Control Techniques unidrive sp Assembly instructions

EF
www.controltechniques.com
Advanced User Guide
U
Universal Variable Speed AC
Drive for induction and servo
motors
Part Number: 0471-0002-07
Issue: 7
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General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect
installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed
drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy
of continuous development and improvement, the manufacturer reserves the right to change the specification of the
product or its performance, or the contents of the guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or
mechanical including photocopying, recording or by an information storage or retrieval system, without permission in
writing from the publisher.
Drive software version
This product is supplied with the latest version of software. If this product is to be used in a new or existing system with
other drives, there may be some differences between their software and the software in this product. These differences
may cause this product to function differently. This may also apply to drives returned from a Control Techniques Service
Centre.
The software version of the drive can be checked by looking at Pr 11.29 (or Pr 0.50) and Pr 11.34. The software version
takes the form of zz.yy.xx, where Pr 11.29 displays zz.yy and Pr 11.34 displays xx, i.e. for software version 01.01.00, Pr
11.29 would display 1.01 and Pr 11.34 would display 0.
If there is any doubt, contact a Control Techniques Drive Centre.
Environmental statement
Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its
products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is
certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other
relevant information is available on request, or can be found at www.greendrives.com.
The electronic variable-speed drives manufactured by Control Techniques have the potential to save energy and
(through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long
working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product
manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they can very easily be dismantled into their
major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools,
while other parts are secured with conventional screws. Virtually all parts of the product are suitable for recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller
products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these
containers can be recycled. Polyethylene, used on the protective film and bags for wrapping product, can be recycled in
the same way. Control Techniques' packaging strategy favours easily-recyclable materials of low environmental impact,
and regular reviews identify opportunities for improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.
Copyright © July 2004 Control Techniques Drives Limited
Issue Number: 7
Software: 01.06.02 onwards
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Unidrive SP Advanced User Guide 3
Issue Number: 7 www.controltechniques.com
Contents
1 Parameter structure.......................................................................................................5
1.1 Menu 0 ...................................................................................................................................................5
1.2 Advanced menus ...................................................................................................................................8
1.3 Solutions Modules .................................................................................................................................8
2 Keypad and display .......................................................................................................9
2.1 Understanding the display .....................................................................................................................9
2.2 Keypad operation ..................................................................................................................................9
2.3 Status mode ........................................................................................................................................10
2.4 Parameter view mode ..........................................................................................................................10
2.5 Edit mode ............................................................................................................................................10
2.6 SM-Keypad Plus advanced operation .................................................................................................11
2.6.1 Browsing filter ............................................................................................................................................................ 11
2.6.2 'Hardware key' feature ............................................................................................................................................... 11
2.7 Parameter access level and security ...................................................................................................11
2.8 Alarm and trip display ..........................................................................................................................13
2.9 Keypad control mode ...........................................................................................................................13
2.10 Drive reset ...........................................................................................................................................13
2.11 Second motor parameters ...................................................................................................................13
2.12 Special display functions .....................................................................................................................13
2.13 SM-Keypad Plus: Menus 41 and 42 ....................................................................................................14
3 Parameter x.00 .............................................................................................................16
3.1 US default differences (1244) ..............................................................................................................16
3.2 SMARTCARD transfers .......................................................................................................................16
3.3 Electronic nameplate transfers ............................................................................................................16
3.4 Display non-default values or destination parameters .........................................................................16
4 Parameter description format.....................................................................................17
4.1 Parameter ranges and variable maximums: ........................................................................................18
4.2 Sources and destinations ....................................................................................................................20
4.3 Update rates ........................................................................................................................................21
4.3.1 Speed reference update rate ..................................................................................................................................... 21
4.3.2 Hard speed reference update rate ............................................................................................................................. 21
4.3.3 Torque reference update rate .................................................................................................................................... 21
5 Advanced parameter descriptions.............................................................................22
5.1 Overview ..............................................................................................................................................22
5.2 Menu 1: Frequency/speed reference ...................................................................................................24
5.3 Menu 2: Ramps ...................................................................................................................................36
5.4 Menu 3: Slave frequency, speed feedback, speed control and regen operation .................................44
5.5 Menu 4: Torque and current control ....................................................................................................80
5.6 Menu 5: Motor control ........................................................................................................................101
5.7 Menu 6: Sequencer and clock ...........................................................................................................122
5.8 Menu 7: Analog I/O ............................................................................................................................135
5.9 Menu 8: Digital I/O .............................................................................................................................145
5.10 Menu 9: Programmable logic, motorised pot and binary sum ...........................................................152
5.11 Menu 10: Status and trips ..................................................................................................................160
5.12 Menu 11: General drive set-up ..........................................................................................................181
5.13 Menu 12: Threshold detectors, variable selectors and brake control function ...................................192
5.14 Menu 13: Position control ..................................................................................................................206
5.15 Menu 14: User PID controller ............................................................................................................218
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4Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
5.16 Menus 15, 16 and 17: Solutions Module slots .................................................................................. 224
5.16.1 SM-Universal Encoder Plus ..................................................................................................................................... 225
5.16.2 SM-Resolver ............................................................................................................................................................ 248
5.16.3 SM-Encoder Plus ..................................................................................................................................................... 256
5.16.4 SM I/O Plus ............................................................................................................................................................. 263
5.16.5 SM-EZMotion ........................................................................................................................................................... 271
5.16.6 Fieldbus module category parameters .................................................................................................................... 277
5.16.7 SM-Applications ....................................................................................................................................................... 288
5.16.8 SM-SLM ................................................................................................................................................................... 301
5.17 Menu 18: Application menu 1 ........................................................................................................... 314
5.18 Menu 19: Application menu 2 ........................................................................................................... 315
5.19 Menu 20: Application menu 3 ........................................................................................................... 316
5.20 Menu 21: Second motor parameters ................................................................................................ 317
5.21 Menu 22: Additional menu 0 set-up .................................................................................................. 325
6 Macros ....................................................................................................................... 326
6.1 Introduction ....................................................................................................................................... 326
6.1.1 Fundamental differences between Unidrive SP and Unidrive Classic ..................................................................... 328
6.2 Macro 1 - Easy Mode ........................................................................................................................ 329
6.3 Macro 2 - Motorised potentiometer ................................................................................................... 332
6.4 Macro 3 - Preset speeds .................................................................................................................. 336
6.5 Macro 4 - Torque control .................................................................................................................. 340
6.6 Macro 5 - PID control ........................................................................................................................ 344
6.7 Macro 6 - Axis limit control ................................................................................................................ 348
6.8 Macro 7 - Brake control .................................................................................................................... 352
6.9 Macro 8 - Digital Lock ....................................................................................................................... 356
7 Serial communications protocol ............................................................................. 360
7.1 ANSI communications protocol ......................................................................................................... 360
7.2 CT Modbus RTU specification .......................................................................................................... 361
8 Electronic nameplate................................................................................................ 368
8.1 Motor object ...................................................................................................................................... 369
8.2 Performance objects ......................................................................................................................... 370
9 Performance .............................................................................................................. 372
9.1 Digital speed reference ..................................................................................................................... 372
9.2 Analog reference .............................................................................................................................. 372
9.3 Analog outputs .................................................................................................................................. 372
9.4 Digital inputs and outputs ................................................................................................................. 372
9.5 Current feedback .............................................................................................................................. 373
9.6 Bandwidth ......................................................................................................................................... 373
10 Feature look-up table................................................................................................ 374
Index ..........................................................................................................................378
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Parameter
structure
Keypad and
display Parameter x.00 Parameter description format
Advanced parameter
descriptions
Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
Unidrive SP Advanced User Guide 5
Issue Number: 7 www.controltechniques.com
1 Parameter structure
The drive parameter structure consists of menus and parameters.
The drive initially powers up so that only menu 0 can be viewed. The up
and down arrow buttons are used to navigate between parameters and
once level 2 access (L2) has been enabled in Pr 0.49, and the left and
right buttons are used to navigate between menus. For further
information, see section 2.7 Parameter access level and security on
page 11.
Figure 1-1 Parameter navigation
* can only be used to move between menus if L2 access has
been enabled (Pr 0.49).
The menus and parameters roll over in both directions; i.e. if the last
parameter is displayed, a further press will cause the display to rollover
and show the first parameter.
When changing between menus the drive remembers which parameter
was last viewed in a particular menu and thus displays that parameter.
Figure 1-2 Menu structure
1.1 Menu 0
Menu 0 has up to 31 fixed parameters and 20 programmable parameters
that are defined in menu 11. Menu 0 parameters are copies of advanced
menu parameters, and although these parameters are accessible via
drive 485 comms, they are not accessible to any Solutions Modules. All
menu 0 read/write parameters are saved on exiting the edit mode. Table
1-1 gives the default structure for each drive type setting. Where
alternative parameters are selected with motor map 2 from menu 21
these are shown below the motor map 1 parameters.
Figure 1-3 Menu 0 cloning
**
Menu 0
....XX.00....
0.50
0.49
0.48
0.47
0.46
0.01
0.02
0.03
0.04
0.05
Moves
between
parameter
s
Menu21
Menu1
Menu2
Menu20
M
o
v
es
be
tw
ee
n M
e
n
us
21.50
21.49
21.48
21.47
21.46
21.01
21.02
21.03
21.04
21.05
1.01
1.02
1.03
1.04
1.05
1.50
1.49
1.48
1.47
1.46
Menu 0
0.04
0.05
0.06
Menu 2
2.21
Menu 1
1.14
Menu 4
4.07
5
0
150
0
150
5
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Parameter
structure
Keypad and
display Parameter x.00 Parameter description format
Advanced parameter
descriptions
Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
6Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Table 1-1 Menu 0 parameters
Parameter Range(Ú) Default(Ö)Type
OL VT SV OL VT SV
0.00 xx.00 {x.00} 0 to 32,767 0 RW Uni
0.01 Minimum reference clamp {1.07}±3,000.0Hz ±Speed_limit_max rpm 0.0 RW Bi PT US
0.02 Maximum reference clamp {1.06} 0 to 3,000.0Hz Speed_limit_max rpm EUR> 50.0
USA> 60.0
EUR> 1,500.0
USA> 1800.0 3,000.0 RW Uni US
0.03 Acceleration rate {2.11} 0.0 to 3,200.0
s/100Hz
0.000 to 3,200.000
s/1,000rpm 5.0 2.000 0.0200 RW Uni US
0.04 Deceleration rate {2.21}0.0 to 3,200.0
s/100Hz
0.000 to 3,200.000
s/1,000rpm 10.0 2.000 0.0200 RW Uni US
0.05 Reference select {1.14}A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), Pad (4),
Prc (5) A1.A2 (0) RW Txt NC US
0.06 Current limit {4.07} 0 to Current_limit_max % 165.0 175.0 RW Uni RA US
0.07 OL> Voltage mode select {5.14}
Ur_S (0),
Ur (1), Fd (2),
Ur_Auto (3),
Ur_I (4),
SrE (5)
Ur_I (4) RW Txt US
CL> Speed controller P gain {3.10} 0.0000 to 6.5535 1/rad s-1 0.0100 RW Uni US
0.08 OL> Voltage boost {5.15}
0.0 to 25.0%
of motor rated
voltage
3.0 RW Uni US
CL> Speed controller I gain {3.11}0.00 to 655.35 1/rad 1.00 RW Uni US
0.09 OL> Dynamic V/F {5.13}OFF (0) or On
(1) 0RW Bit US
CL> Speed controller D gain {3.12}0.00000 to 0.65535 (s) 0.00000 RW Uni US
0.10 OL> Estimated motor speed {5.04} ±180,000 rpm RO Bi FI NC PT
CL> Motor speed {3.02}±Speed_max rpm RO Bi FI NC PT
0.11
OL & VT> Drive output
frequency {5.01} ±Speed_freq_max Hz RO Bi FI NC PT
SV> Drive encoder position {3.29}
0 to 65,535
1/216ths of a
revolution
RO Uni FI NC PT
0.12 Total motor current {4.01} 0 to Drive_current_max A RO Uni FI NC PT
0.13
OL & VT> Motor active
current {4.02} ±Drive_current_max A RO Bi FI NC PT
SV> Analog input 1 offset trim {7.07}±10.000 % 0.000 RW Bi US
0.14 Torque mode selector {4.11} 0 to 1 0 to 4 Speed control mode (0) RW Uni US
0.15 Ramp mode select {2.04}
FASt (0)
Std (1)
Std.hV (2)
FASt (0)
Std (1) Std (1) RW Txt US
0.16
OL> T28 and T29 auto-
selection disable {8.39}OFF (0) or On (1) 0RW Bit US
CL> Ramp enable {2.02}OFF (0) or On (1) On (1) RW Bit US
0.17
OL> T29 digital input
destination {8.26}Pr 0.00 to Pr 21.51 Pr 6.31 RW Uni DE PT US
CL> Current demand filter
time constant {4.12}0.0 to 25.0 ms 0.0 RW Uni US
0.18 Positive logic select {8.29} OFF (0) or On (1) On (1) RW Bit PT US
0.19 Analog input 2 mode {7.11}0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),
4-20 (4), 20-4 (5), VOLt (6) VOLt (6) RW Txt US
0.20 Analog input 2 destination {7.14}Pr0.00 to Pr 21.51 Pr 1.37 RW Uni DE PT US
0.21 Analog input 3 mode {7.15}
0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),
4-20 (4), 20-4 (5), VOLt (6), th.SC (7),
th (8), th.diSp (9)
VOLt (6) RW Txt PT US
0.22 Bipolar reference select {1.10} OFF (0) or On (1) OFF (0) RW Bit US
0.23 Jog reference {1.05} 0 to 400.0 Hz 0 to 4000.0 rpm 0.0 RW Uni US
0.24 Pre-set reference 1 {1.21} ±Speed_limit_max rpm 0.0 RW Bi US
0.25 Pre-set reference 2 {1.22} ±Speed_limit_max rpm 0.0 RW Bi US
0.26 OL> Pre-set reference 3 {1.23}±Speed_freq_
max Hz/rpm 0.0 RW Bi US
CL> Overspeed threshold {3.08}0 to 40,000 rpm 0RWUni US
0.27
OL> Pre-set reference 4 {1.24}±Speed_freq_
max Hz/rpm 0.0 RW Bi US
CL> Drive encoder lines per
revolution {3.34}0 to 50,000 1024 4096 RW Uni US
0.28 Keypad fwd/rev key enable {6.13} OFF (0) or On (1) OFF (0) RW Bit US
0.29 SMARTCARD parameter
data {11.36} 0 to 999 0 RO Uni NC PT US
0.30 Parameter cloning {11.42} nonE (0), rEAd (1), Prog (2), AutO (3), boot (4) nonE (0) RW Txt NC *
0.31 Drive rated voltage {11.33} 200 (0), 400 (1), 575 (2), 690 (3) V RO Txt NC PT
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Parameter
structure
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display Parameter x.00 Parameter description format
Advanced parameter
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nameplate Performance Feature look- up table
Unidrive SP Advanced User Guide 7
Issue Number: 7 www.controltechniques.com
0.32 Drive rated current {11.32} 0.00 to 9999.99A RO Uni NC PT
0.33 OL> Catch a spinning motor {6.09}0to3 0RW Uni US
VT> Rated rpm autotune {5.16}0 to 2 0RW Uni US
0.34 User security code {11.30}0to999 0RWUniNCPS
0.35 Serial comms mode {11.24}AnSI (0)
rtu (1) rtU (1) RW Txt US
0.36 Serial comms baud rate {11.25}
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
9600 (5), 19200 (6), 38400 (7),
57600 (8) Modbus RTU only,
115200 (9) Modbus RTU only
19200 (6) RW Txt US
0.37 Serial comms address {11.23}0to247 1 RWUniUS
0.38 Current loop P gain {4.13} 0 to 30,000 All voltage
ratings: 20
200V drive: 75
400V drive: 150
575V drive: 180
690V drive: 215
RW Uni US
0.39 Current loop I gain {4.14} 0 to 30,000 All voltage
ratings 40
200V drive: 1000
400V drive: 2000
575V drive: 2400
690V drive: 3000
RW Uni US
0.40 Autotune {5.12} 0 to 2 0 to 3 0 RW Uni
0.41 Maximum switching
frequency {5.18} 3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5) kHz 3 (0) 6 (2) RW Txt RA US
0.42 No. of motor poles {5.11} 0 to 60 (Auto to 120 pole) 0 (Auto) 6 POLE (3) RW Txt US
0.43
OL & VT> Motor rated power
factor {5.10} 0.000 to 1.000 0.850 RW Uni US
SV> Encoder phase angle {3.25}0.0 to 359.9° 0.0 RW Uni NC PT
0.44 Motor rated voltage {5.09} 0 to AC_voltage_set_max V
200V drive: 230
400V drive: EUR> 400, USA> 460
575V drive: 575
690V drive: 690
RW Uni RA US
0.45
OL & VT> Motor rated full
load speed (rpm) {5.09}0 to 180,000
rpm
0.00 to
40,000.00 rpm
EUR> 1,500
USA> 1,800
EUR>
1,450.00
USA>
1,770.00
RW Uni US
SV> Motor thermal time
constant {4.15}0.0 to 400.0 20.0 RW Uni US
0.46 Motor rated current {5.07} 0 to Rated_current_max A Drive rated current [11.32] RW Uni RA US
0.47 Rated frequency {5.06}0 to 3,000.0
Hz
0 to 1,250.0
Hz
EUR> 50.0
USA> 60.0 RW Uni US
0.48 Operating mode selector {11.31}OPEn LP (1), CL VECt (2),
SErVO (3), rEgEn (4) OPEn LP (1) CL VECt (2) SErVO (3) RW Txt NC PT
0.49 Security status {11.44} L1 (0), L2 (1), Loc (2) RW Txt PT US
0.50 Software version {11.29} 1.00 to 99.99 RO Uni NC PT
* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved
Key:
Parameter Range(Ú) Default(Ö)Type
OL VT SV OL VT SV
Coding Attribute
OL Open loop
VT Closed loop vector
SV Servo
{X.XX} Cloned advanced parameter
RW Read/write: can be written by the user
RO Read only: can only be read by the user
Bit 1 bit parameter: ‘On’ or ‘OFF’ on the display
Bi Bipolar parameter
Uni Unipolar parameter
Txt Text: the parameter uses text strings instead of numbers.
FI
Filtered: some parameters which can have rapidly changing
values are filtered when displayed on the drive keypad for
easy viewing.
DE Destination: indicates that this parameter can be a
destination parameter.
RA
Rating dependant: this parameter is likely to have different
values and ranges with drives of different voltage and
current ratings. This parameters is not transferred by
SMARTCARDs when the rating of the destination drive is
different from the source drive.
NC Not cloned: not transferred to or from SMARTCARDs
during cloning.
PT Protected: cannot be used as a destination.
US User save: saved in drive EEPROM when the user initiates
a parameter save.
PS Power-down save: automatically saved in drive EEPROM
at power-down.
Coding Attribute
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Parameter
structure
Keypad and
display Parameter x.00 Parameter description format
Advanced parameter
descriptions
Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
8Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
1.2 Advanced menus
The advanced menus consist of groups or parameters appropriate to a
specific function or feature of the drive. These are accessible via the
keypad, drive 485 comms and Solutions Modules. All advanced menu
parameters are only saved by setting Pr x.00 to 1000 and applying a
reset (except parameters shown as power-down saved which are saved
automatically at power-down). The advanced menus are accessible
when the user selects L2 in Pr 11.44 (Pr 0.49 in menu 0). This can be
done even if security is programmed. Pr 11.44 can be saved in
EEPROM so that either Menu 0 only, or Menu 0 and the advanced
menus are accessible at power-up.
1.3 Solutions Modules
Any Solutions Module type is recognised with all drive types in any slots.
The relevant template is used to define menu 15 for the module type
fitted in slot 1, menu 16 for slot 2, and menu 17 for slot 3.
Menu Function
1 Speed reference selection, limits and filters
2Ramps
3 Speed sensing thresholds
4 Current control
5 Motor control
6 Sequencer and clock
7 Analog I/O
8 Digital I/O
9 Programmable logic and motorised pot
10 Drive status and trip information
11 Miscellaneous
12 Programmable threshold, variable selector and brake control
function
13 Position control
14 User PID controller
15 Slot 1 Solutions Module menu
16 Slot 2 Solutions Module menu
17 Slot 3 Solutions Module menu
18 User application menu 1 (saved in drive EEPROM)
19 User application menu 2 (saved in drive EEPROM)
20 User application menu 3 (not saved in drive EEPROM)
21 Second motor map
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Parameter
structure
Keypad and
display Parameter x.00 Parameter description format
Advanced parameter
descriptions
Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
Unidrive SP Advanced User Guide 9
Issue Number: 7 www.controltechniques.com
2 Keypad and display
2.1 Understanding the display
There are two keypads available for the Unidrive SP. The SM-Keypad has an LED display and the SM-Keypad Plus has an LCD display. Both
keypads can be fitted to the drive but the SM-Keypad Plus can also be remotely mounted on an enclosure door.
2.1.1 SM-Keypad
The display consists of two horizontal rows of 7 segment LED displays.
The upper display shows the drive status or the current menu and
parameter number being viewed.
The lower display shows the parameter value or the specific trip type.
2.1.2 SM-Keypad Plus
The display consists of three lines of text.
The top line shows the drive status or the current menu and parameter
number being viewed on the left, and the parameter value or the specific
trip type on the right.
The lower two lines show the parameter name or the help text.
Features :
• Parameter names displayed
• Units displayed (Hz, A, rpm, %)
• Parameter help text
• Diagnostics help text
• 5 language support: (English, French, German, Spanish and Italian)
• Displays SM-Applications virtual parameters: Menus 70 to 91
• Hardware key using the SM-Keypad Plus as a key to modify the
drive set-up
• User defined parameter set
• Browsing filter
• Adjustable contrast
Figure 2-1 SM-Keypad Figure 2-2 SM-Keypad Plus
The red stop button is also used to reset the drive.
2.2 Keypad operation
2.2.1 Control buttons
The keypad consists of:
1. Joypad - used to navigate the parameter structure and change parameter values.
2. Mode button - used to change between the display modes – parameter view, parameter edit, status.
3. Three control buttons - used to control the drive if keypad mode is selected.
4. Help button (SM-Keypad Plus only) - displays text briefly describing the selected parameter.
The Help button toggles between other display modes and parameter help mode. The up and down functions on the joypad scroll the help text to
allow the whole string to be viewed. The right and left functions on the joypad have no function when help text is being viewed.
The display examples in this section show the SM-Keypad 7 segment LED display. The examples are the same for the SM-Keypad Plus except that
the information displayed on the lower row on the SM-Keypad is displayed on the right hand side of the top row on the SM-Keypad Plus.
The drive parameters are accessed as shown in Figure 2-3.
Upper display
Lower display
Mode (black) butto
n
Joypad
Fwd / Rev (blue) button
Stop/reset (red) button
Start (green) button
Control buttons
Mode (black) butto
n
Joypad
Fwd / Rev (blue) button
Stop/reset (red) button
Start (green) button
Control buttons
Help button
NOTE
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Parameter
structure
Keypad and
display Parameter x.00 Parameter description format
Advanced parameter
descriptions
Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
10 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Figure 2-3 Display modes
2.3 Status mode
In status mode the 1st row shows a four letter mnemonic indicating the
status of the drive. The second row show the parameter last viewed or
edited.
2.4 Parameter view mode
In this mode the 1st row shows the menu.parameter number and the 2nd
row the parameter value. The 2nd row gives a parameter value range of
-999,999 to 9,999,999 with or without decimal points. (32 bit parameters
can have values outside this range if written by an application module. If
the value is outside this range “-------“is shown and the parameter value
cannot be changed from the keypad.) The Up and Down keys are used
to select the parameter and the Left and Right keys are used to select
the menu. In this mode the Up and Down keys are used to select the
parameter within the selected menu. Holding the Up key will cause the
parameter number to increment until the top of the menu is reached. A
single Up key action when the last parameter in a menu is being
displayed will cause the parameter number to roll over to Pr x.00.
Similarly holding the Down key will cause the parameter number to
decrement until Pr x.00 is reached and a single Down key action will
cause the parameter number to roll under to the top of the menu.
Pressing the Up and Down keys simultaneously will select Pr x.00 in the
currently selected menu.
The Left and Right keys are used to select the required menu (provided
the security has been unlocked to allow access to menus other than 0).
Holding the Right key will cause the menu number to increment until the
Menu 21 is reached. A single Right key action when Menu 21 is being
displayed will cause the menu number to roll over to 0. Similarly holding
the Left key will cause the menu number to decrement to 0 and a single
key action will cause the menu number to roll under to Menu 21.
Pressing the Left and Right keys simultaneously will select Menu 0.
The drive remembers the parameter last accessed in each menu such
that when a new menu is entered the last parameter viewed in that menu
will re-appear.
2.5 Edit mode
Up and Down keys are used to increase and decrease parameter values
respectively. If the maximum value of a parameter is greater than 9 and it
is not represented by strings, then the Left and Right keys can be used
to select a digit to adjust. The number of digits which can be
independently selected for adjustment depends on the maximum value
of the parameter. Pressing the Right key when the least significant digit
is selected will cause the most significant digit to be selected, and vice-
versa if the Left key is pressed when the most significant digit is
selected. When a digit value is not being changed by the Up or Down
keys the selected digit flashes to indicate which one is currently
selected. For string type parameters the whole string flashes when
adjustment is not occurring because there is no digit selection.
During adjustment of a parameter value with the Up or Down keys the
display does not flash, providing the parameter value is in range, such
that the user can see the value being edited without interruption.
Adjustment of a numerical value can be done in one of two ways; firstly
by using the Up and Down keys only, the selected digit remaining the
least significant digit; and secondly by selecting each digit in turn and
adjusting them to the required value. Holding the Up or Down key in the
first method will cause the parameters value to change more rapidly the
longer the key is held, until such time that the parameters maximum or
Use * keys
to select parameter for editing
To enter Edit Mode,
press key
Status Mode
(Display not flashing)
Parameter View Mode
(Upper display
flashing)
Edit Mode
(Character to be edited in lower line of display flashing)
Change parameter values using keys.
When returning
to Parameter
Mode use the
keys to select
another parameter
to change, if
required
To exit Edit Mode,
press key
To enter Parameter
Mode, press key or
*
Temporary Parameter
Mode
(Upper display flashing)
Timeout** Timeout**Timeout**
To return to
Status Mode,
press
key
State Upper
row
Auto tune in progress Auto
tune
Inhibited: enable input is inactive inh
Ready: enable closed, but inverter not active rdY
Stopped: inverter active, but holding zero speed/frequency StoP
Running: inverter active and motor running run
Scanning: trying to synchronise in regen mode SCAN
Mains loss: decelerating to zero in mains loss ride-through or
stop modes ACUU
Decelerating: speed/frequency is ramping to zero after a
stop dEC
DC injection: DC injection stop is active dc
Position: position control active during orientation stop POS
Tripped: drive is tripped triP
Active: regen unit is synchronised and the inverter is active act
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Parameter
structure
Keypad and
display Parameter x.00 Parameter description format
Advanced parameter
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Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
Unidrive SP Advanced User Guide 11
Issue Number: 7 www.controltechniques.com
minimum is reached. However with the second method an increasing
rate of change does not take place when adjusting any other digit other
than the least significant digit since a digit can only have one of 10
different values. Holding the Up or Down will cause an auto repeat and
roll over to more significant digits but the rate of change is unaltered. If
the maximum or minimum is exceeded when adjusting any other digit
than the least significant one, the maximum value will flash on the
display to warn the user that the maximum or minimum has been
reached. If the user releases the Up or Down key before the flashing
stops the last in range value will re-appear on the display. If the Up or
Down key is held the display will stop flashing after 3 seconds and the
maximum value will be written to the parameter.
Parameters can be set to 0 by pressing the Up and Down keys
simultaneously.
2.6 SM-Keypad Plus advanced operation
All keypads built after data code N10 have software version 4.02.00
programmed and will support 5 languages (English, French, German,
Spanish and Italian) in addition to the original capability of a user defined
parameter set. This software also gives the user access to two new
menus for SM-Keypad Plus. Menu 40 is for SM-Keypad Plus set up,
menu 41 selects commonly used parameters for quick browsing.
Keypads built prior to N10 will support one user defined extra parameter
set only.
2.6.1 Browsing filter
Pr 40.06 Browsing Filter
The user is able to define their own browsing filter using menu 41. This
allows the user to chose up to 20 parameters for quick browsing in one
vertical menu. (Menu 41 is saved using Pr 40.03).
When in browsing filter mode the first routed parameter will be Pr 41.00,
which will be called 'F00'. The next parameters are the user routed filter
parameters called 'F01' etc.
When the browsing filter has been activated the only parameters
accessible to the user are those specified in the filter. The user scrolls
through the parameters using the up and down joy pad buttons; the left
and right buttons are not used.
Pr 71.02 for the SM-Applications in slot 2 is expressed as Pr271.02.
2.6.2 'Hardware key' feature
This feature can be used to prevent unauthorised modification of the
drive parameters via the user interfaces (display or serial comms) on the
front of the drive unless the user has the mating SM-Keypad with the
correct code programmed.
Pr 40.07 Keypad security code
• To lock LCD Keypad internal menus (menus 40 and 41)
Enter code into Pr 40.07.
Exit edit mode - this saves the menu and code.
• To unlock LCD Keypad internal menus:
Enter keypad security code in Pr x.00 (e.g. Pr 40.00).
Press mode (Pr 40.00 and Pr 40.07 will return to zero).
Pr 40.09 Hardware key code
Procedure for setting through LCD keypad on RJ45(RS485) port.
• Set up drive security code in Pr 0.34 / Pr 11.30
• Set hardware key code in Pr 40.09 to the same value as the security
code (Pr 0.34 / Pr 11.30 becomes value hidden)
• Save the SM-Keypad Plus internal menu by setting Pr 40.03 to save
(Pr 40.03 will return to idle once save is complete)
• Set SM-Keypad Plus internal menu security by writing a code to
Pr 40.07 (Pr 40.09 becomes value hidden)
• Lock the drive by setting Pr 0.49 / Pr 11.44 to LOC and pressing
STOP/RESET (will return to L1)
The user will have read/write access to the drive parameters but not the
LCD keypad internal menus (Menu 40 and 41) with the specific keypad still
fitted. Any other keypad (SM-Keypad Plus or SM-Keypad without the
correct code programmed ) will provide read only access to all parameters.
Procedure for preventing user access via the RJ45(RS485) port on
the drive.
• Connect PC to RJ45 port and change Pr 11.24 to LCD (this will now
prevent access via a PC), (Timeout error will show on CTsoft, this is
normal)
• Without powering the drive off place the SM-Keypad Plus with
correct hardware key into the RJ45 port and carry out a drive
parameter save.
The user will have read/write access to the drive parameters but not the
SM-Keypad Plus internal menus (menu 40 and 41), and the comms port
will be disabled.
Procedure for resetting hardware key and comms access.
• Unlock the SM-Keypad Plus internal menu security to make Pr 40.09
visible. (See Pr 40.07)
•ZeroPr40.09
• Unlock drive security by entering the correct code in Pr 0.34 /
Pr 11.30.
• Save the internal SM-Keypad Plus menu (see Pr 40.03 above)
• If the comms port lock is on (i.e.Pr 11.24 set to LCD) put an SM-
Keypad onto the front of the drive and turn Pr 11.24 to RTU mode
and carry out a drive save.
The user will now have read/write access to the drive parameters and
the SM-Keypad Plus internal menus (menu 40 and 41).
2.7 Parameter access level and security
The parameter access level determines whether the user has access to
menu 0 only or to all the advanced menus (menus 1 to 21) in addition to
menu 0.
The User Security determines whether the access to the user is read
only or read write.
Both the User Security and Parameter Access Level can operate
independently of each other as shown in the table below:
RW = Read / write access RO = Read only access
The default settings of the drive are Parameter Access Level L1 and
user Security Open, i.e. read / write access to Menu 0 with the advanced
menus not visible.
NOTE
Parameter
Access Level User Security Menu 0
status
Advanced
menus status
L1 Open RW Not visible
L1 Closed RO Not visible
L2 Open RW RW
L2 Closed RO RO
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Parameter
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Advanced parameter
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12 Unidrive SP Advanced User Guide
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2.7.1 Access Level
The access level is set in Pr 0.49 and allows or prevents access to the
advanced menu parameters.
2.7.2 Changing the Access Level
The Access Level is determined by the setting of Pr 0.49 as follows:
The Access Level can be changed through the keypad even if the User
Security has been set.
2.7.3 User Security
The User Security, when set, prevents write access to any of the
parameters (other than Pr. 0.49 Access Level) in any menu.
Setting User Security
Enter a value between 1 and 999 in Pr 0.34 and press the button;
the security code has now been set to this value. In order to activate the
security, the Access level must be set to Loc in Pr 0.49. When the drive
is reset, the security code will have been activated and the drive returns
to Access Level L1. The value of Pr 0.34 will return to 0 in order to hide
the security code. At this point, the only parameter that can be changed
by the user is the Access Level Pr 0.49.
Unlocking User Security
Select a read write parameter to be edited and press the button, the
upper display will now show CodE. Use the arrow buttons to set the
security code and press the button.
With the correct security code entered, the display will revert to the
parameter selected in edit mode.
If an incorrect security code is entered the display will revert to
parameter view mode.
To lock the User Security again, set Pr 0.49 to Loc and press the
reset button.
Disabling User Security.
Unlock the previously set security code as detailed above. Set Pr 0.34 to
0 and press the button. The User Security has now been disabled,
and will not have to be unlocked each time the drive is powered up to
allow read / write access to the parameters.
String Value Effect
L1 0 Access to menu 0 only
L2 1 Access to all menus (menu 0 to menu 21)
Pr 0.00
Pr 0.01
Pr 0.02
Pr 0.03
Pr 0.49
Pr 0.50
Pr 1.00
Pr 1.01
Pr 1.02
Pr 1.03
Pr 1.49
Pr 1.50
Pr 21.00
Pr 21.01
Pr 21.02
Pr 21.03
Pr 21.49
Pr 21.50
............
............
............
............
............
............
............
............
L2 access selected - All parameters visible
Pr 0.00
Pr 0.01
Pr 0.02
Pr 0.03
Pr 0.49
Pr 0.50
Pr 1.00
Pr 1.01
Pr 1.02
Pr 1.03
Pr 1.49
Pr 1.50
Pr 19.00
Pr 19.01
Pr 19.02
Pr 19.03
Pr 19.49
Pr 19.50
Pr 20.00
Pr 20.01
Pr 20.02
Pr 20.03
Pr 20.49
Pr 20.50
............
............
............
............
............
............
............
............
L1 access selected - Menu 0 only visible
Pr 20.00
Pr 20.01
Pr 20.02
Pr 20.03
Pr 20.49
Pr 20.50
Pr 0.00
Pr 0.01
Pr 0.02
Pr 0.03
Pr 0.49
Pr 0.50
Pr 1.00
Pr 1.01
Pr 1.02
Pr 1.03
Pr 1.49
Pr 1.50
............
............
............
............
............
............
............
............
Pr 0.00
Pr 0.01
Pr 0.02
Pr 0.03
Pr 0.49
Pr 0.50
Pr 1.00
Pr 1.01
Pr 1.02
Pr 1.03
Pr 1.49
Pr 1.50
Pr 21.00
Pr 21.01
Pr 21.02
Pr 21.03
Pr 21.49
Pr 21.50
............
............
............
............
............
............
............
............
User security open - All parameters: Read / Write access
User security closed - All parameters: Read Only access
Pr 20.00
Pr 20.01
Pr 20.02
Pr 20.03
Pr 20.49
Pr 20.50
Pr 21.00
Pr 21.01
Pr 21.02
Pr 21.03
Pr 21.49
Pr 21.50
Pr 20.00
Pr 20.01
Pr 20.02
Pr 20.03
Pr 20.49
Pr 20.50
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Parameter
structure
Keypad and
display Parameter x.00 Parameter description format
Advanced parameter
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Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
Unidrive SP Advanced User Guide 13
Issue Number: 7 www.controltechniques.com
2.8 Alarm and trip display
In any mode an alarm flashes alternately with the data displayed on the
2nd row when one of the following conditions occur. If action is not taken
to eliminate the all alarms except “Auto tune” the drive may eventually
trip. Warnings are not displayed when a parameter is being edited.
When a trip occurs the drive switches to status mode and “trip” is shown
on the 1st row and the trip string flashes on the 2nd row. The read only
parameters listed below are frozen until the trip is cleared. For a list of
the possible trip strings see Pr 10.20. Pressing any of the parameter
keys changes the mode to the parameter view mode. If the trip is HF01
to HF19 then no key action is recognised.
2.9 Keypad control mode
The drive can be controlled from the keypad if Pr 1.14 is set to 4. The
Stop and Run keys automatically become active (the Reverse key may
be optionally enabled with Pr 6.13). The frequency/speed reference is
defined by Pr 1.17. This is a read only parameter that can only be
adjusted in status mode by pressing the Up or Down keys. If keypad
control mode is selected, then pressing the Up or Down keys in status
mode will cause the drive to automatically display the keypad reference
and adjust it in the relevant direction. This can be done whether the drive
is disabled or running. If the Up or Down keys are held the rate of
change of keypad reference increases with time. The units used for to
display the keypad reference for different modes are given below.
2.10 Drive reset
A drive reset is required to: reset the drive from a trip (except some
“Hfxx” trips which cannot be reset); and other functions as defined in
Section 3. A reset can be performed in four ways:
1. Stop key: If the drive has been set up such that the stop key is not
operative then the key has a drive reset function only. When the stop
function of the stop key is enabled, a reset is initiated while the drive
is running by holding the Run key and then pressing the Stop key.
When the drive is not running the Stop key will always reset the
drive.
2. The drive resets after a 0 to 1 transition of the Drive Reset parameter
(Pr 10.33). A digital input can be programmed to change this
parameter.
3. Serial comms, fieldbus or applications Solutions Module: Drive reset
is triggered by a value of 100 being written to the User trip parameter
(Pr 10.38).
If the drive trips EEF (internal EEPROM error) then it is not possible to
reset the drive using the normal reset methods described above. 1233 or
1244 must be entered into Pr x.00 before the drive can be reset. Default
parameters are loaded after an EEF trip, and so the parameters should
be reprogrammed as required and saved in EEPROM.
If the drive is reset after a trip from any source other than the Stop key,
the drive restarts immediately, if:
1. A non-latching sequencer is used with the enable active and one of
run forward, run reverse or run active
2. A latching sequencer is used if the enable and stop\ are active and
one of run forward, run reverse or run is active.
If the drive is reset with the Stop key the drive does not restart until a not
active to active edge occurs on run forward, run reverse or run.
2.11 Second motor parameters
An alternative set of motor parameters are held in menu 21 which can be
selected by Pr 11.45. When the alternative parameter set is being used
by the drive the decimal point after the right hand digit in the 1st row is
on.
2.12 Special display functions
The following special display functions are used.
1. If the second motor map is being used the decimal point second
from the right of the first row is on.
2. When parameters are saved to a SMARTCARD the right-most
decimal point on the first row flashes for 2 seconds.
During power up one or more of the following actions may be required.
Each action may take several seconds, and so special display strings
are shown.
Alarm string Alarm condition
br.rS Braking resistor (Pr 10.37 > 75.0% and the braking
IGBT is active)
OVLd Motor overload (Pr 4.17 > 75% and the drive output
current > Pr 5.07)
hot Heatsink or control board alarms are active
Parameter Description
1.01 Frequency/speed reference
1.02 Frequency/speed reference
1.03 Pre-ramp reference
2.01 Post-ramp reference
3.01 Frequency slaving demand/Final speed ref
3.02 Speed feedback
3.03 Speed error
3.04 Speed controller output
4.01 Current magnitude
4.02 Active current
4.17 Magnetising current
5.01 Output frequency
5.02 Output voltage
5.03 Power
5.04 DC bus voltage
7.01 Analog input 1
7.02 Analog input 2
7.03 Analog input 3
Mode Unit
Open loop Hz
Closed loop rpm
Servo rpm
Display
string Action
boot
If a SMARTCARD is present with Pr 11.42 set to boot the
parameters from the card must be transferred to the drive
EEPROM.
card
If the drive is in auto or boot mode (Pr 11.42 set to 3 or 4) the
drive ensures that the data on the card is consistent with the
drive by writing to the card.
loading
It may be necessary for a Solutions Module to transfer
parameter information from the drive. This is only carried out
if the parameter information held by the Solutions Module is
for a different drive software version. The drive allows up to 5
seconds for this process.
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Parameter
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display Parameter x.00 Parameter description format
Advanced parameter
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Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
14 Unidrive SP Advanced User Guide
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2.13 SM-Keypad Plus: Menus 41 and 42
2.13.1 Keypad configuration menu
The local keypad Zero Parameter works like every other Pr xx.00 in the
Unidrive SP. Entry of a 4-digit number followed by a RESET will allow
change of drive operation mode, save drive parameters, etc.
Three digit numbers are used to unlock keypad security (menus 40 and
41 only). If a keypad security code has been previously entered in
Pr 40.07, then the security code must be entered into Pr xx.00 to unlock
the security. When keypad security is enabled, Pr 40.00 and Pr 41.00
are the only parameters, which can be modified.
This parameter allows a change the language (English, custom, French,
German, Spanish or Italian). If the SM-Keypad Plus has a date code
prior top N10, it will only display English and custom. This parameter is
not automatically saved.
The software revision of the SM-Keypad Plus firmware is shown here.
Revision 04.01.02 would be displayed as 40102.
Permits storage and retrieval of local menus 40 and 41 to/from FLASH
memory.
Idle: do nothing
Save: copies menu 40 and 41 to FLASH memory
Restore: restores menu 40 and 41 from FLASH memory
Defaults: sets menu 40 and 41 to factory default values
After completion of a save, restore or default operation, local parameter
Pr 40.03 will revert to "Idle" to give a visual indication that the operation
completed successfully.
Avoid reading or writing to FLASH memory whilst the drive is running.
Changes the contrast of the LCD Display
0: Minimum contrast (5 x 8 character backgrounds are quite
visible)
32: Maximum contrast (5 x 8 character backgrounds are barely
visible)
This parameter is reserved for future software versions.
Selects between normal browsing (all parameters) and filtered browsing.
Normal:Access to all parameters in the drive and installed option
modules
Filter: Access to only those parameters specified in Menu 41 (20
maximum)
When filter browsing is chosen, the SM-Keypad Plus immediately jumps
to the first parameter F00 in the list provided by local menu 41.
Parameter F00 is a standard parameter zero and is fixed. Parameters
F01 through F20 are user-specified. Parameter F21 is a copy of this
parameter (Pr 40.06) and provides an escape from filtered browsing.
During filtered browsing, only the UP and DOWN arrows on the joypad
are used, the LEFT and RIGHT arrows are ignored.
Any parameter on the Unidrive SP, the Keypad Plus or its attached
option modules can be specified in the filtered browsing list in Menu 41.
Any invalid filter parameter specifications, such as a parameter on an
option module that is not fitted, will be ignored.
A three-digit code (1 - 999) that, once entered, renders all parameters in
local menus 40 and 41 READ-ONLY. Once keypad security has been
enabled, this parameter is also read-only and its value is displayed as
zero to prevent unauthorized persons from seeing the code.
The only way to remove keypad security once it has been enabled is to
enter the keypad security code into parameter zero of menu 40 or 41.
Disable: Normal Keypad Plus operation
Enable: Keypad Plus devoted to custom string database upload
only.
Allows upload of the "custom" language from a PC into the SM-Keypad
Plus FLASH memory. When string database upload is enabled, all
normal SM-Keypad Plus operations are stopped and the keypad waits
for communication from the PC (browsing away from this parameter is
not permitted).
A "Keypad String Editor" PC tool is available for use with this feature.
The hardware set-up is shown below. The CT comms cable is used to
connect the PC tool to the drive.
Figure 2-4
The drive should be set to "inhibit" operational mode before commencing
a upload. This upload operation takes about 15 minutes. When
completed, return local parameter Pr 40.08 to "disable" to resume
normal SM-Keypad Plus operation.
A four-digit code (1 to 9999) that, if equal to the current Unidrive SP
security code, bypasses drive security and allows read / write access to
all drive parameters. Once a hardware key security code has been
entered, this parameter Pr 40.09 becomes read-only and its value is
displayed as zero to prevent unauthorised persons from seeing the
code.
The hardware security code is automatically saved to FLASH memory.
This feature allows an SM-Keypad Plus to be programmed with a
hardware key security code which matches the drive security. The drive
parameters cannot be modified by any other method once the hardware
key security code has been set.
40.00 Zero parameter
40.01 Language select
40.02 Software version
40.03 Save configuration to flash
40.04 LCD contrast
40.05 SMARTCARD save/restore
40.06 Browsing filter
40.07 Keypad security code
40.08 Enable string DB upload
40.09 Hardware key security code
SM-Keypad Plus
Drive
485 port
CT Comms
cable
COM1
Keypad string
editor tool
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Parameter
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Advanced parameter
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Macros Serial comms
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nameplate Performance Feature look- up table
Unidrive SP Advanced User Guide 15
Issue Number: 7 www.controltechniques.com
This permits service personnel to have exclusive access to drive settings
preventing any possibility of tampering by untrained or unauthorised
personnel.
The only way to remove a hardware key security code is to successfully
disable drive security first by entering the proper security code.
The serial address is by default set to 01. This parameter allows it to be
changed. This only matters when the SM-Keypad Plus is fitted through
the RS-485 port. When the SM-Keypad Plus is plugged directly into the
drive the serial address is forced to 01 in any case.
Making this change is a bit touchy. Plug the SM-Keypad Plus into the
RS-485 port and plug a standard LED Keypad directly into the drive.
Browse to local parameter Pr 40.10 on the SM-Keypad Plus and browse
to Pr 00.37 on the SM-Keypad. Place both parameters into "modify"
mode.
Increment the serial address from 1 to 2 on the SM-Keypad Plus and
then immediately increment the serial address on the SM-Keypad. You
should see both values change. Keep doing this in sequence until the
desired serial address is attained.
Displays the FLASH memory size.
The SM-Keypad Plus has been manufactured with 4 Mbit and 8 Mbit
FLASH memory devices. Keypads fitted with 8 Mbit FLASH devices can
support all six languages (English, custom, French, German, Spanish
and Italian). SM-Keypad Plus units fitted with the smaller 4 Mbit FLASH
devices can only support two languages (English, custom).
Owners of SM-Keypad Plus units built prior to date code N10 should
note that the SM-Keypad Plus String Editor tool can be used to copy any
of the other languages into the "custom" language, giving a bi-lingual
keypad (English and Spanish, for example).
2.13.2 Browsing filter menu
The local keypad zero parameter works like every other Pr xx.00 in the
Unidrive SP. Entry of a 4-digit number followed by a RESET will allow
change of drive operation mode, save drive parameters, etc.
Three digit numbers are used to unlock keypad security (menus 40 and
41 only). If a keypad security code has been previously entered in
Pr 40.07, then the security code must be entered into Pr xx.00 to unlock
the security. When keypad security is enabled, Pr 40.00 and Pr 41.00
are the only parameters, which can be modified.
Up to twenty parameters can be selected for the filter-browsing list.
These parameters may be anywhere on the Unidrive SP or on any of the
application modules fitted. Any local SM-Keypad Plus parameter can
also be chosen. Any parameter specification set to zero will be skipped.
Filter parameters are entered in the following format: S M M . P P
S: Slot number (1, 2, 3 or blank)
M M: Menu number
P P: Parameter number
If a slot number is not specified, the SM-Keypad Plus will search for the
first installed SM-Applications module and assign that slot to the
specification.
Some typical filter parameter specifications might be:
Any illegal specifications are ignored during browsing. This includes
non-existent parameters or parameters associated with a Solutions
Module that is not fitted.
When filtered browsing is enabled, the menu and parameter display
mmpp is replaced by F00 to F21 (filter parameter numbers). This is a
reminder that filtered browsing is selected.
This is a duplicate of Pr 40.06. It is fixed and read-only within Menu 41.
This is to ensure that the filtered browsing list will include an escape
parameter to allow resumption of normal browsing.
40.10 Keypad serial address
40.11 Keypad memory size
41.00 Zero parameter
41.01 to 41.20 Browsing filter Fnn source
0.00 Skip this filter specification
1.23 Drive Pr 1.23 (Preset speed 3)
13.02 Drive Pr 13.02 (Position error)
40.01 Keypad Pr 40.01 (Language select)
72.05 SM-Apps in first SM-Application Module installed slot Pr 72.05
(PLC Register 6)
172.05 SM-Apps in slot 1 Pr 72.05 (PLC register 6)
386.04 SM-Apps in slot 3 Pr 86.04 (Digital output 1)
41.21 Browsing filter
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Parameter
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Advanced parameter
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3 Parameter x.00
Parameter x.00 is available in all menus and has the following functions.
*These functions do not require a drive reset to become active. All other
functions require a drive reset.
Saving parameters
When parameters are saved all user save (US) parameters are saved to
EEPROM within the drive. Normally Pr x.00 is set to 1000 to save
parameters. When the parameter save is complete Pr x.00 is reset to
zero by the drive. The drive must not be in the under voltage condition
(Pr 10.16 = 0) and must not be using the 48V supply (Pr 6.44 = 0) for this
action to occur. Saving parameters can take between 400ms and
several seconds depending on the number of parameter values that are
different from the values already saved in EEPROM within the drive. If
the power is removed from the drive during a parameter save it is
possible for the EEPROM data to be corrupted giving an EEF failure
when the drive is next powered up. If the drive is operating from the 24V
supply (under voltage condition is active) or from the 48V supply (Pr 6.44
= 1) the power down time is very short. Therefore using Pr x.00 = 1000
to save parameters is a safe method that minimises the risk of corrupting
the data in EEPROM. However, if it is necessary to save parameters
when the drive is in the under voltage condition or when operating from
the 48V supply, Pr x.00 should be set to 1001 to initiate the parameter
save.
Loading defaults
When defaults are loaded the new parameters are automatically saved
to the drive EEPROM in all modes.
SMARTCARD
It should be noted that there could be some conflict between the actions
of Pr x.00 and Pr 11.42 (Parameter cloning) when the drive is reset. If Pr
11.42 has a value of 1 or 2 and a valid action is required from the value
of Pr x.00 then only the action required by Pr x.00 is performed. Pr x.00
and Pr 11.42 are then reset to zero. If Pr 11.42 has a value of 3 or 4 it will
operate correctly causing parameters to be save to a SMARTCARD
each time a parameter save is performed.
The following differences from standard defaults are available:
3.1 US default differences (1244)
3.2 SMARTCARD transfers
Drive parameters, set-up macros and internal ladder programs can be
transferred to/from SMARTCARDs. See Pr 11.36 to Pr 11.40.
3.3 Electronic nameplate transfers
Some encoders using Stegmann 485 or EnDat comms can hold motor
data. The data can be transferred to/from the encoder by writing 110zy
to parameter x.00 and resetting the drive where z is 0 for the drive or 1, 2
or 3 for Solutions Module slots 1, 2 or 3 respectively. See Chapter
8Electronic nameplate on page 368 for details.
3.4 Display non-default values or
destination parameters
If a value of 12000 is written to Pr x.00, then only parameters that are
different from the last defaults loaded and Pr x.00 are displayed. If a
value of 12001 is written to Pr x.00, then only destination parameters are
displayed. This function is provided to aid locating destination clashes if
a dESt trip occurs.
Value Action
1000 Save parameters when under voltage is not active (Pr
10.16 = 0) and 48V supply is not active (Pr 6.44 = 0).
1001 Save parameters under all conditions
1070 Reset all Solutions Modules
1233 Load standard defaults
1244 Load US defaults
1253 Change drive mode with standard defaults
1254 Change drive mode with US defaults
1255 Change drive mode with standard defaults (excluding
menus 15 to 20)
1256 Change drive mode with US defaults (excluding menus
15 to 20)
3yyy Transfer drive EEPROM data to a SMARTCARD block
number yyy
4yyy Transfer drive data as difference from defaults to
SMARTCARD block number yyy
5yyy Transfer drive ladder program to SMARTCARD block
number yyy
6yyy Transfer SMARTCARD data block yyy to the drive
7yyy Erase SMARTCARD data block yyy
8yyy Compare drive parameters with block yyy
9999 Erase SMARTCARD
9888 Set SMARTCARD read-only flag
9777 Clear SMARTCARD read-only flag
110zy Transfer electronic nameplate parameters to/from drive
from/to encoder
*12000 Display non-default values only
*12001 Display destination parameters only
Pr Description Default Modes Voltage
rating
1.06 Max reference
clamp 60.0Hz Open-loop All
1.06 Max reference
clamp 1800rpm Closed-loop vector All
2.08 Standard ramp volts 775V Open-loop, Closed-
loop vector, Servo 400V
5.06 Rated frequency 60.0Hz Open-loop All
5.08 Rated load rpm 1800rpm Open-loop All
5.08 Rated load rpm 1770rpm Closed-loop vector All
5.09 Rated voltage 460V Open-loop, Closed-
loop vector, Servo 400V
21.01 M2 Max reference
clamp 60.0Hz Open-loop All
21.01 M2 Max reference
clamp 1800rpm Closed-loop vector All
21.06 M2 Rated
frequency 60.0Hz Open-loop All
21.09 M2 Rated voltage 460V Open-loop, Closed-
loop vector, Servo 400V
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Parameter
structure
Keypad and
display Parameter x.00 Parameter description format
Advanced parameter
descriptions
Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
Unidrive SP Advanced User Guide 17
Issue Number: 7 www.controltechniques.com
4 Parameter description
format
In the following sections descriptions are given for the advanced
parameter set. With each parameter the following information block is
given.
The top row gives the menu.parameter number and the parameter
name. The other rows give the following information.
Drive modes
The drive modes are the modes in which this parameter is accessible. If
the parameter is not present the parameter is skipped when accessing
from the keypad. The following types are possible.
Open-loop - with the Unidrive SP hardware and open loop drive mode
selected. The control strategy is V/F mode with fixed boost or open-loop
vector.
Closed-loop vector - with the Unidrive hardware and closed-loop vector
mode selected. The control strategy is rotor flux oriented vector control
with closed-loop current operation for induction motors. The drive can be
operated with or without position feedback.
Servo - with the Unidrive hardware and servo mode selected. The
control strategy is rotor flux oriented vector control with closed-loop
current operation for permanent magnet synchronous motors. The drive
must be operated with position feedback.
Regen - with the Unidrive hardware and regen mode selected. The drive
operates as a PWM rectifier.
Coding
The coding defines the attributes of the parameter as follows:
This guide will show all bit parameters (with the Bit coding), as having a
parameter range of "0 to 1", and a default value of either "0" or "1". This
reflects the value seen through serial communications. The bit
parameters will be displayed on the SM-Keypad (if used) as being "OFF"
or "On" ("OFF"= 0, "On" = 1).
5.11 Number of motor poles
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
1111
Range Open-loop, Closed-loop vector, Servo 0 to 60 (Auto to 120 POLE)
Default
Open-loop
Closed-loop vector
Servo
0 (Auto)
0 (Auto)
3 (6 POLE)
Second motor
parameter
Open-loop
Closed-loop vector, Servo Pr 21.18
Update rate Background read
Coding Attribute
Bit 1 bit parameter
SP Spare: not used
FI
Filtered: some parameters which can have rapidly changing
values are filtered when displayed on the drive keypad for
easy viewing.
DE Destination: indicates that this parameter can be a
destination parameter.
TE Text: the parameter uses text strings instead of numbers.
VM Variable maximum: the maximum of this parameter can vary.
DP Decimal place: indicates the number of decimal places used
by this parameter.
ND
No default: when defaults are loaded (except when the drive
is manufactured or on EEPROM failure) this parameter is not
modified.
RA
Rating dependant: this parameter is likely to have different
values and ranges with drives of different voltage and current
ratings. This parameters is not transferred by SMARTCARDs
when the rating of the destination drive is different from the
source drive.
NC Not cloned: not transferred to or from SMARTCARDs during
cloning.
NV Not visible: not visible on the keypad.
PT Protected: cannot be used as a destination.
US User save: saved in drive EEPROM when the user initiates a
parameter save.
RW Read/write: can be written by the user.
BU
Bit default one/unsigned: Bit parameters with this flag set to
one have a default of one (all other bit parameters have a
default of zero. Non-bit parameters are unipolar if this flag is
one.
PS Power-down save: automatically saved in drive EEPROM at
power-down.
NOTE
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Parameter
structure
Keypad and
display Parameter x.00 Parameter description format
Advanced parameter
descriptions
Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
18 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
4.1 Parameter ranges and variable
maximums:
The two values provided define the minimum and maximum values for
the given parameter. In some cases the parameter range is variable and
dependant on either:
• other parameters,
• the drive rating,
• drive mode
• or a combination of these.
The values given in Table 4-1 are the variable maximums used in the
drive.
Table 4-1 Definition of parameter ranges & variable maximums
Maximum Definition
SPEED_FREQ_MAX
[Open-loop 3000.0Hz,
Closed-loop vector and Servo
40000.0rpm]
Maximum speed (closed-loop mode) reference or frequency (open-loop mode) reference
If Pr 1.08 = 0: SPEED_FREQ_MAX = Pr 1.06
If Pr 1.08 = 1: SPEED_FREQ_MAX is Pr 1.06 or – Pr 1.07 whichever is the largest
(If the second motor map is selected Pr 21.01 is used instead of Pr 1.06 and Pr 21.02 instead of Pr 1.07)
SPEED_LIMIT_MAX
[40000.0rpm]
Maximum applied to speed reference limits
A maximum limit may be applied to the speed reference to prevent the nominal encoder frequency from
exceeding 400kHz. The maximum is defined by
SPEED_LIMIT_MAX (in rpm) = 400kHz x 60 / ELPR = 2.4x107/ ELPR subject to an absolute maximum of
40,000 rpm.
ELPR is equivalent encoder lines per revolution and is the number of lines that would be produced by a
quadrature encoder.
Quadrature encoder ELPR = number of lines per revolution
F and D encoder ELPR = number of lines per revolution / 2
Resolver ELPR = resolution / 4
SINCOS encoder ELPR = number of sine waves per revolution
Serial comms encoder ELPR = resolution / 4
This maximum is defined by the device selected with the speed feedback selector (Pr 3.26) and the ELPR set
for the position feedback device.
SPEED_MAX
[40000.0rpm]
Maximum speed
This maximum is used for some speed related parameters in menu 3. To allow headroom for overshoot etc.
the maximum speed is twice the maximum speed reference.
SPEED_MAX = 2 x SPEED_FREQ_MAX
RATED_CURRENT_MAX
[9999.99A]
Maximum motor rated current
RATED_CURRENT_MAX ≤1.36 x Maximum Heavy Duty current rating (Pr 11.32)
The rated current can be increased above the rated drive current up to a level not exceeding 1.36 x Maximum
Heavy Duty current rating (Pr 11.32). The actual level varies from one drive size to another, refer to Table 4-2.
DRIVE_CURRENT_MAX
[9999.99A]
Maximum drive current
The maximum drive current is the current at the over current trip level and is given by:
DRIVE_CURRENT_MAX = Maximum Heavy Duty current rating (Pr 11.32) / 0.45
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Parameter
structure
Keypad and
display Parameter x.00 Parameter description format
Advanced parameter
descriptions
Macros Serial comms
protocol
Electronic
nameplate Performance Feature look- up table
Unidrive SP Advanced User Guide 19
Issue Number: 7 www.controltechniques.com
MOTOR1_CURRENT_LIMIT_MAX
[1000.0%]
Maximum current limit settings for motor map 1
This maximum current limit setting is the maximum applied to the current limit parameters in motor map 1.
Open Loop
Where:
The Maximum current is either (1.5 x Heavy Duty rating) when the rated current set in Pr 5.07 is less than or
equal to the maximum Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x Normal Duty rating).
Motor rated current is given by Pr 5.07
PF is motor rated power factor given by Pr 5.10
Closed Loop Vector
Where:
The Maximum current is either (1.75 x Heavy Duty rating) when the rated current set in Pr 5.07 is less than or
equal to the maximum Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x Normal Duty rating).
Motor rated current is given by Pr 5.07
ϕ1 = cos-1(PF) - ϕ2. This is measured by the drive during an autotune. See section Closed-loop vector on
page 82 for more information regarding ϕ2.
PF is motor rated power factor given by Pr 5.10
Servo
Where:
Maximum current is drive rated current (Pr 11.32) x 1.75
Motor rated current is given by Pr 5.07
MOTOR2_CURRENT_LIMIT_MAX
[1000.0%]
Maximum current limit settings for motor map 2
This maximum current limit setting is the maximum applied to the current limit parameters in motor map 2.
The formulae for MOTOR2_CURRENT_LIMIT_MAX are the same for MOTOR1_CURRENT_LIMIT_MAX
except that Pr 5.07 is replaced with Pr 21.07 and Pr 5.10 is replaced with Pr 21.10.
TORQUE_PROD_CURRENT_MAX
[1000.0%]
Maximum torque producing current
This is used as a maximum for torque and torque producing current parameters. It is
MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is
currently active.
USER_CURRENT_MAX
[1000.0%]
Current parameter limit selected by the user
The user can select a maximum for Pr 4.08 (torque reference) and Pr 4.20 (percentage load) to give suitable
scaling for analog I/O with Pr 4.24. This maximum is subject to a limit of MOTOR1_CURRENT_LIMIT_MAX.
or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is currently active.
USER_CURRENT_MAX = Pr 4.24
REGEN_REACTIVE_MAX
Reactive current limit in regen mode
The drive applies a limit to the reactive current reference in regen mode to limit the total current to
DRIVE_CURRENT_MAX.
Where:
Rated drive current is given in Table 5-3 on page 78.
Regen unit rated current is given by Pr 5.07
AC_VOLTAGE_SET_MAX
[690V]
Maximum output voltage set-point
Defines the maximum motor voltage that can be selected.
200V drives: 240V, 400V drives: 480V
575V drives: 575V, 690V drives: 690V
Maximum Definition
Maximum
current limit
√
[[Maximum current ]2
+ PF2- 1 ]x 100%= Motor rated current
PF
Maximum
current limit √[[Maximum current ]2
+ cos(ϕ1)2- 1 ]x 100%
= Motor rated current
cos(ϕ1)
Maximum
current limit =[Maximum current ]x 100%
Motor rated current
REGEN_REACTIVE_MAX Rated drive current 1.75×
Regen unit rated current
-------------------------------------------------------------------------


2
Pr 4.072 –


100%×=
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