Control Techniques Unidrive Servo Series Operation manual

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Unidrive Servo &
Unimotor
product data
The performance matched AC Servo
solution for all applications

2

servo drive
Drive Overview 4
Introduction to Macros 7
Drive Technical Specification 12
Connections 16
Drive Installation 19
Electro Magnetic Compatibility (EMC) & Radio 24
Frequency Interference (RFI)
servo motor
Motor Overview 26
Motor Technical Specification 27
Motor Installation 32
Accessories 34
servo drive & motor
combinations
Torque Speed Curves & Tables 42
Servo Sizing Software 48
motion intelligence
Options 50
Typical Applications 54
3
Chapter 1
Chapter 2
Chapter 3
Chapter 4
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drive overview
Connectivity
UD73 - Profibus DP
UD74 - Interbus S
UD77 - DeviceNet
UD75 - CT Net
UD76 - Modbust +
UD71 - RS232/485
HMI - Operator Interfaces
Feedback
Standard - Encoder
UD53 - Resolver
UD52 - Sin/cos encoder
Unimotor
Brushless AC Servo motors to 70Nm
On request:
- Brushless >70NM-1850Nm
- Asynchronous >70NM-2500Nm
Motor accessories: - cables, fan
cowlings, brakes, planetary geared
motors
Unidrive Servo
& Unimotor
The complete multi purpose
Servo package with
high flexibility
& functionality
Model size 3
Model size 2
Model size 1
Model size 4
Motion Intelligence
UD70 - Applications module
UD78 - High performance servo
UD50 - Extended I/O
UD51 - 2nd Encoder
Unisoft - Programming software
SYPT - Systems programming tool
CTSS - Servo sizing software tool
Power Range 380-480V
Size 1 - 0.75 to 4kW
Size 2 - 5.5 to 11kW
Size 3 - 15 to 37kW
Size 4 - 45 to 110kW
Size 5 - >110kW
Line regeneration capability
4
75
95
115
142
190

Unidrive
The Unidrive is an advanced AC drive for use with
AC brushless permanent magnet servo motors. The
Unidrive’s set up can be easily and quickly changed
from the on-board keypad, a remote keypad, or
through UniSoft, a Windows™based configuration
software tool.
Sizes
There are five physical sizes comprising 26
different models ranging from 1NM to 2500 NM*. The
drive is designed for stand alone as well as
coordinated systems applications. There are hundreds
of configurable functions in 20 logically organised
menus. All functions are factory defaulted to typical
values to facilitate easy set-up.
Parameters
The Unidrive’s most commonly used parameters
are stored in Menu 0. This menu is defaulted with
those parameters which are typically accessed, but
the user may map any of the drive’s other
parameters to this menu for easier access. This
approach means easy access for those parameters
the user selects.
Flexibility
In addition Unidrive has many other of embedded
configurable functions which are easily adapted for
virtually any application. Some of these configurable
functions include items such as assignable I/O,
autotune, encoder feedback, frequency and direction
pulse signal input and output, axis limit control, ratio
control, electronic holding brake, S-ramps, position
control and many others.
Technology
Many of these important product features would not
be possible without the use of advanced technology in
the Unidrive. The drive employs advanced
microprocessor technology which controls all drive
functions including input to the inverter ASIC
(Application Specific Integrated Circuit) which
synthesises an adjustable carrier frequency PWM
(Pulse Width Modulation) output. The ASIC output
controls the IGBT (Insulated Gate Bipolar Transistor)
inverter section. All printed circuit boards are
manufactured using surface mount technology.
Regeneration
The Regeneration mode is used for four-quadrant
operation. A Drive can be operated in Regeneration mode
only when it is connected to other Drive(s) operating in
one of the other (motoring) modes.
Regeneration mode allows the following:
●AC supply to be fed from the Regeneration Drive to
the Drive(s) that are controlling the motor
●Regenerated power to be returned to the AC supply
by the Regeneration Drive instead of being dissipated
in braking resistors
AC Supply +
DC Bus
—
Filter
and
Start
Circuit
Regenerating
Unidrive Motoring Unidrive
AC
Motor
Regeneration Module Control Mode ▼
drive overview
* For ratings above 65NM please consult your local Drive/Application centre
5

Key Features
General Features
●Coast & Ramp to Stop modes
●8 Preset speeds & Ramps
●3 Skip frequencies
●S Ramp
●Motorised potentiometer
●Internal braking transistor as standard
●Encoder input as standard
●Programmable security code
●Bright two line LED display
Advanced Features
●Position control
●Digital lock
●Mains dip ride through
●Frequency slaving
●Catch a spinning motor
●Programmable logic functions
●Orientation
Performance Features
●336µs speed loop sample time
●176µs current loop sample time
●16 bit speed loop
●12 bit current loop
●Dynamic injection/braking
●Fast current loop with PI control
Flexibility Features
●Speed reference selector
●Full I/O programmability
●Unisoft
●Well structured menu system
●Encoder I/P
●Programmable logic functions
●Configurable menu zero
●Programmable thresholds
●Resolver feedback
●Sin/cos feedback
●High speed communications
●Applications module
●High performance module
Ease of Use Features
●Macros
●Bright two line LED display
●Cloning module
●Unisoft
Maintenance Features
●Clock
●Full internal protection & diagnostics
●Last ten trips stored
●Programmable security code
●Common control board
●Pluggable terminals
drive overview
6

introduction to macros
7
Introduction
The Unidrive’s more than 700 parameters are
organised so that similar parameters are grouped within
the same menu. For example, Menu 1 holds the
parameters associated with the selection of a speed
reference. Menu 2 holds parameters associated with
the selection of acceleration and deceleration rates etc.
Menu zero
This menu holds parameters that are quick access
duplicates of the most used advanced parameters.
Categories:
0.0 Configuration
0.01 – 0.02 Speed limits
0.03 – 0.06 Ramps
Speed reference selection
Current limit
0.07- 0.09 PID gains (closed loop)
0.10 – 0.13 Monitoring
0.14 – 0.17 Jog reference
Ramp mode selector
Stop and torque mode selectors
0.18 – 0.19 S-ramp
0.20 – 0.23 Skip bands
0.24 – 0.26 Analogue input modes
0.27 – 0.34 Miscellaneous
0.35 Keypad reference monitoring
0.36 – 0.38 Serial communications
Parameter displayed at power up
0.39 – 0.41 Spinning motor
Autotune
PWM switching frequency
0.42 – 0.47 Motor parameters
0.48 Operating mode selection
0.49 – 0.50 Status information
Menu 1 Frequency / speed reference selection
Frequency / speed limits
Skip frequencies / speeds
Menu 2 Acceleration and deceleration ramps
Ramp selection, enable selected
Braking mode selection
S-ramp
Menu 3 Speed indications
Speed loop PID gain
Speed sensing thresholds
Frequency slaving
Hard speed reference
Encoder set up
Menu 4 Current monitoring
Current limiting in speed control
Current loop gains
Torque control
Motor protection
Menu 5 Motor monitoring
Motor ratings
Autotune
PWM switching frequency
Menu 6 Drive sequencer
Auto-start
AC supply loss
Jog time
Limit switches
Injection braking
Synchronise to a spinning motor
Keypad enable
Run-time log
Electricity cost
Menu 7 Analogue I/O
Temperatures
Menu 8 Digital I/O
Menu 9 Programmable logic
Motorised potentiometer
Binary-sum logic
Menu 10 Status and diagnostic information
Process generated trips
UD78 power supply indicator
Menu 11 Menu 0 assignments
Scale factors
Initial parameters displayed
Serial communications
Drive information
Menu 12 Programmable comparators
Menu 13 Position control
Menu 14 PID controller
Menu 15 Regeneration
Menu 16 Small Option Module
Menu 17 Large Option Module
Menu 18 User parameters LOM
Menu 19 User LOM
Menu 20 UD70 only
Menu Overview

8
introduction to macros
Unidrive operation can be simplified by using pre-
configured application macros. These macros are held in
the internal memory of the drive and are user selectable.
Macro summary
Macro 1 – Easy Mode
Easy mode defines the most commonly used
features with only 10 parameters. These parameters
are numbered 0.01 to 0.10
Macro Function
0 Default mode
1 Easy mode
2 Motorised potentiometer
3 Preset speeds
4 Torque control
5 PID macro
6 Axis Limit control
7 Hoist control/brake release
8 Digital Lock
0.01 1.07 Minimum Speed
0.02 1.06 Maximum Speed
0.03 2.11 Acceleration time
0.04 2.21 Deceleration time
0.05 1.14 Reference select
0.06 4.07 Current limit
0.07 3.10 Proportional gain
0.08 3.11 Integral gain
0.09 3.12 Derivation gain
0.10 3.02 Speed feedback
Macro 2 – Motorised Potentiometer
With this function it is possible to emulate a
motorised potentiometer within the Unidrive by simply
supplying two logic input signals to increase or
decrease the “potentiometer”. The output of the
“potentiometer” may be routed to control any of the
drive’s non-bit parameters such as speed, torque or
current limit. The function may be configured to reset
upon power cycling or to memorise its value.
At Speed Output
Drive Reset Input
Jog Input
Run Forward Input
Run Reverse Input
Analog 1/2 Select Input
External Trip Input
Speed Output
Load Output
Analog Ch 1
0-10v DC
1
2
3
4
5
6
7
8
9
10
11
21
22
23
24
25
26
27
28
29
30
31
Drive Connections
Analog Ch 2
4-20mA Input Motorised Pot Up Input
Drive Reset Input
Motorised Pot Down Up
Run Forward Input
Run Reverse Input
An/Mot Pot Select Input
External Trip Input
Thermistor
Speed Output
Load Output
Analog Ch 1
0-10v DC
1
2
3
4
5
6
7
8
9
10
11
Drive Connections
21
22
23
24
25
26
27
28
29
30
31
Run Forward
& Reverse
Speed
& Current
External
Reset Input
Thermistor Motorised pot
Increase &
Decrease
0-10V DC
x 1
x 2
Menu 0
Parameter Param. Description
When a Macro is not enabled, the drive operates in a default
configuration (EURO USA)

introduction to macros
Terminal 24 Terminal 26 Speed
Open Open As set in Pr 0.25
Open Closed As set in Pr 0.26
Closed Open As set in Pr 0.27
Closed Closed As set in Pr 0.28
Macro 3 – Preset Speeds
By using this macro up to four preset frequencies /
speeds can be used. Preset values must be
programmed into individual parameters. Frequency /
speed selection is done by activating terminal 29 and
putting a binary combination on terminals 24 and 26.
Preset Select 1 Input
Drive Reset Input
Preset Select 2 Input
Run Forward Input
Run Reverse Input
An/Preset Select Input
External Trip Input
Thermistor
Speed Output
Load Output
Analog Ch 1
0-10v DC
1
2
3
4
5
6
7
8
9
10
11
21
22
23
24
25
26
27
28
29
30
31
Drive Connections
Run Forward
& Reverse
Speed
& Current
External
Reset Input
Thermistor 2 Inputs
for 4
Preset Speeds
0-10V DC
x 1
x 2
P1 and 1
P1 and 2
P1 and 3
P1 and 4
Macro 4 – Torque control
When this macro is selected a drive can be operated
in Speed or Torque control by using terminal 29.
If in Speed control mode, speed is maintained
independent of load within the limits of the drive. In
Torque control mode the drive will attempt to reach the
speed set point but only with the torque available as
defined by the torque reference signal.
Torque/Current PI (Current)
CurrentFeedback(torquecomponent)
TorqueRef. PostRamp
Ref
Drive Speed Output
Drive Reset Input
Min. Speed Output
Run Forward Input
Run Reverse Input
Speed/Torque Select Input
External Trip Input
Thermistor
Speed Output
Load Output
Torque Ref. 1
2
3
4
5
6
7
8
9
10
11
21
22
23
24
25
26
27
28
29
30
31
Drive Connections
Speed Ref.
Run Forward
& Reverse
Speed
& Current
External
Reset Input
Thermistor 2 Outputs
for A1 Speed
& At Min.Speed
0-10V DC
x 1
x 2
RPM
(Speed)
Amps
(Torque)
0% 100%
0% 100%
9

10
introduction to macros
Drive At Speed Output
Drive Reset Input
Run Forward Input
Run Reverse Input
PID Enable Input
External Trip Input
PID Reference
PID Feedback
Speed Output
Load Output
1
2
3
4
5
6
7
8
9
10
11
21
22
23
24
25
26
27
28
29
30
31
Drive Connections
Torque Ref.
Main Ref.
Run Forward
& Reverse
Speed
& Current
External
Reset Input
PID Ref Input for
PID Enable &
At Speed O/P
0-10V DC
x 1
x 2
PID Ref
PID F/bk PID F/bk PID
Enable
P
ID
Macro 6 – Axis Limit control
Using this macro enables two digital inputs to be
re-programmed so providing limit switch lockout for
axis position control systems. The drive would normally
be run from a +/- 10v reference and controlled forward
/ backwards from this. If a limit switch level is reached
the drive will be forced to stop independent of the
speed setting.
Drive At Speed Output
Drive Reset Input
Run Forward Input
Run Reverse Input
PID Enable Input
External Trip Input
PID Reference
PID Feedback
Speed Output
Load Output
Main Ref.
1
2
3
4
5
6
7
8
9
10
11
21
22
23
24
25
26
27
28
29
30
31
Drive Connections
Torque Ref.
Run Forward
& Reverse
Speed
& Current
External
Reset Input
Thermistor 2 Inputs
for Forward &
Reverse limits
0-10V DC
x 1
x 2
Macro 5 – PID control
This macro configures the drive to control a motor
with reference to PID control signal. In PID control, the
error resulting from differences between the PID
feedback and PID reference is passed through a limiter,
a scaling stage and finally the error is added to the
frequency / speed signal.
Setpoint
Source
PID Output
Source
Feedback
Source

introduction to macros
Macro 8 – Digital Lock
The digital lock macro enables a drive to be
operated so that it will lock two motor shafts together
pulse for pulse.
Macro 7 – Brake control
This macro essentially allows the control of an
external brake. The brake is released when the drive is
running and there is current in the motor.
Brake Release Output
Drive Reset Input
Run Forward Input
Run Reverse Input
External Trip Input
Thermistor
Speed Output
Load Output
Speed Input
from PLC
1
2
3
4
5
6
7
8
9
10
11
Drive Connections
21
22
23
24
25
26
27
28
29
30
31
Run Forward
& Reverse
Speed
& Current
External
Reset Input
Thermistor Brake Release
Output
0-10V DC
x 1
x 2
Run Forward
& Reverse
Speed
& Current
External
Reset Input
Thermistor
only
x 2
Take Up Capatan
MM
Relative Jog
Input
Drive At Speed Output
Drive Reset Input
Relative Jog Input
Run Forward Input
Run Reverse Input
Enable Input
Thermistor
Speed Output
Load Output
1
2
3
4
5
6
7
8
9
10
11
Drive Connections
21
22
23
24
25
26
27
28
29
30
31
Accumultor
Feed Forward
Feedback
Reference Counts
Feedback Counts
+/- Error
11

12
AC supply requirements
380V to 480V ±10%, 3-phase, 48 to 62 Hz
Maximum supply imbalance: 2% negative phase sequence
(equivalent to 3% voltage imbalance between phases)
Line reactors
When one of the following model sizes...
UNI 1401, UNI 1402, UNI 1403, UNI 1404
....is used on an AC supply of 175kVA or larger, it is
recommended that a line reactor of 2% reactance is
included between the AC supply and the Drive. Model
sizes 1405 and larger have an internal dc-bus choke.
A line reactor reduces the risk of damage to the Drive
resulting from severe disturbances on the supply network.
Temperature, humidity and cooling method
Ambient temperature range:
–10°C to 50°C (14°F to 122°F). Output current de-rating
may apply at high ambient temperatures.
Cooling method: Natural convection
Maximum humidity: 95% non-condensing at 40°C (104°F)
Storage temperature range: –40°C to 50°C (–40°F to 122°F)
Maximum storage time: 12 months
Altitude
Altitude range: 0 to 4000m (13000 ft), subject to the
following conditions:
1000m to 4000m (330 feet to 13000 ft) above sea level:
de-rate the maximum output current from the specified
figure by 1% per 100m (330 ft)
Vibration
Maximum vibration:²0.5g as specified in IEC 68–2–61; 1982
Ingress protection
Gland plate(s) not fitted: IP00
Gland plate(s) fitted; cable glands not fitted: IP10
Cable-glands fitted; glands fitted: IP40, NEMA 1
Accuracy and Resolution
The following data applies to the Drive only; it does not
include the performance of the source of the control signals.
Output-frequency accuracy:²±0.1%
Output-frequency resolution: ²± 0.01 RPM
Starts per hour
By electronic control: unlimited
By interrupting the AC supply:
model sizes 1 and 2: ²20, model sizes 3 and 4: ²10
Nominal Maximum permissible continuous output current Nominal
rating AC
supply
current
@380V @460V 3kHz ✝4.5kHz 6kHz 9kHz 12kHz
UNI 1401 0.75 kW 1.0 HP 2.1 A 2.1 A 2.1 A 2.1 A 2.1 A 3.1 A
UNI 1402 1.1 kW 1.5 HP 2.8 A 2.8 A 2.8 A 2.8 A 2.8 A 3.2 A
UNI 1403 1.5 kW 2.0 HP 3.8 A 3.8 A 3.8 A 3.8 A 3.8 A 5.5 A
UNI 1404 2.2 kW 3.0 HP 5.6 A 5.6 A 5.6 A 5.6 A 4.5 A 8.4 A
UNI 1405 4.0 kW 5.0 HP 9.5 A 9.5 A 8.5 A 7.0 A 5.5 A 9.5 A
UNI 2401 5.5 kW 7.5 HP 12.0 A 12.0 A 12.0 A 12.0 A 11.7 A 13.7 A
UNI 2402 7.5 kW 10.0 HP 16.0 A 16.0 A 16.0 A 14.2 A 11.7 A 16.3 A
UNI 2403 11.0 kW 15.0 HP 25.0 A 21.7 A 18.2 A 14.2 A 11.7 A 24.3 A
UNI 3401 15.0 kW 25.0 HP 34.0 A 34.0 A 34.0 A 28.0 A 23.0 A 34.0 A
UNI 3402 18.5 kW 30.0 HP 40.0 A 40.0 A 37.0 A 28.0 A 23.0 A 39.0 A
UNI 3403 22.0 kW 30.0 HP 46.0 A 46.0 A 40.0 A 32.0 A 26.6 A 46.0 A
UNI 3404 30.0 kW 40.0 HP 60.0 A 47.0 A 40.0 A 32.0 A 26.7 A 59.0 A
UNI 3405 37.0 kW 50.0 HP 70.0 A 56.0 A 46.0 A 35.0 A 28.0 A 74.0 A
UNI 4401 45.0 kW 75.0 HP 96.0 A 96.0 A 88.0 A 70.0 A 96.0 A
UNI 4402 55.0 kW 100.0 HP 124.0 A 104.0 A 88.0 A 70.0 A 120.0 A
UNI 4403 75.0 kW 125.0 HP 156.0 A 124.0 A 105.0 A 80.0 A 151.0 A
UNI 4404 90.0 kW 150.0 HP 180.0 A 175.0 A 145.0 A 110.0 A 173.0 A
UNI 4405 110.0 kW 150.0 HP 202.0 A 175.0 A 145.0A 110.0 A 190.0 A
UNI 5401 160.0 kW 200.0 HP 300.0 A 240.0 A
Power and Current ratings
40°C (104°F)
ambient
Model
drive technical specifications
✝Peak current: up to 175% of the rated current for 4 seconds
✝Factory setting

13
drive technical specifications
Frequencies and
speed
PWM switching
frequency:
3kHz nominal (selectable
up to 12kHz)
Maximum speed
30 000 RPM
Speed regulation: 0.01%
Model Nominal Maximum total power dissipation
rating
@380V @460V 3kHz 4.5kHz 6kHz 9kHz 12kHz
UNI 1401 0.75kW 1.0HP 80 W 80 W 90 W 90 W 90 W
UNI 1402 1.1kW 1.5HP 90 W 90 W 100 W 100 W 110 W
UNI 1403 1.5kW 2.0HP 100 W 110 W 110 W 120 W 130 W
UNI 1404 2.2kW 3.0HP 130 W 130 W 140 W 150 W 150 W
UNI 1405 4.0kW 5.0HP 180 W 190 W 190 W 190 W 170 W
UNI 2401 5.5kW 7.5HP 210 W 230 W 250 W 280 W 310 W
UNI 2402 7.5kW 10HP 270 W 290 W 310 W 320 W 310 W
UNI 2403 11.0kW 15HP 400 W 380 W 360 W 330 W 310 W
UNI 3401 15.0kW 25HP 570 W 620 W 670 W 660 W 630 W
UNI 3402 18.5kW 30HP 660 W 720 W 730 W 660 W 630 W
UNI 3403 22.0kW 30HP 730 W 800 W 770 W 730 W 700 W
UNI 3404 30.0kW 40HP 950 W 830 W 790 W 740 W 710 W
UNI 3405 37.0kW 50HP 1090 W 990 W 920 W 850 W 800 W
UNI 4401 45kW 75HP 1460 W 1610 W 1630 W 1530 W
UNI 4402 55kW 100HP 1910 W 1780 W 1670 W 1560 W
UNI 4403 75kW 125HP 2370 W 2130 W 2030 W 1860 W
UNI 4404 90kW 150HP 2640 W 2890 W 2700 W 2470 W
UNI 4405 110kW 150HP 2970 W 2910 W 2720 W 2490 W
UNI 5401 160kW 200HP 5000 W
Dissipation
50°C (122°F) Maximum permissible
ambient continuous output current
Model 3kHz 4.5kHz 6kHz 9kHz 12kHz
UNI 1401 2.1 A 2.1 A 2.1 A 2.1 A 2.1 A
UNI 1402 2.8 A 2.8 A 2.8 A 2.8 A 2.8 A
UNI 1403 3.8 A 3.8 A 3.8 A 3.8 A 3.3 A
UNI 1404 5.6 A 5.6 A 5.1 A 4.0 A 3.3 A
UNI 1405 6.9 A 5.9 A 5.1 A 4.0 A 3.3 A
UNI 2401 12.0 A 12.0 A 12.0 A 11.6 A 9.7 A
UNI 2402 16.0 A 16.0 A 14.7 A 11.6 A 9.7 A
UNI 2403 20.0 A 17.3 A 14.7 A 11.6 A 9.7 A
UNI 3401 34.0 A 34.0 A 28.0 A 21.0 A 17.9 A
UNI 3402 40.0 A 34.0 A 28.0 A 21.0 A 17.9 A
UNI 3403 44.0 A 36.0 A 31.0 A 24.0 A 20.6 A
UNI 3404 44.0 A 36.0 A 31.0 A 24.0 A 20.9 A
UNI 3405 50.0 A 41.0 A 34.0 A 26.0 A 23.0 A
UNI 4401 95.0 A 85.0 A 75.0 A 60.0 A
UNI 4402 105.0 A 85.0 A 75.0 A 60.0 A
UNI 4403 135.0 A 105.0 A 85.0 A 65.0 A
UNI 4404 180.0 A 150.0 A 125.0 A 95.0 A
UNI 4405 190.0 A 150.0 A 125.0 A 95.0 A

14
Dynamic Braking
Resistor Connections
The external braking resistor should be connected
to the Unidrive terminals labelled (+) and (-) on the
terminal strip on Unidrive size 1 & 2 or the stud
connections on Unidrive size 3 & 4. The resistor must
be thermally protected in the unlikely event that the
braking transistor fails. This thermal device must either
disconnect the input AC power to the Inverter or
disconnect the resistor from the circuit. Please contact
the a Drive Centre for additional application information.
Custom Resistor Values
The resistor ohmic value is based on the torque
required to stop the motor (and connected load) in the
time dictated by the application. The first equation to
be solved is the torque required knowing the required
stop time.
T = J x N (Ft - Lb) or T = 2¹J x N (Nm)
tdx 307 tdx 60
Where:
J=Total Inertia (Lb-Ft 2or Kgm2)
N= Motor Max. Speed (RPM)
td= Decel Time (Sec.)
T = Torque (Ft-Lb or Nm)
The torque required must be equal or less than 1.5
x motor/drive capability.
HP(brake) = T x N or P(kW) = T x N
5250 30
The ohmic value of the resistor can now be
calculated using the following formula:
R = (Vb)2or R = (Vb)2
HP(brake) x 746 P(kW)
Where:
Vb= Bus voltage level when braking
= 750 VDC
Minimum Values
The calculated minimum ohmic value is limited by
the braking transistor supplied in the Unidrive being
used. The following is a list of the minimum values.
Average Power Dissipation
The average power dissipated in the resistor for
intermittent operation is then simply the number of
watts dissipated per stop times the duty cycle (D).
Where:
D = td
td+ toff
In order to use this formula for average power
dissipation, the brake resistor must be off long enough
for the temperature of the resistor to return to ambient
temperature between braking cycles. Also, the
maximum on time (or decel time) should not exceed
the peak capabilities of the power resistor. Typically, a
power resistor has the capability of dissipating 10
times rated wattage for 5 to 10 seconds.
Peak Power Rating
The peak power handling ability of the resistor
must meet or exceed the following:
PPK = (Vb)2/R
Unidrive Size 1 40 Ohms
Unidrive Size 2 40 Ohms
Unidrive Size 3 10 Ohms
Unidrive Size 4 5 Ohms
MODEL MINIMUM VALUE
drive technical specifications

Protection
DC Bus Undervoltage Trip 350 VDC
DC Bus Overvoltage Trip 830 VDC
MOV Voltage Transient Protection 160 Joules, 1400 Volts Clamping
(Line to Line & Line to Ground)
Drive Overload Trip Current overload value is exceeded.
Programmable to allow up to 175% of Drive Current for one minute.
Instantaneous Overcurrent Trip 215% of Drive rated current
Phase Loss Trip DC bus ripple threshold exceeded
Overtemperature Trip Drive heatsink temperature exceeds 95°C
Short Circuit Trip Protects against output phase fault
Ground Fault Trip Protects against output phase to ground fault
Motor Thermal Trip Electronically protects the motor from overheating due to
Loading conditions
15
drive technical specifications

Status Relay 1 Normally open contacts
1 Dry contact output pole 1/2 5A, 240 VAC resistive
Drive OK (default)
2 Status Relay 1
Dry contact output pole 2/2
3 Circuit Common
0 VDC Analogue reference
4 +10 VDC ± 1% Voltage tolerance
User supply for external analogue signal device 10 mA output current (current limit protected)
5 Analogue Input 1 (non-inverting input) Bipolar ±10 VDC
Programmable Differential Analogue Input 100k½input impedance
Analogue Speed Reference 1 (default) 12-bit plus sign resolution, ²2mS sampling period OL
6 Analogue Input 1 (inverting input) <45 Oµs C.L.
Programmable Differential Analogue Input
7 Analogue Input 2 Programmable: ±10 VDC (default), 4-20mA,
Programmable Single-ended Analogue Input 20-4mA, 0-20mA inputs,
Analogue Speed Reference 2 (default) 100k½input impedance
10-bit plus sign resolution
²2mS sampling period
8 Motor Thermistor Input
Programmable Single-ended Analogue Input
9 Analogue Output 1 Programmable: ±10 VDC @ 10mA (max) (default)
Programmable Single-ended Analogue Output 4-20mA, or 0-20mA
Output Frequency (open loop default) 1k½minimum load resistance
Speed Feedback (closed loop default) 10-bit plus sign resolution, 8mS update period
Short circuit protected
10 Analogue Output 2
Programmable Single-ended Analogue Output
Torque Output (default)
11 Circuit Common
0 VDC Analogue reference
21 OV Common
22 +24 VDC Voltage Tolerance: ±10%
User Supply Nominal Output: 200 mA
Overload Output: 240 mA with current foldback
protection
23 Circuit Common
0 VDC Digital reference
24 Programmable Logic I/O F1 Output Mode:
Output: At speed (open loop) User-defined: Negative or positive logic
At zero speed (closed loop) Negative logic (default)
Push-pull output, 0 - +24 VDC
100mA max output, 120mA overload current
Input Mode:
User-defined: Positive logic (V > +15 VDC)
or negative logic (V < +5 VDC) (default)
Voltage range: 0 - +24 VDC
3.2 mA max load at +24 VDC
25 Programmable Logic I/O F2
Input: Drive reset (default)
26 Programmable Logic I/O F3
Input: Jog (default)
27 Programmable Logic Input F4 User-defined: Positive logic (V > +15 VDC)
Latched Run Forward (default) or negative logic (V < +5 VDC) (default)
Voltage range: 0 - +24VDC, 3.2 mA max load @ +24 VDC
28 Programmable Logic Input F5
Latched Run Reverse (default)
29 Programmable Logic Input F6
Local (default)/Remote
30 Logic Input: Drive Enable (closed loop)
External Trip (open loop)
31 Circuit Common
0 VDC digital reference
Control Inputs and Outputs
TERMINAL I/O TYPE & FUNCTION RATING
NOTE: There are no terminals numbered 12, 13...., 20 on the Unidrive
connections
16

connections
17
Typical power and default signal connections for speed
control in terminal mode
Status relay
Drive normal
Connections for
single-ended input
signal
Connections for
differential input
signal
Signal
connector
Power
terminals
Analog frequency/speed
reference 1 (remote)
Analog
frequency/speed
reference 2 (local)
SPEED
TORQUE
Analog input 3
Motor thermistor
RESET
JOG SELECT
RUN FORWARD
RUN REVERSE
LOCAL/REMOTE
DRIVE ENABLE
REMOTE
OV common
OV common
OV common
OV common
OV common
Optional
RFI filter
Thermal
protection
device
Stop
Braking resistor
Encoder
Incremental
signal
connections for
all encoders
communication
signal
connectiona for
servo-encoders
Encoder
connector
15-way
D-type
Start/
Reset
+24V
LOCAL

connections
AT ZERO
SPEED
Reference selector
Menu 0 logic diagram
Speed-loop PID gains
Power stage
Motor control
Jog reference
Keypad reference
Reference selector
Precision reference (not
used with Menu 0)
Preset references (not used with Menu 0)
Speed reference 1 (remote) Analog input 1
mode selector
All parameters are shown at their default setting
Minimum speed
Maximum speed
initial parameter displayed
Speed-loop proportional gain
Speed-loop integral gain
Speed-loop derivative gain
Current limit
Stop mode selector
Torque mode selector
Synchronize to a spinning motor
No. of poles Rated voltage Rated speed Rated current Rated frequency
PWM switching frequency
Menu4
S-ramp
S-ramp enable
Speed reference 2 (local)
Analog input 2 destination select
Analog input 2 mode select
Acceleration rate
Deceleration rate Ramp mode selector
S-ramp da/dt limit
Post-ramp speed reference
Motor parameters
THERMISTOR SPEED TORQUE
Reference selection
Ramps
LOCAL/ REMOTE JOG
SELECT RUN
FORWARD RUN
REVERSE RESET DRIVE
ENABLE
Motor active-current
Motor speed
Pre-ramp speed reference
30
18

drive installation
³100mm
(4in)
Optional braking resistors as required for the Drives
External: Mount on top surface of enclosure.
Internal: Mount in top part of enclosure.
System controller
Locate as required.
Signal cables
Plan for all signal
cables to be routed at
least 300mm (12in)
distant from any
power cable.
AC supply isolator,
contactor, and
fuses or MCBs
Locate as required.
Enclosure
Drives
Ensure minimum
clearances are
respected.
Back-plate
³5mm
(…in)
³100mm
(4in)
Alternative
location of
fuses or
MCBs
Locate as
required.
³5mm
(…in)
Power cables
Location
of optional
terminal
block
Location of overload
protection device
Optional braking resistors as required for the Drives
External: Mount on top surface of enclosure.
Internal: Mount in top part of enclosure.
System controller
Locate as required.
Signal cables
Plan for all signal
cables to be routed at
least 300mm (12in)
distant from any power
cable.
RFI filters
Install a separate RFI
filter for each Drive.
AC supply isolator,
contactor, and
fuses or MCBs
Locate as required.
Power cables
Enclosure
Drives and
RFI filters
Ensure minimum
clearances are
respected.
Back-plate
150mm
(6in)
Alternative location of
fuses or MCBs
Locate as required.
³5mm
(…in)
Location
of optional
terminal
block
Location of overload
protection device
³100mm
(4in)
³5mm
(…in)
³5mm
(…in)
Alternative location
of fuses or MCBs
Locate as required.
➀Consult Drive Centre for Filter details.
Panel Wiring Guidelines for Routine EMC Precautions
Panel Wiring Guidelines for Compliance with EMC Emission Standards
19

Model size 1
Model size 2
Model size 3
Model size 4
Panel
Panel
LFA
H
C
G
LFA
C
GEE
Panel
LFA
C
GEE
H
CE1 E1
Panel
E3 E2
LFA
GE2 E3
A 345 345 345 716
[13.56] [13.56] [13.56] [28.19]
C 47.5 95 187.5 250
[1.88] [3.75] [7.38] [9.81]
E 16.5 16.5
[.63] [.63]
E1 17
[.63]
E2 65
[2.56]
E3 143.5
[5.63]
F 368 368 368 743
[14.25] [14.25] [14.25] [29.25]
G 95 190 375 500
[3.75] [7.50] [14.75] [19.69]
H 200 200 260 260
[7.88] [7.88] [10.25] [10.25]
L 335 335 335 700
[13.19] [13.19] [13.19] [27.56]
Mounting 6.5 [ .16 ] clearance or
hole diam. 1/4 UNF M6 thread
Model Size 1 2 3 4
Dimension
➀
Surface Mounting
➀ Dimensions in mm and [inches].
drive installation
20