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Emerson unidrive sp User Manual
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Menu 3
Closed-loop
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
descript
ion form
at
Advanced
pa
rameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
RFC mode
56
Unidrive SP Advanced User Guide
www.controltechniques.com
Issue Number: 10
Parameter descriptions:
Closed-loop vector and Servo
Figure 5-4
Menu 3 Closed
-loop logic diagram
15 way sub-
D
connector
Encoder
1
2
3
4
5
6
A
A
B
B
Z
Z
U
U
V
V
W
W
7
8
9
10
11
12
3.38
Drive enco
der
type
3.34
Drive enco
der lines
per revoluti
on
3.39
Drive enco
der
termination di
sable
3.36
Drive enco
der
supply
voltage*
*
3.25
Encoder
phase
angle*
ENCODER INTERFACE
DRIVE ENCODER POSITION
3.28
Drive enco
der
revolution
counter
3.29
Drive enco
der
position
3.30
Drive enco
der
fine position
15.03
Speed feedbac
k
from opt
ion
module
in slot 1
16.03
17.03
Speed feedbac
k
from opt
ion
module
in slot 2
Speed feedbac
k
from opt
ion
module
in slot 3
Feedback from the
option modules set-up
in Menus 15, 16 and 17
3.27
Drive enco
der
speed feedbac
k
3.26
Speed
feedbac
k
selector
2.01
Post-ra
mp
reference
+
+
3.23
1.1
1
Hard speed
referenc
e
selector
Reference
enabled
indicato
r
3.01
Final speed
reference
3.22
Hard spee
d
reference
3.45
3.44
Any unprotec
ted
variable pa
rameter
??.??
??.??
3.46
Drive
encoder
reference
Drive enco
der
reference scal
ing
Drive enco
der
reference
destination
3.43
Maximum dri
ve
encoder
reference (rpm)
3.50
Position feedbac
k
lock
3.42
Drive enco
der
filter
3.42
Drive
encoder
filter
RFC sensorless
speed feedbac
k
calculato
r
3.24
Closed-l
oop
vector mod
e
55
57
Table of Contents
Default Chapter
2
Drive Software Version
2
Environmental Statement
2
General Information
2
REACH Legislation
2
Table of Contents
3
1 Parameter Structure
6
Menu 0
6
Parameter Navigation
6
Menu Structure
6
Menu 0 Parameters
7
Advanced Menus
9
Solutions Modules
9
2 Keypad and Display
10
Understanding the Display
10
Keypad Operation
10
SM-Keypad / SP0-Keypad
10
SM-Keypad Plus
10
Control Buttons
10
Issue
10
Status Mode
11
Parameter View Mode
11
Edit Mode
11
Display Modes
11
SM-Keypad Plus
12
Menu 40 Parameter Descriptions
12
Menu 41 Parameter Descriptions
12
Parameter Access Level and Security
13
Access Level
13
Changing the Access Level
13
User Security
13
Alarm and Trip Display
14
Keypad Control Mode
14
Drive Reset
14
Second Motor Parameters
14
Special Display Functions
15
Parameter X.00 Reset
16
Saving Parameters in Drive EEPROM
16
Loading Defaults
17
SMARTCARD Transfers
17
Electronic Nameplate Transfers
17
Display Non-Default Values or Destination Parameters
17
4 Parameter Description Format
18
Number of Motor Poles
18
Definition of Parameter Ranges & Variable Maximums
19
Parameter Ranges and Variable Maximums
19
Maximum Motor Rated Current (Sizes 0 to 6)
22
Sources and Destinations
23
Default
23
Second Motor Parameter
23
Update Rate
23
Update Rates
24
Hard Speed Reference Update Rate
24
Sources and Destinations
24
Torque Reference Update Rate
25
5 Advanced Parameter Descriptions
26
Overview
26
Menu Descriptions
26
Key to Parameter Coding
26
Feature Look-Up Table
27
Menu 1: Frequency/Speed Reference
30
Menu 1 Logic Diagram
30
Frequency/Speed Reference Selected
32
Pre-Skip Filter Reference
32
Pre-Ramp Reference
32
Reference Offset
32
Maximum Reference Clamp
33
Minimum Reference Clamp
33
Negative Minimum Reference Clamp Enable
33
Analog Input Scaling
34
Reference Limits
34
Reference Offset Select
34
Bipolar Reference Enable
35
Jog Selected Indicator
35
Reference Selector
35
Keypad Reference
36
Preset Selector
36
Preset Reference Selector Timer
36
Keypad Control Mode Reference
37
Precision Reference Coarse
37
Precision Reference Fine
37
Precision Reference Update Disable
38
Reference in Rejection Zone
39
Percentage Trim
39
Velocity Feed Forward
40
Velocity Feed Forward Select
40
Reference Timer Reset Flag
40
Reference Selected Indicator
41
Preset Reference Selected Indicator
41
Power-Up Keypad Control Mode Reference
41
Menu 2: Ramps
42
Post Ramp Reference
44
Ramp Enable
44
Ramp Hold
44
Ramp Mode Select
44
S Ramp Enable
45
S Ramp Acceleration Limit
45
Standard Ramp Voltage
46
Deceleration Failure Detection
47
Acceleration Rate Selector
47
Jog Acceleration Rate
48
Deceleration Rate Selector
48
Jog Deceleration Rate
49
Inertia Compensation Torque
50
Menu 3: Slave Frequency, Speed Feedback, Speed Control and Regen Operation
51
Accuracy
51
Frequency/Speed Accuracy and Resolution
51
Menu 3 Open-Loop Logic Diagram
52
Parameter Descriptions: Open-Loop
52
At Speed Lower Limit
53
At Speed Upper Limit
53
Frequency Slaving Demand
53
Zero Speed Threshold
53
Absolute “At Speed” Select
54
Enable Frequency Slaving
54
Enable Frequency Slaving Output
54
Slaving Ratio Denominator
54
F and D Frequency Slaving Output
55
Menu 3 Closed-Loop Logic Diagram
56
Parameter Descriptions: Closed-Loop Vector and Servo
56
Final Speed Reference
58
Speed Feedback
58
Speed Controller Output
59
Speed Error
59
Absolute “At Speed” Detect
60
Overspeed Threshold
60
Speed Controller Integral Gain (Ki2)
60
Speed Controller Proportional Gain (Kp2)
60
Integral Gain (Ki)
61
Proportional Gain (Kp)
61
Speed Controller Differential Feedback Gain (Kd2)
61
Speed Controller Gain Select
61
Speed Controller Set-Up Method
62
Bandwidth
63
Compliance Angle
63
Motor and Load Inertia
63
Closed-Loop Vector Mode
64
Damping Factor
64
Hard Speed Reference
64
Hard Speed Reference Selector
64
Encoder Phase Angle
65
Speed Feedback Selector
66
Drive Encoder Position
67
Drive Encoder Revolution Counter
67
Drive Encoder Speed Feedback
67
Parameters Common to Open-Loop and Closed-Loop Modes
67
Drive Encoder Marker Flag
68
Drive Encoder Turns Bits / Linear Encoder Comms to Sine Wave Ratio
68
Drive Encoder Lines Per Revolution
69
Drive Encoder Comms Baud Rate
70
Drive Encoder Single Turn Comms Bits / Linear Encoder Comms Bits/Marker Mode
70
Drive Encoder Supply Voltage
70
Drive Encoder Type
72
Drive Encoder Termination Select / Rotary Encoder Select / Comms Only Encoder Mode
73
Drive Encoder Error Detection Level
74
Encoder Initialisation
75
Encoder Power Supply Trips
75
Drive Encoder Auto Configuration Enable / SSI Binary Format Select
76
Drive Encoder Filter
76
Linear Endat Encoders
76
Rotary Endat Encoders
76
Drive Encoder Reference
77
Drive Encoder Reference Destination
77
Drive Encoder Reference Scaling
77
Maximum Drive Encoder Reference
77
Communication with Hiperface and Endat Encoders
78
Full Motor Object Electronic Nameplate Transfer
78
Position Feedback Lock
78
Example of a Hiperface Transfer: Read Position
79
Sc.hiper Type Encoders
79
Example of Hiperface Transfer: Delete Data Field
80
Sc.endat
80
Menu 3 Regen Logic Diagram
82
Parameter Descriptions: Regen
82
Reactive Power
83
Input Inductance
84
Regen Restart Mode
84
Regen Status
84
Setting the Current Controller Gains
85
Setting the Voltage Controller Gain
85
Voltage Controller Kp Gain
85
Voltage Set-Point
85
Close Contactor
86
Contactor Closed
87
Current Trimming Mode
87
Enable Motor Drive
87
Power Feed-Forward Compensation
87
Menu 4: Torque and Current Control
88
Current Ratings
88
Maximum Heavy Duty Current Rating
89
Maximum Rated Current
89
Open-Loop
89
Closed-Loop Vector
90
Servo
91
Regen
92
Menu 4 Open-Loop Logic Diagram
93
Parameter Descriptions
93
Menu 4 Closed-Loop Logic Diagram
94
Parameter Descriptions: Closed-Loop Vector
94
Menu 4 Servo Logic Diagram
95
Parameter Descriptions: Servo
95
Menu 4 Regen Logic Diagram
96
Active Current
97
Current Magnitude
97
Current Demand
98
Motoring Current Limit
98
Regen Current Limit
98
Torque Demand
98
Symmetrical Current Limit
99
Torque Reference
99
Reactive Current Reference
100
Torque Mode Selector
100
Torque Offset
100
Torque Offset Select
100
Closed Loop Vector and Servo
101
Coiler/Uncoiler Mode
101
Torque Control with Speed Override
101
Current Controller Kp Gain
102
Current Demand Filter 1
102
Speed Control with Torque Feed-Forward
102
Current Controller Ki Gain
103
Thermal Protection Mode
105
Thermal Time Constant
105
Overload Accumulator
107
Overriding Current Limit
107
Percentage Load
107
Reactive Current
107
Current Demand Filter 2
108
Inertia Compensation Enable
108
Low Speed Thermal Protection Mode
108
User Current Maximum Scaling
108
Menu 5: Motor Control
109
Menu 5 Open-Loop Logic Diagram
109
Closed-Loop Vector and Servo
110
Menu 5 Closed-Loop Logic Diagram
110
Menu 5 Regen Logic Diagram
112
Output Frequency
113
Output Voltage
113
Output Power
113
Motor Rpm
113
DC Bus Voltage
114
Rated Frequency
114
Motor Rated Current (Regen Mode: Regen Unit Rated Current)
114
Rated Load Rpm / Rated Speed
115
Rated Voltage
115
Rated Power Factor
117
Autotune
117
Stationary Test
119
Rotating Test
119
Inertia Measurement
119
Current Controller Gain Calculation Only
119
Normal Low Speed Test
120
Stationary Test to Set up Current Controller Gains Only
120
Minimal Movement Phasing Test
120
Dynamic V to F / Flux Optimise Select
122
Voltage Mode Select
122
Action on Enable
123
Low Frequency Voltage Boost
123
Rated Rpm Auto-Tune
123
Stator Resistance
124
Maximum Switching Frequency
124
High Stability Space Vector Modulation
126
Quasi-Square Enable
126
Field Gain Reduction
126
Enable High Speed Servo Mode
127
Voltage Offset
127
Transient Inductance
128
Stator Inductance
128
High Dynamic Performance Enable
128
Enable Slip Compensation
129
Field Weakening Compensation Disable
129
Motor Saturation Breakpoint 1
129
Motor Saturation Breakpoint 2
129
Voltage Controller Gain
130
Motor Torque Per Amp (Kt)
130
Motor Volts Per 1000Rpm (Ke)
131
Disable Auto-Switching Frequency Change
131
Motor Pole Pitch
131
Actual Switching Frequency
132
Minimal Movement Phasing Test Angle
132
Minimal Movement Phasing Test Pulse Length
132
Spin Start Boost
133
Menu 6: Sequencer and Clock
134
Menu 6 Logic Diagram
134
Stop Mode
135
Mains Loss Mode
135
Start/Stop Logic Select
136
Injection Braking Level
137
Injection Braking Time
137
Hold Zero Speed
137
Catch a Spinning Motor
138
Enable Stop Key
138
Enable Forward/Reverse Key
139
Drive Enable
139
Electricity Cost Per Kwh
139
Reset Energy Meter
139
Time between Filter Changes
140
Filter Change Required / Change Done
140
Powered-Up Time: Years.days
140
Powered-Up Time: Hours.minutes
140
Run Time: Hours.minutes
141
Energy Meter: Mwh
141
Energy Meter: Kwh
141
Running Cost
141
Select Clock for Trip Log Time Stamping
142
Hardware Enable
142
Sequencing Bit: Run Forward
142
Sequencing Bit: Jog
142
Sequencing Bit: Run Reverse
143
Sequencing Bit: Forward/Reverse
143
Sequencing Bit: Run
143
Forward Limit Switch
143
Reverse Limit Switch
144
Sequencing Bit: Jog Reverse
144
Sequencing Bit: Not Stop
144
Enable Sequencer Latching
144
Drive Event Flags
145
Control Word
145
Control Word Enable
145
Active Supply
146
Analog/Preset Reference
146
Trip Drive
146
Keypad Watchdog
146
Force Cooling Fan to Run at Full Speed
147
Nominal Low Voltage Battery Supply
147
Disable Mains/Phase Loss Detection from Input Rectifier
147
Mains Loss Ride through Detection Level
148
Disable Multi-Module Drive Module Number Storing on Trip
148
Drive Comms State
148
External Rectifier Not Active
149
Menu 7: Analog I/O
150
Menu 7 Logic Diagram
151
T5/6 Analog Input 1 Level
152
T8 Analog Input 3 Level
152
Power Circuit Temperature 1
152
Control Board Temperature
152
Power Stage Temperature 1 (Pr 7.04) in C
153
Power Stack Temperature
153
Drive Cooling Fan
153
T5/6 Analog Input 1 Offset Trim
154
T5/6 Analog Input 1 Scaling
154
T5/6 Analog Input 1 Invert
154
T5/6 Analog Input 1 Destination
154
T7 Analog Input 2 Mode
155
T7 Analog Input 2 Scaling
155
T7 Analog Input 2 Invert
155
T7 Analog Input 2 Destination
155
T8 Analog Input 3 Mode
156
T8 Analog Input 3 Scaling
156
T8 Analog Input 3 Invert
156
T8 Analog Input 3 Destination
156
T9 Analog Output 1 Source
157
T9 Analog Output 1 Scaling
157
T9 Analog Output 1 Mode
157
T10 Analog Output 2 Source
158
T10 Analog Output 2 Scaling
158
T10 Analog Output 2 Mode
158
Calibrate T5/6 Analog Input 1 Full Scale
159
T5/6 Analog Input 1 Sample Time
159
T8 Analog Input 3 Current Loop Loss
159
T5/6 Analog Input 1 Offset
159
T8 Analog Input 3 Offset
160
T9 Analog Output 1 Control
160
IGBT Junction Temperature
160
Drive Thermal Protection Accumulator
160
Power Circuit Temperature 3
161
Menu 8: Digital I/O
162
Menu 8 Logic Diagram
164
Open-Loop, Closed-Loop Vector and Servo
166
Drive Enable Indicator
166
Drive Enable Mode Select
167
T22 24V Output Source Invert
167
Digital I/O Read Word
167
T29 Digital Input 6 Destination
168
T22 24V Output Source
168
Positive Logic Select
168
Open Collector Output
168
T26 Digital I/O 3 Output Select
169
T28 & T29 Digital Input Auto-Selection Disable
169
Menu 9: Programmable Logic, Motorized Pot and Binary Sum
170
Menu 9 Logic Diagram: Motorized Pot and Binary Sum
171
Logic Function 2 Output
172
Motorized Pot Output
172
Logic Function 2 Source 1
172
Logic Function 2 Source 1 Invert
172
Logic Function 2 Source 2 Invert
173
Logic Function 2 Output Invert
173
Logic Function 2 Delay
173
Logic Function 2 Destination
174
Motorized Pot Mode
174
Motorized Pot Bipolar Select
174
Motorized Pot Rate
174
Motorized Pot Scale Factor
175
Motorized Pot Destination
175
Motorized Pot up
175
Motorized Pot down
175
Binary Sum Ones Input
176
Binary Sum Twos Input
176
Binary Sum Fours Input
176
Binary Sum Output
176
Binary Sum Offset
177
Menu 10: Status and Trips
178
Drive Ok
178
Drive Active
178
Zero Speed
178
Above Set Speed
179
Load Reached
179
Drive Output Is at Current Limit
179
Regenerating
179
Direction Commanded
180
Direction Running
180
Mains Loss
180
Under Voltage Active
180
Drive Warning
181
Trip Indications
181
Serial Communications Look-Up Table
195
Power Module Trips
196
Braking IGBT Control
196
UU Trip
196
Hardware Fault Trips
197
Full Power Braking Time
197
Full Power Braking Period
198
External Trip
200
No. of Auto-Reset Attempts
200
Auto-Reset Delay
200
Hold Drive Ok until Last Attempt
200
Action on Trip Detection
201
User Trip
201
Braking Energy Overload Accumulator
202
Status Word
202
Trip 0 Time: Years.days
202
Module Number for Trip 0, or Trip 0 Time: Hours.minutes
202
Module Number for Trip 9, or Trip 9 Time
203
Menu 11: General Drive Set-Up
204
Parameter 0.30 Scaling
205
Parameter Displayed at Power-Up
205
Serial Address
205
Serial Mode
205
Baud Rate
206
Minimum Comms Transmit Delay
207
Drive Derivative
207
Software Version
207
User Security Code
208
User Drive Mode
208
Drive Voltage Rating
208
Software Sub-Version
209
Number of Modules
209
SMARTCARD Parameter Data Previously Loaded
209
SMARTCARD Data Number
209
Onboard Application Lite User Program Data Blocks
211
Parameter Transfer Failure
211
Changing the Drive Mode
211
Different Voltage Ratings
211
Effects of Variable Maximums if Ratings or Options Are Different
212
Unexpected Rating Changes
212
Product Identifier
212
SMARTCARD Data Type/Mode
212
SMARTCARD Data Version
213
SMARTCARD Data Checksum
213
Status Mode Time-Out
213
Parameter Copying
214
Reading
214
Programming
214
Boot
214
Load Defaults
215
Security Status
215
Motor 2 Parameters Select
215
Defaults Previously Loaded
215
Drive Onboard Application Lite Ladder Program Enable
216
Drive Onboard PLC Program Status
216
Drive Onboard Application Lite Ladder Programming Events
216
Drive Onboard Application Lite Ladder Program Average Scan Time
217
Drive Onboard Application Lite Ladder Program First Run
217
Menu 12: Threshold Detectors, Variable Selectors and Brake Control Function
218
Menu 12 Logic Diagram
218
Threshold Detector 2 Output
219
Threshold Detector 2 Source
219
Threshold Detector 1/2 Destination
220
Threshold Detector 1/2 Hysteresis
220
Threshold Detector 1/2 Level
220
Threshold Detector 1/2 Output Invert
220
Variable Selector 1/2 Destination
221
Variable Selector 1/2 Mode
221
Variable Selector 1/2 Source 1
221
Variable Selector 1/2 Source 2
221
Variable Selector 1/2 Control
222
Variable Selector 1/2 Source 1 Scaling
222
Variable Selector 1/2 Source 2 Scaling
222
Sectional Control
223
Brake Control Function
224
Brake Release
224
External Rectifier (SPMC/U) Monitor
224
Brake Controller Enable
225
Open-Loop Brake Function
226
Open-Loop Brake Sequence
226
Brake Apply Frequency
227
Brake Release Frequency
227
Lower Current Threshold
227
Upper Current Threshold
227
Post-Brake Release Delay
228
Pre-Brake Release Delay
228
Closed-Loop Vector and Servo Brake Function
229
Closed-Loop Vector and Servo Brake Sequence
229
Brake Apply Speed
230
Brake Apply Speed Delay
230
Brake-Apply Delay
230
Low Current Threshold
230
Enable Position Controller During Brake Release
231
Menu 13: Position Control
232
Menu 13 Open-Loop Logic Diagram
234
Menu 13 Closed-Loop Logic Diagram
236
Revolutions Error
238
Position Error
238
Fine Position Error
238
Position Controller Reference Source
238
Position Reference Invert
239
Ratio Numerator
239
Ratio Denominator
239
Position Controller P Gain
239
Rigid Position Control
240
Non-Rigid Position Control
240
Orientation
240
Absolute Mode Enable
241
Position Controller Speed Clamp
241
Orientation Position Reference
241
Orientation Acceptance Window
242
Orientation Position Complete
242
Position Error Reset
242
Relative Jog Reference
242
Relative Jog Reverse
243
Local Reference Turns
243
Local Reference Position
243
Local Reference Fine Position
243
Ignore Local Reference Turns
244
Menu 14: User PID Controller
246
PID Output
248
PID Feedback Source
248
PID Feedback Source Invert
248
PID Reference Slew Rate Limit
248
PID Enable
249
PID Optional Enable Source
249
PID P Gain
249
PID I Gain
249
PID Upper Limit
250
PID Lower Limit
250
PID Scaling
250
PID Destination
250
PID Symmetrical Limit Enable
251
PID Main Reference
251
PID Reference
251
PID Feedback
251
Menus 15, 16 and 17: Solutions Module Slots
252
SM-Universal Encoder Plus
253
Solutions Module Error Status Values for SM-Universal Encoder Plus
253
Wire-Break Detection
254
SM-Universal Encoder Plus Logic Diagram
256
Reference / Feedback Encoder Input
256
Simulated Encoder
257
Freeze Input
257
Solutions Module ID Code
258
Solutions Module Software Version
258
Speed
258
Revolution Counter
258
Marker Position Reset Disable
259
Marker Flag
259
Encoder Turns/ Linear Encoder Comms to Sine Wave Ratio
259
Equivalent Lines Per Revolution
260
Single Turns Comms Bits/ Linear Encoder Comms Bits
260
Motor Thermistor Check Enable
261
Encoder Supply Voltage
261
Encoder Comms Baud Rate
261
Encoder Type
262
Encoder Termination/Rotary Encoder Select/Comms Only Encoder Mode
263
Encoder Termination Select
263
Error Detection Level
264
Auto Configuration Enable / SSI Binary Format Select
264
Feedback Filter
265
Maximum Feedback Reference
265
Feedback Reference/ Motor Thermistor Resistance
265
Feedback Reference Scaling
266
Feedback Reference Destination
266
Encoder Simulation Source
266
Encoder Simulation Ratio Numerator
266
Encoder Simulation Ratio Denominator
267
Encoder Simulation Resolution Select
267
Encoder Simulation Mode
267
Non-Marker Reset Revolution Counter
267
Non-Marker Reset Fine Position
268
Marker Revolution Counter
268
Marker Position
268
Marker Fine Position
268
Freeze Flag
269
Pass Freeze to Drive and Other Slots
269
Freeze Invert
269
Encoder Comms Transmit Register/Sin Signal Value/Commutation Signal Level
269
Encoder Comms Receive Register/Cos Signal Value
270
Disable Encoder Position Check
270
Position Feedback Initialised
270
Line Per Revolution Divider
270
SSI Output Turns
271
SSI Output Comms Resolution
271
Lock Position Feedback
271
Solutions Module Software Sub-Version
271
SM-Resolver
272
Solutions Module Error Status Values for the SM-Resolver
272
SM-Resolver Logic Diagram
272
Position
274
Position/Speed Feedback Update Rate
274
Resolver Excitation
276
Resolver Poles
276
SM-Encoder Plus / SM-Encoder Output Plus
280
SM-Encoder Output Plus Encoder Logic Diagram
282
SM-IO Plus
289
SM I/O Plus Digital Input/Output Logic Diagram 1
289
SM I/O Plus Digital Input/Output Logic Diagram 2
290
SM-I/O Plus Analog Input / Output Logic Diagram
292
T3 Digital I/O 2 State
293
Relay 2 Invert
293
Parameter Update Times
293
Relay 2 Source
294
T4 Digital I/O 3 Output Select
294
Solutions Module Error Status
296
SM-IO Lite & SM-IO Timer
297
Solutions Module Error Status Values for SM-IO Lite & SM-IO Timer
297
SM-I/O Lite & SM-I/O Timer Digital I/O Logic Diagram
297
SM-I/O Lite & SM-I/O Timer Analog I/O Logic Diagram
298
SM-I/O Timer Real Time Clock Logic Diagram
298
Current Loop Loss Indicator
299
Relay State (Terminals T21 and T23)
299
Terminal T7 Digital Input 3 State
299
Terminal T7 Digital Input 3 Invert
300
Relay Invert
300
Real Time Clock Daylight Saving Mode
300
Terminal T21 / T23 Relay/ Source
301
Real Time Clock Update Mode
301
Real Time Clock Minutes/Seconds
301
Real Time Clock Days/Hours
301
Analog Input 1 Mode (Terminal T2)
302
Analog Output 1 Mode (Terminal T3)
302
Analog Input 1 Level (Terminal T2)
302
Analog Input 1 Scaling (Terminal T2)
302
Analog Input 1 Invert (Terminal T2)
303
Analog Input 1 Destination (Terminal T2)
303
Analog Output 1 Source (Terminal T3)
303
Sm-Io Pelv
304
Solutions Module Error Status Values for SM-IO PELV
304
SM-I/O PELV Digital I/O Logic Diagram
304
SM-I/O PELV Digital Input Logic Diagram
305
SM-I/O PELV Relay Logic Diagram
305
SM-I/O PELV Analog Input Logic Diagram (Current Mode)
305
SM-I/O PELV Analog Input Logic Diagram (Voltage Mode)
306
SM-I/O PELV Analog Output Logic Diagram
306
T7 Digital Input 5 State/Freeze Input
307
PELV User Power Supply State
307
T4 Digital I/O 2 State
307
T7 Digital Input 5 Invert
308
Disable PELV User Power Supply Trip
308
Relay 1/2 Invert
308
T7 Digital Input 5 Destination
309
Sm-Io 120V
312
Solutions Module Error Status Values for SM-IO 120V
312
Digital Input Logic Diagram
312
Relay Logic Diagram
313
Sm-I/O 120V
313
SM-IO 24V Protected
316
Solutions Module Error Status Values for SM-IO 24V Protected
316
SM-I/O 24V Protected Digital I/O Logic Diagram
316
SM-I/O 24V Protected Digital Input Logic Diagram
317
SM I/O 24V Protected Relay Logic Diagram
318
SM-I/O 24V Protected Analog Output Logic Diagram
318
Sm-Io 32
323
Solutions Module Error Status Values for SM-IO 32
323
SM-I/O 32 Logic Diagram
323
Fast Update Method Write Register
326
SM-Applications Modules
327
Solutions Module Error Status Value for Application Modules
327
SM-Ezmotion
336
Solutions Module Error Status Values for the SM-Ezmotion Module
336
Ezinput.3.Status
340
Ezinput.4.Status
340
System Status
340
Sm-Slm
342
Solutions Module Error Status Values
342
SM-SLM Logic Diagram
344
Operating Mode
347
Marker Pulse, Received Indicator
347
SLM Converted Flux Offset
347
Encoder Lines Per Revolution
347
Sequencer Status
348
Autotune Mode
348
Saving Mode
349
Parameters Transferred
350
Action the Tuning and Saving Parameters
350
Automatic Basic Drive Set-Up Request
350
Axis Initialised
350
Fieldbus Module Category Parameters
352
Solutions Module Error Status Values for Fieldbus Modules
352
Menu 18: Application Menu 1
354
Application Menu 1 Power-Down Saved Integer
354
Application Menu 1 Read-Only Integer
354
Application Menu 1 Read-Write Integer
354
Menu 19: Application Menu 2
355
Application Menu 2 Power-Down Saved Integer
355
Application Menu 2 Read-Only Integer
355
Application Menu 2 Read-Write Integer
355
Menu 20: Application Menu 3
356
Application Menu 3 Read-Write Integer
356
Application Menu 3 Read-Write Long Integer
356
Menu 21: Second Motor Parameters
357
Acceleration Rate
358
Deceleration Rate
359
Rated Current
359
Rated Load Rpm
359
Menu 22: Additional Menu 0 Set-Up
366
32 Bit Parameters
367
Drive Parameters
367
Solutions Module Parameters
367
Introduction
368
Fundamental Differences between Unidrive SP and Unidrive Classic
370
Macro 1 - Easy Mode
371
Macro 1 Specific Parameters
371
Macro 1 Easy Mode Logic Diagram
372
Macro 2 - Motorized Potentiometer
374
Macro 2 Menu 0 Programmable Parameters
374
Parameter Set-Up to Reproduce Macro 2 on a Unidrive SP
375
Macro 2 Motorized Potentiometer Logic Diagram
376
Macro 3 - Preset Speeds
378
Macro 3 Menu 0 Programmable Parameters
378
Macro 3 Preset Speeds Logic Diagram
380
Macro 4 - Torque Control
382
Parameter Set-Up to Reproduce Macro 4 on a Unidrive SP
383
Macro 4 Torque Control Logic Diagram
384
Macro 5 - PID Control
386
Parameter Set-Up to Reproduce Macro 5 on a Unidrive SP
387
Macro 5 PID Control Logic Diagram
388
Macro 6 - Axis Limit Control
390
Macro 6 Menu 0 Programmable Parameters
390
Parameter Set-Up to Reproduce Macro 6 on a Unidrive SP
391
Macro 6 Axis Limit Control Logic Diagram
392
Macro 7 - Brake Control
394
Macro 7 Menu 0 Programmable Parameters
394
Parameter Set-Up to Reproduce Macro 7 on a Unidrive SP
395
Macro 7 Brake Control Logic Diagram
396
Macro 8 - Digital Lock
398
Macro 8 Menu 0 Programmable Parameters
398
Parameter Set-Up to Reproduce Macro 8 on a Unidrive SP
399
Macro 8 Digital Lock Logic Diagram
400
7 Serial Communications Protocol
402
ANSI Communications Protocol
402
Physical Layer and UART
402
Introduction
402
Writing to a Parameter
402
CT Modbus RTU Specification
403
Drive Address
403
Short Commands
403
Summary of Control Characters
403
Modbus Rtu
404
Slave Address
404
MODBUS Registers
404
RTU Framing
404
Data Encoding
405
Function Codes
405
Slave Response
405
Master Request
405
Data Consistency
405
Extended Data Types
406
Exceptions
407
Crc
407
Device Compatibility Parameters
407
Exception Message Format
407
8 Electronic Nameplate
408
Loading/Storing Object Parameters
408
Motor Object Parameters
408
Performance Object Parameters
408
Motor Object
409
Performance Objects
410
Analog Outputs
412
Analog Reference
412
Digital Inputs and Outputs
412
Digital Speed Reference
412
Bandwidth
413
Current Feedback
413
Speed Loop
413
Current Loop
413
10 Rotor Flux Control (RFC) Mode
414
Further Tuning
414
Setting up the RFC Mode
414
Introduction
414
Other Considerations
414
Index
415
4
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Emerson unidrive sp Specifications
General
Brand
Emerson
Model
unidrive sp
Category
Controller
Language
English
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