EF

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User Guide

Unidrive
Model sizes 1 to 5
Universal Variable Speed AC Drive for induction and servo motors
Part Number: 0460-0083-09 Issue Number: 9

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 user-interface and machine control 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. 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 [Link]. 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, whilst 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, whilst 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 Software:

August 2003 Control Techniques Drives Limited V03.02.12 onwards

Issue Number: 9

How to use this User Guide

This User Guide provides complete information for installing and operating a Unidrive from start to finish. The information is in logical order, taking the reader from receiving the drive through to fine tuning the performance.
NOTE

There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1 Safety Information on page 7 contains general safety information. It is essential that the warnings are observed and the information considered when working with or designing a system using the drive. This map of the user guide helps to find the right sections for the task you wish to complete:

1 Safety information 2 Product information 3 Mechanical installation 4 Electrical installation 5 Getting started 6 Menu 0 7 Running the motor 8 Optimisation 9 Macros 10 Advanced parameters 11 Technical data 12 Diagnostics 13 UL listing information

Contents
Declaration of Conformity ................... 6 1
1.1 1.2 1.3 1.4 1.5 1.6 1.7

5
5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 5.10 5.11

Getting Started .................................... 58

Understanding the display .................................. 58 Keypad operation ............................................... 58 Menu structure ................................................... 59 Advanced keypad functions ............................... 60 Menu 0 ............................................................... 60 Advanced menus ............................................... 60 Changing the operating mode ............................ 61 Saving parameters ............................................. 61 Defaulting the drive ............................................ 61 Parameter security ............................................. 62 Serial Communications ...................................... 63

Safety Information .................................7

Warnings, Cautions and Notes .............................7 Electrical safety - general warning ........................7 System design and safety of personnel ................7 Environmental limits ..............................................7 Compliance with regulations .................................7 Motor .....................................................................7 Adjusting parameters ............................................7

2
2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9

Product Information ..............................8

Ratings ..................................................................8 Model number .......................................................8 Nameplate description - drive identification ..........9 Model variants .......................................................9 Operating modes .................................................10 Drive features ......................................................11 Option Modules ...................................................12 More information .................................................12 Items supplied with the drive ...............................13

6
6.1 6.2

Menu 0 ................................................. 64
Single line descriptions ...................................... 64 Menu 0 full descriptions ..................................... 72

7
7.1 7.2 7.3

Running the motor .............................. 81

Quick start set-up ............................................... 81 Quick Start commissioning ................................. 84 Quick start P.C. commissioning (UniSoft / VTCSoft) ............................................................ 87

3
3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11 3.12 3.13

Mechanical Installation .......................14

Safety information ...............................................14 Planning the installation ......................................14 Terminal cover removal .......................................14 Ingress protection ................................................15 Option module fitting / removal ...........................15 Mounting methods ...............................................16 Enclosure ............................................................24 Ventilation ...........................................................26 Baffle plates ........................................................28 Ambient temperature ...........................................28 RFI filters .............................................................29 Power terminals ..................................................35 Routine maintenance ..........................................36

8
8.1 8.2 8.3 8.4 8.5

Optimisation ........................................ 92
Motor map parameters ....................................... 92 Current limits ...................................................... 98 Motor thermal protection .................................... 99 Switching frequency ........................................... 99 High speed operation ......................................... 99

9
9.1 9.2 9.3 9.4 9.5

Macros ............................................... 101

Introduction ...................................................... 101 How to load a macro ........................................ 102 Macro terminal connection changes ................ 102 Macro logic diagrams and Menu 0 parameter changes ............................................................ 106 Unidrive VTC macro differences ...................... 122

4
4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 4.11

Electrical Installation ...........................37

Power connections ..............................................37 AC supply requirements ......................................40 Supplying the drive with DC / DC bus paralleling 40 Ratings ................................................................40 Output circuit and motor protection .....................41 Braking ................................................................43 Ground leakage ...................................................44 EMC (Electromagnetic compatibility) ..................44 Control connections ............................................49 Encoder connections ...........................................54 Configuring a Unidrive size 5 system ..................56

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10
10.1 10.2 10.3 10.4 10.5 10.6 10.7 10.8 10.9 10.10 10.11 10.12 10.13 10.14 10.15 10.16 10.17 10.18 10.19 10.20 10.21 10.22

Advanced Parameters ......................123

Menu 1: Speed references and limits ...............124 Menu 2: Ramps (accel. / decel.) .......................128 Menu 3: Speed feedback / frequency slaving ...131 Menu 4: Current control ....................................135 Menu 5: Machine control ...................................139 Menu 6: Sequencing logic .................................143 Menu 7: Analog I/O ...........................................145 Menu 8: Digital I/O ............................................148 Menu 9: Programmable logic ............................152 Menu 10: Status flags / trip log .........................155 Menu 11: Menu 0 customisation / drive specific ratings ...............................................................156 Menu 12: Programmable thresholds .................157 Menu 13: Digital lock / orientation .....................160 Menu 14: Programmable PID function ..............166 Menu 15: Regen ...............................................169 Menu 16 Small option module set-up ...............171 Menu 17: Large option module set-up ..............179 Menu 18: Application menu 1 ...........................179 Menu 19: Application menu 2 ...........................180 Menu 20: Large option module .........................180 Unidrive VTC parameter range and default differences ........................................................181 Advanced Features ...........................................182

11 12
12.1 12.2 12.3 12.4

Technical Data ...................................190 Diagnostics ........................................198

Trip indications ..................................................198 Alarm indications ...............................................204 Status indications ..............................................204 Displaying the trip history ..................................204

11.1 Drive ..................................................................190 11.2 Optional RFI filters ............................................197

13

UL Listing Information ......................205

13.1 AC supply specification .....................................205 13.2 Maximum continuous output current .................205 13.3 Safety label .......................................................205

Index ...................................................206

Unidrive User Guide Issue Number: 9

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Declaration of Conformity
Control Techniques Ltd The Gro Newtown Powys UK SY16 3BE
UNI1201 UNI2201 UNI3201 UNI1401 UNI2401 UNI3401 UNI4401 UNI5401 Date: 26 September 2001 The AC variable speed drive products listed above, including the VTC, LFT (all sizes) and REGEN (UNI3401 to UNI4405 only) variants, have been designed and manufactured in accordance with the following European harmonised, national and international standards: EN 60249 IEC326-1 IEC326-5 IEC326-6 IEC664-1 EN 60529 UL94 UL508C EN 50081-11 EN 50081-2 EN 50082-2 Base materials for printed circuits Printed boards: general information for the specification writer Printed boards: specification for single- and doublesided printed boards with plated-through holes Printed boards: specification for multilayer printed boards Insulation co-ordination for equipment within lowvoltage systems: principles, requirements and tests Degrees of protection provided by enclosures (IP code) Flammability rating of plastic materials Standard for power conversion equipment Generic emission standard for the residential, commercial and light industrial environment Generic emission standard for the industrial environment Generic immunity standard for the industrial environment Adjustable speed electrical power drive systems - Part 3: EMC product standard including specific test methods These electronic drive products are intended to be used with appropriate motors, controllers, electrical protection components and other equipment to form complete end products or systems. Compliance with safety and EMC regulations depends upon installing and configuring drives correctly, including using the specified input filters. The drives must be installed only by professional assemblers who are familiar with requirements for safety and EMC. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used. A Unidrive EMC Data Sheet is also available giving detailed EMC information. UNI1202 UNI2202 UNI3202 UNI1402 UNI2402 UNI3402 UNI4402 UNI1203 UNI2203 UNI3203 UNI1403 UNI2403 UNI3403 UNI4403 UNI3404 UNI4404 UNI3405 UNI4405 W. Drury Executive Vice President, Technology Newtown UNI3204 UNI1404 UNI1405 UNI1204 UNI1205 These products comply with the Low Voltage Directive 73/23/EEC, the Electromagnetic Compatibility (EMC) Directive 89/336/EEC and the CE Marking Directive 93/68/EEC.

EN 61800-3

Conducted emission sizes 1 to 3, not size 4 or 5. See the relevant EMC Data Sheet.

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Unidrive User Guide Issue Number: 9

Safety Information

Product Information

Mechanical Installation

Electrical Installation

Getting Started

Menu 0

Running the motor

Optimisation

Macros

Advanced Parameters

Technical Data

Diagnostics

UL Listing Information

1
1.1

Safety Information
Warnings, Cautions and Notes
A Warning contains information which is essential for avoiding a safety hazard.

1.4

Environmental limits

Instructions in this User Guide regarding transport, storage, installation and use of the drive must be complied with, including the specified environmental limits. Drives must not be subjected to excessive physical force.

1.5

Compliance with regulations

WARNING

A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment.
CAUTION

The installer is responsible for complying with all relevant regulations, such as national wiring regulations, accident prevention regulations and electromagnetic compatibility (EMC) regulations. Particular attention must be given to the cross-sectional areas of conductors, the selection of fuses or other protection, and protective earth (ground) connections. This User Guide contains instruction for achieving compliance with specific EMC standards. Within the European Union, all machinery in which this product is used must comply with the following directives: 98/37/EC: Safety of machinery. 89/336/EEC: Electromagnetic Compatibility.

NOTE

A Note contains information which helps to ensure correct operation of the product.

1.2

Electrical safety - general warning

1.6

Motor

The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive. Specific warnings are given at the relevant places in this User Guide.

Ensure the motor is installed in accordance with the manufacturers recommendations. Ensure the motor shaft is not exposed. Standard squirrel cage induction motors are designed for single speed operation. If it is intended to use the capability of the drive to run a motor at speeds above its designed maximum, it is strongly recommended that the manufacturer is consulted first. Low speeds may cause the motor to overheat because the cooling fan becomes less effective. The motor should be fitted with a protection thermistor. If necessary, an electric forced vent fan should be used.

1.3

System design and safety of personnel

The drive is intended as a component for professional incorporation into complete equipment or a system. If installed incorrectly, the drive may present a safety hazard. The drive uses high voltage and currents, carries a high level of stored electrical energy, and is used to control equipment which can cause injury. Close attention is required to the electrical installation and the system design to avoid hazards, either in normal operation or in the event of equipment malfunction. System design, installation, commissioning and maintenance must be carried out by personnel who have the necessary training and experience. They must read this safety information and this User Guide carefully. The STOP function of the drive does not remove dangerous voltages from the output of the drive or from any external option unit. Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended functions or through incorrect operation due to a fault. In any application where a malfunction of the drive could lead to damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk. The STOP and START controls or electrical inputs of the drive must not be relied upon to ensure safety of personnel. If a safety hazard could exist from unexpected starting of the drive, an interlock that electrically isolates the drive from the AC supply must be installed to prevent the motor being inadvertently started. To ensure mechanical safety, additional safety devices such as electromechanical interlocks and overspeed protection devices may be required. The drive must not be used in a safety critical application without additional high integrity protection against hazards arising from a malfunction. Under certain conditions, the drive can suddenly discontinue control of the motor. If the load on the motor could cause the motor speed to be increased (e.g. in hoists and cranes), a separate method of braking and stopping must be used (e.g. a mechanical brake).

1.7

Adjusting parameters

Some parameters have a profound effect on the operation of the drive. They must not be altered without careful consideration of the impact on the controlled system. Measures must be taken to prevent unwanted changes due to error or tampering.

Unidrive User Guide Issue Number: 9

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Safety Information

Product Information

Mechanical Installation

Electrical Installation

Getting Started

Menu 0

Running the motor

Optimisation

Macros

Advanced Parameters

Technical Data

Diagnostics

UL Listing Information

2
2.1

Product Information
Ratings
200V drive ratings (200V to 240V 10%)
Model 1201 1202 1203 1204 1205 2201 2202 2203 3201 3202 3203 3204 Nominal rating kW 0.37 0.55 0.75 1.1 2.2 3 4 5.5 7.5 11 15 22 hp 0.5 0.75 1 1.5 3 4 5 10 15 20 25 30 Output current* (A) 2.1 2.8 3.8 5.6 9.5 12 16 25 34 46 60 74 Typical Input current (A) 2.4 3.5 4.6 6.5 8.6 10.8 14.3 19.8 26 39 53 78

Table 2-1

The output currents are given for maximum 40C (104F) ambient, 1,000m altitude and 3kHz switching. Derating is required for higher switching frequencies, ambient temperatures >40C (104F) and high altitudes. For further information, refer to section 11.1.1 Power and current ratings on page 190. ** Multiples of 300A output current with 120% overload or multiples of 240A with 150% overload
NOTE

N
UNI5401 = 1 x control module and 1 x power module UNI5402 = 1 x control module and 2 x power modules etc.

A Unidrive size 5 consists of a control module with one or more power modules connected in parallel. i.e.

2.2

Model number

The way in which the model numbers for the Unidrive range are formed is illustrated below.

UNI

05

LFT

LV

Model:
UNI - Unidrive

Voltage rating:
2 - 200V 4 - 400V

Model variant:
- Standard variant LFT - LFT variant VTC - VTC variant REGEN - Regen variant See section 2.4 Model variants for more details

Table 2-2

400V drive ratings (380V to 480V 10%)

Model Output @380V @460V current* (A) kW hp 1401 1402 1403 1404 1405 2401 2402 2403 3401 3402 3403 3404 3405 4401 4402 4403 4404 4405 5401 5402 5403 5404 5405 5406 5407 5408 0.75 1.1 1.5 2.2 4 5.5 7.5 11 15 18.5 22 30 37 45 55 75 90 110 160 320 480 640 800 960 1120 1280 1 1.5 2 3 5 7.5 10 15 25 30 30 40 50 75 100 125 150 150 200 400 600 800 1000 1200 1400 1600 2.1 2.8 3.8 5.6 9.5 12 16 25 34 40 46 60 70 96 124 156 180 202 300** 600** 900** 1200** 1500** 1800** 2100** 2400** Nominal rating Typical Input current (A) 3.0 4.3 5.8 8.2 10.0 13.0 17.0 21.0 27 32 40 52 66 76 91 123 145 181 280 560 840 1120 1400 1680 1960 2240

Model size:

Power rating:
Depends on model size. See section 2.1 Ratings

1 - Size 1 2 - Size 2 3 - Size 3 4 - Size 4 5 - Size 5

Voltage rating:
LV - Low voltage (200V) - Medium voltage (400V)

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Unidrive User Guide Issue Number: 9

Safety Information

Product Information

Mechanical Installation

Electrical Installation

Getting Started

Menu 0

Running the motor

Optimisation

Macros

Advanced Parameters

Technical Data

Diagnostics

UL Listing Information

2.3

Nameplate description - drive identification

The drive label is found on the top surface of the control pod (right angles to the display) on Unidrive sizes 1 to 3 and size 5 control module, and on the side of the Unidrive size 4 and size 5 power module.

Figure 2-1 Typical drive rating labels

Unidrive size 1 to 4 rating label
Drive type (STD,LV, VTC, LFT) Model

Key to Approvals
Power rating Customer and date code

CE approval C Tick approval UL / cUL approval

Europe Australia USA & Canada

UNI3401 VTC
Drive ratings
VOLTAGE 50/60 Hz 3Ph CURRENT (A)

15kW
INPUT 380/480V 27A

STDJ41
IT IS ESSENTIAL TO READ THE MANUAL BEFORE CONNECTING THE DRIVE.

OUTPUT 380/480V 34.0A

OVERLOAD: 40.8A FOR 60 SECS SOFTWARE VERSION: 03.02.11

IND. CONT.. EQ.
R

Approvals

MADE IN THE U.K.

Unidrive size 5 control module rating label

Model Hardware revision

UNIDRIVE SIZE 5 CONTROL MODULE HW2

IT IS ESSENTIAL TO READ THE MANUAL BEFORE CONNECTING THE DRIVE.

TO BE USED IN CONJUNCTION WITH UNIDRIVE SIZE 5 HW2 POWER MODULES (S)

SOFTWARE VERSION: 03.02.11 STDL01

IND. CONT.. EQ.
R

Customer and date code Approvals

3000005001

MADE IN THE U.K.

Unidrive size 5 power module rating label

Model Customer and date code Heatsink fan ratings

UNI5401 POWER MODULE HW2 110V FAN FITTED STDL01

IT IS ESSENTIAL TO READ THE MANUAL BEFORE CONNECTING THE DRIVE.

HEATSINK FAN 110V/120V 50/60HZ

IND. CONT.. EQ.

Drive ratings

INPUT

OUTPUT 380/480V 240.0A 300.0A

R

VOLTAGE 50/60 Hz 3Ph

OVERLOAD: 150 FOR 60 SECS

380/480V 220.0A 280.0A

Approvals

CURRENT (A)

OVERLOAD: 120 FOR 60 SECS

MADE IN THE U.K.

Dual current rating

2.4
2.4.1

Model variants
Unidrive standard industrial (STD)

Figure 2-2 Constant torque load

Percent kW and torque 100 80 60 40 20 0 50 100 Percent speed kW Torque

...for constant torque loads (All frame sizes) Operating modes: Open Loop Closed Loop vector Servo Regen Overload: Open loop 150% for 60s Closed loop vector 175% for 60s (sizes 1 to 4), 150%* for 60s (size 5) Servo 175% for 4s (sizes 1 to 4), 150%* for 4s (size 5) Regen 150% for 60s * Multiples of 300A output current with 120% overload or multiples of 240A with 150% overload

Unidrive User Guide Issue Number: 9

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Safety Information

Product Information

Mechanical Installation

Electrical Installation

Getting Started

Menu 0

Running the motor

Optimisation

Macros

Advanced Parameters

Technical Data

Diagnostics

UL Listing Information

2.4.2

Unidrive LFT

2.5.1

Open Loop mode (OL)

...for lift applications Overloads and operating modes as Unidrive standard industrial, in addition: low acoustic noise 9kHz default switching frequency S4/S5 duty cycle only

For use with standard AC induction motors. The drive applies power to the motor at frequencies varied by the user. The motor speed is a result of the output frequency of the drive and slip due to the mechanical load. The drive can improve the performance of the motor by applying slip compensation. The performance at low speed depends on whether V/f mode or open loop vector mode is selected.

Figure 2-3 Standard S4/S5 duty cycle (Unidrive LFT)

Frequency / speed 50Hz 1500 RPM

V/f mode
The voltage applied to the motor is directly proportional to the frequency except at low speed where a voltage boost is provided which is set by the user. This mode should used for multi-motor applications. Typically 100% torque at 4Hz.

Open loop vector mode

0

150% 100%

Current

The voltage applied to the motor is directly proportional to the frequency except at low speed where the drive uses motor parameters to apply the correct voltage to keep the flux constant under varying load conditions. Typically 100% torque at 1Hz.

2.5.2

Closed loop vector mode (VT)

For use with induction motors with a speed feedback device fitted.
0 2 0 20 60

The drive directly controls the speed of the motor using the feedback device to ensure the rotor speed is exactly as demanded. Motor flux is accurately controlled at all times to provide full torque all the way down to zero speed. Typically 175% torque at 0rpm.

2.4.3

Unidrive VTC

...for quadratic load (variable torque) applications (fans and pumps) Open loop fixed boost mode only 120% overload for 60s

2.5.3

Servo (SV)

For use with permanent magnet brushless motors with a speed and position feedback device fitted. The drive directly controls the speed of the motor using the feedback device to ensure the rotor speed is exactly as demanded. Flux control is not required because the motor is self excited by the permanent magnets which form part of the rotor. Absolute position information is required from the feedback device to ensure the output voltage is accurately matched to the back EMF of the motor.

Figure 2-4 Variable torque mode

Percent kW and torque 100 80 60 40 20 0 50 100 Percent speed Torque kW

Typically 175% torque at 0rpm

2.5.4

Regen

For use as a regenerative front end for four quadrant operation. Regen operation allows bi-directional power flow to and from the AC supply. This provides far greater efficiency levels in applications which would otherwise dissipate large amounts of energy in the form of heat in a braking resistor. The harmonic content of the input current is negligible due to the sinusoidal nature of the waveform when compared to a conventional bridge rectifier or thyristor front end. See the Regen Installation Guide for more information on this operating mode.

2.4.4

Unidrive REGEN

All sizes of Unidrive can be used in regen mode. However, Unidrive sizes 3 and 4 require an internal modification before being used in a regen system. This modification is already completed if the drive has been ordered as a Unidrive REGEN.

2.5.5

Key to operating mode abbreviations

Open loop Closed loop (which incorporates closed loop vector and servo mode) Closed loop vector mode Servo

2.5

Operating modes

All variants of Unidrive (except VTC) are designed to operate in any of the following modes: 1. Open loop mode V/f mode (V/ Hz) Open loop vector 2. Closed loop vector 3. Servo 4. Regen Unidrive VTC can only operate in open loop quadratic V/f mode.

Abbreviations are throughout this User Guide to define the operating mode for which the information applies as follows: OL> CL> VT> SV>

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Unidrive User Guide Issue Number: 9

Safety Information

Product Information

Mechanical Installation

Electrical Installation

Getting Started

Menu 0

Running the motor

Optimisation

Macros

Advanced Parameters

Technical Data

Diagnostics

UL Listing Information

2.6

Drive features

Figure 2-5 Features of the drive (Size 1 to 5)

Programming keys

Upper display Lower display

Control keys
Forward / Reverse Stop / Reset Run

Large option module connection Small option module connection Control connectors Encoder connection
AC In AC In

AC In

AC Out

AC In

AC Out

AC In

AC Out

AC In

AC Out

Sharing choke

Sharing choke

AC Out

AC Out

NOTE

Unidrive size 5 consists of a control module and one or more power modules. For power ratings greater than 160kW / 200hp, multiple power modules (up to a maximum of 8) can be connected in parallel. When multiple power modules are used, an output sharing choke is required before the drive outputs are connected together.

Unidrive User Guide Issue Number: 9

11
[Link]

Safety Information

Product Information

Mechanical Installation

Electrical Installation

Getting Started

Menu 0

Running the motor

Optimisation

Macros

Advanced Parameters

Technical Data

Diagnostics

UL Listing Information

2.7

Option Modules

The following option modules are available for use with Unidrive.

Figure 2-6 Unidrive options available for all sizes

UD78

UD71

UD70 UD55 UD53 UD52 UD51 UD50

Servo

RS232 RS485

Applications module

Cloning module

Resolver

Sin Cos Encoder

Second Encoder

Extra I/O

9901 11 destination addr

UD73
F1

UD74

UD75

UD76

UD77

UD77

UD77

F2

F3

Universal Keypad Profibus-DP Interbus CT Net Modbus Plus Device Net CAN CANopen

Unidrive sizes 1 to 4 have built in braking transistors; for Unidrive size 5 a braking option can be fitted if required as shown below:

Figure 2-7 Braking option available for Size 5

WARNING

The drive must be powered down for a minimum duration of 10 minutes before an option module is fitted or removed.

2.8

More information

Size 5 Braking option

The following manuals are also available providing full information on the various option modules, regen mode and advanced product use: Unidrive Advanced User Guide Regen Installation Guide UD50 User Guide (Additional I/O small option module) UD51 User Guide (Second encoder small option module) UD52 User Guide (SINCOS encoder interface small option module) UD53 User Guide (Resolver interface small option module) UD55 User Guide (Cloning interface small option module) UD70 User Guide (Large option module and software) UD71 User Guide (Serial communications large option module) UD73 User Guide (Profibus-DP large option module) UD74 User Guide (Interbus large option module) UD75 CT Net User Guide (Large option module) UD76 User Guide (Modbus Plus large option module) UD77 User Guide (Device Net large option module) UD78 User Guide (Servo large option module) CAN User Guide (Large option module) CANopen User Guide (Large option module) Universal Keypad User Guide Universal Keypad Advanced User Guide Please also see the Unisoft drive commissioning software which contains a help file detailing full advanced parameter descriptions and other useful information.

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Unidrive User Guide Issue Number: 9

Safety Information

Product Information

Mechanical Installation

Electrical Installation

Getting Started

Menu 0

Running the motor

Optimisation

Macros

Advanced Parameters

Technical Data

Diagnostics

UL Listing Information

2.9

Items supplied with the drive

Size 1 Size 2
Certificate of quality Safety Booklet Mounting brackets

Size 3
Certificate of quality Safety Booklet Mounting brackets

Size 4
Certificate of quality Safety Booklet Mounting brackets

Size 5 control
Certificate of quality Safety Booklet Mounting brackets

Size 5 power
Certificate of quality Interface leads

Certificate of quality Safety Booklet Mounting brackets

Control connectors

Control connectors

Control connectors

Control connectors

Control connectors

9 10 11

9 10 11

9 10 11

9 10 11

9 10 11

21 22 23 24 25 26 27 28 29 30 31

21 22 23 24 25 26 27 28 29 30 31

21 22 23 24 25 26 27 28 29 30 31

21 22 23 24 25 26 27 28 29 30 31

21 22 23 24 25 26 27 28 29 30 31

Gasket foam

Gasket foam

Gasket foam

Gasket foam

UL Warning label
Risk of Electric Shock Power down unit 10minutes before removing cover

CAUTION

Power connector
L3 . -

Power connector

UL Warning label
Risk of Electric Shock Power down unit 10minutes before removing cover

UL Warning label
Risk of Electric Shock Power down unit 10minutes before removing cover

CAUTION

CAUTION

L1

L2

UL Warning label
Risk of Electric Shock Power down unit 10minutes before removing cover

UL Warning label
Risk of Electric Shock Power down unit 10minutes before removing cover

CAUTION

CAUTION

Unidrive User Guide Issue Number: 9

13
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Safety Information

Product Information

Mechanical Installation

Electrical Installation

Getting Started

Menu 0

Running the motor

Optimisation

Macros

Advanced Parameters

Technical Data

Diagnostics

UL Listing Information

Mechanical Installation
Option module fitting Mounting methods Enclosure sizing and layout Terminal location and torque settings

This chapter describes how to use all mechanical features to install the drive. Key features of this chapter include:

If it is necessary to meet strict emission limits, or if it is known that electromagnetically sensitive equipment is located nearby, then full precautions must be observed. These will include the use of RFI filters at the drive inputs, which must be located very close to the drives. Space must be made available for the filters and allowance made for carefully segregated wiring. Both levels of precautions are covered in section 4.8 EMC (Electromagnetic compatibility) on page 44.

3.2.7

Hazardous areas

3.1

Safety information
Follow the instructions The mechanical and electrical installation instructions must be adhered to. Any questions or doubt should be referred to the supplier of the equipment. It is the responsibility of the owner or user to ensure that the installation of the drive and any external option unit, and the way in which they are operated and maintained, comply with the requirements of the Health and Safety at Work Act in the United Kingdom or applicable legislation and regulations and codes of practice in the country in which the equipment is used. Competence of the installer The drive must be installed by professional assemblers who are familiar with the requirements for safety and EMC. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used.

The drive must not be located in a classified hazardous areas unless it is installed in an approved enclosure and the installation is certified.

3.3

Terminal cover removal

Isolation device The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed. Stored charge The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energised, the AC supply must be isolated at least ten minutes before work may continue. Normally, the capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the capacitors may fail to discharge, or be prevented from being discharged by a voltage applied to the output terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the capacitors will not be discharged. In this case, consult Control Techniques or their authorised distributor.

WARNING

WARNING

WARNING

WARNING

3.2
3.2.1 3.2.2

Planning the installation

Access Environmental protection

The following considerations must be made when planning the installation: Access must be restricted to authorised personnel only. Safety regulations which apply at the place of use must be complied with. The drive must be protected from: moisture, including dripping water or spraying water and condensation. An anti-condensation heater may be required, which must be switched off when the drive is running. contamination with electrically conductive material contamination with any form of dust which may restrict the fan, or impair airflow over various components temperature beyond the specified operating and storage ranges

3.3.1

Removing the terminal covers

Unidrive sizes 1 to 4 and the size 5 control module are fitted with one or two terminal covers depending on the model size. When model sizes 1, 3 and 4 are through-panel mounted, the terminal cover(s) must first be removed in order for access to be gained to the lower mounting holes. Figure 3-1 Removing the terminal covers

3.2.3

Cooling

The heat produced by the drive must be removed without its specified operating temperature being exceeded. Note that a sealed enclosure gives much reduced cooling compared with a ventilated one, and may need to be larger and/or use internal air circulating fans. For further information, please refer to section 3.7.2 Enclosure sizing on page 24.

3.2.4

Electrical safety
The terminal cover(s) of all models must be removed for access to the electrical connectors.

The installation must be safe under normal and fault conditions. Electrical installation instructions are given in Chapter 4 Electrical Installation on page 37.

3.2.5 3.2.6

Fire protection Electromagnetic compatibility

The drive enclosure is not classified as a fire enclosure. A separate fire enclosure must be provided. Variable speed drives are powerful electronic circuits which can cause electromagnetic interference if not installed correctly with careful attention to the layout of the wiring. Some simple routine precautions can prevent disturbance to typical industrial control equipment.

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Figure 3-2

View from the underside showing how a terminal cover is removed from the drive

3.4

Ingress protection

Size 1 to 4: Gland plate(s) not fitted: IP00 Gland plate(s) fitted; cable glands not fitted: IP10 Gland plate(s) fitted; cable-glands fitted: IP40, NEMA 1 Size 5 power and control modules: IP00

3.5

Option module fitting / removal

Power down the drive before fitting / removing an option module. Failure to do so may result in damage to the product.

CAUTION

Remove terminal covers, as follows: 1. Working on either side of the terminal cover, push the inner edge of the cover firmly outward until it becomes unclipped. 2. Swing the side of the cover outward and upward until the remaining clips become released. 3. Remove the gland plate Figure 3-3 Removing the three terminal covers on the Size 5 power module

The small option module should be placed under the two green securing clips in the main housing beneath the drive display and pushed firmly into place. Ensure the two connectors mate securely. Figure 3-4 Fitting of a Unidrive small option module

The large option module slides into the space directly beneath the drive display so that only the front face of the module can be seen. Ensure the module clicks into place indicating that the two connectors have mated successfully. Figure 3-5 Fitting of a Unidrive large option module

M5 pozidriv screw
Remove the three terminal covers on the power module, as follows: 1. Remove the two pozidriv screws. 2. Remove the upper cover. 3. Remove the two pozidriv screws. 4. Remove the lower cover until it is released from the middle cover. 5. Remove the four screws that are now revealed. 6. Remove the middle cover. All the power terminals and ribbon-cable connectors are now accessible.

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3.6

Mounting methods

Unidrive sizes 1 to 4 can be either through hole or surface mounted using the appropriate brackets. The Unidrive size 5 consists of two modules: the control module should be surface mounted the power module must be through hole mounted.
WARNING

Lifting the drive The weights of model sizes 3 and 4 are 22kg (49lbs) and 70kg (154lbs) respectively; the size 5 power module exceeds 100kg (220lbs). Use appropriate safeguards when lifting these models. If the drive has been used at high load levels for a period of time, the heatsink may be hot. Human contact with the heatsink should be restricted.

The following drawings show the dimensions of the drive and mounting holes for each method to allow a back plate to be prepared.
WARNING

Figure 3-6

Surface mounting of model sizes 1 and 2

0.787in

0.787in

Model size 1

Back-plate

13.189in

14.409in

13.524in

13.031in

1.870in

3.740in

7.874in

Model size 2 Back-plate

13.189in

14.409in

13.524in

3.740in 0.650in

0.650in

7.480in

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Figure 3-7

Surface mounting of model sizes 3 and 4

Model size 3 Back-plate 1.772in

13.189in 14.488in

13.622in

6.890in

7.382in 14.764in

0.650in

0.650in

9.843in Model size 4

10.236in

0.669in

0.669in

27.559 in

30.118 in Back-plate

28.071in

19.685in 2.559in 5.650in 5.650in 2.559in

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Figure 3-8

Through-panel mounting of model sizes 1 and 2

Back-plate Model size 1

13.189in

14.331in

11.614in

13.583in

7.874in 3.740in 4.724in 3.150 in

0.512in 3.406in 0.650in Back-plate

0.650in

Model size 2

13.189in

14.331in

11.614in

13.583in

0.512in 7.480in 7.165in

NOTE

When drives are through-panel mounted, a baffle plate is required to ensure the correct level of air-flow is maintained through the heatsink. For further information, please refer to section 3.9 Baffle plates on page 28.

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Figure 3-9

Through-panel mounting of model sizes 3 and 4

0.650in

Model size 3

Back-plate

0.650in

13.189in 14.331in

11.299in

13.583in

14.764in

10.236in

0.276 0.630 2.717in 2.717in in in 5.512in 5.177in 7.362in 14.094in

4.724in

Model size 4

0.138in

2.559in

25.591in 27.559in 29.252in

28.248in

Back-plate

19.685in

0.295in

5.118in 5.118in 7.559in 9.902in 18.972in

0.669in

NOTE

When drives are through-panel mounted, a baffle plate is required to ensure the correct level of air-flow is maintained through the heatsink. For further information, please refer to section 3.9 Baffle plates on page 28.

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Figure 3-10

Unidrive Size 5 overall dimensions

35.5mm (1.398in)

1248mm (49.134in)

1319mm (51.926in)

35.5mm (1.398in)

315mm (12.402in)

278mm (10.945in)

355mm (13.976in)

340mm (13.386in) 484mm (19.055in)

144mm (5.669in)

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Figure 3-11

Unidrive Size 5 mounting dimensions

278mm (10.945in) Rear view of power module 144mm (5.669in) Exhaust port Side view of power module

Exhaust port

Heatsink duct

Heatsink duct

1248mm (49.134in)

Inlet port (internal fan)

256mm (10.079in)

Inlet port (internal fan)

154mm (6.063in) Alternative inlet port (external fan) 139mm (5.472in) Inlet port (external fan) 144mm (5.669in)

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Figure 3-12

Unidrive size 5 backplate mounting holes and aperture

Location of aperture in relation to the outline of the power module 315mm 12.402in Locations and dimensions of the mounting holes in relation to the aperture 203mm 7.992in

37.5mm 1.476in

37.5mm 1.476in

33.5mm 1.319in

16.5mm 0.650in

282mm 11.102in

16.5mm 0.650in

23.5mm 0.925in

11mm 0.433in

Outline of the power module Aperture 20mm 0.787in 28.5mm 1.122in 339mm 13.346in 28.5mm 1.122in

20mm 0.787in 1319mm 51.929in

8mm 0.315in

8mm 0.315in 1252mm 49.291in 1286mm 50.630in 670mm 26.378in

590mm 23.228in

33.5mm 1.319in

10mm 0.413in

11mm 0.433in

Figure 3-13

Unidrive Size 5 control module surface mounting

20mm (0.787in) 20mm (0.787in)

Back-plate

335mm 368mm (13.189in) (14.488in)

345mm (13.583in)

332mm (13.071in)

47.5mm (1.870in)

143mm (5.630in)

95mm (3.740in)
NOTE

The Unidrive size 5 control module should be located within 2m of the power module to allow the interconnections to be made using the ribbon cables supplied with the power module.

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Table 3-1
Model size

General views of the mounting brackets

Through-panel Surface Hole size

M6

Upper and lower

M6

Upper and lower

Upper

M6

Lower

M6 (throughpanel) 4 Upper M8 (surface)

Lower

M6

Upper and lower

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3.7
3.7.1

Enclosure
Enclosure Layout

Please observe the clearances in the diagram below taking into account any appropriate notes for other devices / auxiliary equipment when planning the installation. Figure 3-14 Enclosure layout
Locate as required

Ensure minimum clearances are maintained for the drive and RFI filter Forced or convection air-flow must not be restricted by any object or cabling

AC supply contactor and fuses or MCB

> 100mm (3.937in) > 5mm (0.197in)

Optional RFI filter

> 5mm (0.197in) > 100mm (3.937in)

Locate as close to the drive as possible (to keep the cable as short as possible) respecting the minimum clearances

Control module (size 5 only)

> 100mm (3.937in)

Note: for EMC compliance 1) A separate RFI filter is required for each drive 2) Power cabling must be at least 100mm (4in) from the drive in all directions Note: Footprint RFI filters are available for Unidrive frame sizes 1 and 2 Indicates minimum clearance required from device

Drive Controller
> 5mm (0.197in) > 5mm (0.197in)

Optional braking resistor and overload

> 100mm (3.937in)

Signal cables Plan for all signal cables to be routed at least 300mm (12in) from the drive and any power cable

Locate resistor external to cubicle (preferably near to or at the top of the cubicle)

3.7.2

Enclosure sizing

Calculating the size of a sealed enclosure

The enclosure transfers internally generated heat into the surrounding air by natural convection (or external forced air flow); the greater the surface area of the enclosure walls, the better is the dissipation capability. Only the surfaces of the enclosure that are unobstructed (not in contact with a wall or floor) can dissipate heat. Calculate the minimum required unobstructed surface area Ae for the enclosure from: P A e = ----------------------------------k ( Tint T ext ) Where: Ae
T ext

1. Add the dissipation figures from section 11.1.2 Power dissipation (all versions) on page 191 for each drive that is to be installed in the enclosure. 2. If an RFI filter is to be used with each drive, add the dissipation figures from section 11.2.1 Ratings on page 197 for each RFI filter that is to be installed in the enclosure. 3. If the braking resistor is to be mounted inside the enclosure, add the average power figures for each braking resistor that is to be installed in the enclosure. 4. Calculate the total heat dissipation (in Watts) of any other equipment to be installed in the enclosure. 5. Add the heat dissipation figures obtained above. This gives a figure in Watts for the total heat that will be dissipated inside the enclosure.

Unobstructed surface area in m2 (1m2 = 10.8 ft2) Maximum expected ambient temperature in oC outside the enclosure Maximum permissible ambient temperature in oC inside the enclosure Power in Watts dissipated by all heat sources in the enclosure Heat transmission coefficient of the enclosure material in Wm2/oC

Tint P k

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Example To calculate the size of an enclosure for the following: Two UNI1405 models Each drive to operate at 4.5kHz PWM switching frequency RFI filter for each drive Braking resistors are to be mounted outside the enclosure Maximum ambient temperature inside the enclosure: 40C Maximum ambient temperature outside the enclosure: 30C

Calculating the air-flow in a ventilated enclosure

The dimensions of the enclosure are required only for accommodating the equipment. The equipment is cooled by the forced air flow. Calculate the minimum required volume of ventilating air from: 3kP V = -------------------------T int T ext Where: V
T ext

Dissipation of each drive: 190W Dissipation of each RFI filter: 7.7W (max) Total dissipation: 2 x (190 + 7.7) = 395.4W The enclosure is to be made from painted 2mm (0.079 in) sheet steel having a heat transmission coefficient of 5.5W/m2/oC. Only the top, front, and two sides of the enclosure are to be free to dissipate heat. Figure 3-15 Enclosure having front, sides and top panels free to dissipate heat

Air-flow in m3 per hour Maximum expected ambient temperature in oC outside the enclosure Maximum permissible ambient temperature in oC inside the enclosure Power in Watts dissipated by all heat sources in the enclosure Po Ratio of -----Pl

Tint P k Where:

P0 is the air pressure at sea level PI is the air pressure at the installation Typically use a factor of 1.2 to 1.3, to allow also for pressure-drops in dirty air-filters.

Example To calculate the size of an enclosure for the following: Three UNI3401 models Each drive to operate at 6kHz PWM switching frequency RFI filter for each drive Braking resistors are to be mounted outside the enclosure Maximum ambient temperature inside the enclosure: 40oC Maximum ambient temperature outside the enclosure: 30oC

D W

Dissipation of each drive: 670W Insert the following values: Tint 40C 30C Text k 5.5 P 395.4W The minimum required heat conducting area is then: 395.4 A e = -------------------------------5.5 ( 40 30 ) =7.2m2 (78ft2) (1m = 3.3 ft) Estimate two of the enclosure dimensions - the height (H) and depth (D), for instance. Calculate the width (W) from: A e 2HD W = ------------------------H+D Inserting H = 2m and D = 0.6m, obtain the minimum width: 7.2 ( 2 2 0.6 ) W = ---------------------------------------------2 + 0.6 = 1.8m (6ft) If the enclosure is too large for the space available, it can be made smaller only by attending to one or all of the following: Using a lower PWM switching frequency to reduce the dissipation in the drives Reducing the ambient temperature outside the enclosure, and/or applying forced-air cooling to the outside of the enclosure Reducing the number of drives in the enclosure Removing other heat-generating equipment (1m
3/

Dissipation of each RFI filter: 12.8W (max) Total dissipation: 3 x (670 + 60) = 2048.4W Insert the following values: Tint 40C 30C Text k 1.3 P 2048.4W Then: 3 1.3 2048.4 V = ----------------------------------------40 30 = 799m3 / hr (471ft3 / min) hr = 0.59ft3 /min)

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3.8

Ventilation

Unidrive sizes 1-4 are ventilated by internally supplied heatsink fans. Ensure the minimum clearances around the drive are maintained to allow air to flow freely. The Unidrive size 5 requires ventilation at the front (control) and rear (heatsink) of the module. Two parallel independent paths must be provided as shown to ensure the heat produced is dispersed. A heatsink fan is fitted as standard on request however this requires either a 110Vac or 240Vac external single phase power supply to be connected at the bottom left hand corner of the power module. The choice of fan power supply must be made when ordering the power module.

If a fan is not fitted internally, the air flow must be obtained by an external fan and ducting. The blanking plate at the lower end of the duct must be removed in order to expose the inlet port (see Figure 3-17). The air supply must be obtained from outside the enclosure and the exhaust air must exit the enclosure. The maximum permissible heatsink temperature is 95C (203F). Take the following precautions to help ensure this is not exceeded: 1. Ensure the temperature of the air at the inlet port of the heatsink does not exceed 40C (104F). 2. Ensure that the upward flow of the exhaust air from the top of the heatsink will be unobstructed. Fit additional ducting having the same cross-sectional area as the heatsink to extract all the exhaust air from the enclosure. 3. Ensure the volume of the exhaust air is not less than 1,000m3/hr (588ft3/min), equivalent airspeed 7m/s (23 ft/s). Measure the air-flow to ensure it is adequate. 4. If the power module has a ventilation fan fitted in the heatsink, to ensure that a sufficient amount of air is available to supply the fan, locate the enclosure at least 300mm (12 in) from a wall or large object that will be behind the enclosure. Fit a duct between the rear panel of the enclosure and the inlet port at the rear of the heatsink. If the power module does not have an internal fan, a forced air-flow must be ducted into the inlet port at the bottom of the heatsink. 5. Ensure that the exhaust air is not recycled into the inlet port of the heatsink or into the enclosure.
NOTE

3.8.1

Ventilation requirements for the Size 5 power module

Figure 3-16 Typical ventilation arrangement using the internal heatsink fan
300mm (12 in) 1000m3/hr (588ft3/min) 7 m/s (23 ft/s)

Wall

Back-plate

Exhaust duct
3

150mm (6 in) 400m /hr (235 ft3/min) 1 m/s (3.3 ft/s)

Vent

The solutions shown for Unidrive size 5 ventilation are to illustrate the important points which must be considered. Many variations of this are possible to suit the specific site conditions.

Enclosure

Power module Heatsink

Inlet duct

Fan for cooling the control section 150mm (6 in)

Sharing choke (for parallel operation only)

Cooling the heatsink

When designing the cooling system, allow for the rear of the power module to produce 4kW of heat. This heat is dissipated in a heatsink that is inside a vertical duct at the rear of the power module. Forced air-flow is required through the duct in order to cool the heatsink.

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Figure 3-17 Typical ventilation arrangement using an external heatsink fan

Exhaust duct Back-plate 1000m3/hr (588ft3/min) 7 m/s (23 ft/s)
3

Exhaust duct

150mm (6 in) 400m /hr (235 ft3/min) 1 m/s (3.3 ft/s)

Vent

Enclosure

1000m3/hr (588ft3/min) 7 m/s (23 ft/s)

1000m3/hr (588ft3/min) 7 m/s (23 ft/s)

1000m3/hr (588ft3/min) 7 m/s (23 ft/s)

Power module Heatsink

Fan for cooling the control section 150mm (6 in)

40 0 C (104 0F)

Inlet duct Inlet duct Sharing choke (for parallel operation only)

Cooling the control components in the Size 5 power module

The circuit boards, DC-bus capacitors, etc., in the front part of the power module generate about 700W of heat when the power module is operating at full load. Since the heatsink fan does not ventilate these components, a separate air-flow must be used to remove the heat. The following precautions must be taken: 1. It is recommended that a fan is installed in the lower part of the enclosure door to drive air into the enclosure. An air vent should be added to the upper part of the door to remove the exhaust air. 2. It is recommended that the airflow is ducted into the front of the drive. This airflow must be at least 400m3/hr (235ft3/min), equivalent air speed of 1m/s (3.3ft/s) through the front control section of the size 5 power module. If the airflow is not ducted into the front of the drive, the airflow into the enclosure must be at least 1000m3/hr (588ft3/min), equivalent air speed of 7m/s (23ft/s) for a enclosure of 800mm x 800mm x 2200mm. 3. The maximum temperature of the air in the enclosure must not exceed 40C (104F).

Figure 3-18 Alternative location of the exhaust duct in order to minimize overall height
Exhaust duct Back-plate

150mm (6 in)

Vent

Enclosure

Power module Heatsink

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3.9

Baffle plates

When a Unidrive size 1 to 4 is through-panel mounted, the fitting of a baffle plate causes the heatsink to act as a chimney; this enhances the air flow along the heatsink fins to aid cooling (this naturally occurs when the drive is surface mounted). You may make a baffle plate from any suitable conducting or nonconducting material and attach it to the heatsink by the method described as follows. Figure 3-19 Dimensions for the fabrication of baffle plates for model sizes 1 and 2
3.228in 6.929in

Figure 3-20 Dimensions for the fabrication of baffle plates for model sizes 3 and 4

4.016in

7.697in

9.606in

1.614in 0.512in

2.146in 1.969 in

3.583in 13.780in

5.118in

1.535in

0.276in

3.780in

189.5mm 7.461in

13.563in

14.449in

22.047in

23.150in

3.425in

4.724in

6.949in

0.256in

7.154in

Attaching a fabricated baffle plate to the heatsink

Table 3-2
Model size 1 2 3 4

Methods of attaching the baffle plate

Method of attachment Use the surface mounting brackets. Use M6 x 12mm max (or equivalent) thread-forming screws to screw into the holes in the heatsink, or tap the holes to a suitable thread size.

76mm 2.992in 17.236in 18.622in 0.693in

3.10

Ambient temperature

The maximum ambient temperature under which the drive can operate without derating is 40C. Derating can be applied to allow operation up to 50C ambient temperature. Please see section 11.1.1 Power and current ratings on page 190 if derating is required.

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3.11
Table 3-3

RFI filters
RFI filters Filter type Bookcase Footprint or Bookcase Bookcase Footprint or Bookcase Bookcase Footprint or Bookcase Bookcase Bookcase Bookcase Bookcase Footprint or Bookcase Bookcase Footprint or Bookcase Bookcase Footprint or Bookcase Bookcase Bookcase Bookcase Bookcase Bookcase Bookcase Bookcase Schaffner part no. FS5111-10-29 FS5101-10-07 FS5112-16-07 FS5106-16-07 FS5113-25-29 FS5106-25-07 FS5113-50-53 FS5113-63-34 FS5113-100-35 FS5111-10-29 FS5101-10-07 FS5112-16-07 FS5106-16-07 FS5113-25-29 FS5106-25-07 FS5113-50-53 FS5113-63-34 FS5113-100-35 FS5113-150-40 FS5113-180-40 FS5113-220-37 FS113-300-99 CT part no. 4200-6105 4200-6104 4200-6109 4200-6108 4200-6114 4200-6113 4200-6116 4200-6117 4200-6106 4200-6105 4200-6104 4200-6109 4200-6108 4200-6114 4200-6113 4200-6116 4200-6117 4200-6106 4200-6107 4200-6111 4200-6112 4200-6115 Max cable size 4 mm
2

RFI filters are available for all sizes of Unidrive as follows:

Drive UNI1201 to 1205 UNI1201 to 1205 UNI2201 to 2202 UNI2201 to 2202 UNI2203 UNI2203 UNI3201 to 3202 UNI3203 UNI3204 UNI1401 to 1405 UNI1401 - 1405 UNI2401 UNI2401 UNI2402 to 2403 UNI2402 to 2403 UNI3401 to 3403 UNI3404 UNI3405 UNI4401 to 4402 UNI4403 to 4404 UNI4405 UNI5401

Weight 1.4kg (3lb) 2.1kg (5lb) 2.7kg (6lb) 2.1kg (5lb) 2.7kg (6lb) 2.1kg (5lb) 3.8kg (9lb) 3.8kg (9lb) 7.8kg (17lb) 1.4kg (3lb) 2.1kg (5lb) 2.7kg (6lb) 2.1kg (5lb) 2.7kg (6lb) 2.1kg (5lb) 3.8kg (9lb) 3.8kg (9lb) 7.8kg (17lb) 7.8kg (17lb) 15kg (33lb) 15kg (33lb) 16kg (35lb)

10 AWG

4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 10 mm2 6 AWG 10 4 mm2
2

6 AWG 1/0 AWG 10 AWG

50 mm

mm2

4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 10 mm2 6 AWG 10 mm2 6 AWG 50 95 mm2 mm2 1/0 AWG 4/0 AWG 95 mm2 4/0 AWG 150 mm2 6/0 AWG M12 stud

The RFI filters can be surface-mounted only. Mount the RFI filter following the guidelines in Figure 4-12 EMC compliance on page 48.

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3.11.1

Unidrive size 1 filters

Unidrive size 1 bookcase mounted filter
RFI Filter Dimension Model A B C D H L W Z Ground Terminal 4200-6105 FS5111-10-29 UNI1201 to UNI1205 UNI1401 to UNI1405 230mm (9.055in) 25mm (0.984in) 218mm (8.583in) 47.5mm (1.870in) 95mm (3.740in) 240mm (9.449in) 45mm (1.772in) 4.5mm (0.177in) M5

Figure 3-21

Figure 3-22

Unidrive size 1 footprint or bookcase mounted filter

RFI Filter Dimension Model A B C F G H L S U W X Z Ground Terminal 4200-6104 FS5101-10-07 UNI1201 to UNI1205 UNI1401 to UNI1405 380mm (14.961in) 35mm (1.378in) 60mm (2.362in) 364mm (14.331in) 16.5mm (0.650in) 68mm (2.677in) 390mm (15.354in) 300mm 5mm (11.811in 0.197in) 3x 2.5mm2 (AWG14) 85mm (3.346in) M6 (4x) 5.5mm (0.217in) M5

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3.11.2

Unidrive size 2 filters

Unidrive size 2 (UNI2201 to UNI2202 and UNI2401) bookcase mounted filter
RFI Filter Dimension Model A B C F G H L S U W Z Ground Terminal 4200-6109 FS5112-16-07 UNI2201 to UNI2202 UNI2401 380mm (14.961in) 35mm (1.378in) 60mm (2.362in) 364mm (14.331in) 16.5mm (0.650in) 68mm (2.677in) 390mm (15.354in) 300mm 5mm (11.811in 0.197in) 3x 2.5mm2 (AWG14) 85mm (3.346in) 5.5mm (0.217in) M5

Figure 3-23

Figure 3-24

Unidrive size 2 (UNI2203, and UNI2402 to UNI2403) bookcase mounted filter

RFI Filter Dimension Model A B C D H L W Z Ground Terminal 4200-6114 FS5113-25-29 UNI2203 UNI2402 to UNI2403 245mm (9.646in) 45mm (1.772in) 230mm (9.055in) 13mm (0.512in) 95mm (3.740in) 255mm (10.039in) 73mm (2.874in) 4.5mm (0.177in) M5

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Figure 3-25

Unidrive size 2 footprint or bookcase mounted filters

RFI Filters Dimension Model A B C D E H J U W X Z Ground Terminal 4200-6108 FS5106-16-07 UNI2201 to UNI2202 UNI2401 385mm (15.157in) 35mm (1.378in) 120mm (4.724in) 364mm (14.331in) 16.5mm (0.650in) 68mm (2.677in) 300mm 5mm (11.811in 0.197in) 3x 4mm2 (AWG12) 180mm (7.087in) M6 (4x) 5.5mm (0.217in) M5 4200-6113 FS5106-25-07 UNI2203 UNI2402 to UNI2403 385mm (15.157in) 35mm (1.378in) 120mm (4.724in) 364mm (14.331in) 16.5mm (0.650in) 68mm (2.677in) 300mm 5mm (11.811in 0.197in) 3x 4mm2 (AWG12) 180mm (7.087in) M6 (4x) 5.5mm (0.217in) M5

3.11.3

Unidrive size 3 and 4 filters

Unidrive size 3 (UNI3201 to UNI3202, UNI3401 to UNI3403) bookcase mounted filter
RFI Filter Dimension Model A B C D H L W Z Ground Terminal 4200-6116 FS5113-50-53 UNI3201 to UNI3202, UNI3401 to UNI3403 275mm (10.827in) 50mm (1.969in) 259.5mm (10.217in) 290mm (11.417in) 100mm (3.937in) 337mm (13.268in) 90mm (3.543in) 7mm (0.276in) M5

Ensure the LOAD terminals face the drive. Figure 3-26

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Figure 3-27

Unidrive size 3 (UNI3203 to UNI3204, UNI3404 to UNI3405) & size 4 bookcase mounted filter

RFI Filters Dimension Model A B C G H L W Z Ground Terminal 4200-6117 FS5113-63-34 UNI3203 UNI3404 315mm (12.402in) 105mm (4.134in) 300mm (11.811in) 330mm (12.992in) 103mm (4.055in) 377mm (14.843in) 150mm (5.906in) 7mm (0.276in) M6 4200-6106 FS5113-100-35 UNI3204 UNI3405 310mm (12.205in) 105mm (4.134in) 294mm (11.575in) 325mm (12.795in) 107mm (4.213in) 380mm (14.961in) 150mm (5.906in) 7mm (0.276in) M8 4200-6107 FS5113-150-40 UNI4401 to UNI4402 330mm (12.992in) 120mm (4.724in) 314mm (12.362in) 345mm (13.583in) 135mm (5.315in) 414mm (16.299in) 150mm (5.906in) 7mm (0.276in) M10 4200-6111 FS5113-180-40 UNI4403 to UNI4404 420mm (16.535in) 110mm (4.331in) 400mm (15.748in) 440mm (17.323in) 157mm (6.181in) 502mm (19.764in) 170mm (6.693in) 8.5mm (0.335in) M12 4200-6112 FS5113-220-37 UNI4405 420mm (16.535in) 110mm (4.331in) 375mm (14.764in) 440mm (17.323in) 157mm (6.181in) 523mm (20.591in) 170mm (6.693in) 8.5mm (0.335in) M12

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Unidrive Size 5 bookcase mounted filter

Ensure the LOAD terminals face the drive. Figure 3-28 Unidrive size 5 bookcase mounted filter
RFI Filters Dimension Model 4200-6115 FS5113-300-99 UNI3203 UNI3404 470mm (18.504in) 170mm (6.693in) 450mm (17.717in) 490mm (19.291in) 156mm (6.142in) 655mm (25.787in) 230mm (9.055n) 8.5mm (0.335in) M12

G C Z

A B C G

LOAD

LINE

H L W Z Ground Terminal

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3.12
3.12.1

Power terminals
Location of power and ground terminals

Figure 3-30 Locations of the power and ground terminals on the Size 5 power module
AC supply connections L1 L2 L3

Figure 3-29 Locations of the power and ground terminals on Unidrive Size 1 to 4

17mm

IN96 Phase-control board

2mm

DC-bus choke
3mm

T25 Torx or 10mm flat

IN95 Interface board

17mm

DC bus

+DC bus

M4 pozidriv screw
Fan AC-supply connections U V W 17mm Motor connections

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3.12.2

Terminal sizes and torque settings

To avoid a fire hazard and maintain validity of the UL listing, adhere to the specified tightening torques for the power and ground terminals. Refer to the following tables.

3.13

Routine maintenance

The drive should be installed in a cool, clean, well ventilated location. Contact of moisture and dust with the drive should be prevented. Regular checks of the following should be carried out to ensure drive / installation reliability is maximised: Environment

WARNING

Table 3-4
Model All

Drive control terminal data

Connection type Plug-in terminal block Torque setting 0.5 N m 4.4 lb in

Ambient temperature Dust

Ensure the enclosure temperature remains at or below 40C (50C when derating applied) Ensure the drive remains dust free check that the drive fan is not gathering dust. The lifetime of the fan is reduced in dusty environments. Ensure the drive enclosure shows no signs of condensation

Table 3-5
Model size 1 2 3 4 5

Drive power terminal data

AC terminals DC terminals Ground terminal M4 (Torx/slot-head screw) 3 N m / 2.2 lb ft M4 (Torx/slot-head screw) 3 N m / 2.2 lb ft M10 stud 15 N m / 11 lb ft M10 stud 15 N m / 11 lb ft M10 stud 25 N m / 22.1 lb ft 10% Plug-in terminal block 0.5 N m / 4.4 lb in Plug-in terminal block 0.5 N m / 4.4 lb in M10 stud 15 N m / 11 lb ft M10 stud 15 N m / 11 lb ft M10 bolt & nut 25 N m / 22.1 lb ft M10 hole 25 N m / 22.1 lb ft

Moisture

Enclosure
Enclosure door filters Ensure filters are not blocked and that air is free to flow

Electrical
Screw connections Crimp terminals Cables Ensure all screw terminals remain tight Ensure all crimp terminals remains tight check for any discolouration which could indicate overheating Check all cables for signs of damage

Torque tolerance

Table 3-6

Size 5 fan supply connection

Type Torque setting 0.5 N m 4.4 lb in

Terminal block M4 Pozidriv screw

Table 3-7

RFI Filter terminal data

Power connections Max cable size 4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 10 mm2 6 AWG 10 mm2 6 AWG 50 mm2 1/0 AWG 95 mm2 4/0 AWG 95 mm2 4/0 AWG 150 mm2 6/0 AWG M12 stud Torque 0.8 N m 7.1 lb in 0.8 N m 7.1 lb in 0.8 N m 7.1 lb in 0.8 N m 7.1 lb in 0.8 N m 7.1 lb in 0.8 N m 7.1 lb in 4.5 N m 3.3 lb ft 4.5 N m 3.3 lb ft 8.0 N m 5.9 lb ft 20.0 N m 14.7 lb ft 20.0 N m 14.7 lb ft 30.0 N m 22.1 lb ft 30.0 N m 22.1 lb ft Ground connections Size M5 M5 M5 M5 M5 M5 M5 M6 M8 M10 M12 M12 M12 stud Torque 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 4.0 N m 2.9 lb ft 9.0 N m 6.6 lb ft 18.0 N m 13.3 lb ft 20.0 N m 14.7 lb ft 20.0 N m 14.7 lb ft 20.0 N m 14.7 lb ft

CT part number 4200-6104 4200-6105 4200-6108 4200-6109 4200-6113 4200-6114 4200-6116 4200-6117 4200-6106 4200-6107 4200-6111 4200-6112 4200-6115

Schaffner part number FS5101-10-07 FS5111-10-29 FS5106-16-07 FS5112-16-07 FS5106-25-07 FS5113-25-29 FS5113-50-53 FS5113-63-34 FS5113-100-35 FS5113-150-40 FS5113-180-40 FS5113-220-37 FS5113-300-99

For all the RFI filters, except the size 5 (4200-6115), the power connections are screw terminals and the ground connections are stud terminals.

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Electrical Installation
EMC compliance with shielding / grounding accessories Product rating, fusing and cabling information Brake resistor details (selection / ratings) Electric shock risk The voltages present in the following locations can cause severe electric shock and may be lethal:

4.1

Power connections
Unidrive Size 1 to 2 power connections

This chapter describes the how to electrically install the drive. Key features include:

Figure 4-1

WARNING

AC supply cables and connections Output cables and connections Many internal parts of the drive, and external option units

L1

L2

L3

Isolation device The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed. STOP function The STOP function does not remove dangerous voltages from the drive or any external option units.
WARNING
Optional RFI filter Thermal overload protection device Braking resistor

WARNING

Optional line reactor

Stored charge The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energised, the AC supply must be isolated at least ten minutes before work may continue. Normally, the capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the capacitors may fail to discharge, or be prevented from being discharged by a voltage applied to the output terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the capacitors will not be discharged. In this case, consult Control Techniques or their authorised distributor. Equipment supplied by plug and socket Special attention must be given if the drive is installed in equipment which is connected to the AC supply by a plug and socket. The AC supply terminals of the drive are connected to the internal capacitors through rectifier diodes which are not intended to give safety isolation. If the plug terminals can be touched when the plug is disconnected from the socket, a means of automatically isolating the plug from the drive must be used (e.g. a latching relay). Permanent-magnet motors Permanent-magnet motors generate electrical power if they are rotated, even when the supply to the drive is disconnected. If that happens then the drive will become energised through its motor terminals. If the motor load is capable of rotating the motor when the supply is disconnected, then the motor must be isolated from the drive before gaining access to any live parts.

Fuses

WARNING

Motor

L1

L2 Mains Supply

L3 Supply Ground

Optional ground connection

WARNING

WARNING

NOTE

Drives are suitable for use on supplies of installation category III and lower, according to IEC 60664-1. This means they may be connected permanently to the supply at its origin in a building, but for outdoor installation additional overvoltage suppression (transient voltage surge suppression) must be provided to reduce category IV to category III.

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Figure 4-2

Unidrive Size 3 to 4 power connections

L1

L2

L3

Optional RFI filter

Thermal overload protection device

Braking resistor

Optional line reactor

Fuses

Motor

L1

L2 Mains Supply

L3 Supply Ground

Optional ground connection

A thermal overload protection device should be connected as shown in Figure 4-7 on page 44 and must interrupt the AC supply on tripping. This applies to all sizes of Unidrive where a braking resistor is used.

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4.1.1

Unidrive size 5 control / power module connections

Figure 4-3
L3 L2 L1 Ground

Unidrive size 5 ribbon cable and sharing choke inter-

Contactor / Isolator

Fuses

Fuses

Optional line reactor Optional RFI filter

Optional line reactor Optional RFI filter

Control module

IN96 Phase-control board

IN96 Phase-control board

10-way

10-way

DC-bus choke Power module Power module

DC-bus choke

IN95 Interface board 16-way 16-way

IN95 Interface board

26-way

26-way

-DC

+DC

-DC

+DC

AC supply for fan (when fitted)

Sharing choke

Sharing choke Contactor / Isolator W V U

NOTE

When using Unidrive size 5 with multiple power modules, a sharing choke must be fitted on the output of each drive as shown. The specification for the choke is given in Chapter 11 Technical Data on page 190 and it should be sourced locally.

WARNING

Ensure that the fan and power module can be isolated from the AC supplies. Isolation from the supplies must be interlocked, or a warning must be displayed indicating that two separate supplies are present.

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4.2
Voltage:

AC supply requirements
200V to 240V 10% 380V to 480V 10%

Reactor current ratings

The current rating of the line reactors should be as follows: Continuous current rating: Not less than the continuous input current rating of the drive Repetitive peak current rating: Not less than twice the continuous input current rating of the drive

UNIX20XLV UNIX40X

Number of phases: 3 Minimum supply imbalance: 2% negative phase sequence (equivalent to 3% voltage imbalance between phases) Frequency range: 48Hz to 65Hz Maximum supply fault current:
Frame size 1, 2, 3 4 5 Symmetrical fault level (kA) 5 10 18

4.2.4

Input inductor calculation.

To calculate the inductance required (at Y%), use the following equation: Y V 1 - ------ ---------L = --------100 3 2 fl Where: I = drive rated input current (A) L = inductance (H) f = supply frequency (Hz) V = voltage between lines

4.2.1

IT supplies

Special considerations are required when the neutral point of the distribution winding of the supply transformer is not directly grounded. Before using the drive on such a supply, please contact the supplier of the drive.

4.3

Supplying the drive with DC / DC bus paralleling

The drive may be supplied with DC instead of 3 phase AC. For further information please refer to the supplier of your drive. Connecting of the DC bus between several drives is typically used to: 1. Return energy from a drive which is being overhauled by the load to a second motoring drive. 2. Allow the use of one braking resistor to dissipate regenerative energy from several drives. There are limitations to the combinations of drives which can be used in this configuration. For application data, contact the supplier of the drive.

4.2.2

Installation category

Drives are suitable for use on supplies of installation category III and lower, according to IEC60664-1. This means they may be connected permanently to the supply at its origin in a building, but for outdoor installation additional over-voltage suppression (transient voltage surge suppression) must be provided to reduce category IV to category III.

4.2.3

Supplies requiring line reactors

Input line reactors reduce the risk of damage to the drive resulting from poor phase balance or severe disturbances on the supply network. Where line reactors are to be used, reactance values of approximately 2% are recommended. Higher values may be used if necessary, but may result in a loss of drive output (reduced torque at high speed) because of the voltage drop. For all drive ratings, 2% line reactors permit drives to be used with a supply unbalance of up to 3.5% negative phase sequence (equivalent to 5% voltage imbalance between phases). Severe disturbances may be caused by the following factors, for example: Power factor correction equipment connected close to the drive. Large DC drives having no or inadequate line reactors connected to the supply. Direct-on-line started motor(s) connected to the supply such that when any of these motors are started, the voltage dip exceeds 20%

4.4
4.4.1

Ratings
Typical input current

The input current is affected by the supply voltage and impedance. The values of typical input current are given to aid calculations for power flow and power loss. The values of typical input current are stated for a balanced supply.

4.4.2

Maximum continuous input current

The values of maximum continuous input current are given to aid the selection of cables and fuses. These values are stated for the worst case condition with the unusual combination of stiff supply with bad balance. The value stated for the maximum continuous input current would only be seen in one of the input phases. The current in the other two phases would be significantly lower. The values of maximum input current are stated for a supply with a 2% negative phase-sequence imbalance and rated at the maximum supply fault current given in Table 4-1.

Such disturbances may cause excessive peak currents to flow in the input power circuit of the drive. This may cause nuisance tripping, or in extreme cases, failure of the drive. Drives of low power rating may also be susceptible to disturbance when connected to supplies with a high rated capacity. Line reactors are particularly recommended for use with the following drive models when one of the above factors exists, or when the supply capacity exceeds 175kVA: UNI1201 UNI1202 UNI1203 UNI1204 UNI1401 UNI1402 UNI1403 UNI1404 Model sizes 1205, 1405 and larger have an internal DC choke so they do not require AC line reactors except for cases of excessive phase unbalance or extreme supply conditions. When required, each drive must have its own reactor(s). Three individual reactors or a single three-phase reactor should be used.

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Table 4-1

Input current, fuse and cable size ratings Typical input current A Maximum continuous input current A 4.0 6.0 8.0 10 12.5 13.9 16.9 27 28 43 56 84 4.5 5.5 6.8 8.6 12 16 20 25 34 39 53 66 82 98 114 152 205 224 321 Fuse rating A 6.0 10 10 10 16 16 20 35 40 60 70 80 6.0 10 10 10 16 16 20 35 40 50 60 70 80 100 125 160 200 250 450 Cable size mm2 1.5 2.5 2.5 2.5 2.5 2.5 4 4 6 10 16 25 1.5 2.5 2.5 2.5 2.5 2.5 4 4 6 10 10 16 25 35 35 50 70 95 120 AWG 16 14 14 14 14 14 10 10 8 6 4 4 16 14 14 14 14 14 10 10 8 6 6 4 4 2 2 0 2/0 3/0 4/0

4.4.4

Ground connections

The drive must be connected to the system ground of the AC supply. The ground wiring must conform to local regulations and codes of practice. The ground loop impedance must conform to the requirements of local safety [Link] drive must be grounded by a connection capable of carrying the prospective fault current until the protective device (fuse, etc.) disconnects the AC [Link] ground connections must be inspected and tested at appropriate intervals.

Model

UNI1201 UNI1202 UNI1203 UNI1204 UNI1205 UNI2201 UNI2202 UNI2203 UNI3201 UNI3202 UNI3203 UNI3204 UNI1401 UNI1402 UNI1403 UNI1404 UNI1405 UNI2401 UNI2402 UNI2403 UNI3401 UNI3402 UNI3403 UNI3404 UNI3405 UNI4401 UNI4402 UNI4403 UNI4404 UNI4405 UNI5401

2.4 3.5 4.6 6.5 8.6 10.8 14.3 19.8 26 39 53 78 3.0 4.3 5.8 8.2 10 13 17 21 27 32 40 52 66 76 91 123 145 181 280

WARNING

4.4.5

Main AC supply contactor

The recommended AC supply contactor type for all sizes is AC1.

4.5

Output circuit and motor protection

The output circuit has fast-acting electronic short-circuit protection which limits the fault current to typically no more than five times the rated output current, and interrupts the current in approximately 20s. No additional short-circuit protection devices are required. The drive provides overload protection for the motor and its cable. For this to be effective, Pr 0.46 Motor rated current must be set to suit the motor.

Pr 0.46 Motor rated current must be set correctly to avoid a risk of fire in the event of motor overload.
WARNING

There is also provision for the use of a motor thermistor to prevent overheating of the motor, e.g. due to loss of cooling.

4.5.1

Cable types and lengths

Since capacitance in the motor cable causes loading on the output of the drive, ensure the cable length does not exceed the values given in Table 4-2 and Table 4-3. Use 105C (221F) (UL 60/75C temp rise) PVC-insulated cable with copper conductors having a suitable voltage rating, for the following power connections: AC supply to external EMC filter (when used) AC supply (or external EMC filter) to drive Drive to motor Drive to braking resistor

The recommended cable sizes above are only a guide. Refer to local wiring regulations for the correct size of cables. In some cases a larger cable is required to avoid excessive voltage drop.
NOTE

UL listing is dependent on the use of the correct type of UL-listed fuse, and applies when symmetrical short-circuit current does not exceed 5kA for sizes 1 to 3, 10 kA for size 4 or 18kA for size 5. Fuses The AC supply to the drive must be fitted with suitable protection against overload and short-circuits. Table 4-1 shows recommended fuse ratings. Failure to observe this requirement will cause risk of fire.

WARNING

A fuse or other protection must be included in all live connections to the AC supply. An MCB (miniature circuit breaker) or MCCB (moulded case circuit breaker) with type C tripping characteristics and the same rating as the fuse(s), may be used in place of the fuse(s), on condition that the fault current clearing capacity is sufficient for the installation.

4.4.3

Fuse Types

The fuse voltage rating must be suitable for the drive supply voltage. Europe: Type gG HRC industrial fuses to IEC60269 (BS88) USA: Class CC fuses up to 30A, Class J above 30A

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Table 4-2

Maximum motor cable lengths (200V drives) 200V Nominal AC supply voltage Maximum permissible motor cable length (PWM switching frequency of 3kHz) m ft 210 330 430 660 990 990 65 100 130 200 300 300

The maximum cable length is reduced from that shown in the table under the following conditions: PWM switching frequency exceeding 3kHz in model sizes 3 and 4 The maximum cable length is reduced in proportion to the increase in PWM switching frequency, e.g. at 9kHz, the maximum length is
1

Model UNI1201 UNI1202 UNI1203 UNI1204 UNI1205 UNI2201 UNI2202 UNI2203 UNI3201 UNI3202 UNI3203 UNI3204 Table 4-3

/3 of that shown. High-capacitance cables Most cables have an insulating jacket between the cores and the armour or shield; these cables have a low capacitance and are recommended. Cables that do not have an insulating jacket tend to have high capacitance; if a cable of this type is used, the maximum cable length is half that quoted in the table. (Figure 4-4 shows how to identify the two types.) Cable construction influencing the capacitance

Figure 4-4

200

660

Maximum motor cable lengths (400V drives) 400V Nominal AC supply voltage 480V Nominal AC supply voltage

Normal capacitance Shield or armour separated from the cores

High capacitance Shield or armour close to the cores

Model

Maximum permissible motor cable length (PWM switching frequency of 3kHz) m ft 210 330 430 660 990 990 m 50 75 100 150 250 300 ft 160 250 330 490 820 990 65 100 130 200 300 300

UNI1401 UNI1402 UNI1403 UNI1404 UNI1405 UNI2401 UNI2402 UNI2403 UNI3401 UNI3402 UNI3403 UNI3404 UNI3405 UNI4401 UNI4402 UNI4403 UNI4404 UNI4405 UNI5401 UNI5402 UNI5403 UNI5404 UNI5405 UNI5406 UNI5407 UNI5408

The capacitance measured above is from one line to all others and is obtainable from the cable manufacturer. This means the capacitance from one core to all the other cores and the screen shorted together.

4.5.2

Multiple motors

Open-loop only If the drive is to control more than one motor, make connections as shown in Figure 4-5 and Figure 4-6. The maximum cable lengths given in Table 4-2 and Table 4-3 apply to the total length of cable from the drive to the farthest motor. It is recommended that each motor is connected through a protection relay since the drive cannot protect each motor individually. For star connection, a sinusoidal filter or an output inductor must be connected as shown in Figure 4-5 and Figure 4-6, even when the cable lengths are less than the maximum permissible. For details, of inductor sizes refer to the supplier of the drive.

200

660

124

410

300 600 900 1200 1500 1800 2100 2400

990 1980 2970 3960 4950 5940 6930 7920

300 600 900 1200 1500 1800 2100 2400

990 1980 2970 3960 4950 5940 6930 7920

Cable lengths in excess of the specified values may be used only when special techniques are adopted; refer to the supplier of the drive. The default switching frequency for all versions of Unidrive is 3kHz, except Unidrive LFT, which is 9kHz.

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Figure 4-5

Preferred chain connection for multiple motors

Motor protection relay

The default setting of the motor rated voltage parameter is the same as the drive rated voltage i.e. 400V drive 400V rated voltage 200V drive 200V rated voltage A typical 3 phase motor would be connected in star for 400V operation or delta for 200V operation however variations on this are common i.e. star 690V delta 400V Incorrect connection of the windings will lead to severe under or over fluxing of the motor, leading to a very poor output torque or motor saturation and over-heating respectively.

4.5.4
Chain connection (preferred)

Output contactor
If the cable between the drive and the motor is to be interrupted by a contactor or circuit breaker, ensure that the drive is disabled before the contactor or circuit breaker is opened or closed. Severe arcing may occur if this circuit is interrupted with the motor running at high current and low speed.

WARNING

A contactor is sometimes required to be fitted between the drive and motor for safety isolation purposes. The recommended motor contactor is the AC3 type. Switching of an output contactor should only occur when the output of the drive is disabled. Opening or closing of the contactor with the drive enabled will lead to: 1. [Link] trips (which cannot be reset for 10 seconds) 2. High levels of RFI noise emission 3. Increased contactor wear and tear For more information please contact the supplier of the drive. Figure 4-6 Alternative connection for multiple motors

4.6

Braking

Motor protection relay

Internal connection does not require the cable to be armoured or shielded. In-built in the Unidrive software is overload protection for the brake resistor. In order to enable and set-up this function, it is necessary to enter two values into the drive: Resistor short-time overload time (Pr 10.30) Resistor minimum time between repeated short-time overloads (Pr 10.31) This data is available from the manufacturer of the braking resistors.

4.6.1
Star connection

Minimum resistances and power ratings

Minimum resistance values and peak power rating for the braking resistor at 40C (104F) Model Minimum resistance 20 20 15 5 40 40 30 10 5 Instantaneous power rating kW 15 15 20 60 15 15 20 60 120

Table 4-4

Inductor

UNI1201 to UNI1205 UNI2201 UNI2202 to UNI2203 UNI3201 to UNI3205 UNI1401 to UNI1405 UNI2401 UNI2402 to UNI2403 UNI3401 to UNI3405 UNI4401 to UNI4405

4.5.3

Star / delta motor operation

The voltage rating for star and delta connections of the motor should always be checked before attempting to run the motor.

The minimum resistance allows the braking resistor to dissipate up to approximately 150% of the power rating of the drive for up to 60 seconds. For high-inertia loads or under continuous braking, the continuous power dissipated in the braking resistor may be as high as the power rating of the drive. The total energy dissipated in the braking resistor is dependent on the amount of energy to be extracted from the load.

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The instantaneous power rating refers to the short-term maximum power dissipated during the on intervals of the pulse width modulated braking control cycle. The braking resistor must be able to withstand this dissipation for short intervals (milliseconds). Higher resistance values require proportionately lower instantaneous power ratings. In most applications, braking occurs only occasionally. This allows the continuous power rating of the braking resistor to be much lower than the power rating of the drive. It is essential, though, that the instantaneous power rating and energy rating of the braking resistor are sufficient for the most extreme braking duty that is likely to be encountered. Optimisation of the braking resistor requires a careful consideration of the braking duty. Select a value of resistance for the braking resistor that is not less than the specified minimum resistance. Larger resistance values may give a cost saving, as well as a safety benefit in the event of a fault in the braking system, however peak braking power is reduced. If the resistance is too high this could cause the drive to trip during braking.

4.7.1

Use of residual current device (RCD)

There are three common types of ELCB / RCD: 1. AC - detects AC fault currents 2. A - detects AC and pulsating DC fault currents (provided the DC current reaches zero at least once every half cycle) 3. B - detects AC, pulsating DC and smooth DC fault currents Type AC should never be used with drives. Type A can only be used with single phase drives Type B must be used with three phase drives

Only type B ELCB / RCD are suitable for use with Unidrive.
WARNING

Thermal protection circuit for the braking resistor

The thermal protection circuit must disconnect the AC supply from the drive if the resistor becomes overloaded. The thermal protection device can be either an external thermal overload device or an integrated temperature switch which is available from most braking resistor suppliers. A suitable thermal overload device is the LR2D from Telemecanique. Figure 4-7 shows a typical circuit arrangement. Figure 4-7 Typical protection circuit for a braking resistor
Optional RFI filter

If an external RFI filter is used, a delay of at least 50ms should be incorporated to ensure spurious trips are not seen. The leakage current is likely to exceed the trip level if all of the phases are not energised simultaneously.

4.8

EMC (Electromagnetic compatibility)

Compliance with EN61800-3 (standard for Power Drive Systems) Meeting the requirements of this standard depends on the environment that the drive is intended to operate in, as follows: Operation in the first environment Observe the guidelines given in section 4.8.2 EMC - Compliance on page 48. An RFI filter will always be required. Some model sizes may require additional filtering techniques to be applied. Operation in the second environment An RFI filter is required for all Unidrives with a rated current of less than 100A. Where a filter is required follow the guidelines in section 4.8.2 EMC - Compliance on page 48. Where an RFI filter is not required follow the guidelines given in section 4.8.1 EMC - General requirements .

Main contactor power supply

Drive Stop Start / Reset Thermal protection device +DC BR Braking resistor

WARNING

This is a product of the restricted distribution class according to IEC61800-3 In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures.

4.7

Ground leakage

WARNING

Unidrive sizes 1, 2 and 5 (including Unidrive REGEN size 3 and 4) There is no direct connection with ground apart from the surge protection on the input of the drive. Ground leakage is therefore negligible. Unidrive sizes 3 and 4 (400V product) except Unidrive REGEN Ground leakage current is typically 9mA* (27mA with a Unidrive LFT with date code K08 onwards). *9mA at 380V to 415V 50Hz AC supply; up to 14mA at 480V 60Hz AC supply. Measured by the method described in IEC950 Annex D. Unidrive size 3 (200V product) Ground leakage current is typically 5mA at 220V 50Hz. When Unidrive sizes 3 and 4 are used the leakage current is high. In this case a permanent fixed ground connection must be provided, or other suitable measures taken to prevent a safety hazard occurring if the connection is lost.

The second environment typically includes an industrial lowvoltage power supply network which does not supply buildings used for domestic purposes. Operating the drive in this environment without an RFI filter may cause interference to nearby electronic equipment whose sensitivity has not been appreciated. The user must take remedial measures if this situation arises. If the consequences of unexpected disturbances are severe, it is recommended that the emission limits of EN50081-2 be adhered to.

Refer to Chapter 11 Technical Data on page 190 for further information on compliance with EMC standards and definitions of environments. Detailed instructions and EMC information are given in the Unidrive EMC Data Sheet which is available from the supplier of the drive.
NOTE

The installer of the drive is responsible for ensuring compliance with the EMC regulations that apply where the drive is to be used. The drive will comply with the standards for emission, such as EN500812, only when the instructions given in this chapter are followed closely.

WARNING

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In order to ensure the installation meets the various emission / immunity standards described in: The EMC data sheet The Declaration of Conformity at the front of this manual Chapter 11 Technical Data on page 190

The correct RFI filter must be used and all of the guidelines in section 4.8.1 EMC - General requirements and section 4.8.2 EMC Compliance must be followed. When a RFI filter is used, a permanent fixed ground connection must be provided which does not pass through a connector or flexible power cord.
WARNING

4.8.1

EMC - General requirements

General EMC enclosure layout showing earth / ground connections

Figure 4-8

If ground connections are made using a separate cable, they should run parallel to the appropriate power cable to minimise emissions

Metal backplate

Optional EMC filter If the control circuit 0V is to be grounded, this should be done at the system controller only to avoid injecting noise currents into the 0V circuit

External controller 0V PE

3 phase AC supply

PE

Grounding bar The incoming supply ground should be connected to a single power ground bus bar or low impedance earth terminal inside the cubicle. This should be used as a common 'clean' ground for all components inside the cubicle.

Metal backplate safety bonded to power ground busbar

Use four core cable to connect the motor to the drive. The ground conductor in the motor cable must be connected directly to the earth terminal of the drive and motor. It must not be connected directly to the power earth busbar. Optional ground connection

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The following guidelines should be followed for all installations to minimise the risk of disturbing any other equipment in the vicinity of the drive. The earthing / grounding and clearance sections should be followed for all installations as good practice.

Feedback device cable shielding

Shielding considerations are important for PWM drive installations due to the high voltages and currents present in the output (motor) circuit with a very wide frequency spectrum, typically from 0 to 20 MHz. The following guidance is divided into two parts: 1. Ensuring correct transfer of data without disturbance from electrical noise originating either within the drive or from outside. 2. Additional measures to prevent unwanted emission of radio frequency noise. These are optional and only required where the installation is subject to specific requirements for radio frequency emission control.

Earth / Ground connections

The diagram below indicates the grounding method which should be used in all standard installations using an grounded secondary AC supply. The ground loop impedance must conform to the requirements of local safety regulations. The drive must be grounded by a connection capable of carrying the prospective fault current until the protective device (fuse, etc.) disconnects the AC supply. The ground connections must be inspected and tested at appropriate intervals.

To ensure correct transfer of data, observe the following:

Resolver connections: Use a cable with an overall shield and twisted pairs for the resolver signals Connect the cable shield to the drive 0V connection by the shortest possible link ("pigtail") It is generally preferable not to connect the cable shield to the resolver. However in cases where there is an exceptional level of common-mode noise voltage present on the resolver body, it may be helpful to connect the shield there. If this is done then it becomes essential to ensure the absolute minimum length of "pigtails" at both shield connections, and possibly to clamp the cable shield directly to the resolver body and to the back plate, located as close as possible to the drive. The cable should preferably not be interrupted. If interruptions are unavoidable, ensure the absolute minimum length of "pigtail" in the shield connections at each interruption. Encoder connections: Use a cable with the correct impedance Use a cable with individually shielded twisted pairs Connect the cable shields to 0V at both the drive and the encoder, using the shortest possible links ("pigtails") The cable should preferably not be interrupted. If interruptions are unavoidable, ensure the absolute minimum length of "pigtail" in the shield connections at each interruption. Preferably, use a connection method which provides substantial metallic clamps for the cable shield terminations. The above applies where the encoder body is isolated from the motor and where the encoder circuit is isolated from the encoder body. Where there is no isolation between the encoder circuits and the motor body, and in case of doubt, the following additional requirement must be observed. This gives the best possible noise immunity.

WARNING

Clearances
The diagram below indicates the clearances which should be observed around the drive and related noisy power cables by all sensitive control signals / equipment. Figure 4-9 Drive clearances
Optional braking resistor and overload

Do not place sensitive (unscreened) signal circuits in a zone extending 300mm (12) all around the Drive, motor cable, input cable from RFI filter and unscreened braking resistor cable (if used)

The shields must be directly clamped to the encoder body (no pigtail) and to the back plate, located as close as possible to the drive. This may be achieved by clamping of the individual shields or by providing an additional overall shield which is clamped.

NOTE

N N

The recommendations of the encoder manufacturer must also be adhered to for the encoder connections.
NOTE

In order to guarantee maximum noise immunity for any application double screened cable as shown should be used.
300mm (12in)

In some cases single shielding of each pair of differential signals cables or a single overall shield with an individual shield on the thermistor connections is sufficient. In these cases all the shields should be connected to ground and 0V at both ends. If the 0V is required to be left floating a cable with individual shields and an overall shield must be used.

This does not apply to a motor thermistor cable. The motor thermistor cable must be shielded.

Figure 4-10 and Figure 4-11 illustrate the preferred construction of cable and the method of clamping. The outer sheath of the cable should be stripped back enough to allow the clamp to be fitted. The shield must not be broken or opened at this point. The clamps should be fitted close to the drive or feedback device, with the ground connections made to a ground plate or similar metallic ground surface.

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Figure 4-10

Feedback cable, twisted pair

Figure 4-11

Feedback cable connections

Connection at drive Shield connection to 0V Twisted pair shield

Cable shield

Ground clamp on shield

Cable

Cable shield

Twisted pair shield

Shield connection to 0V

Connection at motor

To ensure suppression of radio frequency emission, observe the following:

Use a cable with an overall shield Clamp the overall shield to grounded metallic surfaces at both the encoder and the drive, as illustrated in Figure 4-11.

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4.8.2

EMC - Compliance

Figure 4-12 details specific points which must be observed as well as the sections on grounding and clearances in order to ensure compliance with the standards detailed in the EMC data sheet. Figure 4-12 EMC compliance
Ground L3 L2 L1 AC supply
3

Optional external braking resistor

1. Unshielded wiring to the optional braking resistor(s) may be used, provided the resistor is either in the same enclosure as the drive, or the wiring does not run external to the enclosure. When the braking resistor wiring is unshielded, ensure a minimum spacing of 300mm (12in) from signal wiring and the AC supply wiring to the RFI filter. 2. Ensure the AC supply and ground cables are at least the following distances from the power module as well as from the motor cable Size 1 to 4: 100mm (4in), Size 5: 150mm (6in)

RFI filter

3. Size 4 and 5 only: The AC supply cable must be shielded (screened) or steelwire armoured. Bond the shield to the enclosure wall using standard cable-gland fixings. 4. Size 1 and 2: RFI filter mounted at the side of the drive. Ensure a separation of 5 to 10mm (0.2in to 0.4in) from the drive. Minimise the length of cables between the RFI filter and power module. Size 3 to 5: RFI filter mounted 150mm (6in) above the drive/power module. The RFI filter casing is directly grounded to the back-plate by the fixing screws. 5. Avoid placing sensitive signal circuits in a zone 300mm (12in) all around the power module.

O/L

Control module - Size 5 only

L1 L2 L3

10

6. Ensure chassis directly grounded to the back-plate using fixing screws. Screw threads tapped into the back-plate must be used to ensure that a direct electrical connection is made. An unpainted back-plate is required.
Drive/power module
6

7. A shielded (screened) or steel-wire armoured cable must be used to connect the power module to the motor. The shield must be bonded to the back-plate using an uninsulated metal cable clamp. Position the clamp as close as possible to the drive/ power module. Size 1 and 2: The clamp must be positioned no further than 100mm (4in) from the drive. Size 3 and 4: The clamp must be positioned no further than 150mm (6in) from the drive. Size 5: It may be necessary to use a flat metal plate of a minimum width of 100mm (4in) as well as a clamp in order to make the connection. The clamp must be fitted so that: L1 < 150mm (6in) and (L1 + L2) < 450mm (18in) 8. Connect the shield of the motor cable to the ground terminal of the motor frame using a link that is as short as possible and not exceeding 50mm (2in) long. A full 360 termination of the shield to the terminal housing of the motor is beneficial. 9. Size 4 and 5 only Back-plate bonded to the enclosure wall using a short, low inductance connection. Two flat-braid cables of nominal size 12mm x 2.3mm (0.5in x 0.1in) are suitable, or a single braided-cable of equivalent dimensions. 10. Size 5 only Ensure that all power cables are at least 300mm (12in) from the ribbon cables that connect to the control module.
8

L1 < 150mm (6in) (L1 + L2) < 450mm (18in) Back-plate Enclosure

L1

L2

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4.8.3

Variations in the EMC wiring

Figure 4-14

Connecting the motor cable to an isolator switch

Isolator

Control wiring
Control wiring which is connected to the drive and leaves the enclosure must have one of the following additional treatments: Pass the control cable(s) through a ferrite ring (part number 32251004). More than one cable can pass through a ferrite ring. Ensure the length of cable between the ferrite ring and the drive is not greater than 125mm (5 in). Use one or more cables having a separate overall shield. Bond this shield(s) to the back-plate using an uninsulated metal clamp. Position the clamp not further than 100mm (4 in) from the drive. Do not make any other connections to either end of the overall shield.

From the Drive

Coupling bar (If required)

To the motor

Interruptions to the encoder cable

The screened cable should ideally not be interrupted throughout its run. If intermediate terminal arrangements are included with pigtails for the screen connections, every pigtail will contribute additional injection of electrical noise into the signal circuit. They should therefore be kept as short as possible. If interruptions are unavoidable, either a suitable connector with surrounding screen shell should be used, or a lowinductance bar or plate should be used for the screen connection, similar to that shown in Figure 4-14.

Interruptions to the motor cable

The motor cable should ideally be a single piece of shielded or armoured cable having no interruptions. In some situations it may be necessary to interrupt the cable, as in the following examples: Connecting the motor cable to a terminal block in the drive enclosure Fitting a motor isolator switch for safety when work is done on the motor In these cases the following guidelines should be followed.

Terminal block in the enclosure

The motor cable shields should be bonded to the back-plate using uninsulated metal cable-clamps which should be positioned as close as possible to the terminal block. Keep the length of power conductors to a minimum and ensure that all sensitive equipment and circuits are at least 0.3m (12 in) away from the terminal block. Figure 4-13 Connecting the motor cable to a terminal block in the enclosure
From the Drive

4.9
4.9.1
Table 4-5

Control connections
General
The Unidrive control connections consist of:
Qty
1 2 2 3 3 1 1 1 1 2 2

Function
Differential analog input Single ended analog input Analog output Digital input Digital input / outputs Relay Drive enable 10V supply 24V supply 0V analog 0V digital

Programmability
Destination, mode, scaling, Destination, mode, scaling, Source, mode, scaling, Destination, mode, Destination / source, mode Source External trip (latching) or inhibit (non latching)

Terminals
5,6 7,8 9,10 27,28,29 24,25,26 1,2 30 4 22 3,11 21,23,31

Key: Destination parameter - indicates the parameter which is being controlled by the terminal Source parameter - indicates the parameter being output by the terminal Mode parameter analog - indicates the mode of operation of the terminal, i.e. voltage 0-10V, current 4-20mA etc. digital - indicates the mode of operation of the terminal, i.e. positive / negative logic, open collector. All analog terminal functions can be programmed in menu 7. See section 10.7 Menu 7: Analog I/O on page 145 for more information on control terminal set-up. All digital terminal functions can be programmed in menu 8. See section 10.8 Menu 8: Digital I/O on page 148 for more information on control terminal set-up.

Back-plate Enclosure To the motor

Using a motor isolator-switch The motor cable shields should be connected by a very short conductor having a low inductance. The use of a flat metal coupling-bar is recommended; conventional wire is not suitable. The shields should be bonded directly to the coupling-bar using uninsulated metal cable-clamps. Keep the length of the exposed power conductors to a minimum and ensure that all sensitive equipment and circuits are at least 0.3m (12 in) away. The coupling-bar may be grounded to a known low-impedance ground nearby, for example a large metallic structure which is connected closely to the drive ground.

Ensure the logic sense is correct for the control circuit to be used. Incorrect logic sense could cause the motor to be started unexpectedly.
CAUTION

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Figure 4-15 Unidrive default terminal functions (except Unidrive VTC) The control circuits are isolated from the power circuits in the drive by basic insulation only. The installer must ensure that the external control circuits are insulated from human contact by at least one layer of insulation rated for use at the AC supply voltage. If the control circuits are to be connected to other circuits classified as Safety Extra Low Voltage (SELV) (e.g. to a personal computer), an additional isolating barrier must be included in order to maintain the SELV classification.

CAUTION

Signal connector 1 11

WARNING

NOTE

N
Status relay Drive normal Analog frequency/speed reference 1 Connections for single-ended input signal

The common 0V from analog signals, wherever possible, should not be connected to the same 0V terminal as the common 0V from digital signals. Terminals 3 and 11 should be used for connecting the 0V common of analog signals and terminals 21, 23 and 31 for digital signals. This is to prevent small voltage drops in the terminal connections causing inaccuracies in the analog signals.

21

31
1 2

5 6

0V common Connections for differential input signal 0V common

Analog frequency/speed reference 2 0V common SPEED TORQUE

4 7

11

9 10

Motor thermistor 0V common

8 21 22

OL> AT SPEED CL> AT ZERO SPEED RESET JOG SELECT RUN FORWARD RUN REVERSE ANALOG INPUT 1 / INPUT 2 SELECT OL> External trip CL> Drive enable

0V common

23

24 25 26 27
Analog input 1 Analog input 2

28 29 30

0V common

31

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Figure 4-16

Unidrive VTC default terminal functions (European and USA)

EUR
Signal connector 1 11

USA
Signal connector 1 11

21 Status relay Drive normal Analog frequency reference 1

31
1 2

21 Status relay Drive normal Analog frequency reference 1

31
1 2

Connections for single-ended input signal 0V common Connections for differential input signal 0V common

5 6 3

Connections for single-ended input signal 0V common Connections for differential input signal 0V common Analog frequency reference 2 4 to 20mA 0V common FREQUENCY

5 6 3

Analog frequency reference 2 0 to 10V 0V common FREQUENCY TOTAL MOTOR CURRENT Motor thermistor 0V common

4 7

11

11

9 10

TOTAL MOTOR CURRENT Motor thermistor

9 10

0V common
21 22

21 22

AT SPEED RESET PRESET SELECT RUN FORWARD RUN REVERSE ANALOG INPUT / PRESET REF SELECT External trip

0V common

23

DRIVE RUNNING RESET PRESET SELECT RUN ANALOG INPUT 1 / INPUT 2 SELECT ANALOG INPUT / PRESET REF SELECT External trip

0V common

23

24
Preset ref 1 Preset ref 2

24
Preset ref 1 Preset ref 2 Analog input 1 Analog input 2 Analog input Preset ref

25 26 27

25 26 27 28 29 30

Analog input Preset ref

28 29 30

0V common

31

0V common

31

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4.9.2

Specification
7 Analog input 2
Frequency/speed reference Bipolar single-ended analog voltage or unipolar current Parameter 0.25 {7.11} 10V 24V relative to 0V 100k 0 to 20mA 20mA to 0 4 to 20mA 20 to 4mA 12V 50mA 200 at 20mA 10-bit plus sign PWM switching frequency dependent OL> 1.4ms for 3, 6, & 12kHz 1.9ms for 4.5 & 9kHz CL> 345s for 3, 6 & 12kHz 460s for 4.5 & 9kHz Default function

These descriptions apply to the default functions of the terminals. Some macros can change terminal-functions. 1 2 Status relay contact
Drive healthy 240Vac Installation category 1 5A resistive 10mA Normally open 1.5kV 8ms

Type of input Mode controlled by...

Default function Contact voltage rating Contact maximum current rating Contact minimum current rating Contact condition Isolation Update period

Operating in Voltage mode

Voltage range Absolute maximum voltage range Input resistance

Operating in current mode

Current ranges Voltage range

3
Function

0V common (analog)
Common connection for external analog devices.

Absolute maximum current Equivalent input resistance

Common to all modes

Resolution

4
Function

+10V reference voltage

Supply for external analog signal devices 1% 10mA Current limit and thermal trip Sampling period default setting

Voltage tolerance Maximum output current Protection

8 Analog input 1 5 6 Non-inverting input Inverting input

Frequency/speed reference Bipolar differential analog voltage or unipolar current (For single-ended use, connect terminal 6 to terminal 3) Parameter 0.24 {7.06}

Analog input 3
Motor thermistor input (PTC) Bipolar single-ended analog voltage, unipolar current or thermistor input Parameter 7.15 10V 24V relative to 0V 100k 0 to 20mA 20mA to 0 4 to 20mA 20 to 4mA 12V 50mA 200 at 20mA <5V 3 k 15% 1.9 k 15% 51 12% 10-bit plus sign PWM switching frequency dependent 5.5ms for 3, 6, & 12kHz 7.4ms for 4.5 & 9kHz

Default function Type of input Mode controlled by...

Operating in Voltage mode

Voltage range Absolute maximum voltage range Input resistance

Default function Type of input Mode controlled by...

Operating in current mode

Current ranges

Operating in Voltage mode

Voltage range Absolute maximum voltage range Input resistance 10V 24V relative to 0V 24V differential 100k 0 to 20mA 20mA to 0 4 to 20mA 20 to 4mA 12V 50mA 200 at 20mA 12-bit plus sign PWM switching frequency dependent OL> 1.4ms for 3, 6, & 12kHz 1.9ms for 4.5 & 9kHz CL> 345s for 3, 6 & 12kHz 460s for 4.5 & 9kHz

Voltage range Absolute maximum current Equivalent input resistance

Operating in current mode

Current ranges Voltage range Absolute maximum current Equivalent input resistance

Operating in thermistor mode

Internal pull-up voltage Trip threshold resistance Reset resistance Short-circuit detection resistance

Common to all modes

Resolution Sampling period default setting

Common to all modes

Resolution

Sampling period default setting

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9 10

Analog output 1 Analog output 2

OL> FREQUENCY output signal CL> SPEED output signal TORQUE output signal
Bipolar single-ended analog voltage or unipolar current output

24 25 26

Digital input / output F1

OL> AT-SPEED output CL> AT ZERO SPEED output

Digital input / output F2 RESET input Digital input / output F3 JOG SELECT input
Negative or positive logic digital inputs, or negative-logic push-pull or open collector digital outputs Parameters 8.12, 8.15 & 8.18 Parameter 8.27 -3V to +30V 3.2mA Inactive state (input open-circuit): >+15V Active state: <+5V Inactive state (input open-circuit): >+5V Active state: <+15V Parameter 8.28 200mA (total including terminal 22) 240mA (total including terminal 22) 0V to +24V PWM switching frequency dependent 5.5ms for 3, 6, & 12kHz 7.4ms for 4.5 & 9kHz

Type of output Mode controlled by...

7.19 & 7.22

10V 10mA peak 1k minimum Short-circuit proof 0 to 20mA 4 to 20mA 12V 600 200 at 20mA 10-bit plus sign PWM switching frequency dependent 5.5ms for 3, 6, & 12kHz 7.4ms for 4.5 & 9kHz

Operating in Voltage mode

Output voltage range Maximum output current Load resistance Protection

Type of output Input / output mode controlled by...

Operating as an input
Logic mode controlled by... Absolute maximum voltage range Input current when 0V applied Negative-logic levels Positive-logic levels

Operating in current mode

Current ranges Maximum output voltage Maximum load resistance Equivalent input resistance

Common to all modes

Resolution Update period

Operating as an output
Open collector outputs selected by... Maximum output current Overload output current

Common to both modes

Voltage range

11
Function

0V common (analog)
Common connection for external analog devices.

Sample / Update period

27 21 0V common (digital) 28 29 22
Function Voltage tolerance Nominal output current Overload output current Protection

Digital input F4 Digital input F5 Digital input F6

RUN FORWARD input RUN REVERSE input ANALOG INPUT 1 / INPUT 2 SELECT INPUT
Negative or positive logic digital inputs Parameter 8.27 0V to +24V 3V to +30V 3.2mA Inactive state (input open-circuit): >+15V Active state: <+5V Inactive state (input open-circuit): <+5V Active state: >+15V PWM switching frequency dependent 5.5ms for 3, 6, & 12kHz 7.4ms for 4.5 & 9kHz

+24V digital supply

Supply for external digital signal devices 10% 200mA (total including any digital outputs) 240mA (total including any digital outputs) Current foldback above 240mA Type Logic mode controlled by... Voltage range Absolute maximum voltage range Input current when 0V applied Negative-logic levels Positive-logic levels

23
Function

0V common (digital)
Common connection for external digital devices. Sample period

The default configuration of the above digital inputs and outputs are different for Unidrive VTC. See Figure 4-16 Unidrive VTC default terminal functions (European and USA) on page 51 and section 4.9.3 Unidrive VTC control terminal default configuration on page 54 for details.

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4.10
30
Type Logic mode controlled by... Voltage range Absolute maximum voltage range Input current when 0V applied Negative-logic levels Positive-logic levels

Encoder connections
Quadrature encoder connections
Encoder connections (default configurations)

Drive enable input F7

OL> EXTERNAL TRIP INPUT CL> DRIVE ENABLE input

Negative or positive logic digital inputs Parameter 8.27 0V to +24V 3V to +30V 3.2mA Inactive state (input open-circuit): >+15V Active state: <+5V Inactive state (input open-circuit): <+5V Active state: >+15V Enable function PWM switching frequency dependent 5.5ms for 3, 6, & 12kHz 7.4ms for 4.5 & 9kHz Disable or trip function 1ms

4.10.1

Figure 4-17

Sample period

Encoder connector Female 15-way D-type Encoder

31
Function

0V common (digital)
Common connection for external digital devices.

Incremental signal connections for all encoders

4.9.3

Unidrive VTC control terminal default configuration

Commutation signal connections for servo-encoders only

The following is a list of the terminal default functions for Unidrive VTC. Any terminal not listed has the same default function as Unidrive. 5 6 7 Analog input 1 (differential input) Analog input 2 10V frequency reference input EUR> 10V frequency reference input USA> 4 to 20 mA frequency reference input Motor thermistor input (PTC) For encoder cable screening, see section 4-10 Feedback cable, twisted pair on page 47. 9 10 Analog output 1 Analog output 2 Frequency output Total motor current output

Analog input 3

Descriptions of the encoder connections

1 2 Quadrature channel A Quadrature channel A\ Quadrature channel B Quadrature channel B\ Marker pulse channel Z Marker pulse channel Z\
EIA422 differential receivers 250kHz (equivalent of 3,000rpm with a 5,000 lines per revolution encoder) 120 (switchable using Pr 3.24) 1 unit load 15V 25V

24 25 26

Digital input / Output F1

EUR> AT SPEED output USA> DRIVE RUNNING output

3 4 5 6

Digital input / Output F2 RESET input Digital input / Output F3 PRESET SELECT

27 28 29

Digital input F4 Digital input F5 Digital input F6

EUR> RUN FORWARD input USA> RUN input EUR> RUN FORWARD input USA> ANALOG INPUT 1 / INPUT 2 SELECT input ANALOG INPUT / PRESET REF SELECT input

Type Maximum data rate Line termination components Line loading Absolute maximum applied voltage relative to 0V Absolute maximum applied differential voltage

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4.10.2
7 8 9 10 11 12
Type Maximum data rate Line termination components Line loading Absolute maximum applied voltage relative to 0V Absolute maximum applied differential voltage

Frequency and direction connections

Frequency and direction connections and alternative motor-thermistor connections

Phase channel U Phase channel U\ Phase channel V Phase channel V\ Phase channel W Phase channel W\
EIA422 differential receivers 250kHz 120 1 unit load +15V to -10V 25V

Figure 4-18

Encoder connector Female 15-way D-type

13

Encoder supply
+5.15V or +15V (selected by Pr 3.23) 2% 300mA

Frequency reference Direction reference Master

Supply voltage Voltage tolerance Nominal output current

The output voltage at terminal 13 is 5V when Pr 3.23 is set at 0 (default). When Pr 3.23 is set at 1, the output voltage will become 15V. This could damage encoders that require a 5V supply. Termination resistors should be disabled by setting Pr 3.24 to 1 if the encoder output is 15V. 14 0V common
Frequency reference Direction reference Slave

15

Motor thermistor input

This terminal is connected internally to terminal 8 of the signal connector Connect only one of these terminals to a motor thermistor. Analog input 3 must be in thermistor mode, Pr 7.15 = [Link] (9) or th (10).

For encoder cable screening, see section 4-10 Feedback cable, twisted pair on page 47.

Description of the frequency and direction connections

1 2 3 4
Type Maximum data rate Line termination components Line loading Absolute maximum applied voltage relative to 0V Absolute maximum applied differential voltage

Frequency input FIN Frequency input FIN\ Direction input DIN Direction input DIN\
EIA422 differential receivers 250kHz 120 (switchable using Pr 3.24) 1 unit load 15V 25V

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Figure 4-19 7 8 9 10
Type Maximum data rate Line termination components Absolute maximum applied voltage relative to 0V Absolute maximum applied differential voltage

Location of the power module address switch

Frequency output FOUT Frequency output FOUT\ Direction output DOUT Direction output DOUT\
EIA422 differential receivers 250kHz 120 +15V to -10V 25V

IN96 Phase-control board

13

Encoder supply
+5.15V or +15V (selected by Pr 3.23) 2% 300mA

Supply voltage Voltage tolerance Nominal output current

DC-bus choke

The output voltage at terminal 13 is 5V when Pr 3.23 is set at 0 (default). When Pr 3.23 is set at 1, the output voltage will become 15V. This could damage encoders that require a 5V supply. Termination resistors should be disabled by setting Pr 3.24 to 1 if the encoder output is 15V. 14 0V common

IN95 Interface board

15

Motor thermistor input

This terminal is connected internally to terminal 8 of the signal connector Connect only one of these terminals to a motor thermistor. Analog input 3 must be in thermistor mode, Pr 7.15 = [Link] (9) or th (10).

4.11

Configuring a Unidrive size 5 system

The following must be performed in order to configure a Unidrive size 5 system: Each power module must be given a unique address. The control module must be notified of the number of power modules it is to control. The new settings must be saved in the control module software.

4.11.1

Configuring the power modules

To set the address on a power module, set the slide switch to the required address number, see Figure 4-19 for the position of the switch. Ensure that each power module in a multiple module system has its own unique address number. See Table 4-6 for example configuration settings.

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4.11.2

Configuring the control module

4.11.3

Saving the configuration

On the control module, set the configuration switches to correspond with the addresses given to the power modules in the system. Move the switch to the off position to set the switch. Ensure all remaining switches are in the on position. See Table 4-6 for example configuration setting. Figure 4-20 Setting the configuration switches in the control module

When the drive is first powered-up, and the system contains more than one power module (or the number of power modules has been changed), the control module display will indicate as shown in Figure 421. Figure 4-21 Control module display

(The number displayed corresponds to the number power modules.) A parameter save must be performed so that the drive will not trip next time the drive is powered up. To perform a save refer to section 5.8 Saving parameters on page 61.

Table 4-6

Example configuration settings Configuration switches 1st Power module 2nd Power module 3rd Power module Control module

System

One control module can be used to control up to eight power modules.

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5
5.1

Getting Started
Understanding the display

The display consist of two horizontal rows of 7 segment displays. The lower display shows the drive status or the current menu and parameter number being viewed. The upper display shows the parameter value or the specific trip type. Figure 5-1 Keypad

Pr 5.05 value Menu 5. Parameter 5 Upper display Lower display Programming keys

Trip type (UU = undervolts) Control keys Drive status = tripped

5.2
5.2.1

Keypad operation
Control buttons

The keypad consists of: 1. Four arrow buttons 2. One mode button 3. Three control buttons The arrow buttons are used to navigate the parameter structure and change parameter values. The mode button is used to change between the display modes parameter view, parameter edit, status. The three control buttons are used to control the drive if keypad mode is selected: start (green) stop (red) forward / reverse (blue)
NOTE

The red stop button is also used to reset the drive.

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Figure 5-2

Display modes
Status mode examples:

Status Mode (display not flashing)

To enter Parameter Mode, press key Parameter Mode (display not flashing)

8 seconds timeout

Healthy Status

Trip Status

Alarm Status

Use * keys to select parameter for editing

When returning to Parameter Mode use the To enter Edit Mode, press key Edit Mode (upper line of display flashing) Change parameter values using keys. To exit Edit Mode, press key

* keys to select another parameter to change, if required

* can only be used to move between menus if standard security has been opened. For further information, refer to section 5.10 Parameter security on page 62. Do not change parameter values without careful consideration; incorrect values may cause damage or a safety hazard.
WARNING

NOTE

When changing the values of parameters, make a note of the new values in case they need to be entered again.
NOTE

For new parameter-values to apply after the AC supply to the drive is interrupted, new values must be saved. Refer to section 5.8 Saving parameters on page 61.

5.3

Menu structure

* can only be used to move between menus if standard security has been opened. For further information, refer to section 5.10 Parameter security on page 62. 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.

The drive parameter structure consists of menus of 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 standard security has been cleared, the left and right buttons are used to navigate between menus.

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Figure 5-3

Menu Structure

Figure 5-4

Menu 0 Cloning
Menu 2

Menu

19

Menu 20

Menu 0 ....xx.00....

Menu 1

Menu 2

2.21 Menu 0 0.04 0.05 0.06 5 0 150

20.01 20.02 20.03 20.04 20.05

0.01 0.02 0.03 0.04 0.05

1.01 1.02 1.03 1.04 1.05

Menu 1

1.14
Moves between parameters

Menu 4

4.07

150

20.46 20.47 20.48 20.49 20.50

0.46 0.47 0.48 0.49 0.50

1.46 1.47 1.48 1.49 1.50

5.6

Advanced menus

The advanced menus consist of groups or parameters appropriate to a specific function or feature of the drive as follows:
Menu number
0

Description
Commonly used basic set up parameters for quick / easy programming Speed references and limits Ramps (accel / decel) Speed feedback / frequency slaving Current control Machine control Sequencing logic Analog I/O Digital I/O Programmable logic Status flags / trip log Menu 0 customisation / drive specific ratings Programmable thresholds Digital lock / orientation Programmable PID function Regen Small option module set up Large option module set up Application menu 1 Application menu 2 Large option module set up

Moves between Menus

NOTE

1 2 3 4 5 6 7 8 9 10 11 12 jumps to [Link] Jumps to LSB 13 14 15 16 17 18 19 20

Menu 20 is only present when a large option module is present.

5.4

Advanced keypad functions

The following short-cuts can be used to speed up navigation of the drive parameters and editing of parameters.
Key Press Parameter View Mode
jumps to xx.00

Parameter Edit Mode

Sets value to 0

5.5

Menu 0

Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive. Appropriate parameters are cloned from the advanced menus into menu 0 and thus exist in both locations.

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5.6.1

Display messages

Status indications
The following tables indicate the various possible mnemonics which can be displayed by the drive and their meaning. Trip types are not listed here but can be found in Chapter 12 Diagnostics if required. Lower display Act Conditions Regeneration mode active Enabled Drive output stage

5.7

Changing the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters.

Procedure
Use the following procedure only if a different operating mode is required: 1. Enter either of the following values in Pr 0.00, as appropriate: 1253 (Europe, 50Hz AC supply frequency) 1254 (USA, 60Hz AC supply frequency) 2. Change the setting of Pr 0.48 as follows: Pr 0.48 setting Operating mode 0 Open-loop

Regen mode> The Regen drive is enabled and synchronised to the supply. ACUU AC Supply loss The drive has detected that the AC supply has been lost and is attempting to maintain the DC bus voltage by decelerating the motor. dc dEC DC applied to the motor Decelerating The drive is applying DC injection braking. The drive is decelerating the motor. inh Inhibit The drive is inhibited and cannot be run. Drive enable signal not applied to terminal 30 or Pr 6.15 is set to 0. POS rdY run Positioning Ready The drive is positioning/orientating the motor shaft. The drive is ready to be run. Running The drive is running. SCAn Scanning OL> The drive is searching for the motor frequency when synchronising to a spinning motor. Regen> The drive is enabled and is synchronising to the line. StoP Stop or holding zero speed The drive is holding the motor at zero speed. Regen> The drive is enabled but the AC voltage is too low, or DC Bus voltage still rising or falling. triP Trip condition The drive has tripped and is no longer controlling the motor. The trip code appears on the upper display.

Enabled

Enabled
1

Closed-loop Vector

Enabled
2

Disabled

Closed-loop Servo

Enabled Disabled Enabled

For operation in this mode, refer to the Unidrive Regen Installation Guide

The figures in the second column apply when serial communications are used. 3. Press or momentarily close the RESET contact. The new setting takes effect and all the parameters revert to the appropriate default values for the new mode.

Enabled

5.8
Enabled

Saving parameters

Procedure
Enter 1000 in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

Disabled

5.9

Defaulting the drive

Procedure
Enter 1233 (EUR 50 Hz settings) or 1244 (USA 60 Hz settings) in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

Alarm indications
Lower display Air Conditions Control PCB ambient temperature near maximum limit

The ambient temperature around the control PCB has reached 90C (194F) and the drive will trip OA if the temperature continues to rise (see the OA trip). [Link] Braking resistor overload The braking-resistor [I x t] accumulator in the drive has reached 75% of the value at which the drive will be tripped. hot Heatsink temperature near maximum limit The drive heatsink has reached 90C (194F) and the drive will trip Oh2 if the temperature continues to rise (see the Oh2 trip). OVLd Motor overload The motor [I x t] accumulator in the drive has reached 75% of the value at which the drive will be tripped.

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5.10

Parameter security

Disabling standard security

Set parameter 0.34 to 0 and press the
NOTE

There are two independent levels of security that can be enabled / disabled in the Unidrive. This gives four possible combinations of security settings as shown in the table below:
Standard security
Open Open Closed Closed

button.

This action also disables user security if it has been enabled.

User security
Open Closed Open Closed

Menu 0 status
RW RO RW RO

Advanced menus status (i.e menus 1 to 20)

RW RO Not visible Not visible

Enabling standard security

Set parameter 0.34 to 149 and press the button.

5.10.2

User security

User security prevents write access to all parameters except xx.00.

User security open - All parameters: Read / Write access

RW = Read / write access RO = Read only access The default settings of the drive are standard security closed and user security open, i.e. read / write access to Menu 0 with the advanced menus (i.e. menus 1 to 20) not visible.

5.10.1

Standard security
Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03 Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03 ............ ............ ............ ............ ............ ............ ............ ............ Pr 19.00 Pr 19.01 Pr 19.02 Pr 19.03 Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Standard security prevents read and write access to the advanced menu parameters.

Standard security closed - Menu 0 only visible Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03 Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03 ............ ............ ............ ............ ............ ............ ............ ............ Pr 19.00 Pr 19.01 Pr 19.02 Pr 19.03 Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Pr 0.49 Pr 0.50

Pr 1.49 Pr 1.50

Pr 19.49 Pr 19.50

Pr 20.49 Pr 20.50

Pr 0.49 Pr 0.50

Pr 1.49 Pr 1.50

Pr 19.49 Pr 19.50

Pr 20.49 Pr 20.50

User security closed - All parameters: Read Only access, except Pr xx.00 Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03 Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03 ............ ............ ............ ............ ............ ............ ............ ............ Pr 19.00 Pr 19.01 Pr 19.02 Pr 19.03 Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Standard security open - All parameters visible

Pr 0.49 Pr 0.50

Pr 1.49 Pr 1.50

Pr 19.49 Pr 19.50

Pr 20.49 Pr 20.50

Setting user security

Enter a value between 1 and 256 (except 149) in parameter 0.34. Once the button has been pressed the value reverts to 149 to hide the security code which has been set.

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 0.49 Pr 0.50

Pr 1.49 Pr 1.50

............ ............ ............ ............ ............ ............ ............ ............

Pr 19.00 Pr 19.01 Pr 19.02 Pr 19.03

Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Save parameters by setting parameter xx.00 to 1000 and press the button.

Opening user security

Enter the security code into parameter xx.00.

Closing user security

Pr 19.49 Pr 19.50 Pr 20.49 Pr 20.50
Set parameter xx.00 to 2000 and press the mode button or cycle the power to the drive.
NOTE

Opening standard security

Set parameter xx.00 to 149 and press the button. button or cycle the

This action also closes standard security if it has been enabled.

Disabling user security

Set parameter 0.34 to 0 and press the and standard security Set parameter 0.34 to 149 and press the but set standard, security. button to disable both user button to disable user,

Closing security
Set parameter xx.00 to 2000 and press the power to the drive.
NOTE

This action also closes user security if it has been enabled.

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5.11
5.11.1

Serial Communications
Introduction
11.24
RW

Serial comms. mode

Txt P

The Unidrive has an optional serial communications interface in the form of the UD71 serial communications module. This module has a fully optically isolated 4 wire or 2 wire EIA485 interface and an EIA232 interface. (The EIA232 interface should be used for commissioning purposes only.)

ANSI 2 (0), ANSI 4 (1), OUtPUt (2), INPUt (4)

ANSI 4 (1)

This is the mode of operation of the serial port. ANSI 2 (0) ANSI 4 (1) OUtPUt (2) INPUt (3) Standard 2 wire EIA485 using ANSI protocol Standard 4 wire EIA485 using ANSI protocol Output variable defined by Pr 11.27 Input variable defined by Pr 11.27

5.11.2

Serial communications module hardware connections

Location of communication interfaces

See Figure 3-5 on page 15 for information regarding installing the UD71 serial communications large option module in the drive. Figure 5-5

OUtPUt (2) and INPUt (3) are used to transfer a variable parameter from one drive to another. See the Unidrive Advanced User Guide for more information. 11.25
RW

Serial comms. baud rate

Txt P

A C B D

4800 (0), 9600 (1), 19200 (2), 2400 (3)

4800 (0)

Used in 2 or 4 wire ANSI modes to select the communications port baud rate. 4800 (0) 9600 (1) 19200 (2) 2400 (3) 4800 baud 9600 baud 19200 baud 2400 baud Serial comms. two-wire mode delay
Uni 0 to 255 ms P

EIA485 Interface (male 9 pin D-type)

Table 5-1 Pin 1 2 3 4 5 6 7 8 9

EIA232 Interface (Female 9 pin D-type)

11.26
RW

Serial communications connections EIA485 Interface EIA232 Interface UD71 CD TXD** RXD** DTR 0V** DSR RTS CTS NC Host PC CD RXD** TXD** DTR 0V** DSR RTS CTS RI 2 wire mode 0V TX\ RX\* TX\ RX\*

4 wire mode 0V TX\ RX\

If 2 wire EIA485 communications is being used then a delay is required between the drive receiving data and then responding to allow the device that sent the request to changes its buffers from transmit to receive.

Not connected Not connected Not connected Not connected TX RX TX RX* TX RX*

Not connected Not connected Not connected Not connected

* Pins 2 and 3, and pins 6 and 7 must be connected together in 2 wire EIA485 mode. ** Depending on the host software being used, it may only be necessary to connect pins 2, 3 and 5 when using the EIA232 interface. When connecting EIA232 interface on the UD71 serial communications module to the 9 pin serial port on a PC, a 9 pin male D-type to 9 pin female D-type serial extension cable can be used.

5.11.3

Serial communications set-up parameters

The following parameters need to be set according to the system requirements. 11.23
RW

Serial comms. address

Uni 0.0 to 9.9 P

1.1

Defines the unique address for the drive. Any number in the permitted range 0.0 to 9.9 which has a zero in it, should not be used as these are used to address groups of drives.

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6
6.1
6.1.1

Menu 0
Single line descriptions
Unidrive (All variants excluding Unidrive VTC)
Parameter Range() OL
0 to 9,999 {1.07} {1.07} {1.06} 0 to [Pr 0.02]Hz 0 to [Pr 0.02]rpm 0 to 1,000.0Hz EUR> 50 USA> 60 0 to 30,000rpm VT> 0 to 3,200 s/1000rpm SV> 0 to 32.000 s/1000rpm VT> 0 to 32.000 s/ 1000rpm SV> 0 to 32,000 s/ 1000rpm 0 to 5 0 to Imax % Ur_S (0), Ur_l (1), Ur (2), Fd (3) 0 to 32,000 % 0.0 to 25.0 % 0 to 32,000 0 or 1 0 to 32,000 6,000 rpm 1,000.0 Hz 1,000.0 Hz Imax A 0 to 400.0 Hz 0 to 4,000.0 rpm [Link] (0), FASt (1), [Link] (2) COASt (0), rP (1), COASt (0), rP (1), rP-dcI (2), dcI (3), [Link] (2), rP-POS (3) [Link] (4) 0 to 1 0 to 4 0 or 1 0 to 3,000.0 s2/100 Hz 0 to 30,000 s2/1000 rpm 0.0 to 1,000.0 Hz 0 to 30,000 rpm 0.0 to 5.0 Hz 0 to 50 rpm 0.0 to 1,000.0 Hz 0 to 30,000 rpm 0.0 to 5.0 Hz 0 to 50 rpm VOLt (0), 0 - 20 (1), 20 - 0 (2), 4 - [Link] (3), 20 - [Link] (4), 4 - [Link] (5), 20 - [Link] (6), 4 - [Link] (7), 20 - [Link] (8) (as Pr 0.24) Pr 0.00 to Pr 20.50 0 or 1 0 to 4 0 to 30,000 1,000Hz 30,000 rpm 0 to 30,000 Pr 0.00 to Pr 20.50 0 or 1 0 to 8 ANSI 2 (0), ANSI 4 (1), OUtPUt (2), INPUt (3) 2.10 to 1920 A 0 to 255 [Pr 0.02] Hz [Pr 0.02] rpm 4,800 (0), 9,600 (1), 19,200 (2) baud 0.0 to 9.9 [Link] Pr 0.00 to Pr 0.50 1.5 [Link] (2) rP (1) 0 0 3.1 0.5 0 0.5 VOLt (0) VOLt (0) Pr 1.37 0 4 150 2,000 Pr 1.41 0 ANSI 4 (1) 149 4,800 (0) 1.1 Pr 0.10 5 1.5 0 5 0.03 [Link] (2) 50 30,000 rpm 30,000 rpm 30,000 rpm 0 0 3.0 100 Ur_l (1) 200 EUR> 1,500 USA> 1,800 5 2 3000 0 0

Default() CL OL VT
0

SV

Type
RW Uni RW Uni RW Uni RW Uni R

0.00 0.01

Operating mode, Macro selection, Configuration, Saving OL> Minimum frequency CL> Minimum speed OL> Maximum frequency

0.02
CL> Maximum speed {1.06}

RW Uni

0.03

Acceleration rate

{2.11}

0 to 3,200.0 s/100Hz

0.2

RW Uni

0.04

Deceleration rate

{2.21}

0 to 3,200.0 s/100Hz

10 EUR> 0 USA> 4 150

0.2

RW Uni

0.05 0.06 0.07 0.08 0.09 0.10 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38

Reference selector Current limit OL> Voltage mode selector CL> Speed control P gain OL> Voltage boost CL> Speed control I gain OL> Dynamic V/f select CL> Speed control D gain OL> Estimated motor speed CL>Motor speed Pre-ramp reference Post-ramp reference Motor active-current Jog reference Ramp mode selector Stop mode selector Torque mode select S-Ramp enable S-Ramp da / dt limit Skip frequency/speed 1 Skip band 1 Skip frequency/speed 2 Skip band 2 Analog input 1 mode selector Analog input 2 mode selector Analog input 2 destination EUR> Positive logic select USA> Sequencing mode selector EUR> Current control P gain USA> Frequency/speed demand EUR> Current control I gain USA> Terminal-29 destination parameter Forward / reverse key enable Macro number Serial comms mode Drive rated current (FLC) User security code Keypad reference Serial comms. baud rate Serial comms. address Initial parameter displayed

{1.14} {4.07} {5.14} {3.10} {5.15} {3.11} {5.13} {3.12} {5.04} {3.02} {1.03} {2.01} {4.02} {1.05} {2.04} {6.01} {4.11} {2.06} {2.07} {1.29} {1.30} {1.31} {1.32} {7.06} {7.11} {7.14} {8.27} (6.04) {4.13} (1.01) {4.14} {8.23} {6.13} {11.37} {11.24} {11.32} {11.30} {1.17} {11.25} {11.23} {11.22}

0 175

RW Uni RW Uni RW Uni RW RW RW RW RW RO RO RO RO RO Uni Uni Uni Bit Uni Bi Bi Bi Bi Bi P

RW Uni RW Txt RW Txt RW Uni RW Bit RW Uni RW RW RW RW Uni Uni Uni Uni R R R R

RW Txt RW RW RW RO RW RO RW Txt Uni Bit Uni Uni Bi Uni

P P P

20 40

30 1,200

RW Uni RW RO RW RO RW RO RW RW RW Bit Uni Txt Uni Uni Bi Txt Uni Uni

R S S

P P P P P P P

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Parameter 0.39 0.40 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.48 0.49 0.50
Synchronise to a spinning motor Autotune PWM switching frequency Motor - no. of poles Motor - rated power factor Motor - rated voltage Motor - rated speed Motor - rated current Motor - rated frequency Drive operating mode selector Security status Software version number {6.09} {5.12} (3.25) {5.18} {5.11} {5.10} {5.09} {5.08} {5.07} {5.06} {11.31} {11.29}

Range() OL
0 or 1 0 or 1 3 kHz (0), 4.5 kHz (1), 6 kHz (2), 9 kHz (3), 12 kHz (4) 2 POLE (0) to 32 POLE (15) VT> 0.000 to 1.000 0.000 to 1.000 SV> 1 200V drive: 0 to 240 V 400V drive: 0 to 480 V 0 to 6,000 rpm 0 to 30,000 rpm

Default() CL OL
0 0 3 (0)* 4 POLE (1) 0.92 200V drive: 220 400V drive: EUR> 400 USA> 460 EUR> 1450 0 USA> 1770 FLC EUR> 50 USA> 60 OPENLP [Link] (0) (1) 1

VT
1

SV

Type
RW Bit RW Bit RW Txt P

6 POLE (3) RW Txt 1 0 RW Uni RW Uni RW Uni RW Uni 0 SErVO (2) RW Uni RW Txt RO Uni RO Uni R S

P P

0 to 1,000.0 Hz

0 to FLC A VT> 0 to 1,000.0 Hz SV> 0 OPENLP (0), [Link] (1), SErVO (2), rEGEN (3) 0 to 1,000 1.00 to 99.99

P P P

* Pr 0.41 PWM switching frequency has a default setting of 9kHz in Unidrive LFT Key:
RO RW Read Only parameter Read / Write parameter Uni Bi Txt Bit Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter R S P FLC Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous)

Types of current range FLC Full load current of the drive (maximum continuous output current up to 40oC ambient temperature). Displayed in Pr 11.32 {0.33}. IMAX A Maximum overload output current of the drive up to 40oC ambient temperature, derived as follows: Size 1 to 4: OL> 150% x FLC CL> 175% x FLC Size 5: 150% x FLC IMAX % See section 8.2 Current limits on page 98 for the definition of IMAX%.
NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications. Operation mode abbreviations: OL> CL> VT> SV> Open loop Closed loop (which incorporates closed loop vector and servo mode) Closed loop vector mode Servo

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Figure 6-1

Unidrive menu 0 logic diagram (excluding VTC)

LOCAL / REMOTE JOG SELECT RUN RUN FORWARD REVERSE OL> EXTERNAL TRIP CL> DRIVE ENABLE

RESET

Reference selection Frequency/speed ref. 1 (remote)

Reference selector 0.05

0.02 Minimum frequency/ speed clamp 0.01

Maximum frequency/speed clamp

Pre-ramp reference 0.11

Skip frequencies/ speeds

Ramps

6 Frequency/speed ref. 2 (local) 0.03 Preset references (see the Unidrive Advanced User Guide) 0.20 Skip frequency/ speed 1 0.21 0.35 Keypad reference Skip freq./speed band 1 0.22 Skip frequency/ speed 2 Precision reference (not used with Menu 0) 0.23 Skip freq./speed band 2 Acceleration rate 0.04 Deceleration rate 0.15 Ramp mode selector

Jog reference

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown in their default settings

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THERMISTOR

OL> FREQUENCY CL> SPEED

TORQUE

OL> AT SPEED CL> AT ZERO SPEED

Post-ramp reference Motor control 0.12 0.06 S-ramp S-ramp enable 0.18 0.16 0.39 Stop mode selector Current limit

Motor parameters 0.42 ~ 0.47 No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

CL> Speed-loop PID gains 0.19 S-ramp da/dt limit 0.08 0.07 Speed-loop proportional gain Speed-loop integral gain

OL> Motor-voltage control 0.07 Speed-loop derivative gain 0.10 Estimated motor speed Voltage mode selector 0.08 Boost voltage 0.09 Dynamic V/f select Drive

0.09

Power stage 0.41 PWM switching frequency Motor speed 0.10 0.13 15 way sub-D connector Motor active-current

Resistor optional

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6.1.2
0.00 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.10 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38 0.39 0.40 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.48 0.49 0.50

Unidrive VTC
Parameter
Operating mode, Macro selection, Configuration, Saving Minimum frequency Maximum frequency Acceleration rate Deceleration rate Reference selector Current limit Voltage mode selector Voltage boost Dynamic V/f select Estimated motor speed Pre-ramp reference Post-ramp reference Motor active-current Total motor current Ramp mode selector Stop mode selector Total motor power S-Ramp enable S-Ramp da / dt limit Skip frequency 1 Skip band 1 Drive rated current (FLC) Analog input 1 mode selector Preset frequency 1 Preset frequency 2 Standard ramp voltage Current control P gain Current control I gain DC bus voltage Last trip Macro number Number of auto-reset attempts Auto-reset time delay User security code Serial comms. mode Serial comms. baud rate Serial comms. address Initial parameter displayed Synchronise to a spinning motor Autotune PWM switching frequency Motor - no. of poles Motor - rated power factor Motor - rated voltage Motor - rated speed Motor - rated current Motor - rated frequency Overload accumulator Security status Software version number

Range()
0 to 9,999 {1.07} {1.06} {2.11} {2.21} {1.14} {4.07} {5.14} {5.15} {5.13} {5.04} {1.03} {2.01} {4.02} {4.01} {2.04} {6.01} {5.03} {2.06} {2.07} {1.29} {1.30} {11.32} {7.06} {1.21} {1.22} {2.08} {4.13} {4.14} {5.05} {10.20} {11.37} {10.34} {10.35} {11.30} {11.24} {11.25} {11.23} {11.22} {6.09} {5.12} {5.18} {5.11} {5.10} {5.09} {5.08} {5.07} {5.06} {4.19} {11.29} 0 to [Pr 0.02]Hz 0 to 250.0Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 5 0 to Imax % Ur_S (0), Ur_l (1), Ur (2), Fd (3) 0.0 to 15.0 % 0 or 1 6,000 rpm 1,000.0 Hz 1,000.0 Hz Imax A 0 to 400.0 Hz [Link] (0), FASt (1), [Link] (2) COASt (0), rP (1), rP-dcI (2), dcI (3), [Link] (4) PMAX 0 or 1 0 to 3,000.0 s2/100 Hz 0.0 to 1,000.0 Hz 0.0 to 5.0 Hz 2.10 to 202 A VOLt (0), 0 - 20 (1), 20 - 0 (2), 4 - [Link] (3), 20 - [Link] (4), 4 - [Link] (5), 20 - [Link] (6), 4 - [Link] (7), 20 - [Link] (8) 1,000.0 Hz 1,000.0 Hz 200V drive: 0 to 400 V 400V drive: 0 to 800 V 0 to 30,000 0 to 30,000 200V drive: 0 to 415 V 400V drive: 0 to 830 V 0 to 200 0, 1, 2, 3, 5 0 to 5 0.0 to 25.0 s 0 to 255 ANSI 2 (0), ANSI 4 (1), OUtPUt (2), INPUt (3) 4,800 (0), 9,600 (1), 19,200 (2) baud 0.0 to 9.9 [Link] Pr 0.00 to Pr 0.50 0 or 1 0 or 1 3 (0), 4.5 (1), 6 (2), 9 (3), 12 (4) kHz 2 POLE (0) to 32 POLE (15) 0.000 to 1.000 200V drive: 0 to 240 V 400V drive: 0 to 480 V 0 to 6,000 rpm 0 to FLC A 0 to 1,000.0 Hz 0 to 100 % 0 or 1 1.00 to 99.99

Default()
0 0 EUR> 50, USA> 60 60 60 0 120 Fd (3) 3.0 0

Type
RW Uni RW RW RW RW RW Uni Uni Uni Uni Uni R

RW Uni RW Txt RW Uni RW Bit RO Bi RO Bi RO Bi RO Bi RO Uni RW Txt RW Txt RO Bi RW Bit RW Uni RW Uni RW Uni RO Uni RW Txt RW RW Bi Bi R P

P P P P P

[Link] (2) rP (1) 0 450.0 0 0.5

VOLt (0) 0 0 200V drive: 375 400V drive: EUR> 750, USA> 775 20 20

RW Uni RW Uni RW Uni RO Uni P S P

0 0 1.0 149 ANSI 4 (1) EUR> 4,800, USA> 9,600 1.1 EUR> Pr 0.10, USA> Pr 0.12 0 0 3 (0) 4 POLE (1) 0.92 200V drive: 220 400V drive: EUR> 400, USA> 460 0 FLC EUR> 50, USA> 60 1

RO RO RW RW RW RW RW RW RW RW RW

Txt Uni Uni Uni Uni Txt Txt Uni Uni Bit Bit

S R

P P P P P P

RW Txt RW Txt RW Uni 0 RW Uni RW RW RW RO RO RO Uni Uni Uni Uni Bit Uni S P P

P P

Key:
RO RW Read Only parameter Read / Write parameter Uni Bi Txt Bit Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter R S P FLC Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous)

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Types of current range FLC Full load current of the drive (maximum continuous output current up to 40oC ambient temperature). Displayed in Pr 11.32 {0.22}. IMAX A Maximum overload output current of the drive up to 40oC ambient temperature, derived as follows: 120% x FLC IMAX % See section 8.2 Current limits on page 98 for the definition of IMAX%. Pr5.09 P MAX = 3 I MAX -----------------1000
NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

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Figure 6-2

Unidrive VTC menu 0 logic diagram

PRESET SELECT

ANALOG INPUT/ RUN RUN PRESET REF FORWARD REVERSE SELECT

RESET

EXTERNAL TRIP

Reference selection Frequency/speed ref. 1

Reference selector 0.05 Minimum frequency clamp

0.02

Maximum frequency/speed clamp

Pre-ramp reference 0.11

0.01 Skip band Ramps

6 Frequency/speed ref. 2 0.03 All preset references (not used with Menu 0) Preset reference 1 Preset reference 2 Acceleration rate 0.04 Deceleration rate 0.15 Ramp mode selector

0.20 Skip frequency1 0.21 Skip frequency band 1

Precision reference (not used with Menu 0)

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown in their default settings

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THERMISTOR

FREQUENCY

TOTAL MOTOR CURRENT

EUR> AT SPEED USA> DRIVE RUNNING

Post-ramp reference Motor control 0.12 0.06 S-ramp S-ramp enable 0.18 0.16 0.39 Stop mode selector 0.27 0.28 Current limit 0.26 Standard ramp voltage Current-loop proportional gain

Motor parameters 0.42 to 0.47 No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

0.19 S-ramp da/dt limit

Motor-voltage control 0.07 0.08 0.09 Voltage mode selector Boost voltage Dynamic V/f select Drive

_
0.10 Estimated motor speed

Power stage 0.41 0.29 PWM switching frequency DC bus voltage

0.13 Motor active-current

0.14 Total motor current

0.17 Total motor power

0.48 Overload accumulator Resistor optional

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6.2
6.2.1
0.00
RW

Menu 0 full descriptions

Menu 0 configuration
Operating mode, Macro selection, Configuration, Saving
Uni 0 to 9,999 R

Open-loop Set Pr 0.02 at the required maximum output frequency for both directions of rotation. The frequency reference cannot cause the drive to run at a frequency higher than [Pr 0.02]. [Pr 0.02] is a nominal value; slip compensation may cause the actual frequency to be higher. Closed-loop Set Pr 0.02 at the required maximum motor speed for both directions of rotation. The speed reference cannot cause the drive to run the motor at a speed higher than [Pr 0.02]. For closed loop vector operation at motor frequencies greater than 400Hz (24,000rpm for 2-pole motors) may result in instability. For further advice, contact the supplier of the drive.
CAUTION

Value
1000 1233 1244 1253 1254 2001 2002 2003 2004 2005 2006 2007 2008

Function
Save new parameter-values Restore parameters to their default values for 50Hz AC supply frequency (Europe) Restore parameters to their default values for 60Hz AC supply frequency (USA) Enable the operating mode of the drive to be changed and restore parameters to their default values for 50Hz AC supply frequency (Europe) Enable the operating mode of the drive to be changed and restore parameters to their default values for 60Hz AC supply frequency (USA) Macro 1 Easy mode Macro 2 Motorized potentiometer Macro 3 Preset speeds Macro 4 Torque control Macro 5 PID control Macro 6 Axis-limit control Macro 7 Brake control Macro 8 Digital lock / shaft orientation

6.2.3

Ramps, Speed reference selection, Current limit

Acceleration rate
Uni 0.0 to 3,200.0s/100Hz VT> 0 to 3,200.0 s/1,000rpm SV> 0 to 32.000 s/1,000rpm

0.03 {2.11}
RW

OL

5* 2 0.2

CL

*This parameter has a default setting of 60s in Unidrive VTC. Set Pr 0.03 at the required rate of acceleration. Note that larger values produce lower acceleration. The rate applies in both directions of rotation. 0.04 {2.21} Deceleration rate
Uni 0.0 to 3,200.0s/100Hz VT> 0 to 3,200.0 s/1,000rpm SV> 0 to 32.000 s/1,000rpm

Press

after setting Pr 0.00 at the required value.

RW

6.2.2

Speed limits
OL> Minimum frequency CL> Minimum speed
Uni 0 to [Pr 0.02]Hz 0 to [Pr 0.02]rpm

OL

10* 2 0.2

0.01 {1.07}
RW

CL

OL CL

0 0

*This parameter has a default setting of 60s in Unidrive VTC. Set Pr 0.04 at the required rate of deceleration. Note that larger values produce lower deceleration. The rate applies in both directions of rotation. 0.05 {1.14}
RW

(When the drive is jogging, [Pr 0.01] has no effect.) Open-loop Set 0.01 at the required minimum output frequency of the drive for both directions of rotation. The drive runs at the minimum frequency when the frequency reference is zero. [Pr 0.01] is a nominal value; slip compensation may cause the actual frequency to be higher. Closed-loop Set Pr 0.01 at the required minimum motor speed for both directions of rotation. The motor runs at the minimum speed when the speed reference is zero. OL> Maximum frequency CL> Maximum speed
Uni 0 to 1,000Hz* VT> 0 to 30,000rpm SV> 0 to 30,000rpm

Reference selector
Uni 0 to 5 0 to 5

OL CL

EUR> 0* USA> 4* EUR> 0 USA> 0

*This parameter has a European and USA default setting of 0 in Unidrive VTC. The default setting of Pr 0.05 depends on the default configuration of the drive and the operating mode, as follows:
EUR All operating modes Closed-loop modes Open-loop mode 0 0 4 Terminal mode Terminal mode Keypad mode

0.02 {1.06}
RW

OL CL

EUR> 50 USA> 60 EUR> 1,500 USA> 1,800 3,000

USA USA

The default settings apply also when a macro is enabled.

* This parameter has a maximum range of 250Hz in Unidrive VTC. (The drive has additional over-speed protection.)

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Use Pr 0.05 to select the required frequency/speed reference, as follows: Setting Control mode Function
0 1 2 3 4 5 Terminal Terminal Terminal Terminal Keypad Terminal Analog frequency / speed reference selected by ANALOG INPUT 1 / INPUT 2 contact Analog frequency / speed reference 1 selected Analog frequency / speed reference 2 selected Preset frequency / speed references selected (not used with Menu 0) Frequency / speed controlled by the keypad Precision reference selected (not used with Menu 0)

6.2.4

Voltage boost (open-loop), Speed-loop PID gains (closed-loop)

OL> Voltage mode selector CL> Speed controller proportional gain
Uni Ur_S (0), Ur_l (1), Ur (2),, Fd (3) 0 to 32,000 % OL> P

0.07 {5.14} 0.07 {3.10}

RW

OL CL

Ur_l (1)* 200

*This parameter has a default setting of Fd (3) in Unidrive VTC. Open-loop

Setting Function Vector modes
Motor stator resistance is measured each time the drive is started. Motor stator resistance is measured at power-up if the EXTERNAL TRIP contact is closed and no other trip condition exists. Motor stator resistance is not measured (use this mode only after having used Ur_S or Ur_I to measure the stator resistance).

0.06 {4.07}
RW

Current Limit
Uni

OL VT SV

0 to IMAX %

Ur_S
150* 150 175

0 1

Ur_I

*This parameter has a default setting of 120% in Unidrive VTC. For the definition of IMAX%, seesection 8.2 Current limits on page 98. Pr 0.06 limits the maximum output current of the drive (and hence maximum motor torque) to protect the drive and motor from overload. Set Pr 0.06 at the required maximum torque as a percentage of the rated torque of the motor, as follows: TR Pr 0.06 = -------------------- 100 (%) T RATED Where: TR Required maximum torque TRATED Motor rated torque Alternatively, set 0.06 at the required maximum active (torqueproducing) current as a percentage of the rated active current of the motor, as follows: IR - 100 (%) Pr 0.06 = ----------------I RATED Where: Required maximum active current IR IRATED Motor rated active current

Ur

Fixed boost mode Fd

3 Fixed voltage boost that can be manually adjusted by parameter 0.08 Boost voltage.

Use Pr 0.07 (Pr 5.14) to select fixed voltage boost, or Vector control of voltage boost. Fixed boost requires a value to be set in Pr 0.08 Boost voltage by the user. See Figure 6-3. Fixed boost should be used when Pr 0.39 Synchronize to a spinning motor is set at 1. Figure 6-3 Effect of fixed voltage boost on the voltage-tofrequency characteristic
Motor voltage

[0.08] Voltage boost

Frequency

Vector control causes the voltage boost to be automatically regulated according to the load on the motor. Vector control requires the value of stator winding resistance to be stored in a parameter in the drive. The three Vector modes allow the resistance to be measured under different circumstances. Closed-loop Pr 0.07 (Pr 3.10) operates in the feed-forward path of the speed-control loop in the drive. See Chapter 8 Optimisation . 0.08 {5.15} 0.08 {3.11}
RW

OL> Voltage boost CL> Speed controller integral gain

Uni

OL CL

0 to 25.0 % of motor rated voltage* 0 to 32,000

3.0 100

*This parameter has a maximum range of 15% in Unidrive VTC. Open-loop When Pr 0.07 Voltage mode selector is set at Fd, set Pr 0.08 (Pr 5.15) at the required value for the motor to run reliably at low speeds.

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See Figure 6-3. Excessive values of Pr 0.08 can cause the motor to be overheated. Closed-loop Pr 0.08 (Pr 3.11) operates in the feed-forward path of the speed-control loop in the drive. See Chapter 8 Optimisation . 0.09 {5.13}
RW

Closed-loop Pr 0.10 (Pr 3.02) indicates the value of motor speed that is obtained from the speed feedback. The value of Pr 0.10 is applied to the analog output on terminal 9 to indicate speed.

Dynamic V/f select

Bit 0 or 1

0.11 {1.03}
RO

Pre-ramp reference
Bi 1,000Hz 30,000rpm

OL

OL CL

Open-loop Set Pr 0.09 (Pr 5.13) at 0 when the V/f characteristic applied to the motor is to be fixed. It is then based on the rated voltage and frequency of the motor. Set Pr 0.09 at 1 when reduced power dissipation is required in the motor when it is lightly loaded. The V/f characteristic is then variable resulting in the motor voltage being proportionally reduced for lower motor currents. Figure 6-4 shows the change in V/f slope when the motor current is reduced. Figure 6-4 Fixed and variable V/f characteristics

0.12 {2.01}
RO

Post-ramp reference
Bi 1,000Hz 30,000rpm

OL CL

When the frequency/speed is constant, [Pr 0.12] = [Pr 0.11]. During acceleration and deceleration, the two values may differ. OL> [Pr 0.12] differs from [Pr 0.11] also under either of the following conditions: When the drive is in current limit During braking in a standard ramp mode (Pr 0.15 Ramp mode selector set at [Link] or [Link]). 0.13 {4.02} Motor active-current
Bi Imax A

Motor voltage AC supply voltage

IMOTOR

RO

When the motor is being driven below its rated speed, the torque is proportional to [Pr 0.13].

Frequency

6.2.6

Jog reference, Ramp mode selector, Stop and torque mode selectors
Jog reference
Uni 0 to 400.0Hz 0 to 4,000.0rpm

0.14 {1.05}
RW

0.09 {3.12}
RW

Speed control D gain

Uni 0 to 32,000

OL CL

1.5 50

CL

Enter the required value of jog frequency/speed. The frequency/speed limits affect the drive when jogging as follows:
Frequency-limit parameter 0.01 Minimum frequency/speed 0.02 Maximum frequency/speed Limit applies
No Yes

Closed-loop Pr 0.09 (Pr 3.12) operates in the feedback path of the speed-control loop in the drive. See Chapter 8 Optimisation .

6.2.5

Monitoring
OL> Estimated motor speed CL> Motor speed
Bi 60,00rpm 30,000rpm

0.10 {5.04} 0.10 {3.02}

RO

0.15 {2.04}
RW

Ramp mode selector

Txt (See below)

OL CL

[Link] FASt [Link]

[Link] (2)

Select the required ramp mode as follows:

(0) (1) (2)
Standard ramp with ramp hold Fast ramp Standard ramp with proportional control (refer to the Unidrive Advanced User Guide)

Open-loop Pr 0.10 (Pr 5.04) indicates the value of motor speed that is estimated from the following: Pr 0.12 Post-ramp frequency reference Pr 0.42 Motor - no. of poles The value of Pr 0.10 is applied to the analog output on terminal 9 to indicate estimated speed.

For more information, see Pr 2.04 in section 10.22 Advanced Features on page 182.

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0.16 {6.01}
RW

Stop mode selector

Txt 0 to 4 (see below) 0 to 3 (see below)

curved parts of the S will be 25% of the original ramp if S ramp is enabled.
Demanded speed

OL CL

VT SV

rP (1) rP (1) [Link] (1)

Select the required stop mode as follows:

Open loop COASt rP rP-dcI dcI td-dcI
(0) The motor is allowed to coast (1) Ramp to a stop (2) Ramp followed by 1 second DC injection (3) (4) AC injection braking followed by 1 second DC injection braking DC injection braking for an adjustable time (see the Unidrive Advanced User Guide).

Programmed ramp rate

Closed loop COASt rP [Link] rP-POS

(0) The motor is allowed to coast (1) Ramp to a stop (2) Stop under current limiting (no ramp) (3) Ramp, orientate and stop

Rate of change of S-ramp acceleration time

For more information, see Pr 6.01 in section 10.22 Advanced Features on page 182. 0.17 {4.11}
RW

Since the ramp rate is defined in s/100Hz or s/1000rpm and the S ramp parameter is defined in s2 /100Hz or s2 /1,000rpm, the time T for the 'curved' part of the S can be determined from: S ramp rate of change T = -------------------------------------------------------------Ramp rate Enabling S ramp increases the total ramp time by the period T since an additional T/2 is added to each end of the ramp in producing the S.

Torque mode select

Uni 0 to 1 0 to 4

OL CL

0 0

6.2.8

Skip bands
Skip frequency/speed 1 Skip frequency/speed 2
Uni 0.0 to 1,000.0Hz 0 to 30,000rpm

Set Pr 0.17 as follows:

Setting
0 1 2 3 4

0.20 {1.29} 0.22 {1.31}

RW

Open-loop
Frequency control Torque control Speed control Torque control

Closed-loop

OL CL

0.0 0

Torque control with speed over-ride Coiler/uncoiler mode Speed control with torque feed-forward

See Pr 0.21 and Pr 0.23 Skip bands. 0.21 {1.30} 0.23 {1.32}
RW

Skip band 1 Skip band 2

Uni 0 to 5.0Hz 0 to 50rpm

For more information, see Pr 4.11 in section 10.22 Advanced Features on page 182.

OL CL

6.2.7
RW

S-ramp
S-Ramp enable
Bit 0 or 1

0.5 5

0.18 {2.06}

Use skip frequencies/speeds and skip bands to prevent the motor from running at speeds that cause mechanical resonances in the machine. During acceleration and deceleration, the drive passes through the skip bands, but it does not stabilize in a skip band. Up to two skip frequencies/speeds can be programmed. Enter the centre frequency/speed of the band in Pr 0.20 (or Pr 0.22) Skip frequency/speed, then enter the width of each sideband in Pr 0.21 (or Pr 0.23) Skip band. When the value of a skip frequency is zero, the related skip band is disabled.

Setting this parameter enables the S ramp function. S ramp is disabled during deceleration using Standard ramp with P control (Pr 2.04 = 2). When the motor is accelerated again after decelerating in standard ramp with P control the acceleration ramp used by the S ramp function is reset to zero. 0.19 {2.07}
RW

S-ramp da/dt limit

Uni

OL CL

0.0 to 3,000.0s2/100Hz 0.000 to 30,000 s2/1,000rpm

VT SV

3.1 1.5 0.03

This parameter defines the maximum rate of change of acceleration/ deceleration that the drive will operate with. The default values have been chosen such that for the default ramps and maximum speed, the

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UL Listing Information

Figure 6-5

Action of skip frequency/speed 1 and skip band 1

6.2.10
RW

Miscellaneous
EUR> Positive logic select
Bit 0 or 1 R P 0

0.27 {8.27}

European configuration Use Pr 0.27 (Pr 8.27) to select the logic polarity of the digital inputs, as follows:
0 1 Negative logic Positive logic

0.27 {6.04}
RW

USA> Sequencing mode selector

Uni 0 to 4 P

Refer to Pr 6.04 in the Unidrive Advanced User Guide. When the frequency/speed (input) reference ascends into a skip band, the resulting (output) reference remains at the lower edge of the band until the input reference has reached the upper edge of the band. The output reference then jumps to the value of the input reference. When the frequency/speed (input) reference descends into a skip band, the resulting (output) reference jumps immediately to the lower edge of the band. Example Skip speed 1 = 250rpm Enter 250 in Pr 0.20 Required skip band = 60rpm Enter 30 in Pr 0.21 (Skip band = 2 x Value of skip-band parameter.) 0.28 {4.13}
RW

EUR> Current-loop proportional gain

Uni 0 to 30000 VT> 0 to 30,000 SV> 0 to 30,000

OL CL

20 150 130

0.29 {4.14}
RW

EUR> Current-loop integral gain

Uni 0 to 30,000 VT> 0 to 30,000 SV> 0 to 30,000

OL CL

40 2000 1200

European configuration The values of Pr 0.28 and Pr 0.29 affect the dynamic performance of the drive in the following conditions: Current-limit in frequency/speed control Torque control Braking when Pr 0.15 Ramp mode selector is set at [Link] (default) Synchronizing the drive to a spinning motor (Pr 0.39 set at 1) Loss of AC supply when Pr 6.03 AC supply loss mode selector is set at [Link]. For information on adjusting these parameters, refer to Pr 4.13 and Pr 4.14 in the Unidrive Advanced User Guide. 0.28 {1.01}
RO

6.2.9

Analog input modes

Analog input 1 mode selector Analog input 2 mode selector
Txt 0 to 8 R

0.24 {7.06} 0.25 {7.11}

RW

VOLt (0)

Set the required mode as follows:

Setting
VOLt 0-20 20-0 [Link] [Link] [Link] [Link] [Link] [Link] (0) (1) (2) (3) (4) (5) (6) (7) (8)

Input signal
10V 0 to 20mA 20mA to 0 4mA to 20mA 20mA to 4mA 4mA to 20mA 20mA to 4mA 4mA to 20mA 20mA to 4mA

When current signal 3mA...

Signal treated as zero Signal treated as zero Drive trips Drive trips Drive runs at minimum or low speed Drive runs at minimum or low speed Drive runs at previous speed Drive runs at previous speed

USA> Frequency/speed demand

Bi 1,000Hz 30,000rpm

OL CL

USA configuration Pr 0.28 differs from Pr 0.11 Pre-ramp reference in that it indicates the demanded reference before frequency/speed limiting and skip bands. 0.29 {8.23} USA> Terminal-29 destination parameter
Uni R P Pr 1.41

0.26 {7.14}
RW

Analog input 2 destination parameter

Txt R P Pr 1.37

RW

Pr 0.00 to Pr 21.50 (Menu param.)

Pr 0.00 to Pr 20.50 (Menu param.)

A signal applied to an input terminal is converted into a value which is applied to a parameter. The function of this parameter determines the function of the terminal. By default, terminal 7 (Analog input 2) is assigned to Pr 1.37 Analog reference 2. Use Pr 0.26 to change the function of terminal 7.

USA configuration Use Pr 0.29 to change the function of the digital input on terminal 29. The default setting (Pr 1.41) gives LOCAL/REMOTE switching.

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6.2.12
0.30 {6.13}
RW

Forward / reverse key enable

Bit 0 or 1

Serial communications, Parameter displayed after power-up

0.36 {11.25} Serial comms. baud rate

RW Txt 4,800 (0) 9,600 (1) 19,200 (2) 2,400 (3) P

The drive is supplied with the

button disabled. To enable this

button, set Pr 0.30 FWD/REV enable at 1. 0.31 {11.37} Macro number

RO Uni 0 to 9

4800 (0)*

*This parameter has a default setting of 9,600 (1) in the VTC variant when USA defaults are loaded.

Pr 0.31 indicates the number of the macro that is currently in operation. 0.32 {11.24} Serial comms. mode
RW Uni ANSI 2 (0) ANSI 4 (1) OUtPUt (2) INPUt (3) R P

Use Pr 0.36 to select the required baud rate for serial communications when a UD71 Basic serial communications large option module is fitted in the drive. 0.37 {11.23} Serial comms. address
RW Uni 0.0 to 9.9 ([Link]) P

ANSI 4 (1)

1.1

Use Pr 0.32 to select the required serial communications mode as follows: ANSI 2 (0) ANSI protocol, two-wire ANSI 4 (1) ANSI protocol, four-wire Use the following modes to transfer the value of a parameter in one drive to a parameter in another drive: OUtPUt (2) Transmit the value of the parameter specified by the setting of
Pr 11.27 Serial comms. source / destination parameter (CT protocol)

Use Pr 0.37 to select the required address for serial communications when a UD71 Serial communications large option module is fitted in the drive. Do not enter an address that contains a zero, since this is used when addressing a group of drives. 0.38 {11.22} Initial parameter displayed
RW Uni Pr 0.00 to Pr 0.50 P

Pr 0.10*

*This parameter has a default setting of Pr 0.11 in the VTC variant when USA defaults are loaded. At the time the AC supply is connected to the drive, Pr 0.10 Motor frequency/speed is automatically pre-selected as the initial parameter to be displayed. This results in the following: 1. After the AC supply is connected to the drive, and before any other parameter is selected, the value of Pr 0.10 is shown on the upper display. This allows the motor frequency/speed to be monitored without the need to select the parameter. 2. If the keypad is subsequently used to select another parameter, the value of the newly selected parameter is displayed in place of the initial parameter. To select a different Menu 0 parameter to be displayed initially, enter the required parameter number in Pr 0.38 (e.g. to display Pr 0.12 Post-ramp frequency/speed reference, enter 0.12).

INPUt (3)

Apply the received value to the parameter specified by the setting of Pr 11.27 Serial comms. source / destination parameter (CT protocol)

0.33 {11.32} Drive rated current (FLC)

RO Uni 2.10 to 1,920 A P

0.34 {11.30} User security code

RW Uni 0 to 255 S P 149

Use Pr 0.34 to set up a User Security code. Irrespective of the code number entered in Pr 0.34, it always indicates the default value 149. When Pr 0.34 is actually set at 149, no User Security is applied. See section 5.10 Parameter security on page 62.

6.2.13 Spinning motor, Autotune, PWM switching frequency

0.39 {6.09}
RW

Synchronise to a spinning motor

Bit 0 or 1 0 or 1

6.2.11
RO

Keypad-reference monitoring
Keypad control mode reference
Bi [Pr 0.02]Hz [Pr 0.02]rpm S P

OL CL

0.35 {1.17}
OL CL

0 1

Open-loop Set Pr 0.39 at 1 for the drive to always automatically synchronise itself to the motor if the motor is already rotating when the drive is started. If the drive is started when the motor is already spinning and Pr 0.39 is set at 0, the drive cannot detect the speed of the motor; the normal operation of the drive will cause the motor to be braked to a stand-still in the same way as DC injection braking. The drive will then accelerate the motor to the value of the frequency reference. Note NOTE The drive can be synchronised to a single motor only. If more than one motor is connected to the drive, this function should not be used.

0.35 indicates the value of the frequency/speed reference when the drive is operating in Keypad mode. The reference is then controlled by the following control buttons (when the display is in Status mode):

The value is automatically saved when the drive is powered-down. At the next power-up, the drive ramps up to the frequency/speed that applied before the power-down.

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Note NOTE For the drive to operate correctly during and after synchronisation, Pr 0.07 Voltage mode selector must be set at Fd. The drive starts a sequence of operations at one quarter of the rated motor voltage in order to detect the frequency associated with the speed of the motor. The sequence is stopped when the motor frequency is detected. The stages in the sequence are as follows: 1. The frequency of the drive is set at maximum (the value of Pr 0.02) in the direction that the motor was last driven. (If the AC supply to the drive was interrupted before an attempt is made to synchronise to a spinning motor, the drive always starts in the forward direction.) 2. The frequency is reduced to zero. If the motor frequency is detected during the reduction in drive frequency, the test is stopped. The drive frequency is set at the detected motor frequency and the drive takes control of the motor. 3. If the motor frequency is not detected, the drive is set at maximum frequency in the opposite direction, and the test is repeated. 4. If the motor frequency is still not detected, the drive frequency is set at 0Hz, and the drive takes control of the motor. Closed-loop Pr 0.39 is set at 1 by default. The value of Pr 0.12 Post-ramp reference is automatically set at the value of speed feedback. The drive then takes control of the motor. When Pr 0.39 is set at 0, the motor will be decelerated under current limit until the motor speed meets the value of Pr 0.12 Post-ramp reference. For more information, see section 10.22 Advanced Features on page 182. 0.40 {5.12}
RW

Note NOTE The Unidrive LFT default switching frequency is 9kHz, however, a limited duty cycle applies. See Figure 2-3 Standard S4/S5 duty cycle (Unidrive LFT) on page 10.

6.2.14
RW

Motor parameters
Motor - number of poles
Txt 2 to 32 poles VT> 2 to 32 poles SV> 2 to 32 poles P

0.42 {5.11}
OL CL

4 (1) 4 (1) 6 (2)

Enter the number of motor poles (not pole pairs). 0.43 {5.10}
RW

Motor - power factor

Uni 0 to 1.000 VT> 0 to 1.000 SV> 1 S P 0.92 0.92 1.0

OL CL

Open-loop Closed-loop Vector When Autotune is used, the power factor of the motor is measured by the drive and stored in Pr 0.43. The value can be seen when Pr 0.43 is accessed. The value may be slightly higher than the value stated on the motor rating plate. If Autotune is not used, enter the value in Pr 0.43. 0.44 {5.09} Motor - rated voltage
Uni 0 to 480 VT> 0 to 480 SV> 0

Autotune
Bit 0 or 1 P

RW

OL CL

400 460 0

Set Pr 0.40 at 1 to start the Autotune sequence. See Chapter 8 Optimisation . Pr 0.40 is related to the advanced parameters as follows: OL + VT> Pr 5.12 Magnetizing current test enable SV> Pr 3.25 Encoder phasing test enable 0.41 {5.18}
RW

Open-loop and Closed-loop Vector Enter the value from the rating plate of the motor. 0.45 {5.08}
RW

PWM switching frequency

Txt

Motor - rated speed

Uni 0 to 6,000rpm

3 (0), 4.5 (1), 6 (2), 9 (3), 12 (4) kHz

OL

0 EUR> 1,450 USA> 1,770 0

3 (0)

VT> 0 to 30,000rpm SV> 0 to 30,000rpm

If the switching frequency is increased from the default value, the power loss inside the drive is increased. The drive ensures the losses remain within acceptable levels by the use of an intelligent thermal model. Intelligent thermal modelling in the drive effectively monitors the junction temperature of the IGBTs in the power stage. When the junction temperature is calculated to reach the maximum permissible value, two levels of protection occur, as follows: 1. When a PWM switching frequency of 6kHz, 9kHz or 12kHz is selected, the PWM switching frequency is automatically halved. This reduces switching losses in the IGBTs. (The value of parameter Pr 0.41 PWM switching frequency remains at the value set by the user.) Then at one-second intervals, the drive will attempt to return the PWM switching frequency to the original value. This will be successful when the thermal modelling has calculated that the temperature has reduced sufficiently. 2. If the junction temperature continues to rise (due to the output current) after the PWM switching frequency has been halved, and the temperature reaches the maximum permissible value, the drive will trip. The display will indicate trip code Oh1. If the drive is required to run at a high load continuously with an elevated switching frequency, derating must be applied. Please see Table 111 Unidrive and Unidrive VTC drive current ratings on page 190.

CL

Open-loop This parameter should be set to the synchronous speed minus the slip speed if slip compensation is required. Closed-loop Vector This parameter should be set to the synchronous speed minus the slip speed. Closed-loop Servo Leave Pr 0.45 set at 0. This parameter is not used in this operating mode. 0.46 {5.07}
RW

Motor - rated current

Uni 0 to FLC A

FLC

FLC is the maximum permissible continuous output current of the drive up to 40C ambient temperature and 3kHz PWM switching frequency. Enter the value from the rating plate of the motor.

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0.47 {5.06}
RW

Motor - rated frequency

Bit 0 to 1,000.0Hz* VT> 0 to 1,000.0Hz SV> 0Hz

In contrast to all the other parameters in menu 0, this parameter does not exist in any other menu.
EUR> 50 USA> 60 EUR> 50 USA> 60 0

OL CL

0.50 {11.29} Software version number

RO Uni 1.00 to 99.99 P

*This parameter has a maximum range of 250Hz in Unidrive VTC. Open-loop and Closed-loop Vector Enter the value from the rating plate of the motor.

Displays the first two sections of the software version of the drive.

6.2.17

Unidrive VTC Menu 0 differences

6.2.15
RW

Operating-mode selection
Txt (See below) R P

Menu 0 in Unidrive VTC contains some different parameters to menu 0 in Unidrive. The following menu 0 parameters are found in Unidrive VTC. Any parameter not listed below is the same as open loop Unidrive. 0.14 {4.01}
RO

0.48 {11.31} Drive operating mode selector

[Link] (0)

Total motor current

Uni 0 to IMAX A P

The settings for 0.48 are as follows: Pr 0.48 setting Operating mode

Pr 0.14 indicates the total motor current (the vector sum of Pr 0.13 Motor active-current and Pr 4.17 Motor magnetising current). 0.17 {5.03}
RO

Open-loop Total motor power

Bi PMAX P

Closed-loop Vector

Total output power of the drive (positive for power flow out of the drive output terminals). 0.22
RO

Closed-loop Servo

Drive rated current

Uni 2.10 to 202 A P

3 For operation in this mode, refer to the Unidrive Regen Installation Guide 0.23
RW

Analog input 1 mode selector

Txt R

See Chapter 8 Optimisation on page 92. The operating mode cannot be changed while the drive is running.

VOLt (0), 0 - 20 (1), 20 - 0 (2), 4 - [Link] (3), 20 - [Link] (4), 4 - [Link] (5), 20 - [Link] (6), 4 - [Link] (7), 20 - [Link] (8)

VOLt (0)

6.2.16
0.49
RO

Status information
Security status
Uni 0 to 1,000 P

Setting
VOLt 0-20 20-0 [Link] [Link] [Link] [Link] [Link] [Link] (0) (1) (2) (3) (4) (5) (6) (7) (8)

Input signal
10V 0 to 20mA 20mA to 0 4mA to 20mA 20mA to 4mA 4mA to 20mA 20mA to 4mA 4mA to 20mA 20mA to 4mA

When current signal 30mA

Signal treated as zero Signal treated as zero Drive trips Drive trips Drive runs at minimum or low speed Drive runs at minimum or low speed Drive runs at previous speed Drive runs at previous speed

This parameter indicates the current status of the drive parameter security system. Each digit indicates a particular aspect of security as follows: Units digit: Tens digit: Hundreds digit: Thousands digit: 0 = Standard security has been unlocked 1 = Standard security is still set 0 = User security has been unlocked or is not active 1 = User security is active preventing RW access 1 = Pr 11.30 not equal to 149* 1 = Pr 11.30 equal to zero*

0.24 {1.21} 0.25 {1.22}

RW

Preset frequency 1 Preset frequency 2

Bi 1000.0 Hz

* The value of Pr 11.30 is the last value written by the user. Pr 11.30 always appears as 149 when first accessed by the key pad to hide the real value last written by the user. If Pr 11.30 = 149 then user security is cleared. If Pr 11.30 = 0 then user security and security preventing access outside menu 0 is cleared.

0.0

Enter the value of frequency as required. When Pr 1.10 Bipolar reference select is set at 0, negative values are treated as zero. When Pr 1.10 is set at 1, negative values will cause the drive to run in the reverse direction.

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0.26 {2.08}
RW

Standard ramp voltage

Uni

reset count reaches the programmed value, any further trip of the same value will not cause an auto-reset.
200V drive: 375 400V drive: EUR> 750, USA> 775

200V drive: 0 to 400 V 400V drive: 0 to 800 V

If there has been no trip for 5 minutes then the reset count is cleared. Auto reset will not occur on an External trip (Et). 0.33 {10.35} Auto-reset time delay
RW Uni 0.0 to 25.0 s

This voltage is used as the level for both standard ramp modes. If hold mode is used and this is set too low the drive will never stop, and if it is too high and no braking resistor is used the drive may trip on OV (DC bus over voltage). If Standard ramp with P control (Pr 2.04 = [Link] (2)) is used and Pr 2.08 is set too low the machine will coast to rest, and if it is set too high and no braking resistor is used it may trip on OV. The minimum level should be greater than the voltage produced on the DC bus by the highest supply voltage. Normally the DC bus voltage will be approximately the rms supply voltage x 2. Care should be taken in the setting of Pr 2.08. It is recommended that the setting should be at least 50V higher than the maximum expected level of the DC bus voltage. If this is not done, the motor may fail to decelerate on a STOP command.

1.0

This parameter defines the time between a trip and an auto reset subject to the 10s minimum trip time for IGBT over-current trips ([Link] and [Link] trips). 0.35 {11.24} Serial comms. mode
RW Txt ANSI 2 (0), ANSI 4 (1), OUtPUt (2), INPUt (3) R P

ANSI 4 (1)

WARNING

Use Pr 0.32 to select the required serial communications mode as follows: ANSI 2 (0) ANSI protocol, two-wire

0.27 {4.13}
RW

Current-loop proportional gain

Uni 0 to 30,000

ANSI 4 (1) ANSI protocol, four-wire Use the following modes to transfer the value of a parameter in one
20

0.28 {4.14}
RW

drive to a parameter in another drive: OUtPUt (2) Transmit the value of the parameter specified by the setting of
Pr 11.27 Serial comms. source / destination parameter (CT protocol)

Current-loop integral gain

Uni 0 to 30,000

INPUt (3)

40

Apply the received value to the parameter specified by the setting of Pr 11.27 Serial comms. source / destination parameter (CT protocol)

The values of Pr 0.27 and Pr 0.28 affect the dynamic performance of the drive in the following conditions: Operation in current limit Braking when Pr 0.15 Ramp mode selector is set at [Link] (default) Loss of AC supply when Pr 6.03 AC supply loss mode selector is set at [Link]. 0.48 {4.19}
RO

Overload accumulator
Uni 0 to 100 % P

See section 10.22.5 Mains loss modes on page 185 for more information. 0.29 {5.05}
RW

When the total current level is above 105% motor rated current (Pr 5.07 x 1.05) the overload accumulator increases, until it reaches 100% when the drive will give an Ixt trip or apply a restriction on the current limit. The level of the accumulator is given by: Accumulator = (I2 / (Pr 5.07 x 1.05)2) x (1 - e-t/) x 100%

DC bus voltage
Uni P

200V drive: 0 to 415 V 400V drive: 0 to 830 V

NOTE

0.30 {10.20} Last trip

RW Txt 0 to 200 V S P

If the motor rated current parameter (Pr 5.07) is modified the overload accumulator is reset to zero. This allows the drive to be used with more than one motor of different ratings without producing overload trips when the drive has been running with a large motor and then a smaller motor is connected.

See section 12.1 Trip indications on page 198 for details of the trip codes. If the drive trips, the trip code representing the cause of the trip is logged in Pr 0.30. Pr 0.30 continues to display this trip until the drive trips with a different trip code. 0.32 {10.34} Number of auto-reset attempts
RW Uni 0 to 5

If this parameter is set to zero then no auto-reset attempts are made. Any other value will cause the drive to automatically reset following a trip for the number of times programmed. Pr 10.35 defines the time between the trip and the auto reset. The reset count is only incremented when the trip is the same as the previous trip, otherwise it is reset to 0. When the

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Running the motor

Ensure that no damage or safety hazard could arise from the motor starting unexpectedly.

For operation with a resolver or SINCOS encoder an option module is required. For option module terminal information see section 10.16 Menu 16 Small option module set-up on page 171 or the manual which is supplied with the option module.

7.1.2

Selecting the operating mode

WARNING

Motor overload protection The values of the motor parameters affect the protection of the motor. The default values in the drive should not be relied upon. It is essential that the correct value is entered in Pr 0.46 Motor rated current. The overload protection level is 150% (SV: 175%) of motor rated current. The protection level maybe adjusted below 150% if required. Refer to Chapter 8 Optimisation on page 92 for further information. These settings affect the thermal protection of the motor. If the keypad mode has been used previously, ensure that the keypad reference has been set to 0 using the and buttons as if the drive is started using the keypad it will run to the speed defined by the keypad reference (Pr 0.35).

Changing the operating mode returns all parameters to their default value, including the motor parameters.

Procedure
1. Enter either of the following values in parameter 0.00, as appropriate: 1253 (Europe, 50Hz AC supply frequency) 1254 (USA, 60Hz AC supply frequency) 2. Change the setting of parameter 0.48 as follows: Pr 0.48 setting Operating mode

CAUTION

Open-loop

CAUTION

Closed-loop Vector

If the intended maximum speed affects the safety of the machinery, additional independent over-speed protection must be used.
WARNING

Closed-loop Servo

7.1
7.1.1

Quick start set-up

Basic connections
3

For operation in this mode, refer to the Unidrive Regen Installation Guide

This section shows the basic connections which must be made for the drive to run in the required mode. For minimal parameter settings to run in each mode please see the relevant part of section 7.2 Quick Start commissioning . Table 7-1 Drive control method Terminal mode (Default configuration) Keypad mode (Set Pr 0.05 = 4) Requirements Drive enable Speed reference Run forward or run reverse command Connect thermistor or link to 0V Drive enable Connect thermistor or link to 0V

The figures apply when serial communications are used. 3. Press or momentarily close the RESET contact. The new setting takes effect and all the parameters revert to the appropriate default values for the new mode.

Table 7-2 Operating mode Open loop mode Closed loop vector mode Servo Requirements Induction motor Induction motor with speed feedback Permanent magnet motor with speed and position feedback

Speed feedback
Suitable devices are: Incremental encoder (A, B), Resolver with 0.33 or 0.5 transformation ratio SINCOS encoder

Speed and position feedback

Suitable devices are: Incremental encoder with commutation signals (A, B, U, V, W) Resolver with 0.33 or 0.5 transformation ratio Stegmann SINCOS encoder with Hiperface serial communications

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Figure 7-1

Minimum connections to get the motor running in any operating mode

C l o s e d L o o p V e c t o r

O p e n L o o p

U V W

Quadrature channel A Quadrature channel A Quadrature channel B Quadrature channel B Marker pulse channel Z Marker pulse channel Z Commutation channel U Commutation channel U Commutation channel V Commutation channel V Commutation channel W Commutation channel W Encoder supply 0V Common Motor thermistor input
5 10 15 1 6 11

A A B B Z Z 1

Encoder connector 15 way D-type

L1 L2 L3

U V W +

!
4

U V W

Braking resistor

S e r v o

A A B B U U V V W W Z Z 1
Fuses

1 2 3 4

Marker pulse optional Link to 0V if motor thermistor not present Encoder screening must be connected to 0V at both the drive end and encoder end of the cable Thermal overload for braking resistor to protect against fire risk. This must be wired to interrupt the AC supply in the event of a fault. Encoder power supply: 5V, parameter 3.23 = 0 15V, parameter 3.23 = 1

L1 L2

L3

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21 22 1 2 3 4 5 6 7 8 9 10 11
2 Thermistor input +10V Speed reference input 0V

23 24 25 26 27 28 29 30 31
ENABLE 0V RUN FWD RUN REV

T e r m i n a l m o d e K e y p a d m o d e

(0.05 = 4)

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7.2
7.2.1

Quick Start commissioning

Open loop mode (including VTC variant)
Detail Ensure: Enable is closed (terminal 30) Motor thermistor is connected or terminal 8 is linked to 0V Run signal is not given Motor is connected
NOTE

Induction motor without feedback device

Action

Before powerup

The motor must be uncoupled from any gearbox or load before an autotune is carried out, as detailed below. Power-up the drive Ensure: Drive displays rdy If the drive trips, see Chapter 12 Diagnostics on page 198. Enter: Motor rated current in Pr 0.46 (A) Motor rated frequency in Pr 0.47 (Hz) Motor rated voltage in Pr 0.44 (V) - check if or connection Number of poles in Pr 0.42 f 120 Where: P = ----------------Ns P = Number of poles f = Rated frequency (Hz) Ns = Synchronous speed (rpm)

Enter motor nameplate details

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 [Link] F C 40 s S1 V Hz min-1 kW cos 230 50 1445 2.20 0.80 400 CN = 14.5Nm 240 50 1445 2.20 0.76 415 CN = 14.4Nm A 8.50 4.90 8.50 4.90
I.E.C 34 1(87)

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

Set maximum frequency

Enter: Maximum frequency in Pr 0.02 (Hz)

0.02

Set acceleration Enter: Acceleration rate in Pr 0.03 (s/100Hz) / deceleration Deceleration rate in Pr 0.04 (s/100Hz) rates

100Hz

0.03

0.04

Autotune

WARNING

Once this parameter is set, the motor will accelerate up to 2/3 base frequency without a run command being given. Once the measurement is complete, the motor will coast to a stop. The drive can be disabled at any time by pressing the red button.

cos = ?

Set Pr 0.40 = 1 and wait for the drive display to return to rdy If the drive trips, see Chapter 12 Diagnostics on page 198.
NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out. Save parameters Enter 1000 in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

Run

Drive is now ready to run

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7.2.2

Closed loop vector mode

Action Detail Ensure: Enable signal is not given (terminal 30) Motor thermistor is connected or terminal 8 is linked to 0V Run signal is not given Motor is connected Feedback device is connected
NOTE

Induction motor with speed feedback

Before power-up

The motor must be uncoupled from any gearbox or load before an autotune is carried out.

Power-up the drive

Change drive operating mode to closed loop vector Set Pr xx.00 to 1253 / 1254 (USA). Change Pr 0.48 to [Link]

Press the reset button Ensure the drive displays inh ([Link] trip if 8V SINCOS encoder feedback is being used) If the drive trips, see Chapter 12 Diagnostics on page 198. Encoder Encoder power supply Pr 3.23 = 0, 5V Pr 3.23 = 1, 15V. (If Pr 3.23 = 1 then termination resistors should be disabled - Pr 3.24 = 1) Encoder PPR (pulses per revolution) Enter PPR in Pr 3.21

Set feedback device parameters

Resolver The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation ratio of 0.5 (2:1), set Pr 16.10 = 1 SINCOS Encoder power supply Pr 16.15 = 0, 5V Pr 16.15 = 1, 8V. (Save parameters and cycle power to clear [Link] trip) Encoder PPR (pulses per revolution) Enter PPR in Pr 16.12 Enter: Motor rated power factor Pr 0.43 Motor rated voltage in Pr 0.44 (V) - check if or connection Motor rated speed (synchronous speed - slip speed) in Pr 0.45 (rpm) Motor rated current in Pr 0.46 (A) Motor rated frequency in Pr 0.47 (Hz) Number of poles in Pr 0.42 f 120 P = ----------------Ns Where: P = Number of poles, f = Rated frequency (Hz), Ns = Synchronous speed (rpm) Enter: Maximum speed in Pr 0.02 (rpm)
0.02

Enter motor nameplate details

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 [Link] F C 40 s S1 V Hz min-1 kW cos 230 50 1445 2.20 0.80 400 CN = 14.5Nm 240 50 1445 2.20 0.76 415 CN = 14.4Nm A 8.50 4.90 8.50 4.90
I.E.C 34 1(87)

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

Set maximum speed

Enter: Set acceleration / Acceleration rate in Pr 0.03 (s/1,000rpm) deceleration rates Deceleration rate in Pr 0.04 (s/1,000rpm) (If braking resistor fitted, set Pr 0.15 = FAST) Close enable signal Once this parameter is set and the enable signal is given, the motor will accelerate up to 2 /3 base frequency without a run command being given. Once the measurement is complete, the motor will coast to a stop. The drive can be disabled at any time by pressing the red button.

1000rpm

0.03

0.04

LS = ?

Autotune

WARNING

cos = ?

Set Pr 0.40 = 1 and wait for the drive display to return to rdy If the drive trips, see Chapter 12 Diagnostics on page 198.
NOTE

T Nm

=? N rpm

The motor must be uncoupled from any gearbox or load before an autotune is carried out. Save parameters Enter 1000 in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

Run

Drive is now ready to run

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7.2.3

Servo
Detail

Permanent magnet motor with speed and position feedback

Action Ensure: Enable signal is not given (terminal 30) Motor thermistor is connected or terminal 8 is linked to 0V Before power- Run signal is not given Motor is connected up Feedback device is connected (U, V, W required for incremental encoders)
NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out. Power-up the drive Change drive operating mode to servo Set Pr xx.00 to 1253 / 1254 (USA). Change Pr 0.48 to SErUO

Press the reset button Ensure the drive displays inh ([Link] trip if 8V SINCOS encoder feedback is being used) If the drive trips, see Chapter 12 Diagnostics on page 198. Encoder Encoder power supply Pr 3.23 = 0, 5V Pr 3.23 = 1, 15V. (If Pr 3.23 = 1 then termination resistors should be disabled - Pr 3.24 = 1) Encoder PPR (pulses per revolution) Enter PPR in Pr 3.21 Resolver The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation ratio of 0.5 (2:1), set Pr 16.10 = 1 SINCOS Encoder power supply Pr 16.15 = 0, 5V Pr 16.15 = 1, 8V. (Save parameter and cycle power to clear [Link] trip) Encoder PPR (pulses per revolution) Enter PPR in Pr 16.12

Set feedback device parameters

Enter motor nameplate details

Enter:

Motor rated current in Pr 0.46 (A) Number of poles in Pr 0.42

Model No: 95UXXXXXXXXXXXX Brake: 12Nm Volts: 380/480 24V Cont: 7.7Nm:4.81Arms 0.67A Stall: 9.5Nm:5.91Arms Speed: 3000rpm Poles:6 Control Techniques Kt: 1.6Nm/Arms Dynamics Ltd Ins Class: H Serial No: XXXXXXXXXXX

ANDOVER, HANTS. ENGLAND. SP10 5AB

Set maximum speed Set acceleration / deceleration rates

Enter: Maximum speed in Pr 0.02 (rpm) Enter: Acceleration rate in Pr 0.03 (s/1,000rpm) Deceleration rate in Pr 0.04 (s/1,000rpm) (If braking resistor fitted, set Pr 0.15 = FAST)

0.02

1000rpm

0.03

0.04

Once this parameter is set and the enable signal is given, the motor will rotate by part of 1 revolution without a run command being given.
WARNING

0 0

Autotune

Set Pr 0.40 = 1, close the enable signal (terminal 30) and wait for the drive display to show StOP If the drive trips, see Chapter 12 Diagnostics on page 198.
NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out. Save parameters Enter 1000 in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

Run

Drive is now ready to run

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7.3

Quick start P.C. commissioning (UniSoft / VTCSoft)

This section details how to get the motor running using Unisoft or VTCsoft pc commissioning software in each operating mode and with the various feedback devices. Unisoft or VTCsoft is available free of charge and can be downloaded from [Link].

7.3.1

Open Loop
Enter motor nameplate details.

Induction motor without feedback device

Please refer to the documentation that came with UniSoft or VTCSoft for instructions on how to install the drive commissioning software.

Select OPEN LOOP mode of operation

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 [Link] F C 40 s S1 V Hz min-1 kW cos 230 50 1445 2.20 0.80 400 CN = 14.5Nm 240 50 1445 2.20 0.76 415 CN = 14.4Nm A 8.50 4.90 8.50 4.90
I.E.C 34 1(87)

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

Set maximum / minimum speed.

0.02

Set acceleration / deceleration rates.

100Hz

When entering the motor nameplate details, max/min speeds and acceleration/deceleration rates, click on the relevant field, enter the value here and click Change Action Detail

0.03

0.04

Before power-up

Ensure: Enable is closed (terminal 30) Motor thermistor is connected or terminal 8 is linked to 0V Run signal is not given Motor is connected A UD71 serial communications module is fitted and is connected to the PC running UniSoft with the above screen displayed
NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out. Power-up the drive Ensure: Drive displays inh. If the drive trips, refer to Chapter 12 Diagnostics on page 198.

Program the drive Click Program to upload the values to the drive.

Autotune

WARNING

Once this parameter is set, the motor will accelerate up to 2/3 base frequency without a run command being given. Once the measurement is complete, the motor will coast to a stop. The drive can be disabled at any time by pressing the red button.

cos = ?

Click Autotune to enable the drive to perform the autotune If the drive trips, see Chapter 12 Diagnostics on page 198.
NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out. Saving parameters Run In the 'Tools' menu select 'Save parameters in drive'. UniSoft will ask whether you want to save parameters in the drive when UniSoft is closed. Drive is now ready to run

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7.3.2

Closed Loop Vector

Induction motor with speed feedback

Please refer to the documentation that came with UniSoft for instructions on how to install the drive commissioning software Enter motor nameplate details Select Flux Vector mode of operation
Mot X XXXXXXXXX No XXXXXXXXXX kg
IP55 [Link] F C 40 s S1 -1 V Hz min kW cos 230 50 1445 2.20 0.80 400 CN = 14.5Nm 240 50 1445 2.20 0.76 415 CN = 14.4Nm A 8.50 4.90 8.50 4.90
I.E.C 34 1(87)

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

Set max / min speed

0.02

Set acceleration / deceleration rates

100Hz

0.03

0.04

When entering the motor nameplate details, max/min speeds and acceleration/deceleration rates, click on the relevant field, enter the value here and click Change Action Detail Ensure: Enable is closed (terminal 30) Motor thermistor is connected or terminal 8 is linked to 0V Run signal is not given Motor is connected Feedback is connected and relevant small option module fitted (SINCOS or resolver feedback) A UD71 serial communications module is fitted and is connected to the PC running UniSoft with the above screen displayed
NOTE

Before power-up

The motor must be uncoupled from any gearbox or load before an autotune is carried out. Power-up the drive Ensure: Drive displays inh ([Link] if 8V SINCOS encoder feedback is being used). If the drive trips, refer to Chapter 12 Diagnostics on page 198.

Program the drive

Click Program to upload the values to the drive.

Recognising the option If either a UD52 SINCOS or UD53 Resolver option module has been fitted, click Read to allow module UniSoft to recognise which small option module has been fitted.

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Action In the Parameter menu, select Display by menu. For incremental encoder feedback, select Menu 3. For SINCOS or Resolver feedback, select Menu16.

Detail

Set encoder parameters Select the parameter to change in the list above. Enter the required value in the field and click Change. Encoder Encoder power supply Pr 3.23 = 0, 5V Pr 3.23 = 1, 15V. (If Pr 3.23 = 1 then termination resistors should be disabled - Pr 3.24 = 1) Encoder PPR (pulses per revolution) Enter PPR in Pr 3.21 Resolver The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation ratio of 0.5 (2:1), set Pr 16.10 = 1 SINCOS Encoder power supply Pr 16.15 = 0, 5V Pr 16.15 = 1, 8V. (Save parameter and cycle power to clear [Link] trip) Encoder PPR (pulses per revolution) Enter PPR in Pr 16.12 Programming the drive In the 'Drive' menu select 'Program all parameters' to upload the parameters to the drive. Select Commissioning Screen to return to the front page of UniSoft

LS = ?

Autotune Once this parameter is set, the motor will accelerate up to 2/3 base frequency without a run command being given. Once the measurement is complete, the motor will coast to a stop. The drive can be disabled at any time by pressing the red button.

cos = ?

T Nm

=? N rpm

WARNING

Close the enable signal (terminal 30) Click Autotune to enable the drive to perform the autotune If the drive trips, see Chapter 12 Diagnostics on page 198.
NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out. Saving parameters Run In the 'Tools' menu select 'Save parameters in drive'. UniSoft will ask whether you want to save parameters in the drive when UniSoft is closed. Drive is now ready to run

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7.3.3

Servo

Permanent magnet motor with speed and position feedback

Please refer to the documentation that came with UniSoft for instructions to install the drive commissioning software. Select Servo mode of operation

Enter motor nameplate details

Model No: 95UXXXXXXXXXXXX Brake: 12Nm Volts: 380/480 24V Cont: 7.7Nm:4.81Arms 0.67A Stall: 9.5Nm:5.91Arms Speed: 3000rpm Poles:6 Control Techniques Kt: 1.6Nm/Arms Dynamics Ltd Ins Class: H Serial No: XXXXXXXXXXX

ANDOVER, HANTS. ENGLAND. SP10 5AB

Set max / min speed

0.02

Set acceleration / deceleration rates

100Hz

0.03

0.04

When entering the motor nameplate details, max/min speeds and acceleration/deceleration rates, click on the relevant field, enter the value here and click Change Action Detail Ensure: Enable is closed (terminal 30) Motor thermistor is connected or terminal 8 is linked to 0V Run signal is not given Motor is connected Feedback is connected and relevant small option module fitted (SINCOS or resolver feedback) A UD71 serial communications module is fitted and is connected to the PC running UniSoft with the above screen displayed
NOTE

Before power-up

The motor must be uncoupled from any gearbox or load before an autotune is carried out. Ensure: Drive displays inh ([Link] if 8V SINCOS encoder feedback is being used). If the drive trips, refer to Chapter 12 Diagnostics on page 198.

Power-up the drive

Program the drive

Click Program to upload the values to the drive.

Recognising the option module

If either a UD52 SINCOS or UD53 Resolver option module has been fitted, click Read to allow UniSoft to recognise which module has been fitted.

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Action

Detail In the Parameter menu, select Display by menu. For incremental encoder feedback, select Menu 3. For SINCOS or Resolver feedback, select Menu16.

Set encoder parameters Select the parameter to change in the list above. Enter the required value in the field and click Change. Encoder Encoder power supply Pr 3.23 = 0, 5V Pr 3.23 = 1, 15V. (If Pr 3.23 = 1 then termination resistors should be disabled - Pr 3.24 = 1) Encoder PPR (pulses per revolution) Enter PPR in Pr 3.21 Resolver The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a transformation ratio of 0.5 (2:1), set Pr 16.10 = 1 SINCOS Encoder power supply Pr 16.15 = 0, 5V Pr 16.15 = 1, 8V. (Save parameter and cycle power to clear [Link] trip) Encoder PPR (pulses per revolution) Enter PPR in Pr 16.12 Programming the drive In the 'Drive' menu select 'Program all parameters' to upload the parameters to the drive. Select Commissioning Screen to return to the front page of UniSoft

If an encoder phasing test is selected and the enable signal given, the motor will rotate by part of 1 revolution without a run command being given.
WARNING

Close the enable signal (terminal 30) Click Autotune to enable the drive to perform the encoder phasing test If the drive trips, see Chapter 12 Diagnostics on page 198.
NOTE

The motor must be uncoupled from any gearbox or load before an autotune is carried out. Saving parameters Run In the 'Tools' menu select 'Save parameters in drive'. UniSoft will ask whether you want to save parameters in the drive when UniSoft is closed. Drive is now ready to run

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8
8.1
8.1.1

Optimisation
Motor map parameters
Open loop motor control

A separate section is provided for each operating mode at the beginning and then common parameters / features are detailed towards the end of the section. Information such as tuning the speed and current loop gains and also explanations of the effects of motor map parameters are included.

This section provides information on how to get the most from the Unidrive once an autotune and basic set up has been completed. Pr 0.46 {5.07} Motor rated current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor to ensure the current limits in the drive function at the correct levels so that the motor is protected should an overload situation occur. Pr 0.42 {5.11} Motor number of poles i.e. 4 pole motor 50 Hz = 1,500 rpm 2 pole motor 50 Hz = 3,000 rpm Defines the voltage applied to the motor at rated frequency Defines the frequency at which rated voltage is applied
Output voltage characteristic

Defines the number of motor poles

The motor number of poles parameter defines the speed displayed by the drive for a given output frequency.

Pr 0.44 {5.09} Motor rated voltage Pr 0.47 {5.06} Motor rated frequency

Output voltage Pr 5.09

The voltage and frequency parameters define the relationship between the voltage and frequency applied to the motor as shown aside:
Pr 5.09 / 2

Pr 5.06 / 2

Pr 5.06

Output frequency

Output voltage Pr 5.09

Output voltage characteristic

The volts / frequency ratio must be kept constant to ensure rated torque is available from the motor over the frequency range. At low frequencies (from 0 Hz to x Pr 5.06) the voltage is increased from this characteristic by a level governed by either the voltage boost parameter or the motor parameters (found during the stator resistance test) depending on whether the drive is in fixed boost or open loop vector mode as shown aside:

Pr 5.09 / 2

Voltage boost Pr 5.06 / 2 Pr 5.06 Output frequency

Pr 0.43 {5.10} Motor rated power factor

Defines the angle between the motor rated current and the torque producing current
Torque producing current Total motor current

The power factor is found by the drive during the autotune procedure. It is used in the open loop vector algorithm and to set the current limit levels for the torque producing (active) current.

Cos

Magnetising current

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Pr 0.07 {5.14} Voltage mode The voltage mode selects whether the drive is in open loop vector mode or fixed boost. Fixed boost (Fd) should be used for fans and pumps and multiple motor applications. Open loop vector is the default setting and should be used to tune the drive to the motor characteristic to get good performance at low output frequencies. Open loop vector mode requires the stator resistance and voltage offset parameters for ideal operation. These can be measured by the drive depending on the voltage mode selected as follows: Ur_I = Stator resistance and voltage offset are measured on power up providing no trip condition is present and the drive enable (terminal 30) signal is active. Ur_S = Stator resistance and voltage offset are measured every time the run command is activated. This mode ensures the drive compensates for any change in the motor parameters due to temperature changes. Ur = No test is performed - a test should be carried out using one of the other modes or the stator resistance entered manually. (The voltage offset cannot be entered manually as this is also a function of the drive.) This mode should be used where it is not desirable for the drive to test the motor on power up or before a run. The stator resistance and voltage offset values can be viewed in Pr 5.17 and Pr 5.23 respectively. Pr 0.40 {5.12} Autotune The motor must be disconnected from any load including the gearbox before commencing an autotune. Once the test is enabled the drive runs the motor to two thirds base speed and measures the no load current which equals the magnetising current. From the no load current and the motor rated current the drive then calculates the power factor. Pr 5.27 Slip compensation and Pr 0.45 {5.08} Motor rated speed When a motor being controlled in open loop mode has load applied a characteristic of the motor is that the output speed droops in proportion to the load applied as shown aside: In order to prevent the speed droop shown above slip compensation should be enabled. Pr 5.27 must be set to a 1 (this is the default setting) and the motor rated speed must be entered in Pr 0.45 {5.08}. to enable slip compensation. The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed. This is often displayed on the motor nameplate. i.e. For a typical 18.5 kW, 50 Hz, 4 pole motor the motor rated speed is 1465 rpm The synchronous speed for a 4 pole motor is 1500 rpm therefore the slip speed is 35 rpm If the synchronous speed is entered slip compensation will have no effect. If too small a value is entered the motor will run faster than the demanded frequency. Synchronous speeds for different numbers of poles are as follows: 2 pole = 3,000 rpm 4 pole = 1,500 rpm 6 pole = 1,000 rpm 8 pole = 750 rpm
Load

Demanded speed Shaft speed

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8.1.2

Closed loop vector motor control

Defines the maximum motor continuous current

Pr 0.46 {5.07} Motor rated current

The motor rated current parameter must be set to the maximum continuous current of the motor to ensure the current limits in the drive function at the correct levels so that the motor is protected should an overload situation occur. Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles The motor number of poles parameter defines the synchronous speed of the motor, which in conjunction with the motor rated speed parameter defines the slip speed. Pr 0.44 {5.09} Motor rated voltage Pr 0.47 {5.06} Motor rated frequency Defines the voltage applied to the motor at rated frequency Defines the frequency at which rated voltage is applied
Output voltage characteristic

Output voltage Pr 5.09

The voltage and frequency parameters define the relationship between the voltage and frequency applied to the motor as shown aside: The volts / frequency ratio must be kept constant to ensure rated torque is available from the motor over the frequency range.

Pr 5.09 / 2

Pr 5.06 / 2

Pr 5.06

Output frequency

Pr 0.43 {5.10} Motor rated power factor

Defines the angle between the motor rated current and the torque producing current
Torque producing current Total motor current

The power factor is found by the drive during the autotune procedure. It is used to set the level at which the magnetising current is controlled.
Cos

Magnetising current

Pr 0.45 {5.08} Motor rated speed

Defines the motor rated speed

The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed. This is often displayed on the motor nameplate. I.e. For a typical 18.5 kW, 50 Hz, 4 pole motor the motor rated speed is 1465 rpm The synchronous speed for a 4 pole motor is 1500 rpm therefore the slip speed is 35 rpm Synchronous speeds for different numbers of poles are as follows: 2 pole = 3,000 rpm 4 pole = 1,500 rpm 6 pole = 1,000 rpm 8 pole = 750 rpm The accuracy of this parameter is very important as it directly affects the torque produced at the shaft. Often the value given on the motor nameplate is not 100% accurate which can lead to a loss of torque. The parameter can be tuned by the drive using the slip optimiser - please see the description which follows.

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Pr 0.40 {5.12} Autotune The motor must be stationary and disconnected from any load (including the gearbox) before commencing an autotune. The test is completed in three stages as follows: 1. Motor leakage inductance (Pr 5.24) Before the motor rotates the leakage inductance is measured. This is required for the slip optimiser to work correctly. 2. Power factor (Pr 0.43 / 5.10) The motor runs up to two thirds base speed and the no load current is measured. This equals the magnetising current which in conjunction with the motor rated current value allows the power factor to be calculated. 3. Saturation characteristic (Pr 5.29 / 5.30) The drive continues to turn the motor and while doing so gradually reduces the magnetising current to determine the relationship between magnetising current and motor flux for the specific motor being controlled. The saturation characteristic sets the levels at which the magnetising current is controlled during operation above base speed (field weakening). Pr 5.27 Slip optimisation Slip optimisation is used as follows: 1. To optimise the motor rated speed parameter from the motor nameplate value to the best value for the individual motor on a one off basis during commissioning. 2. To constantly monitor and optimise the motor rated speed during normal operation to compensate for changes in motor temperature which can have a significant effect on rotor resistance and thus rated speed. The following conditions must apply for the slip optimiser to function correctly: As detailed above in the autotune section the motor leakage inductance (Pr 5.24) is required for this feature to function correctly. An autotune should be carried out before enabling the slip optimiser. The drive must run at a speed greater than 1/8 x rated speed. At least 1/8 x rated load must be applied. Slip optimisation can only be used at or below base speed. If field weakening operation is required the optimiser should be enabled during commissioning only then disabled for high speed operation.
LS = ?

cos = ?

T Nm

=? N rpm

Pr 4.13 / 4.14 Current loop gains The current loop gains control the response of the current loop to a change in current (torque) demand. Inappropriate values entered in these parameters can cause the control system to become unstable. The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor. The current loop gains can be calculated from the motor resistance and inductance values by either: 1. Using the formula detailed below 2. The gain calculator wizard in Unisoft version 3.43 in the Tools menu The proportional gain (Pr 4.13) should be set to 1800 x Pr 5.24 x 10-3 x Pr 11.32 where: Pr 5.24 = per phase motor leakage inductance (mH) Pr 11.32 = Drive rated current R The integral gain (Pr 4.14) should be set to 0.044 x Pr 4.13 x -------------------------------3 Pr5.24 10 where: Pr 4.13 = current loop proportional gain calculated above R = per phase stator resistance (from the motor data sheet) Pr 5.24 = per phase motor leakage inductance (mH)
NOTE

The numerical value in Pr 5.24 should be input directly into the above formula in mH The x 10-3 term converts this to H.

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Pr 3.10 / 3.11 / 3.12 Speed loop gains The speed loop gains control the response of the speed loop to a change in speed demand. The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor. Inappropriate values entered in these parameters can cause the control system to become unstable. The proportional gain (Pr 3.10) responds proportionally to the difference between the demanded value and the actual value (the error). The integral gain (Pr 3.11) responds proportionally to the accumulation of the error. It is used to eliminate steady state error and under dynamic conditions provide stiffness to the system. The derivative gain (Pr 3.12) is proportional to the rate of change of the error. It improves the stability of the system under transient conditions. The speed loop gains can be tuned by either: 1. Using an oscilloscope and the method described below or 2. The gain calculator wizard in Unisoft version 3.43, which requires the following: motor inertia load inertia (reflected through the gear box if used) stiffness / compliance angle (user defined deflection of the motor shaft when full torque is applied) drive rated current motor nameplate details Tuning the speed loop gains using an oscilloscope Connect the oscilloscope to analog output 1 to monitor the speed feedback. Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope. The proportional gain should be set up initially - the value should be increased up to the point where the speed overshoots and then reduced slightly. The integral term should then be increased up to the point where the speed becomes unstable and then reduced slightly. If a derivative gain is required the value should be increased up to the point where the system response becomes unstable and then reduced slightly. It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response shown below. The diagram below shows the effect of incorrect P and I gain settings as well as the ideal response. If the speed loop I gain (Pr 3.11) is set to zero and later increased, a large output transient will result causing the drive to accelerate under full current. The over speed trip threshold (Pr 3.08) must be set to a suitable level to prevent the output from reaching a level where mechanical damage could result.
Excessive integral gain [0.08]

Speed demand

Insufficient proportional gain [0.07]

Excessive proportional gain [0.07]

WARNING

Ideal response

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8.1.3

Servo motor control

Defines the maximum motor continuous current

Pr 0.46 {5.07} Motor rated current

The motor rated current parameter must be set to the maximum continuous current of the motor to ensure the current limits in the drive function at the correct levels so that the motor is protected should an overload situation occur. Pr 0.42 {5.11} Motor number of poles Pr 0.40 {3.25} Autotune The motor should be stationary and disconnected from any load (including the gearbox) before commencing an autotune. The test rotates the motor by less than a revolution. The exact distance depends on the number of motor poles. The autotune measures the offset between the feedback device zero and the rotor zero. This is required so that the voltage applied is in phase with the back EMF from the motor. If the value entered is incorrect the drive will not control the motor correctly. The result can be: 1. loss of torque 2. excessive heating of the motor 3. in extreme cases the motor can run out of control to maximum speed If the load cannot be removed and it is solely an inertia a high current autotune can be enabled. Set Pr 5.27 = 1 prior to enabling the autotune. Pr 4.13 / 4.14 Current loop gains The current loop gains control the response of the current loop to a change in current (torque) demand. The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor. Inappropriate values entered in these parameters can cause the control system to become unstable. The current loop gains can be calculated from the motor resistance and inductance values by either: 1. Using the formula detailed below 2. The gain calculator wizard in Unisoft version 3.43 in the Tools menu The proportional gain (Pr 4.13) should be set to 1800 x L x 10-3 x Pr 11.32 where: L = per phase motor leakage inductance (mH) (from the motor data sheet) Pr 11.32 = Drive rated current R The integral gain (Pr 4.14) should be set to 0.044 x Pr 4.13 x --------------------3 L 10 where: Pr 4.13 = current loop proportional gain calculated above R = per phase stator resistance (from the motor data sheet) L = per phase motor leakage inductance (mH) (from the motor data sheet)
NOTE

Defines the number of motor poles

The motor number of poles parameter defines the number of electrical revolutions in one whole mechanical revolution of the motor.

0 0

For very small servo motors with high inductance the values calculated from the above formulae can be too high resulting excessive motor noise. The values should be calculated and then reduced to a suitable level manually.

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Pr 3.10 / 3.11 / 3.12 Speed loop gains The speed loop gains control the response of the speed loop to a change in speed demand. The default values give satisfactory performance for most applications however for optimal performance in dynamic applications the values may require tuning for the specific motor. Inappropriate values entered in these parameters can cause the control system to become unstable. The proportional gain (Pr 3.10) responds proportionally to the difference between the demanded value and the actual value (the error). The integral gain (Pr 3.11) responds proportionally to the accumulation of the error. It is used to eliminate steady state error and under dynamic conditions provide stiffness to the system. The derivative gain (Pr 3.12) is proportional to the rate of change of the error. It improves the stability of the system under transient conditions. The speed loop gains can be tuned by either: 1. Using an oscilloscope and the method described below 2. The gain calculator wizard in Unisoft version 3.43, which requires the following: motor inertia load inertia (reflected through the gear box if used) stiffness / compliance angle (user defined deflection of the motor shaft when full torque is applied) drive rated current motor nameplate details Tuning the speed loop gains using an oscilloscope Connect the oscilloscope to analog output 1 to monitor the speed feedback. Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope. The proportional gain should be set up initially - the value should be increased up to the point where the speed overshoots and then reduced slightly. The integral term should then be increased up to the point where the speed becomes unstable and then reduced slightly. If a derivative gain is required the value should be increased up to the point where the system response becomes unstable and then reduced slightly. It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response shown aside. The diagram below shows the effect of incorrect P and I gain settings as well as the ideal response. If the speed loop I gain (Pr 3.11) is set to zero and later increased, a large output transient will result causing the drive to accelerate under full current. The over speed trip threshold (Pr 3.08) must be set to a suitable level to prevent the output from reaching a level where mechanical damage could result.
Excessive integral gain [0.08]

Speed demand

Insufficient proportional gain [0.07]

Excessive proportional gain [0.07]

WARNING

Ideal response

8.2

Current limits

The default setting for the current limit parameters are 150% x motor rated current for open loop and closed loop vector modes and 175%* x motor rated current for servo mode. *150% for Unidrive size 5. There are three parameters which control the current limits: Pr 4.05 Motoring current limit: power flowing from the drive to the motor Pr 4.06 Regen current limit: power flowing from the motor to the drive Pr 4.07 Symmetrical current limit: current limit for both motoring and regen operation The lowest of either the motoring and regen current limit or the symmetrical current limit applies.

The maximum setting of these parameters depends on the ratio of motor rated current to drive rated current and the power factor. The drive can be oversized to permit a higher current limit setting to provide higher accelerating torque as required up to a maximum of 400%. Please note that too high a setting of these parameters can cause permanent damage to a servo motor by demagnetising the rotor. The maximum current limits (IMAX%) available for each mode of operation, are calculated from the following equations.

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Open loop I MAX % = 11.32 2 1.597 2 Pr ---------------------- 1 Pr 5.07 0.156 Pr 11.32 - + 1 -------------------------------------------- 100 --------------------------------------------------------------------2 Pr 5.10 Pr 5.07 Pr 5.10 A trade off must be made between motor heating and drive heating and the demands of the application with respect to the sample time required.
Switching frequency
2

The above equation gives a value less than 150% if Pr 5.10 >0.93. The maximum current limit value used by the drive is 150% if the calculated value is less than 150%. Closed loop vector 11.32 1.597 2 Pr ---------------------- 1 Pr 5.07 -------------------------------------------------------------------- + 1 100 2 Pr 5.10

Sample time (s) OL >Current control CL > Speed control 333 444 333 444 333

Sample time (s) OL > Peak limit CL > Current control 333 222 166 222 166

3 4.5 6 9 12

I MAX % =

Servo Pr 11.32 - 100 I MAX % = 1.767 --------------------- Pr 5.07 Unidrive VTC 11.32 1.203 2 Pr ---------------------- 1 Pr 5.07 - + 1 100 --------------------------------------------------------------------2 Pr 5.10
2

8.5
8.5.1

High speed operation

Encoder feedback limits

I MAX % =

In the closed loop modes when using encoder feedback the maximum speed of the drive is limited by the maximum frequency limit of the encoder input as follows:
Encoder PPR up to 5,000 up to 2,500 up to 1,250 up to 625 up to 312 Maximum Speed (rpm) 3,000 6,000 12,000 24,000 30,000

8.3

Motor thermal protection

The Unidrive models the temperature of the motor using the motor rated current parameter, the thermal time constant parameter and the actual current flowing at any point in time. An accumulator (Pr 4.19) increments or decrements based on the current flowing in the motor. If the motor runs for a given time at a level below the rated current of the motor the accumulator will settle at a value equivalent to the motor temperature. An [Link] trip instantaneously occurs if the accumulator reaches 100%. This can only occur if the rms current flowing is greater than 105%. or if a current peak lasts for enough time to cause the accumulator to peak at or above this level. The default setting of the thermal time constant (Pr 4.15) is 89s for an induction motor (open loop and closed loop vector) which is equivalent to an overload of 150% for 60s from cold. The default value for a servo motor is 7s which is equivalent to an overload of 175% for 4s from cold. The maximum value for the thermal time constant can be increased up to a maximum value of 400s to allow an increased overload if the motor thermal characteristics permit. For applications using CT Dynamics Unimotors the thermal time constants can be found in the Unimotor manual.

8.5.2

Field weakening (constant power) operation

(Open loop and closed loop vector mode only)

The Unidrive can be used to run an induction machine above synchronous speed into the constant power region. The speed continues to increase and the available shaft torque reduces. The characteristics below show the torque and output voltage characteristics as the speed is increased above the rated value.

Torque

Speed Rated voltage

8.4

Switching frequency

The default switching frequency for the drive is 3kHz however this can be increased up to a maximum value of 12kHz. If the switching frequency is increased the following apply: Increased heat loss in the drive which means that derating to the output current must be applied. See the derating table for switching frequency and ambient temperature in the Chapter 11 Technical Data on page 190. 2. Reduced heating of the motor - due to improved output waveform quality 3. Increased sample rate on the speed and current controllers 1.
Speed

Care must be taken to ensure the torque available above base speed is sufficient for the application to run satisfactorily.

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8.5.3

Saturation breakpoints

The saturation breakpoint parameters (Pr 5.29 and Pr 5.30) found during the autotune in closed loop vector mode ensure the magnetising current is reduced in the correct proportion for the specific motor. (In open loop mode the magnetising current is not actively controlled)

8.5.4

Switching frequency

With a default switching frequency of 3 kHz the maximum output frequency should be limited to 250 Hz. Ideally a minimum ratio of 12 : 1 should be maintained between the output frequency and the switching frequency. This ensures the number of switchings per cycle is sufficient to ensure the output waveform quality is maintained at a minimum level. If this is not possible, quasi square switching should be enabled (Pr 5.20 =1). The output waveform will be quasi square above base speed however this also ensures a symmetrical output waveform which results in a better quality output than would otherwise result.

8.5.5

Output frequency doubling

(Open loop only)

If this bit is set the motor output frequency is twice the displayed value. The maximum open loop output frequency increases from 1,000Hz to 2,000Hz. The following parameters need to be re-scaled when this mode of operation is used. For example:The real machine is 4 pole, 2,000Hz, 400V, 60,000 rpm, full load speed 58,000 rpm, and the desired maximum speed is 40,000 rpm with a trip at 50,000 rpm. Acceleration is to be 500Hz / sec. Menu 1: maximum frequency (Pr 1.06) should be set to: 0.5 x 2,000 x 40,000 / 60,000 = 667Hz Menu 2: the ramp times (Pr 2.11 to 2.29) need to be set at: 0.5 x 0.2 sec per 100Hz = 0.1 Menu 3: the over-speed trip threshold (Pr 3.08) should be set at 0.5 x 2,000 x 50,000 / 60,000 = 833Hz Menu 5: the rated motor voltage the rated frequency the full load speed is the motor poles (Pr 5.09) = 400V (Pr 5.06) = 0.5 x 2,000 = 1,000Hz (Pr 5.08) = 0.5 x 58,000 = 29,000rpm (Pr 5.11) = 4 POLE

Extreme caution should be exercised when setting this bit as the actual machine speed will be double that indicated.

8.5.6

Maximum speed / frequency

In open loop mode the maximum frequency is 2,000 Hz when output frequency doubling is used (500 Hz for Unidrive VTC). In closed loop vector mode the maximum output frequency should be limited to 400 Hz. In servo mode field weakening is not possible so the maximum speed is limited by the voltage constant (Ke) of the motor. Ke is a specific constant for the servo motor being used. It can normally be found on the motor data sheet in V/krpm (volts per 1,000rpm).

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9
9.1

Macros
Introduction

Macro 1 Easy Mode

The Easy mode macro gives the simplest operation of the drive for basic applications. It is identical to the default condition except that menu 0 has less parameters.

Application macros are pre-programmed parameter sets. They minimise the number of different parameters to be set during start-up. The control terminals are configured for specific applications and commonly used parameters are cloned into Menu 0. The following parameters are common to each macro:
Pr 0.00 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.10 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38 0.39 0.40 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.48 0.49 0.50 Function Configuration and saving Minimum frequency/speed clamp Maximum frequency/speed clamp Acceleration rate Deceleration rate Reference selector Current limit OL> Voltage mode selector CL> Speed-loop proportional gain OL> Boost voltage CL> Speed-loop integral gain OL> Dynamic V/f select CL> Speed-loop derivative gain OL> Estimated motor speed CL> Motor speed Macro number Serial comms. mode Drive rated current (FLC) User security code Keypad reference Serial comms. baud rate Serial comms. address Power up parameter display select Synchronise to a spinning motor Autotune PWM switching frequency selector Motor number of poles Motor power factor Motor rated voltage Motor rated full load rpm Motor rated current Motor rated frequency Drive operating mode selector Security status Drive software version

Macro 2 Motorised potentiometer

The Motorised potentiometer macro enables the drive's own internal motorised potentiometer to control the speed of the drive via digital inputs. A digital input selects between an analog speed reference and the motorised potentiometer reference.

Macro 3 Preset frequencies / speeds

The Preset reference macro enables the use of preset references to control the speed of the motor via digital inputs. A digital input selects between an analog speed reference and the preset references.

Macro 4 Torque control

The Torque control macro configures the drive for use in Torque control mode, selectable via a digital input. Analog input 1 is configured for the torque reference. When in speed control analog 2 is the speed reference. When in torque control with the drive in closed loop mode analog input 2 is the speed override reference. Enabling torque mode with the drive in open loop mode will put the drive in to pure torque control. In closed loop mode the drive will be put in to torque control with speed override.

Macro 5 PID (set-point control)

The PID control macro enables the drive's own internal PID controller to control the speed of the motor. Analog input 1 is configured for the main speed reference, analog input 2 is the PID reference and analog input 3 is the PID feedback. A digital input selects between an analog speed reference and the PID control.

Macro 6 Axis-limit control

The Axis limit control macro configures the drive for use with limit switches so that the drive is stopped when a position limit has been reached. The speed reference can be either unipolar or bipolar.

Macro 7 Brake control

The brake control macro configures the drive to apply or release a mechanical brake on a motor in a crane or hoist application. The drive issues a brake release signal via a digital output when the relevant conditions are met. Where a safety hazard may exist the drive alone must not be permitted to release the brake. An independent safety interlock must be provided to ensure safe operation in the event of drive failure or incorrect operation.

WARNING

Macro 8 Digital lock / shaft orientation

Only available in closed loop vector or servo operating modes. Digital lock: The drive operates as a slave in a closed loop master-slave system. The slave motor is digitally locked to the master motor.

The following macros are available.:

Macro 1 2 3 4 5 6 7 8* Easy mode Motorised potentiometer Preset frequencies / speeds Torque control PID (set-point control) Axis-limit control Brake control Digital lock / shaft orientation Description Code 2001 2002 2003 2004 2005 2006 2007 2008

Shaft orientation: The motor speed is controlled in the same way as for default operation, but the motor shaft can be orientated to a specified angular position before and/or after running the motor.

* Macro 8 is only available in closed loop vector or servo operating modes. When using Unidrive VTC, only macros 1, 2, 3 and 5 are available. For macro differences when using Unidrive VTC, see section 9.5 Unidrive VTC macro differences on page 122.

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9.2

How to load a macro

The motor map can be entered and the drive autotuned before or after loading a macro.

Procedure
Enter code for the required macro in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0) Perform a parameter save. When changing between macros ensure that the drive is defaulted before the new macro is loaded.

9.3

Macro terminal connection changes

Macro 1 Easy mode
2001

The Easy mode macro gives the simplest operation of the drive for basic applications. It is identical to the default condition except that menu 0 has less parameters.
Signal connector Status relay Drive healthy Analog frequency/speed reference 1 (remote) 0 ~ 10V
1 2

OL> AT SPEED CL> AT ZERO SPEED RESET JOG SELECT RUN FORWARD RUN REVERSE

0V common

23

4 5 6

24 25 26 27
ANALOG INPUT 1 ANALOG INPUT 2

Analog frequency/speed reference 2 (local) 4 ~ 20mA

0V common

ANALOG INPUT 1 / INPUT 2 OL> External trip CL> Drive enable

28 29 30

0V common SPEED TORQUE

11

0V common

31

9 10

Macro 2

Motorised potentiometer

2002

The Motorised potentiometer macro enables the drive's own internal motorised potentiometer to control the speed of the drive via digital inputs. A digital input selects between an analog speed reference and the motorised potentiometer reference.
Signal connector UP Status relay Drive healthy Analog frequency/speed reference 1 (remote) 0 ~ 10V
1 2 24

RESET and MOT. POT. RESET

25

4 5 6

DOWN RUN FORWARD RUN REVERSE MOT. POT. ENABLE

ANALOG I/P MOT. POT.

26 27 28 29 30

Motor thermistor

0V common

3 8

0V common SPEED TORQUE

OL> External trip CL> Drive enable

11

0V common

31

9 10

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Macro 3

Preset frequencies / speeds

2003

The Preset reference macro enables the use of preset references to control the speed of the motor via digital inputs. A digital input selects between an analog speed reference and the preset references.
Signal connector Status relay Drive healthy Analog frequency/speed reference 1 (remote) 0 ~ 10V
1 2

PRESET SELECT A RESET PRESET SELECT B

24 25 26 27
ANALOG I/P PRESET REFS.

4 5 6

RUN FORWARD RUN REVERSE PRESET ENABLE OL> External trip CL> Drive enable 0V common

28 29 30 31

Motor thermistor

0V common

3 8

0V common SPEED TORQUE

11

9 10

Macro 4

Torque control

2004

The Torque control macro configures the drive for use in Torque control mode, selectable via a digital input. Analog input 1 is configured for the torque reference. When in speed control analog 2 is the speed reference. When in torque control with the drive in closed loop mode analog input 2 is the speed override reference. Enabling torque mode with the drive in open loop mode will put the drive in to pure torque control. In closed loop mode the drive will be put in to torque control with speed override.
Signal connector Status relay Drive healthy Analog torque reference 1 (0 ~ 10V) 0V common
1 2 4 5 6 3

OL> AT SPEED CL> AT ZERO SPEED AT MIN. SPEED

0V common

23

24 25

RESET RUN FORWARD RUN REVERSE

26 27 28
FREQ./SPEED CONTROL TORQUE CONTROL

Analog speed limit (0 ~ 10V) 0V common SPEED TORQUE

TORQUE ENABLE OL> External trip CL> Drive enable

29 30

11

0V common

31

9 10

Motor thermistor

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Macro 5

PID (set-point control)

2005

The PID control macro enables the drive's own internal PID controller to control the speed of the motor. Analog input 1 is configured for the main speed reference, analog input 2 is the PID reference and analog input 3 is the PID feedback. A digital input selects between an analog speed reference and the PID control.
Signal connector Status relay Drive healthy Frequency/speed reference 1 (0 ~ 10V) 0V common PID reference (0 ~ 10V)
1 2 4 5 6 3

OL> AT SPEED CL> AT ZERO SPEED RESET JOG SELECT RUN FORWARD RUN REVERSE

0V common

23

24 25 26 27 28
FREQ./SPEED CONTROL PID CONTROL

PID ENABLE OL> External trip CL> Drive enable

29 30

PID feedback

0V common

31

0V common SPEED TORQUE

11

9 10

Macro 6

Axis-limit control

2006

The Axis limit control macro configures the drive for use with limit switches so that the drive is stopped when a position limit has been reached. The speed reference can be either unipolar or bipolar.
Signal connector Status relay Drive healthy
1 2

OL> AT SPEED CL> AT ZERO SPEED

23 24 25 26 27 28

Unipolar
Analog frequency/speed reference 1 (remote) 0 ~ 10V
4 5 6

RESET LIMIT FORWARD RUN FORWARD RUN REVERSE LIMIT REVERSE OL> External trip CL> Drive enable
4 5 6

0V common

29 30

Bipolar
Analog frequency/speed reference + 10V

0V common

31

0V common Analog frequency/speed reference 2 (local) 0 ~ 10V 0V common SPEED TORQUE

4 7
WARNING

Position the limit switches to allow for the distance that will be travelled during deceleration. This distance will be increased if the deceleration time is extended

11

9 10

Motor thermistor

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Macro 7

Brake control

2007

The brake control macro configures the drive to apply or release a mechanical brake on a motor in a crane or hoist application. The drive issues a brake release signal via a digital output when the relevant conditions are met
Signal connector BRAKE RELEASE
1 2

Signal connector

24

Analog frequency/speed reference 1 (remote) 0 ~ 10V

RESET
4 5 6 25

CL> JOG RUN FORWARD RUN REVERSE ANALOG INPUT 1 / INPUT 2 OL> External trip CL> Drive enable 0V common
ANALOG INPUT 1 ANALOG INPUT 2

26 27 28 29 30 31

0V common Analog frequency/speed reference 2 (local) 0 ~ 10V 0V common SPEED TORQUE

4 7

11

9 10

Motor thermistor

Macro 8 Digital lock

Digital lock / shaft orientation

2008

This macro has two completely independent functions, digital lock and shaft orientation, selectable via Pr 0.15 {13.08} The drive operates as a slave in a closed loop master-slave system. The slave motor is digitally locked to the master motor. Shaft orientation The motor speed is controlled in the same way as for default operation, but the motor shaft can be orientated to a specified angular position before and/or after running the motor. See Pr 13.08 in Chapter 10 Advanced Parameters for further information.
Signal connector Status relay Drive healthy Analog speed reference 1 (remote) 0 ~ 10V
1 2

Signal connector ORIENTATION COMPLETE* RESET

24

4 5 6

25

JOG SELECT** RUN FORWARD RUN REVERSE ANALOG INPUT 1 / INPUT 2 Drive enable 0V common
ANALOG INPUT 1 ANALOG INPUT 2L

26 27 28 29 30 31

0V common Analog speed reference 2 (local) 0 ~ 10V

4 7

0V common SPEED TORQUE

11

* Shaft orientation only ** Relative Jog when in Digital Lock mode

9 10

0 1 2 3 4 5 6

Pr 0.15 Speed control Rigid digital lock with feed forward Rigid digital lock without feed forward Non rigid digital lock with feed forward Non rigid digital lock without feed forward Orientate when stopping the drive Orientate when enabling and stopping the drive

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9.4

Macro logic diagrams and Menu 0 parameter changes

Macro 1 Easy mode logic diagram
ANALOG INPUT 1/ INPUT 2 SELECT JOG SELECT RUN RUN FORWARD REVERSE OL> EXTERNAL TRIP CL> DRIVE ENABLE

Figure 9-1

RESET

Reference selection Frequency/speed ref. 1

Reference selector 0.05

0.02 Minimum frequency/ speed clamp

Maximum frequency/speed clamp

0.01

6 Frequency/speed ref. 2

Preset references (use Macro 3)

0.35 Keypad reference

Precision reference (not used with Menu 0)

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

Menu 0 changes from default configuration

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OL> FREQUENCY TORQUE CL> SPEED

OL> AT SPEED CL> AT ZERO SPEED

Motor control

0.06 Current limit Ramps 0.39 Synchronize to a spinning motor

0.03 Acceleration rate 0.04 Deceleration rate 0.07 CL> Speed-loop PID gains Speed-loop proportional gain Speed-loop integral gain

Motor parameters 0.42 ~ 0.47 No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

0.08

0.09

Speed-loop derivative gain

OL> Motor-voltage control

0.07 Voltage mode selector 0.10 Estimated motor speed 0.08 Boost voltage 0.09 Dynamic V/f select

Motor speed 0.10

Power stage 0.41 PWM switching frequency

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Figure 9-2

Macro 2 Motorised potentiometer logic diagram

MOTORIZED POT. ENABLE

RESET and MOT. POT. RESET

RUN RUN FORWARD REVERSE

OL> EXTERNAL TRIP CL> DRIVE ENABLE

29 Reference selection Frequency/speed ref. 1 Analog input 1 mode selector 6 0.24 Reference selector 0.05 Minimum frequency/ speed clamp 0.01 Skip frequencies/ speeds 0.02

0.25

Motorized pot. reset indicator

0.20 Skip frequency/ speed 1 0.21 Skip freq./speed band 1 0.22 Skip frequency/ speed 2 0.23

0.26

Motorized pot. output indicator Motorized pot. zero-start select Motorized pot. bipolar select Motorized pot. rate

UP

0.27

0.28 DOWN 6 0.29

Skip freq./speed band 2

0.30

Motorized pot. output scale factor

Pr 0.11 0.12 0.13 0 14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30

Function Pre-ramp reference Post-ramp reference Motor active-current Jog reference (not used) Ramp mode selector Stop mode selector Status relay invert S-ramp enable S-ramp da/dt Skip frequency/speed 1 Skip freq./speed band 1 Skip frequency/speed 2 Skip freq./speed band 2 Analog input 1 mode selector Motorised pot. reset indicator Motorised pot. output indicator Motorised pot. zero-start select Motorised pot. Bipolar select Motorised pot. rate Motorised [Link] scale factor

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

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THERMISTOR

OL> FREQUENCY CL> SPEED

TORQUE

Pre-ramp reference 0.11

Post-ramp reference Motor control 0.12 0.06 S-ramp Ramps S-ramp enable 0.18 Current limit 0.16 Stop mode selector 0.39 Synchronize to a spinning motor

0.03 Acceleration rate 0.04 Deceleration rate 0.15 Ramp mode selector 0.19 S-ramp da/dt limit 0.08

CL> Speed-loop PID gains 0.07 Speed-loop proportional gain Speed-loop integral gain

Motor parameters 0.42 ~ 0.47 No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

0.09

Speed-loop derivative gain

OL> Motor-voltage control

0.07 Voltage mode selector 0.10 Estimated motor speed 0.08 Boost voltage 0.09 Dynamic V/f select

Motor speed 0.10

Motor active-current 0.13

Power stage 0.41 PWM switching frequency

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Figure 9-3

Macro 3 Preset speeds logic diagram

PRESET ENABLE

RUN RUN FORWARD REVERSE

RESET

OL> EXTERNAL TRIP CL> DRIVE ENABLE

Reference selection Frequency/speed ref. 1 (remote)

Reference selector 0.05 Analog input 1 mode selector 0.24

0.02 Minimum frequency/ speed clamp 0.01

Maximum freq./speed clamp

Skip frequencies/ speeds

0.25

Preset reference 1 Preset reference 2 Preset reference 3 Preset reference 4

0.20 Skip frequency/ speed 1 0.21

PRESET SELECT A

0.26

0.27 PRESET SELECT B

Skip freq./speed band 1 0.22 Skip frequency/ speed 2 Preset speed 0.23 Skip freq./speed band 2

0.28

B 0 0 1 1

A 0 1 0 1

1 2 3 4

Pr 0.11 0.12 0.13 0 14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30

Function Pre-ramp reference Post-ramp reference Motor active-current Jog reference (not used) Ramp mode selector Stop mode selector Status relay invert S-ramp enable S-ramp da/dt Skip frequency/speed 1 Skip freq./speed band 1 Skip frequency/speed 2 Skip freq./speed band 2 Analog input 1 mode selector Preset reference 1 Preset reference 2 Preset reference 3 Preset reference 4 (Not used) (Not used)

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

Menu 0 changes from default configuration

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THERMISTOR

SPEED

TORQUE

Pre-ramp reference 0.11

Post-ramp reference Motor control 0.12 0.06 S-ramp Ramps S-ramp enable 0.18 Current limit 0.16 Stop mode selector 0.39 Synchronize to a spinning motor

0.03 Acceleration rate 0.04 Deceleration rate 0.15 Ramp mode selector 0.19 S-ramp da/dt limit 0.08 CL> Speed-loop PID gains 0.07 Speed-loop proportional gain Speed-loop integral gain

Motor parameters 0.42 ~ 0.47 No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

0.09

Speed-loop derivative gain

OL> Motor-voltage control

0.07 Voltage mode selector 0.10 Estimated motor speed 0.08 Boost voltage 0.09 Dynamic V/f select

Power stage 0.10

Motor active-current 0.13

Power stage 0.41 PWM switching frequency

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Figure 9-4

Macro 4 Torque control logic diagram

RUN RUN FORWARD REVERSE OL> EXTERNAL TRIP RESET CL> DRIVE ENABLE

Reference selection Analog torque reference Analog input 1 mode selector 0.24 Analog input 1 Analog input 1 scaling 0.29

Reference selector 0.05

0.25

0.02 Minimum frequency/speed clamp 0.01 0.30 Analog input 2 scaling

Maximum frequency/speed clamp

Skip frequencies/ speeds

0.26 Freq./speed control: Frequency /speed reference Torque control: OL> (Not used) CL> Speed over-ride Analog input 2 mode selector

0.20 0.27 Analog input 2 Skip frequency/ speed 1 0.21 Skip freq./speed band 1 0.22 Skip frequency/ speed 2 0.23 Skip freq./speed band 2

Pr 0.11 0.12 0.13 0 14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30

Function Pre-ramp reference Post-ramp reference Motor active-current Jog reference (not used) Braking mode selector Stop mode selector Status relay invert S-ramp enable S-ramp da/dt Skip frequency/speed 1 Skip freq./speed band 1 Skip frequency/speed 2 Skip freq./speed band 2 Analog input 1 mode selector Analog input 1(torque reference) Analog input 2 mode selector Analog input 2 (maximum speed override level) Over-speed threshold Analog input 1 scaling Analog input 2 scaling

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

Menu 0 changes from default configuration

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TORQUE ENABLE

THERMISTOR

OL> FREQUENCY TORQUE CL> SPEED

OL> AT SPEED AT MIN. CL> AT ZERO SPEED SPEED

Pre-ramp reference 0.11 Post-ramp reference Motor control 0.12 0.06 S-ramp Ramps S-ramp enable 0.18 Current limit 0.16 Stop mode selector 0.39 Synchronize to a spinning motor

0.03 Acceleration rate 0.04 Deceleration rate 0.15 Ramp mode selector 0.19 S-ramp da/dt limit 0.08 CL> Speed-loop PID gains 0.07 Speed-loop proportional gain Speed-loop integral gain

Motor parameters 0.42 ~ 0.47 No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

0.09

Speed-loop derivative gain

OL> Motor-voltage control

0.07 Voltage mode selector 0.10 Estimated motor speed 0.08 Boost voltage 0.09 Dynamic V/f select

Motor speed 0.10

Motor active-current 0.13

Power stage 0.41 PWM switching frequency

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Figure 9-5

Macro 5 PID (set-point control) logic diagram

PID ENABLE

JOG RESET SELECT

RUN RUN FORWARD REVERSE

OL> EXTERNAL TRIP CL> DRIVE ENABLE

Reference selection Frequency/speed reference Analog input 1 mode selector 0.14 0.17 Analog input 2 0.18 Analog input 1 PID 0.20 PID reference Analog input 2 mode selector 0.15 Analog input 2 scaling PID proportional gain 0.21 PID integral gain 0.28 0.22 PID derivative gain 0.23 0.29 PID output high limit 0.24 PID output low limit 0.25 0.19 Analog input 3 PID output scale factor

Reference selector 0.05

Maximum frequency/ speed clamp 0.02 Minimum frequency/ speed clamp 0.01

Analog input 3 scaling

0.16 PID feedback Analog input 3 mode selector

Pr 0.11 0.12 0.13 0 14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30

Function Pre-ramp reference Post-ramp reference Motor active-current Analog input 1 (freq./speed ref.) Mode selector Analog input 2 (PID reference) mode selector Analog input 3 (PID feedback) mode selector Analog input 1 (freq./speed ref.) Analog input 2 (PID reference) Analog input 3 (PID feedback) PID proportional gain PID integral gain PID derivative gain PID output high limit PID output low limit PID output scale factor Preset reference 7 Preset reference 8 Analog input 2 scaling Analog input 3 scaling Optional PID-enable source selector

Key
Input terminals Output terminals

[Link] [Link]

Read-write (RW) parameter Read-only (RO) parameter

Menu 0 changes from default configuration

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OL> FREQUENCY CL> SPEED

TORQUE

OL> AT SPEED CL> AT ZERO SPEED

Pre-ramp reference 0.11

Post-ramp reference Motor control 0.12 0.06 Current limit Ramps 0.39 Synchronize to a spinning motor

0.03 Acceleration rate 0.04 Deceleration rate 0.07 CL> Speed-loop PID gains Speed-loop proportional gain Speed-loop integral gain

Motor parameters 0.42 ~ 0.47 No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

0.08

0.09

Speed-loop derivative gain

OL> Motor-voltage control

0.07 Voltage mode selector 0.10 Estimated motor speed 0.08 Boost voltage 0.09 Dynamic V/f select

Motor speed 0.10

Motor active-current 0.13

Power stage 0.41 PWM switching frequency

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Figure 9-6

Macro 6 Axis-limit control logic diagram

LIMIT REVERSE

RUN (FORWARD)

RUN REVERSE

LIMIT FORWARD

Limit forward invert 0.15 Run forward indicator 0.16 Run reverse indicator 0.14 Limit forward indicator 0.21

Limit reverse invert 0.22 0.17 Limit reverse indicator

0 = RUN enabled 1 = RUN disabled (at limit)

Reference selection Frequency/speed ref. 1 (remote)

Maximum frequency/speed clamp Reference selector 0.05 Minimum frequency/ speed clamp 0.01

0.02

Frequency/speed reference Frequency/speed ref. 2 (local) Direction control

Bi-directional frequency/speed reference

Pr 0.11 0.12 0.13 0 14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30

Function Pre-ramp reference Post-ramp reference Motor active-current Limit forward indicator Run forward indicator Run reverse indicator Limit reverse indicator Stop mode selector Hold zero speed enable OL> Limit deceleration rate CL> (not used) Limit forward invert Limit reverse invert (not used) (not used) (not used) (not used) (not used) (not used) (not used) (not used)

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

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RESET

OL> EXTERNAL TRIP CL> DRIVE ENABLE

THERMISTOR

OL> FREQUENCY TORQUE CL> SPEED

OL> AT SPEED CL> AT ZERO SPEED

Pre-ramp reference 0.11

Post-ramp reference Motor control 0.12 0.06 Current limit 0.18 Ramps Stop mode selector 0.19 Hold zero speed 0.39 Synchronize to a spinning motor CL> Speed-loop PID gains 0.07 Speed-loop proportional gain Speed-loop integral gain

0.03 Acceleration rate 0.20 OL> Limit deceleration rate 0.04 CL> Deceleration rate Speed-loop derivative gain 0.08

Motor parameters 0.42 ~ 0.47 No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

0.09

OL> Motor-voltage control

0.07 Voltage mode selector 0.10 Estimated motor speed 0.08 Boost voltage 0.09 Dynamic V/f select

Motor speed 0.10

Motor active-current 0.13

Power stage 0.41 PWM switching frequency

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Figure 9-7

Macro 7 Brake Control logic diagram

ANALOG INPUT 1 / INPUT 2 select

OL> (Not used) CL> JOG SELECT

RUN RUN FORWARD REVERSE

RESET

BRAKE RELEASE

Reference selection Frequency/speed ref. 1

Reference selector 0.05

0.02 Minimum frequency/ speed clamp 0.01

Maximum frequency/ speed clamp

Frequency/speed ref. 2 (local)

Preset references (see the Unidrive Advanced User Guide)

0.35 Keypad reference Current detected indicator 0.15 Precision reference (not used with Menu 0) Current threshold 0.19

1.05 Jog reference (see the Unidrive Advanced User Guide)

Motor current magnitude

0.14

0.18 Drive healthy indicator 0.16 0.20 At zero speed indicator Brake release delay Brake release indicator

0.17

Reference enabled indicator (see the Unidrive Advanced User Guide)

1.11 0.20 Brake application delay

Menu 0 changes from default configuration

At zero speed indicator

0.17

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OL> EXTERNAL TRIP CL> DRIVE ENABLE

THERMISTOR

OL> FREQUENCY CL> SPEED

TORQUE

Pre-ramp reference 0.11

Post-ramp reference Motor control 0.12 0.06 Current limit Ramps 0.39 Synchronize to a spinning motor

0.03 Acceleration rate 0.04 Deceleration rate 0.07 CL> Speed-loop PID gains Speed-loop proportional gain Speed-loop integral gain

Motor parameters 0.42 ~ 0.47 No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

0.08 Pr 0.11 0.12 0.13 0 14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30 Function Pre-ramp reference Post-ramp reference Motor active-current Motor current magnitude Current detected indicator Drive healthy indicator At zero speed indicator Brake release indicator Current threshold OL> Brake release delay CL> Brake application delay (not used) (not used) (not used) (not used) (not used) (not used) (not used) (not used) (not used) (not used)
Key [Link] Read-write (RW) parameter Read-only (RO) parameter

0.09

Speed-loop derivative gain

OL> Motor-voltage control

0.07 Voltage mode selector 0.10 Estimated motor speed 0.08 Boost voltage 0.09 Dynamic V/f select

Motor speed 0.10

Motor active-current 0.13

Power stage 0.41 PWM switching frequency

[Link]

Input terminals

Output terminals

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Figure 9-8

Macro 8 Digital lock / shaft orientation logic diagram

ANALOG INPUT 1 / INPUT 2 select

(RELATIVE) JOG SELECT

RUN RUN FORWARD REVERSE Maximum speed clamp

Reference selection Speed reference 1

Reference selector 0.05

Digital-lock with feed-forward: Digital-lock without feed-forward: Shaft orientation:

0.02 0 1 1 Minimum speed clamp 0.01

Speed reference 2 (local)

Preset references (see the Unidrive Advanced User Guide)

0.35 Keypad reference Precision reference (not used with Menu 0)

Digital feed-forward Positioning speed limit 0.25

(Relative) Jog reference

0.14

0.15

Position-loop mode selector Orientation acceptance window

Reference-encoder / Feedback-resolver position Feedback-encoder / Reference-resolver position Reference-encoder / Feedback-resolver speed Feedback-encoder / Reference-resolver speed

0.21

Reference encoder/resolver revolution counter

0.29

0.27

0.19

Positionloop gain 0.17

0.24

0.22

Reference encoder/resolver ratio Digital-lock modes: 0 Orientation modes: 1 Feedback encoder/resolver revolution counter Orientation reference 0.26 Position error 0.20

0.18

0.30

UD53 Not fitted: 0 Fitted: 1

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RESET

DRIVE ENABLE

SPEED

TORQUE

ORIENTATION COMPLETE

Pre-ramp reference 0.11

Post-ramp reference Motor control 0.12 0.06 Current limit 0.39 Synchronize to a spinning motor

Speed-loop PID gains Ramps 0.07 Speed-loop proportional gain Speed-loop integral gain

0.08

0.03 Acceleration rate 0.04 Deceleration rate 0.09 Speed-loop derivative gain Motor parameters 0.42 ~ 0.47 No. of poles Power factor Rated voltage Rated speed Rated current Rated frequency

Motor speed 0.10

Motor active-current 0.13

Power stage 0.41 PWM switching frequency

Pr 0.11 0.12 0.13 0 14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30

Function Pre-ramp reference Post-ramp reference Motor active-current Relative jog reference Position loop mode selector Feedback encoder no. of lines per revolution Reference encoder/resolver ratio Feedback-encoder/Reference-resolver speed [M] Feedback-encoder/Reference-resolver position Position error Reference-encoder/Feedback-resolver position Reference-encoder/Feedback-resolver speed Reference encoder no. of lines/pulses per revolution Position-loop gain Positioning speed limit Orientation reference Orientation acceptance window Stop mode selector Reference encoder/resolver revolution counter Feedback encoder/resolver revolution counter

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

Menu 0 changes from default configuration

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9.5

Unidrive VTC macro differences

Only macros 1, 2, 3 and 5 can be used with Unidrive VTC. The following highlights the macro terminal differences for Unidrive VTC. Any terminal not listed below have the same function as open-loop Unidrive.

Macros 1 and 5
Analog outputs 1 and 2 (terminals 9 and 10) are post ramp frequency and total current outputs rather than speed and torque outputs. USA> Digital output F1 (terminal 24) is drive running indicator rather than At speed. Analog outputs 1 and 2 (terminals 9 and 10) are post ramp frequency and total current outputs rather than speed and torque outputs. USA> Analog input 2 is configured as a 4-20mA input rather than a voltage input.

Macros 2 and 3

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10

Advanced Parameters
These advanced parameters are listed for reference purposes only. The lists in this chapter do not include sufficient information for adjusting these parameters. Incorrect adjustment can affect the safety of the system, and damage the drive and or external equipment. Before attempting to adjust any of these parameters, refer to the Unidrive Advanced User Guide.

WARNING

Menu number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

Description Commonly used basic set up parameters for quick / easy programming Speed references and limits Ramps (accel / decel) Speed feedback / frequency slaving Current control Machine control Sequencing logic Analog I/O Digital I/O Programmable logic Status flags / trip log Menu 0 customisation / drive specific ratings Programmable thresholds Digital lock / orientation Programmable PID function Regen Small option module set up Large option module set up Application menu 1 Application menu 2 Large option module set up

Operation mode abbreviations: OL> CL> VT> SV>

NOTE

Open loop Closed loop (which incorporates closed loop vector and servo mode) Closed loop vector mode Servo

Parameter numbers shown in brackets {...} are the equivalent Menu 0 parameters. Some Menu 0 parameters appear twice since their function depends on the operating mode. The Range - CL column applies to both Closed-loop Vector and Closed-loop Servo. For some parameters, this column applies only to one of these modes; this is indicated accordingly in the Default columns. In some cases, the function or range of a parameter is affected by the setting of another parameter; the information in the lists relates to the default condition of such parameters. Some parameters have different ranges and/or default values between Unidrive VTC and open loop Unidrive. These differences are listed in section 10.21 Unidrive VTC parameter range and default differences on page 181.

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10.1

Menu 1: Speed references and limits

Figure 10-1 Menu 1 logic diagram

LOCAL/REMOTE

Analog reference
Analog input 1 Analog reference 1 1.36 Menu 7 1.37 Analog input 2 Analog reference 2 1.42 Preset reference select 1.41 Analog reference 2 select Menu 8

1.43

Keypad reference select

Preset reference
Preset reference selector 1.15 1.44 Precision reference select Reference selector 1.14 Reference selected indicator 1.49 1.21 ~ 1.28 Preset references 1 to 8

Preset reference select bits 1 ~ 3 1.47 1.46 1.45

+ +

Scan timer Preset reference selected indicator 1.16 Preset reference scan time 1.48 Preset reference Scan-timer reset
1.20

1.50

1.38 Reference percentage trim 1.04 Reference offset 1.09 Reference offset mode select

1.01 Level of reference selected

Keypad reference

1.17 Keypad Reference

Precision reference
Precision-reference update disable 1.20 Precision reference 1.18 1.19 Precision reference trim
The parameters are all shown in their default settings Input terminals Output terminals Key [Link] Read-write (RW) parameter Read-only (RO) parameter

Memory

[Link]

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JOG

RUN FORWARD

RUN REVERSE

Menu 6 Sequencer

Menu 8

Jog selected indicator Bipolar reference select

1.13

Sequencer (Menu 6)

Reference in skip freq./speed band indicator 1.11 Reference enabled indicator 1.35 Pre-ramp reference 1.03

1.10

Feed-forward selected indicator Reverse selected indicator 1.12 1.40

1.06 Maximum freq./speed "clamp" 1.07 Minimum freq./speed "clamp" (Maximum reverse freq./speed) [1.06] [1.07] [1.07] [1.06]

1.02

Pre-filter reference

Menu 2

Negative minimum speed select 1.08

x(-1)

1.39 Velocity feed-forward reference

[1.06]

1.29 Skip freq./ speed 1 1.30 Skip freq. 1 speed band 1, 2, 3

1.31 Skip freq./ speed 2 1.32 Skip freq. 2 speed band 1, 2, 3

1.33 Skip freq./ speed 3 1.34 Skip freq. 3 speed band 1, 2, 3

1.05 Jog reference

[1.06]

[1.06]

[1.07]

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Parameter 1.01 1.02 1.03 1.04 1.05 1.06 1.07 1.08 1.09 1.10 1.11 1.12 1.13 1.14 1.15 1.16 1.17 1.18 1.19 1.20 1.21 1.22 1.23 1.24 1.25 1.26 1.27 1.28 1.29 1.30 1.31 1.32 1.33 1.34 1.35 1.36 1.37 1.38 1.39 1.40 1.41 1.42 1.43 1.44 1.45 1.46 1.47 1.48 1.49 1.50 Final reference Pre-filter reference Pre-ramp reference Reference offset Jog reference Maximum frequency/speed Minimum frequency/speed Negative minimum speed select Reference offset select Bipolar reference select Reference enabled indicator Reverse selected indicator Jog selected indicator Reference selector Preset reference selector Preset reference scan time Keypad reference Precision reference Precision reference trim Precision-reference update disable Preset reference 1 Preset reference 2 Preset reference 3 Preset reference 4 Preset reference 5 Preset reference 6 Preset reference 7 Preset reference 8 Skip freq./speed 1 Skip band 1 Skip freq./speed 2 Skip band 2 Skip freq./speed 3 Skip band 3 Reference in skip-band indicator Analog reference 1 Analog reference 2 Reference percentage-trim Velocity feed-forward reference Feed-forward selected indicator Analog reference 2 selected indicator Preset reference selected indicator Keypad reference selected indicator Precision reference selected indicator Preset reference select bit 0 (LSB) Preset reference select bit 1 Preset reference select bit 2 (MSB) Scan-timer reset Reference selected indicator Preset reference selected indicator {0.05}

Range() OL 1,000.0 Hz * 1,000.0 Hz * 1,000.0 Hz * 1,000.0 Hz 0 to 400.0 Hz 0 to 1,000.0 Hz CL 30,000 rpm * 30,000 rpm * 30,000 rpm * 30,000 rpm 0 to 4,000 rpm 0 to 30,000 rpm OL

Default() VT SV

Type RO Bi RO Bi RO Bi RW Bi RW Uni P P P

{0.11} {0.14} {0.02} {0.01}

0 1.5 EUR> 50 USA> 60 50 EUR> 1,500 USA> 1,800 0 0 0 0 3,000

RW Uni RW RW RW RW RO RO RO Bi Bit Bit Bit Bit Bit Bit

0 to [Pr 1.06], if Pr 1.08 = 0 -1,000 to 0 Hz, if Pr 1.08 = 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 to 5 0 to 9 0 to 400.0 s 1,000.0 Hz 30,000 rpm 1,000.0 Hz 30,000 rpm 0 to 0.099 Hz 0 to 0.99 rpm 0 or 1 1,000.0 Hz 30,000 rpm 1,000.0 Hz 30,000 rpm 1,000.0 Hz 30,000 rpm 1,000.0 Hz 30,000 rpm 1,000.0 Hz 30,000 rpm 1,000.0 Hz 30,000 rpm 1,000.0 Hz 30,000 rpm 1,000.0 Hz 30,000 rpm 0 to 1,000.0 Hz 0 to 30,000 rpm 0 to 5.0 Hz 0 to 50 rpm 0 to 1,000.0 Hz 0 to 30,000 rpm 0 to 5.0 Hz 0 to 50 rpm 0 to 1,000.0 Hz 0 to 30,000 rpm 0 to 5.0 Hz 0 to 50 rpm 0 or 1 30,000 rpm * 1,000 Hz * 30,000 rpm * 1,000 Hz * 100.0 % 1,000.0 Hz 30,000 rpm 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 1 to 5 1 to 8 EUR> 0 USA> 4

P P P

0 0 10 0 0 0 0 0 0 0 0 0 0 0 0 0

RW Uni RW RW RO RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RO RO RO RO RO RO RO RO RO RO RO RO RO RW RO RO Uni Uni Bi Bi Uni Bit Bi Bi Bi Bi Bi Bi Bi Bi Uni Uni Uni Uni Uni Uni Bit Bi Bi Bi Bi Bit Bit Bit Bit Bit Bit Bit Bit Bit Uni Uni

{0.35}

{0.20} {0.21} {0.22} {0.23}

0.5 0 0.5 0 0.5

5 5 5

P P

P P

* The maximum value that can be used is limited to the larger value of Pr 1.06 and Pr 1.07. RO RW Read Only parameter Read / Write parameter Uni Bi Txt Bit Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter R S P FLC Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

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10.2

Menu 2: Ramps (accel. / decel.)

Figure 10-2 Menu 2 logic diagram

Acceleration rate select bits 2.34 2.33 2.32

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

0 0 0 0 1 1 1 1

0 0 1 1 0 0 1 1

0 1 0 1 0 1 0 1 2.10

[Link]

The parameters are all shown at their default settings

Forward acceleration selector

Acceleration rates 1 ~ 8 2.11 2.12 2.13 2.14 2.15 2.16 2.17 2.18 Acceleration rate 1 Fwd Acceleration rate 1 Acceleration rate 2 Fwd Acceleration rate 2 Acceleration rate 3 Fwd Acceleration rate 3 Acceleration rate 4 Fwd Acceleration rate 4 Acceleration rate 5 Rev. Acceleration rate 1 Acceleration rate 6 Rev. Acceleration rate 2 Acceleration rate 7 Rev. Acceleration rate 3 Acceleration rate 8 Rev. Acceleration rate 4

Reverse acceleration rate select bits Preset reference selected indicator 1.50 2.39 2.38

1 2 3 4 5 6 7 8

0 0 1 1

0 1 0 1 2.30 Rev acceleration selector

Reverse acceleration and deceleration select 2.09 2.19 Jog acceleration rate

Jog selected indicator

1.13

Reverse accel. rate N t

Forward accel. rate N t

Acceleration Ramp control

2.03 Pre-ramp speed reference 1.03 2.04 2.05 Ramp hold enable Ramp mode selector* Ramp rate range select

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Deceleration rate select bits 2.37 2.36 2.35

Forward deceleration ramp selector

2.20

Reverse deceleration rate select bits 2.41 2.40 1.50 Preset reference selected indicator

Rev deceleration selector

2.31

Reverse acceleration and deceleration select 2.09 Jog deceleration rate 2.29

1.13

Jog selected indicator

Forward Decel. rate N t

Reverse Decel. rate N t Current control Menu 4 (Open-loop only)

2.02

Deceleration Ramp control

2.06 2.07 2.08 S-Ramp enable S-Ramp acceleration limit Standard ramp voltage*

Ramp enable (Closed- loop only)

_ +
2.01 Post-ramp reference

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Parameter 2.01 2.02 2.03 2.04 2.05 2.06 Post-ramp reference Ramp enable Ramp hold enable Ramp mode selector*** Ramp-rate range select S-ramp enable {0.12}

Range() OL 1,000 Hz * CL 30,000 rpm * 0 or 1 OL

Default() VT 1 0 [Link] (2) 0 0 3.1 1.5 SV 0 RO RW RW RW RW RW

Type Bi Bit Bit Txt Bit Bit P

{0.15} {0.18}

0 or 1 [Link] (0), FASt (1), [Link] (2) 0 or 1 0 or 1

1 0.03

2.07 S-ramp da/dt 2.08 2.09 2.10 2.11 2.12 2.13 2.14 2.15 2.16 2.17 2.18 2.19 2.20 2.21 2.22 2.23 2.24 2.25 2.26 2.27 2.28 2.29 2.30 2.31 2.32 2.33 2.34 2.35 2.36 2.37 2.38 2.39 2.40 2.41

{0.19} 0 to 3,000.0 s2/100 Hz 0 to 30.000 s2/1,000 rpm 200V drive: 0 to 400 V Standard ramp voltage*** 400V drive: 0 to 800 V Reverse acceleration and deceleration select 0 or 1 Forward acceleration ramp selector 0 to 9 Acceleration rate 1 / Forward acceleration VT> 0 to 3,200 {0.03} 0 to 3,200.0 s/100Hz rate 1 SV> 0 to 32.000 s/1,000rpm Acceleration rate 2 / Forward acceleration VT> 0 to 3,200 0 to 3,200.0 s/100Hz rate 2 SV> 0 to 32.000 s/1,000rpm Acceleration rate 3 / Forward acceleration VT> 0 to 3,200 0 to 3,200.0 s/100Hz rate 3 SV> 0 to 32.000 s/1,000rpm Acceleration rate 4 / Forward acceleration VT> 0 to 3,200 0 to 3,200.0 s/100Hz rate 4 SV> 0 to 32.000 s/1,000rpm Acceleration rate 5 / Reverse acceleration VT> 0 to 3,200 0 to 3,200.0 s/100Hz rate 1 SV> 0 to 32.000 s/1,000rpm Acceleration rate 6 / Reverse acceleration VT> 0 to 3,200 0 to 3,200.0 s/100Hz rate 2 SV> 0 to 32.000 s/1,000rpm Acceleration rate 7 / Reverse acceleration VT> 0 to 3,200 0 to 3,200.0 s/100Hz rate 3 SV> 0 to 32.000 s/1,000rpm Acceleration rate 8 / Reverse acceleration VT> 0 to 3,200 0 to 3,200.0 s/100Hz rate 4 SV> 0 to 32.000 s/1,000rpm VT>0 to 32.0 s/1,000rpm Jog acceleration rate 0 to 3,200.0 s/100Hz SV>0 to 32.000 s/1,000rpm 0 to 9 Forward deceleration ramp selector Deceleration rate 1 / Forward VT> 0 to 32.000 s/1000rpm {0.04} 0 to 3,200.0 s/100Hz deceleration rate 1 SV> 0 to 32,000 s/1000rpm Deceleration rate 2 / Forward VT> 0 to 3,200 0 to 3,200.0 s/100Hz deceleration rate 2 SV> 0 to 32.000 s/1,000rpm Deceleration rate 3 / Forward VT> 0 to 3,200 0 to 3,200.0 s/100Hz deceleration rate 3 SV> 0 to 32.000 s/1,000rpm Deceleration rate 4 / Forward VT> 0 to 3,200 0 to 3,200.0 s/100Hz deceleration rate 4 SV> 0 to 32.000 s/1,000rpm Deceleration rate 5 / Reverse VT> 0 to 3,200 0 to 3,200.0 s/100Hz deceleration rate 1 SV> 0 to 32.000 s/1,000rpm Deceleration rate 6 / Reverse VT> 0 to 3,200 0 to 3,200.0 s/100Hz deceleration rate 2 SV> 0 to 32.000 s/1,000rpm Deceleration rate 7 / Reverse VT> 0 to 3,200 0 to 3,200.0 s/100Hz deceleration rate 3 SV> 0 to 32.000 s/1,000rpm Deceleration rate 8 / Reverse VT> 0 to 3,200 0 to 3,200.0 s/100Hz deceleration rate 4 SV> 0 to 32.000 s/1,000rpm VT> 0 to 3,200 Jog deceleration rate 0 to 3,200.0 s/100Hz SV> 0 to 32.000 s/1,000rpm 0 to 4 Rev acceleration selector Rev deceleration selector 0 to 4 Forward acceleration select bit 0 (LSB) 0 or 1 Forward acceleration select bit 1 0 or 1 Forward acceleration select bit 2 (MSB) 0 or 1 Forward deceleration select bit 0 (LSB) 0 or 1 Forward deceleration select bit 1 0 or 1 Forward deceleration select bit 2 (MSB) 0 or 1 Reverse acceleration select bit 0 (LSB) 0 or 1 Reverse acceleration select bit 1 (MSB) 0 or 1 Reverse deceleration select bit 0 (LSB) 0 or 1 Reverse deceleration select bit 1 (MSB) 0 or 1

RW Uni RW Uni RW Bit RW Uni RW Uni RW Uni RW Uni RW Uni RW Uni RW Uni RW Uni RW Uni RW Uni RW Uni

200V drive: 375 400V drive: EUR> 750, USA> 775 0 0 5** 5** 5** 5** 5** 5** 5** 5** 0.2 0 10** 10** 10** 10** 10** 10** 10** 10** 0.2 0 0 0 0 0 0 0 0 0 0 0 0 2 2 2 2 2 2 2 2 0 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 2 2 2 2 2 2 2 2 0 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2

RW Uni RW Uni RW Uni RW Uni RW Uni RW Uni RW Uni RW Uni RW Uni RW RW RO RO RO RO RO RO RO RO RO RO Uni Uni Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit P P

* The maximum value that can be used is limited to the larger value of Pr 1.06 and Pr 1.07. Uni Bi Txt Bit Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter
NOTE

RO RW

Read Only parameter Read / Write parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

** These parameters have a default setting of 60s in the VTC variant. *** For more info, see section 10.22.1 Braking modes on page 182.

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

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10.3

Menu 3: Speed feedback / frequency slaving

15 way sub-D connector Encoder 1 speed 3.26

Figure 10-3 Menu 3 Open-loop logic diagram

Frequency slaving enable 3.13

F (A) F (A) D (B) D (B)

1 2 3 4

3.21 3.22 3.24

No. of encoder lines / Pulses per revolution Frequency input select Termination resistors 1 1536

3.14 3.15

Slaving ratio numerator Slaving ratio denominator

Final speed demand 3.01

Slip compensation Menu 5 Post ramp reference

Motor frequency 5.01

+ +

Menu 2

2.01

Frequency scaling ratio select bit 2 3.18

Frequency scaling ratio select bit 1 3.17

15 way sub-D connector

x 192 x 1563 3.22

Frequency output enable

7 8 9 10

F F D D

Zero speed threshold 3.05

At zero speed Bipolar reference indicator select

+ _

1.10 10.03

Minimum speed 1.07

+ _

10.04 At or below min. speed indicator

Over-speed threshold 3.08 1.06 Max. frequency +20% 3.29 Over-speed threshold mode select At speed lower limit Pre ramp reference 3.06

+ _

Overspeed trip ([Link])

+ _

Below at-speed window indicator 10.05

Key

_
1.03

At speed indicator NOR 10.06

Input terminals Output terminals

[Link]

Read-write (RW) parameter Read-only (RO) parameter

[Link]

3.09 Absolute at-speed detect mode 3.07 At speed upper limit

+ _

10.07 Above at-speed window indicator The parameters are all shown at their default settings

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Figure 10-4 Menu 3 Closed-loop logic diagram

15 way sub-D connector

Encoder 1 supply voltage select 3.23

+V Encoder 0V A A B B Z Z

13 14 1 2 3 4 5 6

5V 15V 3.21 3.22 3.24 No. of encoder lines / Pulses per revolution Frequency input select Termination resistors Encoder 1 speed 3.26

Resolver option module

UD53

UD52 SIN COS or UD53 Resolver option module fitted

Resolver

Sin. high 48 Sin. low 49 Cos. low 50 Cos. high 51 Exit. high 52 Exit. low 53

Resolver RPM 16.02

16.14 Select SIN COS encoder as auxiliary encoder enable

SIN COS option module

UD52

SIN COS

Sin. in Sin. ref Cos. in Cos. ref 0V +V SC data SC data

40 41 42 43 44 45 46 47

SIN COS Encoder RPM 16.02

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Hard speed reference* Hard speed reference select* 3.20 3.19

Drive sequencer Pr 1.11 or position controller when Pr 6.01 = rP-POS (3) Post ramp reference 2.01 Final speed demand 3.10 3.11 3.12 Speed loop proportional gain Speed loop integral gain Speed loop derivative gain

+ +

Speed error

+
3.01

3.03

3.04 Speed loop output

_
Speed feedback 3.02

Zero speed threshold 3.05

At zero speed Bipolar reference indicator select

+ _

1.10 10.03

Minimum speed 1.07

+ _

10.04 At or below min. speed indicator

+
Overspeed threshold 3.08

Overspeed trip ([Link]) Below at-speed window indicator 10.05 At speed indicator NOR 10.06

Pre ramp reference 1.03

At speed lower limit

3.06

+ _

_ +

3.09 Absolute at-speed detect mode 3.07 At speed upper limit

+ _

10.07 Above at-speed window indicator

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

* For more information, refer to section 10.22.8 Position loop modes on page 188.

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Parameter 3.01 3.02 3.03 3.04 3.05 3.06 3.07 3.08 3.09 3.10 3.11 3.12 3.13 3.14 3.15 3.16 3.17 3.18 3.19 3.20 3.21 3.22 3.23 3.24 3.25 3.26 3.27 3.28 3.29 3.30 3.31 OL> Slave frequency-demand CL> Final speed demand Speed feedback Speed error Speed loop output Zero-speed threshold At-speed lower limit At-speed upper limit Over-speed threshold Absolute at-speed detect mode Speed-loop proportional gain Speed-loop integral gain Speed-loop derivative gain Frequency slaving enable Slaving ratio numerator Slaving ratio denominator Frequency output enable Frequency scaling ratio select bit 1 Frequency scaling ratio select bit 2 Hard speed reference** Hard speed reference select** No. of encoder lines / Pulses per revolution Frequency input select Encoder supply voltage select Encoder termination disable Encoder phasing test enable Encoder 1 speed Encoder 1 position Phase position Over-speed threshold mode select Speed feedback filter Servo phasing fail (ENCPH9) detection disable Read Only parameter Read / Write parameter Uni Bi Txt Bit

Range() OL 1,000.0 Hz {0.10} CL 30,000 rpm Pr 1.06 30,000 rpm IMAX % * 0 to 20.0 Hz 0 to 1,000.0 Hz 0 to 1,000.0 Hz 0 to 1,000.0 Hz 0 or 1 {0.07} {0.08} {0.09} 0 or 1 0 to 1.000 0.001 to 1.000 0 or 1 0 or 1 0 or 1 [Pr 1.06] 0 or 1 256 to 10,000 256 to 5,000 Encoder lines / Pulses Encoder lines / Pulses per per rev rev 0 or 1 0 or 1 0 or 1 0 or 1 30,000 rpm 30,000 rpm 0 to 16,383 0 to 16,383 revs / 16,384 revs / 16,384 0 to 6,143 rev / 6143 0 or 1 0 to 10.0 ms 0 or 1 Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter R S P FLC 0 to 32,000 0 to 32,000 0 to 32,000 0 1 1 0 1 0 0 to 200 rpm 0 to 30,000 rpm 0 to 30,000 rpm 0 to 30,000 rpm 1 1 1 1,000 OL

Default() VT SV RO RO RO RO 5 5 5 2,000 0 200 100 0 4,000 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW

Type Bi Bi Bi Bi Uni Uni Uni Uni Bit Uni Uni Uni Bit Uni Uni Bit Bit Bit Bi Bit P P P P

0 0 1,024 1 0 0 0 0 4,096

RW Uni RW RW RW RW RO Bit Bit Bit Bit Bi

{0.40}

P P P

RO Uni 0 0 0 RW Uni S RW Bit RW Uni RW Bit

RO RW

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

* For definition of IMAX %, see section 8.2 Current limits on page 98. ** For more information, refer to section 10.22.8 Position loop modes on page 188.

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10.4

Menu 4: Current control

Menu 2 ramp controller Torque mode selector* 4.11 Post ramp reference 2.01 Motor map Motor frequency 5.01

Figure 10-5 Menu 4 Open-loop logic diagram

Pre ramp reference 1.03 2.01

10.09 Current limit active Current loop 4.13 4.14 P gain** I gain** 4.02 - Active current (Amp) 4.20 - Percentage torque current 4.17 Magnetising current 4.02 4.20 4.01 Active current Current magnitude

_ +
Motor frequency 5.01 Torque demand Torque reference* Torque reference offset enable 4.08 Motor rated frequency 5.06 Percentage current demand Torque to current conversion 4.04

+ +

4.03

4.10 4.09 Torque reference offset Current limits Over-riding current limit 4.18

Drive rated continuous current Motor rated current

11.32

4.05

Motoring Regenerating

Motor thermal time constant 4.15

Motor protection mode 4.16

5.07

Symmetrical

10.08 At 100% load indicator

10.09 Current limit active indicator

10.39 Braking energy overload indicator

4.19 Motor overload accumulator

10.17 Motor current overload alarm indicator

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

* For more information, please refer to section 10.22.3 Torque Modes on page 183.

** For more information, please refer to section 10.22.5 Mains loss modes on page 185.

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Figure 10-6 Menu 4 Closed-loop vector logic diagram

Speed feedback 3.02 Speed loop output 3.04 Torque mode selector*

Motor rated current 5.07 4.11 Torque demand 4.03

Motor rated power factor 5.10

Filter time constant 4.12 Current demand Current controller

Final speed demand

+
3.01

+
4.04

4.13 4.14

Current loop P gain** Current loop I gain**

+
Speed over-ride level Coiler/uncoiler speed over-ride level

_
Filter

Zero speed threshold Torque reference* Torque reference offset enable

3.05

Active current

Current magnitude

4.08

+ +
4.02 - Active current (Amp) 4.20 - Percentage torque current 4.02 4.20 4.01

4.10 4.09 Torque reference offset Current limits Over-riding current limit 4.18 Motor thermal time constant 4.15

4.17

Magnetising current

Drive rated continuous current Motor rated current

11.32

4.05

Motoring Regenerating

Motor protection mode 4.16

5.07

Symmetrical

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

10.08 At 100% load indicator

10.09 Current limit active indicator

10.39 Braking energy overload indicator

4.19 Motor overload accumulator

10.17 Motor current overload alarm indicator

[Link]

The parameters are all shown at their default settings

* For more information, please refer to section 10.22.3 Torque Modes on page 183. ** For more information, please refer to section 10.22.5 Mains loss modes on page 185.

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Figure 10-7 Menu 4 Servo logic diagram

Speed feedback 3.02 Speed loop output 3.04 Torque mode selector* Filter time constant 4.11 Torque demand 4.03 Current demand 4.12 Current controller

+
Final 3.01 speed demand

+
4.04

4.13

Current loop P gain** Current loop I gain**

+
Speed over-ride level Coiler/uncoiler speed over-ride level

_
Filter

4.14

Zero speed threshold Torque reference* Torque reference offset enable

3.05

4.08

+ +

Percentage torque current 4.20

4.02

Motor active current

4.10 4.09 Torque reference offset Current limits Over-riding current limit 4.18 Motor thermal time constant 4.15 Motor protection mode 4.16

Drive rated continuous current Motor rated current

11.32

4.05

Motoring Regenerating

5.07

Symmetrical

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

10.08 At 100% load indicator

10.09 Current limit active indicator

10.39 Braking energy overload indicator

4.19 Motor overload accumulator

10.17 Motor current overload alarm indicator

[Link]

The parameters are all shown at their default settings

* For more information, please refer to section 10.22.3 Torque Modes on page 183. ** For more information, please refer to section 10.22.5 Mains loss modes on page 185.

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Parameter 4.01 4.02 4.03 4.04 4.05 4.06 4.07 4.08 4.09 4.10 4.11 4.12 4.13 4.14 4.15 4.16 4.17 4.18 4.19 4.20 Motor current magnitude Motor active-current Torque demand Current demand Motoring current limit Regenerating current limit Symmetrical current limit Torque reference** Torque reference offset Torque reference offset enable Torque mode selector** Current-demand filter time-constant Current-loop proportional gain*** Current-loop integral gain*** Motor thermal time-constant Motor protection mode select Motor magnetizing current Over-riding current limit Overload accumulator Percentage torque current {0.17} {0.06} {0.13}

Range() OL 0 to IMAX A IMAX A IMAX % IMAX % 0 to IMAX % 0 to IMAX % 0 to IMAX % IMAX % IMAX % 0 or 1 0 to 1 0 to 30,000 0 to 30,000 0 to 400.0 s 0 or 1 IMAX A 0 to IMAX % 0 to 100 % IMAX % 0 to 4 0 to 250 ms 20 40 CL OL

Default() VT SV RO RO RO 150* 150* 150* 0 0 0 0 0 150 2,000 89.0 0 130 1,200 7.0 175 175 175

Type RO Uni Bi Bi Bi P P P P

RW Uni RW Uni RW Uni RW RW RW RW RW RW RW RW RW RO Bi Bi Bit Uni Uni Uni Uni Uni Bit Bi P

P P P P

RO Uni RO Uni RO Bi

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

* These parameters have a default setting of 120% in Unidrive VTC. ** For more information, please refer to section 10.22.3 Torque Modes on page 183. *** For more information, please refer to section 10.22.5 Mains loss modes on page 185. Types of current range FLC Full load current of the drive (maximum continuous output current up to 40oC ambient temperature). Displayed in Pr 11.32 {0.33}. IMAX A Maximum overload output current of the drive up to 40oC ambient temperature, derived as follows: Size 1 to 4: OL> 150% x FLC CL> 175% x FLC Size 5: 150% x FLC IMAX % See section 8.2 Current limits on page 98 for the definition of IMAX%.

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10.5

Menu 5: Machine control

Voltage mode 5.14 Autotune 5.12 Dynamic V/f select Voltage boost Jog voltage boost Stator resistance Voltage offset 5.02 DC Bus voltage 5.05

Figure 10-8 Menu 5 Open-loop logic diagram

Fd Ur UrS Url

L1 L2 L3

Motormap Slave frequency demand 3.01 Frequency slaving enable 3.13 5.06 5.07 5.08 5.09 5.10 Post ramp reference 2.01 5.11 Motor rated frequency Motor rated current Motor rated full load RPM Motor rated voltage Motor rated power factor Motor number of poles Motor full load speed fine trim

5.13 5.15 5.16 5.17 5.23

Motor voltage

Volt

+ +

5.32

5.01 Motor frequency

Hertz
PWM switching frequency High stability space vector modulation Quasi square wave enable Thermal model protection

5.18 5.04 Estimated motor speed 5.19 5.20 5.33

Slip compensation enable 5.27

Total motor power (kW)

5.03

3xVxI

Slip compensation Motor active current Percentage active current Motor current magnitude 4.01

4.02 4.20

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

4.17 Motor magnetising current

[Link]

The parameters are all shown at their default settings

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Figure 10-9 Menu 5 Closed-loop vector logic diagram

Slip autotune 5.27 5.21 5.24 Motormap 5.06 Current demand filter time constant 4.12 Current demand 4.04 Filter Motor active current Current controller 5.07 5.08 5.09 5.10 5.11 Motor rated frequency Motor rated current Motor rated full load RPM Motor rated voltage Motor rated power factor Motor number of poles 5.26 Field gain reduction enable Motor leakage inductance Cross coupling compensation enable Field weakening gain compensation disable Motor saturation breakpoint 1 Motor saturation breakpoint 2 Voltage controller gain Motor full load speed fine trim DC Bus voltage 5.05

L1 L2 L3

5.28 5.29 5.30 5.31 5.32

Motor voltage 5.02

+ _

4.13 4.14

Current loop P gain Current loop I gain

Volt

Hertz
PWM switching frequency High stability space vector modulation Quasi square wave enable Thermal model protection

4.02

5.12

Autotune

5.18 5.19

Total motor power (kW)

5.03

3xVxI 5.20 5.33

Motor active current Percentage active current

4.02 4.20

Motor current magnitude 4.01

4.17 Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter Motor magnetising current

[Link]

The parameters are all shown at their default settings

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Figure 10-10 Menu 5 Servo logic diagram

L1 L2 L3

DC Bus voltage 5.05 Filter time constant 4.12 Current demand 4.04 Filter Motor active current Current controller Motormap Motor rated 5.07 current 5.11 Motor number of poles Motor voltage 5.02

+ _

4.13 4.14

Current loop P gain Current loop I gain

Volt

Hertz
PWM switching frequency High stability space vector modulation

4.02 Motor power (kW) 5.03 3xVxI

5.18 5.19

Percentage active current 4.20

Motor active current 4.02

Motor current magnitude 4.01

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

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Parameter 5.01 5.02 5.03 5.04 5.05 5.06 5.07 5.08 5.09 5.10 5.11 5.12 5.13 5.14 5.15 5.16 5.17 5.18 5.19 5.20 5.21 5.22 5.23 5.24 5.25 5.26 5.27 Motor frequency Motor voltage Total motor power Estimated motor speed DC bus voltage Motor - rated frequency Motor - rated current Motor - rated speed Motor - rated voltage Motor - rated power factor Motor - number of poles Magnetizing current test enable Dynamic V/f select Voltage mode selector Boost voltage Jog boost-voltage Stator resistance PWM switching frequency selector High-stability space-vector modulation enable Quasi square-wave enable Field-gain reduction enable Maximum speed x10 select Voltage offset Motor leakage inductance Output frequency doubling select Cross-coupling compensation enable Slip compensation enable Auto-optimize rated speed enable Phasing test for motors with high inertia loads Field-weakening gain compensation disable Motor saturation breakpoint 1 Motor saturation breakpoint 2 Voltage-controller gain Motor full load speed fine trim Thermal model-protection enable {0.41} {0.47} {0.46} {0.45} {0.44} {0.43} {0.42} {0.40} {0.09} {0.07} {0.08} {0.10}

Range() OL CL OL [Pr 1.06] 200V drive: 0 to 264 V 400V drive: 0 to 528 V PMAX kW 6000 rpm 200V drive: 0 to 415 V 400V drive: 0 to 830 V 0 to 1000.0 Hz 0 to FLC A 0 to 6,000 rpm 0 to 30,000 rpm

Default() VT SV RO

Type Bi P P P P P

RO Uni RO RO Bi Bi

RO Uni EUR> 50, USA> 60 FLC EUR> 1,450 0 USA> 1,770 200V drive: 220 400V drive: EUR> 400 USA> 460 0.920 4 0 0 Ur_l (1)* 3 3 0 3 (0)** 0 0 RW Uni RW Uni RW Uni 0 RW Uni RW RW RW RW Uni S Txt Bit Bit

200V drive: 0 to 240 V 400V drive: 0 to 480 V 0 to 1.000 2 to 32 0 or 1 0 or 1 Ur_S (0), Ur_l (1), Ur (2), Fd (3) 0 to 25.0 % 0 to 25.0 % 0 to 32.000 3 kHz (0), 4.5 kHz (1), 6 kHz (2), 9 kHz (3), 12 kHz (4) 0 or 1 0 or 1 0 or 1 0 or 1 0 to 25.5 V 0 to 320.00 mH 0 or 1 0 or 1 0 or 1 VT> 0 or 1 SV> 0 or 1 VT> 0 or 1 0 to 100 % 0 to 100 % 0 to 30 0 to 0.99 rpm 0 or 1

P P P P

RW Uni RW Uni RW Uni RW Uni S RW Txt RW Bit 1 RW RW RW RO RW RW RW RW RW 0 0 50 75 1 0 1 Bit Bit Bit Uni S Uni S Bit Bit Bit Bit

0 0 0 0 0 1 0

P P

RW Bit RW Bit RW RW RW RW RW Uni Uni Uni Uni Bit P P P P

5.28 5.29 5.30 5.31 5.32 5.33

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

* This parameter has a default setting of Fd (3) in the VTC variant. ** This parameter has a default setting of 9kHz (3) in the LFT variant. Power rating PMAX Pr 5.09 3 I MAX -----------------1000

For definition of IMAX, see section Types of current range on page 138.
NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

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10.6

Menu 6: Sequencing logic

Hardware enable Sequencing bit 0 Sequencing bit 1 Sequencing bit 2 Sequencing bit 3 RUN PERMIT / STOP Limit switch 1 Limit switch 2 Logic 1 RUN STOP/ RESET RESET 6.15 6.29 6.30 6.01 6.31 6.02 6.32 6.03 6.33 6.04 6.34 6.35 6.36 6.05 6.08 6.09 Sequencer Stop mode selector* Auto-start mode selector ACsupply loss mode selector** Sequencing mode selector*** Minimum jog time Hold zero speed enable* Synchronize to a spinning motor**** Drive enable 1.11 Reference enabled indicator

Figure 10-11 Menu 6 logic diagram

1.12

Reverse selected indicator

1.13

Jog selected indicator

Inverter enable

Menu 13

Position control Relative jog select Relative jog reverse select

FWD/REV Logic 1

Closed-loop only Menu 2

Open loop only 6.06 6.07 6.10 6.37 6.38 Injection braking level Injection braking time* Spinning motor ramp rate**** Synchronization start-voltage**** Synchronization voltage ramp**** Ramp enable / disable

1.49 Reference selected indicator 6.11 Keypad RUN key enable 6.12 Keypad STOP key enable 6.13 Keypad FWD/REV key enable

Menu3

Hard speed reference disable

Clock control 6.16 Electricity cost Power consumption meter reset Time interval between filter changes Filter change required/done Time interval between lubrication Lubrication required / done

6.24 Power meter 6.25

Run-time log

6.22

6.17

6.18 Run-time log 6.23

6.26

Running cost

6.19

6.27

6.20 Total motor power 5.03

Time before filter change due

6.21

6.28

Time before lubrication due

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

* For more information, refer to section 10.22.4 Stop Modes on page 184. ** For more information, refer to section 10.22.5 Mains loss modes on page 185.

*** For more information, refer to section 10.22.6 Sequencing Modes on page 186. **** For more information, refer to section 10.22.7 Catch a spinning motor on page 187.

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Parameter

Range() OL {0.16} CL OL COASt (0), rP (1), COASt (0), rP (1), rP-dcI (2), dcI (3), [Link] (2), rP-POS (3) [Link] (4) diS (0), ALYS (1), [Link] (2) diS (0), StoP (1), [Link] (2) 0 to 4 0 to 25.0 s 0 to 100.0 %FLC 0 to 25.0 s 0 or 1 0 or 1 0 to 25.0 s/100Hz 0 or 1 0 or 1 0 or 1 0 or 1 0 to 600.0 Currency/kWh 0 or 1 0 to 30,000 hr 0 or 1 0 to 30,000 hr 0 or 1 0 to 30.365 [Link] 0 to 23.59 hr min 0 to 30,000 MWh 0 to 999.9 kWh 0 to 32,000 Currency/hr 0 to 30,000 hr 0 to 30,000 hr 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 to 100.0 % 0 to 2.5 s

Default() VT rP (1) diS (0) diS (0) 4 0.0 100.0 5.0 0 0 5 0 0 0 1 0 0 0 1 0 1 1 1 SV [Link] (2)

Type

6.01 6.02 6.03 6.04 6.05 6.06 6.07 6.08 6.09 6.10 6.11 6.12 6.13 6.15 6.16 6.17 6.18 6.19 6.20 6.21 6.22 6.23 6.24 6.25 6.26 6.27 6.28 6.29 6.30 6.31 6.32 6.33 6.34 6.35 6.36 6.37 6.38

Stop mode selector* Auto-start mode selector AC supply loss mode selector** Sequencing mode selector*** Minimum jog time Injection braking level Injection braking time* Hold zero speed enable* Synchronize to a spinning motor**** Synchronization ramp rate**** Keypad run key enable Keypad stop key enable Keypad fwd/rev key enable Drive enable Electricity cost / kWh Power consumption meter reset Time interval between filter changes Filter change required/done Time interval between lubrication Lubrication required/done Run-time log Run-time log Power meter Power meter Running cost Time before filter change due Time before lubrication due Hardware enable Sequencing bit 0 Sequencing bit 1 Sequencing bit 2 Sequencing bit 3 Run permit / not stop Limit switch 1 Limit switch 2 Spinning motor start-voltage**** Spinning motor voltage-ramp****

RW Txt RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RO RO RO RO RO RO RO RO RW RW RW RW RW RO RO RW RW Txt Txt Uni Uni Uni Uni Bit Bit Uni Bit Bit Bit Bit Uni Bit Uni Bit Uni Bit Uni Uni Uni Uni Uni Uni Uni Bit Bit Bit Bit Bit Bit Bit Bit Uni Uni

P P

{0.39}

S S S S S S S

P P P P P P P P

0 0 0 0 0

25 0.25

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications. * For more information, refer to section 10.22.4 Stop Modes on page 184. ** For more information, refer to section 10.22.5 Mains loss modes on page 185. *** For more information, refer to section 10.22.6 Sequencing Modes on page 186. **** For more information, refer to section 10.22.7 Catch a spinning motor on page 187.

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10.7

Menu 7: Analog I/O

Figure 10-12 Menu 7 logic diagram

Function-1 destination parameter 7.10

Analog input 1 offset trim Analog input 1 7.07

Analog input 1 7.01

Any unprotected variable parameter ??.?? Analog ref. 1 1.36

V/f 7.26 V/f sample time 7.25 Calibrate analog input 1 full scale

7.06 Analog input 1 mode selector

7.08 Analog input 1 scaling

x(-1)

??.?? 7.09 Analog input 1 invert

Analog input 2 7.02

Function-2 destination parameter 7.14

Analog input 2

Any unprotected variable parameter ??.??

A/D

7.11 Analog input 2 mode selector

7.12 Analog input 2 scaling

x(-1)

Analog ref. 2 1.37

??.?? 7.13 Analog input 2 invert

Analog input 3 7.03 Analog input 3

Function-3 destination parameter 7.18

Any unprotected variable parameter ??.??

A/D

7.15 Analog input 3 mode selector Analog output 1 source parameter

7.16 Analog input 3 scaling

x(-1)

0.00 ??.?? 7.17 Analog input 3 invert

Motor frequency OL> CL> 5.01 3.02 Speed feedback

Any variable parameter ??.??

7.19 Analog output 1

Default setting is Motor thermal input

7.20 ??.?? Analog output 1 scaling

7.21 Analog output 1 mode selector Key Analog output 2 Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

Analog output 2 source parameter Any variable parameter ??.?? 7.23 ??.?? Analog output 2 scaling 7.24 Analog output 2 mode selector 7.22

Motor active current 4.02

[Link]

The parameters are all shown at their default settings

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Parameter 7.01 7.02 7.03 7.04 7.05 7.06 7.07 7.08 7.09 7.10 7.11 7.12 7.13 7.14 7.15 7.16 7.17 7.18 7.19 7.20 7.21 7.22 7.23 7.24 7.25 7.26 7.27 7.28 7.29 7.30 7.31 7.32 RO RW
NOTE

Range() OL 100.0 % 100.0 % 100.0 % 0 to 100 oC 0 to 100 oC VOLt (0), 0 - 20 (1), 20 - 0 (2), 4 - [Link] (3), 20 - [Link] (4), 4 - [Link] (5), 20 - [Link] (6), 4 - [Link] (7), 20 - [Link] (8) 10.000 % 0 to 4.000 0 or 1 Pr 0.00 to Pr 20.50 (as Pr 7.06) 0 to 4.000 0 or 1 Pr 0.00 to Pr 20.50 VOLt (0), 0 - 20 (1), 20 - 0 (2), 4 - [Link] (3) , 20 - [Link] (4), 4 - [Link] (5) , 20 - [Link] (6), 4 - [Link] (7), 20 - [Link] (8), [Link] (9), th (10) 0 to 4.000 0 or 1 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 0 to 4.000 VOLt (0), 0 - 20 (1), 4 - 20 (2) Pr 0.00 to Pr 20.50 0 to 4.000 VOLt (0), 0 - 20 (1), 4 - 20 (2) 0 or 1 0 to 5.0 ms 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 to 150 C Uni Bi Txt Bit Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter R S P FLC CL OL

Default() VT SV RO RO RO

Type Bi Bi Bi P P P P P

Analog input 1 Analog input 2 Analog input 3 Heatsink temperature Control board temperature Analog input 1 mode selector Analog input 1 offset trim Analog input 1 scaling Analog input 1 invert Analog input 1 destination parameter Analog input 2 mode selector Analog input 2 scaling Analog input 2 invert Analog input 2 destination parameter Analog input 3 mode selector Analog input 3 scaling Analog input 3 invert Analog input 3 destination parameter Analog output 1 source parameter Analog output 1 scaling Analog output 1 mode selector Analog output 2 source parameter Analog output 2 scaling Analog output 2 mode selector Calibrate analog input 1 full scale V/f sample time Analog input 1 current-loop loss indicator Analog input 2 current-loop loss indicator Analog input 3 current-loop loss indicator Analog output set-up enable UD78 large option module fitted indicator IGBT junction temperature Read Only parameter Read / Write parameter {0.24}

RO Uni RO Uni VOLt (0) 0 1.000 0 Pr 1.36 VOLt (0) 1 0 Pr 1.37 EUR> th (10), USA> VOLt (0) 1.000 0 Pr 0.00 Pr 3.02 1 VOLt (0) Pr 4.02 1.000 VOLt (0) 0 4.0 RW Txt R RW RW RW RW RW RW RW RW Bi Uni Bit Uni R Txt R Uni Bit Uni R

{0.25}

{0.26}

RW Txt R RW RW RW RW RW RW RW RW RW RW RW Uni Bit Uni Uni Uni Txt Uni Uni Txt Bit Uni

Pr 5.01

R R R R R

P P P P P

RO Bit RO Bit RO Bit 0 RW Bit RO Bit RO Uni Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

P P P

P P

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

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10.8

Menu 8: Digital I/O

Figure 10-13 Menu 8 logic diagram

Input/output F1 state indicator F1 output enable 8.01 8.12
x(-1)

??.??

At speed 10.06 OL 10.03 CL

??.?? 8.10 Any bit parameter

At zero speed

Input / output F1 8.28 Open collector outputs select Positive logic select 8.27 8.11

F1 destination or source parameter F1 invert

Any unprotected bit parameter ??.??

x(-1)

??.??

Input/output F2 state indicator F2 output enable 8.02 8.15

x(-1)

Any bit parameter ??.??

??.?? 8.13 Any unprotected bit parameter ??.?? Drive reset 10.33

Input / output F2 8.28 Open collector outputs select Positive logic select 8.27 8.14

F2 destination or source parameter F2 invert

x(-1)

??.??

Input/output F3 state indicator F3 output enable 8.03 8.18

x(-1)

Any bit parameter ??.??

??.??

Input / output F3 8.28 Open collector outputs select Positive logic select 8.27 8.17

F3 destination or source parameter F3 invert

8.16 Any unprotected bit parameter ??.?? Jog select 6.31

x(-1)

??.??

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F4 state indicator 8.04 Input F4 8.27 Positive logic select F5 state indicator
x(-1)

F4 invert 8.20

F4 destination or source parameter 8.19 Any unprotected bit parameter ??.?? RUN FWD 6.30 ??.?? F5 destination or source parameter 8.21 Any unprotected bit parameter ??.?? RUN REV 6.32

F5 invert 8.05 Input F5 8.27 Positive logic select

x(-1)

8.22

??.??

F6 state indicator 8.06

F6 invert 8.24

F6 destination or source parameter 8.23 Any unprotected bit parameter ??.?? Analog ref. 2 select 1.41

Input F6 8.27 Positive logic select External trip / inhibit input F7 state indicator 8.07 External trip / Drive enable 8.27 Positive logic select
x(-1) x(-1)

??.??

External trip / inhibit input F7 mode select 8.09 External trip active indicator 10.32 6.29 Hardware enable

Status relay source parameter 8.25 Any bit parameter ??.??

Status relay invert 8.26 Status relay indicator 8.08

Input terminals Output terminals Key [Link] Read-write (RW) parameter Read-only (RO) parameter

Drive Healthy 10.01

[Link]

??.??

x(-1)

The parameters are all shown at their default settings

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Parameter 8.01 8.02 8.03 8.04 8.05 8.06 8.07 8.08 8.09 8.10 8.11 8.12 8.13 8.14 8.15 8.16 8.17 8.18 8.19 8.20 8.21 8.22 8.23 8.24 8.25 8.26 8.27 8.28 Digital input/output F1 state Digital input/output F2 state Digital input/output F3 state Digital input F4 state Digital input F5 state Digital input F6 state Terminal 30 state Status relay output indicator Terminal 30 function select F1 destination or source parameter F1 invert F1 output enable F2 destination or source parameter F2 invert F2 output enable F3 destination or source parameter F3 invert F3 output enable F4 destination parameter F4 invert F5 destination parameter F5 invert F6 destination parameter F6 invert Status relay source parameter Status relay invert Positive logic select Open-collector outputs select

Range() OL 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 0 or 1 CL OL

Default() VT SV RO RO RO RO RO RO RO RO RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW

Type Bit Bit Bit Bit Bit Bit Bit Bit Bit Uni Bit Bit Uni Bit Bit Uni Bit Bit Uni Bit Uni Bit Uni Bit Uni Bit Bit Bit P P P P P P P P R R R R R R R R R R R R P

0 Pr 10.06

1 Pr 10.03 0 1 Pr 10.33 0 0 Pr 6.31 0 0 Pr 6.30 0 Pr 6.32 0 Pr 1.41 0 Pr 10.01 0 0 0

P P P P P P

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

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10.9

Menu 9: Programmable logic

Figure 10-14 Menu 9 logic diagram

Any bit parameter ??.??

Function-1 input-1 invert

9.05

Function-1 output indicator Function-1 output invert 9.01

Function-1 destination parameter 9.10 Any unprotected bit parameter ??.??

??.??

x(-1)

9.08

9.04 Any bit parameter ??.??

Function-1 input-1 source parameter Function-1 input-2 invert 9.09 9.07

x(-1)

Function-1 delay

??.??

??.??

x(-1)

9.06

Function-1 input-2 source parameter

Any bit parameter ??.??

Function-2 input-1 invert

9.15

Function-2 output indicator Function-2 output invert 9.02

Function-2 destination parameter 9.20 Any unprotected bit parameter ??.??

??.??

x(-1)

9.18

9.14 Any bit parameter ??.??

Function-2 input-1 source parameter Function-2 input-2 invert 9.19 9.17

x(-1)

Function-2 delay

??.??

??.??

x(-1)

9.16

Function-2 input-2 source parameter

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

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Motorized pot. rate 9.23 Motorized pot. up 9.26

Motorized pot. bipolar select 9.22

Motorized pot. output indicator 9.03

Motorized pot. destination parameter 9.25 Any unprotected variable parameter ??.??

M
9.27 Motorized pot. down

9.24 Motorized pot. output scale ??.??

9.28 Motorized pot. reset to zero

9.21

Motorized pot. zero-start select

Binary-sum logic output value 9.32

Binary-sum logic destination parameter 9.33 Any unprotected bit parameter ??.??

9.29 Binary-sum logic ones (LSB)

9.30 Binary-sum logic twos

??.??

9.31 Binary-sum logic fours (MSB)

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Parameter 9.01 9.02 9.03 9.04 9.05 9.06 9.07 9.08 9.09 9.10 9.14 9.15 9.16 9.17 9.18 9.19 9.20 9.21 9.22 9.23 9.24 9.25 9.26 9.27 9.28 9.29 9.30 9.31 9.32 9.33
Prog.-logic function 1 output indicator Prog.-logic function 2 output indicator Motorized pot. output indicator Prog.-logic function 1 input 1 source parameter Prog.-logic function 1 input 1 invert Prog.-logic function 1 input 2 source parameter Prog.-logic function 1 input 2 invert Prog.-logic function 1 output invert Prog.-logic function 1 delay Prog.-logic function 1 destination parameter Prog.-logic function 2 input 1 source parameter Prog.-logic function 2 input 1 invert Prog.-logic function 2 input 2 source Prog.-logic function 2 input 2 invert Prog.-logic function 2 output invert Prog.-logic function 2 delay Prog.-logic function 2 destination parameter Motorised pot. zero-start select Motorised pot. bipolar select Motorised pot. rate Motorised pot. output scale factor Motorised pot. destination Motorised pot. up Motorised pot. down Motorised pot. reset Binary-sum logic ones (MSB) Binary-sum logic twos Binary-sum logic fours Binary-sum logic output value Binary-sum logic destination parameter

Range() OL
0 or 1 0 or 1 100.0 % Pr 0.00 to Pr 20.50 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 0 to 25.0 s Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 0 to 25.0 s Pr 0.00 to Pr 20.50 0 or 1 0 or 1 0 to 250 s 0 to 4.000 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 to 7 Pr 0.00 to Pr 20.50

Default() CL OL VT SV

Type
RO Bit RO Bit RO Bi P P P P

Pr 0.00 0 Pr 0.00 0 0 0 Pr 0.00 0 0 Pr 0.00 0 0 0 Pr 0.00 0 0 20 1 Pr 0.00

RW Uni RW Bit RW Uni RW Bit RW Bit RW Uni RW Uni R RW Uni RW RW RW RW RW Bit Uni Bit Bit Uni

P P P

RW Uni R RW RW RW RW RW RO RO RO RO RO RO RO RW Bit Bit Uni Uni Uni R Bit Bit Bit Bit Bit Bit Uni Uni R

Pr 0.00

P P

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

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10.10

Menu 10: Status flags / trip log

Parameter Range() OL
0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 to 200 0 to 200 0 to 200 0 to 200 0 to 200 0 to 200 0 to 200 0 to 200 0 to 200 0 to 200 0 to 400.0 s 0 to 25.0 min 0 or 1 0 or 1 0 to 5 0 to 25.0 s 0 or 1 0 or 1 0 to 200 0 to 100.0 % 0 to 32,767 0 or 1 0 or 1

Default() CL OL VT SV
RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RW RW RO RW RW RW

Type
Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Txt Txt Txt Txt Txt Txt Txt Txt Txt Txt Uni Uni Bit Bit Uni Uni P P P P P P P P P P P P P P P P P P P P P P P P P P P P P

10.01 10.02 10.03 10.04 10.05 10.06 10.07 10.08 10.09 10.10 10.11 10.12 10.13 10.14 10.15 10.16 10.17 10.18 10.19 10.20 10.21 10.22 10.23 10.24 10.25 10.26 10.27 10.28 10.29 10.30 10.31 10.32 10.33 10.34 10.35 10.36 10.37 10.38 10.39 10.40 10.41

Drive normal indicator Drive running indicator At zero speed indicator At or below min. speed indicator Below at-speed window indicator At speed indicator Above at-speed window indicator At 100% load indicator Current-limit active indicator Motor regenerating indicator Dynamic brake active indicator Dynamic brake alarm indicator Direction demanded indicator Direction running indicator AC supply loss indicator Motor thermistor over-temperature indicator Motor current overload alarm indicator Heatsink temperature alarm indicator Ambient temperature alarm indicator Last trip Second last trip Third last trip Fourth last trip Fifth last trip Sixth last trip Seventh last trip Eighth last trip Ninth last trip Tenth last trip Max. full-power braking time Max. full-power braking interval External trip active indicator Drive reset Number of auto- reset attempts Auto-reset time delay Hold drive healthy until last auto-reset attempt select Stop drive on non-important trips User trip Braking-energy overload accumulator Status word UD78 auxiliary power supply active indicator
o

S S S S S S S S S S

0 0 0 0 1.0 0 0 0

RW Bit RW RW RO RO RO RO Bit Uni Uni Uni Bit Bit P P P P P

10.42 IGBT junction temperature above 135 C indicator

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

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10.11

Menu 11: Menu 0 customisation / drive specific ratings

Parameter Range() OL CL OL
Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 0 to 4.000 Pr 0.00 to Pr 0.50 0 to 9.9 [Link] ANSI 2 (0), ANSI 4 (1), OUtPUt (2), INPUt (3) 4,800 (0), 9,600 (1), 19,200 (2), 2,400 (3) baud 0 to 255 ms Pr 0.00 to Pr 20.50 {0.50} {0.34} {0.48} {0.33} 0 to 4.000 1.00 to 99.99 0 to 255 OPENLP (0), [Link] (1), SErVO (2), rEGEN (3) 2.10 to 1920 A 220 to 690 V 0 to 99 0 to 255 0 or 1 {0.31} 0 to 9 0 to 8 [Link] (0), [Link] (1), SErVO (2), rEGEN (3), FrEE (4) 0 to 16,383 R S P FLC

Default() VT SV
RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW Pr 1.03 Pr 2.01 Pr 4.02 Pr 1.05 Pr 2.04 Pr 6.01 Pr 4.11 Pr 2.06 Pr 2.07 Pr 1.29 Pr 1.30 Pr 1.31 Pr 1.32 Pr 7.06 Pr 7.11 Pr 7.14 EUR> Pr 8.27, USA> Pr 6.04 EUR> Pr 4.13, USA> Pr 1.01 EUR> Pr 4.14, USA> Pr 8.23 Pr 6.13 1 Pr 0.10* 1.1 ANSI 4 (1) 4800 (0)* 0 0 1 149

Type
Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Txt Txt Uni P P P P P P P P P P P P P P P P P P P P P P P P P P P P P P P P P P

11.01 11.02 11.03 11.04 11.05 11.06 11.07 11.08 11.09 11.10 11.11 11.12 11.13 11.14 11.15 11.16 11.17 11.18 11.19 11.20 11.21 11.22 11.23 11.24 11.25 11.26 11.27 11.28 11.29 11.30

Parameter 0.11 assignment Parameter 0.12 assignment Parameter 0.13 assignment Parameter 0.14 assignment Parameter 0.15 assignment Parameter 0.16 assignment Parameter 0.17 assignment Parameter 0.18 assignment Parameter 0.19 assignment Parameter 0.20 assignment Parameter 0.21 assignment Parameter 0.22 assignment Parameter 0.23 assignment Parameter 0.24 assignment Parameter 0.25 assignment Parameter 0.26 assignment Parameter 0.27 assignment Parameter 0.28 assignment Parameter 0.29 assignment Parameter 0.30 assignment Parameter 0.30 scaling Initial parameter displayed Serial comms. address Serial comms. mode Serial comms. baud rate Serial comms two-wire mode delay Serial comms. source/ destination parameter Serial comms. parameter scaling Drive software version User security code

{0.38} {0.37} {0.32} {0.36}

RW Uni RW Uni RO Uni RW Uni RW Txt RO RO RO RO Uni Uni Uni Uni Bit

S R

11.31 Drive operating mode 11.32 11.33 11.34 11.35

Drive rated current (FLC) Drive voltage rating Drive software build number Number of size-5 modules connected

11.36 Drive with slow speed fans 11.37 Macro number 11.38 Cloning module parameter set 11.39 Cloning module parameter set drive type 11.40 Cloning module parameter checksum
RO RW Read Only parameter Read / Write parameter Uni Bi Txt Bit

Unidrive & Unidrive VTC: 0 Unidrive LFT: 1 0 4

RO

RO Uni RW Uni RO Txt RO Uni P P

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

* Pr 11.22 and Pr 11.25 have default settings of Pr 0.12 and 9,600 (1) respectively in Unidrive VTC when USA defaults are loaded.
NOTE

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

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10.12

Menu 12: Programmable thresholds

Threshold Detector 1 Threshold Detector 1 output indicator 12.01 Threshold Detector 1 output Any destination parameter unprotected variable 12.07 parameter ??.??

Figure 10-15 Menu 12 logic diagram

Threshold Detector 1 threshold level 12.04

Any variable parameter ??.??

Threshold Detector 1

??.?? 12.03 Threshold Detector 1 input source Threshold Detector 2 12.05 Threshold Detector 1 hysteresis

x(-1)

??.?? 12.06 Threshold Detector 1 output invert All parameters are shown at their default setting

Threshold Detector 2 threshold level 12.14

Threshold Detector 2 output indicator 12.02

Any variable parameter ??.??

Threshold Detector 2

Threshold Detector 2 output Any destination parameter unprotected variable 12.17 parameter ??.??

??.?? 12.13 Threshold Detector 2 input source 12.15 Threshold Detector 2 hysteresis Key Input terminals Output terminals [Link]

x(-1)

??.?? 12.16 Threshold Detector 2 output invert All parameters are shown at their default setting

Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

Hysteresis Threshold level

Threshold output

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Parameter 12.01 12.02 12.03 12.04 12.05 12.06 12.07 12.13 12.14 12.15 12.16 12.17
Comparator 1 output indicator Comparator 2 output indicator Comparator 1 input source parameter Comparator 1 threshold level Comparator 1 hysteresis Comparator 1 output invert Comparator 1 output destination parameter Comparator 2 input source parameter Comparator 2 threshold level Comparator 2 hysteresis Comparator 2 output invert Comparator 2 output destination parameter

Range() OL
0 or 1 0 or 1 Pr 0.00 to Pr 20.50 0 to 100.0 % 0 to 25.0 % 0 or 1 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 0 to 100.0 % 0 to 25.0 % 0 or 1 Pr 0.00 to Pr 20.50

Default() CL OL VT SV
RO RO RW RW RW RW

Type
Bit Bit Uni Uni Uni Bit R P P P

Pr 0.00 0 0 0 Pr 0.00 Pr 0.00 0 0 0 Pr 0.00

RW Uni RW RW RW RW Uni Uni Uni Bit

P P

RW Uni

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

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10.13

Menu 13: Digital lock / orientation

Figure 10-16 Menu 13 Open-loop logic diagram

2nd encoder option module

Counter reset Encoder position 16.03 13.16 13.14 Reference encoder revolution counter

UD51

A A B Encoder B Z Z

40 41 43 44 46 47

Reference encoder invert Encoder RPM 16.02 x(-1) 13.19 Reference encoder ratio x 13.07 1000

+ +

Menu 6 relative jog selected Jog reference 1.05

Menu 6 relative jog reverse selected

x(-1) 15 way sub-D connector

+V 0V Encoder A A B B Z Z

13 14 1 2 3 4 5 6

Encoder RPM 3.26

Encoder position 3.27

Feedback revolution 13.15 counter reset

Feedback encoder revolution counter 13.17

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Menu 6 position control enabled

Level of reference selected 1.01

Jog selected indicator

1.13

Feed forward selected indicator 1.40 Pre-ramp reference 1.03 Pr 13.08 1 or 2 selected

1.05 Jog reference

1.39 Position loop mode selector* Position loop disabled 13.08

Velocity feedforward reference

+ _

.dt

Reference enabled indicator 1.11 Position loop error 13.01

Position speed limit 13.10 Position loop gain 13.09

.dt

16384 = 1 encoder revolution Reference encoder scaling 13.03 Max. speed 13.02 Reference encoder input 13.06 Reference input destination selector
Key

??.?? ??.??

x 13.04 1000

Input terminals Output terminals

[Link]

Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

* For more information, see section 10.22.8 Position loop modes on page 188.

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Figure 10-17 Menu 13 Closed-loop logic diagram

2nd encoder option module

UD51
Encoder position A A B Encoder B Z Z 40 41 43 44 46 47 16.03

UD52 SIN COS option or UD53 Resolver option module fitted

Encoder RPM 16.02

Reference encoder position

15 way sub-D connector

Reference encoder RPM Encoder position 3.27

+V 0V Encoder A A B B Z Z

13 14 1 2 3 4 5 6

Encoder RPM 3.26

Resolver option module

UD53
Slave position Resolver position Sin. high 48 Sin. low 49 Cos. low 50 Cos. high 51 Exit. high 52 Exit. low 53 16.03

Resolver

Resolver RPM 16.02

Slave RPM

SIN COS option module

UD52
16.04

SIN COS position (coarse) SIN COS position (fine)

Sin. in Sin. ref SIN COS

40 41 Cos. in 42 Cos. ref 43 0V 44 +V 45 SC data 46 SC data 47

16.05

SIN COS Encoder RPM 16.02

16.14

Select SIN COS encoder as auxiliary encoder enable

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Jog selected indicator Level of reference selected 1.01 1.13

Menu 6 position control enabled Feed forward selected indicator 1.40 Parameter 13.08 1 or 3 selected

Pre-ramp reference 1.03 Menu 2 Ramp Control

Post ramp reference 2.01

Final speed demand

+ +

3.01

1.05 Jog reference 1.39

Velocity feed forward reference Hard speed reference select 13.14 Reference encoder revolution counter 13.16 Position loop mode selector* 13.08 Parameter 13.08 5 or 6 selected Hard speed reference 3.19 3.20

Reference encoder position

Counter reset

Reference encoder RPM 13.13 Encoder sample time

Reference encoder invert

13.19 Reference encoder ratio x 13.07 1000

Position loop disabled

+ +

x(-1) Reference encoder scaling x 13.04 1000 13.03 Max. speed 13.02 Reference encoder input

??.?? ??.?? 1

13.05 Percentage input select Menu 6 Relative jog reverse selected

13.06 Reference input destination selector

6.01 Stop mode 6.08 Hold zero speed

Menu 6 Relative jog selected Jog reference 1.05

dt

x(-1) Orientation acceptance window

Orientation position reference 13.11

13.12

+ _
Position loop error 13.01 Position loop gain 13.09

Position speed limit 13.10

+ _

Orientation

Slave position

Orientation 13.18 complete indicator

dt

1.11 Reference enabled indicator

16384 = 1 encoder revolution Menu 6 position control enabled

Slave RPM

Feedback revolution 13.15 counter reset

Feedback encoder revolution counter 13.17

Input terminals Output terminals Key [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

* For more information, see section 10.22.8 Position loop modes on page 188.

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Parameter 13.01 13.02 13.03 13.04 13.05 13.06 13.07 13.08 13.09 13.10 13.11 13.12 13.13 13.14 13.15 13.16 13.17 13.18 13.19
Position-loop error Reference-encoder input Maximum reference speed Reference-encoder scaling Percentage input select Reference input destination parameter Reference-encoder ratio Position-loop mode selector*** Position-loop gain Positioning speed-limit Orientation position reference Orientation acceptance window Encoder sample time Reference revolution counter reset Feedback revolution counter reset Reference-encoder revolution counter Feedback-encoder revolution counter Orientation complete indicator Reference feedback invert

Range() OL
16,384* 100.0 % 0 to 30,000 rpm 0.000 to 4.000 0 or 1 Pr 0.00 to Pr 20.50 0 to 4.000 0 to 2 0 to 4.000 0 to 250 rpm 0 to 4095** 0 to 200** 0 to 5.0 ms 0 or 1 0 or 1 0 to 16,384 revolutions 0 to 16,384 revolutions 0 or 1 0 or 1 0 to 6

Default() CL OL VT SV
RO RO RW RW RW RW RW RW RW RW RW RW RW RW RW RO RO RO RW

Type
Bi Bi Uni Uni Bit Uni Uni Uni Uni Uni Uni Uni Uni Bit Bit Bi Bi Bit Bit P P

1,500 1 0 0 1 0 0.1 150 0 20 4.0 0 0

3,000

P P P

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

* The range of Pr 13.01 is 16,384, where 16,384 equals 1 whole revolution. The parameter increments in steps of 1/16384 parts of a revolution. ** The ranges of Pr 13.11 and Pr 13.12 are 0 to 4095 and 0 to 200 respectively. 200 is equivalent to a part of a revolution and 4095 equals 1 whole revolution. These parameters increment in steps of 1/4096 parts of a revolution. *** For more information, see section 10.22.8 Position loop modes on page 188.

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10.14

Menu 14: Programmable PID function

Figure 10-18 Menu 14 logic diagram

Main reference source parameter 14.02 Any variable parameter ??.?? ??.?? PID reference source parameter 14.03 Any variable parameter ??.?? ??.?? PID feedback source parameter 14.04 Any variable parameter ??.?? ??.?? x(-1) PID enable 14.08 Drive normal indicator 10.01 Any bit parameter ??.?? ??.?? Source not used Logic 1 PID feedback 14.21 x(-1) PID feedback source invert 14.06 PID reference 14.20 PID Main reference 14.19

PID reference source invert 14.05 PID error

PID reference slew-rate limit 14.07

+ _

14.22

&

14.09 Optional PID enable source parameter

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14.13 PID hold integrator enable 14.17 14.10 PID proportional gain 14.11 PID integral gain 14.12 PID derivative gain 14.18 14.14

PID output high limit PID output low limit PID symmetrical limits enable PID output scale factor 14.15 PID output destination parameter 14.16 Any unprotected variable parameter ??.?? ??.??

PID controller output 14.01

+ +

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

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Parameter 14.01 14.02 14.03 14.04 14.05 14.06 14.07 14.08 14.09 14.10 14.11 14.12 14.13 14.14 14.15 14.16 14.17 14.18 14.19 14.20 14.21 14.22
PID controller output Main reference source parameter PID reference source parameter PID feedback source parameter PID reference invert PID feedback source invert PID reference slew-rate limit PID enable Optional PID-enable source parameter PID proportional gain PID integral gain PID derivative gain PID output high limit PID output low limit PID output scale factor PID output destination parameter PID hold integrator enable PID symmetrical limits enable PID main reference PID reference PID feedback PID error

Range() OL
100.0 % Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 0 to 3,200.0 s 0 or 1 Pr 0.00 to Pr 20.50 0 to 4.000 0 to 4.000 0 to 4.000 0 to 100.0% 100.0 % 0 to 4.000 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 100.0 % 100.0 % 100.0 % 100.0 %

Default() CL OL VT
Pr 0.00 Pr 0.00 Pr 0.00 0 0 0 0 Pr 0.00 1 0.5 0 100 -100 1 Pr 0.00 0 0

SV
RO RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RO RO RO RO

Type
Bi Uni Uni Uni Bit Bit Uni Bit Uni Uni Uni Uni Uni Bi Uni Uni Bit Bit Bi Bi Bi Bi P P P P

P P P P

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

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10.15

Menu 15: Regen

Menu 15 is only available when Regen mode is selected. See the Unidrive Regen Installation Guide for more information.

Figure 10-19 Menu 15 logic diagram

Close soft start contactor 15.14

Sequencer Menu 6
15.16 Soft start contactor is closed 15.15 Enable motoring Drive

Contactor closed

Regen sequencer
Enable

15.12

Sinusoidal rectifier synchronised Sinusoidal rectifier synchronising Sinusoidal rectifier phase loss

15.11 DC Bus voltage 15.04

15.13

Modulation
Supply current magnitude 15.01

Regen current and voltage controllers

15.07 15.21 DC Bus voltage set-point Voltage gain Current control proportional gain Current control integral gain

15.08 15.09 15.10

Switching frequency High stability space vector modulation Quasi-square operation select

U V W

Supply voltage 15.19 15.02 15.20

15.05

Supply frequency

15.06

Input inductance

Power calculations VxIx3

15.03

Supply power

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

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Parameter 15.01 Supply current magnitude 15.02 Supply voltage 15.03 Supply power 15.04 15.05 15.06 15.07 15.08 15.09 15.10 15.11 15.12 15.13 15.14 15.15 15.16 15.17
DC Bus voltage Supply frequency Input inductance DC Bus voltage set-point Switching frequency High stability space vector modulation Quasi-square operation select Sinusoidal rectifier synchronising Sinusoidal rectifier synchronised Sinusoidal rectifier phase loss Close soft start contactor Soft start contactor is closed Enable motor drive Line synchronisation trip enable {0.11} {0.12} {0.13} {0.14} {0.15} {0.16} {0.17} {0.18} {0.19} {0.20} {0.21} {0.22} {0.23} {0.24} {0.25} {0.26} {0.27} {0.28}

Range() Regen
Maximum drive current A 400V drive: 0 to 528 V Pmax kW 400V drive: 0 to 830 V 100 Hz 0.001 to 100 mH 400V drive: 0 to 800 V 3 (0), 4.5 (1), 6 (2), 9 (3), 12 (4) kHz 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 SYNC (0), Ph Det (1), Fr Lo (2), Fr Hi (3), PLL OI (4), PLL Ph (5) 0 to 30,000 0 to 30,000 0 to 30,000 0 or 1

Default() Regen

Type
RO Bi RO Uni RO RO RO RO RW RW RW RW RO RO RO RO RO RO RO Bi Uni Bi Uni Uni Txt Bit Bit Bit Bit Bit Bit Bit Bit Bit P P P P P P P

400V drive: 700 0 0 0

P P P P P P

15.18 Line synchronisation status 15.19 15.20 15.21 15.22

Current control proportional gain Current control integral gain Voltage control proportional gain Enable extra mains loss detection

RO Txt 110 1,000 4,000 0 RW RW RW RW Uni Uni Uni Bit

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

FLC

Full load current of the drive (maximum continuous output current up to 40oC ambient temperature). Displayed in Pr 11.32 {0.33}.

IMAX A For definition of IMAX, see section Types of current range on page 138. PMAX
NOTE

Pr 5.09 3 I MAX -----------------1000

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

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10.16

Menu 16 Small option module set-up

Menu 16 is only available when either a UD50, UD51, UD52 or UD53 small option module is fitted.

Figure 10-20 Menu 16 UD50 logic diagram, part 1

Input / output F7
Output enable 16.23 16.41 Open collector outputs select ??.??

x(-1)

??.?? Any bit parameter 16.21 Any unprotected bit parameter ??.??

Invert

16.22

Destination or source parameter

16.07 Input/output state indicator

Positive logic select 16.40

x(-1)

??.??

Input / output F8
Output enable 16.26 16.41 Open collector outputs select

??.??

x(-1)

??.?? Any bit parameter 16.24 Any unprotected bit parameter ??.??

Invert

16.25

Destination or source parameter

16.08 Input/output state indicator

Positive logic select 16.40

x(-1)

??.??

Input / output F9
Output enable 16.29 16.41 Open collector outputs select

??.??

x(-1)

??.?? Any bit parameter 16.27 Any unprotected bit parameter ??.??

Invert

16.28

Destination or source parameter

16.09 Input/output state indicator

Positive logic select 16.40

x(-1)

??.??

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

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Figure 10-21 Menu 16 UD50 logic diagram, part 2

Input F10
Positive logic select
6

Invert

16.31

Any unprotected bit parameter ??.??

16.40
x(-1)

??.?? 16.30

16.10 Input/output state indicator All parameters are shown at their default setting

Destination parameter

Input F11
Positive logic select
6

Invert

16.33

Any unprotected bit parameter ??.??

16.40
x(-1)

??.?? 16.32

16.11 Input/output state indicator All parameters are shown at their default setting

Destination parameter

Input F12
Positive logic select
6

Invert

16.35

Any unprotected bit parameter ??.??

16.40
x(-1)

??.?? 16.34

16.12 Input/output state indicator All parameters are shown at their default setting

Destination parameter

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

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Figure 10-22 Menu 16 UD50 logic diagram, part 3

Analog input 4
Analog input scaling
6

Analog input invert

16.14

Any unprotected variable parameter ??.??

A/D

16.13
x(-1)

??.?? 16.15

16.04 Analog input level All parameters are shown at their default setting

Analog input destination parameter

Analog input 5
Analog input scaling
6

Analog input invert

16.17

Any unprotected variable parameter

??.??

A/D

16.16
x(-1)

??.?? 16.18

16.05

Analog input level

All parameters are shown at their default setting

Analog input destination parameter

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

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Figure 10-23 Menu 16 UD50 logic diagram, part 4

Analog output 3
Any variable parameter ??.?? Analog output 3 scaling 16.20 ??.?? 16.19 Analog output 3 source parameter 6

Relay for UD50

Relay 2 source parameter 16.19 16.36 Any bit parameter ??.?? 16.37

Relay 2 indicator 16.02 6

??.??

x(-1)

6 Any bit parameter ??.??

x(-1)

??.?? 16.39 16.19 16.38 Relay 3 source parameter 16.03 Relay 3 indicator 6

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

[Link]

The parameters are all shown at their default settings

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UD50 Additional I/O small option module parameter list

Parameter 16.01 16.02 16.03 16.04 16.05 16.07 16.08 16.09 16.10 16.11 16.12 16.13 16.14 16.15 16.16 16.17 16.18 16.19 16.20 16.21 16.22 16.23 16.24 16.25 16.26 16.27 16.28 16.29 16.30 16.31 16.32 16.33 16.34 16.35 16.36 16.37 16.38 16.39 16.40 16.41
Option module code Relay 2 output indicator Relay 3 output indicator Analog input 4 Analog input 5 Logic input F7 / Output 7 indicator Logic input F8 / Output 8 indicator Logic input F9 / Output 9 indicator Logic input F10 Logic input F11 Logic input F12 Analog input 4 scaling Analog input 4 invert bit Analog input 4 destination Analog input 5 scaling Analog input 5 invert bit Analog input 5 destination DAC Output 3 source DAC Output 3 scaling F7 input destination / output source F7 input/output invert F7 output enable F8 input destination / output source F8 input/output invert F8 output enable F9 input destination / output source F9 input/output invert F9 output enable F10 input destination F10 input invert F11 input destination F11 input invert F12 input destination F12 input invert Relay 2 source Relay 2 output invert Relay 3 source Relay 3 output invert Logic input polarity Open collector outputs

Range() OL
0 to 100 0 or 1 0 or 1 100.0 % 100.0 % 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0.000 to 4.000 0 or 1 Pr 0.00 to Pr 20.50 0.000 to 4.000 0 or 1 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 0.000 to 4.000 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 Pr 0.00 to Pr 20.50 0 or 1 0 or 1 0 or 1

Default() CL OL VT
1

SV
RO RO RO RO RO RO RO RO RO RO RO RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW

Type
Uni Bit Bit Bi Bi Bit Bit Bit Bit Bit Bit Uni Bit Uni Uni Bit Uni Uni Uni Uni Bit Bit Uni Bit Bit Uni Bit Bit Uni Bit Uni Bit Uni Bit Uni Bit Uni Bit Bit Bit P P P P P P P P P P P

1.000 0 Pr 0.00 1.000 0 Pr 0.00 Pr 0.00 1.000 Pr 0.00 0 0 Pr 0.00 0 0 Pr 0.00 0 0 Pr 0.00 0 Pr 0.00 0 Pr 0.00 0 Pr 0.00 0 Pr 0.00 0 0 0

R R R R R R R R R R R R R R R

P P P

P P P P P P P

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

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Figure 10-24 Menu 16 UD51 logic diagram

Encoder AB and Z (or F/D) inputs A(F)
6

Second encoder position 16.04 Second encoder No. of lines per rev. 16.05 Second encoder F/D input enable 16.09 Second encoder input termination disable 3.27 Encoder 1 position 16.03

Encoder 1 output select 16.06 Encoder outputs Encoder output scaling 16.07 16.08 Second encoder F/D output enable A(F) /A(/F) B(D) /B(/D)
6 6

/A(/F) B (D)

/B (/D) Z

/Z

16.02 Second encoder speed

Input terminals Output terminals

Key [Link] Read-write (RW) parameter Read-only (RO) parameter

Freeze inputs or Z marker pulse outputs from the simulated encoder Z

6

[Link]

16.11 Second encoder Freeze input termination disable

/Z

The parameters are all shown at their default settings

Second encoder Freeze input enable 16.10

Z marker pulse from the simulated encoder

To UD70 Freeze encoder counts

UD51 Second encoder small option module parameter list

Parameter 16.01 Option module code 16.02 Encoder 2 input rpm 16.03 Encoder 2 position 16.04 No. of Encoder lines / Pulses per rev 16.05 16.06 16.07 16.08 16.09 16.10 16.11
Frequency input select Encoder 1 output select Encoder output scaling F/D output select Encoder termination disable Enable freeze input (disable Z output) Disable freeze input termination Encoder marker simulation 16.12 synchronisation disable Encoder marker simulation 16.13 synchronisation inactive

Range() OL CL OL
0 to 100 30,000 rpm 0 to 16,384 revolutions/16,384 0 to 10,000 (F+D input, Pr 16.05 = 1) 0 to 5000 (Quadrature input, Pr 16.05 = 0) 0 or 1 0 or 1 0 to 15 (power of 2) 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1

Default() VT
2

SV

Type
RO Uni RO Bi RO Uni RW Uni RW RW RW RW RW RW RW Bit Bit Uni Bit Bit Bit Bit P P P

1,024 0 0 0 0 0 0 0 0

RW Bit RO Bit P

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous)

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Figure 10-25 Menu 16 UD52 logic diagram

SIN in
6

SINCOS encoder rpm

16.12 SINCOS encoder No. of lines per revolution SINCOS encoder No. of revolutions SINCOS as reference encoder SINCOS encoder serial comms. disable 16.11 16.02

16.09

SINCOS encoder phase offset

16.10 SINCOS encoder phasing test

SIN ref

A(F) Simulated-encoder F/D output enable /A(/F) B(D) /B(/D)

COS in
6

16.13

COS ref
16.14 SC data

1 [16.07] 2

16.08

SC data

16.16

SINCOS encoder update disable

3.26 Encoder 1 rpm

16.07

SINCOS encoder voltage select 16.15

Simulated-encoder output scaling

16.14

16.03

SINCOS encoder revolution count

0V 6 5.15V 8.0V 16.04

SINCOS as auxiliary encoder

SINCOS encoder incremental position (coarse)

Key Input terminals Output terminals [Link] Read-write (RW) parameter Read-only (RO) parameter

16.05

[Link]

SINCOS encoder incremental position (fine)

The parameters are all shown at their default settings

UD52 SINCOS small option module parameter list

Parameter 16.01 Option module code 16.02 SINCOS encoder rpm 16.03 SINCOS encoder revolution count 16.04 SINCOS encoder position 16.05 SINCOS encoder position fine 16.06 16.07 16.08 16.09 16.10 16.11
SINCOS encoder 1 output select SINCOS encoder output scaling F/D output select Phasing offset SINCOS encoder phasing test Update disable

Range() OL CL
0 to 100 30,000 rpm 0 to 32,767 revolutions 0 to 16,383 revolutions/ 16,384 0 to 255 revolutions/ 4,194,304 0 or 1 0 to 15 (power of 2) 0 or 1 0 to 6143 0 or 1 0 or 1 256 (0), 512 (1), 1024 (2), 2048 (3), 4096 (4) encoder lines per revolution 0 to 15 (power of 2) 0 or 1 0 or 1 0 or 1 0 or 1

Default() OL VT
4

SV

Type
RO Uni RO Bi RO Uni RO Uni RO Uni P P P P P

0 0 0 0 0

RW RW RW RW RW RW

Bit Uni Bit Uni Bit Bit

16.12 Number of encoder lines per revolution

512 (1)

RW Uni

16.13 16.14 16.15 16.16 16.17

Number of encoder turns SINCOS as auxiliary encoder SINCOS encoder supply voltage select Serial comms disable Interpolation disable

0 0 0 0 0

RW RW RW RW RW

Uni Bit Bit Bit Bit

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous)

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Figure 10-26 Menu 16 UD53 logic diagram

Resolver SIN and COS inputs SIN low
6

Resolver rpm 16.02

Resolver position 16.03

Simulated-encoder output A(F)

SIN high COS low Decoder

1 [16.07] 2

16.08 Simulatedencoder F/D output enable 16.12

/A(/F) B(D) /B(/D) Z /Z

COS high

16.09 Resolver phase offset 16.05 Resolver phasing test

Resolver turns ratio select

16.07 Simulated-encoder output scaling

Simulatedencoder Z marker-pulse outputs synchronisation disable

16.10 Synchronisation control logic

Excitation high

Excitation low

Excitation

3:1 2:1

16.13 Key
Input terminals Output terminals

Simulated-encoder Z marker-pulse outputs synchronisation inactive indicator

[Link] [Link]

Read-write (RW) parameter Read-only (RO) parameter

The parameters are all shown at their default settings

UD53 Resolver small option module parameter list

Parameter 16.01 Option module code 16.02 Resolver rpm 16.03 Resolver position 16.05 16.06 16.07 16.08 16.09 16.10
Resolver phasing test Encoder select for encoder simulation Encoder output scaling F/D output select Phasing offset Low ratio resolver select Encoder marker simulation 16.12 synchronisation disable Encoder simulation marker 16.13 synchronisation inactive

Range() OL CL
0 to 100 30,000 rpm 0 to 16,384 revolutions/ 16,384 0 or 1 0 or 1 0 to 15 (power of 2) 0 or 1 0 to 6143 0 or 1 0 or 1 0 or 1

Default() OL VT
1

SV

Type
RO Uni RO Bi RO Uni P P P

0 0 0 0 0 0

RW RW RW RW RW RW

Bit Bit Uni Bit Uni Bit

RW Bit RO Bit P

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

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10.17

Menu 17: Large option module setup

Parameter Range() OL CL OL
0 to 100 0.00 to 99.99 0 to 32,000 0 to 100 % 1 to 99 0 to 255 300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4), 9600 (5), 19200 (6), 38400 (7), 76800 (8) Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 0.000 to 4.000 0 to 100 ms 0 to 255 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1

Default() VT SV
RO RO RO RO RW RW

Type
Uni Uni Uni Uni Uni Uni P P P P P P P P P P P

17.01 17.02 17.03 17.04 17.05 17.06

Option module code Option module software version DPL line number where trip occurred Available resource in % RS485 Address RS485 Mode

11 1 4800 (4) Pr 0.00 Pr 0.00 1.000 10 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

17.07 RS485 Baud rate 17.08 17.09 17.10 17.11 17.12 17.13 17.14 17.15 17.16 17.17 17.18 17.19 17.20 17.21 17.22 17.23 17.24 17.25 17.26 17.27 17.28
NOTE

RW Txt RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW Uni Uni Uni Uni Uni Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit

RS485 Parameter pointer 1 RS485 Parameter pointer 2 Serial scaling factor Clock task tick time Position controller set-up Auto-run Global run-time trip enable RS485 Trip enable IO link RS485 synchronisation source Trip if parameter write over-ranges Watchdog trip enable Non-volatile data save request Non-volatile data power down save Enable dumb-terminal mode LOM set-up parameter LOM set-up parameter LOM set-up parameter LOM set-up parameter LOM set-up parameter LOM set-up parameter LOM set-up parameter

Where a parameter is represented by a text value, the value in brackets in the range column is the setting used for serial communications.

10.18

Menu 18: Application menu 1

Parameter Range() OL
32,000 32,000

Default() CL OL VT
0 0

SV
RW RO

Type
Bi Bi S

18.01 18.02 to 18.10 18.11 to 18.30 18.31 to 18.50

Application menu 1 read write integer Application menu 1 read only integers

Application menu 1 read write integers

32,000

RW

Bi

Application menu 1 read write bits

0 or 1

RW Bit

RO RW

Read Only parameter Read / Write parameter

Uni Bi Txt Bit

Unipolar variable parameter Bipolar variable parameter Text variable parameter Bit parameter

R S P FLC

Reset required for new value to take effect New parameter-value saved at power-down Protected; forbidden as destination parameter Full-load current (max. continuous), Pr 11.32 {0.33}

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10.19

Menu 19: Application menu 2

Parameter Range() OL
32,000 32,000 32,000 0 or 1

Default() CL OL VT
0 0 0 0

SV
RW RO RW

Type
Bi Bi Bi S

19.01 19.02 to 19.10 19.11 to 19.30 19.31 to 19.50

Application menu 2 read write integer Application menu 2 read only integers Application menu 2 read write integers Application menu 2 read write bits

RW Bit

10.20

Menu 20: Large option module

Parameter Range() OL
32,000

Default() CL OL VT
0

SV
RW

Type
Bi

20.00 to LOM user integer parameters 20.50

Menu 20 is only available when a UD70 large option module is fitted. Parameters 20.01 to 20.20 and 20.50 are reserved for use with the highspeed communication UD70 option modules.
Parameter 20.01 20.02 20.03 20.04 20.05 20.06 20.07 20.08 20.09 20.10 20.11 20.12 20.13 20.14 20.15 20.16 20.17 20.18 20.19 20.20 20.50 Parameter 20.01 20.02 20.03 20.04 20.05 20.06 20.07 20.08 20.09 20.10 20.11 20.12 20.13 20.14 20.15 20.16 20.17 20.18 20.19 20.20 20.50 UD73 Profibus-DP Description OUT Channel 2 Mapping OUT Channel 3 Mapping IN Channel 2 Mapping IN Channel 3 Mapping Node Address OUT Channel 1 Mapping IN Channel 1 Mapping Reserved Reserved Reserved Trip Delay Time (ms) Reserved Data Endian Format Option ID Code Firmware Version Reserved Reserved Reserved Reserved Reserved Fieldbus Diagnostic UD76 Modbus Plus Description Node Address Negative Number Format Reserved IN Slot 1 source node/slot IN Slot 1 destination IN Slot 2 source node/slot IN Slot 2 destination IN Slot 3 source node/slot IN Slot 3 destination OUT Slot 1 source OUT Slot 2 source OUT Slot 3 source IN Slot 4, 5 source IN Slot 6, 7 source IN Slot 8, 9 source IN Slot 10, 11 source IN Slot 12, 13 source Reserved Reserved Reserved Fieldbus Diagnostic Default
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

NOTE

The menu 20 parameters are stored in the non-volatile memory in the UD70 and not in the drive. To store these parameters set Pr 17.19 at 1. Parameters will be stored at power down when Pr 17.20 is set to 1.
UD75 CT NET Default 121 408 201 402 0 9011 9011 0 0 0 48 0 0 Description Node Address Network Data Rate Synchronisation Message OUT Slot 1 Destination Node OUT Slot 1 Source/Destination OUT Slot 2 Destination Node OUT Slot 2 Source/Destination OUT Slot 3 Destination Node OUT Slot 3 Source/Destination IN Slot 1 IN Slot 2 IN Slot 3 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Fieldbus Diagnostic UD77 CAN / CAN Open Default 121 408 201 402 0 9011 9011 0 Description RxPDO1 Word 2 Mapping RxPDO1 Word 3 Mapping TxPDO1 Word 2 Mapping TxPDO1 Word 3 Mapping Node Address RxPDO1 Word 1 Mapping TxPDO1 Word 1 Mapping Data Rate SYNC Generation Time Auto-Start Enable Network Loss Trip Time (ms) Reserved Reserved Fieldbus ID Code CANopen Firmware RxPDO2 COB-ID TxPDO2 COB-ID Reserved Reserved Reserved Fieldbus Diagnostic Default 121 408 201 402 0 9011 9011 0 0 0 0 0 0 Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

UD74 Interbus-S Default 121 408 201 402 0 9011 9011 0 0 0 48 0 0 Description OUT Channel 2 Mapping OUT Channel 3 Mapping IN Channel 2 Mapping IN Channel 3 Mapping Reserved OUT Channel 1 Mapping IN Channel 1 Mapping Reserved Reserved Reserved Trip Delay Time (ms) Reserved Reserved Option ID Code Firmware Version Reserved Reserved Reserved Reserved Reserved Fieldbus Diagnostic UD77 Device Net Description OUT Channel 2 Mapping OUT Channel 3 Mapping IN Channel 2 Mapping IN Channel 3 Mapping Node Address OUT Channel 1 Mapping IN Channel 1 Mapping Data Rate Node Status Network Status Trip Delay Time (ms) Product Code Elaboration Reserved Option ID Code Firmware Version Reserved Reserved Reserved Reserved Reserved Fieldbus Diagnostic

0 0 0 0 0

0 0 0 0 0

48 0 0

0 0 0 0 0

0 0 0 0 0

Shading denotes RO parameter

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10.21

Unidrive VTC parameter range and default differences

The following parameters have a different range and/or default value between Unidrive VTC and open-loop Unidrive. Any parameter not listed below has the same range and default value as open-loop Unidrive.
Parameter Menu 1 1.06 1.07 1.14 Menu 2 2.07 2.11 2.12 2.13 2.14 2.15 2.16 2.17 2.18 2.21 2.22 2.23 2.24 2.25 2.26 2.27 2.28 Menu 3 3.29 Menu 4 4.05 4.06 4.07 Menu 5 5.06 5.14 5.15 5.16 Menu 7 7.11 7.19 7.22 7.23 Menu 8 8.10 8.16 8.21 8.23 Menu 9 9.23
Motorised pot. rate 0 to 250 s 30 RW Uni F1 destination or source parameter F3 destination or source parameter F5 destination parameter F6 destination parameter Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 EUR> Pr 10.06 USA> Pr 10.02 Pr 1.45 EUR> Pr 6.32 USA> Pr 1.41 Pr 1.42 RW RW RW RW Uni Uni Uni Uni R R R R P P P P Analog input 2 mode selector Analog output 1 source parameter Analog output 2 source parameter Analog output 2 output scaling VOLt (0), 0 - 20 (1), 20 - 0 (2), 4 - [Link] (3), 20 - [Link] (4), 4 - [Link] (5), 20 - [Link] (6), 4 - [Link] (7), 20 - [Link] (8) Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 0 to 4.000 EUR> VOLt (0), USA> 4 - [Link] (5) Pr 2.01 Pr 4.01 EUR> 1.000, USA> 1.250 RW RW RW RW Txt Uni Uni Uni R R R P P Motor rated frequency Voltage mode selector Boost voltage Jog boost voltage {0.47} {0.07} {0.08} 0 to 250.0 Hz Fd (3) 0 to 15.0 % 0 to 15.0 % EUR> 50.0, USA> 60.0 Fd (3) 3.0 3.0 RW RW RW RW Uni Uni Uni Uni Motoring current limit Regenerating current limit Symmetrical current limit {0.06} 0 to IMAX % 0 to IMAX % 0 to IMAX % 120.0 120.0 120.0 RW RW RW Uni Uni Uni Over-speed threshold mode select 0 0 RW Bit S-ramp da/dt Acceleration rate 1 / Forward acceleration rate 1 Acceleration rate 2 / Forward acceleration rate 2 Acceleration rate 3 / Forward acceleration rate 3 Acceleration rate 4 / Forward acceleration rate 4 Acceleration rate 5 / Reverse acceleration rate 1 Acceleration rate 6 / Reverse acceleration rate 2 Acceleration rate 7 / Reverse acceleration rate 3 Acceleration rate 8 / Reverse acceleration rate 4 Deceleration rate 1 / Forward deceleration rate 1 Deceleration rate 2 / Forward deceleration rate 2 Deceleration rate 3 / Forward deceleration rate 3 Deceleration rate 4 / Forward deceleration rate 4 Deceleration rate 5 / Reverse deceleration rate 1 Deceleration rate 6 / Reverse deceleration rate 2 Deceleration rate 7 / Reverse deceleration rate 3 Deceleration rate 8 / Reverse deceleration rate 4 {0.04} {0.19} {0.03} 0 to 3,000.0 s2/100 Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 0 to 3,200.0 s/100Hz 450.0 60.0 60.0 60.0 60.0 60.0 60.0 60.0 60.0 60.0 60.0 60.0 60.0 60.0 60.0 60.0 60.0 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Maximum frequency Minimum frequency Reference selector {0.02} {0.01} {0.05} 0 to 250.0 Hz 0 to [Pr 1.06], if Pr 1.08 = 0 -250.0 Hz to 0, if Pr 1.08 = 1 0 to 5 EUR> 50.0, USA> 60.0 0 0 RW RW RW Uni Uni Uni

Range

Default

Type

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Parameter Menu 11 11.04 11.07 11.12 11.13 11.14 11.15 11.16 11.17 11.18 11.19 11.20 11.22 11.25
Parameter 0.14 assignment Parameter 0.17 assignment Parameter 0.22 assignment Parameter 0.23 assignment Parameter 0.24 assignment Parameter 0.25 assignment Parameter 0.26 assignment Parameter 0.27 assignment Parameter 0.28 assignment Parameter 0.29 assignment Parameter 0.30 assignment Initial parameter displayed Serial comms. Baud rate {0.36}

Range
Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 20.50 Pr 0.00 to Pr 0.50 4800 (0), 9600 (1), 19200 (2), 2400 (3) baud

Default
Pr 4.01 Pr 5.03 Pr 11.32 Pr 7.06 Pr 1.21 Pr 1.22 Pr 2.08 Pr 4.13 Pr 4.14 Pr 5.05 Pr 10.20 EUR> Pr 0.10, USA> Pr 0.12 EUR> 4800 (0), USA> 9600 (1) RW RW RW RW RW RW RW RW RW RW RW RW RW

Type
Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Uni Txt P P P P P P P P P P P P P

10.22

Advanced Features
Associated Parameters
Pr 2.04 and Pr 2.08 Pr 2.06 and Pr 2.07 Pr 4.08 and Pr 4.11 Pr 6.01, Pr 6.07 and Pr 6.08 Pr 6.03 Pr 6.04 and Pr 6.30 to Pr 6.34 Pr 6.09, Pr 6.10, Pr 6.37 and Pr 6.38 Pr 13.08, Pr 3.19 and Pr 3.20

This section gives information on some of the commonly used advanced functions of the Unidrive.
Advanced Feature
Braking modes S ramps Torque modes Stop modes Main Loss modes Sequence modes Catch a spinning motor Position loop modes

is set lower than the nominal DC Bus level the drive will not decelerate but will coast to rest. The standard controlled mode is most likely to be useful in applications where smooth deceleration is required, particularly with lightly loaded machines, or where the supply voltage is high where the drive would trip on OV (DC Bus over voltage) due to the transients produced in standard hold mode. The output of the ramp controller (when active) is a current demand that is fed to the frequency changing current controller (open loop) or the torque producing current controller (closed loop). The gain of these controllers can be modified with Pr 4.13 and Pr 4.14.
Controller operating DC-bus voltage

10.22.1
2.04 {0.15}
RW

Braking modes
Ramp mode selector
Txt

[Link] (0), FASt (1), [Link] (2)

[Link] (2)
Speed Motor speed

time

0 [Link] Standard ramp with ramp hold 1 FASt Fast ramp 2 [Link] Standard ramp with P control The acceleration ramp is not affected by the ramp mode, and the ramp output will rise at the programmed acceleration rate (subject to the current limits programmed in the drive). [Link] (0): Standard ramp with ramp hold The deceleration ramp will be frozen if the DC Bus voltage rises above the standard ramp voltage (Pr 2.08). Normally the DC Bus voltage will then begin to fall as the machine should stop regenerating. Once the voltage drops below the standard ramp voltage, the ramp will again begin to fall. This type of control does not usually give smooth deceleration especially if the machine is lightly loaded, however it is easy to set up. FASt (1): Fast ramp The output of the ramp will fall at the programmed deceleration rate (subject to the current limits programmed in the drive). This mode should be used when a braking resistor is fitted. [Link] (2): Standard ramp with P control The voltage rising to the standard ramp level (Pr 2.08) causes a proportional controller to operate, the output of which changes the demanded current in the motor. As the controller regulates the DC Bus voltage, the motor deceleration increases as the speed approaches zero speed. When the motor deceleration rate reaches the programmed deceleration rate the controller ceases to operate and the drive continues to decelerate at the programmed rate. This gives smoother control than standard hold mode. If the standard ramp voltage (Pr 2.08) 2.08
RW

Programmed deceleration rate

time

Standard ramp voltage

Uni 200V drive: 0 to 400 V 400V drive: 0 to 800 V

200V drive: 375 400V drive: EUR> 750, USA> 775

This voltage is used as the level for both standard ramp modes. If hold mode is used and this is set too low the drive will never stop, and if it is too high and no braking resistor is used the drive may trip on OV (DC Bus over voltage). If standard ramp with P control is used and this parameter is set too low the machine will coast to rest, and if it is set too high and no braking resistor is used it may trip on OV. The minimum level should be greater than the voltage produced on the DC Bus by the highest supply voltage. Normally the DC Bus voltage will be approximately the rms supply voltage x 2. Care should be taken in the setting of this parameter. It is recommended that the setting should be at least 50V higher than the maximum expected level of the DC Bus voltage. If this is not done, the motor may fail to decelerate on a STOP command.

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10.22.2
2.06
RW

S ramps
S-ramps enable
Bit 0 or 1

4.11
RW

Torque mode selector

Uni 0 to 1 0 to 4

OL CL

Setting this parameter enables the S ramp function. S ramp is disabled during deceleration using Standard ramp with P control (Pr 2.04 = [Link] [2]). When the motor is accelerated again after decelerating in standard ramp with P control the acceleration ramp used by the S ramp function is reset to zero. 2.07
RW

0 0

Open loop
If this parameter is 0 normal frequency control is used. If this parameter is set to 1 the current demand is connected to the current PI controller giving closed loop torque/current demand as shown below. The current error is passed through proportional and integral terms to give a frequency reference which is limited to the range -maximum frequency to +maximum frequency as defined by Pr 1.06.
Current demand

S-ramp da/dt
Uni 0 to 3,000.0 s2/100 Hz 0 to 30.000 s2/1,000 rpm

OL VT SV

3.1 1.5 0.03

4.13 Proportional gain 4.14 Integral gain

Frequency reference

This parameter defines the maximum rate of change of acceleration/ deceleration that the drive will operate with. The default values have been chosen such that for the default ramps and maximum speed, the curved parts of the S will be 25% of the original ramp if S ramp is enabled. Since the ramp rate is defined in s/100Hz or s/1000rpm and the S ramp parameter is defined in s2/100Hz or s2/1000rpm, the time T for the 'curved' part of the S can be determined from:

Active current

Closed loop
0: Speed control mode The torque demand is equal to the speed loop output. 1: Torque control The torque demand is given by the sum of the torque reference and the torque offset, if enabled. The speed is not limited in any way, however, the drive will trip at the overspeed threshold if runaway occurs. 2: Torque control with speed override

Demanded speed

Programmed ramp rate

Current 4.08 (+ 4.09 when enabled)

Speed

Rate of change of S-ramp acceleration time

The output of the speed loop defines the torque demand, but is limited between 0 and the resultant torque reference [Pr 4.08 (+ Pr 4.09 when enabled)]. The effect is to produce an operating area as shown above if the final speed demand and the resultant torque reference are both positive. The speed controller will try and accelerate the machine to the final speed demand level with a torque demand defined by the resultant torque reference. However, the speed cannot exceed the reference because the required torque would be negative, and so it would be clamped to zero.
+Final speed demand +Resultant torque Final speed demand +Resultant torque

T = S ramp rate of change / Ramp rate Enabling S ramp increases the total ramp time by the period T since an additional T/2 is added to each end of the ramp in producing the S.

10.22.3
4.08
RW

Torque Modes
Torque reference
Bi Maximum current limit % rated active current

Parameter for main torque reference. If connected to an analog input on this drive this parameter is updated every 345s for 3, 6 and 12kHz switching frequency, and every 460s for 4.5 and 9kHz switching frequency. This does not apply to the analog inputs of the UD50 Additional I/O Small Option Module.

+Final speed demand Resultant torque

Final speed demand Resultant torque

Depending on the sign of the final speed demand and the resultant torque the four areas of operation shown here are possible. This mode of operation can be used where torque control is required, but the maximum speed must be limited by the drive. In this mode ramps are not active whilst the drive is in the run state. When the drive is taken out of the run state, but not disabled, the appropriate stopping mode is used. It is recommended that only coast or stopping without ramps is used. If ramp stop mode is used the drive changes to speed control mode to

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ramp to stop with a reference defined by the user speed demand. This causes the speed to increase towards the reference and then ramp to stop. 3: Coiler/uncoiler mode Positive final speed demand: a positive resultant torque will give torque control with a positive speed limit defined by the final speed demand. A negative resultant torque will give torque control with a negative speed limit of -5rpm. Negative final speed demand: a negative resultant torque will give torque control with a negative speed limit defined by the final speed demand. A positive resultant torque will give torque control with a positive speed limit of +5rpm. Example of coiler operation This is an example of a coiler operating in the positive direction. The final speed demand is set to a positive value just above the coiler reference speed. If the resultant torque demand is positive the coiler operates with a limited speed, so that if the material breaks the speed does not exceed a level just above the reference. It is also possible to decelerate the coiler with a negative resultant torque demand. The coiler will decelerate down to -5rpm until a stop is applied. The operating area is shown below:
Area for normal coiler operation Speed is limited to the final speed demand and torque is positive Final speed demand

stability.

10.22.4
6.01
RW

Stop Modes
Stop mode selector
Txt

OL VT SV

COASt (0), rP (1), rP-dcl (2), dcl (3), [Link] COASt (0), rP (1), [Link] (2), rP-POS (3)

rP (1) [Link] (2)

Open Loop
0 1 2 3 4 COASt rP rP-dcI dcI [Link] Coast stop Ramp stop Ramp stop + 1 second dc injection Injection braking stop with detection of zero speed Timed injection braking stop

Stopping is in two distinct phases: decelerating to stop, and stopped.

Stopping Mode
COASt (0) rP (1)

Phase 1
Inverter disabled Ramp down to zero frequency Ramp down to zero frequency Low frequency current injection with detection of low speed before next phase. Inject DC at level specified by Pr 6.06 for time specified by Pr 6.07 - 1s.

Phase 2
Drive cannot be re-enabled for 2s Wait for 1s with inverter enabled Inject DC at level specified by Pr 6.06 for 1s

Comments
Delay in phase 2 allows rotor flux to decay in induction motors

Torque

Speed

[Link] (2)
5rpm Area for decelerating the coiler Reverse speed is limited to 5rpm and torque is negative

Example of uncoiler operation This is an example for an uncoiler operating in the positive direction. The final speed demand should be set to a level just above the maximum normal speed. When the resultant torque demand is negative the uncoiler will apply tension and try and rotate at 5rpm in reverse, and so take up any slack. The uncoiler can operate at any positive speed applying tension. If it is necessary to accelerate the uncoiler a positive resultant torque demand is used. The speed will be limited to the final speed demand. The operating area is the same as that for the coiler and is shown below:
Area for accelerating the uncoiler Speed is limited to the final speed demand and torque is positive Final speed demand

dcl (3)

Inject DC at level specified by Pr 6.06 for 1s

The drive automatically senses low speed and therefore it adjusts the injection time to suit the application. If the injection current level is too small the drive will not sense low speed (normally a minimum of 5060% is required).

[Link] (4)

Inject DC at level specified by Pr 6.06 for 1s

The minimum total injection time is 1s for phase 1 and 1s for phase 2, i.e. 2s in total.

Torque

Once modes 3 or 4 have begun the drive must go through the ready state before being restarted either by stopping, tripping, or being disabled.

Closed loop
0
Speed

COASt rP [Link] rP-POS

Coast stop Ramp stop Stop without ramps Stop and orientate

1 2 3

5rpm

Area for normal uncoiler operation Reverse speed is limited to 5rpm and torque is negative

In this mode ramps are not active whilst the drive is in the run state. When the drive is taken out of the run state, but not disabled, the appropriate stopping mode is used. It is recommended that only coast or stopping without ramps is used. If ramp stop mode is used the drive changes to speed control mode to ramp to stop with a reference defined by the user speed demand. This causes the speed to increase towards the reference and then ramp to stop. 4: Speed control with torque feed-forward The drive operates under speed control, but a torque value may be added to the output of the speed controller. This can be used to improve the regulation of systems where the speed loop gains need to be low for

In the closed loop mode the two stopping phases do not exist and the ready state is entered as soon as the single stopping action is complete.
Stopping Mode
COASt (0) rP (1) [Link] (2)

Action
Inhibits the inverter Stop with ramp Stop with no ramp Stops with ramp and then rotates to a preset position.

Comments

[Link] (3)

The position system controlled by menu 13 is used to orientate the motor. Pr 13.08 must be set up correctly for use, and the hard speed reference enabled, Pr 3.19.

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6.07
RW

Injection braking time

Uni 0.0 to 25.0 s

4.13
RW 5.0

Current loop proportional gain

Uni

OL

OL VT SV

This parameter defines the low frequency braking time for phase 1 of stopping during a stop using stopping mode 4 in open loop drives (see Pr 6.01). 6.08
RW

4.14
RW

0 to 30,000

20 150 130

Hold zero speed enable

Bit

Current loop integral gain

Uni

OL VT SV

0 or 1

OL
0 1

VT SV

0 to 30,000

40 2000 1200

When this bit is set the drive will hold torque at standstill when not in the running state rather than disabling the output bridge. The drive status will be 'StoP' when the drive is at standstill rather than 'rdy'.

Open-loop
These parameters control the proportional and integral gains of the current controller used in the open loop drive. As already mentioned the current controller either provides current limits or closed loop torque control by modifying the drive output frequency. The control loop is also used in its torque mode during mains loss, or when the controlled mode standard ramp is active and the drive is decelerating, to regulate the flow of current into the drive. Although the default settings have been chosen to give suitable gains for less demanding applications it may be necessary for the user to adjust the performance of the controller. The following is a guide to setting the gains for different applications. Current limit operation The current limits will normally operate with an integral term only, particularly below the point where field weakening begins. The proportional term is inherent in the loop. The integral term must be increased enough to counter the effect of the ramp which is still active even in current limit. For example, if the drive is operating at constant frequency and is overloaded the current limit system will try to reduce the output frequency to reduce the load. At the same time the ramp will try to increase the frequency back up to the demand level. If the integral gain is increased too far the first signs of instability will occur when operating around the point where field weakening begins. These oscillations can be reduced by increasing the proportional gain. A system has been included to prevent regulation because of the opposite actions of the ramps and the current limit. This can reduce the actual level that the current limit becomes active by 12.5%. This still allows the current to increase up to the current limit set by the user. However the current limit active indicator (Pr 10.09) could become active up to 12.5% below the current limit depending on the ramp rate used. Torque control Again the controller will normally operate with an integral term only, particularly below the point where field weakening begins. The first signs of instability will appear around base speed, and can be reduced by increasing the proportional gain. The controller can be less stable in torque control mode rather than when it is used for current limiting. This is because load helps to stabilise the controller, and under torque control the drive may operate with light load. Under current limit the drive is often under heavy load unless the current limits are set at a low level. Mains loss and controlled standard ramp The DC Bus voltage controller becomes active if mains loss detection is enabled and the drive supply is lost or controlled standard ramp is being used and the machine is regenerating. The DC Bus controller attempts to hold the DC Bus voltage at a fixed level by controlling the flow of current from the drive inverter into its DC Bus capacitors. The output of the DC Bus controller is a current demand which is fed into the current PI controller as showing the following diagram:

10.22.5
6.03
RW

Mains loss modes

AC supply loss mode selector
Txt P

0 1 2

diS (0), StoP (1), [Link] (2)

diS (0)

diS StoP

Disabled Stop

[Link] Ride through

diS (0): Disabled There is no mains loss detection and the drive operates normally only as long as the DC Bus voltage remains within specification (above 330V). StoP (1): Stop (Open loop) The action taken by the drive is the same as for ride through mode, except the ramp down rate is at least as fast as the deceleration ramp setting and the drive will continue to decelerate and stop even if the mains is re-applied. If normal or timed injection braking is selected the drive will use ramp mode to stop on loss of the supply. For injection braking or ramp with DC injection modes, DC current will be applied to the motor for 1s after it has stopped. (Unless the mains has been reapplied the drive is likely trip UU before or during the 1s injection period.) StoP (1): Stop (Closed Loop) The speed reference is set to zero and the ramps are disabled allowing the drive to decelerate the motor to a stop under current limit. If the mains is re-applied whilst the motor is stopping any run signal is ignored until the motor has stopped. If the current limit value is set very low the drive may trip UU before the motor has stopped. [Link] (2): Ride through The drive detects mains loss when the DC Bus voltage falls below a specific level (410V). The drive then enters a mode where a closed-loop controller attempts to hold the DC Bus level at a specific level (390V). This causes the motor to decelerate at a rate that increases as the speed falls. If the mains is re-applied it will force the DC Bus voltage above the detection threshold and the drive will continue to operate normally. In open-loop mode the output of the mains loss controller is a current demand that is fed to the frequency changing current controller and therefore the gain parameters (Pr 4.13 and Pr 4.14) must be set up for optimum control. See Pr 4.13 and Pr 4.14 below for set-up details. In closed-loop mode the output of the mains controller is also a current demand that is fed directly to the current loop. If the settings of Pr 4.13 and Pr 4.14 are suitable for normal operation, they should need no adjustment. See Pr 4.13 and Pr 4.14 below for set-up details.

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DC bus DC-bus voltage controller DC-bus capacitors

Current demand

By default the Unidrive uses sequencing mode 4 (Wire Proof PLC mode), where the necessary terminals are assigned as required. If any other sequencing mode is enabled the corresponding sequencing bits (Pr 6.30 to Pr 6.34) must also be programmed as destination for the specific input using the parameters in menu 8. 0
4.13 Proportional gain 4.14 Integral gain

CD type interface Mentor type interface Wire proof mode PLC mode Wire proof PLC mode

1 2 3 4

Active current

Frequency reference

Sequencing mode 0: CD type Run permit or /Stop (Pr 6.34) Sequencing bit 0 Sequencing bit 1 Sequencing bit 2 Sequencing bit 3 (Pr 6.30) (Pr 6.31) (Pr 6.32) (Pr 6.33)
21 22 23
Run permit Jog Run Fwd/Rev

The DC Bus voltage controller cannot be adjusted, but it may be necessary to adjust the current controller gains to obtain the required performance. If the gains are not suitable it is best to set up the drive in torque control first. Set the gains to a value that does not cause instability around the point at which field weakening occurs. Then revert back to open loop speed control in standard ramp mode. To test the controller the supply should be removed whilst the motor is running. It is likely that the gains can be increased further if required because the DC Bus voltage controller has a stabilising effect, provided that the drive is not required to operate in torque control mode.

Run permit or 'not stop' input Run (Latching) Jog Forward/Reverse Not used

Closed-loop
The P and I gains are used in the voltage based current controller. The default values give satisfactory operation with most motors. However it may be necessary to change the gains especially for low inductance motors. The following procedure should be used: Unless a particularly high bandwidth is required the proportional gain (Pr 4.13) should be set to a value of: 1800 x Pr 5.24 x 10-3 x Pr 11.32 Where: Pr 5.24 = per phase motor leakage inductance (mH). Pr 11.32 = Drive rated current (A) The inductance value is stored in Pr 5.24 after the autotune test is carried out. If an autotune cannot be carried out the leakage inductance can be found by other means: For an induction motor this is the per phase total leakage inductance (Ls') which can be calculated from the steady state per phase equivalent circuit of the motor, Ls ' = L1 + (L2 .Lm / (L2 + Lm)). For a servo motor this is half the phase to phase inductance that is normally specified by the manufacturer. This will give a response with minimum overshoot after a step change of current reference and a current loop bandwidth of approximately 500Hz. If some overshoot can be tolerated then gain can be increased by a factor of 1.5, giving a bandwidth of 800Hz and 12.5% overshoot after a step change of current reference. The integral gain (Pr 4.14) should be set to a value of: 0.044 x Pr 4.13 x R / (Pr 5.24 x 10-3) Where: Pr 4.13 = current loop proportional gain calculated above R = per phase stator resistance Pr 5.24 = per phase motor leakage inductance (mH).

24 25 26 27 28 29 30

Parameter changes required

Parameter Value
6.34 0

8.10 8.12

0V

31

To be able to run in this mode the Run Permit signal must be closed. Momentarily closing of the Run contact will make the drive latch in the run state. Opening the Run Permit contact will cause the drive to stop. It is also possible to enable the keypad buttons (Pr 6.11 to Pr 6.13). If any keypad button is enabled the corresponding terminal input is ignored. Any jog command received will only be accepted in the rdY or StoP states. Run commands override jog commands. Sequencing mode 1: Mentor type Run permit or /Stop (Pr 6.34) Sequencing bit 0 Sequencing bit 1 Sequencing bit 2 Sequencing bit 3 (Pr 6.30) (Pr 6.31) (Pr 6.32) (Pr 6.33) Run permit or 'not stop' input Run forward (latching) Jog forward Run reverse (latching) Jog reverse

21 22 23
Run permit Jog
P

24 25 26 27 28 29 30 31

Parameter changes required

Parameter Value
6.34 0 6.33

10.22.6
6.04
RW

Sequencing Modes
Sequencing mode selector
Uni 0 to 4

8.10 8.12 8.23

Run Fwd Run Rev Jog Rev 0V

There are five sequencing modes available as shown below. Any terminal can be used for any of the functions provided in each mode (see the following sequencing bits). The connection diagrams below show a possible method of using each sequencing mode and the parameter changes required (from defaults). Any terminals shown with no connection are as at default.

To be able to run in this mode the Run Permit signal must be closed. Momentary closing of the Run Forward or Run Reverse contact will

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make the drive latch in the run state. Momentarily closing the run contact for the opposite direction will make the drive change direction. Opening the Run Permit contact will cause the drive to stop. The drive run keypad button can also be used to latch a run state if it is enabled (Pr 6.11) and the fwd/rev keypad button can change direction if it is enabled (Pr 6.13) (unless one of the terminals is being held closed in which case they have priority). The stop keypad button can also stop the drive if it is enabled (Pr 6.12) and the terminals are not forcing a run condition. Any jog command received will only be accepted in the ready or stop states. Run commands override jog commands. Sequencing mode 2: Wire Proof Mode Run permit or /Stop (Pr 6.34) Sequencing bit 0 Sequencing bit 1 Sequencing bit 2 Sequencing bit 3 (Pr 6.30) (Pr 6.31) (Pr 6.32) (Pr 6.33)
21 22 23
Run permit Jog Run Fwd Run Rev

contact and the appropriate direction selected. Any jog command received will only be accepted in the ready or stop states (i.e. the Jog contact must be closed before the Run contact). As with mode 2, this mode requires terminals to be held active and therefore the run, stop, and fwd/rev keypad buttons on the drive are ignored even if they are enabled. Sequencing mode 4: Wire Proof PLC Mode Run permit or /Stop (Pr 6.34) Sequencing bit 0 Sequencing bit 1 Sequencing bit 2 Sequencing bit 3 (Pr 6.30) (Pr 6.31) (Pr 6.32) (Pr 6.33)
21 22 23 24 25
Jog

Not used Run forward Jog Run Reverse Not used

Run permit or 'not stop' input Run forward Jog Run reverse Not used

26 27 28 29 30

24 25 26 27 28 29 30

Parameter changes required

Parameter Value
6.34 0

Run Fwd Run Rev

No other parameter changes are required

8.10 8.12

0V

31

0V

31

In this mode the Run Permit, and either the Run Forward or Run Reverse contacts (but not both) must be closed for the drive to run. If Run Forward and Run Reverse are selected at the same time the drive will stop after a delay of 60ms. To jog forward or reverse, the Jog contact must be closed together with the appropriate direction contact. Any jog command received will only be accepted in the ready or stop states (i.e. the Jog contact must be closed before the Run contact). Because this mode requires terminals to be held in an active state at all times, the run, stop, and fwd/rev keypad buttons on the drive are ignored even if they are enabled. Sequencing mode 3: PLC Mode Run permit or /Stop (parameter 6.34) Sequencing bit 0 Sequencing bit 1 Sequencing bit 2 Sequencing bit 3 (parameter 6.30) (parameter 6.31) (parameter 6.32) (parameter 6.33) Not used Run Jog Forward/Reverse Not used

In this mode either the Run Forward or Run Reverse contacts must be closed before the drive will run. All inputs are non-latching and when not asserted the drive will stop immediately using the mode defined by the stopping mode. If both Forward and Reverse contacts are closed then the drive will stop. If the drive is operating in open-loop mode there is a 60ms delay after both forwards and reverse are selected before a stop is initiated. To jog forward or reverse, the Jog contact must be closed before the appropriate direction contact. Any jog command received will only be accepted in the ready or Stop states. Because this mode requires terminals to be held in an active state at all times, the run, stop, and fwd/ rev keypad buttons on the drive are ignored even if they are enabled.

10.22.7
6.09
RW

Catch a spinning motor

Synchronize to a spinning motor
Bit 0 or 1

OL CL

0 1

Open Loop
The drive performs a sequence of operations to determine the motor frequency before attempting to run the motor with full voltage applied. These tests are carried out with a voltage defined by Pr 6.37. The frequency is first set to maximum frequency in the direction in which the drive last ran. The frequency is ramped to zero at a rated defined by Pr 6.10. If the machine frequency is not detected, the frequency is set to maximum in the other direction and the test is repeated. If the frequency is detected at any point the test is stopped, the voltage is ramped up at a rate defined by Pr 6.37 and then the drive runs normally. If the frequency is not detected the drive starts from 0Hz. If the drive is powered down the previous direction of operation is not stored, and so the test begins in the forward direction. It is important that if spinning start is selected then the Voltage Mode, Pr 5.14, must be set to 'Fd' (3) and not left in the default value of 'Ur_I' (1).

21 22 23 24 25
Jog Run Fwd/Rev

26 27 28 29 30

No other parameter changes are required

0V

31

Closed Loop
The ramp output is set to the actual motor speed when the drive is commanded to start.

In this mode the drive will respond to the contacts as it finds them. To jog forward or reverse, the Jog contact must be closed together with the Run

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6.10
RW

Spinning motor ramp rate

Uni 0 to 25.0 s/100Hz (seconds per 100Hz)

Speed

Actual

OL

5.0

Reference

This parameter defines the rate at which the frequency is changed when trying to synchronise the motor speed. Motors and loads with very low inertias will require this parameter to be set low to ensure the speed is detected, while motors and loads with large inertias may require the parameter to be increased to prevent over voltage trips. 6.37
RW

Equal Areas t

Spinning motor start-voltage

Uni

OL

0 to 100 % (of normal voltage)

25.0

In non-rigid lock mode the position loop is only closed when the 'At Speed' condition is met. This allows slippage to occur while the speed loop is not satisfied.
Speed Reference

Defines the voltage applied during a spin start as a percentage of voltage that would be applied in normal operation. Setting this value too high causes the drive to current limit, setting it too low will give problems detecting low motor speeds. 6.38
RW

Spinning motor voltage rate

Uni 0 to 2.5 s

Actual

OL

0.25

When the software has detected the motor speed it ramps the drives output voltage from the level programmed in Pr 6.37 to its normal operating voltage. This parameter determines the time interval for this change in voltage. Setting the time too short will cause excessive current transients in the machine as the voltage rises, while setting it too long may cause the drive to lose synchronisation if the motor is decelerating quite quickly.

10.22.8
13.08
RW

Position loop modes

Position loop mode selector
Uni 0 to 2 0 to 6

Digital lock can be implemented without digital feed forward, where the input frequency of the encoder being followed is too low to obtain a smooth feed forward term from it. In this case the user can provide an alternative speed reference to be used as the feed forward term and the position loop will provide the velocity correction only. It should be noted that if the alternative feed forward is not correct, the position loop will run with a constant error to provide the difference between the feed forward and the actual speed of the reference encoder. During relative jogging, digital feed forward is always used because the feed forward term has to be adjusted. In order for the digital feed forward term to function in modes 1 and 3 the hard speed reference must be enabled (Pr 3.20 = 1). The correction term used in the feed forward modes is fed into the speed loop via the hard speed reference in menu 3 (see block diagrams). If a non-rigid mode is used and an independent correction term is required then this must be routed to the hard speed reference (Pr 3.19) by the user. Two orientation modes are selectable. In mode 5, the drive orientates following a stop command with orientation stop enabled (see Pr 6.01 Stop mode). Mode 6 operates the same as mode 5 but in addition the drive always orientates when it is enabled providing that the 'Hold zero speed' parameter is set (Pr 6.08). This ensures that the spindle is always in the same position following the drive being enabled. When orientating from a stop command the drive goes through the following sequence: 1. Ramps are enabled and the motor is decelerated or accelerated to the speed limit programmed in Pr 13.10 in the direction the motor was previously running. 2. When the speed set in Pr 13.10 is reached, ramps are disabled and the motor continues to rotate until the position is found to be close to the target position. At this point the speed demand is set to 0 and the position loop is closed. 3. When the absolute value of speed is less than 2 rpm and the position is within the window defined by Pr 13.12, the orientation complete signal is given.

OL CL

0 1 2 3 4 5 6

Position loop disabled Rigid digital lock with digital Feed Forward Rigid digital lock without digital Feed Forward Non rigid digital lock with digital Feed Forward Non rigid digital lock without digital Feed Forward Orientate on stop command only Orientate on stop command and when enabled

Sets the mode of operation of the position loop. In rigid lock mode the position error is absolute relative to the time the position loop is closed. This means that if the slave shaft is slowed down due to excessive load, the target position will eventually be recovered by running at a higher speed when the load is removed.

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3.19
RW

Hard speed reference

Bi 30,000 rpm*

CL

* This is the maximum range, for further restrictions see below. The range of this parameter is limited depending on the maximum speed expected which is the maximum magnitude from Pr 1.06 or Pr 1.07. The hard speed reference is a reference value which does not pass through the ramp system (menu 2). It is added to the normal post ramp speed reference. Its value may be written from the keypad, via serial comms, from an analog input or from an encoder input. This parameter can also be used by the position controller (menu 13) as the speed correction input. This parameter is similar to the analog input parameters (Pr 1.36 and Pr 1.37) in that if an analog input programmed in voltage mode is directed to it, the scan rate of that analog input is increased (See menu 1). The scaling will be the same as for bipolar mode on Pr 1.36 and Pr 1.37. It is also possible to obtain a fast update rate if an encoder input is used to derive this speed reference. 3.20
RW

Hard speed reference select

Bit 0 or 1

CL

Enables connection of the hard speed reference.

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11
11.1
11.1.1

Technical Data
Drive
Power and current ratings

The input current is affected by the supply voltage and impedance.

The values for models 1401 to 1405, 2401 to 2403, 3401 to 3405 and 4401 to 4405 are stated for a 380Vac having a 16kA short-circuit capability and a 2% negative phase-sequence imbalance. The values for model 5401 are stated for a 400Vac supply having an 18kA short-circuit capability and a 2% negative phase-sequence imbalance.

Maximum continuous input current

The values of maximum continuous input current are given to aid the selection of cables and fuses. These values are stated for the worstcase condition with the unusual combination of stiff supply with bad balance. The value stated for the maximum continuous input current would only be seen in one of the input phases. The current in the other two phases would be significantly lower. The values of maximum input current for models 1201 to 1205 are stated for a 200Vac supply rated at ten times the kVA of the drive and a 2% negative phase-sequence imbalance. The values for models 2201 to 2203 and 3201 to 3204 are stated for a 200Vac supply having a 5kA short-circuit capability and a 2% negative phase-sequence imbalance. Table 11-1 Unidrive and Unidrive VTC drive current ratings
Nominal rating Model
UNI1201 UNI1202 UNI1203 UNI1204 UNI1205 UNI2201 UNI2202 UNI2203 UNI3201 UNI3202 UNI3203 UNI3204 UNI1401 UNI1402 UNI1403 UNI1404 UNI1405 UNI2401 UNI2402 UNI2403 UNI3401 UNI3402 UNI3403 UNI3404 UNI3405 UNI4401 UNI4402 UNI4403 UNI4404 UNI4405 UNI5401 UNI5402 UNI5403 UNI5404 UNI5405 UNI5406 UNI5407 UNI5408

Typical input current

The values of typical input current are given to aid calculations for power flow and power loss. The values of typical input current for models 1201 to 1205, 2201 to 2203 and 3201 to 3204 are stated for a balanced 200Vac supply having a 5kA short-circuit capability. The values for models 1401 to 1405, 2401 to 2403 and 3401 to 3405 are stated for a balanced 400Vac supply having a 5kA short-circuit capability. The values for models 4401 to 4405 are stated for a balanced 400Vac supply having a 10kA short-circuit capability. The values for model 5401 are stated for a balanced 400V supply having an 18kA short-circuit capability.

Maximum permissible continuous output current at 40C (104F) ambient (A) 3kHz
2.1 2.8 3.8 5.6 9.5 12.0 16.0 25.0 34.0 46.0 60.0 74.0 2.1 2.8 3.8 5.6 9.5 12.0 16.0 25.0 34.0 40.0 46.0 60.0 70.0 96 124 156 180 202 300* 600* 900* 1,200* 1,500* 1,800* 2,100* 2,400*

Maximum permissible continuous output current at 50C (122F) ambient (A) 3kHz
2.1 2.8 3.8 5.6 6.9 12.0 16.0 20.0 34.0 44.0 44.0 50.0 2.1 2.8 3.8 5.6 6.9 12.0 16.0 20.0 34.0 40.0 44.0 44.0 50.0 95 105 135 180 190 240 480 720 960 1,200 1,440 1,680 1,920

kW
0.37 0.55 0.75 1.1 2.2 3.0 4.0 5.5 7.5 11.0 15.0 22.0 0.75 1.1 1.5 2.2 4.0 5.5 7.5 11.0 15.0 18.5 22.0 30.0 37.0 45 55 75 90 110 160 320 480 640 800 960 1120 1280

hp
0.5 0.75 1.0 1.5 3.0 4.0 5.0 10.0 15 20 25 30 1.0 1.5 2.0 3.0 5.0 7.5 10 15 25 30 30 40 50 75 100 125 150 150 200 400 600 800 1000 1200 1400 1600

4.5kHz
2.1 2.8 3.8 5.6 9.5 12.0 16.0 21.7 34.0 46.0 47.0 56.0 2.1 2.8 3.8 5.6 9.5 12.0 16.0 21.7 34.0 40.0 46.0 47.0 56.0 96 104 124 175 175

6kHz
2.1 2.8 3.8 5.6 8.5 12.0 16.0 18.2 34.0 40.0 40.0 46.0 2.1 2.8 3.8 5.6 8.5 12.0 16.0 18.2 34.0 37.0 40.0 40.0 46.0 88 88 105 145 145

9kHz
2.1 2.8 3.8 5.6 7.0 12.0 14.2 14.2 28.0 32.0 32.0 35.0 2.1 2.8 3.8 5.6 7.0 12.0 14.2 14.2 28.0 28.0 32.0 32.0 35.0 70 70 80 110 110

12kHz
2.1 2.8 3.8 4.5 5.5 11.7 11.7 11.7 23.0 26.6 26.7 28.0 2.1 2.8 3.8 4.5 5.5 11.7 11.7 11.7 23.0 23.0 26.6 26.7 28.0

4.5kHz
2.1 2.8 3.8 5.6 5.9 12.0 16.0 17.3 34.0 36.0 36.0 41.0 2.1 2.8 3.8 5.6 5.9 12.0 16.0 17.3 34.0 34.0 36.0 36.0 41.0 85 85 105 150 150

6kHz
2.1 2.8 3.8 5.1 5.1 12.0 14.7 14.7 28.0 31.0 31.0 34.0 2.1 2.8 3.8 5.1 5.1 12.0 14.7 14.7 28.0 28.0 31.0 31.0 34.0 75 75 85 125 125

9kHz
2.1 2.8 3.8 4.0 4.0 11.6 11.6 11.6 21.0 24.0 24.0 26.0 2.1 2.8 3.8 4.0 4.0 11.6 11.6 11.6 21.0 21.0 24.0 24.0 26.0 60 60 65 95 95

12kHz
2.1 2.8 3.3 3.3 3.3 9.7 9.7 9.7 17.9 20.6 20.9 23.0 2.1 2.8 3.3 3.3 3.3 9.7 9.7 9.7 17.9 17.9 20.6 20.9 23.0

Typical input current (A)

2.4 3.5 4.6 6.5 8.6 10.8 14.3 19.8 26 39 53 78 3.0 4.3 5.8 8.2 10.0 13.0 17.0 21.0 27 32 40 52 66 76 91 123 145 181 280 560 840 1,120 1,400 1,680 1,960 2,240

Maximum continuous input current (A)

4.0 6.0 8.0 10.0 12.5 13.9 16.9 27.0 28 43 56 84 4.5 5.5 6.8 8.6 12.0 16.0 20.0 25.0 34 39 53 66 82 98 114 152 205 224 321 642 963 1284 1605 1926 2247 2568

Multiples of 300A output current with 120% overload or multiples of 240A with 150% overload

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Table 11-2

Unidrive LFT drive current ratings (at 9kHz PWM switching frequency)
Nominal rating Maximum permissible output current (A) hp
0.5 0.75 1.0 1.5 3.0 4.0 5.0 10.0 15 20 25 30 1.0 1.5 2.0 3.0 5.0 7.5 10.0 15 25 30 30 40 50 75 100 125 150 150

Model
UNI1201 LFT UNI1202 LFT UNI1203 LFT UNI1204 LFT UNI1205 LFT UNI2201 LFT UNI2202 LFT UNI2203 LFT UNI3201 LFT UNI3202 LFT UNI3203 LFT UNI3204 LFT UNI1401 LFT UNI1402 LFT UNI1403 LFT UNI1404 LFT UNI1405 LFT UNI2401 LFT UNI2402 LFT UNI2403 LFT UNI3401 LFT UNI3402 LFT UNI3403 LFT UNI3404 LFT UNI3405 LFT UNI4401 LFT UNI4402 LFT UNI4403 LFT UNI4404 LFT UNI4405 LFT

kW
0.37 0.55 0.75 1.1 2.2 3.0 4.0 5.5 7.5 11.0 15.0 22.0 0.75 1.1 1.5 2.2 4.0 5.5 7.5 11.0 15.0 18.5 22.0 30.0 37.0 45 55 75 90 110

Standard duty cycle at 40C

2.1 2.8 3.8 5.6 9.5 12.0 16.0 25.0 34.0 46.0 60.0 74.0 2.1 2.8 3.8 5.6 9.5 12.0 16.0 25.0 34.0 40.0 46.0 60.0 70.0 96 124 156 180 202

Continuous operation at 40C

2.1 2.8 3.8 4.0 4.3 12.0 14.2 14.2 28.0 32.0 33.0 35.0 2.1 2.8 3.8 4.0 4.3 12.0 14.2 14.2 28.0 28.0 32.0 33.0 35.0 70 70 80 100 100

Continuous operation at 50C

2.1 2.8 3.3 3.3 3.3 11.0 11.0 11.0 21.0 24.0 24.0 26.0 2.1 2.8 3.3 3.3 3.3 11.0 11.0 11.0 21.0 21.0 24.0 24.0 26.0 57 57 61 77 77

Typical input current (A)

2.4 3.5 4.6 6.5 8.6 10.8 14.3 19.8 26 39 53 78 3.0 4.3 5.8 8.2 10.0 13.0 17.0 25.0 27 32 40 52 66 76 91 123 145 181

Maximum continuous input current (A)

4.0 6.0 8.0 10.0 12.5 13.9 16.9 27.0 28 43 56 84 4.5 5.5 6.8 8.6 12.0 16.0 20.0 21.0 34 39 53 66 82 98 114 152 205 224

11.1.2
Model

Power dissipation (all versions)

Nominal rating kW
0.75 1.1 1.5 2.2 4.0 5.5 7.5 11.0 15.0 18.5 22.0 30.0 37.0 45 55 75 90 110 160

Maximum total power dissipation (W) hp

1.0 1.5 2.0 3.0 5.0 7.5 10 15 20 25 30 40 50 60 75 100 125 125 200

3kHz
80 90 100 130 180 210 270 400 570 660 730 950 1,090 1,460 1,910 2,370 2,640 2,970 4,700

4.5kHz
80 90 110 130 190 230 290 380 620 720 800 830 990 1,610 1,780 2,130 2,890 2,910

6kHz
90 100 110 130 190 250 310 360 670 730 770 790 920 1,630 1,670 2,030 2,700 2,720

9kHz
90 100 120 150 190 280 320 330 660 660 730 740 850 1,530 1,560 1,850 2,470 2,490

12kHz
90 110 130 150 170 310 310 310 630 630 700 710 800

UNI1401 UNI1402 UNI1403 UNI1404 UNI1405 UNI2401 UNI2402 UNI2403 UNI3401 UNI3402 UNI3403 UNI3404 UNI3405 UNI4401 UNI4402 UNI4403 UNI4404 UNI4405 UNI5401

* Per Unidrive size 5 power module (e.g. UNI5402 is 9,400W etc.). The default PWM switching frequency is as follows: Unidrive and Unidrive VTC: 3kHz; Unidrive LFT: 9kHz.

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Table 11-3

Unidrive losses in rdY state Losses in rdY state (W) 50 50 75 100 30 (control module) 700 (power module) 1 2 3 4 5

11.1.6

Temperature, humidity and cooling method

Unidrive model size

Ambient temperature range: 0oC to 50oC (32oF to 122oF). Output current de-rating must be applied at ambient temperatures between 40oC (104oF) and 50oC (122oF) (absolute maximum). Minimum temperature at power-up: -10oC (14oF) Cooling method: Forced convection Maximum humidity: 95% non-condensing at 40oC (104oF)

11.1.3
Voltage:

AC supply requirements

11.1.7

Storage

Unidrive: 380V to 480V 10% Unidrive LV: 200V to 240V 10% No. of phases: 3 Maximum supply imbalance: 2% negative phase sequence (equivalent to 3% voltage imbalance between phases) Frequency range: 48 to 62 Hz

Maximum storage time: Unidrive sizes 1 & 2: After each 12 months, the capacitors will need re-forming; refer to the supplier of the drive. Unidrive sizes 3, 4 & 5: After every 4 years, the capacitors will need re-forming; refer to the supplier of the drive. Storage temperature range: -40oC to 50oC (-40oF to 122oF)

11.1.8

Altitude

Unidrive Size 5 Heatsink fan

Voltage: 115V or 230V 10% single-phase AC Frequency range: 48 to 62 Hz Current: AC supply voltage 115V 230V AC supply frequency 50Hz 60Hz 50Hz 60Hz Fan current 1.02A 1.36A 0.51A 0.68A

Altitude range: 0 to 4,000m (13,200 ft), subject to the following conditions: 1,000m to 4,000m (3,300 ft to 13,200 ft) above sea level: derate the maximum output current from the specified figure by 1% per 100m (330 ft) For example at 4,000m (13,200ft) the output current of the drive would have to be derated by 30%.

11.1.9
Size 1 to 4:

Ingress protection

Fan supply fuse or circuit breaker rating: 2A

11.1.4

Line reactors

Gland plate(s) not fitted: IP00 Gland plate(s) fitted; cable glands not fitted: IP10 Gland plate(s) fitted; cable-glands fitted: IP40, NEMA 1 Size 5 power and control modules: IP00

Line reactors reduce the risk of damage to the drive resulting from severe disturbances on the supply network caused by, for example: Power factor correction equipment connected close to the drive. Large DC drives having no or ineffective line reactors connected to the supply. Direct-on-line started motor(s) that are connected to the supply and when any of these motors are started, a dip is produced in excess of 20% of the actual supply voltage. Such disturbances may cause excessive peak currents flow in the input power circuit of the drive. This may cause nuisance tripping, or in extreme cases, failure of the drive. When one of the following model sizes: UNI1201 UNI1401 UNI1202 UNI1402 UNI1203 UNI1403 UNI1204 UNI1404 are used on an AC supply where one of the conditions described above is in existence, OR the supply is 175kVA or larger, it is recommended that a line reactor of 2% reactance is included between the AC supply and the drive. Model sizes 1205 & 1405, and larger have an internal DC bus choke so do not require AC line reactors except for cases of extreme supply conditions. For three-phase drives, three individual reactors, or a single three-phase reactor should be used. Each drive must have its own reactor(s).

11.1.10

Starts per hour

By electronic control: unlimited By interrupting the AC supply: Unidrive sizes 1 and 2: 20 (equally spaced) Unidrive sizes 3 and 4: 10 (equally spaced) Unidrive size 5: unlimited

11.1.11

Accuracy and resolution

The following data applies to the drive only; it does not include the performance of the source of the control signals. Open-loop frequency resolution... Preset frequency reference: 0.1Hz Precision frequency reference: 0.001Hz Open-loop frequency accuracy... Preset frequency reference: 0.03Hz or 0.01% of the reference, whichever is the larger value Precision frequency reference: 0.0001Hz or 0.01% of the reference, whichever is the larger value Closed-loop speed resolution Unidrive and Unidrive LFT only... Preset speed reference: 1rpm Precision speed reference: 0.01rpm Analog input 1: 0 rpm * * The speed-loop algorithm ensures that the steady-state speed can change by infinitely small amounts in response to changes in the reference from these inputs. Closed-loop speed accuracy Unidrive and Unidrive LFT only... Preset or precision speed reference: 0.00016 rpm or 0.01% of the reference, whichever is the larger value.

Current ratings
The current rating of the line reactors should be as follows: Continuous current rating: Not less than the continuous current rating of the drive Repetitive peak current rating: Not less than twice the continuous current of the drive.

11.1.5

Motor requirements

No. of phases: 3 Maximum voltage: Unidrive: 480V Unidrive LV: 240V

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11.1.12
H W D F R

Overall dimensions
Height including surface mounting brackets Width Projection forward of panel when surface mounted Projection forward of panel when through-panel mounted Projection rear of panel when through-panel mounted Model size 1 366mm 14.409in 95mm 3.740in 200mm 7.874in 120mm 4.724in 80mm 3.150in 2 366mm 14.409in 190mm 7.480in 200 mm 7.874in 120mm 4.724in 80mm 3.150in 3 368mm 14.488in 375mm 14.764in 260mm 10.236in 120mm 4.724in 140mm 5.512in 4 765mm 30.118in 500mm 19.685in 260mm 10.236in 120mm 4.724in 140mm 5.512in 340mm 13.386in 144mm 5.669in 5 1,319mm 51.929in 355mm 13.976in

11.1.14
Model

Cable sizes and fuses

Typical input current 2.4 A 3.5 A 4.6 A 6.5 A 8.6 A 10.8 A 14.3 A 19.8 A 26 A 39 A 53 A 78 A 3.0 A 4.3 A 5.8 A 8.2 A 10.0 A 13.0 A 17.0 A 21.0 A 27 A 32 A 40 A 52 A 66 A 76 A 91 A 123 A 145 A 181 A 280 A Fuse rating 6A 10A 10A 10A 16A 16A 20A 35A 40A 60A 70A 80A 6A 10A 10A 10A 16A 16A 20A 35A 40A 50A 60A 70A 80A 100A 125A 160A 200A 250A 450A Cable size 1.5 mm2 2.5 mm 2.5 2.5 2.5 2.5 4 10 25
2

UNI1201 UNI1202 UNI1203 UNI1204 UNI1205 UNI2201 UNI2202 UNI2203 UNI3201 UNI3202 UNI3203 UNI3204 UNI1401 UNI1402

16 AWG 14 AWG 14 AWG 14 AWG 14 AWG 14 AWG 10 AWG 10 AWG 8 AWG 6 AWG 4 AWG 4 AWG 16 AWG 14 AWG 14 AWG 14 AWG 14 AWG 14 AWG 10 AWG 10 AWG 8 AWG 6 AWG 6 AWG 4 AWG 4 AWG 2 AWG 2 AWG 0 AWG 2/0 AWG 3/0 AWG 4/0 AWG

Dimension H W D F R

mm2 mm2 mm2 mm2

2

4 mm 6 mm

mm2
2

mm2 mm2

16 mm2 1.5 mm2 2.5 mm2 2.5 mm2 2.5 mm 2.5 4 4 6 10 16 2.5 mm
2

11.1.13

Weights
Model size 1 2 3 4 5 Power module kg 4 8 22 70 102 1.2 lb 8.8 17 49 154 225 3

UNI1403 UNI1404 UNI1405 UNI2401 UNI2402 UNI2403 UNI3401 UNI3402 UNI3403 UNI3404 UNI3405 UNI4401 UNI4402 UNI4403 UNI4404 UNI4405 UNI5401

mm2
2

mm2 mm2 mm2 mm2

2

5 Control module

10 mm 25 mm 35 mm 70 120

mm2
2

35 mm2
2

50 mm2 mm2
2

95 mm

mm2

11.1.15
Nominal AC supply voltage Model UNI1201 UNI1202 UNI1203 UNI1204 UNI1205 UNI2201 to UNI2203 UNI3201 to UNI3204

Motor cable lengths

200V Maximum Permissible Motor Cable Length * (PWM switching frequency at 3kHz **) m 65 100 130 200 300 300 200 ft 210 330 430 660 990 990 660

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11.1.17
Nominal AC supply voltage Model UNI1401 UNI1402 UNI1403 UNI1404 UNI1405 UNI2401 to UNI2403 UNI3401 to UNI3405 UNI4401 to UNI4405 UNI5401 UNI5402 UNI5403 UNI5404 UNI5405 UNI5406 UNI5407 UNI5408 400V 480V

Braking resistor values

Model Minimum resistance 20 20 15 5 40 40 30 10 5 Instantaneous power rating 15kW 15kW 20kW 60kW 15kW 15kW 20kW 60kW 120kW

Maximum Permissible Motor Cable Length * (PWM switching frequency at 3kHz **) m 65 100 130 200 300 300 200 200 300 600 900 1,200 1,500 1,800 2,100 2,400 ft 210 330 430 660 990 990 660 660 990 1,980 2,970 3,960 4,950 5,940 6,930 7,920 m 50 75 100 150 250 300 124 124 300 600 900 1,200 1,500 1,800 2,100 2,400 ft 160 250 330 490 820 990 410 410 990 1,980 2,970 3,960 4,950 5,940 6,930 7,920

UNI1201 to UNI1205 UNI2201 UNI2202, UNI2203 UNI3201 to UNI3205 UNI1401 to UNI1405 UNI2401 UNI2402, UNI2403 UNI3401 to UNI3405 UNI4401 to UNI4405

11.1.18

Acoustic noise

The fan generates the majority of the acoustic noise produced by the drive. The Unidrive LFT has a slower speed fan than the Unidrive or Unidrive VTC and hence generates less noise. Unidrive LFT sizes 1 and 2 are fitted with temperature controlled variable speed fans that run at the minimum speed until the temperature reaches 30oC (86oF) and increase in speed until the temperature reaches 45oC (113oF), where they will be running at the maximum speed. Values quoted are at a distance of 1m from the drive. Model size 1 2 3 4 5 Unidrive & Unidrive VTC 56 dB(A) 53 dB(A) 64 dB(A) 69 dB(A) 75 dB(A) Unidrive LFT Max fan speed Min fan speed 45 dB(A) 42 dB(A) 53 dB(A) 62 dB(A) 28 dB(A) 28 dB(A)

* Cable lengths in excess of the specified values may be used only when special techniques are adopted; refer to the supplier of the drive. ** The default switching frequency for all versions of Unidrive is 3kHz, except Unidrive LFT, which is 9kHz. See section 4.5.1 Cable types and lengths on page 41 for further limitations on motor cable length.

11.1.19
Table 11-4 Model size 1 2 3 4 5

Torque settings (Drive and filters)

Drive power terminal data AC terminals DC terminals Ground terminal M4 (Torx/slot-head screw) 3 N m / 2.2 lb ft M4 (Torx/slot-head screw) 3 N m / 2.2 lb ft M10 stud 15 N m / 11 lb ft M10 stud 15 N m / 11 lb ft M10 stud 25 N m / 22.1 lb ft 10%

11.1.16

Unidrive size 5 output sharing choke specification

Minimum inductance: 40H Frequency range: 0Hz to maximum motor frequency Current rating: 300A RMS Overload current: 120% rated current for 1 minute in a 10 minute period Harmonic current: 10% at 3kHz Saturation level: 200% rated current Ambient temperature: 55C (130F) max. Temperature rise: 100C (212F) max. Cooling: Convection Insulation class H (180 C) or better High-potential test winding to core: 2.5kV at 50/60 Hz High-potential test between windings: 2.5kV at 50/60 Hz Table 11-5 Model All Table 11-6

Plug-in terminal block 0.5 N m / 4.4 lb in Plug-in terminal block 0.5 N m / 4.4 lb in M10 stud 15 N m / 11 lb ft M10 stud 15 N m / 11 lb ft M10 bolt & nut 25 N m / 22.1 lb ft Torque tolerance Drive control terminal data Connection type Plug-in terminal block M10 hole 25 N m / 22.1 lb/ft

Torque setting 0.5 N m 4.4 lb in

Size 5 fan supply connection Type Torque setting 0.5 N m 4.4 lb in

M4 Pozidriv screw

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Table 11-7

RFI Filter terminal data Power connections Max cable size 4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 4 mm2 10 AWG 4 mm 10 AWG 4 10 AWG 10 mm2 6 AWG 10 mm2 6 AWG 50 mm2 1/0 AWG 95 mm2 4/0 AWG 95 mm2 4/0 AWG 150 mm2 6/0 AWG M12 stud mm2
2

can be obtained from the supplier of the drive. Ground connections Size Torque When installed according to the instructions the drive can meet the emission requirements of CENELEC generic emission standards, as follows: Table 11-8 Unidrive emission standards Unidrive 0.8 N m 7.1 lb in 0.8 N m 7.1 lb in 0.8 N m 7.1 lb in 0.8 N m 7.1 lb in 0.8 N m 7.1 lb in 0.8 N m 7.1 lb in 4.5 N m 3.3 lb ft 4.5 N m 3.3 lb ft 8.0 N m 5.9 lb ft 20.0 N m 14.7 lb ft 20.0 N m 14.7 lb ft 30.0 N m 22.1 lb ft 30.0 N m 22.1 lb ft M5 M5 M5 M5 M5 M5 M5 M6 M8 M10 M12 M12 M12 stud 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 2.2 N m 19.5 lb in 4.0 N m 2.9 lb ft 9.0 N m 6.6 lb ft 18.0 N m 13.3 lb ft 20.0 N m 14.7 lb ft 20.0 N m 14.7 lb ft 20.0 N m 14.7 lb ft 2 1 EN50081-1 conducted Restricted motor cable length* Restricted motor cable length* No No No EN50081-1 radiated No EN50081-2 conducted Yes EN50081-2 radiated Yes

CT part number

Schaffner part number

Torque

4200-6104 4200-6105 4200-6108 4200-6109 4200-6113 4200-6114 4200-6116 4200-6117

FS5101-10-07 FS5111-10-29 FS5106-16-07 FS5112-16-07 FS5106-25-07 FS5113-25-29 FS5113-50-53 FS5113-63-34

No

Yes

Yes

3 4 5

No No No

Yes Yes Yes

Yes Yes Yes

* Compliance with EN50081-1 is restricted to motor cable lengths less than 100m. For compliance the optional RFI filter specified below must be used: RFI filter Model Mounting style Footprint or Bookcase Bookcase Footprint or Bookcase Bookcase Footprint or Bookcase Bookcase Bookcase Bookcase Bookcase Bookcase Bookcase Bookcase Bookcase CT part number 4200-6104 4200-6105 4200-6108 4200-6109 4200-6113 4200-6114 4200-6116 4200-6117 4200-6106 4200-6107 4200-6111 4200-6112 4200-6115 Schaffner part number FS5101-10-07 FS5111-10-29 FS5106-16-07 FS5112-16-07 FS5106-25-07 FS5113-25-29 FS5113-50-53 FS5113-63-34 FS5113-100-35 FS5113-150-40 FS5113-180-40 FS5113-220-37 FS5113-300-99

4200-6106 FS5113-100-35 4200-6107 FS5113-150-40 4200-6111 FS5113-180-40

UNI1201 to UNI1205 UNI1401 to UNI1405 UNI2201 to UNI2202 UNI2401 UNI2203 UNI2402 to UNI2403 UNI3201 to UNI3202 UNI3401 to UNI3403 UNI3203 UNI3404 UNI3204 UNI3405 UNI4401 to UNI4402 UNI4403 to UNI4404 UNI4405 UNI5401

4200-6112 FS5113-220-37 4200-6115 FS5113-300-99

For all the RFI filters, except the size 5 (4200-6115), the power connections are screw terminals and the ground connections are stud terminals

11.1.20

Electromagnetic compatibility (EMC)

This is a summary of the EMC performance of the drive. For full details, refer to the Unidrive EMC Data Sheet which can be obtained from the supplier of the drive.

Immunity
Compliance with immunity standards does not depend on installation details. drives meet EN50082-2 (generic immunity standard for the industrial environment) and the following specifications from the IEC61000-4 group (derived from IEC801): Part 2 Electrostatic discharge: Level 3 Part 3 Radio frequency field: Level 3 Part 4 Transient burst Level 4 at the control terminals Level 3 at the power terminals Part 5 Surge (at the AC supply terminals) (as specified by EN50082-2 informative annex): Level 4 line-to-ground Level 3 line-to-line Part 6 Conducted radio frequency: Level 3

Power Drive Systems standard EN61800-3

The drive meets the immunity requirements of EN61800-3 irrespective of the environment in which it is operating. The emission requirements of this standard are also met depending on the environment category, as shown in the table later on this page. EN61800-3 defines the following: The first environment as one that includes domestic premises. It also includes establishments directly connected without intermediate transformers to a low-voltage power supply network which supplies buildings used for domestic purposes. The second environment is one that includes all establishments other than those directly connected to a low-voltage power supply network which supplies buildings used for domestic purposes. Restricted distribution is defined as a mode of sales distribution in which the manufacturer restricts the supply of equipment to suppliers, customers or users who separately or jointly have technical competence in the EMC requirements of the application of drives.

Emission
Compliance with emission standards depends on rigorous adherence to the installation guidelines, including the use of the specified RFI filter in the AC supply circuit. Compliance also depends on the PWM switching frequency used in the output stage of the drive, and the length of the motor cable. For full details, refer to the Unidrive EMC Data Sheet which

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If a drive System is included as part of equipment covered by a separate EMC product standard, the EMC standard for the complete equipment applies. Power Drive Systems standard EN61800-3 Environment category Model size Restricted distribution UNI1201 to UNI3204 UNI1401 to UNI4401 (Rated input current of drive <100A) UNI4402 to UNI5408 (Rated input current of drive >100A) First environment Unrestricted distribution Using the specified RFI filters and following the wiring guidelines given in Figure 4-12 on page 48 may not ensure that the radiated emission limits are met. Additional filtering may be required in this environment. Using the specified RFI filters and following the wiring guidelines given in Figure 4-12 on page 48 may not ensure that the radiated emission limits are met. Additional filtering may be required in this environment. Second environment Either distribution

Specified RFI filter required

Specified RFI filter required

Specified RFI filter required

No RFI filter required *

*RFI filter(s) are recommended where sensitive electronic systems are operating nearby.

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11.2
11.2.1

Optional RFI filters

Ratings
Max. Max. continuous continuous current @ 40C current @ 50C (122F) (104F) 10 A 10 A 16 A 16 A 25 A 25 A 50 A 63 A 100 A 150 A 180 A 220 A 300 A 8.8 A 8.8 A 14.1 A 14.1 A 22.0 A 22.0 A 44.1 A 55.6 A 88.2 A 132.3 A 158.7 A 194.0 A 264.6 A Power dissipation at rated current 7.7 W 7.7 W 10.4 W 10.4 W 25.5 W 25.5 W 12.8 W 14.3 W 25.5 W 30.4 W 82.6 W 43.6 W 67.5 W Ground leakage current Balanced supply phase-to-phase and phase-to-ground 31 mA 31 mA 31 mA 31 mA 35.5 mA 35.5 mA 31 mA 29 mA 48.5 mA 48.5 mA 31 mA 48.5 mA 76.4 mA 1 phase open circuit 143 mA 143 mA 143 mA 143 mA 173 mA 173 mA 143 mA 126 mA 209 mA 209 mA 143 mA 209 mA 407 mA IP rating Discharge resistors

CT part number

Schaffner part number

4200-6104 4200-6105 4200-6108 4200-6109 4200-6113 4200-6114 4200-6116 4200-6117 4200-6106 4200-6107 4200-6111 4200-6112 4200-6115
NOTE

FS5101-10-07 FS5111-10-29 FS5106-16-07 FS5112-16-07 FS5106-25-07 FS5113-25-29 FS5113-50-53 FS5113-63-34 FS5113-100-35 FS5113-150-40 FS5113-180-40 FS5113-220-37 FS5113-300-99

IP20 IP20 IP20 IP20 IP20 IP20 IP20 IP20 IP20 IP20 IP20 IP20 IP20 See Note 1 below See Note 2 below See Note 1 below

1. 1M in a star connection between phases, with the star point connected by a 680k resistor to ground. 2. 1.5M in a star connection between phases, with the star point connected by a 680k resistor to ground. Maximum current overload: 150% of rated current for 1 minute in a 1 hour period. Voltage: Phase-to-phase: 480V Phase-to-ground: 275V AC supply frequency: 48 to 62Hz

11.2.2

Overall dimensions
Schaffner part number FS5101-10-07 FS5111-10-29 FS5106-16-07 FS5112-16-07 FS5106-25-07 FS5113-25-29 FS5113-50-53 FS5113-63-34 FS5113-100-35 FS5113-150-40 FS5113-180-40 FS5113-220-37 FS5113-300-99 H 390 mm (15.354 in) 240 mm (9.449 in) 397 mm (15.630 in) 390 mm (15.354 in) 397 mm (15.630 in) 255 mm (10.039 in) 337 mm (13.268 in) 377 mm (14.843 in) 380 mm (14.961 in) 414 mm (16.299 in) 502 mm (19.764 in) 523 mm (20.591 in) 655 mm (25.787 in) Dimension W 85 mm (3.346 in) 45 mm (1.772 in) 180 mm (7.087 in) 85 mm (3.346 in) 180 mm (7.087 in) 73 mm (2.874 in) 90 mm (3.543 in) 150 mm (5.906 in) 150 mm (5.906 in) 175 mm (6.890 in) 170 mm (6.693 in) 170 mm (6.693 in) 230 mm (9.055 in) D 68 mm (2.677 in) 95 mm (3.740 in) 68 mm (2.677 in) 68 mm (2.677 in) 68 mm (2.677 in) 95 mm (3.740 in) 100 mm (3.937 in) 103 mm (4.055in) 107 mm (4.213 in) 135 mm (5.315 in) 157 mm (6.181 in) 157 mm (6.181 in) 156 mm (6.142 in) kg 2.1 1.4 2.1 2.7 2.1 2.7 3.8 3.8 7.8 7.8 15 15 16 Weight lb 5 3 5 6 5 6 9 9 17 17 33 33 35

CT part number 4200-6104 4200-6105 4200-6108 4200-6109 4200-6113 4200-6114 4200-6116 4200-6117 4200-6106 4200-6107 4200-6111 4200-6112 4200-6115

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12

Diagnostics
Users must not attempt to repair a drive if it is faulty, nor carry out fault diagnosis other than through the use of the diagnostic features described in this chapter.

WARNING

If a drive is faulty, it must be returned to an authorized Control Techniques distributor for repair.

The display on the drive gives various information about the status of the drive. These fall into three categories: Trip indications Alarm indications Status indications

12.1

Trip indications

If the drive trips, the output is disabled so that the drive stops controlling the motor. The lower display indicates that a trip has occurred and the upper display shows the trip. Table 12-1 Trip indications Trip [Link] 37 cL1 27 cL2 28 cL3 29 ConF n 150 to 158 EEF 31 [Link] 10 ENC.PH1 11 ENC.PH2 12 ENC.PH3 13 ENC.PH4 14 ENC.PH5 15 ENC.PH6 16 ENC.PH7 17 UD78> Servo large option module displaced UD78 Servo large option module was displaced or removed. Ensure that the module is fitted correctly. Current signal loss on analog input 1 Loss of signal current on Analog input 1 (terminals 5 and 6), when configured for 4 to 20mA trip on loss current signal input. (Trip level 3mA.) Current signal loss on analog input 2 Loss of signal current on Analog input 2 (terminal 7), when configured for 4 to 20mA trip on loss current signal input. (Trip level 3mA.) Current signal loss on analog input 3 Loss of signal current on Analog input 3 (terminal 8), when configured for 4 to 20mA trip on loss current signal input. (Trip level 3mA.) Configuration has changed to n modules No. of modules has changed to n modules (size 5 only). Check DIP switches on control module correspond with the slide switch address settings on the power modules. Save parameters to clear this trip on next power-up. EEPROM Fault Fault in the internal EEPROM causing loss of parameter values. This trip can only be reset by loading default parameters and saving parameters. Encoder power supply overload Check encoder power supply wiring and encoder current requirement Maximum current = 300mA @ 15V and 5V Encoder phase 1 trip Encoder U phase commutation signal missing or the motor did not rotate. Encoder phase 2 trip Encoder V phase commutation signal missing. Encoder phase 3 trip Encoder W phase commutation signal missing. Encoder phase 4 trip Encoder U V W commutation signals connected incorrectly. Encoder phase 5 trip Encoder A channel signal missing. Encoder phase 6 trip Encoder B channel signal missing. Encoder phase 7 trip Encoder A and B channel signals connected incorrectly. Resolver or SINCOS encoder, SIN and COS connections connected incorrectly or the phase sequence of the motor is reversed. Diagnosis

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Trip ENC.PH8 Encoder phase 8 trip

Diagnosis Autotune or servo phasing offset test failed, or was interrupted. This can be caused by the following: Wrong test for operating mode Limit switch operated Drive tripped on another trip (a reset of the ENC.PH8 trip will show the actual trip) A reset signal given during the test. Encoder phase 9 trip Servo phasing incorrect causing reverse torque to be produced. This can be caused by the following: Incorrect encoder/resolver feedback connections. Incorrect phase offset value. Check connections and perform phase offset test. Spurious ENC.PH9 trips can be seen in very dynamic applications. This trip can be disabled by setting Pr 3.31 = 1. Caution should be used before setting this parameter in case there is a genuine fault with the encoder feedback. External Trip OL> External trip signal applied to terminal 30. Remove the trip signal, or connect together terminals 30 and 31, and then reset the drive. UD55> Flash Menu 20 The selected parameter set in the UD55 small option module does not contain values for Menu 20 parameters (which relate to a specific large option module), but a large option module is fitted in the destination drive. Consequently, there are no values of Menu 20 parameters to be copied to the destination drive. UD55> Flash Access Write-access to the UD55 cloning small option module has not been enabled. Consequently, no values have been copied to the UD55. To enable write-access, connect together terminals 40 and 41 on the UD55. UD55> Flash Compare This trip is initiated when a parameter set stored in the UD55 cloning small option module has been compared to the parameter set in the drive and differences have been found. UD55> Flash Data No data has been found in the selected parameter set in the UD55 cloning small option module. Consequently, no values have been copied to the destination drive. UD55> Flash Error The memory of the UD55 cloning small option module has been found to be corrupt. If the trip has occurred at power-up, the memory is automatically reformatted and all the parameter sets are erased. If the trip occurs after power-up, the memory and parameter-sets are unaffected. See the UD55 User Guide. UD55> Flash Large Option Module The selected parameter set in the UD55 cloning small option module contains values for Menu 20 parameters (which relate to a specific large option module), but the related module is not fitted in the destination drive. Consequently, values of Menu 20 parameters have not been copied to the destination drive. UD55> Flash Rating The current rating or voltage rating of the destination drive is different from that relating to the selected parameter set in the UD55 cloning small option module. Consequently, all parameter values have been copied to the destination drive except rating dependent parameters which are listed in Transferring parameter sets between drives of different ratings in the UD55 User Guide. UD55> Flash Type The operating mode of the destination drive is different from that related to the selected parameter-set in the UD55 cloning small option module. Consequently, no values have been copied to the destination drive. Either select an appropriate parameter set, or change the operating mode of the destination drive. [I x t] thermal overload in the motor The [I x t] thermal overload accumulator for the motor has reached 100% (see the OVLd alarm). Pr 4.19 displays the level of the overload accumulator. This can be caused by the following: Excessive load or increased load applied to the motor (check mechanics) Loss of motor phase CL> Noise on speed feedback signals CL> Loose feedback device mechanical coupling SV> Phase offset value incorrect (Encoder Pr 3.28, SINCOS encoder or resolver Pr 16.09). Perform a phase offset test (see section 7.2.3 Servo on page 86 for more information), or enter the correct value for phase offset. See section 8.3 Motor thermal protection on page 99. [I x t] thermal overload in the braking resistor The [I x t] thermal overload accumulator for the braking-resistor motor has reached 100% (see the [Link] alarm). Pr 10.39 displays the level of the overload accumulator. See Pr 10.30 and Pr 10.31 in the Unidrive Advanced User Guide. Increase the power rating of the braking resistor and change Pr 10.30 and Pr 10.31.

18

ENC.PH9

181

Et 6 FSH.20 187 [Link] 185 [Link] 189 [Link] 183 [Link] 182 [Link] 186 FSH.rn9 188 [Link] 184 [Link]

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Trip [Link] 39 OA Synchronisation to the AC supply failed

Diagnosis Regeneration sinusoidal rectifier failed to synchronise to the AC supply. Ensure that the AC supply voltage and frequency are within the specified limits. Ensure power connections are correct. Control PCB over temperature The ambient temperature around the control PCB has reached the over temperature threshold of 95C (203F) (see the Air alarm). Check cubicle / drive fans are still functioning correctly Check cubicle ventilation paths Check cubicle door filters Check ambient temperature Reduce drive switching frequency IGBT junction over temperature (based on the drive thermal model) IGBT junction temperature (based on the drives thermal model) has reached the over temperature threshold of 145C (293F) and the drive was unable to reduce the switching frequency further. Pr 7.32 displays the estimated IGBT junction temperature calculated by the drive. Reduce drive switching frequency Reduce duty cycle Decrease acceleration / deceleration rates Reduce motor load Heatsink over temperature Heatsink temperature (detected by thermistor) has reached the over temperature threshold of 94C (201F) (see the hot alarm). Check cubicle / drive fans are still functioning correctly Check cubicle ventilation paths Check cubicle door filters Increase ventilation Decrease acceleration / deceleration rates Reduce drive switching frequency Reduce duty cycle Reduce motor load Over Current in output stage Over current threshold on the output of the drive, of 225% of the drives Full Load Current (FLC), has been reached. (The FLC of the drive is displayed in Pr 11.32) This can be caused by the following: Pr 0.03 Acceleration rate set too low Pr 0.04 Deceleration rate set too low Short-circuit at the output of the drive Break-down of motor insulation (check with Megger) Incorrect motor map values see section 7.2 Quick Start commissioning on page 84 for details on how to enter the motor map Excessive motor-cable length (increased cable capacitance charging current) CL> Loss of speed feedback signals CL> Noise on speed feedback signals CL> Loose mechanical coupling on speed feedback device CL> Reduce the values in the speed loop gain parameters (Pr 3.10, Pr 3.11 and Pr 3.12) CL> Reduce the values in the current loop gain parameters (Pr 4.13 and Pr 4.14) SV> Phase offset value incorrect (Encoder Pr 3.28, SINCOS encoder and Resolver Pr 16.09). Perform a phase offset test, see section 7.2.3 Servo on page 86 for more information. OL & VT> If this trip occurs during an autotune (sometimes with large motors), decrease the voltage boost value in Pr 5.15. Over current in the output stage of module n Over current threshold in the output of the stage of module n of 170% of the drives Full Load Current (FLC), has been reached (size 5 only). This can be caused by the following: Pr 0.03 Acceleration rate set too low Pr 0.04 Deceleration rate set too low Short-circuit at the output of the drive Break-down of motor insulation (check with Megger) Incorrect motor map values see section 7.2 Quick Start commissioning on page 84 for details on how to enter the motor map Excessive motor-cable length (increased cable capacitance charging current) CL> Loss of speed feedback signals CL> Noise on speed feedback signals CL> Loose mechanical coupling on speed feedback device CL> Reduce the values in the speed loop gain parameters (Pr 3.10, Pr 3.11 and Pr 3.12) CL> Reduce the values in the current loop gain parameters (Pr 4.13 and Pr 4.14) SV> Phase offset value incorrect (Encoder Pr 3.28, SINCOS encoder and Resolver Pr 16.09). Perform a phase offset test, see section 7.2.3 Servo on page 86 for more information. OL & VT> If this trip occurs during an autotune (sometimes with large motors), decrease the voltage boost value in Pr 5.15.

23

Oh1

21

Oh2

22

[Link]

[Link] n

118 to 125

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Trip [Link] Over Current in braking transistor

Diagnosis Over current threshold in the braking transistor has been reached. This can be caused by the following: A short-circuit exists across the braking resistor terminals. An insulation fault on the braking resistor or associated cables. The ohmic value of the braking resistor is too low. DC over current trip in module n DC instantaneous over current trip in module n (size 5 only) Control terminals output overload The total current drawn from the user +24V supply (terminal 22) and any digital outputs (terminals 24, 25 and 26) exceeds 240mA. Heatsink over temperature in module n Heatsink over temperature threshold has been reached in module n (size 5 only); detected by one of the two thermistors in the drive. Ensure that ventilation at the front and rear of the drive is adequate. Check cubicle / drive fans are still functioning correctly. Check cubicle ventilation paths. Check cubicle door filters. Increase ventilation. Decrease acceleration / deceleration rates. Reduce duty cycle. Reduce motor load. Input stage over temperature Input stage over temperature threshold has been reached (size 5 only). Ensure that ventilation at the front and rear of the drive is adequate. Check cubicle / drive fans are still functioning correctly. Check cubicle ventilation paths. Check cubicle door filters. Increase ventilation. Decrease acceleration / deceleration rates. Reduce duty cycle. Reduce motor load. Over Volts on the DC bus Over voltage threshold on the DC bus has been reached. 400V Unidrive: >830Vdc 200V Unidrive LV: >415Vdc This is due to excessive AC supply voltage or excessive regenerated power being returned to the drive that can be caused by the following: Pr 0.04 Deceleration rate set too low. An external force acting on the motor shaft causing the drive to regenerate. Braking resistor value is too high. AC supply voltage too high. Supply disturbance such as a voltage over-shoot as the supply recovers from a notch induced by a DC drive. Motor insulation fault. Over volts on the DC bus in module n Over voltage threshold on the DC bus of module n of 830Vdc, has been reached (size 5 only). (The FLC of the drive is displayed in Pr 11.32) This is due to excessive regenerated power being returned to the drive that can be caused by the following: Pr 0.04 Deceleration rate set too low. An external force acting on the motor shaft causing the drive to regenerate. Braking resistor value is too high. AC supply voltage too high. Supply disturbance such as a voltage over-shoot as the supply recovers from a notch induced by a DC drive. Motor insulation fault. Over speed The motor speed has reached the over speed threshold (Pr 3.08). This can be caused by the following: Sudden removal of a large mechanical load from the motor shaft. Pr 0.04 Deceleration rate set too low. Inappropriate setting for Pr 0.16 Stop mode selector. Pr 0.19 S-ramp da/dt set too high. Pr 3.08 set below the maximum reference obtainable, i.e. set less than Pr 0.02 (or Pr 1.06). Speed over-shoot due to high speed loop proportional gain (Pr 3.10)

[Link] n 134 to 141 [Link] 26 Ot HS n

102 to 109

Ot inP

101

OU

OU n

126 to 133

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Trip Ph AC supply phase loss

Diagnosis Loss of an AC supply phase detected by increased ripple on the DC bus. Ensure all 3 input phases are present and balanced.

32

NOTE

Load level must be between 50 and 100% for the drive to trip under phase loss conditions. The drive will attempt to stop the motor before this trip is initiated. Prc2 UD70> Second processor fault Indicates a trip in the Processor of the UD70 large option module. Possible causes of failure are as follows: If the watchdog feature is enabled (Pr 17.18 = 1), then this trip indicates the WDOG instruction has not been executed, in the UD70 program, within 200ms of the last execution. See the WDOG command in the UD70 User Guide for more details. If the watchdog feature is not enabled (Pr 17.18 = 0), then this trip indicates an operating system failure. Contact the supplier of the module. Internal power supply fault Remove any option module and attempt a reset (to verify if the trip is caused by the option module). Check integrity of interface ribbon cables and connections (size 5 only). Hardware fault - return drive to supplier. Internal power supply fault in module n (size 5 only) Check integrity of interface ribbon cables and connections (size 5 only). Hardware fault - return drive to supplier. Incorrect stator resistance value Incorrect measurement of stator resistance due to the following: One or more motor phases disconnected when the measurement was being made Motor too small for the drive If required, set Pr 0.07 (or Pr 5.14) Voltage mode at Ur and enter the value of stator resistance in parameter Pr 5.17. Serial Communications loss Loss of serial communications when slaving drives or using the universal remote keypad. Ensure that the communications device is working correctly and the interconnections are correctly made. UD5x> Small option module fault Indicates a trip in the UD5x small option module. Possible causes of failure are as follows: UD50 Additional I/O> The total current drawn from digital outputs (terminals 48, 49 & 50) has reached the over current threshold. UD52 Sin-cos> Encoder power supply overloaded or short circuit (terminals 44 & 45). UD53 Resolver> Connections to the UD53 have not been made correctly or a wire break between the resolver and the UD53. UD5x> Small option module displaced The type of small option module that the drive has been programmed to operate with has been removed or is not fitted correctly. Perform either of the following: Ensure the appropriate type of small option module is correctly fitted SEP EC To operate the drive in the present configuration, set Pr xx.00 at 1000 and press the (STOP/RESET) button. UD52> SINCOS encoder communications failure Communications between SIN-COS encoder and UD52 small option module have failed. Absolute position information will not be obtained. Possible causes of failure are as follows: Incorrect serial communications connections (terminals 46, 47). DC supply to the encoder is not connected (terminals 44, 45) or has failed. Incorrect DC supply voltage for the encoder (Pr 16.15). After rectifying the fault, remove, and then re-apply the AC supply to the drive in order to obtain absolute position information. UD52> Sincos encoder fault Internal fault within the SINCOS encoder. Contact the encoder or motor supplier. Spurious trip Unrecognised trip on power-up (size 5 only). Hardware fault, contact the supplier of the drive. Regen supply loss The drive in Regen mode has detected AC supply loss. Check all three supply phases are present and at the correct level. Motor thermistor over temperature The motor thermistor has detected excessive motor temperature or the thermistor or associated wiring is open-circuit. Set Pr 7.15 = volt and save parameters to disable this function. Motor thermistor short circuit The motor thermistor or wiring is short circuit. Set Pr 7.15 = volt and save parameters to disable this function.

PS 5 PS n 110 to 117 rS 33 SCL 30 SEP

[Link]

180

35

SEP EF 36 St GL 34 [Link] 190 th 24 thS 25

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Trip tr XX UD70 run time trips

Diagnosis XX indicates the trip code number. Trip Code Description 40 Unknown Error 41 Parameter does not exist 42 Parameter write failed: parameter is read only 43 Parameter read failed: parameter is write only 44 Parameter write failed: parameter value is over range 45 Virtual parameter access failed: IOLINK is not running 46 to 48 Internal error 49 Wrong system loaded 50 Maths error in the program, e.g. divide by zero, overflow, etc. 51 DPL array index is out of range 52 User generated trip from control word 53 DPL program incompatible 54 DPL overload a task has run of time 55 RS485 trip (mode 3, mode 4, etc.) 56 Option module and system-file are incompatible 57 Illegal operating system call 58 to 59 Internal error 60 to 69 High-speed communications option generated trips See the UD70 and/or the relevant high-speed communications option User guides for more information. User trips 70 to 99, 159 to 179, 191 to 200 Trip codes defined by the user. XX indicates the trip code number. For use with the UD70 Application modules by writing the trip code to Pr 10.38. Unidentified trip on module n Unidentified fault on power-up in module n (size 5 only) Under Volts Under voltage threshold on the DC bus has been reached 400V Unidrive: <350Vdc 200V Unidrive LV: <160Vdc This also occurs when the AC supply has been removed. Ensure that the AC supply is above the minimum level. 400V Unidrive: >380Vac -10% (342Vac) 200V Unidrive LV: >200Vac -10% (180Vac) Serial communications look-up table Trip UU OU [Link] [Link] PS Et [Link] Prc2 SEP [Link] ENC.PH1 ENC.PH2 ENC.PH3 ENC.PH4 ENC.PH5 ENC.PH6 ENC.PH7 ENC.PH8 [Link] [Link] Oh1 No. 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 39 40 to 69 70 to 99 101 102 to 109 Trip Oh2 OA th thS [Link] cL1 cL2 cL3 SCL EEF Ph rS St GL SEP EC SEP EF [Link] [Link] tr40 to tr69 tr70 to tr99 OtinP OtHS1 to OtHS8 No. 110 to 117 118 to 125 126 to 133 134 to 141 142 to 149 150 to 158 159 to 179 180 181 182 183 184 185 186 187 188 189 190 191 to 200 Trip PS1 to PS8 OI.AC1 to OI.AC8 OU1 to OU8 OI.dc1 to OI.dc8 UFLt1 to UFLt8 ConF1 to ConF8 tr159 to tr179 [Link] ENC.PH9 [Link] [Link] [Link] [Link] [Link] FSH.20 FSH.rn9 [Link] [Link] tr191 to tr200

40 to 69

tr XX 70 to 99, 159 to 179, 191 to 200 UFLt n 142 to 149 UU

Table 12-2

No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

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12.1.1

HF - Hardware fault trip codes

HF trips are internal hardware faults within the drive. Powering the drive down and re-applying power could clear the fault. Resetting the drive will not clear a HF trip. Below is a full list of hardware fault trip codes on Unidrive.
NOTE

12.3
Lower display Act

Status indications
Description Regeneration mode active Regen mode> The Regen drive is enabled and synchronised to the supply. Enabled Drive output stage

N
ACUU

If a HF trip occurs, the Drive Healthy relay will open to indicate this. The serial communications will not function during a HF trip. HF81 HF82 HF83 HF84 HF85 HF86 HF87 HF88 HF89 HF90 HF91 HF92 HF93 HF94 HF95 HF96 HF97 HF98 Software Error (odd address word) Large option module removed Power Board Code Failure Current Offset Trim Failure A to D failure (ES-CC step) Interrupt Watchdog failure Internal ROM check error Watchdog Failure Unused Interrupts (nmi as source) Stack Overflow Stack Underflow Software Error (undefined op code) Software Error (protection fault) Software Error (odd address word) Software Error (odd address inst.) Software Error (illegal ext bus) Level 1 Noise Interrupt Crash run SCAn rdY POS dEC inh dc

AC Supply loss The drive has detected that the AC supply has been lost and is attempting to maintain the DC bus voltage by decelerating the motor. DC applied to the motor The drive is applying DC injection braking. Decelerating The drive is decelerating the motor. Inhibit The drive is inhibited and cannot be run. Drive enable signal not applied to terminal 30 or Pr 6.15 is set to 0. Positioning The drive is positioning/orientating the motor shaft. Ready The drive is ready to be run. Running The drive is running. Scanning OL> The drive is searching for the motor frequency when synchronising to a spinning motor. Regen> The drive is enabled and is synchronising to the line. Enabled Enabled Enabled Enabled

Enabled

Disabled

Disabled Enabled

HF99 Level 1 Crash The only HF trip that can be caused by the user is a HF82 trip where a large option module is removed while the drive is powered up. The drive should be powered down, the module re-fitted correctly and the power reapplied to clear the trip. If the drive persistently trips on a HF trip, contact the supplier of the drive.

12.2

Alarm indications

StoP

Stop or holding zero speed The drive is holding the motor at zero speed. Regen> The drive is enabled but the AC voltage is too low, or DC Bus voltage still rising or falling. Enabled

If a critical condition is detected, the drive continues operating and the lower display shows an alarm indication in place of the status indication. If the condition is not rectified, the drive could trip. The alarm indication flashes alternately with the normal display indication. Lower display Air Description Control PCB ambient temperature near maximum limit The ambient temperature around the control PCB has reached 90C (194F) and the drive will trip OA if the temperature continues to rise (see the OA trip). [Link] Braking resistor overload The braking-resistor [I x t] accumulator in the drive has reached 75% of the value at which the drive will be tripped. hot Heatsink temperature near maximum limit The drive heatsink has reached 90C (194F) and the drive will trip Oh2 if the temperature continues to rise (see the Oh2 trip). Motor overload The motor [I x t] accumulator in the drive has reached 75% of the value at which the drive will be tripped. triP

Trip condition The drive has tripped and is no longer controlling the motor. The trip code appears on the upper display. Disabled

When the drive is in normal operation, the lower display indicates the status of the drive.

12.4

Displaying the trip history

The drive retains a log of the last 10 trips that have occurred, in Pr 10.20 to Pr 10.29. Pr 10.20 is the most recent trip (or current trip if the drive is in the trip state) and Pr 10.29 is the oldest. When a trip occurs all the parameters move down one, such that the current trip is put in Pr 10.20 and the oldest trip is lost off the bottom of the log. If any parameter between Pr 10.20 and Pr 10.29 inclusive is read by serial communications, then the trip number in section 12.1 Trip indications on page 198 is the value transmitted.

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Table 13-2 models

Maximum continuous output current for 380V / 400V

The Control Techniques UL file number is E171230. Confirmation of UL listing can be found on the UL website: [Link]. The Drive conforms to UL listing requirements only when the following are observed: The drive is installed in a type 1 enclosure, or better, as defined by UL50 The correct UL-listed fuses are used as follows: Unidrive size 1 to 4: Class RK1 600Vac Unidrive size 5: Gould Shawmut Amp-Trap A50P, 500Vac, 450A Class 1 60/75oC (140/167oF) copper wire only is used in the installation The ambient temperature does not exceed 40oC (104oF) when the drive is operating The terminal tightening torques specified in section 3.12.2 Terminal sizes and torque settings on page 36

Model UNI1401 UNI1402 UNI1403 UNI1404 UNI1405 UNI2401 UNI2402 UNI2403 UNI3401 UNI3402 UNI3403 UNI3404 UNI3405 UNI4401 UNI4402 UNI4403 UNI4404 UNI4405 UNI5401 2.1 2.8 3.8 5.6 9.5 12 16 25 34 40 46 60 70 96 124 156 180 202 300*

FLC (A) STD / VTC LFT 2.1 2.8 3.8 4.0 4.3 12.0 14.2 14.2 28.0 28.0 32.0 33.0 35.0 70 70 80 100 100

13.1

AC supply specification

The drive is suitable for use in a circuit capable of delivering not more than: Unidrive sizes 1 to 3: 5000 rms symmetrical Amperes Unidrive size 4: 10,000 rms symmetrical Amperes Unidrive size 5: 18,000 rms at 268Vac rms for Unidrive LV and 528Vac rms for Unidrive, maximum.

13.2

Maximum continuous output current

* Unidrive size 5 is only available as a STD model.

The drive models are listed as having the maximum continuous output currents (FLC) shown in Table 13-1 and Table 13-2 (see Chapter 11 Technical Data on page 190 for details). Table 13-1 models Model UNI1201 UNI1202 UNI1203 UNI1204 UNI1205 UNI2201 UNI2202 UNI2203 UNI3201 UNI3202 UNI3203 UNI3204 2.1 2.8 3.8 5.6 9.5 12 16 25 34 46 60 74 FLC (A) STD / VTC LFT 2.1 2.8 3.8 4.0 4.3 12 14.2 14.2 28 28 32 35 Maximum continuous output current for low voltage

13.3

Safety label

The safety label supplied with the connectors and mounting brackets must be placed on a fixed part inside the drive enclosure where it can be seen clearly by maintenance personnel for UL compliance.

Unidrive User Guide Issue Number: 9

205
[Link]

Index
Symbols
+10V reference voltage ........................................................... 52 +24V digital supply .................................................................. 53 EMC - Compliance ..................................................................48 EMC - General requirements ..................................................45 EMC (Electromagnetic compatibility) ......................................44 Enclosure ................................................................................24 Enclosure sizing ......................................................................24 Encoder connections ...............................................................54 Encoder supply .......................................................................55

Numerics
50C ambient .......................................................................... 28

A
abbreviations ........................................................................... 10 AC supply requirements ........................................................ 192 Accuracy and resolution ........................................................ 192 Acoustic noise ....................................................................... 194 Additional I/O small option module ......................................... 12 Advanced Features ............................................................... 182 Advanced keypad functions .................................................... 60 Alarm ..................................................................................... 204 Altitude .................................................................................. 192 Ambient temperature .............................................................. 28 Analog input 1 ...................................................................52, 54 Analog input 2 ......................................................................... 52 Analog input 3 ......................................................................... 52 Analog output 1 ....................................................................... 53 Analog output 2 ....................................................................... 53 Autotune ..................................................................... 93, 95, 97

F
Feedback device cable screening ...........................................47 Frequency and direction connections .....................................55

G
Getting Started ........................................................................58

H
HF - Hardware fault trip codes ..............................................204 High speed operation ..............................................................99

I
Ingress protection ........................................................... 15, 192 Interbus large option module ...................................................12 Interruptions to the encoder cable ...........................................49 Interruptions to the motor cable ..............................................49

B
Baffle plates ............................................................................ 28 Basic requirements ................................................................. 81 Braking modes ...................................................................... 182 Braking option ......................................................................... 12 Braking resistor values .......................................................... 194

K
Keypad operation ....................................................................58

L
Large option module ...............................................................12 Line reactors .........................................................................192

C
Cable lengths ........................................................................ 193 Cable sizes and fuses ........................................................... 193 Catch a spinning motor ......................................................... 187 Clearances .............................................................................. 46 Cloning interface small option module .................................... 12 Closed loop vector .................................................................. 10 Control connections ................................................................ 49 Current limits ........................................................................... 98 Current loop gains .............................................................95, 97

M
Macro 1 Easy Mode ...........................................................101 Macro 2 Motorised potentiometer ......................................101 Macro 3 Preset frequencies / speeds .................................101 Macro 4 Torque control ......................................................101 Macro 5 PID (set-point control) ..........................................101 Macro 6 Axis-limit control ...................................................101 Macro 7 Brake control ........................................................101 Macro 8 Digital lock / shaft orientation ...............................101 Macro logic diagrams ............................................................106 Macro terminal connection ....................................................102 Mains loss modes .................................................................185 Maximum speed / frequency .................................................100 Mechanical Installation ............................................................14 Menu 0 ....................................................................................64 Menu 0 Logic diagram .............................................................66 Menu 01 - Speed references and limits ................................124 Menu 02 - Ramps (accel. / decel.) ........................................128 Menu 03 - Speed feedback / frequency slaving ....................131 Menu 04 - Current control .....................................................135 Menu 05 - Machine control ....................................................139 Menu 06 - Sequencing logic ..................................................143 Menu 07 - Analog I/O ............................................................145 Menu 08 - Digital I/O .............................................................148 Menu 09 - Programmable logic .............................................152 Menu 10 - Status flags / trip log ............................................155 Menu 11 - Menu 0 customisation / drive specific ratings ......156 Menu 12 - Programmable thresholds ....................................157 Menu 13 - Digital lock / orientation ........................................160 Unidrive User Guide Issue Number: 9

D
Defaulting the drive ................................................................. 61 Destination parameter ............................................................. 49 Device Net large option module .............................................. 12 Diagnostics ........................................................................... 198 Digital input / output F1 ........................................................... 53 Digital input / output F2 ........................................................... 53 Digital input / output F3 ........................................................... 53 Digital input F4 ........................................................................ 53 Digital input F5 ........................................................................ 53 Digital input F6 ........................................................................ 53 display ..................................................................................... 58 Drive enable input F7 .............................................................. 54

E
Earth / Ground connections .................................................... 46 Electrical Installation ............................................................... 37 Electromagnetic compatibility (EMC) .................................... 195

206
[Link]

Menu 14 - Programmable PID function .................................166 Menu 15 - Regen ..................................................................169 Menu 16 - Small option module set-up ..................................171 Menu 17 - Large option module set-up .................................179 Menu 18 - Application menu 1 ..............................................179 Menu 19 - Application menu 2 ..............................................180 Menu 20 - Large option module ............................................180 Menu structure ........................................................................59 Modbus Plus large option module ...........................................12 Mode parameter ......................................................................49 Motor map parameters ............................................................92 Motor thermal protection .........................................................99 Motor thermistor input .............................................................55 Mounting .................................................................................16 Mounting brackets ...................................................................23

Speed loop gains .............................................................. 96, 98 Standard security .................................................................... 62 Star / delta motor operation .................................................... 43 Starts per hour ...................................................................... 192 Status ................................................................................... 204 Status relay ............................................................................. 52 Stop Modes .......................................................................... 184 Storage ................................................................................. 192 Surface mounting ................................................................... 16 Switching frequency ............................................................... 99

T
Technical Data ...................................................................... 190 Temperature, humidity and cooling method ......................... 192 Terminal cover removal .......................................................... 14 Terminal sizes ........................................................................ 36 Through hole mounting ........................................................... 16 Torque Modes ...................................................................... 183 Torque settings ....................................................................... 36 Trip ....................................................................................... 198 Trip History ........................................................................... 204 Typical input current ............................................................. 190

N
Nameplate .................................................................................9

O
Open Loop mode ....................................................................10 Open loop vector mode ...........................................................10 Operating modes .....................................................................10 Optimisation ............................................................................92 Option Modules .......................................................................12 Output contactor ......................................................................43 Output frequency doubling ....................................................100 Overall dimensions ................................................................193

U
UL Listing Information ........................................................... 205 Unidrive LFT ........................................................................... 10 Unidrive size 5 control / power module connections .............. 39 Unidrive VTC .......................................................................... 10 Differences from open-loop Unidrive ....... 54, 122, 181 UniSoft .................................................................................... 87 Universal Keypad ................................................................... 12 User security ........................................................................... 62

P
Parameter security ..................................................................62 Planning the installation ..........................................................14 Position loop modes ..............................................................188 Power and current ratings .....................................................190 Power dissipation ..................................................................191 Power terminals ......................................................................35 Profibus-DP large option module ............................................12 protection circuit for a braking resistor ....................................44 Protection circuit for the braking resistor .................................44

V
V/f mode ................................................................................. 10 Variants .................................................................................... 9 Ventilation ............................................................................... 26 Voltage mode ......................................................................... 93 VTCSoft .................................................................................. 87

R
Ratings ............................................................................... 8, 40 Regen ......................................................................................10 Resolver interface small option module ..................................12 RFI filters ........................................................................ 29, 197 Routine maintenance ..............................................................36 Running the motor ...................................................................81

W
Weights ................................................................................. 193

S
S4/S5 duty cycle .....................................................................10 Safety Information .....................................................................7 Safety label ...........................................................................205 Saving parameters ..................................................................61 Second encoder small option module .....................................12 Sequencing Modes ...............................................................186 Serial communications ............................................................63 Serial communications large option module ............................12 Servo .......................................................................................10 Servo large option module ......................................................12 SINCOS encoder interface small option module .....................12 Size 5 output sharing choke specification .............................194 Slip compensation ...................................................................93 Slip optimisation ......................................................................95 Source parameter ...................................................................49 Speed feedback ......................................................................81 Unidrive User Guide Issue Number: 9

207
[Link]

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