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
Menu 3
All modes
Unidrive SP Advanced User Guide 79
Issue Number: 10 www.controltechniques.com
The actual encoder comms buffer is 16 bytes long and any messages that exceed this length (including the checksum added for Hiperface) will cause
an error. The status flags are defined as follows:
SC.Hiper type encoders
The Stegmann Hiperface comms protocol is an asynchronous byte based system. Up to 15 bytes of data can be written to the buffer. The first byte
should be the encoder address. The checksum will be calculated by the drive and added to the end of the message before the message is transmitted
to the encoder. The drive checks the checksum of the received message. If successfully received, the receive message can be read via the receive
register (Pr 90.23) including the address and the checksum received from the encoder. It should be noted that the encoder must be set up for 9600
baud, 1 start bit, 1 stop bit and even parity (default set-up) for the encoder comms to operate with the drive. Also the data block security should not be
enabled in the encoder if the drive encoder nameplate system is to operate correctly.
The following commands are supported:
Example of a Hiperface transfer: read position
Disable drive encoder position check by setting Pr 90.21 to one. This should be set back to zero at the end of the transfer if encoder position checking
is required.
Transfer the "read position" message to the encoder comms buffer by writing the sequence of words shown in the table below to Pr 90.22. A check
should be carried out before each word is written to ensure that the parameter is zero (i.e. the drive has taken any previous data).
As bit 14 of the second word is set to one the drive will add the checksum and transfer this message to the encoder. When the encoder response has
been received by the drive the first byte of the message will be placed in the least significant byte of Pr 90.23 and bit 15 will be set to one. This data
should be read and the parameter cleared so that the drive will put the next byte into this parameter. The sequence of data that should appear in
Pr 90.23 for an encoder with an address of 0x40 and a position of 0x03, 0x59, 0x63, 0x97 is shown in the table below.
Bit Meaning
0
The number of bytes put into the transmit buffer is not consistent with the expected message length.
(Hiperface only)
1
The number of bytes written to the transmit buffer, or the expected length of the store data transmit message, or the
expected length of a read data message have exceed the length of the buffer.
(Hiperface only)
2 The command code is not supported.
3 The encoder has signalled an error.
4 There was an error in the checksum/CRC of the received message.
5 A timeout occurred.
Code Command
0x42 Read position
0x43 Set position
0x44 Read analog value
0x46 Read counter
0x47 Increment counter
0x49 Clear counter
0x4a Read data (maximum of 10 bytes)
0x4b Store data (maximum of 9 bytes)
0x4c Data field status
0x4d Create a data field
0x4e Available memory
0x50 Read encoder status
0x52 Read type
0x53 Reset encoder
Bit 15 Bit 14 Bit 13 Data
0xa0ff 1 0 1 0xff Broadcast message so address = 0xff
0xc042 1 1 0 0x42 Read position command
Bit 15 Bit 14 Bit 13 Data
0x8040 1 0 0 0x40 Encoder address
0x8042 1 0 0 0x42 Read position command
0x8003 1 0 0 0x03 Position byte 0 (MS byte)
0x8059 1 0 0 0x59 Position byte 1
0x8063 1 0 0 0x63 Position byte 2
0x8097 1 0 0 0x97 Position byte 3 (LS byte)
0xc0ac 1 1 0 0xac Checksum

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.