Emerson unidrive sp User Manual

Menu 3
All modes
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance RFC mode
78 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 10
At power-up Pr 3.48 is initially zero, but is set to one when the drive encoder and any encoders connected to position category modules have been
initialized. The drive cannot be enabled until this parameter is one.
If any trips occur that could indicate that the encoder system is no longer initialized correctly (i.e. Enc2-Enc8 and Enc11-Enc17), or the internal 24V or
encoder power supplies are overloaded (i.e. Enc1 or PS.24V), Pr 3.48 is set to zero and the drive cannot be enabled until the encoder is re-initialized.
It is likely that the failure of either of these supplies will cause one of the other encoder trips and it should be noted that Enc1 or PS.24V trips can
override Enc2-Enc8 and Enc11-Enc17 trips so that the power supply overload is not mistaken for an encoder error.
When this parameter is set to one, additional information for the motor object can be transferred from Pr 18.11 to Pr 18.17 as shown below.
If Pr 3.50 is set to one Pr 3.28, Pr 3.29 and Pr 3.30 are not updated. If this parameter is set to zero these parameters are updated normally.
5.5.1 Communication with Hiperface and EnDat encoders
It is possible to use the communications channel between the drive and a Hiperface or EnDat encoder. This allows access to the encoder functions
including reading the encoder position and, reading and writing to encoder memory. The system can be used to communicate with SC.Hiper and
SC.EnDat type encoders provided that the position checking system has been disabled, by setting Pr 90.21 to one.
To send a message to the encoder the required message must be written to the transmit register (Pr 90.22). To read the response from the encoder
the data is read from the receive register (Pr 90.23).
Bits 13-15 of the registers are used to indicate the following:
Data should be written to the transmit register (Pr 90.22) when the register has been reset to zero by the drive. The data will be transferred to the
comms buffer and the transmit register will be cleared.
Data can be read from the receive register (Pr 90.23) at any time. If there is receive data in the buffer bit 15 will be set. Once the data has been read
the register should be cleared and the drive will then transfer more data.
3.49 Full motor object electronic nameplate transfer
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Open-loop, Closed-loop vector, Servo 0
Update rate Read on reset
User parameter Motor object parameter
Pr 18.11 Motor object version number
Pr 18.12 Motor type (MSW)
Pr 18.13 Motor type (LSW)
Pr 18.14 Motor manufacturer
Pr 18.15 Motor serial number (MSW)
Pr 18.16 Motor serial number
Pr 18.17 Motor serial number (LSW)
3.50 Position feedback lock
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Open-loop, Closed-loop vector, Servo 0
Update rate 4ms read
Register Bit Function
Transmit 15 Must be set for the drive to transfer the LS byte to the comms buffer.
Transmit 14
The LS byte is the last byte of the message and this byte should be put in the comms buffer and be
transferred to the encoder.
Transmit 13
The LS byte is the first byte of the message. (If this is used the buffer pointer is reset to the start of
the buffer).
Receive 15 Indicates data from the last transfer can be read from the receive buffer.
Receive 14 The byte in the LS byte is the last byte of the receive message
Receive 13
There is no data in the receive buffer and the LS byte is the comms system status. If there was an
error in the received message this will always be set and one of the status error bits will be set until
the comms is used again by this system or by the drive.

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.