Advanced user guide. Commander SX. IP66/Nema 4X AC Variable Speed Drive en / a. Part Number :

Transcription

1 Advanced user guide Commander SX IP66/Nema 4X AC Variable Speed Drive Part Number :

2 NOTE CONTROL TECHNIQUES reserves the right to modify the characteristics of its products at any time in order to incorporate the latest technological developments. The information contained in this document may therefore be changed without notice. CAUTION For the user s own safety, this variable speed drive must be connected to an approved earth ( terminal). If accidentally starting the installation is likely to cause a risk to personnel or the machines being driven, it is essential to comply with the power connection diagrams recommended in this manual. The variable speed drive is fitted with devices which, in the event of a fault, control stopping and thus stop the motor. The motor itself can become jammed for mechanical reasons. Voltage fluctuations, and in particular power cuts, may also cause the motor to stop. The removal of the causes of the shutdown can lead to restarting, which may be dangerous for certain machines or installations. In such cases, it is essential that the user takes appropriate precautions against the motor restarting after an unscheduled stop. The variable speed drive is designed to be able to supply a motor and the driven machine above its rated speed. If the motor or the machine are not mechanically designed to withstand such speeds, the user may be exposed to serious danger resulting from their mechanical deterioration. It is important that the user checks that the installation can withstand it, before programming a high speed. The variable speed drive which is the subject of this manual is designed to be integrated in an installation or an electrical machine, and can under no circumstances be considered to be a safety device. It is therefore the responsibility of the machine manufacturer, the designer of the installation or the user to take all necessary precautions to ensure that the system complies with current standards, and to provide any devices required to ensure the safety of equipment and personnel. CONTROL TECHNIQUES declines all responsibility in the event of the above recommendations not being observed.... Manual corresponding to software version 2. 2

3 Safety Information Warnings, Cautions and Notes A Warning contains information which is essential for avoiding a safety hazard. Caution : A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment. Note : A Note contains information which helps to ensure correct operation of the product. 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. 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 voltages 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 the User Guide carefully. The STOP and SECURE INPUT (Option) functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit. The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections. With the sole exception of the SECURE INPUT (Option) function, none of the drive functions must be used to ensure safety of personnel, i.e. they must not be used for safetyrelated functions. Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended behaviour or through incorrect operation due to a fault. In any application where a malfunction of the drive or its control system could lead to or allow damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk - for example, an over-speed protection device in case of failure of the speed control, or a fail-safe mechanical brake in case of loss of motor braking. The SECURE INPUT (Option) function has been approved as meeting the requirements of EN954- category 3 for the prevention of unexpected starting of the drive. It may be used in a safety-related application. The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards. 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. 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. 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. The values of the motor parameters set in the drive 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 parameter 6 motor rated current. This affects the thermal protection of the motor. 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. Independent approval by CETIM has been given for sizes to 3. 3

4 FOREWORD CAUTION This manual complements installation and maintenance manual ref Before setting the drive parameters, the installation, the connection and the commissioning of the drive must comply to the instructions contained in document ref MENU ORGANISATION MENU See installation and maintenance manual Ref. 384 V ADI V ADI2 V ADIO3 MENU 7 Configuration of analog I/O MENU Speed reference and limiting MENU 2 Ramps MENU 3 Alarms, speed thresholds, encoder option MENU 4 PID controller MENU Drive status and diagnostics Encoder option RJ45 serial link DIO 24V DI2 DI3 24V DI4 SDI SDI2 MENU 8 Configuration of digital I/O MENU 9 MENU 6 MENU MENU 4 Programmable logic, timers User menu, serial link, miscellaneous Current and torque control MENU 2 MENU 6 MENU 5 Logic functions (And, Or, Motorised pot, binary sum) Math functions, threshold detectors, brake control PLC functions (Timing, latching, upcounting/ downcounting) Motor control (mode, switching frequency, characteristics) COM RLC RLO SDO SDO2 MENU 5 MENU 2 Second motor parameters Additional I/O or fieldbus option Configuration of additional I/O or fieldbus L L2 L3 U V W 4

5 Explanations of the symbols used in this document..6 :A shadowed number in bold refers to a parameter. ADI : Refers to a drive input or output terminal..2 : Parameters which appear in a rectangle or identified R-W are parameters with Read and Write access. They can be designated as an assignment destination for connection to: - digital inputs for bit parameters - analog inputs for non-bit parameters - internal function outputs (threshold detectors, logical or arithmetical operations, etc). Parameters identified R-W/P cannot be assigned.. : Parameters which appear in a diamond or identified RO/P are parameters with Read Only access which are write-protected. They are used to provide information concerning operation of the drive and can be designated as an assignment source for connection to: - digital outputs for bit parameters - analog outputs for non-bit parameters - internal function inputs (threshold detectors, logical or arithmetical operations, etc)..36 : Parameters which appear in a hexagon or identified R-A are parameters which can only be assigned to: - digital inputs for bit parameters - analog inputs for non-bit parameters. : Indicates a parameter used when the drive is configured in open loop Flux Vector Control mode or U/F. : Indicates a parameter used when the drive is configured in closed loop Flux Vector Control mode. 5

6 Effective parameter adresses of menu in factory setting Menu Name Address Menu Name Address Minimum reference clamp.7 6 Motor rated current Maximum reference clamp.6 7 Motor rated speed Acceleration rate 2. 8 Motor rated voltage Deceleration rate Rated power factor (cos ϕ) 5. 5 Preset configuration select.46 Parameter-setting level.44 Menu Configuration (5 = A.A2) Configuration (5 = A.Pr) Configuration 2 (5 = A2.Pr) Name Address Name Address Name Address ADI mode 7.6 ADI mode 7.6 ADI mode ADI2 mode 7. Preset reference 2 (PR2).22 Preset reference 2 (PR2).22 3 Not used Preset reference 3 (PR3).23 Preset reference 3 (PR3).23 4 Not used Preset reference 4(PR4).24 Preset reference 4 (PR4).24 5 à 24 Not used Menu Configuration 3 (5 = 4Pr) Configuration 4 (5 = 8Pr) Configuration 5 (5 = E.Pot) Name Address Name Address Name Address Preset reference (PR).2 Preset reference (PR).2 ADI mode Preset reference 2 (PR2).22 Preset reference 2 (PR2).22 Motorised pot reset Preset reference 3 (PR3).23 Preset reference 3 (PR3).23 Motorised pot mode Preset reference 4 (PR4).24 Preset reference 4 (PR4).24 Motorised pot bipolar select Not used Preset reference 5 (PR5).25 Motorised pot rate Not used Preset reference 6 (PR6).26 Motorised pot scale factor Not used Preset reference 7 (PR7).27 Motorised pot output Not used Preset reference 8 (PR8).28 Not used 9 à 24 Not used Menu Configuration 6 (5 = Torq) Configuration 7 (5 = PID) Configuration (5 = HoiS) Name Address Name Address Name Address ADI mode 7.6 ADI mode 7.6 Not used 2 ADI2 mode 7. ADI2 mode 7. Preset reference 2 (PR2).22 3 Not used PID proportional gain 4. 4 Not used PID integral gain 4. 5 Not used PID derivative gain Not used PID upper limit Not used PID lower limit Not used PID output scaling ADI2 input scaling 7.2 ADI2 input scaling 7.2 Not used 2 Not used ADIO3 input scaling Not used PID reference Not used PID feedback Not used PID main reference Not used PID output 4. Menu Configuration (5 = Pad) Configuration 2 (5 = HuAC) Name Address Name Address Power-up keypad control mode reference.5 Not used 2 Reference on power-up (PR).2 ADI2 mode 7. 3 Enable the local control FWD key 6. Not used 4 Enable the local control Stop key 6.2 Not used 5 Enable the keypad REV key 6.3 Not used 6 à Not used 24 6

7 Menu Libellé Address 25 User drive mode.3 Menu Open loop (25 =.3 = or ) Closed loop (25 =.3 = 2) or Servo (25 =.3 = 3) Name Address Name Address Name Address 26 Open loop mode 5.4 Vectoriel (26 = 5.4 2) U/F (26 = 5.4 = 2) Drive encoder type Not used Not used Drive encoder lines/rev Not used Not used Drive encoder filter Not used Boost 5.5 Speed controller proportional gain Kp 3. 3 Not used Dynamic V to F 5.3 Speed controller integral gain Ki Currrent controller Kp proportional gain Current controller Ki integral gain 4.3 Not used 4.4 Not used Current controller proportional gain Current controller integral gain 33 Not used Ramp by-pass et Not used Menu Name Address Menu Name Address 36 Brake controller enable Main loss mode Upper current threshold Catch a spinning motor Lower current threshold Switching frequency Brake release frequency Motor rated frequency Brake apply frequency / speed Number of motor poles 5. 4 Pre-brake release delay / brake apply Autotune 5.2 speed relay 64 Parameter cloning Post-brake release time Load default Brake apply delay User security code.3 44 Enable position controller during brake Unit displayed at power-up.22 release 68 Selection of load display Not used 69 Unit for displaying the speed Start/Stop logic select Customer unit.2 47 Drive enable mode select 8. 7 Last trip.2 48 ADIO3 mode Penultimate trip.2 49 ADIO3 control ADI level 7. 5 DIO control ADI2 level Jog reference.5 75 ADIO3 level Bipolar reference enable. 76 Pre-offset reference.6 53 Skip reference (critical speed) Pre-ramp reference.3 54 Skip reference band.3 78 Current magnitude Ramp mode select Motor rpm S ramp enable DC bus voltage Stop mode 6. 7

8 Notes 8

9 CONTENTS - MENU : SPEED REFERENCE: SELECTION, LIMITING AND FILTERS List of parameters in Menu Menu diagrams Selection of reference (speed) Limiting and filters Explanation of parameters in menu MENU 2: RAMPS List of parameters in Menu Menu 2 diagrams Acceleration ramps Deceleration ramps Explanation of parameters in menu MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION List of parameters in Menu Menu 3 diagrams Basic version With encoder option Explanation of parameters in menu MENU 4: CURRENT AND TORQUE CONTROL List of parameters in Menu Menu 4 diagrams Basic version With encoder option Explanation of parameters in menu MENU 5: MOTOR CONTROL List of parameters in Menu Menu 5 diagram Explanation of parameters in menu Default settings according to drive rating MENU 6: SEQUENCER AND TIMERS List of parameters in Menu Menu 6 diagrams Sequencer Clock, energy meter and alarms Explanation of parameters in menu MENU 7: ANALOG INPUTS AND OUTPUTS List of parameters in Menu Menu 7 diagram Analog I/O Local controls Temperature indications Explanation of parameters in menu MENU 8: DIGITAL INPUTS AND OUTPUTS List of parameters in Menu Menu 8 diagrams Digital inputs and the relay output Local controls Explanation of parameters in menu MENU 9: PROGRAMMABLE LOGIC, MOTORISED POT AND BINARY SUM List of parameters in Menu Menu 9 diagrams Logic functions Motorised pot function Binary sum function Explanation of parameters in menu MENU : DRIVE STATUS AND DIAGNOSTICS List of parameters in Menu Menu diagrams Operating states Braking resistor and trip management configuration Explanation of parameters in menu

10 CONTENTS - MENU : SERIAL LINK - DRIVE CHARACTERISTICS - MISCELLANEOUS List of parameters in Menu Menu diagram Explanation of parameters in menu MENU 2: THRESHOLD DETECTORS, VARIABLE SELECTORS AND BRAKE CONTROL FUNCTION List of parameters in Menu Menu 2 diagrams Threshold detectors Processing of internal variables Brake control in open loop mode Brake control in closed loop mode Explanation of parameters in menu MENU 3: RESERVED MENU 4: PID CONTROLLER List of parameters in Menu Menu 4 diagram Explanation of parameters in menu MENU 5: RESERVED MENU 6: PLC FUNCTIONS List of parameters in Menu Menu 6 diagrams Timer relays Latching relays Counter Explanation of parameters in menu MENUS 7 TO 2 : RESERVED MENU 2: OPERATING PARAMETERS FOR A SECOND MOTOR List of parameters in Menu Explanation of parameters in menu OPERATION WITH MODBUS RTU Serial link Location and connection Protocols Parameter setting Networking Parameter setting using the PC Control word and status word MODBUS RTU General Description of exchanges Parameter mapping Data encoding Function codes Example Wait time Exceptions CRC...2

11 MENU : SPEED REFERENCE: SELECTION, LIMITING AND FILTERS - MENU : SPEED REFERENCE: Selection, limiting and filters. - List of parameters in Menu Parameter Name Type Adjustment range Factory setting. Frequency/speed reference selected RO/P ± Pre-skip filter reference RO/P ±.6 or.7 to Pre-ramp reference RO/P ±.6 or.7 to Reference offset R-W ±.6.5 Jog reference R-W to 6 rpm 45 rpm.6 Maximum reference clamp R-W to 32 rpm Eur: 5 rpm USA: 8 rpm.7 Minimum reference clamp R-W to.6.8 Not used.9 Reference offset select R-W or. Bipolar reference enable R-W or. Reference enabled indicator RO/P or Reverse selected indicator RO/P or Jog selected indicator RO/P or Reference selector R-W to 4.5 Preset selector R-W to 9.6 Preset reference selector timer R-W to 9999 s.7 Keypad control mode reference R-W ± to.2.2 Not used Preset reference to to R-W ±.6.28 Preset reference 8.29 Skip reference R-W to 32 rpm.3 Skip reference band R-W to 3 rpm 5 rpm.3 Skip reference 2 R-W to 32 rpm.32 Skip reference band 2 R-W to 3 rpm 5 rpm.33 and Not used Reference in rejection zone RO/P or Analog reference R-A.7 to.6 (. = ) ±.6 (. = ) Analog reference 2 R-A.7 to.6 (. = ) ±.6 (. = ) Percentage trim R-W ±.% -.39 and.4.4 Not used and Reference select R-A or - - and Not used to Preset reference select Reference timer reset flag R-A R-W or or User setting

12 MENU : SPEED REFERENCE: SELECTION, LIMITING AND FILTERS Parameter Name Type Adjustment range Factory setting User setting.49 Reference selected indicator RO/P to Preset reference selected indicator RO/P to Power-up keypad control mode reference R-W to 2.52 to.59.6 Not used Pre-offset reference RO ± to Not used Number of scanned references R-W to Scan time selection R-W or -.7 RP --> RP2 time R-W to 9999 s -.72 RP2 --> RP3 time R-W to 9999 s -.73 RP3 --> RP4 time R-W to 9999 s -.74 RP4 --> RP5 time R-W to 9999 s -.75 RP5 --> RP6 time R-W to 9999 s -.76 RP6 --> RP7 time R-W to 9999 s -.77 RP7 --> RP8 time R-W to 9999 s -.78 Feedback time R-W to 9999 s - 2

13 MENU : SPEED REFERENCE: SELECTION, LIMITING AND FILTERS Notes 3

14 MENU : SPEED REFERENCE: SELECTION, LIMITING AND FILTERS.2 - Menu diagrams.2. - Selection of reference (speed) ADI ADI2 DIO DI2 DI3 DI4 Menu 7 Menu 8 Analog reference Analog reference Scan timer Preset reference select Preset reference selected indicator to 8 Preset selector Reference selected indicator.49 Reference select to 4 RP RP2 RP3 RP4 RP5 RP6 RP7 RP Scan timer parameter settings 8 Keypad control mode reference > and.5 =.7 > and.5 = M Power-up keypad control mode reference.5 Pre-offset reference + Percentage trim Ref x ( +.38 ).4 Reference selector Frequency/speed reference selected.6. + Reference offset select.9 A Reference offset.4.6 Preset reference selector timer.73 RP3 --> RP4 time.48 Reference timer reset flag.74 RP4 --> RP5 time.69 Number of scanned references.75 RP5 --> RP6 time.7 Scan time selection.76 RP6 --> RP7 time.7 RP --> RP2 time.77 RP7 --> RP8 time.72 RP2 --> RP3 time.78 Feedback time 4

15 MENU : SPEED REFERENCE: SELECTION, LIMITING AND FILTERS Limiting and filters DI DI2 DI3 MENU 8 MENU 6 Jog selected indicator Reverse selected indicator Reference enabled indicator.3.2 Maximum Minimum. reference reference clamp clamp.6.7 Bipolar reference enable. OU Skip references 2 A Skip Band Jog reference X(-) Pre-skip filter reference Pre-ramp reference.2.3 Menu 2.5 Reference in rejection zone.35 5

16 MENU : SPEED REFERENCE: SELECTION, LIMITING AND FILTERS.3 - Explanation of parameters in menu.. :Frequency/speed reference selected Adjustment range : ±.6 Indicates the reference value..2.2 :Pre-skip filter reference Adjustment range : ±.6 or.7 to.6 Reference after limiting but before the skips..3.3 :Pre-ramp reference Adjustment range : ±.6 or.7 to.6 Indicates the reference after the skips but before the acceleration or deceleration ramps..4.4 :Reference offset Adjustment range : ±.6 This reference is added to (positive value) or subtracted from (negative value) the reference selected if.9 equals (OFFS). It can be used to correct the selected main reference to obtain an accurate setting..5.5 :Jog reference Adjustment range : to 6 rpm Factory setting : 45 rpm Operating speed when the jog input has been selected..6.6 :Maximum reference clamp Adjustment range : to 32 rpm Factory setting : Eur = 5 rpm USA = 8 rpm Before setting the maximum reference clamp, check that the motor and the driven machine can withstand it. Defines maximum speed in both directions of rotation..7.7 :Minimum reference clamp Adjustment range : to.6 In unipolar mode, defines the minimum speed. CAUTION: This parameter is inactive during jog operation. If the value of.6 is lower than that of.7, the value of.7 is automatically changed to the new value of.6... :Bipolar reference enable (PoS): All negative references are treated as zero. (neg): Used for changing the direction of rotation by the reference polarity. May come from the preset references. Note : Without PX-I/O option, the inputs are unipolar... :Reference enabled indicator Used to control enabling of the run command. (StoP): Stop. (run): Run..2.2 :Reverse selected indicator Used to control enabling of the direction of rotation. (Fd): Forward. (rs): Reverse..3.3 :Jog selected indicator Used to control enabling of the jog command. (OFF): Jog operation not enabled. (Jog): Jog operation enabled..4.4 :Reference selector Adjustment range : to 4 Factory setting : 4 (SEL): The speed reference is selected by combining the digital inputs assigned to parameters.4 and.42. (Ana): The speed reference comes from analog input. 2 (Ana2): The speed reference comes from analog input 2. 3 (Pr): The speed reference comes from the preset references. 4 (Pad): The speed reference comes from the local control or the LCD console. If the reference comes from the local control or the LCD console, the Run/Stop commands also come from the local control or the LCD console. In this case, the sequencing bits 6.3 to 6.34 are disabled..8.8 :Not used.9.9 :Reference offset select (ProP): A value proportional to this reference is added to the main reference. The percentage is adjusted by parameter.38. (OFFS): A fixed value set in.4 is added to the main reference. 6

17 MENU : SPEED REFERENCE: SELECTION, LIMITING AND FILTERS.5.5 :Preset selector Adjustment range : to 9 This parameter is used to select the preset references. It works as follows: (Sel): Is used to select the reference by combining the digital inputs assigned to parameters.45 to.47. (Pr): Preset reference. 2 (Pr2): Preset reference 2. 3 (Pr3): Preset reference 3. 4 (Pr4): Preset reference 4. 5 (Pr5): Preset reference 5. 6 (Pr6): Preset reference 6. 7 (Pr7): Preset reference 7. 8 (Pr8): Preset reference 8. 9 (Cycl): The reference is selected automatically by a scan timer..6.6 :Preset reference selector timer Adjustment range : to 9999 s When.5 = 9 (cycl), is used to set the time between each reference where the scan time is identical between each preset reference (.7 is set to )..7.7 :Keypad control mode reference Adjustment range : ±.6 Indicates the reference value coming from the local control or the LCD console..8,.9,.2.8 to.2 : Not used.2,.22,.23,.24,.25,.26,.27,.28.2 to.28 : Preset references to 8 Adjustment range : ±.6 In order,.2 to.28 are used to define preset references RP to RP :Reference in rejection zone This parameter is at when the selected reference is within one of the skip reference zones. In this case, the motor speed does not correspond to the requested reference..36, and.37 :Analog references and 2 Adjustment range :.7 to.6 (. = ) ±.6 (. = ) The analog inputs assigned to these parameters are automatically scaled so that.% of the input corresponds to the maximum reference (.6). Similarly the input level % will correspond to the minimum reference.7 or according to.. Unipolar mode (. = ) Reference.6.7. % Bipolar mode (. = ), this mode is only available with PX- I/O option. Reference %.29,.3.29 and.3 :Skip references and 2 Adjustment range : to 32 rpm Two skips are available to avoid a machine running at critical speeds. When one of these parameters is at, the function is deactivated..3,.32.3 and.32 :Skip reference bands and 2 Adjustment range : to 3 rpm Factory setting : 5 rpm Define the skip band around the avoided speed. The total skip will therefore equal the threshold set ± skip band. When the reference is within the window determined in this way, the drive will restore the speed corresponding to the lower or upper value in the window..33, and.34 :Not used :Percentage trim Adjustment range : ±.% An offset proportional to the selected reference can be added to this reference. The multiplication coefficient is determined by the analog input assigned to.38. Final ref =.39,.4.39 and.4.6 selected reference x (.38 + ) :Not used.4,.42.4 and.42 :Reference select Used to assign the digital inputs to selection of the speed reference Selected reference Analog input Analog input 2 Preset references Reference via keypad.43, and.44 :Not used 7

18 MENU : SPEED REFERENCE: SELECTION, LIMITING AND FILTERS.45,.46, to.47 : Preset reference select Used to assign the digital inputs to selection of the preset references Selected reference.5 Preset reference (RP) Preset reference 2 (RP2) 2 Preset reference 3 (RP3) 3 Preset reference 4 (RP4) 4 Preset reference 5 (RP5) 5 Preset reference 6 (RP6) 6 Preset reference 7 (RP7) 7 Preset reference 8 (RP8) :Reference timer reset flag When this parameter changes to, the preset reference scan timer is reset to. In this case, the reference is once again RP. Can be used to control cycle starting via a digital input :Reference selected indicator Adjustment range : to 4 Indicates which reference has been selected..5.5:preset reference selected indicator Adjustment range : to 8 Indicates the selected preset reference..5.5 :Power-up keypad control mode reference Adjustment range : to 2 (rset): On power-up, the keypad reference is reset to zero. (Prec): On power-up, the keypad reference retains the value it had before power-down. 2 (Pr): On power-up, the keypad reference retains the preset reference value (.2)..52 to.59.52,.53,.54,.55,.56,.57,.58,.59.6 : Not used.6 :Pre-offset reference.7.7 :Scan time selection (Iden): The time between each preset reference is the same for all references. (diff): The time between each preset reference is different..7.7 :RP --> RP2 time Adjustment range : to 9999 s If.7 is set to, used to adjust the RP --> RP2 scan time :RP2 --> RP3 time Adjustment range : to 9999 s If.7 is set to, used to adjust the RP2 --> RP3 scan time :RP3 --> RP4 time Adjustment range : to 9999 s If.7 is set to, used to adjust the RP3 --> RP4 scan time :RP4 --> RP5 time Adjustment range : to 9999 s If.7 is set to, used to adjust the RP4 --> RP5 scan time :RP5 --> RP6 time Adjustment range : to 9999 s If.7 is set to, used to adjust the RP5 --> RP6 scan time :RP6 --> RP7 time Adjustment range : to 9999 s If.7 is set to, used to adjust the RP6 --> RP7 scan time :RP7 --> RP8 time Adjustment range : to 9999 s If.7 is set to, used to adjust the RP7 --> RP8 scan time :Feedback time Adjustment range : to 9999 s Used to set the time between the last scan reference and the RP reference. Adjustment range : ±.6 Indicates the value of the selected reference before offset..6 to.68.6,.62,.63,.64,.65,.66,.67,.68 : Not used :Number of scanned references Adjustment range : to 8 Factory setting : 8 Used to configure the number of preset references integrated in the scan timer. For example, if.69 = 3, the scan timer will run a cycle RP --> RP2 --> RP3 --> RP etc. 8

19 MENU 2: RAMPS 2 - MENU 2: RAMPS 2. - List of parameters in Menu 2 Parameter Name Type Adjustment range Factory setting If. = and 2.2 = : 2. Post-ramp reference RO/P to.6 If. = and 2.2 = :.7 to.6 If. = : ± Ramp by-pass ( ) R-W or 2.3 Ramp hold R-W or 2.4 Ramp mode select R-W to Not used 2.6 S ramp enable R-W or 2.7 S ramp acceleration limit R-W 2 to 2.8 Standard ramp voltage R-W to 8V Eur: 69V USA: 75V 2.9 Not used 2. Acceleration rate selector R-W to 9 2. Acceleration rate to to R-W. to 6. s/ rpm 3. s/ rpm 2.8 Acceleration rate Jog acceleration rate R-W. to 6. s/ rpm.2 s/ rpm 2.2 Deceleration rate selector R-W to Deceleration rate to to R-W. to 6. s/ rpm 5. s/ rpm 2.28 Deceleration rate Jog deceleration rate R-W. to 6. s/ rpm.2 s/ rpm 2.3 to Not used Ramp hold condition R-W or User setting 9

20 MENU 2: RAMPS Menu 2 diagrams Acceleration ramps Menu.5 9 to 8 2. Acceleration rate selector Selection via digital inputs (Menu 9) 9.32 Acceleration rate 2. Acceleration rate Acceleration rate Acceleration rate Acceleration rate Acceleration rate 6 Acceleration rate 7 Acceleration rate Jog acceleration rate 2.9 Jog selected indicator.3 A Menu Menu Pre-ramp reference.3 REV acceleration N t FWD acceleration N B t S ramp acceleration limit S ramp enable C 2

21 MENU 2: RAMPS Deceleration ramps Selection via digital inputs (Menu 9) 9.32 Deceleration rate selector 2.2 to Menu 2.2 Deceleration rate 2.22 Deceleration rate Deceleration rate Deceleration rate 4 Deceleration rate 5 Jog deceleration rate Deceleration rate 6 Deceleration rate 7 A 2.28 Deceleration rate 8 B FWD deceleration N t REV deceleration N t Menu 4 Current controller Ramp hold Post-ramp reference 2. Menu Ramp mode select Standard ramp voltage 2.3 Ramp by-pass ( ) 2.2 Ramp hold condition 2.5 V min C 2

22 MENU 2: RAMPS Explanation of parameters in menu :Post-ramp reference Adjustment range : If. = and 2.2 = : to.6 If. = and 2.2 = :.7 to.6 If. = : ±.6 Measurement of the post-ramp reference. Used for diagnostics :Ramp by-pass ( ) (ramp): Active ramps. (no): Ramps short-circuited :Ramp hold (ramp): Ramp freed. (StoP): The ramp is held and acceleration (or deceleration) is therefore interrupted. CAUTION: The ramp hold function is disabled if a stop command is given :Ramp mode select Adjustment range : to 3 Factory setting : (Fst): Deceleration ramp imposed. If the deceleration ramp which has been set is too fast in relation to the inertia of the load, the DC bus voltage exceeds its maximum value (set in 2.8) and the drive passes into overvoltage trip state "OU". CAUTION: Select mode 2.4 = (Fst) when a braking resistor is being used. (Std): Standard deceleration ramp with automatic extension of the ramp time in order to avoid causing a DC bus overvoltage fault on the drive (threshold set in 2.8). 2 (StdH): The drive allows the motor voltage to be increased up to.2 times the rated voltage set in 5.9 (motor rated voltage), to avoid reaching the maximum DC bus voltage threshold (threshold set in 2.8). However, if this is not adequate, the standard deceleration ramp time is extended, to avoid causing a DC bus overvoltage trip on the drive. For the same quantity of energy, mode 2 enables faster deceleration than mode. 3 (FstH): Same as mode 2, but the ramp is imposed. If the configured ramp is too fast, the drive passes into OU trip state. CAUTION: In mode 2 and 3, the motor must be able to tolerate additional losses relating to the increase in voltage at its terminals :S ramp enable (Lin): The ramp is linear. (S-rP): A curved part (defined in 2.7) at the start and end of the ramp avoids load swinging. CAUTION: The S ramp is deactivated during controlled decelerations (2.4 = or 2) :S ramp acceleration limit Adjustment range : 2 to Factory setting : Used to modify the ramp curve by the same value at the start and end of the ramp. The value 4 represents a time for the curved part of 25% of the total ramp and represents a time for the curved part of % :Standard ramp voltage Adjustment range : to 8V Factory setting : Eur: 69V, USA: 75V This threshold is used when the drive is configured in standard deceleration mode (2.4 = or 2). If this threshold is too low, the machine will stop in freewheel mode. If this threshold is too high and there are no resistors connected, the drive will trip due to DC bus overvoltage ("OU" trip). The minimum value of this parameter must be 5V higher than the DC bus voltage obtained with the maximum supply voltage. (U bus = U supply x 2) :Not used :Acceleration rate selector Adjustment range : to 9 Factory setting : This parameter is used to select the acceleration ramp as follows: (Sel): Selection of the acceleration ramp via digital input. The choice of ramp comes from the binary/decimal converter in menu 9 (9.32). (Acc): Acceleration ramp 2 (Acc2): Acceleration ramp 2 3 (Acc3): Acceleration ramp 3 4 (Acc4): Acceleration ramp 4 5 (Acc5): Acceleration ramp 5 6 (Acc6): Acceleration ramp 6 7 (Acc7): Acceleration ramp 7 8 (Acc8): Acceleration ramp 8 9 (rp.pr): The ramp is automatically associated with the corresponding preset speed :Not used 22

23 MENU 2: RAMPS 2., 2.2, 2.3, 2.4, 2.5, 2.6, 2.7, to 2.8 : Acceleration rates to 8 Adjustment range :. to 6. s/ rpm Factory setting : 3. s/ rpm Sets the time for acceleration from to rpm. 2. to 2.8 = N (rpm) t(s) x rpm (N2 - N) rpm N2 2.2, 2.22, 2.23, 2.24, 2.25, 2.26, 2.27, to 2.28 : Deceleration rates to 8 Adjustment range :. to 6. s/ rpm Factory setting : 5. s/ rpm Sets the time for deceleration from rpm to. 2.2 to 2.28 = t(s) x rpm (N2 - N) rpm N (rpm) N2 2. : Acceleration rate (main ramp in its factory setting) 2.2 : Acceleration rate : Acceleration rate : Acceleration rate : Acceleration rate : Acceleration rate : Acceleration rate : Acceleration rate :Jog acceleration rate Adjustment range :. to 6. s/ rpm.2 s/ rpm Sets the time for acceleration from to rpm. 2.9 = N t(s) x rpm (N2 - N) rpm N (rpm) N2 t Value of 2. to 2.8 t (s) 2.2 : Deceleration rate (main ramp in its factory setting) 2.22 : Deceleration rate : Deceleration rate : Deceleration rate : Deceleration rate : Deceleration rate : Deceleration rate : Deceleration rate :Jog deceleration rate Adjustment range :. to 6. s/ rpm.2 s/ rpm Sets the time for deceleration from Hz to = N t(s) x rpm (N2 - N) rpm N (rpm) N2 t Value of 2.2 to 2.28 t (s) N t Value of :Deceleration rate selector Adjustment range : to 9 Factory setting : This parameter is used to select the deceleration ramp as follows: (Sel): Selection of the deceleration ramp via digital input. The choice of ramp comes from the binary/decimal converter in menu 9 (9.32). (Dec): Deceleration ramp 2 (Dec2): Deceleration ramp 2 3 (Dec3): Deceleration ramp 3 4 (Dec4): Deceleration ramp 4 5 (Dec5): Deceleration ramp 5 6 (Dec6): Deceleration ramp 6 7 (Dec7): Deceleration ramp 7 8 (Dec8): Deceleration ramp 8 9 (rppr): The ramp is automatically associated with the corresponding preset speed. t (s) N 2.3 to , 2.3, 2.32, 2.33, 2.34, 2.35, 2.36, 2.37, 2.38, 2.39, 2.4, 2.4, 2.42, 2.43, 2.44, 2.45, 2.46, 2.47, 2.48, 2.49, 2.5 t Value of 2.29 : Not used :Ramp hold condition (ALL): When 2.3 =, the ramp is always held. (>Min): When 2.3 =, the ramp is freed between and V min (.7). t (s) 23

24 MENU 2: RAMPS Notes 24

25 MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION 3 - MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION 3. - List of parameters in Menu 3 Parameter Name Type Adjustment range Factory setting 3. Final speed reference RO/P ± 2 x.6 rpm Speed feedback RO/P ± 2 x.6 rpm Speed error RO/P ± 2 x.6 rpm Speed controller output RO/P ± 3.% Zero speed threshold R-W to 5 rpm 3 rpm 3.6 At speed lower limit R-W to 5 rpm 3 rpm 3.7 to Not used Speed controller proportional gain (Kp) R-W to Speed controller integral gain (Ki) R-W to Speed controller differential feedback gain (Kd) R-W to Speed controller proportional gain (Kp2) R-W to Speed controller integral gain (Ki2) R-W to Speed controller differential feedback gain (Kd2) R-W to Speed controller gain select R-W or 3.7 Speed controller set-up method R-W to Motor and load inertia R-W. to 32. Kkgm 2. Kkgm Not used 3.2 Bandwidth R-W. to 255. Hz. Hz 3.2 Damping factor R-W to Hard speed reference R-W to 2 x.6 rpm 3.23 Hard speed reference selector R-W or 3.24 Not used 3.25 Encoder phase angle R-W to to Not used Drive encoder position RO/P to to Not used Drive encoder lines per revolution R-W to 32 lpr 24 lpr 3.35 to Not used Drive encoder type R-W to 8 If.3 = to 2: If.3 = 3: to Not used Drive encoder filter R-W to ms 3.43 Maximum drive encoder reference R-W to Drive encoder reference scaling R-W to Drive encoder reference RO/P to % - RO/P ± % - User setting : Function not available in version V2.. 25

26 MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION Parameter Name Type Adjustment range Factory setting User setting 3.46 Drive encoder reference destination R-W/P. to to Not used Vmin alarm threshold R-W to 5 rpm 9 rpm 3.52 Vmax alarm threshold R-W to 5 rpm 9 rpm 3.53 to Not used Drive encoder source R-W/P. to Drive encoder frequency RO/P to 5 Hz Maximum drive output reference R-W to Drive output reference scaling R-W to Drive output reference RO/P to % Drive output destination R-W/P. to Reference select R-W or 3.68 to Not used Drive output reference source R-W/P. to Drive output period RO/P to 5 Hz - : Function not available in version V2.. 26

27 MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION Notes 27

28 MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION Menu 3 diagrams Basic version Motor Menu 2 Menu 5 Motor Motor control rpm 5.4 Minimum frequency clamp.7 Maximum frequency clamp.6 Zero speed threshold Minimum frequency clamp Vmin alarm threshold 3.5 Vmax alarm threshold 3.52 Maximum frequency clamp M Zero speed.3 Vmin alarm.5 Maximum speed.53 Menu Running at or below min speed.4 Vmax alarm.52 Reference At speed lower limit.3 Reference At speed lower limit Below set speed.5 Above set speed.7 At speed.6 28

29 MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION Basic version (continued) Drive encoder input Drive encoder source 3.6 Frequency conversion Drive encoder frequency 3.62 Maximum drive encoder reference % 3.43 Drive encoder reference 3.45 Drive encoder reference destination Drive encoder reference scaling Drive encoder output Drive output reference source 3.7 Drive Drive output output reference reference scaling % Maximum drive output reference 3.63 Drive output period Frequency conversion Drive output destination

30 MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION With encoder option Encoder feedback option Menu 2 Post-ramp reference Final speed reference Speed error P Speed controller output I Hard speed reference Encoder 3.22 Hard speed reference selector D Speed feedback Drive encoder type 3.38 Drive encoder lines per revolution 3.34 Encoder phase angle Drive encoder filter Maximum reference clamp.7 Maximum reference clamp.6 Speed controller gains Zero speed threshold Minimum reference clamp.7 + Vmin alarm threshold Vmax alarm threshold 3.52 Maximum reference clamp Vmin alarm.5 Maximum speed.53 Menu Running at or below min speed.4 Vmax alarm.52 Zero speed.3 Drive encoder position 3.29 Reference.3 - Reference.3 + At speed lower limit At speed lower limit Below set speed.5 Above set speed.7 At speed.6 3

31 MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION With encoder option (continued) Drive encoder input Drive encoder source 3.6 Speed feedback Input from 3.2 encoder Frequency conversion + % Maximum drive encoder reference Drive encoder frequency % % Reference select Drive encoder reference 3.45 Drive encoder reference destination Drive encoder reference scaling Drive encoder output Drive output reference source 3.7 Drive output reference scaling 3.64 Drive output reference Maximum drive output reference % 3.63 Drive output period Frequency conversion Drive output destination

32 MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION Explanation of parameters in menu 3 Parameters marked with the symbol can only be accessed when an encoder feedback option is present. 3. :Final speed reference ( ) Adjustment range : ± 2 x.6 rpm Represents the sum of the post ramp reference and the hard speed reference if this has been enabled. 3.2 :Speed feedback Adjustment range : ± 2 x.6 rpm Actual speed from the encoder. 3.3 :Speed error ( ) Adjustment range : ± 2 x.6 rpm Difference between the final speed reference and the speed feedback. 3.4 :Speed controller output ( ) Adjustment range : ± 3.% The speed controller output produces a torque reference to be used in determining the value of the active current :Zero speed threshold Adjustment range : to 5 rpm Factory setting : 3 rpm If the motor speed 2. is at or below the level defined by this parameter, the zero speed alarm.3 will be at, otherwise it will be at :At speed lower limit Adjustment range : to 5 rpm Factory setting : 3 rpm Defines the window within which the "At speed" alarm is activated..6 is at when the post-ramp reference equals the reference ± (3.6/2). 3.7, 3.8, to 3.9 : Not used :Speed controller differential feedback gain (Kd) ( ) Adjustment range : to 32 Adjusts the stability of the motor speed in the event of load shedding or sudden variations in the reference. Reduces overshoots. In general, leave the setting at. Function not available in version V :Speed controller proportional gain (Kp2) ( ) Adjustment range : to 32 Factory setting : 2 Adjusts the stability of the motor speed in the event of sudden variations in the reference. The drive takes account of Kp (3.) or Kp2 (3.3) depending on the value of :Speed controller integral gain (Ki2) ( ) Adjustment range : to 32 Factory setting : Adjusts the stability of the motor speed on load impact. The drive takes account of Ki (3.) or Ki2 (3.4) depending on the value of :Speed controller differential feedback gain (Kd2) ( ) Adjustment range : to 32 Adjusts the stability of the motor speed in the event of load shedding or sudden variations in the reference. The drive takes account of Kd (3.2) or Kd2 (3.5) depending on the value of 3.6. Function not available in version V :Speed controller gain select ( ) This parameter can be modified when the drive is disabled or enabled. (gai.): Selection of Kp (3.), Ki (3.) and Kd (3.2) gains. (gai.2): Selection of Kp2 (3.3), Ki2 (3.4) and Kd2 (3.5) gains :Speed controller proportional gain (Kp) ( ) Adjustment range : to 32 Factory setting : 2 Adjusts the stability of the motor speed in the event of sudden variations in the reference. Increase the proportional gain until vibration occurs in the motor, then reduce the value by 2 to 3%, checking that the motor remains stable in the event of sudden variations in speed, both at no load and on load :Speed controller integral gain (Ki) ( ) Adjustment range : to 32 Factory setting : Adjusts the stability of the motor speed on load impact. Increase the integral gain so that the same speed is obtained on load and at no load in the event of load impact. 32

33 MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION :Speed controller set-up method ( ) Adjustment range : to 2 (User): The speed controller operates with the gains entered by the user. (Auto): The speed controller operates with the gains calculated from the total inertia entered in 3.8, the bandwidth entered in 3.2 and the damping factor entered in (Pr.6): For applications with very high inertia for which a very high proportional gain is necessary, this mode causes the proportional gain set in 3. or 3.3 to be multiplied by 6. Function not available in version V :Motor and load inertia ( ) Adjustment range :. to 32. Kkgm 2. Kkgm 2 Corresponds to the total inertia applied to the motor (motor inertia + load inertia). This parameter is used to calculate the gains automatically (see 3.7), and to provide a torque correction during acceleration if necessary :Not used :Bandwidth ( ) Adjustment range :. to 255. Hz Factory setting :. Hz Used to set the bandwidth taken into account with speed controller operating mode (see 3.7) : Damping factor ( ) Adjustment range : to. Factory setting :. Used to set the damping factor taken into account with speed controller operating mode (see 3.7) :Hard speed reference ( ) Adjustment range : to 2 x.6 rpm This hard speed reference is an additional reference which is not affected by the ramps. Function not available in version V :Hard speed reference selector ( ) Used to add an unramped speed reference to the main reference. (Function not available in version V2.) :Not used :Encoder phase angle ( ) Adjustment range : to Indicates the result of the phasing test. It is stored when the drive is powered down and will only be modified automatically after a new phasing test. The phase angle, where it is known, can be entered manually. Any incorrect value can cause the motor to turn in the wrong direction or put the drive in the trip state. 3.26, 3.27, to 3.28 : Not used 3.29 :Drive encoder position ( ) Adjustment range : to 6383 Indicates the encoder position in relation to the line it was on at power-up. 3.3 to , 3.3, 3.32, 3.33 : Not used :Drive encoder lines per revolution Adjustment range : to 32 lpr Factory setting : 24 lpr Used to configure the number of lines per encoder revolution. Converts the encoder input into a speed. 3.35, 3.36, to 3.37 : Not used :Drive encoder type Adjustment range : to 8 if.3 = to 2 3 if.3 = 3 (Incr.) : Quadrature incremental encoder. (Fd): Incremental encoder with Frequency/Direction output. 2 (Fr): Incremental encoder with FWD/REV outputs. 3 (CoMM): Incremental encoder with commutation channels. 4 (hall): Hall effect sensor 5 (typ): Sensorless mode. 6 (typ2): Sensorless mode 2. 7 (typ3): Sensorless mode 3. 8 (typ4): Sensorless mode , 3.4, to 3.4 : Not used :Drive encoder filter ( ) Adjustment range : to ms This parameter is used to apply a sliding window filter to the drive encoder speed feedback. This is particularly useful to reduce the current demand when the load has high inertia and significant gain is required on the speed controller. If the filter is not enabled in these conditions, it is possible for the speed controller output to change constantly from one current limit to another, and disable the integral term of the speed controller. The filter is inactive if 3.42 = :Maximum drive encoder reference Adjustment range : to 32 Factory setting : 5 Adjusts the input frequency which should correspond to % of the destination numerical value. 33

34 MENU 3: FREQUENCY THRESHOLDS - SPEED CONTROL WITH ENCODER OPTION :Drive encoder reference scaling Adjustment range : to 2. Factory setting :. Used for scaling the numerical reference to be converted into pulses :Drive encoder reference Adjustment range : to % ( ); ± % ( ) Indicates the value of the numerical reference resulting from conversion of the pulse signal :Drive encoder reference destination Adjustment range :. to 2.5. Used to select the destination of the numerical reference resulting from conversion of the pulse signal. Only "non-bit" type parameters can be programmed. If an unsuitable parameter is selected, 3.46 will be frozen at to , 3.48, 3.49, : Not used :Vmin alarm threshold Adjustment range : to 5 rpm Factory setting : 9 rpm Triggers an alarm.5 when the motor speed (5.4) < Vmin (.7) in open loop mode or speed (3.2) in closed loop mode :Vmax alarm threshold Adjustment range : to 5 rpm Factory setting : 9 rpm Triggers an alarm (.52) when the motor speed (5.4) > Vmax (.6) in open loop mode or speed (3.2) in closed loop mode to , 3.54, 3.55, 3.56, 3.57, 3.58, 3.59, 3.6 : Not used :Drive encoder source Adjustment range :. to 2.5. Used to select the source of pulses. Only "bit" type parameters can be programmed. If an unsuitable parameter is selected, 3.6 will be frozen at. Note: Only use inputs ADI, ADI2, DIO, DI2 and DI3 as the drive encoder source. The maximum input frequency should be 5 khz. If the input frequency is more than 5 khz, use an encoder feedback option, and set 3.67 to (EnCd) :Drive encoder frequency Adjustment range : to 5 Hz Drive encoder frequency which will be converted to a numerical reference. Example of application: Pulses from an inductive sensor connected on a digital input are converted into a reference which is assigned to the speed reference :Maximum drive output reference Adjustment range : to 32 Factory setting : 5 Adjusts the pulse frequency which should correspond to % of the original numerical value. Function not available in version V :Drive output reference scaling Adjustment range : to 2. Factory setting :. Used for scaling the reference from the drive encoder. Function not available in version V :Drive output reference Adjustment range : to % Indicates the analog reference value. Function not available in version V :Drive output destination Adjustment range :. to 2.5. Used to select the destination for the numerical reference which will be used to generate pulses. Only "non-bit" parameters can be programmed. If an unsuitable parameter is selected, 3.66 will be frozen at. Function not available in version V :Reference select ( ) (Freq): An analog reference is generated from a frequency signal. (Encd): The encoder signal is used to generate an analog reference (eg: speed reference). 3.68, 3.69, to 3.7 : Not used :Drive output reference source Adjustment range :. to 2.5. Used to select the source of the numerical reference which will be converted into pulses. Function not available in version V :Drive output period Adjustment range :.5 to 32.s Drive output period resulting from conversion of the numerical reference. Example of application: A potentiometer connected to an analog input generates a period which is converted into pulses whose frequency is proportional to the reference. The pulses are assigned to the run command. Function not available in version V2.. 34