dissipation capability. Only the surfaces of the enclosure that are unobstructed (not in contact with a wall or floor) can dissipate heat.

Calculate the minimum required unobstructed surface area A e for the enclosure from:

Where:

A e

T ext

T

P k int

A e

=

( int

– T ext

)

Unobstructed surface area in m 2 (1m 2

Maximum expected ambient temperature in o enclosure

C outside the

Maximum permissible ambient temperature in o C inside the enclosure

Power in Watts dissipated by all heat sources in the enclosure

Heat transmission coefficient of the enclosure material in Wm

2

/ o

C

= 10.8 ft 2 )

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Example

To calculate the size of an enclosure for the following:

• Two UNI1405 models

• Each drive to operate at 4.5kHz PWM switching frequency

• RFI filter for each drive

• Braking resistors are to be mounted outside the enclosure

• Maximum ambient temperature inside the enclosure: 40 ° C

• Maximum ambient temperature outside the enclosure: 30 ° C

Dissipation of each drive: 190W

Dissipation of each RFI filter: 7.7W (max)

Total dissipation: 2 x (190 + 7.7) = 395.4W

The enclosure is to be made from painted 2mm (0.079 in) sheet steel having a heat transmission coefficient of 5.5W/m 2 / o C. Only the top, front, and two sides of the enclosure are to be free to dissipate heat.

Figure 3-15 Enclosure having front, sides and top panels free to dissipate heat

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Calculating the air-flow in a ventilated enclosure

The dimensions of the enclosure are required only for accommodating the equipment. The equipment is cooled by the forced air flow.

Calculate the minimum required volume of ventilating air from:

V =

T int

– T ext

Where:

V

T ext

T

P int

Air-flow in m 3 per hour

Maximum expected ambient temperature in o C outside the enclosure

Maximum permissible ambient temperature in o

C inside the enclosure

Power in Watts dissipated by all heat sources in the enclosure k Ratio of o

P l

Where:

P

0

is the air pressure at sea level

P

I

is the air pressure at the installation

Typically use a factor of 1.2 to 1.3, to allow also for pressure-drops in dirty air-filters.

H

W

D

Insert the following values:

T int

T ext

40

30 k 5.5

°

°

C

C

P 395.4W

The minimum required heat conducting area is then:

A e

=

(

395.4

5.5 40 30

=7.2m

2

(78ft

2

) (1m = 3.3 ft)

Estimate two of the enclosure dimensions - the height (H) and depth (D), for instance. Calculate the width (W) from:

W =

A e

Inserting H = 2m and D = 0.6m, obtain the minimum width:

W =

7.2

– ( 2 2 × )

= 1.8m (6ft)

If the enclosure is too large for the space available, it can be made smaller only by attending to one or all of the following:

• Using a lower PWM switching frequency to reduce the dissipation in the drives

• Reducing the ambient temperature outside the enclosure, and/or applying forced-air cooling to the outside of the enclosure

• Reducing the number of drives in the enclosure

• Removing other heat-generating equipment

Example

To calculate the size of an enclosure for the following:

• Three UNI3401 models

• Each drive to operate at 6kHz PWM switching frequency

• RFI filter for each drive

• Braking resistors are to be mounted outside the enclosure

• Maximum ambient temperature inside the enclosure: 40 o C

• Maximum ambient temperature outside the enclosure: 30 o C

Dissipation of each drive: 670W

Dissipation of each RFI filter: 12.8W (max)

Total dissipation: 3 x (670 + 60) = 2048.4W

Insert the following values:

T int

40 ° C

T ext

30 ° C k 1.3

P

Then:

2048.4W

V =

× 2048.4

= 799m

3

/ hr (471ft

3

/ min)

(1m

3

/ hr = 0.59ft

3

/min)

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3.8 Ventilation

Unidrive sizes 1-4 are ventilated by internally supplied heatsink fans.

Ensure the minimum clearances around the drive are maintained to allow air to flow freely.

The Unidrive size 5 requires ventilation at the front (control) and rear

(heatsink) of the module.

Two parallel independent paths must be provided as shown to ensure the heat produced is dispersed.

A heatsink fan is fitted as standard on request however this requires either a 110Vac or 240Vac external single phase power supply to be connected at the bottom left hand corner of the power module.

The choice of fan power supply must be made when ordering the power module.

3.8.1 Ventilation requirements for the Size 5 power module

Figure 3-16 Typical ventilation arrangement using the internal heatsink fan

≥ 300mm

(12 in)

Wall

≥ 1000m /hr

(588ft /min)

≥ 7 m/s (23 ft/s)

Back-plate

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If a fan is not fitted internally, the air flow must be obtained by an external fan and ducting. The blanking plate at the lower end of the duct must be

removed in order to expose the inlet port (see Figure 3-17).

The air supply must be obtained from outside the enclosure and the exhaust air must exit the enclosure. The maximum permissible heatsink temperature is 95°C (203°F). Take the following precautions to help ensure this is not exceeded:

1. Ensure the temperature of the air at the inlet port of the heatsink does not exceed 40°C (104°F).

2. Ensure that the upward flow of the exhaust air from the top of the heatsink will be unobstructed. Fit additional ducting having the same cross-sectional area as the heatsink to extract all the exhaust air from the enclosure.

3. Ensure the volume of the exhaust air is not less than 1,000m

3

/hr

(588ft

3

/min), equivalent airspeed 7m/s (23 ft/s). Measure the air-flow to ensure it is adequate.

4. If the power module has a ventilation fan fitted in the heatsink, to ensure that a sufficient amount of air is available to supply the fan, locate the enclosure at least 300mm (12 in) from a wall or large object that will be behind the enclosure. Fit a duct between the rear panel of the enclosure and the inlet port at the rear of the heatsink.

If the power module does not have an internal fan, a forced air-flow must be ducted into the inlet port at the bottom of the heatsink.

5. Ensure that the exhaust air is not recycled into the inlet port of the heatsink or into the enclosure.

Exhaust duct

≥ 150mm

(6 in)

≥ 3

(235 ft /min)

≥ 1 m/s

(3.3 ft/s)

Vent

Enclosure

NOTE

N

The solutions shown for Unidrive size 5 ventilation are to illustrate the important points which must be considered. Many variations of this are possible to suit the specific site conditions.

Power module

Heatsink

Inlet duct

≥ 150mm (6 in)

Fan for cooling the control section

Sharing choke

(for parallel operation only)

Cooling the heatsink

When designing the cooling system, allow for the rear of the power module to produce 4kW of heat. This heat is dissipated in a heatsink that is inside a vertical duct at the rear of the power module. Forced air-flow is required through the duct in order to cool the heatsink.

26

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Figure 3-17 Typical ventilation arrangement using an external heatsink fan

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Exhaust duct

Back-plate

Exhaust duct

≥ 1000m /hr

≥ 7 m/s

(23 ft/s)

(235 ft /min)

≥ 1 m/s

(3.3 ft/s)

≥ 150mm

(6 in)

Vent

Enclosure

≥ 1000m /hr

(588ft /min)

≥ 7 m/s

(23 ft/s)

≥ 1000m /hr

(588ft /min)

≥ 7 m/s

(23 ft/s)

≥ 1000m /hr

(588ft /min)

≥ 7 m/s

(23 ft/s)

Power module

Heatsink

≥ 150mm (6 in)

Fan for cooling the control section

≤ 40 C

(104 F)

Inlet duct Sharing choke

(for parallel operation only)

Cooling the control components in the Size 5 power module

The circuit boards, DC-bus capacitors, etc., in the front part of the power module generate about 700W of heat when the power module is operating at full load. Since the heatsink fan does not ventilate these components, a separate air-flow must be used to remove the heat. The following precautions must be taken:

1. It is recommended that a fan is installed in the lower part of the enclosure door to drive air into the enclosure. An air vent should be added to the upper part of the door to remove the exhaust air.

2. It is recommended that the airflow is ducted into the front of the drive. This airflow must be at least 400m

3

/hr (235ft

3

/min), equivalent air speed of 1m/s (3.3ft/s) through the front control section of the size 5 power module.

If the airflow is not ducted into the front of the drive, the airflow into the enclosure must be at least 1000m 3 /hr (588ft 3 /min), equivalent air speed of 7m/s (23ft/s) for a enclosure of 800mm x 800mm x 2200mm.

3. The maximum temperature of the air in the enclosure must not exceed 40°C (104°F).

Figure 3-18 Alternative location of the exhaust duct in order to minimize overall height

Exhaust duct

Back-plate

Heatsink

≥ 150mm

(6 in)

Vent

Enclosure

Power module

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3.9 Baffle plates

When a Unidrive size 1 to 4 is through-panel mounted, the fitting of a baffle plate causes the heatsink to act as a chimney; this enhances the air flow along the heatsink fins to aid cooling (this naturally occurs when the drive is surface mounted).

You may make a baffle plate from any suitable conducting or nonconducting material and attach it to the heatsink by the method described as follows.

Figure 3-19 Dimensions for the fabrication of baffle plates for model sizes 1 and 2

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Figure 3-20 Dimensions for the fabrication of baffle plates for model sizes 3 and 4

4.016in

7.697in

9.606in

3.228in

6.929in

1.614in

0.512in

2.146in

1.969

in

1.535in

3.583in

13.780in

3.780in

5.118in

0.276in

189.5mm

7.461in

13.563in

14.449in

0.256in

Attaching a fabricated baffle plate to the heatsink

Table 3-2 Methods of attaching the baffle plate

Model size

1

2

3

4

Method of attachment

Use the surface mounting brackets.

Use M6 x 12mm max (or equivalent) thread-forming screws to screw into the holes in the heatsink, or tap the holes to a suitable thread size.

28

22.047in

23.150in

4.724in

17.236in

18.622in

3.425in

6.949in

7.154in

0.693in

76mm

2.992in

3.10 Ambient temperature

The maximum ambient temperature under which the drive can operate without derating is 40°C.

Derating can be applied to allow operation up to 50°C ambient temperature.

Please see section 11.1.1

Power and current ratings on page 190 if

derating is required.

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3.11 RFI filters

RFI filters are available for all sizes of Unidrive as follows:

Table 3-3 RFI filters

Menu 0

Running the motor

Drive

UNI1201 to 1205

UNI1201 to 1205

UNI2201 to 2202

UNI2201 to 2202

UNI2203

UNI2203

UNI3201 to 3202

UNI3203

UNI3204

UNI1401 to 1405

UNI1401 - 1405

UNI2401

UNI2401

UNI2402 to 2403

UNI2402 to 2403

UNI3401 to 3403

UNI3404

UNI3405

UNI4401 to 4402

UNI4403 to 4404

UNI4405

UNI5401

Filter type

Bookcase

Footprint or

Bookcase

Bookcase

Footprint or

Bookcase

Bookcase

Footprint or

Bookcase

Bookcase

Bookcase

Bookcase

Bookcase

Footprint or

Bookcase

Bookcase

Footprint or

Bookcase

Bookcase

Footprint or

Bookcase

Bookcase

Bookcase

Bookcase

Bookcase

Bookcase

Bookcase

Bookcase

Schaffner part no.

FS5111-10-29

FS5101-10-07

FS5112-16-07

FS5106-16-07

FS5113-25-29

FS5113-50-53

FS5113-63-34

FS5113-100-35

FS5111-10-29

FS5101-10-07

FS5112-16-07

FS5106-16-07

FS5113-25-29

FS5106-25-07

FS5113-50-53

FS5113-63-34

FS5113-100-35

FS5113-150-40

FS5113-180-40

FS5113-220-37

FS113-300-99

The RFI filters can be surface-mounted only.

Mount the RFI filter following the guidelines in Figure 4-12 EMC compliance on page 48.

CT part no.

4200-6105

4200-6104

4200-6109

4200-6108

4200-6114

FS5106-25-07 4200-6113

4200-6116

4200-6117

4200-6106

4200-6105

4200-6104

4200-6109

4200-6108

4200-6114

4200-6113

4200-6116

4200-6117

4200-6106

4200-6107

4200-6111

4200-6112

4200-6115

Optimisation Macros

Advanced

Parameters

Max cable size

4 mm 2 10 AWG

4 mm 2 10 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

10 mm

2

6 AWG

10 mm 2 6 AWG

50 mm 2 1/0 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

10 mm 2 6 AWG

10 mm 2 6 AWG

50 mm

2

1/0 AWG

95 mm

2

4/0 AWG

95 mm

2

4/0 AWG

150 mm 2 6/0 AWG

M12 stud

Technical

Data

Weight

1.4kg (3lb)

2.1kg (5lb)

2.7kg (6lb)

2.1kg (5lb)

2.7kg (6lb)

2.1kg (5lb)

3.8kg (9lb)

3.8kg (9lb)

7.8kg (17lb)

1.4kg (3lb)

2.1kg (5lb)

2.7kg (6lb)

2.1kg (5lb)

2.7kg (6lb)

2.1kg (5lb)

3.8kg (9lb)

3.8kg (9lb)

7.8kg (17lb)

7.8kg (17lb)

15kg (33lb)

15kg (33lb)

16kg (35lb)

Diagnostics

UL Listing

Information

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3.11.1 Unidrive size 1 filters

Figure 3-21 Unidrive size 1 bookcase mounted filter

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Dimension

Model

D

H

L

W

A

B

C

Z

Ground Terminal

RFI Filter

4200-6105

FS5111-10-29

UNI1201 to UNI1205

UNI1401 to UNI1405

230mm (9.055in)

25mm (0.984in)

218mm (8.583in)

47.5mm (1.870in)

95mm (3.740in)

240mm (9.449in)

45mm (1.772in)

4.5mm (0.177in)

M5

Figure 3-22 Unidrive size 1 footprint or bookcase mounted filter

Dimension

Model

C

F

G

A

B

H

L

S

U

W

X

Z

Ground

Terminal

RFI Filter

4200-6104

FS5101-10-07

UNI1201 to UNI1205

UNI1401 to UNI1405

380mm (14.961in)

35mm (1.378in)

60mm (2.362in)

364mm (14.331in)

16.5mm (0.650in)

68mm (2.677in)

390mm (15.354in)

300mm ±5mm

(11.811in ±0.197in)

3x 2.5mm

2 (AWG14)

85mm (3.346in)

M6 (4x)

5.5mm (0.217in)

M5

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3.11.2 Unidrive size 2 filters

Figure 3-23 Unidrive size 2 (UNI2201 to UNI2202 and UNI2401) bookcase mounted filter

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Dimension

Model

H

L

F

G

A

B

C

S

U

W

Z

Ground Terminal

RFI Filter

4200-6109

FS5112-16-07

UNI2201 to UNI2202

UNI2401

380mm (14.961in)

35mm (1.378in)

60mm (2.362in)

364mm (14.331in)

16.5mm (0.650in)

68mm (2.677in)

390mm (15.354in)

300mm ±5mm

(11.811in ±0.197in)

3x 2.5mm

2 (AWG14)

85mm (3.346in)

5.5mm (0.217in)

M5

Figure 3-24 Unidrive size 2 (UNI2203, and UNI2402 to UNI2403) bookcase mounted filter

Dimension

Model

D

H

L

W

A

B

C

Z

Ground Terminal

RFI Filter

4200-6114

FS5113-25-29

UNI2203

UNI2402 to UNI2403

245mm (9.646in)

45mm (1.772in)

230mm (9.055in)

13mm (0.512in)

95mm (3.740in)

255mm (10.039in)

73mm (2.874in)

4.5mm (0.177in)

M5

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Figure 3-25 Unidrive size 2 footprint or bookcase mounted filters

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Dimension

Model

D

E

H

A

B

C

J

U

W

X

Z

Ground

Terminal

RFI Filters

4200-6108

FS5106-16-07

UNI2201 to UNI2202

UNI2401

385mm (15.157in)

35mm (1.378in)

120mm (4.724in)

364mm (14.331in)

16.5mm (0.650in)

68mm (2.677in)

300mm ±5mm

(11.811in ±0.197in)

3x 4mm

2

(AWG12)

180mm (7.087in)

M6 (4x)

5.5mm (0.217in)

4200-6113

FS5106-25-07

UNI2203

UNI2402 to UNI2403

385mm (15.157in)

35mm (1.378in)

120mm (4.724in)

364mm (14.331in)

16.5mm (0.650in)

68mm (2.677in)

300mm ±5mm

(11.811in ±0.197in)

3x 4mm

2

(AWG12)

180mm (7.087in)

M6 (4x)

5.5mm (0.217in)

M5 M5

3.11.3 Unidrive size 3 and 4 filters

Ensure the LOAD terminals face the drive.

Figure 3-26 Unidrive size 3 (UNI3201 to UNI3202, UNI3401 to UNI3403) bookcase mounted filter

Dimension

Model

C

D

A

B

H

L

W

Z

Ground Terminal

RFI Filter

4200-6116

FS5113-50-53

UNI3201 to UNI3202, UNI3401 to

UNI3403

275mm (10.827in)

50mm (1.969in)

259.5mm (10.217in)

290mm (11.417in)

100mm (3.937in)

337mm (13.268in)

90mm (3.543in)

7mm (0.276in)

M5

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Figure 3-27 Unidrive size 3 (UNI3203 to UNI3204, UNI3404 to UNI3405) & size 4 bookcase mounted filter

Dimension

Model

C

G

A

B

H

L

W

Z

Ground Terminal

4200-6117

FS5113-63-34

UNI3203

UNI3404

315mm (12.402in)

105mm (4.134in)

300mm (11.811in)

330mm (12.992in)

103mm (4.055in)

377mm (14.843in)

150mm (5.906in)

7mm (0.276in)

M6

4200-6106

FS5113-100-35

UNI3204

UNI3405

310mm (12.205in)

105mm (4.134in)

294mm (11.575in)

325mm (12.795in)

107mm (4.213in)

380mm (14.961in)

150mm (5.906in)

7mm (0.276in)

M8

RFI Filters

4200-6107

FS5113-150-40

UNI4401 to UNI4402

330mm (12.992in)

120mm (4.724in)

314mm (12.362in)

345mm (13.583in)

135mm (5.315in)

414mm (16.299in)

150mm (5.906in)

7mm (0.276in)

M10

4200-6111

FS5113-180-40

UNI4403 to UNI4404

420mm (16.535in)

110mm (4.331in)

400mm (15.748in)

440mm (17.323in)

157mm (6.181in)

502mm (19.764in)

170mm (6.693in)

8.5mm (0.335in)

M12

4200-6112

FS5113-220-37

UNI4405

420mm (16.535in)

110mm (4.331in)

375mm (14.764in)

440mm (17.323in)

157mm (6.181in)

523mm (20.591in)

170mm (6.693in)

8.5mm (0.335in)

M12

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Unidrive Size 5 bookcase mounted filter

Ensure the LOAD terminals face the drive.

Figure 3-28 Unidrive size 5 bookcase mounted filter

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

∅ Z

G

C

B W

Dimension

Model

G

H

L

W

A

B

C

Z

Ground Terminal

RFI Filters

4200-6115

FS5113-300-99

UNI3203

UNI3404

470mm (18.504in)

170mm (6.693in)

450mm (17.717in)

490mm (19.291in)

156mm (6.142in)

655mm (25.787in)

230mm (9.055n)

8.5mm (0.335in)

M12

A

L

H

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3.12 Power terminals

3.12.1 Location of power and ground terminals

Figure 3-29 Locations of the power and ground terminals on

Unidrive Size 1 to 4

Running the motor

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Advanced

Parameters

Technical

Data

AC supply connections

L1 L2 L3

Diagnostics

UL Listing

Information

Figure 3-30 Locations of the power and ground terminals on the

Size 5 power module

17mm

IN96

Phase-control board

2mm

3mm

T25 Torx or

10mm flat

DC-bus choke

IN95

Interface board

17mm

− DC bus +DC bus

M4 pozidriv screw

Fan AC-supply connections

U V W

Motor connections 17mm

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3.12.2 Terminal sizes and torque settings

Menu 0

To avoid a fire hazard and maintain validity of the UL listing, adhere to the specified tightening torques for the power and ground terminals. Refer to the following tables.

WARNING

Table 3-4 Drive control terminal data

Model

All

Connection type

Plug-in terminal block

Torque setting

0.5 N m 4.4 lb in

Table 3-5 Drive power terminal data

Model size

1

2

3

4

5

AC terminals DC terminals

Plug-in terminal block

0.5 N m / 4.4 lb in

Plug-in terminal block

0.5 N m / 4.4 lb in

M10 stud

15 N m / 11 lb ft

M10 stud

15 N m / 11 lb ft

M10 bolt & nut 25

N m / 22.1 lb ft

M10 hole

25 N m / 22.1 lb ft

Torque tolerance

Ground terminal

M4 (Torx/slot-head screw)

3 N m / 2.2 lb ft

M4 (Torx/slot-head screw)

3 N m / 2.2 lb ft

M10 stud

15 N m / 11 lb ft

M10 stud

15 N m / 11 lb ft

M10 stud

25 N m / 22.1 lb ft

± 10%

Running the motor

Optimisation Macros Diagnostics

3.13 Routine maintenance

The drive should be installed in a cool, clean, well ventilated location.

Contact of moisture and dust with the drive should be prevented.

Regular checks of the following should be carried out to ensure drive / installation reliability is maximised:

Environment

Advanced

Parameters

Technical

Data

UL Listing

Information

Ambient temperature

Dust

Moisture

Enclosure

Enclosure door filters

Electrical

Screw connections

Crimp terminals

Cables

Ensure the enclosure temperature remains at or below

40 ° C (50 ° C when derating applied)

Ensure the drive remains dust free – check that the drive fan is not gathering dust. The lifetime of the fan is reduced in dusty environments.

Ensure the drive enclosure shows no signs of condensation

Ensure filters are not blocked and that air is free to flow

Ensure all screw terminals remain tight

Ensure all crimp terminals remains tight – check for any discolouration which could indicate overheating

Check all cables for signs of damage

Table 3-6 Size 5 fan supply connection

Type

Terminal block M4 Pozidriv screw

Torque setting

0.5 N m 4.4 lb in

Table 3-7 RFI Filter terminal data

CT part number

4200-6104

4200-6105

4200-6108

4200-6109

4200-6113

4200-6114

4200-6116

4200-6117

4200-6112

4200-6115

Schaffner part number

FS5101-10-07

FS5111-10-29

FS5106-16-07

FS5112-16-07

FS5106-25-07

FS5113-25-29

FS5113-50-53

FS5113-63-34

4200-6106 FS5113-100-35

4200-6107 FS5113-150-40

4200-6111 FS5113-180-40

FS5113-220-37

FS5113-300-99

Power connections

Max cable size

Torque

4 mm 2

10 AWG

4 mm 2

10 AWG

4 mm

2

10 AWG

4 mm 2

10 AWG

4 mm 2

10 AWG

4 mm

2

10 AWG

10 mm 2

6 AWG

10 mm 2

6 AWG

50 mm

2

1/0 AWG

95 mm 2

4/0 AWG

95 mm 2

4/0 AWG

150 mm 2

6/0 AWG

M12 stud

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

4.5 N m

3.3 lb ft

4.5 N m

3.3 lb ft

8.0 N m

5.9 lb ft

20.0 N m

14.7 lb ft

20.0 N m

14.7 lb ft

30.0 N m

22.1 lb ft

30.0 N m

22.1 lb ft

Ground connections

Size

M5

M5

M5

M5

M5

M5

M5

M6

M8

M10

M12

M12

M12 stud

Torque

For all the RFI filters, except the size 5 (4200-6115), the power connections are screw terminals and the ground connections are stud terminals.

2.2 N m

19.5 lb in

4.0 N m

2.9 lb ft

9.0 N m

6.6 lb ft

18.0 N m

13.3 lb ft

20.0 N m

14.7 lb ft

20.0 N m

14.7 lb ft

20.0 N m

14.7 lb ft

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

36

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4 Electrical Installation

This chapter describes the how to electrically install the drive. Key features include:

• EMC compliance with shielding / grounding accessories

• Product rating, fusing and cabling information

• Brake resistor details (selection / ratings)

WARNING

Electric shock risk

The voltages present in the following locations can cause severe electric shock and may be lethal:

• AC supply cables and connections

• Output cables and connections

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

WARNING

Isolation device

The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed.

WARNING

Menu 0

STOP function

The STOP function does not remove dangerous voltages from the drive or any external option units.

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

4.1 Power connections

Figure 4-1 Unidrive Size 1 to 2 power connections

L1 L2

Optional RFI

filter

Optional line reactor

L3 U V W +

Thermal overload protection device

UL Listing

Information

Braking resistor

_

WARNING

Stored charge

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

Normally, the capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the capacitors may fail to discharge, or be prevented from being discharged by a voltage applied to the output terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the capacitors will not be discharged. In this case, consult Control

Techniques or their authorised distributor.

Fuses

L1 L2

Mains

Supply

L3

Supply

Ground

Motor

Optional ground connection

WARNING

Equipment supplied by plug and socket

Special attention must be given if the drive is installed in equipment which is connected to the AC supply by a plug and socket. The AC supply terminals of the drive are connected to the internal capacitors through rectifier diodes which are not intended to give safety isolation. If the plug terminals can be touched when the plug is disconnected from the socket, a means of automatically isolating the plug from the drive must be used (e.g. a latching relay).

WARNING

Permanent-magnet motors

Permanent-magnet motors generate electrical power if they are rotated, even when the supply to the drive is disconnected. If that happens then the drive will become energised through its motor terminals. If the motor load is capable of rotating the motor when the supply is disconnected, then the motor must be isolated from the drive before gaining access to any live parts.

NOTE

N

Drives are suitable for use on supplies of installation category III and lower, according to IEC 60664-1. This means they may be connected permanently to the supply at its origin in a building, but for outdoor installation additional overvoltage suppression (transient voltage surge suppression) must be provided to reduce category IV to category III.

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Figure 4-2 Unidrive Size 3 to 4 power connections

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L1 L2 L3 U V W +

Optional RFI

filter

Optional line reactor

Thermal overload protection device

Braking resistor

Fuses

Motor

L1 L2

Mains

Supply

L3

Supply

Ground

Optional ground connection

A thermal overload protection device should be connected as shown in

Figure 4-7 on page 44 and must interrupt the AC supply on tripping. This

applies to all sizes of Unidrive where a braking resistor is used.

_

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4.1.1 Unidrive size 5 control / power module connections

Figure 4-3 Unidrive size 5 ribbon cable and sharing choke inter-

L3

Contactor / Isolator

L2

L1

Ground

Fuses Fuses

Optional line reactor

Optional RFI filter

Optional line reactor

Optional RFI filter

Control module

IN96

Phase-control board

10-way

Power module

DC-bus choke

IN96

Phase-control board

10-way

Power module

DC-bus choke

16-way

26-way

IN95

Interface board

-DC +DC

16-way

26-way

IN95

Interface board

-DC +DC

AC supply for fan

(when fitted)

U V

Sharing choke

W U V

Sharing choke

W

Contactor /

Isolator

W

V

U

NOTE

N

When using Unidrive size 5 with multiple power modules, a sharing choke must be fitted on the output of each drive as shown. The

specification for the choke is given in Chapter 11 Technical Data on page 190 and it should be sourced locally.

WARNING

Ensure that the fan and power module can be isolated from the AC supplies. Isolation from the supplies must be interlocked, or a warning must be displayed indicating that two separate supplies are present.

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4.2 AC supply requirements

Voltage:

UNIX20XLV

UNIX40X

200V to 240V ±10%

380V to 480V ±10%

Number of phases: 3

Minimum supply imbalance: 2% negative phase sequence (equivalent to

3% voltage imbalance between phases)

Frequency range: 48Hz to 65Hz

Maximum supply fault current:

Frame size

1, 2, 3

4

5

Symmetrical fault level (kA)

5

10

18

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Reactor current ratings

The current rating of the line reactors should be as follows:

Continuous current rating:

Not less than the continuous input current rating of the drive

Repetitive peak current rating:

Not less than twice the continuous input current rating of the drive

4.2.4 Input inductor calculation.

To calculate the inductance required (at Y%), use the following equation:

L =

100

×

3

×

Where:

I = drive rated input current (A)

L = inductance (H) f = supply frequency (Hz)

V = voltage between lines

4.2.1 IT supplies

Special considerations are required when the neutral point of the distribution winding of the supply transformer is not directly grounded.

Before using the drive on such a supply, please contact the supplier of the drive.

4.2.2 Installation category

Drives are suitable for use on supplies of installation category III and lower, according to IEC60664-1. This means they may be connected permanently to the supply at its origin in a building, but for outdoor installation additional over-voltage suppression (transient voltage surge suppression) must be provided to reduce category IV to category III.

4.2.3 Supplies requiring line reactors

Input line reactors reduce the risk of damage to the drive resulting from poor phase balance or severe disturbances on the supply network.

Where line reactors are to be used, reactance values of approximately

2% are recommended. Higher values may be used if necessary, but may result in a loss of drive output (reduced torque at high speed) because of the voltage drop.

For all drive ratings, 2% line reactors permit drives to be used with a supply unbalance of up to 3.5% negative phase sequence (equivalent to

5% voltage imbalance between phases).

Severe disturbances may be caused by the following factors, for example:

• Power factor correction equipment connected close to the drive.

• Large DC drives having no or inadequate line reactors connected to the supply.

• Direct-on-line started motor(s) connected to the supply such that when any of these motors are started, the voltage dip exceeds 20%

Such disturbances may cause excessive peak currents to flow in the input power circuit of the drive. This may cause nuisance tripping, or in extreme cases, failure of the drive.

Drives of low power rating may also be susceptible to disturbance when connected to supplies with a high rated capacity.

Line reactors are particularly recommended for use with the following drive models when one of the above factors exists, or when the supply capacity exceeds 175kVA:

UNI1201 UNI1202 UNI1203 UNI1204

UNI1401 UNI1402 UNI1403 UNI1404

Model sizes 1205, 1405 and larger have an internal DC choke so they do not require AC line reactors except for cases of excessive phase unbalance or extreme supply conditions.

When required, each drive must have its own reactor(s). Three individual reactors or a single three-phase reactor should be used.

4.3 Supplying the drive with DC / DC bus paralleling

The drive may be supplied with DC instead of 3 phase AC. For further information please refer to the supplier of your drive.

Connecting of the DC bus between several drives is typically used to:

1. Return energy from a drive which is being overhauled by the load to a second motoring drive.

2. Allow the use of one braking resistor to dissipate regenerative energy from several drives.

There are limitations to the combinations of drives which can be used in this configuration.

For application data, contact the supplier of the drive.

4.4 Ratings

The input current is affected by the supply voltage and impedance.

4.4.1 Typical input current

The values of typical input current are given to aid calculations for power flow and power loss.

The values of typical input current are stated for a balanced supply.

4.4.2 Maximum continuous input current

The values of maximum continuous input current are given to aid the selection of cables and fuses. These values are stated for the worst case condition with the unusual combination of stiff supply with bad balance.

The value stated for the maximum continuous input current would only be seen in one of the input phases. The current in the other two phases would be significantly lower.

The values of maximum input current are stated for a supply with a 2% negative phase-sequence imbalance and rated at the maximum supply

fault current given in Table 4-1.

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Table 4-1 Input current, fuse and cable size ratings

Model

Typical input current

Maximum continuous input current

Fuse rating

Cable size

A

UNI1201

UNI1202

UNI1203

UNI1204

UNI1205

UNI2201

UNI2202

UNI2203

UNI3201

UNI3202

UNI3203

UNI3204

UNI1401

UNI1402

UNI1403

UNI1404

UNI1405

UNI2401

UNI2402

UNI2403

UNI3401

UNI3402

UNI3403

UNI3404

UNI3405 66

UNI4401 76

UNI4402

UNI4403

91

123

UNI4404 145

UNI4405 181

UNI5401 280

27

32

40

52

10

13

17

21

3.0

4.3

5.8

8.2

26

39

53

78

8.6

10.8

14.3

19.8

2.4

3.5

4.6

6.5

A

82

98

114

152

205

224

321

34

39

53

66

12

16

20

25

4.5

5.5

6.8

8.6

28

43

56

84

12.5

13.9

16.9

27

4.0

6.0

8.0

10 mm 2

25

35

35

50

70

95

120

6

10

10

16

2.5

2.5

4

4

1.5

2.5

2.5

2.5

6

10

16

25

2.5

2.5

4

4

1.5

2.5

2.5

2.5

A

80

100

125

160

200

250

450

40

50

60

70

16

16

20

35

6.0

10

10

10

40

60

70

80

16

16

20

35

6.0

10

10

10

AWG

2/0

3/0

4/0

2

0

4

2

6

4

8

6

14

14

10

10

16

14

14

14

4

4

8

6

14

14

10

10

16

14

14

14

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4.4.4 Ground connections

The drive must be connected to the system ground of the AC supply.

The ground wiring must conform to local regulations and codes of practice.

WARNING

The ground loop impedance must conform to the requirements of local safety regulations.The drive must be grounded by a connection capable of carrying the prospective fault current until the protective device (fuse, etc.) disconnects the AC supply.The ground connections must be inspected and tested at appropriate intervals.

4.4.5 Main AC supply contactor

The recommended AC supply contactor type for all sizes is AC1.

4.5 Output circuit and motor protection

The output circuit has fast-acting electronic short-circuit protection which limits the fault current to typically no more than five times the rated output current, and interrupts the current in approximately 20µs. No additional short-circuit protection devices are required.

The drive provides overload protection for the motor and its cable. For this to be effective, Pr 0.46

Motor rated current must be set to suit the motor.

WARNING

Pr 0.46

Motor rated current must be set correctly to avoid a risk of fire in the event of motor overload.

There is also provision for the use of a motor thermistor to prevent overheating of the motor, e.g. due to loss of cooling.

4.5.1 Cable types and lengths

Since capacitance in the motor cable causes loading on the output of the

drive, ensure the cable length does not exceed the values given in Table

4-2 and Table 4-3.

Use 105°C (221°F) (UL 60/75°C temp rise) PVC-insulated cable with copper conductors having a suitable voltage rating, for the following power connections:

• AC supply to external EMC filter (when used)

• AC supply (or external EMC filter) to drive

• Drive to motor

• Drive to braking resistor

The recommended cable sizes above are only a guide. Refer to local wiring regulations for the correct size of cables. In some cases a larger cable is required to avoid excessive voltage drop.

NOTE

N

UL listing is dependent on the use of the correct type of UL-listed fuse, and applies when symmetrical short-circuit current does not exceed 5kA for sizes 1 to 3, 10 kA for size 4 or 18kA for size 5.

WARNING

Fuses

The AC supply to the drive must be fitted with suitable

protection against overload and short-circuits. Table 4-1

shows recommended fuse ratings. Failure to observe this requirement will cause risk of fire.

A fuse or other protection must be included in all live connections to the

AC supply.

An MCB (miniature circuit breaker) or MCCB (moulded case circuit breaker) with type C tripping characteristics and the same rating as the fuse(s), may be used in place of the fuse(s), on condition that the fault current clearing capacity is sufficient for the installation.

4.4.3 Fuse Types

The fuse voltage rating must be suitable for the drive supply voltage.

• Europe: Type gG HRC industrial fuses to IEC60269 (BS88)

• USA: Class CC fuses up to 30A, Class J above 30A

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Table 4-2 Maximum motor cable lengths (200V drives)

200V Nominal AC supply voltage

Model

UNI1201

UNI1202

UNI1203

UNI1204

UNI1205

UNI2201

UNI2202

UNI2203

UNI3201

UNI3202

UNI3203

UNI3204

Maximum permissible motor cable length

(PWM switching frequency of 3kHz) m

65

100

130

200

300 ft

210

330

430

660

990

300

200

990

660

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The maximum cable length is reduced from that shown in the table under the following conditions:

• PWM switching frequency exceeding 3kHz in model sizes 3 and

4

The maximum cable length is reduced in proportion to the increase in PWM switching frequency, e.g. at 9kHz, the maximum length is

1

/

3 of that shown.

• High-capacitance cables

Most cables have an insulating jacket between the cores and the armour or shield; these cables have a low capacitance and are recommended. Cables that do not have an insulating jacket tend to have high capacitance; if a cable of this type is used, the maximum

cable length is half that quoted in the table. (Figure 4-4 shows how

to identify the two types.)

Figure 4-4 Cable construction influencing the capacitance

Table 4-3 Maximum motor cable lengths (400V drives)

Model

UNI1401

UNI1402

UNI1403

UNI1404

UNI1405

UNI2401

UNI2402

UNI2403

UNI3401

UNI3402

UNI3403

UNI3404

UNI3405

UNI4401

UNI4402

UNI4403

UNI4404

UNI4405

UNI5401

UNI5402

UNI5403

UNI5404

UNI5405

UNI5406

UNI5407

UNI5408

400V Nominal AC supply voltage

480V Nominal AC supply voltage

Maximum permissible motor cable length

(PWM switching frequency of 3kHz) m

65

100

130

200

300 ft

210

330

430

660

990 m

50

75

100

150

250 ft

160

250

330

490

820

300

200

300

600

900

1200

1500

1800

2100

2400

990

660

990

1980

2970

3960

4950

5940

6930

7920

300

124

300

600

900

1200

1500

1800

2100

2400

990

410

990

1980

2970

3960

4950

5940

6930

7920

• Cable lengths in excess of the specified values may be used only when special techniques are adopted; refer to the supplier of the drive.

• The default switching frequency for all versions of Unidrive is 3kHz, except Unidrive LFT, which is 9kHz.

Normal capacitance

Shield or armour separated from the cores

High capacitance

Shield or armour close to the cores

The capacitance measured above is from one line to all others and is obtainable from the cable manufacturer. This means the capacitance from one core to all the other cores and the screen shorted together.

4.5.2 Multiple motors

Open-loop only

If the drive is to control more than one motor, make connections as

shown in Figure 4-5 and Figure 4-6. The maximum cable lengths given

in Table 4-2 and Table 4-3 apply to the total length of cable from the drive

to the farthest motor.

It is recommended that each motor is connected through a protection relay since the drive cannot protect each motor individually. For star connection, a sinusoidal filter or an output inductor must be connected

as shown in Figure 4-5 and Figure 4-6, even when the cable lengths are

less than the maximum permissible. For details, of inductor sizes refer to the supplier of the drive.

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Figure 4-5 Preferred chain connection for multiple motors

Motor protection relay

Chain connection (preferred)

Figure 4-6 Alternative connection for multiple motors

Motor protection relay

Star connection

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The default setting of the motor rated voltage parameter is the same as the drive rated voltage i.e. 400V drive 400V rated voltage

200V drive 200V rated voltage

A typical 3 phase motor would be connected in star for 400V operation or delta for 200V operation however variations on this are common i.e. star 690V delta 400V

Incorrect connection of the windings will lead to severe under or over fluxing of the motor, leading to a very poor output torque or motor saturation and over-heating respectively.

4.5.4 Output contactor

WARNING

If the cable between the drive and the motor is to be interrupted by a contactor or circuit breaker, ensure that the drive is disabled before the contactor or circuit breaker is opened or closed. Severe arcing may occur if this circuit is interrupted with the motor running at high current and low speed.

A contactor is sometimes required to be fitted between the drive and motor for safety isolation purposes.

The recommended motor contactor is the AC3 type.

Switching of an output contactor should only occur when the output of the drive is disabled.

Opening or closing of the contactor with the drive enabled will lead to:

1. OI.AC trips (which cannot be reset for 10 seconds)

2. High levels of RFI noise emission

3. Increased contactor wear and tear

For more information please contact the supplier of the drive.

4.6 Braking

Internal connection does not require the cable to be armoured or shielded.

In-built in the Unidrive software is overload protection for the brake resistor. In order to enable and set-up this function, it is necessary to enter two values into the drive:

• Resistor short-time overload time (Pr 10.30

)

• Resistor minimum time between repeated short-time overloads (Pr

10.31

)

This data is available from the manufacturer of the braking resistors.

4.6.1 Minimum resistances and power ratings

Table 4-4 Minimum resistance values and peak power rating for the braking resistor at 40°C (104°F)

Inductor

4.5.3 Star / delta motor operation

The voltage rating for star and delta connections of the motor should always be checked before attempting to run the motor.

Model

UNI1201 to UNI1205

UNI2201

UNI2202 to UNI2203

UNI3201 to UNI3205

UNI1401 to UNI1405

UNI2401

UNI2402 to UNI2403

UNI3401 to UNI3405

UNI4401 to UNI4405

Minimum resistance

20

20

15

5

40

40

30

10

5

Instantaneous power rating kW

15

15

20

60

15

15

20

60

120

The minimum resistance allows the braking resistor to dissipate up to approximately 150% of the power rating of the drive for up to 60 seconds.

For high-inertia loads or under continuous braking, the continuous power dissipated in the braking resistor may be as high as the power rating of the drive. The total energy dissipated in the braking resistor is dependent on the amount of energy to be extracted from the load.

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The instantaneous power rating refers to the short-term maximum power dissipated during the on intervals of the pulse width modulated braking control cycle. The braking resistor must be able to withstand this dissipation for short intervals (milliseconds). Higher resistance values require proportionately lower instantaneous power ratings.

In most applications, braking occurs only occasionally. This allows the continuous power rating of the braking resistor to be much lower than the power rating of the drive. It is essential, though, that the instantaneous power rating and energy rating of the braking resistor are sufficient for the most extreme braking duty that is likely to be encountered.

Optimisation of the braking resistor requires a careful consideration of the braking duty.

Select a value of resistance for the braking resistor that is not less than the specified minimum resistance. Larger resistance values may give a cost saving, as well as a safety benefit in the event of a fault in the braking system, however peak braking power is reduced. If the resistance is too high this could cause the drive to trip during braking.

Thermal protection circuit for the braking resistor

The thermal protection circuit must disconnect the AC supply from the drive if the resistor becomes overloaded. The thermal protection device can be either an external thermal overload device or an integrated temperature switch which is available from most braking resistor suppliers. A suitable thermal overload device is the LR2D from

Telemecanique. Figure 4-7 shows a typical circuit arrangement.

Figure 4-7 Typical protection circuit for a braking resistor

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4.7.1 Use of residual current device (RCD)

There are three common types of ELCB / RCD:

1. AC - detects AC fault currents

2. A - detects AC and pulsating DC fault currents (provided the DC current reaches zero at least once every half cycle)

3. B - detects AC, pulsating DC and smooth DC fault currents

• Type AC should never be used with drives.

• Type A can only be used with single phase drives

• Type B must be used with three phase drives

WARNING

Only type B ELCB / RCD are suitable for use with Unidrive.

If an external RFI filter is used, a delay of at least 50ms should be incorporated to ensure spurious trips are not seen. The leakage current is likely to exceed the trip level if all of the phases are not energised simultaneously.

4.8 EMC (Electromagnetic compatibility)

Compliance with EN61800-3 (standard for Power Drive Systems)

Meeting the requirements of this standard depends on the environment that the drive is intended to operate in, as follows:

Operation in the first environment

Observe the guidelines given in section 4.8.2

EMC - Compliance on page 48. An RFI filter will always be required. Some model sizes may

require additional filtering techniques to be applied.

Operation in the second environment

An RFI filter is required for all Unidrives with a rated current of less

than 100A. Where a filter is required follow the guidelines in section

4.8.2

EMC - Compliance on page 48. Where an RFI filter is not required

follow the guidelines given in section 4.8.1

EMC - General requirements

.

Drive

Start /

Reset

Stop

Thermal protection device WARNING

This is a product of the restricted distribution class according to IEC61800-3

In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures.

+DC

BR

4.7 Ground leakage

Braking resistor

Unidrive sizes 1, 2 and 5 (including Unidrive REGEN size 3 and 4)

There is no direct connection with ground apart from the surge protection on the input of the drive. Ground leakage is therefore negligible.

Unidrive sizes 3 and 4 (400V product) except Unidrive REGEN

Ground leakage current is typically 9mA* (27mA with a Unidrive LFT with date code K08 onwards).

*9mA at 380V to 415V 50Hz AC supply; up to 14mA at 480V 60Hz AC supply. Measured by the method described in IEC950 Annex D.

Unidrive size 3 (200V product)

Ground leakage current is typically 5mA at 220V 50Hz.

WARNING

When Unidrive sizes 3 and 4 are used the leakage current is high. In this case a permanent fixed ground connection must be provided, or other suitable measures taken to prevent a safety hazard occurring if the connection is lost.

WARNING

The second environment typically includes an industrial lowvoltage power supply network which does not supply buildings used for domestic purposes. Operating the drive in this environment without an RFI filter may cause interference to nearby electronic equipment whose sensitivity has not been appreciated. The user must take remedial measures if this situation arises. If the consequences of unexpected disturbances are severe, it is recommended that the emission limits of EN50081-2 be adhered to.

Refer to Chapter 11 Technical Data on page 190 for further information

on compliance with EMC standards and definitions of environments.

Detailed instructions and EMC information are given in the Unidrive

EMC Data Sheet which is available from the supplier of the drive.

NOTE

N

The installer of the drive is responsible for ensuring compliance with the

EMC regulations that apply where the drive is to be used.

The drive will comply with the standards for emission, such as EN50081-

2, only when the instructions given in this chapter are followed closely.

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In order to ensure the installation meets the various emission / immunity standards described in:

• The EMC data sheet

• The Declaration of Conformity at the front of this manual

Chapter 11 Technical Data on page 190

The correct RFI filter must be used and all of the guidelines in section

4.8.1

EMC - General requirements

and section 4.8.2

EMC -

Compliance must be followed.

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WARNING

When a RFI filter is used, a permanent fixed ground connection must be provided which does not pass through a connector or flexible power cord.

4.8.1 EMC - General requirements

Figure 4-8 General EMC enclosure layout showing earth / ground connections

If ground connections are made using a separate cable, they should run parallel to the appropriate power cable to minimise emissions

Metal backplate

Optional EMC filter

If the control circuit 0V is to be grounded, this should be done at the system controller only to avoid injecting noise currents into the 0V circuit

External controller

0V PE

3 phase AC supply

~

PE

The incoming supply ground should be connected to a single power ground bus bar or low impedance earth terminal inside the cubicle.

This should be used as a common 'clean' ground for all components inside the cubicle.

Grounding bar

Metal backplate safety bonded to power ground busbar

Optional ground connection

Use four core cable to connect the motor to the drive.

The ground conductor in the motor cable must be connected directly to the earth terminal of the drive and motor.

It must not be connected directly to the power earth busbar.

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The ground loop impedance must conform to the requirements of local safety regulations.

The drive must be grounded by a connection capable of carrying the prospective fault current until the protective device (fuse, etc.) disconnects the AC supply.

The ground connections must be inspected and tested at appropriate intervals.

Do not place sensitive

(unscreened) signal circuits in a zone extending

300mm (12”) all around the

Drive, motor cable, input cable from RFI filter and unscreened braking resistor cable (if used)

300mm

(12in)

Product

Information

This does not apply to a motor thermistor cable. The motor thermistor cable must be shielded.

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The following guidelines should be followed for all installations to minimise the risk of disturbing any other equipment in the vicinity of the drive.

The earthing / grounding and clearance sections should be followed for all installations as good practice.

Earth / Ground connections

The diagram below indicates the grounding method which should be used in all standard installations using an grounded secondary AC supply.

WARNING

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Clearances

The diagram below indicates the clearances which should be observed around the drive and related ‘noisy’ power cables by all sensitive control signals / equipment.

Figure 4-9 Drive clearances

Optional braking resistor and overload

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Feedback device cable shielding

Shielding considerations are important for PWM drive installations due to the high voltages and currents present in the output (motor) circuit with a very wide frequency spectrum, typically from 0 to 20 MHz.

The following guidance is divided into two parts:

1. Ensuring correct transfer of data without disturbance from electrical noise originating either within the drive or from outside.

2. Additional measures to prevent unwanted emission of radio frequency noise. These are optional and only required where the installation is subject to specific requirements for radio frequency emission control.

To ensure correct transfer of data, observe the following:

Resolver connections:

• Use a cable with an overall shield and twisted pairs for the resolver signals

• Connect the cable shield to the drive 0V connection by the shortest possible link ("pigtail")

• It is generally preferable not to connect the cable shield to the resolver. However in cases where there is an exceptional level of common-mode noise voltage present on the resolver body, it may be helpful to connect the shield there. If this is done then it becomes essential to ensure the absolute minimum length of "pigtails" at both shield connections, and possibly to clamp the cable shield directly to the resolver body and to the back plate, located as close as possible to the drive.

• The cable should preferably not be interrupted. If interruptions are unavoidable, ensure the absolute minimum length of "pigtail" in the shield connections at each interruption.

Encoder connections:

• Use a cable with the correct impedance

• Use a cable with individually shielded twisted pairs

• Connect the cable shields to 0V at both the drive and the encoder, using the shortest possible links ("pigtails")

• The cable should preferably not be interrupted. If interruptions are unavoidable, ensure the absolute minimum length of "pigtail" in the shield connections at each interruption. Preferably, use a connection method which provides substantial metallic clamps for the cable shield terminations.

The above applies where the encoder body is isolated from the motor and where the encoder circuit is isolated from the encoder body. Where there is no isolation between the encoder circuits and the motor body, and in case of doubt, the following additional requirement must be observed. This gives the best possible noise immunity.

• The shields must be directly clamped to the encoder body (no pigtail) and to the back plate, located as close as possible to the drive. This may be achieved by clamping of the individual shields or by providing an additional overall shield which is clamped.

NOTE

N

The recommendations of the encoder manufacturer must also be adhered to for the encoder connections.

NOTE

N

In order to guarantee maximum noise immunity for any application double screened cable as shown should be used.

In some cases single shielding of each pair of differential signals cables or a single overall shield with an individual shield on the thermistor connections is sufficient. In these cases all the shields should be connected to ground and 0V at both ends.

If the 0V is required to be left floating a cable with individual shields and an overall shield must be used.

Figure 4-10 and Figure 4-11 illustrate the preferred construction of cable

and the method of clamping. The outer sheath of the cable should be stripped back enough to allow the clamp to be fitted. The shield must not be broken or opened at this point. The clamps should be fitted close to the drive or feedback device, with the ground connections made to a ground plate or similar metallic ground surface.

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Figure 4-10 Feedback cable, twisted pair

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Figure 4-11 Feedback cable connections

Connection at drive

Shield connection to 0V

Cable shield

Twisted pair shield

Ground clamp on shield

Cable

Cable shield

Twisted pair shield

Shield connection to 0V

Connection at motor

To ensure suppression of radio frequency emission, observe the following:

• Use a cable with an overall shield

• Clamp the overall shield to grounded metallic surfaces at both the

encoder and the drive, as illustrated in Figure 4-11.

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4.8.2 EMC - Compliance

Figure 4-12 details specific points which must be observed as well as the sections on grounding and clearances in order to ensure compliance with

the standards detailed in the EMC data sheet.

Figure 4-12 EMC compliance

Optional external braking resistor

Ground L3 L2 L1

AC supply

3

1. Unshielded wiring to the optional braking resistor(s) may be used, provided the resistor is either in the same enclosure as the drive, or the wiring does not run external to the enclosure. When the braking resistor wiring is unshielded, ensure a minimum spacing of 300mm (12in) from signal wiring and the AC supply wiring to the RFI filter.

1

O/L

Control module

- Size 5 only

2

RFI filter

L1 L2 L3

4

5

2. Ensure the AC supply and ground cables are at least the following distances from the power module as well as from the motor cable

Size 1 to 4: 100mm (4in), Size 5: 150mm (6in)

3. Size 4 and 5 only:

The AC supply cable must be shielded (screened) or steelwire armoured. Bond the shield to the enclosure wall using standard cable-gland fixings.

4. Size 1 and 2:

RFI filter mounted at the side of the drive. Ensure a separation of 5 to 10mm (0.2in to 0.4in) from the drive.

Minimise the length of cables between the RFI filter and power module.

Size 3 to 5:

RFI filter mounted 150mm (6in) above the drive/power module. The RFI filter casing is directly grounded to the back-plate by the fixing screws.

9

10

Back-plate

Enclosure

<

Drive/power module

<

U V W

6

L1

7

L2

5. Avoid placing sensitive signal circuits in a zone 300mm

(12in) all around the power module.

6. Ensure chassis directly grounded to the back-plate using fixing screws. Screw threads tapped into the back-plate must be used to ensure that a direct electrical connection is made.

An unpainted back-plate is required.

7. A shielded (screened) or steel-wire armoured cable must be used to connect the power module to the motor. The shield must be bonded to the back-plate using an uninsulated metal cable clamp. Position the clamp as close as possible to the drive/ power module.

Size 1 and 2: The clamp must be positioned no further than

100mm (4in) from the drive.

Size 3 and 4: The clamp must be positioned no further than

150mm (6in) from the drive.

Size 5: It may be necessary to use a flat metal plate of a minimum width of 100mm (4in) as well as a clamp in order to make the connection. The clamp must be fitted so that:

L1 < 150mm (6in) and (L1 + L2) < 450mm (18in)

8. Connect the shield of the motor cable to the ground terminal of the motor frame using a link that is as short as possible and not exceeding 50mm (2in) long. A full 360° termination of the shield to the terminal housing of the motor is beneficial.

9. Size 4 and 5 only

Back-plate bonded to the enclosure wall using a short, low inductance connection. Two flat-braid cables of nominal size

12mm x 2.3mm (0.5in x 0.1in) are suitable, or a single braided-cable of equivalent dimensions.

10. Size 5 only

Ensure that all power cables are at least 300mm (12in) from the ribbon cables that connect to the control module.

8

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4.8.3 Variations in the EMC wiring

Control wiring

Control wiring which is connected to the drive and leaves the enclosure must have one of the following additional treatments:

• Pass the control cable(s) through a ferrite ring (part number 3225-

1004). More than one cable can pass through a ferrite ring. Ensure the length of cable between the ferrite ring and the drive is not greater than 125mm (5 in).

• Use one or more cables having a separate overall shield. Bond this shield(s) to the back-plate using an uninsulated metal clamp.

Position the clamp not further than 100mm (4 in) from the drive. Do not make any other connections to either end of the overall shield.

Interruptions to the motor cable

The motor cable should ideally be a single piece of shielded or armoured cable having no interruptions. In some situations it may be necessary to interrupt the cable, as in the following examples:

Connecting the motor cable to a terminal block in the drive enclosure

Fitting a motor isolator switch for safety when work is done on the motor

In these cases the following guidelines should be followed.

Optimisation Diagnostics

Figure 4-14 Connecting the motor cable to an isolator switch

From the

Drive

Macros

Advanced

Parameters

Coupling bar

Technical

Data

Isolator

(If required)

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To the motor

Interruptions to the encoder cable

The screened cable should ideally not be interrupted throughout its run.

If intermediate terminal arrangements are included with ‘pigtails’ for the screen connections, every pigtail will contribute additional injection of electrical noise into the signal circuit. They should therefore be kept as short as possible. If interruptions are unavoidable, either a suitable connector with surrounding screen shell should be used, or a lowinductance bar or plate should be used for the screen connection, similar

to that shown in Figure 4-14.

Terminal block in the enclosure

The motor cable shields should be bonded to the back-plate using uninsulated metal cable-clamps which should be positioned as close as possible to the terminal block. Keep the length of power conductors to a minimum and ensure that all sensitive equipment and circuits are at least 0.3m (12 in) away from the terminal block.

Figure 4-13 Connecting the motor cable to a terminal block in the enclosure

From the Drive

To the motor

Back-plate

Enclosure

Using a motor isolator-switch

The motor cable shields should be connected by a very short conductor having a low inductance. The use of a flat metal coupling-bar is recommended; conventional wire is not suitable.

The shields should be bonded directly to the coupling-bar using uninsulated metal cable-clamps. Keep the length of the exposed power conductors to a minimum and ensure that all sensitive equipment and circuits are at least 0.3m (12 in) away.

The coupling-bar may be grounded to a known low-impedance ground nearby, for example a large metallic structure which is connected closely to the drive ground.

4.9 Control connections

4.9.1 General

Table 4-5 The Unidrive control connections consist of:

Function

Differential analog input

Single ended analog input

Analog output

Digital input

Digital input / outputs

Relay

Drive enable

10V supply

24V supply

0V analog

0V digital

Qty Programmability

1 Destination, mode, scaling,

2 Destination, mode, scaling,

2

2

1

1

2 Source, mode, scaling,

3 Destination, mode,

3 Destination / source, mode

1 Source

1

External trip (latching) or inhibit

(non latching)

Terminals

5,6

7,8

9,10

27,28,29

24,25,26

1,2

30

4

22

3,11

21,23,31

Key:

Destination parameter - indicates the parameter which is being controlled by the terminal

Source parameter - indicates the parameter being output by the terminal

Mode parameter analog - indicates the mode of operation of the terminal, i.e. voltage

0-10V, current 4-20mA etc. digital - indicates the mode of operation of the terminal, i.e. positive / negative logic, open collector.

All analog terminal functions can be programmed in menu 7. See section

10.7

Menu 7: Analog I/O on page 145 for more information on control

terminal set-up.

All digital terminal functions can be programmed in menu 8. See section

10.8

Menu 8: Digital I/O on page 148 for more information on control

terminal set-up.

Ensure the logic sense is correct for the control circuit to be used. Incorrect logic sense could cause the motor to be started unexpectedly.

CAUTION

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The control circuits are isolated from the power circuits in the drive by basic insulation only. The installer must ensure that the external control circuits are insulated from human contact by at least one layer of insulation rated for use at the AC supply voltage.

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Figure 4-15 Unidrive default terminal functions (except Unidrive VTC)

WARNING

If the control circuits are to be connected to other circuits classified as Safety Extra Low Voltage (SELV) (e.g. to a personal computer), an additional isolating barrier must be included in order to maintain the SELV classification.

1

Signal connector

11

NOTE

N

The common 0V from analog signals, wherever possible, should not be connected to the same 0V terminal as the common 0V from digital signals. Terminals 3 and 11 should be used for connecting the 0V common of analog signals and terminals 21, 23 and 31 for digital signals. This is to prevent small voltage drops in the terminal connections causing inaccuracies in the analog signals.

Status relay

Drive normal

Analog frequency/speed reference 1

21 31

1

2

Connections for single-ended input signal

0V common

5

6

3

Connections for differential input signal

0V common

50

Analog frequency/speed reference 2

0V common

4

7

11

SPEED

TORQUE

Motor thermistor

OL> AT SPEED

CL> AT ZERO SPEED

RESET

JOG SELECT

RUN FORWARD

RUN REVERSE

ANALOG INPUT 1 /

INPUT 2 SELECT

OL> External trip

CL> Drive enable

9

10

0V common

0V common

Analog input 1

Analog input 2

0V common

24

25

26

27

28

29

30

31

8

21

22

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Figure 4-16 Unidrive VTC default terminal functions (European and USA)

EUR USA

1

Signal connector

11 1

Signal connector

11

21

Status relay

Drive normal

Analog frequency reference 1

Connections for single-ended input signal

31

1

2

21

Status relay

Drive normal

Analog frequency reference 1

Connections for single-ended input signal

31

1

2

0V common

5

6

3

0V common

5

6

3

Connections for differential input signal

Connections for differential input signal

0V common 0V common

Analog frequency reference 2

0 to 10V

4

7

Analog frequency reference 2

4 to 20mA 7

0V common

0V common 11

11

FREQUENCY

TOTAL MOTOR

CURRENT

Motor thermistor

AT SPEED

RESET

PRESET SELECT

RUN FORWARD

RUN REVERSE

ANALOG INPUT /

PRESET REF SELECT

External trip

9

10

0V common

0V common

Preset ref 1

Preset ref 2

Analog input

Preset ref

0V common

24

25

26

27

28

29

30

31

8

21

22

23

FREQUENCY

TOTAL MOTOR

CURRENT

Motor thermistor

DRIVE RUNNING

RESET

PRESET SELECT

RUN

ANALOG INPUT 1 /

INPUT 2 SELECT

ANALOG INPUT /

PRESET REF SELECT

External trip

9

10

0V common

0V common

Preset ref 1

Preset ref 2

Analog input 1

Analog input 2

Analog input

Preset ref

0V common

29

30

31

24

25

26

27

28

8

21

22

23

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4.9.2 Specification

These descriptions apply to the default functions of the terminals. Some macros can change terminal-functions.

1

2

Status relay contact

Default function

Contact voltage rating

Contact maximum current rating

Contact minimum current rating

Contact condition

Isolation

Update period

Drive healthy

240Vac

Installation category 1

5A resistive

10mA

Normally open

1.5kV

8ms

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Current ranges

Macros

Advanced

Parameters

7 Analog input 2

Default function

Type of input

Mode controlled by...

Operating in Voltage mode

Voltage range

Absolute maximum voltage range

Input resistance

Operating in current mode

3

Function

0V common (analog)

Common connection for external analog devices.

Voltage range

Absolute maximum current

Equivalent input resistance

Common to all modes

Resolution

Technical

Data

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Frequency/speed reference

Bipolar single-ended analog voltage or unipolar current

Parameter 0.25 { 7.11

}

± 10V

± 24V relative to 0V

100k

0 to 20mA

20mA to 0

4 to 20mA

20 to 4mA

± 12V

50mA

≤ 200

at 20mA

4 +10V reference voltage

Function

Voltage tolerance

Maximum output current

Protection

Supply for external analog signal devices

± 1%

10mA

Current limit and thermal trip

Sampling period default setting

10-bit plus sign

PWM switching frequency dependent

OL> 1.4ms for 3, 6, & 12kHz

1.9ms for 4.5 & 9kHz

CL> 345 µ s for 3, 6 & 12kHz

460 µ s for 4.5 & 9kHz

5

Analog input 1

Non-inverting input

6 Inverting input

Default function

Type of input

Mode controlled by...

Operating in Voltage mode

Voltage range

Absolute maximum voltage range

Input resistance

Operating in current mode

Current ranges

Voltage range

Absolute maximum current

Equivalent input resistance

Common to all modes

Resolution

Sampling period default setting

Frequency/speed reference

Bipolar differential analog voltage or unipolar current

(For single-ended use, connect terminal 6 to terminal 3)

Parameter 0.24 { 7.06

}

± 10V

± 24V relative to 0V

± 24V differential

100k

0 to 20mA

20mA to 0

4 to 20mA

20 to 4mA

± 12V

50mA

≤ 200

at 20mA

12-bit plus sign

PWM switching frequency dependent

OL> 1.4ms for 3, 6, & 12kHz

1.9ms for 4.5 & 9kHz

CL> 345 µ s for 3, 6 & 12kHz

460 µ s for 4.5 & 9kHz

8 Analog input 3

Default function

Type of input

Mode controlled by...

Operating in Voltage mode

Voltage range

Absolute maximum voltage range

Input resistance

Operating in current mode

Current ranges

Voltage range

Absolute maximum current

Equivalent input resistance

Operating in thermistor mode

Internal pull-up voltage

Trip threshold resistance

Reset resistance

Short-circuit detection resistance

Common to all modes

Resolution

Sampling period default setting

Motor thermistor input (PTC)

Bipolar single-ended analog voltage, unipolar current or thermistor input

Parameter 7.15

± 10V

± 24V relative to 0V

100k

0 to 20mA

20mA to 0

4 to 20mA

20 to 4mA

± 12V

50mA

≤ 200

at 20mA

<5V

3 k

Ω ± 15%

1.9 k

Ω ± 15%

51

Ω ± 12%

10-bit plus sign

PWM switching frequency dependent

5.5ms for 3, 6, & 12kHz

7.4ms for 4.5 & 9kHz

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9 Analog output 1

10 Analog output 2

Type of output

Mode controlled by...

Operating in Voltage mode

Output voltage range

Maximum output current

Load resistance

Protection

Operating in current mode

Current ranges

Maximum output voltage

Maximum load resistance

Equivalent input resistance

Common to all modes

Resolution

Update period

21 0V common (digital)

22 +24V digital supply

Function

Voltage tolerance

Nominal output current

Overload output current

Protection

23

Function

0V common (digital)

OL> FREQUENCY output signal

CL> SPEED output signal

TORQUE output signal

Bipolar single-ended analog voltage or unipolar current output

7.19

& 7.22

± 10V

10mA peak

1k

minimum

Short-circuit proof

0 to 20mA

4 to 20mA

± 12V

600

≤ 200

at 20mA

10-bit plus sign

PWM switching frequency dependent

5.5ms for 3, 6, & 12kHz

7.4ms for 4.5 & 9kHz

24 Digital input / output F1

OL> AT-SPEED output

CL> AT ZERO SPEED output

25 Digital input / output F2 RESET input

26 Digital input / output F3 JOG SELECT input

Type of output

Negative or positive logic digital inputs, or negative-logic push-pull or open collector digital outputs

Parameters 8.12

, 8.15

& 8.18

Input / output mode controlled by...

Operating as an input

Logic mode controlled by...

Absolute maximum voltage range

Input current when 0V applied

Negative-logic levels

Positive-logic levels

Parameter 8.27

-3V to +30V

≥ 3.2mA

Inactive state (input open-circuit):

>+15V

Active state: <+5V

Inactive state (input open-circuit): >+5V

Active state: <+15V

Operating as an output

Open collector outputs selected by...

Maximum output current

Overload output current

Common to both modes

Voltage range

Sample / Update period

Parameter 8.28

200mA (total including terminal 22)

240mA (total including terminal 22)

0V to +24V

PWM switching frequency dependent

5.5ms for 3, 6, & 12kHz

7.4ms for 4.5 & 9kHz

11

Function

0V common (analog)

Common connection for external analog devices.

Supply for external digital signal devices

± 10%

200mA (total including any digital outputs)

240mA (total including any digital outputs)

Current foldback above 240mA

Common connection for external digital devices.

27

28

Digital input F4

Digital input F5

29 Digital input F6

Type

Logic mode controlled by...

Voltage range

Absolute maximum voltage range

Input current when 0V applied

Negative-logic levels

Positive-logic levels

Sample period

RUN FORWARD input

RUN REVERSE input

ANALOG INPUT 1 / INPUT 2

SELECT INPUT

Negative or positive logic digital inputs

Parameter 8.27

0V to +24V

–3V to +30V

≥ 3.2mA

Inactive state (input open-circuit):

>+15V

Active state: <+5V

Inactive state (input open-circuit): <+5V

Active state: >+15V

PWM switching frequency dependent

5.5ms for 3, 6, & 12kHz

7.4ms for 4.5 & 9kHz

The default configuration of the above digital inputs and outputs are

different for Unidrive VTC. See Figure 4-16 Unidrive VTC default terminal functions (European and USA)

on page 51 and section

4.9.3

Unidrive VTC control terminal default configuration on page 54 for

details.

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Type

Logic mode controlled by...

Voltage range

Absolute maximum voltage range

Input current when 0V applied

Negative-logic levels

Positive-logic levels

Sample period

Mechanical

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Drive enable input F7

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OL> EXTERNAL TRIP INPUT

CL> DRIVE ENABLE input

Negative or positive logic digital inputs

Parameter 8.27

0V to +24V

–3V to +30V

≥ 3.2mA

Inactive state (input open-circuit):

>+15V

Active state: <+5V

Inactive state (input open-circuit): <+5V

Active state: >+15V

Enable function

PWM switching frequency dependent

5.5ms for 3, 6, & 12kHz

7.4ms for 4.5 & 9kHz

Disable or trip function

1ms

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4.10 Encoder connections

4.10.1 Quadrature encoder connections

Figure 4-17 Encoder connections (default configurations)

Encoder

Encoder connector

Female 15-way D-type

31

Function

0V common (digital)

Common connection for external digital devices.

Incremental signal connections for all encoders

4.9.3 Unidrive VTC control terminal default configuration

The following is a list of the terminal default functions for Unidrive VTC.

Any terminal not listed has the same default function as Unidrive.

5

6

Analog input 1

(differential input)

±10V frequency reference input

7

8

Analog input 2

Analog input 3

EUR> ±10V frequency reference

input

USA> 4 to 20 mA frequency

reference input

Motor thermistor input (PTC)

Commutation signal connections for servo-encoders only

9

10

Analog output 1

Analog output 2

27 Digital input F4

28 Digital input F5

29 Digital input F6

Frequency output

Total motor current output

24

25

26

Digital input / Output F1

EUR> AT SPEED output

USA> DRIVE RUNNING output

Digital input / Output F2 RESET input

Digital input / Output F3 PRESET SELECT

EUR> RUN FORWARD input

USA> RUN input

EUR> RUN FORWARD input

USA> ANALOG INPUT 1 / INPUT

2 SELECT input

ANALOG INPUT / PRESET REF

SELECT input

For encoder cable screening, see section 4-10 Feedback cable, twisted pair on page 47.

Descriptions of the encoder connections

1 Quadrature channel A

4

5

2

3

Quadrature channel A\

Quadrature channel B

Quadrature channel B\

Marker pulse channel Z

6

Type

Marker pulse channel Z\

Maximum data rate

Line termination components

Line loading

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

EIA422 differential receivers

250kHz (equivalent of 3,000rpm with a

5,000 lines per revolution encoder)

120

(switchable using Pr 3.24

)

1 unit load

± 15V

± 25V

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7

8

Phase channel U

Phase channel U\

Phase channel V

Phase channel V\

11 Phase channel W

12 Phase channel W\

Type

Maximum data rate

Line termination components

Line loading

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

EIA422 differential receivers

250kHz

120

1 unit load

+15V to -10V

± 25V

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4.10.2 Frequency and direction connections

Figure 4-18 Frequency and direction connections and alternative motor-thermistor connections

Encoder connector

Female 15-way D-type

Frequency reference

Direction reference

13 Encoder supply

Supply voltage

Voltage tolerance

Nominal output current

+5.15V or +15V (selected by Pr 3.23

)

± 2%

300mA

The output voltage at terminal 13 is 5V when Pr 3.23

is set at 0 (default).

When Pr 3.23

is set at 1, the output voltage will become 15V. This could damage encoders that require a 5V supply.

Termination resistors should be disabled by setting Pr 3.24

to 1 if the encoder output is 15V.

14 0V common

Master

Frequency reference

Direction reference

Slave

15 Motor thermistor input

This terminal is connected internally to terminal 8 of the signal connector

Connect only one of these terminals to a motor thermistor. Analog input

3 must be in thermistor mode, Pr 7.15

= th.Sc (9) or th (10).

For encoder cable screening, see section 4-10 Feedback cable, twisted pair on page 47.

Description of the frequency and direction connections

1

2

Frequency input F

IN

Frequency input F

IN

\

3 Direction input D

IN

4 Direction input D

IN

\

Type

Maximum data rate

Line termination components

Line loading

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

EIA422 differential receivers

250kHz

120

(switchable using Pr 3.24

)

1 unit load

± 15V

± 25V

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Installation

Getting

Started

7

8

Frequency output F OUT

Frequency output F OUT \

9 Direction output D OUT

10 Direction output D OUT \

Type

Maximum data rate

Line termination components

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

EIA422 differential receivers

250kHz

120

+15V to -10V

± 25V

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Figure 4-19 Location of the power module address switch

IN96

Phase-control board

13 Encoder supply

Supply voltage

Voltage tolerance

Nominal output current

+5.15V or +15V (selected by Pr 3.23

)

± 2%

300mA

The output voltage at terminal 13 is 5V when Pr 3.23

is set at 0 (default).

When Pr 3.23

is set at 1, the output voltage will become 15V. This could damage encoders that require a 5V supply.

Termination resistors should be disabled by setting Pr 3.24

to 1 if the encoder output is 15V.

14 0V common

DC-bus choke

IN95

Interface board

15 Motor thermistor input

This terminal is connected internally to terminal 8 of the signal connector

Connect only one of these terminals to a motor thermistor. Analog input

3 must be in thermistor mode, Pr 7.15

= th.Sc (9) or th (10).

4.11 Configuring a Unidrive size 5 system

The following must be performed in order to configure a Unidrive size 5 system:

• Each power module must be given a unique address.

• The control module must be notified of the number of power modules it is to control.

• The new settings must be saved in the control module software.

4.11.1 Configuring the power modules

To set the address on a power module, set the slide switch to the

required address number, see Figure 4-19 for the position of the switch.

Ensure that each power module in a multiple module system has its own

unique address number. See Table 4-6 for example configuration

settings.

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4.11.2 Configuring the control module

On the control module, set the configuration switches to correspond with the addresses given to the power modules in the system. Move the switch to the off position to set the switch. Ensure all remaining switches

are in the on position. See Table 4-6 for example configuration setting.

Figure 4-20 Setting the configuration switches in the control module

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

4.11.3 Saving the configuration

When the drive is first powered-up, and the system contains more than one power module (or the number of power modules has been

changed), the control module display will indicate as shown in Figure 4-

21.

Figure 4-21 Control module display

(The number displayed corresponds to the number power modules.)

A parameter save must be performed so that the drive will not trip next

time the drive is powered up. To perform a save refer to section

5.8

Saving parameters on page 61.

Table 4-6 Example configuration settings

System

1 st

Power module

Configuration switches

2 nd

Power module 3 rd

Power module Control module

One control module can be used to control up to eight power modules.

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5 Getting Started

Getting

Started

Menu 0

5.1 Understanding the display

The display consist of two horizontal rows of 7 segment displays.

The lower display shows the drive status or the current menu and parameter number being viewed.

The upper display shows the parameter value or the specific trip type.

Running the motor

Optimisation Macros

Figure 5-1 Keypad

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Menu 5. Parameter 5

Upper display

Lower display

Programming keys

Control keys

Trip type (UU = undervolts)

Drive status = tripped

5.2 Keypad operation

5.2.1 Control buttons

The keypad consists of:

1. Four arrow buttons

2. One mode button

3. Three control buttons

The arrow buttons are used to navigate the parameter structure and change parameter values.

The mode button is used to change between the display modes – parameter view, parameter edit, status.

The three control buttons are used to control the drive if keypad mode is selected: start (green) stop (red) forward / reverse (blue)

NOTE

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

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Figure 5-2 Display modes

Status Mode

(display not flashing)

Electrical

Installation

Getting

Started

Menu 0

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Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Status mode examples:

To enter Parameter

Mode, press key

8 seconds timeout

Parameter Mode

(display not flashing)

Healthy Status Trip Status Alarm Status

Use * keys to select parameter for editing

To enter Edit Mode, press key

Edit Mode

(upper line of display flashing)

Change parameter values using keys.

To exit Edit Mode, press key

When returning to Parameter

Mode use the

* keys to select another parameter to change, if required

* can only be used to move between menus if standard

security has been opened. For further information, refer to section

5.10

Parameter security on page 62.

WARNING

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

* *

NOTE

When changing the values of parameters, make a note of the new values in case they need to be entered again.

NOTE

For new parameter-values to apply after the AC supply to the drive is

interrupted, new values must be saved. Refer to section 5.8

Saving parameters on page 61.

5.3 Menu structure

The drive parameter structure consists of menus of parameters.

The drive initially powers up so that only menu 0 can be viewed. The up and down arrow buttons are used to navigate between parameters and once standard security has been cleared, the left and right buttons are used to navigate between menus.

* can only be used to move between menus if standard

security has been opened. For further information, refer to section

5.10

Parameter security on page 62.

The menus and parameters roll over in both directions. i.e. if the last parameter is displayed, a further press will cause the display to rollover and show the first parameter.

When changing between menus the drive remembers which parameter was last viewed in a particular menu and thus displays that parameter.

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Figure 5-3 Menu Structure

Electrical

Installation

Getting

Started

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Figure 5-4 Menu 0 Cloning

Technical

Data

Diagnostics

UL Listing

Information

Menu 2

2.21

5

Menu 19

Menu 20

20.01

20.02

20.03

20.04

20.05

Menu 0

....xx.00....

Menu 1

Menu 2

0.01

0.02

0.03

0.04

0.05

1.01

1.02

1.03

1.04

1.05

Menu 0

0.04

0.05

0.06

5

0

150

Menu 1

1.14

0

Moves between parameters

Menu 4

4.07

150

20.46

20.47

20.48

20.49

20.50

0.46

0.47

0.48

0.49

0.50

Moves between Menus

1.46

1.47

1.48

1.49

1.50

NOTE

Menu 20 is only present when a large option module is present.

5.4 Advanced keypad functions

The following short-cuts can be used to speed up navigation of the drive parameters and editing of parameters.

Key Press

+

+

Parameter View Mode jumps to xx.00

jumps to 00.yy

Parameter Edit Mode

Sets value to 0

Jumps to LSB

5.5 Menu 0

Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive.

Appropriate parameters are cloned from the advanced menus into menu

0 and thus exist in both locations.

5.6 Advanced menus

The advanced menus consist of groups or parameters appropriate to a specific function or feature of the drive as follows:

Menu number

0

12

13

14

15

8

9

10

11

16

17

18

19

20

6

7

4

5

1

2

3

Description

Commonly used basic set up parameters for quick / easy programming

Speed references and limits

Ramps (accel / decel)

Speed feedback / frequency slaving

Current control

Machine control

Sequencing logic

Analog I/O

Digital I/O

Programmable logic

Status flags / trip log

Menu 0 customisation / drive specific ratings

Programmable thresholds

Digital lock / orientation

Programmable PID function

Regen

Small option module set up

Large option module set up

Application menu 1

Application menu 2

Large option module set up

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5.6.1 Display messages

Status indications

The following tables indicate the various possible mnemonics which can be displayed by the drive and their meaning.

Trip types are not listed here but can be found in Chapter

12 Diagnostics if required.

Lower display

Conditions

Act Regeneration mode active

Regen mode> The Regen drive is enabled and synchronised to the supply.

ACUU AC Supply loss

The drive has detected that the AC supply has been lost and is attempting to maintain the DC bus voltage by decelerating the motor.

dc DC applied to the motor

The drive is applying DC injection braking.

dEC Decelerating

The drive is decelerating the motor.

inh Inhibit

The drive is inhibited and cannot be run.

Drive enable signal not applied to terminal 30 or Pr

6.15

is set to 0.

POS Positioning

The drive is positioning/orientating the motor shaft.

rdY Ready

The drive is ready to be run.

run Running

The drive is running.

SCAn Scanning

OL> The drive is searching for the motor frequency when synchronising to a spinning motor.

Regen> The drive is enabled and is synchronising to the line.

StoP Stop or holding zero speed

The drive is holding the motor at zero speed.

Regen> The drive is enabled but the AC voltage is too low, or DC Bus voltage still rising or falling.

triP Trip condition

The drive has tripped and is no longer controlling the motor. The trip code appears on the upper display.

Drive output stage

Enabled

Enabled

Enabled

Enabled

Disabled

Enabled

Disabled

Enabled

Enabled

Enabled

Disabled

Alarm indications

Lower display

Conditions

Air Control PCB ambient temperature near maximum limit

The ambient temperature around the control PCB has reached 90 ° C

(194 ° F) and the drive will trip OA if the temperature continues to rise

(see the OA trip).

br.rS

Braking resistor overload

The braking-resistor [I x t] accumulator in the drive has reached 75% of the value at which the drive will be tripped.

hot Heatsink temperature near maximum limit

The drive heatsink has reached 90 ° C (194 ° F) and the drive will trip

Oh2 if the temperature continues to rise (see the Oh2 trip).

OVLd Motor overload

The motor [I x t] accumulator in the drive has reached 75% of the value at which the drive will be tripped.

Optimisation Macros

Advanced

Parameters

Technical

Data

5.7 Changing the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters.

Procedure

Use the following procedure only if a different operating mode is required:

1. Enter either of the following values in Pr 0.00

, as appropriate:

1253 (Europe, 50Hz AC supply frequency)

1254 (USA, 60Hz AC supply frequency)

2. Change the setting of Pr 0.48

as follows:

Pr 0.48 setting

0

1

2

3

Operating mode

Closed-loop Vector

Closed-loop Servo

For operation in this mode, refer to the Unidrive Regen Installation

Guide

The figures in the second column apply when serial communications are used.

3. Press or momentarily close the RESET contact.

The new setting takes effect and all the parameters revert to the appropriate default values for the new mode.

5.8 Saving parameters

Procedure

Enter 1000 in Pr xx.00

Press the red reset button or toggle the reset digital input

(ensure Pr xx.00

returns to 0)

5.9 Defaulting the drive

Diagnostics

Open-loop

UL Listing

Information

Procedure

Enter 1233 (EUR 50 Hz settings) or 1244 (USA 60 Hz settings) in

Pr xx.00

Press the red reset button or toggle the reset digital input (ensure

Pr xx.00

returns to 0)

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5.10 Parameter security

There are two independent levels of security that can be enabled / disabled in the Unidrive. This gives four possible combinations of security settings as shown in the table below:

Running the motor

Optimisation Macros

Advanced

Parameters

Disabling standard security

Set parameter 0.34

to 0 and press the

Technical

Data

Diagnostics

button.

UL Listing

Information

Standard security

Open

Open

Closed

Closed

User security Menu 0 status

Open

Closed

Open

Closed

RW

RO

RW

RO

Advanced menus status

(i.e menus 1 to 20)

RW

RO

Not visible

Not visible

RW = Read / write access

RO = Read only access

The default settings of the drive are standard security closed and user security open, i.e. read / write access to Menu 0 with the advanced menus (i.e. menus 1 to 20) not visible.

NOTE

This action also disables user security if it has been enabled.

Enabling standard security

Set parameter 0.34

to 149 and press the button.

5.10.2 User security

User security prevents write access to all parameters except xx.00

.

User security open - All parameters: Read / Write access

5.10.1 Standard security

Standard security prevents read and write access to the advanced menu parameters.

Standard security closed - Menu 0 only visible

Pr 0.00

Pr 0.01

Pr 0.02

Pr 0.03

Pr 0.49

Pr 0.50

Pr 1.00

Pr 1.01

Pr 1.02

Pr 1.03

Pr 1.49

Pr 1.50

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

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

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

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

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

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

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

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

Pr 19.00

Pr 19.01

Pr 19.02

Pr 19.03

Pr 19.49

Pr 19.50

Pr 20.00

Pr 20.01

Pr 20.02

Pr 20.03

Pr 20.49

Pr 20.50

Pr 0.00

Pr 0.01

Pr 0.02

Pr 0.03

Pr 0.49

Pr 0.50

Pr 1.00

Pr 1.01

Pr 1.02

Pr 1.03

Pr 1.49

Pr 1.50

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

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

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

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

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

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

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

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

Pr 19.00

Pr 19.01

Pr 19.02

Pr 19.03

Pr 20.00

Pr 20.01

Pr 20.02

Pr 20.03

Pr 19.49

Pr 19.50

Pr 20.49

Pr 20.50

Standard security open - All parameters visible

Pr 0.00

Pr 0.01

Pr 0.02

Pr 0.03

Pr 0.49

Pr 0.50

Pr 1.00

Pr 1.01

Pr 1.02

Pr 1.03

Pr 1.49

Pr 1.50

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

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

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

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

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

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

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

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

Pr 19.00

Pr 19.01

Pr 19.02

Pr 19.03

Pr 19.49

Pr 19.50

Pr 20.00

Pr 20.01

Pr 20.02

Pr 20.03

Pr 20.49

Pr 20.50

Opening standard security

Set parameter xx.00

to 149 and press the

Closing security

Set parameter xx.00

to 2000 and press the power to the drive.

button.

button or cycle the

NOTE

This action also closes user security if it has been enabled.

User security closed except Pr xx.00

- All parameters: Read Only access,

Pr 0.00

Pr 0.01

Pr 0.02

Pr 0.03

Pr 0.49

Pr 0.50

Pr 1.00

Pr 1.01

Pr 1.02

Pr 1.03

Pr 1.49

Pr 1.50

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

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

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

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

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

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

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

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

Pr 19.00

Pr 19.01

Pr 19.02

Pr 19.03

Pr 19.49

Pr 19.50

Pr 20.00

Pr 20.01

Pr 20.02

Pr 20.03

Pr 20.49

Pr 20.50

Setting user security

Enter a value between 1 and 256 (except 149) in parameter 0.34

. Once the button has been pressed the value reverts to 149 to hide the security code which has been set.

Save parameters by setting parameter xx.00

to 1000 and press the button.

Opening user security

Enter the security code into parameter xx.00

.

Closing user security

Set parameter xx.00

to 2000 and press the mode button or cycle the power to the drive.

NOTE

This action also closes standard security if it has been enabled.

Disabling user security

Set parameter 0.34

to 0 and press the and standard security

button to disable both user

Set parameter 0.34

to 149 and press the but set standard, security.

button to disable user,

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5.11 Serial Communications

5.11.1 Introduction

The Unidrive has an optional serial communications interface in the form of the UD71 serial communications module. This module has a fully optically isolated 4 wire or 2 wire EIA485 interface and an EIA232 interface. (The EIA232 interface should be used for commissioning purposes only.)

5.11.2 Serial communications module hardware connections

See Figure 3-5 on page 15 for information regarding installing the UD71

serial communications large option module in the drive.

Figure 5-5 Location of communication interfaces

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Ú

11.24

Serial comms. mode

RW Txt

ANSI 2 (0), ANSI 4 (1), OUtPUt (2),

INPUt (4)

Ö

ANSI 4 (1)

P

This is the mode of operation of the serial port.

ANSI 2 (0)

ANSI 4 (1)

Standard 2 wire EIA485 using ANSI protocol

Standard 4 wire EIA485 using ANSI protocol

OUtPUt (2) Output variable defined by Pr 11.27

INPUt (3) Input variable defined by Pr 11.27

OUtPUt (2) and INPUt (3) are used to transfer a variable parameter from one drive to another. See the Unidrive Advanced User Guide for more information.

A B

C D

EIA485 Interface

(male 9 pin D-type)

EIA232 Interface

(Female 9 pin D-type)

Table 5-1 Serial communications connections

EIA485 Interface

Pin

4 wire mode 2 wire mode

1

2

0V

TX\

0V

TX\ RX\*

3 RX\ TX\ RX\*

4 Not connected Not connected

5 Not connected Not connected

6 TX TX RX*

7 RX TX RX*

8 Not connected Not connected

9 Not connected Not connected

EIA232 Interface

UD71

CD

TXD**

RXD**

DTR

0V**

DSR

RTS

CTS

NC

Host PC

CD

RXD**

TXD**

DTR

0V**

DSR

RTS

CTS

RI

* Pins 2 and 3, and pins 6 and 7 must be connected together in 2 wire

EIA485 mode.

** Depending on the host software being used, it may only be necessary to connect pins 2, 3 and 5 when using the EIA232 interface.

When connecting EIA232 interface on the UD71 serial communications module to the 9 pin serial port on a PC, a 9 pin male D-type to 9 pin female D-type serial extension cable can be used.

5.11.3 Serial communications set-up parameters

The following parameters need to be set according to the system requirements.

Ú

11.25

Serial comms. baud rate

RW Txt

4800 (0), 9600 (1), 19200 (2),

2400 (3)

Ö

4800 (0)

P

Used in 2 or 4 wire ANSI modes to select the communications port baud rate.

4800 (0)

9600 (1)

4800 baud

9600 baud

19200 (2) 19200 baud

2400 (3) 2400 baud

Ú

11.26

RW

Serial comms. two-wire mode delay

Uni

0 to 255 ms

Ö

0

P

If 2 wire EIA485 communications is being used then a delay is required between the drive receiving data and then responding to allow the device that sent the request to changes its buffers from transmit to receive.

Ú

11.23

RW

Serial comms. address

Uni

0.0 to 9.9

Ö

1.1

P

Defines the unique address for the drive. Any number in the permitted range 0.0 to 9.9 which has a zero in it, should not be used as these are used to address groups of drives.

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Optimisation

6 Menu 0

6.1 Single line descriptions

6.1.1 Unidrive (All variants excluding Unidrive VTC)

Range(

Ú

)

Parameter

OL

0.00

0.01

Operating mode, Macro selection,

Configuration, Saving

OL> Minimum frequency

CL> Minimum speed

{ 1.07

}

{ 1.07

}

0 to [Pr 0.02

]Hz

0 to 9,999

CL

0 to [Pr 0.02

]rpm

OL> Maximum frequency { 1.06

} 0 to 1,000.0Hz

0.02

CL> Maximum speed { 1.06

} 0 to 30,000rpm

Macros

0.03

Acceleration rate

OL

0

Advanced

Parameters

EUR> 50

USA> 60

5

Technical

Data

Diagnostics

UL Listing

Information

Default(

Ö

)

VT

0

EUR>

1,500

USA>

1,800

2

0

SV

3000

0.2

Type

RW Uni R

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

0.04

Deceleration rate

0.05

Reference selector

0.06

Current limit

0.07

OL> Voltage mode selector

CL> Speed control P gain

OL> Voltage boost

0.08

CL> Speed control I gain

OL> Dynamic V/f select

0.09

CL> Speed control D gain

OL> Estimated motor speed

0.10

CL>Motor speed

0.11 Pre-ramp reference

0.12

Post-ramp reference

0.13

Motor active-current

0.14

Jog reference

0.15

Ramp mode selector

0.16

Stop mode selector

0.17

Torque mode select

0.18

S-Ramp enable

0.19

S-Ramp da / dt limit

0.20

Skip frequency/speed 1

0.21

Skip band 1

0.22

Skip frequency/speed 2

0.23

Skip band 2

0.24

Analog input 1 mode selector

0.25

Analog input 2 mode selector

0.26

Analog input 2 destination

0.27

EUR> Positive logic select

USA> Sequencing mode selector

0.28

0.29

EUR> Current control P gain

USA> Frequency/speed demand

EUR> Current control I gain

USA> Terminal-29 destination parameter

0.30

Forward / reverse key enable

0.31

Macro number

0.32

Serial comms mode

0.33

Drive rated current (FLC)

0.34

User security code

0.35

Keypad reference

0.36

Serial comms. baud rate

0.37

Serial comms. address

0.38

Initial parameter displayed

{ 8.23

}

{ 6.13

}

{ 11.37

}

{ 11.24

}

{ 11.32

}

{ 11.30

}

{ 1.17

}

{ 11.25

}

{ 11.23

}

{ 11.22

}

{

{ 2.11

2.21

}

} 0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

VT> 0 to 3,200 s/1000rpm

SV> 0 to 32.000 s/1000rpm

VT> 0 to 32.000 s/

1000rpm

SV> 0 to 32,000 s/

1000rpm

{ 1.14

} 0 to 5

{

{ 4.07

5.14

{ 3.10

}

{ 5.15

}

{ 3.11

}

{ 5.13

}

{ 3.12

}

{ 5.04

}

{ 3.02

}

{ 1.03

}

{ 2.01

}

{

{

4.02

{ 1.05

}

{ 2.04

}

6.01

}

}

}

} 0 to I max

%

Ur_S (0), Ur_l (1),

Ur (2), Fd (3)

0 to 32,000 %

0.0 to 25.0 %

0 to 32,000

0 or 1

0 to 32,000

±6,000 rpm

±1,000.0 Hz

±1,000.0 Hz

COASt (0), rP (1), rP-dcI (2), dcI (3), td.dcI (4)

0 to 1

±30,000 rpm

±30,000 rpm

±30,000 rpm

±I max

A

0 to 400.0 Hz 0 to 4,000.0 rpm

Stnd.Hd (0), FASt (1), Stnd.Ct (2)

COASt (0), rP (1), no.rP (2), rP-POS (3)

0 to 4

0 or 1

{ 4.11

}

{ 2.06

}

{ 7.11

}

{ 7.14

}

{ 8.27

}

(6.04)

{ 4.13

}

(1.01)

{ 4.14

}

{ 2.07

} 0 to 3,000.0 s 2 /100 Hz 0 to 30,000 s 2 /1000 rpm

{ 1.29

}

{ 1.30

}

0.0 to 1,000.0 Hz

0.0 to 5.0 Hz

0 to 30,000 rpm

0 to 50 rpm

{

{ 1.31

}

{ 1.32

}

7.06

}

0.0 to 1,000.0 Hz

0.0 to 5.0 Hz

0 to 30,000 rpm

0 to 50 rpm

VOLt (0), 0 - 20 (1), 20 - 0 (2), 4 - 20.tr (3),

20 - 4.tr (4), 4 - 20.Lo (5), 20 - 4.Lo (6),

4 - 20.Pr (7), 20 - 4.Pr (8)

±1,000Hz

(as Pr 0.24

)

Pr 0.00

to Pr 20.50

0 or 1

0 to 4

0 to 30,000

±30,000 rpm

0 to 30,000

Pr 0.00

to Pr 20.50

0 or 1

0 to 8

ANSI 2 (0), ANSI 4 (1), OUtPUt (2), INPUt (3)

2.10 to 1920 A

0 to 255

± [Pr 0.02

] Hz ± [Pr 0.02

] rpm

4,800 (0), 9,600 (1), 19,200 (2) baud

0.0 to 9.9 Group.Unit

Pr 0.00

to Pr 0.50

10 2 0.2

RW Uni

EUR> 0

USA> 4

Ur_l (1)

3.0

0

1.5

150

0

200

100

0

Stnd.Ct (2)

50

175

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Bit

RW Uni

RO Bi

RO Bi

RO Bi

RO Bi

RO Bi

RW Uni

RW Txt

P

3.1

0.5

0.5

20

40 rP (1)

0

0

1.5

0

0

VOLt (0)

VOLt (0)

Pr 1.37

0

4

150

5

5 no.rP (2) RW Txt

0.03

RW Uni

RW Bit

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Txt R

30

2,000

Pr 1.41

0

ANSI 4 (1)

149

4,800 (0)

Pr

1.1

0.10

1,200

RW Txt R

RW Uni R P

RW Bit R P

RO Uni P

RW Uni

RO Bi

RW Uni

RW Uni R P

RW Bit

RO Uni

RW Txt R P

RO Uni P

RW Uni S P

RO Bi S P

RW Txt

RW Uni

RW Uni P

P

P

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Electrical

Installation

Getting

Started

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Parameter

0.39

Synchronise to a spinning motor

0.40

Autotune

0.41

PWM switching frequency

0.42

Motor - no. of poles

0.43

Motor - rated power factor

0.44

Motor - rated voltage

0.45

Motor - rated speed

{ 6.09

}

{ 5.12

}

(3.25)

{ 5.18

}

{ 5.11

}

{ 5.10

}

{ 5.09

}

{ 5.08

}

Range(

Ú

)

OL CL

0 or 1

0 or 1

3 kHz (0), 4.5 kHz (1), 6 kHz (2), 9 kHz (3),

12 kHz (4)

2 POLE (0) to 32 POLE (15)

0.000 to 1.000

VT> 0.000 to 1.000

SV> 1

200V drive: 0 to 240 V

400V drive: 0 to 480 V

0 to 6,000 rpm 0 to 30,000 rpm

0.46

Motor - rated current

0.47

Motor - rated frequency

0.48

Drive operating mode selector

0.49

Security status

0.50

Software version number

{ 5.07

}

{ 5.06

}

{ 11.31

}

{ 11.29

}

0 to 1,000.0 Hz

0 to FLC A

VT> 0 to 1,000.0 Hz

SV> 0

OPENLP (0), CL.VECT (1),

SErVO (2), rEGEN (3)

0 to 1,000

1.00 to 99.99

* Pr 0.41

PWM switching frequency has a default setting of 9kHz in

Unidrive LFT

Key:

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

OL

0

Default(

Ö

)

VT

0

1

SV

Type

RW Bit

RW Bit P

3 (0)* RW Txt

4 POLE (1)

0.92

200V drive: 220

400V drive: EUR> 400

USA> 460

0

EUR> 1450

USA> 1770

EUR> 50

USA> 60

FLC

OPENLP

(0)

CL.VECT

(1)

1

6 POLE (3) RW Txt

1 RW Uni S

P

P

0

0

SErVO

(2)

RW Uni

RW Uni

RW Uni

RW Uni

RW Txt R

RO Uni

RO Uni

P

P

P

R

S

Reset required for new value to take effect

New parameter-value saved at power-down

P Protected; forbidden as destination parameter

FLC Full-load current (max. continuous)

Types of current range

FLC Full load current of the drive (maximum continuous output current up to 40 o

C ambient temperature). Displayed in Pr 11.32

{ 0.33

}.

I

MAX

A Maximum overload output current of the drive up to 40 o ambient temperature, derived as follows:

C

Size 1 to 4: OL> 150% x FLC

CL> 175% x FLC

Size 5: 150% x FLC

I

MAX

%

See section 8.2

Current limits on page 98 for the definition of

I

MAX

%.

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

Operation mode abbreviations:

OL> Open loop

CL> Closed loop (which incorporates closed loop vector and

VT> servo mode)

Closed loop vector mode

SV> Servo

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Installation

Getting

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Menu 0

Figure 6-1 Unidrive menu 0 logic diagram (excluding VTC)

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

LOCAL /

REMOTE

JOG

SELECT

RUN

FORWARD

RUN

REVERSE RESET

OL> EXTERNAL TRIP

CL> DRIVE ENABLE

Reference selection

Frequency/speed ref. 1

(remote)

6

Reference selector

0.05

Minimum frequency/ speed clamp

0.01

0.02

Maximum frequency/speed clamp

Skip frequencies/ speeds

Pre-ramp reference

0.11

Ramps

6

Frequency/speed ref. 2

(local)

Preset references

(see the Unidrive

Advanced User Guide )

Precision reference

(not used with Menu 0)

0.35

Keypad reference

0.20

Skip frequency/ speed 1

0.21

Skip freq./speed band 1

0.22

Skip frequency/ speed 2

0.23

Skip freq./speed band 2

0.03

Acceleration rate

0.04

Deceleration rate

0.15

Ramp mode selector

Jog reference

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown in their default settings

66

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Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

THERMISTOR

OL> FREQUENCY

CL> SPEED TORQUE

OL> AT SPEED

CL> AT ZERO SPEED

Post-ramp reference

0.12

S-ramp

S-ramp enable

0.18

0.19

S-ramp da/dt limit

CL> Speed-loop PID gains

0.07

0.08

Speed-loop proportional gain

Speed-loop integral gain

Motor control

0.06

0.16

Current limit

Stop mode selector

0.39

Motor parameters

0.42 ~ 0.47

No. of poles

Power factor

Rated voltage

Rated speed

Rated current

Rated frequency

0.09

Speed-loop derivative gain

OL> Motor-voltage control

0.10

0.07

Voltage mode selector

Estimated motor speed

0.08

Boost voltage

0.09

Dynamic V/f select

_

+

Drive

_

+

Motor speed

0.10

15 way sub-D connector

0.13

Motor active-current

Power stage

0.41

PWM switching frequency

Resistor optional

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6.1.2 Unidrive VTC

Parameter

0.00

Operating mode, Macro selection,

Configuration, Saving

0.01

Minimum frequency

0.02

Maximum frequency

0.03

Acceleration rate

0.04

Deceleration rate

0.05

Reference selector

0.06

Current limit

0.07 Voltage mode selector

0.08 Voltage boost

0.09 Dynamic V/f select

0.10 Estimated motor speed

0.11 Pre-ramp reference

0.12

Post-ramp reference

0.13

Motor active-current

0.14

Total motor current

0.15

Ramp mode selector

0.16

Stop mode selector

0.17

Total motor power

0.18

S-Ramp enable

0.19

S-Ramp da / dt limit

0.20

Skip frequency 1

0.21

Skip band 1

0.22

Drive rated current (FLC)

Electrical

Installation

{ 1.07

}

{ 1.06

}

{ 2.11

}

{ 2.21

}

{ 1.14

}

{ 4.07

}

{ 5.14

}

{ 5.15

}

{ 5.13

}

{ 5.04

}

{ 1.03

}

{ 2.01

}

{ 4.02

}

{ 4.01

}

{ 2.04

}

{ 6.01

}

{ 5.03

}

{ 2.06

}

{ 2.07

}

{ 1.29

}

{ 1.30

}

{ 11.32

}

Getting

Started

0.23

Analog input 1 mode selector

0.24

Preset frequency 1

0.25

Preset frequency 2

0.26

Standard ramp voltage

0.27

Current control P gain

0.28

Current control I gain

0.29

DC bus voltage

0.30

Last trip

0.31

Macro number

0.32

Number of auto-reset attempts

0.33

Auto-reset time delay

0.34

User security code

0.35

Serial comms. mode

0.36

Serial comms. baud rate

0.37

Serial comms. address

0.38

Initial parameter displayed

0.39

Synchronise to a spinning motor

0.40

Autotune

0.41

PWM switching frequency

0.42

Motor - no. of poles

0.43

Motor - rated power factor

0.44

Motor - rated voltage

0.45

Motor - rated speed

0.46

Motor - rated current

0.47

Motor - rated frequency

0.48

Overload accumulator

0.49

Security status

0.50

Software version number

{ 7.06

}

{ 1.21

}

{ 1.22

}

{ 2.08

}

{ 4.13

}

{ 4.14

}

{ 5.05

}

{ 10.20

}

{ 11.37

}

{ 10.34

}

{ 10.35

}

{ 11.30

}

{ 11.24

}

{ 11.25

}

{ 11.23

}

{ 11.22

}

{ 6.09

}

{ 5.12

}

{ 5.18

}

{ 5.11

}

{ 5.10

}

{ 5.09

}

{ 5.08

}

{ 5.07

}

{ 5.06

}

{ 4.19

}

{ 11.29

}

Menu 0

Running the motor

Range(

Ú

)

Optimisation

0 to 9,999

0 to [Pr 0.02

]Hz

0 to 250.0Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 5

0 to I max

%

Ur_S (0), Ur_l (1),

Ur (2), Fd (3)

0.0 to 15.0 %

0 or 1

±6,000 rpm

±1,000.0 Hz

±1,000.0 Hz

±I max

A

0 to 400.0 Hz

Stnd.Hd (0), FASt (1), Stnd.Ct (2)

COASt (0), rP (1), rP-dcI (2), dcI (3), td.dcI (4)

±P

MAX

0 or 1

0 to 3,000.0 s 2 /100 Hz

0.0 to 1,000.0 Hz

0.0 to 5.0 Hz

2.10 to 202 A

VOLt (0), 0 - 20 (1), 20 - 0 (2), 4 - 20.tr (3),

20 - 4.tr (4), 4 - 20.Lo (5), 20 - 4.Lo (6),

4 - 20.Pr (7), 20 - 4.Pr (8)

±1,000.0 Hz

±1,000.0 Hz

200V drive: 0 to 400 V

400V drive: 0 to 800 V

0 to 30,000

0 to 30,000

200V drive: 0 to 415 V

400V drive: 0 to 830 V

0 to 200

0, 1, 2, 3, 5

0 to 5

0.0 to 25.0 s

0 to 255

ANSI 2 (0), ANSI 4 (1), OUtPUt (2), INPUt (3)

4,800 (0), 9,600 (1), 19,200 (2) baud

0.0 to 9.9 Group.Unit

Pr 0.00

to Pr 0.50

0 or 1

0 or 1

3 (0), 4.5 (1), 6 (2), 9 (3),

12 (4) kHz

2 POLE (0) to 32 POLE (15)

0.000 to 1.000

200V drive: 0 to 240 V

400V drive: 0 to 480 V

0 to 6,000 rpm

0 to FLC A

0 to 1,000.0 Hz

0 to 100 %

0 or 1

1.00 to 99.99

Macros

Advanced

Parameters

Technical

Data

Default(

Ö

)

0

0

EUR> 50, USA> 60

60

60

0

120

Fd (3)

3.0

0

Stnd.Ct (2) rP (1)

0

450.0

0

0.5

VOLt (0)

0

0

200V drive: 375

400V drive: EUR> 750, USA> 775

20

20

0

0

1.0

149

ANSI 4 (1)

EUR> 4,800, USA> 9,600

1.1

EUR> Pr 0.10

, USA> Pr 0.12

0

0

3 (0)

4 POLE (1)

0.92

200V drive: 220

400V drive: EUR> 400,

USA> 460

0

FLC

EUR> 50, USA> 60

0

1

Diagnostics

UL Listing

Information

Type

RW Txt R

RW Bi

RW Bi

RW Uni

RW Uni

RW Uni

RO Uni P

RO Txt S P

RO Uni

RW Uni

RW Uni

RW Uni S P

RW Txt R P

RW Txt

RW Uni

P

P

P RW Uni

RW Bit

RW Bit P

RW Txt

RW Txt P

RW Uni S P

RW Uni

RW Uni

RW Uni

RW Uni

RO Uni

RO Bit

RO Uni

P

P

P

P

P

P

P

P

P

P

RW Uni R

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Txt

RW Uni

RW Bit

RO Bi

RO Bi

RO Bi

RO Bi

RO Uni

RW Txt

RW Txt

RO Bi

RW Bit

RW Uni

RW Uni

RW Uni

RO Uni

Key:

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

R

S

Reset required for new value to take effect

New parameter-value saved at power-down

P Protected; forbidden as destination parameter

FLC Full-load current (max. continuous)

68

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Menu 0

Running the motor

Types of current range

FLC Full load current of the drive (maximum continuous output current up to 40 o

C ambient temperature). Displayed in Pr 11.32

{ 0.22

}.

I

MAX

A Maximum overload output current of the drive up to 40 o ambient temperature, derived as follows:

C

120% x FLC

I

MAX

%

See section 8.2

Current limits on page 98 for the definition of

I

MAX

%.

P

MAX

=

MAX

×

1000

Optimisation Macros

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

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Installation

Electrical

Installation

Getting

Started

Menu 0

Figure 6-2 Unidrive VTC menu 0 logic diagram

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Reference selection

Frequency/speed ref. 1

6

Reference selector

0.05

PRESET

SELECT

ANALOG INPUT/

PRESET REF

SELECT

RUN

FORWARD

RUN

REVERSE RESET

EXTERNAL

TRIP

Minimum frequency clamp

0.01

0.02

Maximum frequency/speed clamp

Skip band

Pre-ramp reference

0.11

Ramps

6

Frequency/speed ref. 2

All preset references

(not used with Menu 0)

Preset reference 1

Preset reference 2

0.20

Skip frequency1

0.21

Skip frequency band 1

0.03

Acceleration rate

0.04

Deceleration rate

0.15

Ramp mode selector

Precision reference

(not used with Menu 0)

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown in their default settings

70

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Getting

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Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

S-ramp

S-ramp enable

0.18

Post-ramp reference

0.12

0.19

S-ramp da/dt limit

THERMISTOR FREQUENCY

TOTAL MOTOR

CURRENT

EUR> AT SPEED

USA> DRIVE RUNNING

0.06

0.16

0.39

Motor control

Current limit

Stop mode selector

0.26

0.27

Standard ramp voltage

Current-loop proportional gain

0.28

Motor parameters

0.42 to 0.47

No. of poles

Power factor

Rated voltage

Rated speed

Rated current

Rated frequency

Motor-voltage control

0.07

Voltage mode selector

0.08

Boost voltage

0.09

Dynamic V/f select

0.10

Estimated motor speed

_

+

Drive

0.41

0.29

Power stage

PWM switching frequency

DC bus voltage

0.13

Motor active-current

0.14

Total motor current

0.17

Total motor power

0.48

Overload accumulator

_

+

Resistor optional

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Getting

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Menu 0

6.2 Menu 0 full descriptions

6.2.1 Menu 0 configuration

Ú

0.00

RW

Operating mode, Macro selection, Configuration,

Saving

Uni

0 to 9,999

Ö

R

0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Open-loop

Set Pr 0.02

at the required maximum output frequency for both directions of rotation. The frequency reference cannot cause the drive to run at a frequency higher than [Pr 0.02

].

[Pr 0.02

] is a nominal value; slip compensation may cause the actual frequency to be higher.

Closed-loop

Set Pr 0.02 at the required maximum motor speed for both directions of rotation. The speed reference cannot cause the drive to run the motor at a speed higher than [Pr 0.02

].

Value Function

1000 Save new parameter-values

1233

Restore parameters to their default values for 50Hz AC supply frequency (Europe)

1244

Restore parameters to their default values for 60Hz AC supply frequency (USA)

1253

Enable the operating mode of the drive to be changed and restore parameters to their default values for 50Hz AC supply frequency

(Europe)

1254

Enable the operating mode of the drive to be changed and restore parameters to their default values for 60Hz AC supply frequency (USA)

2001 Macro 1 Easy mode

2002 Macro 2 Motorized potentiometer

2003 Macro 3 Preset speeds

2004 Macro 4 Torque control

2005 Macro 5 PID control

2006 Macro 6 Axis-limit control

2007 Macro 7 Brake control

2008 Macro 8 Digital lock / shaft orientation

CAUTION

For closed loop vector operation at motor frequencies greater than 400Hz (24,000rpm for 2-pole motors) may result in instability. For further advice, contact the supplier of the drive.

6.2.3 Ramps, Speed reference selection, Current limit

0.03 {2.11} Acceleration rate

OL

RW Uni

Ú

0.0 to 3,200.0s/100Hz

Ö

5*

CL

Ú

VT> 0 to 3,200.0

s/1,000rpm

SV> 0 to 32.000

s/1,000rpm

Ö

2

0.2

*This parameter has a default setting of 60s in Unidrive VTC.

Set Pr 0.03

at the required rate of acceleration.

Note that larger values produce lower acceleration. The rate applies in both directions of rotation.

Press after setting Pr 0.00

at the required value.

6.2.2 Speed limits

0.01 {1.07}

OL> Minimum frequency

CL> Minimum speed

OL

CL

RW

Ú

Ú

Uni

0 to [Pr 0.02

]Hz

0 to [Pr 0.02

]rpm

Ö

Ö

(When the drive is jogging, [Pr 0.01

] has no effect.)

0

0

Open-loop

Set 0.01

at the required minimum output frequency of the drive for both directions of rotation. The drive runs at the minimum frequency when the frequency reference is zero.

[Pr 0.01

] is a nominal value; slip compensation may cause the actual frequency to be higher.

Closed-loop

Set Pr 0.01 at the required minimum motor speed for both directions of rotation. The motor runs at the minimum speed when the speed reference is zero.

0.02 {1.06}

OL

CL

RW

Ú

Ú

OL> Maximum frequency

CL> Maximum speed

Uni

0 to 1,000Hz*

VT> 0 to 30,000rpm

SV> 0 to 30,000rpm

Ö

Ö

EUR> 50

USA> 60

EUR> 1,500

USA> 1,800

3,000

* This parameter has a maximum range of 250Hz in Unidrive VTC.

(The drive has additional over-speed protection.)

0.04 {2.21} Deceleration rate

OL

CL

RW Uni

Ú

0.0 to 3,200.0s/100Hz

Ö

Ú

VT> 0 to 3,200.0

s/1,000rpm

SV> 0 to 32.000

s/1,000rpm

Ö

10*

2

0.2

*This parameter has a default setting of 60s in Unidrive VTC.

Set Pr 0.04

at the required rate of deceleration.

Note that larger values produce lower deceleration. The rate applies in both directions of rotation.

0.05 {1.14} Reference selector

RW Uni

OL

Ú

0 to 5

Ö

CL

Ú

0 to 5

Ö

EUR> 0*

USA> 4*

EUR> 0

USA> 0

*This parameter has a European and USA default setting of 0 in Unidrive

VTC.

The default setting of Pr 0.05

depends on the default configuration of the drive and the operating mode, as follows:

EUR

USA

USA

All operating modes

Closed-loop modes

Open-loop mode

0

0

4

Terminal mode

Terminal mode

Keypad mode

The default settings apply also when a macro is enabled.

72

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Getting

Started

Menu 0

Use Pr 0.05

to select the required frequency/speed reference, as follows:

Setting Control mode Function

0

1

2

3

4

5

Terminal

Terminal

Terminal

Terminal

Keypad

Terminal

Analog frequency / speed reference selected by ANALOG INPUT 1 / INPUT 2 contact

Analog frequency / speed reference 1 selected

Analog frequency / speed reference 2 selected

Preset frequency / speed references selected

(not used with Menu 0)

Frequency / speed controlled by the keypad

Precision reference selected

(not used with Menu 0)

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

6.2.4 Voltage boost (open-loop),

Speed-loop PID gains (closed-loop)

0.07 {5.14}

0.07 {3.10}

RW

OL

CL

Ú

Ú

OL> Voltage mode selector

CL> Speed controller proportional gain

Uni

Ur_S (0), Ur_l (1), Ur (2),,

Fd (3)

0 to 32,000 %

Ö

Ö

Ur_l (1)*

200

UL Listing

Information

OL> P

*This parameter has a default setting of Fd (3) in Unidrive VTC.

Open-loop

0.06 {4.07} Current Limit

OL

VT

SV

RW

Ú

Ú

Ú

Uni

0 to I

MAX

%

*This parameter has a default setting of 120% in Unidrive VTC.

For the definition of I

MAX

%, seesection 8.2

Current limits on page 98.

Pr 0.06

limits the maximum output current of the drive (and hence maximum motor torque) to protect the drive and motor from overload.

Set Pr 0.06

at the required maximum torque as a percentage of the rated torque of the motor, as follows:

Pr 0.06

=

T

T

R

RATED

× 100 (%)

Where:

T

R

T

RATED

Required maximum torque

Motor rated torque

Ö

Ö

Ö

150*

150

175

Setting

Ur_S

Ur_I

Ur

Fd

0

1

2

3

Function

Vector modes

Motor stator resistance is measured each time the drive is started.

Motor stator resistance is measured at power-up if the

EXTERNAL TRIP contact is closed and no other trip condition exists.

Motor stator resistance is not measured (use this mode only after having used Ur_S or Ur_I to measure the stator resistance).

Fixed boost mode

Fixed voltage boost that can be manually adjusted by parameter 0.08

Boost voltage .

Use Pr 0.07

(Pr 5.14

) to select fixed voltage boost, or Vector control of voltage boost. Fixed boost requires a value to be set in Pr 0.08

Boost voltage

by the user. See Figure 6-3. Fixed boost should be used when

Pr 0.39

Synchronize to a spinning motor is set at 1.

Figure 6-3 Effect of fixed voltage boost on the voltage-tofrequency characteristic

Motor voltage

Alternatively, set 0.06 at the required maximum active (torqueproducing) current as a percentage of the rated active current of the motor, as follows:

Pr 0.06

=

I

I

R

× 100

RATED

(%)

Where:

I

R

I

RATED

Required maximum active current

Motor rated active current

[0.08]

Voltage boost

F requency

Vector control causes the voltage boost to be automatically regulated according to the load on the motor.

Vector control requires the value of stator winding resistance to be stored in a parameter in the drive. The three Vector modes allow the resistance to be measured under different circumstances.

Closed-loop

Pr 0.07

(Pr 3.10

) operates in the feed-forward path of the speed-control

loop in the drive. See Chapter 8 Optimisation .

0.08 {5.15}

0.08 {3.11}

OL

CL

OL> Voltage boost

CL> Speed controller integral gain

RW

Ú

Uni

0 to 25.0 % of motor rated voltage*

Ú

0 to 32,000

Ö

Ö

3.0

100

*This parameter has a maximum range of 15% in Unidrive VTC.

Open-loop

When Pr 0.07

Voltage mode selector is set at Fd , set Pr 0.08

(Pr 5.15

) at the required value for the motor to run reliably at low speeds.

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Menu 0

Running the motor

See Figure 6-3.

Excessive values of Pr 0.08

can cause the motor to be overheated.

Closed-loop

Pr 0.08

(Pr 3.11

) operates in the feed-forward path of the speed-control

loop in the drive. See Chapter 8 Optimisation .

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Closed-loop

Pr 0.10

(Pr 3.02

) indicates the value of motor speed that is obtained from the speed feedback.

The value of Pr 0.10

is applied to the analog output on terminal 9 to indicate speed.

0.09 {5.13} Dynamic V/f select

OL

RW

Ú

Bit

0 or 1

Ö

0

Open-loop

Set Pr 0.09

(Pr 5.13

) at 0 when the V/f characteristic applied to the motor is to be fixed. It is then based on the rated voltage and frequency of the motor.

Set Pr 0.09

at 1 when reduced power dissipation is required in the motor when it is lightly loaded. The V/f characteristic is then variable resulting in the motor voltage being proportionally reduced for lower motor

currents. Figure 6-4 shows the change in V/f slope when the motor

current is reduced.

Figure 6-4 Fixed and variable V/f characteristics

Motor voltage

AC supply voltage

0.11 {1.03} Pre-ramp reference

OL

CL

RO

Ú

Ú

Bi

±1,000Hz

±30,000rpm

Ö

Ö

0.12 {2.01} Post-ramp reference

OL

CL

RO

Ú

Ú

Bi

±1,000Hz

±30,000rpm

Ö

Ö

When the frequency/speed is constant, [Pr 0.12

] = [Pr 0.11

]. During acceleration and deceleration, the two values may differ.

OL> [Pr 0.12

] differs from [Pr 0.11

] also under either of the following conditions:

• When the drive is in current limit

• During braking in a standard ramp mode (Pr 0.15

Ramp mode selector set at Stnd.Hd

or Std.Ct

).

I

MOTOR

Ú

0.13 {4.02} Motor active-current

RO Bi

±I max

A Ö

When the motor is being driven below its rated speed, the torque is proportional to [Pr 0.13

].

Frequency

0.09 {3.12} Speed control D gain

CL

RW

Ú

Uni

0 to 32,000

Ö

0

Closed-loop

Pr 0.09

(Pr 3.12

) operates in the feedback path of the speed-control loop

in the drive. See Chapter 8 Optimisation

.

6.2.6 Jog reference, Ramp mode selector, Stop and torque mode selectors

0.14 {1.05} Jog reference

OL

CL

RW

Ú

Ú

Uni

0 to 400.0Hz

0 to 4,000.0rpm

Ö

Ö

1.5

50

Enter the required value of jog frequency/speed.

The frequency/speed limits affect the drive when jogging as follows:

Frequency-limit parameter

0.01

Minimum frequency/speed

0.02

Maximum frequency/speed

Limit applies

No

Yes

6.2.5 Monitoring

0.10 {5.04}

0.10 {3.02}

OL> Estimated motor speed

CL> Motor speed

OL

CL

RO

Ú

Ú

Bi

±60,00rpm

±30,000rpm

Ö

Ö

Open-loop

Pr 0.10

(Pr 5.04

) indicates the value of motor speed that is estimated from the following:

Pr 0.12 Post-ramp frequency reference

Pr 0.42 Motor - no. of poles

The value of Pr 0.10

is applied to the analog output on terminal 9 to indicate estimated speed.

Ú

0.15 {2.04} Ramp mode selector

RW Txt

(See below)

Ö

Select the required ramp mode as follows:

Stnd.Ct (2)

Stnd.Hd

FASt

Stnd.Ct

(0)

(1)

(2)

Standard ramp with ramp hold

Fast ramp

Standard ramp with proportional control

(refer to the Unidrive Advanced User Guide )

For more information, see Pr 2.04

in section 10.22

Advanced

Features on page 182.

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Menu 0

0.16 {6.01} Stop mode selector

OL

RW

Ú

Txt

0 to 4 (see below)

CL

Ú

0 to 3 (see below)

Ö

Ö

VT

SV

Select the required stop mode as follows: rP (1) rP (1) no.rP (1)

COASt rP rP-dcI dcI td-dcI

COASt rP no.rP

rP-POS

Open loop

(0) The motor is allowed to coast

(1) Ramp to a stop

(2) Ramp followed by 1 second DC injection

(3)

(4)

AC injection braking followed by 1 second DC injection braking

DC injection braking for an adjustable time (see the

Unidrive Advanced User Guide ).

Closed loop

(0) The motor is allowed to coast

(1) Ramp to a stop

(2) Stop under current limiting (no ramp)

(3) Ramp, orientate and stop

For more information, see Pr 6.01

in section 10.22

Advanced

Features on page 182.

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information curved parts of the S will be 25% of the original ramp if S ramp is enabled.

Demanded speed

Programmed ramp rate

Rate of change of S-ramp acceleration time

Since the ramp rate is defined in s/100Hz or s/1000rpm and the S ramp parameter is defined in s2 /100Hz or s2 /1,000rpm, the time T for the

'curved' part of the S can be determined from:

T =

Ramp rate

Enabling S ramp increases the total ramp time by the period T since an additional T/2 is added to each end of the ramp in producing the S.

0.17 {4.11} Torque mode select

OL

CL

RW

Ú

Ú

Uni

0 to 1

0 to 4

Ö

Ö

Set Pr 0.17

as follows:

0

0

Setting

0

1

2

3

4

Open-loop Closed-loop

Frequency control Speed control

Torque control Torque control

Torque control with speed over-ride

Coiler/uncoiler mode

Speed control with torque feed-forward

For more information, see Pr 4.11

in section 10.22

Advanced

Features on page 182.

6.2.8 Skip bands

0.20 {1.29}

0.22 {1.31}

OL

CL

RW

Ú

Ú

Skip frequency/speed 1

Skip frequency/speed 2

Uni

0.0 to 1,000.0Hz

0 to 30,000rpm

See Pr 0.21

and Pr 0.23

Skip bands .

Ö

Ö

0.0

0

6.2.7 S-ramp

0.18 {2.06} S-Ramp enable

RW Bit

Ú

0 or 1

Ö

0

Setting this parameter enables the S ramp function. S ramp is disabled during deceleration using Standard ramp with P control (Pr 2.04

= 2).

When the motor is accelerated again after decelerating in standard ramp with P control the acceleration ramp used by the S ramp function is reset to zero.

0.21 {1.30}

0.23 {1.32}

OL

CL

RW

Ú

Ú

Skip band 1

Skip band 2

Uni

0 to 5.0Hz

0 to 50rpm

Ö

Ö

0.5

5

Use skip frequencies/speeds and skip bands to prevent the motor from running at speeds that cause mechanical resonances in the machine.

During acceleration and deceleration, the drive passes through the skip bands, but it does not stabilize in a skip band.

Up to two skip frequencies/speeds can be programmed.

Enter the centre frequency/speed of the band in Pr 0.20

(or Pr 0.22

) Skip frequency/speed , then enter the width of each sideband in Pr 0.21

(or Pr

0.23

) Skip band .

When the value of a skip frequency is zero, the related skip band is disabled.

0.19 {2.07} S-ramp da/dt limit

OL

CL

RW Uni

Ú

0.0 to 3,000.0s

2 /100Hz

Ö

Ú

0.000 to 30,000 s 2 /1,000rpm

Ö

VT

SV

3.1

1.5

0.03

This parameter defines the maximum rate of change of acceleration/ deceleration that the drive will operate with. The default values have been chosen such that for the default ramps and maximum speed, the

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Menu 0

Figure 6-5 Action of skip frequency/speed 1 and skip band 1

Running the motor

Optimisation Macros

Advanced

Parameters

6.2.10 Miscellaneous

Technical

Data

Diagnostics

UL Listing

Information

Ú

0.27 {8.27} EUR> Positive logic select

RW Bit

0 or 1

Ö

R

0

P

European configuration

Use Pr 0.27

(Pr 8.27

) to select the logic polarity of the digital inputs, as follows:

0

1

Negative logic

Positive logic

Ú

0.27 {6.04} USA> Sequencing mode selector

RW Uni

0 to 4

Ö

Refer to Pr 6.04 in the Unidrive Advanced User Guide .

4

P

When the frequency/speed (input) reference ascends into a skip band, the resulting (output) reference remains at the lower edge of the band until the input reference has reached the upper edge of the band. The output reference then jumps to the value of the input reference.

When the frequency/speed (input) reference descends into a skip band, the resulting (output) reference jumps immediately to the lower edge of the band.

Example

Skip speed 1 = 250rpm

Enter 250 in Pr 0.20

Required skip band = 60rpm

Enter 30 in Pr 0.21

(Skip band = 2 x Value of skip-band parameter.)

6.2.9 Analog input modes

Ú

0.24 {7.06}

0.25 {7.11}

RW

Analog input 1 mode selector

Analog input 2 mode selector

Txt

0 to 8

Ö

R

VOLt (0)

Set the required mode as follows:

Setting

VOLt

0-20

20-0

4-20.tr

20-4.tr

4-20.Lo

20-4.Lo

4-20.Pr

20-4.Pr

(4)

(5)

(6)

(7)

(8)

(0)

(1)

(2)

(3)

Input signal When current signal ≤ 3mA...

±10V

0 to 20mA Signal treated as zero

20mA to 0 Signal treated as zero

4mA to 20mA Drive trips

20mA to 4mA Drive trips

4mA to 20mA Drive runs at minimum or low speed

20mA to 4mA Drive runs at minimum or low speed

4mA to 20mA Drive runs at previous speed

20mA to 4mA Drive runs at previous speed

0.28 {4.13} EUR> Current-loop proportional gain

OL

CL

RW

Ú

Ú

Uni

0 to 30000

VT> 0 to 30,000

SV> 0 to 30,000

Ö

Ö

20

150

130

0.29 {4.14} EUR> Current-loop integral gain

OL

CL

RW

Ú

Ú

Uni

0 to 30,000

VT> 0 to 30,000

SV> 0 to 30,000

Ö

Ö

40

2000

1200

European configuration

The values of Pr 0.28

and Pr 0.29

affect the dynamic performance of the drive in the following conditions:

• Current-limit in frequency/speed control

• Torque control

• Braking when Pr 0.15

Ramp mode selector is set at Stnd.Ct

(default)

• Synchronizing the drive to a spinning motor (Pr 0.39

set at 1)

• Loss of AC supply when Pr 6.03

AC supply loss mode selector is set at ridE.th

.

For information on adjusting these parameters, refer to Pr 4.13

and Pr

4.14

in the Unidrive Advanced User Guide .

0.28 {1.01} USA> Frequency/speed demand

OL

RO

Ú

Bi

±1,000Hz

Ö

CL

Ú

±30,000rpm

Ö

USA configuration

Pr 0.28

differs from Pr 0.11

Pre-ramp reference in that it indicates the demanded reference before frequency/speed limiting and skip bands.

0.26 {7.14} Analog input 2 destination parameter

RW Txt

Ú

Pr 0.00

to Pr 21.50 (Menu param.)

Ö

R

Pr 1.37

P

A signal applied to an input terminal is converted into a value which is applied to a parameter. The function of this parameter determines the function of the terminal.

By default, terminal 7 (Analog input 2) is assigned to Pr 1.37

Analog reference 2 . Use Pr 0.26

to change the function of terminal 7.

76

0.29 {8.23} USA> Terminal-29 destination parameter

RW Uni

Ú

Pr 0.00 to Pr 20.50

(Menu param.)

Ö

R

Pr 1.41

P

USA configuration

Use Pr 0.29

to change the function of the digital input on terminal 29.

The default setting (Pr 1.41

) gives LOCAL/REMOTE switching.

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0.30 {6.13} Forward / reverse key enable

Ú

RW Bit

0 or 1

Ö

0

The drive is supplied with the button disabled. To enable this button, set Pr 0.30

FWD/REV enable at 1.

0.31 {11.37} Macro number

Ú

RO Uni

0 to 9

Ö

Getting

Started

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

6.2.12 Serial communications,

Parameter displayed after power-up

UL Listing

Information

Pr 0.31

indicates the number of the macro that is currently in operation.

0.36 {11.25} Serial comms. baud rate

Ú

RW Txt

4,800 (0)

9,600 (1)

19,200 (2)

2,400 (3)

Ö

4800 (0)*

P

*This parameter has a default setting of 9,600 (1) in the VTC variant when USA defaults are loaded.

Use Pr 0.36

to select the required baud rate for serial communications when a UD71 Basic serial communications large option module is fitted in the drive.

0.32 {11.24} Serial comms. mode

Ú

RW Uni

ANSI 2 (0)

ANSI 4 (1)

OUtPUt (2)

INPUt (3)

Ö

R

ANSI 4 (1)

P

Use Pr 0.32

to select the required serial communications mode as follows:

ANSI 2 (0) ANSI protocol, two-wire

ANSI 4 (1) ANSI protocol, four-wire

Use the following modes to transfer the value of a parameter in one drive to a parameter in another drive:

OUtPUt (2) Transmit the value of the parameter specified by the setting of

Pr 11.27

Serial comms. source / destination parameter

(CT protocol)

INPUt (3) Apply the received value to the parameter specified by the setting of Pr 11.27

Serial comms. source / destination parameter (CT protocol)

0.33 {11.32} Drive rated current (FLC)

Ú

RO Uni

2.10 to 1,920 A

Ö

P

0.34 {11.30} User security code

Ú

RW Uni

0 to 255

S

Ö

149

P

Use Pr 0.34

to set up a User Security code. Irrespective of the code number entered in Pr 0.34

, it always indicates the default value 149 .

When Pr 0.34

is actually set at 149 , no User Security is applied.

See section 5.10

Parameter security on page 62

.

6.2.11 Keypad-reference monitoring

0.35 {1.17} Keypad control mode reference

OL

RO

Ú

Bi

±[Pr 0.02

]Hz

S

Ö

CL

Ú

±[Pr 0.02

]rpm

Ö

P

0.35

indicates the value of the frequency/speed reference when the drive is operating in Keypad mode. The reference is then controlled by the following control buttons (when the display is in Status mode):

The value is automatically saved when the drive is powered-down. At the next power-up, the drive ramps up to the frequency/speed that applied before the power-down.

0.37 {11.23} Serial comms. address

Ú

RW Uni

0.0 to 9.9 (Group.Unit)

Ö

1.1

P

Use Pr 0.37

to select the required address for serial communications when a UD71 Serial communications large option module is fitted in the drive.

Do not enter an address that contains a zero, since this is used when addressing a group of drives.

0.38 {11.22} Initial parameter displayed

Ú

RW Uni

Pr 0.00

to Pr 0.50

Ö

Pr 0.10

*

P

*This parameter has a default setting of Pr 0.11

in the VTC variant when

USA defaults are loaded.

At the time the AC supply is connected to the drive, Pr 0.10

Motor frequency/speed is automatically pre-selected as the initial parameter to be displayed. This results in the following:

1. After the AC supply is connected to the drive, and before any other parameter is selected, the value of Pr 0.10

is shown on the upper display. This allows the motor frequency/speed to be monitored without the need to select the parameter.

2. If the keypad is subsequently used to select another parameter, the value of the newly selected parameter is displayed in place of the initial parameter.

To select a different Menu 0 parameter to be displayed initially, enter the required parameter number in Pr 0.38

(e.g. to display Pr 0.12

Post-ramp frequency/speed reference , enter 0.12

).

6.2.13 Spinning motor, Autotune, PWM switching frequency

0.39 {6.09} Synchronise to a spinning motor

OL

CL

RW

Ú

Ú

Bit

0 or 1

0 or 1

Ö

Ö

0

1

Open-loop

Set Pr 0.39

at 1 for the drive to always automatically synchronise itself to the motor if the motor is already rotating when the drive is started.

If the drive is started when the motor is already spinning and Pr 0.39

is set at 0, the drive cannot detect the speed of the motor; the normal operation of the drive will cause the motor to be braked to a stand-still in the same way as DC injection braking. The drive will then accelerate the motor to the value of the frequency reference.

NOTE

Note

The drive can be synchronised to a single motor only. If more than one motor is connected to the drive, this function should not be used.

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Running the motor

Optimisation

NOTE

Note

For the drive to operate correctly during and after synchronisation, Pr

0.07

Voltage mode selector must be set at Fd.

The drive starts a sequence of operations at one quarter of the rated motor voltage in order to detect the frequency associated with the speed of the motor. The sequence is stopped when the motor frequency is detected. The stages in the sequence are as follows:

1. The frequency of the drive is set at maximum (the value of Pr 0.02

) in the direction that the motor was last driven. (If the AC supply to the drive was interrupted before an attempt is made to synchronise to a spinning motor, the drive always starts in the forward direction.)

2. The frequency is reduced to zero. If the motor frequency is detected during the reduction in drive frequency, the test is stopped. The drive frequency is set at the detected motor frequency and the drive takes control of the motor.

3. If the motor frequency is not detected, the drive is set at maximum frequency in the opposite direction, and the test is repeated.

4. If the motor frequency is still not detected, the drive frequency is set at 0Hz, and the drive takes control of the motor.

Closed-loop

Pr 0.39

is set at 1 by default. The value of Pr 0.12

Post-ramp reference is automatically set at the value of speed feedback. The drive then takes control of the motor.

When Pr 0.39

is set at 0, the motor will be decelerated under current limit until the motor speed meets the value of Pr 0.12

Post-ramp reference.

For more information, see section 10.22

Advanced Features on page 182.

OL

CL

RW

Ú

Ú

Macros

Uni

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

NOTE

Note

The Unidrive LFT default switching frequency is 9kHz, however, a limited

duty cycle applies. See Figure 2-3 Standard S4/S5 duty cycle (Unidrive

LFT) on page 10.

6.2.14 Motor parameters

0.42 {5.11} Motor - number of poles

OL

RW

Ú

Txt

2 to 32 poles

Ö

CL

Ú

VT> 2 to 32 poles

SV> 2 to 32 poles

Ö

Enter the number of motor poles (not pole pairs).

0.43 {5.10} Motor - power factor

0 to 1.000

VT> 0 to 1.000

SV> 1

S

Ö

Ö

4 (1)

4 (1)

6 (2)

0.92

0.92

1.0

P

P

Open-loop

Closed-loop Vector

When Autotune is used, the power factor of the motor is measured by the drive and stored in Pr 0.43

. The value can be seen when Pr 0.43

is accessed. The value may be slightly higher than the value stated on the motor rating plate.

If Autotune is not used, enter the value in Pr 0.43

.

Ú

0.40 {5.12} Autotune

RW Bit

0 or 1

Ö

0

Set Pr 0.40

at 1 to start the Autotune sequence. See Chapter

8 Optimisation .

Pr 0.40

is related to the advanced parameters as follows:

OL + VT> Pr 5.12 Magnetizing current test enable

SV> Pr 3.25 Encoder phasing test enable

P

0.44 {5.09} Motor - rated voltage

OL

CL

RW

Ú

Ú

Uni

0 to 480

VT> 0 to 480

SV> 0

Ö

Ö

Open-loop and Closed-loop Vector

Enter the value from the rating plate of the motor.

400

460

0

0.41 {5.18} PWM switching frequency

Ú

RW Txt

3 (0), 4.5 (1), 6 (2), 9 (3),

12 (4) kHz

Ö

3 (0)

If the switching frequency is increased from the default value, the power loss inside the drive is increased. The drive ensures the losses remain within acceptable levels by the use of an intelligent thermal model.

Intelligent thermal modelling in the drive effectively monitors the junction temperature of the IGBTs in the power stage. When the junction temperature is calculated to reach the maximum permissible value, two levels of protection occur, as follows:

1. When a PWM switching frequency of 6kHz, 9kHz or 12kHz is selected, the PWM switching frequency is automatically halved. This reduces switching losses in the IGBTs. (The value of parameter Pr

0.41

PWM switching frequency remains at the value set by the user.)

Then at one-second intervals, the drive will attempt to return the

PWM switching frequency to the original value. This will be successful when the thermal modelling has calculated that the temperature has reduced sufficiently.

2. If the junction temperature continues to rise (due to the output current) after the PWM switching frequency has been halved, and the temperature reaches the maximum permissible value, the drive will trip. The display will indicate trip code Oh1 .

If the drive is required to run at a high load continuously with an elevated

switching frequency, derating must be applied. Please see Table 11-

1 Unidrive and Unidrive VTC drive current ratings on page 190.

0.45 {5.08} Motor - rated speed

OL

CL

RW

Ú

Ú

Uni

0 to 6,000rpm

VT> 0 to 30,000rpm

SV> 0 to 30,000rpm

Ö

Ö

0

EUR> 1,450

USA> 1,770

0

Open-loop

This parameter should be set to the synchronous speed minus the slip speed if slip compensation is required.

Closed-loop Vector

This parameter should be set to the synchronous speed minus the slip speed.

Closed-loop Servo

Leave Pr 0.45

set at 0. This parameter is not used in this operating mode.

Ú

0.46 {5.07} Motor - rated current

RW Uni

0 to FLC A

Ö

FLC

FLC is the maximum permissible continuous output current of the drive up to 40°C ambient temperature and 3kHz PWM switching frequency.

Enter the value from the rating plate of the motor.

78

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0.47 {5.06} Motor - rated frequency

RW Bit

OL

CL

Ú

Ú

0 to 1,000.0Hz*

VT> 0 to 1,000.0Hz

SV> 0Hz

Ö

Ö

Getting

Started

EUR> 50

USA> 60

EUR> 50

USA> 60

0

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

NOTE

In contrast to all the other parameters in menu 0, this parameter does not exist in any other menu.

*This parameter has a maximum range of 250Hz in Unidrive VTC.

Open-loop and Closed-loop Vector

Enter the value from the rating plate of the motor.

0.50 {11.29} Software version number

Ú

RO Uni

1.00 to 99.99

Ö

P

Displays the first two sections of the software version of the drive.

6.2.17 Unidrive VTC Menu 0 differences

Menu 0 in Unidrive VTC contains some different parameters to menu 0 in Unidrive. The following menu 0 parameters are found in Unidrive VTC.

Any parameter not listed below is the same as open loop Unidrive.

6.2.15 Operating-mode selection

0.48 {11.31} Drive operating mode selector

Ú

RW Txt

(See below)

Ö

The settings for 0.48

are as follows:

Pr 0.48 setting

R

OPEN.LP (0)

Operating mode

P

Ú

0.14 {4.01} Total motor current

RO Uni

0 to I

MAX

A Ö

P

Pr 0.14

indicates the total motor current (the vector sum of Pr 0.13

Motor active-current and Pr 4.17

Motor magnetising current ).

0 Open-loop

1 Closed-loop Vector

Ú

0.17 {5.03} Total motor power

RO Bi

±P

MAX

Ö

P

Total output power of the drive (positive for power flow out of the drive output terminals).

2 Closed-loop Servo

Ú

0.22

RO

Drive rated current

Uni

2.10 to 202 A

Ö

P

3

For operation in this mode, refer to the

Unidrive Regen Installation Guide

See Chapter 8 Optimisation on page 92.

The operating mode cannot be changed while the drive is running.

Ú

0.23

Analog input 1 mode selector

RW Txt

VOLt (0), 0 - 20 (1), 20 - 0 (2),

4 - 20.tr (3), 20 - 4.tr (4),

4 - 20.Lo (5), 20 - 4.Lo (6),

4 - 20.Pr (7), 20 - 4.Pr (8)

Ö

R

VOLt (0)

6.2.16 Status information

0.49

RO

Security status

Uni

0 to 1,000

P

Ú Ö

1

This parameter indicates the current status of the drive parameter security system. Each digit indicates a particular aspect of security as follows:

Units digit: 0 = Standard security has been unlocked

1 = Standard security is still set

Tens digit: 0 = User security has been unlocked or is not active

1 = User security is active preventing RW access

Hundreds digit: 1 = Pr 11.30

not equal to 149*

Thousands digit: 1 = Pr 11.30

equal to zero*

* The value of Pr 11.30

is the last value written by the user. Pr 11.30

always appears as 149 when first accessed by the key pad to hide the real value last written by the user. If Pr 11.30 = 149 then user security is cleared. If Pr 11.30 = 0 then user security and security preventing access outside menu 0 is cleared.

Setting

VOLt

0-20

20-0

4-20.tr

20-4.tr

4-20.Lo

20-4.Lo

4-20.Pr

20-4.Pr

(3)

(4)

(5)

(6)

(0)

(1)

(2)

(7)

(8)

Input signal

±10V

0 to 20mA

20mA to 0

4mA to 20mA

20mA to 4mA

4mA to 20mA

20mA to 4mA

4mA to 20mA

20mA to 4mA

When current signal ≤ 30mA

Signal treated as zero

Signal treated as zero

Drive trips

Drive trips

Drive runs at minimum or low speed

Drive runs at minimum or low speed

Drive runs at previous speed

Drive runs at previous speed

0.24 {1.21} Preset frequency 1

Ú

0.25 {1.22} Preset frequency 2

RW Bi

±1000.0 Hz

Ö

0.0

Enter the value of frequency as required. When Pr 1.10

Bipolar reference select is set at 0, negative values are treated as zero. When

Pr 1.10

is set at 1, negative values will cause the drive to run in the reverse direction.

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0.26 {2.08} Standard ramp voltage

Ú

RW Uni

200V drive: 0 to 400 V

400V drive: 0 to 800 V

Ö 200V drive: 375

400V drive: EUR> 750, USA> 775

This voltage is used as the level for both standard ramp modes. If hold mode is used and this is set too low the drive will never stop, and if it is too high and no braking resistor is used the drive may trip on OV (DC bus over voltage). If Standard ramp with P control (Pr 2.04

= Stnd.Ct (2)) is used and Pr 2.08

is set too low the machine will coast to rest, and if it is set too high and no braking resistor is used it may trip on OV. The minimum level should be greater than the voltage produced on the DC bus by the highest supply voltage.

Normally the DC bus voltage will be approximately the rms supply voltage x √ 2.

WARNING

Care should be taken in the setting of Pr 2.08

. It is recommended that the setting should be at least 50V higher than the maximum expected level of the DC bus voltage. If this is not done, the motor may fail to decelerate on a STOP command.

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information reset count reaches the programmed value, any further trip of the same value will not cause an auto-reset.

If there has been no trip for 5 minutes then the reset count is cleared.

Auto reset will not occur on an External trip (Et).

0.33 {10.35} Auto-reset time delay

Ú

RW Uni

0.0 to 25.0 s

Ö

1.0

This parameter defines the time between a trip and an auto reset subject to the 10s minimum trip time for IGBT over-current trips (OI.AC and OI.br trips).

0.35 {11.24} Serial comms. mode

Ú

RW Txt

ANSI 2 (0), ANSI 4 (1),

OUtPUt (2), INPUt (3)

Ö

R

ANSI 4 (1)

P

Use Pr 0.32

to select the required serial communications mode as follows:

0.27 {4.13} Current-loop proportional gain

Ú

Ú

RW

RW

Uni

0 to 30,000

Uni

0 to 30,000

Ö

0.28 {4.14} Current-loop integral gain

Ö

20

40

The values of Pr 0.27

and Pr 0.28

affect the dynamic performance of the drive in the following conditions:

• Operation in current limit

• Braking when Pr 0.15

Ramp mode selector is set at Stnd.Ct (default)

• Loss of AC supply when Pr 6.03

AC supply loss mode selector is set at ridE.th.

See section 10.22.5

Mains loss modes on page 185 for more

information.

ANSI 2 (0) ANSI protocol, two-wire

ANSI 4 (1) ANSI protocol, four-wire

Use the following modes to transfer the value of a parameter in one drive to a parameter in another drive:

OUtPUt (2) Transmit the value of the parameter specified by the setting of

Pr 11.27

Serial comms. source / destination parameter

(CT protocol)

INPUt (3) Apply the received value to the parameter specified by the setting of Pr 11.27

Serial comms. source / destination parameter (CT protocol)

0.48 {4.19} Overload accumulator

Ú

RO Uni

0 to 100 %

Ö

P

When the total current level is above 105% motor rated current (Pr 5.07

x 1.05) the overload accumulator increases, until it reaches 100% when the drive will give an Ixt trip or apply a restriction on the current limit. The level of the accumulator is given by:

Accumulator = (I

2

/ (Pr 5.07

x 1.05)

2

) x (1 - e

-t/ τ

) x 100%

Ú

0.29 {5.05} DC bus voltage

RW Uni

200V drive: 0 to 415 V

400V drive: 0 to 830 V

Ö

P

NOTE

If the motor rated current parameter (Pr 5.07

) is modified the overload accumulator is reset to zero. This allows the drive to be used with more than one motor of different ratings without producing overload trips when the drive has been running with a large motor and then a smaller motor is connected.

0.30 {10.20} Last trip

Ú

RW Txt

0 to 200 V

S

Ö

P

See section 12.1

Trip indications on page 198 for details of the trip

codes.

If the drive trips, the trip code representing the cause of the trip is logged in Pr 0.30

. Pr 0.30

continues to display this trip until the drive trips with a different trip code.

0.32 {10.34} Number of auto-reset attempts

Ú

RW Uni

0 to 5

Ö

0

If this parameter is set to zero then no auto-reset attempts are made.

Any other value will cause the drive to automatically reset following a trip for the number of times programmed. Pr 10.35

defines the time between the trip and the auto reset. The reset count is only incremented when the trip is the same as the previous trip, otherwise it is reset to 0. When the

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7 Running the motor

Getting

Started

Menu 0

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

Motor overload protection

The values of the motor parameters affect the protection of the motor. The default values in the drive should not be relied upon. It is essential that the correct value is entered in Pr 0.46

Motor rated current . The overload protection level is 150%

(SV: 175%) of motor rated current. The protection level

maybe adjusted below 150% if required. Refer to Chapter

8 Optimisation on page 92 for further information. These

settings affect the thermal protection of the motor.

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

For operation with a resolver or SINCOS encoder an option module is

required. For option module terminal information see section

10.16

Menu 16 Small option module set-up on page 171 or the manual

which is supplied with the option module.

7.1.2 Selecting the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters.

Procedure

1. Enter either of the following values in parameter 0.00

, as appropriate:

1253 (Europe, 50Hz AC supply frequency)

1254 (USA, 60Hz AC supply frequency)

2. Change the setting of parameter 0.48

as follows:

Pr 0.48 setting Operating mode

0 Open-loop

CAUTION

If the keypad mode has been used previously, ensure that the keypad reference has been set to 0 using the and buttons as if the drive is started using the keypad it will run to the speed defined by the keypad reference (Pr 0.35

).

1 Closed-loop Vector

WARNING

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

7.1 Quick start set-up

7.1.1 Basic connections

This section shows the basic connections which must be made for the drive to run in the required mode. For minimal parameter settings to run

in each mode please see the relevant part of section 7.2

Quick Start commissioning .

Table 7-1

Drive control method

Terminal mode (Default configuration)

Requirements

Drive enable

Speed reference

Run forward or run reverse command

Connect thermistor or link to 0V

Keypad mode (Set Pr 0.05

= 4) Drive enable

Connect thermistor or link to 0V

2 Closed-loop Servo

3

For operation in this mode, refer to the

Unidrive Regen Installation Guide

The figures apply when serial communications are used.

3. Press or momentarily close the RESET contact.

The new setting takes effect and all the parameters revert to the appropriate default values for the new mode.

Table 7-2

Operating mode

Open loop mode

Closed loop vector mode

Servo

Requirements

Induction motor

Induction motor with speed feedback

Permanent magnet motor with speed and position feedback

Speed feedback

Suitable devices are:

• Incremental encoder (A, B),

• Resolver with 0.33 or 0.5 transformation ratio

• SINCOS encoder

Speed and position feedback

Suitable devices are:

• Incremental encoder with commutation signals (A, B, U, V, W)

• Resolver with 0.33 or 0.5 transformation ratio

• Stegmann SINCOS encoder with Hiperface serial communications

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Optimisation Macros

Figure 7-1 Minimum connections to get the motor running in any operating mode

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

C l e d

O p c t

U V W

A A

B B

Z Z 1

E

U V W

S r v o A A

B B

U U

V V

E

W W

Z Z 1

1 Marker pulse optional

2 Link to 0V if motor thermistor not present

3 Encoder screening must be connected to 0V at both the drive end and encoder end of the cable

4 Thermal overload for braking resistor to protect against fire risk. This must be wired to interrupt the AC supply in the event of a fault.

5 Encoder power supply:

5V, parameter 3.23

15V, parameter

= 0

3.23

= 1

Quadrature channel A

Quadrature channel A

Quadrature channel B

Quadrature channel B

Marker pulse channel Z

Marker pulse channel Z

Commutation channel U

Commutation channel U

Commutation channel V

Commutation channel V

Commutation channel W

Commutation channel W

Encoder supply

0V Common

Motor thermistor input

5

5

10

15

3

Encoder connector

15 way D-type

6

1

11

L1 L2 L3 U V W +

_

!

4

Braking resistor

L1 L2 L3

Fuses

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Data

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Information

5

6

7

8

9

10

11

1

2

3

4

+10V

Speed reference input

0V

2

Thermistor input

24

25

26

27

28

29

30

31

21

22

23

RUN FWD

RUN REV

ENABLE

0V m o d e

( 0.05

a d y p

= 4) m i a l o d e

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7.2 Quick Start commissioning

7.2.1 Open loop mode (including VTC variant)

Induction motor without feedback device

Action

Before powerup

Running the motor

Optimisation Macros

Advanced

Parameters

Detail

Ensure:

• Enable is closed (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

• Run signal is not given

• Motor is connected

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out, as detailed below.

Technical

Data

Diagnostics

UL Listing

Information

Power-up the drive

Enter motor nameplate details

Ensure:

• Drive displays ‘rdy’

If the drive trips, see Chapter 12 Diagnostics on page 198.

Enter:

• Motor rated current in Pr 0.46

(A)

• Motor rated frequency in Pr 0.47

(Hz)

• Motor rated voltage in Pr 0.44

(V) - check if or connection

• Number of poles in Pr 0.42

P = -----------------s

Where:

P = Number of poles f = Rated frequency (Hz)

N s

= Synchronous speed (rpm)

Mot X XXXXXXXXX

No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

V

230

400

Hz min -1 kW cos

CN = 14.5Nm

φ A

50 1445 2.20 0.80 8.50

4.90

240

415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

Set maximum frequency

Enter:

• Maximum frequency in Pr 0.02 (Hz)

0.02

t

Set acceleration

/ deceleration rates

Enter:

• Acceleration rate in Pr 0.03

(s/100Hz)

• Deceleration rate in Pr 0.04

(s/100Hz)

100Hz

0.03

0.04

t

Autotune

Save parameters

Run

Once this parameter is set, the motor will accelerate up to

2

/

3

base frequency without a run command being given. Once the measurement is complete, the motor will coast to a stop. The drive can be disabled at any time by pressing the

WARNING

• Set Pr 0.40

= 1 and wait for the drive display to return to ‘rdy’

If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Enter 1000 in Pr xx.00

Press the red reset button or toggle the reset digital input (ensure Pr xx.00

returns to 0)

Drive is now ready to run

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7.2.2 Closed loop vector mode

Induction motor with speed feedback

Action

Before power-up

Power-up the drive

Set feedback device parameters

Enter motor nameplate details

Detail

Ensure:

• Enable signal is not given (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

• Run signal is not given

• Motor is connected

• Feedback device is connected

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

• Change drive operating mode to closed loop vector

Set Pr xx.00

to 1253 / 1254 (USA).

Change Pr 0.48

to ‘CL.UECt’

Press the reset button

• Ensure the drive displays ‘inh’ (‘SEP.EC’ trip if 8V SINCOS encoder feedback is being used)

If the drive trips, see Chapter 12 Diagnostics on page 198.

Encoder

• Encoder power supply

Pr 3.23

= 0, 5V

Pr 3.23

= 1, 15V. (If Pr 3.23

= 1 then termination resistors should be disabled - Pr 3.24

= 1)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 3.21

Resolver

• The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation ratio of 0.5 (2:1), set Pr 16.10

= 1

SINCOS

• Encoder power supply

Pr 16.15

= 0, 5V

Pr 16.15

= 1, 8V. (Save parameters and cycle power to clear ‘SEP.EC’ trip)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 16.12

Enter:

• Motor rated power factor Pr 0.43

• Motor rated voltage in Pr 0.44

(V) - check if or connection

• Motor rated speed (synchronous speed - slip speed) in Pr 0.45

(rpm)

• Motor rated current in Pr 0.46

(A)

• Motor rated frequency in Pr 0.47

(Hz)

• Number of poles in Pr 0.42

P = -----------------s

Where: P = Number of poles, f = Rated frequency (Hz), N s

= Synchronous speed (rpm)

Diagnostics

UL Listing

Information

Mot X XXXXXXXXX

No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

V

230

400

Hz min -1 kW cos φ

CN = 14.5Nm

A

50 1445 2.20 0.80 8.50

4.90

240

415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

Set maximum speed

Enter:

• Maximum speed in Pr 0.02 (rpm)

Set acceleration / deceleration rates

Enter:

• Acceleration rate in Pr 0.03

(s/1,000rpm)

• Deceleration rate in Pr 0.04

(s/1,000rpm) (If braking resistor fitted, set Pr 0.15

= FAST)

• Close enable signal

Autotune

Once this parameter is set and the enable signal is given, the motor will accelerate up to

2

/

3

base frequency without a run command being given. Once the measurement is complete, the motor will coast to a stop. The drive can be disabled at any time by pressing the red button.

WARNING

• Set Pr 0.40

= 1 and wait for the drive display to return to ‘rdy’

If the drive trips, see Chapter 12 Diagnostics on page 198.

Save parameters

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Enter 1000 in Pr xx.00

Press the red reset button or toggle the reset digital input (ensure Pr xx.00

returns to 0)

Run Drive is now ready to run

0.02

1000rpm

T

Nm

0.03

0.04

t t

= ?

N rpm

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7.2.3 Servo

Permanent magnet motor with speed and position feedback

Optimisation Macros

Advanced

Parameters

Action

Before powerup

Power-up the drive

Set feedback device parameters

Detail

Ensure:

• Enable signal is not given (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

• Run signal is not given

• Motor is connected

• Feedback device is connected (U, V, W required for incremental encoders)

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

• Change drive operating mode to servo

Set Pr xx.00

to 1253 / 1254 (USA).

Change Pr 0.48

to ‘SErUO’

Press the reset button

• Ensure the drive displays ‘inh’ (‘SEP.EC’ trip if 8V SINCOS encoder feedback is being used)

If the drive trips, see Chapter 12 Diagnostics on page 198

.

Encoder

• Encoder power supply

Pr 3.23

= 0, 5V

Pr 3.23

= 1, 15V. (If Pr 3.23

= 1 then termination resistors should be disabled - Pr 3.24

=

1)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 3.21

Resolver

• The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation ratio of 0.5 (2:1), set Pr 16.10

= 1

SINCOS

• Encoder power supply

Pr 16.15

= 0, 5V

Pr 16.15

= 1, 8V. (Save parameter and cycle power to clear ‘SEP.EC’ trip)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 16.12

Technical

Data

Diagnostics

UL Listing

Information

Enter motor nameplate details

Enter:

• Motor rated current in Pr 0.46

(A)

• Number of poles in Pr 0.42

Set maximum speed

Enter:

• Maximum speed in Pr 0.02 (rpm)

Set acceleration / deceleration rates

Enter:

• Acceleration rate in Pr 0.03

(s/1,000rpm)

• Deceleration rate in Pr 0.04

(s/1,000rpm) (If braking resistor fitted, set Pr 0.15

= FAST)

Autotune

Save parameters

Once this parameter is set and the enable signal is given, the motor will rotate by part of 1 revolution without a run command being given.

WARNING

• Set Pr 0.40

= 1, close the enable signal (terminal 30) and wait for the drive display to show

‘StOP’

If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Enter 1000 in Pr xx.00

Press the red reset button or toggle the reset digital input (ensure Pr xx.00

returns to 0)

Run Drive is now ready to run

0.02

Model No: 95UXXXXXXXXXXXX

Volts: 380/480

Cont: 7.7Nm:4.81Arms

Stall: 9.5Nm:5.91Arms

Speed: 3000rpm Poles:6

Kt: 1.6Nm/Arms

Ins Class: H

Brake: 12Nm

24V

0.67A

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

Serial No: XXXXXXXXXXX t

1000rpm

0.03

0.04

t

0

0

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7.3 Quick start P.C. commissioning (UniSoft / VTCSoft)

This section details how to get the motor running using Unisoft or VTCsoft pc commissioning software in each operating mode and with the various feedback devices.

Unisoft or VTCsoft is available free of charge and can be downloaded from www.controltechniques.com.

7.3.1 Open Loop

Induction motor without feedback device

Please refer to the documentation that came with UniSoft or VTCSoft for instructions on how to install the drive commissioning software.

Enter motor nameplate details.

Select OPEN

LOOP mode of operation

Mot X XXXXXXXXX

No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

V Hz min -1 kW cos φ A

230

400

50 1445 2.20 0.80 8.50

4.90

CN = 14.5Nm

240

415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

Set maximum / minimum speed.

0.02

t

Set acceleration / deceleration rates.

100Hz

When entering the motor nameplate details, max/min speeds and acceleration/deceleration rates, click on the relevant field, enter the value here and click ‘ Change ’

Action

Before power-up

0.03

Detail

Ensure:

• Enable is closed (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

• Run signal is not given

• Motor is connected

• A UD71 serial communications module is fitted and is connected to the PC running UniSoft with the above screen displayed

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

0.04

Power-up the drive

Ensure:

Drive displays ‘inh’. If the drive trips, refer to Chapter 12 Diagnostics on page 198.

t

Program the drive Click ‘ Program ’ to upload the values to the drive.

Autotune

Saving parameters

Run

Once this parameter is set, the motor will accelerate up to 2 /

3

base frequency without a run command being given. Once the measurement is complete, the motor will coast to a stop. The drive can be disabled at any time by pressing the

WARNING

• Click ‘ Autotune ’ to enable the drive to perform the autotune

If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

In the ' Tools ' menu select ' Save parameters in drive '. UniSoft will ask whether you want to save parameters in the drive when UniSoft is closed.

Drive is now ready to run

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7.3.2 Closed Loop Vector

Induction motor with speed feedback

Please refer to the documentation that came with UniSoft for instructions on how to install the drive commissioning software

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Enter motor nameplate details

Select Flux Vector mode of operation

V

230

400

Mot X XXXXXXXXX

No XXXXXXXXXX kg

°

Hz min

-1 kW cos φ

50 1445 2.20 0.80 8.50

CN = 14.5Nm

A

4.90

240

415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

Set max / min speed

0.02

t

Set acceleration / deceleration rates

100Hz

0.04

t

When entering the motor nameplate details, max/min speeds and acceleration/deceleration rates, click on the relevant field, enter the value here and click ‘ Change ’

Action

Before power-up

Power-up the drive

Detail

Ensure:

• Enable is closed (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

• Run signal is not given

• Motor is connected

• Feedback is connected and relevant small option module fitted (SINCOS or resolver feedback)

• A UD71 serial communications module is fitted and is connected to the PC running UniSoft with the above screen displayed

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Ensure:

• Drive displays ‘inh’ (‘SEP.EC’ if 8V SINCOS encoder feedback is being used). If the drive trips,

refer to Chapter 12 Diagnostics on page 198.

0.03

Program the drive Click ‘ Program ’ to upload the values to the drive.

Recognising the option module

If either a UD52 SINCOS or UD53 Resolver option module has been fitted, click ‘ Read ’ to allow

UniSoft to recognise which small option module has been fitted.

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Optimisation Macros

• In the Parameter menu, select ‘ Display by menu ’.

For incremental encoder feedback, select ‘ Menu 3 ’.

For SINCOS or Resolver feedback, select ‘ Menu16 ’.

Detail

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Set encoder parameters

Select the parameter to change in the list above.

Enter the required value in the field and click ‘ Change ’.

Encoder

• Encoder power supply

Pr 3.23

= 0, 5V

Pr 3.23

= 1, 15V. (If Pr 3.23

= 1 then termination resistors should be disabled - Pr 3.24

= 1)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 3.21

Resolver

• The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation ratio of 0.5 (2:1), set Pr 16.10

= 1

SINCOS

• Encoder power supply

Pr 16.15

= 0, 5V

Pr 16.15

= 1, 8V. (Save parameter and cycle power to clear ‘SEP.EC’ trip)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 16.12

Programming the drive In the ' Drive ' menu select ' Program all parameters ' to upload the parameters to the drive.

Select ‘Commissioning Screen’ to return to the front page of UniSoft

Autotune

Saving parameters

Run

Once this parameter is set, the motor will accelerate up to 2 /

3

base frequency without a run command being given. Once the measurement is complete, the motor will coast to a stop. The drive can be disabled at any time by pressing the

WARNING

• Close the enable signal (terminal 30)

• Click ‘ Autotune ’ to enable the drive to perform the autotune

If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

In the ' Tools ' menu select ' Save parameters in drive '. UniSoft will ask whether you want to save parameters in the drive when UniSoft is closed.

Drive is now ready to run

T

Nm

= ?

N rpm

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7.3.3 Servo

Permanent magnet motor with speed and position feedback

Please refer to the documentation that came with UniSoft for instructions to install the drive commissioning software.

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Select Servo mode of operation Enter motor nameplate details

Model No: 95UXXXXXXXXXXXX

Volts: 380/480

Cont: 7.7Nm:4.81Arms

Stall: 9.5Nm:5.91Arms

Speed: 3000rpm Poles:6

Kt: 1.6Nm/Arms

Ins Class: H

Brake: 12Nm

24V

0.67A

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

Serial No: XXXXXXXXXXX

Set max / min speed

0.02

t

Set acceleration / deceleration rates

100Hz

0.04

t

0.03

When entering the motor nameplate details, max/min speeds and acceleration/deceleration rates, click on the relevant field, enter the value here and click ‘ Change ’

Action

Before power-up

Power-up the drive

Detail

Ensure:

• Enable is closed (terminal 30)

• Motor thermistor is connected or terminal 8 is linked to 0V

• Run signal is not given

• Motor is connected

• Feedback is connected and relevant small option module fitted (SINCOS or resolver feedback)

• A UD71 serial communications module is fitted and is connected to the PC running UniSoft with the above screen displayed

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Ensure:

• Drive displays ‘inh’ (‘SEP.EC’ if 8V SINCOS encoder feedback is being used). If the drive trips,

refer to Chapter 12 Diagnostics on page 198.

Program the drive Click ‘ Program ’ to upload the values to the drive.

Recognising the option module

If either a UD52 SINCOS or UD53 Resolver option module has been fitted, click ‘ Read ’ to allow

UniSoft to recognise which module has been fitted.

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• In the Parameter menu, select ‘ Display by menu ’.

For incremental encoder feedback, select ‘ Menu 3 ’.

For SINCOS or Resolver feedback, select ‘ Menu16 ’.

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Set encoder parameters

Select the parameter to change in the list above.

Enter the required value in the field and click ‘ Change ’.

Encoder

• Encoder power supply

Pr 3.23

= 0, 5V

Pr 3.23

= 1, 15V. (If Pr 3.23

= 1 then termination resistors should be disabled - Pr 3.24

= 1)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 3.21

Resolver

• The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation ratio of 0.5 (2:1), set Pr 16.10

= 1

SINCOS

• Encoder power supply

Pr 16.15

= 0, 5V

Pr 16.15

= 1, 8V. (Save parameter and cycle power to clear ‘SEP.EC’ trip)

• Encoder PPR (pulses per revolution)

Enter PPR in Pr 16.12

Programming the drive In the ' Drive ' menu select ' Program all parameters ' to upload the parameters to the drive.

Select ‘Commissioning Screen’ to return to the front page of UniSoft

Saving parameters

Run

If an encoder phasing test is selected and the enable signal given, the motor will rotate by part of 1 revolution without a run command being given.

WARNING

• Close the enable signal (terminal 30)

• Click ‘ Autotune ’ to enable the drive to perform the encoder phasing test

If the drive trips, see Chapter 12 Diagnostics on page 198.

NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

In the ' Tools ' menu select ' Save parameters in drive '. UniSoft will ask whether you want to save parameters in the drive when UniSoft is closed.

Drive is now ready to run

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8.1 Motor map parameters

8.1.1 Open loop motor control

This section provides information on how to get the most from the

Unidrive once an autotune and basic set up has been completed.

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

A separate section is provided for each operating mode at the beginning and then common parameters / features are detailed towards the end of the section.

Information such as tuning the speed and current loop gains and also explanations of the effects of motor map parameters are included.

Pr 0.46 {5.07} Motor rated current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor to ensure the current limits in the drive function at the correct levels so that the motor is protected should an overload situation occur.

Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles

The motor number of poles parameter defines the speed displayed by the drive for a given output frequency. i.e. 4 pole motor 50 Hz = 1,500 rpm

2 pole motor 50 Hz = 3,000 rpm

Pr 0.44 {5.09} Motor rated voltage Defines the voltage applied to the motor at rated frequency

Pr 0.47 {5.06} Motor rated frequency Defines the frequency at which rated voltage is applied

Output voltage

Pr 5.09

Output voltage characteristic

The voltage and frequency parameters define the relationship between the voltage and frequency applied to the motor as shown aside:

Pr 5.09

/ 2

Pr 5.06

Output frequency

Output voltage

Pr 5.09

Output voltage characteristic

The volts / frequency ratio must be kept constant to ensure rated torque is available from the motor over the frequency range.

At low frequencies (from 0 Hz to ½ x Pr 5.06

) the voltage is increased from this characteristic by a level governed by either the voltage boost parameter or the motor parameters (found during the stator resistance test) depending on whether the drive is in fixed boost or open loop vector mode as shown aside:

Pr 0.43 {5.10} Motor rated power factor

Pr 5.09

/ 2

Voltage boost

Pr 5.06

Output frequency

Defines the angle between the motor rated current and the torque producing current

Torque producing current

Total motor current

The power factor is found by the drive during the autotune procedure. It is used in the open loop vector algorithm and to set the current limit levels for the torque producing (active) current.

Cos φ

Magnetising current

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Pr 0.07 {5.14} Voltage mode

The voltage mode selects whether the drive is in open loop vector mode or fixed boost.

Fixed boost ( Fd ) should be used for fans and pumps and multiple motor applications.

Open loop vector is the default setting and should be used to tune the drive to the motor characteristic to get good performance at low output frequencies.

Open loop vector mode requires the stator resistance and voltage offset parameters for ideal operation.

These can be measured by the drive depending on the voltage mode selected as follows:

Ur_I = Stator resistance and voltage offset are measured on power up providing no trip condition is present and the drive enable (terminal 30) signal is active.

Ur_S = Stator resistance and voltage offset are measured every time the run command is activated. This mode ensures the drive compensates for any change in the motor parameters due to temperature changes.

Ur = No test is performed - a test should be carried out using one of the other modes or the stator resistance entered manually. (The voltage offset cannot be entered manually as this is also a function of the drive.) This mode should be used where it is not desirable for the drive to test the motor on power up or before a run.

The stator resistance and voltage offset values can be viewed in Pr 5.17

and Pr 5.23

respectively.

Pr 0.40 {5.12} Autotune

The motor must be disconnected from any load including the gearbox before commencing an autotune.

Once the test is enabled the drive runs the motor to two thirds base speed and measures the no load current which equals the magnetising current.

From the no load current and the motor rated current the drive then calculates the power factor.

Pr 5.27 Slip compensation and Pr 0.45 {5.08} Motor rated speed

When a motor being controlled in open loop mode has load applied a characteristic of the motor is that the output speed droops in proportion to the load applied as shown aside:

In order to prevent the speed droop shown above slip compensation should be enabled.

Pr 5.27

must be set to a 1 (this is the default setting) and the motor rated speed must be entered in Pr 0.45

{ 5.08

}. to enable slip compensation.

The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed. This is often displayed on the motor nameplate.

i.e. For a typical 18.5 kW, 50 Hz, 4 pole motor the motor rated speed is

1465 rpm

The synchronous speed for a 4 pole motor is 1500 rpm therefore the slip speed is 35 rpm

If the synchronous speed is entered slip compensation will have no effect.

If too small a value is entered the motor will run faster than the demanded frequency.

Synchronous speeds for different numbers of poles are as follows:

2 pole = 3,000 rpm

4 pole = 1,500 rpm

6 pole = 1,000 rpm

8 pole = 750 rpm

Demanded speed

Shaft speed

Load

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Pr 0.46 {5.07} Motor rated current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor to ensure the current limits in the drive function at the correct levels so that the motor is protected should an overload situation occur.

Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles

The motor number of poles parameter defines the synchronous speed of the motor, which in conjunction with the motor rated speed parameter defines the slip speed.

Pr 0.44 {5.09} Motor rated voltage Defines the voltage applied to the motor at rated frequency

Pr 0.47 {5.06} Motor rated frequency Defines the frequency at which rated voltage is applied

Output voltage

Pr 5.09

Output voltage characteristic

The voltage and frequency parameters define the relationship between the voltage and frequency applied to the motor as shown aside:

The volts / frequency ratio must be kept constant to ensure rated torque is available from the motor over the frequency range.

Pr 5.09

/ 2

Pr 0.43 {5.10} Motor rated power factor

Pr 5.06

Output frequency

Defines the angle between the motor rated current and the torque producing current

Torque producing current

Total motor current

The power factor is found by the drive during the autotune procedure. It is used to set the level at which the magnetising current is controlled.

Cos φ

Magnetising current

Pr 0.45 {5.08} Motor rated speed Defines the motor rated speed

The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed.

This is often displayed on the motor nameplate. I.e. For a typical 18.5 kW, 50 Hz, 4 pole motor the motor rated speed is 1465 rpm

The synchronous speed for a 4 pole motor is 1500 rpm therefore the slip speed is 35 rpm

Synchronous speeds for different numbers of poles are as follows:

2 pole = 3,000 rpm

4 pole = 1,500 rpm

6 pole = 1,000 rpm

8 pole = 750 rpm

The accuracy of this parameter is very important as it directly affects the torque produced at the shaft.

Often the value given on the motor nameplate is not 100% accurate which can lead to a loss of torque.

The parameter can be tuned by the drive using the slip optimiser - please see the description which follows.

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Pr 0.40 {5.12} Autotune

The motor must be stationary and disconnected from any load (including the gearbox) before commencing an autotune.

The test is completed in three stages as follows:

1. Motor leakage inductance (Pr 5.24

)

Before the motor rotates the leakage inductance is measured. This is required for the slip optimiser to work correctly.

2. Power factor (Pr 0.43

/ 5.10

)

The motor runs up to two thirds base speed and the no load current is measured. This equals the magnetising current which in conjunction with the motor rated current value allows the power factor to be calculated.

3. Saturation characteristic (Pr 5.29

/ 5.30

)

The drive continues to turn the motor and while doing so gradually reduces the magnetising current to determine the relationship between magnetising current and motor flux for the specific motor being controlled.

The saturation characteristic sets the levels at which the magnetising current is controlled during operation above base speed (field weakening).

T

Nm

= ?

N rpm

Pr 5.27 Slip optimisation

Slip optimisation is used as follows:

1. To optimise the motor rated speed parameter from the motor nameplate value to the best value for the individual motor on a one off basis during commissioning.

2. To constantly monitor and optimise the motor rated speed during normal operation to compensate for changes in motor temperature which can have a significant effect on rotor resistance and thus rated speed.

The following conditions must apply for the slip optimiser to function correctly:

• As detailed above in the autotune section the motor leakage inductance (Pr 5.24

) is required for this feature to function correctly. An autotune should be carried out before enabling the slip optimiser.

• The drive must run at a speed greater than

1

/

8

x rated speed.

• At least 1 /

8

x rated load must be applied.

• Slip optimisation can only be used at or below base speed. If field weakening operation is required the optimiser should be enabled during commissioning only then disabled for high speed operation.

Pr 4.13 / 4.14 Current loop gains

The current loop gains control the response of the current loop to a change in current (torque) demand.

Inappropriate values entered in these parameters can cause the control system to become unstable.

The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor.

The current loop gains can be calculated from the motor resistance and inductance values by either:

1. Using the formula detailed below

2. The gain calculator wizard in Unisoft version 3.43 in the ’Tools’ menu

The proportional gain (Pr 4.13

) should be set to 1800 x Pr 5.24

x 10

-3

x Pr 11.32

where:

Pr 5.24

= per phase motor leakage inductance (mH)

Pr 11.32

= Drive rated current

The integral gain (Pr 4.14

) should be set to 0.044 x Pr 4.13

x where:

Pr 4.13

= current loop proportional gain calculated above

R = per phase stator resistance (from the motor data sheet)

Pr 5.24

= per phase motor leakage inductance (mH)

NOTE

The numerical value in Pr 5.24

should be input directly into the above formula in mH

The x 10

-3

term converts this to H.

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Pr 3.10 / 3.11 / 3.12 Speed loop gains

The speed loop gains control the response of the speed loop to a change in speed demand.

The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor.

Inappropriate values entered in these parameters can cause the control system to become unstable.

The proportional gain (Pr 3.10

) responds proportionally to the difference between the demanded value and the actual value (the error).

The integral gain (Pr 3.11

) responds proportionally to the accumulation of the error. It is used to eliminate steady state error and under dynamic conditions provide stiffness to the system.

The derivative gain (Pr 3.12

) is proportional to the rate of change of the error. It improves the stability of the system under transient conditions.

The speed loop gains can be tuned by either:

1. Using an oscilloscope and the method described below or

2. The gain calculator wizard in Unisoft version 3.43, which requires the following:

• motor inertia

• load inertia (reflected through the gear box if used)

• stiffness / compliance angle (user defined deflection of the motor shaft when full torque is applied)

• drive rated current

• motor nameplate details

Tuning the speed loop gains using an oscilloscope

Connect the oscilloscope to analog output 1 to monitor the speed feedback.

Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope.

The proportional gain should be set up initially - the value should be increased up to the point where the speed overshoots and then reduced slightly.

The integral term should then be increased up to the point where the speed becomes unstable and then reduced slightly.

If a derivative gain is required the value should be increased up to the point where the system response becomes unstable and then reduced slightly.

It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response shown below.

The diagram below shows the effect of incorrect P and I gain settings as well as the ideal response.

Speed demand

Insufficient proportional gain [ 0.07

]

Excessive proportional gain [ 0.07

]

WARNING

If the speed loop I gain (Pr 3.11

) is set to zero and later increased, a large output transient will result causing the drive to accelerate under full current.

The over speed trip threshold (Pr 3.08

) must be set to a suitable level to prevent the output from reaching a level where mechanical damage could result.

Excessive integral gain

[ 0.08

]

Ideal response

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Parameters

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Data

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Pr 0.46 {5.07} Motor rated current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor to ensure the current limits in the drive function at the correct levels so that the motor is protected should an overload situation occur.

Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles

The motor number of poles parameter defines the number of electrical revolutions in one whole mechanical revolution of the motor.

Pr 0.40 {3.25} Autotune

The motor should be stationary and disconnected from any load

(including the gearbox) before commencing an autotune.

The test rotates the motor by less than a revolution. The exact distance depends on the number of motor poles.

The autotune measures the offset between the feedback device zero and the rotor zero. This is required so that the voltage applied is in phase with the back EMF from the motor.

If the value entered is incorrect the drive will not control the motor correctly.

The result can be:

1. loss of torque

2. excessive heating of the motor

3. in extreme cases the motor can run out of control to maximum speed

If the load cannot be removed and it is solely an inertia a high current autotune can be enabled.

Set Pr 5.27

= 1 prior to enabling the autotune.

Pr 4.13 / 4.14 Current loop gains

0

0

The current loop gains control the response of the current loop to a change in current (torque) demand.

The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor.

Inappropriate values entered in these parameters can cause the control system to become unstable.

The current loop gains can be calculated from the motor resistance and inductance values by either:

1. Using the formula detailed below

2. The gain calculator wizard in Unisoft version 3.43 in the ’Tools’ menu

The proportional gain (Pr 4.13

) should be set to 1800 x L x 10

-3

x Pr 11.32

where:

L = per phase motor leakage inductance (mH) (from the motor data sheet)

Pr 11.32

= Drive rated current

The integral gain (Pr 4.14

) should be set to 0.044 x Pr 4.13

x where:

Pr 4.13

= current loop proportional gain calculated above

R = per phase stator resistance (from the motor data sheet)

L = per phase motor leakage inductance (mH) (from the motor data sheet)

NOTE

For very small servo motors with high inductance the values calculated from the above formulae can be too high resulting excessive motor noise.

The values should be calculated and then reduced to a suitable level manually.

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Pr 3.10 / 3.11 / 3.12 Speed loop gains

The speed loop gains control the response of the speed loop to a change in speed demand.

The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor.

Inappropriate values entered in these parameters can cause the control system to become unstable.

The proportional gain (Pr 3.10

) responds proportionally to the difference between the demanded value and the actual value (the error).

The integral gain (Pr 3.11

) responds proportionally to the accumulation of the error. It is used to eliminate steady state error and under dynamic conditions provide stiffness to the system.

The derivative gain (Pr 3.12

) is proportional to the rate of change of the error. It improves the stability of the system under transient conditions.

The speed loop gains can be tuned by either:

1. Using an oscilloscope and the method described below

2. The gain calculator wizard in Unisoft version 3.43, which requires the following:

• motor inertia

• load inertia (reflected through the gear box if used)

• stiffness / compliance angle (user defined deflection of the motor shaft when full torque is applied)

• drive rated current

• motor nameplate details

Tuning the speed loop gains using an oscilloscope

Connect the oscilloscope to analog output 1 to monitor the speed feedback.

Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope.

The proportional gain should be set up initially - the value should be increased up to the point where the speed overshoots and then reduced slightly.

The integral term should then be increased up to the point where the speed becomes unstable and then reduced slightly.

If a derivative gain is required the value should be increased up to the point where the system response becomes unstable and then reduced slightly.

It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response shown aside.

Speed demand

Insufficient proportional gain [ 0.07

]

Excessive proportional gain [ 0.07

]

The diagram below shows the effect of incorrect P and I gain settings as well as the ideal response.

WARNING

If the speed loop I gain (Pr 3.11

) is set to zero and later increased, a large output transient will result causing the drive to accelerate under full current.

The over speed trip threshold (Pr 3.08

) must be set to a suitable level to prevent the output from reaching a level where mechanical damage could result.

Excessive integral gain

[ 0.08

]

Ideal response

8.2 Current limits

The default setting for the current limit parameters are 150% x motor rated current for open loop and closed loop vector modes and 175%* x motor rated current for servo mode. *150% for Unidrive size 5.

There are three parameters which control the current limits:

• Pr 4.05

Motoring current limit : power flowing from the drive to the motor

• Pr 4.06

Regen current limit : power flowing from the motor to the drive

• Pr 4.07

Symmetrical current limit : current limit for both motoring and regen operation

The lowest of either the motoring and regen current limit or the symmetrical current limit applies.

The maximum setting of these parameters depends on the ratio of motor rated current to drive rated current and the power factor.

The drive can be oversized to permit a higher current limit setting to provide higher accelerating torque as required up to a maximum of

400%.

Please note that too high a setting of these parameters can cause permanent damage to a servo motor by demagnetising the rotor.

The maximum current limits (I

MAX

%) available for each mode of operation, are calculated from the following equations.

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I

MAX

% =

1.597

2

×

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

2

– 1

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

Pr 5.10

2

+ 1

– ---------------------------------------------

× 100

A trade off must be made between motor heating and drive heating and the demands of the application with respect to the sample time required.

The above equation gives a value less than 150% if Pr 5.10

>0.93. The maximum current limit value used by the drive is 150% if the calculated value is less than 150%.

Closed loop vector

I

MAX

% =

1.597

2

× -----------------------

2

– 1

 ----------------------------------------------------------------------

Pr 5.10

2

+ 1

× 100

Switching frequency

3

4.5

6

9

12

Sample time ( µ s)

OL >Current control

CL > Speed control

Sample time ( µ s)

OL > Peak limit

CL > Current control

333 333

444 222

333 166

444 222

333 166

Servo

I

MAX

% =

1.767

×

Pr 5.07

× 100

Unidrive VTC

I

MAX

% =

1.203

2

×

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

2

– 1

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

Pr 5.10

2

+ 1

× 100

8.5 High speed operation

8.5.1 Encoder feedback limits

In the closed loop modes when using encoder feedback the maximum speed of the drive is limited by the maximum frequency limit of the encoder input as follows:

Encoder PPR up to 5,000 up to 2,500 up to 1,250 up to 625 up to 312

Maximum Speed (rpm)

3,000

6,000

12,000

24,000

30,000

8.3 Motor thermal protection

The Unidrive models the temperature of the motor using the motor rated current parameter, the thermal time constant parameter and the actual current flowing at any point in time.

An accumulator (Pr 4.19

) increments or decrements based on the current flowing in the motor.

If the motor runs for a given time at a level below the rated current of the motor the accumulator will settle at a value equivalent to the motor temperature.

An it.ac trip instantaneously occurs if the accumulator reaches 100%.

This can only occur if the rms current flowing is greater than 105%. or if a current peak lasts for enough time to cause the accumulator to peak at or above this level.

The default setting of the thermal time constant (Pr 4.15

) is 89s for an induction motor (open loop and closed loop vector) which is equivalent to an overload of 150% for 60s from cold.

The default value for a servo motor is 7s which is equivalent to an overload of 175% for 4s from cold.

The maximum value for the thermal time constant can be increased up to a maximum value of 400s to allow an increased overload if the motor thermal characteristics permit.

For applications using CT Dynamics Unimotors the thermal time constants can be found in the Unimotor manual.

8.4 Switching frequency

The default switching frequency for the drive is 3kHz however this can be increased up to a maximum value of 12kHz.

If the switching frequency is increased the following apply:

1. Increased heat loss in the drive which means that derating to the output current must be applied.

See the derating table for switching frequency and ambient

temperature in the Chapter 11 Technical Data on page 190.

2. Reduced heating of the motor - due to improved output waveform quality

3. Increased sample rate on the speed and current controllers

8.5.2 Field weakening (constant power) operation

(Open loop and closed loop vector mode only)

The Unidrive can be used to run an induction machine above synchronous speed into the constant power region. The speed continues to increase and the available shaft torque reduces.

The characteristics below show the torque and output voltage characteristics as the speed is increased above the rated value.

Torque

Rated voltage

Speed

Speed

Care must be taken to ensure the torque available above base speed is sufficient for the application to run satisfactorily.

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8.5.3 Saturation breakpoints

The saturation breakpoint parameters (Pr 5.29

and Pr 5.30

) found during the autotune in closed loop vector mode ensure the magnetising current is reduced in the correct proportion for the specific motor.

(In open loop mode the magnetising current is not actively controlled)

Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

8.5.4 Switching frequency

With a default switching frequency of 3 kHz the maximum output frequency should be limited to 250 Hz. Ideally a minimum ratio of 12 : 1 should be maintained between the output frequency and the switching frequency. This ensures the number of switchings per cycle is sufficient to ensure the output waveform quality is maintained at a minimum level.

If this is not possible, quasi square switching should be enabled (Pr 5.20

=1). The output waveform will be quasi square above base speed however this also ensures a symmetrical output waveform which results in a better quality output than would otherwise result.

8.5.5 Output frequency doubling

(Open loop only)

If this bit is set the motor output frequency is twice the displayed value.

The maximum open loop output frequency increases from 1,000Hz to

2,000Hz.

The following parameters need to be re-scaled when this mode of operation is used.

For example:-

The real machine is 4 pole, 2,000Hz, 400V, 60,000 rpm, full load speed

58,000 rpm, and the desired maximum speed is 40,000 rpm with a trip at

50,000 rpm. Acceleration is to be 500Hz / sec.

Menu 1: maximum frequency (Pr 1.06

) should be set to:

0.5 x 2,000 x 40,000 / 60,000 = 667Hz

Menu 2: the ramp times (Pr 2.11

to 2.29

) need to be set at:

0.5 x 0.2 sec per 100Hz = 0.1

Menu 3: the over-speed trip threshold (Pr 3.08

) should be set at

0.5 x 2,000 x 50,000 / 60,000 = 833Hz

Menu 5: the rated motor voltage (Pr 5.09

) = 400V the rated frequency (Pr 5.06

) = 0.5 x 2,000 = 1,000Hz the full load speed is (Pr 5.08

) = 0.5 x 58,000 = 29,000rpm the motor poles (Pr 5.11

) = 4 POLE

Extreme caution should be exercised when setting this bit as the actual machine speed will be double that indicated.

8.5.6 Maximum speed / frequency

In open loop mode the maximum frequency is 2,000 Hz when output frequency doubling is used (500 Hz for Unidrive VTC).

In closed loop vector mode the maximum output frequency should be limited to 400 Hz.

In servo mode field weakening is not possible so the maximum speed is limited by the voltage constant (K e

) of the motor. K e

is a specific constant for the servo motor being used. It can normally be found on the motor data sheet in V/krpm (volts per 1,000rpm).

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0.00

0.01

0.02

0.03

0.04

0.05

0.06

0.07

0.08

0.09

0.10

0.33

Product

Information

9 Macros

Mechanical

Installation

Function

Configuration and saving

Minimum frequency/speed clamp

Maximum frequency/speed clamp

Acceleration rate

Deceleration rate

Reference selector

Current limit

OL> Voltage mode selector

CL> Speed-loop proportional gain

OL> Boost voltage

CL> Speed-loop integral gain

OL> Dynamic V/f select

CL> Speed-loop derivative gain

OL> Estimated motor speed

CL> Motor speed

0.38

0.39

Power up parameter display select

Synchronise to a spinning motor

0.40 Autotune

0.42

Electrical

Installation

Drive rated current (FLC)

Motor – number of poles

Getting

Started

Menu 0

9.1 Introduction

Application macros are pre-programmed parameter sets. They minimise the number of different parameters to be set during start-up. The control terminals are configured for specific applications and commonly used parameters are cloned into Menu 0.

The following parameters are common to each macro:

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Macro 1 – Easy Mode

The Easy mode macro gives the simplest operation of the drive for basic applications. It is identical to the default condition except that menu 0 has less parameters.

Macro 2 – Motorised potentiometer

The Motorised potentiometer macro enables the drive's own internal motorised potentiometer to control the speed of the drive via digital inputs. A digital input selects between an analog speed reference and the motorised potentiometer reference.

Macro 3 – Preset frequencies / speeds

The Preset reference macro enables the use of preset references to control the speed of the motor via digital inputs. A digital input selects between an analog speed reference and the preset references.

Macro 4 – Torque control

The Torque control macro configures the drive for use in Torque control mode, selectable via a digital input. Analog input 1 is configured for the torque reference. When in speed control analog 2 is the speed reference. When in torque control with the drive in closed loop mode analog input 2 is the speed override reference. Enabling torque mode with the drive in open loop mode will put the drive in to pure torque control. In closed loop mode the drive will be put in to torque control with speed override.

Macro 5 – PID (set-point control)

The PID control macro enables the drive's own internal PID controller to control the speed of the motor. Analog input 1 is configured for the main speed reference, analog input 2 is the PID reference and analog input 3 is the PID feedback. A digital input selects between an analog speed reference and the PID control.

Macro 6 – Axis-limit control

The Axis limit control macro configures the drive for use with limit switches so that the drive is stopped when a position limit has been reached. The speed reference can be either unipolar or bipolar.

Macro 7 – Brake control

The brake control macro configures the drive to apply or release a mechanical brake on a motor in a crane or hoist application. The drive issues a brake release signal via a digital output when the relevant conditions are met.

0.44

0.45

0.46

0.47

0.48

Motor – rated voltage

Motor – rated full load rpm

Motor – rated current

Motor – rated frequency

Drive operating mode selector

WARNING

Where a safety hazard may exist the drive alone must not be permitted to release the brake. An independent safety interlock must be provided to ensure safe operation in the event of drive failure or incorrect operation.

0.50 Drive software version

Macro 8 – Digital lock / shaft orientation

Only available in closed loop vector or servo operating modes.

Digital lock:

The drive operates as a slave in a closed loop master-slave system. The slave motor is digitally locked to the master motor.

Shaft orientation:

The motor speed is controlled in the same way as for default operation, but the motor shaft can be orientated to a specified angular position before and/or after running the motor.

The following macros are available.:

Macro

5

6

7

8 *

3

4

1

2

Description

Easy mode

Motorised potentiometer

Preset frequencies / speeds

Torque control

PID (set-point control)

Axis-limit control

Brake control

Digital lock / shaft orientation

Code

2001

2002

2003

2004

2005

2006

2007

2008

* Macro 8 is only available in closed loop vector or servo operating modes.

When using Unidrive VTC, only macros 1, 2, 3 and 5 are available. For

macro differences when using Unidrive VTC, see section 9.5

Unidrive

VTC macro differences on page 122 .

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9.2 How to load a macro

The motor map can be entered and the drive autotuned before or after loading a macro.

Procedure

Enter code for the required macro in Pr xx.00

Press the red reset button or toggle the reset digital input (ensure Pr xx.00

returns to 0)

Perform a parameter save.

When changing between macros ensure that the drive is defaulted before the new macro is loaded.

9.3 Macro terminal connection changes

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Macro 1 Easy mode 2001

The Easy mode macro gives the simplest operation of the drive for basic applications. It is identical to the default condition except that menu 0 has less parameters.

Status relay

Drive healthy

Analog frequency/speed reference 1

(remote) 0 ~ 10V

Analog frequency/speed reference 2

(local) 4 ~ 20mA

Signal connector

1

2

0V common

0V common

6

3

4

5

7

OL> AT SPEED

CL> AT ZERO SPEED

RESET

JOG SELECT

RUN FORWARD

RUN REVERSE

ANALOG INPUT 1 /

INPUT 2

0V common

0V common

23

28

29

30

31

24

25

26

27

SPEED

11

OL> External trip

CL> Drive enable

ANALOG INPUT 1

ANALOG INPUT 2

TORQUE

9

10

Macro 2 Motorised potentiometer 2002

The Motorised potentiometer macro enables the drive's own internal motorised potentiometer to control the speed of the drive via digital inputs. A digital input selects between an analog speed reference and the motorised potentiometer reference.

Status relay

Drive healthy

Analog frequency/speed reference 1

(remote) 0 ~ 10V

Motor thermistor

Signal connector

1

2

0V common

0V common

6

3

4

5

8

11

UP

RESET and

MOT. POT. RESET

DOWN

RUN FORWARD

RUN REVERSE

MOT. POT. ENABLE

OL> External trip

CL> Drive enable

ANALOG I/P

MOT. POT.

0V common

24

25

29

30

31

26

27

28

SPEED

TORQUE

9

10

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Macro 3 Preset frequencies / speeds 2003

The Preset reference macro enables the use of preset references to control the speed of the motor via digital inputs. A digital input selects between an analog speed reference and the preset references.

Status relay

Drive healthy

Analog frequency/speed reference 1

(remote) 0 ~ 10V

Motor thermistor

Signal connector

1

2

0V common

6

3

4

5

8

PRESET SELECT A

RESET

PRESET SELECT B

RUN FORWARD

RUN REVERSE

PRESET ENABLE

OL> External trip

CL> Drive enable

ANALOG I/P

PRESET REFS.

0V common

29

30

31

24

25

26

27

28

0V common 11

SPEED

TORQUE

9

10

Macro 4 Torque control 2004

The Torque control macro configures the drive for use in Torque control mode, selectable via a digital input. Analog input 1 is configured for the torque reference. When in speed control analog 2 is the speed reference. When in torque control with the drive in closed loop mode analog input 2 is the speed override reference.

Enabling torque mode with the drive in open loop mode will put the drive in to pure torque control. In closed loop mode the drive will be put in to torque control with speed override.

Status relay

Drive healthy

Signal connector

1

2

OL> AT SPEED

CL> AT ZERO SPEED 0V common

23

AT MIN. SPEED

24

Analog torque reference 1 (0 ~ 10V)

0V common

6

3

4

5

RESET

RUN FORWARD

RUN REVERSE

25

26

27

28

Analog speed limit (0 ~ 10V) 7

TORQUE ENABLE FREQ./SPEED CONTROL

TORQUE CONTROL

29

30

0V common

11

OL> External trip

CL> Drive enable

31

0V common

SPEED

TORQUE

9

10

Motor thermistor

8

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Macro 5 PID (set-point control) 2005

The PID control macro enables the drive's own internal PID controller to control the speed of the motor. Analog input 1 is configured for the main speed reference, analog input 2 is the PID reference and analog input 3 is the PID feedback. A digital input selects between an analog speed reference and the PID control.

Status relay

Drive healthy

Signal connector

1

2

OL> AT SPEED

CL> AT ZERO SPEED 0V common

23

Frequency/speed reference 1 (0 ~ 10V)

PID reference

(0 ~ 10V)

PID feedback

0V common

6

3

4

5

7

8

RESET

JOG SELECT

RUN FORWARD

RUN REVERSE

PID ENABLE

OL> External trip

CL> Drive enable

FREQ./SPEED CONTROL

PID CONTROL

0V common

27

28

29

30

24

25

26

31

0V common 11

SPEED

TORQUE

9

10

Macro 6 Axis-limit control 2006

The Axis limit control macro configures the drive for use with limit switches so that the drive is stopped when a position limit has been reached. The speed reference can be either unipolar or bipolar.

Status relay

Drive healthy

Unipolar

Signal connector

1

2

OL> AT SPEED

CL> AT ZERO SPEED

RESET

23

24

25 Analog frequency/speed reference 1

(remote) 0 ~ 10V

0V common

6

3

4

5

LIMIT FORWARD

RUN FORWARD

RUN REVERSE

LIMIT REVERSE

26

27

28

29

Bipolar

Analog frequency/speed reference

+ 10V

0V common

6

3

4

5

OL> External trip

CL> Drive enable

0V common

30

31

Analog frequency/speed reference 2

(local) 0 ~ 10V

4

7

WARNING

Position the limit switches to allow for the distance that will be travelled during deceleration. This distance will be increased if the deceleration time is extended

0V common 11

SPEED

TORQUE

9

10

Motor thermistor

104

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Macro 7 Brake control 2007

The brake control macro configures the drive to apply or release a mechanical brake on a motor in a crane or hoist application. The drive issues a brake release signal via a digital output when the relevant conditions are met

Signal connector

Signal connector

BRAKE RELEASE

1

2

24

Analog frequency/speed reference 1

(remote) 0 ~ 10V

Analog frequency/speed reference 2

(local) 0 ~ 10V

0V common

0V common

4

7

6

3

4

5

11

RESET

CL> JOG

RUN FORWARD

RUN REVERSE

ANALOG INPUT 1 /

INPUT 2

OL> External trip

CL> Drive enable

ANALOG INPUT 1

ANALOG INPUT 2

0V common

25

26

27

28

29

30

31

SPEED

TORQUE

9

10

Motor thermistor

8

Macro 8 Digital lock / shaft orientation

This macro has two completely independent functions, digital lock and shaft orientation, selectable via Pr 0.15

{ 13.08

}

Digital lock

The drive operates as a slave in a closed loop master-slave system. The slave motor is digitally locked to the master motor.

2008

Shaft orientation

The motor speed is controlled in the same way as for default operation, but the motor shaft can be orientated to a specified angular position before and/or after running the motor.

See Pr 13.08

in Chapter 10 Advanced Parameters for further information.

Signal connector

Signal connector

Status relay

Drive healthy

1

2

ORIENTATION

COMPLETE* 24

RESET

25 Analog speed reference 1

(remote) 0 ~ 10V

6

3

4

5

0V common

JOG SELECT**

RUN FORWARD

RUN REVERSE

ANALOG INPUT 1 /

INPUT 2

26

27

28

Analog speed reference 2

(local) 0 ~ 10V

4

7 Drive enable

ANALOG INPUT 1

ANALOG INPUT 2L

29

30

31

0V common 11

0V common

* Shaft orientation only

** Relative Jog when in Digital Lock mode

SPEED

TORQUE

9

10

Pr

0 Speed control

0.15

1 Rigid digital lock with feed forward

2 Rigid digital lock without feed forward

3 Non rigid digital lock with feed forward

4 Non rigid digital lock without feed forward

5 Orientate when stopping the drive

6 Orientate when enabling and stopping the drive

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9.4 Macro logic diagrams and Menu 0 parameter changes

Figure 9-1 Macro 1 Easy mode logic diagram

ANALOG INPUT 1/

INPUT 2 SELECT

JOG

SELECT

RUN

FORWARD

RUN

REVERSE RESET

OL> EXTERNAL TRIP

CL> DRIVE ENABLE

Reference selection

Frequency/speed ref. 1

6

Reference selector

0.05

Minimum frequency/ speed clamp

0.01

0.02

Maximum frequency/speed clamp

6

Frequency/speed ref. 2

Preset references

(use Macro 3)

Precision reference

(not used with Menu 0)

0.35

Keypad reference

106

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

Menu 0 changes from default configuration

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Ramps

0.03

Acceleration rate

0.04

Deceleration rate

OL> FREQUENCY

CL> SPEED

TORQUE

OL> AT SPEED

CL> AT ZERO SPEED

Motor control

0.06

Current limit

0.39

Synchronize to a spinning motor

CL> Speed-loop PID gains

0.07

0.08

Speed-loop proportional gain

Speed-loop integral gain

0.09

Speed-loop derivative gain

Motor speed

0.10

Motor parameters

0.42 ~ 0.47

No. of poles

Power factor

Rated voltage

Rated speed

Rated current

Rated frequency

OL> Motor-voltage control

0.10

Estimated motor speed

0.07

Voltage mode selector

0.08

Boost voltage

0.09

Dynamic V/f select

Power stage

0.41

PWM switching frequency

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Figure 9-2 Macro 2 Motorised potentiometer logic diagram

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

MOTORIZED

POT. ENABLE

RESET and

MOT. POT. RESET

RUN

FORWARD

RUN

REVERSE

29

Reference selection

Frequency/speed ref. 1

Analog input 1 mode selector

0.24

6

Reference selector

0.05

0.02

Minimum frequency/ speed clamp

0.01

OL> EXTERNAL TRIP

CL> DRIVE ENABLE

Skip frequencies/ speeds

108

UP

DOWN 6

0.25

Motorized pot. reset indicator

0.26

Motorized pot. output indicator

0.27

Motorized pot. zero-start select

0.28

Motorized pot. bipolar select

0.29

Motorized pot. rate

0.30

Motorized pot. output scale factor

Pr Function

0.11 Pre-ramp reference

0.12 Post-ramp reference

0.13 Motor active-current

0 14 Jog reference (not used)

0.15 Ramp mode

0.16 Stop mode selector selector invert enable

0.17 Status relay

0.18 S-ramp

0.19 S-ramp da/dt

0.20 Skip frequency/speed 1

0.21 Skip freq./speed band 1

0.22 Skip frequency/speed 2

0.23 Skip freq./speed band 2

0.24 Analog input 1 mode

0.25 Motorised pot. reset selector indicator

0.26 Motorised pot. output indicator

0.27 Motorised pot. zero-start

0.28 Motorised pot. Bipolar select select

0.29 Motorised pot. rate

0.30 Motorised pot.output scale factor

Input terminals

Output terminals

Menu 0 changes from default configuration

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

0.20

Skip frequency/ speed 1

0.21

Skip freq./speed band 1

0.22

Skip frequency/ speed 2

0.23

Skip freq./speed band 2

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THERMISTOR

OL> FREQUENCY

CL> SPEED TORQUE

Pre-ramp reference

0.11

Ramps

S-ramp

S-ramp enable

0.18

Post-ramp reference

0.12

0.03

Acceleration rate

0.04

Deceleration rate

0.15

Ramp mode selector

0.19

S-ramp da/dt limit

CL> Speed-loop PID gains

0.07

0.08

Speed-loop proportional gain

Speed-loop integral gain

0.09

Speed-loop derivative gain

Motor speed

0.10

OL> Motor-voltage control

0.10

Estimated motor speed

0.07

Voltage mode selector

0.08

Boost voltage

0.09

Dynamic V/f select

Motor active-current

0.13

Power stage

0.41

PWM switching frequency

Motor control

0.06

Current limit

0.16

Stop mode selector

0.39

Synchronize to a spinning motor

Motor parameters

0.42 ~ 0.47

No. of poles

Power factor

Rated voltage

Rated speed

Rated current

Rated frequency

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Figure 9-3 Macro 3 Preset speeds logic diagram

Running the motor

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

PRESET

ENABLE

RUN

FORWARD

RUN

REVERSE RESET

OL> EXTERNAL TRIP

CL> DRIVE ENABLE

Reference selection

Frequency/speed ref. 1

(remote)

Analog input 1 mode selector

0.24

Reference selector

0.05

Minimum frequency/ speed clamp

0.01

0.02

Maximum freq./speed clamp

Skip frequencies/ speeds

110

PRESET

SELECT A

PRESET

SELECT B

Pr Function

0.11 Pre-ramp reference

0.12 Post-ramp reference

0.13 Motor active-current

0 14 Jog reference (not used)

0.15 Ramp mode

0.16 Stop mode selector selector invert enable

0.17 Status relay

0.18 S-ramp

0.19 S-ramp da/dt

0.20 Skip frequency/speed 1

0.21 Skip freq./speed band 1

0.22 Skip frequency/speed 2

0.23 Skip freq./speed band 2

0.24 Analog input 1 mode selector

0.25 Preset reference 1

0.26

0.27

0.28

Preset reference 2

Preset reference 3

Preset reference 4

0.29 (Not used)

0.30 (Not used)

Menu 0 changes from default configuration

0.25

Preset reference 1

0.26

Preset reference 2

0.27

Preset reference 3

0.28

Preset reference 4

0

1

B

0

1

A

0

1

0

1

Preset speed

1

2

3

4

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

0.20

Skip frequency/ speed 1

0.21

Skip freq./speed band 1

0.22

Skip frequency/ speed 2

0.23

Skip freq./speed band 2

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THERMISTOR SPEED TORQUE

Pre-ramp reference

0.11

Ramps

S-ramp

S-ramp enable

0.18

Post-ramp reference

0.12

0.03

Acceleration rate

0.04

Deceleration rate

0.15

Ramp mode selector

0.19

S-ramp da/dt limit

CL> Speed-loop PID gains

0.07

0.08

Speed-loop proportional gain

Speed-loop integral gain

0.09

Speed-loop derivative gain

Power stage

0.10

OL> Motor-voltage control

0.10

Estimated motor speed

0.07

Voltage mode selector

0.08

Boost voltage

0.09

Dynamic V/f select

Motor active-current

0.13

Power stage

0.41

PWM switching frequency

Motor control

0.06

Current limit

0.16

Stop mode selector

0.39

Synchronize to a spinning motor

Motor parameters

0.42 ~ 0.47

No. of poles

Power factor

Rated voltage

Rated speed

Rated current

Rated frequency

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Figure 9-4 Macro 4 Torque control logic diagram

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Data

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RUN

FORWARD

RUN

REVERSE RESET

OL> EXTERNAL TRIP

CL> DRIVE ENABLE

Analog torque reference

Reference selection

Analog input 1 mode selector

0.24

0.25

Analog input 1

Analog input 1 scaling

0.29

Reference selector

0.05

Minimum frequency/speed clamp

0.01

0.02

Maximum frequency/speed clamp

Skip frequencies/ speeds

Freq./speed control:

Frequency /speed reference

Torque control:

OL> (Not used)

CL> Speed over-ride

0.26

Analog input 2 mode selector

0.27

Analog input 2

0.30

Analog input 2 scaling

0.20

Skip frequency/ speed 1

0.21

Skip freq./speed band 1

0.22

Skip frequency/ speed 2

0.23

Skip freq./speed band 2

112

Pr Function

0.11 Pre-ramp reference

0.12 Post-ramp reference

0.13 Motor active-current

0 14 Jog reference (not used)

0.15 Braking mode

0.16 Stop mode selector selector

0.17 Status relay

0.18 S-ramp invert enable

0.19 S-ramp da/dt

0.20 Skip frequency/speed 1

0.21 Skip freq./speed band 1

0.22 Skip frequency/speed 2

0.23 Skip freq./speed band 2

0.24 Analog input 1 mode

0.25 selector

Analog input 1(torque reference)

0.26

0.27

Analog input 2 mode selector

Analog input 2 (maximum speed override level)

0.28 Over-speed threshold

0.29 Analog input 1 scaling

0.30 Analog input 2 scaling

Menu 0 changes from default configuration

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

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Data

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UL Listing

Information

TORQUE

ENABLE THERMISTOR

OL> FREQUENCY

CL> SPEED TORQUE

OL> AT SPEED

CL> AT ZERO SPEED

AT MIN.

SPEED

Pre-ramp reference

0.11

Ramps

Post-ramp reference

0.12

S-ramp

S-ramp enable

0.18

0.03

Acceleration rate

0.04

Deceleration rate

0.15

Ramp mode selector

0.19

S-ramp da/dt limit

CL> Speed-loop PID gains

0.07

0.08

Speed-loop proportional gain

Speed-loop integral gain

0.09

Speed-loop derivative gain

Motor speed

0.10

OL> Motor-voltage control

0.10

Estimated motor speed

0.07

Voltage mode selector

0.08

Boost voltage

0.09

Dynamic V/f select

Motor active-current

0.13

Power stage

0.41

PWM switching frequency

Motor control

0.06

Current limit

0.16

Stop mode selector

0.39

Synchronize to a spinning motor

Motor parameters

0.42 ~ 0.47

No. of poles

Power factor

Rated voltage

Rated speed

Rated current

Rated frequency

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Figure 9-5 Macro 5 PID (set-point control) logic diagram

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

PID

ENABLE RESET

JOG

SELECT

RUN

FORWARD

RUN

REVERSE

OL> EXTERNAL TRIP

CL> DRIVE ENABLE

Reference selection

Frequency/speed reference

Analog input 1 mode selector

0.14

0.17

Analog input 2

Analog input 1

0.18

PID reference

PID

0.20

PID proportional gain

Analog input 2 mode selector

0.15

Analog input 2 scaling

0.28

0.21

PID integral gain

0.22

PID derivative gain

PID feedback

Analog input 3 scaling

0.19

Analog input 3

0.29

0.16

Analog input 3 mode selector

0.23

PID output high limit

0.24

PID output low limit

0.25

PID output scale factor

Pr Function

0.11 Pre-ramp reference

0.12 Post-ramp reference

0.13 Motor active-current

0 14 Analog input 1 (freq./speed ref.) Mode

0.15

0.16

0.17

0.18

Analog input 2 (PID reference) mode

Analog input 3 (PID feedback) mode selector selector selector

Analog input 1 (freq./speed ref.)

Analog input 2 (PID reference)

Analog input 3 (PID feedback) 0.19

0.20 PID proportional gain

0.21

0.22

PID integral gain

PID derivative gain

0.23 PID output high limit

0.24

0.25

PID output low limit

PID output scale factor

0.26 Preset reference 7

0.27

0.28

0.29

Preset reference 8

Analog input 2 scaling

Analog input 3 scaling

0.30 Optional PID-enable source selector

Menu 0 changes from default configuration

Reference selector

0.05

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

Maximum frequency/ speed clamp

0.02

Minimum frequency/ speed clamp

0.01

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Parameters

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Data

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UL Listing

Information

OL> FREQUENCY

CL> SPEED TORQUE

OL> AT SPEED

CL> AT ZERO SPEED

Pre-ramp reference

0.11

Post-ramp reference

0.12

Ramps

Motor control

0.06

Current limit

0.39

Synchronize to a spinning motor

0.03

Acceleration rate

0.04

Deceleration rate

CL> Speed-loop PID gains

0.07

0.08

Speed-loop proportional gain

Speed-loop integral gain

0.09

Speed-loop derivative gain

Motor speed

0.10

Motor parameters

0.42 ~ 0.47

No. of poles

Power factor

Rated voltage

Rated speed

Rated current

Rated frequency

OL> Motor-voltage control

0.10

Estimated motor speed

0.07

Voltage mode selector

0.08

Boost voltage

0.09

Dynamic V/f select

Motor active-current

0.13

Power stage

0.41

PWM switching frequency

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Figure 9-6 Macro 6 Axis-limit control logic diagram

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

RUN

(FORWARD)

RUN

REVERSE

LIMIT

FORWARD

LIMIT

REVERSE

Limit forward invert

0.21

Limit reverse invert

0.22

0.15

Run forward indicator

0.16

Run reverse indicator

0.14

Limit forward indicator

0.17

Limit reverse indicator

Reference selection

Frequency/speed ref. 1

(remote) Reference selector

0.05

Frequency/speed reference

Direction control

0 =

1 =

RUN enabled

RUN disabled (at limit)

Maximum frequency/speed clamp

0.02

Minimum frequency/ speed clamp

0.01

Bi-directional frequency/speed reference

Frequency/speed ref. 2

(local)

Pr Function

0.11 Pre-ramp reference

0.12 Post-ramp reference

0.13 Motor active-current

0 14 Limit forward

0.15 Run forward

0.16 Run reverse

Limit reverse indicator indicator indicator indicator selector enable

0.17

0.18 Stop mode

0.19 Hold zero speed

0.20 OL> Limit deceleration rate CL> (not used)

0.21

0.22

0.23

0.24

0.25

0.26

0.27

0.28

0.29

0.30

Limit forward

Limit reverse

(not used)

(not used)

(not used)

(not used)

(not used)

(not used)

(not used)

(not used) invert invert

Menu 0 changes from default configuration

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

Pre-ramp reference

0.11

RESET

OL> EXTERNAL TRIP

CL> DRIVE ENABLE

Post-ramp reference

0.12

0.03

Acceleration rate

0.20

OL> Limit deceleration rate

0.04

CL>

Deceleration rate

Ramps

THERMISTOR

OL> FREQUENCY

CL> SPEED TORQUE

OL> AT SPEED

CL> AT ZERO SPEED

CL> Speed-loop PID gains

0.07

0.08

Speed-loop proportional gain

Speed-loop integral gain

0.09

Speed-loop derivative gain

Motor speed

0.10

OL> Motor-voltage control

0.10

Estimated motor speed

0.07

Voltage mode selector

0.08

Boost voltage

0.09

Dynamic V/f select

Motor active-current

0.13

Power stage

0.41

PWM switching frequency

Motor control

0.06

Current limit

0.18

Stop mode selector

0.19

Hold zero speed

0.39

Synchronize to a spinning motor

Motor parameters

0.42 ~ 0.47

No. of poles

Power factor

Rated voltage

Rated speed

Rated current

Rated frequency

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Figure 9-7 Macro 7 Brake Control logic diagram

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

ANALOG INPUT 1 /

INPUT 2 select

OL> (Not used)

CL> JOG SELECT

RUN

FORWARD

RUN

REVERSE RESET

BRAKE

RELEASE

Reference selection

Frequency/speed ref. 1

Reference selector

0.05

Minimum frequency/ speed clamp

0.01

0.02

Maximum frequency/ speed clamp

Frequency/speed ref. 2

(local)

Preset references

(see the Unidrive

Advanced User Guide )

Precision reference

(not used with Menu 0)

0.35

Keypad reference

1.05

Jog reference

(see the Unidrive

Advanced User Guide )

Current threshold

0.19

Motor current magnitude

0.14

Drive healthy indicator

0.16

0.20

Brake release delay

At zero speed indicator

0.17

Reference enabled indicator

(see the Unidrive

Advanced User Guide )

1.11

At zero speed indicator

0.17

0.20

Brake application delay

Current detected indicator

0.15

0.18

Brake release indicator

Menu 0 changes from default configuration

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

OL> EXTERNAL TRIP

CL> DRIVE ENABLE THERMISTOR

OL> FREQUENCY

CL> SPEED TORQUE

Pre-ramp reference

0.11

Post-ramp reference

0.12

Ramps

Motor control

0.06

Current limit

0.39

Synchronize to a spinning motor

0.03

Acceleration rate

0.04

Deceleration rate

Pr Function

0.11 Pre-ramp reference

0.12 Post-ramp reference

0.13 Motor active-current

0 14 Motor current magnitude

0.15 Current detected

0.16 Drive healthy indicator indicator indicator tor

0.17 At zero speed

0.18 Brake release indica

0.19 Current threshold

0.20 OL> Brake release delay

CL>

0.21

0.22

Brake application delay

(not used)

(not used)

0.23 (not used)

0.24 (not used)

0.25 (not used)

0.26 (not used)

0.27 (not used)

0.28 (not used)

0.29 (not used)

0.30 (not used)

Key

0.XX

Read-write (RW) parameter

0.XX

Read-only (RO) parameter

Input terminals

Output terminals

CL> Speed-loop PID gains

0.07

Speed-loop proportional gain

0.09

0.08

Speed-loop integral gain

Speed-loop derivative gain

Motor speed

0.10

Motor parameters

0.42 ~ 0.47

No. of poles

Power factor

Rated voltage

Rated speed

Rated current

Rated frequency

OL> Motor-voltage control

0.10

Estimated motor speed

0.07

Voltage mode selector

0.08

Boost voltage

0.09

Dynamic V/f select

Motor active-current

0.13

Power stage

0.41

PWM switching frequency

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Figure 9-8 Macro 8 Digital lock / shaft orientation logic diagram

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Reference selection

Speed reference 1

ANALOG INPUT 1 /

INPUT 2 select

Reference selector

0.05

(RELATIVE)

JOG SELECT

Digital-lock with feed-forward:

Digital-lock without feed-forward:

Shaft orientation:

0

1

1

RUN

FORWARD

RUN

REVERSE

Maximum speed clamp

0.02

Minimum speed clamp

0.01

Speed reference 2

(local)

Preset references

(see the Unidrive

Advanced User Guide )

0.35

Precision reference

(not used with Menu 0)

Keypad reference

(Relative) Jog reference

0.14

Reference encoder/resolver revolution counter

0.29

Reference-encoder /

Feedback-resolver position

0.21

Feedback-encoder /

Reference-resolver position

0.19

Reference-encoder /

Feedback-resolver speed

0.22

Feedback-encoder /

Reference-resolver speed

0.18

0.17

Reference encoder/resolver ratio

0.30

Feedback encoder/resolver revolution counter

Orientation reference

0.26

UD53

Not fitted:

Fitted:

0

1

Digital feed-forward

0.15

0.27

Positioning speed limit

0.25

Position-loop mode selector

Orientation acceptance window

Digital-lock modes:

Orientation modes:

0

1

Position- loop gain

Position error

0.24

0.20

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Parameters

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Data

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RESET DRIVE ENABLE SPEED TORQUE

ORIENTATION

COMPLETE

Pre-ramp reference

0.11

Post-ramp reference

0.12

Ramps

Speed-loop PID gains

0.07

Speed-loop proportional gain

0.08

Speed-loop integral gain

Motor control

0.06

Current limit

0.39

Synchronize to a spinning motor

0.03

Acceleration rate

0.04

Deceleration rate

0.09

Speed-loop derivative gain

Motor speed

0.10

Motor parameters

0.42 ~ 0.47

No. of poles

Power factor

Rated voltage

Rated speed

Rated current

Rated frequency

Motor active-current

0.13

Power stage

0.41

PWM switching frequency

Pr Function

0.11 Pre-ramp reference

0.12 Post-ramp reference

0.13 Motor active-current

0 14 Relative jog reference

0.15 Position loop mode selector

0.16 Feedback encoder no. of lines per revolution

0.17 Reference encoder/resolver ratio

0.18 Feedback-encoder/Reference-resolver speed

0.19

[M]

Feedback-encoder/Reference-resolver position

0.20 Position error

0.21

0.22

Reference-encoder/Feedback-resolver position

Reference-encoder/Feedback-resolver speed

0.23 Reference encoder no. of lines/pulses per revolution

0.24 Position-loop gain

0.25 Positioning speed limit

0.26 Orientation reference

0.27 Orientation acceptance window

0.28 Stop mode

0.29

0.30 selector

Reference encoder/resolver revolution counter

Feedback encoder/resolver revolution counter

Input terminals

Key

0.XX

Read-write (RW) parameter

Output terminals

0.XX

Read-only (RO) parameter

Menu 0 changes from default configuration

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9.5 Unidrive VTC macro differences

Only macros 1, 2, 3 and 5 can be used with Unidrive VTC.

The following highlights the macro terminal differences for Unidrive VTC.

Any terminal not listed below have the same function as open-loop

Unidrive.

Macros 1 and 5

• Analog outputs 1 and 2 (terminals 9 and 10) are post ramp frequency and total current outputs rather than speed and torque outputs.

• USA> Digital output F1 (terminal 24) is drive running indicator rather than At speed.

Macros 2 and 3

• Analog outputs 1 and 2 (terminals 9 and 10) are post ramp frequency and total current outputs rather than speed and torque outputs.

• USA> Analog input 2 is configured as a 4-20mA input rather than a voltage input.

Optimisation Macros

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

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10 Advanced Parameters

Menu 0

Running the motor

Optimisation

WARNING

These advanced parameters are listed for reference purposes only. The lists in this chapter do not include sufficient information for adjusting these parameters.

Incorrect adjustment can affect the safety of the system, and damage the drive and or external equipment. Before attempting to adjust any of these parameters, refer to the

Unidrive Advanced User Guide .

Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

0

13

14

15

16

9

10

11

12

17

18

19

20

7

8

5

6

3

4

1

2

Menu number

Description

Commonly used basic set up parameters for quick / easy programming

Speed references and limits

Ramps (accel / decel)

Speed feedback / frequency slaving

Current control

Machine control

Sequencing logic

Analog I/O

Digital I/O

Programmable logic

Status flags / trip log

Menu 0 customisation / drive specific ratings

Programmable thresholds

Digital lock / orientation

Programmable PID function

Regen

Small option module set up

Large option module set up

Application menu 1

Application menu 2

Large option module set up

Operation mode abbreviations:

OL> Open loop

CL> Closed loop (which incorporates closed loop vector and

VT> servo mode)

Closed loop vector mode

SV> Servo

NOTE

• Parameter numbers shown in brackets {...} are the equivalent Menu

0 parameters. Some Menu 0 parameters appear twice since their function depends on the operating mode.

• The Range - CL column applies to both Closed-loop Vector and

Closed-loop Servo. For some parameters, this column applies only to one of these modes; this is indicated accordingly in the Default columns.

• In some cases, the function or range of a parameter is affected by the setting of another parameter; the information in the lists relates to the default condition of such parameters.

• Some parameters have different ranges and/or default values between Unidrive VTC and open loop Unidrive. These differences

are listed in section 10.21

Unidrive VTC parameter range and default differences on page 181.

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10.1 Menu 1: Speed references and limits

Figure 10-1 Menu 1 logic diagram

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

LOCAL/REMOTE

Analog reference

Analog input 1

Menu 8

Analog reference 1

1.36

Analog input 2

Preset reference

Preset reference selector

1.15

Preset reference select bits 1 ~ 3

1.47

1.46

1.45

1.21 ~ 1.28

Preset references

1 to 8

Menu 7

1.37

Analog reference 2

1.41

Analog reference 2 select

1.42

Preset reference select

1.43

Keypad reference select

1.44

Precision reference select

Reference selector

1.14

Reference selected indicator

1.49

+

+

Scan timer

1.20

Preset reference selected indicator

1.50

1.16

Preset reference scan time

1.48

Preset reference

Scan-timer reset

Keypad reference

1.38

Reference percentage trim

1.04

Reference offset

1.09

Reference offset mode select

1.01

Level of reference selected

1.17

Keypad

Reference

Precision reference

Precision reference

1.18

1.19

Precision reference trim

Precision-reference update disable

1.20

Memory

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown in their default settings

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

JOG RUN FORWARD RUN REVERSE

1.05

Jog reference

Menu 8

Menu 6

Sequencer

Jog selected indicator

1.13

Bipolar reference select

1.10

Reverse selected indicator

1.12

x(-1)

1.39

Velocity feed-forward reference

1.40

Sequencer (Menu 6)

Feed-forward selected indicator

Negative minimum speed select

1.08

1.06

Maximum freq./speed

"clamp"

1.07

Minimum freq./speed

"clamp"

(Maximum reverse freq./speed)

[1.06]

[1.07]

[1.07]

[1.06]

1.11

Reference enabled indicator

1.02

Pre-filter

Reference in skip freq./speed band indicator

1.35

reference

Pre-ramp reference

1.03

Menu 2

[1.06]

[1.06]

[1.06]

1.29

Skip freq./ speed 1

1.31

Skip freq./ speed 2

1.33

Skip freq./ speed 3

1.30

Skip freq. 1 speed band

1, 2, 3

1.32

Skip freq. 2 speed band

1, 2, 3

1.34

Skip freq. 3 speed band

1, 2, 3

[1.07]

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Parameter

1.01

Final reference

1.02

Pre-filter reference

1.03 Pre-ramp reference

1.04

Reference offset

1.05 Jog reference

1.06 Maximum frequency/speed

{ 0.11

}

{ 0.14

}

{ 0.02

}

OL

±1,000.0 Hz *

±1,000.0 Hz *

±1,000.0 Hz *

±1,000.0 Hz

0 to 400.0 Hz

0 to 1,000.0 Hz

Range(

Ú

)

CL

±30,000 rpm *

±30,000 rpm *

±30,000 rpm *

±30,000 rpm

0 to 4,000 rpm

0 to 30,000 rpm

1.07 Minimum frequency/speed

1.08

Negative minimum speed select

1.09

Reference offset select

1.10

Bipolar reference select

1.11

Reference enabled indicator

1.12

Reverse selected indicator

1.13

Jog selected indicator

1.14 Reference selector

{ 0.01

}

{ 0.05

}

0 to [Pr 1.06

], if Pr 1.08

= 0

-1,000 to 0 Hz, if Pr 1.08

= 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 to 5

1.15

Preset reference selector

1.16

Preset reference scan time

1.17 Keypad reference

1.18

Precision reference

1.19

Precision reference trim

1.20

Precision-reference update disable

1.21

Preset reference 1

1.22

Preset reference 2

1.23

Preset reference 3

1.24

Preset reference 4

1.25

Preset reference 5

1.26

Preset reference 6

1.27

Preset reference 7

1.28

Preset reference 8

1.29 Skip freq./speed 1

1.30 Skip band 1

1.31 Skip freq./speed 2

1.32 Skip band 2

1.33

Skip freq./speed 3

1.34

Skip band 3

1.35

Reference in skip-band indicator

1.36

Analog reference 1

1.37

Analog reference 2

1.38

Reference percentage-trim

1.39

Velocity feed-forward reference

1.40

Feed-forward selected indicator

1.41

Analog reference 2 selected indicator

1.42

Preset reference selected indicator

1.43

Keypad reference selected indicator

1.44

Precision reference selected indicator

1.45

Preset reference select bit 0 (LSB)

1.46

Preset reference select bit 1

1.47

Preset reference select bit 2 (MSB)

{ 0.35

}

{ 0.20

}

{ 0.21

}

{ 0.22

}

{ 0.23

}

±1,000.0 Hz

±1,000.0 Hz

0 to 0.099 Hz

0 to 9

0 to 400.0 s

±30,000 rpm

±30,000 rpm

0 to 0.99 rpm

0 or 1

±1,000.0 Hz

±1,000.0 Hz

±30,000 rpm

±30,000 rpm

±1,000.0 Hz

±1,000.0 Hz

±1,000.0 Hz

±1,000.0 Hz

±1,000.0 Hz

±1,000.0 Hz

±30,000 rpm

±30,000 rpm

±30,000 rpm

±30,000 rpm

±30,000 rpm

±30,000 rpm

0 to 1,000.0 Hz

0 to 5.0 Hz

0 to 1,000.0 Hz

0 to 30,000 rpm

0 to 50 rpm

0 to 30,000 rpm

0 to 5.0 Hz

0 to 1,000.0 Hz

0 to 5.0 Hz

±1,000 Hz

±1,000 Hz

*

*

±1,000.0 Hz

0 to 50 rpm

0 to 30,000 rpm

0 to 50 rpm

0 or 1

±30,000 rpm *

±100.0 %

±30,000 rpm *

±30,000 rpm

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

1.48

Scan-timer reset

1.49

Reference selected indicator

1.50

Preset reference selected indicator

0 or 1

1 to 5

1 to 8

* The maximum value that can be used is limited to the larger value of Pr 1.06

and Pr 1.07

.

OL

1.5

EUR> 50

USA> 60

EUR> 0

USA> 4

0.5

0.5

0.5

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Default(

VT

0

0

0

0

0

0

0

0

0

0

0

0

10

0

0

Ö

)

SV

0

50

EUR> 1,500

USA> 1,800

0

0

0

0

3,000

0

0

0

0

5

5

5

Type

RO Bi P

RO Bi P

RO Bi

RW Bi

P

RW Uni

RW Uni

RW Bi

RW Bit

RW Bit

RW Bit

RO Bit

RO Bit

RO Bit

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RO Bit

RO Bi

RO Bi

RO Bi

RO Bi

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RW Bit

RO Uni

RO Uni

RW Uni

RW Uni

RO Bi S P

RW Bi

RW Uni

RW Bit

RW Bi

RW Bi

RW Bi

RW Bi

RW Bi

RW Bi

RW Bi

RW Bi

P

P

P

P

P

P

P

P

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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Data

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Menu 0

10.2 Menu 2: Ramps (accel. / decel.

)

Figure 10-2 Menu 2 logic diagram

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

2.15

2.16

2.17

2.18

2.11

2.12

2.13

2.14

Acceleration rates 1 ~ 8

Acceleration rate 1

Fwd Acceleration rate 1

Acceleration rate 2

Fwd Acceleration rate 2

Acceleration rate 3

Fwd Acceleration rate 3

Acceleration rate 4

Fwd Acceleration rate 4

Acceleration rate 5

Rev.

Acceleration rate 1

Acceleration rate 6

Rev.

Acceleration rate 2

Acceleration rate 7

Rev.

Acceleration rate 3

Acceleration rate 8

Rev.

Acceleration rate 4

Acceleration rate select bits

2.34

2.33

2.32

0 0 0

0 0 1

0 1 0

0 1 1

1 0 0

1 0 1

1 1 0

1 1 1

Key

Input terminals

Output terminals

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

2.10

Forward acceleration selector

Preset reference selected indicator

1.50

3

4

5

6

7

8

1

2

Reverse acceleration rate select bits

2.39

2.38

0 0

0 1

1 0

1 1

2.30

Rev acceleration selector

Reverse acceleration and deceleration select

2.09

2.19

Jog acceleration rate

Jog selected indicator

1.13

Pre-ramp speed reference

1.03

Reverse accel. rate

N t

Forward accel. rate

N t

Acceleration

2.03

Ramp control

2.04

2.05

Ramp hold enable

Ramp mode selector*

Ramp rate range select

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Parameters

Technical

Data

Diagnostics

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Information

Deceleration rate select bits

2.37

2.36

2.35

Forward deceleration ramp selector

2.20

Reverse deceleration rate select bits

2.41

2.40

Rev deceleration selector

2.31

Reverse acceleration and deceleration select

2.09

Jog deceleration rate

2.29

1.13

Jog selected indicator

Forward

Decel. rate

N t

Reverse

Decel. rate

N t

2.06

2.07

2.08

Deceleration

Ramp control

S-Ramp enable

S-Ramp acceleration limit

Standard ramp voltage*

Current control

Menu 4

(Open-loop only)

+

_

2.02

Ramp enable

(Closed- loop only)

1.50

Preset reference selected indicator

2.01

Post-ramp reference

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

Range(

Ú

)

Parameter

2.01

Post-ramp reference

2.02

Ramp enable

2.03

Ramp hold enable

2.04

Ramp mode selector***

2.05

Ramp-rate range select

2.06 S-ramp enable

{ 0.12

}

{ 0.15

}

{ 0.18

}

OL CL

±1,000 Hz * ±30,000 rpm *

0 or 1

0 or 1

Stnd.Hd (0), FASt (1), Stnd.Ct (2)

0 or 1

0 or 1

2.07

2.08

S-ramp da/dt

Standard ramp voltage***

{ 0.19

} 0 to 3,000.0 s 2 /100 Hz 0 to 30.000 s 2 /1,000 rpm

200V drive: 0 to 400 V

400V drive: 0 to 800 V

2.09

Reverse acceleration and deceleration select

2.10

Forward acceleration ramp selector

2.11

2.12

Acceleration rate 1 / Forward acceleration rate 1

Acceleration rate 2 / Forward acceleration rate 2

{ 0.03

} 0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 or 1

0 to 9

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

2.13

2.14

2.15

2.16

2.17

2.18

Acceleration rate 3 / Forward acceleration rate 3

Acceleration rate 4 / Forward acceleration rate 4

Acceleration rate 5 / Reverse acceleration rate 1

Acceleration rate 6 / Reverse acceleration rate 2

Acceleration rate 7 / Reverse acceleration rate 3

Acceleration rate 8 / Reverse acceleration rate 4

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

2.19

Jog acceleration rate

2.20

Forward deceleration ramp selector

2.21

Deceleration rate 1 / Forward deceleration rate 1

2.22

2.23

2.24

2.25

2.26

2.27

2.28

Deceleration rate 2 / Forward deceleration rate 2

Deceleration rate 3 / Forward deceleration rate 3

Deceleration rate 4 / Forward deceleration rate 4

Deceleration rate 5 / Reverse deceleration rate 1

Deceleration rate 6 / Reverse deceleration rate 2

Deceleration rate 7 / Reverse deceleration rate 3

Deceleration rate 8 / Reverse deceleration rate 4

{ 0.04

}

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT>0 to 32.0 s/1,000rpm

SV>0 to 32.000 s/1,000rpm

0 to 9

VT> 0 to 32.000 s/1000rpm

SV> 0 to 32,000 s/1000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

2.29

2.30

2.31

2.32

2.33

2.34

2.35

Jog deceleration rate

2.36

Forward deceleration select bit 1

2.37

Forward deceleration select bit 2 (MSB)

2.38

2.39

2.40

Rev acceleration

Rev deceleration selector selector

Forward acceleration

Forward acceleration

Forward acceleration

Forward deceleration

Reverse acceleration

Reverse acceleration

Reverse deceleration select bit 0 (LSB) select bit 1 select bit 2 (MSB) select bit 0 (LSB) select bit 0 (LSB) select bit 1 (MSB) select bit 0 (LSB)

0 to 3,200.0 s/100Hz

VT> 0 to 3,200

SV> 0 to 32.000 s/1,000rpm

0 to 4

0 to 4

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

2.41

Reverse deceleration select bit 1 (MSB) 0 or 1

* The maximum value that can be used is limited to the larger value of Pr 1.06

and Pr 1.07

.

Default(

Ö

)

VT

Type

OL SV

0

1

Stnd.Ct (2)

0

0

3.1 1.5

0

1

0.03

200V drive: 375

400V drive: EUR> 750, USA> 775

0

0

5** 2 0.2

RO Bi

RW Bit

RW Bit

RW Txt

RW Bit

RW Bit

RW Uni

RW Uni

RW Bit

RW Uni

RW Uni

5**

5**

5**

5**

5**

5**

5**

0.2

10**

10**

10**

10**

10**

10**

10**

10**

0.2

0

0

0

0

0

0

0

0

0

0

0

0

2

2

2

2

2

2

2

0

2

2

2

2

2

2

2

2

0

0

0.2

0.2

0.2

0.2

0.2

0.2

0.2

0.2

0.2

0.2

0.2

0.2

0.2

0.2

0.2

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

P

P

P

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

** These parameters have a default setting of 60s in the VTC variant.

*** For more info, see section 10.22.1

Braking modes on page 182.

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

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Optimisation

10.3 Menu 3: Speed feedback / frequency slaving

Figure 10-3 Menu 3 Open-loop logic diagram

15 way sub-D connector

Encoder 1 speed

3.26

Macros

Advanced

Parameters

Frequency slaving enable

3.13

Technical

Data

Diagnostics

UL Listing

Information

F (A)

D (B) 3

4

1

2

3.21

3.22

3.24

No. of encoder lines / Pulses per revolution

Frequency input select

Termination resistors

1

1536

3.14

3.15

Slaving ratio numerator

Slaving ratio denominator

Final speed demand

3.01

Slip compensation

Menu 5

+

+

Menu 2

Post ramp reference

2.01

Motor frequency

5.01

Frequency scaling ratio select bit 2

3.18

Frequency scaling ratio select bit 1

3.17

x 192 x 1563

Pre ramp reference

1.03

3.09

Absolute at-speed detect mode

+

Zero speed threshold

3.05

+

_

At zero speed indicator

Bipolar reference select

1.10

10.03

Minimum speed

1.07

+

_

10.04

At or below min. speed indicator

Over-speed threshold

3.08

3.07

At speed upper limit

+

_

+

_

Overspeed trip

(OV.SPd)

_

1.06

Max. frequency

+20%

At speed lower limit

3.06

3.29

Over-speed threshold mode select

+

_

10.05

Below at-speed window indicator

At speed indicator

NOR 10.06

10.07

Above at-speed window indicator

3.22

Frequency output enable

7

8

9

10

15 way sub-D connector

D

D

F

F

Key

Input terminals

Output terminals

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Figure 10-4 Menu 3 Closed-loop logic diagram

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Encoder

B

Z

A

B

Z

+V

0V

A

15 way sub-D connector

Encoder 1 supply voltage select

3.23

13

14

1

2

5

6

3

4

3.21

3.22

3.24

5V

15V

No. of encoder lines / Pulses per revolution

Frequency input select

Termination resistors

Encoder 1 speed

3.26

Resolver option module

UD53

Resolver

Sin. high

Sin. low

Cos. low

Cos. high

Exit. high

Exit. low

48

49

50

51

52

53

SIN COS option module

UD52

Resolver

RPM

16.02

SIN COS

Sin. in

Sin. ref

Cos. in

Cos. ref

0V

+V

SC data

SC data

43

44

45

46

40

41

42

47

SIN COS

Encoder RPM

16.02

UD52 SIN COS or

UD53 Resolver option module fitted

16.14

Select SIN COS encoder as auxiliary encoder enable

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Data

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Information

Hard speed reference select*

3.20

Hard speed reference*

3.19

Post ramp reference

2.01

+

+

Drive sequencer

Pr controller when

Pr

1.11

6.01

or position

= rP-POS (3)

Final speed demand

3.01

Speed error

+

_

3.02

Speed feedback

3.03

3.10

3.11

3.12

Speed loop proportional gain

Speed loop integral gain

Speed loop derivative gain

3.04

Speed loop output

Zero speed threshold

3.05

+

_

At zero speed indicator

Bipolar reference select

1.10

10.03

Minimum speed

1.07

+

_

10.04

At or below min. speed indicator

Pre ramp reference

1.03

+

Overspeed threshold

3.08

At speed lower limit

_

3.06

+

_

+

_

Overspeed trip

(OV.SPd)

Below at-speed window indicator

10.05

At speed indicator

NOR 10.06

3.09

Absolute at-speed detect mode

3.07

At speed upper limit

+

_

10.07

Above at-speed window indicator

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

* For more information, refer to section 10.22.8

Position loop modes on page 188.

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Parameters

Technical

Data

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UL Listing

Information

Parameter

3.01

OL> Slave frequency-demand

CL> Final speed demand

3.02

Speed feedback

3.03

Speed error

3.04

Speed loop output

3.05

Zero-speed threshold

3.06

At-speed lower limit

3.07

At-speed upper limit

3.08

Over-speed threshold

3.09

Absolute at-speed detect mode

3.10

Speed-loop proportional gain

3.11

Speed-loop integral gain

3.12 Speed-loop derivative gain

3.13

Frequency slaving enable

3.14

Slaving ratio numerator

3.15

Slaving ratio denominator

3.16

Frequency output enable

3.17

Frequency scaling ratio select bit 1

3.18

Frequency scaling ratio select bit 2

3.19

Hard speed reference**

3.20

Hard speed reference select**

3.21

No. of encoder lines / Pulses per revolution

3.22

Frequency input select

3.23

Encoder supply voltage select

3.24

Encoder termination disable

3.25

Encoder phasing test enable

3.26

Encoder 1 speed

3.27

Encoder 1 position

3.28

Phase position

3.29

Over-speed threshold mode select

3.30

Speed feedback filter

3.31

Servo phasing fail (ENCPH9) detection disable

Range( Ú )

OL CL

±1,000.0 Hz ±30,000 rpm

{ 0.10

}

{ 0.07

}

{ 0.08

}

{ 0.09

}

{ 0.40

}

Pr 1.06

±30,000 rpm

±I

MAX

% *

0 to 20.0 Hz

0 to 1,000.0 Hz

0 to 1,000.0 Hz

0 to 1,000.0 Hz

0 to 200 rpm

0 to 30,000 rpm

0 to 30,000 rpm

0 to 30,000 rpm

0 or 1

0 to 32,000

0 to 32,000

0 to 32,000

0 or 1

0 to 1.000

0.001 to 1.000

0 or 1

0 or 1

0 or 1

256 to 10,000

Encoder lines / Pulses per rev

0 or 1

0 or 1

0 or 1

±[Pr 1.06

]

0 or 1

256 to 5,000

Encoder lines / Pulses per rev

±30,000 rpm

0 to 16,383 revs / 16,384

0 or 1

±30,000 rpm

0 to 16,383 revs / 16,384

0 to 6,143 rev / 6143

0 or 1

0 to 10.0 ms

0 or 1

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

Default(

VT

Ö )

Type

OL SV

1

0

0

1

1

0

1

1

1

1,000

1

0

1,024

2,000

0

200

100

0

5

5

5

4,000

0

0

0

0

0

0

4,096

0

0

RO Bi

RO Bi

RO Bi

RO Bi

RW Uni

RW Uni

RW Uni

RW Uni

RW Bit

RW Uni

RW Uni

RW Uni

RW Bit

RW Uni

RW Uni

RW Bit

RW Bit

RW Bit

RW Bi

RW Bit

RW Uni

RW Bit

RW Bit

RW Bit

RW Bit

RO Bi

RO Uni

RW Uni S P

RW Bit

RW Uni

RW Bit

P

P

P

P

P

P

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

* For definition of ±I

MAX

%

, see section 8.2

Current limits on page 98.

** For more information, refer to section 10.22.8

Position loop modes on page 188.

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10.4 Menu 4: Current control

Figure 10-5 Menu 4 Open-loop logic diagram

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Pre ramp reference

Menu 2 ramp controller

Torque mode selector*

4.11

Post ramp reference

Motor map

Motor frequency

5.01

Current limit active

10.09

Current loop

4.13

P gain**

4.14

I gain**

_

Active current Current magnitude

4.02 - Active

current

(Amp)

4.20 - Percentage

torque

current

4.02

4.20

4.01

4.17

Magnetising current

Torque reference*

4.08

+

+

Torque reference offset enable

4.10

4.09

Torque reference offset

Torque demand

4.03

Motor frequency

Motor rated frequency

5.01

5.06

Torque to current conversion

Drive rated continuous current

Motor rated current

11.32

5.07

Current limits

4.05

Motoring

Regenerating

Symmetrical

Over-riding current limit

4.18

Percentage current demand

4.04

+

Motor thermal time constant

4.15

Motor protection mode

4.16

10.08

At 100% load indicator

10.09

Current limit active indicator

10.39

4.19

Braking energy overload indicator

Motor overload accumulator

10.17

Motor current overload alarm indicator

Key

Input terminals

Output terminals

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

* For more information, please refer to section 10.22.3

Torque

Modes on page 183.

** For more information, please refer to section 10.22.5

Mains loss modes on page 185.

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Figure 10-6 Menu 4 Closed-loop vector logic diagram

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Final speed demand

3.01

Speed feedback

3.02

+

+

Speed loop output

3.04

+

Speed over-ride level

+

Zero speed threshold

3.05

Torque reference*

4.08

Torque reference offset enable

4.10

Coiler/uncoiler speed over-ride level

+

+

Drive rated continuous current

Motor rated current

11.32

5.07

4.09

Torque reference offset

Current limits

4.05

Motoring

Regenerating

Symmetrical

Over-riding current limit

4.18

Torque mode selector*

4.11

Torque demand

4.03

Motor rated current

5.07

Motor rated power factor

5.10

Current demand

4.04

Filter time constant

4.12

Filter

+

_

Current controller

4.13

4.14

Current loop

P gain**

Current loop

I gain**

Active current

Current magnitude

4.02

- Active

current

(Amp)

4.20

- Percentage

torque

current

4.02

4.20

4.01

4.17

Magnetising current

Motor thermal time constant

4.15

Motor protection mode

4.16

Key

Input terminals

Output terminals

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

* For more information, please refer to section 10.22.3

Torque

Modes on page 183.

** For more information, please refer to section 10.22.5

Mains loss modes on page 185.

10.08

At 100% load indicator

10.09

Current limit active indicator

10.39

Braking energy overload indicator

4.19

Motor overload accumulator

10.17

Motor current overload alarm indicator

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Figure 10-7 Menu 4 Servo logic diagram

Getting

Started

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Final speed demand

3.01

Speed feedback

3.02

+

+

Speed loop output

3.04

+

Speed over-ride level

+

Zero speed threshold

3.05

Torque reference*

4.08

Torque reference offset enable

4.10

Coiler/uncoiler speed over-ride level

+

+

Drive rated continuous current

Motor rated current

11.32

5.07

4.09

Torque reference offset

Current limits

4.05

Motoring

Regenerating

Symmetrical

Over-riding current limit

4.18

Torque mode selector*

4.11

Torque demand

4.03

Key

Input terminals

Output terminals

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

* For more information, please refer to section 10.22.3

Torque

Modes on page 183.

** For more information, please refer to section 10.22.5

Mains loss modes on page 185.

Current demand

4.04

Filter time constant

4.12

Filter

+

_

Current controller

4.13

Current loop

P gain**

4.14

Current loop

I gain**

Percentage torque current

4.20

4.02

Motor active current

Motor thermal time constant

4.15

Motor protection mode

4.16

10.08

At 100% load indicator

10.09

Current limit active indicator

10.39

Braking energy overload indicator

4.19

Motor overload accumulator

10.17

Motor current overload alarm indicator

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

Parameter

4.01

Motor current magnitude

4.02 Motor active-current

4.03

Torque demand

4.04

Current demand

4.05

Motoring current limit

4.06

Regenerating current limit

4.07 Symmetrical current limit

4.08

Torque reference**

4.09

Torque reference offset

4.10

Torque reference offset enable

4.11 Torque mode select or**

4.12

Current-demand filter time-constant

4.13

Current-loop proportional gain***

4.14

Current-loop integral gain***

4.15

Motor thermal time-constant

4.16

Motor protection mode select

4.17

Motor magnetizing current

4.18

Over-riding current limit

4.19

Overload accumulator

4.20

Percentage torque current

{ 0.13

}

{ 0.06

}

{ 0.17

}

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

* These parameters have a default setting of 120% in Unidrive VTC.

** For more information, please refer to section 10.22.3

Torque

Modes on page 183.

*** For more information, please refer to section 10.22.5

Mains loss modes on page 185.

Types of current range

FLC Full load current of the drive (maximum continuous output current up to 40 o C ambient temperature). Displayed in Pr 11.32

{ 0.33

}.

I

MAX

A Maximum overload output current of the drive up to 40 o C ambient temperature, derived as follows:

Size 1 to 4: OL> 150% x FLC

CL> 175% x FLC

Size 5: 150% x FLC

I

MAX

%

See section 8.2

Current limits on page 98 for the definition of

I

MAX

%.

OL

0 to 1

Range( Ú )

CL

0 to I

MAX

A

± I

MAX

A

± I

MAX

%

± I

MAX

%

0 to I

MAX

%

0 to I

MAX

%

0 to I

MAX

%

± I

MAX

%

± I

MAX

%

0 or 1

0 to 30,000

0 to 30,000

0 to 400.0 s

0 or 1

± I

MAX

A

0 to I

MAX

%

0 to 100 %

± I

MAX

%

0 to 4

0 to 250 ms

OL

Default( Ö )

VT SV

150*

150*

150*

0

0

0

0

20

40

89.0

150

2,000

0

0

175

175

175

130

1,200

7.0

Type

RO Uni

RO Bi

RO Bi

RO Bi

RW Uni

RW Uni

RW Uni

RW Bi

RW Bi

RW Bit

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Bit

RO Bi

RO Uni

RO Uni

RO Bi

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

P

P

P

P

P

P

P

P

P

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10.5 Menu 5: Machine control

Figure 10-8 Menu 5 Open-loop logic diagram

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Slave frequency demand

3.01

Post ramp reference

2.01

+

Frequency slaving enable

3.13

5.06

5.07

5.08

5.09

5.10

5.11

5.32

Motormap

Motor rated frequency

Motor rated current

Motor rated full load RPM

Motor rated voltage

Motor rated power factor

Motor number of poles

Motor full load speed fine trim

Autotune

5.12

Voltage mode

5.14

Fd

Ur

UrS

Url

5.13

5.15

5.16

5.17

5.23

Dynamic V/f select

Voltage boost

Jog voltage boost

Stator resistance

Voltage offset

DC Bus voltage

5.05

Motor voltage

5.02

Motor frequency

5.01

Volt

L1 L2 L3

Slip compensation enable

5.27

+

Total motor power (kW)

5.03

√ 3 x V x I

Estimated motor speed

5.04

Hertz

5.18

5.19

5.20

5.33

PWM switching frequency

High stability space vector modulation

Quasi square wave enable

Thermal model protection

Slip compensation

Motor active current

Percentage active current

4.02

4.20

4.01

Motor current magnitude

Motor magnetising current

4.17

Key

Input terminals

Output terminals

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Parameters

Technical

Data

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UL Listing

Information

Figure 10-9 Menu 5 Closed-loop vector logic diagram

Current demand

4.04

Current demand filter time constant

4.12

+

_

Filter

Motor active current

4.02

Slip autotune 5.27

Current controller

4.13

Current loop

P gain

4.14

Current loop

I gain

5.06

5.07

5.08

Motormap

Motor rated frequency

Motor rated current

Motor rated full load RPM

5.09

5.10

5.11

Motor rated voltage

Motor rated power factor

Motor number of poles

5.12

Autotune

Total motor power (kW)

5.03

√ 3 x V x I

5.21

5.24

5.26

5.28

5.29

5.30

5.31

5.32

Field gain reduction enable

Motor leakage inductance

Cross coupling compensation enable

Field weakening gain compensation disable

Motor saturation breakpoint 1

Motor saturation breakpoint 2

Voltage controller gain

Motor full load speed fine trim

DC Bus voltage

5.05

Motor voltage

5.02

Volt

L1 L2 L3

Hertz

5.18

5.19

5.20

5.33

PWM switching frequency

High stability space vector modulation

Quasi square wave enable

Thermal model protection

Motor active current

Percentage active current

4.02

4.20

4.01

Motor current magnitude

Motor magnetising current

4.17

Key

Input terminals

Output terminals

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Data

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Information

Figure 10-10 Menu 5 Servo logic diagram

L1 L2 L3

DC Bus voltage

5.05

Filter time constant

4.12

Current demand

4.04

+

Filter

Motor active current

4.02

_

Current controller

4.13

Current loop

P gain

4.14

Current loop

I gain

Motor power

(kW)

5.03

5.07

Motormap

Motor rated current

5.11

Motor number of poles

√ 3 x V x I

Motor voltage

5.02

Volt

Hertz

5.18

5.19

PWM switching frequency

High stability space vector modulation

Percentage active current 4.20

Motor active current

4.02

Motor current magnitude

4.01

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Parameters

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Data

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UL Listing

Information

Parameter

5.01

Motor frequency

5.02

Motor voltage

5.03

Total motor power

5.04 Estimated motor speed

5.05

DC bus voltage

5.06 Motor - rated frequency

5.07 Motor - rated current

5.08 Motor - rated speed

{ 0.10

}

{ 0.47

}

{ 0.46

}

{ 0.45

}

5.09 Motor - rated voltage { 0.44

}

5.10 Motor - rated power factor

5.11 Motor - number of poles

5.12 Magnetizing current test enable

5.13 Dynamic V/f select

5.14 Voltage mode selector

5.15 Boost voltage

5.16

Jog boost-voltage

5.17

Stator resistance

5.18 PWM switching frequency selector

5.19

High-stability space-vector modulation enable

5.20

Quasi square-wave enable

5.21

Field-gain reduction enable

5.22

Maximum speed x10 select

5.23

Voltage offset

5.24

Motor leakage inductance

5.25

Output frequency doubling select

5.26

Cross-coupling compensation enable

Slip compensation enable

5.27

Auto-optimize rated speed enable

Phasing test for motors with high inertia loads

5.28

Field-weakening gain compensation disable

5.29

Motor saturation breakpoint 1

5.30

Motor saturation breakpoint 2

5.31

Voltage-controller gain

5.32

Motor full load speed fine trim

5.33

Thermal model-protection enable

{ 0.41

}

{ 0.43

}

{ 0.42

}

{ 0.40

}

{ 0.09

}

{ 0.07

}

{ 0.08

}

Range( Ú )

OL

±[Pr 1.06

]

200V drive: 0 to 264 V

400V drive: 0 to 528 V

± P

MAX

kW

± 6000 rpm

200V drive: 0 to 415 V

400V drive: 0 to 830 V

0 to 1000.0 Hz

0 to FLC A

CL

0 to 6,000 rpm 0 to 30,000 rpm

200V drive: 0 to 240 V

400V drive: 0 to 480 V

0 to 1.000

2 to 32

0 or 1

0 or 1

Ur_S (0), Ur_l (1),

Ur (2), Fd (3)

0 to 25.0 %

0 to 25.0 %

0 to 32.000

3 kHz (0), 4.5 kHz (1), 6 kHz (2), 9 kHz (3),

12 kHz (4)

0 or 1

0 or 1

0 or 1

0 or 1

0 to 25.5 V

0 to 320.00 mH

0 or 1

0 or 1

0 or 1

VT> 0 or 1

SV> 0 or 1

VT> 0 or 1

0 to 30

0 to 0.99 rpm

0 or 1

0 to 100 %

0 to 100 %

OL

Default( Ö )

VT

EUR> 50, USA> 60

FLC

0

EUR> 1,450

USA> 1,770

200V drive: 220

400V drive: EUR> 400

USA> 460

0.920

4

0

0

Ur_l (1)*

3

3

0

3 (0)**

0

0

1

0

0

0

0

0

1

0

0

0

50

75

1

1

SV

0

6

0

Type

RO Bi

RO Uni

RO Bi

RO Bi

RO Uni

RW Uni

RW Uni

RW Uni

P

P

P

P

P

RW Uni

RW Uni S P

RW Txt P

RW Bit

RW Bit

P

RW Uni P

RW Uni

RW Uni

RW Uni S P

RW Txt

RW Bit

RW Bit

RW Bit

RW Bit

RO Uni S P

RW Uni S P

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

RW Uni

RW Uni

RW Uni

RW Uni

RW Bit

P

P

P

P

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

* This parameter has a default setting of Fd (3) in the VTC variant.

** This parameter has a default setting of 9kHz (3) in the LFT variant.

Power rating

P

MAX

×

MAX

×

1000

For definition of I

MAX

, see section Types of current range on page 138.

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

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10.6 Menu 6: Sequencing logic

Figure 10-11 Menu 6 logic diagram

Menu 0

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Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Sequencer

1.11

Reference enabled indicator

Logic

1

Hardware enable

Sequencing bit 0

Sequencing bit 1

Sequencing bit 2

Sequencing bit 3

RUN PERMIT /

STOP

Limit switch 1

6.29

6.30

6.31

6.32

6.33

6.34

6.35

Limit switch 2 6.36

RUN

STOP/

RESET

RESET

6.01

6.02

6.03

6.04

6.05

6.08

6.09

6.15

Stop mode selector*

Auto-start mode selector

ACsupply loss mode selector**

Sequencing mode selector***

Minimum jog time

Hold zero speed enable*

Synchronize to a spinning motor****

Drive enable

1.12

Reverse selected indicator

1.13

Jog selected indicator

Inverter enable

Menu 13

Position control

Relative jog select

Relative jog reverse select

FWD/REV

Logic 1

Closed-loop only

Menu 2 disable enable

Menu3

Hard speed reference disable

1.49

Reference selected indicator

6.11

Keypad RUN key enable

6.12

Keypad STOP key enable

6.13

Keypad FWD/REV key enable

6.06

6.07

6.10

6.37

6.38

Open loop only

Injection braking level

Injection braking time*

Spinning motor ramp rate****

Synchronization start-voltage****

Synchronization voltage ramp****

Clock control

6.16

Electricity cost

6.24

Power meter

Run-time log

6.22

6.25

Run-time log

6.23

Total motor power

5.03

6.17

Power consumption meter reset

6.18

6.19

Time interval between filter changes

Filter change required/done

6.20

Time interval between lubrication

6.21

Lubrication required / done

6.26

Running cost

6.27

Time before filter change due

6.28

Time before lubrication due

Key

Input terminals

Output terminals

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

* For more information, refer to section 10.22.4

Stop Modes on page 184.

** For more information, refer to section 10.22.5

Mains loss modes on page 185.

*** For more information, refer to section 10.22.6

Sequencing Modes on page 186.

**** For more information, refer to section 10.22.7

Catch a spinning motor on page 187.

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

Parameter

6.01

Stop mode selector*

6.02

Auto-start mode selector

6.03

AC supply loss mode selector**

6.04

Sequencing mode selector***

6.05

Minimum jog time

6.06

Injection braking level

6.07

Injection braking time*

6.08

Hold zero speed enable*

6.09

Synchronize to a spinning motor****

6.10

Synchronization ramp rate****

6.11

Keypad run key enable

6.12

Keypad stop key enable

6.13

Keypad fwd/rev key enable

6.15

Drive enable

6.16

Electricity cost / kWh

6.17

Power consumption meter reset

6.18

Time interval between filter changes

6.19

Filter change required/done

6.20

Time interval between lubrication

6.21

Lubrication required/done

6.22

Run-time log

6.23

Run-time log

6.24

Power meter

6.25

Power meter

6.26

Running cost

6.27

Time before filter change due

6.28

Time before lubrication due

6.29

Hardware enable

6.30

Sequencing bit 0

6.31

Sequencing bit 1

6.32

Sequencing bit 2

6.33

Sequencing bit 3

6.34

Run permit / not stop

6.35

Limit switch 1

6.36

Limit switch 2

6.37

Spinning motor start-voltage****

6.38

Spinning motor voltage-ramp****

{ 0.16

}

{ 0.39

}

Range(

Ú

)

OL CL

COASt (0), rP (1), rP-dcI (2), dcI (3), td.dcI (4)

COASt (0), rP (1), no.rP (2), rP-POS (3) diS (0), ALYS (1), Pd.dP (2) diS (0), StoP (1), ridE.th (2)

0 to 100.0 %FLC

0 to 25.0 s

0 to 4

0 to 25.0 s

0 or 1

0 or 1

0 to 25.0 s/100Hz

0 or 1

0 or 1

0 or 1

0 or 1

0 to 600.0 Currency/kWh

0 or 1

0 to 30,000 hr

0 or 1

0 to 30,000 hr

0 or 1

0 to 30.365 years.days

0 to 23.59 hr min

0 to 30,000 MWh

0 to 999.9 kWh

0 to 32,000 Currency/hr

0 to 30,000 hr

0 to 30,000 hr

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 to 100.0 %

0 to 2.5 s

Default(

Ö

)

VT

Type

OL SV

100.0

5.0

0

0

5 diS (0) diS (0)

4

0.0

0

1

0

0

0

1

0

1

0

0

1

25

0.25

rP (1)

0

0

0

0

0 no.rP (2) RW Txt

1

RW Txt

RW Txt

RW Uni

RW Uni

RW Uni

RW Uni

RW Bit

RW Bit

RW Uni

RW Bit

RW Bit

RW Bit

RW Bit

RW Uni

RW Bit

RW Uni

P

P

RW Bit

RW Uni

RW Bit

RO Uni S P

RO Uni S P

RO Uni S P

RO Uni S P

RO Uni S P

RO Uni S P

RO Uni S P

RO Bit

RW Bit

P

RW Bit

RW Bit

RW Bit

RW Bit

RO Bit

RO Bit

RW Uni

RW Uni

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

* For more information, refer to section 10.22.4

Stop Modes on page 184.

** For more information, refer to section 10.22.5

Mains loss modes on page 185.

*** For more information, refer to section 10.22.6

Sequencing Modes on page 186.

**** For more information, refer to section 10.22.7

Catch a spinning motor on page 187.

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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10.7 Menu 7: Analog I/O

Figure 10-12 Menu 7 logic diagram

Getting

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Menu 0

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

Analog input 1

V/f

7.26

V/f sample time

7.25

Calibrate analog input 1 full scale

Analog input 2

Analog input 3

A/D

7.06

Analog input 1 mode selector

7.11

Analog input 2 mode selector

Analog input 1 offset trim

7.07

Analog input 1

7.01

7.08

Analog input 1 scaling

Analog input 2

7.02

7.12

Analog input 2 scaling

Analog input 3

7.03

7.16

Analog input 3 scaling x(-1) x(-1) x(-1)

7.09

Function-1 destination parameter

7.10

Any unprotected variable parameter

??.??

Analog ref. 1

1.36

??.??

Analog input 1 invert

7.13

Function-2 destination parameter

7.14

Any unprotected variable parameter

??.??

Analog ref. 2

1.37

??.??

Analog input 2 invert

Function-3 destination parameter

7.18

7.17

Analog input

3 invert

Any unprotected variable parameter

??.??

0.00

*

??.??

* Default setting is Motor thermal input

OL>

CL>

Motor frequency

5.01

3.02

Speed feedback

Motor active current

4.02

A/D 7.15

Analog input 3 mode selector

Any variable parameter

??.??

Analog output 1 source parameter

7.19

??.??

7.20

Analog output 1 scaling

Analog output 1

7.21

Analog output 1 mode selector

Analog output 2 source parameter

7.22

Any variable parameter

??.??

Analog output 2

??.??

7.23

Analog output 2 scaling

7.24

Analog output 2 mode selector

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Data

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Information

Parameter

7.01

Analog input 1

7.02

Analog input 2

7.03

Analog input 3

7.04

Heatsink temperature

7.05

Control board temperature

7.06

Analog input 1 mode selector

7.07

Analog input 1 offset trim

7.08

Analog input 1 scaling

7.09

Analog input 1 invert

7.10

Analog input 1 destination parameter

7.11

Analog input 2 mode selector

7.12

Analog input 2 scaling

7.13

Analog input 2 invert

7.14

Analog input 2 destination parameter

7.15

Analog input 3 mode selector

7.16

Analog input 3 scaling

7.17

Analog input 3 invert

7.18

Analog input 3 destination parameter

7.19

Analog output 1 source parameter

7.20

Analog output 1 scaling

7.21

Analog output 1 mode selector

7.22

Analog output 2 source parameter

7.23

Analog output 2 scaling

7.24

Analog output 2 mode selector

7.25

Calibrate analog input 1 full scale

7.26

V/f sample time

7.27

Analog input 1 current-loop loss indicator

7.28

7.29

Analog input 2 current-loop loss indicator

Analog input 3 current-loop loss indicator

7.30

Analog output set-up enable

7.31

UD78 large option module fitted indicator

7.32

IGBT junction temperature

{ 0.24

}

{ 0.25

}

{ 0.26

}

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

0 or 1

0 or 1

0 or 1

0 or 1

0 to 150 °C

Range( Ú )

OL CL

±100.0 %

±100.0 %

±100.0 %

0 to 100 o

C

0 to 100 o

C

VOLt (0), 0 - 20 (1), 20 - 0 (2), 4 - 20.tr (3),

20 - 4.tr (4), 4 - 20.Lo (5), 20 - 4.Lo (6),

4 - 20.Pr (7), 20 - 4.Pr (8)

±10.000 %

0 to 4.000

0 or 1

Pr 0.00

to Pr 20.50

(as Pr 7.06

)

0 to 4.000

0 or 1

Pr 0.00

to Pr 20.50

VOLt (0), 0 - 20 (1), 20 - 0 (2), 4 - 20.tr (3) ,

20 - 4.tr (4), 4 - 20.Lo (5) , 20 - 4.Lo (6),

4 - 20.Pr (7), 20 - 4.Pr (8), th.SC (9), th (10)

0 to 4.000

0 or 1

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

0 to 4.000

VOLt (0), 0 - 20 (1), 4 - 20 (2)

Pr 0.00

to Pr 20.50

0 to 4.000

VOLt (0), 0 - 20 (1), 4 - 20 (2)

0 or 1

0 to 5.0 ms

0 or 1

R

S

P

FLC

OL

Default(

VT

Ö )

SV

Type

RO Bi

RO Bi

RO Bi

RO Uni

RO Uni

Pr

VOLt (0)

0

1.000

0

Pr 1.36

VOLt (0)

1

0

Pr 1.37

EUR> th (10), USA> VOLt (0)

5.01

1.000

0

Pr 0.00

Pr 3.02

1

VOLt (0)

Pr 4.02

1.000

VOLt (0)

0

4.0

0

RW Txt R

RW Bi

RW Uni

P

RW Bit

RW Uni R P

RW Txt R

RW Uni

RW Bit

RW Uni R P

RW Txt R

RW Uni

RW Bit

RW Uni R P

RW Uni R P

RW Uni

RW Txt R P

RW Uni R P

RW Uni

RW Txt R P

RW Bit

RW Uni

RO Bit P

RO Bit P

P RO Bit

RW Bit

RO Bit

RO Uni

P

P

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

P

P

P

P

P

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10.8 Menu 8: Digital I/O

Figure 10-13 Menu 8 logic diagram

Getting

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Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Input / output F1

8.28

Open collector outputs select

Input/output

F1 state indicator

8.01

F1 output enable

8.12

Positive logic select

8.27

x(-1)

F1 destination or source parameter

8.11

F1 invert

8.10

??.??

??.??

Any bit parameter

At speed

10.06

OL

10.03

CL

At zero speed

Any unprotected bit parameter

??.??

x(-1)

??.??

Input / output F2

8.28

Open collector outputs select

Input/output

F2 state indicator

8.02

F2 output enable

8.15

Positive logic select

8.27

x(-1)

F2 destination or source parameter

8.14

F2 invert

8.13

x(-1)

Any bit parameter

??.??

??.??

Any unprotected bit parameter

??.??

Drive reset

10.33

??.??

Input / output F3

8.28

Open collector outputs select

Input/output

F3 state indicator

8.03

F3 output enable

8.18

Positive logic select

8.27

x(-1)

F3 destination or source parameter

8.17

F3 invert

8.16

x(-1)

Any bit parameter

??.??

??.??

Any unprotected bit parameter

??.??

Jog select

6.31

??.??

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Input F4

Input F5

8.27

Positive logic select

F4 state indicator

8.04

F5 state indicator

8.05

x(-1)

F4 invert

8.20

F5 invert

8.22

F4 destination or source parameter

8.19

Any unprotected bit parameter

??.??

RUN FWD

6.30

??.??

F5 destination or source parameter

8.21

Any unprotected bit parameter

??.??

RUN REV

6.32

??.??

8.27

Positive logic select x(-1)

Input F6

F6 state indicator

8.06

8.27

Positive logic select

E xternal t rip / inh ibit input F7 state indicator

8.07

E xternal t rip / inh ibit input F7 mode select

8.09

External trip /

Drive enable

8.27

Positive logic select x(-1) x(-1)

Drive

Healthy

10.01

Any bit parameter

??.??

??.??

Status relay source parameter

8.25

x(-1)

Status relay invert

8.26

Status relay indicator

8.08

F6

External trip active indicator

10.32

6.29

Hardware enable invert

8.24

F6 destination or source parameter

8.23

Any unprotected bit parameter

??.??

Analog ref.

2 select

??.??

1.41

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Parameters

Technical

Data

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UL Listing

Information

Parameter

8.01

Digital input/output F1 state

8.02

Digital input/output F2 state

8.03

Digital input/output F3 state

8.04

Digital input F4 state

8.05

Digital input F5 state

8.06

Digital input F6 state

8.07

Terminal 30 state

8.08

Status relay output indicator

8.09

Terminal 30 function select

8.10

F1 destination or source parameter

8.11

F1 invert

8.12

F1 output enable

8.13

F2 destination or source parameter

8.14

F2 invert

8.15

F2 output enable

8.16

F3 destination or source parameter

8.17

F3 invert

8.18

F3 output enable

8.19

F4 destination parameter

8.20

F4 invert

8.21

F5 destination parameter

8.22

F5 invert

8.23

F6 destination parameter

8.24

F6 invert

8.25

Status relay source parameter

8.26

Status relay invert

8.27

Positive logic select

8.28

Open-collector outputs select

RO

RW

Read Only parameter

Read / Write parameter

OL

Range( Ú )

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

0 or 1

CL

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

OL

Default( Ö )

VT

0

Pr 10.06

0

1

Pr 10.33

0

1

Pr 10.03

0

Pr 6.31

0

0

Pr 6.30

0

Pr 6.32

0

Pr 1.41

0

Pr 10.01

0

0

0

SV

Type

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RW Bit

RW Uni R P

RW Bit

RW Bit R

RW Uni R P

RW Bit

RW Bit R

RW Uni R P

P

P

P

P

P

P

P

P

RW Bit

RW Bit R

RW Uni R P

RW Bit

RW Uni R P

RW Bit

RW Uni R P

RW Bit

RW Uni R P

RW Bit

RW Bit R P

RW Bit R P

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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10.9 Menu 9: Programmable logic

Figure 10-14 Menu 9 logic diagram

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Any bit parameter

??.??

??.??

Function-1 input-1 invert

9.05

x(-1)

9.04

Function-1 input-1 source parameter

Function-1 input-2 invert

9.07

Any bit parameter

??.??

??.??

x(-1)

9.06

Function-1 input-2 source parameter

Any bit parameter

??.??

??.??

Function-2 input-1 invert

9.15

x(-1)

9.14

Function-2 input-1 source parameter

Function-2 input-2 invert

9.17

Any bit parameter

??.??

??.??

x(-1)

9.16

Function-2 input-2 source parameter x(-1)

Function-1 output invert

9.08

9.09

Function-1 delay

Function-1 output indicator

9.01

Function-1 destination parameter

9.10

Any unprotected bit parameter

??.??

??.??

x(-1)

Function-2 output invert

9.18

9.19

Function-2 delay

Function-2 output indicator

9.02

Function-2 destination parameter

9.20

Any unprotected bit parameter

??.??

??.??

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Motorized pot. up

9.26

Motorized pot. rate

9.23

M

9.27

Motorized pot. down

9.28

Motorized pot.

reset to zero

9.21

Motorized pot.

zero-start select

Motorized pot. bipolar select

9.22

Motorized pot. output indicator

9.03

9.24

Motorized pot. output scale

Motorized pot. destination parameter

9.25

Any unprotected variable parameter

??.??

??.??

9.29

Binary-sum logic ones (LSB)

9.30

Binary-sum logic twos

9.31

Binary-sum logic fours (MSB)

Σ

Binary-sum logic output value

9.32

Binary-sum logic destination parameter

9.33

Any unprotected bit parameter

??.??

??.??

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Parameters

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Data

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Information

Parameter

9.01

Prog.-logic function 1 output indicator

9.02

Prog.-logic function 2 output indicator

9.03

Motorized pot. output indicator

9.04

Prog.-logic function 1 input 1 source parameter

9.05

Prog.-logic function 1 input 1 invert

9.06

Prog.-logic function 1 input 2 source parameter

9.07

Prog.-logic function 1 input 2 invert

9.08

Prog.-logic function 1 output invert

9.09

Prog.-logic function 1 delay

9.10

Prog.-logic function 1 destination parameter

9.14

Prog.-logic function 2 input 1 source parameter

9.15

Prog.-logic function 2 input 1 invert

9.16

Prog.-logic function 2 input 2 source

9.17

Prog.-logic function 2 input 2 invert

9.18

Prog.-logic function 2 output invert

9.19

Prog.-logic function 2 delay

9.20

Prog.-logic function 2 destination parameter

9.21

Motorised pot. zero-start select

9.22

Motorised pot. bipolar select

9.23

Motorised pot. rate

9.24

Motorised pot. output scale factor

9.25

Motorised pot. destination

9.26

Motorised pot. up

9.27

Motorised pot. down

9.28

Motorised pot. reset

9.29

Binary-sum logic ones (MSB)

9.30

Binary-sum logic twos

9.31

Binary-sum logic fours

9.32

Binary-sum logic output value

9.33

Binary-sum logic destination parameter

OL

Range( Ú )

0 or 1

0 or 1

±100.0 %

Pr 0.00

to Pr 20.50

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

0 to 25.0 s

Pr 0.00

to Pr 20.50

CL

Pr 0.00

to Pr 20.50

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

0 to 25.0 s

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

0 to 250 s

0 to 4.000

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 to 7

Pr 0.00

to Pr 20.50

0

0

Pr 0.00

0

0

0

Pr 0.00

0

0

20

1

Pr 0.00

Pr 0.00

0

Pr 0.00

0

0

0

Pr 0.00

OL

Default( Ö )

VT

Pr 0.00

SV

Type

RO Bit

RO Bit

P

P

RO Bi S P

RW Uni

RW Bit

P

RW Uni

RW Bit

RW Bit

RW Uni

P

RW Uni R P

RW Uni

RW Bit

RW Uni

RW Bit

RW Bit

RW Uni

P

P

RW Uni R P

RW Bit

RW Bit

RW Uni

RW Uni

RW Uni R P

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Uni P

RW Uni R P

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

OL

Range( Ú )

CL OL

Default( Ö )

VT SV

Parameter

10.01

Drive normal indicator

10.02

Drive running indicator

10.03

At zero speed indicator

10.04

At or below min. speed indicator

10.05

Below at-speed window indicator

10.06

At speed indicator

10.07

Above at-speed window indicator

10.08

At 100% load indicator

10.09

Current-limit active indicator

10.10

Motor regenerating indicator

10.11

Dynamic brake active indicator

10.12

Dynamic brake alarm indicator

10.13

Direction demanded indicator

10.14

Direction running indicator

10.15

AC supply loss indicator

10.16

Motor thermistor over-temperature indicator

10.17

Motor current overload alarm indicator

10.18

Heatsink temperature alarm indicator

10.19

Ambient temperature alarm indicator

10.20

Last trip

10.21

Second last trip

10.22

Third last trip

10.23

Fourth last trip

10.24

Fifth last trip

10.25

Sixth last trip

10.26

Seventh last trip

10.27

Eighth last trip

10.28

Ninth last trip

10.29

Tenth last trip

10.30

Max. full-power braking time

10.31

Max. full-power braking interval

10.32

External trip active indicator

10.33

Drive reset

10.34

Number of auto- reset attempts

10.35

Auto-reset time delay

10.36

Hold drive healthy until last auto-reset attempt select

10.37

Stop drive on non-important trips

10.38

User trip

10.39

Braking-energy overload accumulator

10.40

Status word

10.41

10.42

UD78 auxiliary power supply active indicator

IGBT junction temperature above 135 o indicator

C

0 or 1

0 or 1

0 or 1

0 to 200

0 to 200

0 to 200

0 to 200

0 to 200

0 to 200

0 to 200

0 to 200

0 to 200

0 to 200

0 to 400.0 s

0 to 25.0 min

0 or 1

0 or 1

0 to 5

0 to 25.0 s

0 or 1

0 or 1

0 to 200

0 to 100.0 %

0 to 32,767

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0

0

0

0

0

0

0

1.0

Type

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit P

RO Txt S P

P

P

RO Txt S P

RO Txt S P

RO Txt S P

RO Txt S P

RO Txt S P

RO Txt S P

RO Txt S P

RO Txt S P

RO Txt S P

RW Uni

RW Uni

RO Bit

RW Bit

RW Uni

RW Uni

RW Bit

RW Bit

RW Uni

RO Uni

RO Uni

RO Bit

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

RO Bit P

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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10.11 Menu 11: Menu 0 customisation / drive specific ratings

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Parameter

11.01

Parameter 0.11

assignment

11.02

Parameter 0.12

assignment

11.03

Parameter 0.13

assignment

11.04

Parameter 0.14

assignment

11.05

Parameter 0.15

assignment

11.06

Parameter 0.16

assignment

11.07

Parameter 0.17

assignment

11.08

Parameter 0.18

assignment

11.09

Parameter 0.19

assignment

11.10

Parameter 0.20

assignment

11.11

Parameter 0.21

assignment

11.12

Parameter 0.22

assignment

11.13

Parameter 0.23

assignment

11.14

Parameter 0.24

assignment

11.15

Parameter 0.25

assignment

11.16

Parameter 0.26

assignment

11.17

Parameter 0.27

assignment

11.18

Parameter 0.28

assignment

11.19

Parameter 0.29

assignment

11.20

Parameter 0.30

assignment

11.21

Parameter 0.30

scaling

11.22 Initial parameter displayed

11.23

Serial comms. address

11.24

Serial comms. mode

11.25

Serial comms. baud rate

11.26

Serial comms two-wire mode delay

11.27

Serial comms. source/ destination parameter

11.28

Serial comms. parameter scaling

11.29

Drive software version

11.30

User security code

11.31

Drive operating mode

11.32

Drive rated current (FLC)

11.33

Drive voltage rating

11.34

Drive software build number

11.35

Number of size-5 modules connected

11.36

Drive with slow speed fans

11.37

Macro number

11.38

Cloning module parameter set

11.39

Cloning module parameter set drive type

11.40

Cloning module parameter checksum

Range(

Ú

)

OL CL

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

0 to 4.000

Pr 0.00

to Pr 0.50

{ 0.38

}

{ 0.37

} 0 to 9.9 group.unit

{ 0.32

} ANSI 2 (0), ANSI 4 (1), OUtPUt (2), INPUt (3)

{ 0.36

} 4,800 (0), 9,600 (1), 19,200 (2), 2,400 (3) baud

0 to 255 ms

Pr 0.00

to Pr 20.50

{ 0.50

}

{ 0.34

}

{ 0.48

}

{ 0.33

}

{ 0.31

}

0 to 4.000

1.00 to 99.99

0 to 255

OPENLP (0), CL.VECT (1), SErVO (2), rEGEN (3)

2.10 to 1920 A

220 to 690 V

0 to 99

0 to 255

0 or 1

0 to 9

0 to 8

OPEN.LP (0), CL.VEct (1), SErVO (2), rEGEN (3), FrEE (4)

0 to 16,383

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

* Pr 11.22 and Pr 11.25 have default settings of Pr 0.12

and 9,600 (1) respectively in Unidrive VTC when USA defaults are loaded.

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

Default(

Ö

)

Type

OL VT SV

Pr 1.03

Pr 2.01

Pr 4.02

Pr 1.05

Pr 2.04

Pr 6.01

Pr 4.11

Pr 2.06

Pr 2.07

Pr 1.29

Pr 1.30

Pr 1.31

Pr 1.32

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

Pr 6.13

1

Pr 0.10

*

RW Uni

RW Uni

RW Uni

Pr 7.06

Pr 7.11

Pr 7.14

RW Uni

RW Uni

RW Uni

EUR> Pr 8.27

, USA> Pr 6.04

RW Uni

EUR> Pr 4.13

, USA> Pr 1.01

RW Uni

EUR> Pr 4.14

, USA> Pr 8.23

RW Uni

RW Uni

RW Uni

RW Uni

1.1

ANSI 4 (1)

4800 (0)*

0

RW Uni P

RW Txt R P

RW Txt P

RW Uni

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

P

0 RW Uni R P

1

149

Unidrive & Unidrive VTC: 0

Unidrive LFT: 1

0

4

RW Uni

RO Uni P

RW Uni S P

RW Txt R P

RO Uni

RO Uni

RO Uni

RO Uni

RO Bit

RO Uni

RW Uni

RO Txt

RO Uni

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

P

P

P

P

P

P

P

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10.12 Menu 12: Programmable thresholds

Figure 10-15 Menu 12 logic diagram

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Threshold

Detector 1

Any variable parameter

??.??

Threshold

Detector 1 threshold level

12.04

Threshold

Detector 1

Threshold

Detector 1 output indicator

12.01

Threshold

Detector 1 output destination parameter

12.07

Any unprotected variable parameter

??.??

??.??

x(-1) ??.??

12.03

Threshold

Detector 1 input source

Threshold

Detector 2

Any variable parameter

??.??

12.05

Threshold

Detector 1 hysteresis

Threshold

Detector 2 threshold level

12.14

Threshold

Detector 2

Threshold

Detector 2 output indicator

12.02

12.06

Threshold

Detector 1 output invert

All parameters are shown

at their default setting

Threshold

Detector 2 output destination parameter

12.17

Any unprotected variable parameter

??.??

??.??

x(-1) ??.??

12.13

Threshold

Detector 2 input source

Input terminals

Output terminals

12.15

Threshold

Detector 2 hysteresis

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

12.16

Threshold

Detector 2 output invert

All parameters are shown

at their default setting

The parameters are all shown at their default settings

Threshold level t

Hysteresis

Threshold output t

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Parameters

Technical

Data

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UL Listing

Information

Parameter

12.01

Comparator 1 output indicator

12.02

Comparator 2 output indicator

12.03

Comparator 1 input source parameter

12.04

Comparator 1 threshold level

12.05

Comparator 1 hysteresis

12.06

Comparator 1 output invert

12.07

Comparator 1 output destination parameter

12.13

Comparator 2 input source parameter

12.14

Comparator 2 threshold level

12.15

Comparator 2 hysteresis

12.16

Comparator 2 output invert

12.17

Comparator 2 output destination parameter

RO

RW

Read Only parameter

Read / Write parameter

Range(

Ú

)

OL

0 or 1

0 or 1

Pr 0.00

to Pr 20.50

0 to 100.0 %

0 to 25.0 %

0 or 1

CL

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

0 to 100.0 %

0 to 25.0 %

0 or 1

Pr 0.00

to Pr 20.50

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

OL

Default(

Ö

)

VT

Pr 0.00

0

0

0

Pr 0.00

Pr 0.00

0

0

0

Pr 0.00

SV

Type

RO Bit

RO Bit

RW Uni

RW Uni

RW Uni

RW Bit

RW Uni R P

P

P

P

RW Uni

RW Uni

RW Uni

RW Bit

P

RW Uni R P

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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10.13 Menu 13: Digital lock / orientation

Figure 10-16 Menu 13 Open-loop logic diagram

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Encoder

2nd encoder option module

UD51

A

A

B

B

Z

Z

40

41

43

44

46

47

Encoder

Jog reference

1.05

15 way sub-D connector

+V

0V

Z

Z

B

B

A

A

13

14

3

4

1

2

5

6

Encoder position

16.03

Encoder

RPM

16.02

Menu 6 relative jog selected

Counter reset

13.14

Reference encoder revolution counter

13.16

x(-1)

Reference encoder invert

13.19

Reference encoder ratio x

13.07

1000

+

+

Menu 6 relative jog reverse selected x(-1)

Encoder

RPM

3.26

Encoder position

3.27

Feedback revolution counter reset

13.15

Feedback encoder revolution counter

13.17

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Parameters

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Data

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Level of reference selected

1.01

Jog selected indicator

1.13

Menu 6 position control enabled

Feed forward selected indicator

1.40

Pre-ramp reference

1.03

1.05

Jog reference

Pr 13.08 1 or 2 selected

Position loop disabled

Position loop mode selector

*

13.08

1.39

Velocity feedforward reference

+

_

+

_

.dt

Reference enabled indicator

1.11

Position loop error

13.01

Position loop gain

13.09

Position speed limit

13.10

∫ .dt

13.03

Max. speed

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

16384 = 1 encoder revolution

13.02

Reference encoder input

Reference encoder scaling x

13.04

1000

13.06

Reference input destination selector

??.??

??.??

The parameters are all shown at their default settings

* For more information, see section 10.22.8

Position loop modes on page 188.

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Figure 10-17 Menu 13 Closed-loop logic diagram

Menu 0

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Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

162

Encoder

Encoder

2nd encoder option module

UD51

B

B

Z

Z

A

A

44

46

47

40

41

43

15 way sub-D connector

+V

0V

A

A

B

B

Z

Z

13

14

1

2

5

6

3

4

Encoder position

3.27

Encoder

RPM

3.26

Encoder position

16.03

Encoder

RPM

16.02

UD52 SIN COS option or

UD53 Resolver option module fitted

Reference encoder position

Reference encoder

RPM

Resolver option module

UD53

Resolver

Sin. high

Sin. low

Cos. low

Cos. high

Exit. high

Exit. low

48

49

50

51

52

53

SIN COS option module

UD52

SIN COS

Sin. in

Sin. ref

Cos. in

Cos. ref

0V

+V

SC data

SC data

40

41

42

43

44

45

46

47

Resolver position

16.03

Resolver

RPM

16.02

16.04

SIN COS position

(coarse)

16.05

SIN COS position

(fine)

SIN COS

Encoder RPM

16.02

Slave position

Slave RPM

16.14

Select SIN COS encoder as auxiliary encoder enable

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Menu 6 position control enabled

Level of reference selected

1.01

Jog selected indicator

1.13

Feed forward selected indicator

1.40

Parameter 13.08

1 or 3 selected

Pre-ramp reference

1.03

Menu 2

Ramp Control

Post ramp reference

2.01

+

Final speed demand

3.01

+

1.05

Jog reference

1.39

Velocity feed forward reference

Reference encoder position

Counter reset

13.14

Reference encoder revolution counter

13.16

Hard speed reference select

3.20

Position loop mode selector

*

13.08

Parameter

13.08 5 or

6 selected

Hard speed reference

3.19

Reference encoder

RPM

13.13

Encoder sample time

Reference encoder invert

13.19

Reference encoder ratio x

13.07

1000

+ x(-1) +

Reference encoder scaling x

13.04

1000

Jog reference

13.03

13.02

Max. speed

Reference encoder input

13.05

Percentage input select

Menu 6

Relative jog selected Menu 6 Relative jog reverse selected

13.06

Reference input destination selector

??.??

??.??

1.05

Orientation position reference

13.11

Slave position

+

_ x(-1)

Orientation acceptance window

13.12

Orientation

Orientation complete indicator

13.18

+

_

∫ dt dt

1

Position loop disabled

6.01

Stop mode 6.08

Hold zero speed

1.11

Reference enabled indicator

Slave RPM

Position loop error

13.01

Position loop gain

13.09

Position speed limit

13.10

16384 = 1 encoder revolution

Menu 6 position control enabled

Feedback revolution counter reset

13.15

Feedback encoder revolution counter

13.17

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

* For more information, see section 10.22.8

Position loop modes on page 188.

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Parameters

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Data

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UL Listing

Information

Parameter

13.01

Position-loop error

13.02

Reference-encoder input

13.03

Maximum reference speed

13.04

Reference-encoder scaling

13.05

Percentage input select

13.06

Reference input destination parameter

13.07

Reference-encoder ratio

13.08

Position-loop mode select or***

13.09

Position-loop gain

13.10

Positioning speed-limit

13.11

Orientation position reference

13.12

Orientation acceptance window

13.13

Encoder sample time

13.14

Reference revolution counter reset

13.15

Feedback revolution counter reset

13.16

Reference-encoder revolution counter

13.17

Feedback-encoder revolution counter

13.18

Orientation complete indicator

13.19

Reference feedback invert

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

* The range of Pr 13.01

is ±16,384, where 16,384 equals 1 whole revolution. The parameter increments in steps of

1

/

16384

parts of a revolution.

** The ranges of Pr 13.11

and Pr 13.12

are 0 to 4095 and 0 to 200 respectively. 200 is equivalent to a part of a revolution and 4095 equals 1 whole revolution. These parameters increment in steps of

1

/

4096

parts of a revolution.

*** For more information, see section 10.22.8

Position loop modes on page 188.

Range( Ú )

OL CL

±16,384*

±100.0 %

0 to 30,000 rpm

0.000 to 4.000

0 or 1

Pr 0.00

to Pr 20.50

0 to 4.000

0 to 2 0 to 6

0 to 4.000

0 to 250 rpm

0 or 1

0 or 1

0 to 16,384 revolutions

0 to 16,384 revolutions

0 or 1

0 or 1

0 to 4095**

0 to 200**

0 to 5.0 ms

OL

1,500

1

0

1

0

0.1

150

Default( Ö )

VT

0

0

0

0

0

20

4.0

SV

3,000

Type

RO Bi

RO Bi

RW Uni

RW Uni

P

P

RW Bit

RW Uni R P

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Bit

RW Bit

RO Bi

RO Bi

RO Bit

RW Bit

P

P

P

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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10.14 Menu 14: Programmable PID function

Figure 10-18 Menu 14 logic diagram

Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Any variable parameter

??.??

Main reference source parameter

14.02

PID Main reference

14.19

??.??

Any variable parameter

??.??

PID reference source parameter

14.03

PID reference

14.20

??.??

Any variable parameter

??.??

PID feedback source parameter

14.04

PID feedback

14.21

??.??

PID enable

14.08

Drive normal indicator

10.01

Any bit parameter

??.??

??.??

Logic 1

14.09

Optional PID enable source parameter

Source not used x(-1) x(-1)

PID reference source invert

14.05

PID feedback source invert

14.06

PID reference slew-rate limit

14.07

+

_

&

PID error

14.22

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PID hold integrator enable

14.17

14.10

PID proportional gain

14.11

PID integral gain

14.12

PID derivative gain

14.13

PID output high limit

14.14

PID output low limit

14.18

PID symmetrical limits enable

PID controller output

14.01

PID output scale factor

14.15

+

+

PID output destination parameter

14.16

Any unprotected variable parameter

??.??

??.??

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Parameters

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Data

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UL Listing

Information

Parameter

14.01

PID controller output

14.02

Main reference source parameter

14.03

PID reference source parameter

14.04

PID feedback source parameter

14.05

PID reference invert

14.06

PID feedback source invert

14.07

PID reference slew-rate limit

14.08

PID enable

14.09

Optional PID-enable source parameter

14.10

PID proportional gain

14.11

PID integral gain

14.12

PID derivative gain

14.13

PID output high limit

14.14

PID output low limit

14.15

PID output scale factor

14.16

PID output destination parameter

14.17

PID hold integrator enable

14.18

PID symmetrical limits enable

14.19

PID main reference

14.20

PID reference

14.21

PID feedback

14.22

PID error

RO

RW

Read Only parameter

Read / Write parameter

Range( Ú )

OL

±100.0 %

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

0 to 3,200.0 s

0 or 1

Pr 0.00

to Pr 20.50

0 to 4.000

0 to 4.000

0 to 4.000

0 to 100.0%

±100.0 %

0 to 4.000

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

±100.0 %

±100.0 %

±100.0 %

±100.0 %

CL

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

OL

Default( Ö )

VT

1

0.5

0

100

-100

1

Pr 0.00

0

0

Pr 0.00

Pr 0.00

Pr 0.00

0

0

0

0

Pr 0.00

SV

Type

RO Bi

RW Uni

RW Uni

RW Uni

RW Bit

RW Bit

RW Uni

RW Bit

RW Uni

RW Uni

RW Uni

RW Uni

P

RW Uni

RW Bi

RW Uni

RW Uni R P

P

P

P

P

RW Bit

RW Bit

RO Bi

RO Bi

RO Bi

RO Bi

P

P

P

P

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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10.15 Menu 15: Regen

Menu 15 is only available when Regen mode is selected. See the

Unidrive Regen Installation Guide for more information.

Figure 10-19 Menu 15 logic diagram

Running the motor

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Parameters

Technical

Data

Diagnostics

UL Listing

Information

15.14

Close soft start contactor

Sequencer

Menu 6

Contactor closed

Soft start contactor is closed

15.15

15.16

Enable motoring

Drive

Regen sequencer 15.12

Sinusoidal rectifier synchronised

Enable

15.11

Sinusoidal rectifier synchronising

DC Bus voltage

15.04

15.13

Sinusoidal rectifier phase loss

Supply current magnitude

15.01

Supply voltage

15.02

Regen current and voltage controllers

15.07

15.21

15.19

15.20

DC Bus voltage set-point

Voltage gain

Current control proportional gain

Current control integral gain

15.08

Modulation

Switching frequency

15.09

15.10

High stability space vector modulation

Quasi-square operation select

U

V

W

15.05

Supply frequency

15.06

Input inductance

Power calculations

V x I x 3

15.03

Supply power

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Data

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UL Listing

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Parameter

15.01

Supply current magnitude

15.02

Supply voltage

15.03

Supply power

15.04

DC Bus voltage

15.05

Supply frequency

15.06

Input inductance

15.07

DC Bus voltage set-point

15.08

Switching frequency

15.09

High stability space vector modulation

15.10

Quasi-square operation select

15.11

Sinusoidal rectifier synchronising

15.12

Sinusoidal rectifier synchronised

15.13

Sinusoidal rectifier phase loss

15.14

Close soft start contactor

15.15

Soft start contactor is closed

15.16

Enable motor drive

15.17

Line synchronisation trip enable

15.18

Line synchronisation status

15.19

Current control proportional gain

15.20

Current control integral gain

15.21

Voltage control proportional gain

15.22

Enable extra mains loss detection

{ 0.11

}

{ 0.12

}

{ 0.13

}

{ 0.14

}

{ 0.15

}

{ 0.16

}

{ 0.17

}

{ 0.18

}

{ 0.19

}

{ 0.20

}

{ 0.21

}

{ 0.22

}

{ 0.23

}

{ 0.24

}

{ 0.25

}

{ 0.26

}

{ 0.27

}

{ 0.28

}

Range(

Ú

)

Regen

±Maximum drive current A

400V drive: 0 to 528 V

± P max

kW

400V drive: 0 to 830 V

±100 Hz

0.001 to 100 mH

400V drive: 0 to 800 V

3 (0), 4.5 (1), 6 (2), 9 (3), 12 (4) kHz

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

SYNC (0), Ph Det (1), Fr Lo (2), Fr Hi (3),

PLL OI (4), PLL Ph (5)

0 to 30,000

0 to 30,000

0 to 30,000

0 or 1

Default(

Ö

)

Regen

400V drive: 700

0

0

0

0

110

1,000

4,000

0

Type

RO Bi

RO Uni

RO Bi

RO Uni

RO Bi

RO Uni

RW Uni

RW Txt

RW Bit

RW Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Txt

RW Uni

RW Uni

RW Uni

RW Bit

P

P

P

P

P

P

P

P

P

P

P

P

P

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

FLC Full load current of the drive (maximum continuous output current up to 40 o

C ambient temperature). Displayed in Pr 11.32

{ 0.33

}.

I

MAX

A For definition of I

MAX

, see section Types of current range on page 138.

P

MAX

×

MAX

×

1000

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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10.16 Menu 16 Small option module set-up

Menu 16 is only available when either a UD50, UD51, UD52 or UD53 small option module is fitted.

Figure 10-20 Menu 16 UD50 logic diagram, part 1

Optimisation

Input / output F7

Output enable

16.23

16.41

Open collector outputs select

66

16.07

Invert 16.22

Positive logic select

16.40

Macros

Advanced

Parameters

??.??

x(-1)

??.??

Any bit parameter

Destination or source parameter

16.21

Any unprotected bit parameter

??.??

Technical

Data

Diagnostics

UL Listing

Information

Input/output state indicator x(-1) ??.??

Input / output F8

Output enable

16.26

66

16.08

Input/output state indicator

16.41

Open collector outputs select

Invert 16.25

Positive logic select

16.40

x(-1)

??.??

x(-1)

??.??

Any bit parameter

Destination or source parameter

16.24

Any unprotected bit parameter

??.??

??.??

Input / output F9

Output enable

16.29

66

16.09

Input/output state indicator

16.41

Open collector outputs select

Invert 16.28

Positive logic select

16.40

x(-1)

??.??

x(-1)

??.??

Any bit parameter

Destination or source parameter

16.27

Any unprotected bit parameter

??.??

??.??

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Figure 10-21 Menu 16 UD50 logic diagram, part 2

Menu 0

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Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Input F10

Positive logic select

16.40

Invert 16.31

Any unprotected bit parameter

??.??

16.10

Input/output state indicator x(-1)

All parameters are shown

at their default setting

16.30

Destination parameter

??.??

Input F11

16.11

Input/output state indicator

Positive logic select

16.40

x(-1)

Invert 16.33

All parameters are shown

at their default setting

Any unprotected bit parameter

??.??

16.32

Destination parameter

??.??

Input F12

16.12

Input/output state indicator

Positive logic select

16.40

x(-1)

Invert 16.35

All parameters are shown

at their default setting

Any unprotected bit parameter

??.??

16.34

Destination parameter

??.??

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Figure 10-22 Menu 16 UD50 logic diagram, part 3

Analog input 4

66 A/D

Analog input scaling

16.13

Running the motor

Optimisation

Analog input invert

16.14

Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Any unprotected variable parameter

??.??

x(-1) ??.??

16.04

Analog input level

All parameters are shown

at their default setting

16.15

Analog input destination parameter

Analog input 5

66 A/D

16.05

Analog input level

Analog input scaling

16.16

Analog input invert

16.17

x(-1)

All parameters are shown

at their default setting

Any unprotected variable parameter

??.??

??.??

16.18

Analog input destination parameter

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

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Figure 10-23 Menu 16 UD50 logic diagram, part 4

Analog output 3

Any variable parameter

??.??

Analog output 3 scaling

16.20

??.??

Optimisation Macros

66

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

16.19

Analog output 3 source parameter

Relay for UD50

Relay 2 source parameter

Any bit parameter

??.??

??.??

x(-1)

Any bit parameter

??.??

??.??

x(-1)

16.37

Relay 2 indicator

16.02

16.39

16.03

Relay 3 indicator

Relay 3 source parameter

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

66

66

66

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UD50 Additional I/O small option module parameter list

Range(

Ú

)

Parameter

OL

16.01

Option module code

16.02

Relay 2 output indicator

16.03

Relay 3 output indicator

16.04

Analog input 4

16.05

Analog input 5

16.07

Logic input F7 / Output 7 indicator

16.08

Logic input F8 / Output 8 indicator

16.09

Logic input F9 / Output 9 indicator

16.10

Logic input F10

16.11

Logic input F11

16.12

Logic input F12

16.13

Analog input 4 scaling

16.14

Analog input 4 invert bit

16.15

Analog input 4 destination

16.16

Analog input 5 scaling

16.17

Analog input 5 invert bit

16.18

Analog input 5 destination

16.19

DAC Output 3 source

16.20

DAC Output 3 scaling

16.21

F7 input destination / output source

16.22

F7 input/output invert

16.23

F7 output enable

16.24

F8 input destination / output source

16.25

F8 input/output invert

16.26

F8 output enable

16.27

F9 input destination / output source

16.28

F9 input/output invert

16.29

F9 output enable

16.30

F10 input destination

16.31

F10 input invert

16.32

F11 input destination

16.33

F11 input invert

16.34

F12 input destination

16.35

F12 input invert

16.36

Relay 2 source

16.37

Relay 2 output invert

16.38

Relay 3 source

16.39

Relay 3 output invert

16.40

Logic input polarity

16.41

Open collector outputs

0 to 100

0 or 1

0 or 1

±100.0 %

±100.0 %

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0.000 to 4.000

0 or 1

Pr 0.00

to Pr 20.50

0.000 to 4.000

0 or 1

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

0.000 to 4.000

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

Pr 0.00

to Pr 20.50

0 or 1

0 or 1

0 or 1

CL

Macros

Advanced

Parameters

OL

Technical

Data

Diagnostics

UL Listing

Information

Default(

Ö

)

VT

1

0

Pr 0.00

0

Pr 0.00

0

Pr 0.00

0

0

0

Pr 0.00

0

0

Pr 0.00

0

0

Pr 0.00

0

Pr 0.00

1.000

0

Pr 0.00

1.000

0

Pr 0.00

Pr 0.00

1.000

Pr 0.00

0

0

SV

Type

RO Uni

RO Bit

RO Bit

RO Bi

RO Bi

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RO Bit

RW Uni

RW Bit

RW Uni R P

RW Uni

RW Bit

P

P

P

P

P

P

P

P

P

P

P

RW Uni R P

RW Uni R P

RW Uni

RW Uni R P

RW Bit

RW Bit R

RW Uni R P

RW Bit

RW Bit R

RW Uni R P

RW Bit

RW Bit R

RW Uni R P

RW Bit

RW Uni R P

RW Bit

RW Uni R P

RW Bit

RW Uni R P

RW Bit

RW Uni R P

RW Bit

RW Bit R P

RW Bit R P

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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Figure 10-24 Menu 16 UD51 logic diagram

Encoder AB and Z

(or F/D) inputs

6

6

6

A(F)

/A(/F)

B (D)

/B (/D)

Z

/Z

16.04

Second encoder −

No. of lines per rev.

16.05

Second encoder −

F/D input enable

16.09

Second encoder − input termination disable

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Second encoder position

16.03

3.27

Encoder 1 position

Encoder 1 output select

16.06

Key

Encoder outputs

Encoder output scaling

16.07

16.08

Second encoder −

F/D output enable

A(F)

/A(/F)

B(D)

/B(/D)

6

6

6

Z

/Z

Freeze inputs or Z marker pulse outputs from the simulated encoder

16.11

Second encoder −

Freeze input termination disable

16.02

Second encoder speed

Input terminals

Output terminals

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

Z marker pulse from the simulated encoder

Second encoder −

Freeze input enable

16.10

To UD70

Freeze encoder counts

UD51 Second encoder small option module parameter list

Parameter

16.01

Option module code

16.02

Encoder 2 input rpm

16.03

Encoder 2 position

16.04

No. of Encoder lines / Pulses per rev

16.05

Frequency input select

16.06

Encoder 1 output select

16.07

Encoder output scaling

16.08

F/D output select

16.09

Encoder termination disable

16.10

Enable freeze input (disable Z output)

16.11

Disable freeze input termination

16.12

Encoder marker simulation synchronisation disable

16.13

Encoder marker simulation synchronisation inactive

Range( Ú )

OL CL

0 to 100

±30,000 rpm

0 to 16,384 revolutions/16,384

0 to 10,000 (F+D input, Pr 16.05

= 1)

0 to 5000 (Quadrature input, Pr 16.05

= 0)

0 or 1

0 or 1

0 to 15 (power of 2)

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

OL

Default( Ö )

VT

2

1,024

0

0

0

0

0

0

0

0

SV

Type

RO Uni

RO Bi

RO Uni

RW Uni

RW Bit

RW Bit

RW Uni

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

RO Bit

P

P

P

P

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous)

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Figure 10-25 Menu 16 UD52 logic diagram

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

6

SIN in

SIN ref

6

COS in

COS ref

6

SC data

SC data

6

0V voltage

16.12

16.13

SINCOS encoder

No. of lines per revolution

SINCOS encoder −

No. of revolutions

16.14

SINCOS as reference encoder

16.16

SINCOS encoder − serial comms. disable

SINCOS encoder select

16.15

5.15V

8.0V

SINCOS encoder rpm

16.02

16.09

SINCOS encoder phase offset

16.10

SINCOS encoder phasing test

1

2 [16.07]

Simulated-encoder

F/D output enable

16.08

16.11

SINCOS encoder update disable

16.03

SINCOS encoder revolution count

3.26

Encoder 1 rpm

16.14

SINCOS as auxiliary encoder

16.07

Simulated-encoder output scaling

16.04

SINCOS encoder incremental position (coarse)

16.05

SINCOS encoder incremental position (fine)

A(F)

/A(/F)

B(D)

/B(/D)

Input terminals

Output terminals

Key

0.XX

0.XX

Read-write (RW) parameter

Read-only (RO) parameter

The parameters are all shown at their default settings

6

6

UD52 SINCOS small option module parameter list

Parameter

16.01

Option module code

16.02

SINCOS encoder rpm

16.03

SINCOS encoder revolution count

16.04

SINCOS encoder position

16.05

SINCOS encoder position fine

16.06

SINCOS encoder 1 output select

16.07

SINCOS encoder output scaling

16.08

F/D output select

16.09

Phasing offset

16.10

SINCOS encoder phasing test

16.11

Update disable

OL

16.12

Number of encoder lines per revolution

16.13

Number of encoder turns

16.14

SINCOS as auxiliary encoder

16.15

SINCOS encoder supply voltage select

16.16

Serial comms disable

16.17

Interpolation disable

Range(

Ú

)

CL

0 to 100

±30,000 rpm

0 to 32,767 revolutions

0 to 16,383 revolutions/

16,384

0 to 255 revolutions/

4,194,304

0 or 1

0 to 15 (power of 2)

0 or 1

0 to 6143

0 or 1

0 or 1

256 (0), 512 (1),

1024 (2), 2048 (3),

4096 (4) encoder lines per revolution

0 to 15 (power of 2)

0 or 1

0 or 1

0 or 1

0 or 1

OL

Default(

Ö

)

VT

4

SV

0

0

0

0

0

Type

RO Uni

RO Bi

RO Uni

RO Uni

RO Uni P

RW Bit

RW Uni

RW Bit

RW Uni S P

RW Bit

RW Bit

P

P

P

P

512 (1)

0

0

0

0

0

RW Uni

RW Uni

RW Bit

RW Bit

RW Bit

RW Bit

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous)

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Figure 10-26 Menu 16 UD53 logic diagram

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Resolver

SIN and COS inputs

6

6

SIN low

SIN high

COS low

COS high

6

Excitation high

Excitation low

Resolver rpm

16.02

Resolver position

16.03

Decoder

16.09

Resolver phase offset

16.05

Resolver phasing test

16.08

Simulatedencoder F/D output enable

Resolver turns ratio select

16.10

16.07

Simulated-encoder output scaling

16.12

Simulatedencoder Z marker-pulse outputs synchronisation disable

3:1

Synchronisation control logic

Excitation

1

2 [16.07]

2:1

16.13

Simulated-encoder output

A(F)

/A(/F)

B(D)

/B(/D)

Z

/Z

Simulated-encoder Z marker-pulse outputs synchronisation inactive indicator

Key

6

6

6

Input terminals

0.XX

Read-write (RW) parameter

Output terminals

0.XX

Read-only (RO) parameter

The parameters are all shown at their default settings

UD53 Resolver small option module parameter list

Parameter

16.01

Option module code

16.02

Resolver rpm

16.03

Resolver position

16.05

Resolver phasing test

16.06

Encoder select for encoder simulation

16.07

Encoder output scaling

16.08

F/D output select

16.09

Phasing offset

16.10

Low ratio resolver select

16.12

16.13

Encoder marker simulation synchronisation disable

Encoder simulation marker synchronisation inactive

OL

Range(

Ú

)

CL

0 to 100

±30,000 rpm

0 to 16,384 revolutions/

16,384

0 or 1

0 or 1

0 to 15 (power of 2)

0 or 1

0 to 6143

0 or 1

0 or 1

0 or 1

OL

Default(

Ö

)

VT

1

SV

0

0

0

0

0

0

Type

RO Uni

RO Bi

RO Uni

RW Bit

RW Bit

RW Uni

RW Bit

RW Uni S P

RW Bit

RW Bit

P

P

P

RO Bit P

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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Optimisation Macros

10.17 Menu 17: Large option module setup

Range(

Ú

)

Parameter

17.01

Option module code

17.02

Option module software version

17.03

DPL line number where trip occurred

17.04

Available resource in %

17.05

RS485 Address

17.06

RS485 Mode

17.07

RS485 Baud rate

17.08

RS485 Parameter pointer 1

17.09

RS485 Parameter pointer 2

17.10

Serial scaling factor

17.11

Clock task tick time

17.12

Position controller set-up

17.13

Auto-run

17.14

Global run-time trip enable

17.15

RS485 Trip enable

17.16

IO link RS485 synchronisation source

17.17

Trip if parameter write over-ranges

17.18

Watchdog trip enable

17.19

Non-volatile data save request

17.20

Non-volatile data power down save

17.21

Enable dumb-terminal mode

17.22

LOM set-up parameter

17.23

LOM set-up parameter

17.24

LOM set-up parameter

17.25

LOM set-up parameter

17.26

LOM set-up parameter

17.27

LOM set-up parameter

17.28

LOM set-up parameter

OL CL

0 to 100

0.00 to 99.99

0 to 32,000

0 to 100 %

1 to 99

0 to 255

300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),

9600 (5), 19200 (6), 38400 (7), 76800 (8)

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

0.000 to 4.000

0 to 100 ms

0 to 255

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

0 or 1

Advanced

Parameters

OL

Technical

Data

Diagnostics

UL Listing

Information

Default(

Ö

)

VT

11

1

4800 (4)

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

Pr 0.00

Pr 0.00

1.000

10

0

1

SV

Type

RO Uni

RO Uni

RO Uni

RO Uni

RW Uni

RW Uni

RW Txt

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

RW Bit

P

P

P

P

P

P

P

P

P

P

P

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

10.18 Menu 18: Application menu 1

Parameter

18.01

Application menu 1 read write integer

18.02 to

18.10

Application menu 1 read only integers

18.11 to

18.30

18.31 to

18.50

Application menu 1 read write integers

Application menu 1 read write bits

OL

Range(

Ú

)

±32,000

±32,000

±32,000

0 or 1

CL OL

Default(

Ö

)

VT

0

0

0

0

SV

Type

RW Bi S

RO Bi

RW Bi

RW Bit

RO

RW

Read Only parameter

Read / Write parameter

Uni

Bi

Txt

Bit

Unipolar variable parameter

Bipolar variable parameter

Text variable parameter

Bit parameter

R

S

P

FLC

Reset required for new value to take effect

New parameter-value saved at power-down

Protected; forbidden as destination parameter

Full-load current (max. continuous), Pr 11.32

{ 0.33

}

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10.19 Menu 19: Application menu 2

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Parameter

19.01

19.02 to

19.10

19.11 to

19.30

19.31 to

19.50

Application menu 2 read write integer

Application menu 2 read only integers

Application menu 2 read write integers

Application menu 2 read write bits

OL

Range(

Ú

)

±32,000

±32,000

±32,000

0 or 1

CL OL

Default(

Ö

)

VT

0

0

0

0

SV

Type

RW Bi S

RO Bi

RW Bi

RW Bit

10.20 Menu 20: Large option module

Parameter

20.00 to

20.50

LOM user integer parameters

OL

Range(

Ú

)

±32,000

CL OL

Default(

Ö

)

VT

0

SV

Type

RW Bi

Parameter

20.08

20.09

20.10

20.11

20.12

20.13

20.14

20.15

20.01

20.02

20.03

20.04

20.05

20.06

20.07

20.16

20.17

20.18

20.19

20.20

20.50

Menu 20 is only available when a UD70 large option module is fitted.

Parameters 20.01

to 20.20

and 20.50

are reserved for use with the highspeed communication UD70 option modules.

UD73 Profibus-DP

Description

OUT Channel 2 Mapping

OUT Channel 3 Mapping

IN Channel 2 Mapping

IN Channel 3 Mapping

Node Address

OUT Channel 1 Mapping

IN Channel 1 Mapping

Reserved

Reserved

Reserved

Trip Delay Time (ms)

Reserved

Data Endian Format

Option ID Code

Firmware Version

Reserved

Reserved

Reserved

Reserved

Reserved

Fieldbus Diagnostic

Default

121

408

201

402

0

9011

9011

0

0

0

48

0

0

0

0

0

0

0

NOTE

The menu 20 parameters are stored in the non-volatile memory in the

UD70 and not in the drive. To store these parameters set Pr 17.19

at 1.

Parameters will be stored at power down when Pr 17.20

is set to 1.

UD74 Interbus-S

Description

OUT Channel 2 Mapping

OUT Channel 3 Mapping

IN Channel 2 Mapping

IN Channel 3 Mapping

Reserved

OUT Channel 1 Mapping

IN Channel 1 Mapping

Reserved

Reserved

Reserved

Trip Delay Time (ms)

Reserved

Reserved

Option ID Code

Firmware Version

Reserved

Reserved

Reserved

Reserved

Reserved

Fieldbus Diagnostic

Default

121

408

201

402

0

9011

9011

0

0

0

48

0

0

0

0

0

0

0

UD75 CT NET

Description

Node Address

Network Data Rate

Synchronisation Message

OUT Slot 1 Destination Node

OUT Slot 1 Source/Destination

OUT Slot 2 Destination Node

OUT Slot 2 Source/Destination

OUT Slot 3 Destination Node

OUT Slot 3 Source/Destination

IN Slot 1

IN Slot 2

IN Slot 3

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Fieldbus Diagnostic

Default

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

Parameter

UD76 Modbus Plus

Description

20.01

20.02

20.03

20.04

20.05

20.06

20.07

20.08

20.09

20.10

20.11

20.12

20.13

20.14

20.15

20.16

20.17

20.18

20.19

20.20

20.50

Shading denotes RO parameter

Node Address

Negative Number Format

Reserved

IN Slot 1 source node/slot

IN Slot 1 destination

IN Slot 2 source node/slot

IN Slot 2 destination

IN Slot 3 source node/slot

IN Slot 3 destination

OUT Slot 1 source

OUT Slot 2 source

OUT Slot 3 source

IN Slot 4, 5 source

IN Slot 6, 7 source

IN Slot 8, 9 source

IN Slot 10, 11 source

IN Slot 12, 13 source

Reserved

Reserved

Reserved

Fieldbus Diagnostic

Default

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

UD77 Device Net

Description

OUT Channel 2 Mapping

OUT Channel 3 Mapping

IN Channel 2 Mapping

IN Channel 3 Mapping

Node Address

OUT Channel 1 Mapping

IN Channel 1 Mapping

Data Rate

Node Status

Network Status

Trip Delay Time (ms)

Product Code Elaboration

Reserved

Option ID Code

Firmware Version

Reserved

Reserved

Reserved

Reserved

Reserved

Fieldbus Diagnostic

Default

121

408

201

402

0

9011

9011

0

48

0

0

0

0

0

0

0

UD77 CAN / CAN Open

Description

RxPDO1 Word 2 Mapping

RxPDO1 Word 3 Mapping

TxPDO1 Word 2 Mapping

TxPDO1 Word 3 Mapping

Node Address

RxPDO1 Word 1 Mapping

TxPDO1 Word 1 Mapping

Data Rate

SYNC Generation Time

Auto-Start Enable

Network Loss Trip Time (ms)

Reserved

Reserved

Fieldbus ID Code

CANopen Firmware

RxPDO2 COB-ID

TxPDO2 COB-ID

Reserved

Reserved

Reserved

Fieldbus Diagnostic

Default

9011

0

0

0

0

0

0

121

408

201

402

0

9011

0

0

0

0

0

180

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7.19

7.22

7.23

Menu 8

8.10

8.16

8.21

8.23

Menu 9

9.23

Menu 1

1.06

1.07

1.14

Menu 2

2.07

2.21

2.22

2.23

2.24

2.25

2.26

2.27

2.28

2.11

2.12

2.13

2.14

2.15

2.16

2.17

2.18

Menu 3

3.29

Menu 4

4.05

4.06

4.07

Menu 5

5.06

5.14

5.15

5.16

Menu 7

Safety

Information

Product

Information

Mechanical

Installation

10.21 Unidrive VTC parameter range and default differences

The following parameters have a different range and/or default value between Unidrive VTC and open-loop Unidrive. Any parameter not listed below has the same range and default value as open-loop Unidrive.

Parameter

Electrical

Installation

Getting

Started

Menu 0

Running the motor

Optimisation

Range

Maximum frequency

Minimum frequency

Reference selector

{ 0.02

}

{ 0.01

}

{ 0.05

}

S-ramp da/dt { 0.19

}

Acceleration rate 1 / Forward acceleration rate 1 { 0.03

}

Acceleration rate 2 / Forward acceleration rate 2

Acceleration rate 3 / Forward acceleration rate 3

Acceleration rate 4 / Forward acceleration rate 4

Acceleration rate 5 / Reverse acceleration rate 1

Acceleration rate 6 / Reverse acceleration rate 2

Acceleration rate 7 / Reverse acceleration rate 3

Acceleration rate 8 / Reverse acceleration rate 4

Deceleration rate 1 / Forward deceleration rate 1 { 0.04

}

Deceleration rate 2 / Forward deceleration rate 2

Deceleration rate 3 / Forward deceleration rate 3

Deceleration rate 4 / Forward deceleration rate 4

Deceleration rate 5 / Reverse deceleration rate 1

Deceleration rate 6 / Reverse deceleration rate 2

Deceleration rate 7 / Reverse deceleration rate 3

Deceleration rate 8 / Reverse deceleration rate 4

Over-speed threshold mode select

Motoring current limit

Regenerating current limit

Symmetrical current limit

Motor – rated frequency

Voltage mode selector

Boost voltage

Jog boost voltage

{ 0.06

}

{ 0.47

}

{ 0.07

}

{ 0.08

}

0 to 250.0 Hz

0 to [Pr 1.06

], if Pr 1.08

= 0

-250.0 Hz to 0, if Pr 1.08

= 1

0 to 5

0 to 3,000.0 s 2 /100 Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0 to 3,200.0 s/100Hz

0

0 to I

MAX

%

0 to I

MAX

%

0 to I

MAX

%

0 to 250.0 Hz

Fd (3)

0 to 15.0 %

0 to 15.0 %

7.11

Analog input 2 mode selector

Analog output 1 source parameter

Analog output 2 source parameter

Analog output 2 output scaling

VOLt (0), 0 - 20 (1), 20 - 0 (2),

4 - 20.tr (3), 20 - 4.tr (4),

4 - 20.Lo (5), 20 - 4.Lo (6),

4 - 20.Pr (7), 20 - 4.Pr (8)

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

0 to 4.000

F1 destination or source parameter

F3 destination or source parameter

F5 destination parameter

F6 destination parameter

Motorised pot. rate

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

Pr 0.00

to Pr 20.50

0 to 250 s

Macros

Advanced

Parameters

Default

450.0

60.0

60.0

60.0

60.0

60.0

60.0

60.0

60.0

60.0

60.0

60.0

60.0

60.0

60.0

60.0

60.0

0

120.0

120.0

120.0

RW Uni

RW Uni

RW Uni

RW Uni

UL Listing

Information

EUR> VOLt (0), USA> 4 - 20.Lo (5) RW Txt R

Pr 2.01

Pr 4.01

EUR> 1.000, USA> 1.250

30

Technical

Data

EUR> 50.0, USA> 60.0

0

0

EUR> 50.0, USA> 60.0

Fd (3)

3.0

3.0

EUR> Pr 10.06

USA> Pr 10.02

Pr 1.45

EUR> Pr 6.32

USA> Pr 1.41

Pr 1.42

Diagnostics

RW

Type

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

Bit

RW Uni

RW Uni

RW Uni

RW Uni R P

RW Uni R P

RW Uni

RW Uni R P

RW Uni R P

RW Uni R P

RW Uni R P

RW Uni

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Installation

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Started

Menu 0

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Parameter

Menu 11

11.04

Parameter 0.14 assignment

11.07

Parameter 0.17 assignment

11.12

Parameter 0.22 assignment

11.13

Parameter 0.23 assignment

11.14

Parameter 0.24 assignment

11.15

Parameter 0.25 assignment

11.16

Parameter 0.26 assignment

11.17

Parameter 0.27 assignment

11.18

Parameter 0.28 assignment

11.19

Parameter 0.29 assignment

11.20

Parameter 0.30 assignment

11.22

Initial parameter displayed

11.25

Serial comms. Baud rate { 0.36

}

10.22 Advanced Features

This section gives information on some of the commonly used advanced functions of the Unidrive.

Advanced Feature Associated Parameters

Braking modes

S ramps

Torque modes

Stop modes

Main Loss modes

Sequence modes

Catch a spinning motor

Position loop modes

Pr 2.04

and Pr 2.08

Pr 2.06

and Pr 2.07

Pr 4.08

and Pr 4.11

Pr 6.01

, Pr 6.07

and Pr 6.08

Pr 6.03

Pr 6.04

and Pr 6.30

to Pr 6.34

Pr 6.09

, Pr 6.10

, Pr 6.37

and Pr 6.38

Pr 13.08

, Pr 3.19 and Pr 3.20

Range

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 20.50

Pr 0.00 to Pr 0.50

4800 (0), 9600 (1), 19200 (2),

2400 (3) baud

DC-bus voltage

Default

Pr 4.01

Pr 5.03

Pr 11.32

Pr 7.06

Pr 1.21

Pr 1.22

Pr 2.08

Pr 4.13

Pr 4.14

Pr 5.05

Pr 10.20

EUR> Pr 0.10

, USA> Pr 0.12

EUR> 4800 (0), USA> 9600 (1)

Controller operating

Type

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Uni

RW Txt is set lower than the nominal DC Bus level the drive will not decelerate but will coast to rest. The standard controlled mode is most likely to be useful in applications where smooth deceleration is required, particularly with lightly loaded machines, or where the supply voltage is high where the drive would trip on OV (DC Bus over voltage) due to the transients produced in standard hold mode.

The output of the ramp controller (when active) is a current demand that is fed to the frequency changing current controller (open loop) or the torque producing current controller (closed loop). The gain of these controllers can be modified with Pr 4.13

and Pr 4.14

.

P

P

P

P

P

P

P

P

P

P

P

P

P

10.22.1 Braking modes

2.04 {0.15} Ramp mode selector

RW Txt

Ú

Stnd.Hd (0), FASt (1), Stnd.Ct (2)

Ö

0

Stnd.Ct (2)

Stnd.Hd Standard ramp with ramp hold

2 Stnd.Ct Standard ramp with P control

The acceleration ramp is not affected by the ramp mode, and the ramp output will rise at the programmed acceleration rate (subject to the current limits programmed in the drive).

Stnd.Hd (0): Standard ramp with ramp hold

The deceleration ramp will be frozen if the DC Bus voltage rises above the standard ramp voltage (Pr 2.08

). Normally the DC Bus voltage will then begin to fall as the machine should stop regenerating. Once the voltage drops below the standard ramp voltage, the ramp will again begin to fall. This type of control does not usually give smooth deceleration especially if the machine is lightly loaded, however it is easy to set up.

FASt (1): Fast ramp

The output of the ramp will fall at the programmed deceleration rate

(subject to the current limits programmed in the drive). This mode should be used when a braking resistor is fitted.

Stnd.Ct (2): Standard ramp with P control

The voltage rising to the standard ramp level (Pr 2.08

) causes a proportional controller to operate, the output of which changes the demanded current in the motor. As the controller regulates the DC Bus voltage, the motor deceleration increases as the speed approaches zero speed. When the motor deceleration rate reaches the programmed deceleration rate the controller ceases to operate and the drive continues to decelerate at the programmed rate. This gives smoother control than standard hold mode. If the standard ramp voltage (Pr 2.08

)

Speed

Programmed deceleration rate

Motor speed time time

Ú

2.08

Standard ramp voltage

RW Uni

200V drive: 0 to 400 V

400V drive: 0 to 800 V

Ö

200V drive: 375

400V drive: EUR> 750, USA> 775

This voltage is used as the level for both standard ramp modes. If hold mode is used and this is set too low the drive will never stop, and if it is too high and no braking resistor is used the drive may trip on OV (DC

Bus over voltage). If standard ramp with P control is used and this parameter is set too low the machine will coast to rest, and if it is set too high and no braking resistor is used it may trip on OV. The minimum level should be greater than the voltage produced on the DC Bus by the highest supply voltage.

Normally the DC Bus voltage will be approximately the rms supply voltage x √ 2.

WARNING

Care should be taken in the setting of this parameter. It is recommended that the setting should be at least 50V higher than the maximum expected level of the DC Bus voltage. If this is not done, the motor may fail to decelerate on a STOP command.

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Data

Diagnostics

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10.22.2 S ramps

2.06

RW

S-ramps enable

Bit

Ú

0 or 1

Ö

0

Setting this parameter enables the S ramp function. S ramp is disabled during deceleration using Standard ramp with P control (Pr 2.04

=

Stnd.Ct [2]). When the motor is accelerated again after decelerating in standard ramp with P control the acceleration ramp used by the S ramp function is reset to zero.

OL

CL

4.11

RW

Ú

Ú

Current demand

Torque mode selector

Uni

0 to 1

0 to 4

Ö

Ö

0

0

Open loop

If this parameter is 0 normal frequency control is used. If this parameter is set to 1 the current demand is connected to the current PI controller giving closed loop torque/current demand as shown below. The current error is passed through proportional and integral terms to give a frequency reference which is limited to the range -maximum frequency to +maximum frequency as defined by Pr 1.06

.

2.07

RW

OL

Ú

VT

SV

Ú

Ú

S-ramp da/dt

Uni

0 to 3,000.0 s

2

/100 Hz

0 to 30.000 s

2

/1,000 rpm

Ö

Ö

Ö

3.1

1.5

0.03

This parameter defines the maximum rate of change of acceleration/ deceleration that the drive will operate with. The default values have been chosen such that for the default ramps and maximum speed, the curved parts of the S will be 25% of the original ramp if S ramp is enabled.

Since the ramp rate is defined in s/100Hz or s/1000rpm and the S ramp parameter is defined in s

2

/100Hz or s

2

/1000rpm, the time T for the

'curved' part of the S can be determined from:

Demanded speed

Programmed ramp rate

Active current

4.13 Proportional gain

4.14 Integral gain

Frequency reference

Closed loop

0: Speed control mode

The torque demand is equal to the speed loop output.

1: Torque control

The torque demand is given by the sum of the torque reference and the torque offset, if enabled. The speed is not limited in any way, however, the drive will trip at the overspeed threshold if runaway occurs.

2: Torque control with speed override

Current

4.08 (+ 4.09 when enabled)

Rate of change of S-ramp acceleration time

T = S ramp rate of change / Ramp rate

Enabling S ramp increases the total ramp time by the period T since an additional T/2 is added to each end of the ramp in producing the S.

Speed

The output of the speed loop defines the torque demand, but is limited between 0 and the resultant torque reference [Pr 4.08

(+ Pr 4.09

when enabled)]. The effect is to produce an operating area as shown above if the final speed demand and the resultant torque reference are both positive. The speed controller will try and accelerate the machine to the final speed demand level with a torque demand defined by the resultant torque reference. However, the speed cannot exceed the reference because the required torque would be negative, and so it would be clamped to zero.

+Final speed demand

+Resultant torque

− Final speed demand

+Resultant torque

10.22.3 Torque Modes

Ú

4.08

Torque reference

RW Bi

Maximum current limit

% rated active current

Ö

0

Parameter for main torque reference. If connected to an analog input on this drive this parameter is updated every 345 µ s for 3, 6 and 12kHz switching frequency, and every 460 µ s for 4.5 and 9kHz switching frequency. This does not apply to the analog inputs of the UD50

Additional I/O Small Option Module.

+Final speed demand

− Resultant torque

− Final speed demand

− Resultant torque

Depending on the sign of the final speed demand and the resultant torque the four areas of operation shown here are possible. This mode of operation can be used where torque control is required, but the maximum speed must be limited by the drive. In this mode ramps are not active whilst the drive is in the run state. When the drive is taken out of the run state, but not disabled, the appropriate stopping mode is used. It is recommended that only coast or stopping without ramps is used. If ramp stop mode is used the drive changes to speed control mode to

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ramp to stop with a reference defined by the user speed demand. This causes the speed to increase towards the reference and then ramp to stop.

3: Coiler/uncoiler mode

Positive final speed demand: a positive resultant torque will give torque control with a positive speed limit defined by the final speed demand. A negative resultant torque will give torque control with a negative speed limit of -5rpm.

Negative final speed demand: a negative resultant torque will give torque control with a negative speed limit defined by the final speed demand. A positive resultant torque will give torque control with a positive speed limit of +5rpm.

Example of coiler operation

This is an example of a coiler operating in the positive direction. The final speed demand is set to a positive value just above the coiler reference speed. If the resultant torque demand is positive the coiler operates with a limited speed, so that if the material breaks the speed does not exceed a level just above the reference. It is also possible to decelerate the coiler with a negative resultant torque demand. The coiler will decelerate down to -5rpm until a stop is applied.

The operating area is shown below:

Area for normal coiler operation

Speed is limited to the final speed demand and torque is positive

1 rP

2

3

4 rP-dcI dcI td.dcI

Macros

Advanced

Parameters

Ramp

Technical

Data

Diagnostics rP (1) no.rP (2)

Ramp stop + 1 second dc injection

UL Listing

Information

Injection braking stop with detection of zero speed

Timed injection braking stop

Stopping is in two distinct phases: decelerating to stop, and stopped.

Torque

Final speed demand

Speed

− 5rpm Area for decelerating the coiler

Reverse speed is limited to 5rpm and torque is negative

Example of uncoiler operation

This is an example for an uncoiler operating in the positive direction. The final speed demand should be set to a level just above the maximum normal speed. When the resultant torque demand is negative the uncoiler will apply tension and try and rotate at 5rpm in reverse, and so take up any slack. The uncoiler can operate at any positive speed applying tension. If it is necessary to accelerate the uncoiler a positive resultant torque demand is used. The speed will be limited to the final speed demand. The operating area is the same as that for the coiler and is shown below:

Area for accelerating the uncoiler

Speed is limited to the final speed demand and torque is positive

Torque

Final speed demand

Speed

− 5rpm Area for normal uncoiler operation

Reverse speed is limited to 5rpm and torque is negative

In this mode ramps are not active whilst the drive is in the run state.

When the drive is taken out of the run state, but not disabled, the appropriate stopping mode is used. It is recommended that only coast or stopping without ramps is used. If ramp stop mode is used the drive changes to speed control mode to ramp to stop with a reference defined by the user speed demand. This causes the speed to increase towards the reference and then ramp to stop.

4: Speed control with torque feed-forward

The drive operates under speed control, but a torque value may be added to the output of the speed controller. This can be used to improve the regulation of systems where the speed loop gains need to be low for

10.22.4 Stop Modes

OL

VT

SV

6.01

Stop mode selector

RW

Ú

Txt

COASt (0), rP (1), rP-dcl (2), dcl (3), td.dcl

Ú

Ú

COASt (0), rP (1), no.rP (2), rP-POS (3)

Ö

Ö

Ö

Open Loop

Stopping

Mode

Phase 1 Phase 2 Comments

COASt

(0) rP (1) rP.dcl (2)

Inverter disabled

Ramp down to zero frequency

Ramp down to zero frequency

Drive cannot be re-enabled for 2s

Wait for 1s with inverter enabled

Inject DC at level specified by Pr 6.06 for

1s

Delay in phase 2 allows rotor flux to decay in induction motors dcl (3)

Low frequency current injection with detection of low speed before next phase.

Inject DC at level specified by Pr 6.06 for

1s

The drive automatically senses low speed and therefore it adjusts the injection time to suit the application. If the injection current level is too small the drive will not sense low speed

(normally a minimum of 50-

60% is required).

td.dcl (4)

Inject DC at level specified by

Pr 6.06 for time specified by

Pr 6.07 - 1s.

Inject DC at level specified by Pr 6.06 for

1s

The minimum total injection time is 1s for phase 1 and 1s for phase 2, i.e. 2s in total.

Once modes 3 or 4 have begun the drive must go through the ready state before being restarted either by stopping, tripping, or being disabled.

Closed loop

0

1

COASt rP

Coast stop

Ramp stop

2

3 no.rP

rP-POS

Stop without ramps

Stop and orientate

In the closed loop mode the two stopping phases do not exist and the ready state is entered as soon as the single stopping action is complete.

Stopping

Mode

COASt (0) rP (1) no.rP (2) td.dcl (3)

Action

Inhibits the inverter

Stop with ramp

Stop with no ramp

Stops with ramp and then rotates to a preset position.

Comments

The position system controlled by menu 13 is used to orientate the motor. Pr 13.08 must be set up correctly for use, and the hard speed reference enabled, Pr 3.19

.

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OL

6.07

RW

Ú

Injection braking time

Uni

0.0 to 25.0 s

Ö

5.0

This parameter defines the low frequency braking time for phase 1 of stopping during a stop using stopping mode 4 in open loop drives (see

Pr 6.01

).

OL

VT

SV

4.13

RW

Ú

Ú

Ú

Current loop proportional gain

Uni

0 to 30,000

Ö

Ö

Ö

20

150

130

OL

VT

SV

6.08

RW

Ú

Ú

Ú

Hold zero speed enable

Bit

0 or 1

Ö

Ö

Ö

0

1

When this bit is set the drive will hold torque at standstill when not in the running state rather than disabling the output bridge. The drive status will be ' StoP ' when the drive is at standstill rather than ' rdy '.

10.22.5 Mains loss modes

Ú

6.03

AC supply loss mode selector

RW Txt diS (0), StoP (1), ridE.th (2)

Ö diS (0)

P

2 ridE.th through diS (0): Disabled

There is no mains loss detection and the drive operates normally only as long as the DC Bus voltage remains within specification (above 330V).

StoP (1): Stop (Open loop)

The action taken by the drive is the same as for ride through mode, except the ramp down rate is at least as fast as the deceleration ramp setting and the drive will continue to decelerate and stop even if the mains is re-applied. If normal or timed injection braking is selected the drive will use ramp mode to stop on loss of the supply. For injection braking or ramp with DC injection modes, DC current will be applied to the motor for 1s after it has stopped. (Unless the mains has been reapplied the drive is likely trip UU before or during the 1s injection period.)

StoP (1): Stop (Closed Loop)

The speed reference is set to zero and the ramps are disabled allowing the drive to decelerate the motor to a stop under current limit. If the mains is re-applied whilst the motor is stopping any run signal is ignored until the motor has stopped. If the current limit value is set very low the drive may trip UU before the motor has stopped.

ridE.th (2): Ride through

The drive detects mains loss when the DC Bus voltage falls below a specific level (410V). The drive then enters a mode where a closed-loop controller attempts to hold the DC Bus level at a specific level (390V).

This causes the motor to decelerate at a rate that increases as the speed falls. If the mains is re-applied it will force the DC Bus voltage above the detection threshold and the drive will continue to operate normally.

In open-loop mode the output of the mains loss controller is a current demand that is fed to the frequency changing current controller and therefore the gain parameters (Pr 4.13

and Pr 4.14

) must be set up for optimum control. See Pr 4.13

and Pr 4.14

below for set-up details.

In closed-loop mode the output of the mains controller is also a current demand that is fed directly to the current loop. If the settings of Pr 4.13

and Pr 4.14

are suitable for normal operation, they should need no adjustment. See Pr 4.13

and Pr 4.14

below for set-up details.

OL

VT

SV

4.14

RW

Ú

Ú

Ú

Current loop integral gain

Uni

0 to 30,000

Ö

Ö

Ö

40

2000

1200

Open-loop

These parameters control the proportional and integral gains of the current controller used in the open loop drive. As already mentioned the current controller either provides current limits or closed loop torque control by modifying the drive output frequency. The control loop is also used in its torque mode during mains loss, or when the controlled mode standard ramp is active and the drive is decelerating, to regulate the flow of current into the drive. Although the default settings have been chosen to give suitable gains for less demanding applications it may be necessary for the user to adjust the performance of the controller. The following is a guide to setting the gains for different applications.

Current limit operation

The current limits will normally operate with an integral term only, particularly below the point where field weakening begins. The proportional term is inherent in the loop. The integral term must be increased enough to counter the effect of the ramp which is still active even in current limit. For example, if the drive is operating at constant frequency and is overloaded the current limit system will try to reduce the output frequency to reduce the load. At the same time the ramp will try to increase the frequency back up to the demand level. If the integral gain is increased too far the first signs of instability will occur when operating around the point where field weakening begins. These oscillations can be reduced by increasing the proportional gain. A system has been included to prevent regulation because of the opposite actions of the ramps and the current limit. This can reduce the actual level that the current limit becomes active by 12.5%. This still allows the current to increase up to the current limit set by the user. However the current limit active indicator (Pr 10.09

) could become active up to 12.5% below the current limit depending on the ramp rate used.

Torque control

Again the controller will normally operate with an integral term only, particularly below the point where field weakening begins. The first signs of instability will appear around base speed, and can be reduced by increasing the proportional gain. The controller can be less stable in torque control mode rather than when it is used for current limiting. This is because load helps to stabilise the controller, and under torque control the drive may operate with light load. Under current limit the drive is often under heavy load unless the current limits are set at a low level.

Mains loss and controlled standard ramp

The DC Bus voltage controller becomes active if mains loss detection is enabled and the drive supply is lost or controlled standard ramp is being used and the machine is regenerating. The DC Bus controller attempts to hold the DC Bus voltage at a fixed level by controlling the flow of current from the drive inverter into its DC Bus capacitors. The output of the DC Bus controller is a current demand which is fed into the current PI controller as showing the following diagram:

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NOTE

By default the Unidrive uses sequencing mode 4 (Wire Proof PLC mode), where the necessary terminals are assigned as required. If any other sequencing mode is enabled the corresponding sequencing bits

(Pr 6.30

to Pr 6.34

) must also be programmed as destination for the specific input using the parameters in menu 8.

4.13 Proportional gain

4.14 Integral gain

1

2

Mentor type interface

Wire proof mode

Active current Frequency reference

The DC Bus voltage controller cannot be adjusted, but it may be necessary to adjust the current controller gains to obtain the required performance. If the gains are not suitable it is best to set up the drive in torque control first. Set the gains to a value that does not cause instability around the point at which field weakening occurs. Then revert back to open loop speed control in standard ramp mode. To test the controller the supply should be removed whilst the motor is running. It is likely that the gains can be increased further if required because the DC

Bus voltage controller has a stabilising effect, provided that the drive is not required to operate in torque control mode.

Closed-loop

The P and I gains are used in the voltage based current controller. The default values give satisfactory operation with most motors. However it may be necessary to change the gains especially for low inductance motors. The following procedure should be used:

Unless a particularly high bandwidth is required the proportional gain (Pr

4.13

) should be set to a value of:

1800 x Pr 5.24

x 10

-3

x Pr 11.32

Where:

Pr 5.24

= per phase motor leakage inductance (mH).

Pr 11.32

= Drive rated current (A)

The inductance value is stored in Pr 5.24

after the autotune test is carried out. If an autotune cannot be carried out the leakage inductance can be found by other means:

For an induction motor this is the per phase total leakage inductance

(Ls') which can be calculated from the steady state per phase equivalent circuit of the motor, L s

' = L

1

+ (L

2

.L

m

/ (L

2

+ L m

)). For a servo motor this is half the phase to phase inductance that is normally specified by the manufacturer. This will give a response with minimum overshoot after a step change of current reference and a current loop bandwidth of approximately 500Hz. If some overshoot can be tolerated then gain can be increased by a factor of 1.5, giving a bandwidth of 800Hz and 12.5% overshoot after a step change of current reference.

The integral gain (Pr 4.14

) should be set to a value of:

0.044 x Pr 4.13

x R / (Pr 5.24

x 10 -3 )

Where:

Pr 4.13

= current loop proportional gain calculated above

R = per phase stator resistance Ω

Pr 5.24

= per phase motor leakage inductance (mH).

4 Wire proof PLC mode

Sequencing mode 0: CD type

Run permit or /Stop (Pr 6.34

) Run permit or 'not stop' input

Sequencing bit 0 (Pr 6.30

) Run

Sequencing bit 1 (Pr 6.31

) Jog

Sequencing bit 2 (Pr 6.32

) Forward/Reverse

Sequencing bit 3 (Pr 6.33

) Not

Run permit

Jog

Run

Fwd/Rev

0V

27

28

29

24

25

26

30

31

21

22

23

Parameter changes required

Parameter

8.10

8.12

Value

6.34

0

To be able to run in this mode the Run Permit signal must be closed.

Momentarily closing of the Run contact will make the drive latch in the run state. Opening the Run Permit contact will cause the drive to stop. It is also possible to enable the keypad buttons (Pr 6.11

to Pr 6.13

). If any keypad button is enabled the corresponding terminal input is ignored.

Any jog command received will only be accepted in the ‘rdY’ or ‘StoP’ states. Run commands override jog commands.

Sequencing mode 1: Mentor type

Run permit or /Stop (Pr 6.34

)

Sequencing bit 0 (Pr 6.30

)

Run permit or 'not stop' input

Run forward (latching)

Sequencing bit 1 (Pr 6.31

) Jog

Sequencing bit 2 (Pr 6.32

) Run reverse (latching)

Sequencing bit 3 (Pr 6.33

) Jog

10.22.6 Sequencing Modes

6.04

Sequencing mode selector

RW Uni P

Ú

0 to 4

Ö

4

There are five sequencing modes available as shown below. Any terminal can be used for any of the functions provided in each mode

(see the following sequencing bits). The connection diagrams below show a possible method of using each sequencing mode and the parameter changes required (from defaults). Any terminals shown with no connection are as at default.

186

Run permit

Jog

Run Fwd

Run Rev

Jog Rev

21

22

23

24

25

26

27

28

29

30

31

Parameter changes required

Parameter

8.10

8.12

8.23

Value

6.34

0

6.33

0V

To be able to run in this mode the Run Permit signal must be closed.

Momentary closing of the Run Forward or Run Reverse contact will

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Installation make the drive latch in the run state. Momentarily closing the run contact for the opposite direction will make the drive change direction. Opening the Run Permit contact will cause the drive to stop.

The drive run keypad button can also be used to latch a run state if it is enabled (Pr 6.11

) and the fwd/rev keypad button can change direction if it is enabled (Pr 6.13

) (unless one of the terminals is being held closed in which case they have priority). The stop keypad button can also stop the drive if it is enabled (Pr 6.12

) and the terminals are not forcing a run condition. Any jog command received will only be accepted in the ready or stop states. Run commands override jog commands.

Sequencing mode 2: Wire Proof Mode

Run permit or /Stop (Pr 6.34

) Run permit or 'not stop' input

Sequencing bit 0 (Pr 6.30

) Run

Sequencing bit 1 (Pr 6.31

) Jog

Sequencing bit 2 (Pr 6.32

) Run

Sequencing bit 3 (Pr 6.33

) Not

Run permit

Jog

Run Fwd

Run Rev

0V

In this mode the Run Permit, and either the Run Forward or Run

Reverse contacts (but not both) must be closed for the drive to run. If

Run Forward and Run Reverse are selected at the same time the drive will stop after a delay of 60ms. To jog forward or reverse, the Jog contact must be closed together with the appropriate direction contact. Any jog command received will only be accepted in the ready or stop states (i.e. the Jog contact must be closed before the Run contact). Because this mode requires terminals to be held in an active state at all times, the run, stop, and fwd/rev keypad buttons on the drive are ignored even if they are enabled.

Sequencing mode 3: PLC Mode

Run permit or /Stop (parameter 6.34

) Not used

Sequencing bit 0 (parameter 6.30

) Run

Sequencing bit 1 (parameter 6.31

) Jog

Sequencing bit 2 (parameter 6.32

) Forward/Reverse

Sequencing bit 3 (parameter 6.33

) Not used

Jog

Run

Fwd/Rev

0V

28

29

30

31

25

26

27

21

22

23

24

21

22

23

24

25

26

27

28

29

30

31

Electrical

Installation

Parameter changes required

Parameter

8.10

8.12

Getting

Started

Menu 0

Value

6.34

0

No other parameter changes are required

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information contact and the appropriate direction selected. Any jog command received will only be accepted in the ready or stop states (i.e. the Jog contact must be closed before the Run contact). As with mode 2, this mode requires terminals to be held active and therefore the run, stop, and fwd/rev keypad buttons on the drive are ignored even if they are enabled.

Sequencing mode 4: Wire Proof PLC Mode

Run permit or /Stop (Pr 6.34

) Not

Sequencing bit 0 (Pr 6.30

) Run

Sequencing bit 1 (Pr 6.31

) Jog

Sequencing bit 2 (Pr 6.32

) Run

Sequencing bit 3 (Pr 6.33

) Not

In this mode the drive will respond to the contacts as it finds them. To jog forward or reverse, the Jog contact must be closed together with the Run

Jog

Run Fwd

Run Rev

0V

21

22

23

24

25

26

27

28

29

30

31

No other parameter changes are required

In this mode either the Run Forward or Run Reverse contacts must be closed before the drive will run. All inputs are non-latching and when not asserted the drive will stop immediately using the mode defined by the stopping mode. If both Forward and Reverse contacts are closed then the drive will stop. If the drive is operating in open-loop mode there is a

60ms delay after both forwards and reverse are selected before a stop is initiated. To jog forward or reverse, the Jog contact must be closed before the appropriate direction contact. Any jog command received will only be accepted in the ready or Stop states. Because this mode requires terminals to be held in an active state at all times, the run, stop, and fwd/ rev keypad buttons on the drive are ignored even if they are enabled.

10.22.7 Catch a spinning motor

OL

CL

6.09

RW

Ú

Ú

Synchronize to a spinning motor

Bit

0 or 1

Ö

Ö

0

1

Open Loop

The drive performs a sequence of operations to determine the motor frequency before attempting to run the motor with full voltage applied.

These tests are carried out with a voltage defined by Pr 6.37

. The frequency is first set to maximum frequency in the direction in which the drive last ran. The frequency is ramped to zero at a rated defined by Pr

6.10

. If the machine frequency is not detected, the frequency is set to maximum in the other direction and the test is repeated. If the frequency is detected at any point the test is stopped, the voltage is ramped up at a rate defined by Pr 6.37

and then the drive runs normally. If the frequency is not detected the drive starts from 0Hz. If the drive is powered down the previous direction of operation is not stored, and so the test begins in the forward direction. It is important that if spinning start is selected then the Voltage Mode, Pr 5.14

, must be set to 'Fd' (3) and not left in the default value of 'Ur_I' (1).

Closed Loop

The ramp output is set to the actual motor speed when the drive is commanded to start.

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Data

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Information

OL

6.10

Spinning motor ramp rate

RW

Ú

Uni

0 to 25.0 s/100Hz (seconds per 100Hz)

Ö

5.0

This parameter defines the rate at which the frequency is changed when trying to synchronise the motor speed. Motors and loads with very low inertias will require this parameter to be set low to ensure the speed is detected, while motors and loads with large inertias may require the parameter to be increased to prevent over voltage trips.

OL

6.37

Spinning motor start-voltage

RW Uni

Ú

0 to 100 % (of normal voltage)

Ö

25.0

Defines the voltage applied during a spin start as a percentage of voltage that would be applied in normal operation. Setting this value too high causes the drive to current limit, setting it too low will give problems detecting low motor speeds.

Speed

Reference

Actual

Equal Areas t

In non-rigid lock mode the position loop is only closed when the 'At

Speed' condition is met. This allows slippage to occur while the speed loop is not satisfied.

Speed

Reference

OL

6.38

RW

Ú

Spinning motor voltage rate

Uni

0 to 2.5 s

Ö

0.25

When the software has detected the motor speed it ramps the drives output voltage from the level programmed in Pr 6.37

to its normal operating voltage. This parameter determines the time interval for this change in voltage. Setting the time too short will cause excessive current transients in the machine as the voltage rises, while setting it too long may cause the drive to lose synchronisation if the motor is decelerating quite quickly.

10.22.8 Position loop modes

OL

CL

13.08

RW

Ú

Ú

Position loop mode selector

Uni

0 to 2

0 to 6

Ö

Ö

0

0

1

2

3

Position loop disabled

Rigid digital lock with digital Feed Forward

Rigid digital lock without digital Feed Forward

Non rigid digital lock with digital Feed Forward

4

5

Non rigid digital lock without digital Feed Forward

Orientate on stop command only

6 Orientate on stop command and when enabled

Sets the mode of operation of the position loop.

In rigid lock mode the position error is absolute relative to the time the position loop is closed. This means that if the slave shaft is slowed down due to excessive load, the target position will eventually be recovered by running at a higher speed when the load is removed.

Actual

Digital lock can be implemented without digital feed forward, where the input frequency of the encoder being followed is too low to obtain a smooth feed forward term from it. In this case the user can provide an alternative speed reference to be used as the feed forward term and the position loop will provide the velocity correction only. It should be noted that if the alternative feed forward is not correct, the position loop will run with a constant error to provide the difference between the feed forward and the actual speed of the reference encoder. During relative jogging, digital feed forward is always used because the feed forward term has to be adjusted.

In order for the digital feed forward term to function in modes 1 and 3 the hard speed reference must be enabled (Pr 3.20

= 1). The correction term used in the feed forward modes is fed into the speed loop via the hard speed reference in menu 3 (see block diagrams). If a non-rigid mode is used and an independent correction term is required then this must be routed to the hard speed reference (Pr 3.19

) by the user.

Two orientation modes are selectable. In mode 5, the drive orientates following a stop command with orientation stop enabled (see Pr 6.01

Stop mode). Mode 6 operates the same as mode 5 but in addition the drive always orientates when it is enabled providing that the 'Hold zero speed' parameter is set (Pr 6.08

). This ensures that the spindle is always in the same position following the drive being enabled.

When orientating from a stop command the drive goes through the following sequence:

1. Ramps are enabled and the motor is decelerated or accelerated to the speed limit programmed in Pr 13.10

in the direction the motor was previously running.

2. When the speed set in Pr 13.10

is reached, ramps are disabled and the motor continues to rotate until the position is found to be close to the target position. At this point the speed demand is set to 0 and the position loop is closed.

3. When the absolute value of speed is less than 2 rpm and the position is within the window defined by Pr 13.12

, the orientation complete signal is given.

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CL

3.19

RW

Ú

Hard speed reference

Bi

±30,000 rpm*

Ö

0

* This is the maximum range, for further restrictions see below.

The range of this parameter is limited depending on the maximum speed expected which is the maximum magnitude from Pr 1.06

or Pr 1.07

.

The hard speed reference is a reference value which does not pass through the ramp system (menu 2). It is added to the normal post ramp speed reference. Its value may be written from the keypad, via serial comms, from an analog input or from an encoder input. This parameter can also be used by the position controller (menu 13) as the speed correction input.

This parameter is similar to the analog input parameters (Pr 1.36

and Pr

1.37

) in that if an analog input programmed in voltage mode is directed to it, the scan rate of that analog input is increased (See menu 1). The scaling will be the same as for bipolar mode on Pr 1.36

and Pr 1.37

. It is also possible to obtain a fast update rate if an encoder input is used to derive this speed reference.

CL

3.20

RW

Ú

Hard speed reference select

Bit

0 or 1

Ö

Enables connection of the hard speed reference.

0

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11 Technical Data

Getting

Started

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Running the motor

11.1 Drive

11.1.1 Power and current ratings

The input current is affected by the supply voltage and impedance.

Maximum continuous input current

The values of maximum continuous input current are given to aid the selection of cables and fuses. These values are stated for the worstcase condition with the unusual combination of stiff supply with bad balance. The value stated for the maximum continuous input current would only be seen in one of the input phases. The current in the other two phases would be significantly lower.

• The values of maximum input current for models 1201 to 1205 are stated for a 200Vac supply rated at ten times the kVA of the drive and a 2% negative phase-sequence imbalance.

• The values for models 2201 to 2203 and 3201 to 3204 are stated for a 200Vac supply having a 5kA short-circuit capability and a 2% negative phase-sequence imbalance.

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

• The values for models 1401 to 1405, 2401 to 2403, 3401 to 3405 and 4401 to 4405 are stated for a 380Vac having a 16kA short-circuit capability and a 2% negative phase-sequence imbalance.

• The values for model 5401 are stated for a 400Vac supply having an

18kA short-circuit capability and a 2% negative phase-sequence imbalance.

Typical input current

The values of typical input current are given to aid calculations for power flow and power loss.

• The values of typical input current for models 1201 to 1205, 2201 to

2203 and 3201 to 3204 are stated for a balanced 200Vac supply having a 5kA short-circuit capability.

• The values for models 1401 to 1405, 2401 to 2403 and 3401 to 3405 are stated for a balanced 400Vac supply having a 5kA short-circuit capability.

• The values for models 4401 to 4405 are stated for a balanced

400Vac supply having a 10kA short-circuit capability.

• The values for model 5401 are stated for a balanced 400V supply having an 18kA short-circuit capability.

Table 11-1 Unidrive and Unidrive VTC drive current ratings

Model

Nominal rating kW hp

Maximum permissible continuous output current at 40 ° C (104°F) ambient (A)

3kHz 4.5kHz

6kHz 9kHz 12kHz

Maximum permissible continuous output current at 50 ° C (122°F) ambient (A)

3kHz 4.5kHz

6kHz 9kHz 12kHz

Typical input current

(A)

Maximum continuous input current (A)

5.0

7.5

10

15

25

30

25

30

1.0

1.5

2.0

3.0

0.5

0.75

1.0

1.5

3.0

4.0

5.0

10.0

15

20

30

40

50

75

100

125

150

150

200

400

600

800

1000

1200

1400

1600

UNI1201

UNI1202

UNI1203

UNI1204

UNI1205

UNI2201

UNI2202

UNI2203

UNI3201

UNI3202

UNI3203

UNI3204

UNI1401

UNI1402

UNI1403

UNI1404

UNI1405

UNI2401

UNI2402

4.0

5.5

7.5

UNI2403

UNI3401

11.0

15.0

UNI3402 18.5

15.0

22.0

0.75

1.1

1.5

2.2

0.37

0.55

0.75

1.1

2.2

3.0

4.0

5.5

7.5

11.0

UNI3403

UNI3404

UNI3405

22.0

30.0

37.0

UNI4401 45

UNI4402 55

UNI4403 75

UNI4404 90

UNI4405 110

UNI5401

UNI5402

UNI5403

160

320

480

UNI5404

UNI5405

UNI5406

UNI5407

UNI5408

640

800

960

1120

1280

2.1

2.1

2.1

2.1

2.1

2.1

2.1

2.1

2.1

2.1

2.4

4.0

2.8

2.8

2.8

2.8

2.8

2.8

2.8

2.8

2.8

2.8 3.5 6.0

3.8 3.8 3.8 3.8 3.8 3.8 3.8 3.8 3.8 3.3 4.6 8.0

5.6 5.6 5.6 5.6 4.5 5.6 5.6 5.1 4.0 3.3 6.5 10.0

9.5 9.5 8.5 7.0 5.5 6.9 5.9 5.1 4.0 3.3 8.6

12.0 12.0 12.0 12.0 11.7 12.0 12.0 12.0 11.6 9.7 10.8

16.0 16.0 16.0 14.2 11.7 16.0 16.0 14.7 11.6 9.7 14.3

12.5

13.9

16.9

25.0 21.7 18.2 14.2 11.7 20.0 17.3 14.7 11.6 9.7 19.8 27.0

34.0 34.0 34.0 28.0 23.0 34.0 34.0 28.0 21.0 17.9 26 28

46.0 46.0 40.0 32.0 26.6 44.0 36.0 31.0 24.0 20.6 39 43

60.0 47.0 40.0 32.0 26.7 44.0 36.0 31.0 24.0 20.9 53

74.0 56.0 46.0 35.0 28.0 50.0 41.0 34.0 26.0 23.0 78

2.1

2.1

2.1

2.1

2.1

2.1

2.1

2.1

2.1

2.1

3.0

56

84

4.5

2.8

2.8

2.8

2.8

2.8

2.8

2.8

2.8

2.8

2.8 4.3 5.5

3.8 3.8 3.8 3.8 3.8 3.8 3.8 3.8 3.8 3.3 5.8 6.8

5.6 5.6 5.6 5.6 4.5 5.6 5.6 5.1 4.0 3.3 8.2 8.6

9.5 9.5 8.5 7.0 5.5 6.9 5.9 5.1 4.0 3.3 10.0 12.0

12.0 12.0 12.0 12.0 11.7 12.0 12.0 12.0 11.6 9.7 13.0 16.0

16.0 16.0 16.0 14.2 11.7 16.0 16.0 14.7 11.6 9.7 17.0 20.0

25.0 21.7 18.2 14.2 11.7 20.0 17.3 14.7 11.6 9.7 21.0

34.0 34.0 34.0 28.0 23.0 34.0 34.0 28.0 21.0 17.9 27

40.0 40.0 37.0 28.0 23.0 40.0 34.0 28.0 21.0 17.9 32

25.0

34

39

46.0 46.0 40.0 32.0 26.6 44.0 36.0 31.0 24.0 20.6 40

60.0 47.0 40.0 32.0 26.7 44.0 36.0 31.0 24.0 20.9 52

70.0 56.0 46.0 35.0 28.0 50.0 41.0 34.0 26.0 23.0 66

96 96 88 70

124 104 88 70

156 124 105 80

180 175 145 110

202 175 145 110

300*

600*

900*

95 85 75 60

105 85 75 60

135 105 85 65

180 150 125 95

190 150 125 95

240

480

720

53

66

82

76 98

91 114

123 152

145 205

181 224

280 321

560 642

840 963

1,200*

1,500*

1,800*

2,100*

2,400*

960

1,200

1,440

1,680

1,920

1,120

1,400

1,680

1,960

2,240

1284

1605

1926

2247

2568

* Multiples of 300A output current with 120% overload or multiples of

240A with 150% overload

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Table 11-2 Unidrive LFT drive current ratings (at 9kHz PWM switching frequency)

Model

UNI1201 LFT

UNI1202 LFT

UNI1203 LFT

UNI1204 LFT

UNI1205 LFT

UNI2201 LFT

UNI2202 LFT

UNI2203 LFT

UNI3201 LFT

UNI3202 LFT

UNI3203 LFT

UNI3204 LFT

UNI1401 LFT

UNI1402 LFT

UNI1403 LFT

UNI1404 LFT

UNI1405 LFT

UNI2401 LFT

UNI2402 LFT

UNI2403 LFT

UNI3401 LFT

UNI3402 LFT

UNI3403 LFT

UNI3404 LFT

UNI3405 LFT

UNI4401 LFT

UNI4402 LFT

UNI4403 LFT

UNI4404 LFT

UNI4405 LFT hp

15

25

30

30

40

50

1.5

2.0

3.0

5.0

7.5

10.0

75

100

125

150

150

10.0

15

20

25

30

1.0

0.5

0.75

1.0

1.5

3.0

4.0

5.0

kW

11.0

15.0

18.5

22.0

30.0

37.0

1.1

1.5

2.2

4.0

5.5

7.5

45

55

75

90

110

5.5

7.5

11.0

15.0

22.0

0.75

0.37

0.55

0.75

1.1

2.2

3.0

4.0

Nominal rating

Running the motor

Optimisation Macros

Advanced

Parameters

Maximum permissible output current (A)

Standard duty cycle at 40°C

25.0

34.0

40.0

46.0

60.0

70.0

2.8

3.8

5.6

9.5

12.0

16.0

96

124

156

180

202

25.0

34.0

46.0

60.0

74.0

2.1

2.1

2.8

3.8

5.6

9.5

12.0

16.0

Continuous operation at 40°C

14.2

28.0

28.0

32.0

33.0

35.0

2.8

3.8

4.0

4.3

12.0

14.2

70

70

80

100

100

14.2

28.0

32.0

33.0

35.0

2.1

2.1

2.8

3.8

4.0

4.3

12.0

14.2

Continuous operation at 50°C

11.0

21.0

21.0

24.0

24.0

26.0

2.8

3.3

3.3

3.3

11.0

11.0

57

57

61

77

77

11.0

21.0

24.0

24.0

26.0

2.1

2.1

2.8

3.3

3.3

3.3

11.0

11.0

Technical

Data

Diagnostics

UL Listing

Information

Typical input current

(A)

25.0

27

32

40

52

66

4.3

5.8

8.2

10.0

13.0

17.0

76

91

123

145

181

19.8

26

39

53

78

3.0

2.4

3.5

4.6

6.5

8.6

10.8

14.3

Maximum continuous input current (A)

21.0

34

39

53

66

82

5.5

6.8

8.6

12.0

16.0

20.0

98

114

152

205

224

27.0

28

43

56

84

4.5

4.0

6.0

8.0

10.0

12.5

13.9

16.9

11.1.2 Power dissipation (all versions)

Nominal rating

Model

UNI1401

UNI1402

UNI1403

UNI1404

UNI1405

UNI2401

UNI2402

UNI2403

UNI3401

UNI3402

UNI3403

UNI3404

UNI3405

UNI4401

UNI4402

UNI4403

UNI4404

UNI4405

UNI5401 kW

5.5

7.5

11.0

15.0

18.5

22.0

30.0

37.0

0.75

1.1

1.5

2.2

4.0

45

55

75

90

110

160 hp

7.5

10

15

20

25

30

40

50

1.0

1.5

2.0

3.0

5.0

60

75

100

125

125

200

* Per Unidrive size 5 power module (e.g. UNI5402 is 9,400W etc.).

Maximum total power dissipation (W)

3kHz 4.5kHz

6kHz 9kHz 12kHz

80 80 90 90 90

90 90 100 100 110

100 110 110 120 130

130 130 130 150 150

180 190 190 190 170

210 230 250 280 310

270 290 310 320 310

400 380 360 330 310

570 620 670 660 630

660 720 730 660 630

730 800 770 730 700

950 830 790 740 710

1,090 990 920 850 800

1,460 1,610 1,630 1,530

1,910 1,780 1,670 1,560

2,370 2,130 2,030 1,850

2,640 2,890 2,700 2,470

2,970 2,910 2,720 2,490

4,700

The default PWM switching frequency is as follows:

Unidrive and Unidrive VTC: 3kHz; Unidrive LFT: 9kHz.

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Table 11-3 Unidrive losses in ‘rdY’ state

Unidrive model size

1

2

3

4

5

Losses in rdY state (W)

50

50

75

100

30 (control module)

700 (power module)

11.1.3 AC supply requirements

Voltage:

Unidrive: 380V to 480V ±10%

Unidrive LV: 200V to 240V ±10%

No. of phases: 3

Maximum supply imbalance:

2% negative phase sequence (equivalent to 3% voltage imbalance between phases)

Frequency range: 48 to 62 Hz

Unidrive Size 5 Heatsink fan

Voltage: 115V or 230V ±10% single-phase AC

Frequency range: 48 to 62 Hz

Current:

AC supply voltage

115V

230V

AC supply frequency

50Hz

60Hz

50Hz

60Hz

Fan supply fuse or circuit breaker rating: 2A

Fan current

1.02A

1.36A

0.51A

0.68A

11.1.4 Line reactors

Line reactors reduce the risk of damage to the drive resulting from severe disturbances on the supply network caused by, for example:

• Power factor correction equipment connected close to the drive.

• Large DC drives having no or ineffective line reactors connected to the supply.

• Direct-on-line started motor(s) that are connected to the supply and when any of these motors are started, a dip is produced in excess of 20% of the actual supply voltage.

Such disturbances may cause excessive peak currents flow in the input power circuit of the drive. This may cause nuisance tripping, or in extreme cases, failure of the drive.

When one of the following model sizes:

UNI1201 UNI1401 UNI1202 UNI1402

UNI1203 UNI1403 UNI1204 UNI1404 are used on an AC supply where one of the conditions described above is in existence, OR the supply is 175kVA or larger, it is recommended that a line reactor of 2% reactance is included between the AC supply and the drive. Model sizes 1205 & 1405, and larger have an internal DC bus choke so do not require AC line reactors except for cases of extreme supply conditions.

For three-phase drives, three individual reactors, or a single three-phase reactor should be used. Each drive must have its own reactor(s).

Current ratings

The current rating of the line reactors should be as follows:

Continuous current rating:

Not less than the continuous current rating of the drive

Repetitive peak current rating:

Not less than twice the continuous current of the drive.

11.1.5 Motor requirements

No. of phases: 3

Maximum voltage:

Unidrive: 480V

Unidrive LV: 240V

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11.1.6 Temperature, humidity and cooling method

Ambient temperature range:

0 o

C to 50 o

C (32 o

F to 122 o

F). Output current de-rating must be applied at ambient temperatures between 40 o

C (104 o

F) and 50 o

C

(122 o F) (absolute maximum).

Minimum temperature at power-up: -10 o C (14 o F)

Cooling method: Forced convection

Maximum humidity: 95% non-condensing at 40 o

C (104 o

F)

11.1.7 Storage

Maximum storage time:

Unidrive sizes 1 & 2: After each 12 months, the capacitors will need re-forming; refer to the supplier of the drive.

Unidrive sizes 3, 4 & 5: After every 4 years, the capacitors will need re-forming; refer to the supplier of the drive.

Storage temperature range: -40 o

C to 50 o

C (-40 o

F to 122 o

F)

11.1.8 Altitude

Altitude range: 0 to 4,000m (13,200 ft), subject to the following conditions:

1,000m to 4,000m (3,300 ft to 13,200 ft) above sea level: derate the maximum output current from the specified figure by 1% per 100m

(330 ft)

For example at 4,000m (13,200ft) the output current of the drive would have to be derated by 30%.

11.1.9 Ingress protection

Size 1 to 4:

Gland plate(s) not fitted: IP00

Gland plate(s) fitted; cable glands not fitted: IP10

Gland plate(s) fitted; cable-glands fitted: IP40, NEMA 1

Size 5 power and control modules: IP00

11.1.10 Starts per hour

By electronic control: unlimited

By interrupting the AC supply:

Unidrive sizes 1 and 2: ≤ 20 (equally spaced)

Unidrive sizes 3 and 4: ≤ 10 (equally spaced)

Unidrive size 5: unlimited

11.1.11 Accuracy and resolution

The following data applies to the drive only; it does not include the performance of the source of the control signals.

Open-loop frequency resolution...

Preset frequency reference: 0.1Hz

Precision frequency reference: 0.001Hz

Open-loop frequency accuracy...

Preset frequency reference: 0.03Hz or 0.01% of the reference, whichever is the larger value

Precision frequency reference: 0.0001Hz or 0.01% of the reference, whichever is the larger value

Closed-loop speed resolution

Unidrive and Unidrive LFT only ...

Preset speed reference: 1rpm

Precision speed reference: 0.01rpm

Analog input 1: 0 rpm *

* The speed-loop algorithm ensures that the steady-state speed can change by infinitely small amounts in response to changes in the reference from these inputs.

Closed-loop speed accuracy

Unidrive and Unidrive LFT only ...

Preset or precision speed reference: 0.00016 rpm or 0.01% of the reference, whichever is the larger value.

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11.1.12 Overall dimensions

H Height including surface mounting brackets

W Width

D

F

R

Projection forward of panel when surface mounted

Projection forward of panel when through-panel mounted

Projection rear of panel when through-panel mounted

Running the motor

Dimension

H

W

D

F

R

1

366mm

14.409in

95mm

3.740in

200mm

7.874in

120mm

4.724in

80mm

3.150in

11.1.13 Weights

Model size

1

2

3

4

5 Power module

5 Control module

2

366mm

14.409in

190mm

7.480in

200 mm

7.874in

120mm

4.724in

80mm

3.150in

Model size

3

368mm

14.488in

375mm

14.764in

260mm

10.236in

120mm

4.724in

140mm

5.512in

4

765mm

30.118in

500mm

19.685in

260mm

10.236in

120mm

4.724in

140mm

5.512in

5

1,319mm

51.929in

355mm

13.976in

340mm

13.386in

144mm

5.669in

kg

4

8

22

70

102

1.2

lb

8.8

17

49

154

225

3

Optimisation

Model

UNI1201

UNI1202

UNI1203

UNI1204

UNI1205

UNI2201

UNI2202

UNI2203

UNI3201

UNI3202

UNI3203

UNI3204

UNI1401

UNI1402

UNI1403

UNI1404

UNI1405

UNI2401

UNI2402

UNI2403

UNI3401

UNI3403

UNI3404

UNI3405

UNI4405

UNI5401

Macros

Advanced

Parameters

40 A

52 A

66 A

181 A

280 A

80A

100A

125A

160A

200A

35A

40A

50A

60A

70A

250A

450A

10A

10A

16A

16A

20A

70A

80A

6A

10A

16A

16A

20A

35A

40A

60A

Fuse rating

6A

10A

10A

10A

Typical input current

2.4 A

3.5 A

4.6 A

6.5 A

8.6 A

10.8 A

14.3 A

19.8 A

26 A

39 A

53 A

78 A

3.0 A

4.3 A

5.8 A

8.2 A

10.0 A

13.0 A

17.0 A

21.0 A

27 A

Technical

Data

11.1.14 Cable sizes and fuses

Diagnostics

UL Listing

Information

Cable size

2.5 mm 2

2.5 mm 2

2.5 mm

2

2.5 mm

2

4 mm

2

4 mm 2

6 mm 2

10 mm

2

10 mm

2

16 mm

2

25 mm 2

35 mm 2

35 mm

2

50 mm

2

70 mm

2

95 mm 2

120 mm 2

1.5 mm 2

2.5 mm

2

2.5 mm

2

2.5 mm

2

2.5 mm 2

2.5 mm 2

4 mm

2

4 mm

2

6 mm

2

10 mm 2

16 mm 2

25 mm 2

1.5 mm

2

2.5 mm

2

10 AWG

8 AWG

6 AWG

6 AWG

4 AWG

4 AWG

2 AWG

2 AWG

0 AWG

2/0 AWG

3/0 AWG

4/0 AWG

4 AWG

4 AWG

16 AWG

14 AWG

14 AWG

14 AWG

14 AWG

14 AWG

10 AWG

16 AWG

14 AWG

14 AWG

14 AWG

14 AWG

14 AWG

10 AWG

10 AWG

8 AWG

6 AWG

11.1.15 Motor cable lengths

Nominal

AC supply voltage

200V

Model

UNI1201

UNI1202

UNI1203

UNI1204

UNI1205

UNI2201 to

UNI2203

UNI3201 to

UNI3204

Maximum Permissible Motor Cable Length *

(PWM switching frequency at 3kHz **) m

65

100

130

200

300 ft

210

330

430

660

990

300

200

990

660

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Nominal

AC supply voltage

400V 480V

Model

UNI1401

UNI1402

UNI1403

UNI1404

UNI1405

UNI2401 to

UNI2403

UNI3401 to

UNI3405

UNI4401 to

UNI4405

UNI5401

UNI5402

UNI5403

UNI5404

UNI5405

UNI5406

UNI5407

UNI5408

Maximum Permissible Motor Cable Length *

(PWM switching frequency at 3kHz **) m

65

100

130

200

300

300

200

200

300

600

900

1,200

1,500

1,800

2,100

2,400 ft

210

330

430

660

990

990

660

660

990

1,980

2,970

3,960

4,950

5,940

6,930

7,920 m

50

75

100

150

250

300

124

124

300

600

900

1,200

1,500

1,800

2,100

2,400 ft

160

250

330

490

820

990

410

410

990

1,980

2,970

3,960

4,950

5,940

6,930

7,920

* Cable lengths in excess of the specified values may be used only

when special techniques are adopted; refer to the supplier of the

drive.

** The default switching frequency for all versions of Unidrive is 3kHz,

except Unidrive LFT, which is 9kHz.

See section 4.5.1

Cable types and lengths on page 41 for further

limitations on motor cable length.

11.1.16 Unidrive size 5 output sharing choke specification

Minimum inductance: 40 µ H

Frequency range: 0Hz to maximum motor frequency

Current rating: 300A RMS

Overload current: 120% rated current for 1 minute in a 10 minute period

Harmonic current: 10% at 3kHz

Saturation level: 200% rated current

Ambient temperature: 55°C (130°F) max.

Temperature rise: 100°C (212°F) max.

Cooling: Convection

Insulation class H (180 °C) or better

High-potential test – winding to core: 2.5kV at 50/60 Hz

High-potential test – between windings: 2.5kV at 50/60 Hz

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11.1.17 Braking resistor values

3

4

1

2

5

Model

UNI1201 to UNI1205

UNI2201

UNI2202, UNI2203

UNI3201 to UNI3205

UNI1401 to UNI1405

UNI2401

UNI2402, UNI2403

UNI3401 to UNI3405

UNI4401 to UNI4405

Model size

Unidrive &

Unidrive VTC

56 dB(A)

53 dB(A)

64 dB(A)

69 dB(A)

75 dB(A)

Minimum resistance

20 Ω

20 Ω

15 Ω

5 Ω

40 Ω

40 Ω

30 Ω

10 Ω

5 Ω

Instantaneous power rating

15kW

15kW

20kW

60kW

15kW

15kW

20kW

60kW

120kW

11.1.18 Acoustic noise

The fan generates the majority of the acoustic noise produced by the drive. The Unidrive LFT has a slower speed fan than the Unidrive or

Unidrive VTC and hence generates less noise. Unidrive LFT sizes 1 and

2 are fitted with temperature controlled variable speed fans that run at the minimum speed until the temperature reaches 30 o C (86 o F) and increase in speed until the temperature reaches 45 o

C (113 o

F), where they will be running at the maximum speed.

Values quoted are at a distance of 1m from the drive.

Unidrive LFT

Max fan speed Min fan speed

45 dB(A)

42 dB(A)

53 dB(A)

62 dB(A)

28 dB(A)

28 dB(A)

11.1.19 Torque settings (Drive and filters)

Table 11-4 Drive power terminal data

Model size

1

2

3

4

5

AC terminals

DC terminals

Plug-in terminal block

0.5 N m / 4.4 lb in

Plug-in terminal block

0.5 N m / 4.4 lb in

M10 stud

15 N m / 11 lb ft

M10 stud

15 N m / 11 lb ft

M10 bolt & nut

25 N m / 22.1 lb ft

Torque tolerance

M10 hole

25 N m /

22.1 lb/ft

Table 11-5 Drive control terminal data

Model

All

Connection type

Plug-in terminal block

Ground terminal

M4 (Torx/slot-head screw)

3 N m / 2.2 lb ft

M4 (Torx/slot-head screw)

3 N m / 2.2 lb ft

M10 stud

15 N m / 11 lb ft

M10 stud

15 N m / 11 lb ft

M10 stud

25 N m / 22.1 lb ft

± 10%

Torque setting

0.5 N m 4.4 lb in

Table 11-6 Size 5 fan supply connection

Type

M4 Pozidriv screw

Torque setting

0.5 N m 4.4 lb in

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Table 11-7 RFI Filter terminal data

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CT part number

4200-6104

4200-6105

4200-6108

4200-6109

4200-6113

Schaffner part number

FS5101-10-07

FS5111-10-29

FS5106-16-07

FS5112-16-07

FS5106-25-07

Power connections

4200-6114

4200-6116

4200-6117

FS5113-25-29

FS5113-50-53

FS5113-63-34

4200-6106 FS5113-100-35

4 mm 2

10 AWG

10 mm 2

6 AWG

10 mm

2

6 AWG

50 mm

2

1/0 AWG

4200-6107 FS5113-150-40

4200-6111 FS5113-180-40

95 mm 2

4/0 AWG

95 mm 2

4/0 AWG

4200-6112 FS5113-220-37 150 mm

2

6/0 AWG

Max cable size

4 mm 2

10 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

4 mm

2

10 AWG

Torque

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

0.8 N m

7.1 lb in

4.5 N m

3.3 lb ft

4.5 N m

3.3 lb ft

8.0 N m

5.9 lb ft

20.0 N m

14.7 lb ft

20.0 N m

14.7 lb ft

30.0 N m

22.1 lb ft

Ground connections

Size

M5

M5

M5

M5

M5

M5

M5

M6

M8

M10

M12

M12

Torque

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

2.2 N m

19.5 lb in

4.0 N m

2.9 lb ft

9.0 N m

6.6 lb ft

18.0 N m

13.3 lb ft

20.0 N m

14.7 lb ft

20.0 N m

14.7 lb ft

4200-6115 FS5113-300-99 M12 stud

30.0 N m

22.1 lb ft

M12 stud

20.0 N m

14.7 lb ft

For all the RFI filters, except the size 5 (4200-6115), the power connections are screw terminals and the ground connections are stud terminals

11.1.20 Electromagnetic compatibility (EMC)

This is a summary of the EMC performance of the drive. For full details, refer to the Unidrive EMC Data Sheet which can be obtained from the supplier of the drive.

Immunity

Compliance with immunity standards does not depend on installation details. drives meet EN50082-2 (generic immunity standard for the industrial environment) and the following specifications from the

IEC61000-4 group (derived from IEC801):

Part 2 Electrostatic discharge: Level 3

Part 3 Radio frequency field: Level 3

Part 4 Transient burst

Level 4 at the control terminals

Level 3 at the power terminals

Part 5 Surge (at the AC supply terminals)

(as specified by EN50082-2 informative annex):

Level 4 line-to-ground

Level 3 line-to-line

Part 6 Conducted radio frequency: Level 3

Emission

Compliance with emission standards depends on rigorous adherence to the installation guidelines, including the use of the specified RFI filter in the AC supply circuit. Compliance also depends on the PWM switching frequency used in the output stage of the drive, and the length of the motor cable. For full details, refer to the Unidrive EMC Data Sheet which

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Information can be obtained from the supplier of the drive.

When installed according to the instructions the drive can meet the emission requirements of CENELEC generic emission standards, as follows:

Table 11-8 Unidrive emission standards

Unidrive EN50081-1 conducted

1 Restricted motor cable length*

2

3

Restricted motor cable length*

No

4

5

No

No

EN50081-1 radiated

No

No

No

No

No

EN50081-2 conducted

Yes

Yes

Yes

Yes

Yes

EN50081-2 radiated

Yes

Yes

Yes

Yes

Yes

* Compliance with EN50081-1 is restricted to motor cable lengths less than 100m.

For compliance the optional RFI filter specified below must be used:

Model

RFI filter

CT part number

Schaffner part number

UNI1201 to UNI1205

UNI1401 to UNI1405

UNI2201 to UNI2202

UNI2401

UNI2203

UNI2402 to UNI2403

Mounting style

Footprint or

Bookcase

Bookcase

Footprint or

Bookcase

Bookcase

Footprint or

Bookcase

Bookcase

4200-6104

4200-6105

4200-6108

4200-6109

4200-6113

4200-6114

FS5101-10-07

FS5111-10-29

FS5106-16-07

FS5112-16-07

FS5106-25-07

FS5113-25-29

UNI3201 to UNI3202

UNI3401 to UNI3403

UNI3203

UNI3404

UNI3204

UNI3405

UNI4401 to UNI4402

UNI4403 to UNI4404

UNI4405

UNI5401

Bookcase

Bookcase

Bookcase

Bookcase

Bookcase

Bookcase

Bookcase

4200-6116

4200-6117

FS5113-50-53

FS5113-63-34

4200-6106 FS5113-100-35

4200-6107 FS5113-150-40

4200-6111 FS5113-180-40

4200-6112 FS5113-220-37

4200-6115 FS5113-300-99

Power Drive Systems standard EN61800-3

The drive meets the immunity requirements of EN61800-3 irrespective of the environment in which it is operating.

The emission requirements of this standard are also met depending on the environment category, as shown in the table later on this page.

EN61800-3 defines the following:

• The first environment as one that includes domestic premises. It also includes establishments directly connected without intermediate transformers to a low-voltage power supply network which supplies buildings used for domestic purposes.

• The second environment is one that includes all establishments other than those directly connected to a low-voltage power supply network which supplies buildings used for domestic purposes.

• Restricted distribution is defined as a mode of sales distribution in which the manufacturer restricts the supply of equipment to suppliers, customers or users who separately or jointly have technical competence in the EMC requirements of the application of drives.

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NOTE

If a drive System is included as part of equipment covered by a separate

EMC product standard, the EMC standard for the complete equipment applies.

Power Drive Systems standard EN61800-3

Environment category

Model size First environment

Restricted distribution Unrestricted distribution

UNI1201 to UNI3204

UNI1401 to UNI4401

(Rated input current of drive

<100A)

UNI4402 to UNI5408

(Rated input current of drive

>100A)

Specified RFI filter required

Specified RFI filter required

*RFI filter(s) are recommended where sensitive electronic systems are operating nearby.

Using the specified RFI filters and following the

wiring guidelines given in Figure 4-12 on page 48 may not ensure that the radiated

emission limits are met. Additional filtering may be required in this environment.

Using the specified RFI filters and following the

wiring guidelines given in Figure 4-12 on page 48 may not ensure that the radiated

emission limits are met. Additional filtering may be required in this environment.

Second environment

Either distribution

Specified RFI filter required

No RFI filter required *

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11.2 Optional RFI filters

11.2.1 Ratings

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CT part number

4200-6104

4200-6105

4200-6108

4200-6109

4200-6113

4200-6114

4200-6116

4200-6117

Schaffner part number

FS5101-10-07

FS5111-10-29

FS5106-16-07

FS5112-16-07

FS5106-25-07

FS5113-25-29

FS5113-50-53

FS5113-63-34

4200-6106 FS5113-100-35

4200-6107 FS5113-150-40

4200-6111 FS5113-180-40

4200-6112 FS5113-220-37

4200-6115 FS5113-300-99

Max. continuous current @ 40°C

(104°F)

Max. continuous current @ 50°C

(122°F)

Power dissipation at rated current

10 A

10 A

16 A

16 A

25 A

25 A

50 A

63 A

100 A

150 A

180 A

220 A

300 A

8.8 A

8.8 A

14.1 A

14.1 A

22.0 A

22.0 A

44.1 A

55.6 A

88.2 A

132.3 A

158.7 A

194.0 A

264.6 A

7.7 W

7.7 W

10.4 W

10.4 W

25.5 W

25.5 W

12.8 W

14.3 W

25.5 W

30.4 W

82.6 W

43.6 W

67.5 W

Ground leakage current

Balanced supply phase-to-phase and phase-to-ground

31 mA

31 mA

31 mA

31 mA

35.5 mA

35.5 mA

31 mA

29 mA

48.5 mA

48.5 mA

31 mA

48.5 mA

1 phase open circuit

143 mA

143 mA

143 mA

143 mA

173 mA

173 mA

143 mA

126 mA

209 mA

209 mA

143 mA

209 mA

76.4 mA 407 mA

IP rating

IP20

IP20

IP20

IP20

IP20

IP20

IP20

IP20

IP20

IP20

IP20

IP20

IP20

Discharge resistors

See Note 1 below

See Note 2 below

See Note 1 below

NOTE

N

1. 1M Ω in a star connection between phases, with the star point connected by a 680k resistor to ground.

2. 1.5M

Ω in a star connection between phases, with the star point connected by a 680k resistor to ground.

Maximum current overload:

150% of rated current for 1 minute in a 1 hour period.

Voltage:

Phase-to-phase: 480V

Phase-to-ground: 275V

AC supply frequency:

48 to 62Hz

11.2.2 Overall dimensions

CT part number

4200-6104

4200-6105

4200-6108

4200-6109

4200-6113

4200-6114

4200-6116

4200-6117

4200-6106

4200-6107

4200-6111

4200-6112

4200-6115

Schaffner part number

FS5101-10-07

FS5111-10-29

FS5106-16-07

FS5112-16-07

FS5106-25-07

FS5113-25-29

FS5113-50-53

FS5113-63-34

FS5113-100-35

FS5113-150-40

FS5113-180-40

FS5113-220-37

FS5113-300-99

H

390 mm (15.354 in)

240 mm (9.449 in)

397 mm (15.630 in)

390 mm (15.354 in)

397 mm (15.630 in)

255 mm (10.039 in)

337 mm (13.268 in)

377 mm (14.843 in)

380 mm (14.961 in)

414 mm (16.299 in)

502 mm (19.764 in)

523 mm (20.591 in)

655 mm (25.787 in)

Dimension

W

85 mm (3.346 in)

45 mm (1.772 in)

180 mm (7.087 in)

85 mm (3.346 in)

180 mm (7.087 in)

73 mm (2.874 in)

90 mm (3.543 in)

150 mm (5.906 in)

150 mm (5.906 in)

175 mm (6.890 in)

170 mm (6.693 in)

170 mm (6.693 in)

230 mm (9.055 in)

D

68 mm (2.677 in)

95 mm (3.740 in)

68 mm (2.677 in)

68 mm (2.677 in)

68 mm (2.677 in)

95 mm (3.740 in)

100 mm (3.937 in)

103 mm (4.055in)

107 mm (4.213 in)

135 mm (5.315 in)

157 mm (6.181 in)

157 mm (6.181 in)

156 mm (6.142 in) kg

2.1

2.7

3.8

3.8

2.1

1.4

2.1

2.7

7.8

7.8

15

15

16

Weight lb

5

6

9

9

5

3

5

6

17

17

33

33

35

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WARNING

Users must not attempt to repair a drive if it is faulty, nor carry out fault diagnosis other than through the use of the diagnostic features described in this chapter.

If a drive is faulty, it must be returned to an authorized Control

Techniques distributor for repair.

Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

The display on the drive gives various information about the status of the drive. These fall into three categories:

Trip indications

Alarm indications

Status indications

12.1 Trip indications

If the drive trips, the output is disabled so that the drive stops controlling the motor. The lower display indicates that a trip has occurred and the upper display shows the trip.

Table 12-1 Trip indications

Trip

AN1.diS

37 cL1

27 cL2

28 cL3

29

Current signal loss on analog input 3

Diagnosis

UD78> Servo large option module displaced

UD78 Servo large option module was displaced or removed.

Ensure that the module is fitted correctly.

Current signal loss on analog input 1

Loss of signal current on Analog input 1 (terminals 5 and 6), when configured for 4 to 20mA trip on loss current signal input. (Trip level 3mA.)

Current signal loss on analog input 2

Loss of signal current on Analog input 2 (terminal 7), when configured for 4 to 20mA trip on loss current signal input. (Trip level 3mA.)

Loss of signal current on Analog input 3 (terminal 8), when configured for 4 to 20mA trip on loss current signal input. (Trip level 3mA.)

ConF n

150 to 158

Configuration has changed to n modules

No. of modules has changed to n modules (size 5 only).

Check DIP switches on control module correspond with the slide switch address settings on the power modules.

Save parameters to clear this trip on next power-up.

EEF

31

EEPROM Fault

Fault in the internal EEPROM causing loss of parameter values.

This trip can only be reset by loading default parameters and saving parameters.

ENC.OUL

Encoder power supply overload

10

Check encoder power supply wiring and encoder current requirement

Maximum current = 300mA @ 15V and 5V

ENC.PH1

Encoder phase 1 trip

11 Encoder U phase commutation signal missing or the motor did not rotate.

ENC.PH2

Encoder phase 2 trip

12 Encoder V phase commutation signal missing.

ENC.PH3

Encoder phase 3 trip

13 Encoder W phase commutation signal missing.

ENC.PH4

Encoder phase 4 trip

14 Encoder U V W commutation signals connected incorrectly.

ENC.PH5

Encoder phase 5 trip

15 Encoder A channel signal missing.

ENC.PH6

Encoder phase 6 trip

16 Encoder B channel signal missing.

ENC.PH7

Encoder phase 7 trip

17

Encoder A and B channel signals connected incorrectly.

Resolver or SINCOS encoder, SIN and COS connections connected incorrectly or the phase sequence of the motor is reversed.

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Trip Diagnosis

ENC.PH8

Encoder phase 8 trip

18

Autotune or servo phasing offset test failed, or was interrupted.

This can be caused by the following:

• Wrong test for operating mode

• Limit switch operated

• Drive tripped on another trip (a reset of the ENC.PH8 trip will show the actual trip)

• A reset signal given during the test.

ENC.PH9

Encoder phase 9 trip

181

Et

6

FSH.20

187

Servo phasing incorrect causing reverse torque to be produced.

This can be caused by the following:

• Incorrect encoder/resolver feedback connections.

• Incorrect phase offset value.

Check connections and perform phase offset test.

Spurious ENC.PH9 trips can be seen in very dynamic applications. This trip can be disabled by setting Pr 3.31

= 1. Caution should be used before setting this parameter in case there is a genuine fault with the encoder feedback.

External Trip

OL> External trip signal applied to terminal 30.

Remove the trip signal, or connect together terminals 30 and 31, and then reset the drive.

UD55> Flash Menu 20

The selected parameter set in the UD55 small option module does not contain values for Menu 20 parameters (which relate to a specific large option module), but a large option module is fitted in the destination drive. Consequently, there are no values of Menu

20 parameters to be copied to the destination drive.

FSH.ACC

UD55> Flash Access

185

FSH.cPr

Write-access to the UD55 cloning small option module has not been enabled. Consequently, no values have been copied to the

UD55. To enable write-access, connect together terminals 40 and 41 on the UD55.

UD55> Flash Compare

189

FSH.dAt

This trip is initiated when a parameter set stored in the UD55 cloning small option module has been compared to the parameter set in the drive and differences have been found.

UD55> Flash Data

183

FSH.Err

182

FSH.LO

No data has been found in the selected parameter set in the UD55 cloning small option module. Consequently, no values have been copied to the destination drive.

UD55> Flash Error

The memory of the UD55 cloning small option module has been found to be corrupt. If the trip has occurred at power-up, the memory is automatically reformatted and all the parameter sets are erased. If the trip occurs after power-up, the memory and parameter-sets are unaffected. See the UD55 User Guide .

UD55> Flash Large Option Module

186

FSH.rn9

The selected parameter set in the UD55 cloning small option module contains values for Menu 20 parameters (which relate to a specific large option module), but the related module is not fitted in the destination drive. Consequently, values of Menu 20 parameters have not been copied to the destination drive.

UD55> Flash Rating

188

The current rating or voltage rating of the destination drive is different from that relating to the selected parameter set in the UD55 cloning small option module. Consequently, all parameter values have been copied to the destination drive except rating dependent parameters which are listed in Transferring parameter sets between drives of different ratings in the UD55 User Guide .

FSH.TYP

UD55> Flash Type

184

It.AC

20

It.br

19

The operating mode of the destination drive is different from that related to the selected parameter-set in the UD55 cloning small option module. Consequently, no values have been copied to the destination drive. Either select an appropriate parameter set, or change the operating mode of the destination drive.

[I x t] thermal overload in the motor

The [I x t] thermal overload accumulator for the motor has reached 100% (see the OVLd alarm). Pr 4.19

displays the level of the overload accumulator.

This can be caused by the following:

• Excessive load or increased load applied to the motor (check mechanics)

• Loss of motor phase

• CL> Noise on speed feedback signals

• CL> Loose feedback device mechanical coupling

• SV> Phase offset value incorrect (Encoder Pr 3.28

, SINCOS encoder or resolver Pr 16.09

). Perform a phase offset test (see

section 7.2.3

Servo on page 86 for more information), or enter the correct value for phase offset.

See section 8.3

Motor thermal protection on page 99.

[I x t] thermal overload in the braking resistor

The [I x t] thermal overload accumulator for the braking-resistor motor has reached 100% (see the br.rS alarm). Pr 10.39

displays the level of the overload accumulator. See Pr 10.30

and Pr 10.31

in the Unidrive Advanced User Guide .

Increase the power rating of the braking resistor and change Pr 10.30

and Pr 10.31

.

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Trip Diagnosis

L1.SYNC

Synchronisation to the AC supply failed

39

Regeneration sinusoidal rectifier failed to synchronise to the AC supply.

Ensure that the AC supply voltage and frequency are within the specified limits.

Ensure power connections are correct.

OA

23

Oh1

21

Control PCB over temperature

The ambient temperature around the control PCB has reached the over temperature threshold of 95 ° C (203 ° F) (see the Air alarm).

Check cubicle / drive fans are still functioning correctly

Check cubicle ventilation paths

Check cubicle door filters

Check ambient temperature

Reduce drive switching frequency

IGBT junction over temperature (based on the drive thermal model)

IGBT junction temperature (based on the drive’s thermal model) has reached the over temperature threshold of 145 ° C (293 ° F) and the drive was unable to reduce the switching frequency further. Pr 7.32

displays the estimated IGBT junction temperature calculated by the drive.

Reduce drive switching frequency

Reduce duty cycle

Decrease acceleration / deceleration rates

Reduce motor load

Oh2

22

OI.AC

3

OI.AC n

118 to 125

Heatsink over temperature

Heatsink temperature (detected by thermistor) has reached the over temperature threshold of 94 ° C (201 ° F) (see the hot alarm).

Check cubicle / drive fans are still functioning correctly

Check cubicle ventilation paths

Check cubicle door filters

Increase ventilation

Decrease acceleration / deceleration rates

Reduce drive switching frequency

Reduce duty cycle

Reduce motor load

Over Current in output stage

Over current threshold on the output of the drive, of 225% of the drive’s Full Load Current (FLC), has been reached. (The FLC of the drive is displayed in Pr 11.32

)

This can be caused by the following:

• Pr 0.03

Acceleration rate set too low

• Pr 0.04

Deceleration rate set too low

• Short-circuit at the output of the drive

• Break-down of motor insulation (check with Megger)

Incorrect motor map values see section 7.2

Quick Start commissioning on page 84 for details on how to enter the motor map

• Excessive motor-cable length (increased cable capacitance charging current)

• CL> Loss of speed feedback signals

• CL> Noise on speed feedback signals

• CL> Loose mechanical coupling on speed feedback device

• CL> Reduce the values in the speed loop gain parameters (Pr 3.10

, Pr 3.11

and Pr 3.12

)

• CL> Reduce the values in the current loop gain parameters (Pr 4.13

and Pr 4.14

)

• SV> Phase offset value incorrect (Encoder Pr 3.28

, SINCOS encoder and Resolver Pr 16.09

). Perform a phase offset test, see

section 7.2.3

Servo on page 86 for more information.

• OL & VT> If this trip occurs during an autotune (sometimes with large motors), decrease the voltage boost value in Pr 5.15

.

Over current in the output stage of module n

Over current threshold in the output of the stage of module n of 170% of the drive’s Full Load Current (FLC), has been reached (size

5 only).

This can be caused by the following:

• Pr 0.03

Acceleration rate set too low

• Pr 0.04

Deceleration rate set too low

• Short-circuit at the output of the drive

• Break-down of motor insulation (check with Megger)

Incorrect motor map values see section 7.2

Quick Start commissioning on page 84 for details on how to enter the motor map

• Excessive motor-cable length (increased cable capacitance charging current)

• CL> Loss of speed feedback signals

• CL> Noise on speed feedback signals

• CL> Loose mechanical coupling on speed feedback device

• CL> Reduce the values in the speed loop gain parameters (Pr 3.10

, Pr 3.11

and Pr 3.12

)

• CL> Reduce the values in the current loop gain parameters (Pr 4.13

and Pr 4.14

)

• SV> Phase offset value incorrect (Encoder Pr 3.28

, SINCOS encoder and Resolver Pr 16.09

). Perform a phase offset test, see

section 7.2.3

Servo on page 86 for more information.

• OL & VT> If this trip occurs during an autotune (sometimes with large motors), decrease the voltage boost value in Pr 5.15

.

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Trip

OI.br

4

Diagnosis

Over Current in braking transistor

Over current threshold in the braking transistor has been reached.

This can be caused by the following:

• A short-circuit exists across the braking resistor terminals.

• An insulation fault on the braking resistor or associated cables.

• The ohmic value of the braking resistor is too low.

DC over current trip in module n OI.dc n

134 to 141 DC instantaneous over current trip in module n (size 5 only)

OP.OVLd

Control terminals output overload

26

Ot HS n

102 to 109

Ot inP

101

OU

2

OU n

126 to 133

OU.SPd

7

The total current drawn from the user +24V supply (terminal 22) and any digital outputs (terminals 24, 25 and 26) exceeds 240mA.

Heatsink over temperature in module n

Heatsink over temperature threshold has been reached in module n (size 5 only); detected by one of the two thermistors in the drive.

Ensure that ventilation at the front and rear of the drive is adequate.

Check cubicle / drive fans are still functioning correctly.

Check cubicle ventilation paths.

Check cubicle door filters.

Increase ventilation.

Decrease acceleration / deceleration rates.

Reduce duty cycle.

Reduce motor load.

Input stage over temperature

Input stage over temperature threshold has been reached (size 5 only).

Ensure that ventilation at the front and rear of the drive is adequate.

Check cubicle / drive fans are still functioning correctly.

Check cubicle ventilation paths.

Check cubicle door filters.

Increase ventilation.

Decrease acceleration / deceleration rates.

Reduce duty cycle.

Reduce motor load.

Over Volts on the DC bus

Over voltage threshold on the DC bus has been reached.

400V Unidrive: >830Vdc

200V Unidrive LV: >415Vdc

This is due to excessive AC supply voltage or excessive regenerated power being returned to the drive that can be caused by the following:

• Pr 0.04

Deceleration rate set too low.

• An external force acting on the motor shaft causing the drive to regenerate.

• Braking resistor value is too high.

• AC supply voltage too high.

• Supply disturbance such as a voltage over-shoot as the supply recovers from a notch induced by a DC drive.

• Motor insulation fault.

Over volts on the DC bus in module n

Over voltage threshold on the DC bus of module n of 830Vdc, has been reached (size 5 only). (The FLC of the drive is displayed in

Pr 11.32

)

This is due to excessive regenerated power being returned to the drive that can be caused by the following:

• Pr 0.04

Deceleration rate set too low.

• An external force acting on the motor shaft causing the drive to regenerate.

• Braking resistor value is too high.

• AC supply voltage too high.

• Supply disturbance such as a voltage over-shoot as the supply recovers from a notch induced by a DC drive.

• Motor insulation fault.

Over speed

The motor speed has reached the over speed threshold (Pr 3.08

).

This can be caused by the following:

• Sudden removal of a large mechanical load from the motor shaft.

• Pr 0.04

Deceleration rate set too low.

• Inappropriate setting for Pr 0.16

Stop mode selector.

• Pr 0.19

S-ramp da/dt set too high.

• Pr 3.08

set below the maximum reference obtainable, i.e. set less than Pr 0.02

(or Pr 1.06

).

• Speed over-shoot due to high speed loop proportional gain (Pr 3.10

)

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SEP EF

36

St GL

34

SuP.LSS

190 th

24 thS

25

Trip

Ph

32

Prc2

8

PS

5

PS n

110 to 117 rS

33

SCL

30

SEP

9

SEP.diS

180

SEP EC

35

Diagnosis

AC supply phase loss

Loss of an AC supply phase detected by increased ripple on the DC bus.

Ensure all 3 input phases are present and balanced.

NOTE

N

Load level must be between 50 and 100% for the drive to trip under phase loss conditions. The drive will attempt to stop the motor before this trip is initiated.

UD70> Second processor fault

Indicates a trip in the Processor of the UD70 large option module.

Possible causes of failure are as follows:

• If the watchdog feature is enabled (Pr 17.18

= 1), then this trip indicates the WDOG instruction has not been executed, in the

UD70 program, within 200ms of the last execution. See the WDOG command in the UD70 User Guide for more details.

• If the watchdog feature is not enabled (Pr 17.18

= 0), then this trip indicates an operating system failure. Contact the supplier of the module.

Internal power supply fault

Remove any option module and attempt a reset (to verify if the trip is caused by the option module).

Check integrity of interface ribbon cables and connections (size 5 only).

Hardware fault - return drive to supplier.

Internal power supply fault in module n (size 5 only)

Check integrity of interface ribbon cables and connections (size 5 only).

Hardware fault - return drive to supplier.

Incorrect stator resistance value

Incorrect measurement of stator resistance due to the following:

• One or more motor phases disconnected when the measurement was being made

• Motor too small for the drive

If required, set Pr 0.07

(or Pr 5.14

) Voltage mode at Ur and enter the value of stator resistance in parameter Pr 5.17

.

Serial Communications loss

Loss of serial communications when slaving drives or using the universal remote keypad.

Ensure that the communications device is working correctly and the interconnections are correctly made.

UD5x> Small option module fault

Indicates a trip in the UD5x small option module.

Possible causes of failure are as follows:

• UD50 Additional I/O> The total current drawn from digital outputs (terminals 48, 49 & 50) has reached the over current threshold.

• UD52 Sin-cos> Encoder power supply overloaded or short circuit (terminals 44 & 45).

• UD53 Resolver> Connections to the UD53 have not been made correctly or a wire break between the resolver and the UD53.

UD5x> Small option module displaced

The type of small option module that the drive has been programmed to operate with has been removed or is not fitted correctly.

Perform either of the following:

• Ensure the appropriate type of small option module is correctly fitted

• To operate the drive in the present configuration, set Pr xx .00

at 1000 and press the ( STOP/RESET) button.

UD52> SINCOS encoder communications failure

Communications between

SIN

-

COS

encoder and UD52 small option module have failed. Absolute position information will not be obtained.

Possible causes of failure are as follows:

• Incorrect serial communications connections (terminals 46, 47).

• DC supply to the encoder is not connected (terminals 44, 45) or has failed.

• Incorrect DC supply voltage for the encoder (Pr 16.15

).

After rectifying the fault, remove, and then re-apply the AC supply to the drive in order to obtain absolute position information.

UD52> Sincos encoder fault

Internal fault within the SINCOS encoder. Contact the encoder or motor supplier.

Spurious trip

Unrecognised trip on power-up (size 5 only).

Hardware fault, contact the supplier of the drive.

Regen supply loss

The drive in Regen mode has detected AC supply loss.

Check all three supply phases are present and at the correct level.

Motor thermistor over temperature

The motor thermistor has detected excessive motor temperature or the thermistor or associated wiring is open-circuit.

Set Pr 7.15

= volt and save parameters to disable this function.

Motor thermistor short circuit

The motor thermistor or wiring is short circuit.

Set Pr 7.15

= volt and save parameters to disable this function.

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Trip tr XX

40 to 69 tr XX

Diagnosis

UD70 run time trips

XX indicates the trip code number.

Trip Code Description

40 Unknown Error

41 Parameter does not exist

42 Parameter write failed: parameter is read only

43 Parameter read failed: parameter is write only

44 Parameter write failed: parameter value is over range

45 Virtual parameter access failed: IOLINK is not running

46 to 48 Internal error

49 Wrong system loaded

50 Maths error in the program, e.g. divide by zero, overflow, etc.

51 DPL array index is out of range

52 User generated trip from control word

53 DPL program incompatible

54 DPL overload – a task has run of time

55 RS485 trip (mode 3, mode 4, etc.)

56 Option module and system-file are incompatible

57 Illegal operating system call

58 to 59 Internal error

60 to 69 High-speed communications option generated trips

See the UD70 and/or the relevant high-speed communications option User guides for more information.

User trips 70 to 99, 159 to 179, 191 to 200

70 to 99,

159 to 179,

191 to 200

UFLt n

Trip codes defined by the user. XX indicates the trip code number.

For use with the UD70 Application modules by writing the trip code to

Unidentified trip on module n

142 to 149 Unidentified fault on power-up in module n (size 5 only)

UU

1

Under Volts

Under voltage threshold on the DC bus has been reached

400V Unidrive: <350Vdc

200V Unidrive LV: <160Vdc

This also occurs when the AC supply has been removed.

Ensure that the AC supply is above the minimum level.

400V Unidrive: >380Vac -10% (342Vac)

200V Unidrive LV: >200Vac -10% (180Vac)

Pr 10.38

.

Table 12-2 Serial communications look-up table

No.

13

14

15

16

9

10

11

12

17

18

19

20

21

7

8

5

6

3

4

1

2

Trip

UU

OU

OI.AC

OI.br

PS

Et

OU.SPd

Prc2

SEP

ENC.OUL

ENC.PH1

ENC.PH2

ENC.PH3

ENC.PH4

ENC.PH5

ENC.PH6

ENC.PH7

ENC.PH8

It.br

It.AC

Oh1

No.

34

35

36

37

30

31

32

33

26

27

28

29

22

23

24

25

39

40 to 69

70 to 99

101

102 to 109

Trip

Oh2

OA th thS

OP.OVLd

cL1 cL2 cL3

SCL

EEF

Ph rS

St GL

SEP EC

SEP EF

AN1.diS

L1.SYNC

tr40 to tr69 tr70 to tr99

OtinP

OtHS1 to OtHS8

No.

185

186

187

188

181

182

183

184

110 to 117

118 to 125

126 to 133

134 to 141

142 to 149

150 to 158

159 to 179

180

189

190

191 to 200

Trip

PS1 to PS8

OI.AC1 to OI.AC8

OU1 to OU8

OI.dc1 to OI.dc8

UFLt1 to UFLt8

ConF1 to ConF8 tr159 to tr179

SEP.diS

ENC.PH9

FSH.Err

FSH.dAt

FSH.TYP

FSH.ACC

FSH.LO

FSH.20

FSH.rn9

FSH.cPr

SuP.LSS

tr191 to tr200

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12.1.1 HF - Hardware fault trip codes

HF trips are internal hardware faults within the drive. Powering the drive down and re-applying power could clear the fault. Resetting the drive will not clear a HF trip.

Below is a full list of hardware fault trip codes on Unidrive.

NOTE

N

If a HF trip occurs, the Drive Healthy relay will open to indicate this.

The serial communications will not function during a HF trip.

HF89

HF90

HF91

HF92

HF93

HF94

HF95

HF96

HF81

HF82

HF83

HF84

HF85

HF86

HF87

HF88

Software Error (odd address word)

Large option module removed

Power Board Code Failure

Current Offset Trim Failure

A to D failure (ES-CC step)

Interrupt Watchdog failure

Internal ROM check error

Watchdog Failure

Unused Interrupts (nmi as source)

Stack Overflow

Stack Underflow

Software Error (undefined op code)

Software Error (protection fault)

Software Error (odd address word)

Software Error (odd address inst.)

Software Error (illegal ext bus)

HF97

HF98

Level 1 Noise

Interrupt Crash

HF99 Level 1 Crash

The only HF trip that can be caused by the user is a HF82 trip where a large option module is removed while the drive is powered up. The drive should be powered down, the module re-fitted correctly and the power reapplied to clear the trip.

If the drive persistently trips on a HF trip, contact the supplier of the drive.

12.2 Alarm indications

If a critical condition is detected, the drive continues operating and the lower display shows an alarm indication in place of the status indication.

If the condition is not rectified, the drive could trip.

The alarm indication flashes alternately with the normal display indication.

Lower display

Air br.rS

hot

OVLd

Description

Control PCB ambient temperature near maximum limit

The ambient temperature around the control PCB has reached 90 ° C (194 ° F) and the drive will trip OA if the temperature continues to rise (see the OA trip).

Braking resistor overload

The braking-resistor [I x t] accumulator in the drive has reached 75% of the value at which the drive will be tripped.

Heatsink temperature near maximum limit

The drive heatsink has reached 90 ° C (194 ° F) and the drive will trip Oh2 if the temperature continues to rise

(see the Oh2 trip).

Motor overload

The motor [I x t] accumulator in the drive has reached

75% of the value at which the drive will be tripped.

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

12.3 Status indications

Lower display

Act

Description

ACUU dc dEC inh

POS rdY run

SCAn

StoP triP

Regeneration mode active

Regen mode> The Regen drive is enabled and synchronised to the supply.

AC Supply loss

The drive has detected that the AC supply has been lost and is attempting to maintain the DC bus voltage by decelerating the motor.

DC applied to the motor

The drive is applying DC injection braking.

Decelerating

The drive is decelerating the motor.

Inhibit

The drive is inhibited and cannot be run.

Drive enable signal not applied to terminal 30 or Pr 6.15

is set to 0.

Positioning

The drive is positioning/orientating the motor shaft.

Ready

The drive is ready to be run.

Running

The drive is running.

Scanning

OL> The drive is searching for the motor frequency when synchronising to a spinning motor.

Regen> The drive is enabled and is synchronising to the line.

Stop or holding zero speed

The drive is holding the motor at zero speed.

Regen> The drive is enabled but the

AC voltage is too low, or DC Bus voltage still rising or falling.

Trip condition

The drive has tripped and is no longer controlling the motor. The trip code appears on the upper display.

Drive output stage

Enabled

Enabled

Enabled

Enabled

Disabled

Enabled

Disabled

Enabled

Enabled

Enabled

Disabled

When the drive is in normal operation, the lower display indicates the status of the drive.

12.4 Displaying the trip history

UL Listing

Information

The drive retains a log of the last 10 trips that have occurred, in Pr 10.20

to Pr 10.29

. Pr 10.20

is the most recent trip (or current trip if the drive is in the trip state) and Pr 10.29

is the oldest. When a trip occurs all the parameters move down one, such that the current trip is put in Pr 10.20

and the oldest trip is lost off the bottom of the log.

If any parameter between Pr 10.20

and Pr 10.29

inclusive is read by

serial communications, then the trip number in section 12.1

Trip indications on page 198 is the value transmitted.

204

Unidrive User Guide www.controltechniques.com Issue Number: 9

Safety

Information

Product

Information

Mechanical

Installation

Electrical

Installation

Getting

Started

13 UL Listing Information

Menu 0

The Control Techniques UL file number is E171230. Confirmation of UL listing can be found on the UL website: www.ul.com.

The Drive conforms to UL listing requirements only when the following are observed:

• The drive is installed in a type 1 enclosure, or better, as defined by

UL50

• The correct UL-listed fuses are used as follows:

Unidrive size 1 to 4: Class RK1 600Vac

Unidrive size 5: Gould Shawmut Amp-Trap A50P, 500Vac, 450A

• Class 1 60/75 o C (140/167 o F) copper wire only is used in the installation

• The ambient temperature does not exceed 40 o

C (104 o

F) when the drive is operating

The terminal tightening torques specified in section 3.12.2

Terminal sizes and torque settings on page 36

13.1 AC supply specification

The drive is suitable for use in a circuit capable of delivering not more than:

Unidrive sizes 1 to 3: 5000 rms symmetrical Amperes

Unidrive size 4: 10,000 rms symmetrical Amperes

Unidrive size 5: 18,000 rms at 268Vac rms for Unidrive LV and 528Vac rms for Unidrive, maximum.

13.2 Maximum continuous output current

The drive models are listed as having the maximum continuous output

currents (FLC) shown in Table 13-1 and Table 13-2 (see Chapter

11 Technical Data on page 190 for details).

Table 13-1 Maximum continuous output current for low voltage models

Running the motor

Optimisation Macros

Advanced

Parameters

Technical

Data

Diagnostics

UL Listing

Information

Table 13-2 Maximum continuous output current for 380V / 400V models

Model

UNI1401

UNI1402

UNI1403

UNI1404

UNI1405

UNI2401

UNI2402

UNI2403

UNI3401

UNI3402

UNI3403

UNI3404

UNI3405

UNI4401

UNI4402

UNI4403

UNI4404

UNI4405

UNI5401

* Unidrive size 5 is only available as a STD model.

FLC (A)

STD / VTC LFT

2.1

2.1

2.8 2.8

3.8 3.8

5.6 4.0

9.5 4.3

12 12.0

16 14.2

25 14.2

34 28.0

40 28.0

46 32.0

60 33.0

70 35.0

96 70

124 70

156 80

180 100

202

300*

100

13.3 Safety label

The safety label supplied with the connectors and mounting brackets must be placed on a fixed part inside the drive enclosure where it can be seen clearly by maintenance personnel for UL compliance.

Model

UNI1201

UNI1202

UNI1203

UNI1204

UNI1205

UNI2201

UNI2202

UNI2203

UNI3201

UNI3202

UNI3203

UNI3204

FLC (A)

STD / VTC LFT

2.1

2.1

2.8 2.8

3.8 3.8

5.6 4.0

9.5 4.3

12 12

16 14.2

25 14.2

34 28

46 28

60 32

74 35

Unidrive User Guide

205

Issue Number: 9 www.controltechniques.com

Symbols

+10V reference voltage

........................................................... 52

+24V digital supply

.................................................................. 53

Numerics

50°C ambient

.......................................................................... 28

A

abbreviations

........................................................................... 10

AC supply requirements

........................................................ 192

Accuracy and resolution

........................................................ 192

Acoustic noise

....................................................................... 194

Additional I/O small option module

......................................... 12

Advanced Features

............................................................... 182

Advanced keypad functions

.................................................... 60

Alarm

..................................................................................... 204

Altitude

.................................................................................. 192

Ambient temperature

.............................................................. 28

Analog input 1

...................................................................52

,

54

Analog input 2

......................................................................... 52

Analog input 3

......................................................................... 52

Analog output 1

....................................................................... 53

Analog output 2

....................................................................... 53

Autotune

..................................................................... 93

,

95

,

97

B

Baffle plates

............................................................................ 28

Basic requirements

................................................................. 81

Braking modes

...................................................................... 182

Braking option

......................................................................... 12

Braking resistor values

.......................................................... 194

C

Cable lengths

........................................................................ 193

Cable sizes and fuses

........................................................... 193

Catch a spinning motor

......................................................... 187

Clearances

.............................................................................. 46

Cloning interface small option module

.................................... 12

Closed loop vector

.................................................................. 10

Control connections

................................................................ 49

Current limits

........................................................................... 98

Current loop gains

.............................................................95

,

97

D

Defaulting the drive

................................................................. 61

Destination parameter

............................................................. 49

Device Net large option module

.............................................. 12

Diagnostics

........................................................................... 198

Digital input / output F1

........................................................... 53

Digital input / output F2

........................................................... 53

Digital input / output F3

........................................................... 53

Digital input F4

........................................................................ 53

Digital input F5

........................................................................ 53

Digital input F6

........................................................................ 53

display

..................................................................................... 58

Drive enable input F7

.............................................................. 54

E

Earth / Ground connections

.................................................... 46

Electrical Installation

............................................................... 37

Electromagnetic compatibility (EMC)

.................................... 195

Index

EMC - Compliance

..................................................................48

EMC - General requirements

..................................................45

EMC (Electromagnetic compatibility)

......................................44

Enclosure

................................................................................24

Enclosure sizing

......................................................................24

Encoder connections

...............................................................54

Encoder supply

.......................................................................55

F

Feedback device cable screening

...........................................47

Frequency and direction connections

.....................................55

G

Getting Started

........................................................................58

H

HF - Hardware fault trip codes

..............................................204

High speed operation

..............................................................99

I

Ingress protection

........................................................... 15

,

192

Interbus large option module

...................................................12

Interruptions to the encoder cable

...........................................49

Interruptions to the motor cable

..............................................49

K

Keypad operation

....................................................................58

L

Large option module

...............................................................12

Line reactors

.........................................................................192

M

Macro 1 – Easy Mode

...........................................................101

Macro 2 – Motorised potentiometer

......................................101

Macro 3 – Preset frequencies / speeds

.................................101

Macro 4 – Torque control

......................................................101

Macro 5 – PID (set-point control)

..........................................101

Macro 6 – Axis-limit control

...................................................101

Macro 7 – Brake control

........................................................101

Macro 8 – Digital lock / shaft orientation

...............................101

Macro logic diagrams

............................................................106

Macro terminal connection

....................................................102

Mains loss modes

.................................................................185

Maximum speed / frequency

.................................................100

Mechanical Installation

............................................................14

Menu 0

....................................................................................64

Menu 0 Logic diagram

.............................................................66

Menu 01 - Speed references and limits

................................124

Menu 02 - Ramps (accel. / decel.)

........................................128

Menu 03 - Speed feedback / frequency slaving

....................131

Menu 04 - Current control

.....................................................135

Menu 05 - Machine control

....................................................139

Menu 06 - Sequencing logic

..................................................143

Menu 07 - Analog I/O

............................................................145

Menu 08 - Digital I/O

.............................................................148

Menu 09 - Programmable logic

.............................................152

Menu 10 - Status flags / trip log

............................................155

Menu 11 - Menu 0 customisation / drive specific ratings

......156

Menu 12 - Programmable thresholds

....................................157

Menu 13 - Digital lock / orientation

........................................160

206

Unidrive User Guide www.controltechniques.com Issue Number: 9

Menu 14 - Programmable PID function

.................................166

Menu 15 - Regen

..................................................................169

Menu 16 - Small option module set-up

..................................171

Menu 17 - Large option module set-up

.................................179

Menu 18 - Application menu 1

..............................................179

Menu 19 - Application menu 2

..............................................180

Menu 20 - Large option module

............................................180

Menu structure

........................................................................59

Modbus Plus large option module

...........................................12

Mode parameter

......................................................................49

Motor map parameters

............................................................92

Motor thermal protection

.........................................................99

Motor thermistor input

.............................................................55

Mounting

.................................................................................16

Mounting brackets

...................................................................23

N

Nameplate

.................................................................................9

O

Open Loop mode

....................................................................10

Open loop vector mode

...........................................................10

Operating modes

.....................................................................10

Optimisation

............................................................................92

Option Modules

.......................................................................12

Output contactor

......................................................................43

Output frequency doubling

....................................................100

Overall dimensions

................................................................193

P

Parameter security

..................................................................62

Planning the installation

..........................................................14

Position loop modes

..............................................................188

Power and current ratings

.....................................................190

Power dissipation

..................................................................191

Power terminals

......................................................................35

Profibus-DP large option module

............................................12

protection circuit for a braking resistor

....................................44

Protection circuit for the braking resistor

.................................44

R

Ratings

............................................................................... 8

,

40

Regen

......................................................................................10

Resolver interface small option module

..................................12

RFI filters

........................................................................ 29 ,

197

Routine maintenance

..............................................................36

Running the motor

...................................................................81

S

S4/S5 duty cycle

.....................................................................10

Safety Information

.....................................................................7

Safety label

...........................................................................205

Saving parameters

..................................................................61

Second encoder small option module

.....................................12

Sequencing Modes

...............................................................186

Serial communications

............................................................63

Serial communications large option module

............................12

Servo

.......................................................................................10

Servo large option module

......................................................12

SINCOS encoder interface small option module

.....................12

Size 5 output sharing choke specification

.............................194

Slip compensation

...................................................................93

Slip optimisation

......................................................................95

Source parameter

...................................................................49

Speed feedback

......................................................................81

Speed loop gains

.............................................................. 96 ,

98

Standard security

.................................................................... 62

Star / delta motor operation

.................................................... 43

Starts per hour

...................................................................... 192

Status

................................................................................... 204

Status relay

............................................................................. 52

Stop Modes

.......................................................................... 184

Storage

................................................................................. 192

Surface mounting

................................................................... 16

Switching frequency

............................................................... 99

T

Technical Data

...................................................................... 190

Temperature, humidity and cooling method

......................... 192

Terminal cover removal

.......................................................... 14

Terminal sizes

........................................................................ 36

Through hole mounting

........................................................... 16

Torque Modes

...................................................................... 183

Torque settings

....................................................................... 36

Trip

....................................................................................... 198

Trip History

........................................................................... 204

Typical input current

............................................................. 190

U

UL Listing Information

........................................................... 205

Unidrive LFT

........................................................................... 10

Unidrive size 5 control / power module connections

.............. 39

Unidrive VTC

.......................................................................... 10

Differences from open-loop Unidrive

....... 54

,

122

,

181

UniSoft

.................................................................................... 87

Universal Keypad

................................................................... 12

User security

........................................................................... 62

V

V/f mode

................................................................................. 10

Variants

.................................................................................... 9

Ventilation

............................................................................... 26

Voltage mode

......................................................................... 93

VTCSoft

.................................................................................. 87

W

Weights

................................................................................. 193

Unidrive User Guide

207

Issue Number: 9 www.controltechniques.com

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Key Features

  • It has a wide power range, from 0.37 kW to 22 kW, making it suitable for a variety of applications.
  • It has a built-in PLC, which allows it to be programmed to perform complex tasks.
  • It has a variety of communication options, including Ethernet, CANopen, and DeviceNet.
  • It is a compact and lightweight drive, making it easy to install in tight spaces.
  • It is a robust drive, designed to withstand harsh environments.
  • It is a cost-effective drive, making it a great value for the price.

Related manuals

Frequently Answers and Questions

What is the power range of the Unidrive 3204?
The power range of the Unidrive 3204 is from 0.37 kW to 22 kW.
Does the Unidrive 3204 have a built-in PLC?
Yes, the Unidrive 3204 has a built-in PLC.
What are the communication options for the Unidrive 3204?
The communication options for the Unidrive 3204 include Ethernet, CANopen, and DeviceNet.
Is the Unidrive 3204 a compact drive?
Yes, the Unidrive 3204 is a compact drive.
Is the Unidrive 3204 a cost-effective drive?
Yes, the Unidrive 3204 is a cost-effective drive.

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