Emerson unidrive sp Instruction Manual

Technical Note
CTTN # 149
This Technical Note is pertinent for Unidrive SP and Unidrive Classic
Quick Setup/Checkout Guide
There are many considerations when setting up a drive of which safety during
commissioning is of primary concern. One should always have a method of E-Stopping
the drive and verify that it works before attempting a drive setup. This guide is intended
for the technician who is already familiar with the Unidrive Classic or Unidrive SP and is
no substitute for the information provided in the User Guides for these products. It is
merely a short form guide outlining very basic initial setup steps toward the goal of
verification of a drive and motor combination.
Unidrive Classic Unidrive SP
Enable ( typically 30-31 ) Terminal 22-31
Security #0.00= 149 #0.49= L2
Storing/Saving #0.00= 1000 then RESET ( Stop Button )
Setting Defaults #0.00= 1244 then RESET ( Stop Button )
Mode Change #0.00= 1254 then set #0.48= desired mode then RESET
Normal Display #0.10 shows Motor rpm
Auto Tune #0.40=1 Rotating #0.40=1 Static non-rotating)
#0.40=2 Rotating
( motor will go to 2/3 max speed )
Enable needs toggled to move beyond
( Shaft must be unloaded for rotating Autotune !!! )
Performing an Autotune – Show Me
Main Setup Parameters are in Menu 0
#0.02 Max Hz or RPM
#0.03 & 0.04 Accel and Decel rates
#0.05 Basic Control Method ie Pad (or 4 )= Keypad operation
#0.42 = # of motor poles
#0.43 = power factor ( not Service Factor ! Never 1 or greater !!
If you don’t know it leave at 0.85 Motor
Namplate
Data
#0.44 = rated voltage
#0.45 = rated RPM
#0.46 = rated AMPS
#0.47 = rated Frequency
CTTN149 V1.3 Page 15/26/2009
efesotomasyon.com - Control Techniques,emerson,saftronics -ac drive-servo motor

Other Resources
Unidrive Classic User Guide
Unidrive Classic Advanced User Guide
Unidrive SP User Guide
Unidrive SP Advanced User Guide
Unidrive Classic to Unidrive SP PreConversion Considerations- see CTAN277
Unidrive Classic Replacement Details- see CTAN278
Other SHOW ME Unidrive SP Video Resources
CTVI103 Changing a Parameter Selection
CTVI104 Modifying Numeric Values
CTVI105 Saving Parameter Changes
CTVI106 Saving drive data on SMARTCARD
CTVI107 Read drive data from SMARTCARD
CTVI108 Accessing parameters outside menu 0
AC Motor Synchronous Speeds
# Poles 50Hz Motor 60Hz Motor
2 3000 3600
4 1500 1800
6 1000 900
8 750 450
Example: If a motors nameplate indicates that its “rated” speed is 3510 rpm, this would infer
that the motor is a 60Hz 2 pole design.
CTTN149 V1.3 Page 25/26/2009
efesotomasyon.com - Control Techniques,emerson,saftronics -ac drive-servo motor

Open Loop Checkout
If the drive is setup for Open Loop ( see 0.48 ) then the drive can be run and
checked for its’ most basic operation. Open Loop mode does not depend on
any motor mounted speed feedback element ( encoder or similar ). In addition,
running in Open Loop with the Voltage mode #0.07= Fd allows the drive to be run
up without needing a motor to be attached. This is sometimes useful during
determining whether an Overcurrent trip ( OI.AC ) is due to a motor/motor lead
issue vs output stage of the drive itself.
Set
1. #0.05 = Pad (or 4 )so that you can Start/Stop and change speed from
front of drive
2. #0.07= Fd for pure V/Hz mode ( attached motor is not necessary )
3. #0.08= 3% for motor 30HP and less
= 1% for motors 40HP- 75HP
= 0.3% for motors 100HP- 200HP
4. Recheck motor parameters #0.42 - 0.47 and Max Hz (# 0.02= 60Hz ?? ) ,
5. Accel Rates #0.03 & 0.04 = 5 – 15 ( 5 seconds to 100Hz )
Use larger values for large motors/inertias
Also turn S-ramp #2.06 = On
The amount of S curvature could also be increased with #2.07
6. You should be able to run drive from keypad for basic checkout
Note: When changing drives modes of operation, one should be aware that
the drive will revert to factory default values for that particular mode. One should
back up the drive parameters either by extracting and saving the configuration
using CTSoft or by placing a copy on the SmartCard.
CTVI106 Saving drive data on SMARTCARD
CTTN149 V1.3 Page 35/26/2009
efesotomasyon.com - Control Techniques,emerson,saftronics -ac drive-servo motor

Vector Mode
If drive is setup for CL.Vector ( see 0.48 ) then the drive can be run and checked
for its’ most basic operation.
Set
#0.05 = Pad (or 4 ) so that you can Start/Stop and change speed from front of drive
Recheck motor parameters #0.42 - 0.47 and Max RPM (# 0.02 ) ,
Accel Rates #0.03 & 0.04 = 5-15 seconds to 1000rpm
S-ramp #2.06 = On S-Curvature #2.07 could be increased a bit ( 10 )
Stop Mode rP = Ramp located at #6.01 in both Classic & SP
Verify encoder voltage Unidrive Classic Unidrive SP
#3.23 0= 5v 1= 15v #3.36 5,8,15v
If >5v set #3.39= 0
Check for proper encoder wiring and operation
Manual rotation of motor shaft clockwise will result in up counting
–if not swap A and /A
Check for correct encoder PPR #3.21 #3.34
Unidrive Classic Unidrive SP
If correct
Encoder #3.27= #3.29=
¼ Rev = 4096 = 16384
½ Rev = 8192 = 32767
1 Rev = 16384 = 65,535
You could run Auto Tune
Auto Tune #0.40=1 Rotating #0.40=1 Static ( non-rotating)
#0.40=2 Rotating
( motor will go to 2/3 max speed )
Enable needs toggled to move beyond
( Shaft must be unloaded for rotating Autotune !!! )
If motor rotates CCW reverse U & V motor leads and repeat
You should be able to run drive from keypad for basic checkout.
Test by depressing GREEN Run and Up Arrow to ¼ speed then test Stop
If ok go to ½ Speed – Stop then ¾ - Stop then to Full Max Speed if all OK
CTTN149 V1.3 Page 45/26/2009
efesotomasyon.com - Control Techniques,emerson,saftronics -ac drive-servo motor

Servo Mode
If drive is setup for Servo ( see 0.48 ) then the drive can be run and checked for
its’ most basic operation.
Set
#0.05 = Pad (or 4 ) so that you can Start/Stop and change speed from front of drive
Recheck motor parameters #0.42, 45 and 0.46 and Max RPM (# 0.02 ) ,
Accel Rates #0.03 & 0.04 = 5-15 seconds to 1000rpm
Hold Mode= #6.08= 0 or Off
Stop Mode rP = Ramp located at #6.01 in both Classic & SP
Verify encoder voltage
Unidrive Classic Unidrive SP
#3.23 0= 5v 1= 15v #3.36 5,8,15v
If>5vset#3.39=0
Check for proper encoder wiring and operation
Manual rotation of motor shaft clockwise will result in up counting
–if not swap A and /A
Check for correct encoder PPR
#3.21 #3.34
Unidrive Classic Unidrive SP
If correct
Encoder #3.27= #3.29=
¼ Rev = 4096 = 16384
½ Rev = 8192 = 32767
1 Rev = 16384 = 65,535
You could run Auto Tune
Auto Tune #0.40=1 Rotating #0.40=1 motor rotates upto 2 revs
#0.40=2 motor rotates upto 2 revs
Stator resistance measured in test 2
Parameter #3.25 gets updated with motor phasing angle
Enable needs toggled to move beyond
( Shaft must be unloaded for rotating Autotune !!! )
If motor rotates CCW reverse U & V motor leads and repeat
You should be able to run drive from keypad for basic checkout.
Test by depressing GREEN Run and Up Arrow to ¼ speed then test Stop
If ok go to ½ Speed – Stop then ¾ - Stop then to Full Max Speed if all OK
CTTN149 V1.3 Page 55/26/2009
efesotomasyon.com - Control Techniques,emerson,saftronics -ac drive-servo motor

Motor/Machine Directionality
There are times when the motor direction needs to be CCW ( counter clockwise ) for a
forward machine direction. If the previous quick setup proved ok but motor direction is
incorrect for the machine one could perform the following.
Open Loop
Simply reverse 2 motor leads - U and V
Vector Mode
Reverse 2 motor leads - U and V
And
Swap A and /A encoder wires – ( cheap and dirty method )
Correct method would be to swap A with B and /A with /B
Servo Mode
Reverse 2 motor leads - U and V
And
Swap A and /A encoder wires – ( cheap and dirty method )
Correct method would be to swap A with B and /A with /B
And
Swap U with V and /U with /V on encoder
CTTN149 V1.3 Page 65/26/2009
efesotomasyon.com - Control Techniques,emerson,saftronics -ac drive-servo motor