TDE MACNO MINIOPD EXP Manuel utilisateur

MINIOPD EXP - OPD EXP

USER’S MANUAL - ASYNCHRONOUS

MINIOPD EXP - OPD EXP

USER’S MANUAL - ASYNCHRONOUS

Tecnologie Digitali Elettroniche S.p.A.

User’s manual

SOMMARY

1Introduction .............................................................................................5

1.1Parameters (P)........................................................................................................................ 5

1.2Connections (C) ...................................................................................................................... 5

1.3Input logic functions (I) ............................................................................................................ 6

1.4Internal values (D)................................................................................................................... 6

1.5Output logic functions (o) ........................................................................................................ 6

2ASYNCHRONOUS PARAMETERS........................................................7

2.1DRIVE AND MOTOR COUPLING........................................................................................... 7

2.1.1DRIVE PLATE ................................................................................................................ 7

2.1.2MOTOR PLATE.............................................................................................................. 8

2.1.3MOTOR SENSOR.......................................................................................................... 9

2.1.4AUTOTUNING CONTROL AND MOTOR MEASURED MODEL ................................. 11

2.1.5Identifying models of induction motor ........................................................................... 19

2.2MOTOR CONTROL .............................................................................................................. 23

2.2.1Acceleratio ramps and speed limit................................................................................ 24

2.2.2Speed COntrol.............................................................................................................. 26

2.2.3Torque and current limits.............................................................................................. 29

2.2.4Current control.............................................................................................................. 32

2.2.5Voltage/Flux control...................................................................................................... 33

2.3Protection.............................................................................................................................. 35

2.3.1Voltage limits ................................................................................................................ 35

2.3.2Thermal protection ....................................................................................................... 42

2.4V/F control............................................................................................................................. 44

2.4.1Automatic Setting of working Voltage/frequency .......................................................... 44

2.4.2Manual Setting of working Voltage/frequency characteristic ........................................ 45

2.4.3Load effect compensation ............................................................................................ 47

2.4.4Particular control functions ........................................................................................... 48

3Standard application .............................................................................49

3.1Input ...................................................................................................................................... 49

3.1.1Analog reference .......................................................................................................... 49

3.1.2Digital speed reference ................................................................................................ 53

3.1.3Frequency speed reference.......................................................................................... 55

3.1.4Digital inputs configurations.......................................................................................... 61

3.1.5Second sensor ............................................................................................................. 62

3.2OUTPUT ............................................................................................................................... 63

3.2.1Digital output configurations ......................................................................................... 63

3.2.2Analog outputs configurations ...................................................................................... 64

3.2.3Frequency OUTPUT..................................................................................................... 67

3.3MOTION CONTROL ............................................................................................................. 71

3.3.1Incremental position loop ............................................................................................. 71

3.3.2PID controller................................................................................................................ 73

4Fieldbus ................................................................................................76

4.1MODBUS parameters ........................................................................................................... 76

4.1.1Application Configuration.............................................................................................. 76

4.1.2Managed services ........................................................................................................ 77

4.2Can open............................................................................................................................... 80

4.2.1Configuration of the application .................................................................................... 80

4.2.2Managed services ........................................................................................................ 81

4.2.3Emergency Object (EMCY) .......................................................................................... 83

4.2.4Network Management Objects (NMT) .......................................................................... 83

4.2.5Objects dictionary : communication profile area .......................................................... 84

4.2.6Objects’ dictionary : manufacturer specific profile area ................................................ 85

5Generic parameters ..............................................................................92

5.1keys....................................................................................................................................... 92

5.2Data storing........................................................................................................................... 92

5.2.1Storage and recall of the working parameters ............................................................. 92

5.3Digital commands and control ............................................................................................... 94

5.3.1Drive ready ................................................................................................................... 94

5.3.2Drive switch on / RUN .................................................................................................. 94

5.3.3Drive switch off / STOP ................................................................................................ 95

5.3.4Safety Stop................................................................................................................... 95

6Alarms ..................................................................................................96

6.1Maintenance and controls ..................................................................................................... 96

6.1.1Malfunctions without an alarm: troubleshooting............................................................ 96

6.1.2Malfunctions with an alarm: troubleshooting................................................................. 97

7Display................................................................................................101

7.1Physical disposition............................................................................................................. 101

7.2Layout of the internal dimensions........................................................................................ 101

7.2.1Parameters (par) ........................................................................................................ 102

7.2.2Application Parameters (app) ..................................................................................... 103

7.2.3Connections (con) ...................................................................................................... 103

7.2.4allarmS (all) ................................................................................................................ 104

7.2.5Internal Values (int) .................................................................................................... 105

7.2.6Logic functions of input (inp)....................................................................................... 105

7.2.7Logic Functions of output (OUt).................................................................................. 106

7.3status of rest........................................................................................................................ 106

7.4Main Menu .......................................................................................................................... 107

7.4.1Under-Menu of parameters, application parameters and connections management

(par, app e con)......................................................................................................................... 108

7.4.2Visualization of the internal dimensions (INT) ............................................................ 110

7.4.3Alarms (ALL) .............................................................................................................. 110

7.4.4visualization of the input and output (inp and out) ...................................................... 111

7.5Programming Key ............................................................................................................... 113

8List of parameters...............................................................................114

User’s manual

1 INTRODUCTION

To help the customer during the configuration of the drive, the manual is organized to follow faithfully

the structure of the configurator (OPDExplorer) that allows, according to a logical sequence, to set all

the sizes needed for the proper functioning of the drive.

In particular, each chapter refers to a specific folder of OPDExplorer which includes all the relative

parameters.

Also, at the beginning of each chapter of the manual, is showed the location of the folder in the

OPDExplorer tree, which the chapter refer, and the complete table of sizes of the folder in question.

The control values are divided as follows:

•Parameters

•Connections

•Input logic functions

•Internal values

•Output logic functions

In the tables of the control value, the last column on the right “Scale” shows the internal

representation base of the parameters. This value is important if the parameters have to be read or

written with a serial line or fieldbus and represent the factor which to divide the value stored to

obtain the real value set, as following indicated:

Examples:

MAIN_SUPPLY ÆP87 – Main supply voltage

Value = 400

Scale = 10

Int. rep. = 4000

1.1 PARAMETERS (P)

The parameters are drive configuration values that are displayed as a number within a set range. The

parameters are mostly displayed as percentages, which is especially useful if the motor or drive size

have to be changed in that only the reference values (P61÷P65) have to be modified and the rest

changes automatically. The parameters are split up into free, reserved and TDE MACNO reserved

parameters.

The following rules apply:

Free parameters (black text in OPDExplorer): may be changed without having to open any key, even

when running;

Reserved parameters (blu text in OPDExplorer): may be changed only at a standstill after having

opened the reserved parameter key in P60 or the TDE MACNO reserved parameters key in P99;

TDE MACNO reserved parameters (violet text in OPDExplorer): may be changed only at a

standstill after having opened the TDE MACNO reserved parameters key in P99. While the key for

these parameters is closed, they will not be shown on the display.

Take careful note of the reference values for each parameter so that they are set correctly.

1.2 CONNECTIONS (C)

The connections are drive configuration values that are displayed as a whole number in the same

way as a digital selector.

They are split up into free, reserved and TDE MACNO reserved connections, and are changed in the

same way as the parameters.

The internal representation base is always as whole number

1.3 INPUT LOGIC FUNCTIONS (I)

The input logic functions are 32 commands that come from configured terminal board logic inputs,

from the serial line, and from the fieldbus. The meaning of this logical functions depend on the

application, so please refer to specific documentation.

1.4 INTERNAL VALUES (D)

Internal values are 128 variables within the drive that can be shown on the display or via serial on the

supervisor. They are also available from the fieldbus.

The first 64 values are referred to motor control part and are always present. The second 64 values

are application specific.

Pay close attention to the internal representation base of these values as it is important if readings

are made via serial line or fieldbus.

1.5 OUTPUT LOGIC FUNCTIONS (O)

The logic functions are 64, the first 32 display drive status and second 32 are application specific.

All output functions can be assigned to one of the 4 logic outputs.

User’s manual

2 ASYNCHRONOUS PARAMETERS

The “Asyncrhonous Parameters” are used to control the current or speed of a feedback vector

induction motor. The speed and current reference values are generated by the application. See the

application parameters for further information. As an absolute position value is not required for the

sensors (managed with an optional internal electronic board) incremental TTL Encoders and

incremental Sin/Cos Encoders may be used. Absolute sensors such as Resolver can also be used,

as can digital sensors such as Endat or Hiperface if required.

The “Asyncrhonous Parameters” also manages the auto-tuning test, which is crucial if the control is

to adapt perfectly to the motor and to ensure excellent dynamic performance all-round.

2.1 DRIVE AND MOTOR COUPLING

This section is usefull during motor start-up to obtain the best coupling between drive and

motor. It’s very important to follow the correct sequence explained in the next paragraphs

2.1.1 DRIVE PLATE

Name Description Min Max Default UM Scale

MAIN_SUPPLY P87 - Main Supply

voltage 180.0 780.0 400 V rms 10

DRV_I_NOM P53 - Rated drive current 0.0 3000.0 0 A 10

DRV_I_PEAK P113 - Maximum drive

current 0.0 3000.0 0 A 10

I_OVR_LOAD_SEL C56 - Current overload 0 3 3 1

PRC_DRV_I_MAX P103 - Drive limit current 0.0 800.0 200 % DRV_I_NOM 40.96

DRV_F_PWM P101 - PWM frequency 1000 16000 5000 Hz 1

DRV_F_PWM_CARATT P156 - PWM frequency

for drive definition 1000 16000 5000 Hz 1

DRV_E_CARATT P167 - Characterization

voltage 200.0 690.0 400 V rms 10

DEAD_TIME P157 - Dead time

duration 0.0 20.0 4 µs 10

T_RAD P104 - Radiator time

constant 10.0 360.0 80 s 10

T_JUNC P116 - Junction time

constant 0.1 10.0 3.5 s 10

OVR_LOAD_T_ENV

P155 - Ambient

temperature reference

value during overload

0.0 150.0 40 °C 10

This parameters are related to the drive characteristic. The user has to set only the main supply

voltage and select the current overload.

2.1.1.1 DRIVE CURRENT OVERLOAD SELECTION

Four types of drive overload can be set on C56

NB: the choice also changes the rated drive current as shown by the tables in the installation file and

the correct value is always displayed in ampere rms in P53.

The delivered current is also used to calculate the operating temperature reached by the power

component junctions with the drive presumed to be working with standard ventilation at the maximum

ambient temperature permitted.

If this temperature reaches the maximum value permitted for the junctions, the delivered power limit

is restricted to a value that is just over the rated drive current, i.e. the system’s effective thermal

current (see following table).

Now the drive will only overload if the temperature drops below the rated value, which will only occur

after a period of operation at currents below the rated current.

The junction temperature calculation also considers the temperature increase that occurs while

operating at low frequencies (below 2.5 Hz) due to the fact that the current is sinusoidal and thus has

peak values that are higher than the average value. With electrical operating frequencies lower than

2.5Hz, the drive goes into maximum overload for 20-30ms after which the maximum current limit is

reduced by √2 as shown by the following table:

N.B. = the overload time illustrated is calculated with the drive running steady at the rated motor

current. If the average delivered current is lower than the rated motor current, then the overload time

will increase. Thus the overload will be available for a longer or identical time to the ones shown.

N.B. 3٭= the 200% overload is available until junction temperatures are estimated to be 95% of the

rated value; at the rated value the maximum limit becomes 180%. For repeated work cycles, TDE

MACNO is available to estimate the drive’s actual overload capacity

2.1.2 MOTOR PLATE

Name Description Min Max Default UM Scale

PRC_MOT_I_NOM P61 - Rated motor

current ( I NOM MOT) 10.0 100.0 100 % DRV_I_NOM 327.67

MOT_V_NOM P62 - Rated motor

voltage 100.0 1000.0 380 Volt 10

MOT_F_NOM P63 - Rated motor

frequency 10.0 800.0 50.0 Hz 10

PRC_MOT_V_MAX P64 - Max. operating

voltage 1.0 200.0 100 % MOT_V_NOM 40.96

C56 Overload type for rated drive current (P53)

0 120% for 30 seconds

1 150% for 30 seconds

2 200% for 30 seconds

3 200% for 3 seconds and 155% for 30 seconds

C56 Max. drive current Drive thermal current Limit below 2.5 Hz

0 120% I NOM AZ for 30 seconds 103% I NOM AZ 84% I NOM AZ

1 150% I NOM AZ for 30 seconds 108% I NOM AZ 105% I NOM AZ

2 200% I NOM AZ for 30 seconds 120% I NOM AZ 140% I NOM AZ

3٭

200% I NOM AZ for 3 seconds

155% I NOM AZ for 30 seconds

110% I NOM AZ 140% I NOM AZ

User’s manual

Name Description Min Max Default UM Scale

MOT_SPD_MAX P65 - Max. operating

speed (n MAX) 50 60000 2000 RPM 1

MOT_COS_PHI P66 - Nominal power

factor 0.500 1.000 0.894 1000

MOT_POLE_NUM P67 - Number of motor

poles 1 12 4 1

PRC_MOT_I_THERM P70 - Motor thermal

current 10.0 110.0 100 % PRC_MOT_I_NOM 10

MOT_TF_THERM P71 - Motor thermal time

constant 30 2400 180 s 1

Setting the parameters that establish the exact type of motor used is important if the drive is to run

correctly. These parameters are:

Name Description

PRC_MOT_I_NOM P61 - Rated motor current ( I NOM MOT)

MOT_V_NOM P62 - Rated motor voltage

MOT_F_NOM P63 - Rated motor frequency

MOT_POLE_NUM P67 - Number of motor poles

These parameters are fundamental in that they are the basis of all the motor operating

characteristics: frequency, speed, voltage, current, torque and thermal protection.

P62 and P63 can be read directly on the motor rating plate and P61 can be calculated with the

following formula:

P61 = (Inom_motor *100.0))/(Inom_drive)

Example: Drive: OPEN 22

Inom_drive = 22A overload 200%

Motor: MEC series, Vn = 380V, f = 50Hz, Inom_motore = 20A,

P61 = (20*100)/22 = 90.9%

P62 = 380.0

P63 = 50.0

There are also parameters that establish the maximum values for voltage, thermal current and

operating speed:

Name Description

PRC_MOT_V_MAX P64 - Max. operating voltage

MOT_SPD_MAX P65 - Max. operating speed (n MAX)

PRC_MOT_I_THERM P70 - Motor thermal current

MOT_TF_THERM P71 - Motor thermal time constant

These important parameters must be specified alongside the exact characteristics of the feedback

sensor used. Once the sensor has been established, the “Sensor and motor pole tests”can be

carried out (enabled with C41) which will confirm that the parameters have been set correctly.

2.1.3 MOTOR SENSOR

Name Description Min Max Default UM Scal

SENSOR_SEL C00 - Speed sensor

Range

1 1

1 Encoder

4 Resolver

5 Resolver RDC

8 Sin/Cos incr

RES_POLE P68 - Number of absolute sensor

poles 1 12 2 1

ENC_PPR P69 - Number of encoder

pulses/revolution 0 60000 1024 pulses/rev 1

EN_TIME_DEC_ENC C74 - Enable incremental encoder

time decode 0 1 0 1

RES_TRACK_LOOP_BW P89 - Tracking loop bandwidth

direct decoding of resolver 100 10000 1800 rad/s 1

RES_TRACK_LOOP_DAMP P90 - D Traking loop bandwidth 0.00 5.00 0.71 100

RES_CARR_FRQ_RATIO C67 - Resolver carrier frequency

Range

0 1

-3 f PWM

-2 f PWM

-1 f PWM

0 f PWM

1 f PWM x 2

2 f PWM x 4

3 f PWM x 8

EN_SENSOR_TUNE C68 - Enable sensor auto-tuning 0 1 0 1

EN_INV_POS_DIR C76 - Invert positive cyclic versus 0 1 0 1

KP_SINCOS1_CHN

P164 - Resolver or Incremental

Sin/Cos sine and cosine signal

amplitude compensation

0.0 200.0 100 % 163.8

OFFSET_SIN1 P165 - Resolver or Incremental

Sin/Cos sine offset -16383 16383 0 1

OFFSET_COS1 P166 - Resolver or Incremental

Sin/Cos cosine offset -16383 16383 0 1

OFFSET_SINCOS_ENC D38 - Compensation Sin/Cos

analog/digital term 0 pulses 1

SENSOR_FRQ_IN D39 - Input frequency 0 kHz 16

HW_SENSOR1 D63 - Sensor1 presence 0 1

SENS1_ZERO_TOP D55 - Sensor1 Zero Top 0 pulses 1

EN_SINCOS_PREC_POS C70 - Enable SinCos Analog-

Digital compensation into position 0 1 0 1

For correct motor sensor setup is necessary to set the motor sensor present:

Name Description

SENSOR_SEL C00 - Speed sensor

and, for the specific sensor present, the following parameters.

For the TTL encoder and the incremental sin-cos encoder:

And for the resolver:

After that is necessary proceed with the auto tuning procedure.

Name Description

ENC_PPR P69 - Number of encoder pulses/revolution

Name Description

RES_POLE P68 - Number of absolute sensor poles

RES_CARR_FRQ_RATIO C67 - Resolver carrier frequency

Ce manuel convient aux modèles suivants

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