Emerson unidrive sp User Manual

Parameter
structure
Keypad and
display
Parameter x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance RFC mode
406 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 10
Table 7-6 Slave response
FC23 Read/Write multiple
Writes and reads two contiguous arrays of registers. The slave imposes
an upper limit on the number of registers which can be written. If this is
exceeded the slave will discard the request and the master will time out.
Table 7-7 Master request
Table 7-8 Slave response
7.2.7 Extended data types
Standard MODBUS registers are 16bit and the standard mapping maps
a single #X.Y parameter to a single MODBUS register. To support 32bit
data types (integer and float) the MODBUS multiple read and write
services are used to transfer a contiguous array of 16bit registers.
Slave devices typically contain a mixed set of 16bit and 32bit registers.
To permit the master to select the desired 16bit or 32bit access the top
two bits of the register address are used to indicate the selected data
type.
The selection is applied for the whole block access.
The 2bit type field selects the data type according to the table below:
If a 32bit data type is selected then the slave uses two consecutive 16bit
MODBUS registers (in 'big endian'). The master must also set the
correct 'number of 16bit registers'.
Example, read #20.21 through #20.24 as 32bit parameters using FC03
from node 8:
Table 7-9 Master request
Table 7-10 Slave response
Reads when actual parameter type is different from selected
The slave will send the least significant word of a 32 bit parameter if that
parameter is read as part of a 16 bit access.
The slave will sign extend the least significant word if a 16 bit parameter
is accessed as a 32 bit parameter. The number of 16 bit registers must
be even during a 32 bit access.
Example, If #1.28 is a 32 bit parameter with a value of 0x12345678,
#1.29 is a signed 16 bit parameter with a value of 0xABCD, and #1.30 is
a signed 16 bit parameter with a value of 0x0123.
Byte Description
0 Slave source node address
1 Function code 0x10
2 Start register address MSB
3 Start register address LSB
4 Number of 16bit registers written MSB
5 Number of 16bit registers written LSB
6 CRC LSB
7 CRC MSB
Byte Description
0
Slave node address 1 through 247,
0 is global
1 Function code 0x17
2 Start register address to read MSB
3 Start register address to read LSB
4 Number of 16bit registers to read MSB
5 Number of 16bit registers to read LSB
6 Start register address to write MSB
7 Start register address to write LSB
8 Number of 16bit registers to write MSB
9 Number of 16bit registers to write LSB
10 Length of register data to write (in bytes)
11 Register data 0 MSB
12 Register data 0 LSB
11+byte count CRC LSB
12+byte
count
CRC MSB
Byte Description
0 Slave source node address
1 Function code 0x17
2 Length of register data in read block (in bytes)
3 Register data 0 MSB
4 Register data 0 LSB
3+byte count CRC LSB
4+byte count CRC MSB
NOTE
Type field
bits 15-14
Selected data
type
Comments
00 INT16 backward compatible
01 INT32
10 Float32
IEEE754 standard
Not supported on all slaves
11 Reserved
Byte Value Description
0 0x08 Slave destination node address
1 0x03 FC03 multiple read
20x47
Start register address #20.21
(16384 + 2021 - 1) = 18404 = 0x47E4
30xE4
4 0x00 Number of 16bit registers to read
#20.21 through #20.24 is 4x32bit registers =
8x16bit registers
50x08
6 CRC LSB
7
CRC
MSB
Byte Value Description
0 0x08 Slave destination node address
1 0x03 FC03 multiple read
20x10
Length of data (bytes) = 4x32bit registers =
16bytes
3-6 #20.21 data
7-10 #20.22 data
11-14 #20.23 data
15-18 #20.24 data
19 CRC LSB
20 CRC MSB
bit 15
TYP1
bits 0 - 13
Type select Parameter address
X x 100+Y-1
bit 14
TYP0

Emerson unidrive sp Specifications

General

Type	AC Drive
Storage Temperature	-40°C to +70°C
Communication Options	CANopen, Ethernet, Profibus, DeviceNet
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1), Safe Operating Stop (SOS)
Overload	150% for 60 seconds
Enclosure	IP20
Output Voltage Range	0 - Input Voltage
Protection Features	Overcurrent, Overvoltage, Undervoltage, Short Circuit
Humidity	95% non-condensing
Cooling Method	Fan cooled
Dimensions	Varies depending on the power rating and enclosure type
Weight	Varies depending on the power rating and enclosure type
Input Voltage	200 VAC - 690 VAC ±10%

Summary

Parameter structure

1.1 Menu 0

Describes Menu 0, its fixed and programmable parameters, and its relation to other menus.

1.2 Advanced menus

Explains the purpose and accessibility of advanced menus for specific drive features.

Keypad and display

2.1 Understanding the display

Explains the SM-Keypad and SM-Keypad Plus displays, including their features and layout.

2.2 Keypad operation

Details the operation of the keypad controls, including the joypad, mode, and control buttons.

2.4 Parameter view mode

Explains navigation between parameters and menus, and displaying parameter values.

2.5 Edit mode

Details how to enter Edit Mode and modify parameter values using the keypad, including digit selection.

Parameter x.00

3.2 Saving parameters in drive EEPROM

Details the process of saving parameters to EEPROM using Pr x.00, emphasizing data loss risk and features.

3.3 Loading defaults

Explains how to load default drive parameters, including the implications for user-saved parameters.

3.4 SMARTCARD transfers

Describes transferring parameters, setup macros, and ladder programs to/from SMARTCARDs.

Parameter description format

4.1 Parameter ranges and variable maximums:

Defines parameter ranges and variable maximums, which can depend on other parameters, drive rating, or drive mode.

Advanced parameter descriptions

5.2 Feature look-up table

Presents a comprehensive table linking features to their corresponding parameter numbers for easy reference.

Menu 1: Frequency/speed reference

1.06 Maximum reference clamp

Defines the maximum speed (closed-loop mode) or frequency (open-loop mode) reference.

1.10 Bipolar reference enable

Enables or disables bipolar reference, affecting how the reference value is interpreted.

1.15 Preset selector

Defines how preset references are selected based on digital inputs and the value of Pr 1.50.

1.07 Minimum reference clamp

Sets the minimum speed or frequency reference, with effects of negative minimum clamp enable.

1.16 Preset reference selector timer

Defines the time between preset reference changes when Pr 1.15 is set to 9.

1.08 Negative minimum reference clamp enable

Enables or disables the negative minimum reference clamp, affecting the minimum speed reference.

1.17 Keypad control mode reference

Defines the frequency/speed reference when keypad control mode is active.

1.09 Reference offset select

Selects how the reference offset is applied, either by scaling or by adding the offset value.

1.18 Precision reference coarse

Defines the coarse part of the reference for precision control.

1.14 Reference selector

Defines how the reference is selected, allowing choices from analog inputs, preset speeds, or keypad references.

1.19 Precision reference fine

Defines the fine part of the reference for precision control, improving resolution.

Menu 2: Ramps

2.01 Post ramp reference

Defines the post-ramp reference, which is the output after the ramp block.

2.06 S ramp enable

Enables the S-Ramp function, used for smoother acceleration/deceleration curves.

2.02 Ramp enable

Enables or disables the ramp function, controlling acceleration and deceleration ramps.

2.07 S ramp acceleration limit

Defines the maximum rate of change of acceleration/deceleration for the S-Ramp function.

2.03 Ramp hold

Holds the ramp output constant, disabling ramp function when a drive stop is demanded.

2.08 Standard ramp voltage

Sets the voltage level for standard ramp mode, affecting motor deceleration.

2.20 Deceleration rate selector

2.04 Ramp mode select

Selects the ramp mode, including fast ramp, standard ramp, and standard ramp with voltage boost.

2.09 Deceleration failure detection

2.10 Acceleration rate selector

Menu 3: Slave frequency, speed feedback, speed control and regen operation

Parameter descriptions: Closed-loop vector and Servo

3.08 Overspeed threshold

3.09 Absolute “at speed” detect

3.10 Speed controller proportional gain (Kp1)

Sets the proportional gain for the speed controller, affecting its response to errors.

3.11 Speed controller integral gain (Ki1)

Sets the integral gain for the speed controller, affecting its ability to eliminate steady-state errors.

3.12 Speed controller differential feedback gain (Kd1)

3.13 Speed controller gain select

3.17 Speed controller set-up method

Selects the method for setting up speed controller gains, including auto-tune options.

3.18 Motor and load inertia

Defines the motor and load inertia, used for calculating speed controller gains and torque feed-forwards.

3.19 Compliance angle

3.20 Bandwidth

3.21 Damping factor

3.22 Hard speed reference

3.23 Hard speed reference selector

3.24 Closed-loop vector mode

3.25 Encoder phase angle

3.26 Speed feedback selector

3.33 Drive encoder turns bits / Linear encoder comms to sine wave ratio

3.34 Drive encoder lines per revolution

3.35 Drive encoder termination select / Rotary encoder select / Comms only encoder mode

3.38 Drive encoder type

3.39 Drive encoder termination select / Rotary encoder select / Comms only encoder mode

3.40 Drive encoder error detection level

3.41 Drive encoder auto configuration enable / SSI binary format select

Enables automatic encoder configuration and selects SSI binary format.

3.42 Drive encoder filter

Menu 4: Torque and current control

Maximum heavy duty current rating

Maximum rated current

5.6.1 Open-loop

Describes operation in stator flux reference frame under steady state conditions, including current limits.

5.6.2 Closed-loop vector

Explains operation in the rotor flux reference frame, controlled by current limits.

5.6.3 Servo

Details operation in the rotor flux reference frame for servo motors, controlled by current limits.

5.6.4 Regen

Describes operation in a reference frame aligned to drive terminal voltage for regen mode.

5.6.5 Parameter descriptions: Open-loop

Provides detailed descriptions of parameters relevant to the open-loop torque and current control.

5.6.5 Parameter descriptions: Closed-loop vector

Details parameters relevant to closed-loop vector torque and current control.

Menu 5: Motor control

Open loop

Explains the open-loop motor control logic, including reference selection and ramp functions.

Closed-loop vector and Servo

Describes the logic diagram for closed-loop vector and servo motor control, including flux calculator and current control.

Regen

Explains the logic diagram for Regen mode, covering supply synchronization, current control, and output parameters.

5.06 Rated frequency

5.07 Motor rated current

5.08 Rated load rpm / Rated speed

5.09 Rated voltage

5.10 Rated power factor

5.11 Number of motor poles

5.12 Autotune

Initiates auto-tune tests to measure motor parameters and set controller gains.

5.13 Dynamic V to F / flux optimise select

5.14 Voltage mode select

5.15 Low frequency voltage boost

5.16 Rated rpm auto-tune

5.17 Stator resistance

5.18 Maximum switching frequency

5.19 High stability space vector modulation

5.20 Quasi-square enable

5.21 Field gain reduction

Macros

6.1 Introduction

6.2 Macro 1 - Easy Mode

Describes the Easy Mode macro for simplest drive operation, identical to default except for fewer parameters in Menu 0.

6.3 Macro 2 - Motorized potentiometer

6.4 Macro 3 - Preset speeds

6.5 Macro 4 - Torque control

6.6 Macro 5 - PID control

6.7 Macro 6 - Axis limit control

6.8 Macro 7 - Brake control

6.9 Macro 8 - Digital lock / shaft orientation

Serial communications protocol

7.1 ANSI communications protocol

7.2 CT Modbus RTU specification

Details the adaptation of the Modbus RTU protocol for Control Techniques products, including frame format and register mapping.

Rotor Flux Control (RFC) mode

10.2 Setting up the RFC mode

Provides step-by-step instructions on setting up the drive to run in RFC mode, including recommended switching frequency.