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UniSP Userguide

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EF www.controltechniques.

com

User Guide

U
Model sizes 1 to 3
Universal Variable Speed AC
Drive for induction and servo
motors

Part Number: 0471-0000-07

Issue: 7
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect
installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed
drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy
of continuous development and improvement, the manufacturer reserves the right to change the specification of the
product or its performance, or the contents of the guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or
mechanical including photocopying, recording or by an information storage or retrieval system, without permission in
writing from the publisher.

Drive software version

This product is supplied with the latest version of software. If this product is to be used in a new or existing system with
other drives, there may be some differences between their software and the software in this product. These differences
may cause this product to function differently. This may also apply to drives returned from a Control Techniques Service
Centre.
The software version of the drive can be checked by looking at Pr 11.29 (or Pr 0.50) and Pr 11.34. The software version
takes the form of zz.yy.xx, where Pr 11.29 displays zz.yy and Pr 11.34 displays xx, i.e. for software version 01.01.00,
Pr 11.29 would display 1.01 and Pr 11.34 would display 0.
If there is any doubt, contact a Control Techniques Drive Centre.

Environmental statement
Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its
products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is
certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other
relevant information is available on request, or can be found at www.greendrives.com.
The electronic variable-speed drives manufactured by Control Techniques have the potential to save energy and
(through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long
working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product
manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they can very easily be dismantled into their
major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools,
while other parts are secured with conventional screws. Virtually all parts of the product are suitable for recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller
products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these
containers can be recycled. Polythene, 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 © August 2003 Control Techniques Drives Limited

Issue Number: 7
Software: 01.05.00 onwards
How to use this guide
This user guide provides complete information for installing and operating a Unidrive SP 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 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 Basic parameters

7 Running the motor

8 Optimisation

9 SMARTCARD operation

10 Onboard PLC

11 Advanced parameters

12 Technical data

13 Diagnostics

14 UL listing information
Contents
Declaration of Conformity ....................6 5 Getting Started.................................... 61
5.1 Understanding the display .................................. 61
1 Safety Information .................................7 5.2 Keypad operation ............................................... 61
1.1 Warnings, Cautions and Notes .............................7 5.3 Menu structure ................................................... 62
1.2 Electrical safety - general warning ........................7 5.4 Menu 0 ............................................................... 63
1.3 System design and safety of personnel ................7 5.5 Advanced menus ............................................... 63
1.4 Environmental limits ..............................................7 5.6 Changing the operating mode ............................ 64
1.5 Compliance with regulations .................................7 5.7 Saving parameters ............................................. 64
1.6 Motor .....................................................................7 5.8 Restoring parameter defaults ............................. 64
1.7 Adjusting parameters ............................................7 5.9 Parameter access level and security ................. 65
5.10 Displaying parameters with non-default values
2 Product Information ..............................8 only ..................................................................... 66
2.1 Ratings ..................................................................8 5.11 Displaying destination parameters only ............. 66
2.2 Model number .....................................................10 5.12 Serial communications ....................................... 66
2.3 Operating modes .................................................10
2.4 Drive features ......................................................11 6 Basic parameters (Menu 0) ................ 67
2.5 Nameplate description ........................................12 6.1 Single line descriptions ...................................... 67
2.6 Options ................................................................12 6.2 Full descriptions ................................................. 72
2.7 Items supplied with the drive ...............................14
7 Running the motor .............................. 81
3 Mechanical Installation .......................16 7.1 Quick start Connections ..................................... 81
3.1 Safety information ...............................................16 7.2 Changing the operating mode ............................ 81
3.2 Planning the installation ......................................16 7.3 Quick Start commissioning ................................. 84
3.3 Terminal cover removal .......................................16 7.4 Quick start commissioning (CTSoft) ................... 87
3.4 Solutions Module fitting / removal .......................19 7.5 Setting up a feedback device ............................. 87
3.5 Mounting methods ...............................................20
3.6 Enclosure ............................................................24 8 Optimisation ........................................ 90
3.7 Cubicle design and drive ambient temperature ...26 8.1 Motor map parameters ....................................... 90
3.8 Heatsink fan operation ........................................26 8.2 Maximum motor rated current ............................ 97
3.9 IP Rating (Ingress Protection) .............................26 8.3 Current limits ...................................................... 97
3.10 External EMC filter .............................................28 8.4 Motor thermal protection .................................... 97
3.11 Heatsink mounted braking resistor ......................31 8.5 Switching frequency ........................................... 98
3.12 Electrical terminals ..............................................34 8.6 High speed operation ......................................... 98
3.13 Routine maintenance ..........................................35
9 SMARTCARD operation ................... 100
4 Electrical Installation ...........................36 9.1 Introduction ...................................................... 100
4.1 Power connections ..............................................36 9.2 Transferring data .............................................. 101
4.2 AC supply requirements ......................................38 9.3 Data block header information ......................... 102
4.3 Supplying the drive with DC / DC bus paralleling ..39 9.4 SMARTCARD parameters ............................... 102
4.4 24V back-up power supply input .........................39 9.5 SMARTCARD trips ........................................... 103
4.5 48V back-up power supply operation ..................39
4.6 Ratings ................................................................40 10 Onboard PLC ..................................... 105
4.7 Output circuit and motor protection .....................41 10.1 Onboard PLC and SYPTLite ............................ 105
4.8 Braking ................................................................43 10.2 Benefits ............................................................ 105
4.9 Ground leakage ...................................................44 10.3 Limitations ........................................................ 105
4.10 EMC (Electromagnetic compatibility) ..................45 10.4 Getting started .................................................. 106
4.11 Serial communications connections ....................52 10.5 Onboard PLC parameters ................................ 106
4.12 Control connections ............................................53 10.6 Onboard PLC trips ........................................... 107
4.13 Encoder connections ...........................................56 10.7 Onboard PLC and the SMARTCARD .............. 107
4.14 SECURE DISABLE .............................................59

4 Unidrive SP User Guide

www.controltechniques.com Issue Number: 7
11 Advanced parameters .......................108
11.1 Menu 1: Frequency / speed reference ..............112
11.2 Menu 2: Ramps .................................................116
11.3 Menu 3: Frequency slaving, speed feedback
and speed control .............................................119
11.4 Menu 4: Torque and current control ..................124
11.5 Menu 5: Motor control .......................................128
11.6 Menu 6: Sequencer and clock ..........................133
11.7 Menu 7: Analog I/O ...........................................135
11.8 Menu 8: Digital I/O ............................................138
11.9 Menu 9: Programmable logic, motorised pot
and binary sum .................................................142
11.10 Menu 10: Status and trips .................................145
11.11 Menu 11: General drive set-up .........................146
11.12 Menu 12: Threshold detectors, variable
selectors and brake control function .................147
11.13 Menu 13: Position control .................................152
11.14 Menu 14: User PID controller ............................158
11.15 Menus 15, 16 and 17: Solutions Module set-up .. 161
11.16 Menu 18: Application menu 1 ...........................175
11.17 Menu 19: Application menu 2 ...........................175
11.18 Menu 20: Application menu 3 ...........................175
11.19 Menu 21: Second motor parameters ................176
11.20 Menu 22: Additional Menu 0 set-up ..................177
11.21 Advanced features ............................................178

12 Technical Data ...................................186

12.1 Drive ..................................................................186
12.2 Optional external EMC filters ............................196

13 Diagnostics ........................................198
13.1 Trip indications ..................................................198
13.2 Alarm indications ...............................................211
13.3 Status indications ..............................................211
13.4 Displaying the trip history ..................................212

14 UL Listing Information ......................213

14.1 Common UL information ...................................213
14.2 Power dependant UL information .....................213
14.3 AC supply specification .....................................213
14.4 Maximum continuous output current .................213
14.5 Safety label .......................................................213
14.6 UL listed accessories ........................................213

List of figures ....................................214

List of tables ......................................216
Index ...................................................217

Unidrive SP User Guide 5

Issue Number: 7 www.controltechniques.com
Declaration of Conformity

Control Techniques Ltd

The Gro
Newtown
Powys
UK
SY16 3BE

SP1201 SP1202 SP1203 SP1204 These products comply with the Low Voltage Directive 73/23/EEC, the
Electromagnetic Compatibility (EMC) Directive 89/336/EEC and the CE
SP2201 SP2202 SP2203
Marking Directive 93/68/EEC.
SP3201 SP3202

SP1401 SP1402 SP1403 SP1404 SP1405 SP1406

SP2401 SP2402 SP2403
SP3401 SP3402 SP3403

SP3501 SP3502 SP3503 SP3504 SP3505 SP3506 SP3507 W. Drury

Executive Vice President, Technology
The AC variable speed drive products listed above have been designed Newtown
and manufactured in accordance with the following European
harmonised standards: Date: 20th December 2002
EN50178 Electronic equipment for use in power installations
These electronic drive products are intended to be used with
Adjustable speed electrical power drive systems.
appropriate motors, controllers, electrical protection components
EN61800-3 EMC product standard including specific test
and other equipment to form complete end products or systems.
methods
Compliance with safety and EMC regulations depends upon
Electromagnetic compatibility (EMC). Generic installing and configuring drives correctly, including using the
EN61000-6-2 standards. Immunity standard for industrial specified input filters. The drives must be installed only by
environments professional assemblers who are familiar with requirements for
safety and EMC. The assembler is responsible for ensuring that the
Electromagnetic compatibility (EMC). Generic end product or system complies with all the relevant laws in the
EN61000-6-4 standards. Emission standard for industrial country where it is to be used. Refer to this User Guide. An EMC
environments Data Sheet is also available giving detailed EMC information.

Electromagnetic compatibility. Generic emission

EN50081-2
standard. Industrial environment

Electromagnetic compatibility. Generic immunity

EN50082-2
standard. Industrial environment

Electromagnetic compatibility (EMC). Limits. Limits

EN61000-3-21 for harmonic current emissions (equipment input
current up to and including 16 A per phase)

Electromagnetic compatibility (EMC). Limits.

Limitation of voltage fluctuations and flicker in low-
EN61000-3-3
voltage supply systems for equipment with rated
current <= 16 A
1
These products are for professional use, and power input exceeds
1kW for all models, so no limits apply.

6 Unidrive SP User Guide

www.controltechniques.com Issue Number: 7
Safety Product Mechanical Electrical Getting Basic Running the Smartcard Onboard Advanced Technical UL Listing
Optimisation Diagnostics
Information Information Installation Installation Started Parameters motor operation PLC Parameters Data Information

1 Safety Information 1.4 Environmental limits

Instructions in this User Guide regarding transport, storage, installation
1.1 Warnings, Cautions and Notes and use of the drive must be complied with, including the specified
environmental limits. Drives must not be subjected to excessive physical
force.
A Warning contains information which is essential for
avoiding a safety hazard. 1.5 Compliance with regulations
WARNING 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
A Caution contains information which is necessary for must be given to the cross-sectional areas of conductors, the selection
avoiding a risk of damage to the product or other equipment. of fuses or other protection, and protective earth (ground) connections.
CAUTION This User Guide contains instruction for achieving compliance with
specific EMC standards.
NOTE Within the European Union, all machinery in which this product is used
A Note contains information which helps to ensure correct operation of must comply with the following directives:
the product. 98/37/EC: Safety of machinery.
89/336/EEC: Electromagnetic Compatibility.
1.2 Electrical safety - general warning
The voltages used in the drive can cause severe electrical shock and/or 1.6 Motor
burns, and could be lethal. Extreme care is necessary at all times when Ensure the motor is installed in accordance with the manufacturer’s
working with or adjacent to the drive. recommendations. Ensure the motor shaft is not exposed.
Specific warnings are given at the relevant places in this User Guide. 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
1.3 System design and safety of at speeds above its designed maximum, it is strongly recommended that
personnel the manufacturer is consulted first.
The drive is intended as a component for professional incorporation into Low speeds may cause the motor to overheat because the cooling fan
complete equipment or a system. If installed incorrectly, the drive may becomes less effective. The motor should be fitted with a protection
present a safety hazard. thermistor. If necessary, an electric forced vent fan should be used.
The drive uses high voltages and currents, carries a high level of stored The values of the motor parameters set in the drive affect the protection
electrical energy, and is used to control equipment which can cause of the motor. The default values in the drive should not be relied upon.
injury. It is essential that the correct value is entered in parameter 0.46 motor
Close attention is required to the electrical installation and the system rated current. This affects the thermal protection of the motor.
design to avoid hazards either in normal operation or in the event of
equipment malfunction. System design, installation, commissioning and 1.7 Adjusting parameters
maintenance must be carried out by personnel who have the necessary Some parameters have a profound effect on the operation of the drive.
training and experience. They must read this safety information and this They must not be altered without careful consideration of the impact on
User Guide carefully. the controlled system. Measures must be taken to prevent unwanted
The STOP and SECURE DISABLE functions of the drive do not isolate changes due to error or tampering.
dangerous voltages from the output of the drive or from any external
option unit. The supply must be disconnected by an approved electrical
isolation device before gaining access to the electrical connections.
With the sole exception of the SECURE DISABLE function, none of
the drive functions must be used to ensure safety of personnel, i.e.
they must not be used for safety-related functions.
Careful consideration must be given to the functions of the drive which
might result in a hazard, either through their intended behaviour or
through incorrect operation due to a fault. In any application where a
malfunction of the drive or its control system could lead to or allow
damage, loss or injury, a risk analysis must be carried out, and where
necessary, further measures taken to reduce the risk - for example, an
over-speed protection device in case of failure of the speed control, or a
fail-safe mechanical brake in case of loss of motor braking.
The SECURE DISABLE function has been approved1 as meeting the
requirements of EN954-1 category 3 for the prevention of unexpected
starting of the drive. It may be used in a safety-related application. The
system designer is responsible for ensuring that the complete
system is safe and designed correctly according to the relevant
safety standards.

1
Independent approval by BIA has been given for sizes 1 to 3.

Unidrive SP User Guide 7

Issue Number: 7 www.controltechniques.com
Safety Product Mechanical Electrical Getting Basic Running the Smartcard Onboard Advanced Technical UL Listing
Optimisation Diagnostics
Information Information Installation Installation Started Parameters motor operation PLC Parameters Data Information

2 Product Information
2.1 Ratings
The Unidrive SP is dual rated. Available output
current Overload limit -
The setting of the motor rated current determines which rating applies - Heavy Duty
Heavy Duty or Normal Duty. Maximum Overload limit -
The two ratings are compatible with motors designed to IEC60034. continuous Normal Duty
current (above
The graph aside illustrates the difference between Normal Duty and 50% base
Heavy Duty with respect to continuous current rating and short term speed) -
Normal Duty
overload limits.
Maximum
continuous
current -

on
Heavy Duty

gi
re
ad
rlo
veo
or
ot
M
Motor rated
current set
in the drive
Heavy Duty - with high Normal Duty
overload capability

Normal Duty Heavy Duty (default)

For applications which use self ventilated induction motors and require a For constant torque applications or applications which require a high
low overload capability (e.g. fans, pumps). overload capability (e.g. winders, hoists).
Self ventilated induction motors require increased protection against The thermal protection is set to protect force ventilated induction motors
overload due to the reduced cooling effect of the fan at low speed. To and permanent magnet servo motors by default.
provide the correct level of protection the I2t software operates at a level NOTE N
which is speed dependent. This is illustrated in the graph below. If the application uses a self ventilated motor and increased thermal
NOTE protection is required for speeds below 50% base speed, then this can
The speed at which the low speed protection takes effect can be be enabled by setting Pr 4.25 = 1.
changed by the setting of Pr 4.25. The protection starts when the motor
speed is below 15% of base speed when Pr 4.25 = 0 (default) and below
50% when Pr 4.25 = 1.
Operation of motor I2t protection (it.ac trip)
Motor I2t protection is fixed as shown below and is compatible with: Motor I2t protection defaults to be compatible with:
• Self ventilated induction motors • Forced ventilation induction motors
• Permanent magnet servo motors

Motor total Motor total

current (Pr 4.01) current (Pr 4.01)
as a percentage as a percentage
of motor rated 2
I t protection operates in this region of motor rated 2
I t protection operates in this region
current current

100% 100%

70% 70%
Max. permissible Max. permissible
continuous continuous
current current
Pr 4.25 = 0 Pr 4.25 = 0
Pr 4.25 = 1 Pr 4.25 = 1

15% 50% 100% Motor speed as a 50% 100% Motor speed as a

percentage of base speed percentage of base speed

Short term overload limits

The maximum percentage overload limit changes depending on the selected motor. Variations in motor rated current, motor power factor and motor
leakage inductance all result in changes in the maximum possible overload. The exact value for a specific motor can be calculated using the
equations detailed in section 8.3 Current limits on page 97.
Typical values are shown in the table below:
Operating mode Closed loop from cold Closed loop from 100% Open loop from cold Open loop from 100%
Normal Duty overload with motor rated current = drive rated current 110% for 215s 110% for 5s 110% for 215s 110% for 5s
Heavy Duty overload with motor rated current = drive rated current 175% for 40s 175% for 5s 150% for 60s 150% for 8s
Heavy Duty overload with a typical 4 pole motor 200% for 28s 200% for 3s 175% for 40s 175% for 5s
Generally the drive rated current is higher than the matching motor rated current allowing a higher level of overload than the default setting as
illustrated by the example of a typical 4 pole motor.
NOTE The maximum overload level which can be attained is independent of the speed.

8 Unidrive SP User Guide

Table 2-1 200V Drive ratings (200V to 240V ±10%)

Normal Duty Heavy Duty
Maximum Nominal Motor Maximum Nominal Motor
Model continuous power power continuous power power
output current at 220V at 230V output current at 220V at 230V
A kW hp A kW hp
1201 5.2 1.1 1.5 4.3 0.75 1.0
1202 6.8 1.5 2.0 5.8 1.1 1.5
1 1203 9.6 2.2 3.0 7.5 1.5 2.0
1204 11 3.0 3.0 10.6 2.2 3.0
2201 15.5 4.0 5.0 12.6 3.0 3.0
2202 22 5.5 7.5 17 4.0 5.0
2 2203 28 7.5 10 25 5.5 7.5

3201 42 11 15 31 7.5 10

3 3202 54 15 20 42 11 15

Table 2-2 400V Drive ratings (380V to 480V ±10%)

Normal Duty Heavy Duty
Maximum Nominal Motor Maximum Nominal Motor
Model continuous power power continuous power power
output current at 400V at 460V output current at 400V at 460V
A kW hp A kW hp
1401 2.8 1.1 1.5 2.1 0.75 1.0
1402 3.8 1.5 2.0 3.0 1.1 2.0
1403 5.0 2.2 3.0 4.2 1.5 3.0
1 1404 6.9 3.0 5.0 5.8 2.2 3.0
1405 8.8 4.0 5.0 7.6 3.0 5.0
1406 11 5.5 7.5 9.5 4.0 5.0
2401 15.3 7.5 10 13 5.5 10
2402 21 11 15 16.5 7.5 10
2 2403 29 15 20 25 11 20

3401 35 18.5 25 32 15 25
3402 43 22 30 40 18.5 30
3 3403 56 30 40 46 22 30

Table 2-3 575V Drive ratings (500V to 575V ±10%)

Normal Duty Heavy Duty
Maximum Nominal Motor Maximum Nominal Motor
Model continuous power power continuous power power
output current at 575V at 575V output current at 575V at 575V
A kW hp A kW hp
3501 5.4 3.0 3.0 4.1 2.2 2.0
3502 6.1 4.0 5.0 5.4 3.0 3.0
3503 8.4 5.5 7.5 6.1 4.0 5.0

3 3504
3505
11
16
7.5
11
10
15
9.5
12
5.5
7.5
7.5
10
3506 22 15 20 18 11 15
3507 27 18.5 25 22 15 20
The continuous current ratings given are for maximum 40°C (104°F), 1000m altitude and 3.0 kHz switching. Derating is required for higher switching
frequencies, ambient temperature >40°C (104°F) and high altitude. For further information, refer to section 12.1.1 Power and current ratings
(Derating for switching frequency and temperature) on page 186.

Unidrive SP User Guide 9

2.2 Model number 2.3.3 Servo

For use with permanent magnet brushless motors with a feedback
The way in which the model numbers for the Unidrive SP range are
device fitted.
formed is illustrated below.
The drive directly controls the speed of the motor using the feedback
SP 1 2 04 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
Model: Voltage ensure the output voltage is accurately matched to the back EMF of the
Unidrive SP rating: motor. Full torque is available all the way down to zero speed.
2 - 200V
4 - 400V 2.3.4 Regen
5 - 575V For use as a regenerative front end for four quadrant operation.
6 - 690V
Frame Regen operation allows bi-directional power flow to and from the AC
size: Indicates supply. This provides far greater efficiency levels in applications which
1 - Size 1 sub-rating would otherwise dissipate large amounts of energy in the form of heat in
2 - Size 2 within frame
3 - Size 3 a braking resistor.
size
4 - Size 4 The harmonic content of the input current is negligible due to the
5 - Size 5
6 - Size 6
sinusoidal nature of the waveform when compared to a conventional
bridge rectifier or thyristor front end.
See the Unidrive SP Regen User Guide for more information about
2.3 Operating modes operation in this mode.

The Unidrive SP is designed to operate in any of the following modes:

1. Open loop mode
Open loop vector
Fixed V/F mode (V/Hz)
Quadratic V/F mode (V/Hz)
2. Closed loop vector
3. Servo
4. Regen

2.3.1 Open loop mode

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 speed control 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.
Open loop vector mode
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 is available down to 1Hz for a 50Hz motor.
Fixed 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 can be used for multi-motor applications.
Typically 100% torque is available down to 4Hz for a 50Hz motor.
Quadratic V/F mode
The voltage applied to the motor is directly proportional to the square of
the frequency except at low speed where a voltage boost is provided
which is set by the user. This mode can be used for running fan or pump
applications with quadratic load characteristics or for multi-motor
applications. This mode is not suitable for applications requiring a high
starting torque.

2.3.2 Closed loop vector mode

For use with induction motors with a 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. Motor flux is
accurately controlled at all times to provide full torque all the way down
to zero speed.

10 Unidrive SP User Guide

2.4 Drive features

Figure 2-1 Features of the drive

SMARTCARD
slot

Approvals label
Keypad
connection Status LED

Serial port Rating label

connector
Solutions Module
slot 1

Solutions Module
slot 2

Solutions Module
slot 3

Control terminals

Encoder
Relay terminals
connection

±DC Bus / Braking / 48V connection / 48V connection /

48V connection (for ±DC Bus (High ±DC Bus (Low ±DC Bus (High ±DC Bus (Low
low voltage operation) current) / Braking current) current) / Braking current)

Internal Internal Internal

EMC EMC EMC
filter filter filter

1 2 3

AC supply / AC supply / AC supply /

motor motor motor
connections connections connections

Unidrive SP User Guide 11

2.5 Nameplate description

See Figure 2-1 Features of the drive for location of rating labels.
Figure 2-2 Typical drive rating lables

Rating label

Input voltage Input No. of Typical input

rating frequency phases current for
Normal Duty
I/P 200-240V 50-60Hz 3ph 6.6A rating
Model SP1201 S.No: 3000005001 Key to approvals
O/P 0-240V SP 1,5 TL 4.3 / 5.2A Serial
number
Output voltage CE approval Europe
Heavy Duty / Normal Duty
range rating output current
C Tick approval Australia
Approvals label
USA &
Model UL / cUL approval
R
Canada
Heavy Duty /
Please read manual before connecting. Normal Duty
SP1201 0.75 / 1.1kW power rating
Electric Shock Risk: Wait 10 min between
disconnecting supply & removing covers
IND.
CONT. R Approvals
SP 1,5 TL EQ.

Ser No: 3000005001 Made In U.K

Serial
number STDL25
Customer and
date code

2.6 Options
Figure 2-3 Options available with Unidrive SP

SMARTCARD*

Keypad

Internal braking
resistor (size 1
and 2 only)
Feedback Automation Fieldbus

External
footprint / CT Comms
bookcase cable
EMC filter

* A SMARTCARD is provided with the Unidrive SP as standard.

SMARTCARDs with pre-loaded application set-ups are available from
the supplier of the drive. Only one SMARTCARD can be fitted at any one
time. For further information, refer to Chapter 9 SMARTCARD
operation on page 100.

12 Unidrive SP User Guide

All Unidrive SP Solutions Modules are colour-coded in order to make identification easy. The following table shows the colour-code key and gives
further details on their function.
Table 2-4 Solutions Module identification
Type Solutions Module Colour Name Further Details
Universal Feedback interface
Feedback interface for the following devices:
Inputs Outputs
SM-Universal
Light Green • Incremental encoders • Quadrature
Encoder Plus • SinCos encoders • Frequency and direction
• SSI encoders • SSI simulated outputs
• EnDat encoders

Resolver interface
Feedback Light Blue SM-Resolver Feedback interface for resolvers.
Simulated quadrature encoder outputs

Incremental encoder interface

Feedback interface for incremental encoders without
Brown SM-Encoder Plus
commutation signals.
No simulated encoder outputs available
Drive encoder input converter
15-way D-type
N/A Provides screw terminal interface for encoder wiring and spade
converter
terminal for shield
Extended I/O interface
Increases the I/O capability by adding the following to the
existing I/O in the drive:
Yellow SM-I/O Plus
• digital inputs x 3 • analog output (voltage) x 1
• digital I/O x 3 • relay x 2
• analog inputs (voltage) x 2

Applications Processor (with CTNet)

Dark Green SM-Applications 2nd processor for running pre-defined and /or customer created
Automation application software with CTNet support

Applications Processor
White SM-Applications Lite 2nd processor for running pre-defined and /or customer created
application software

Motion Controller
Dark Blue SM-EZMotion 11/2 axis motion controller with processor for running customer
created application specific software.

Profibus option
Purple SM-PROFIBUS-DP PROFIBUS DP adapter for communications with the Unidrive
SP.

DeviceNet option
Medium Grey SM-DeviceNet
Devicenet adapter for communications with the Unidrive SP

Interbus option
Fieldbus Dark Grey SM-INTERBUS
Interbus adapter for communications with the Unidrive SP

CAN option
Pink SM-CAN
CAN adapter for communications with the Unidrive SP

CANopen option
Light Grey SM-CANopen
CANopen adapter for communications with the Unidrive SP

LED keypad option

N/A SM-Keypad
Keypad with a LED display
Keypad
LCD keypad option
N/A SM-Keypad Plus
Keypad with an alpha-numeric LCD display with Help function

Unidrive SP User Guide 13

2.7 Items supplied with the drive

The drive is supplied with a copy of the Unidrive SP User Guide, a
SMARTCARD, the safety booklet, the certificate of quality, an accessory
kit box including the items shown in Table 2-4 and a CD ROM containing
the following user guides:
• Unidrive SP User Guide (English, French, German, Italian, Spanish)
• Unidrive SP Advanced User Guide
• Solutions Module User Guides
Figure 2-4 Accessories supplied with size 1

Relay
connector Control connectors
Through panel
mounting gasket
Supply and motor
connector

DC terminal
cover gromets

Grounding clamp
CAUTION
Risk of Electric Shock
IP54 Power down unit 10minutes
gasket before removing cover
UL warning label

Grounding
bracket
Through-panel
Surface mounting brackets
mounting bracket

14 Unidrive SP User Guide

Figure 2-5 Accessories supplied with size 2

Relay
connector

Supply and motor

connector Control connectors
Through panel
mounting gasket

DC terminal
Ground cable cover grommets
Grounding clamp bridge

Ferrite ring IP54 insert

CAUTION
Risk of Electric Shock
Through-panel Power down unit 10minutes
before removing cover
mounting bracket
Grounding Surface mounting
bracket brackets UL warning label

Figure 2-6 Accessories supplied with size 3

Relay
connector Through panel
mounting gasket
Control connectors

Grounding DC terminal
clamp cover gromets

Ferrite
ring

CAUTION
Risk of Electric Shock
Power down unit 10minutes
Grounding before removing cover
bracket Surface mounting
brackets UL warning label

Unidrive SP User Guide 15

3 Mechanical Installation 3.2.6 Electromagnetic compatibility

Variable speed drives are powerful electronic circuits which can cause
This chapter describes how to use all mechanical features to install the electromagnetic interference if not installed correctly with careful
drive. Key features of this chapter include: attention to the layout of the wiring.

• Through-hole mounting Some simple routine precautions can prevent disturbance to typical
• IP54 as standard industrial control equipment.
• Enclosure sizing and layout If it is necessary to meet strict emission limits, or if it is known that
• Solutions Module fitting electromagnetically sensitive equipment is located nearby, then full
• Terminal location and torque settings precautions must be observed. In-built into the drive, is an internal EMC
filter, which reduces emissions under certain conditions. If these
3.1 Safety information conditions are exceeded, then the use of an external EMC filter may be
required at the drive inputs, which must be located very close to the
Follow the instructions drives. Space must be made available for the filters and allowance made
The mechanical and electrical installation instructions must for carefully segregated wiring. Both levels of precautions are covered in
be adhered to. Any questions or doubt should be referred to section 4.10 EMC (Electromagnetic compatibility) on page 45.
the supplier of the equipment. It is the responsibility of the
WARNING owner or user to ensure that the installation of the drive and 3.2.7 Hazardous areas
any external option unit, and the way in which they are The drive must not be located in a classified hazardous area unless it is
operated and maintained, comply with the requirements of installed in an approved enclosure and the installation is certified.
the Health and Safety at Work Act in the United Kingdom or
applicable legislation and regulations and codes of practice in 3.3 Terminal cover removal
the country in which the equipment is used.
Isolation device
Competence of the installer The AC supply must be disconnected from the drive using an
The drive must be installed by professional assemblers who approved isolation device before any cover is removed from
are familiar with the requirements for safety and EMC. The the drive or before any servicing work is performed.
WARNING
assembler is responsible for ensuring that the end product or
WARNING system complies with all the relevant laws in the country
Stored charge
where it is to be used.
The drive contains capacitors that remain charged to a
potentially lethal voltage after the AC supply has been
3.2 Planning the installation disconnected. If the drive has been energised, the AC
The following considerations must be made when planning the WARNING supply must be isolated at least ten minutes before work
installation: may continue.
3.2.1 Access Normally, the capacitors are discharged by an internal
Access must be restricted to authorised personnel only. Safety resistor. Under certain, unusual fault conditions, it is possible
regulations which apply at the place of use must be complied with. that the capacitors may fail to discharge, or be prevented
from being discharged by a voltage applied to the output
The IP (Ingress Protection) rating of the drive is installation dependent.
terminals. If the drive has failed in a manner that causes the
For further information, please refer to section 3.9 IP Rating (Ingress
display to go blank immediately, it is possible the capacitors
Protection) on page 26.
will not be discharged. In this case, consult Control
3.2.2 Environmental protection Techniques or their authorised distributor.
The drive must be protected from:
• moisture, including dripping water or spraying water and
3.3.1 Removing the terminal covers
condensation. An anti-condensation heater may be required, which Unidrive SP size 1 is fitted with two terminal covers: Main and 48V / DC
must be switched off when the drive is running. terminal covers.
• contamination with electrically conductive material Unidrive SP size 2 is fitted with three terminal covers: Main, 48V / DC
• contamination with any form of dust which may restrict the fan, or and DC terminal covers.
impair airflow over various components Unidrive SP size 3 is fitted with four terminal covers: Main, 48V / DC, DC
• temperature beyond the specified operating and storage ranges and AC terminal covers.
3.2.3 Cooling When the drive is through-panel mounted the main, and AC for size 3,
The heat produced by the drive must be removed without its specified terminal cover must be removed in order to provide access to the
operating temperature being exceeded. Note that a sealed enclosure mounting holes. Once the drive has been mounted, the terminal cover
gives much reduced cooling compared with a ventilated one, and may can be replaced.
need to be larger and/or use internal air circulating fans. Figure 3-1 Location and identification of terminal covers
For further information, please refer to section 3.6.2 Enclosure sizing on 48V / DC DC 48V / DC DC 48V / DC
page 24.
3.2.4 Electrical safety
The installation must be safe under normal and fault conditions.
Electrical installation instructions are given in Chapter 4 Electrical
Installation on page 36.
3.2.5 Fire protection
The drive enclosure is not classified as a fire enclosure. A separate fire
enclosure must be provided.

Main Main AC Main

16 Unidrive SP User Guide

Figure 3-2 Removing the size 1 terminal covers

Pozi Pz2
Flat 5mm

Figure 3-3 Removing the size 2 terminal covers

Pozi Pz2
Flat 5mm

Figure 3-4 Removing the size 3 terminal covers

Pozi Pz2
Flat 5mm

To remove a terminal cover, undo the screw and lift the terminal cover off When replacing the terminal covers the screws should be tightened with
as shown in the diagrams above. The main terminal cover must be a maximum torque of 1 N m (0.7 lb ft).
removed first before the 48V/DC terminal cover can be removed.

Unidrive SP User Guide 17

3.3.2 Removing the finger-guard and 48V / DC

terminal cover break-outs
Figure 3-5 Removing the finger-guard break-outs Figure 3-6 Removing the 48V / DC terminal cover break-outs

1 2
1

2
All sizes

All sizes

1 2
1 2

Size 2
Size 3 only
only

Place finger-guard on a flat solid surface and hit relevant break-outs with Grasp the 48V / DC terminal cover break-outs with pliers as shown (1)
hammer as shown (1). Continue until all required break-outs are and twist to remove. Continue until all required break-outs are removed
removed (2). Remove any flash / sharp edges once the break-outs are (2).
removed. Remove any flash / sharp edges once the break-outs are removed. Use
the 48V / DC terminal cover grommets supplied in the accessory box
(Table 2-4 on page 14) to maintain the seal at the top of the drive.

18 Unidrive SP User Guide

3.4 Solutions Module fitting / removal

Power down the drive before fitting / removing the Solutions

Module. Failure to do so may result in damage to the product.
CAUTION

Figure 3-7 Fitting and removal of a Solutions Module

Fitting Solutions Module Removing Solutions Module Three Solutions Modules fitted

Solutions Module
B
in slot 1
A Solutions Module
in slot 2
Solutions Module
in slot 3
A

To fit the Solutions Module, press down in the direction shown above The drive has the facility for all three Solutions Module slots to be used
until it clicks into place. at the same time, as illustrated.
To remove the Solutions Module, press inwards at the points shown (A) NOTE N
and pull in the direction shown (B). It is recommended that the Solutions Module slots are used in the
following order: slot 3, slot 2 and slot 1.
Figure 3-8 Fitting and removal of a keypad

Fitting keypad Removing keypad

To fit, align the keypad and press gently in the direction shown until it NOTE N
clicks into position.
The keypad can be fitted / removed whilst the drive is powered up and
To remove, whilst pressing the tabs inwards (A), gently lift the keypad in running a motor, providing that the drive is not operating in keypad
the direction indicated (B). mode.

Unidrive SP User Guide 19

3.5 Mounting methods

Unidrive SP can be either surface or through-panel mounted using the
appropriate brackets.
The following drawings show the dimensions of the drive and mounting
holes for each method to allow a back plate to be prepared.

If the drive has been used at high load levels for a period of
time, the heatsink can reach temperatures in excess of 70°C
(158°F). Human contact with the heatsink should be
WARNING
prevented.

3.5.1 Surface mounting

Figure 3-9 Surface mounting the size 1 drive

100mm 219mm
(3.937in) (8.622in)
40.0±5.0mm
(1.575±0.197in)
∅ 6.5mm
(0.256in)

30.0mm
(1.181in)

368mm 386mm
370.0±1.0mm
(14.488in) (15.197in)
(14.567±0.039in)

∅ 6.5mm
(0.256in)

20 Unidrive SP User Guide

Figure 3-10 Surface mounting the size 2 drive

219mm
155mm (8.622in)
(6.102in)

106±1.0mm
4.173±0.039in
∅ 6.5mm
(0.256in)

24.5mm
(0.965in)

368mm
(14.488in) 337.5±1.0mm
371.6mm
(14.630in) (13.287±0.039in)

21mm (0.827in)
∅ 6.5mm
(0.256in)

Figure 3-11 Surface mounting the size 3 drive

250mm (9.843in) 260mm (10.236in)

106±1.0mm
(4.173±0.039in) ∅6.5mm
(0.256in)

97mm 47mm
(3.819in) (1.850in)

368mm
(14.488in) 327±1.0mm
361mm
(14.213in) (12.874±0.039in)

21mm (0.827in)

∅6.5mm
(0.256in)

Unidrive SP User Guide 21

3.5.2 Through-panel mounting

When the drive is through-panel mounted, the main terminal cover(s)
must be removed in order to provide access to the mounting holes. Once
the drive has been mounted, the terminal cover(s) can be replaced.
Figure 3-12 Through-panel mounting the size 1 drive

219mm (8.622in)

100mm 139mm (5.472in)

(3.973in) 70.0±0.3mm
∅ 6.5mm
(2.756±0.012in)
(0.256in)

35.0±0.15mm
(1.378±0.006in)
15.6±0.5mm
93.0±0.5mm (0.614±0.020in)
(3.661±0.020in)

391mm 342mm 343.0±0.5mm 368.0±1.0mm

368mm (15.394in) (13.465in) (13.504±0.020in) (14.488±0.039in)
(14.488in)

∅ 6.5mm 9.4±0.75mm
(0.256in) (0.370±0.030in)

80mm
(3.150in)

Figure 3-13 Through-panel mounting the size 2 drive

219mm (8.622in)
155mm (6.102in) 80mm 70±0.3mm
139mm (5.472in) (3.150in) (2.756±0.012in)

35.0±0.15mm ∅6.5mm
(1.378±0.006in) (0.256in)

64.6±0.5mm
(2.543±0.020in)

148±0.5mm
(5.827±0.020in)

391mm 368.0±1.0mm
368mm (15.394in) (14.488±0.039in)
(14.488in) 293mm 294±0.5mm
(11.535in)
(11.575±0.020in)

9.3±0.5mm
(0.366±0.020in) ∅6.5mm
(0.256in)
101.5±0.5mm
(3.996±0.020in)

22 Unidrive SP User Guide

Figure 3-14 Through-panel mounting the size 3 drive

260mm (10.236in)

250mm(9.843in) 140mm (5.512in) 120mm (4.724in)

∅6.5mm
(0.256in)
56±0.5mm
(2.205±0.020in)

236±0.5mm
(9.291±0.020in)

368mm
(14.488in)
283mm
(11.142in) 287±0.5mm
(11.299±0.020in)

8±0.3mm
(0.315±0.012in)

∅6.5mm
(0.256in)

NOTE N
In order to achieve IP54 rating (NEMA 12) for through-panel mounting,
an IP54 insert must be fitted (size 1 and 2). Additionally, the gasket
provided should be fitted between the drive and the backplate to ensure
a good seal for the cubicle. If the heatsink mounted braking resistor is to
be used with the drive through-panel mounted, please refer to section
3.11 Heatsink mounted braking resistor on page 31 prior to mounting the
drive. For further information refer to section 3.9 IP Rating (Ingress
Protection) on page 26.
Table 3-1 Mounting brackets

Model Hole
Surface Through-panel
size size

6.5mm
1
(0.256in)
x2 x1

6.5mm
2
(0.256in)
x2
x1

6.5mm
3
(0.256in)
x2

Unidrive SP User Guide 23

3.6 Enclosure
3.6.1 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 3-15 Enclosure layout

Optional braking resistor and overload Locate optional braking

resistor and overload
external to cubicle
Locate
Locateasas (preferably near to or
required
required on top of the cubicle).

Enclosure
AC supply ≥100mm
contactor and (4in)
fuses or MCB

Ensure minimum clearances

are maintained for the drive A Size 1: ≥0mm (0in)
and external EMC filter. Forced Size 2: ≥30mm (1.181in)
or convection air-flow must not Size 3: ≥30mm (1.181in)
be restricted by any object or
cabling

A A

The external EMC filter can be

bookcase mounted (next to the Note
drive) or footprint mounted (with For EMC compliance:
the drive mounted onto the filter). 1) When using an external EMC
filter, one filter is required for
each drive
2) Power cabling must be at
least 100mm (4in) from the
≥100mm drive in all directions
(4in)
External
controller

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

3.6.2 Enclosure sizing

1. Add the dissipation figures from section 12.1.2 Power dissipation on
page 189 for each drive that is to be installed in the enclosure.
2. If an external EMC filter is to be used with each drive, add the
dissipation figures from section 12.2.1 EMC filter ratings on
page 196 for each external EMC 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 from 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.

24 Unidrive SP User Guide

Calculating the size of a sealed enclosure The minimum required heat conducting area is then:
The enclosure transfers internally generated heat into the surrounding
air by natural convection (or external forced air flow); the greater the 312.4
A e = ---------------------------------
surface area of the enclosure walls, the better is the dissipation 5.5 ( 40 – 30 )
capability. Only the surfaces of the enclosure that are unobstructed (not
in contact with a wall or floor) can dissipate heat. =5.68 m2 (61.9 ft2) (1 m2 = 10.9 ft2)
Calculate the minimum required unobstructed surface area Ae for the Estimate two of the enclosure dimensions - the height (H) and depth (D),
enclosure from: for instance. Calculate the width (W) from:

P A e – 2HD
A e = ----------------------------------- W = --------------------------
k ( T int – T ext ) H+D
Where: Inserting H = 2m and D = 0.6m, obtain the minimum width:
Ae 2 2 2
Unobstructed surface area in m (1 m = 10.9 ft ) 5.68 – ( 2 × 2 × 0.6 )
W = --------------------------------------------------
T
Maximum expected temperature in oC outside the 2 + 0.6
ext
enclosure =1.262 m (49.7 in)
Tint Maximum permissible temperature in oC inside the If the enclosure is too large for the space available, it can be made
enclosure smaller only by attending to one or all of the following:
P Power in Watts dissipated by all heat sources in the • Using a lower PWM switching frequency to reduce the dissipation in
enclosure the drives
k Heat transmission coefficient of the enclosure material • Reducing the ambient temperature outside the enclosure, and/or
in W/m2/oC applying forced-air cooling to the outside of the enclosure
Example • Reducing the number of drives in the enclosure
To calculate the size of an enclosure for the following: • Removing other heat-generating equipment
• Two SP 1406 models operating at the Normal Duty rating Calculating the air-flow in a ventilated enclosure
• Each drive to operate at 6kHz PWM switching frequency The dimensions of the enclosure are required only for accommodating
• Schaffner 16 A (4200-6119) external EMC filter for each drive the equipment. The equipment is cooled by the forced air flow.
• Braking resistors are to be mounted outside the enclosure
• Maximum ambient temperature inside the enclosure: 40°C Calculate the minimum required volume of ventilating air from:
• Maximum ambient temperature outside the enclosure: 30°C 3kP
V = ---------------------------
Dissipation of each drive: 147 W (see section 12.1.2 Power T int – T ext
dissipation on page 189)
Where:
Dissipation of each external EMC filter: 9.2 W (max) (see section
12.2.1 EMC filter ratings on page 196) V Air-flow in m3 per hour (1 m3/hr = 0.59 ft3/min)
Total dissipation: 2 x (147 + 9.2) =312.4 W Text Maximum expected temperature in °C outside the
enclosure
The enclosure is to be made from painted 2 mm (0.079 in) sheet steel
Tint Maximum permissible temperature in °C inside the
having a heat transmission coefficient of 5.5 W/m2/oC. Only the top,
enclosure
front, and two sides of the enclosure are free to dissipate heat.
P Power in Watts dissipated by all heat sources in the
The value of 5.5 W/m2/ºC can generally be used with a sheet steel enclosure
cubicle (exact values can be obtained by the supplier of the material). If Po
in any doubt, allow for a greater margin in the temperature rise. k Ratio of -------
Pl
Figure 3-16 Enclosure having front, sides and top panels free to Where:
dissipate heat 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:
H • Three SP1403 models operating at the Normal Duty rating
• Each drive to operate at 6kHz PWM switching frequency
• Schaffner 10A (4200-6118) external EMC filter for each drive
• Braking resistors are to be mounted outside the enclosure
• Maximum ambient temperature inside the enclosure: 40°C
• Maximum ambient temperature outside the enclosure: 30°C
Dissipation of each drive: 61 W
D
Dissipation of each external EMC filter: 6.9 W (max)
W
Total dissipation: 3 x (61 + 6.9) = 203.7 W
Insert the following values:
Insert the following values:
Tint 40°C
Tint 40°C Text 30°C
Text 30°C k 1.3
k 5.5 P 203.7 W
P 312.4 W

Unidrive SP User Guide 25

Then: Figure 3-17 Example of IP54 (NEMA 12) rating layout

3 × 1.3 × 203.7 IP54 (NEMA 12)

V = ---------------------------------------
40 – 30 enclosure

= 79.4 m3/hr (46.9 ft3 /min) (1 m3/ hr = 0.59 ft3/min)

IP20
3.7 Cubicle design and drive ambient (NEMA1)

temperature
Drive derating is required for operation in high ambient temperatures
Totally enclosing or through panel mounting the drive in either a sealed
cabinet (no airflow) or in a well ventilated cabinet makes a significant
difference on drive cooling. Drive with
IP54 insert
The chosen method affects the ambient temperature value (Trate) which and IP54
should be used for any necessary derating to ensure sufficient cooling fan fitted
for the whole of the drive.
The ambient temperature for the four different combinations is defined
below:
1. Totally enclosed with no air flow (<2 m/s) over the drive
Trate = Tint + 5°C
Gasket
2. Totally enclosed with air flow (>2 m/s) over the drive seal
Trate = Tint
3. Through panel mounted with no airflow (<2 m/s) over the drive
Trate = the greater of Text +5°C, or Tint
4. Through panel mounted with air flow (>2 m/s) over the drive
Trate = the greater of Text or Tint
Where: In order to achieve the high IP rating at the rear of the heatsink with
Text = Temperature outside the cabinet Unidrive SP size 1 and 2, it is necessary to seal a heatsink vent by fitting
Tint = Temperature inside the cabinet the IP54 insert as shown in Figure 3-18.
Trate = Temperature used to select current rating from tables in For increased fan lifetime in a dirty environment the heatsink fan must be
Chapter 12 Technical Data . replaced with an IP54 rated fan. Contact the supplier of the drive for
details. If the standard fan is used in a dirty/dusty environment, reduced
3.8 Heatsink fan operation fan lifetime will result. Regular cleaning of the fan and heatsink is
The Unidrive SP is ventilated by an internal heatsink mounted fan. The recommended in this environment.
fan housing forms a baffle plate, channelling the air through the heatsink The guidelines in Table 3-2 should be followed.
chamber. Thus, regardless of mounting method (surface mounting or Table 3-2 Environment considerations
through-panel mounting), the fitting of additional baffle plates is not
required. IP54
Environment Fan Comments
Insert
Ensure the minimum clearances around the drive are maintained to
allow air to flow freely. Not
Clean Standard
fitted
The heatsink fan on Unidrive SP size 1 and 2 is a dual speed fan and on
size 3 it is a variable speed fan. The drive controls the speed at which Dry, dusty Regular cleaning
the fan runs based on the temperature of the heatsink and the drive's (non- Fitted Standard recommended. Fan lifetime
thermal model system. The Unidrive SP size 3 is also fitted with single conductive) may be reduced.
speed fan to ventilate the capacitor bank. Regular cleaning
Dry, dusty Standard
Fitted recommended. Fan lifetime
3.9 IP Rating (Ingress Protection) (conductive) / IP54
may be reduced.
An explanation of IP Rating is provided in section 12.1.9 IP Rating IP54 Regular cleaning
Fitted IP54
(Ingress Protection) on page 191. compliance recommended.
The Unidrive SP is rated to IP20 pollution degree 2 (dry, non-conductive
contamination only) (NEMA 1). However, it is possible to configure the
A current derating must be applied to the drive if the IP54
drive to achieve IP54 rating (NEMA 12) at the rear of the heatsink for
insert and/or IP54 rated fan are fitted. Derating information is
through-panel mounting (some current derating is required).
provided in section 12.1.1 Power and current ratings
This allows the front of the drive, along with various switchgear, to be (Derating for switching frequency and temperature) on
housed in an IP54 (NEMA 12) enclosure with the heatsink protruding CAUTION
page 186.
through the panel to the external environment. Thus, the majority of the
Failure to do so may result in nuisance tripping.
heat generated by the drive is dissipated outside the enclosure
maintaining a reduced temperature inside the enclosure. This also relies
on a good seal being made between the heatsink and the backplate
NOTE N
using the gasket provided. When designing an IP54 (NEMA 12) cubicle, consideration should be
made to the dissipation from the front of the drive.
For the Unidrive SP size 1, this is ≤50W.
For the Unidrive SP size 2, this is ≤75W.
For the Unidrive SP size 3, this is ≤100W.

26 Unidrive SP User Guide

Figure 3-18 Fitting of IP54 insert for size 1 Figure 3-19 Fitting of IP54 insert for size 2

3
3
Remove metal clip (1). 2
1 2 Push tab in the direction
shown (2) and lift hinged
baffle as shown (3)
1

Push plastic tabs in the

direction shown (1).
Push tab in the direction
shown (2), and lift hinged
4 baffle as shown (3).
5
IP54 insert
Remove IP54 insert from
IP54 insert hinged baffle by releasing
gasket clip (4).
6 Rotate the IP54 insert 4
7 o
through 180 so that the
flat side faces away from
the fan (5).
Remove the backing from
the IP54 insert gasket and 5
stick it into the recess of
the IP54 insert (6). (The
gasket can be found in
the accessories box.)
Lower IP54 insert into
position as shown (7).

Take IP54 insert from

the accessories box (4).
Lower the IP54 insert into
8 9 the ventilation hole in the
Close hinged baffle (8)
heatsink (5).
and click into position.
Replace metal clip (9).

In order to remove the IP54 insert, repeat steps (1), (2) and (3), reverse
steps (7), (6), (5) and (4) and repeat steps (8) and (9).
Close hinged baffle (6)
and click into position,
ensuring tabs locate
correctly.

In order to remove the IP54 insert, repeat steps (1) (2) and (3), reverse
steps (5) and (4) and repeat step (6).

Unidrive SP User Guide 27

3.10 External EMC filter

In order to provide our customers with a degree of flexibility, external EMC filters have been sourced from two manufacturers: Schaffner & Epcos.
Filter details for each drive rating are provided in the tables below. Both the Schaffner and Epcos filters meet the same specifications.
Table 3-3 Drive EMC filter details

Schaffner Epcos
Drive
CT part no. Weight CT part no. Weight
SP1201
4200-6118 4200-6121
SP1202 1.4 kg 2.1 kg
SP1203 (3.1 lb) (4.6 lb)
4200-6119 4200-6120
SP1204
SP1401
SP1402
4200-6118 4200-6121
SP1403 1.4 kg 2.1 kg
SP1404 (3.1 lb) (4.6 lb)
SP1405
4200-6119 4200-6120
SP1406
SP2201
2.0 kg 3.3 kg
SP2202 4200-6210 4200-6211
(4.4 lb) (7.3 lb)
SP2203
SP2401
2.0 kg 3.3 kg
SP2402 4200-6210 4200-6211
(4.4 lb) (7.3 lb)
SP2403
SP3201 3.5 kg 5.1 kg
4200-6307 4200-6306
SP3202 (7.7 lb) (11.2 lb)
SP3401
SP3402 4200-6305 4200-6306
SP3403
SP3501
SP3502 3.5 kg 5.1 kg
SP3503 (7.7 lb) (11.2 lb)
SP3504 4200-6309 4200-6308
SP3505
SP3506
SP3507

The external EMC filters can be footprint or bookcase mounted. See

Figure 3-20 and Figure 3-21.
Mount the external EMC filter following the guidelines in section
4.10.5 Compliance with generic emission standards on page 49.
Figure 3-20 Footprint mounting the EMC filter Figure 3-21 Bookcase mounting the EMC filter

28 Unidrive SP User Guide

Figure 3-22 Size 1 external EMC filter

A
Y
Z

L3
X

L2
W C X
V

L1
Y Z
Cable size:
2
B 2.5mm
14AWG
H

D Y Z

V: Ground stud: M5
X: M6 threaded holes for footprint mounting of the drive
Y: Footprint mounting holes ∅6.5mm (0.256in)
Z: Bookcase mounting holes ∅6.5mm (0.256in)
All filter mounting holes are suitable for M6 fasteners.

CT Part Number Manufacturer A B C D H W

4200-6118 440 mm
Schaffner
4200-6119 390 mm 423 mm 74 mm 45 mm (17.323 in) 100 mm
4200-6121 (15.354 in) (16.654 in) (2.913 in) (1.772 in) 450 mm (3.937 in)
Epcos
4200-6120 (17.717 in)

Figure 3-23 Size 2 external EMC filter

Z
Y
L3

L1'
W C X
L2

L2'
L3'
L1

Cable size:
Y V 4mm
2

Z 10AWG

D E Y Z

V: Ground stud: M5
X: M6 threaded holes for footprint mounting of the drive
Y: Footprint mounting holes ∅6.5mm (0.256in)
Z: Bookcase mounting slots 6.5mm (0.256in) wide

All filter mounting holes are suitable for M6 fasteners.

CT part no. Manufacturer A B C D E H W

428.5 mm
4200-6210 Schaffner
371.5 mm 404.5 mm 125 mm 55 mm 30 mm (16.870 in) 155 mm
(14.626 in) (15.925 in) (4.921 in) (2.165 in) (1.181 in) 431.5 mm (6.102 in)
4200-6211 Epcos
(16.988 in)

Unidrive SP User Guide 29

Figure 3-24 Size 3 external EMC filter

Z
Y

X X

W C

Cable size:
16mm2
Y 6AWG
Z

D E Z

V: Ground stud: M6
X: M6 threaded holes for footprint mounting of the drive
Y: Footprint mounting holes ∅6.5mm (0.256in)
Z: Bookcase mounting slots 6.5mm (0.256in) wide

CT part no. Manufacturer A B C D E H W

4200-6305
361 mm 414 mm
4200-6307 Schaffner
(14.213 in) 396 mm 210 mm 60 mm 30 mm (16.299 in) 250 mm
4200-6309
(15.591 in) (8.268 in) (2.362 in) (1.181 in) (9.843 in)
4200-6306 365 mm 425 mm
Epcos
4200-6308 (14.370 in) (16.732 in)

30 Unidrive SP User Guide

3.11 Heatsink mounted braking resistor

If the drive has been used at high load levels for a period of time, the heatsink and heatsink mounted braking resistor can reach
temperatures in excess of 70°C (158°F). Human contact with the heatsink and heatsink mounted braking resistor should be prevented.
WARNING

To avoid the risk of fire when the drive is surface mounted with the braking resistor fitted, the back plate should be a non-flammable
material.
WARNING

The Unidrive SP size 1and 2 have been designed with an optional space-saving heatsink mounted resistor. The resistor can be fitted within the
heatsink fins of the drive. When the heatsink mounted resistor is used, an external thermal protection device is not required as the resistor is
designed such that it will fail safely under fault conditions. The in-built software overload protection is set up at default to protect the resistor. The
resistor is rated to IP40 (NEMA1).
If the drive is to be through-panel mounted with the heatsink mounted brake resistor fitted, then the aperture in the panel through which the drive is
mounted must be modified as shown in Figure 3-25 and Figure 3-26. This is in order to allow for the braking resistor cables and grommets.

Figure 3-25 Through-panel mounting cut-out details for size 1 Figure 3-26 Through-panel mounting cut-out details for size 2

60mm 115mm
(2.362in) (4.528in)
∅15.0mm
∅15.0mm (0.591in)
(0.591in)
15.6mm
66mm ∅6.5mm
(0.614in)
∅6.5mm (2.598in) (0.256in)
(0.256in)

93mm
(3.661in)

148mm
(5.827in)

The part numbers for the resistor kits are as follows: Each kit contains the following:
Size 1: 1220-2757-00 • A braking resistor assembly
Size 2: 1220-2759-01 • A through-panel grommet
• An installation sheet
• A wire clip (Size 2 only)
3.11.1 Size 1 braking resistor fitting instructions
Figure 3-27 Fitting the heatsink mounted braking resistor on size 1
• Remove both terminal covers as detailed in section 3.3.1 Removing
the terminal covers on page 16.
• Remove the two break-outs that line-up with the BR and +DC
terminal connections as detailed in section 3.3.2 Removing the
finger-guard and 48V / DC terminal cover break-outs on page 18.
• Fit the braking resistor to the heatsink as shown in Figure 3-27. The
resistor is fitted with captive screws.
• The screws should be tightened to a maximum torque of 2 N m (1.5
lb ft).
• Ensure the cables are routed between the fins of the heatsink, and
that the cables are not trapped between heatsink fins and the
resistor.

Figure 3-28 Connecting the brake resistor on a surface mounted size 1

• Fit the 48V/DC terminal cover grommets supplied in the accessory
box with the drive, to the cables. To ensure a good seal, the
grommets are a tight fit. Lubrication may be required to help fit the
grommets to the cables.
• Terminate the cables with suitable crimps and connect to the BR and
+DC terminals. Tighten the screw terminals to a maximum torque of
1.5 Nm (1.1 lb ft).
• Replace both terminal covers.

Unidrive SP User Guide 31

Figure 3-29 Connecting the brake resistor on a through-panel mounted size 1

• See Figure 3-25 for through-panel mounting cut-out details.
• Pass the cables through the hole in the panel and fit the through-
panel grommet.
• Fit the through-panel mounting bracket.
• Fit the 48V/DC terminal cover grommets supplied in the accessory
box with the drive, to the cables. To ensure a good seal, the
grommets are a tight fit. Lubrication may be required to help fit the
grommets to the cables.
• Terminate the cables with suitable crimps and connect to the BR and
+DC terminals. Tighten the screw terminals to a maximum torque of
1.5 Nm (1.1 lb ft).
• Replace both terminal covers.

3.11.2 Size 2 braking resistor fitting instructions

Figure 3-30 Removing the baffle plate on a size 2
3 • Remove the DC cover as detailed in section 3.3.1 Removing the
2 terminal covers on page 16.
• Remove the two break-outs that line-up with the BR and +DC
terminal connections as detailed in section 3.3.2 Removing the
1
finger-guard and 48V / DC terminal cover break-outs on page 18.
• Lift the hinged fan baffle by pushing plastic tabs in the direction
shown (1). Push tab in the direction shown (2), and lift the baffle as
1
shown (3).
• Remove the metal heatsink baffle plate by removing the two screws.
These two screws are no longer required.

Figure 3-31 Modifying the fan baffle on a size 2

• Remove 5mm (0.197in) from the length of the clip on the plastic fan
Remove 5mm
(0.197in) from baffle.
the length
of this clip

Figure 3-32 Fitting the heatsink mounted braking resistor on a size 2

• Fit clip to heatsink in the position shown in diagram opposite. Route
the long cables of the resistor assembly between the fins of the
Route the cables
between these
heatsink as shown in Figure 3-32.
two heatsink fins • Fit the heatsink baffle plate in place with the cables routed
underneath. Ensure the cables are not trapped between a heatsink
fin and the baffle plate.
• Fit the braking resistors to the heatsink. The resistors are fitted with
captive screws.
• The screws should be tightened to a maximum torque of 2.0 N m
(1.5 lb ft).
• Close the hinged fan baffle.
• Fit cables to heatsink clip.

32 Unidrive SP User Guide

Figure 3-33 Connecting the brake resistor on a surface mounted size 2

• Fit the DC terminal cover grommets supplied in the accessory box
with the drive, to the cables. To ensure a good seal, the grommets
are a tight fit. Lubrication may be required to help fit the grommets to
the cables.
• Terminate the cables with suitable crimps and connect to the BR and
DC2 terminals.
• Replace the terminal cover.

Figure 3-34 Connecting the brake resistor on a through-panel mounted size 2

• See Figure 3-26 for through-panel mounting cut-out details.
• Pass the cables through the hole in the panel and fit the hole
grommet.
• Fit the mounting bracket.
• Fit the DC terminal cover grommets supplied in the accessory box
with the drive, to the cables. To ensure a good seal, the grommets
are a tight fit. Lubrication may be required to help fit the grommets to
the cables.
• Terminate the cables with suitable crimps and connect to the BR and
DC2 terminals.
• Replace the terminal cover.

3.11.3 Braking resistor overload protection parameter settings

Failure to observe the following information may damage the resistor.
The Unidrive SP software contains an overload protection function for a braking resistor. On Unidrive SP size 1 and 2 this function is
enabled at default to protect the heatsink mounted resistor. This function is also enabled on Unidrive SP size 3 in case a low power
CAUTION
resistor is connected to the drive. Below are the parameter settings.
Parameter 200V drive 400V drive 575V and 690V drives
Full power braking time Pr 10.30 0.09 0.02 0.01
Full power braking period Pr 10.31 2.0

For more information on the braking resistor software overload protection, see the Unidrive SP Advanced User Guide.
If the heatsink mounted braking resistor is to be used at more than half of its average power rating then the drive's cooling fan must be
set to full speed by setting Pr 6.45 to On (1).

See section 4.8.1 Heatsink mounted braking resistor on page 43 for the
resistor specifications.

Unidrive SP User Guide 33

3.12 Electrical terminals

3.12.1 Location of the power and ground terminals
Figure 3-35 Locations of the power and ground terminals on
Unidrive SP

Control terminals
2.5mm Relay terminals
3mm

8mm AF 8mm AF

Pozi Pz 2 T20 Torx or Pozi Pz 2 T20 Torx or Pozi Pz 3 Pozi Pz 2 T20 Torx or
Flat 6.5mm 6.5mm flat Flat 6.5mm 6.5mm flat Flat 10mm Flat 6.5mm 6.5mm flat

1 2 3

Pozi Pz 2 Pozi Pz 2 Pozi Pz 3

Flat 6.5mm Flat 6.5mm Flat 10mm

3.12.2 Terminal sizes and torque settings Table 3-5 Drive power terminal data
High current
Model Low current Ground
To avoid a fire hazard and maintain validity of the UL listing, AC terminals DC and
size DC and 48V terminal
adhere to the specified tightening torques for the power and braking
ground terminals. Refer to the following tables. Terminal block (M4 screws)
WARNING 1
1.5 N m (1.1 lb ft)
Plug-in
Terminal Stud (M5)
terminal block
Table 3-4 Drive control and relay terminal data block 4.0 N m
1.5 N m Terminal
2 (M5 screws) (2.9 lb ft)
Model Connection type Torque setting (1.1 lb ft) block
1.5 N m
All Plug-in terminal block 0.5 N m (0.4 lb ft) (M4 screws)
(1.1 lb ft)
1.5 N m
Fork (M6)
Terminal block (M6 screws) (1.1 lb ft)
3 6.0 N m
2.5 N m (1.8 lb ft)
(4.4 lb ft)
Torque tolerance ±10%

34 Unidrive SP User Guide

Table 3-6 Schaffner external EMC Filter terminal data 3.13 Routine maintenance
Power Ground The drive should be installed in a cool, clean, well ventilated location.
connections connections Contact of moisture and dust with the drive should be prevented.
CT
Ground Regular checks of the following should be carried out to ensure drive /
part Max cable
number Torque stud Torque installation reliability are maximised:
size
size
Environment
4200-6118 4mm2 0.8 N m
M5
3.5 N m
Ensure the enclosure temperature remains at
12AWG (0.6 lb ft) (2.6 lb ft) Ambient temperature
or below maximum specified
4200-6119 4mm2 0.8 N m
M5
3.5 N m Ensure the drive remains dust free – check that
12AWG (0.6 lb ft) (2.6 lb ft) the heatsink and drive fan is not gathering dust.
Dust
10mm2 2Nm 3.5 N m The lifetime of the fan is reduced in dusty
4200-6210 M5 environments.
8AWG (1.5 lb ft) (2.6 lb ft)
Ensure the drive enclosure shows no signs of
4200-6305 10mm2 2.2 N m
M6
3.9 N m Moisture
(1.6 lb ft) (2.9 lb ft) condensation
8AWG
Enclosure
4200-6307 10mm2 2.2 N m
M6
3.9 N m
8AWG (1.6 lb ft) (2.9 lb ft) Enclosure door Ensure filters are not blocked and that air is free
filters to flow
4200-6309 10mm2 2.2 N m
M6
3.9 N m
8AWG (1.6 lb ft) (2.9 lb ft) Electrical
Screw connections Ensure all screw terminals remain tight
Table 3-7 Epcos external EMC Filter terminal data
Ensure all crimp terminals remains tight –
Power Ground Crimp terminals check for any discolouration which could
connections connections indicate overheating
CT
part Ground Cables Check all cables for signs of damage
Max cable
number Torque stud Torque
size
size

4200-6120 4mm2 0.6 N m

M5
3.0 N m
12AWG (0.4 lb ft) (2.2 lb ft)

4200-6121 4mm2 0.6 N m

M5
3.0 N m
12AWG (0.4 lb ft) (2.2 lb ft)

4200-6211 10mm2 1.35 N m

M5
3.0 N m
8AWG (1.0 lb ft) (2.2 lb ft)

4200-6306 16mm2 2.2 N m

M6
5.1 N m
6AWG (1.6 lb ft) (3.8 lb ft)

4200-6308 16mm2 2.2 N m

M6
5.1 N m
6AWG (1.6 lb ft) (3.8 lb ft)

Unidrive SP User Guide 35

4 Electrical Installation 4.1 Power connections

Many cable management features have been incorporated into the 4.1.1 AC and DC connections
product and accessories, this chapter shows how to optimise them. Key Figure 4-1 Unidrive SP size 1 power connections
features include:
• SECURE DISABLE function DC Connections
• Internal EMC filter
• 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:

WARNING
• AC supply cables and connections
• DC and brake cables, and connections
• Output cables and connections
48V -DC +DC BR
• Many internal parts of the drive, and external option units
Unless otherwise indicated, control terminals are single
insulated and must not be touched. Internal
EMC filter

Isolation device
The AC supply must be disconnected from the drive using
an approved isolation device before any cover is removed
WARNING
from the drive or before any servicing work is performed.

STOP function
The STOP function does not remove dangerous voltages
from the drive, the motor or any external option units.
WARNING

SECURE DISABLE function

1
The SECURE DISABLE function does not remove
dangerous voltages from the drive, the motor or any external
WARNING
option units.

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
WARNING supply must be isolated at least ten minutes before work
may continue. AC Connections
Normally, the capacitors are discharged by an internal
resistor. Under certain, unusual fault conditions, it is possible PE L1 L2 L3 U V W
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 Optional RFI
will not be discharged. In this case, consult Control filter
Techniques or their authorised distributor.
Optional
Equipment supplied by plug and socket line reactor
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 Fuses
WARNING 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 Motor
from the drive must be used (e.g. a latching relay).

Permanent magnet motors L1 L2 L3

Permanent magnet motors generate electrical power if they Optional ground
Supply Mains connection
are rotated, even when the supply to the drive is Ground Supply
disconnected. If that happens then the drive will become
WARNING 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.

36 Unidrive SP User Guide

Figure 4-2 Unidrive SP size 2 power connections Figure 4-3 Unidrive SP size 3 power connections

DC Connections DC Connections DC Connections DC Connections

(High current DC and braking) (Low current DC and 48V) (High current DC and braking) (Low current DC and 48V)

Thermal Thermal
overload overload
protection protection
device device

DC1 DC2 BR 48V -DC +DC DC1 DC2 BR 48V -DC +DC
DC1 = - DC1 = -
DC2 = + Internal DC2 = + Internal
EMC filter EMC filter

2 3

AC Connections AC Connections

PE L1 L2 L3 U V W L1 L2 L3 PE U V W

Optional RFI Optional RFI

filter filter

Optional Optional
line reactor line reactor

Fuses Fuses

Motor Motor

L1 L2 L3 L1 L2 L3
Optional ground Optional ground
Supply Mains connection Mains Supply connection
Ground Supply Supply Ground

If the heatsink mounted resistor is used (size 1 and 2 only), an overload On Unidrive SP size 2 and 3, the high current DC connections must
protection device is not required. The resistor is designed to fail safely always be used when using a braking resistor, supplying the drive from
under fault conditions. DC (low voltage 48V or high voltage) or using the drive in a parallel DC
See Figure 4-4 for further information on ground connections. bus system. The low current DC connection is used only to connect the
internal EMC filter.
See Figure 4-5 for further information on ground connections.

Unidrive SP User Guide 37

4.1.2 Ground connections Figure 4-5 Unidrive SP size 3 ground connections

On a Unidrive SP size 1, the supply and motor ground connections are
made using the studs located either side of the drive near the plug-in
power connector. Refer to Figure 4-1 on page 36.
On a Unidrive SP size 2, the supply and motor ground connections are
made using the grounding bridge that locates at the bottom of the drive.
See Figure 4-4 for details.
On a Unidrive SP size 3, the supply and motor ground connections are
made using a M6 nut and bolt that locates in the fork protruding from the
heatsink between the AC supply and motor output terminals. See Figure
4-5 for details.
Figure 4-4 Unidrive SP size 2 ground connections

Plain washers

Spring washer

M6 bolt

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
WARNING
device (fuse, etc.) disconnects the AC supply.
The ground connections must be inspected and tested at
appropriate intervals.

4.2 AC supply requirements

Voltage:
SPX20X 200V to 240V ±10%
SPX40X 380V to 480V ±10%
SPX50X 500V to 575V ±10%
Number of phases: 3
Maximum supply imbalance: 2% negative phase sequence (equivalent
to 3% voltage imbalance between phases).
Frequency range: 48 to 65 Hz
Maximum supply fault current:

Frame size Symmetrical fault level (kA)

1, 2, 3 5

38 Unidrive SP User Guide

4.2.1 Supply types 4.2.3 Input inductor calculation.

Drives rated for supply voltage up to 575V are suitable for use with any To calculate the inductance required (at Y%), use the following equation:
supply type, i.e. TN-S, TN-C-S, TT, IT, with grounding at any potential, Y V 1
i.e. neutral, centre or corner ("grounded-delta"). L = ---------- × ------- × ------------
100 3 2πfI
For grounded-delta supplies exceeding 430V some special grounding
Where:
requirements apply to fast data ports. Further information is given with
I = drive rated input current (A)
the port descriptions.
L = inductance (H)
Drives are suitable for use on supplies of installation category III and f = supply frequency (Hz)
lower, according to IEC60664-1. This means they may be connected V = voltage between lines
permanently to the supply at its origin in a building, but for outdoor
installation additional over-voltage suppression (transient voltage surge 4.3 Supplying the drive with DC / DC bus
suppression) must be provided to reduce category IV to category III.
paralleling
For frame sizes 3 and above, when the Unidrive SP is used The drive may be supplied with DC instead of 3 phase AC.
with ungrounded (IT) supplies the internal EMC filter must be
removed unless either the external filter is also used or else The connecting of the DC bus between several drives is typically used
additional motor earth fault protection is fitted. to:
WARNING For instructions on removal, refer to Figure 4-13 Removal of 1. Return energy from a drive which is being overhauled by the load to
internal EMC filter on page 46. a second motoring drive.
For details of ground fault protection contact the supplier of 2. Allow the use of one braking resistor to dissipate regenerative
the drive. energy from several drives.
Note that when using a suitable EMC filter and an ungrounded supply, There are limitations to the combinations of drives which can be used in
the drive will trip if an ground fault occurs in the motor circuit. this configuration.
Unusual hazards can occur on some types of ungrounded supplies such For application data, contact the supplier of the drive.
as on ships. Contact the supplier of the drive for more information.
4.4 24V back-up power supply input
4.2.2 Supplies requiring line reactors
Input line reactors reduce the risk of damage to the drive resulting from The 24Vdc input on the Unidrive SP has three main functions.
poor phase balance or severe disturbances on the supply network. • It can be used to supplement the drive’s own internal 24V when
Where line reactors are to be used, reactance values of approximately multiple SM-Universal Encoder Plus, or SM-I/O Plus modules are
2% are recommended. Higher values may be used if necessary, but may being used and the current drawn by these modules is greater than
result in a loss of drive output (reduced torque at high speed) because of the drive can supply. (If too much current is drawn from the drive, the
the voltage drop. drive will initiate a 'PS.24V' trip)
• It can be used as a back-up power supply to keep the control circuits
For all drive ratings, 2% line reactors permit drives to be used with a of the drive powered up when the mains supply is removed. This
supply unbalance of up to 3.5% negative phase sequence (equivalent to allows any fieldbus modules, application modules, encoders or serial
5% voltage imbalance between phases). communications to continue to operate.
Severe disturbances may be caused by the following factors, for • It can be used to commission the drive when mains voltages are not
example: available, as the display operates correctly. However, the drive will be in
• Power factor correction equipment connected close to the drive. the UU trip state unless either mains or 48V is applied, therefore
• Large DC drives having no or inadequate line reactors connected to diagnostics may not be possible. (Power down save parameters are not
the supply. saved when using the 24V back-up power supply input.)
• Direct-on-line started motor(s) connected to the supply such that The working voltage range of the 24V power supply is as follows:
when any of these motors are started, the voltage dip exceeds 20% Maximum continuous operating voltage: 30.0 V
Such disturbances may cause excessive peak currents to flow in the Minimum continuous operating voltage: 19.2 V
input power circuit of the drive. This may cause nuisance tripping, or in Nominal operating voltage: 24.0 V
extreme cases, failure of the drive. Minimum start up voltage: 21.6 V
Drives of low power rating may also be susceptible to disturbance when Maximum power supply requirement at 24V: 60 W
connected to supplies with a high rated capacity. Recommended fuse: 3 A, 50 Vdc
Line reactors are particularly recommended for use with the following Minimum and maximum voltage values include ripple and noise. Ripple
drive models when one of the above factors exists, or when the supply and noise values must not exceed 5%.
capacity exceeds 175kVA:
SP1201 SP1202 SP1203 SP1204
4.5 48V back-up power supply operation
SP1401 SP1402 SP1403 SP1404 The Unidrive SP can be operated from low voltage DC supplies,
nominally 24Vdc and 48Vdc. The 48Vdc low voltage operating mode is
Model sizes 1405 and larger have an internal DC choke so they do not
designed to allow for motor operation in an emergency back-up situation
require AC line reactors except for cases of excessive phase unbalance
following failure of the AC supply, for example in elevators; or to limit the
or extreme supply conditions.
speed of a servo motor during commissioning of equipment, for example
When required, each drive must have its own reactor(s). Three individual a robot cell.
reactors or a single three-phase reactor should be used.
The working voltage range of the 48V power supply is as follows:
Reactor current ratings
Minimum continuous operating voltage: 36V
The current rating of the line reactors should be as follows: Minimum start up voltage: 40V
Continuous current rating: Nominal continuous operating voltage: 48V
Not less than the continuous input current rating of the drive Maximum continuous operating voltage: 60V
Repetitive peak current rating: Braking IGBT turn on voltage: 66V
Not less than twice the continuous input current rating of the drive Over voltage trip threshold: 72V
For application data, refer to the Unidrive SP 48V Application Note.

Unidrive SP User Guide 39

4.6 Ratings Table 4-2 Input current, fuse and cable size ratings (USA)

The input current is affected by the supply voltage and impedance. Typical Maximum Fuse Cable size
input continuous rating UL508C
Typical input current Model
current input current Input Output
The values of typical input current are given to aid calculations for power A A A AWG AWG
flow and power loss.
SP1201 7.1 9.5 10 14 18
The values of typical input current are stated for a balanced supply.
SP1202 9.2 11.3 15 14 16
Maximum continuous input current
SP1203 12.5 16.4 20 12 14
The values of maximum continuous input current are given to aid the
SP1204 15.4 19.1 20 12 14
selection of cables and fuses. These values are stated for the worst case
condition with the unusual combination of stiff supply with bad balance. SP2201 13.4 18.1 20 12 14
The value stated for the maximum continuous input current would only SP2202 18.2 22.6 25 10 10
be seen in one of the input phases. The current in the other two phases SP2203 24.2 28.3 30 8.0 8.0
would be significantly lower. SP3201 35.4 43.1 45 6.0 6.0
The values of maximum input current are stated for a supply with a 2% SP3202 46.8 54.3 60 4.0 4.0
negative phase-sequence imbalance and rated at the maximum supply
SP1401 4.1 4.8 6.0 18 22
fault current given in Table 4-1 and Table 4-2.
SP1402 5.1 5.8 6.0 16 20
Table 4-1 Input current, fuse and cable size ratings (European) SP1403 6.8 7.4 10 16 18
Typical Maximum Fuse Cable size SP1404 9.3 10.6 15 14 16
input continuous rating EN60204 SP1405 10 11 15 14 14
Model
current input current IEC gG Input Output SP1406 12.6 13.4 15 14 14
A A A mm 2
mm2 SP2401 15.7 17 20 12 14
SP1201 7.1 9.5 10 1.5 1.0 SP2402 20.2 21.4 25 10 10
SP1202 9.2 11.3 12 1.5 1.0 SP2403 26.6 27.6 30 8.0 8.0
SP1203 12.5 16.4 20 4.0 1.0 SP3401 34.2 36.2 40 6.0 6.0
SP1204 15.4 19.1 20 4.0 1.5 SP3402 40.2 42.7 45 6.0 6.0
SP2201 13.4 18.1 20 4.0 2.5 SP3403 51.3 53.5 60 4.0 4.0
SP2202 18.2 22.6 25 4.0 4.0 SP3501 5.0 6.7 10 16 18
SP2203 24.2 28.3 32 6.0 6.0 SP3502 6.0 8.2 10 16 16
SP3201 35.4 43.1 50 16 16 SP3503 7.8 11.1 15 14 14
SP3202 46.8 54.3 63 25 25 SP3504 9.9 14.4 15 14 14
SP1401 4.1 4.8 6 1.0 1.0 SP3505 13.8 18.1 20 12 14
SP1402 5.1 5.8 6 1.0 1.0 SP3506 18.2 22.2 25 10 10
SP1403 6.8 7.4 8 1.0 1.0 SP3507 22.2 26.0 30 8.0 8.0
SP1404 9.3 10.6 12 1.5 1.0 The recommended cable sizes above are only a guide. Refer to local
SP1405 10 11 12 1.5 1.0 wiring regulations for the correct size of cables. In some cases a larger
SP1406 12.6 13.4 16 2.5 1.5 cable is required to avoid excessive voltage drop.
SP2401 15.7 17 20 4.0 2.5 NOTE N
SP2402 20.2 21.4 25 4.0 4.0 The recommended output cable sizes assume that the motor maximum
SP2403 26.6 27.6 32 6.0 6.0 current matches that of the drive. Where a motor of reduced rating is
SP3401 34.2 36.2 40 10 10 used the cable rating may be chosen to match that of the motor. To
ensure that the motor and cable are protected against over-load, the
SP3402 40.2 42.7 50 16 16
drive must be programmed with the correct motor rated current.
SP3403 51.3 53.5 63 25 25
SP3501 5.0 6.7 8 1.0 1.0 NOTE N
SP3502 6.0 8.2 10 1.0 1.0 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
SP3503 7.8 11.1 12 1.5 1.0
for sizes 1 to 3.
SP3504 9.9 14.4 16 2.5 1.5
Fuses
SP3505 13.8 18.1 20 4.0 2.5
The AC supply to the drive must be fitted with suitable
SP3506 18.2 22.2 25 4.0 4.0 protection against overload and short-circuits. Table 4-1
SP3507 22.2 26.0 32 6.0 6.0 shows recommended fuse ratings. Failure to observe this
WARNING requirement will cause risk of fire.
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 may be used in place of fuses under the following
conditions:
• The fault-clearing capacity must be sufficient for the installation
• For frame sizes 2 and above, the drive must be mounted in an
enclosure which meets the requirements for a fire enclosure
See Chapter 14 UL Listing Information for UL listing requirements.

40 Unidrive SP User Guide

Fuse Types Table 4-4 Maximum motor cable lengths (400V drives)
The fuse voltage rating must be suitable for the drive supply voltage.
400V Nominal AC supply voltage
• Europe: Type gG HRC industrial fuses to IEC60269 (BS88)
• USA: Class CC fuses up to 30A, Class J above 30A Maximum permissible motor cable length for each of
Model the following frequencies
Ground connections
3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
The drive must be connected to the system ground of the AC supply.
The ground wiring must conform to local regulations and codes of SP1401 65m (210ft)
practice. SP1402 100m (330ft)
SP1403 130m (425ft)
4.6.1 Main AC supply contactor
SP1404
The recommended AC supply contactor type for sizes 1 to 3 is AC1.
SP1405
37m
4.7 Output circuit and motor protection SP1406 50m
(120ft)
75m
The output circuit has fast-acting electronic short-circuit protection which SP2401 100m (165ft)
200m 150m (245ft)
limits the fault current to typically no more than five times the rated SP2402 (330ft)
(660ft) (490ft)
output current, and interrupts the current in approximately 20µs. No SP2403
additional short-circuit protection devices are required. SP3401
The drive provides overload protection for the motor and its cable. For SP3402
this to be effective, Pr 0.46 Motor rated current must be set to suit the SP3403
motor.
Table 4-5 Maximum motor cable lengths (575V drives)

Pr 0.46 Motor rated current must be set correctly to avoid a 575V Nominal AC supply voltage
risk of fire in the event of motor overload. Maximum permissible motor cable length for each of
WARNING Model the following frequencies

There is also provision for the use of a motor thermistor to prevent over- 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
heating of the motor, e.g. due to loss of cooling. SP3501
4.7.1 Cable types and lengths SP3502
Since capacitance in the motor cable causes loading on the output of the SP3503
drive, ensure the cable length does not exceed the values given in Table 200m 150m 100m 75m 50m
SP3504
4-3, Table 4-4 and Table 4-5. (660ft) (490ft) (330ft) (245ft) (165ft)
SP3505
Use 105°C (221°F) (UL 60/75°C temp rise) PVC-insulated cable with SP3506
copper conductors having a suitable voltage rating, for the following
SP3507
power connections:
• AC supply to external EMC filter (when used) • Cable lengths in excess of the specified values may be used only
• AC supply (or external EMC filter) to drive when special techniques are adopted; refer to the supplier of the
• Drive to motor drive.
• Drive to braking resistor • The default switching frequency is 3kHz for open-loop and closed-
loop vector and 6kHz for servo.
Table 4-3 Maximum motor cable lengths (200V drives) High-capacitance cables
200V Nominal AC supply voltage The maximum cable length is reduced from that shown in Table 4-3,
Maximum permissible motor cable length for each of Table 4-4 and Table 4-5 if high capacitance motor cables are used.
Model the following frequencies Most cables have an insulating jacket between the cores and the armour
3kHz 4kHz 6kHz 8kHz 12kHz 16kHz or shield; these cables have a low capacitance and are recommended.
Cables that do not have an insulating jacket tend to have high
SP1201 65m (210ft) capacitance; if a cable of this type is used, the maximum cable length is
SP1202 100m (330ft) half that quoted in the tables. (Figure 4-6 shows how to identify the two
SP1203 130m (425ft) types.)
37m
SP1204 Figure 4-6 Cable construction influencing the capacitance
50m (120ft)
SP2201 75m
100m (165ft)
SP2202 200m 150m (245ft)
(330ft)
SP2203 (660ft) (490ft)
SP3201
SP3202
Normal capacitance High capacitance
Shield or armour Shield or armour close
separated from the cores to the cores

The cable used for Table 4-3, Table 4-4 and Table 4-5 is shielded and
contains four cores. Typical capacitance for this type of cable is 130pF/m
(i.e. from one core to all others and the shield connected together).

Unidrive SP User Guide 41

4.7.2 Motor winding voltage Figure 4-8 Alternative connection for multiple motors
The PWM output voltage can adversely affect the inter-turn insulation in
the motor. This is because of the high rate of change of voltage, in
Motor protection
conjunction with the impedance of the motor cable and the distributed relay
nature of the motor winding.
For normal operation with AC supplies up to 500Vac and a standard
motor with a good quality insulation system, there is no need for any
special precautions. In case of doubt the motor supplier should be
consulted.
Special precautions are recommended under the following conditions,
but only if the motor cable length exceeds 10m: Star connection
• AC supply voltage exceeds 500V
• DC supply voltage exceeds 670V
• Operation of 400V drive with continuous or very frequent sustained Inductor
braking
• Multiple motors connected to a single drive
For multiple motors, the precautions given in section 4.7.3 Multiple
motors should be followed.
For the other cases listed, it is recommended that an inverter-rated
motor be used. This has a reinforced insulation system intended by the
manufacturer for repetitive fast-rising pulsed voltage operation.
If it is not practical to use an inverter-rated motor, an output choke
(inductor) should be used. The recommended type is a simple iron-cored
component with a reactance of about 2%. The exact value is not critical.
This operates in conjunction with the capacitance of the motor cable to
increase the rise-time of the motor terminal voltage and prevent 4.7.4 Star / delta motor operation
excessive electrical stress. The voltage rating for star and delta connections of the motor should
4.7.3 Multiple motors always be checked before attempting to run the motor.
Open-loop only The default setting of the motor rated voltage parameter is the same as
If the drive is to control more than one motor, one of the fixed V/F modes the drive rated voltage, i.e.
should be selected (Pr 5.14 = Fd or SrE). Make the motor connections 400V drive 400V rated voltage
as shown in Figure 4-7 and Figure 4-8. The maximum cable lengths in 200V drive 200V rated voltage
Table 4-3 , Table 4-4 and Table 4-5 apply to the sum of the total cable
lengths from the drive to each motor. A typical 3 phase motor would be connected in star for 400V operation
It is recommended that each motor is connected through a protection or delta for 200V operation, however, variations on this are common e.g.
relay since the drive cannot protect each motor individually. For star star 690V delta 400V
connection, a sinusoidal filter or an output inductor must be connected Incorrect connection of the windings will cause severe under or over
as shown in Figure 4-8, even when the cable lengths are less than the fluxing of the motor, leading to a very poor output torque or motor
maximum permissible. For details of inductor sizes refer to the supplier saturation and overheating respectively.
of the drive. 4.7.5 Output contactor
Figure 4-7 Preferred chain connection for multiple motors
If the cable between the drive and the motor is to be
Motor protection interrupted by a contactor or circuit breaker, ensure that the
relay drive is disabled before the contactor or circuit breaker is
opened or closed. Severe arcing may occur if this circuit is
WARNING interrupted with the motor running at high current and low
speed.
A contactor is sometimes required to be fitted between the drive and
motor for safety purposes.
The recommended motor contactor is the AC3 type.
Chain connection (preferred) 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. OI.AC trips (which cannot be reset for 10 seconds)
2. High levels of radio frequency noise emission
3. Increased contactor wear and tear
The Drive Enable terminal (T31) when opened provides a SECURE
DISABLE function. This can in many cases replace output contactors.
For further information see section 4.14 SECURE DISABLE on page 59.

42 Unidrive SP User Guide

4.8 Braking Table 4-6 Heatsink mounted braking resistor data

Braking occurs when the drive is decelerating the motor, or is preventing Parameter Size 1 Size 2
the motor from gaining speed due to mechanical influences. During
Part number 1220-2757-00 1220-2759-01
braking, energy is returned to the drive from the motor.
DC resistance at 25°C 75Ω 37.5Ω
When the motor is being braked by the drive, the maximum regenerated
Peak instantaneous power over
power that the drive can absorb is equal to the power dissipation 8kW 16kW
1ms at nominal resistance
(losses) of the drive.
Average power over 60s * 50W 100W
When the regenerated power is likely to exceed these losses, the DC
bus voltage of the drive increases. Under default conditions, the drive Ingress Protection (IP) rating IP40
brakes the motor under PI control, which extends the deceleration time Maximum altitude 2000m
as necessary in order to prevent the DC bus voltage from rising above a * To keep the temperature of the resistor below 70°C (158°F) in a 30°C
user defined set-point. (86°F) ambient, the average power rating is 50W for size 1 and 100W for
If the drive is expected to rapidly decelerate a load, or to hold back an size 2. The above parameter settings ensure this is the case.
overhauling load, a braking resistor must be fitted. Unidrive SP size 3 does not have a heatsink mounted braking resistor,
NOTE N however the braking resistor overload protection is enabled at default in
case a low power resistor is connected to the drive.
When a braking resistor is used, Pr 0.15 should be set to FASt ramp
mode. 4.8.2 External braking resistor

High temperatures Overload protection

Braking resistors can reach high temperatures. Locate When an external braking resistor is used, it is essential that
braking resistors so that damage cannot result. Use cable an overload protection device is incorporated in the braking
WARNING
having insulation capable of withstanding high temperatures. resistor circuit; this is described in Figure 4-9 on page 44.
WARNING

When a braking resistor is to be mounted outside the enclosure, ensure

4.8.1 Heatsink mounted braking resistor that it is mounted in a ventilated metal housing that will perform the
following functions:
A resistor has been especially designed to be mounted within the
heatsink of the Unidrive SP (sizes 1 and 2). See section 3.11 Heatsink • Prevent inadvertent contact with the resistor
mounted braking resistor on page 31 for mounting details. The design of • Allow adequate ventilation for the resistor
the resistor is such that no thermal protection circuit is required, as the When compliance with EMC emission standards is required, external
device will fail safely under fault conditions. On Unidrive SP sizes 1 and connection requires the cable to be armoured or shielded, since it is not
2, the in built software overload protection is set up at default for the fully contained in a metal enclosure. See section 4.10.5 Compliance with
designated heatsink mounted resistor. Table 4.7 provides the resistor generic emission standards on page 49 for further details.
data for each drive rating.
Internal connection does not require the cable to be armoured or
NOTE N shielded.
The heatsink mounted resistor is suitable for applications with a low level In-built in the Unidrive SP software is overload protection for the brake
of regen energy only. See power rating below. resistor. In order to enable and set-up this function, it is necessary to
enter two values into the drive:
Braking resistor overload protection parameter • Resistor short-time overload time (Pr 10.30)
settings
• Resistor minimum time between repeated short-time overloads
Failure to observe the following information may (Pr 10.31)
damage the resistor.
CAUTION
The Unidrive SP software contains an overload protection This data should be obtained from the manufacturer of the braking
function for a braking resistor. On Unidrive SP size 1 and 2 resistors.
this function is enabled at default to protect the heatsink The drive's braking resistor overload protection is set up by default to
mounted resistor. This function is also enabled on Unidrive protect the designated heatsink mounted resistor or a low power resistor
SP size 3 in case a low power resistor is connected to the that maybe connected to the drive. If a higher power resistor is being
drive. Below are the parameter settings. used, then the above parameters should be set correctly or set to 0 if
575V & external thermal overload protection is being used, otherwise premature
Parameter 200V drive 400V drive It.br trips may be seen.
690V drive
Full power
Pr 10.30 0.09 0.02 0.01
braking time
Full power
Pr 10.31 2.0
braking period

For more information on the braking resistor software

overload protection, see Pr 10.30 and Pr 10.31 full
descriptions in the Unidrive SP Advanced User Guide.
If the heatsink mounted braking resistor is to be used at
more than half of its average power rating then the drive's
cooling fan must be at full speed controlled by setting
Pr 6.45 to On (1).

Unidrive SP User Guide 43

Minimum resistances and power ratings Thermal protection circuit for the braking resistor
Table 4-7 Minimum resistance values and peak power rating for The thermal protection circuit must disconnect the AC supply from the
the braking resistor at 40°C (104°F) drive if the resistor becomes overloaded due to a fault. Figure 4-9 shows
a typical circuit arrangement.
Minimum Instantaneous Average power
Model resistance* power rating for 60s Figure 4-9 Typical protection circuit for a braking resistor
Ω kW W
SP1201 1.5 Optional
RFI filter
SP1202 43 3.5 2.2
SP1203 3.0
SP1204 29 5.3 4.4
SP2201 6.0
Main contactor
SP2202 18 8.9 8.0 power supply
SP2203 8.9 Drive
SP3201 13.1 Stop
5.0 30.3
SP3202 19.3
SP1401 1.5 Start / Thermal
Reset protection
SP1402 2.2 device
74 8.3 +DC
SP1403 3.0
SP1404 4.4 BR
SP1405 6.0
58 10.6 Braking resistor
SP1406 8.0
SP2401 9.6 See Figure 4-1 on page 36, Figure 4-2 and Figure 4-3 on page 37 for the
SP2402 19 33.1 13.1 location of the +DC and braking resistor connections.
SP2403 19.3
SP3401 22.5
4.9 Ground leakage
SP3402 18 35.5 27.8 The ground leakage current depends upon whether the internal EMC
filter is fitted. The drive is supplied with the filter fitted. Instructions for
SP3403 33.0
removing the internal filter are given in Figure 4-13 Removal of internal
SP3501 4.4 EMC filter on page 46.
SP3502 6.0 With internal filter fitted:
SP3503 8.0 28mA AC at 400V 50Hz (proportional to supply voltage and
SP3504 18 50.7 9.6 frequency)
SP3505 13.1 30µA DC (10MΩ)
SP3506 19.3 With internal filter removed:
SP3507 22.5 <1mA
Note that in both cases there is an internal voltage surge protection
* Resistor tolerance: ±10% device connected to ground. Under normal circumstances this carries
For high-inertia loads or under continuous braking, the continuous power negligible current.
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 When the internal filter is fitted the leakage current is high. In
on the amount of energy to be extracted from the load. this case a permanent fixed ground connection must be
The instantaneous power rating refers to the short-term maximum power provided, or other suitable measures taken to prevent a
dissipated during the on intervals of the pulse width modulated braking WARNING
safety hazard occurring if the connection is lost.
control cycle. The braking resistor must be able to withstand this
dissipation for short intervals (milliseconds). Higher resistance values 4.9.1 Use of residual current device (RCD)
require proportionately lower instantaneous power ratings. There are three common types of ELCB / RCD:
In most applications, braking occurs only occasionally. This allows the 1. AC - detects AC fault currents
continuous power rating of the braking resistor to be much lower than 2. A - detects AC and pulsating DC fault currents (provided the DC
the power rating of the drive. It is essential, though, that the current reaches zero at least once every half cycle)
instantaneous power rating and energy rating of the braking resistor are
3. B - detects AC, pulsating DC and smooth DC fault currents
sufficient for the most extreme braking duty that is likely to be
encountered. • Type AC should never be used with drives.
• Type A can only be used with single phase drives
Optimisation of the braking resistor requires a careful consideration of • Type B must be used with three phase drives
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 Only type B ELCB / RCD are suitable for use with inverter
cost saving, as well as a safety benefit in the event of a fault in the drives.
braking system. Braking capability will then be reduced, which could
WARNING
cause the drive to trip during braking if the value chosen is too large.
If an external EMC 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.

44 Unidrive SP User Guide

4.10 EMC (Electromagnetic compatibility) See Figure 4-10 and Figure 4-11 for details on fitting the grounding
clamp.
The requirements for EMC are divided into three levels in the following
three sections: See Figure 4-12 for details on fitting the grounding bracket.
Section 4.10.3, General requirements for all applications, to ensure Figure 4-10 Fitting of grounding clamp (size 1 and 2)
reliable operation of the drive and minimise the risk of disturbing nearby
equipment. The immunity standards specified in section 11 will be met,
but no specific emission standards. Note also the special requirements
given in Surge immunity of control circuits - long cables and connections
outside a building on page 51 for increased surge immunity of control
circuits where control wiring is extended.
Section 4.10.4, Requirements for meeting the EMC standard for
power drive systems, IEC61800-3 (EN61800-3).
Section 4.10.5, Requirements for meeting the generic emission
standards for the industrial environment, IEC61000-6-4, EN61000-6-4,
EN50081-2.
The recommendations of section 4.10.3 will usually be sufficient to avoid
causing disturbance to adjacent equipment of industrial quality. If
particularly sensitive equipment is to be used nearby, or in a non-
industrial environment, then the recommendations of section 4.10.4 or
section 4.10.5 should be followed to give reduced radio-frequency
emission.
In order to ensure the installation meets the various emission standards
described in:
• The EMC data sheet available from the supplier of the drive
• The Declaration of Conformity at the front of this manual
• Chapter 12 Technical Data on page 186 Figure 4-11 Fitting of grounding clamp (size 3)
...the correct external EMC filter must be used and all of the guidelines in
section 4.10.3 General requirements for EMC and section
4.10.5 Compliance with generic emission standards must be followed.

Table 4-8 Unidrive SP and EMC filter cross reference

Schaffner Epcos
Drive
CT part no. CT part no.
SP1201 to SP1202 4200-6118 4200-6121
SP1203 to SP1204 4200-6119 4200-6120
SP2201 to SP2203 4200-6210 4200-6211
SP3201 to SP3202 4200-6307 4200-6306
SP1401 to SP1404 4200-6118 4200-6121
SP1405 to SP1406 4200-6119 4200-6120
SP2401 to SP2403 4200-6210 4200-6211
SP3401 to SP3403 4200-6305 4200-6306
SP3501 to SP3507 4200-6309 4200-6308 Figure 4-12 Fitting of grounding bracket (size 1 to 3)

When an EMC filter is used, a permanent fixed ground

connection must be provided which does not pass through a
connector or flexible power cord. This includes the internal
WARNING
EMC filter.

NOTE N
The installer of the drive is responsible for ensuring compliance with the
EMC regulations that apply where the drive is to be used.

4.10.1 Grounding hardware

The Unidrive SP is supplied with a grounding clamp and a grounding
bracket to facilitate EMC compliance. They provide a convenient method
for direct grounding of cable shields without the use of "pig-tails". Cable
shields can be bared and clamped to the grounding bracket using metal
clips or clamps1 (not supplied) or cable ties. Note that the shield must in
all cases be continued through the clamp to the intended terminal on the
drive, in accordance with the connection details for the specific signal.
1
A suitable clamp is the Phoenix DIN rail mounted SK14 cable clamp
(for cables with a maximum outer diameter of 14mm).

Unidrive SP User Guide 45

Loosen the earth connection nuts and slide the grounding bracket in the
direction shown. Once in place, re-tighten the earth connection nuts.
The grounding bracket is secured using the power ground
terminal of the drive. Ensure that the supply ground
connection is secure after fitting / removing the grounding
bracket. Failure to do so will result in the drive not being
WARNING grounded.
A faston tab is located on the grounding bracket for the purpose of
connecting the drive 0V to ground should the user require to do so.
4.10.2 Internal EMC filter
It is recommended that the internal EMC filter be kept in place unless
there is a specific reason for removing it.
If the drive is used on an IT supply or as part of a regen system then the
internal EMC filter must be removed.
The internal EMC filter reduces radio-frequency emission into the mains
supply. Where the motor cable is short, it permits the requirements of
EN61800-3 to be met for the second environment - see section
4.10.4 Compliance with EN61800-3 (standard for Power Drive Systems)
on page 49 and section 12.1.21 Electromagnetic compatibility (EMC) on
page 195. For longer motor cables the filter continues to provide a useful
reduction in emission level, and when used with any length of shielded
motor cable up to the limit for the drive, it is unlikely that nearby industrial
equipment will be disturbed. It is recommended that the filter be used in
all applications unless the earth leakage current of 28mA is
unacceptable or the above conditions are true. See Figure 4-13 for
details of removing and fitting the internal EMC filter.
Figure 4-13 Removal of internal EMC filter
1

2
3

Loosen / remove screws as shown (1) and (2).

Remove filter (3), and ensure the screws are replaced and re-tightened (4).

46 Unidrive SP User Guide

4.10.3 General requirements for EMC

Ground (earth) connections
The grounding arrangements should be in accordance with Figure 4-14,
which shows a single drive on a back-plate with or without an additional
enclosure.
Figure 4-14 General EMC enclosure layout showing earth / ground

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 External
should be done at the controller
system controller only to 0V PE
avoid injecting noise
currents into the 0V circuit

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. Use four core cable to
This should be used as a Metal backplate connect the motor to the drive.
common 'clean' ground for all safety bonded to The ground conductor in the
components inside the cubicle. power ground busbar 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

Unidrive SP User Guide 47

Cable layout helpful to connect the shield there. If this is done then it becomes
Figure 4-15 indicates the clearances which should be observed around essential to ensure the absolute minimum length of "pigtails" at both
the drive and related ‘noisy’ power cables by all sensitive control signals shield connections, and possibly to clamp the cable shield directly to
/ equipment. the resolver body and to the drive grounding bracket.
Figure 4-15 Drive cable clearances • The cable should preferably not be interrupted. If interruptions are
unavoidable, ensure the absolute minimum length of "pigtail" in the
Optional braking resistor and overload
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.
• The shields must be directly clamped to the encoder body (no
pigtail) and to the drive grounding bracket. This may be achieved by
clamping of the individual shields or by providing an additional
overall shield which is clamped.
Do not place sensitive
(unscreened) signal circuits NOTE N
in a zone extending
300mm (12”) all around the
The recommendations of the encoder manufacturer must also be
Drive, motor cable, input adhered to for the encoder connections.
cable from RFI filter and
unscreened braking resistor NOTE N
cable (if used)
In order to guarantee maximum noise immunity for any application
double screened cable as shown should be used.
In some cases single shielding of each pair of differential signals cables,
or a single overall shield with individual shield on the thermistor
connections is sufficient. In these cases all the shields should be
connected to ground and 0V at both ends.
300mm If the 0V is required to be left floating a cable with individual shields and
(12in)
an overall shield must be used.
Figure 4-16 and Figure 4-17 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.
Figure 4-16 Feedback cable, twisted pair
Cable overall shield
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. Twisted
The following guidance is divided into two parts: pair Cable
cable
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 Twisted pair shield
installation is subject to specific requirements for radio frequency
emission control.
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

48 Unidrive SP User Guide

Figure 4-17 Feedback cable connections Size 2 and 3

Connection
With the internal filter fitted, compliance can be achieved for cable
at drive lengths up to 10m, by fitting a ferrite ring, part no. 4200-0000, 4200-0001
or 4200-3608, to the drive output. Feed the motor cables (U,V,W)
Shield through the ring once.
connection
to 0V For longer motor cables, an external filter is required. Where a filter is
required, follow the guidelines in section 4.10.5 Compliance with generic
emission standards .
Twisted
pair Where a filter is not required, follow the guidelines given in section
Cable
shield shield 4.10.3 General requirements for EMC on page 47.
The second environment typically includes an industrial low-
voltage power supply network which does not supply
buildings used for domestic purposes. Operating the drive in
this environment without an external EMC filter may cause
CAUTION interference to nearby electronic equipment whose sensitivity
has not been appreciated. The user must take remedial
Ground clamp measures if this situation arises. If the consequences of
Cable
on shield unexpected disturbances are severe, it is recommended that
the guidelines in section 4.10.5 Compliance with generic
emission standards be adhered to.

Refer to section 12.1.21 Electromagnetic compatibility (EMC) on

page 195 for further information on compliance with EMC standards and
definitions of environments.

Cable Detailed instructions and EMC information are given in the Unidrive SP
Twisted
shield pair EMC Data Sheet which is available from the supplier of the drive.
shield
4.10.5 Compliance with generic emission standards
Use the recommended filter and shielded motor cable. Observe the
Shield layout rules given in Figure 4-18. Ensure the AC supply and ground
connection cables are at least 100mm from the power module and motor cable.
to 0V
Figure 4-18 Supply and ground cable clearance

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 4-17
4.10.4 Compliance with EN61800-3 (standard for ≥100mm
Power Drive Systems) (4in)
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 4.10.5 Compliance with generic
emission standards on page 49. An external EMC filter will always be
required.

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 ≥100mm
CAUTION
adequate measures. (4in)
Operation in the second environment
Do not modify
An EMC filter is required for all Unidrive SPs with a rated input current of the filter wires
less than 100A.
Size 1
The internal filter alone is sufficient provided the motor cable length does
not exceed 4m.
For cable lengths up to 10m compliance can be maintained by fitting a
ferrite ring, part no. 4200-0000, 4200-0001 or 4200-3608, to the drive
output. Feed the motor cables (U,V,W) through the ring once.

Unidrive SP User Guide 49

Avoid placing sensitive signal circuits in a zone 300mm (12in) all around Connect the shield of the motor cable to the ground terminal of the motor
the power module. frame using a link that is as short as possible and not exceeding 50mm
Figure 4-19 Sensitive signal circuit clearance (2in) long. A full 360° termination of the shield to the terminal housing of
the motor is beneficial.
Figure 4-21 Grounding the motor cable shield

≥300mm
(12in)

Sensitive
signal
cable

Unshielded wiring to the optional braking resistor(s) may be used,

provided the wiring does not run external to the enclosure. Ensure a
minimum spacing of 300mm (12in) from signal wiring and the AC supply
wiring to the external EMC filter. Otherwise this wiring must be shielded.
Figure 4-22 Shielding requirements of optional external braking
resistor
Ensure good EMC grounding.
Optional external
Figure 4-20 Grounding the drive, motor cable shield and filter braking resistor

Optional external
braking resistor

Enclosure Enclosure

+DC BR +DC BR

Ensure direct
metal contact
at drive and
filter mounting
points (any
paint must be
removed).

Motor cable screen

(unbroken) electrically
connected to and held
in place by grounding
clamp.

50 Unidrive SP User Guide

If the control wiring is to leave the enclosure, it must be shielded and the Figure 4-24 Connecting the motor cable to a terminal block in the
shield(s) clamped to the drive using the grounding bracket as shown in enclosure
Figure 4-23. Remove the outer insulating cover of the cable to ensure
the shield(s) make contact with the bracket, but keep the shield(s) intact From the Drive
until as close as possible to the terminals
Alternatively, wiring may be passed through a ferrite ring, part no. 3225-
1004.
Figure 4-23 Grounding of signal cable shields using the
grounding bracket

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.
Figure 4-25 Connecting the motor cable to an isolator switch
Isolator

4.10.6 Variations in the EMC wiring

Interruptions to the motor cable
The motor cable should ideally be a single length of shielded or From the To the
armoured cable having no interruptions. In some situations it may be Drive
Coupling bar
motor
necessary to interrupt the cable, as in the following examples:
(If required)
• 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 Surge immunity of control circuits - long cables and
motor connections outside a building
In these cases the following guidelines should be followed. The input/output ports for the control circuits are designed for general
use within machines and small systems without any special precautions.
Terminal block in the enclosure
The motor cable shields should be bonded to the back-plate using These circuits meet the requirements of EN61000-6-2 (1kV surge)
uninsulated metal cable-clamps which should be positioned as close as provided the 0V connection is not earthed.
possible to the terminal block. Keep the length of power conductors to a In applications where they may be exposed to high-energy voltage
minimum and ensure that all sensitive equipment and circuits are at surges, some special measures may be required to prevent malfunction
least 0.3m (12 in) away from the terminal block. or damage. Surges may be caused by lightning or severe power faults in
association with grounding arrangements which permit high transient
voltages between nominally grounded points. This is a particular risk
where the circuits extend outside the protection of a building.
As a general rule, if the circuits are to pass outside the building where
the drive is located, or if cable runs within a building exceed 30m, some
additional precautions are advisable. One of the following techniques
should be used:
1. Galvanic isolation, i.e. do not connect the control 0V terminal to
ground. Avoid loops in the control wiring, i.e. ensure every control
wire is accompanied by its return (0V) wire.
2. Shielded cable with additional power ground bonding. The cable
shield may be connected to ground at both ends, but in addition the
ground conductors at both ends of the cable must be bonded
together by a power ground cable (equipotential bonding cable) with

Unidrive SP User Guide 51

cross-sectional area of at least 10mm2, or 10 times the area of the 4.11 Serial communications connections
signal cable shield, or to suit the electrical safety requirements of the
The Unidrive SP has a serial communications port (serial port) as
plant. This ensures that fault or surge current passes mainly through
standard supporting 2 wire EIA485 communications. Please see Table
the ground cable and not in the signal cable shield. If the building or
4-9 for the connection details for the RJ45 connector.
plant has a well-designed common bonded network this precaution
is not necessary. Figure 4-28 Location of the RJ45 serial comms connector
3. Additional over-voltage suppression - for the analog and digital
inputs and outputs, a zener diode network or a commercially
available surge suppressor may be connected in parallel with the
input circuit as shown in Figure 4-26 and Figure 4-27.
If a digital port experiences a severe surge its protective trip may operate
1
(O.Ld1 trip code 26). For continued operation after such an event, the
trip can be reset automatically by setting Pr 10.34 to 5.
8
Figure 4-26 Surge suppression for digital and unipolar inputs and
outputs
Signal from plant Signal to drive

30V zener diode

e.g. 2xBZW50-15

0V 0V

Figure 4-27 Surge suppression for analog and bipolar inputs and
outputs
Signal from plant Signal to drive

Table 4-9 Connection details for RJ45 connector

Pin Function
2 x 15V zener diode
e.g. 2xBZW50-15 1 120Ω Termination resistor
2 RX TX
3 Isolated 0V
0V 0V 4 +24V
5 Isolated 0V
Surge suppression devices are available as rail-mounting modules, e.g.
6 TX enable
from Phoenix Contact:
7 RX\ TX\
Unipolar TT-UKK5-D/24 DC
Bipolar TT-UKK5-D/24 AC RX\ TX\ (if termination resistors are required, link to
8
pin 1)
These devices are not suitable for encoder signals or fast digital data
Shell Isolated 0V
networks because the capacitance of the diodes adversely affects the
signal. Most encoders have galvanic isolation of the signal circuit from The communications port applies a 2 unit load to the communications
the motor frame, in which case no precautions are required. For data network.
networks, follow the specific recommendations for the particular Minimum number of connections are 2, 3, 7 and shield. Shielded cable
network. must be used at all times.

4.11.1 Isolation of the serial communications port

The serial communications port of the Unidrive SP is double insulated
and meets the requirements for SELV in EN50178.

In order to meet the requirements for SELV in IEC60950 (IT

equipment) it is necessary for the control computer to be
grounded. Alternatively, when a lap-top or similar device is
used which has no provision for grounding, an isolation
WARNING device must be incorporated in the communications lead.

An isolated serial communications lead has been designed to connect

the Unidrive SP to IT equipment (such as lap-top computers), and is
available from the supplier of the drive. See below for details:
Table 4-10 Isolated serial comms lead details
Part number Description
4500-0087 CT Comms cable
The “isolated serial communications” lead has reinforced insulation as
defined in IEC60950 for altitudes up to 3,000m.
NOTE N
When using the CT Comms cable the available baud rate is limited to
19.2k baud.

52 Unidrive SP User Guide

4.11.2 Multi-drop network All digital terminal functions (including the relay) can be programmed in
The Unidrive SP can be used on a 2 wire EIA485 multi-drop network menu 8.
using the drive's serial communications port when the following The setting of Pr 1.14 and Pr 6.04 can cause the function of digital inputs
guidelines are adhered to. T25 to T29 to change. For more information, please refer to section
Connections 11.21.1 Reference modes on page 178 and section 11.21.7 Start / stop
The network should be a daisy chain arrangement and not a star, logic modes on page 183.
although short stubs to the drive are allowed. The control circuits are isolated from the power circuits in the
The minimum connections are pins 2 (RX TX), 3 (isolated 0V), 7 (RX\ drive by basic insulation (single insulation) only. The installer
TX\) and the screen. must ensure that the external control circuits are insulated
Pin 4 (+24V) on each drive can be connected together but there is no from human contact by at least one layer of insulation
power sharing mechanism between drives and therefore the maximum WARNING
(supplementary insulation) rated for use at the AC supply
power available is the same as a single drive. (If pin 4 is not linked to the voltage.
other drives on the network and has an individual load then the
maximum power can be taken from pin 4 of each drive.) If the control circuits are to be connected to other circuits
Termination resistors classified as Safety Extra Low Voltage (SELV) (e.g. to a
personal computer), an additional isolating barrier must be
If a drive is on the end of the network chain then pins 1 and 8 should be
included in order to maintain the SELV classification.
linked together. This will connect an internal 120Ω termination resistor WARNING
between RXTX and RX\TX\. (If the end unit is not a drive or the user
wishes to use their own termination resistor, a 120Ω termination resistor Ensure the logic sense is correct for the control circuit to be
should be connected between RXTX and RX\TX\ at the end unit.) used. Incorrect logic sense could cause the motor to be
If the host is connected to a single drive then termination resistors started unexpectedly.
should not be used unless the baud rate is high. CAUTION
Positive logic is the default state for Unidrive SP.
CT Comms Cable
The CT Comms Cable can be used on a multi-drop network but should NOTE N
only be used occasionally for diagnostic and set up purposes. The The Secure Disable / drive enable terminal is a positive logic input only.
network must also be made up entirely of Unidrive SPs. It is not affected by the setting of Pr 8.29 Positive logic select.
If the CT Comms Cable is to be used, then pin 6 (TX enable) should be NOTE N
connected on all drives and pin 4 (+24V) should be linked to at least 1
The common 0V from analog signals should, wherever possible, not be
drive to supply power to the converter in the cable.
connected to the same 0V terminal as the common 0V from digital
Only one CT Comms Cable can be used on a network. signals. Terminals 3 and 11 should be used for connecting the 0V
common of analog signals and terminals 21, 23 and 30 for digital
4.12 Control connections signals. This is to prevent small voltage drops in the terminal
4.12.1 General connections causing inaccuracies in the analog signals.
Table 4-11 The Unidrive SP control connections consist of:
Terminal
Function Qty Control parameters available
number
Destination, offset, offset trim,
Differential analog input 1 5,6
invert, scaling
Single ended analog Mode, offset, scaling, invert,
2 7,8
input destination
Analog output 2 Source, mode, scaling, 9,10
Digital input 3 Destination, invert, logic select 27,28,29
Input / output mode select,
Digital input / output 3 destination / source, invert, 24,25,26
logic select
Relay 1 Source, invert 41,42
Drive enable (Secure
1 31
Disable)
+10V User output 1 4
+24V User output 1 Source, invert 22
1, 3, 11, 21,
0V common 6
23, 30
+24V External input 1 2

Key:
Destination indicates the parameter which is being controlled by the
parameter: terminal / function
Source
indicates the parameter being output by the terminal
parameter:
Mode analog - indicates the mode of operation of the terminal,
parameter: i.e. voltage 0-10V, current 4-20mA etc.
digital - indicates the mode of operation of the terminal,
i.e. positive / negative logic (the Drive Enable terminal is
fixed in positive logic), open collector.
All analog terminal functions can be programmed in menu 7.

Unidrive SP User Guide 53

Figure 4-29 Default terminal functions 4.12.2 Control terminal specification

1 0V common
Common connection for all external
Function
devices

2 +24V external input

Polarised signal To supply the control circuit
connectors
Function without providing a supply to the
1 11 power stage
Nominal voltage +24.0Vdc
41 42
Minimum continuous operating
+19.2Vdc
voltage
21 31 Maximum continuous operating
+30.0Vdc
voltage
0V common 1 Minimum start-up voltage 21.6Vdc
External 24V supply 2 Recommended power supply 60W 24Vdc nominal

Analog frequency/speed Recommended fuse 3A, 50Vdc

reference 1
0V common
3 3 0V common
Connections for
single-ended input 5
Common connection for all external
signal 6 Function
devices

0V common
Connections for 4 +10V user output
differential input signal
Function Supply for external analog devices
Voltage tolerance ±1%
4 Nominal output current 10mA
Analog Protection Current limit and trip @ 30mA
frequency/speed 7
reference 2

Precision reference Analog input 1

5 Non-inverting input

Analog input 3 8 6 Inverting input

(Motor thermistor*)
Default function Frequency/speed reference
Bipolar differential analog
9
Type of input (For single-ended use, connect terminal 6
Speed / frequency 10 to terminal 3)
Torque (active Full scale voltage range ±9.8V ±1%
current) Absolute maximum
11 ±36V relative to 0V
voltage range
0V common
Working common mode voltage
0V common ±13V relative to 0V
21 range
22 Input resistance 100kΩ ±1%
Resolution 16-bit plus sign (as speed reference)
0V common
23 Monotonic Yes (including 0V)
At zero speed 24 Dead band None (including 0V)
Jumps None (including 0V)
Reset 25
Maximum offset 700µV
Run forward 26 Maximum linearity 0.3% of input
Run reverse 27 Maximum gain asymmetry 0.5%
Analog input 1/ Analog input 1 Input filter bandwidth single pole ~1kHz
input 2 select 28
Analog input 2 250µs with destinations as Pr 1.36, Pr 1.37
Jog forward select 29 or Pr 3.22 in closed loop vector or servo
0V common Sampling period mode. 4ms for open loop mode and all
30 other destinations in closed loop vector or
Secure Disable / servo mode.
Drive enable** 31

Status relay 41
Drive healthy 42

* Analog input 3 can be configured as a motor thermistor input, please

refer to Analog input 3 on page 55.
**The Secure Disable / Drive enable terminal is a positive logic input only.

54 Unidrive SP User Guide

7 Analog input 2 9 Analog output 1

Default function Frequency/speed reference 10 Analog output 2
Bipolar single-ended analog voltage or
Type of input OL> Motor FREQUENCY output signal
unipolar current Terminal 9 default function
CL> SPEED output signal
Mode controlled by... Pr 7.11
Terminal 10 default function Motor active current
Operating in Voltage mode
Bipolar single-ended analog voltage or
Full scale voltage range ±9.8V ±3% Type of output
unipolar single ended current
Maximum offset ±30mV Mode controlled by... Pr 7.21 and Pr 7.24
Absolute maximum voltage range ±36V relative to 0V Operating in Voltage mode (default)
Input resistance >100kΩ Voltage range ±9.6V ±5%
Operating in current mode Maximum offset 100mV
0 to 20mA ±5% Maximum output current ±10mA
20 to 0mA ±5%
Current ranges
4 to 20mA ±5% Load resistance 1kΩ min
20 to 4mA ±5% Protection 35mA max. Short circuit protection
Maximum offset 250µA Operating in current mode
Absolute maximum voltage 0 to 20mA ±10%
−36V max Current ranges
(reverse bias) 4 to 20mA ±10%
Absolute maximum current +70mA Maximum offset 600µA
Equivalent input resistance ≤200Ω at 20mA Maximum open circuit voltage +15V
Common to all modes Maximum load resistance 500Ω
Resolution 10 bit + sign Common to all modes
250µs when configured as voltage input Resolution 10-bit (plus sign in voltage mode)
with destinations as Pr 1.36, Pr 1.37, Pr 250µs when configured as a high speed
3.22 or Pr 4.08 in closed loop vector or output with sources as Pr 4.02, Pr 4.17 in
Sample period servo mode. 4ms for open loop mode, all all modes or Pr 3.02, Pr 5.03 in closed loop
other destinations in closed loop vector or Update period
vector or servo mode. 4ms when
servo mode, or any destination when configured as any other type of output or
configured as a current input. with all other sources.

8 Analog input 3 11 0V common

Default function Not configured Common connection for all external
Function
Bipolar single-ended analog voltage, devices
Type of input
unipolar current or motor thermistor input
Mode controlled by... Pr 7.15
Operating in Voltage mode (default) 21 0V common
Voltage range ±9.8V ±3% Common connection for all external
Function
Maximum offset ±30mV devices
Absolute maximum voltage range ±36V relative to 0V
Input resistance >100kΩ
Operating in current mode 22 +24V user output (selectable)
0 to 20mA ±5% Terminal 22 default function +24V user output
20 to 0mA ±5% Can be switched on or off to act as a fourth
Current ranges
4 to 20mA ±5% digital output (positive logic only) by setting
20 to 4mA ±5% Programmability
the source Pr 8.28 and source invert Pr
Maximum offset 250µA 8.18
Absolute maximum voltage Nominal output current 200mA (including all digital I/O)
−36V max
(reverse bias) Maximum output current 240mA (including all digital I/O)
Absolute maximum current +70mA Protection Current limit and trip
Equivalent input resistance ≤200Ω at 20mA
Operating in thermistor input mode
Internal pull-up voltage <5V 23 0V common
Trip threshold resistance 3.3kΩ ±10% Common connection for all external
Function
Reset resistance 1.8kΩ ±10% devices
Short-circuit detection resistance 50Ω ±30%
Common to all modes
Resolution 10 bit + sign
250µs when configured as voltage input
with destinations as Pr 1.36, Pr 1.37, Pr
3.22 or Pr 4.08 in closed loop vector or
Sample period servo mode. 4ms for open loop mode, all
other destinations in closed loop vector or
servo mode, or any destination when
configured as a current input.

Unidrive SP User Guide 55

24 Digital I/O 1 41
Relay contacts
42
25 Digital I/O 2
Default function Drive healthy indicator
26 Digital I/O 3 Contact voltage rating 240Vac, Installation over-voltage category II
Terminal 24 default function AT ZERO SPEED output 2A AC 240V
Contact maximum current rating 4A DC 30V resistive load
Terminal 25 default function DRIVE RESET input
0.5A DC 30V inductive load (L/R = 40ms)
Terminal 26 default function RUN FORWARD input
Contact minimum recommended
Positive or negative logic digital inputs, or 12V 100mA
rating
Type negative logic push-pull or open collector
Closed when power applied and drive
outputs Default contact condition
healthy
Input / output mode controlled by... Pr 8.31, Pr 8.32 and Pr 8.33
Update period 4ms
Operating as an input
Logic mode controlled by... Pr 8.29
Absolute maximum applied voltage
4.13 Encoder connections
±30V Figure 4-30 Location of encoder connector
range
Load >2mA @ 15Vdc
Input thresholds 10.0V ±0.8V
Operating as an output
Open collector outputs selected Pr 8.30
Nominal maximum output current 200mA (total including terminal 22)
Maximum output current 240mA (total including terminal 22)
Common to all modes
Voltage range 0V to +24V
250µs when configured as an input with
Sample / Update period destinations as Pr 6.35 or Pr 6.36. 4ms in
all other cases.
5 1
10 6
15 11

27 Digital Input 4 Drive encoder connector

Female 15-way D-type
28 Digital Input 5
29 Digital Input 6
Table 4-12 Encoder types
Terminal 27 default function RUN REVERSE input
Terminal 28 default function ANALOG INPUT 1 / INPUT 2 select Setting of
Description
Pr 3.38
Terminal 29 default function JOG SELECT input
Type Negative or positive logic digital inputs Ab Quadrature incremental encoder with or without marker
(0) pulse
Logic mode controlled by... Pr 8.29
Voltage range 0V to +24V
Fd Incremental encoder with frequency pulses and
(1) direction, with or without marker pulse
Absolute maximum applied voltage
±30V Fr Incremental encoder with forward pulses and reverse
range
Load >2mA @ 15V (2) pulses, with or without marker pulse
Input thresholds 10.0V ±0.8V Ab.SErVO Quadrature incremental encoder with commutation
(3) signals*, with or without marker pulse
250µs with destinations as Pr 6.35 or
Sample / Update period Fd.SErVO Incremental encoder with frequency pulses and direction
Pr 6.36. 4ms in all other cases.
(4) with commutation signals*, with or without marker pulse
Incremental encoder with forward pulses and reverse
Fr.SErVO
30 0V common pulses with commutation signals*, with or without marker
(5)
Common connection for all external pulse
Function SC
devices SinCos encoder without serial communications
(6)
SC.HiPEr Absolute SinCos encoder with HiperFace serial
31 Drive enable (SECURE DISABLE function) (7) communications protocol (Stegmann)
Type Positive logic only digital input EndAt Absolute EndAt serial communications encoder
(8) (Heidenhain)
Voltage range 0V to +24V
Absolute maximum applied voltage ±30V
SC.EndAt Absolute SinCos encoder with EnDat serial
(9) communications protocol (Heidenhain)
Thresholds 18.5V ±0.5V
SSI
Disabling the drive (hardware): <100µs Absolute SSI only encoder
Sample period
Enabling the drive (software): 4ms
(10)
SC.SSI
The drive enable terminal (T31) provides a SECURE DISABLE Absolute SinCos encoder with SSI
(11)
function. The SECURE DISABLE function meets the requirements of
EN954-1 category 3 for the prevention of unexpected starting of the *The U, V & W commutation signals are required with an incremental
drive. It may be used in a safety-related application in preventing the type encoder when used with a servo motor. The UVW commutation
drive from generating torque in the motor to a high level of integrity. signals are used to define the motor position during the first 120°
electrical rotation after the drive is powered-up or the encoder is
Refer to section 4.14 SECURE DISABLE on page 59 for further information.
initialised.

56 Unidrive SP User Guide

Table 4-13 Drive encoder connector details

Setting of Pr 3.38
Terminal Ab Fd Fr Ab.SErVO Fd.SErVO Fr.SErVO SC SC.HiPEr EndAt SC.EndAt SSI SC.SSI
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11)
1 A F F A F F Cos Cos Cos
2 A\ F\ F\ A\ F\ F\ Cosref Cosref Cosref
3 B D R B D R Sin Sin Sin
4 B\ D\ R\ B\ D\ R\ Sinref Sinref Sinref
5 Z* Encoder input - Data (input/output)
6 Z\* Encoder input - Data\ (input/output)
Simulated encoder Simulated encoder
7 U
Aout, Fout** Aout, Fout**
Simulated encoder Simulated encoder
8 U\
Aout\, Fout\** Aout\, Fout\**
Simulated encoder Simulated encoder
9 V
Bout, Dout** Bout, Dout**
Simulated encoder Simulated encoder
10 V\
Bout\, Dout\** Bout\, Dout\**
11 W Encoder input - Clock (output)
12 W\ Encoder input - Clock\ (output)
13 +V***
14 0V common
15 th****
* Marker pulse is optional
** Simulated encoder output only available in open-loop
*** The encoder supply is selectable through parameter configuration to
5Vdc, 8Vdc and 15Vdc
**** Terminal 15 is a parallel connection to T8 analog input 3. If this is to
be used as a thermistor input, set Pr 7.15 to ‘th.sc’ (7), ‘th’ (8) or
‘th.diSP’ (9).
NOTE N
SSI encoders typically have maximum baud rate of 500kbaud. When a
SSI only encoder is used for speed feedback with a closed loop vector or
servo motor, a large speed feedback filter (Pr 3.42) is required due to the
time taken for the position information to be transferred from the encoder
into the drive. The addition of this filter means that SSI only encoders are
not suitable for speed feedback in dynamic or high-speed applications.

Unidrive SP User Guide 57

4.13.1 Specifications SC, SC.HiPEr, EndAt, SC.EndAt, SSI and SC.SSI encoders
Feedback device connections 1 Channel Cos*
Ab, Fd, Fr, Ab.SErVO, Fd.SErVO and Fr.SErVO encoders
2 Channel Cosref*
1 Channel A, Frequency or Forward inputs
3 Channel Sin*
2 Channel A\, Frequency\ or Forward\ inputs
4 Channel Sinref*
3 Channel B, Direction or Reverse inputs
Type Differential voltage
4 Channel B\, Direction\ or Reverse\ inputs
1.25V peak to peak (sin with regard to
Maximum Signal level
Type EIA 485 differential receivers sinref and cos with regard to cosref)

Maximum input frequency 410kHz Maximum input frequency 115kHz

Line loading <2 unit loads Maximum applied differential voltage

±4V
and common mode voltage range
Line termination components 120Ω (switchable)
For the SinCos encoder to be compatible with Unidrive SP, the output
Working common mode range +12V to –7V signals from the encoder must be a 1V peak to peak differential voltage
Absolute maximum applied voltage (across Sin to Sinref and Cos to Cosref).
±25V
relative to 0V
The majority of encoders have a DC offset on all signals. Stegmann
Absolute maximum applied differential
±25V encoders typically have a 2.5Vdc offset. The Sinref and Cosref are a
voltage flat DC level at 2.5Vdc and the Cos and Sin signals have a 1V peak to
peak waveform biased at 2.5Vdc.
Encoders are available which have a 1V peak to peak voltage on Sin,
5 Marker pulse channel Z Sinref, Cos and Cosref. This results in a 2V peak to peak voltage seen
at the drive's encoder terminals. It is not recommended that encoders of
6 Marker pulse channel Z\
this type are used with Unidrive SP, and that the encoder feedback
7 Phase channel U signals should meet the above parameters (1V peak to peak).

Frequency slaving outputs (open loop only)

Ab, Fd, Fr, SC, SC.HiPEr, EndAt, SC.EndAt, SSI and SC.SSI
encoders

7 Frequency slaving out channel A

8 Frequency slaving out channel A\

9 Frequency slaving out channel B

58 Unidrive SP User Guide

Common to all Encoder types 4.14 SECURE DISABLE

13 Encoder supply voltage The Secure Disable (SD) function provides a means for preventing the
Supply voltage 5.15V ±2%, 8V ±5% or 15V ±5%
drive from generating torque in the motor, with a very high level of
integrity. It is suitable for incorporation into a safety system for a
Maximum output current 300mA for 5V and 8V machine. It is also suitable for use as a conventional drive enable input.
200mA for 15V
The SD function makes use of the special property of an inverter drive
The voltage on terminal 13 is controlled by Pr 3.36. The default for this with an induction motor, which is that torque cannot be generated
parameter is 5V (0) but this can be set to 8V (1) or 15V (2). Setting the without the continuous correct active behaviour of the inverter circuit. All
encoder voltage supply too high for the encoder could result in damage credible faults in the inverter power circuit cause a loss of torque
to the feedback device. generation.
The termination resistors should be disabled if the outputs from the The SD function is fail-safe, so when the SD input is disconnected the
encoder are higher than 5V. drive will not operate the motor, even if a combination of components
within the drive has failed. Most component failures are revealed by the
drive failing to operate. SD is also independent of the drive firmware.
14 0V common This meets the requirements of EN954-1 category 3 for the prevention of
operation of the motor.1
1
Independent approval by BIA has been given for sizes 1 to 3.
15 Motor thermistor input
SD can be used to eliminate electro-mechanical contactors, including
This terminal is connected internally to terminal 8 of the signal special safety contactors, which would otherwise be required for safety
connector. Connect only one of these terminals to a motor thermistor. applications.
Analog input 3 must be in thermistor mode, Pr 7.15 = th.SC (7), th (8) or Note on the use of servo motors, other permanent-magnet motors,
th.diSP (9). reluctance motors and salient-pole induction motors
When the drive is disabled through Secure Disable, a possible (although
highly unlikely) failure mode is for two power devices in the inverter
circuit to conduct incorrectly.
This fault cannot produce a steady rotating torque in any AC motor. It
produces no torque in a conventional induction motor with a cage rotor. If
the rotor has permanent magnets and/or saliency, then a transient
alignment torque may occur. The motor may briefly try to rotate by up to
180° electrical, for a permanent magnet motor, or 90° electrical, for a
salient pole induction motor or reluctance motor. This possible failure
mode must be allowed for in the machine design.

The design of safety-related control systems must only be

done by personnel with the required training and experience.
The SD function will only ensure the safety of a machine if it
is correctly incorporated into a complete safety system. The
WARNING
system must be subject to a risk assessment to confirm that
the residual risk of an unsafe event is at an acceptable level
for the application.

To maintain category 3 according to EN954-1 the drive must

be located inside an enclosure with degree of protection at
least IP54.
WARNING

SD inhibits the operation of the drive, this includes inhibiting

braking. If the drive is required to provide both braking and
secure disable in the same operation (e.g. for emergency
stop) then a safety timer relay or similar device must be used
WARNING to ensure that the drive is disabled a suitable time after
braking. The braking function in the drive is provided by an
electronic circuit which is not fail-safe. If braking is a safety
requirement, it must be supplemented by an independent
fail-safe braking mechanism.

SD does not provide electrical isolation. The supply to the

drive must be disconnected by an approved isolation device
before gaining access to power connections.
WARNING

Unidrive SP User Guide 59

The following diagrams illustrate how the SD input can be used to Figure 4-33 Category 3 interlock using Secure Disable with
eliminate contactors and safety contactors from control systems. Please protected wiring
note these are provided for illustration only, every specific arrangement
must be verified for suitability in the proposed application. +24V
In the first example, illustrated in Figure 4-31, the SD function is used to Reset Stop Status
replace a simple power contactor in applications where the risk of injury
from unexpected starting is small, but it is not acceptable to rely on the Drive
complex hardware and firmware/software used by the stop/start function SD
within the drive. Start
Figure 4-31 Start / stop control EN954-1 category B - replacement
of contactor
Safety Protected wiring
Using contactor relay (screened or
segregated)
+24V
Interlocks
Drive
M
Enable 3~
T31
Stop
In the conventional system, a contactor failure in the unsafe direction is
detected the next time the safety relay is reset. Since the drive is not part
K1
of the safety system it has to be assumed that AC power is always
Start
available to drive the motor, so two contactors in series are required in
order to prevent the first failure from causing an unsafe event (i.e. the
K1
(or at motor driven).
K1 drive
output) With Secure Disable there are no single faults in the drive which can
~
permit the motor to be driven. Therefore it is not necessary to have a
second channel to interrupt the power connection, nor a fault detection
circuit.
Using SECURE DISABLE
It is important to note that a single short-circuit from the Enable input
+24V (SD) to a DC supply of approximately +24V would cause the drive to be
Drive enabled. For this reason, Figure 4-33 shows the wire from the Enable
input to the safety relay as "protected wiring" so that the possibility of a
SD
T31 short circuit from this wire to the DC supply can be excluded, as
Stop specified in prEN 954-2. The wiring can be protected by placing it in a
segregated cable duct or other enclosure, or by providing it with a
grounded shield.
K1
Start If the use of protected wiring is not acceptable, so that the possibility of
this short circuit must be allowed for, then a relay must be used to
monitor the state of the Enable input, together with a single safety
K1
contactor to prevent operation of the motor after a fault. This is illustrated
M
3~ in Figure 4-34.
NOTE N
In the second example, illustrated in Figure 4-32 and Figure 4-33, a The auxiliary relay K2 must be located in the same enclosure and close
conventional high-integrity system which uses two safety contactors with to the drive, with its coil connected as closely as possible to the drive
auxiliary contacts with connected movement is replaced by a single enable (SD) input.
Secure Disable system. This arrangement meets EN954-1 category 3. Figure 4-34 Use of contactor and relay to avoid the need for
Figure 4-32 Category 3 interlock using electromechanical safety protected wiring
contactors
+24V

+24V Reset Stop

Stop
Reset SD
K1 Drive
Enable
K1 Drive Start K2
K1
Start K2
K2 K2

K1
Two-channel Safety
K1 interlocks relay
Two-channel Safety
interlocks relay K1 K2
K1 K2 K2
M
3~
M
3~

For further applications guidance, refer to the Unidrive SP Advanced

User Guide.

60 Unidrive SP User Guide

5 Getting Started
This chapter introduces the user interfaces, menu structure and security level of the drive.

5.1 Understanding the display

There are two keypads available for the Unidrive SP. The SM-Keypad has an LED display and the SM-Keypad Plus has an LCD display. Both
keypads can be fitted to the drive but the SM-Keypad Plus can also be remotely mounted on an enclosure door.
5.1.1 SM-Keypad 5.1.2 SM-Keypad Plus
The display consists of two horizontal rows of 7 segment LED displays. The display consists of three lines of text.
The upper display shows the drive status or the current menu and The top line shows the drive status or the current menu and parameter
parameter number being viewed. number being viewed on the left, and the parameter value or the specific
trip type on the right.
The lower display shows the parameter value or the specific trip type.
The lower two lines show the parameter name or the help text.
Figure 5-1 SM-Keypad Figure 5-2 SM-Keypad Plus

Upper display

Lower display
Mode (black) button Mode (black) button
Help button
Control buttons Control buttons
Fwd / Rev (blue) button Joypad Fwd / Rev (blue) button Joypad
Stop/reset (red) button Stop/reset (red) button
Start (green) button Start (green) button

NOTE The red stop button is also used to reset the drive.
Both the SM-Keypad and the SM-Keypad Plus can indicate when a SMARTCARD access is taking place or when the second motor map is active
(menu 21). These are indicated on the displays as follows.
SM-Keypad SM-Keypad Plus
The decimal point after the fourth digit in the The symbol ‘CC’ will appear in the lower left
SMARTCARD access taking place
upper display will flash. hand corner of the display
The decimal point after the third digit in the The symbol ‘Mot2’ will appear in the lower left
Second motor map active
upper display will flash. hand corner of the display

5.2 Keypad operation

5.2.1 Control buttons
The keypad consists of:
1. Joypad - used to navigate the parameter structure and change parameter values.
2. Mode button - used to change between the display modes – parameter view, parameter edit, status.
3. Three control buttons - used to control the drive if keypad mode is selected.
4. Help button (SM-Keypad Plus only) - displays text briefly describing the selected parameter.
The Help button toggles between other display modes and parameter help mode. The up and down functions on the joypad scroll the help text to
allow the whole string to be viewed. The right and left functions on the joypad have no function when help text is being viewed.
The display examples in this section show the SM-Keypad 7 segment LED display. The examples are the same for the SM-Keypad Plus except that
the information displayed on the lower row on the SM-Keypad is displayed on the right hand side of the top row on the SM-Keypad Plus.

Unidrive SP User Guide 61

Figure 5-3 Display modes

Status Mode
(Display not flashing)

Timeout Timeout Timeout**

To enter Parameter
Mode, press key or To return to
Status Mode,
press key

Temporary Parameter
Parameter Mode When returning Mode
(Upper display to Parameter (Upper display flashing)
flashing) Mode use the
*
keys to select
Use * keys another parameter
to select parameter for editing to change, if
required

To exit Edit Mode,

press key
To enter Edit Mode,
press key

Edit Mode
(Character to be edited in lower line of display flashing)
Change parameter values using keys.

* can only be used to move between menus if L2 access has been enabled (Pr 0.49). Refer to section 5.9 on page 65.
**Timeout defined by Pr 11.41 (default value = 240s).
Figure 5-4 Mode examples

Parameter
Status Mode
View Mode
Healthy Status Alarm Status Trip Status

Menu 5. Parameter 5 Drive status = tripped

Pr 5.05 value Trip type (UU = undervolts)

Figure 5-5 Parameter navigation

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 5.7 Saving
parameters on page 64.

5.3 Menu structure

The drive parameter structure consists of menus and parameters. * can only be used to move between menus if L2 access has
been enabled (Pr 0.49). Refer to section 5.9 Parameter access
The drive initially powers up so that only menu 0 can be viewed. The up level and security on page 65.
and down arrow buttons are used to navigate between parameters and
once level 2 access (L2) has been enabled (see Pr 0.49) the left and The menus and parameters roll over in both directions.
right buttons are used to navigate between menus. For further i.e. if the last parameter is displayed, a further press will cause the
information, refer to section 5.9 Parameter access level and security on display to rollover and show the first parameter.
page 65.
When changing between menus the drive remembers which parameter
was last viewed in a particular menu and thus displays that parameter.

62 Unidrive SP User Guide

Figure 5-6 Menu structure 5.5 Advanced menus

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

Menu 20 enu 2 Menu

Menu 21 Menu 0 Menu 1 M Description
number
....XX.00....
Commonly used basic set up parameters for quick / easy
21.50 0.50 1.50 0
21.49 0.49 1.49 programming
21.48 0.48 1.48
21.47 0.47 1.47 1 Frequency / speed reference
21.46 0.46 1.46
2 Ramps
3 Slave frequency, speed feedback and speed control
Moves 4 Torque and current control
between
parameters
5 Motor control
6 Sequencer and clock
7 Analog I/O
8 Digital I/O
9 Programmable logic, motorised pot and binary sum
10 Status and trips
21.05 0.05 1.05
21.04 0.04 1.04 11 General drive set-up
21.03 0.03 1.03
21.02 0.02 1.02 12 Threshold detectors and variable selectors
21.01 0.01 1.01
13 Position control
14 User PID controller
Moves between Menus 15, 16, 17 Solutions Module set-up
18 Application menu 1
5.4 Menu 0 19 Application menu 2
20 Application menu 3
Menu 0 is used to bring together various commonly used parameters for
21 Second motor parameters
basic easy set up of the drive.
Appropriate parameters are cloned from the advanced menus into menu
5.5.1 Display messages
0 and thus exist in both locations.
The following tables indicate the various possible mnemonics which can
For further information, refer to Chapter 6 Basic parameters (Menu 0) on be displayed by the drive and their meaning.
page 67.
Trip types are not listed here but can be found in Chapter 6 Basic
Figure 5-7 Menu 0 Cloning parameters (Menu 0) on page 67 if required.

Menu 2
Table 5-1 Alarm indications
Lower
Description
display
2.21 5
br.rS Braking resistor overload
Menu 0
Braking resistor I2t accumulator (Pr 10.37) in the drive has reached
Menu 1 75.0% of the value at which the drive will trip and the braking IGBT is
0.04 5
0.05 0 active.
0.06 150 Heatsink or control board or inverter IGBT over
1.14 0 Hot
temperature alarms are active
• The drive heatsink temperature has reached a threshold and the
Menu 4
drive will trip ‘Oh2’ if the temperature continues to rise (see the
‘Oh2’ trip).
4.07 150
or
• The ambient temperature around the control PCB is approaching
the over temperature threshold (see the ‘O.CtL’ trip).
OVLd Motor overload
2
The motor I t accumulator in the drive has reached 75% of the value at
which the drive will be tripped and the load on the drive is >100%

Unidrive SP User Guide 63

Table 5-2 Status indications 5.6 Changing the operating mode

Upper Drive output Changing the operating mode returns all parameters to their default
Description
display stage value, including the motor parameters. (Pr 0.49 Security status and Pr
ACt Regeneration mode active 0.34 User security code are not affected by this procedure.)
The regen unit is enabled and synchronised to the Enabled Procedure
supply. Use the following procedure only if a different operating mode is
required:
ACUU AC Supply loss
The drive has detected that the AC supply has been 1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 6.15 is
Enabled Off (0)
lost and is attempting to maintain the DC bus voltage
by decelerating the motor. 2. Enter either of the following values in Pr 0.00, as appropriate:
1253 (Europe, 50Hz AC supply frequency)
*Auto
Autotune in progress 1254 (USA, 60Hz AC supply frequency)
tunE
Enabled 3. Change the setting of Pr 0.48 as follows:
The autotune procedure has been initialised.
*‘Auto’ and ‘tunE’ will flash alternatively on the display. 0.48 setting Operating mode
dc DC applied to the motor
Enabled 1 Open-loop
The drive is applying DC injection braking.
dEC Decelerating
Enabled
The drive is decelerating the motor. 2 Closed-loop Vector
inh Inhibit
The drive is inhibited and cannot be run. Disabled 3 Closed-loop Servo
The drive enable signal is not applied to terminal 31 or
Pr 6.15 is set to 0. Regen (See the Unidrive SP Regen
POS Positioning 4 User Guide for more information
Enabled about operating in this mode)
The drive is positioning/orientating the motor shaft.
rdY Ready The figures in the second column apply when serial communications are
Disabled used.
The drive is ready to be run.
run Running 4. Either:
Enabled • Press the red reset button
The drive is running.
• Toggle the reset digital input
SCAn Scanning
• Carry out a drive reset through serial communications by setting
OL> The drive is searching for the motor frequency Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).
when synchronising to a spinning motor. Enabled
Regen> The drive is enabled and is synchronising to 5.7 Saving parameters
the line. When changing a parameter in Menu 0, the new value is saved when
StoP Stop or holding zero speed pressing the Mode button to return to parameter view mode from
The drive is holding zero speed. parameter edit mode.
Enabled
Regen> The drive is enabled but the AC voltage is If parameters have been changed in the advanced menus, then the
too low, or the DC bus voltage is still rising or falling. change will not be saved automatically. A save function must be carried
triP Trip condition out.
The drive has tripped and is no longer controlling the Disabled Procedure
motor. The trip code appears on the upper display. Enter 1000* in Pr. xx.00
Table 5-3 Solutions Module and SMARTCARD status indications Either:
on power-up • Press the red reset button
• Toggle the reset digital input
Lower • Carry out a drive reset through serial communications by setting
Description
display Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).
boot *If the drive is in the under voltage trip state or is being supplied from a
A parameter set is being transferred from the SMARTCARD to the 48V back-up supply, a value of 1001 must be entered into Pr xx.00 to
drive during power-up. For further information, please refer to section perform a save function.
9.2.4 Booting up from the SMARTCARD on every power up (Pr 11.42 =
boot (4)) on page 102. 5.8 Restoring parameter defaults
Restoring parameter defaults by this method saves the default values in
cArd
the drive’s memory. (Pr 0.49 and Pr 0.34 are not affected by this
The drive is writing a parameter set to the SMARTCARD during power- procedure.)
up.
For further information, please refer to section 9.2.3 Auto saving Procedure
parameter changes (Pr 11.42 = Auto (3)) on page 101. 1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 6.15 is
Off (0)
loAding
2. Enter 1233 (EUR 50Hz settings) or 1244 (USA 60Hz settings) in
The drive is writing information to a Solutions Module. Pr xx.00.
3. Either:
• Press the red reset button
• Toggle the reset digital input
• Carry out a drive reset through serial communications by setting
Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).

64 Unidrive SP User Guide

5.9 Parameter access level and security 5.9.3 User Security

The User Security, when set, prevents write access to any of the
The parameter access level determines whether the user has access to
parameters (other than Pr. 0.49 and Pr 11.44 Access Level) in any
menu 0 only or to all the advanced menus (menus 1 to 21) in addition to
menu.
menu 0.
The User Security determines whether the access to the user is read User security open - All parameters: Read / Write access
only or read write.
Both the User Security and Parameter Access Level can operate
independently of each other as shown in the table below:
Parameter Menu 0 Advanced
User Security
Access Level status menus status
L1 Open RW Not visible
L1 Closed RO Not visible
L2 Open RW RW
L2 Closed RO RO Pr 0.00 Pr 1.00 ............ Pr 20.00 Pr 21.00
Pr 0.01 Pr 1.01 ............ Pr 20.01 Pr 21.01
RW = Read / write access RO = Read only access
Pr 0.02 Pr 1.02 ............ Pr 20.02 Pr 21.02
The default settings of the drive are Parameter Access Level L1 and
Pr 0.03 Pr 1.03 ............ Pr 20.03 Pr 21.03
user Security Open, i.e. read / write access to Menu 0 with the advanced
............
menus not visible.
............
5.9.1 Access Level Pr 0.49 Pr 1.49 ............ Pr 20.49 Pr 21.49
The access level is set in Pr 0.49 and allows or prevents access to the Pr 0.50 Pr 1.50 ............ Pr 20.50 Pr 21.50
advanced menu parameters.
L1 access selected - Menu 0 only visible User security closed - All parameters: Read Only access
(except Pr 0.49 and Pr 11.44)
Pr 0.00 Pr 1.00 ............ Pr 19.00 Pr 20.00
Pr 0.00 Pr 1.00 ............ Pr 20.00 Pr 21.00
Pr 0.01 Pr 1.01 ............ Pr 19.01 Pr 20.01
Pr 0.01 Pr 1.01 ............ Pr 20.01 Pr 21.01
Pr 0.02 Pr 1.02 ............ Pr 19.02 Pr 20.02
Pr 0.02 Pr 1.02 ............ Pr 20.02 Pr 21.02
Pr 0.03 Pr 1.03 ............ Pr 19.03 Pr 20.03
Pr 0.03 Pr 1.03 ............ Pr 20.03 Pr 21.03
............
............
............
............
Pr 0.49 Pr 1.49 ............ Pr 19.49 Pr 20.49
Pr 0.49 Pr 1.49 ............ Pr 20.49 Pr 21.49
Pr 0.50 Pr 1.50 ............ Pr 19.50 Pr 20.50
Pr 0.50 Pr 1.50 ............ Pr 20.50 Pr 21.50

Setting User Security

L2 access selected - All parameters visible Enter a value between 1 and 999 in Pr 0.34 and press the button;
the security code has now been set to this value. In order to activate the
security, the Access level must be set to Loc in Pr 0.49. When the drive
is reset, the security code will have been activated and the drive returns
to Access Level L1. The value of Pr 0.34 will return to 0 in order to hide
the security code. At this point, the only parameter that can be changed
by the user is the Access Level Pr 0.49.

Unlocking User Security

Select a read write parameter to be edited and press the button, the
upper display will now show CodE. Use the arrow buttons to set the
Pr 0.00 Pr 1.00 ............ Pr 20.00 Pr 21.00 security code and press the button.
Pr 0.01 Pr 1.01 ............ Pr 20.01 Pr 21.01
With the correct security code entered, the display will revert to the
Pr 0.02 Pr 1.02 ............ Pr 20.02 Pr 21.02 parameter selected in edit mode.
Pr 0.03 Pr 1.03 ............ Pr 20.03 Pr 21.03
If an incorrect security code is entered the display will revert to
............
parameter view mode.
............
Pr 0.49 Pr 1.49 ............ Pr 20.49 Pr 21.49 To lock the User Security again, set Pr 0.49 to Loc and press the
Pr 0.50 Pr 1.50 ............ Pr 20.50 Pr 21.50 reset button.

5.9.2 Changing the Access Level Disabling User Security.

Unlock the previously set security code as detailed above. Set Pr 0.34 to
The Access Level is determined by the setting of Pr 0.49 as follows:
0 and press the button. The User Security has now been disabled,
String Value Effect and will not have to be unlocked each time the drive is powered up to
L1 0 Access to menu 0 only allow read / write access to the parameters.

L2 1 Access to all menus (menu 0 to menu 21)

The Access Level can be changed through the keypad even if the User
Security has been set.

Unidrive SP User Guide 65

5.10 Displaying parameters with non- the original protocol. The master should wait at least 20ms before send a
new message using the new protocol. (Note: ANSI uses 7 data bits, 1
default values only stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and
By entering 12000 in Pr xx.00, the only parameters that will be visible to no parity.)
the user will be those containing a non-default value. This function does
Comms value String Communications mode
not require a drive reset to become active. In order to deactivate this
function, return to Pr xx.00 and enter a value of 0. 0 AnSI ANSI
Please note that this function can be affected by the access level 1 rtU Modbus RTU protocol
enabled, refer to section 5.9 Parameter access level and security for
ANSIx3.28 protocol
further information regarding access level.
Full details of the CT ANSI communications protocol are the Unidrive SP
Advanced User Guide.
5.11 Displaying destination parameters
Modbus RTU protocol
only Full details of the CT implementation of Modbus RTU are given in the
By entering 12001 in Pr xx.00, the only parameters that will be visible to Unidrive SP Advanced User Guide.
the user will be destination parameters. This function does not require a
drive reset to become active. In order to deactivate this function, return 0.36 {11.25} Serial communications baud rate
to Pr xx.00 and enter a value of 0. RW Txt US
Please note that this function can be affected by the access level 300 (0), 600 (1), 1200 (2),
enabled, refer to section 5.9 Parameter access level and security for 2400 (3), 4800 (4), 9600 (5),
further information regarding access level. Ú 19200 (6), 38400 (7),
Ö 19200 (6)
57600 (8)*, 115200 (9)*
5.12 Serial communications
* only applicable to Modbus RTU mode
5.12.1 Introduction
This parameter can be changed via the drive keypad, via a Solutions
The Unidrive SP has a standard 2-wire EIA485 interface (serial
communications interface) which enables all drive set-up, operation and Module or via the comms interface itself. If it is changed via the comms
interface, the response to the command uses the original baud rate. The
monitoring to be carried out with a PC or PLC if required. Therefore, it is
master should wait at least 20ms before send a new message using the
possible to control the drive entirely by serial communications without
the need for a SM-keypad or other control cabling. The drive supports new baud rate.
two protocols selected by parameter configuration: NOTE
• Modbus RTU When using the CT Comms cable the available baud rate is limited to
• CT ANSI 19.2k baud.
Modbus RTU has been set as the default protocol, as it is used with the
PC-tools commissioning software as provided on the CD ROM. 0.37 {11.23} Serial communications address
The serial communications port of the drive is a RJ45 socket, which is RW Txt US
isolated from the power stage and the other control terminals (see
section 4.11 Serial communications connections on page 52 for
Ú 0 to 247 Ö 1
connection and isolation details).
Used to define the unique address for the drive for the serial interface.
The communications port applies a 2 unit load to the communications The drive is always a slave.
network.
Modbus RTU
EIA232 to EIA485 Communications When the Modbus RTU protocol is used addresses between 0 and 247
An external EIA232 hardware interface such as a PC cannot be used are permitted. Address 0 is used to globally address all slaves, and so
directly with the 2-wire EIA485 interface of the drive. Therefore a this address should not be set in this parameter
suitable converter is required.
ANSI
A suitable EIA232 to EIA485 converter is the Control Techniques When the ANSI protocol is used the first digit is the group and the
isolated CT Comms cable (CT Part No. 4500-0087) second digit is the address within a group. The maximum permitted
When using the above converter or any other suitable converter with the group number is 9 and the maximum permitted address within a group is
Unidrive SP, it is recommended that no terminating resistors be 9. Therefore, Pr 0.37 is limited to 99 in this mode. The value 00 is used
connected on the network. It may be necessary to 'link out' the to globally address all slaves on the system, and x0 is used to address
terminating resistor within the converter depending on which type is all slaves of group x, therefore these addresses should not be set in this
used. The information on how to link out the terminating resistor will parameter.
normally be contained in the user information supplied with the
converter.
5.12.2 Serial communications set-up parameters
The following parameters need to be set according to the system
requirements.

0.35 {11.24} Serial mode

RW Txt US
AnSI (0)
Ú rtU (1)
Ö rtU (1)

This parameter defines the communications protocol used by the 485

comms port on the drive. This parameter can be changed via the drive
keypad, via a Solutions Module or via the comms interface itself. If it is
changed via the comms interface, the response to the command uses

66 Unidrive SP User Guide

6 Basic parameters (Menu 0)

Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive. All the parameters in menu 0 appear in other
menus in the drive (denoted by {…}).
6.1 Single line descriptions
Range(Ú) Default(Ö)
Parameter Type
OL VT SV OL VT SV
0.00 xx.00 {x.00} 0 to 32,767 0 RW Uni
±3,000.0Hz 0.0
0.01 Minimum reference clamp {1.07} ±Speed_limit_max rpm RW Bi PT US

EUR> 50.0 EUR> 1,500.0 US

0.02 Maximum reference clamp {1.06} 0 to 3,000.0Hz Speed_limit_max rpm 3,000.0 RW Uni
USA> 60.0 USA> 1800.0
{2.11} 0.0 to 3,200.0 0.000 to 3,200.000 US
0.03 Acceleration rate 5.0 2.000 0.200 RW Uni
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
0.04 Deceleration rate {2.21} 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), Pad (4),
0.05 Reference select {1.14} A1.A2 (0) RW Txt NC US
Prc (5)
0.06 Current limit {4.07} 0 to Current_limit_max % 165.0 175.0 RW Uni RA US
Ur_S (0),
Ur (1), Fd (2),
OL> Voltage mode select {5.14} Ur_Auto (3), Ur_I (4) RW Txt US
0.07 Ur_I (4),
SrE (5)
CL> Speed controller P gain {3.10} 0.0000 to 6.5535 1/rad s-1 0.0100 RW Uni US
0.0 to 25.0%
OL> Voltage boost {5.15} of motor rated 3.0 RW Uni US
0.08 voltage
CL> Speed controller I gain {3.11} 0.00 to 655.35 1/rad 1.00 RW Uni US
OFF (0) or On
OL> Dynamic V/F {5.13} 0 RW Bit US
0.09 (1)
CL> Speed controller D gain {3.12} 0.00000 to 0.65535 (s) 0.00000 RW Uni US
OL> Estimated motor speed {5.04} ±180,000 rpm RO Bi FI NC PT
0.10
CL> Motor speed {3.02} ±Speed_max rpm RO Bi FI NC PT
OL & VT> Drive output
{5.01} ±Speed_freq_max Hz RO Bi FI NC PT
frequency
0.11 0 to 65,535
SV> Drive encoder position {3.29} 1/216ths of a RO Uni FI NC PT
revolution
0.12 Total motor current {4.01} 0 to Drive_current_max A RO Uni FI NC PT
OL & VT> Motor active
{4.02} ±Drive_current_max A RO Bi FI NC PT
0.13 current
SV> Analog input 1 offset trim {7.07} ±10.000 % 0.000 RW Bi US
0.14 Torque mode selector {4.11} 0 to 1 0 to 4 Speed control mode (0) RW Uni US
FASt (0)
FASt (0)
0.15 Ramp mode select {2.04} Std (1) Std (1) RW Txt US
Std (1)
Std.hV (2)
OL> T28 and T29 auto- OFF (0) or On
{8.39} 0 RW Bit US
0.16 selection disable (1)
CL> Ramp enable {2.02} OFF (0) or On (1) On (1) RW Bit US
OL> T29 digital input Pr 0.00 to
{8.26} Pr 6.31 RW Uni DE PT US
destination Pr 21.51
0.17
CL> Current demand filter
time constant
{4.12} 0.0 to 25.0 ms 0.0 RW Uni US

0.18 Positive logic select {8.29} OFF (0) or On (1) On (1) RW Bit PT US
0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),
0.19 Analog input 2 mode {7.11} VOLt (6) RW Txt US
4-20 (4), 20-4 (5), VOLt (6)
0.20 Analog input 2 destination {7.14} Pr 0.00 to Pr 21.51 Pr 1.37 RW Uni DE PT US
0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),
0.21 Analog input 3 mode {7.15} 4-20 (4), 20-4 (5), VOLt (6), th.SC (7), VOLt (6) RW Txt PT US
th (8), th.diSp (9)
0.22 Bipolar reference select {1.10} OFF (0) or On (1) OFF (0) RW Bit US
0.23 Jog reference {1.05} 0 to 400.0 Hz 0 to 4000.0 rpm 0.0 RW Uni US
0.24 Pre-set reference 1 {1.21} ±Speed_limit_max rpm 0.0 RW Bi US
0.25 Pre-set reference 2 {1.22} ±Speed_limit_max rpm 0.0 RW Bi US
±Speed_freq_
OL> Pre-set reference 3 {1.23} 0.0 RW Bi US
0.26 max Hz/rpm
CL> Overspeed threshold {3.08} 0 to 40,000 rpm 0 RW Uni US
±Speed_freq_
OL> Pre-set reference 4 {1.24} 0.0 RW Bi US
max Hz/rpm
0.27
CL> Drive encoder lines per
revolution
{3.34} 0 to 50,000 1024 4096 RW Uni US

0.28 Keypad fwd/rev key enable {6.13} OFF (0) or On (1) OFF (0) RW Bit US

Unidrive SP User Guide 67

Range(Ú) Default(Ö)
Parameter Type
OL VT SV OL VT SV
SMARTCARD parameter
0.29 {11.36} 0 to 999 0 RO Uni NC PT US
data
0.30 Parameter cloning {11.42} nonE (0), rEAd (1), Prog (2), AutO (3), boot (4) nonE (0) RW Txt NC *
0.31 Drive rated voltage {11.33} 200 (0), 400 (1), 575 (2), 690 (3) V RO Txt NC PT
0.32 Drive rated current {11.32} 0.00 to 9999.99A RO Uni NC PT
OL> Catch a spinning motor {6.09} 0 to 3 0 RW Uni US
0.33
VT> Rated rpm autotune {5.16} 0 to 2 0 RW Uni US
0.34 User security code {11.30} 0 to 999 0 RW Uni NC PT PS
AnSI (0)
0.35 Serial comms mode {11.24} rtU (1) RW Txt US
rtu (1)
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
9600 (5), 19200 (6), 38400 (7),
0.36 Serial comms baud rate {11.25} 19200 (6) RW Txt US
57600 (8) Modbus RTU only,
115200 (9) Modbus RTU only
0.37 Serial comms address {11.23} 0 to 247 1 RW Uni US
200V drive: 75
All voltage 400V drive: 150
0.38 Current loop P gain {4.13} 0 to 30,000 RW Uni US
ratings: 20 575V drive: 180
690V drive: 215
200V drive: 1000
All voltage 400V drive: 2000
0.39 Current loop I gain {4.14} 0 to 30,000 RW Uni US
ratings 40 575V drive: 2400
690V drive: 3000
0.40 Autotune {5.12} 0 to 2 0 to 3 0 RW Uni
Maximum switching
0.41 {5.18} 3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5) kHz 3 (0) 6 (2) RW Txt RA US
frequency
0.42 No. of motor poles {5.11} 0 to 60 (Auto to 120 pole) 0 (Auto) 6 POLE (3) RW Txt US
OL & VT> Motor rated power
{5.10} 0.000 to 1.000 0.850 RW Uni US
0.43 factor
SV> Encoder phase angle {3.25} 0.0 to 359.9° 0.0 RW Uni US
200V drive: 230
400V drive: EUR> 400, USA> 460
0.44 Motor rated voltage {5.09} 0 to AC_voltage_set_max V RW Uni RA US
575V drive: 575
690V drive: 690
EUR>
OL & VT> Motor rated full 0 to 180,000 0.00 to EUR> 1,500 1,450.00
{5.08} RW Uni US
load speed (rpm) rpm 40,000.00 rpm USA> 1,800 USA>
0.45 1,770.00
SV> Motor thermal time
{4.15} 0.0 to 400.0 20.0 RW Uni US
constant
0.46 Motor rated current {5.07} 0 to Rated_current_max A Drive rated current [11.32] RW Uni RA US
0 to 3,000.0 0 to 1,250.0 EUR> 50.0
0.47 Rated frequency {5.06} RW Uni US
Hz Hz USA> 60.0
OPEn LP (1), CL VECt (2),
0.48 Operating mode selector {11.31} OPEn LP (1) CL VECt (2) SErVO (3) RW Txt NC PT
SErVO (3), rEgEn (4)
0.49 Security status {11.44} L1 (0), L2 (1), Loc (2) RW Txt PT US
0.50 Software version {11.29} 1.00 to 99.99 RO Uni NC PT
* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved

Key:

Coding Attribute Coding Attribute

OL Open loop Rating dependant: this parameter is likely to have different
CL Closed loop vector and Servo values and ranges with drives of different voltage and
RA current ratings. This parameters is not transferred by
VT Closed loop vector
SMARTCARDs when the rating of the destination drive is
SV Servo different from the source drive.
{X.XX} Cloned advanced parameter Not cloned: not transferred to or from SMARTCARDs
RW Read/write: can be written by the user NC
during cloning.
RO Read only: can only be read by the user PT Protected: cannot be used as a destination.
Bit 1 bit parameter: ‘On’ or ‘OFF’ on the display User save: saved in drive EEPROM when the user initiates
US
Bi Bipolar parameter a parameter save.
Uni Unipolar parameter Power-down save: automatically saved in drive EEPROM
PS
Txt Text: the parameter uses text strings instead of numbers. at power-down.
Filtered: some parameters which can have rapidly changing
FI values are filtered when displayed on the drive keypad for
easy viewing.
Destination: indicates that this parameter can be a
DE
destination parameter.

68 Unidrive SP User Guide

Unidrive SP User Guide 69

Figure 6-1 Menu 0 logic diagram

The function of the two digital inputs are controlled by the setting of Pr 0.05 (reference selector). See table below for details.

Analog reference

Analog input 2 Analog input 2

offset trim destination
Any
0.13 0.20 unprotected
variable
parameter
Analog input + Analog
2 mode ??.?? reference 2
+
0.19 1.37 Reference
0.05
selector
??.??

OR
Bipolar
reference
select
0.24
Preset frequency
reference
Preset
0.24
frequency 1
A1.A2
Preset
0.25 A1.Pr
frequency 2
Preset A2.Pr
0.26
frequency 3
Pr
Open Loop only
Preset PAd
0.27
frequency 4 Prc

Keypad reference

0.23

Jog reference

Enable forward /
0.28
reverse key Digital inputs T28 & T29

Pr 0.05 T28 T29

Preset reference A1.A2 Local/Remote Jog
A1.Pr Preset reference selectors
A2.Pr Preset reference selectors
Pr Preset reference selectors
PAd Local/Remote Jog
Prc Local/Remote Jog

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown in their default settings

70 Unidrive SP User Guide

RUN RUN OL> FREQUENCY

FORWARD REVERSE RESET CL> SPEED TORQUE AT ZERO SPEED

Analog outputs Digital output

Motor control
Maximum Current
frequency/ 0.06
limit
speed clamp
0.14 Torque mode
0.02 Ramp selector
enable

Minimum 0.16
frequency/ 0.33
speed clamp
0.01
CL>
Current demand
0.17
filter time
Closed loop only
constant

Motor parameters
0.42 ~ 0.47
Ramps
No. of poles
Power factor
Rated voltage
CL> Speed-loop PID gains Rated speed
Rated current
Rated frequency
0.07 Speed-loop SV> Motor thermal
proportional time constant
gain
0.03
Acceleration 0.08 Speed-loop
rate integral gain

OL> Motor-voltage control

0.04
Deceleration 0.07 Drive
rate Voltage mode
Speed-loop selector
0.10
0.15 0.09 derivative
gain 0.08
Ramp mode
selector Estimated
Boost voltage
motor
speed _ +
0.09
Dynamic V/f
Motor speed select

0.10

Power stage _
PWM switching +
0.41
frequency
Drive encoder 0.11 Drive output
0.27 frequency
ppr
Overspeed
0.26
threshold OL & VT> Total motor
Motor active current
current 0.13 0.12

Magnetising
15 way sub-D
current
connector
Resistor
optional

Unidrive SP User Guide 71

6.2 Full descriptions 0.02 {1.06} Maximum reference clamp

6.2.1 Parameter x.00 RW Uni US
0.00 {x.00} Parameter zero EUR> 50.0
OL Ú 0 to 3,000.0Hz Ö USA> 60.0
RW Uni
EUR> 1,500.0
Ú 0 to 32,767 Ö 0 VT
CL Ú Speed_limit_max rpm Ö USA> 1,800.0
SV 3,000.0
Pr x.00 is available in all menus and has the following functions.

Value Action (The drive has additional over-speed protection.)

Save parameters when under voltage is not active (Pr 10.16 Open-loop
1000
= 0) and 48V supply is not active (Pr 6.44 = 0). Set Pr 0.02 at the required maximum output frequency for both
1001 Save parameters under all conditions directions of rotation. The drive speed reference is scaled between Pr
0.01 and Pr 0.02. [0.02] is a nominal value; slip compensation may
1070 Reset all option modules
cause the actual frequency to be higher.
1233 Load standard defaults
Closed-loop
1244 Load US defaults
Set Pr 0.02 at the required maximum motor speed for both directions of
1253 Change drive mode with standard defaults
rotation. The drive speed reference is scaled between Pr 0.01 and Pr
1254 Change drive mode with US defaults
0.02.
Change drive mode with standard defaults (excluding menus
1255 For operating at high speeds see section 8.6 High speed operation on
15 to 20)
page 98.
Change drive mode with US defaults (excluding menus 15 to
1256
20) 6.2.3 Ramps, speed reference selection, current
Transfer drive EEPROM data to a SMART Card block limit
3yyy*
number yyy 0.03 {2.11} Acceleration rate
Transfer drive data as difference from defaults to SMART
4yyy* RW Uni US
Card block number yyy
Transfer drive ladder program to SMART Card block number
OL Ú 0.0 to 3,200.0 s/100Hz Ö 5.0
5yyy*
yyy VT 2.000
0.000 to 3,200.000
6yyy* Transfer SMART Card data block number yyy to the drive CL Ú s/1,000rpm
Ö
SV 0.0200
7yyy* Erase SMART Card data block number yyy
Compare drive parameters with SMART Card data block Set Pr 0.03 at the required rate of acceleration.
8yyy*
number yyy Note that larger values produce lower acceleration. The rate applies in
9999* Erase SMART Card data block 1 to 499 both directions of rotation.
9888* Set SMART Card read-only flag
9777* Clear SMART Card read-only flag 0.04 {2.21} Deceleration rate
Transfer electronic nameplate parameters to/from drive from/ RW Uni US
110zy to encoder. See the Unidrive SP Advanced User Guide for OL Ú 0.0 to 3,200.0 s/100Hz Ö 10.0
more information on this function.
12000** Display non-default values only 0.000 to 3,200.000 VT 2.000
CL Ú s/1,000rpm
Ö
12001** Display destination parameters only SV 0.0200
* See Chapter 9 SMARTCARD operation on page 100 for more
Set Pr 0.04 at the required rate of deceleration.
information of these functions.
Note that larger values produce lower deceleration. The rate applies in
** These functions do not require a drive reset to become active. All
both directions of rotation.
other functions require a drive reset to initiate the function.
6.2.2 Speed limits 0.05 {1.14} Reference selector
0.01 {1.07} Minimum reference clamp RW Txt NC US
RW Bi PT US Ú 0 to 5 Ö A1.A2 (0)
OL Ú ±3,000.0Hz Ö 0.0
Use Pr 0.05 to select the required frequency/speed reference as follows:
CL Ú ±Speed_limit_max rpm Ö 0.0
Setting
(When the drive is jogging, [0.01] has no effect.) Analog input 1 OR analog input 2 selectable by digital
A1.A2 0
Open-loop input, terminal 28
Set Pr 0.01 at the required minimum output frequency of the drive for Analog input 1 OR preset frequency/speed selectable
A1.Pr 1
both directions of rotation. The drive speed reference is scaled between by digital input, terminal 28 and 29
Pr 0.01 and Pr 0.02. [0.01] is a nominal value; slip compensation may Analog input 2 OR preset frequency/speed selectable
A2.Pr 2
cause the actual frequency to be higher. by digital input, terminal 28 and 29
Closed-loop Pr 3 Pre-set frequency/speed
Set Pr 0.01 at the required minimum motor speed for both directions of Pad 4 Keypad reference
rotation. The drive speed reference is scaled between Pr 0.01 and Pr Prc 5 Precision reference
0.02. Setting Pr 0.05 to 1, 2 or 3 will re-configure T28 and T29. Refer to

72 Unidrive SP User Guide

Pr 8.39 (Pr 0.16 in OL) to disable this function.

0.08 {3.11} Speed controller integral gain
0.06 {4.07} Current Limit RW Uni US
RW Uni RA US 0.00 to 655.35
CL Ú 1/rad
Ö 1.00
OL 165.0
Ú 0 to Current_limit_max % Ö Closed-loop
CL 175.0
Pr 0.08 (3.11) operates in the feed-forward path of the speed-control
Pr 0.06 limits the maximum output current of the drive (and hence loop in the drive. See Figure 11-4 on page 120 for a schematic of the
maximum motor torque) to protect the drive and motor from overload. speed controller. For information on setting up the speed controller
Set Pr 0.06 at the required maximum torque as a percentage of the rated gains, refer to Chapter 8 Optimisation on page 90.
torque of the motor, as follows:
0.09 {5.13} Dynamic V/F / flux optimise select
TR
[ 0.06 ] = -------------------- × 100 (%) RW Bit US
T RATED
OL Ú OFF (0) or On (1) Ö OFF (0)
Where:
TR Required maximum torque Open-loop
TRATED Motor rated torque Set Pr 0.09 (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.
Alternatively, set 0.06 at the required maximum active (torque-
producing) current as a percentage of the rated active current of the Set Pr 0.09 at 1 when reduced power dissipation is required in the motor
motor, as follows: when it is lightly loaded. The V/f characteristic is then variable resulting
in the motor voltage being proportionally reduced for lower motor
I R
[ 0.06 ] = ------------------- × 100 (%)
currents. Figure 6-2 shows the change in V/f slope when the motor
IRATED current is reduced.

Where:
Figure 6-2 Fixed and variable V/f characteristics
IR Required maximum active current
IRATED Motor rated active current

6.2.4 Voltage boost, (open-loop), Speed-loop PID Motor

voltage
gains (closed-loop)
AC supply
0.07 {5.14} Voltage mode selector voltage
IMOTOR
RW Txt US
Ur_S (0), Ur (1), Fd (2),
OL Ú Ur_Auto (3), Ur_I (4), Ö Ur_I (4)
SrE (5)

Open-loop
There are six voltage modes available, which fall into two categories, Frequency
vector control and fixed boost. For further details, refer to section Pr
0.07 {5.14} Voltage mode on page 91.

0.07 {3.10} Speed controller proportional gain 0.09 {3.12} Speed controller differential feedback gain

RW Uni US RW Uni US
0.0000 to 6.5535 CL Ú 0.00000 to 0.65535(s) Ö 0.00000
CL Ú Ö 0.0100
1/rad s-1
Closed-loop
Closed-loop Pr 0.09 (3.12) operates in the feedback path of the speed-control loop in
Pr 0.07 (3.10) operates in the feed-forward path of the speed-control the drive. See Figure 11-4 on page 120 for a schematic of the speed
loop in the drive. See Figure 11-4 on page 120 for a schematic of the controller. For information on setting up the speed controller gains, refer
speed controller. For information on setting up the speed controller to Chapter 8 Optimisation on page 90.
gains, refer to Chapter 8 Optimisation on page 90.
6.2.5 Monitoring
0.08 {5.15} Low frequency voltage boost 0.10 {5.04} Estimated motor speed
RW Uni US RO Bit FI NC PT
0.0 to 25.0% of motor OL Ú ±180,000 rpm Ö
OL Ú rated voltage
Ö 3.0
Open-loop
Open-loop
Pr 0.10 (5.04) indicates the value of motor speed that is estimated from
When 0.07 Voltage mode selector is set at Fd or SrE, set Pr 0.08 (5.15) the following:
at the required value for the motor to run reliably at low speeds.
0.12 Post-ramp frequency reference
Excessive values of Pr 0.08 can cause the motor to be overheated. 0.42 Motor - no. of poles

Unidrive SP User Guide 73

0.10 {3.02} Motor speed 0.13 {7.07} Analog input 1 offset trim
RO Bi FI NC PT RW Bi US
CL Ú ±Speed_max rpm Ö SV Ú ±10,000 % Ö 0.000

Closed-loop Servo
Pr 0.10 (3.02) indicates the value of motor speed that is obtained from Pr 0.13 can be used to trim out any offset in the user signal to analog
the speed feedback. input 1.

0.11 {5.01} Drive output frequency 6.2.6 Jog reference, Ramp mode selector, Stop and
torque mode selectors
RO Bi FI NC PT
0.14 {4.11} Torque mode selector
OL
Ú ±Speed_freq_max Hz Ö RW Uni US
VT
OL Ú 0 to 1 Ö
Speed control (0)
Open-loop & closed loop vector CL Ú 0 to 4 Ö
Pr 0.11 displays the frequency at the drive output.
Pr 0.14 is used to select the required control mode of the drive as
0.11 {3.29} Drive encoder position follows:
RO Uni FI NC PT Setting Open-Loop Closed-Loop
0 to 65,535 0 Frequency control Speed control
SV Ú Ö
1/216ths of a revolution 1 Torque control Torque control
Servo 2 Torque control with speed override
Pr 0.11 displays the position of the encoder in mechanical values of 0 to 3 Coiler/uncoiler mode
65,535. There are 65,536 units to one mechanical revolution. Speed control with torque feed-
4
forward
0.12 {4.01} Total motor current
RO Uni FI NC PT 0.15 {2.04} Ramp mode select
Ú 0 to Drive_current_max A Ö RW Txt US
FASt (0)
Pr 0.12 displays the rms value of the output current of the drive in each OL Ú Std (1) Ö
of the three phases. The phase currents consist of an active component Std.hV (2) Std (1)
and a reactive component, which can form a resultant current vector as
FASt (0)
shown in the following diagram. CL Ú Std (1)
Ö

Pr 0.15 sets the ramp mode of the drive as shown below:

Active Total current
0: Fast ramp
current
Fast ramp is used where the deceleration follows the programmed
deceleration rate subject to current limits. This mode must be used if a
braking resistor is connected to the drive.
1: Standard ramp
Standard ramp is used. During deceleration, if the voltage rises to the
standard ramp level (Pr 2.08) it causes a controller to operate, the output
Magnetising current of which changes the demanded load current in the motor. As the
controller regulates the link voltage, the motor deceleration increases as
The active current is the torque producing current and the reactive the speed approaches zero speed. When the motor deceleration rate
current is the magnetising or flux-producing current. reaches the programmed deceleration rate the controller ceases to
operate and the drive continues to decelerate at the programmed rate. If
0.13 {4.02} Motor active current the standard ramp voltage (Pr 2.08) is set lower than the nominal DC
RO Bi FI NC PT bus level the drive will not decelerate the motor, but it will coast to rest.
The output of the ramp controller (when active) is a current demand that
OL is fed to the frequency changing current controller (Open-loop modes) or
Ú ±Drive_current_max A Ö
VT the torque producing current controller (Closed-loop vector or Servo
modes). The gain of these controllers can be modified with Pr 4.13 and
Open-loop & closed loop vector Pr 4.14.
When the motor is being driven below its rated speed, the torque is
proportional to [0.13].

74 Unidrive SP User Guide

Pr 0.05. In order to manually set-up this parameter, the T28 and T29
Controller auto-selection disable (Pr 0.16) must be set.
operational

0.17 {4.12} Current demand filter time constant

DC Bus voltage
RW Uni US
CL Ú 0.0 to 25.0 ms Ö 0.0

Closed-loop
Motor Speed A first order filter, with a time constant defined by Pr 0.17, is provided on
the current demand to reduce acoustic noise and vibration produced as
Programmed
deceleration a result of position feedback quantisation noise. The filter introduces a
rate lag in the speed loop, and so the speed loop gains may need to be
reduced to maintain stability as the filter time constant is increased.

0.18 {8.29} Positive logic select

t RW Bit PT US
2: Standard ramp with motor voltage boost Ú OFF (0) or On (1) Ö On (1)
This mode is the same as normal standard ramp mode except that the
motor voltage is boosted by 20%. This increases the losses in the motor, Pr 0.18 sets the logic polarity for digital inputs and digital outputs. This
dissipating some of the mechanical energy as heat giving faster does not affect the drive enable input or the relay output.
deceleration.
0.19 {7.11} Analog input 2 mode
0.16 {8.39} T28 and T29 auto-selection disable RW Txt US
RW Bit US
Ú 0 to 6 Ö VOLt (6)
OL Ú OFF (0) or On (1) Ö OFF (0)
In modes 2 & 3 a current loop loss trip is generated if the current falls
Open-loop below 3mA.
When Pr 0.16 is set to 0, digital inputs T28 and T29 are set up In modes 2 & 4 the analog input level goes to 0.0% if the input current
automatically with destinations according to the setting of the reference falls below 4mA.
select Pr 0.05.
Pr Pr
Terminal 28 Terminal 29 Mode Comments
Reference select 0.05 value string
function function
0 0-20 0 - 20mA
Reference selection by
A1.A2 (0) Local / remote selector Jog select 1 20-0 20 - 0mA
terminal input
Analog reference 1 or 2 4-20 4 - 20mA with trip on loss Trip if I < 3mA
A1.Pr (1) presets selected by Preset select bit 0 Preset select bit 1
terminal input 3 20-4 20 - 4mA with trip on loss Trip if I < 3mA
Analog reference 2 or 4 4-20.tr 4 - 20mA with no trip on loss 0.0% if I ≤ 4mA
A2.Pr (2) presets selected by Preset select bit 0 Preset select bit 1 5 20-4.tr 20 – 4mA with no trip on loss 100% if I ≤ 4mA
terminal input
Preset reference selected 6 VOLt Voltage mode
Pr (3) Preset select bit 0 Preset select bit 1
by terminal input
Keypad reference
Pad (4) Local / remote selector Jog select 0.20 {7.14} Analog input 2 destination
selected
Precision reference RW Uni DE PT US
Prc (5) Local / remote selector Jog select
selected
Setting Pr 0.16 to 1 disables this automatic set-up, allowing the user to Ú Pr 0.00 to Pr 21.51 Ö Pr 1.37
define the function of digital inputs T28 and T29.
Pr 0.20 sets the destination of analog input 2.
0.16 {2.02} Ramp enable
RW Bit US
CL Ú OFF (0) or On (1) Ö On (1)

Setting Pr 0.16 to 0 allows the user to disable the ramps. This is

generally used when the drive is required to closely follow a speed
reference which already contains acceleration and deceleration ramps.

0.17 {8.26} T29 digital input destination

RW Uni DE PT US
OL Ú Pr 0.00 to Pr 21.51 Ö Pr 6.31

Open-loop
Pr 0.17 sets the destination of digital input T29. This parameter is
normally set-up automatically according to the reference selected by

Unidrive SP User Guide 75

0.21 {7.15} Analog input 3 destination 0.25 {1.22} Preset reference 2

RW Txt PT US RW Bi US
Ú 0 to 9 Ö VOLt (6) Ú ±Speed_limit_max rpm Ö 0.0

In modes 2 & 3 a current loop loss trip is generated if the current falls
below 3mA. 0.26 {1.23} Preset reference 3
In modes 2 & 4 the analog input level goes to 0.0% if the input current RW Bi US
falls below 4mA. OL Ú ±Speed_freq_max Hz/rpm Ö 0.0

Pr Pr Open-loop
Mode Comments
value string If the preset reference has been selected (see Pr 0.05), the speed at
0 0-20 0 - 20mA which the motor runs is determined by these parameters.
1 20-0 20 - 0mA
2 4-20 4 - 20mA with trip on loss Trip if I < 3mA 0.26 {3.08} Overspeed threshold
3 20-4 20 - 4mA with trip on loss Trip if I < 3mA RW Uni US
4 4-20.tr 4 - 20mA with no trip on loss 0.0% if I ≤ 4mA
CL Ú 0 to 40,000 rpm Ö 0
5 20-4.tr 20 - 4mA with no trip on loss 100% if I ≤ 4mA
6 VOLt Voltage mode Closed-loop
Th trip if R > 3K3 If the speed feedback (Pr 3.02) exceeds this level in either direction, an
Thermistor mode with short-
7 th.SC Th reset if R < 1K8 overspeed trip is produced. If this parameter is set to zero, the
circuit detection
ThS trip if R < 50R overspeed threshold is automatically set to 120% x
Thermistor mode with no Th trip if R > 3K3 SPEED_FREQ_MAX.
8 th
short-circuit detection Th reset if R < 1K8
Thermistor mode with 0.27 {1.24} Preset reference 4
9 th.diSp
display only and no trip RW Bi US
OL Ú ±Speed_freq_max Hz/rpm Ö 0.0
0.22 {1.10} Bipolar reference select
Open-loop
RW Bit US
Refer to Pr 0.24 to Pr 0.26.
Ú OFF (0) or On (1) Ö OFF (0)

Pr 0.22 determines whether the reference is uni-polar or bi-polar as 0.27 {3.34} Drive encoder lines per revolution
follows: RW Uni US
Pr 0.22 Function VT Ú Ö 1024
0 to 50,000
SV Ú Ö 4096
0 Unipolar speed/frequency reference
Closed-loop
Enter in Pr 0.27 the number of lines per revolution of the drive encoder.
1 Bipolar speed/frequency reference
0.28 {6.13} Keypad fwd/rev key enable
RW Bit US

0.23 {1.05} Jog reference Ú OFF (0) or On (1) Ö OFF (0)

RW Uni US
When a keypad is fitted, this parameter enables the forward/reverse key.
OL Ú 0 to 400.0 Hz Ö
0.0 0.29 {11.36} SMARTCARD parameter data
CL Ú 0 to 4,000.0 rpm Ö
RO Uni NC PT US
Enter the required value of jog frequency/speed.
Ú 0 to 999 Ö 0
The frequency/speed limits affect the drive when jogging as follows:
This parameter shows the number of the data block last transferred from
Frequency-limit parameter Limit applies
a SMARTCARD to the drive.
Pr 0.01 Minimum reference clamp No
Pr 0.02 Maximum reference clamp Yes

0.24 {1.21} Preset reference 1

RW Bi US
Ú ±Speed_limit_max rpm Ö 0.0

76 Unidrive SP User Guide

0.30 {11.42} Parameter cloning 0.33 {5.16} Rated rpm autotune

RW Txt NC * RW Uni US
Ú 0 to 4 Ö nonE (0) VT Ú 0 to 2 Ö 0

* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved. Closed-loop vector
The motor rated full load rpm parameter (Pr 0.45) in conjunction with the
NOTE N motor rated frequency parameter (Pr 0.46) defines the full load slip of the
If Pr 0.30 is equal to 1 or 2 this value is not transferred to the EPROM or motor. The slip is used in the motor model for closed-loop vector control.
the drive. If Pr 0.30 is set to a 3 or 4 the value is transferred.
The full load slip of the motor varies with rotor resistance which can vary
significantly with motor temperature. When Pr 0.33 is set to 1 or 2, the
Pr Pr drive can automatically sense if the value of slip defined by Pr 0.45 and
Comment
String value Pr 0.46 has been set incorrectly or has varied with motor temperature. If
nonE 0 Inactive the value is incorrect parameter Pr 0.45 is automatically adjusted. The
adjusted value in Pr 0.45 is not saved at power-down. If the new value is
rEAd 1 Read parameter set from the SMARTCARD
required at the next power-up it must be saved by the user.
Prog 2 Programming a parameter set to the SMARTCARD
Automatic optimisation is only enabled when the speed is above 12.5%
Auto 3 Auto save of rated speed, and when the load on the motor load rises above 62.5%
boot 4 Boot mode rated load. Optimisation is disabled again if the load falls below 50% of
For further information, please refer to Chapter 9 SMARTCARD rated load.
operation on page 100. For best optimisation results the correct values of stator resistance (Pr
5.17), transient inductance (Pr 5.24), stator inductance (Pr 5.25) and
0.31 {11.33} Drive rated voltage saturation breakpoints (Pr 5.29, Pr 5.30) should be stored in the relevant
RO Txt NC PT parameters. These values can be obtained by the drive during an
autotune (see Pr 0.40 for further details).
200V (0)
400V (1) Rated rpm auto-tune is not available if the drive is not using external
Ú 575V (2)
Ö position/speed feedback.
690V (3) The gain of the optimiser, and hence the speed with which it converges,
can be set at a normal low level when Pr 0.33 is set to 1. If this
Pr 0.31 indicates the voltage rating of the drive. parameter is set to 2 the gain is increased by a factor of 16 to give faster
convergence.
0.32 {11.32} Drive rated current
RO Uni NC PT 0.34 {11.30} User security code
Ú 0.00 to 9,999.99 A Ö RW Uni NC PT PS
Ú 0 to 999 Ö 0
Pr 0.32 indicates the maximum continuous Heavy Duty current rating
(which will allow for an overload of 150%). If any number other than 0 is programmed into this parameter, user
security is applied so that no parameters except parameter 0.49 can be
0.33 {6.09} Catch a spinning motor adjusted with the LED keypad. When this parameter is read via an LED
RW Uni US keypad it appears as zero.
OL Ú 0 to 3 Ö 0 For further details refer to section 5.9.3 User Security on page 65.

Open-loop 0.35 {11.24} Serial comms mode

When the drive is enabled with Pr 0.33 = 0, the output frequency starts at RW Txt US
zero and ramps to the required reference. When the drive is enabled AnSI (0)
Ú rtu (1)
Ö rtU (1)
when Pr 0.33 has a non-zero value, the drive performs a start-up test to
determine the motor speed and then sets the initial output frequency to
This parameter defines the communications protocol used by the 485
the synchronous frequency of the motor. Restrictions may be placed on
comms port on the drive. This parameter can be changed via the drive
the frequencies detected by the drive as follows: keypad, via a Solutions Module or via the comms interface itself. If it is
changed via the comms interface, the response to the command uses
0.33 Function the original protocol. The master should wait at least 20ms before send a
0 Disabled new message using the new protocol. (Note: ANSI uses 7 data bits, 1
1 Detect all frequencies stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and
2 Detect positive frequencies only no parity.)
3 Detect negative frequencies only Comms value String Communications mode
0 AnSI ANSI
1 rtU Modbus RTU protocol
ANSIx3.28 protocol
Full details of the CT ANSI communications protocol are the Unidrive SP
Advanced User Guide.
Modbus RTU protocol
Full details of the CT implementation of Modbus RTU are given in the
Unidrive SP Advanced User Guide.

Unidrive SP User Guide 77

0.36 {11.25} Serial comms baud rate 0.40 {5.12} Autotune

RW Txt US RW Uni
300 (0), 600 (1), 1200 (2), OL Ú 0 to 2 Ö 0
2400 (3), 4800 (4), 9600 (5),
Ú 19200 (6), 38400 (7),
Ö 19200 (6) VT Ú 0 to 4 Ö 0
57600 (8)*, 115200 (9)*
SV Ú 0 to 6 Ö 0
* only applicable to Modbus RTU mode
Open-Loop
This parameter can be changed via the drive keypad, via a Solutions
There are two autotune tests available in open loop mode, a stationary
Module or via the comms interface itself. If it is changed via the comms
and a rotating test. A rotating autotune should be used whenever
interface, the response to the command uses the original baud rate. The
master should wait at least 20ms before send a new message using the possible, so the measured value of power factor of the motor is used by
the drive.
new baud rate.
• The stationary autotune can be used when the motor is loaded and it
0.37 {11.23} Serial address is not possible to remove the load from the motor shaft.
• A rotating autotune first performs a stationary autotune, before
RW Uni US
rotating the motor at 2/3 base speed in the forward direction for
Ú 0 to 247 Ö 1 several seconds. The motor must be free from load for the rotating
autotune.
Used to define the unique address for the drive for the serial interface. To perform an autotune, set Pr 0.40 to 1 for a stationary test or 2 for a
The drive is always a slave. rotating test, and provide the drive with both an enable signal (on
Modbus RTU terminal 31) and a run signal (on terminal 26 or 27).
When the Modbus RTU protocol is used addresses between 0 and 247 Following the completion of an autotune test, either the run signal or the
are permitted. Address 0 is used to globally address all slaves, and so enable signal must be removed before the drive can then be made to run
this address should not be set in this parameter at the required reference.
ANSI For further information refer to section Pr 0.40 {5.12} Autotune on
When the ANSI protocol is used the first digit is the group and the page 90.
second digit is the address within a group. The maximum permitted Closed-Loop
group number is 9 and the maximum permitted address within a group is
9. Therefore, Pr 0.37 is limited to 99 in this mode. The value 00 is used There are three autotune tests available in closed loop vector mode, a
to globally address all slaves on the system, and x0 is used to address stationary test, a rotating test and an inertia measurement test. A
all slaves of group x, therefore these addresses should not be set in this stationary autotune will give moderate performance whereas a rotating
parameter. autotune will give improved performance as it measures the actual
values of the motor parameters required by the drive. An inertia
measurement test should be performed separately to a stationary or
0.38 {4.13} Current loop P gain
rotating autotune.
RW Uni US
• The stationary autotune can be used when the motor is loaded and it
OL Ú Ö All voltage ratings: 20 is not possible to remove the load from the motor shaft.
200V drive: 75 • A rotating autotune first performs a stationary autotune, before
0 to 30,000 400V drive: 150 rotating the motor at 2/3 base speed in the forward direction for
CL Ú Ö 575V drive: 180 approximately 30 seconds. The motor must be free from load for the
690V drive: 215 rotating autotune.
• The inertia measurement test can measure the total inertia of the
load and the motor. This is used to set the speed loop gains (see
0.39 {4.14} Current loop I gain Speed loop gains, below) and to provide torque feed forwards when
RW Uni US required during acceleration. During the inertia measurement test
the motor speed changes from 1/3 to 2/3 rated speed in the forward
OL Ú Ö All voltage ratings: 40
direction several times. The motor can be loaded with a constant
200V drive: 1,000 torque load and still give an accurate result, however, non-linear
0 to 30,000 400V drive: 2,000
CL Ú Ö loads and loads that change with speed will cause measurement
575V drive: 2,400 errors.
690V drive: 3,000 To perform an autotune, set Pr 0.40 to 1 for a stationary test, 2 for a
rotating test, or 3 for an inertia measurement test and provide the drive
These parameters control the proportional and integral gains of the
with both an enable signal (on terminal 31) and a run signal (on terminal
current controller used in the open loop drive. The current controller
26 or 27).
either provides current limits or closed loop torque control by modifying
the drive output frequency. The control loop is also used in its torque Following the completion of an autotune test, either the run signal or the
mode during mains loss, or when the controlled mode standard ramp is enable signal must be removed before the drive can then be made to run
active and the drive is decelerating, to regulate the flow of current into at the required reference.
the drive. For further information refer to section Pr 0.40 {5.12} Autotune on
page 93.

Servo
There are three autotune tests available in Servo mode, a short low
speed test, a normal low speed test and an inertia measurement test. A
normal low speed should be done where possible as the drive measures
the stator resistance and inductance of the motor, and from these

78 Unidrive SP User Guide

calculates the current loop gains. An inertia measurement test should be Closed-loop vector
performed separately to a short low speed or normal low speed This parameter must be set correctly for the vector control algorithms to
autotune. operate correctly. When auto is selected, the number of motor poles is
• A short low speed test will rotate the motor by 2 electrical revolutions automatically calculated from the rated frequency (Pr 0.47) and the rated
(i.e. up to 2 mechanical revolutions) in the forward direction, and full load rpm (Pr 0.45). The number of poles = 120 * rated frequency /
measure the encoder phase angle. The motor must be free from rpm rounded to the nearest even number.
load for this test. Servo
• A normal low speed test will rotate the motor by 2 electrical
This parameter must be set correctly for the vector control algorithms to
revolutions (i.e. up to 2 mechanical revolutions) in the forward
direction. This test measures the encoder phase angle and updates operate correctly. When auto is selected the number of poles is set to 6.
other parameters including the current loop gains. The motor must
be free from load for this test. 0.43 {5.10} Motor rated power factor
• The inertia measurement test can measure the total inertia of the RW Uni US
load and the motor. This is used to set the speed loop gains and to
OL Ú Ö
provide torque feed forwards when required during acceleration. 0.000 to 1.000 0.850
During the inertia measurement test the motor speed changes from VT Ú Ö
1
/3 to 2/3 rated speed in the forward direction several times. The
The power factor is the true power factor of the motor, i.e. the angle
motor can be loaded with a constant torque load and still give an
between the motor voltage and current.
accurate result, however, non-linear loads and loads that change
with speed will cause measurement errors. Open-loop vector
To perform an autotune, set Pr 0.40 to 1 for a short low speed test, 2 for The power factor is used in conjunction with the motor rated current (Pr
a normal low speed test, or 3 for an inertia measurement test and 0.46) to calculate the rated active current and magnetising current of the
provide the drive with both an enable signal (on terminal 31) and a run motor. The rated active current is used extensively to control the drive,
signal (on terminal 26 or 27). and the magnetising current is used in vector mode Rs compensation. It
Following the completion of an autotune test, either the run signal or the is important that this parameter is set up correctly.
enable signal must be removed before the drive can then be made to run This parameter is obtained by the drive during a rotational autotune. If a
at the required reference. stationary autotune is carried out, then the nameplate value should be
For further information refer to section Pr 0.40 {5.12} Autotune on entered in Pr 0.43.
page 95. Closed-loop vector
If the stator inductance (Pr 5.25) contains a non-zero value, the power
0.41 {5.18} Maximum switching frequency factor used by the drive is continuously calculated and used in the vector
RW Txt RA US control algorithms (this will not update Pr 0.43).
OL Ö 3 (0) If the stator inductance is set to zero (Pr 5.25) then the power factor
3 (0), 4 (1), 6 (2), 8 (3), written in Pr 0.43 is used in conjunction with the motor rated current and
Ú 12 (4), 16 (5) kHz
VT 3 (0) other motor parameters to calculate the rated active and magnetising
CL Ö
SV 6 (2) currents which are used in the vector control algorithm.
This parameter is obtained by the drive during a rotational autotune. If a
This parameter defines the required switching frequency. The drive may stationary autotune is carried out, then the nameplate value should be
automatically reduce the actual switching frequency (without changing entered in Pr 0.43.
this parameter) if the power stage becomes too hot. A thermal model of
the IGBT junction temperature is used based on the heatsink 0.43 {3.25} Encoder phase angle
temperature and an instantaneous temperature drop using the drive
RW Uni US
output current and switching frequency. The estimated IGBT junction
temperature is displayed in Pr 7.34. If the temperature exceeds 145°C SV Ú 0.0 to 359.9° Ö 0.0
the switching frequency is reduced if this is possible (i.e >3kHz).
Reducing the switching frequency reduces the drive losses and the The phase angle between the rotor flux in a servo motor and the
junction temperature displayed in Pr 7.34 also reduces. If the load encoder position is required for the motor to operate correctly. If the
condition persists the junction temperature may continue to rise again phase angle is known it can be set in this parameter by the user.
above 145°C and the drive cannot reduce the switching frequency Alternatively the drive can automatically measure the phase angle by
further the drive will initiate an ‘O.ht1’ trip. Every second the drive will performing a phasing test (see autotune in servo mode Pr 0.40). When
attempt to restore the switching frequency to the level set in Pr 0.41. the test is complete the new value is written to this parameter. The
encoder phase angle can be modified at any time and becomes effective
6.2.7 Motor parameters immediately. This parameter has a factory default value of 0.0, but is not
0.42 {5.11} No. of motor poles affected when defaults are loaded by the user.

RW Txt US
0.44 {5.09} Motor rated voltage
OL Ú Ö Auto (0) RW Uni RA US
0 to 60 (Auto to 120 Pole) VT Auto (0) 200V drive: 230
CL Ú Ö 400V drive: EUR> 400
SV 6 POLE (3) Ú 0 to AC_voltage_set_max V Ö USA> 460
575V drive: 575
Open-loop
690V drive: 690
This parameter is used in the calculation of motor speed, and in applying
the correct slip compensation. When auto is selected, the number of Open-loop & Closed-loop Vector
motor poles is automatically calculated from the rated frequency (Pr Enter the value from the rating plate of the motor.
0.47) and the rated full load rpm (Pr 0.45). The number of poles = 120 *
rated frequency / rpm rounded to the nearest even number.

Unidrive SP User Guide 79

0.45 {5.08} Motor rated full load speed (rpm) 0.47 {5.06} Rated frequency
RW Uni US RW Uni US
EUR> 1,500 OL Ú 0 to 3,000.0Hz Ö EUR> 50.0, USA> 60.0
OL Ú 0 to 180,000 rpm Ö USA> 1,800
EUR> 1,450.00
VT Ú 0 to 1,250.0Hz Ö EUR> 50.0, USA> 60.0
VT Ú 0.00 to 40,000.00 rpm Ö USA> 1,770.00
Open-loop & Closed-loop Vector
Open-loop Enter the value from the rating plate of the motor.
This is the speed at which the motor would rotate when supplied with its
base frequency at rated voltage, under rated load conditions (=
6.2.8 Operating-mode selection
synchronous speed - slip speed). Entering the correct value into this 0.48 {11.31} Operating mode selector
parameter allows the drive to increase the output frequency as a RW Txt NC PT
function of load in order to compensate for this speed drop.
OL 1
Slip compensation is disabled if Pr 0.45 is set to 0 or to synchronous
speed, or if Pr 5.27 is set to 0. Ú 1 to 4 Ö VT 2
If slip compensation is required this parameter should be set to the value SV 3
from the rating plate of the motor, which should give the correct rpm for a
hot machine. Sometimes it will be necessary to adjust this when the The settings for Pr 0.48 are as follows:
drive is commissioned because the nameplate value may be inaccurate.
Slip compensation will operate correctly both below base speed and Setting Operating mode
within the field weakening region. Slip compensation is normally used to OPEn LP 1 Open-loop
correct for the motor speed to prevent speed variation with load. The
CL VECt 2 Closed-loop Vector
rated load rpm can be set higher than synchronous speed to deliberately
SerVO 3 Servo
introduce speed droop. This can be useful to aid load sharing with
mechanically coupled motors. rEgEn 4 Regen

Closed loop vector This parameter defines the drive operating mode. Pr xx.00 must be set
to 1253 (European defaults) or 1254 (USA defaults) before this
Rated load rpm is used with motor rated frequency to determine the full parameter can be changed. When the drive is reset to implement any
load slip of the motor which is used by the vector control algorithm.
change in this parameter, the default settings of all parameters will be
Incorrect setting of this parameter can result in the following:
set according to the drive operating mode selected and saved in
• Reduced efficiency of motor operation memory.
• Reduction of maximum torque available from the motor
• Failure to reach maximum speed 6.2.9 Status information
• Over-current trips 0.49 {11.44} Security status
• Reduced transient performance
• Inaccurate control of absolute torque in torque control modes RW Txt PT US
The nameplate value is normally the value for a hot machine, however, Ú 0 to 2 Ö 0
some adjustment may be required when the drive is commissioned if the
nameplate value is inaccurate. The rated full load rpm can be optimised This parameter controls access via the drive LED keypad as follows:
by the drive (For further information, refer to section 8.1.2 Closed loop
Value String Action
vector motor control on page 92).
0 L1 Only menu 0 can be accessed
1 L2 All menus can be accessed
0.45 {4.15} Motor thermal time constant
Lock user security when drive is reset.
RW Uni US 2 Loc
(This parameter is set to L1 after reset.)
SV Ú 0 to 400.0 Ö 20.0 The LED keypad can adjust this parameter even when user security is
set.
Servo
Pr 0.45 is the motor thermal time constant of the motor, and is used 0.50 {11.29} Software version number
(along with the motor rated current Pr 0.46, and total motor current Pr
0.12) in the thermal model of the motor in applying thermal protection to RO Uni NC PT
the motor. Ú 1.00 to 99.99 Ö
Setting this parameter to 0 disables the motor thermal protection.
The parameter displays the software version of the drive.
For further details, refer to section 8.4 Motor thermal protection on
page 97.

0.46 {5.07} Motor rated current

RW Uni RA US
Ú 0 to Rated_current_max A Ö Drive rated current [11.32]

Enter the name-plate value for the motor rated current.

80 Unidrive SP User Guide

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Optimisation Diagnostics
Information Information Installation Installation Started Parameters the motor operation PLC Parameters Data Information

7 Running the motor Speed and position feedback

Suitable devices are:
• Incremental encoder (A, B or F, D with or without Z) with
This chapter takes the new user through all the essential steps to
commutation signals (U, V, W)
running a motor for the first time, in each of the possible operating
• Incremental encoder with forward and reverse outputs (F, R with or
modes.
without Z) and commutation outputs (U, V, W)
For information on tuning the drive for the best performance, see • SINCOS encoder (with Stegmann Hiperface or EnDat
Chapter 8 Optimisation . communications protocols or SSI)
• SSI absolute encoder (Gray code or binary)
• EnDat absolute encoder
Ensure that no damage or safety hazard could arise from the
motor starting unexpectedly. For Solutions Module terminal information see section 11.15 Menus 15,
WARNING 16 and 17: Solutions Module set-up on page 161 or the appropriate
Solutions Module option user guide.
The values of the motor parameters affect the protection of
the motor. 7.2 Changing the operating mode
The default values in the drive should not be relied upon. Changing the operating mode returns all parameters to their default
CAUTION
It is essential that the correct value is entered in Pr 0.46 Motor value, including the motor parameters. (Pr 0.49 and Pr 0.34 are not
rated current. This affects the thermal protection of the motor. affected by this procedure.)

If the keypad mode has been used previously, ensure that Procedure
Use the following procedure only if a different operating mode is
the keypad reference has been set to 0 using the required:
buttons as if the drive is started using the keypad it will run to 1. Enter either of the following values in Pr xx.00, as appropriate:
CAUTION the speed defined by the keypad reference (Pr 0.35). 1253 (Europe, 50Hz AC supply frequency)
1254 (USA, 60Hz AC supply frequency)
If the intended maximum speed affects the safety of the 2. Change the setting of Pr 0.48 as follows:
machinery, additional independent over-speed protection
must be used. Pr 0.48 setting Operating mode
WARNING

1 Open-loop
7.1 Quick start Connections
7.1.1 Basic requirements
This section shows the basic connections which must be made for the 2 Closed-loop Vector
drive to run in the required mode. For minimal parameter settings to run
in each mode please see the relevant part of section 7.3 Quick Start
commissioning on page 84. 3 Closed-loop Servo
Table 7-1 Minimum control connection requirements for each
control mode Regen (See the Unidrive SP Regen
4 User Guide for more information
Drive control method Requirements
about operating in this mode)
Drive Enable
Speed reference
Terminal mode
Run forward or run reverse The figures in the second column apply when serial communications are
command used.
Keypad mode Drive Enable 3. Either:
Drive Enable • Press the red reset button
Serial communications
Serial communications link • Toggle the reset digital input
• Carry out a drive reset through serial communications by setting Pr
Table 7-2 Minimum control connection requirements for each 10.38 to 100 (ensure that Pr. xx.00 returns to 0).
mode of operation
Operating mode Requirements
Open loop mode Induction motor
Induction motor with speed
Closed loop vector mode
feedback
Permanent magnet motor with
Closed loop servo mode
speed and position feedback

Speed feedback
Suitable devices are:
• Incremental encoder (A, B or F, D with or without Z)
• Incremental encoder with forward and reverse outputs (F, R with or
without Z)
• SSI absolute encoder (Gray code or binary)
• SINCOS encoder (with, or without Stegmann Hiperface or EnDat
communications protocols)
• EnDat absolute encoder

Unidrive SP User Guide 81

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Optimisation Diagnostics
Information Information Installation Installation Started Parameters the motor operation PLC Parameters Data Information

Figure 7-1 Minimum connections to get the motor running in any

operating mode

Pin Function
1 Termination resistor
2 RX TX
3 Isolated 0V
4 +24V
5 Isolated 0V
6 TX enable
7 RX\ TX\
8 RX\ TX\
Shell Isolated 0V

C O Serial 1

l p U V W
communications
port
o e 8
s n
e Terminal
Connections applicable to the following
encoder types

d L Pr 3.38 = 0 to 5 Pr 3.38 = 6 to 11
o 1 A F Cos
o 2 A\ F\ Cos\

L p
3
4
B
B\
D
D\
Sin
Sin\
o 5
6
Z
Z\
Data
Data\
o 7 U Fout Aout Fout Aout
p 8
9
U\
V
Fout\
Dout
Aout\
Bout
Fout\
Dout
Aout\
Bout
10 V\ Dout\ Bout\ Dout\ Bout\
11 W Clk
V 12 W\ Clk\

e A A 13 +V +V

c B B E 14
15
0V
Th
T15, the motor thermistor is common to Anip 3.
0V
Th

t Z Z 1 To use this, Anip 3 must be configured. See Menu 7.

o 5 1
r 10
15
6
11

2 Encoder connector
15 way D-type

Induction motor
U V W

S
e
r
v A A
Servo motor
(permanent
o B B
magnet)

U U E
V V
W W

Z Z 1

1 Marker pulse optional

2 Encoder screening connected to

Drive 0V open at encoder end
3 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.

82 Unidrive SP User Guide

Braking resistor
Braking resistor
! (optional) - Size 2
and 3 only ! (optional) - Size 1 only

3 3

DC1 = - _ +
DC2 = + DC1 DC2 BR 48V BR 1
2
3 0V
+10V
4
Speed
5 reference
input
6
7
8
9

3 2 1 10
11 T
e
r
21 m
22 24V i
23
n
PE a
24
l
25
L1 L2 L3 U V W
26 RUN FWD M
27 RUN REV o
28 d
29
e
30 K
31 DRIVE e
ENABLE y
p
a
d
M
Fuses
o
d
SM-Keypad / SM-Keypad Plus.
e
Optional item; must be fitted for keypad mode. Pr 0.05
=PAd (4)

L1 L2 L3

Unidrive SP User Guide 83

7.3 Quick Start commissioning

7.3.1 Open loop
Action Detail
Ensure:
• The drive enable signal is not given (terminal 31)
Before power-up
• Run signal is not given
• Motor is connected

Ensure:
Power-up the
• Drive displays ‘inh’
drive
If the drive trips, see Chapter 13 Diagnostics on page 198.

Enter:
• Motor rated frequency in Pr 0.47 (Hz) Mot X XXXXXXXXX
Enter motor No XXXXXXXXXX kg
• Motor rated current in Pr 0.46 (A) IP55 I.cl F °C 40 s S1
nameplate details Hz min-1 kW cosφ
• Motor rated speed in Pr 0.45 (rpm) V
230 50 1445 2.20 0.80
A
8.50
400 4.90
• Motor rated voltage in Pr 0.44 (V) - check if or connection CN = 14.5Nm

I.E.C 34 1(87)
240 50 1445 2.20 0.76 8.50
415 4.90
CN = 14.4Nm
CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

Set maximum Enter: 0.02

frequency • Maximum frequency in Pr 0.02 (Hz)

Enter: 100Hz

Set acceleration / • Acceleration rate in Pr 0.03 (s/100Hz)

deceleration rates • Deceleration rate in Pr 0.04 (s/100Hz) (If braking resistor fitted, set Pr 0.15 = FAST. Also ensure
Pr 10.30 and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.)
t
0.03 0.04

Unidrive SP is able to perform either a stationary or a rotating autotune. The motor must be at a
standstill before an autotune is enabled. A rotating autotune should be used whenever possible
so the measured value of power factor of the motor is used by the drive.
A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the
direction selected regardless of the reference provided. Once complete the motor
will coast to a stop. The run signal must be removed before the drive can be made
to run at the required reference.
WARNING
The drive can be stopped at any time by removing the run signal or removing the
drive enable. cos ∅

• A stationary autotune can be used when the motor is loaded and it is not possible to remove
the load from the motor shaft. A stationary autotune measures the stator resistance of the
motor and the voltage offset in the drive. These are required for good performance in vector
Autotune
control modes. A stationary autotune does not measure the power factor of the motor so the
value on the motor nameplate must be entered into Pr 0.43. RS
σLS
• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first
performs a stationary autotune before rotating the motor at 2/3 base speed in the direction
selected. The rotating autotune measures the power factor of the motor.
To perform an autotune:
• Set Pr 0.40 = 1 for a stationary autotune or set Pr 0.40 = 2 for a rotating autotune
• Close the Drive Enable signal (terminal 31). The drive will display ’rdY’.
• Close the run signal (terminal 26 or 27). The lower display will flash ’Auto’ and ’tunE’
alternatively, while the drive is performing the autotune.
• Wait for the drive to display ’rdY’ and for the motor to come to a standstill.
If the drive trips, see Chapter 13 Diagnostics on page 198.
Remove the run signal from the drive.
Enter 1000 in Pr xx.00
Save parameters
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

84 Unidrive SP User Guide

7.3.2 Closed loop vector mode

Induction motor with incremental encoder feedback
For simplicity only an incremental quadrature encoder will be considered here. For information on setting up one of the other supported speed
feedback devices, refer to section 7.4 Quick start commissioning (CTSoft) on page 87.
Action Detail
Ensure:
• Drive Enable signal is not given (terminal 31)
Before power-up
• Run signal is not given
• Motor and feedback device is connected
Ensure:
Power-up the
• Drive displays ‘inh’
drive
If the drive trips, see Chapter 13 Diagnostics on page 198.
Incremental encoder basic set-up
Enter:
• Drive encoder type in Pr 3.38 = Ab (0): Quadrature encoder
• Encoder power supply in Pr. 3.36 = 5V (0), 8V (1) or 15V (2)

Set motor Setting the encoder voltage supply too high for the encoder could result in damage to the feedback
feedback device.
parameters CAUTION

• Drive encoder Lines Per Revolution (LPR) in Pr 3.34 (set according to encoder)
• Drive encoder termination resistor setting in Pr. 3.39:
0 = A-A\, B-B\, Z-Z\ termination resistors disabled
1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled
2 = A-A\, B-B\, Z-Z\ termination resistors enabled
Enter:
Enter motor • Motor rated frequency in Pr 0.47 (Hz)
• Motor rated current in Pr 0.46 (A)
Mot X XXXXXXXXX
nameplate IP55
No XXXXXXXXXX kg
I.cl F °C 40 s S1
Hz min-1 kW cosφ

• Motor rated speed (base speed - slip speed) in Pr 0.45 (rpm)

V A

details 230 50 1445 2.20 0.80

400
CN = 14.5Nm
8.50
4.90

I.E.C 34 1(87)
240 50 1445 2.20 0.76 8.50

• Motor rated voltage in Pr 0.44 (V) - check if or connection 415

CN = 14.4Nm
4.90

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

Set maximum Enter: 0.02

speed • Maximum speed in Pr 0.02 (rpm)

Enter:
Set acceleration / 1000rpm
• Acceleration rate in Pr 0.03 (s/1000rpm)
deceleration
• Deceleration rate in Pr 0.04 (s/1000rpm) (If braking resistor fitted, set Pr 0.15 = FAST. Also ensure Pr
rates
10.30 and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.) t
0.03 0.04

Unidrive SP is able to perform either a stationary or a rotating autotune. The motor must be at a
standstill before an autotune is enabled. A stationary autotune will give moderate performance whereas
a rotating autotune will give improved performance as it measures the actual values of the motor
parameters required by the drive.
A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction
selected regardless of the reference provided. Once complete the motor will coast to a stop.
The run signal must be removed before the drive can be made to run at the required cos ∅
reference.
WARNING The drive can be stopped at any time by removing the run signal or removing the drive
enable.
• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from RS
the motor shaft. The stationary autotune measures the stator resistance and transient inductance of the σLS
LS

Autotune motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 0.38
T
and Pr 0.39 are updated. A stationary autotune does not measure the power factor of the motor so the Nm
saturation
break-
value on the motor nameplate must be entered into Pr 0.43. points

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a N rpm

stationary autotune before rotating the motor at 2/3 base speed in the direction selected. The rotating
autotune measures the stator inductance of the motor and calculates the power factor.
To perform an autotune:
• Set Pr 0.40 = 1 for a stationary autotune or set Pr 0.40 = 2 for a rotating autotune
• Close the Drive Enable signal (terminal 31). The drive will display ‘rdY’
• Close the run signal (terminal 26 or 27). The lower display will flash ‘Auto’ and ‘tunE’ alternatively, while
the drive is performing the autotune.
• Wait for the drive to display ‘rdY’ and for the motor to come to a standstill
If the drive trips, see Chapter 13 Diagnostics on page 198.
Remove the run signal from the drive.
Enter 1000 in Pr xx.00
Save parameters
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

Unidrive SP User Guide 85

7.3.3 Servo
Permanent magnet motor with a speed and position feedback device
For simplicity only an incremental quadrature encoder with commutation outputs will be considered here. For information on setting up one of the
other supported speed feedback devices, refer to section 7.4 Quick start commissioning (CTSoft) on page 87.

Action Detail
Ensure:
• Drive Enable signal is not given (terminal 31)
Before power-up • Run signal is not given
• Motor is connected
• Feedback device is connected
Ensure:
Power-up the drive • Drive displays ‘inh’
If the drive trips, see Chapter 13 Diagnostics on page 198.
Incremental encoder basic set-up
Enter:
• Drive encoder type in Pr. 3.38 = Ab.SErVO (3): Quadrature encoder with commutation outputs
• Encoder power supply in Pr. 3.36 = 5V (0), 8V (1) or 15V (2)

Setting the encoder voltage supply too high for the encoder could result in damage to the feedback
Set motor feedback
device.
parameters
CAUTION

• Drive encoder Pulses Per Revolution in Pr. 3.34 (set according to encoder)
• Drive encoder termination resistor setting in Pr. 3.39:
0 = A-A\, B-B\, Z-Z\ termination resistors disabled
1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled
2 = A-A\, B-B\, Z-Z\ termination resistors enabled

Enter:
Enter motor
• Motor rated current in Pr 0.46 (A)
nameplate details Model No: 95UXXXXXXXXXXXX
Volts: 380/480
Brake: 12Nm
24V

• Number of poles in Pr 0.42 Cont: 7.7Nm:4.81Arms

Stall: 9.5Nm:5.91Arms
Speed: 3000rpm Poles:6
0.67A

Control Techniques
Kt: 1.6Nm/Arms Dynamics Ltd
Ins Class: H
ANDOVER, HANTS.
ENGLAND. SP10 5AB
Serial No: XXXXXXXXXXX

Enter: 0.02

Set maximum speed

• Maximum speed in Pr 0.02 (rpm)
t

Enter:
1000rpm
Set acceleration / • Acceleration rate in Pr 0.03 (s/1000rpm)
deceleration rates • Deceleration rate in Pr 0.04 (s/1000rpm) (If braking resistor fitted, set Pr 0.15 = FAST. Also ensure Pr
10.30 and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.) 0.03 0.04
t

The normal low speed test will rotate the motor by up to 2 revolutions in the direction
selected, regardless of the reference provided. Once complete the motor will come to a
standstill. The run signal must be removed before the drive can be made to run at the
required reference.
WARNING
The drive can be stopped at any time by removing the run signal or removing the Drive
Enable.
• The normal low speed test will rotate the motor by up to 2 rotations in the direction selected and the drive 0
measures the encoder phase angle and updates the value in Pr 3.25. This test also measures the stator 0
resistance, and inductance of the motor. These are used to calculate the current loop gains, and at the
Autotune
end of the test the values in Pr 0.38 and Pr 0.39 are updated. This test takes approximately 20 seconds to
complete.
To perform an autotune:
• Set Pr 0.40 = 2
• Close the run signal (terminal 26 or 27).
• Close the Drive Enable signal (terminal 31). The lower display will flash ‘Auto’ and ‘tunE’ alternatively,
while the drive is performing the test.
• Wait for the drive to display ‘StoP’ and for the motor to come to a standstill.
If the drive trips, see Chapter 13 Diagnostics on page 198.
Remove the run signal from the drive.
Enter 1000 in Pr xx.00
Save parameters
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

86 Unidrive SP User Guide

7.4 Quick start commissioning (CTSoft)

CTSoft is a Windows™ based software commissioning tool for Unidrive
SP and other Control Techniques products.
CTSoft can be used for commissioning and monitoring, drive parameters
can be uploaded, downloaded and compared, and simple or custom
menu listings can be created. Drive menus can be displayed in standard
list format or as live block diagrams. CTSoft is able to communicate with
a single drive or a network.
CTSoft can be found on the CD which is supplied with the drive and is
also available for download from www.controltechniques.com (file size
approximately 60Mb).
CTSoft system requirements:
• Windows 98/98SE/ME/NT4/2000/XP. Windows 95 is NOT
supported
• Internet Explorer V5.0 or later must be installed
• Minimum of 800x600 screen resolution with 256 colours. 1024x768
is recommended.
• 128MB RAM
• Pentium II 266MHz or better recommended.
• Adobe Acrobat 5.1 or later (for parameter help)
• Note that you must have administrator rights under Windows NT/
2000/XP to install.
To install CTSoft from the CD, insert the CD and the auto-run facility
should start up the front-end screen from which CTSoft can be selected.
Any previous copy of CTSoft should be uninstalled before proceeding
with the installation (existing projects will not be lost).
Included with CTSoft are the user guides for the supported drive models.
When help on a particular parameter is request by the user, CTSoft links
to the parameter in the relevant advanced user guide.

7.5 Setting up a feedback device

This section shows the parameter settings which must be made to use each of the compatible encoder types with Unidrive SP. For more information
on the parameters listed here please refer to the Unidrive SP Advanced User Guide.
7.5.1 Overview
Table 7-3 Parameters required for feedback device set-up
Ab, Fd, Fr,
SC.EndAt or
Ab.SErVO, SC.HiPEr EndAt
Parameter SC.SSI SSI encoder
Fd.SErVO, Fr.SErVO, encoder encoder
encoders
or SC encoders
3.33 Drive encoder turns 9x 9x 9x 9
3.34 Drive encoder lines per revolution 9 9x 9x
3.35 Drive encoder comms resolution 9x 9x 9x 9
3.36 Drive encoder supply voltage 9 9 9 9 9
3.37 Drive encoder comms baud rate 9 9 9
3.38 Drive encoder type 9 9 9 9 9
Drive encoder auto configuration enable or
3.41 9 9 9 9
SSI binary format select
9 Information required
x Parameter can be set-up automatically by the drive through auto-configuration
Table 7-3 shows a summary of the parameters required to set-up each feedback device. More detailed information is shown below.

Unidrive SP User Guide 87

7.5.2 Detailed feedback device commissioning information

Standard quadrature encoder with or without commutation signals (A, B, Z or A, B, Z, U, V, W), or
Sincos encoder without serial communications
Ab (0) for a quadrature encoder without commutation signals *
Encoder type Pr 3.38 Ab.SErVO (3) for a quadrature encoder with commutation signals
SC (6) for a Sincos encoder without serial communications *
Encoder power supply voltage Pr 3.36 5V (0), 8V (1) or 15V (2)
Encoder number of lines per Set to the number of lines or sine waves per revolution of the encoder.
Pr 3.34
revolution See the Note overleaf for restrictions on this parameter.
0 = A, B, Z termination resistors disabled
Encoder termination selection
Pr 3.39 1 = A, B termination resistors enabled and Z termination resistors disabled
(Ab or Ab.SErVO only)
2 = A, B, Z termination resistors enabled
0 = Error detection disable
1 = Wire break detection on A, B and Z inputs enabled
Encoder error detection level Pr 3.40 2 = Phase error detection (Ab.SErVO only)
3 = Wire break detection on A, B and Z inputs and phase error detection (Ab.SErVO only)
Termination resistors must be enabled for wire break detection to operate
* These settings should only be used in closed loop vector mode, otherwise a phase offset test must be performed after every power up.

Incremental encoder with frequency and direction (F and D), or

Forward and Reverse (CW and CCW) signals, with or without commutation signals
Fd (1) for frequency and direction signals without commutation signals *
Fr (2) for forward and reverse signals without commutation signals *
Encoder type Pr 3.38
Fd.SErVO (4) for a frequency and direction encoder with commutation signals
Fr.SErVO (5) for forward and reverse signals with commutation signals
Encoder power supply voltage Pr 3.36 5V (0), 8V (1) or 15V (2)
Encoder number of lines per Set to the number of pulses per revolution of the encoder divide by 2.
Pr 3.34
revolution See the Note overleaf for restrictions on this parameter.
0 = F or CW, D or CCW, Z termination resistors disabled
Encoder termination selection Pr 3.39 1 = F or CW, D or CCW termination resistors enabled and Z termination resistors disabled
2 = For CW, D or CCW, Z termination resistors enabled
0 = Error detection disable
1 = Wire break detection on F & D or CW & CCW, and Z inputs enabled
2 = Phase error detection (Fd.SErVO and Fr.SErVO only)
Encoder error detection level Pr 3.40
3 = Wire break detection on F & D or CW & CCW, and Z inputs and Phase error detection
(Fd.SErVO and Fr.SErVO only)
Termination resistors must be enabled for wire break detection to operate
* These settings should only be used in closed loop vector mode, otherwise a phase offset test must be performed after every power up.

Absolute Sincos encoder with Hiperface or EnDat serial communications, or

Absolute EnDat communications only encoder

The Unidrive SP is compatible with the following Hiperface encoders:

SCS 60/70, SCM 60/70, SRS 50/60, SRM 50/60, SHS 170, LINCODER, SCS-KIT 101, SKS36, SKM36.
SC.HiPEr (7) for a Sincos encoder with Hiperface serial communications
Encoder type Pr 3.38 EndAt (8) for an EnDat communications only encoder
SC.EndAt (9) for a Sincos encoder with EnDat serial communications
Encoder power supply voltage Pr 3.36 5V (0), 8V (1) or 15V (2)
Setting this to 1 automatically sets up the following parameters:
Pr 3.33 Encoder turn bits
Encoder auto configure enable Pr 3.41 Pr 3.34 Encoder number of lines of revolution (SC.HiPEr and SC.EndAt only) *
Pr 3.35 Encoder single turn comms resolution
Alternatively these parameters can be entered manually.
Encoder comms baud rate
Pr 3.37 100 = 100k, 200 = 200k, 300 = 300k, 500 = 500k, 1000 = 1M, 1500 = 1.5M, or 2000 = 2M
(EndAt and SC.EndAt only)
0 = Error detection disabled
Encoder error detection level 1 = Wire break detection on Sin and Cos inputs
Pr 3.40
(SC.HiPEr and SC.EndAt only) 2 = Phase error detection
3 = Wire break detection on Sin and Cos inputs and phase error detection
* See the Note below for restrictions on this parameter.

88 Unidrive SP User Guide

Absolute SSI communications only encoder, or

Absolute Sincos encoder with SSI
SSI (10) for a SSI communications only encoder
Encoder type Pr 3.38
SC.SSI (11) for a Sincos encoder with SSI
Encoder power supply voltage Pr 3.36 5V (0), 8V (1) or 15V (2)
Encoder number of lines per Set to the number of sine waves per revolution of the encoder.
Pr 3.34
revolution. (SC.SSI only) See the Note below for restrictions on this parameter.
SSI binary format select Pr 3.41 OFF (0) for gray code, or On (1) for binary format SSI encoders
Encoder turn bits Pr 3.33 Set to the number of turn bits for the encoder (this is usually 12bits for a SSI encoder)
Encoder single turn comms resolution Pr 3.35 Set to the single turn comms resolution for the encoder (this is usually 13bits for a SSI encoder)
Encoder comms baud rate Pr 3.37 100 = 100k, 200 = 200k, 300 = 300k, 500 = 500k, 1000 = 1M, 1500 = 1.5M, or 2000 = 2M
0 = Error detection disabled
1 = Wire break detection on Sin and Cos inputs (SC.SSI only)
2 = Phase error detection (SC.SSI only)
3 = Wire break detection and phase error detection
Encoder error detection level Pr 3.40
4 = SSI power supply bit monitor
5 = SSI power supply bit monitor and wire break detection (SC.SSI only)
6 = SSI power supply bit monitor and phase error detection (SC.SSI only)
7 = SSI power supply bit monitor, wire break detection and phase error detection (SC.SSI only)

NOTE

Although Pr 3.34 can be set to any value from 0 to 50,000 there are
restrictions on the values actually used by the drive as follows:
Table 7-4 Restrictions of drive encoder lines per revolution
Position feedback device Equivalent Lines per revolution used by the drive
If Pr 3.34 <2, the drive uses the value of 2.
Ab, Fd, Fr If 2≤ Pr 3.34 .≤16,384, the drive uses the value in Pr 3.34.
If Pr 3.34 >16,384, the drive uses the value in Pr 3.34 rounded down to nearest value divisible by 4.
If Pr 3.34 ≤2, the drive uses the value of 2.
Ab.SErVO, Fd.SErVO, Fr.SErVO If 2< Pr 3.34 <16,384, the drive uses the value in Pr 3.34 rounded down to nearest value that is a power of 2.
If Pr 3.34 ≥16,384, the drive uses the value of 16,384.
If Pr 3.34 ≤2, the drive uses the value of 2.
SC, SC.HiPEr, SC.EndAt, SC.SSI If 2< Pr 3.34 <32,768, the drive uses the value in Pr 3.34 rounded down to nearest value that is a power of 2.
If Pr 3.34 ≥32,768, the drive uses the value of 32,768.
If a SC.HiPEr, SC.EndAt, EndAt, SSI or SC.SSI encoder is selected in
Pr 3.34, then the feedback device must be initialised before the drive can
be enabled. Pr 3.48 indicates whether the position feedback is initialised.
At power-up Pr 3.48 is OFF (0) but is set to On (1) when the feedback
has been initialised. The drive cannot be enabled until this parameter is
On (1).
If the encoder power-supply is lost, or the encoder type parameter is
changed when the encoder type is SC.HiPEr, SC.EndAt, EndAt, SSI or
SC.SSI the encoder will no longer be initialised. When an encoder is no
longer initialised Pr 3.48 is reset to OFF (0) and the drive cannot be
enabled. The encoder may be re-initialised, provided the drive is not
active, by setting Pr 3.47 to On (1). This parameter is automatically reset
to OFF (0) when the initialisation is complete. The encoder is also re-
initialised when trips Enc1 to Enc8 are reset.

Unidrive SP User Guide 89

8 Optimisation
This chapter takes the user through methods of optimising the product
set-up, maximising performance. The auto-tuning features of the drive
simplify this task.
8.1 Motor map parameters
8.1.1 Open loop motor control
Pr 0.46 {5.07} Motor rated current Defines the maximum continuous motor current
The motor rated current parameter must be set to the maximum continuous current of the motor. (See section 8.2 Maximum motor rated current on
page 97, for information about setting this parameter higher then the maximum Heavy Duty current rating.) The motor rated current is used in the
following:
• Current limits (see section 8.3 Current limits on page 97, for more information)
• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 97, for more information)
• Vector mode voltage control (see Voltage mode Pr 0.07, later in this table)
• Slip compensation (see Slip compensation Pr 5.27, later in this table)
• Dynamic V/F control
Pr 0.44 {5.09} Motor rated voltage Defines the voltage applied to the motor at rated frequency

Pr 0.47 {5.06} Motor rated frequency Defines the frequency at which rated voltage is applied

Output voltage characteristic

Output
voltage

The motor rated voltage Pr 0.44 and the motor rated frequency Pr 0.47 Pr 0.44

are used to define the voltage to frequency characteristic applied to the

motor (see voltage mode Pr 0.07, later in this table). The motor rated
frequency is also used in conjunction with the motor rated speed to Pr 0.44 / 2

calculate the rated slip for slip compensation (see motor rated speed Pr
0.45, later in this table).

Pr 0.47 / 2 Pr 0.47 Output

frequency

Pr 0.45 {5.08} Motor rated speed Defines the full load rated speed of the motor

Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles
The motor rated speed and the number of poles are used with the motor rated frequency to calculate the rated slip of induction machines in Hz.
0.42 0.45
Rated slip (Hz) = Motor rated frequency - (Number of pole pairs x [Motor rated speed / 60]) = 0.47 –  ----------- × -----------
 2 60 
If Pr 0.45 is set to 0 or to synchronous speed, slip compensation is disabled. If slip compensation is required this parameter should be set to the
nameplate value, which should give the correct rpm for a hot machine. Sometimes it will be necessary to adjust this when the drive is commissioned
because the nameplate value may be inaccurate. Slip compensation will operate correctly both below base speed and within the field-weakening
region. Slip compensation is normally used to correct for the motor speed to prevent speed variation with load. The rated load rpm can be set higher
than synchronous speed to deliberately introduce speed droop. This can be useful to aid load sharing with mechanically coupled motors.
Pr 0.42 is also used in the calculation of the motor speed display by the drive for a given output frequency. When Pr 0.42 is set to ‘Auto’, the number
of motor poles is automatically calculated from the rated frequency Pr 0.47, and the motor rated speed Pr 0.45.
Number of poles = 120 x (Motor rated frequency Pr 0.47 / Motor rated speed Pr 0.45) rounded to the nearest even number
Pr 0.43 {5.10} Motor rated power factor Defines the angle between the motor voltage and current
The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. The power factor is used in conjunction
with the motor rated current Pr 0.46, to calculate the rated active current and magnetising current of the motor. The rated active current is used
extensively to control the drive, and the magnetising current is used in vector mode stator resistance compensation. It is important that this
parameter is set up correctly. The drive can measure the motor rated power factor by performing a rotating autotune (see Autotune Pr 0.40, below).
Pr 0.40 {5.12} Autotune
There are two autotune tests available in open loop mode, a stationary and a rotating test. A rotating autotune should be used whenever possible so
the measured value of power factor of the motor is used by the drive.
• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary test
measures the stator resistance (Pr 5.17) and voltage offset (Pr 5.23), which are required for good performance in vector control modes (see
Voltage mode Pr 0.07, later in this table). The stationary autotune does not measure the power factor of the motor so the value on the motor
nameplate must be entered into Pr 0.43. To perform a Stationary autotune, set Pr 0.40 to 1, and provide the drive with both an enable signal (on
terminal 31) and a run signal (on terminal 26 or 27).
• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, as above, before
rotating the motor at 2/3 base speed in the direction selected for several seconds (regardless of the speed reference). In addition to the stator
resistance (Pr 5.17) and voltage offset (Pr 5.23), the rotating autotune measures the power factor of the motor and updates Pr 0.43 with the
correct value. To perform a Rotating autotune, set Pr 0.40 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal
(on terminal 26 or 27).
Following the completion of an autotune test, either the run signal or the enable signal must be removed before the drive can then be made to run at
the required reference.

90 Unidrive SP User Guide

Pr 0.07 {5.14} Voltage mode

There are six voltage modes available which fall into two categories, vector control and fixed boost.
Vector control
Vector control mode provides the motor with a linear voltage characteristic from 0Hz to motor rated frequency (Pr 0.47), and then a constant voltage
above motor rated frequency. When the drive operates between motor rated frequency/50 and motor rated frequency/4, full vector based stator
resistance compensation is applied. When the drive operates between motor rated frequency/4 and motor rated frequency/2 the stator resistance
compensation is gradually reduced to zero as the frequency increases. For the vector modes to operate correctly the motor rated power factor (Pr
0.43), stator resistance (Pr 5.17) and voltage offset (Pr 5.23) are all required to be set up accurately. The drive can be made to measure these by
performing an autotune (see Pr 0.40 Autotune). The drive can also be made to measure the stator resistance and voltage offset automatically every
time the drive is enabled or the first time the drive is enabled after it is powered up, by selecting one of the vector control voltage modes.
(0) Ur_S = The stator resistance and the voltage offset are measured and the parameters for the selected motor map are over-written each
time the drive is made to run. This test can only be done with a stationary motor where the flux has decayed to zero. Therefore this mode should
only be used if the motor is guaranteed to be stationary each time the drive is made to run. To prevent the test from being done before the flux
has decayed there is a period of 1 second after the drive has been in the ready state during which the test is not done if the drive is made to run
again. In this case, previously measured values are used. Ur_s mode ensures that the drive compensates for any change in motor parameters
due to changes in temperature. The new values of stator resistance and voltage offset are not automatically saved to the drive's EEPROM.
(4) Ur_I = The stator resistance and voltage offset are measured when the drive is first made to run after each power-up. This test can only be
done with a stationary motor. Therefore this mode should only be used if the motor is guaranteed to be stationary the first time the drive is made
to run after each power-up. The new values of stator resistance and voltage offset are not automatically saved to the drive's EEPROM.
(1) Ur = The stator resistance and voltage offset are not measured. The user can enter the motor and cabling resistance into the stator
resistance parameter (Pr 5.17). However this will not include resistance effects within the drive inverter. Therefore if this mode is to be used, it is
best to use an autotune test initially to measure the stator resistance and voltage offset.
(3) Ur_Auto= The stator resistance and voltage offset are measured once, the first time the drive is made to run. After the test has been
completed successfully the voltage mode (Pr 0.07) is changed to Ur mode. The stator resistance (Pr 5.17) and voltage offset (Pr 5.23)
parameters are written to, and along with the voltage mode (Pr 0.07), are saved in the drive's EEPROM. If the test fails, the voltage mode will
stay set to Ur_Auto and the test will be repeated next time the drive is made to run.
Fixed boost
Neither the stator resistance nor the voltage offset are used in the control of the motor, instead a fixed characteristic with low frequency voltage
boost as defined by parameter Pr 0.08, is used. Fixed boost mode should be used when the drive is controlling multiple motors. There are two
settings of fixed boost available:
(2) Fd = This mode provides the motor with a linear voltage characteristic from 0Hz to rated frequency (Pr 0.47), and then a constant voltage
above rated frequency.
(5) SrE = This mode provides the motor with a square law voltage characteristic from 0Hz to rated frequency (Pr 0.47), and then a constant
voltage above rated frequency. This mode is suitable for variable torque applications like fans and pumps where the load is proportional to the
square of the speed of the motor shaft. This mode should not be used if a high starting torque is required.
For both these modes, at low frequencies (from 0Hz to ½ x Pr 0.47) a voltage boost is applied defined by Pr 0.08 as shown below:
Output voltage characteristic Output voltage characteristic
Output Output
voltage
(Fd) (SrE)
voltage

Pr 0.44 Pr 0.44

Pr 0.44 / 2

Voltage boost Voltage boost

Pr 0.08 Pr 0.08
Pr 0.47 / 2 Pr 0.47 Output Output
Pr 0.47 / 2 Pr 0.47
frequency frequency

Pr 5.27 Slip compensation

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:
Demanded speed

Shaft speed

Load

In order to prevent the speed droop shown above slip compensation should be enabled.
To enable slip compensation 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 (Pr 5.08).
The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed. This is normally displayed on the
motor nameplate, i.e. for a typical 18.5kW, 50Hz, 4 pole motor, the motor rated speed would be approximately 1465rpm. The synchronous speed for
a 50Hz, 4 pole motor is 1500rpm, so therefore the slip speed would be 35rpm.
If the synchronous speed is entered in Pr 0.45, slip compensation will be disabled. If too small a value is entered in Pr 0.45, the motor will run faster
than the demanded frequency.
The synchronous speeds for 50Hz motors with different numbers of poles are as follows:
2 pole = 3000rpm, 4 pole = 1500rpm, 6pole =1000rpm, 8 pole = 750rpm

Unidrive SP User Guide 91

8.1.2 Closed loop vector motor control

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. (See section 8.2 Maximum motor rated current on
page 97, for information about setting this parameter higher than the maximum Heavy Duty current rating.) The motor rated current is used in the
following:
• Current limits (see section 8.3 Current limits on page 97, for more information)
• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 97, for more information)
• Vector control algorithm
Pr 0.44 {5.09} Motor rated voltage Defines the voltage applied to the motor at rated frequency

Pr 0.47 {5.06} Motor rated frequency Defines the frequency at which rated voltage is applied
The motor rated voltage Pr 0.44 and the motor rated frequency Pr 0.47
Output voltage characteristic
are used to define the relationship between the voltage and frequency Output
voltage
applied to the motor, as shown.
The motor rated voltage is used by the field controller to limit the voltage Pr 0.44
applied to the motor. Normally this is set to the nameplate value. To allow
current control to be maintained, it is necessary for the drive to leave
some 'headroom' between the motor terminal voltage and the maximum
available drive output voltage. For good transient performance at high
Pr 0.44 / 2
speed, the motor rated voltage should be set below 95% of the minimum
supply voltage to the drive.
The motor rated voltage and motor rated frequency are also used during
the rotating autotune test (see Autotune Pr 0.40 later in this table) and in
the calculations required for automatic optimisation of the motor rated
Output
speed (see Motor rated speed optimisation Pr 5.16, later in this table). Pr 0.47 / 2 Pr 0.47
frequency
Therefore, it is important that the correct value for motor rated voltage is
used.
Pr 0.45 {5.08} Motor rated speed Defines the full load rated speed of the motor

Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles
The motor rated speed and motor rated frequency are used to determine the full load slip of the motor which is used by the vector control algorithm.
Incorrect setting of this parameter has the following effects:
• Reduced efficiency of motor operation
• Reduction of maximum torque available from the motor
• Reduced transient performance
• Inaccurate control of absolute torque in torque control modes
The nameplate value is normally the value for a hot motor; however, some adjustment may be required when the drive is commissioned if the
nameplate value is inaccurate. Either a fixed value can be entered in this parameter or an optimisation system may be used to automatically adjust
this parameter (see Motor rated speed Pr 5.16, later in this table).
When Pr 0.42 is set to ‘Auto’, the number of motor poles is automatically calculated from the motor rated frequency Pr 0.47, and the motor rated
speed Pr 0.45
Number of poles = 120 x (Motor rated frequency Pr 0.47 / Motor rated speed Pr 0.45) rounded to the nearest even number
Pr 0.43 {5.10} Motor rated power factor Defines the angle between the motor voltage and current
The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. If the stator inductance is set to zero (Pr
5.25) then the power is used in conjunction with the motor rated current Pr 0.46 and other motor parameters to calculate the rated active and
magnetising currents of the motor, which are used in the vector control algorithm. If the stator inductance has a non-zero value this parameter is not
used by the drive, but is continuously written with a calculated value of power factor. The stator inductance can be measured by the drive by
performing a rotating autotune (see Autotune Pr 0.40, later in this table).

92 Unidrive SP User Guide

Pr 0.40 {5.12} Autotune

There are three autotune tests available in closed loop vector mode, a stationary test, a rotating test and an inertia measurement test. A stationary
autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor
parameters required by the drive. An inertia measurement test should be performed separately to a stationary or rotating autotune.
• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary
autotune measures the stator resistance (Pr 5.17) and transient inductance (Pr 5.24) of the motor. These are used to calculate the current loop
gains, and at the end of the test the values in Pr 4.13 and Pr 4.14 are updated. A stationary autotune does not measure the power factor of the
motor so the value on the motor nameplate must be entered into Pr 0.43. To perform a Stationary autotune, set Pr 0.40 to 1, and provide the
drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune before rotating the
motor at 2/3 of motor rated frequency in the direction selected for approximately 30s. During the rotating autotune the stator inductance (Pr 5.25),
and the motor saturation breakpoints (Pr 5.29 and Pr 5.30) are modified by the drive. The power factor is also modified for user information only,
but is not used after this point as the stator inductance is used in the vector control algorithm instead. To perform a Rotating autotune, set Pr
0.40 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop
gains) and to provide torque feed-forwards when required during acceleration.
During the inertia measurement test the drive attempts to accelerate the motor in the direction selected up to 3/4 x rated load rpm and then back
to standstill. The drive uses rated torque/16, but if the motor cannot be accelerated to the required speed the drive then increases the torque
progressively to x1/8, x1/4, x1/2 and x1 rated torque. If the required speed is not achieved on the final attempt the test is aborted and a tuNE1 trip
is initiated. If the test is successful the acceleration and deceleration times are used to calculate the motor and load inertia which is then written
to Pr 3.18. The motor map parameters must be set up correctly including the power factor before performing an inertia measurement test.
To perform an Inertia measurement autotune, set Pr 0.40 to 3, and provide the drive with both an enable signal (on terminal 31) and a run signal
(on terminal 26 or 27).
Following the completion of an autotune test, either the run signal or the enable signal must be removed before the drive can then be made to run at
the required reference.
Pr 5.16 Motor rated speed autotune
The motor rated speed parameter (Pr 0.45) in conjunction with the motor rated frequency parameter (Pr 0.47) defines the full load slip of the motor.
The slip is used in the motor model for closed-loop vector control. The full load slip of the motor varies with rotor resistance which can vary
significantly with motor temperature. When Pr 5.16 is set to 1 or 2 the drive can automatically sense if the value of slip defined by Pr 0.47 and Pr
0.45 has been set incorrectly or if it has varied with motor temperature. If the value is incorrect Pr 0.45 is automatically adjusted. Pr 0.45 is not saved
at power-down, and so when the drive is powered-down and up again it will return to the last saved value. If the new value is required at the next
power-up it must be saved by the user. Automatic optimisation is only enabled when the speed is above rated speed/8, and when the load on the
motor load rises above 5/8 rated load. Optimisation is disabled again if the load falls below 1/2 rated load. For best optimisation results the correct
values of stator resistance (Pr 5.17), transient inductance (Pr 5.24), stator inductance (Pr 5.25) and saturation breakpoints (Pr 5.29, Pr 5.30) should
be stored in the relevant parameters (all these can be measured by the drive by performing a rotating autotune). Motor rated speed autotune is not
available if the drive is not using external position/speed feedback.
The gain of the optimiser, and hence the speed with which it converges, can be set at a normal low level when Pr 5.16 is set to 1. If this parameter
is set to 2, the gain is increased by a factor of 16 to give faster convergence.
Pr 0.38 {4.13} / Pr 0.39 {4.14} Current loop gains
The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The
default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to
change the gains to improve the performance. The proportional gain (Pr 4.13) is the most critical value in controlling the performance. The values
for the current loop gains can be found by one of the following:
• Calculated by the drive after performing a stationary or rotating autotune (see Autotune Pr 0.40, earlier in this table).
• Set by the user, using the following equations.
The proportional gain (Pr 0.38) = Kp = K x L x 10-3 x Rated drive current
The integral gain (Pr 0.39) = Ki = 0.0427 x K x R x Rated drive current
Where:
L is the motor inductance in mH. For an induction motor this is the per phase transient inductance (σLs), which is the value stored in Pr 5.24
after the autotune test has been carried out. The numerical value in Pr 5.24 can be input directly into the above equation. If the per phase motor
transient inductance (Pr 5.24) cannot be measured it can be calculated from the steady state per-phase equivalent circuit of the motor as
follows:
2
 Lm 
σL s = L s –  ----------
 Lr 
K depends on the Drive voltage rating as follows:
Drive voltage rating (Pr 11.33)
200V 400V 575V 690V
2902 1451 1217 1013
Rated drive current is the value in Pr 11.31 on the drive.
R is the per phase stator resistance of the motor (i.e. half the resistance measured between two phases). This is the same as the value stored
in Pr 5.17 following a successful measurement. Refer to Autotune (Pr 0.40).
This set up will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a
factor of 1.5 giving a similar increase in bandwidth; however, this gives at step response with approximately 12.5% overshoot. The equation for the
integral gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow
the flux very closely (i.e. high speed closed-loop induction motor applications) the integral gain may need to have a significantly higher value.

Unidrive SP User Guide 93

Speed loop gains (Pr 0.07 {3.10}, 0.08 {3.11}, 0.09 {3.12})
The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp)
and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for
use by the speed controller with Pr 3.16. If Pr 3.16 = 0, gains Kp1, Ki1 and Kd1 (Pr 0.07 to Pr 0.09) are used, and if Pr 3.16 = 1, gains Kp2, Ki2 and
Kd2 (Pr 3.13 to Pr 3.15) are used. Pr 3.16 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and
constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of
Pr 3.17.
Proportional gain (Kp), Pr 0.07 and Pr 3.13
If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed
error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This
effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the
proportional gain is too high either the acoustic noise produced by speed feedback quantisation becomes unacceptable, or the closed-loop stability
limit is reached.
Integral gain (Ki), Pr 0.08 and Pr 3.14
The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque
demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the
integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by
increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the
application.
Differential gain (Kd), Pr 0.09 and Pr 3.15
The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that
does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced
by under-damping, however, for most applications the proportional and integral gains alone are sufficient.
There are three methods of tuning the speed loop gains dependant on the setting of Pr 3.17:
1. Pr 3.17 = 0, User set-up.
This involves the connecting of an 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 (Kp) should be set up initially. The value
should be increased up to the point where the speed overshoots and Speed demand
then reduced slightly.
The integral gain (Ki) should then be increased up to the point where
the speed 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 Insufficient proportional
matches the ideal response as shown. gain [0.07]
The diagram shows the effect of incorrect P and I gain settings as
well as the ideal response.
2. Pr 3.17 = 1, Bandwidth set-up
If bandwidth based set-up is required, the drive can calculate Kp and
Excessive proportional
Ki if the following parameters are set up correctly: gain [0.07]
Pr 3.20 - Required bandwidth,
Pr 3.21 - Required damping factor,
Pr 3.18 - Motor and load inertia. The drive can be made to
measure the motor and load inertia by performing an inertia
Excessive integral gain
measurement autotune (see Autotune Pr 0.40, earlier in this [0.08]
table).
3. Pr 3.17 = 2, Compliance angle set-up
If compliance angle based set-up is required, the drive can calculate
Kp and Ki if the following parameters are set up correctly:
Ideal response
Pr 3.19 - Required compliance angle,
Pr 3.21 - Required damping factor,
Pr 3.18 - Motor and load inertia The drive can be made to
measure the motor and load inertia by performing an inertia
measurement autotune (see Autotune Pr 0.40, earlier in this
table).

94 Unidrive SP User Guide

8.1.3 Servo motor control

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. The motor rated current is used in the following:
• Current limits (see section 8.3 Current limits on page 97, for more information)
• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 97, for more information)
Pr 0.42 {5.11} Motor number of poles 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. This parameter
must be set correctly for the control algorithms to operate correctly. When Pr 0.42 is set to "Auto" the number of poles is 6.
Pr 0.40 {5.12} Autotune
There are three autotune tests available in servo mode, a short low speed test, a normal low speed test and an inertia measurement test. A normal
low speed should be done where possible as the drive measures the stator resistance and inductance of the motor, and from these calculates the
current loop gains. An inertia measurement test should be performed separately to a short low speed or normal low speed autotune.
• A short low speed test will rotate the motor by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the direction selected. The drive
applies rated current to the motor during the test and measures the encoder phase angle (Pr 3.25). The phase angle measurement is taken
when the motor has stopped at the end of the test, therefore there must be no load on the motor when it is at rest for the correct angle to be
measured. This test takes approximately 2 seconds to complete and can only be used where the rotor settles to a stable position in a short time.
• A normal low speed test will rotate the motor by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the direction selected. The drive
applies rated current to the motor during the test and measures the encoder phase angle (Pr 3.25). The phase angle measurement is taken
when the motor has stopped at the end of the test, therefore there must be no load on the motor when it is at rest for the correct angle to be
measured. The motor resistance (Pr 5.17) and inductance (Pr 5.24) are then measured, and the values are used to set up the current loop gains
(Pr 0.38 {4.13} and Pr 0.39 {4.14}). The whole test takes approximately 20 seconds and can be used with motors that take time to settle after
the rotor has moved. During the motor inductance measurement the drive applies current pulses to the motor that produces flux that opposes
the flux produced by the magnets. The maximum current applied is a quarter of rated current (Pr 0.46). This current is unlikely to affect the
motor magnets, however, if this level of current could permanently de-magnetise the magnets the rated current should be set to a lower level for
the tests to avoid this.
0

• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop
gains) and to provide torque feed-forwards when required during acceleration.
During the inertia measurement test the drive attempts to accelerate the motor in the direction selected up to 3/4 x rated load rpm and then back to
standstill. The drive uses rated torque/16, but if the motor cannot be accelerated to the required speed the drive then increases the torque
progressively to x1/8, x1/4, x1/2 and x1 rated torque. If the required speed is not achieved on the final attempt the test is aborted and a tuNE1 trip is
initiated. If the test is successful the acceleration and deceleration times are used to calculate the motor and load inertia which is then written to Pr
3.18. The value of the value of motor torque per amp in Pr 5.32 and the motor rated speed in Pr 5.08 must be set up correctly before performing an
inertia measurement test.
To perform an Inertia measurement autotune, set Pr 0.40 to 3, and provide the drive with both an enable signal (on terminal 31) and a run signal (on
terminal 26 or 27).
Following the completion of an autotune test, either the run signal or the enable signal must be removed before the drive can then be made to run at
the required reference.
Current loop gains (Pr 0.38 {4.13} / 0.39 {4.14})
The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The
default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to
change the gains to improve the performance. The proportional gain (Pr 4.13) is the most critical value in controlling the performance.
The values for the current loop gains can be found by one of the following:
• Calculated by the drive after performing a stationary or rotating autotune (see Autotune Pr 0.40, above).
• Set by the user, using the following equations.
The proportional gain (Pr 0.38) = Kp = K x L x 10-3 x Rated drive current
The integral gain (Pr 0.39) = Ki = 0.0427 x K x R x Rated drive current
Where:
L is the motor inductance in mH. For a servo motor this is half the phase to phase inductance that is normally specified by the manufacturer.
This is also the value stored in Pr 5.24 after the autotune test has been carried out. The numerical value in Pr 5.24 can be input directly into the
above equation.
K depends on the Drive voltage rating as follows:
Drive voltage rating (Pr 11.33)
200V 400V 575V 690V
2902 1451 1217 1013
Rated drive current is the value in Pr 11.31 on the drive.
R is the per phase stator resistance of the motor (i.e. half the resistance measured between two phases). This is the same as the value stored
in Pr 5.17 following a successful measurement. Refer to Autotune (Pr 0.40).
This set up will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a
factor of 1.5 giving a similar increase in bandwidth; however, this gives at step response with approximately 12.5% overshoot. The equation for the
integral gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow
the flux very closely the integral gain may need to have a significantly higher value.

Unidrive SP User Guide 95

Speed loop gains (Pr 0.07 {3.10}, 0.08 {3.11}, 0.09 {3.12})
The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp)
and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for
use by the speed controller with Pr 3.16. If Pr 3.16 = 0, gains Kp1, Ki1 and Kd1 (Pr 0.07 to Pr 0.09) are used, and if Pr 3.16 = 1, gains Kp2, Ki2 and
Kd2 (Pr 3.13 to Pr 3.15) are used. Pr 3.16 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and
constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of
Pr 3.17.
Proportional gain (Kp), Pr 0.07 and Pr 3.13
If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed
error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This
effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the
proportional gain is too high either the acoustic noise produced by speed feedback quantisation becomes unacceptable, or the closed-loop stability
limit is reached.
Integral gain (Ki), Pr 0.08 and Pr 3.14
The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque
demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the
integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by
increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the
application.
Differential gain (Kd), Pr 0.09 and Pr 3.15
The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that
does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced
by under-damping, however, for most applications the proportional and integral gains alone are sufficient.
There are three methods of tuning the speed loop gains dependant on the setting of Pr 3.17:
1. Pr 3.17 = 0, User set-up.
This involves the connecting of an 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 (Kp) should be set up initially. The value
should be increased up to the point where the speed overshoots and
Speed demand
then reduced slightly.
The integral gain (Ki) should then be increased up to the point where
the speed 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 as shown. Insufficient proportional
gain [0.07]
The diagram shows the effect of incorrect P and I gain settings as
well as the ideal response.
2. Pr 3.17 = 1, Bandwidth set-up
If bandwidth based set-up is required, the drive can calculate Kp and
Ki if the following parameters are set up correctly:
Excessive proportional
Pr 3.20 - Required bandwidth, gain [0.07]
Pr 3.21 - Required damping factor,
Pr 5.32 - Motor torque per amp (Kt).
Pr 3.18 - Motor and load inertia. The drive can be made to
measure the motor and load inertia by performing an inertia
measurement autotune (see Autotune Pr 0.40, earlier in this Excessive integral gain
table). [0.08]
3. Pr 3.17 = 2, Compliance angle set-up
If compliance angle based set-up is required, the drive can calculate
Kp and Ki if the following parameters are set up correctly:
Pr 3.19 - Required compliance angle, Ideal response
Pr 3.21 - Required damping factor,
Pr 5.32 - Motor torque per amp (Kt).
Pr 3.18 - Motor and load inertia The drive can be made to
measure the motor and load inertia by performing an inertia
measurement autotune (see Autotune Pr 0.40, earlier in this
table).

96 Unidrive SP User Guide

8.2 Maximum motor rated current Servo

The maximum motor rated current allowed by the drive is greater than
the rated drive current as defined by the maximum Heavy Duty current
Maximum
current limit
= [ Maximum current
Motor rated current
] x 100%
rating in Pr 11.32. The ratio between the Normal Duty rating and the
Heavy Duty rating (Pr 11.32) varies between drive sizes. The values for Where:
the Normal and Heavy Duty rating can be found in section Maximum current is drive rated current (Pr 11.32) x 1.75
2.1 Ratings on page 8. Motor rated current is given by Pr 5.07
If the motor rated current (Pr 0.46) is set above the maximum Heavy
Duty current rating (Pr 11.32), the current limits and the motor thermal 8.4 Motor thermal protection
protection scheme are modified (see section 8.3 Current limits and Unidrive SP models the temperature of the motor using the motor rated
section 8.4 Motor thermal protection , for more information). current (Pr 5.07), the thermal time constant (Pr 4.15), whether low speed
thermal protection mode has been enabled (Pr 4.25) and the actual
8.3 Current limits current flowing at any point in time. Pr 4.19 gives the estimated motor
The default settings for the current limit parameters are 165% x motor temperature as a percentage of maximum temperature.
rated current for open loop, and 175% x motor rated current for closed The temperature of the motor (Pr 4.19) as a percentage of maximum
loop vector and servo modes. temperature, with a constant current magnitude of I, constant value of K
There are three parameters which control the current limits: and constant value of Motor rated current (Pr 5.07) after time t is given
by:
• Motoring current limit: power flowing from the drive to the motor
• Regen current limit: power flowing from the motor to the drive Percentage motor temperature (Pr 4.19) = [I2 / (K x Motor rated
• Symmetrical current limit: current limit for both motoring and regen current)2] (1 - e-t/τ) x 100%
operation
This assumes that the maximum allowed motor temperature is produced
The lowest of either the motoring and regen current limit, or the by K x Motor rated current and that τ is the thermal time constant of the
symmetrical current limit applies. point in the motor that reaches its maximum allowed temperature first. τ
The maximum setting of these parameters depends on the values of is defined by Pr 4.15. If Pr 4.15 has a value between 0.0 and 1.0 the
motor rated current, drive rated current and the power factor. thermal time constant is taken as 1.0.
Increasing the motor rated current (Pr 0.46/5.07) above the Normal Duty The value of K is defined as shown in Figure 8-1 and Figure 8-2.
rating (default value), will automatically reduce the current limits in Pr For both Heavy and Normal duty ratings, Pr 4.25 can be used to select
4.05 to Pr 4.07. If the motor rated current is then set below the Normal two alternative protection characteristics.
Duty rating, the current limits will be left at their reduced values.
Figure 8-1 Motor thermal protection (Heavy Duty)
The drive can be oversized to permit a higher current limit setting to
provide higher accelerating torque as required up to a maximum of
1.05
1000%. 1.00
The maximum current limit available for each mode of operation, are
calculated from the following equations. 0.70 Pr 4.25 = 0
Pr 4.25 = 1
Open Loop

Maximum
current limit
= √[[ Maximum current
Motor rated current
] 2
+ PF2 - 1 ] x 100%
PF 0.00
Where:
The Maximum current is either (1.5 x Heavy Duty rating) when the 50% of base Base speed/
speed/frequency frequency
rated current set in Pr 5.07 is less than or equal to the maximum
Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x If Pr 4.25 is 0 the characteristic is for a motor which can operate at rated
Normal Duty rating). current over the whole speed range. Induction motors with this type of
Motor rated current is given by Pr 5.07 characteristic normally have forced cooling. If Pr 4.25 is 1 the
PF is motor rated power factor given by Pr 5.10 characteristic is intended for motors where the cooling effect of motor
fan reduces with reduced motor speed below 50% of base speed/
Closed Loop Vector
frequency. The maximum value for K is 1.05, so that above the knee of

Maximum
current limit
= √[[ Maximum current
Motor rated current
] 2
+ cos(ϕ1)2 - 1 ] x 100%
the characteristics the motor can operate continuously up to 1.05%
current.
cos(ϕ1)

Where:
The Maximum current is either (1.75 x Heavy Duty rating) when the
rated current set in Pr 5.07 is less than or equal to the maximum
Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x
Normal Duty rating).
Motor rated current is given by Pr 5.07
ϕ1 = cos-1(PF) - ϕ2. This is measured by the drive during an
autotune.
PF is motor rated power factor given by Pr 5.10

Unidrive SP User Guide 97

Figure 8-2 Motor thermal protection (Normal Duty) 8.5 Switching frequency
The default switching frequency is 3kHz (6kHz in Servo mode), however
1.00 1.01 this can be increased up to a maximum of 16kHz by Pr 5.18 (dependent
on drive size). The available switching frequencies are shown below.
0.70 Pr 4.25 = 0 Table 8-1 Available switching frequencies
Pr 4.25 = 1
Voltage
Drive size 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
rating
1 All 9 9 9 9 9 9
2 All 9 9 9 9 9 9
0.00 SP320X 9 9 9 9 9
SP3401 &
15% of 50% of Base speed/ 9 9 9 9 9 9
3 SP3402
base speed/ base speed/ frequency
frequency frequency SP3403 9 9 9 9 9
SP350X 9 9 9 9
Both settings of Pr 4.25 are intended for motors where the cooling effect
of the motor fan reduces with reduced motor speed, but with different If switching frequency is increased from 3kHz the following apply:
speeds below which the cooling effect is reduced. If Pr 4.25 is 0 the 1. Increased heat loss in the drive, which means that derating to the
characteristic is intended for motors where the cooling effect reduces output current must be applied.
with motor speed below 15% of base speed/frequency. If Pr 4.25 is 1 the See the derating tables for switching frequency and ambient
characteristic is intended for motors where the cooling effect reduces temperature in section 12.1.1 Power and current ratings (Derating
with motor speed below 50% of base speed/frequency. The maximum for switching frequency and temperature) on page 186.
value for K is 1.01, so that above the knee of the characteristics the 2. Reduced heating of the motor - due to improved output waveform
motor can operate continuously up to 1.01% current. quality.
When the estimated temperature in Pr 4.19 reaches 100% the drive 3. Reduced acoustic noise generated by the motor.
takes some action depending on the setting of Pr 4.16. If Pr 4.16 is 0, the 4. Increased sample rate on the speed and current controllers. A trade
drive trips when Pr 4.19 reaches 100%. If Pr 4.16 is 1, the current limit is off must be made between motor heating, drive heating and the
reduced to (K - 0.05) x 100% when Pr 4.19 reaches 100%. The current demands of the application with respect to the sample time required.
limit is set back to the user defined level when Pr 4.19 falls below 95%.
Table 8-2 Sample rates for various control tasks at each
In servo mode the current magnitude and the active current controlled by
switching frequency
the current limits should be similar, and so this system should ensure
that the motor operates just below its thermal limit. Closed loop
3, 6, 12 4, 8, 16
The thermal model temperature accumulator is reset to zero at power-up Open loop vector and
kHz kHz
and accumulates the temperature of the motor whilst the drive remains Servo
powered-up. If the rated current defined by Pr 5.07 is altered, the 3kHz = 167µs
Current
accumulator is reset to zero. Level 1 6kHz = 83µs 125µs Peak limit
controllers
The default setting of the thermal time constant (Pr 4.15) is 89s for an 12kHz = 83µs
induction motor (open loop and closed loop vector), which is equivalent Speed
Current limit
to an overload of 150% for 60s from cold. The default value for a servo Level 2 250µs controller and
and ramps
motor is 20s, which is equivalent to an overload of 175% for 9s from ramps
cold. Level 3 1ms Voltage controller
The time for the drive to trip from cold with constant motor current is Level 4 4ms Time critical user interface
given by: Background Non-time critical user interface
2
Ttrip = -(Pr 4.15) x ln(1 - (K x Pr 5.07 / Pr 4.01) )
8.6 High speed operation
Alternatively the thermal time constant can be calculated from the trip
time with a given current from: 8.6.1 Encoder feedback limits
2 The maximum encoder frequency should be prevented from exceeding
Pr 4.15 = -Ttrip / ln(1 - (K / Overload) )
410kHz. In closed loop and servo modes the maximum speed that can
For example, if the drive should trip after supplying 150% overload for be entered in to the speed reference clamps (Pr 1.06 and Pr 1.07) can
60s with K = 1.05 (Heavy Duty) then: be limited by the drive. This is defined by the following (subject to an
absolute maximum of 40,000rpm):
Pr 4.15 = -60 / ln(1 - (1.05 / 1.50)2) = 89
410kHz x 60
The maximum value for the thermal time constant can be increased up Maximum speed limit (rpm) =
to a maximum value of 400s to allow an increased overload if the motor ELPR
thermal characteristics permit. 2.46 x 107
=
For applications using CT Dynamics Unimotors the thermal time ELPR
constants can be found in the Unimotor manual.
Where:
ELPR is the equivalent encoder lines per revolution and is the
number of lines that would be produced by a quadrature encoder.
• Quadrature encoder ELPR = number of lines per revolution
• F and D encoder ELPR = number of lines per revolution / 2
• SINCOS encoder ELPR = number of sine waves per revolution
This maximum speed limit is defined by the device selected with the
speed feedback selector (Pr 3.26), and the ELPR set for the position
feedback device. In closed-loop vector mode it is possible to disable this

98 Unidrive SP User Guide

limit via Pr 3.24, so that the drive can be switched between operation 8.6.4 Switching frequency
with and without feedback when the speed becomes too high for the With a default switching frequency of 3 kHz the maximum output
feedback device. The maximum speed limit is defined as above when Pr frequency should be limited to 250 Hz. Ideally a minimum ratio of 12:1
3.24 = 0 or 1, and is 40,000rpm when Pr 3.24 = 2 or 3. should be maintained between the output frequency and the switching
8.6.2 Field weakening (constant power) operation frequency. This ensures the number of switchings per cycle is sufficient
(Open loop and closed loop vector mode only) 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
Unidrive SP can be used to run an induction machine above =1). The output waveform will be quasi square above base speed
synchronous speed into the constant power region. The speed
ensuring a symmetrical output waveform, which results in a better quality
continues to increase and the available shaft torque reduces. The
output than would otherwise result.
characteristics below show the torque and output voltage characteristics
as the speed is increased above the rated value. 8.6.5 Maximum speed / frequency
In open loop mode the maximum frequency is 3,000 Hz.
Figure 8-3 Torque and rated voltage against speed
In closed loop vector mode the maximum output frequency is 1250 Hz.
In servo mode the maximum output frequency is 1250Hz, however the
Torque 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).
8.6.6 Quasi-Square wave (open-loop only)
The maximum output voltage level of the drive is normally limited to an
equivalent of the drive input voltage minus voltage drops within the drive
(the drive will also retain a few percent of the voltage in order to maintain
Speed
current control). If the motor rated voltage is set at the same level as the
supply voltage, some pulse deletion will occur as the drive output voltage
Rated approaches the rated voltage level. If Pr 5.20 (Quasi-square wave
voltage enable) is set to 1 the modulator will allow over modulation, so that as
the output frequency increases beyond the rated frequency the voltage
continues to increase above the rated voltage. The modulation depth will
increase beyond unity; first producing trapezoidal and then quasi-square
waveforms.
This can be used for example:
Rated speed Speed
• To obtain high output frequencies with a low switching frequency
Care must be taken to ensure the torque available above base speed is which would not be possible with space vector modulation limited to
sufficient for the application to run satisfactorily. unity modulation depth,
or
The saturation breakpoint parameters (Pr 5.29 and Pr 5.30) found during
the autotune in closed loop vector mode ensure the magnetising current • In order to maintain a higher output voltage with a low supply
is reduced in the correct proportion for the specific motor. (In open loop voltage.
mode the magnetising current is not actively controlled.) The disadvantage is that the machine current will be distorted as the
modulation depth increases above unity, and will contain a significant
8.6.3 Servo high speed operation amount of low order odd harmonics of the fundamental output frequency.
High speed servo mode is enabled by setting Pr 5.22 =1. Care must be The additional low order harmonics cause increased losses and heating
taken when using this mode with servo motors to avoid damaging the in the motor.
drive. The voltage produced by the servo motor magnets is proportional
to speed. For high speed operation the drive must apply currents to the
motor to counter-act the flux produced by the magnets. It is possible to
operate the motor at very high speeds that would give a very high motor
terminal voltage, but this voltage is prevented by the action of the drive.
If however, the drive is disabled (or tripped) when the motor voltages
would be higher than the rating of the drive without the currents to
counter-act the flux from the magnets, it is possible to damage the drive.
If high speed mode is enabled the motor speed must be limited to the
levels given in the table below unless an additional hardware protection
system is used to limit the voltages applied to the drive output terminals
to a safe level.

Maximum motor Maximum safe line to line

Drive voltage
speed voltage at the motor
rating
(rpm) terminals (V rms)
200 400 / (Ke x √2) 400 / √2
400 800 / (Ke x √2) 800 / √2
575 955 / (Ke x √2) 955 / √2
690 1145 / (Ke x √2) 1145 / √2
Ke is the ratio between r.m.s. line to line voltage produced by the motor
and the speed in V/rpm. Care must also be taken not to de-magnetise
the motor. The motor manufacturer should always be consulted before
using this mode.

Unidrive SP User Guide 99

9 SMARTCARD operation Figure 9-1 Installation of the SMARTCARD

Installing the SMARTCARD SMARTCARD installed

9.1 Introduction
This is a standard feature that enables simple configuration of
parameters in a variety of ways. The SMARTCARD can be used for:
• Parameter cloning between drives
• Saving whole drive parameter sets
• Saving ‘differences from default‘ parameter sets
• Storing Onboard PLC programs
• Automatically saving all user parameter changes for maintenance
purposes
• Loading complete motor map parameters
The SMARTCARD is located at the top of the module under the drive
display (if fitted) on the left-hand side. Ensure the SMARTCARD is
inserted with the contacts facing the right-hand side of the drive.
The drive only communicates with the SMARTCARD when commanded
to read or write, meaning the card may be "hot swapped".

Encoder phase angle (servo mode only)

The encoder phase angle in Pr 3.25 and Pr 21.20 is cloned
when using the SMARTCARD with drive software version
V01.05.00 onwards. This is useful when the SMARTCARD is
WARNING
used to backup the parameter set of a drive but caution
should be used if the SMARTCARD is used to transfer
parameter sets between drives.
Unless the encoder phase angle of the servo motor
connected to the destination drive is known to be the same
as the servo motor connected to the source drive, an
autotune should be performed or the encoder phase angle
should be entered manually into Pr 3.25 (or Pr 21.20).
If the encoder phase angle is incorrect the drive may lose
control of the motor resulting in an O.SPd or Enc10 trip when
the drive is enabled.

Easy saving and reading

Figure 9-2 Basic SMARTCARD operation

Drive reads all Programs all drive

parameters from parameters to the
the SMARTCARD SMARTCARD

Pr 0.30 = rEAd + Pr 0.30 = Prog +

Boot Drive boots from the
Drive automatically SMARTCARD on
writes to the power up and
SMARTCARD automatically writes
when a parameter Auto to the SMARTCARD
save is performed Save when a parameter
Auto Save save is performed

Pr 0.30 = Auto + Pr 0.30 = boot +

100 Unidrive SP User Guide

The SMARTCARD has 999 individual data block locations. Each Six bytes are required for each parameter difference. The data density is
individual location from 1 to 499 can be used to store data until the 4kb not as high as when using the data format described in the previous
capacity is used. section, but in most cases the number of differences from default is
The data block locations of the SMARTCARD are arranged to have the small and the data blocks are therefore smaller. This method can be
following usage: used for creating drive macros. Parameters that are not transferred
when using 3yyy are also not transferred with this method. Parameter
Table 9-1 SMARTCARD data blocks RAM is used as the source of this information.
Data Block Type Example Use Writing a parameter set to the SMARTCARD (Pr 11.42 = Prog
1 to 499 Read / Write Application set ups
(2))
Setting Pr 11.42 to Prog (2) and resetting the drive will save the
500 to 999 Read Only Macros
parameters in the drive EEPROM to the SMARTCARD, i.e. this is
equivalent to writing 3001 to Pr xx.00. All SMARTCARD trips apply
‘Differences from default‘ parameter sets will be much smaller than
except ‘C.Chg’. If the data block already exists it is automatically over-
whole parameter sets and thus take up a lot less memory as most
written. When the action is complete this parameter is automatically
applications only require a few parameters to be changed from the
reset to nonE (0).
default setting.
The whole card may be protected from writing or erasing by setting the 9.2.2 Reading from the SMARTCARD
read-only flag as detailed section 9.2.7 9888 / 9777 - Setting and 6yyy - Read default differences from a SMARTCARD
clearing the SMARTCARD read only flag on page 102. When the data is transferred back to a drive, using 6yyy in Pr xx.00, it is
transferred to the drive RAM and the drive EEPROM. A parameter save
If the card is removed during data transfer from the card for a file that
is not required to retain the data after power-down. Set up data for any
was saved with code 3yyy the drive EEPROM checksum will be set up
Solutions Modules fitted are stored on the card and are transferred to the
incorrectly and an ‘EEF’ trip will be initiated.
destination drive. If the Solutions Modules are different between the
If the card is removed during data transfer from the card for a file that source and destination drive, the menus for the slots where the
was saved with code 4yyy then no data will be saved to EEPROM and a Solutions Module categories are different are not updated from the card
‘C.Acc’ trip will be initiated. and will contain their default values after the cloning action. The drive will
It should be noted that in both cases the parameters held in drive produce a ‘C.Optn’ trip if the Solutions Modules fitted to the source and
parameter RAM are likely to be incorrect. Default parameters should be destination drive are different or are in different slots. If the data is being
loaded and saved if either of these trips occur. transferred to a drive of a different voltage or current rating a ‘C.rtg’ trip
will occur. The following parameters will not be written to the destination
drive and will contain their default values after the cloning action:
9.2 Transferring data Pr 2.08 Standard ramp voltage
Pr 4.05 to Pr 4.07 and Pr 21.27 to Pr 21.29 Current limits
Data transfer, erasing and protecting the information is performed by
Pr 5.07, Pr 21.07 Motor rated current
entering a code in Pr xx.00 and then resetting the drive as shown in
Pr 5.09, Pr 21.09 Motor rated voltage
Table 9-2.
Pr 5.17, Pr 21.12 Stator resistance
Table 9-2 SMARTCARD codes Pr 5.18 Switching frequency
Code Action Pr 5.23, Pr 21.13 Voltage offset
Pr 5.24, Pr 21.14 Transient inductance
3yyy Write drive EEPROM data to a SMARTCARD block number yyy
Pr 5.25, Pr 21.24 Stator inductance
Write drive data as difference from defaults to SMARTCARD Pr 6.06 DC injection braking current
4yyy
block number yyy
Reading a parameter set from the SMARTCARD (Pr 11.42 =
5yyy Write Onboard PLC program to SMARTCARD block number yyy rEAd (1))
6yyy Read SMARTCARD data block yyy to the drive Setting Pr 11.42 to rEAd (1) and resetting the drive will load the
7yyy Erase SMARTCARD data block yyy parameters from the card into the drive parameter set and the drive
8yyy Compare drive parameters with block yyy EEPROM i.e. this is equivalent to writing 6001 to Pr xx.00. All
9999 Erase SMARTCARD SMARTCARD trips apply. Once the parameters are successfully copied
this parameter is automatically reset to nonE (0). Parameters are saved
9888 Set SMARTCARD read-only flag
to the drive EEPROM after this action is complete.
9777 Clear SMARTCARD read-only flag
NOTE N
Where yyy indicates the block number 001 to 999. See Table 9-1 for
This operation is only performed if data block 1 on the card is a full
restrictions on block numbers.
parameter set and not a default difference file. If block 1 does not exist or
NOTE N the type is incorrect a ‘C.typ’ trip occurs.
If the read only flag is set then only codes 6yyy or 9777 are effective. 9.2.3 Auto saving parameter changes (Pr 11.42 =
9.2.1 Writing to the SMARTCARD Auto (3))
3yyy - Write data to the SMARTCARD This setting causes the drive to automatically save any changes made to
menu 0 parameters on the drive to the SMARTCARD. The latest menu 0
The data block contains the complete parameter data from the drive
parameter set in the drive is therefore always backed up on the
EEPROM, i.e. all user save (US) parameters except parameters with the
NC coding bit set. Power-down save (PS) are not saved to the SMARTCARD. Changing Pr 11.42 to Auto (3) and resetting the drive will
immediately save the complete parameter set from the EEPROM to the
SMARTCARD. A SMARTCARD can hold up to 4 data blocks of this type.
card. Once the whole parameter set is stored only the individual
A save must have been performed on the drive to transfer the modified menu 0 parameter setting is updated.
parameters from the drive RAM to the EPROM before this operation is
Advanced parameter changes are only saved to the card when Pr xx.00
carried out.
is set to a 1000 and the drive reset.
4yyy - Write default differences to a SMARTCARD
All SMARTCARD trips apply, except ‘C.Chg’. If the data block already
The parameter data stored on the SMARTCARD is the number for the
contains information it is automatically overwritten.
last set of defaults loaded (indicating European or USA settings) and the
parameter differences from the last time default settings were loaded.

Unidrive SP User Guide 101

If the card is removed when Pr 11.42 is set to 3 Pr 11.42 is then The header information for each data block which has been used can be
automatically set to nonE (0). viewed in Pr 11.38 to Pr 11.40 by increasing or decreasing the data
When a new SMARTCARD is fitted Pr 11.42 must be set back to Auto block number set in Pr 11.37.
(3) by the user and the drive reset so the complete parameter set is If Pr 11.37 is set to 1000 the checksum parameter (Pr 11.40) shows the
rewritten to the new SMARTCARD if auto mode is still required. number of bytes left on the card. If there is no data on the card Pr 11.37
When Pr 11.42 is set to Auto (3) and the parameters in the drive are can only have values of 0 or 1,000.
saved, the SMARTCARD is also updated, therefore the SMARTCARD The version number is intended to be used when data blocks are used
becomes a copy of the drives stored configuration. as drive macros. If a version number is to be stored with a data block, Pr
At power up, if Pr 11.42 is set to Auto (3), the drive will save the 11.39 should be set to the required version number before the data is
complete parameter set to the SMARTCARD. The drive will display transferred. Each time Pr 11.37 is changed by the user the drive puts the
‘cArd’ during this operation. This is done to ensure that if a user puts a version number of the currently viewed data block in Pr 11.39.
new SMARTCARD in during power down the new SMARTCARD will If the destination drive has a different drive mode to the parameters on
have the correct data. the card, the drive mode will be changed by the action of transferring
parameters from the card to the drive.
NOTE N
When Pr 11.42 is set to Auto (3) the setting of Pr 11.42 itself is saved to The actions of erasing a card, erasing a file, changing a menu 0
parameter, or inserting a new card will effectively set Pr 11.37 to 0 or the
the drive EEPROM but NOT to the SMARTCARD.
lowest file number in the card.
9.2.4 Booting up from the SMARTCARD on every
power up (Pr 11.42 = boot (4)) 9.4 SMARTCARD parameters
When Pr 11.42 is set to boot (4) the drive operates the same as Auto Table 9-3 Key to parameter table coding
mode except when the drive is powered-up. The parameters on the RW Read / Write RO Read only Uni Unipolar
SMARTCARD will be automatically transferred to the drive at power up if Bi Bi-polar Bit Bit parameter Txt Text string
the following are true:
FI Filtered DE Destination NC Not cloned
• A card is inserted in the drive RA Rating dependent PT Protected US User save
• Parameter data block 1 exists on the card PS Power down save
• The data in block 1 is type 1 to 5 (as defined in Pr 11.38)
• Pr 11.42 on the card set to boot (4)
11.36 {0.29} SMARTCARD parameter data previously loaded
The drive will display 'boot' during this operation. If the drive mode is
different from that on the card, the drive gives a 'C.Typ'. trip and the data RO Uni NC PT US
is not transferred. Ú 0 to 999 Ö 0
If 'boot' mode is stored on the cloning SMARTCARD this makes the
cloning SMARTCARD the master device. This provides a very fast and This parameter shows the number of the data block last transferred from
efficient way of re-programming a number of drives. a SMARTCARD to the drive.

NOTE N 11.37 SMARTCARD data number

‘Boot’ mode is saved to the card, but when the card is read, the value of RW Uni NC
Pr 11.42 is not transferred to the drive.
Ú 0 to 1,000 Ö 0
9.2.5 8yyy - Comparing the drive full parameter set
This parameter should have the data block number entered for which the
with the SMARTCARD values
user would like information displayed in Pr 11.38, Pr 11.39 and Pr 11.40.
Setting 8yyy in Pr xx.00, will compare the SMARTCARD file with the
data in the EEPROM. If the compare is successful Pr xx.00 is simply set 11.38 SMARTCARD data type/mode
to 0. If the compare fails a ‘C.cpr’ trip is initiated.
RO Txt NC PT
9.2.6 7yyy / 9999 - Erasing data from the
SMARTCARD Ú 0 to 18 Ö
Data can be erased from the SMART CARD either one block at a time or Gives the type/mode of the data block selected with Pr 11.37:
blocks 1 to 499 in one go.
• Setting 7yyy in Pr xx.00 will erase SMART CARD data block yyy. Pr 11.38 String Type/mode Data stored
• Setting 9999 in Pr xx.00 will erase SMART CARD data blocks 1 to 0 FrEE Value when Pr 11.37 = 0 or 1,000
499. 1 Reserved
2 3OpEn.LP Open-loop mode parameters
9.2.7 9888 / 9777 - Setting and clearing the
SMARTCARD read only flag 3 3CL.VECt Closed-loop vector mode parameters
Data from
The SMART CARD may be protected from writing or erasing by setting 4 3SErVO Servo mode parameters
EEPROM
the read only flag. If an attempt is made to write or erase a data block 5 3rEgEn Regen mode parameters
when the read only flag is set, a 'C.rdo' trip is initiated. When the read 6 to 8 3Un Unused
only flag is set only codes 6yyy or 9777 are effective. 9 Reserved
• Setting 9888 in Pr xx.00 will set the read only flag 10 4OpEn.LP Open-loop mode parameters
• Setting 9777 in Pr xx.00 will clear the read only flag. 11 4CL.VECt Closed-loop vector mode parameters Defaults last
12 4SErVO Servo mode parameters loaded and
9.3 Data block header information 13 4rEgEn Regen mode parameters differences
Each data block stored on a SMARTCARD has header information
14 to 16 4Un Unused
detailing the following:
17 LAddEr Onboard PLC program
• A number which identifies the block (Pr 11.37) 18 Option A Solutions Module file
• The type of data stored in the block (Pr 11.38)
• The drive mode if the data is parameter data (Pr 11.38)
• The version number (Pr 11.39)
• The checksum (Pr 11.40)

102 Unidrive SP User Guide

11.39 SMARTCARD data version

RW Uni NC
Ú 0 to 9,999 Ö 0

Gives the version number of the data block selected in Pr 11.37.

11.40 SMARTCARD data checksum

R0 Uni NC PT
Ú 0 to 65,335 Ö
Gives the checksum of the data block selected in Pr 11.37.

11.42 {0.30} Parameter cloning

RW Txt NC US*
Ú 0 to 4 Ö nonE (0)

NOTE N
If Pr 11.42 is equal to 1 or 2 this value is not transferred to the EPROM
or the drive. If Pr 11.42 is set to a 3 or 4 the value is transferred.
nonE (0) = Inactive
rEAd (1) = Read parameter set from the SMARTCARD
Prog (2) = Programming a parameter set to the SMARTCARD
Auto (3) = Auto save
boot (4) = Boot mode

9.5 SMARTCARD trips

After an attempt to read, write or erase data to or from a SMARTCARD a
trip may occur if there has been a problem with the command. The
following trips indicate various problems as detailed in Table 9-4.

Table 9-4 Trip conditions

Unidrive SP User Guide 103

Table 9-4 Trip conditions

Trip Diagnosis
SMARTCARD trip: SMARTCARD attempting to change the destination drive ratings
C.rtg
No drive rating parameters have been transferred
Press the red reset button
Drive rating parameters are:
Parameter Function
2.08 Standard ramp voltage
4.05/6/7, 21.27/8/9 Current limits
5.07, 21.07 Motor rated current
186 5.09, 21.09 Motor rated voltage
5.17, 21.12 Stator resistance
5.18 Switching frequency
5.23, 21.13 Voltage offset
5.24, 21.14 Transient inductance
5.25, 21.24 Stator inductance
6.06 DC injection braking current
The above parameters will be set to their default values.
C.Typ SMARTCARD trip: SMARTCARD parameter set not compatible with drive

187 Press the red reset button

Ensure destination drive type is the same as the source parameter file drive type

Table 9-5 SMARTCARD status indications

Lower display Description Lower display Description

boot A parameter set is being transferred from the cArd The drive is writing a parameter set to the SMARTCARD
SMARTCARD to the drive during power-up. For further during power-up.
information, please refer to section 9.2.4 Booting up For further information, please refer to section
from the SMARTCARD on every power up (Pr 11.42 = 9.2.3 Auto saving parameter changes (Pr 11.42 = Auto
boot (4)) . (3)) .

104 Unidrive SP User Guide

10 Onboard PLC used for time-critical applications. For time-critical applications either
the SM-Applications or SM-Applications Lite solutions modules
should be used.
10.1 Onboard PLC and SYPTLite • The program runs at a low priority. The Unidrive SP provides a
The Unidrive SP has the ability to store and execute a 4kb Onboard PLC single background task in which to run a ladder diagram. The drive is
ladder logic program without the need for additional hardware in the form prioritised to perform its major functions first, e.g. motor control, and
of a Solutions Module. will use any remaining processing time to execute the ladder
diagram as a background activity. As the drive's processor becomes
The ladder logic program is written using SYPTLite, a Windows™ based
ladder diagram editor allowing the development of programs for more heavily loaded, less time is spent executing the program.
execution in Unidrive SP or SM-Applications Lite. Figure 10-1 Unidrive SP Onboard PLC program scheduling
SYPTLite is designed to be easy to use and to make program
development as simple as possible. The features provided are a sub-set Major drive
of those in the SYPT program editor. SYPTLite programs are developed functions
using ladder logic, a graphical language widely used to program PLCs
User
(IEC6113-3). SYPTLite allows the user to "draw" a ladder diagram program
representing a program.
SYPTLite provides a complete environment for the development of
0 64 128
ladder diagrams. Ladder diagrams can be created, compiled into user Time
programs and downloaded to a Unidrive SP or SM-Applications Lite for (milliseconds)
execution, via the RJ45 serial communications port on the front of the
The user program is scheduled for a short period approximately once
drive. The run-time operation of the compiled ladder diagram on the
every 64ms. The time for which the program is scheduled will vary
target can also be monitored using SYPTLite and facilities are provided
between 0.2ms and 2ms depending on the loading of the drive's
to interact with the program on the target by setting new values for target
processor.
parameters.
When scheduled, several scans of the user program may be performed.
SYPTLite is available on the CD which is supplied with the drive.
Some scans may execute in microseconds. However, when the main
10.2 Benefits drive functions are scheduled there will be a pause in the execution of
the program causing some scans to take many milliseconds. SYPTLite
The combination of the Onboard PLC and SYPTLite, means that displays the average execution time calculated over the last 10 scans of
Unidrive SP can replace nano and some micro PLCs in many the user program.
applications. The Onboard PLC programs can consist of up to a
maximum of 50 ladder logic rungs (up to 7 function blocks and 10
contacts per rung). The Onboard PLC program can also be transferred
to and from a SMARTCARD for backup or quick commissioning
In addition to the basic ladder symbols, SYPTLite contains a sub-set of
the function from the full version of SYPT. These include,
• Arithmetic blocks
• Comparison blocks
• Timers
• Counters
• Multiplexers
• Latches
• Bit manipulation
Typical applications for the Onboard PLC include,
• Ancillary pumps
• Fans and control valves
• Interlocking logic
• Sequences routines
• Custom control words.

10.3 Limitations
Compared with the SM-Applications or SM-Application Lite modules
when programmed with SYPT, the Onboard PLC program has the
following limitations:
• The maximum program size is 4032 bytes including header and
optional source code.
• The Unidrive SP is rated for 100 program downloads. This limitation
is imposed by the flash memory used to store the program within the
drive.
• The user cannot create user variables. The user is only able to
manipulate the drive parameter set.
• The program cannot be downloaded or monitored over CTNet. The
program is only accessible via the drives RJ45 serial
communications port.
• There are no real-time tasks, i.e. the scheduling rate of the program
cannot be guaranteed. SM-Applications tasks such as Clock, Event,
Pos0 or Speed are not available. The Onboard PLC should not be

Unidrive SP User Guide 105

The Onboard PLC and SYPTLite form the first level of functionality in a
range of programmable options for Unidrive SP.
Figure 10-2 Programming options for Unidrive SP
FUNCTIONALITY

Level 4
SM-Applications with
SYPT software

Level 3
SM-Applications Lite with
SYPT software

Level 2
SM-Applications Lite with
SYPTLite software

Level 1
Onboard PLC with SYPTLite software
CAPABILITY

SYPTLite can be used with either the Onboard PLC in the Unidrive SP 10.5 Onboard PLC parameters
or with SM-Applications Lite to create ladder logic programs.
The following parameters are associated with the Onboard PLC
SYPT can be used with either the SM-Applications Lite or SM-
program.
Applications to create fully flexible programs using ladder logic, function
blocks or DPL script.
11.47 Drive Onboard PLC program enable
10.4 Getting started RW Uni US
SYPTLite can be found on the CD which is supplied with the drive.
Ú 0 to 2 Ö 2
• SYPTLite System Requirements:
• Windows 95/98/98SE/ME/NT4/2000/XP required. This parameter is used to start and stop the drive Onboard PLC program.
• Internet Explorer V5.0 or later must be installed
• Minimum of 800x600 screen resolution with 256 colours. Value Description
• 96MB RAM
0 Halt the drive Onboard PLC program.
• Pentium II 266MHz or better recommended.
Run the drive Onboard PLC program (if fitted). Any out-of-
• Adobe Acrobat 5.10 or later (for parameter help)
• RS232 to RS485, RJ45 communications lead to connect the PC to a range parameter writes attempted will be clipped to the
1
maximum / minimum values valid for that parameter before
Unidrive SP
being written.
• Note that you must have administrator rights under Windows NT/
2000/XP to install the software. Run the drive Onboard PLC program (if fitted). Any out-of-
2
range parameter writes attempted will cause a ‘UP ovr’ trip.
To install SYPTLite, insert the CD and the auto-run facility should start
up the front-end screen, from which SYPTLite can be selected.
See the SYPTLite help file for more information regarding using 11.48 Drive Onboard PLC program status
SYPTLite, creating ladder diagrams and the available function blocks. RO Bi NC PT
Ú -128 to +127 Ö

The drive Onboard PLC program status parameter indicates to the user
the actual state of the drive Onboard PLC program.

106 Unidrive SP User Guide

Value Description 10.6 Onboard PLC trips

Onboard PLC program caused a drive trip due to an error The following trips are associated with the Onboard PLC program.
-n condition while running rung n. Note that the rung number is
shown on the display as a negative number. Trip Diagnosis
0 Onboard PLC program is not fitted. Onboard PLC program: Cannot access Onboard
UP ACC
1 Onboard PLC program is fitted but stopped. PLC program file on drive
2 Onboard PLC program is fitted and running. Disable drive - write access is not allowed when the
drive is enabled.
98
Another source is already accessing Onboard PLC
11.49 Drive Onboard PLC programming events program - retry once the other action is complete.
RO Uni NC PT PS UP div0 Onboard PLC program attempted divide by zero
Ú 0 to 65,535 Ö 90 Check program

The drive Onboard PLC programming events parameter holds the Onboard PLC program variables and function
number of times an Onboard PLC program download has taken place UP OFL block calls using more than the allowed RAM
and is 0 on dispatch from the factory. The Unidrive SP is rated for one space (stack overflow)
hundred ladder program downloads. This parameter is not altered when 95 Check program
defaults are loaded.
Onboard PLC program attempted out of range
UP ovr
parameter write
11.50 Drive Onboard PLC program maximum scan time
94 Check program
RO Uni NC PT
Onboard PLC program attempted access to a non-
Ú 0 to 65,535 ms Ö UP PAr
existent parameter

The Onboard PLC program maximum scan time parameter gives the 91 Check program
longest scan time within the last ten scans of the drive Onboard PLC Onboard PLC program attempted write to a read-
UP ro
program. If the scan time is greater than the maximum value which can only parameter
be represented by this parameter, the value will be clipped to the
92 Check program
maximum value.
Onboard PLC program attempted read of a write-
UP So
only parameter
11.51 Drive Onboard PLC program first run
93 Check program
RO Bit NC PT
UP udf Onboard PLC program undefined trip
Ú OFF (0) or On (1) Ö
97 Check program
The Drive Onboard PLC program first run parameter is set for the
UP uSEr Onboard PLC program requested a trip
duration of program scan from the stopped state. This enables the user
to perform any required initialisation every time the program is run. This 96 Check program
parameter is set every time the program is stopped.

10.7 Onboard PLC and the SMARTCARD

The Onboard PLC program in a drive may be transferred from the drive
to a SMARTCARD and vice versa.
• To transfer an Onboard PLC program from the drive to a
SMARTCARD, set Pr xx.00 to 5yyy and reset the drive
• To transfer an Onboard PLC program from the SMARTCARD to a
drive, set Pr xx.00 to 6yyy and reset the drive.
(Where yyy is the data block location, see Table 9-1 SMARTCARD data
blocks on page 101 for restrictions on block numbers).
If an attempt is made to transfer an Onboard PLC program from a drive
to the SMARTCARD when the drive contains no program, the block is
still created on the SMARTCARD but it will contain no data. If this data
block is then transferred to a drive, the destination drive will then have
no Onboard PLC program.
A SMARTCARD has a capacity of 4064 bytes and each block can be up
to 4064 bytes in size. The maximum size of a user program is 4032
bytes so it is guaranteed that any Onboard PLC program downloaded to
a Unidrive SP will fit on to an empty SMARTCARD. A number of small
Onboard PLC programs can be stored on one SMARTCARD.

Unidrive SP User Guide 107

11 Advanced parameters Table 11-2 Key to parameter table coding

Coding Attribute
This is a quick reference to all parameters in the drive showing units,
RW Read/write: can be written by the user
ranges limits etc, with block diagrams to illustrate their function. Full
descriptions of the parameters can be found in the Unidrive SP RO Read only: can only be read by the user
Advanced User Guide on the supplied CD ROM. Bit 1 bit parameter. ‘On’ or ‘OFF’ on the display
Bi Bipolar parameter
These advanced parameters are listed for reference Uni Unipolar parameter
purposes only. The lists in this chapter do not include Txt Text: the parameter uses text strings instead of numbers.
sufficient information for adjusting these parameters. Filtered: some parameters which can have rapidly changing
Incorrect adjustment can affect the safety of the system, and
WARNING FI values are filtered when displayed on the drive keypad for
damage the drive and or external equipment. Before
easy viewing.
attempting to adjust any of these parameters, refer to the
Unidrive SP Advanced User Guide. Destination: indicates that this parameter can be a
DE
destination parameter.
Table 11-1 Menu descriptions Rating dependant: this parameter is likely to have different
values and ranges with drives of different voltage and
Menu RA current ratings. This parameters is not transferred by
Description
number SMARTCARDs when the rating of the destination drive is
Commonly used basic set up parameters for quick / easy different from the source drive.
0
programming Not cloned: not transferred to or from SMARTCARDs
NC
1 Frequency / speed reference during cloning.
2 Ramps PT Protected: cannot be used as a destination.
3 Frequency slaving, speed feedback and speed control User save: saved in drive EEPROM when the user initiates
US
a parameter save.
4 Torque and current control
Power-down save: automatically saved in drive EEPROM
5 Motor control PS
at power-down.
6 Sequencer and clock
7 Analog I/O
8 Digital I/O
9 Programmable logic, motorised pot and binary sum
10 Status and trips
11 General drive set-up
12 Threshold detectors and variable selectors
13 Position control
14 User PID controller
15, 16, 17 Solutions Module slots
18 Application menu 1
19 Application menu 2
20 Application menu 3
21 Second motor parameters

Operation mode abbreviations:

OL> Open loop
CL> Closed loop (which incorporates closed loop vector and
servo mode)
VT> Closed loop vector mode
SV> Servo
Default abbreviations:
EUR> European default value
USA> USA default value

NOTE
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.

108 Unidrive SP User Guide

Parameter ranges and variable maximums:

The two values provided define the minimum and maximum values for
the given parameter. In some cases the parameter range is variable and
dependant on either:
• other parameters
• the drive rating
• drive mode
• or a combination of these
The values given in Table 11-3 are the variable maximums used in the
drive.
Table 11-3 Definition of parameter ranges & variable maximums

Maximum Definition
SPEED_FREQ_MAX Maximum speed (closed-loop mode) reference or frequency (open-loop mode) reference
[Open-loop 3000.0Hz, If Pr 1.08 = 0: SPEED_FREQ_MAX = Pr 1.06
Closed-loop vector and Servo If Pr 1.08 = 1: SPEED_FREQ_MAX is Pr 1.06 or – Pr 1.07 whichever is the largest
40000.0rpm] (If the second motor map is selected Pr 21.01 is used instead of Pr 1.06 and Pr 21.02 instead of Pr 1.07)
Maximum applied to speed reference limits
A maximum limit may be applied to the speed reference to prevent the nominal encoder frequency from
exceeding 410kHz. The maximum is defined by
SPEED_LIMIT_MAX (in rpm) = 410kHz x 60 / ELPR = 2.46 x 107 / ELPR subject to an absolute maximum of
40,000 rpm.
ELPR is equivalent encoder lines per revolution and is the number of lines that would be produced by a
SPEED_LIMIT_MAX quadrature encoder.
[40000.0rpm] Quadrature encoder ELPR = number of lines per revolution
F and D encoder ELPR = number of lines per revolution / 2
Resolver ELPR = resolution / 4
SINCOS encoder ELPR = number of sine waves per revolution
Serial comms encoder ELPR = resolution / 4
This maximum is defined by the device selected with the speed feedback selector (Pr 3.26) and the ELPR set
for the position feedback device.
Maximum speed
SPEED_MAX This maximum is used for some speed related parameters in menu 3. To allow headroom for overshoot etc.
[40000.0rpm] the maximum speed is twice the maximum speed reference.
SPEED_MAX = 2 x SPEED_FREQ_MAX
Maximum motor rated current
RATED_CURRENT_MAX ≤ 1.36 x Maximum Heavy Duty current rating (Pr 11.32)
RATED_CURRENT_MAX
The rated current can be increased above the rated drive current up to a level not exceeding 1.36 x Maximum
[9999.99A]
Heavy Duty current rating (Pr 11.32). The actual level varies from one drive size to another, please refer to
Table 11-4.
Maximum drive current
DRIVE_CURRENT_MAX
The maximum drive current is the current at the over current trip level and is given by:
[9999.99A]
DRIVE_CURRENT_MAX = Maximum Heavy Duty current rating (Pr 11.32) / 0.45

Unidrive SP User Guide 109

Maximum Definition
Maximum current limit settings for motor map 1
This maximum current limit setting is the maximum applied to the current limit parameters in motor map 1.
Open Loop

Maximum
current limit
= √[[ Maximum current
Motor rated current
] 2
+ PF2 - 1 ] x 100%
PF

Where:
The Maximum current is either (1.5 x Heavy Duty rating) when the rated current set in Pr 5.07 is less than or
equal to the maximum Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x Normal Duty rating).
Motor rated current is given by Pr 5.07
PF is motor rated power factor given by Pr 5.10
Closed Loop Vector

MOTOR1_CURRENT_LIMIT_MAX
Maximum
current limit
= √[[ Maximum current
Motor rated current
] 2
+ cos(ϕ1)2 - 1 ] x 100%
[1000.0%] cos(ϕ1)

Where:
The Maximum current is either (1.75 x Heavy Duty rating) when the rated current set in Pr 5.07 is less than or
equal to the maximum Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x Normal Duty rating).
Motor rated current is given by Pr 5.07
ϕ1 = cos-1(PF) - ϕ2. This is measured by the drive during an autotune. See Menu 4 in the Unidrive SP
Advanced User Guide for more information regarding ϕ2.
PF is motor rated power factor given by Pr 5.10
Servo

Maximum
current limit
= [ Maximum current
Motor rated current ] x 100%

Where:
Maximum current is drive rated current (Pr 11.32) x 1.75
Motor rated current is given by Pr 5.07
Maximum current limit settings for motor map 2
MOTOR2_CURRENT_LIMIT_MAX This maximum current limit setting is the maximum applied to the current limit parameters in motor map 2.
[1000.0%] The formulae for MOTOR2_CURRENT_LIMIT_MAX are the same for MOTOR1_CURRENT_LIMIT_MAX
except that Pr 5.07 is replaced with Pr 21.07 and Pr 5.10 is replaced with Pr 21.10.
Maximum torque producing current
TORQUE_PROD_CURRENT_MAX This is used as a maximum for torque and torque producing current parameters. It is
[1000.0%] MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is
currently active.
Current parameter limit selected by the user
The user can select a maximum for Pr 4.08 (torque reference) and Pr 4.20 (percentage load) to give suitable
USER_CURRENT_MAX
scaling for analog I/O with Pr 4.24. This maximum is subject to a limit of MOTOR1_CURRENT_LIMIT_MAX.
[1000.0%]
or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is currently active.
USER_CURRENT_MAX = Pr 4.24
Maximum output voltage set-point
AC_VOLTAGE_SET_MAX Defines the maximum motor voltage that can be selected.
[690V] 200V drives: 240V, 400V drives: 480V
575V drives: 575V, 690V drives: 690V
Maximum AC output voltage
This maximum has been chosen to allow for maximum AC voltage that can be produced by the drive including
AC_VOLTAGE_MAX quasi-square wave operation as follows:
[930V] AC_VOLTAGE_MAX = 0.78 x DC_VOLTAGE_MAX
200V drives: 325V, 400V drives: 650V
575V drives: 780V, 690V drives: 930V
Maximum DC voltage set-point
DC_VOLTAGE_SET_MAX
200V rating drive: 0 to 400V, 400V rating drive: 0 to 800V
[1150V]
575V rating drive: 0 to 950V, 690V rating drive: 0 to 1150V

110 Unidrive SP User Guide

Maximum Definition
Maximum DC bus voltage
DC_VOLTAGE_MAX The maximum measurable DC bus voltage.
[1190V] 200V drives: 415V, 400V drives: 830V
575V drives: 995V, 690V drives: 1190V
Maximum power in kW
POWER_MAX The maximum power has been chosen to allow for the maximum power that can be output by the drive with
[9999.99kW] maximum AC output voltage, maximum controlled current and unity power factor. Therefore
POWER_MAX = √3 x AC_VOLTAGE_MAX x RATED_CURRENT_MAX x 1.75

The values given in square brackets indicate the absolute maximum value allowed for the variable maximum.

Table 11-4 Maximum motor rated current

Maximum Heavy Maximum

Model Duty current Normal Duty
rating (Pr 11.32) current rating
SP1201 4.3 5.2
SP1202 5.8 6.8
SP1203 7.5 9.6
SP1204 10.6 11
SP2201 12.6 15.5
SP2202 17 22
SP2203 25 28
SP3201 31 42
SP3202 42 54
SP1401 2.1 2.8
SP1402 3 3.8
SP1403 4.2 5.0
SP1404 5.8 6.9
SP1405 7.6 8.8
SP1406 9.5 11
SP2401 13 15.3
SP2402 16.5 21
SP2403 25 29
SP3401 32 35
SP3402 40 43
SP3403 46 56
SP3501 4.0 5.4
SP3502 5.4 6.1
SP3503 6.1 8.4
SP3504 9.5 11
SP3505 12 16
SP3506 18 22
SP3507 22 27

Unidrive SP User Guide 111

11.1 Menu 1: Frequency / speed reference

Figure 11-1 Menu 1 logic diagram

LOCAL/REMOTE

Analog reference

Analog input 1
Menu 8
Analog
reference 1
1.36
Analog reference 2
Menu 7 1.41 select

1.37
Analog
Analog input 2 reference 2

1.42 Preset reference

select

Preset reference
Preset reference 1.43 Keypad reference
1.15 select
selector*
Preset reference select bits 1 ~ 3

1.44 Precision reference

1.47 1.46 select
1.45
Reference
selector* 1.14

Reference selected
indicator

1.49
1.21 ~ 1.28
Preset +
references
1 to 8
+

Scan timer
1.38 1.01
1.20
Preset Reference
reference Pr 1.50 set to percentage Level of
selected 1.50
greater than 1 trim reference
1.16 indicator selected
Preset 1.04
reference
scan time Reference
offset
1.48 Pr 1.49 Pr 1.50 Reference being used
1 1 Analog reference 1 1.09
Preset reference 1 >1 Preset reference defined by Pr 1.50
Scan-timer reset 2 1 Analog reference 2 Reference
2 >1 Preset reference defined by Pr 1.50 offset mode
Keypad reference Power-up keypad 3 x Preset reference defined by Pr 1.50 select
1.51 control mode 4 x Keypad reference
reference 5 x Preceision reference

1.17

Keypad
Reference

Precision reference
Precision-reference
update disable Key

1.20
Input Read-write (RW)
terminals 0.XX
parameter
Precision
reference
Output 0.XX Read-only (RO)
1.18 Memory terminals parameter
1.19
Precision The parameters are all shown in their default settings
reference trim

*For more information, refer to section 11.21.1 Reference modes on page 178.

112 Unidrive SP User Guide

JOG RUN FORWARD RUN REVERSE

Menu 8
Menu 6
Sequencer

Sequencer (Menu 6)
Jog selected 1.13 Reference in skip
indicator freq./speed band
indicator
Menu 13
Bipolar Position control Reference
reference 1.10 1.35
1.11 enabled
select indicator
Pre-ramp
reference

Feed-forward Pre-filter
selected 1.06 1.02 reference 1.03
indicator Maximum
Reverse freq./speed
selected 1.12 1.40 "clamp"
indicator
1.07
Menu 2
Minimum
Negative freq./speed
minimum "clamp"
speed (Maximum
select reverse
1.08 freq./speed)

[1.06]
[1.07]

[1.07]
[1.06]
x(-1)

1.29 1.31 1.33

1.39 [1.06]
Skip freq./ Skip freq./ Skip freq./
speed 1 speed 2 speed 3
Velocity
1.05 feed-forward
reference [1.06] 1.30 1.32 1.34
Jog
Skip freq. 1 Skip freq. 2 Skip freq. 3
reference
speed band speed band speed band
1, 2, 3 1, 2, 3 1, 2, 3
[1.06]

[1.07]

Unidrive SP User Guide 113

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
Frequency / speed reference
1.01 ±SPEED_FREQ_MAX Hz/rpm RO Bi NC PT
selected
1.02 Pre-skip filter reference ±SPEED_FREQ_MAX Hz/rpm RO Bi NC PT
1.03 Pre-ramp reference ±SPEED_FREQ_MAX Hz/rpm RO Bi NC PT
1.04 Reference offset ±3,000.0Hz ±40,000.0 rpm 0.0 RW Bi US
1.05 Jog reference {0.23} 0 to 400.0 Hz 0 to 4,000.0 rpm 0.0 RW Uni US
±SPEED_FREQ_MAX EUR> 50.0 EUR> 1,500.0
1.06 Maximum reference clamp {0.02} 0 to 3,000.0 Hz 3,000.0 RW Uni US
Hz/rpm USA> 60.0 USA> 1,800.0
±SPEED_FREQ_MAX
1.07 Minimum reference clamp {0.01} ±3,000.0 Hz 0.0 RW Bi PT US
Hz/rpm
Negative minimum reference
1.08 OFF (0) or On (1) OFF (0) RW Bit US
clamp enable
1.09 Reference offset select OFF (0) or On (1) OFF (0) RW Bit US
1.10 Bipolar reference enable {0.22} OFF (0) or On (1) OFF (0) RW Bit US
1.11 Reference enabled indicator OFF (0) or On (1) RO Bit NC PT
1.12 Reverse selected indicator OFF (0) or On (1) RO Bit NC PT
1.13 Jog selected indicator OFF (0) or On (1) RO Bit NC PT
A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), Pad (4),
1.14 Reference selector {0.05} A1.A2 (0) RW Txt US
Prc (5)
1.15 Preset reference selector 0 to 9 0 RW Uni US
Preset reference selector
1.16 0 to 400.0s 10.0 RW Uni US
timer
Keypad control mode
1.17 ±SPEED_FREQ_MAX Hz/rpm 0.0 RO Bi NC PT PS
reference
1.18 Precision reference coarse ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.19 Precision reference fine 0.000 to 0.099 Hz 0.000 to 0.099 rpm 0.000 RW Uni US
Precision reference update
1.20 OFF (0) or On (1) OFF (0) RW Bit NC
disable
1.21 Preset reference 1 {0.24} ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.22 Preset reference 2 {0.25} ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.23 Preset reference 3 {0.26} ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.24 Preset reference 4 {0.27} ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.25 Preset reference 5 ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.26 Preset reference 6 ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.27 Preset reference 7 ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.28 Preset reference 8 ±SPEED_FREQ_MAX Hz/rpm 0.0 RW Bi US
1.29 Skip reference 1 0.0 to 3,000.0 Hz 0 to 40,000 rpm 0.0 0 RW Uni US
1.30 Skip reference band 1 0.0 to 25.0 Hz 0 to 250 rpm 0.5 5 RW Uni US
1.31 Skip reference 2 0.0 to 3,000.0 Hz 0 to 40,000 rpm 0.0 0 RW Uni US
1.32 Skip reference band 2 0.0 to 25.0 Hz 0 to 250 rpm 0.5 5 RW Uni US
1.33 Skip reference 3 0.0 to 3,000.0 Hz 0 to 40,000 rpm 0.0 0 RW Uni US
1.34 Skip reference band 3 0.0 to 25.0Hz 0 to 250 rpm 0.5 5 RW Uni US
1.35 Reference in rejection zone OFF (0) or On (1) RO Bit NC PT
1.36 Analog reference 1 ±SPEED_FREQ_MAX Hz/rpm RO Bi NC
1.37 Analog reference 2 ±SPEED_FREQ_MAX Hz/rpm RO Bi NC
1.38 Percentage trim ±100.00% 0.00 RW Bi NC
1.39 Velocity feed-forward ±3,000.0 Hz ±40,000.0 rpm RO Bi NC PT
1.40 Velocity feed-forward select OFF (0) or On (1) RO Bit NC PT
1.41 Analog reference 2 select OFF (0) or On (1) OFF (0) RW Bit NC
1.42 Preset reference select OFF (0) or On (1) OFF (0) RW Bit NC
1.43 Keypad reference select OFF (0) or On (1) OFF (0) RW Bit NC
1.44 Precision reference select OFF (0) or On (1) OFF (0) RW Bit NC
1.45 Preset reference 1 select OFF (0) or On (1) OFF (0) RW Bit NC
1.46 Preset reference 2 select OFF (0) or On (1) OFF (0) RW Bit NC
1.47 Preset reference 3 select OFF (0) or On (1) OFF (0) RW Bit NC
1.48 Reference timer reset flag OFF (0) or On (1) OFF (0) RW Bit NC
1.49 Reference selected indicator 1 to 5 RO Uni NC PT
Preset reference selected
1.50 1 to 8 RO Uni NC PT
indicator
Power-up keyboard control
1.51 rESEt (0), LASt (1), PrS1 (2) rESEt (0) RW Txt US
mode reference

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

114 Unidrive SP User Guide

Unidrive SP User Guide 115

11.2 Menu 2: Ramps

Figure 11-2 Menu 2 logic diagram

Acceleration rate select bits

Key

2.34 2.33 2.32

2.32 Input Read-write (RW)
terminals 0.XX
parameter

0 0 0 Output 0.XX Read-only (RO)

terminals parameter
0 0 1
0 1 0
The parameters are all shown at their default settings
0 1 1
1 0 0
1 0 1
Acceleration
1 1 0 rate selector
1 1 1
2.10

Acceleration rates 1 ~ 8

2.11 Acceleration rate 1

2.12 Acceleration rate 2

2.13 Acceleration rate 3

2.14 Acceleration rate 4

2.15 Acceleration rate 5

2.16 Acceleration rate 6

2.17 Acceleration rate 7

2.18 Acceleration rate 8

Preset reference 1.50

selected indicator

Jog acceleration
1 2.19
rate
2

3
4 Jog selected
1.13
indicator
5
6
7 Reverse Forward
8 accel. rate accel. rate
N N

t t

Acceleration

Ramp control

2.03 Ramp hold

Pre-ramp speed Ramp mode

reference 1.03 2.04
select*

*For more information, refer to section 11.21.2 Braking Modes on page 179.
**For more information, refer to section 11.21.3 S ramps on page 179.

116 Unidrive SP User Guide

Deceleration rate select bits

2.37 2.36 2.35

Deceleration
rate selector

2.20

Preset reference
1.50
selected indicator

2.29 Jog deceleration

rate

1.13 Jog selected

indicator

Forward Reverse
Decel. rate Decel. rate
N N
Current control
t t Menu 4
(Open-loop only) Ramp enable
2.02 (Closed- loop only)
Deceleration
_ Ramps always enabled Post-ramp
Ramp control in Open-loop reference
+
2.06 S-Ramp enable**
2.01
S-Ramp acceleration
2.07
limit

2.08 Standard ramp voltage*

d/dt 2.38

Inertia compensation
torque
(Closed-loop only)

Unidrive SP User Guide 117

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
2.01 Post ramp reference ±SPEED_FREQ_MAX Hz/rpm RO Bi PT
2.02 Ramp enable {0.16} OFF (0) or On (1) On (1) RW Bit US
2.03 Ramp hold OFF (0) or On (1) OFF (0) RW Bit US
FASt (0)
FASt (0)
2.04 Ramp mode select {0.15} Std (1) Std (1) RW Txt US
Std (1)
Std.hV (2)
2.06 S ramp enable OFF (0) or On (1) OFF (0) RW Bit US
0.0 to 300.0 0.000 to 100.000
2.07 S ramp acceleration limit 3.1 1.500 0.030 RW Uni US
s2/100Hz s2/1000rpm
200V drive: 375
400V drive: EUR> 750
2.08 Standard ramp voltage 0 to DC_VOLTAGE_SET_MAX V USA> 775 RW Uni RA US
575V drive: 895
690V drive: 1075
2.10 Acceleration rate selector 0 to 9 0 RW Uni US
0.0 to 3,200.0 0.000 to 3,200.000
2.11 Acceleration rate 1 {0.03} 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.12 Acceleration rate 2 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.13 Acceleration rate 3 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.14 Acceleration rate 4 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.15 Acceleration rate 5 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.16 Acceleration rate 6 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.17 Acceleration rate 7 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.18 Acceleration rate 8 5.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.19 Jog acceleration rate 0.2 0.000 RW Uni US
s/100Hz s/1,000rpm
2.20 Deceleration rate selector 0 to 9 0 RW Uni US
0.0 to 3,200.0 0.000 to 3,200.000
2.21 Deceleration rate 1 {0.04} 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.22 Deceleration rate 2 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.23 Deceleration rate 3 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.24 Deceleration rate 4 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.25 Deceleration rate 5 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.26 Deceleration rate 6 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.27 Deceleration rate 7 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.28 Deceleration rate 8 10.0 2.000 0.200 RW Uni US
s/100Hz s/1,000rpm
0.0 to 3,200.0 0.000 to 3,200.000
2.29 Jog deceleration rate 0.2 0.000 RW Uni US
s/100Hz s/1,000rpm
2.32 Acceleration select bit 0 OFF (0) or On (1) OFF (0) RW Bit NC
2.33 Acceleration select bit 1 OFF (0) or On (1) OFF (0) RW Bit NC
2.34 Acceleration select bit 2 OFF (0) or On (1) OFF (0) RW Bit NC
2.35 Deceleration select bit 0 OFF (0) or On (1) OFF (0) RW Bit NC
2.36 Deceleration select bit 1 OFF (0) or On (1) OFF (0) RW Bit NC
2.37 Deceleration select bit 2 OFF (0) or On (1) OFF (0) RW Bit NC
2.38 Inertia compensation torque ± 1,000.0 % RO Bi NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

118 Unidrive SP User Guide

11.3 Menu 3: Frequency slaving, speed feedback and speed control

Figure 11-3 Menu 3 Open-loop logic diagram
Drive encoder
reference
destination Any
unprotected
3.46 variable
Drive encoder Drive encoder parameter
speed reference Drive encoder
reference scaling ??.??
Maximum drive
3.27 3.43 encoder 3.45 3.44
15 way sub-D reference
connector ??.??

Frequency
slaving enable
3.13
Drive encoder
A 1 3.34 lines per
Final speed
A 2 revolution Slaving ratio
3.14 demand
Encoder Drive encoder 1 numerator
B 3 3.38
type 2048
B 4 Slaving ratio 3.01
3.15
Termination denominator
3.39
resistors

Slip
compensation
Menu 5 Motor
Post ramp frequency
reference
+
5.01
+
Menu 2 2.01

15 way sub-D
Select x2048 connector
output
3.17

Enable
3.16 frequency 7 F (A)
slaving 8 F (A)
output 9 D (B)
x 2048 10 D (B)
Select
3.18 F and D
output

Zero speed At zero speed Bipolar reference

threshold indicator select
3.05 + 1.10
10.03
_

Minimum
speed
1.07 +0.5Hz + 10.04
_
At or below min.
speed indicator

+
Overspeed trip
1.06 +20% _ (O.SPd)
Max.
frequency

At speed
lower limit Below at-speed
window indicator
3.06 + Key
Pre ramp
10.05
reference _ At speed
_ indicator Input
0.XX Read-write (RW)
1.03 terminals parameter
+
NOR 10.06
Output 0.XX Read-only (RO)
terminals parameter
3.09
+
10.07
Absolute at-speed 3.07
_
Above at-speed The parameters are all shown at their default settings
detect mode window indicator
At speed
upper limit

Unidrive SP User Guide 119

Figure 11-4 Menu 3 Closed loop logic diagram

Hard speed
reference 3.22

Hard speed
reference
selector
3.23

Reference
enabled
indicator
1.11
Post-ramp Final speed
reference + reference

2.01
+ 3.01

15 way sub-D
connector Drive encoder
ENCODER INTERFACE speed feedback

Drive encoder
3.38 type 3.27
Speed feedback
Drive encoder lines selector
A 3.34 per revolution
1 3.26
A Drive encoder
2 3.39 termination disable
B Feedback from the option
3 Drive encoder
B modules set-up in Menus 15,
4 3.36 supply voltage 16 and 17
Z Encoder phase
5
Z 3.25 angle*
6 Speed feedback
Encoder U from option module 15.03 Speed feedback
7
U DRIVE ENCODER POSITION in slot 1
8
V 9 Position feedback 3.02
3.50 link
V 10 Speed feedback
W from option module 16.03
11 Drive encoder
W 3.28 in slot 2
12 revolution counter

Speed feedback
Drive encoder from option module 17.03
3.29 position in slot 3

Drive encoder
3.30 fine position

Maximum drive Drive encoder

3.43 encoder reference
destination 3.46
reference (rpm)

Any unprotected
variable parameter
Drive encoder
reference scaling ??.??
Drive
encoder 3.45 3.44
reference
??.??

120 Unidrive SP User Guide

Speed loop gains Speed

Speed controller
error (Kp1) 3.10 output

+ 3.03
+ (Ki1) 3.11 3.04 Menu 4
_ _
(Kp2) 3.13

(Ki2) 3.14

Speed controller
differential
feedback gains

(Kd1) 3.12
Speed controller
3.16
gain select
(Kd2) 3.15

Zero speed At zero speed Bipolar reference

threshold indicator select
3.05 + 1.10
10.03
_
At or below min.
Minimum speed indicator
speed
1.07 +5min-1 + 10.04
_

+
Max reference clamp Overspeed trip
1.06 +20%
_ (O.SPd)

Overspeed threshold
3.08
3.08 >0
Below at-speed
At speed window indicator
Pre ramp lower limit 3.06 +
10.05
reference _ At speed
_ indicator
1.03
+
NOR 10.06

+
3.09 10.07
3.07
_ Above at-speed
Absolute at-speed
detect mode window indicator
At speed
upper limit Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

Unidrive SP User Guide 121

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
OL> Frequency slaving demand ±1,000.0 Hz RO Bi FI NC PT
3.01
CL> Final speed reference ±SPEED_MAX rpm RO Bi FI NC PT
3.02 Speed feedback {0.10} ±SPEED_MAX rpm RO Bi FI NC PT
3.03 Speed error ±SPEED_MAX rpm RO Bi FI NC PT
±Torque_prod_
3.04 Speed controller output RO Bi FI NC PT
current_max %
3.05 Zero speed threshold 0.0 to 20.0 Hz 0 to 200 rpm 1.0 5 RW Uni US
3.06 At speed lower limit 0.0 to 3,000.0 Hz 0 to 40,000 rpm 1.0 5 RW Uni US
3.07 At speed upper limit 0.0 to 3,000.0 Hz 0 to 40,000 rpm 1.0 5 RW Uni US
3.08 Overspeed threshold {0.26} 0 to 40,000 rpm 0 RW Uni US
3.09 Absolute ‘at speed’ detect OFF (0) or On (1) OFF (0) RW Bit US
0.0000 to 6.5535
3.10 Speed controller proportional gain (Kp1) {0.07} 0.0100 RW Uni US
1/rad s-1
3.11 Speed controller integral gain (Ki1) {0.08} 0.00 to 655.35 s/rad s-1 1.00 RW Uni US
Speed controller differential feedback gain 0.00000 to 0.65535
3.12 {0.09} 0.00000 RW Uni US
(Kd1) s-1/rad s-1
OL> Enable frequency slaving OFF (0) or On (1) OFF (0) RW Bit US
3.13 CL> Speed controller proportional gain 0.0000 to 6.5535
0.0100 RW Uni US
(Kp2) 1/rad s-1
OL> Slaving ratio numerator 0.000 to 1.000 1.000 RW Uni US
3.14
CL> Speed controller integral gain (Ki2) 0.00 to 655.35 1/rad 1.00 RW Uni US
OL> Slaving ratio denominator 0.001 to 1.000 1.000 RW Uni US
3.15 CL> Speed controller differential feedback
0.00000 to 0.65535 s 0.00000 RW Uni US
gain (Kd2)
OL> Enable frequency slaving output OFF (0) or On (1) OFF (0) RW Bit US
3.16
CL> Speed controller gain select OFF (0) or On (1) OFF (0) RW Bit US
OL> Select x2048 output OFF (0) or On (1) On (1) RW Bit US
3.17
CL> Speed controller set-up method 0 to 3 0 RW Uni US
OL> Select F and D frequency slaving
OFF (0) or On (1) OFF (0) RW Bit US
output
3.18
0.00010 to 90.00000
CL> Motor and load inertia 0.0000 RW Uni US
kg m2
3.19 Compliance angle 0.0 to 359.9 ° 4.0 RW Uni US
3.20 Bandwidth 0 to 255 Hz 10 RW Uni US
3.21 Damping factor 0.0 to 10.0 1.0 RW Uni US
±SPEED_FREQ_
3.22 Hard speed reference 0.0 RW Bi US
MAX rpm
3.23 Hard speed reference selector OFF (0) or On (1) OFF (0) RW Bit US
3.24 Closed-loop vector mode 0 to 3 0 RW Uni US
3.25 Encoder phase angle {0.43} SV> 0.0 to 359.9 ° 0.0 RW Uni US
drv (0), SLot1 (1),
3.26 Speed feedback selector drv (0) RW Txt US
SLot2 (2), SLot3 (3)
3.27 Drive encoder speed feedback ±40,000.0 rpm RO Bi FI NC PT
3.28 Drive encoder revolution counter 0 to 65,535 revolutions RO Uni FI NC PT
3.29 Drive encoder position {0.11} 0 to 65,535 1/216ths of a revolution RO Uni FI NC PT
3.30 Drive encoder fine position 0 to 65,535 1/232nds of a revolution RO Uni FI NC PT
Drive encoder marker position reset
3.31 OFF (0) or On (1) OFF (0) RW Bit US
disable
3.32 Drive encoder marker flag OFF (0) or On (1) OFF (0) RW Bit NC
3.33 Drive encoder turn bits 0 to 16 bits 16 RW Uni US
3.34 Drive encoder lines per revolution {0.27} 0 to 50,000 1024 4096 RW Uni US
Drive encoder single turn comms
3.35 0 to 32 bits 0 RW Uni US
resolution
3.36 Drive encoder supply voltage 5V (0), 8V (1), 15V (2) 5V (0) RW Txt US
100 (0), 200 (1), 300 (2), 400 (3), 500 (4),
3.37 Drive encoder comms baud rate 300 (2) RW Txt US
1000 (5), 1500 (6), 2000 (7) kbaud
Ab (0), Fd (1), Fr (2), Ab.SErvo (3),
Fd.SErvo (4), Fr.SErvo (5), SC (6), Ab.SErvo
3.38 Drive encoder type Ab (0) RW Txt US
SC.Hiper (7), EndAt (8), SC.EndAt (9), (3)
SSi (10), SC.SSI (11)
3.39 Drive encoder termination selection 0 to 2 1 RW Uni US
Bit 0 (LSB) = Wire break detect
Bit 1 = Phase error detect
3.40 Drive encoder error detection level 0 1 RW Uni US
Bit 2 (MSB) = SSI power supply bit monitor
Value is binary sum
Drive encoder auto-configuration / SSI
3.41 OFF (0) or On (1) OFF (0) RW Bit US
binary format select

122 Unidrive SP User Guide

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
3.42 Drive encoder filter 0 (0), 1 (1), 2 (2), 4 (3), 8 (4), 16 (5) ms 0 RW Txt US
3.43 Maximum drive encoder reference 0 to 40,000 rpm 1500 3000 RW Uni US
3.44 Drive encoder reference scaling 0.000 to 4.000 1.000 RW Uni US
3.45 Drive encoder reference ±100.0% RO Bi FI PT
3.46 Drive encoder reference destination Pr 0.00 to 21.50 Pr 0.00 RW Uni DE PT US
3.47 Re-initialise position feedback OFF (0) or On (1) OFF (0) RW Bit NC
3.48 Position feedback initialised OFF (0) or On (1) RO Bit NC PT
Full motor object electronic nameplate
3.49 OFF (0) or On (1) OFF (0) RW Bit US
transfer
3.50 Position feedback lock OFF (0) or On (1) OFF (0) RW Bit

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

*Encoder phase angle (servo mode only)

Unidrive SP User Guide 123

11.4 Menu 4: Torque and current control

Figure 11-5 Menu 4 Open loop logic diagram

Menu 2 ramp Torque mode

Pre ramp controller selector*
reference
4.11 Post ramp Motor
+
1.03
2.01 reference frequency

+ 2.01 Motor map 5.01

10.09
Current
limit
active Current loop
4.13 P gain

4.14 I gain
Active
current Current
magnitude
_
4.02
4.01
4.20
+
4.02 - Active
Motor Motor current
frequency rated (Amp)
frequency
4.20 - Percentage 4.17 Magnetising
5.01 5.06
torque current
Percentage
Torque current current
demand demand
Torque + Torque to +
4.08 4.03 current 4.04
reference*
conversion _
+
Torque
reference
4.10
offset
enable
4.09
Torque reference
offset

Current limits Over-riding

Drive rated current limit Motor thermal Motor protection Low speed
4.05 Motoring
continuous 11.32 time constant mode protection mode
current 4.18
Regenerating 4.15 4.16 4.25
Motor rated
5.07
current Symmetrical

Overload detection

10.08 10.09 10.39 4.19 10.17

At 100% Current limit Braking energy Motor Motor current

load active overload overload overload alarm
indicator indicator indicator accumulator indicator

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

For more information, refer to section 11.21.4 Torque modes on page 180.

124 Unidrive SP User Guide

Figure 11-6 Menu 4 Closed-loop vector logic diagram

Speed Motor
Current Current
feedback Motor rated
demand demand
3.02 rated power Speed
filter 1 filter 2
current factor controller
5.07 5.10 gain 4.12 4.23
Torque mode select
Speed loop 4.11
_ output selector* 3.16
Final +
speed 3.01 3.04 Torque Current controller
demand demand
Current loop
+ 4.13 P gain
4.03 4.04
Current loop
_ 4.14 I gain
+ Current Filter
demand

Speed +
over-ride
level

Coiler/uncoiler
speed
Zero over-ride Active
speed 3.05 level current Current
threshold (Amp) magnitude

Torque +
reference 4.08
4.02 4.01
+
Torque
reference
4.10
offset
enable
4.09 Magnetising
4.17
Torque reference current
offset User current max scaling 4.24

Current limits Over-riding Motor thermal Motor protection Low speed

Drive rated current limit time constant mode protection mode
4.05 Motoring
continuous 11.32
current 4.18 4.15 4.16 4.25
Regenerating
Motor rated
5.07
current Symmetrical

Overload detection

Key

Input Read-write (RW) 10.08 10.09 10.39 4.19 10.17

terminals 0.XX
parameter
At 100% Current limit Braking energy Motor Motor current
Output 0.XX Read-only (RO) load active overload overload overload alarm
terminals parameter indicator indicator indicator accumulator indicator

The parameters are all shown at their default settings

*For more information, refer to section 11.21.4 Torque modes on page 180.

Unidrive SP User Guide 125

Figure 11-7 Menu 4 Servo logic diagram

Current Current
demand demand
filter 1 filter 2
Speed
feedback 4.12 4.23
3.02
Speed controller
Torque mode gain select
Speed loop 4.11 3.16
_ output selector
Final + Torque Current
speed 3.01 3.04 Current controller
demand demand
demand Current loop
+ 4.13 P gain
4.03 4.04
Current loop
_ 4.14 I gain
+ Filter

Speed +
over-ride
level

Coiler/uncoiler
speed
Zero over-ride
speed 3.05 level
threshold User current
Percentage max scaling Motor active
torque current
Torque + current 4.20 4.24 4.02
reference* 4.08

+
Torque
reference
4.10
offset
enable
4.09
Torque reference
offset

Current limits Over-riding Motor thermal Motor protection Low speed

Drive rated current limit time constant mode protection mode
4.05 Motoring
continuous 11.32
current 4.18 4.15 4.16 4.25
Regenerating
Motor rated
5.07
current Symmetrical

Overload detection

Key

Input Read-write (RW) 10.08 10.09 10.39 4.19 10.17

The parameters are all shown at their default settings

*For more information, refer to section 11.21.4 Torque modes on page 180.

126 Unidrive SP User Guide

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
4.01 Current magnitude {0.12} 0 to DRIVE_CURRENT_MAX A RO Uni FI NC PT
4.02 Active current {0.13} ±DRIVE_CURRENT_MAX A RO Bi FI NC PT
4.03 Torque demand ±TORQUE_PROD_CURRENT_MAX % RO Bi FI NC PT
4.04 Current demand ±TORQUE_PROD_CURRENT_MAX % RO Bi FI NC PT
4.05 Motoring current limit 0 to MOTOR1_CURRENT_LIMIT_MAX % 165.0 175.0 RW Uni RA US
4.06 Regen current limit 0 to MOTOR1_CURRENT_LIMIT_MAX % 165.0 175.0 RW Uni RA US
4.07 Symmetrical current limit {0.06} 0 to MOTOR1_CURRENT_LIMIT_MAX % 165.0 175.0 RW Uni RA US
4.08 Torque reference ±USER_CURRENT_MAX % 0.00 RW Bi US
4.09 Torque offset ±USER_CURRENT_MAX % 0.0 RW Bi US
4.10 Torque offset select OFF (0) or On (1) OFF (0) RW Bit US
4.11 Torque mode selector {0.14} 0 to 1 0 to 4 0 RW Uni US
4.12 Current demand filter 1 {0.17} 0.0 to 25.0 ms 0.0 RW Uni US
200V drive: 75
400V drive: 150
4.13 Current controller Kp gain {0.38} 0 to 30,000 20 RW Uni US
575V drive: 180
690V drive: 215
200V drive: 1000
400V drive: 2000
4.14 Current controller Ki gain {0.39} 0 to 30,000 40 RW Uni US
575V drive: 2400
690V drive: 3000
4.15 Thermal time constant {0.45} 0.0 to 400.0 89.0 89.0 20.0 RW Uni US
4.16 Thermal protection mode 0 to 1 0 RW Bit US
4.17 Reactive current ±DRIVE_CURRENT_MAX A RO Bi FI NC PT
4.18 Overriding current limit ±TORQUE_PROD_CURRENT_MAX % RO Uni NC
4.19 Overload accumulator 0 to 100.0 % RO Uni NC PT
4.20 Percentage load ±USER_CURRENT_MAX % RO Bi FI NC PT
4.22 Inertia compensation enable OFF (0) or On (1) OFF (0) RW Bit US
4.23 Current demand filter 2 0.0 to 25.0 ms 0.0 RW Uni US
User current maximum
4.24 0.0 to TORQUE_PROD_CURRENT_MAX % 165.0 175.0 RW Uni US
scaling
Low speed thermal protection
4.25 OFF (0) or On (1) OFF (0) RW Bit US
mode
±USER_CURRENT_
4.26 Percentage torque RO Bi FI NC PT
MAX %

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

Unidrive SP User Guide 127

11.5 Menu 5: Motor control

Figure 11-8 Menu 5 Open-loop logic diagram

L1 L2 L3
Voltage
5.14 mode
Autotune
5.12 DC Bus
voltage
Dynamic V/f
5.13 select
Frequency 5.05
slaving Motormap 5.15 Voltage boost
Slave frequency enable
Motor rated
demand 5.06 Stator
3.13 frequency 5.17
resistance
Motor rated Motor
3.01 5.07 current 5.23 Voltage offset voltage
Motor rated Transient
5.08 full load RPM 5.24
inductance 5.02 Volt
Motor rated
5.09 voltage
Post ramp Motor rated
reference 5.10 power factor
+ Motor number 5.01 Hertz
2.01 5.11 of poles Motor
frequency
PWM
+ 5.18 switching
Slip frequency
compensation 5.04 High stability
enable Estimated 5.19 space vector
Total motor motor speed modulation
5.27 5.03 √3xVxI
power (kW)
Quasi square
5.20
wave enable
Disable auto
switching
5.35 frequency
Slip change
compensation Voltage
5.31 controller
Motor gain
Motor active current
current magnitude
4.02
4.01
4.20
Percentage
active current

Key 4.17
Motor magnetising
current
Input Read-write (RW)
terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

128 Unidrive SP User Guide

Unidrive SP User Guide 129

Figure 11-9 Menu 5 Closed-loop logic diagram

5.01

Flux Calculator
Motor rated
5.07 current
Motor number
5.11 of poles
5.17 Motor stator
resistance
5.24 Motor transient
inductance
Closed-Loop Vector
Position Motor rated
5.06 frequency Reference
feedback Flux angle
Speed
3.02 Motor full load frame
feedback 5.08 rated speed transformation
Motor rated
5.09 voltage
Motor rated
5.10 power factor
5.25 Motor stator
inductance
Motor saturation
5.29 break-point 1
Motor saturation
5.30 break-point 2
Servo
Encoder phase
3.25 angle

Current Flux
references magnitude

Current control
Menu 4
Speed-loop
controller 3.04 Current limits
output Overload detection
Current loop gains
Current demand filter
Torque reference

Current
feedback
5.12 Auto-tune

5.15 Low frequency voltage boost

5.26 High dynamic performance enable

5.31 Voltage controller gain

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

130 Unidrive SP User Guide

DC bus
voltage

5.05

Voltage reference

Modulator U
Maximum switching
5.18 frequency V
Disable auto W
5.35 switching
frequencychange

Flux Controller
Motor rated
5.09 voltage
Field gain
5.21 reduction
Output
Closed-Loop Vector 5.02
voltage
Dynamic V/f / Output
5.13 flux optimisation power
enable
Motor full load
5.16 rated speed Power calculation (V x 1) 5.03
optimiser enable

Servo
High speed
5.22 servo mode Motor
enable Motor active current
current magnitude

4.02 4.01

4.17
Motor magnetising
current

Unidrive SP User Guide 131

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
±SPEED_FREQ_
5.01 Output frequency {0.11} ±1,250.0 Hz RO Bi FI NC PT
MAX Hz
5.02 Output voltage 0 to AC_voltage_max V RO Uni FI NC PT
5.03 Output power ±Power_max kW RO Bi FI NC PT
5.04 Motor rpm {0.10} ±180,000 rpm RO Bi FI NC PT
5.05 D.C bus voltage 0 to +DC_voltage_max V RO Uni FI NC PT
5.06 Rated frequency {0.47} 0 to 3,000 Hz VT> 0 to 1,250.0 Hz EUR> 50.0, USA> 60.0 RW Uni US
5.07 Motor rated current {0.46} 0 to Rated_current_max A Drive rated current [11.32] RW Uni RA US
EUR> 1,500 EUR> 1,450.00
5.08 Rated load rpm / rated speed {0.45} 0 to 180,000 rpm 0.00 to 40,000.00 rpm 3,000.00 RW Uni US
USA> 1,800 USA> 1,770.00
200V drive: 230
400V drive: EUR> 400
5.09 Rated voltage {0.44} 0 to AC_VOLTAGE_SET_MAX V USA> 460 RW Uni RA US
575V drive: 575
690V drive: 690
5.10 Rated power factor {0.43} OL & VT> 0.000 to 1.000 0.850 RW Uni US
5.11 Number of motor poles {0.42} Auto to 120 Pole (0 to 60) Auto (0) 6 POLE (3) RW Txt US
VT> 0 to 4
5.12 Autotune {0.40} 0 to 2 0 RW Uni
SV> 0 to 6
Dynamic V/F / flux optimise
5.13 {0.09} OFF (0) or On (1) VT> OFF (0) or On (1) OFF (0) RW Bit US
select
Ur_S (0), Ur (1),
5.14 Voltage mode select {0.07} Fd (2), Ur_Auto (3), Ur_I (4) RW Txt US
Ur_I (4), SrE (5)
5.15 Low frequency voltage boost {0.08} 0.0 to 25.0 % of motor rated voltage 3.0 1.0 RW Uni US
5.16 Rated rpm autotune {0.33} VT> 0 to 2 0 RW Uni US
5.17 Stator resistance 0.0 to 30.000 Ω 0.0 RW Uni RA US
Maximum switching
5.18 {0.41} 3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5) kHz 3 (0) 6 (2) RW Txt RA US
frequency
High stability space vector
5.19 OFF (0) or On (1) OFF (0) RW Bit US
modulation
5.20 Quasi-square enable OFF (0) or On (1) OFF (0) RW Bit US
5.21 Field gain reduction OFF (0) or On (1) OFF (0) RW Bit US
High speed servo mode
5.22 SV> OFF (0) or On (1) 0 RW Bit US
enable
5.23 Voltage offset 0.0 to 25.0 V 0.0 RW Uni RA US
5.24 Transient inductance (σLs) 0.000 to 500.000 mH 0.000 RW Uni RA US

Stator inductance (Ls) VT> 0.00 to 5,000.00

5.25 0.00 RW Uni RA US
mH
High dynamic performance
5.26 OFF (0) or On (1) OFF (0) RW Bit US
enable
5.27 Enable slip compensation OFF (0) or On (1) On (1) RW Bit US
Field weakening
5.28 VT> OFF (0) or On (1) OFF (0) RW Bit US
compensation disable
VT> 0 to 100% of rated
5.29 Motor saturation breakpoint 1 50 RW Uni US
flux
VT> 0 to 100% of rated
5.30 Motor saturation breakpoint 2 75 RW Uni US
flux
5.31 Voltage controller gain 0 to 30 1 RW Uni US
VT> 0.00 to 500.00
RO Uni US
N m A-1
5.32 Motor torque per amp, Kt
SV> 0.00 to 500.00
1.60 RW Uni US
N m A-1
5.33 Motor volts per 1,000 rpm, Ke SV> 0 to 10,000 V 98 RW Uni US
Disable auto switching
5.35 OFF (0) or On (1) OFF (0) RW Bit US
frequency change

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

132 Unidrive SP User Guide

11.6 Menu 6: Sequencer and clock

Figure 11-10 Menu 6 logic diagram
Control word
6.43
enable

Stop / Start Control word

select*** 6.42 Sequencer
6.04
Drive enable
Stop mode
6.15 6.01
selector*
Run forward Mains loss
6.03
T25 digital I/O 2 6.30 mode**

Jog forward Hold zero

6.08
speed enable*
6.31
Catch a
6.09
Run reverse spinning motor****
T26 digital I/O 3 6.32 Enable sequencer
6.40
latching***
Forward / Reverse
Menu 8 6.33
1.11 Reference
Run enabled indicator
T27 digital input 4
6.34
Jog reverse
6.37
Not stop 1.12 Reverse selected
indicator
6.39

Hardware
enable 6.29
1.13 Jog selected
indicator
Limit switch 1 6.35

Limit switch 2 6.36

Logic RUN
1
Inverter enable
STOP/ RESET
RESET

FWD/REV Closed loop only

Menu 2
Logic 1 Ramp enable
Open loop only Menu 3
0 1 Hard speed
1.49 Pr 1.49 = 4 Injection reference enable
6.06
braking level*
Reference 6.07 Injection
selected braking time*
indicator 6.12
Keypad STOP
key enable
6.13
Clock control
Keypad FWD/REV
key enable Electricity cost
6.16 6.24 Power meter
per kWh
6.25
Power-up 6.20
time 6.21 Power consumption
6.17
meter reset

6.18 Time interval between

filter changes 6.26 Running cost
Run-time 6.22
6.23
6.19 Filter change
required/done
6.27 Time before filter
Total motor 6.28 Select clock for trip change due
5.03 log time stamp
power

DC link voltage 5.05

Drive power supply monitor 6.44 Active supply

48V auxiliary supply

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter
The parameters are all shown at their default settings

Unidrive SP User Guide 133

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
COASt (0), rP (1),
COASt (0), rP (1),
6.01 Stop mode rP.dcl (2), dcl (3),
no.rP (2)
rP (1) no.rP (2) RW Txt US
td.dcl (4)
6.03 Mains loss mode diS (0), StoP (1), ridE.th (2) diS (0) RW Txt US
6.04 Start / stop logic select 0 to 4 4 RW Uni US
6.06 Injection braking level 0 to 150.0% 100.0% RW Uni RA US
6.07 Injection braking time 0.0 to 25.0s 1.0 RW Uni US
6.08 Hold zero speed OFF (0) or On (1) OFF (0) On (1) RW Bit US
6.09 Catch a spinning motor {0.33} 0 to 3 0 to 1 0 1 RW Uni US
6.12 Enable stop key OFF (0) or On (1) OFF (0) RW Bit US
6.13 Enable forward / reverse key {0.28} OFF (0) or On (1) OFF (0) RW Bit US
6.15 Drive enable OFF (0) or On (1) On (1) RW Bit US
6.16 Electricity cost per kWh 0.0 to 600.0 currency units per kWh 0 RW Uni US
6.17 Reset energy meter OFF (0) or On (1) OFF (0) RW Bit NC
6.18 Time between filter changes 0 to 30,000 hrs 0 RW Uni NC US
Filter change required /
6.19 OFF (0) or On (1) OFF (0) RW Bit PT
change done
6.20 Powered-up time: years.days 0 to 9.364 years.days RW Uni NC PT
Powered-up time:
6.21 0 to 23.59 hours.minutes RW Uni NC PT
hours.minutes
6.22 Run time: years.days 0 to 9.364 years.days RO Uni NC PT PS
6.23 Run time: hours.minutes 0 to 23.59 hours.minutes RO Uni NC PT PS
6.24 Energy meter: MWh ±999.9 MWh RO Bi NC PT PS
6.25 Energy meter: kWh ±99.99 kWh RO Bi NC PT PS
6.26 Running cost ±32,000 RO Bi NC PT
6.27 Time before filter change due 0 to 30,000 hrs RO Uni NC PT PS
Select clock for trip log time
6.28 OFF (0) or On (1) OFF (0) RW Bit US
sampling
6.29 Hardware enable OFF (0) or On (1) RO Bit NC PT
6.30 Sequencing bit: Run forward OFF (0) or On (1) OFF (0) RW Bit NC
6.31 Sequencing bit: Jog forward OFF (0) or On (1) OFF (0) RW Bit NC
6.32 Sequencing bit: Run reverse OFF (0) or On (1) OFF (0) RW Bit NC
Sequencing bit: Forward /
6.33 OFF (0) or On (1) OFF (0) RW Bit NC
reverse
6.34 Sequencing bit: Run OFF (0) or On (1) OFF (0) RW Bit NC
6.35 Forward limit switch OFF (0) or On (1) OFF (0) RW Bit NC
6.36 Reverse limit switch OFF (0) or On (1) OFF (0) RW Bit NC
6.37 Sequencing bit: Jog reverse OFF (0) or On (1) OFF (0) RW Bit NC
6.39 Sequencing bit: Not stop OFF (0) or On (1) OFF (0) RW Bit NC
6.40 Enable sequencer latching OFF (0) or On (1) OFF (0) RW Bit US
6.41 Drive event flags 0 to 65,535 0 RW Uni NC
6.42 Control word 0 to 32,767 0 RW Uni NC
6.43 Control word enable OFF (0) or On (1) OFF (0) RW Bit US
6.44 Active supply OFF (0) or On (1) RO Bit NC PT
Force cooling fan to run at full
6.45 OFF (0) or On (1) OFF (0) RW Bit US
speed
6.46 Normal low voltage supply Size 1: 48V, Size 2 and 3: 48V to 72V 48 RW Uni PT US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

*For more information, refer to section 11.21.5 Stop modes on page 181.
**For more information, refer to section 11.21.6 Mains loss modes on
page 182.
***For more information, refer to section 11.21.7 Start / stop logic
modes on page 183.
****For more information, refer to section 11.21.8 Catch a spinning
motor on page 184.

134 Unidrive SP User Guide

11.7 Menu 7: Analog I/O

Figure 11-11 Menu 7 logic diagram

Analog
input 1 Analog input Analog input 1
Analog input destination
1 offset trim 1 offset parameter Any
7.01 unprotected
Analog input 1 7.07 7.30 7.10
variable
parameter
+ + Analog
??.?? ref. 1
+ + 7.08
V/f
1.36
Analog
7.26 input 1 x(-1) ??.??
V/f sample scaling
7.09 Analog input 1
time
invert

7.25
Analog input 2
Calibrate current loop loss Analog
analog input 1 input 2 Analog input 2
full scale Analog input destination
7.28 2 offset parameter
7.02 Any
7.14 unprotected
7.31
Analog input 2 variable
parameter
+ Analog
??.?? ref. 2
7.11 + 7.12
A/D
1.37
Analog input 2 Analog
mode selector input 2 x(-1) ??.??
scaling
7.13 Analog input 2
invert
Analog input 3
Analog
current loop loss Analog input 3
input 3
Analog input destination
7.29 3 offset parameter
7.03 Any
7.18 unprotected
7.31
7.32
Analog input 3 variable
parameter
+ ??.??
7.15 + 7.16
A/D
Analog input 3 Analog
mode selector input 3 x(-1) ??.??
Analog output 1 Analog output 1 scaling
control source parameter 7.17
7.33 7.19 Analog input
3 invert
Any variable Analog output 1
Motor parameter
frequency ??.??
OL> 5.01
7.20 7.21
CL> 3.02
??.?? Analog Analog
Speed
output 1 output 1
feedback
scaling mode
selector

Analog output 2
source parameter Key
Any 7.22
variable Input Read-write (RW)
Analog output 2 0.XX
Motor parameter terminals parameter
active ??.??
current Read-only (RO)
Output 0.XX
4.02 7.23 7.24 terminals parameter
??.?? Analog Analog
output 2 output 2
scaling mode The parameters are all shown at their default settings
selector

Unidrive SP User Guide 135

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
7.01 T5/6 analog input 1 level ±100.00 % RO Bi NC PT
7.02 T7 analog input 2 level ±100.0 % RO Bi NC PT
7.03 T8 analog input 3 level ±100.0 % RO Bi NC PT
7.04 Stack temperature 1 -128 to 127 °C RO Bi NC PT
7.05 Stack temperature 2 -128 to 127 °C RO Bi NC PT
7.06 Control board temperature -128 to 127 °C RO Bi NC PT
7.07 T5/6 analog input 1 offset trim {0.13} ±10.000 % 0.000 RW Bi US
7.08 T5/6 analog input 1 scaling 0 to 4.000 1.000 RW Uni US
7.09 T5/6 analog input 1 invert OFF (0) or On (1) OFF (0) RW Bit US
T5/6 analog input 1
7.10 Pr 0.00 to 21.51 Pr 1.36 RW Uni DE PT US
destination
0-20 (0), 20-0 (1), 4-20.tr (2), 20-4.tr (3),
7.11 T7 analog input 2 mode {0.19} VOLt (6) RW Txt US
4-20 (4), 20-4 (5), VOLt (6)
7.12 T7 analog input 2 scaling 0 to 4.000 1.000 RW Uni US
7.13 T7 analog input 2 invert OFF (0) or On (1) OFF (0) RW Bit US
7.14 T7 analog input 2 destination {0.20} Pr 0.00 to 21.51 Pr 1.37 RW Uni DE PT US
0-20 (0), 20-0 (1), 4-20.tr (2), 20-4.tr (3),
7.15 T8 analog input 3 mode {0.21} 4-20 (4), 20-4 (5), VOLt (6), th.SC (7), VOLt (6) RW Txt US
th (8), th.diSP (9)
7.16 T8 analog input 3 scaling 0 to 4.000 1.000 RW Uni US
7.17 T8 analog input 3 invert OFF (0) or On (1) OFF (0) RW Bit US
7.18 T8 analog input 3 destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
7.19 T9 analog output 1 source Pr 0.00 to 21.51 Pr 5.01 Pr 3.02 RW Uni PT US
7.20 T9 analog output 1 scaling 0.000 to 4.000 1.000 RW Uni US
7.21 T9 analog output 1 mode VOLt (0), 0-20 (1), 4-20 (2), H.SPd (3) VOLt (0) RW Txt US
7.22 T10 analog output 2 source Pr 0.00 to 21.51 Pr 4.02 RW Uni PT US
7.23 T10 analog output 2 scaling 0.000 to 4.000 1.000 RW Uni US
7.24 T10 analog output 2 mode VOLt (0), 0-20 (1), 4-20 (2), H.SPd (3) VOLt (0) RW Txt US
Calibrate T5/6 analog input 1
7.25 OFF (0) or On (1) OFF (0) RW Bit NC
full scale
T5/6 analog input 1 sample
7.26 0 to 8.0 ms 4.0 RW Uni US
time
T7 analog input 2 current loop
7.28 OFF (0) or On (1) RO Bit NC PT
loss
T8 analog input 3 current loop
7.29 OFF (0) or On (1) RO Bit NC PT
loss
7.30 T5/6 analog input 1 offset ±100.00 % 0.00 RW Bi US
7.31 T7 analog input 2 offset ±100.0 % 0.0 RW Bi US
7.32 T8 analog input 3 offset ±100.0 % 0.0 RW Bi US
7.33 T9 analog output 1 control Fr (0), Ld (1), AdV (2) AdV (2) RW Txt US
7.34 IGBT junction temperature ±200 °C RO Bi NC PT
Drive thermal protection
7.35 0 to 100.0 % RO Uni NC PT
accumulator

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

136 Unidrive SP User Guide

Unidrive SP User Guide 137

11.8 Menu 8: Digital I/O

Figure 11-12 Menu 8 logic diagram

T24 digital
I/O 1 state At zero
T24 output ??.?? speed
select
8.01 8.31 10.03

x(-1) ??.??
Any bit
T24 digital I/O 1 T24 digital parameter
8.21
I/O 1 source/
destination
8.29 8.30
8.11 T24 digital
I/O polarity Open collector Any
I/O 1 invert
select output unprotected
bit parameter
??.??

x(-1) ??.??

Any bit
T25 digital parameter
I/O 2 state T25 output
select ??.??

8.02 8.32

x(-1) ??.??

T25 digital I/O 2 T25 digital

Start/stop 6.04 8.22 I/O 2 source/
logic select destination
8.29 8.30
T25 digital Any
I/O polarity Open collector 8.12 unprotected
I/O 2 invert
select output bit
parameter

??.?? Drive reset

10.33
x(-1) ??.??

Any bit
T26 digital parameter
I/O 3 state T26 output
??.??
select
8.03 8.33

x(-1) ??.??

T26 digital I/O 3 T26 digital

Start/stop 6.04 8.23 I/O 3 source/
8.29 logic select destination
8.30
T26 digital Any
I/O polarity Open collector 8.13
I/O 3 invert unprotected
select output bit
parameter
??.?? Run forward
6.30
x(-1) ??.??

*For more information, please refer to 11.21.1Reference modes on page 178.

138 Unidrive SP User Guide

T27 digital Stop/start T27 digital input 4

T27 digital input 4 invert logic select destination
input 4 state
8.04 8.14 6.04 8.24 Any
unprotected
bit
T27 digital input 4 parameter
??.?? Run reverse
8.29
6.32
I.O polarity
x(-1) ??.??
select

8.39 T28 & T29 digital

input auto-selection
Reference disable*
selector*
1.14 T28 digital
T28 digital input 5
T28 digital input 5 invert destination Any
input 5 state unprotected
8.05 8.15 8.25 bit
T28 digital input 5 parameter
Analog input 1 /
??.?? input 2 select
8.29
1.41
I.O polarity
x(-1) ??.??
select

T29 digital
T29 digital input 6
T29 digital input 6 invert destination
input 6 state
8.06 8.16 8.26 Any
unprotected
bit
T29 digital input 6 parameter
??.?? Jog forward
8.29
6.31
I.O polarity x(-1)
select ??.??

T22 24V output source T22 24V output

Any source invert T22 24V
unprotected 8.28 output
8.18 8.08 state
bit
parameter
??.?? T22 24V output

0.00

??.?? x(-1)

Drive enable
Drive enable mode select
indicator 8.09 8.10

Key
Drive enable
External trip
Input Read-write (RW)
x(-1) 10.32 terminals 0.XX
parameter

Drive enable
Output 0.XX Read-only (RO)
Relay terminals parameter
Relay source
source invert
8.27 8.17 This logic diagram applies only when all
Any bit parameters are at their default settings
parameter
Drive Relay
Healthy ??.?? state

10.01
8.07
??.?? x(-1)

Unidrive SP User Guide 139

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
8.01 T24 digital I/O 1 state OFF (0) or On (1) RO Bit NC PT
8.02 T25 digital I/O 2 state OFF (0) or On (1) RO Bit NC PT
8.03 T26 digital I/O 3 state OFF (0) or On (1) RO Bit NC PT
8.04 T27 digital input 4 state OFF (0) or On (1) RO Bit NC PT
8.05 T28 digital input 5 state OFF (0) or On (1) RO Bit NC PT
8.06 T29 digital input 6 state OFF (0) or On (1) RO Bit NC PT
8.07 Relay state OFF (0) or On (1) RO Bit NC PT
8.08 T22 24V output state OFF (0) or On (1) RO Bit NC PT
8.09 Drive enable indicator OFF (0) or On (1) RO Bit NC PT
8.10 Drive enable mode select OFF (0) or On (1) OFF (0) RW Bit US
8.11 T24 digital I/O 1 invert OFF (0) or On (1) OFF (0) RW Bit US
8.12 T25 digital I/O 2 invert OFF (0) or On (1) OFF (0) RW Bit US
8.13 T26 digital I/O 3 invert OFF (0) or On (1) OFF (0) RW Bit US
8.14 T27 digital input 4 invert OFF (0) or On (1) OFF (0) RW Bit US
8.15 T28 digital input 5 invert OFF (0) or On (1) OFF (0) RW Bit US
8.16 T29 digital input 6 invert OFF (0) or On (1) OFF (0) RW Bit US
8.17 Relay source invert OFF (0) or On (1) OFF (0) RW Bit US
8.18 T22 24V output source invert OFF (0) or On (1) On (1) RW Bit US
8.20 Digital I/O read word 0 to 511 RO Uni NC PT
T24 digital I/O 1 source/
8.21 Pr 0.00 to 21.51 Pr 10.03 RW Uni DE PT US
destination
T25 digital I/O 2 source/
8.22 Pr 0.00 to 21.51 Pr 10.33 RW Uni DE PT US
destination
T26 digital I/O 3 source/
8.23 Pr 0.00 to 21.51 Pr 6.30 RW Uni DE PT US
destination
8.24 T27 digital input 4 destination Pr 0.00 to 21.51 Pr 6.32 RW Uni DE PT US
8.25 T28 digital input 5 destination Pr 0.00 to 21.51 Pr 1.41 RW Uni DE PT US
8.26 T29 digital input 6 destination {0.17} Pr 0.00 to 21.51 Pr 6.31 RW Uni DE PT US
8.27 Relay source Pr 0.00 to 21.51 Pr 10.01 RW Uni PT US
8.28 T22 24V output source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
8.29 Positive logic select {0.18} OFF (0) or On (1) On (1) RW Bit PT US
8.30 Open collector output OFF (0) or On (1) OFF (0) RW Bit US
8.31 T24 digital I/O 1 output select OFF (0) or On (1) On (1) RW Bit US
8.32 T25 digital I/O 2 output select OFF (0) or On (1) OFF (0) RW Bit US
8.33 T26 digital I/O 3 output select OFF (0) or On (1) OFF (0) RW Bit US
T28 & T29 digital input auto-
8.39 {0.16} OFF (0) or On (1) OFF (0) RW Bit US
selection disable

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

140 Unidrive SP User Guide

Unidrive SP User Guide 141

11.9 Menu 9: Programmable logic,

motorised pot and binary sum
Figure 11-13 Menu 9 logic diagram

Any bit Function-1

parameter 9.05
input-1 invert Function-1
??.?? output Function-1
indicator destination
Function-1 parameter
output invert 9.01 9.10
??.?? x(-1) Any
9.08 unprotected
bit
parameter
9.04 Function-1 input-1
source parameter ??.??

9.09
Any bit Function-1
parameter 9.07 x(-1) Function-1
input-2 invert ??.??
delay
??.??

??.?? x(-1)

9.06 Function-1 input-2

source parameter

Any bit Function-2

parameter 9.15
input-1 invert Function-2
??.?? output Function-2
indicator destination
Function-2 parameter
output invert 9.02 9.20
??.?? x(-1) Any
9.18 unprotected
bit
parameter
9.14 Function-2 input-1
source parameter ??.??

9.19
Any bit Function-2
parameter 9.17 x(-1) Function-2
input-2 invert ??.??
??.?? delay

??.?? x(-1)

9.16 Function-2 input-2

source parameter

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

142 Unidrive SP User Guide

Motorized
pot. bipolar Motorized pot. Motorized pot.
Motorized output indicator destination
select
pot. rate parameter
9.22
9.23 9.03 9.25
Motorized pot. Any
up unprotected
variable
9.26 parameter
??.??

M 9.24
Motorized pot. ??.??
output scale
9.27
Motorized pot.
down

9.28 9.21 Motorized pot.

mode
Motorized pot.
reset to zero

Binary-sum
logic output Binary-sum
Binary-sum value logic destination
offset parameter
9.34 9.32 9.33
9.29
Any
unprotected
Binary-sum bit
logic ones (LSB) parameter
+ ??.??
+
9.30 Σ
??.??
Binary-sum
logic twos

9.31

Binary-sum
logic fours (MSB)

Unidrive SP User Guide 143

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
9.01 Logic function 1 output OFF (0) or On (1) RO Bit NC PT
9.02 Logic function 2 output OFF (0) or On (1) RO Bit NC PT
9.03 Motorised pot output ±100.00 % RO Bi NC PT PS
9.04 Logic function 1 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 1 source 1
9.05 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.06 Logic function 1 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 1 source 2
9.07 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.08 Logic function 1 output invert OFF (0) or On (1) OFF (0) RW Bit US
9.09 Logic function 1 delay ±25.0 s 0.0 RW Bi US
9.10 Logic function 1 destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.14 Logic function 2 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 2 source 1
9.15 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.16 Logic function 2 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 2 source 2
9.17 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.18 Logic function 2 output invert OFF (0) or On (1) OFF (0) RW Bit US
9.19 Logic function 2 delay ±25.0 s 0.0 RW Bi US
9.20 Logic function 2 destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.21 Motorised pot mode 0 to 3 2 RW Uni US
9.22 Motorised pot bipolar select OFF (0) or On (1) OFF (0) RW Bit US
9.23 Motorised pot rate 0 to 250 s 20 RW Uni US
9.24 Motorised pot scale factor 0.000 to 4.000 1.000 RW Uni US
9.25 Motorised pot destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.26 Motorised pot up OFF (0) or On (1) OFF (0) RW Bit NC
9.27 Motorised pot down OFF (0) or On (1) OFF (0) RW Bit NC
9.28 Motorised pot reset OFF (0) or On (1) OFF (0) RW Bit NC
9.29 Binary sum ones input OFF (0) or On (1) OFF (0) RW Bit NC
9.30 Binary sum twos input OFF (0) or On (1) OFF (0) RW Bit NC
9.31 Binary sum fours input OFF (0) or On (1) OFF (0) RW Bit NC
9.32 Binary sum output 0 to 255 RO Uni NC PT
9.33 Binary sum destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.34 Binary sum offset 0 to 248 0 RW Uni US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

144 Unidrive SP User Guide

11.10 Menu 10: Status and trips

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
10.01 Drive healthy OFF (0) or On (1) RO Bit NC PT
10.02 Drive active OFF (0) or On (1) RO Bit NC PT
10.03 Zero speed OFF (0) or On (1) RO Bit NC PT
Running at or below minimum
10.04 OFF (0) or On (1) RO Bit NC PT
speed
10.05 Below set speed OFF (0) or On (1) RO Bit NC PT
10.06 At speed OFF (0) or On (1) RO Bit NC PT
10.07 Above set speed OFF (0) or On (1) RO Bit NC PT
10.08 Load reached OFF (0) or On (1) RO Bit NC PT
10.09 Drive output is at current limit OFF (0) or On (1) RO Bit NC PT
10.10 Regenerating OFF (0) or On (1) RO Bit NC PT
10.11 Braking IGBT active OFF (0) or On (1) RO Bit NC PT
10.12 Braking resistor alarm OFF (0) or On (1) RO Bit NC PT
10.13 Direction commanded OFF (0) or On (1) [0 = FWD, 1 = REV] RO Bit NC PT
10.14 Direction running OFF (0) or On (1) [0 = FWD, 1 = REV] RO Bit NC PT
10.15 Mains loss OFF (0) or On (1) RO Bit NC PT
10.16 Under voltage active OFF (0) or On (1) RO Bit NC PT
10.17 Overload alarm OFF (0) or On (1) RO Bit NC PT
10.18 Drive over temperature alarm OFF (0) or On (1) RO Bit NC PT
10.19 Drive warning OFF (0) or On (1) RO Bit NC PT
10.20 Trip 0 0 to 230* RO Txt NC PT PS
10.21 Trip 1 0 to 230* RO Txt NC PT PS
10.22 Trip 2 0 to 230* RO Txt NC PT PS
10.23 Trip 3 0 to 230* RO Txt NC PT PS
10.24 Trip 4 0 to 230* RO Txt NC PT PS
10.25 Trip 5 0 to 230* RO Txt NC PT PS
10.26 Trip 6 0 to 230* RO Txt NC PT PS
10.27 Trip 7 0 to 230* RO Txt NC PT PS
10.28 Trip 8 0 to 230* RO Txt NC PT PS
10.29 Trip 9 0 to 230* RO Txt NC PT PS
200V drive: 0.09, 400V drive: 0.02
10.30 Full power braking time 0.00 to 400.00 s RW Uni US
575V drive: 0.01, 690V drive: 0.01
10.31 Full power braking period 0.0 to 1500.0 s 2.0 RW Uni US
10.32 External trip OFF (0) or On (1) OFF (0) RW Bit NC
10.33 Drive reset OFF (0) or On (1) OFF (0) RW Bit NC
10.34 No. of auto-reset attempts 0 to 5 0 RW Uni US
10.35 Auto-reset delay 0.0 to 25.0 s 1.0 RW Uni US
Hold drive healthy until last
10.36 OFF (0) or On (1) OFF (0) RW Bit US
attempt
10.37 Action on trip detection 0 to 3 0 RW Uni US
10.38 User trip 0 to 255 0 RW Uni US
Braking energy overload
10.39 0.0 to 100.0 % RO Uni NC PT
accumulator
10.40 Status word 0 to 32,767 RO Uni NC PT
10.41 Trip 0 time: years.days 0.000 to 9.365 years.days RO Uni NC PT PS
10.42 Trip 0 time: hours.minutes 00.00 to 23.59 hours.minutes RO Uni NC PT PS
10.43 Trip 1 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.44 Trip 2 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.45 Trip 3 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.46 Trip 4 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.47 Trip 5 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.48 Trip 6 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.49 Trip 7 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.50 Trip 8 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.51 Trip 9 time 0 to 600.00 hours.minutes RO Uni NC PT PS

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

*The value given for the range is that obtained via serial communication.
For the text string displayed on the drive, see Chapter 13 Diagnostics on
page 198.

Unidrive SP User Guide 145

11.11 Menu 11: General drive set-up

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
11.01 Parameter 0.11 set up Pr 1.00 to 21.51 Pr 5.01 Pr 3.29 RW Uni PT US
11.02 Parameter 0.12 set up Pr 1.00 to 21.51 Pr 4.01 RW Uni PT US
11.03 Parameter 0.13 set up Pr 1.00 to 21.51 Pr 4.02 Pr 7.07 RW Uni PT US
11.04 Parameter 0.14 set up Pr 1.00 to 21.51 Pr 4.11 RW Uni PT US
11.05 Parameter 0.15 set up Pr 1.00 to 21.51 Pr 2.04 RW Uni PT US
11.06 Parameter 0.16 set up Pr 1.00 to 21.51 Pr 8.39 Pr 2.02 RW Uni PT US
11.07 Parameter 0.17 set up Pr 1.00 to 21.51 Pr 8.26 Pr 4.12 RW Uni PT US
11.08 Parameter 0.18 set up Pr 1.00 to 21.51 Pr 8.29 RW Uni PT US
11.09 Parameter 0.19 set up Pr 1.00 to 21.51 Pr 7.11 RW Uni PT US
11.10 Parameter 0.20 set up Pr 1.00 to 21.51 Pr 7.14 RW Uni PT US
11.11 Parameter 0.21 set up Pr 1.00 to 21.51 Pr 7.15 RW Uni PT US
11.12 Parameter 0.22 set up Pr 1.00 to 21.51 Pr 1.10 RW Uni PT US
11.13 Parameter 0.23 set up Pr 1.00 to 21.51 Pr 1.05 RW Uni PT US
11.14 Parameter 0.24 set up Pr 1.00 to 21.51 Pr 1.21 RW Uni PT US
11.15 Parameter 0.25 set up Pr 1.00 to 21.51 Pr 1.22 RW Uni PT US
11.16 Parameter 0.26 set up Pr 1.00 to 21.51 Pr 1.23 Pr 3.08 RW Uni PT US
11.17 Parameter 0.27 set up Pr 1.00 to 21.51 Pr 1.24 Pr 3.34 RW Uni PT US
11.18 Parameter 0.28 set up Pr 1.00 to 21.51 Pr 6.13 RW Uni PT US
11.19 Parameter 0.29 set up Pr 1.00 to 21.51 Pr 11.36 RW Uni PT US
11.20 Parameter 0.30 set up Pr 1.00 to 21.51 Pr 11.42 RW Uni PT US
11.21 Parameter scaling 0.000 to 9.999 1.000 RW Uni US
11.22 Parameter displayed at power-up Pr 0.00 to 00.50 Pr 0.10 RW Uni PT US
11.23 Serial address {0.37} 0 to 247 1 RW Uni US
11.24 Serial mode {0.35} AnSI (0), rtU (1) rtU (1) RW Txt US
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
11.25 Baud rate {0.36} 9600 (5), 19200 (6), 38400 (7), 19200 (6) RW Txt US
57600 (8)*, 115200 (9)* *Modbus RTU only
11.26 Minimum comms transmit delay 0 to 250ms 2 RW Uni US
11.28 Drive derivative 0 to 16 RO Uni NC PT
11.29 Software version {0.50} 1.00 to 99.99 RO Uni NC PT
11.30 User security code {0.34} 0 to 999 0 RW Uni NC PT PS
OPEn LP (1), CL VECt (2),
11.31 User drive mode {0.48} OPEn LP (1) CL VECt (2) SErVO (3) RW Txt NC PT
SErVO (3), rEGEn (4)
Maximum Heavy Duty current
11.32 {0.32} 0.00 to 9999.99A RO Uni NC PT
rating
11.33 Drive voltage rating {0.31} 200 (0), 400 (1), 575 (2), 690 (3) RO Txt NC PT
11.34 Software sub-version 0 to 99 RO Uni NC PT
11.35 Number of modules 1 to 8 RO Uni NC PT
SMARTCARD parameter
11.36 {0.29} 0 to 999 0 RO Uni NC PT US
data previously loaded
11.37 SMARTCARD data number 0 to 1000 0 RW Uni NC
11.38 SMARTCARD data type / mode 0 to 18 RO Txt NC PT
11.39 SMARTCARD data version 0 to 9,999 0 RW Uni NC
11.40 SMARTCARD data checksum 0 to 65,335 RO Uni NC PT
11.41 Status mode timeout 0 to 250s 240 RW Uni US
nonE (0), rEAd (1), Prog (2), AutO (3),
11.42 Parameter cloning {0.30} nonE (0) RW Txt NC *
boot (4)
11.43 Load defaults nonE (0), Eur (1), USA (2) nonE (0) RW Txt NC
11.44 Security status {0.49} L1 (0), L2 (1), Loc (2) RW Txt PT US
11.45 Select motor 2 parameters OFF (0) or On (1) OFF (0) RW Bit US
11.46 Defaults previously loaded 0 to 2000 RO Uni NC PT US
Halt program (0)
11.47 Drive Onboard PLC program enable Run program: out of range = clip (1) Run program: out of range = trip (2) RW Uni US
Run program: out of range = trip (2)
11.48 Drive Onboard PLC program status -128 to +127 RO Bi NC PT
Drive Onboard PLC programming
11.49 0 to 65,535 RO Uni NC PT PS
events
Drive Onboard PLC program
11.50 0 to 65,535 ms RO Uni NC PT
maximum scan time
11.51 Drive Onboard PLC program first run OFF (0) or On (1) RO Bit NC PT
* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

146 Unidrive SP User Guide

11.12 Menu 12: Threshold detectors, variable selectors and brake control function
Figure 11-14 Menu 12 logic diagram
Threshold Threshold Threshold
Detector 1 Threshold Detector 1 Detector 1
Detector 1 output indicator output
threshold level destination
parameter Any
Any variable 12.04 12.01 unprotected
Threshold 12.07
parameter Detector 1 bit parameter
??.?? ??.??

??.?? x(-1) ??.??

12.03 12.05 12.06

Threshold Threshold Threshold
Detector 1 Detector 1 Detector 1
input source hysteresis output invert

Threshold Threshold Threshold

Detector 2 Threshold Detector 2 Detector 2
Detector 2 output indicator output
threshold level destination
parameter Any
Any variable 12.24 12.02 unprotected
Threshold 12.27
parameter Detector 2 bit parameter
??.?? ??.??

??.?? x(-1) ??.??

12.23 12.25 12.26 All parameters are shown

Threshold Threshold Threshold at their default setting
Detector 2 Detector 2 Detector 2
input source hysteresis output invert

Key
Hysteresis
Input Read-write (RW) Threshold
terminals 0.XX
parameter level
t
Output 0.XX Read-only (RO)
terminals parameter
Threshold
output
t

Variable Selector 1
Any variable Variable
parameter selector 1 Variable
Variable selector 1 output selector 1
??.?? input 1 scaling indicator output Any
12.13 destination unprotected
variable
12.12 12.11
??.?? parameter
Variable selector 1 ??.??
Variable selector 1 12.10
12.08 mode
input 1 source
Any variable Variable selector 1
12.15 ??.??
parameter control
Variable selector 1
??.?? input 2 scaling
12.14
??.??

Variable selector 1
12.09
input 2 source

Variable Selector 2
Any variable Variable
parameter selector 2 Variable
Variable selector 2 output selector 2
??.?? input 1 scaling Any
indicator output
destination unprotected
12.33
variable
12.32 12.31 parameter
??.??
Variable selector 2 ??.??
Variable selector 2 12.30
12.28 mode
input 1 source
Any variable Variable selector 2
12.35 ??.??
parameter control
Variable selector 2
??.?? input 2 scaling
12.34
??.??

Variable selector 2
12.29
input 2 source

Unidrive SP User Guide 147

Figure 11-15 Open-loop brake function

Key
Current
magnitude
Input Read-write (RW)
terminals 0.XX
4.01 + parameter
Drive
_ active
Output 0.XX Read-only (RO)
terminals parameter
10.02
Upper current
threshold
12.42
Post-brake
release
12.43 delay
Lower current 12.47
threshold
Ramp
hold
Output 2.03
frequency

5.01 + 12.40
i o
_
LAT Brake
Brake
controller 12.41
r 12.46 release
Brake release enable
frequency Pre-brake
release
12.44 T25 digital
8.12 delay
I/O 1 invert
Relay source
8.17
invert
Brake apply T25 digital I/O 1
frequency 8.22
source / destination
12.45 + input output
8.27 Relay source i o
_
T25 digital I/O 1 LAT
8.32 reset
output select r
Reference
on
If the reset input is 1, the output is 0.
1.11 If the reset input is 0, the output
latches at 1 if the input is 1.

Figure 11-16 Open-loop brake sequence

Pr 12.44 Brake release frequency Pr 12.45 Brake apply frequency

Pr 5.01 Output frequency

Pr 12.42 Upper current threshold

Pr 4.01 Current magnitude

Pr 10.02 Drive active

Pr 1.11 Reference on

Pr 12.40 Brake release

Pr 2.03 Ramp hold

1 2 3 4 5 6

Pr 12.46 Pr 12.47
1. Wait for upper current threshold and brake release frequency
2. Pre-brake release delay
3. Post-brake release delay
4. Wait for brake apply frequency
5. Wait for zero frequency
6. 1s delay as phase 2 of stopping sequence (Pr 6.01=1,2 or 3)

148 Unidrive SP User Guide

Figure 11-17 Closed-loop brake function

Enable position Position

controller during control
13.10
brake release mode
( = 1)
Drive active 12.49
Motor flux +
7/8 x Rated flux _ 10.02
Post-brake
release delay 12.47 Ramp
2.03
Current hold
magnitude i o
LAT
4.01 +
r
_

Brake
12.43 12.40
Brake apply release
Lower current 1 12.48
delay
threshold
Closed-loop Brake Hold zero
controller 12.41 6.08
Reference vector = 0 speed
on enable
Servo = 1

1.11 T25 digital

OR 8.12
I/O 1 invert
Brake apply Relay source
8.17
Speed speed delay 12.46 invert
feedback T25 digital I/O 1
8.22
source / destination
3.02 + 8.27 Relay source
_
T25 digital I/O 1
8.32
output select
Brake apply
speed
input output
Key i o
12.45
LAT
Input reset
0.XX Read-write (RW) r
terminals parameter

Output 0.XX Read-only (RO) If the reset input is 1, the output is 0.

terminals parameter If the reset input is 0, the output latches
at 1 if the input is 1.

Figure 11-18 Closed-loop brake sequence

Pr 12.45 Brake apply speed

Pr 5.01 Output frequency

Pr 4.01 Current magnitude

Pr 10.02 Drive active

Pr 1.11 Reference on

Pr 12.40 Brake release

Pr 2.03 Ramp hold

Pr 13.10 Position control mode

Pr 6.08 Hold zero speed

1 2 3 4 5

Pr 12.47 Pr 12.46 Pr 12.48

1. Wait for motor fluxed (closed-loop vector only)
2. Post-brake release delay
3. Wait for speed threshold
4. Wait for brake apply speed delay
5. Brake apply delay

Unidrive SP User Guide 149

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
12.01 Threshold detector 1 output OFF (0) or On (1) RO Bit NC PT
12.02 Threshold detector 2 output OFF (0) or On (1) RO Bit NC PT
12.03 Threshold detector 1 source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.04 Threshold detector 1 level 0.00 to 100.00 % 0.00 RW Uni US
Threshold detector 1
12.05 0.00 to 25.00 % 0.00 RW Uni US
hysteresis
Threshold detector 1 output
12.06 OFF (0) or On (1) OFF (0) RW Bit US
invert
Threshold detector 1
12.07 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.08 Variable selector 1 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.09 Variable selector 1 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Select input 1 (0), select input 2 (1), add (2),
subtract (3), multiply (4), divide (5),
12.10 Variable selector 1 mode Select input 1 (0) RW Uni US
time constant (6), linear ramp (7), modulus (8),
powers (9)
Variable selector 1
12.11 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.12 Variable selector 1 output ±100.00 % RO Bi NC PT
Variable selector 1 source 1
12.13 ±4.000 1.000 RW Bi US
scaling
Variable selector 1 source 2
12.14 ±4.000 1.000 RW Bi US
scaling
12.15 Variable selector 1 control 0.00 to 100.00 s 0.00 RW Uni US
12.23 Threshold detector 2 source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.24 Threshold detector 2 level 0.00 to 100.00 % 0.00 RW Uni US
Threshold detector 2
12.25 0.00 to 25.00 % 0.00 RW Uni US
hysteresis
Threshold detector 2 output
12.26 OFF (0) or On (1) OFF (0) RW Bit US
invert
Threshold detector 2
12.27 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.28 Variable selector 2 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.29 Variable selector 2 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Select input 1 (0), select input 2 (1), add (2),
subtract (3), multiply (4), divide (5),
12.30 Variable selector 2 mode Select input 1 (0) RW Uni US
time constant (6), linear ramp (7), modulus (8),
powers (9)
Variable selector 2
12.31 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.32 Variable selector 2 output ±100.00 % RO Bi NC PT
Variable selector 2 source 1
12.33 ±4.000 1.000 RW Bi US
scaling
Variable selector 2 source 2
12.34 ±4.000 1.000 RW Bi US
scaling
12.35 Variable selector 2 control 0.00 to 100.00 s 0.00 RW Uni US
12.40 Brake release indicator OFF (0) or On (1) RO Bit NC PT
12.41 Brake controller enable dis (0), rEL (1), d IO (2), USEr (3) dis (0) RW Txt US
12.42 Upper current threshold 0 to 200 % 50 RW Uni US
12.43 Lower current threshold 0 to 200 % 10 RW Uni US
12.44 Brake release frequency 0.0 to 20.0 Hz 1.0 RW Uni US
12.45 Brake apply frequency / speed 0.0 to 20.0 Hz 0 to 200 rpm 2.0 5 RW Bit US
OL> Pre-brake release delay
12.46 0.0 to 25.0 s 1.0 RW Uni US
CL> Brake apply speed delay
12.47 Post brake release delay 0.0 to 25.0 s 1.0 RW Uni US
12.48 Brake apply delay 0.0 to 25.0 s 1.0 RW Uni US
Enable position controller
12.49
during brake release
OFF (0) or On (1) OFF (0) RW Bit US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

150 Unidrive SP User Guide

Unidrive SP User Guide 151

11.13 Menu 13: Position control

Figure 11-19 Menu 13 Open-loop logic diagram

Relative Relative
jog reverse jog enable
13.19 13.18
Relative
jog reference
Position control reference position
13.17
Revolution Position
Position x(-1)
counter fine

Drive Position
Encoder 3.28 3.29 3.30 controller
reference 13.04 Position
source reference
invert
Slot 1 15.04 15.05 15.06 13.06

∆ Position Ratio +
Slot 2 16.04 16.05 16.06 +
13.07
13.08 ∫ +

x(-1) _
Slot 3 17.04 17.05 17.06
Position
13.16
error reset

Local 13.20 13.21 13.22

reference
∫

Local
13.23 reference
disable

Position control feedback position

Revolution Position Position

Position
counter fine controller
feedback
Drive source
Encoder 3.28 3.29 3.30
13.05

Slot 1 15.04 15.05 15.06

∆ Position
Slot 2 16.04 16.05 16.06

Slot 3 17.04 17.05 17.06

*For more information, refer to section 11.21.9 Position modes on page 185.

152 Unidrive SP User Guide

Frequency/speed
reference Pre-ramp Post-ramp
selected reference reference
1.01
Menu 2
1.03 Ramp Control 2.01

Velocity Velocity feed

feed- 1.39 1.40 -forward
forward select
Position
controller
mode*
13.10 13.10 = 1

Position loop
disabled
+
_

Position
Position loop error
controller
P gain
13.01 13.02 13.03 13.09

Revolution Position Fine

Position
13.12
Position
controller
speed clamp

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

This logic diagram applies only when all

parameters are at their default settings

Unidrive SP User Guide 153

Figure 11-20 Menu 13 Closed-loop logic diagram

Relative Relative
jog reverse jog enable
13.19 13.18
Relative
jog reference
Position control reference position
13.17
Revolution Position
Position x(-1)
counter fine

Drive Position
Encoder 3.28 3.29 3.30 controller
reference 13.04 Position
source reference
invert
Slot 1 15.04 15.05 15.06 13.06

∆ Position Ratio +
Slot 2 16.04 16.05 16.06 +
13.07
13.08 ∫ +

x(-1) _
Slot 3 17.04 17.05 17.06
Position
error reset 13.16

Local 13.20 13.21 13.22

reference
∫

Local
13.23 reference
disable

Position control feedback position

Revolution Position Position

Position
counter fine controller
feedback
Drive source
Encoder 3.28 3.29 3.30
13.05

Slot 1 15.04 15.05 15.06

∆ Position _
Slot 2 16.04 16.05 16.06
+
Limited to
±1/2 rev
Slot 3 17.04 17.05 17.06
Orientation
position 13.13
reference

*For more information, refer to section 11.21.9 Position modes on page 185.

154 Unidrive SP User Guide

Pre-ramp Post-ramp
Frequency/speed reference reference Final speed
reference 1.01 reference
selected Menu 2 +
1.03 2.01 3.01
Ramp Control
+
Velocity
feed- 1.39
forward Velocity feed
1.40 -forward
select
Position Hard speed
controller reference
mode* selector
13.10 = 13.10 = 13.10 =
13.10 3.23
5 or 6 1 or 3 1 to 6

Position loop
disabled

Hard speed
reference 3.22
Hold zero
6.08
speed

Position
Position loop error
controller
P gain
13.01 13.02 13.03 13.09

Revolution Position Fine

Position
13.12
Position
Position loop controller
enabled* speed clamp

Orientation
acceptance
window
13.14

Key
Orientation
Input Read-write (RW)
terminals 0.XX
parameter

Orientation Output 0.XX Read-only (RO)

position 13.15 terminals parameter
complete
This logic diagram applies only when all
parameters are at their default settings

* The position controller is disabled and the error integrator is also reset
under the following conditions:
1. If the drive is disabled (i.e. inhibited, ready or tripped)
2. If the position controller mode (Pr 13.10) is changed. The position
controller is disabled transiently to reset the error integrator.
3. The absolute mode parameter (Pr 13.11) is changed. The position
controller is disabled transiently to reset the error integrator.
4. One of the position sources is invalid.
5. The position feedback initialised parameter (Pr 3.48) is zero.

Unidrive SP User Guide 155

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
13.01 Revolutions error -32,768 to +32,767 RO Bi NC PT
13.02 Position error -32,768 to +32,767 RO Uni NC PT
13.03 Fine position error -32,768 to +32,767 RO Uni NC PT
drv (0), Slot1 (1), Slot2 (2), Slot3 (3),
13.04 Position controller reference source drv (0) RW Uni US
LocAL (4)
13.05 Position controller feedback source drv (0), Slot1 (1), Slot2 (2), Slot3 (3) drv (0) RW Uni US
13.06 Position reference invert OFF (0) or On (1) OFF (0) RW Bit US
13.07 Ratio numerator 0.000 to 4.000 1.000 RW Uni US
13.08 Ratio denominator 0.000 to 1.000 1.000 RW Uni US
13.09 Position controller P gain 0.00 to 100.00 rad s-1/rad 25.00 RW Uni US
Position controller
disabled (0)
Rigid position control -
Position controller feed fwd (1)
disabled (0) Rigid position control (2)
Rigid position control - Non-rigid position
13.10 Position controller mode Position controller disabled (0) RW Uni US
feed fwd (1) control - feed fwd (3)
Rigid position control Non-rigid position
(2) control (4)
Orientation on stop (5)
Orientation on stop and
when drive enabled (6)
13.11 Absolute mode enable OFF (0) or On (1) OFF (0) RW Bit US
13.12 Position controller speed clamp 0 to 250 150 RW Uni US
13.13 Orientation position reference 0 to 65,535 0 RW Uni US
13.14 Orientation acceptance window 0 to 4,096 256 RW Uni US
13.15 Orientation position complete OFF (0) or On (1) RO Bit NC PT
13.16 Position error reset OFF (0) or On (1) OFF (0) RW Bit NC
13.17 Relative jog reference 0.0 to 4,000.0 rpm 0.0 RW Uni NC
13.18 Relative jog enable OFF (0) or On (1) OFF (0) RW Bit NC
13.19 Relative jog reverse OFF (0) or On (1) OFF (0) RW Bit NC
13.20 Local reference turns 0 to 65,535 0 RW Uni NC
13.21 Local reference position 0 to 65,535 0 RW Uni NC
13.22 Local reference fine position 0 to 65,535 0 RW Uni NC
13.23 Local reference disable OFF (0) or On (1) OFF (0) RW Bit NC

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

156 Unidrive SP User Guide

Unidrive SP User Guide 157

11.14 Menu 14: User PID controller

Figure 11-21 Menu 14 Logic diagram

Main reference
source parameter
14.02
Any variable
parameter PID Main
reference
??.??
14.19
??.??

PID reference
source parameter PID reference
14.03 source invert

Any variable 14.05

parameter PID
reference PID
??.?? PID reference error
14.20 slew-rate limit
+
??.?? 14.07 14.22
x(-1) _
PID feedback
source parameter PID feedback
14.04 source invert

Any variable 14.06

parameter PID
feedback
??.??
14.21
??.??
x(-1)

PID
enable
14.08

Drive normal
indicator

10.01 &
Logic 1
Any bit
parameter
??.??

??.??

Source
14.09
not used
Optional PID
enable source
parameter

158 Unidrive SP User Guide

PID output
14.13
high limit
PID hold PID output
integrator enable PID output
14.14 destination
low limit
14.17 parameter*
14.10
PID symmetrical 14.16 Any
PID proportional 14.18 unprotected
gain limits enable
variable
14.11 PID controller parameter
output PID output
scale factor
+ ??.??
PID integral
gain +
14.01 14.15
14.12
??.??
PID derivative
gain

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

*The PID controller is only controlled if Pr 14.16 is set to a non Pr xx.00

and unprotected destination parameter.

Unidrive SP User Guide 159

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
14.01 PID output ±100.00 % RO Bi NC PT
14.02 PID sources Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.03 PID sources Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.04 PID sources Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.05 PID source invert OFF (0) or On (1) OFF (0) RW Bit US
14.06 PID source invert OFF (0) or On (1) OFF (0) RW Bit US
14.07 PID reference slew rate limit 0.0 to 3,200.0 s 0.0 RW Uni US
14.08 PID enable OFF (0) or On (1) OFF (0) RW Bit US
14.09 PID optional enable source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.10 PID P gain 0.000 to 4.000 1.000 RW Uni US
14.11 PID I gain 0.000 to 4.000 0.500 RW Uni US
14.12 PID D gain 0.000 to 4.000 0.000 RW Uni US
14.13 PID upper limit 0.00 to 100.00 % 100.00 RW Uni US
14.14 PID lower limit ±100.00 % 100.00 RW Bi US
14.15 PID scaling 0.000 to 4.000 1.000 RW Uni US
14.16 PID destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
14.17 PID hold integrator OFF (0) or On (1) OFF (0) RW Bit US
14.18 PID symmetrical limit enable OFF (0) or On (1) OFF (0) RW Bit US
14.19 PID main reference ±100.00 % RO Bi NC PT
14.20 PID reference ±100.00 % RO Bi NC PT
14.21 PID feedback ±100.00 % RO Bi NC PT
14.22 PID error ±100.00 % RO Bi NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

160 Unidrive SP User Guide

11.15 Menus 15, 16 and 17: Solutions Module set-up

Figure 11-22 Location of Solutions Module slots and their
corresponding menu numbers

Solutions Module
slot 1 (Menu 15)
Solutions Module
slot 2 (Menu 16)
Solutions Module
slot 3 (Menu 17)

The Solutions Module ID indicates the type of module that is fitted in the
corresponding slot.

Solutions
Module Category
Module ID
0 No module fitted
101 SM-Resolver
102 SM-Universal Encoder Plus Feedback
104 SM-Encoder Plus
201 SM-I/O Plus
301 SM-Applications
Automation
302 SM-Applications Lite
303 SM-EZMotion
403 SM-PROFIBUS-DP
404 SM-Interbus
406 SM-CAN Fieldbus
407 SM-DeviceNet
408 SM-CANopen

Unidrive SP User Guide 161

11.15.2 Position feedback module category

Figure 11-23 SM-Universal Encoder Plus logic diagram

Reference / feedback encoder input

Non marker position information

Encoder setup
Position Revolution Fine

Sincos EnDAt/
counter Position position

Sincos Hiper
Comms only

SSI encoder
feedback

Incremental
Error

encoder

encoder
detection initialised
Solutions Parameter x.29 x.30 x.31
Module x.17
x.45
15-way
D-type x.09 Encoder turn bits √ √Χ √Χ √Χ
.. .. .. .. .. x.10 Equivalent lines per rev √ √Χ √Χ
SK1 ..... x.11 Single turn comms resolution √Χ √Χ √Χ Marker position information
x.13 Encoder supply voltage √ √ √ √
x.14 Encoder comms baud rate √ √ Revolution Fine
x.15 Encoder type √ √ √ √ counter Position position
x.18 Encoder auto-configuaration √ √ √
x.16 x.44 Disable encoder position check # # x.32 x.33 x.34
x.45 Position feedback initialised Χ Χ Χ Χ
Termination x.46 Lines per revolution divider # # #
disable
Key:
√ - Information required from user
Χ - Parameter set be drive at default
x.07
or through auto configuration
# - Configuration dependant Marker Encoder type Marker
flag x.08 position
x.15 = 0 to 5
disable

Marker
input

Solutions
Module Encoder
SK1 Term
15-way Ab (0) Fd (1) Fr (2) Ab.SErVO (3) Fd.SErVO (4) Fr.SErVO (5) SC (6) SC.HIPEr (7) EndAt (8) SC.EndAt (9) SSI (10) SC.SSI (11)
D-type 1 A F F A F F Cos Cos Cos
2 A\ F\ F\ A\ F\ F\ Cosref Cosref Cosref

SK1 .. .. .. .. .. 3 B D R B D R Sin Sin Sin

..... 4
5
B\ D\ R\
Z
B\ D\ R\ Sinref Sinref
Encoder input - Data (input/output)
Sinref

6 Z\ Encoder input - Data\ (input/output)

7 Aout, Fout, Data SSI (output) U Simulated encoder: Aout, Fout, Data SSI (output) 7
8 Aout\, Fout\, Data\ SSI (output) U\ Simulated encoder: Aout\, Fout\, Data\ SSI (output) 8
9 Bout, Dout,Clock\ SSI (input) V Simulated encoder: Bout, Dout,Clock\ SSI (input) 9
10 Bout\, Dout\, Clock SSI (input) V\ Simulated encoder: Bout\, Dout\, Clock SSI (input) 10
11 W Encoder input - Clock (output)
12 W\ Encoder input - Clock\ (output)
13 +V
14 0V common
15 th

Hard wired connections inside the module

Solutions
Module
terminal Freeze inputs / Encoder outputs
block PL2 Term Freeze RS485 Freeze +24V
Ab output Fd output SSI output Marker output
input input
1 Freeze 1
2 0V common
3 A F Data
4 A\ F\ Data\
PL2
5 B D Clock\ (input)
6 B\ D\ Clock (input)
7 0V common
8 Freeze Z 8
9 Freeze\ Z\ 9

162 Unidrive SP User Guide

Speed feedback
selector
3.26

Speed feedback
selector
Motor map 2 Feedback
reference
21.21 destination
x.23
Maximum Feedback Feedback
Feedback Speed feedback reference reference
reference (rpm) scaling xx.xx
+ filter
x.19 x.03 x.20 x.21 x.22
_ xx.xx

x.49
Lock position
feedback

Revolution Fine
counter Position position

x.04 x.05 x.06

Positional information

Simulated encoder

x.47 SSI output

turns
SSI
SSI output only
Simulated x.48 comms Simulation
encoder resolution encoder
output mode source
x.28
Simulated
Numerator
encoder
xx.xx
resolution x.25
x.27
Ab, Fd
only
x.26 xx.xx
Denominator

Freeze input

Freeze SM-Applications
input SM-Encoder Plus
selection Freeze Main drive
x.38 main drive
other slots
x.40
Marker output
24V Freeze input Marker
Freeze
RS485 Freeze input flag
Freeze x.35 Freeze revolution counter
24V / RS485 Freeze inputs x.39 x.36 Freeze position
x.37 Freeze fine position
x(-1)

x.41
Freeze
invert

Unidrive SP User Guide 163

Figure 11-24 SM-Resolver logic diagram

Resolver
selected as
drive feedback
(Pr 3.26)

Term Resolver connections Equivalent

9 SIN LOW x.10 lines per
10 SIN HIGH revolution
11 COS LOW
12 COS HIGH Resolver
x.13
13 REF HIGH (excitation) excitation
14 REF LOW (excitation) Resolver
15 0V x.15
poles
16 0V
17 0V

x.17
Error detection
level

Freeze input Freeze positional

Freeze information
SM-Applications flag
Freeze
SM-Universal x.39 x.36 position
Encoder Plus

164 Unidrive SP User Guide

Positional information
Revolution
counter Position

x.04 x.05

Lock position
feedback
x.49
Speed
Feedback feedback
filter
x.19 x.03

Revolution
counter Position

x.29 x.30

Non marker reset

positional information

Encoder
simulation
source

Position Ratio x.24

numerator
Resolver Simulated encoder
x.05 x.25 Term
source output connections
1 A
2 A\
3 0V
Encoder 4 B
3.29
source 5 B\
6 0V
7 Z
8 Z\
x.xx

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

Unidrive SP User Guide 165

Figure 11-25 SM-Encoder Plus logic diagram

Non marker position information

Position Revolution
feedback counter Position
initialised
Term Encoder x.29 x.30
connections
x.45
1 A Equivalent
2 A\ x.10 lines per
3 B
+
revolution
4 B\
PL1 5 Z x.16 Encoder Marker position information _
6 Z\ termination
7 0V Encoder Revolution
x.15 counter Position
8 Not used type

x.32 x.33

Marker x.08 x.07

input
Marker Marker
flag position
disable

SM-Applications
module freeze x.36 x.39
input
Freeze Freeze
position flag

166 Unidrive SP User Guide

Feedback Speed
filter
x.19 x.03

x.49
Lock position
feedback

Revolution
counter Position

x.04 x.05

Positional information

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

Unidrive SP User Guide 167

Position feedback parameters

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
x.03 Speed ±40,000.0 rpm RO Bi FI NC PT
x.04 Revolution counter 0 to 65,535 revolutions RO Uni FI NC PT
x.05 Position 0 to 65,535 1/216ths of a revolution RO Uni FI NC PT
x.06 Fine position 0 to 65,535 1/232nds of a revolution RO Uni FI NC PT
x.07 Marker position reset disable OFF (0) or On (1) OFF (0) RW Bit US
x.08 Marker flag OFF (0) or On (1) OFF (0) RW Bit NC
x.09 Encoder turn bits 0 to 16 bits 16 RW Uni US
x.10 Equivalent lines per revolution 0 to 50,000 4096 RW Uni US
Encoder single turn comms
x.11 0 to 32 bits 0 RW Uni US
resolution / resolver resolution
Motor thermistor check
x.12 OFF (0) or On (1) OFF (0) RW Bit US
enable
Encoder supply voltage/ Encoder: 5V (0), 8V (1), 15V (2) Encoder: 5V (0)
x.13 RW Uni US
resolver excitation Resolver: 3:1 (0), 2:1 (1 or 2) Resolver: 3:1 (0)
100 (0), 200 (1), 300 (2), 300 (3), 500 (4),
x.14 Encoder comms baud rate 300 (2) RW Txt US
1,000 (5), 1,500 (6), 2,000 (7)
Encoder: Ab (0), Fd (1), Fr (2), Ab.Servo (3),
Fd.Servo (4), Fr.Servo (5), SC (6),
Encoder: AB (0)
SC.Hiper (7), EnDAT (8), SC.EnDAT (9),
x.15 Encoder type / resolver poles RW Uni US
SSI (10), SC.SSI (11)
Resolver: 2 pole (0)
Resolver: 2 pole (0), 4 pole (1), 6 pole (2),
8 pole (3 to 11)
x.16 Encoder termination 0 to 2 1 RW Uni US
Bit 0 (LSB) = Wire break detect
Bit 1 = Phase error detect
x.17 Error detection level 0 RW Uni US
Bit 2 (MSB) = SSI power supply bit monitor
Value is binary sum
Encoder auto-configuration /
x.18 OFF (0) or On (1) OFF (0) RW Bit US
SSI binary format select
x.19 Feedback filter 0 (0), 1 (1), 2 (2), 4 (3), 8 (4), 16 (5) ms 0 RW Uni US
x.20 Maximum feedback reference 0.0 to 40,000.0 rpm 1500.0 RW Uni US
x.21 Feedback reference ±100.0 % RO Bi NC PT
x.22 Feedback reference scaling 0.000 to 4.000 1.000 RW Uni US
Feedback reference
x.23 Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
destination
x.24 Encoder simulation source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.25 Encoder simulation ratio numerator 0.0000 to 3.0000 0.25 RW Uni US
x.26 Encoder simulation ratio denominator 0.0001 to 3.0000 1.0000 RW Uni US
Encoder simulation resolution
x.27 OFF (0) or On (1) OFF (0) RW Bit NC
select
x.28 Encoder simulation mode A B (0), F D (1), SSI.GrAY (2), SSI.bin (3) A B (0) RW Txt US
x.29 Non-marker reset revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.30 Non-marker reset position 0 to 65,535 1/216ths of a revolution RO Uni NC PT
x.31 Non-marker reset fine position 0 to 65,535 1/232nds of a revolution RO Uni NC PT
x.32 Marker revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.33 Marker position 0 to 65,535 1/216ths of a revolution RO Uni NC PT
x.34 Marker fine position 0 to 65,535 1/232nds of a revolution RO Uni NC PT
x.35 Freeze revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.36 Freeze position 0 to 65,535 1/216ths of a revolution RO Uni NC PT
x.37 Freeze fine position 0 to 65,535 1/232nds of a revolution RO Uni NC PT
Disabled (0), 24V input (1), EIA485 input (2),
x.38 Freeze input mode selection 24V input (1) RW Uni US
24V or EIA485 input (3)
x.39 Freeze flag OFF (0) or On (1) OFF (0) RW Bit NC
x.40 Freeze main drive other slots OFF (0) or On (1) OFF (0) RW Bit NC US
x.41 Freeze falling edge select OFF (0) or On (1) OFF (0) RW Bit US
Encoder comms transmit
x.42 0 to 65,535 revolutions 0 RW Uni NC
register
Encoder comms receive
x.43 0 to 65,535 revolutions 0 RW Uni NC
register
x.44 Disable encoder position check OFF (0) or On (1) OFF (0) RW Bit NC
x.45 Position feedback initialised OFF (0) or On (1) RO Bit NC PT
x.46 Lines per revolution divider 0 to 1024 1 RW Uni US
x.47 SSI output turns 0 to 16 bits 16 RW Uni US
x.48 SSI output comms resolution 0 to 32 bits 0 RW Uni US
x.49 Lock position feedback OFF (0) or On (1) OFF (0) RW Bit

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

168 Unidrive SP User Guide

11.15.3 I/O module category

Figure 11-26 I/O module analog logic diagram

T9 Analog input 4 T9 Analog

input 4
destination Any
X.40 unprotected
X.43
variable
T9 Analog input 4 parameter
??.??
X.41
T9 Analog
input 4 x(-1) ??.??
scaling
X.42
T9 Analog input
4 invert

T10 Analog input 5 T10 Analog

input 5
destination Any
X.44 unprotected
X.47
variable
T10 Analog input 5 parameter
??.??
X.45
T10 Analog
input 5 x(-1) ??.??
scaling
X.46
T10 Analog input
5 invert

T12 Analog
output 3 source
X.48
Any variable T12 Analog
parameter output 3
??.??

X.49

??.?? T12 Analog

output 3 scaling

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

Unidrive SP User Guide 169

Figure 11-27 I/O module digital logic diagram 1

T2 digital
I/O 1 state T2 output ??.??
select
X.09 X.31

x(-1) ??.??
Any bit
T2 digital I/O 1 T2 digital I/O parameter
X.21
1 destination
/ source

X.11 T2 digital
I/O 1 invert Any
unprotected
Positive bit parameter
X.29
logic select
??.??

x(-1) ??.??

Any bit
T3 digital parameter
I/O 2 state T3 output ??.??
select
X.10 X.32

x(-1) ??.??

T3 digital I/O 2 T3 digital I/O

X.22
2 destination
/ source
T3 digital Any
X.12 unprotected
I/O 2 invert
bit
Positive parameter
X.29
logic select
??.??

x(-1)
??.??

Any bit
T4 digital parameter
I/O 3 state T4 output ??.??
select
X.03 X.33

x(-1) ??.??

T4 digital I/O 3
T4 digital I/O X.23
3 destination
/ source
T4 digital Any
X.13
I/O 3 invert unprotected
bit
Positive X.29 parameter
logic select
??.??

Key
x(-1)
??.??
Input Read-write (RW)
terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default setting

170 Unidrive SP User Guide

Figure 11-28 I/O module digital logic diagram 2

T6 digital input 4
state indicator T6 digital T6 digital input 4
input 4 invert destination
X.04 X.14 X.24 Any
unprotected
bit
T6 digital input 4 parameter
??.??
X.29
Positive
logic select x(-1) ??.??

T7 digital input 5
state indicator T7 digital T7 digital input 5
input 5 invert destination
X.05 X.15 X.25 Any
unprotected
bit
T7 digital input 5 parameter
??.??
X.29
Positive
logic select x(-1) ??.??

T8 digital input 6
state indicator T8 digital T8 digital input 6
input 6 invert destination
X.06 X.16 X.26 Any
unprotected
bit
T8 digital input 6 parameter
??.??
X.29
Positive
logic select x(-1) ??.??

Relay 1 Relay 1 Relay 1

source invert indicator
X.27 X.17
X.07
Any bit
parameter
??.?? Relay 1

??.?? x(-1) Key

Input
terminals
0V
Relay 2 Relay 2 Relay 2
source invert indicator Output
terminals
X.28 X.18
X.08
Any bit
parameter Read-write
0.XX (RW)
??.?? Relay 2 parameter
Read-only
0.XX (RO)
??.?? x(-1) parameter

The parameters are all shown

at their default setting
0V

Unidrive SP User Guide 171

I/O module parameters

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
x.03 T4 digital I/O 3 state OFF (0) or On (1) RO Bit NC PT
x.04 T6 digital input 4 state OFF (0) or On (1) RO Bit NC PT
x.05 T7 digital input 5 state OFF (0) or On (1) RO Bit NC PT
x.06 T8 digital input 6 state OFF (0) or On (1) RO Bit NC PT
x.07 Relay 1 state OFF (0) or On (1) RO Bit NC PT
x.08 Relay 2 state OFF (0) or On (1) RO Bit NC PT
x.09 T2 digital I/O 1 state OFF (0) or On (1) RO Bit NC PT
x.10 T3 digital I/O 2 state OFF (0) or On (1) RO Bit NC PT
x.11 T2 digital I/O 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.12 T3 digital I/O 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.13 T4 digital I/O 3 invert OFF (0) or On (1) OFF (0) RW Bit US
x.14 T6 digital input 4 invert OFF (0) or On (1) OFF (0) RW Bit US
x.15 T7 digital input 5 invert OFF (0) or On (1) OFF (0) RW Bit US
x.16 T8 digital input 6 invert OFF (0) or On (1) OFF (0) RW Bit US
x.17 Relay 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.18 Relay 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.20 Digital I/O read word 0 to 511 RO Uni NC PT
T2 digital I/O 1 source/
x.21 Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
destination
T3 digital I/O 2 source/
x.22 Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
destination
T4 digital I/O 3 source/
x.23 Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
destination
x.24 T6 digital input 4 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.25 T7 digital input 5 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.26 T8 digital input 6 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.27 Relay 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.28 Relay 2 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.29 Input polarity select OFF (0) or On (1) On (1) (positive logic) RW Bit PT US
x.31 T2 digital I/O 1 output select OFF (0) or On (1) OFF (0) RW Bit US
x.32 T3 digital I/O 2 output select OFF (0) or On (1) OFF (0) RW Bit US
x.33 T4 digital I/O 3 output select OFF (0) or On (1) OFF (0) RW Bit US
x.40 Analog input 1 ±100.0% RO Bi NC PT
x.41 Analog input 1 scaling 0 to 4.000 1.000 RW Uni US
x.42 Analog input 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.43 Analog input 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.44 Analog input 2 ±100.0% RO Bi NC PT
x.45 Analog input 2 scaling 0.000 to 4.000 1.000 RW Uni US
x.46 Analog input 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.47 Analog input 2 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.48 Analog output 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.49 Analog output 1 scaling 0.000 to 4.000 1.000 RW Uni US

172 Unidrive SP User Guide

11.15.4 Fieldbus module category

Fieldbus module parameters

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
x.03 Fieldbus Node Address 65,535 65,535 RW Uni US
x.04 Fieldbus Baud Rate -128 to +127 +127 RW Bi US
x.05 Mode 65,535 4 RW Uni US
x.06 Fieldbus Diagnostic ±9,999 RO Bi NC PT
x.07 Trip Delay Time 0 to 3,000 200 RW Uni US
x.08 Little endianism select OFF (0) or On (1) OFF (0) RW Bit US
x.09 Register control OFF (0) or On (1) OFF (0) RW Bit US
x.10 to
‘I’ data registers 0 - 9 -32,768 to +32,767 RW Bi
x.19
x.20 to
‘O’ data registers 0 - 9 -32,768 to +32,767 RW Bi
x.29
Load Solutions Module
x.30 OFF (0) or On (1) OFF (0) RW Bit US
defaults
Save Solutions Module
x.31 OFF (0) or On (1) OFF (0) RW Bit US
parameters
x.32 Request to reinitialise OFF (0) or On (1) OFF (0) RW Bit
Download from Fieldbus
x.33 OFF (0) or On (1) OFF (0) RW Bit
Solutions Module
x.34 Compression OFF (0) or On (1) OFF (0) RW Bit US
x.35 Serial number -2,147,483,648 to 2,147,483,647 RO Bi NC PT
x.36 to
Fieldbus specific OFF (0) or On (1) OFF (0) RW Bit US
x.37
Fieldbus specific defined
x.38 0 to 255 0 RW Uni US
mode
x.39 Cyclic input configuration 0 to 255 0 RW Uni US
x.40 Cyclic output configuration 0 to 255 0 RW Uni US
x.41 to
Fieldbus specific 0 to 255 0 RW Uni US
x.43
x.44 to
Fieldbus specific 0 to 255 0 RO Uni PT US
x.48
x.49 Mapping error status 0 to 255 0 RO Uni PT US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

Unidrive SP User Guide 173

11.15.5 Applications module category

Applications module parameters

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
x.03 DPL program status None (0), Stop (1), Run (2), Trip (3) RO Txt NC PT
x.04 Available system resource 0 to 100 RO Uni NC PT
x.05 RS485 address 0 to 255 11 RW Uni US
x.06 RS485 mode 0 to 255 1 RW Uni US
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
x.07 RS485 baud rate 9600 (5), 19200 (6), 38400 (7), 57600 (8), 300 (0) RW Txt US
115200 (9) baud
x.08 RS485 Turnaround delay 0 to 255 ms 2 RW Uni US
x.09 RS485 Tx enable delay 0 to 1 ms 0 RW Uni US
x.10 DPL Print Routing SYPT: OFF (0), RS485: On (1) SYPT: OFF (0) RW Bit US
x.11 Clock tick time (ms) 0 to 200 0 RW Uni US
dISAbLEd (0), 0.25 ms (1), 0.5 ms (2), 1 ms (3),
x.12 Motion engine sample rate dISAbLEd (0) RW Uni US
2 ms (4), 4 ms (5), 8 ms (6)
x.13 Enable autorun OFF (0) or On (1) On (1) RW Bit US
x.14 Global run time trip enable OFF (0) or On (1) OFF (0) RW Bit US
x.15 Disable reset on trip cleared OFF (0) or On (1) OFF (0) RW Bit US
Lowest slot number (0), slot 1 (1), slot 2 (2),
x.16 Encoder data update rate Lowest slot number (0) RW Uni US
slot 3 (3)
Enable parameter over range
x.17 OFF (0) or On (1) OFF (0) RW Bit US
trips
x.18 Watchdog enable OFF (0) or On (1) OFF (0) RW Bit US
x.19 Save request OFF (0) or On (1) OFF (0) RW Bit NC
x.20 Enable power down save OFF (0) or On (1) OFF (0) RW Bit NC US
Enable menu 20 save and
x.21 OFF (0) or On (1) OFF (0) RW Bit NC US
restore
x.22 CTNet Token Ring ID 0 to 255 0 RW Uni US
x.23 CTNet node address 0 to 255 0 RW Uni US
x.24 CTNet baud rate 5.000 (0), 2.500 (1), 1.250 (2), 0.625 (3) 2.500 (1) RW Txt US
x.25 CTNet sync setup 0,000 to 9,999 0,000 RW Uni US
CTNet easy mode - first cyclic
x.26 0 to 25,503 0 RW Uni US
parameter destination node
CTNet easy mode - first cyclic
x.27 0 to 9,999 0 RW Uni US
source parameter
CTNet easy mode - second cyclic
x.28 0 to 25,503 0 RW Uni US
parameter destination node
CTNet easy mode - second
x.29 0 to 9,999 0 RW Uni US
cyclic source parameter
CTNet easy mode - third cyclic
x.30 0 to 25,503 0 RW Uni US
parameter destination node
CTNet easy mode - third
x.31 0 to 9,999 0 RW Uni US
cyclic source parameter
CTNet easy mode set-up - Transfer
x.32 0 to 9,999 0 RW Uni US
slot 1 destination parameter
CTNet easy mode set-up - Transfer
x.33 0 to 9,999 0 RW Uni US
slot 2 destination parameter
CTNet easy mode set-up - Transfer
x.34 0 to 9,999 0 RW Uni US
slot 3 destination parameter
Disabled (0), Event (1), Event1 (2), Event2 (3),
x.35 CTNet sync event task ID Disabled (0) RW Uni US
Event3 (4)
x.36 CTNet diagnostic parameter RO Uni NC PT
Reject download if drive
x.37 OFF (0) or On (1) OFF (0) RW Bit US
enabled
Do not trip drive on APC run-
x.38 OFF (0) or On (1) OFF (0) RW Bit US
time error
Inter-UT70 synchronisation
x.39 0 to 3 0 RO Uni US
status
Inter-UT70 master transfer
x.40 0 to 10 1 RW Uni US
mode
x.42 Freeze main drive position OFF (0) or On (1) OFF (0) RW Bit NC US
x.43 Freeze invert OFF (0) or On (1) OFF (0) RW Bit US
x.44 Task priority level 0 to 255 0 RW Uni US
x.48 DPL line number in error 0 to 2,147,483,647 0 RO Uni US
x.49 User program ID -32,767 to +32,768 0 RO Bi NC PT

174 Unidrive SP User Guide

11.16 Menu 18: Application menu 1

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
Application menu 1 power-down
18.01 -32,768 to +32,767 0 RW Bi NC PS
saved integer
18.02 to
Application menu 1 read-only integer -32,768 to +32,767 0 RO Bi NC
18.10
18.11 to
Application menu 1 read-write integer -32,768 to +32,767 0 RW Bi US
18.30
18.31 to 0
Application menu 1 read-write bit OFF (0) or On (1) RW Bit US
18.50

11.17 Menu 19: Application menu 2

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
Application menu 2 power-down
19.01 -32,768 to +32,767 0 RW Bi NC PS
saved integer
19.02 to
Application menu 2 read-only integer -32,768 to +32,767 0 RO Bi NC
19.10
19.11 to
Application menu 2 read-write integer -32,768 to +32,767 0 RW Bi US
19.30
19.31 to
Application menu 2 read-write bit OFF (0) or On (1) 0 RW Bit US
19.50

11.18 Menu 20: Application menu 3

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
20.01 to
Application menu 3 read-write integer -32,768 to +32,767 0 RW Bi NC
20.20
20.21 to Application menu 3 read-write long
20.40 integer -231 to 231-1 0 RW Bi NC

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

Unidrive SP User Guide 175

11.19 Menu 21: Second motor parameters

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
EUR> 50.0 EUR> 1,500.0
21.01 Maximum reference clamp {0.02}* 0 to 3,000.0 Hz SPEED_LIMIT_MAX rpm 3,000.0 RW Uni US
USA> 60.0 USA> 1,800.0
21.02 Minimum reference clamp {0.01}* ±3,000.0 Hz ±SPEED_LIMIT_MAX rpm 0.0 RW Bi PT US
A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), Pad (4),
21.03 Reference selector {0.05}* A1.A2 (0) RW Txt US
Prc (5)
0.0 to 3,200.0 0.000 to 3,200.000
21.04 Acceleration rate {0.03}* 5.0 2.000 0.200 RW Uni US
s/100Hz s/1000rpm
0.0 to 3200.0 0.000 to 3,200.000
21.05 Deceleration rate {0.04}* 10.0 2.000 0.200 RW Uni US
s/100Hz s/1000rpm
EUR> 50
21.06 Rated frequency {0.47}* 0 to 3000.0 Hz VT> 0 to 1250.0Hz RW Uni US
USA> 60
21.07 Rated current {0.46}* 0 to RATED_CURRENT_MAX A Drive rated current (Pr 11.32) RW Uni RA US
EUR> 1,500 EUR> 1,450.00
21.08 Rated load rpm {0.45}* 0 to 180,000 rpm 0.00 to 40,000.00 rpm 3,000.00 RW Uni US
USA> 1,800 USA> 1,770.00
200V rating drive: 230V
400V rating drive: EUR> 400V
21.09 Rated voltage {0.44}* 0 to AC_VOLTAGE_SET_MAX V USA> 460V RW Uni RA US
575V rating drive: 575V
690V rating drive: 690V
21.10 Rated power factor {0.43}* 0.000 to 1.000 VT> 0.000 to 1.000 0.85 RW Uni US
21.11 Number of motor poles {0.42}* Auto to 120 pole (0 to 60) Auto (0) 6 POLE (3) RW Txt US
21.12 Stator resistance 0.000 to 30.000 Ω 0.0 RW Uni RA US
21.13 Voltage offset 0.0 to 25.0 V 0.0 RW Uni RA US
21.14 Transient inductance (σLs) 0.000 to 500.000mH 0.000 RW Uni RA US
21.15 Motor 2 active OFF (0) or On (1) RO Bit NC PT
21.16 Thermal time constant {0.45}* 0.0 to 400.0 89.0 20.0 RW Uni US
0.000 to 6.5535
21.17 Speed controller Kp gain {0.07}* 0.0100 RW Uni US
rad s-1
21.18 Speed controller Ki gain {0.08}* 0.00 to 655.35 s/rad s-1 1.00 RW Uni US
0.00000 to 0.65535
21.19 Speed controller Kd gain {0.09}* 0.00000 RW Uni US
s-1/rad s-1
21.20 Encoder phase angle {0.43}* 0.0 to 359.9 ° electrical 0.0 RW Uni US
drv (0), SLot1 (1), SLot2
21.21 Speed feedback selector drv (0) RW Txt US
(2), SLot3 (3)
200V: 75, 400V: 150,
21.22 Current controller Kp gain {0.38}* 0 to 30,000 20 RW Uni US
575V: 180, 690V: 215
200V: 1,000, 400V: 2,000,
21.23 Current controller Ki gain {0.39}* 0 to 30,000 40 RW Uni US
575V: 2,400, 690V: 3,000
21.24 Stator inductance (Ls) VT> 0.00 to 5,000.00 mH 0.00 RW Uni RA US
21.25 Motor saturation breakpoint 1 VT> 0 to 100% of rated flux 50 RW Uni US
21.26 Motor saturation breakpoint 2 VT> 0 to 100% of rated flux 75 RW Uni US
21.27 Motoring current limit 0 to MOTOR2_CURRENT_LIMIT_MAX % 165.0 175.0 RW Uni RA US
21.28 Regen current limit 0 to MOTOR2_CURRENT_LIMIT_MAX % 165.0 175.0 RW Uni RA US
21.29 Symmetrical current limit {0.06}* 0 to MOTOR2_CURRENT_LIMIT_MAX % 165.0 175.0 RW Uni RA US
Motor volts per 1,000 rpm,
21.30 K SV> 0 to 10,000 V 98 RW Uni US
e

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

* The menu 0 references are only valid when the second motor map Encoder phase angle (servo mode only)
parameters have been made active by setting Pr 11.45 to 1. (The The encoder phase angle in Pr 3.25 and Pr 21.20 is cloned
second motor map only becomes effective when the output stage of the when using the SMARTCARD with drive software version
drive is not enabled, i.e. inh, rdY, or trip states.) V01.05.00 onwards. This is useful when the SMARTCARD is
WARNING
When the second motor map parameters are active, the decimal point used to backup the parameter set of a drive but caution
that is second from the right on the first row of the LED display is on. should be used if the SMARTCARD is used to transfer
parameter sets between drives.
Unless the encoder phase angle of the servo motor
connected to the destination drive is known to be the same
as the servo motor connected to the source drive, an
autotune should be performed or the encoder phase angle
should be entered manually into Pr 3.25 (or Pr 21.20).
If the encoder phase angle is incorrect the drive may lose
control of the motor resulting in an O.SPd or Enc10 trip when
the drive is enabled.

176 Unidrive SP User Guide

11.20 Menu 22: Additional Menu 0 set-up

Range(Ú) Default(Ö)
Parameter Type
OL CL OL VT SV
22.01 Parameter 0.31 set-up Pr 1.00 to Pr 21.51 Pr 11.33 RW Uni PT US
22.02 Parameter 0.32 set-up Pr 1.00 to Pr 21.51 Pr 11.32 RW Uni PT US
22.03 Parameter 0.33 set-up Pr 1.00 to Pr 21.51 Pr 6.09 Pr 5.16 Pr 0.00 RW Uni PT US
22.04 Parameter 0.34 set-up Pr 1.00 to Pr 21.51 Pr 11.30 RW Uni PT US
22.05 Parameter 0.35 set-up Pr 1.00 to Pr 21.51 Pr 11.24 RW Uni PT US
22.06 Parameter 0.36 set-up Pr 1.00 to Pr 21.51 Pr 11.25 RW Uni PT US
22.07 Parameter 0.37 set-up Pr 1.00 to Pr 21.51 Pr 11.23 RW Uni PT US
22.10 Parameter 0.40 set-up Pr 1.00 to Pr 21.51 Pr 5.12 RW Uni PT US
22.11 Parameter 0.41 set-up Pr 1.00 to Pr 21.51 Pr 5.18 RW Uni PT US
22.18 Parameter 0.48 set-up Pr 1.00 to Pr 21.51 Pr 11.31 RW Uni PT US
22.20 Parameter 0.50 set-up Pr 1.00 to Pr 21.51 Pr 11.29 RW Uni PT US
22.21 Parameter 0.51 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.22 Parameter 0.52 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.23 Parameter 0.53 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.24 Parameter 0.54 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.25 Parameter 0.55 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.26 Parameter 0.56 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.27 Parameter 0.57 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.28 Parameter 0.58 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.29 Parameter 0.59 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned RA Rating dependent PT Protected US User save PS Power down save

Unidrive SP User Guide 177

11.21 Advanced features 11.21.1 Reference modes

This section gives information on some of the advanced functions of the 1.14 Reference selector
Unidrive SP. For additional information see the Unidrive SP Advanced
RW Txt NC US
User Guide.
A1.A2 (0), A1.Pr (2), A2.Pr (2),
Ú Pr (3), Pad (4), Prc (5)
Ö A1.A2 (0)
Reference modes Pr 1.14, Pr 1.15 and Pr 8.39
Braking modes Pr 2.04 and Pr 2.08
S ramps Pr 2.06 and Pr 2.07 1.15 Preset reference selector
Torque modes Pr 4.08 and Pr 4.11 RW Uni NC US
Stop modes Pr 6.01, Pr 6.06, Pr 6.07 and Pr 6.08 Ú 0 to 9 Ö 0
Main loss modes Pr 6.03, Pr 4.13 and Pr 4.14
Start/stop logic modes Pr 6.04 and Pr 6.40
8.39 T28 and T29 auto-selection
Catch a spinning motor Pr 6.09
Position loop modes Pr 13.10 RW Bit US
Ú OFF (0) or On (1) Ö OFF (0)

The setting of Pr 1.14 automatically changes the operation of digital

inputs T28 and T29 by configuring the destination parameters Pr 8.25
and Pr 8.26. To allow Pr 8.25 and Pr 8.26 to be changed manually by the
user, the automatic set-up must be disabled by setting Pr 8.39 to 1.
If Pr 8.39 is 0 and Pr 1.14 is changed, then a drive reset is required
before the function of terminal T28 or T29 will become active.

Table 11-5 Active reference

Digital Input T28 Digital Input T29

Pr 1.14 Pr 1.15 Pr 1.49 Pr 1.50 Active Reference
State Function State Function
0 1 1 Analog input 1
0 or 1 Local Remote
1 2 1 Analog input 2
2 to 8 No function 1 or 2 2 to 8 Preset reference 2 to 8
A1.A2 (0) Jog forward**
0 1 1 Analog input 1
Local Remote
9* 1 2 1 Analog input 2
No function 1 or 2 2 to 8 Preset reference 2 to 8
0 1 Analog input 1
0
1 2 Preset reference 2
0 Preset select bit 0 Preset select bit 1
0 3 Preset reference 3
1
1 4 Preset reference 4
A1.Pr (1) 1
1 1 Analog input 1
2 to 8 2 to 8 Preset reference 2 to 8
No function No function
1 Analog input 1
9*
2 to 8 Preset reference 2 to 8
0 1 Analog input 2
0
1 2 Preset reference 2
0 Preset select bit 0 Preset select bit 1
0 3 Preset reference 3
1
1 4 Preset reference 4
A2.Pr (2) 2
1 1 Analog input 2
2 to 8 2 to 8 Preset reference 2 to 8
No function No function
1 Analog input 2
9*
2 to 8 Preset reference 2 to 8
0 1 Preset reference 1
0
1 2 Preset reference 2
0 Preset select bit 0 Preset select bit 1
0 3 Preset reference 3
Pr (3) 1 3
1 4 Preset reference 4
1 to 8 1 to 8 Preset reference 1 to 8
No function No function
9* 1 to 8 Preset reference 1 to 8
Pad (4) No function No function 4 Keypad reference
Prc (5) No function No function 5 Precision reference
* Setting Pr 1.15 to 9 enables the Preset reference scan timer. With the ** Jog forward can only be selected when the drive is in either the ready
scan timer enabled the preset references are selected automatically in (rdy), inhibit (inh) or trip states.
turn. Pr 1.16 defines the time between each change.

178 Unidrive SP User Guide

Preset references 2: Standard ramp with motor voltage boost

Preset references 1 to 8 are contained in Pr 1.21 to Pr 1.28. This mode is the same as normal standard ramp mode except that the
Keypad reference motor voltage is boosted by 20%. This increases the losses in the motor
If Keypad reference is selected the drive sequencer is controlled directly giving faster deceleration.
by the keypad keys and the keypad reference parameter (Pr 1.17) is
selected. The sequencing bits, Pr 6.30 to Pr 6.34, and Pr 6.37 have no 2.08 Standard ramp voltage
effect and jog is disabled.
RW Uni RA US
Precision reference
200V drive: 375
If Precision reference is selected the speed reference is given Pr 1.18
and Pr 1.19. 400V drive: EUR> 750
0 to
Ú DC_VOLTAGE_SET_MAX V
Ö USA> 775
11.21.2 Braking Modes 575V drive: 895
690V drive: 1075
2.04 Ramp mode select
This voltage is used as the control level for standard ramp mode. If this
RW Txt US
parameter is set too low the machine will coast to rest, and if it is set too
FASt (0), Std (1), high and no braking resistor is used the drive may give an over-volt ‘OU’
OL
Ú Std.hV (2) Ö Std (1) trip. The minimum level should be greater than the voltage produced on
CL FASt (0), Std (1) the DC Bus by the highest supply voltage. Normally the DC Bus voltage
will be approximately the rms supply line voltage x √2.
This parameter does not affect the acceleration ramp, as the ramp
output always rises at the programmed acceleration rate subject to the Care should be taken in the setting of this parameter. It is
current limits. It is possible in under some unusual circumstances in recommended that the setting should be at least 50V higher
open-loop mode (i.e. highly inductive supply) for the motor to reach a low than the maximum expected level of the DC Bus voltage. If
speed in standard ramp mode, but not completely stop. It is also this is not done, the motor may fail to decelerate on a STOP
WARNING command.
possible if the drive attempts to stop the motor with an overhauling load
in any mode that the motor will not stop when standard ramp mode or
fast ramp mode is used. If the drive is in the deceleration state the rate of 11.21.3 S ramps
fall of the frequency or speed is monitored. If this does not fall for 10
seconds the drive forces the frequency or the speed reference to zero. 2.06 S ramp enable
This only applies when the drive is in the deceleration state and not
RW Bit US
when the reference is simply set to zero.
Ú OFF (0) or On (1) Ö OFF (0)
0: Fast ramp
Fast ramp is used where the deceleration follows the programmed Setting this parameter enables the S ramp function. S ramp is disabled
deceleration rate subject to current limits. during deceleration using standard ramp. When the motor is accelerated
again after decelerating in standard ramp the acceleration ramp used by
1: Standard ramp
the S ramp function is reset to zero.
Standard ramp is used. During deceleration, if the voltage rises to the
standard ramp level (Pr 2.08) it causes a controller to operate, the output
of which changes the demanded load current in the motor. As the 2.07 S ramp acceleration limit
controller regulates the link voltage, the motor deceleration increases as RW Uni US
the speed approaches zero speed. When the motor deceleration rate 0.0 to 300.0
reaches the programmed deceleration rate the controller ceases to OL 3.1
s2/100Hz
operate and the drive continues to decelerate at the programmed rate. If
the standard ramp voltage (Pr 2.08) is set lower than the nominal DC VT Ú Ö 1.500
0.000 to 100.000
Bus level the drive will not decelerate the motor, but it will coast to rest. s 2/1000rpm
SV 0.030
The output of the ramp controller (when active) is a current demand that
is fed to the frequency changing current controller (Open-loop modes) or
This parameter defines the maximum rate of change of acceleration/
the torque producing current controller (Closed-loop vector or Servo
deceleration. The default values have been chosen such that for the
modes). The gain of these controllers can be modified with Pr 4.13 and
default ramps and maximum speed, the curved parts of the S will be
Pr 4.14.
25% of the original ramp if S ramp is enabled.

Controller
Demanded Speed
operational Acceleration
Actual Speed
DC Bus voltage

Programmed
ramp rate
Motor Speed
S ramp
Programmed acceleration
deceleration ramp
rate

T/2 T/2 T/2 T/2 t

T T

Unidrive SP User Guide 179

Since the ramp rate is defined in s/100Hz or s/1000rpm and the S ramp the speed cannot exceed the reference because the required torque
2 2
parameter is defined in s /100Hz or s /1000rpm, the time T for the would be negative, and so it would be clamped to zero.
'curved' part of the S can be determined from:
Current
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. Pr 4.08 +
Pr 4.09 (if enabled)

11.21.4 Torque modes

Speed
4.08 Torque reference Pr 3.01

RW Bi US
Depending on the sign of the final speed demand and the resultant
Ú ±USER_CURRENT_MAX % Ö 0.00
torque the four areas of operation shown below are possible.
Parameter for main torque reference. The normal update rate for the + final speed demand - final speed demand
torque reference is 4ms. However if analogue inputs 2 or 3 on the drive + resultant torque + resultant torque
are used as the source of the reference, the drive is in closed-loop
vector or servo mode and the analogue inputs are in voltage mode with
zero offset, the sample time is reduced to 250µs.

4.11 Torque mode selector

RW Uni US
OL 0 to 1
Ú Ö 0
CL 0 to 4
+ final speed demand - final speed demand
-resultant torque - resultant torque
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 This mode of operation can be used where torque control is required, but
giving closed loop torque/current demand as shown below. The current the maximum speed must be limited by the drive.
error is passed through proportional and integral terms to give a 3: Coiler/uncoiler mode
frequency reference which is limited to the range: -SPEED_FREQ_MAX Positive final speed demand:
to +SPEED_FREQ_MAX. A positive resultant torque will give torque control with a positive
speed limit defined by the final speed demand. A negative resultant
Current torque will give torque control with a negative speed limit of -5rpm.
Frequency
demand + reference Negative final speed demand:
P Pr 4.13
I Pr 4.14 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.
Active Example of coiler operation:
current
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
Closed loop vector and Servo speed. If the resultant torque demand is positive the coiler operates with
When this parameter is set to 1, 2 or 3 the ramps are not active whilst a limited speed, so that if the material breaks the speed does not exceed
the drive is in the run state. When the drive is taken out of the run state, a level just above the reference. It is also possible to decelerate the
but not disabled, the appropriate stopping mode is used. It is coiler with a negative resultant torque demand. The coiler will decelerate
recommended that coast stopping or stopping without ramps are used. down to -5rpm until a stop is applied. The operating area is shown in the
However, if ramp stop mode is used the ramp output is pre-loaded with following diagram.
the actual speed at the changeover point to avoid unwanted jumps in the
speed reference. Area for coiler operation, speed
0: Speed control mode limited to ref and positve torque
The torque demand is equal to the speed loop output. Torque Final speed
demand
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,
Speed
however, the drive will trip at the overspeed threshold if runaway
occurs.
2: Torque control with speed override -5rpm
The output of the speed loop defines the torque demand, but is
Area for decelerating the coiler, reverse
limited between 0 and the resultant torque reference (Pr 4.08 and Pr speed limited and negative torque
4.09 (if enabled)). The effect is to produce an operating area as
shown below if the final speed demand and the resultant torque Example of uncoiler operation:
reference are both positive. The speed controller will try and This is an example for an uncoiler operating in the positive direction. The
accelerate the machine to the final speed demand level with a final speed demand should be set to a level just above the maximum
torque demand defined by the resultant torque reference. However, normal speed. When the resultant torque demand is negative the
uncoiler will apply tension and try and rotate at 5rpm in reverse, and so

180 Unidrive SP User Guide

take up any slack. The uncoiler can operate at any positive speed 11.21.5 Stop modes
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 6.01 Stop mode
speed demand. The operating area is the same as that for the coiler and RW Txt US
is shown below: COASt (0), rP (1), rP.dcl
OL
(2), dcl (3), td.dcl (4) rP (1)
Area for accelerating
uncoiler: positive torque, VT Ú Ö
COASt (0), rP (1),
limited speed
Speed reference SV no.rP (2) no.rP (2)
Torque

Open-loop
Stopping is in two distinct phases: decelerating to stop, and stopped.
Speed
Stopping
Phase 1 Phase 2 Comments
Mode
0: Coast Inverter Drive cannot Delay in phase 2 allows
-5rpm Area for normal uncoiler disabled be re-enabled rotor flux to decay
operation: negative torque,
limited to low speed in reverse
for 1s
1: Ramp Ramp down Wait for 1s with
to zero inverter
4: Speed control with torque feed-forward
frequency enabled
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 2: Ramp Ramp down Inject DC at
the regulation of systems where the speed loop gains need to be low for followed to zero level specified
stability. by DC frequency by Pr 6.06 for
injection time defined by
Pr 6.07
3: DC Low Inject DC at The drive automatically
injection frequency level specified senses low speed and
with zero current by Pr 6.06 for therefore it adjusts the
speed injection time defined by injection time to suit the
detection with Pr 6.07 application. If the injection
detection of current level is too small
low speed the drive will not sense
before next low speed (normally a
phase minimum of 50-60% is
required).
4: Timed Inject DC at
DC level
injection specified by
braking Pr 6.06 for
stop time
specified by
Pr 6.07
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 vector and Servo
Only one stopping phases exists and the ready state is entered as soon
as the single stopping action is complete.

Stopping Mode Action

0: Coast Inhibits the inverter
1: Ramp Stop with ramp
2: No ramp Stop with no ramp
The motor can be stopped with position orientation after stopping. This
mode is selected with the position controller mode parameter (Pr 13.10).
When this mode is selected Pr 6.01 has no effect.

6.06 Injection braking level

RW Uni RA US
OL Ú 0.0 to 150.0 % Ö 100.0

Defines the current level used during DC injection braking as a

percentage of motor rated current as defined by Pr 5.07.

Unidrive SP User Guide 181

Voltage level 200V drive 400V drive 575V drive

6.07 Injection braking time
Vuu 175 330 435
RW Uni US
Vml1 205 410 540
OL Ú 0.0 to 25.0 s Ö 1.0
Vml2 195 390 515
Defines the time of injection braking during phase 1 with stopping modes
Vuu Restart 215 425 590
3 and 4, and during phase 2 with stopping mode 2 (see Pr 6.01).

6.08 Hold zero speed 4.13 Current loop P gain

RW Bit US RW Uni US
OL OL Ú Ö All voltage ratings: 20
OFF (0)
VT Ú OFF (0) or On (1) Ö 0 to 30,000 200V drive: 75
CL Ú Ö 400V drive: 150
SV On (1) 575V drive: 180

When this bit is set the drive remains active even when the run
command has been removed and the motor has reached standstill. The 4.14 Current loop I gain
drive goes to the 'StoP' state instead of the 'rdy' state.
RW Uni US
OL Ú Ö All voltage ratings: 40
11.21.6 Mains loss modes
0 to 30,000 200V drive: 1,000
6.03 Mains loss mode CL Ú Ö 400V drive: 2,000
575V drive: 2,400
RW Txt US
Ú diS (0), StoP (1), ridE.th (2) Ö diS (0) Open-loop
These parameters control the proportional and integral gains of the
0: diS current controller used in the open loop drive. As already mentioned the
There is no mains loss detection and the drive operates normally only as current controller either provides current limits or closed loop torque
long as the DC Bus voltage remains within specification (i.e. >Vuu). control by modifying the drive output frequency. The control loop is also
Once the voltage falls below Vuu an under-voltage ‘UU’ trip occurs. This used in its torque mode during mains loss, or when the controlled mode
will reset itself if the voltage rises above Vuu Restart, as stated in the standard ramp is active and the drive is decelerating, to regulate the flow
table below. of current into the drive. Although the default settings have been chosen
to give suitable gains for less demanding applications it may be
1: StoP - Open-loop necessary for the user to adjust the performance of the controller. The
The action taken by the drive is the same as for ride through mode, following is a guide to setting the gains for different applications.
except the ramp down rate is at least as fast as the deceleration ramp
Current limit operation:
setting and the drive will continue to decelerate and stop even if the
The current limits will normally operate with an integral term only,
mains is re-applied. If normal or timed injection braking is selected the
particularly below the point where field weakening begins. The
drive will use ramp mode to stop on loss of the supply. If ramp stop
proportional term is inherent in the loop. The integral term must be
followed by injection braking is selected, the drive will ramp to a stop and
increased enough to counter the effect of the ramp which is still
then attempt to apply dc injection. At this point, unless the mains has
active even in current limit. For example, if the drive is operating at
been restored, the drive is likely to initiate a trip.
constant frequency and is overloaded the current limit system will try
1: StoP - Closed-loop vector or Servo to reduce the output frequency to reduce the load. At the same time
The speed reference is set to zero and the ramps are disabled allowing the ramp will try to increase the frequency back up to the demand
the drive to decelerate the motor to a stop under current limit. If the level. If the integral gain is increased too far the first signs of
mains is re-applied whilst the motor is stopping any run signal is ignored instability will occur when operating around the point where field
until the motor has stopped. If the current limit value is set very low level weakening begins. These oscillations can be reduced by increasing
the drive may trip UU before the motor has stopped. the proportional gain. A system has been included to prevent
regulation because of the opposite actions of the ramps and the
2: ridE.th current limit. This can reduce the actual level that the current limit
The drive detects mains loss when the DC Bus voltage falls below Vml1. becomes active by 12.5%. This still allows the current to increase up
The drive then enters a mode where a closed-loop controller attempts to to the current limit set by the user. However the current limit flag (Pr
hold the DC Bus level at Vml1. This causes the motor to decelerate at a 10.09) which could become active up to 12.5% below the current
limit depending on the ramp rate used.
rate that increases as the speed falls. If the mains is re-applied it will
force the DC Bus voltage above the detection threshold Vml3 and the Torque control:
drive will continue to operate normally. The output of the mains loss Again the controller will normally operate with an integral term only,
controller is a current demand that is fed into the current control system particularly below the point where field weakening begins. The first
and therefore the gain Pr 4.13 and Pr 4.14 must be set up for optimum signs of instability will appear around base speed, and can be
control. See parameters Pr 4.13 and Pr 4.14 for set-up details. reduced by increasing the proportional gain. The controller can be
less stable in torque control mode rather than when it is used for
The following table shows the voltage levels used by drives with each current limiting. This is because load helps to stabilise the controller,
voltage rating. 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.

182 Unidrive SP User Guide

Mains loss and controlled standard ramp: This set-up will give a step response with minimum overshoot after a
The DC Bus voltage controller becomes active if mains loss step change of current reference. The approximate performance of the
detection is enabled and the drive supply is lost or controlled current controllers will be as given below. The proportional gain can be
standard ramp is being used and the machine is regenerating. The increased by a factor of 1.5 giving a similar increase in bandwidth,
DC Bus controller attempts to hold the DC Bus voltage at a fixed however, this gives at step response with approximately 12.5%
level by controlling the flow of current from the drive inverter into its overshoot.
DC Bus capacitors. The output of the DC Bus controller is a current
demand which is fed into the current PI controller as shown in the Current control Gain
Switching Phase delay
following diagram. sample time bandwidth
frequency (kHz) (µs)
(µs) (Hz)
Current 3 167 TBA 667
demand
DC Bus
P Pr 4.13
4 125 TBA 444
voltage
controller I Pr 4.14 6 83 TBA 333
Frequency
reference 8 125 TBA 444
DC Bus 12 83 TBA 333
capacitor
16 125 TBA 444
Active current
The integral gain (Pr 4.14) is less critical and should be set so that
Pr 4.14 = Ki = Kp x 256 x T / τm
Although it is not usually necessary the DC Bus voltage controller
can be adjusted with Pr 5.31. However, it may often be necessary to Where:
adjust the current controller gains to obtain the required τm is the motor time constant (L / R).
performance. If the gains are not suitable it is best to set up the drive R is the per phase stator resistance of the motor (i.e. half the
in torque control first. Set the gains to a value that does not cause resistance measured between two phases).
instability around the point at which field weakening occurs. Then Therefore
revert back to open loop speed control in standard ramp mode. To Pr 4.14 = Ki = (K x L x Rated drive current) x 256 x 167µs x R / L
test the controller the supply should be removed whilst the motor is = 0.0427 x K x R x Rated drive current
running. It is likely that the gains can be increased further if required
The above equation gives a conservative value of integral gain. In some
because the DC Bus voltage controller has a stabilising effect,
applications where it is necessary for the reference frame used by the
provided that the drive is not required to operate in torque control
drive to dynamically follow the flux very closely (i.e. high speed closed-
mode.
loop induction motor applications) the integral gain may need to have a
Closed-loop vector and Servo significantly higher value.
The Kp and Ki 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 to improve the 11.21.7 Start / stop logic modes
performance. The proportional gain (Pr 4.13) is the most critical value in
controlling the performance. Either the value can be set by auto-tuning 6.04 Start / stop logic select
(see Pr 5.12) or it can be set by the user so that RW Uni US
Pr 4.13 = Kp = (L / T) x (Ifs / Vfs) x (256 / 4)
Ú 0 to 4 Ö 0
Where:
T is the sample time of the current controllers. The drive This parameter is provided to allow the user to select several predefined
compensates for any change of sample time, and so it should be digital input routing macros to control the sequencer. When a value
assumed that the sample time is equivalent to the lowest sample between 0 and 3 is selected the drive processor continuously updates
rate of 167µs. the destination parameters for digital I/O T25, T26 and T27, and the
L is the motor inductance. For a servo motor this is half the phase to enable sequencer latching bit (Pr 6.40). When a value of 4 is selected
phase inductance that is normally specified by the manufacturer. For the destination parameters for these digital I/O and Pr 6.40 can be
an induction motor this is the per phase transient inductance (sLs). modified by the user.
This is the inductance value stored in Pr 5.24 after the auto-tune test If Pr 6.04 is changed then a drive reset is required before the function of
is carried out. If sLs cannot be measured it can be calculated from T28 or T29 will become active.
the steady state per-phase equivalent circuit of the motor as follows:
2 Pr 6.04 T25 T26 T27 Pr 6.40
 Lm 
σL s = L s –  ---------- Pr 6.30 Pr 6.32 0
 Lr  0 No Function
(Run Forward) (Run Reverse) (Non Latching)
Ifs is the peak full scale current feedback = Rated drive current x √2 /
Pr 6.39 Pr 6.30 Pr 6.32 1
0.45. Where rated drive current is given by Pr 11.32. 1
(Not Stop) (Run Forward) (Run Reverse) (Latching)
Vfs is the maximum DC Bus voltage.
Pr 6.34 Pr 6.33 0
Therefore: 2 No Function
(Run) (Fwd/Rev) (Non Latching)
Pr 4.13 = Kp = (L / 167µs) x (Rated drive current x √2 / 0.45 / Vfs)
x (256 / 3) Pr 6.39 Pr 6.34 Pr 6.33 1
3
= K x L x Rated drive current (Not Stop) (Run) (Fwd/Rev) (Latching)
Where: User User User User
4
K = √2 / (0.45 x Vfs x 167µs) x (256 / 4) programmable programmable programmable programmable
Drive voltage rating Vfs K
200V 415V 2902
400V 830V 1451
575V 990V 1217

Unidrive SP User Guide 183

Figure 11-29 Digital input connections when Pr 6.04 is set 11.21.8 Catch a spinning motor
to 0 to 3
6.09 Catch a spinning motor
Pr 6.04 is set to 0 Pr 6.04 is set to 1
RW Uni US
21 21 OL 0 to 3 0
+24V 22 +24V 22 Ú Ö
CL 0 to 1 1
23 23
24 24 Open-loop
25 Run Permit 25 When the drive is enabled with this parameter at zero, the output
Run Fwd 26 Run Fwd 26 frequency starts at zero and ramps to the required reference. When the
Run Rev 27 Run Rev 27 drive is enabled with this parameter at a non-zero value, the drive
performs a start-up test to determine the motor speed and then sets the
28 28
initial output frequency to the synchronous frequency of the motor.
29 29
The test is not carried out and the motor frequency starts at zero if one of
30 30
the following is true.
31 31
• The run command is given when the drive is in the stop state
• The drive is first enabled after power-up with Ur_I voltage mode (Pr
5.14 = Ur_I).
Pr 6.04 is set to 2 Pr 6.04 is set to 3
• The run command is given with Ur_S voltage mode (Pr 5.14 =
Ur_S).
21 21
With default parameters the length of the test is approximately 250ms,
+24V 22 +24V 22
however, if the motor has a long rotor time constant (usually large
23 23 motors) it may be necessary to extend the test time. The drive will do this
24 24 automatically if the motor parameters including the rated load rpm are
25 Run Permit 25 set up correctly for the motor.
Run 26 Run 26 For the test to operate correctly it is important that the stator resistance
Fwd/Rev 27 Fwd/Rev 27 (Pr 5.17 or Pr 21.12) is set up correctly. This applies even if fixed boost
28 28
(Pr 5.14 = Fd) or square law (Pr 5.14 = SrE) voltage mode is being used.
The test uses the rated magnetising current of the motor during the test,
29 29
therefore the rated current (Pr 5.07, Pr 21.07 and Pr 5.10, Pr 21.10) and
30 30 power factor should be set to values close to those of the motor,
31 31 although these parameters are not as critical as the stator resistance.
It should be noted that a stationary lightly loaded motor with low inertia
Key
might move slightly during the test. The direction of the movement is
Continuous contact
undefined. Restrictions may be placed on the direction of this movement
Momentary contact and on the frequencies detected by the drive as follows:

06.09 Function
0 Disabled
6.40 Enable sequencer latching
1 Detect all frequencies
RW Bit US
2 Detect positive frequencies only
Ú OFF (0) or On (1) Ö OFF (0) 3 Detect negative frequencies only

This parameter enables sequencer latching. When sequencer latching is

Closed-loop vector and Servo
used, a digital input must be used as a run permit or not stop input. The
digital input should write to Pr 6.39. The run permit or not stop input must When the drive is enabled with this bit at zero, the post ramp reference
be made active to allow the drive to run. Making the run permit or not (Pr 2.01) starts at zero and ramps to the required reference. When the
stop input inactive resets the latch and stops the drive. drive is enabled with this bit at one, the post ramp reference is set to the
motor speed.

184 Unidrive SP User Guide

11.21.9 Position modes velocity feed-forwards to prevent a constant position error that would be
proportional to the speed of the reference position.
13.10 Position controller mode If for any reason the user wishes to provide the velocity feed forward
RW Uni US from a source other than the reference position, the feed forward system
can be made inactive, i.e. Pr 13.10 = 2 or 4. The external feed forward
OL 0 to 2
Ú Ö 0 can be provided via Menu 1 from any of the frequency/speed references.
CL 0 to 6 However, if the feed forward level is not correct a constant position error
will exist.
This parameter is used to set the position controller mode as shown in
Relative jogging
the table below. If relative jogging is enabled the feedback position can be made to move
relative the reference position at the speed defined by Pr 13.17.
Parameter Feed forward
Mode Orientation
value active
If Pr 13.10 is 5 the drive orientates the motor following a stop command.
0 Position controller disabled If hold zero speed is enabled (Pr 6.08 = 1) the drive remains in position
1 Rigid position control 9 control when orientation is complete and hold the orientation position. If
2 Rigid position control hold zero speed is not enabled the drive is disabled when orientation is
complete.
3 Non-rigid position control 9
4 Non-rigid position control If Pr 13.10 is 6 the drive orientates the motor following a stop command
and whenever the drive is enabled provided that hold zero speed is
5 Orientation on stop
enabled (Pr 6.08 = 1). This ensures that the spindle is always in the
Orientation on stop and when same position following the drive being enabled.
6
drive enabled
When orientating from a stop command the drive goes through the
following sequence:
Rigid position control
In rigid position control the position error is always accumulated. This 1. The motor is decelerated or accelerated to the speed limit
means that, if for example, the slave shaft is slowed down due to programmed in Pr 13.12, using ramps if these are enabled, in the
excessive load, the target position will eventually be recovered by direction the motor was previously running.
running at a higher speed when the load is removed. 2. When the ramp output reaches the speed set in Pr 13.12, ramps are
disabled and the motor continues to rotate until the position is found
to be close to the target position (i.e. within 1/32 of a revolution). At
Speed this point the speed demand is set to 0 and the position loop is
Actual
closed.
3. When the position is within the window defined by Pr 13.14, the
orientation complete indication is given in Pr 13.15.
Reference
The stop mode selected by Pr 6.01 has no effect if orientation is
enabled.

Equal Areas

Non-rigid position control

In non-rigid position control the position loop is only active when the 'At
Speed' condition is met (see Pr 3.06). This allows slippage to occur while
the speed error is high.

Speed

Reference

Actual

Velocity feed forward

The position controller can generate a velocity feed forwards value from
the speed of the reference encoder. The feed-forwards value is passed
to menu, and so ramps may be included if required. Because the
position controller only has a proportional gain, it is necessary to use

Unidrive SP User Guide 185

12 Technical Data
12.1 Drive
12.1.1 Power and current ratings (Derating for switching frequency and temperature)
For a full explanation of ‘Normal Duty’ and ‘Heavy Duty’ refer to section 2.1 Ratings on page 8.

Table 12-1 Maximum permissible continuous output current @ 40°C (104°F) ambient
Normal Duty Heavy Duty
Nominal Maximum permissible continuous output current Nominal Maximum permissible continuous output current
Model
rating (A) for the following switching frequencies rating (A) for the following switching frequencies
kW hp 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz kW hp 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
SP1201 1.1 1.5 5.2 0.75 1.0 4.3
SP1202 1.5 2.0 6.8 1.1 1.5 5.8
SP1203 2.2 3.0 9.6 1.5 2.0 7.5
SP1204 3.0 3.0 11.0 2.2 3.0 10.6
SP2201 4.0 5.0 15.5 3.0 3.0 12.6
SP2202 5.5 7.5 22.0 4.0 5.0 17.0
SP2203 7.5 10 28.0 27.9 24.8 21.8 5.5 7.5 25.0 24.2 22.5 19.6 17.2
SP3201 11 15 42.0 7.5 10 31.0
SP3202 15 20 54.0 48.5 11 15 42.0 41.3
SP1401 1.1 1.5 2.8 0.75 1.0 2.1
SP1402 1.5 2.0 3.8 1.1 2.0 3.0
SP1403 2.2 3.0 5.0 1.5 3.0 4.2
SP1404 3.0 5.0 6.9 5.9 2.2 3.0 5.8 5.4 4.3
SP1405 4.0 5.0 8.8 7.4 5.7 3.0 5.0 7.6 5.6 4.4
SP1406 5.5 7.5 11.0 10.0 7.4 5.7 4.0 5.0 9.5 9.2 7.7 5.6 4.4
SP2401 7.5 10 15.3 12.7 10.1 5.5 10 13.0 12.6 9.6 7.6
SP2402 11 15 21.0 19.5 16.7 12.7 10.0 7.5 10 16.5 14.9 12.6 9.6 7.6
SP2403 15 20 29.0 27.2 23.2 20.0 15.0 11.8 11 20 25.0 23.7 19.9 16.9 12.8 10.1
SP3401 18.5 25 35.0 34.5 26.3 21.0 15 25 32.0 28.9 22.0 17.5
SP3402 22 30 43.0 37.9 28.6 22.5 18.5 30 40.0 38.3 32.5 24.5 19.2
SP3403 30 40 56.0 53.4 44.6 37.9 28.6 22 30 46.0 45.9 38.3 32.5 24.4
SP3501 3.0 3.0 5.4 2.2 2.0 4.1
SP3502 4.0 5.0 6.1 3.0 3.0 5.4
SP3503 5.5 7.5 8.4 4.0 5.0 6.1
SP3504 7.5 10 11.0 5.5 7.5 9.5
SP3505 11 15 16.0 7.5 10 12.0
SP3506 15 20 22.0 21.6 18.2 11 15 18.0 15.5
SP3507 18.5 25 27.0 26.0 21.6 18.1 15 20 22.0 18.4 15.5

NOTE N
For the definition of ambient temperature, see section 3.7 Cubicle
design and drive ambient temperature on page 26.

186 Unidrive SP User Guide

Table 12-2 Maximum permissible continuous output current @ 40°C (104°F) ambient with IP54 insert and standard fan fitted
Normal Duty Heavy Duty
Nominal Maximum permissible continuous output current Nominal Maximum permissible continuous output current
Model
rating (A) for the following switching frequencies rating (A) for the following switching frequencies
kW hp 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz kW hp 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
SP1201 1.1 1.5 5.2 0.75 1.0 4.3
SP1202 1.5 2.0 6.8 1.1 1.5 5.8
SP1203 2.2 3.0 9.6 9.3 8.2 7.3 1.5 2.0 7.5 7.3
SP1204 3.0 3.0 11.0 10.6 9.7 9.0 7.7 6.6 2.2 3.0 10.6 10.5 9.7 9.0 7.7 6.6
SP2201 4.0 5.0 15.5 3.0 3.0 12.6
SP2202 5.5 7.5 22.0 20.7 18.0 15.7 4.0 5.0 17.0 15.5
SP2203 7.5 10 24.5 23.7 22.0 20.5 17.9 15.6 5.5 7.5 24.2 23.4 21.8 20.3 17.7 15.5
SP1401 1.1 1.5 2.8 0.75 1.0 2.1
SP1402 1.5 2.0 3.8 2.9 1.1 2.0 3.0 2.9
SP1403 2.2 3.0 5.0 3.9 2.9 1.5 3.0 4.2 3.9 2.9
SP1404 3.0 5.0 6.9 6.5 5.4 3.9 2.9 2.2 3.0 5.8 5.4 3.9 2.9
SP1405 4.0 5.0 8.3 7.3 5.8 4.7 3.2 2.3 3.0 5.0 7.6 7.3 5.8 4.7 3.2 2.3
SP1406 5.5 7.5 8.3 7.3 5.8 4.7 3.2 2.3 4.0 5.0 8.2 7.3 5.8 4.7 3.2 2.3
SP2401 7.5 10 15.3 13.3 10.1 7.9 5.5 10 13.0 12.6 9.4 7.3
SP2402 11 15 20.1 18.4 15.6 13.4 10.1 7.9 7.5 10 16.5 14.9 12.3 9.3 7.2
SP2403 15 20 21.7 19.7 16.4 13.9 10.2 7.7 11 20 21.6 19.6 16.4 13.8 10.2 7.7

NOTE N
For the definition of ambient temperature, see section 3.7 Cubicle
design and drive ambient temperature on page 26.

Unidrive SP User Guide 187

Table 12-3 Maximum permissible continuous output current @ 50°C (122°F) ambient
Normal Duty Heavy Duty
Nominal Maximum permissible continuous output current Nominal Maximum permissible continuous output current
Model
rating (A) for the following switching frequencies rating (A) for the following switching frequencies
kW hp 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz kW hp 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
SP1201 1.1 1.5 5.2 0.75 1.0 4.3
SP1202 1.5 2.0 6.8 1.1 1.5 5.8
SP1203 2.2 3.0 9.6 9.0 1.5 2.0 7.5
SP1204 3.0 3.0 11.0 10.9 9.5 8.3 2.2 3.0 10.6 9.5 8.3
SP2201 4.0 5.0 15.5 13.5 11.5 3.0 3.0 12.6 11.4
SP2202 5.5 7.5 19.7 18.9 17.3 15.9 13.5 11.5 4.0 5.0 17.0 15.7 13.4 11.4
SP2203 7.5 10 19.5 18.6 17.2 15.8 13.4 11.5 5.5 7.5 19.2 18.4 17.0 15.7 13.3 11.4
SP3201 11 15 42.0 38.2 7.5 10 31.0
SP3202 15 20 54.0 52.8 47.0 38.2 11 15 42.0 37.2
SP1401 1.1 1.5 2.8 0.75 1.0 2.1
SP1402 1.5 2.0 3.8 1.1 2.0 3.0
SP1403 2.2 3.0 5.0 3.9 1.5 3.0 4.2 3.8
SP1404 3.0 5.0 6.9 5.1 3.9 2.2 3.0 5.8 4.8 3.7
SP1405 4.0 5.0 8.8 7.3 6.0 4.2 3.1 3.0 5.0 7.6 7.2 6.0 4.2 3.1
SP1406 5.5 7.5 10.1 9.0 7.3 6.0 4.2 3.1 4.0 5.0 9.5 9.0 7.2 6.0 4.2 3.1
SP2401 7.5 10 15.3 14.2 11.8 10.0 7.3 5.5 5.5 10 13.0 11.7 9.9 7.3 5.5
SP2402 11 15 15.7 14.2 11.8 10.0 7.3 5.5 7.5 10 15.5 14.1 11.7 9.9 7.3 5.5
SP2403 15 20 16.8 15.0 12.2 10.1 7.1 11 20 16.7 15.0 12.2 10.1 7.1 5.1
SP3401 18.5 25 35.0 33.5 28.5 21.5 16.9 15 25 32.0 30.7 26.1 19.7 15.4
SP3402 22 30 43.0 41.5 34.2 28.7 21.0 16.0 18.5 30 40.0 34.1 28.4 20.7 16.0
SP3403 30 40 46.0 41.5 34.2 28.7 21.0 22 30 46.0 41.5 33.6 28.3 20.8
SP3501 3.0 3.0 5.4 2.2 2.0 4.1
SP3502 4.0 5.0 6.1 3.0 3.0 5.4
SP3503 5.5 7.5 8.4 4.0 5.0 6.1
SP3504 7.5 10 11.0 5.5 7.5 9.5
SP3505 11 15 16.0 14.7 7.5 10 12.0
SP3506 15 20 22.0 17.8 14.7 11 15 18.0 16.8 13.9
SP3507 18.5 25 24.6 22.0 17.8 14.7 15 20 22.0 20.4 16.7 13.9

NOTE N
For the definition of ambient temperature, see section 3.7 Cubicle
design and drive ambient temperature on page 26.

188 Unidrive SP User Guide

12.1.2 Power dissipation

Table 12-4 Losses @ 40°C (104°F) ambient
Drive losses (W) taking into consideration any current derating for the given conditions
Normal Duty Heavy Duty
Model Nominal Nominal
rating 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz rating 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
kW hp kW hp
SP1201 1.1 1.5 33 35 38 42 49 56 0.75 1 27 29 32 35 41 47
SP1202 1.5 2.0 45 47 51 56 64 73 1.1 1.5 38 40 43 47 55 62
SP1203 2.2 3.0 67 70 76 81 92 104 1.5 2.0 51 53 58 62 71 81
SP1204 3.0 3.0 78 82 89 97 113 129 2.2 3.0 75 78 86 94 109 124
SP2201 4.0 5.0 155 161 173 186 210 235 3.0 3.0 133 139 150 160 182 203
SP2202 5.5 7.5 210 218 234 250 282 314 4.0 5.0 170 176 190 203 229 256
SP2203 7.5 10 272 282 302 320 315 5.5 7.5 245 254 263 261 259 258
SP3201 11 15 331 347 380 412 477 7.5 10 260 272 297 321 370
SP3202 15 20 431 451 492 532 551 11 15 349 365 398 430 486
SP1401 1.1 1.5 26 29 37 45 61 76 0.75 1.0 20 24 30 37 51 64
SP1402 1.5 2.0 34 38 48 57 76 95 1.1 2.0 27 31 39 48 64 80
SP1403 2.2 3.0 44 50 61 72 95 117 1.5 3.0 37 42 52 62 82 102
SP1404 3.0 5.0 62 69 83 97 126 134 2.2 3.0 52 58 70 83 101 104
SP1405 4.0 5.0 83 94 117 139 156 157 3.0 5.0 72 82 101 121 123 125
SP1406 5.5 7.5 106 120 147 158 156 157 4.0 5.0 91 103 123 125
SP2401 7.5 10 186 202 234 266 283 282 5.5 10 164 178 206 229 231
SP2402 11 15 248 269 291 286 283 281 7.5 10 201 218 230 229 231
SP2403 15 20 313 320 315 316 11 20 272 282 279 278 279 282
SP3401 18.5 25 364 392 449 499 477 465 15 25 337 363 415 424 408 401
SP3402 22 30 437 471 540 538 514 501 18.5 30 411 443 485 469 452 444
SP3403 30 40 567 580 552 533 510 22 30 474 509 485 469 452
SP3501 3.0 3.0 127 141 168 196 2.2 2.0 112 124 148 172
SP3502 4.0 5.0 135 150 180 209 3.0 3.0 127 141 168 196
SP3503 5.5 7.5 163 181 218 254 4.0 5.0 135 150 180 209
SP3504 7.5 10 197 219 263 306 5.5 7.5 178 198 237 276
SP3505 11 15 267 296 354 412 7.5 10 212 235 281 328
SP3506 15 20 362 399 475 471 11 15 300 332 396 405
SP3507 18.5 25 448 486 477 471 15 20 365 403 406 405

NOTE N
For the definition of ambient temperature, see section 3.7 Cubicle
design and drive ambient temperature on page 26.

Unidrive SP User Guide 189

Table 12-5 Losses @ 40°C (104°F) ambient with IP54 insert and standard fan fitted
Drive losses (W) taking into consideration any current derating for the given conditions
Normal Duty Heavy Duty
Model Nominal Nominal
rating 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz rating 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
kW hp kW hp
SP1201 1.1 1.5 33 35 38 42 49 56 0.75 1.0 27 29 32 35 41 47
SP1202 1.5 2.0 45 47 51 56 64 73 1.1 1.5 38 40 43 47 55 62
SP1203 2.2 3.0 67 70 76 78 1.5 2.0 51 53 58 62 71 78
SP1204 3.0 3.0 78 2.2 3.0 75 78
SP2201 4.0 5.0 155 161 173 186 210 235 3.0 3.0 133 139 150 160 182 203
SP2202 5.5 7.5 210 218 234 237 4.0 5.0 170 176 190 203 229 237
SP2203 7.5 10 237 5.5 7.5 237
SP1401 1.1 1.5 26 29 37 45 61 76 0.75 1.0 20 24 30 37 51 64
SP1402 1.5 2.0 34 38 48 57 76 78 1.1 2.0 27 31 39 48 64 78
SP1403 2.2 3.0 44 50 61 72 78 1.5 3.0 37 42 52 62 78
SP1404 3.0 5.0 62 69 78 2.2 3.0 52 58 70 78
SP1405 4.0 5.0 78 3.0 5.0 72 78
SP1406 5.5 7.5 78 4.0 5.0 78
SP2401 7.5 10 186 202 234 237 5.5 10 164 178 206 229 226
SP2402 11 15 237 7.5 10 201 218 230 224 223
SP2403 15 20 237 11 20 237

Table 12-6 Losses @ 50°C (122°F) ambient

Drive losses (W) taking into consideration any current derating for the given conditions
Normal Duty Heavy Duty
Model Nominal Nominal
rating 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz rating 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
kW hp kW hp
SP1201 1.1 1.5 33 35 38 42 49 56 0.75 1 27 29 32 35 41 47
SP1202 1.5 2.0 45 47 51 56 64 73 1.1 1.5 38 40 43 47 55 62
SP1203 2.2 3.0 67 70 76 81 92 97 1.5 2.0 51 53 58 62 71 81
SP1204 3.0 3.0 78 82 89 97 2.2 3.0 75 78 86 94 97
SP2201 4.0 5.0 155 161 173 186 190 3.0 3.0 133 139 150 160 182 190
SP2202 5.5 7.5 190 4.0 5.0 170 176 190
SP2203 7.5 10 190 5.5 7.5 190
SP3201 11 15 331 347 380 412 436 7.5 10 260 272 297 321 370
SP3202 15 20 431 451 480 463 439 11 15 349 365 398 430 439
SP1401 1.1 1.5 26 29 37 45 61 76 0.75 1.0 20 24 30 37 51 64
SP1402 1.5 2.0 34 38 48 57 76 95 1.1 2.0 27 31 39 48 64 80
SP1403 2.2 3.0 44 50 61 72 95 97 1.5 3.0 37 42 52 62 82 95
SP1404 3.0 5.0 62 69 83 97 2.2 3.0 52 58 70 83 92
SP1405 4.0 5.0 83 94 97 3.0 5.0 72 82 97
SP1406 5.5 7.5 97 4.0 5.0 91 97
SP2401 7.5 10 186 190 5.5 10 164 178 190
SP2402 11 15 190 7.5 10 190
SP2403 15 20 190 11 20 190
SP3401 18.5 25 364 392 430 417 399 389 15 25 337 363 399 387 373 364
SP3402 22 30 437 455 435 418 399 388 18.5 30 411 443 435 417 396 388
SP3403 30 40 474 459 429 415 397 22 30 474 459 429 415 397
SP3501 3.0 3.0 127 141 168 196 2.2 2.0 112 124 148 172
SP3502 4.0 5.0 135 150 180 209 3.0 3.0 127 141 168 196
SP3503 5.5 7.5 163 181 218 254 4.0 5.0 135 150 180 209
SP3504 7.5 10 197 219 263 306 5.5 7.5 178 198 237 276
SP3505 11 15 267 296 354 383 7.5 10 212 235 281 328
SP3506 15 20 362 399 390 384 11 15 300 332 372 369
SP3507 18.5 25 405 399 390 384 15 20 365 374 369

190 Unidrive SP User Guide

Table 12-7 Power losses from the front of the drive when through-
12.1.5 Motor requirements
No. of phases: 3
panel mounted
Maximum voltage:
Frame size Power loss Unidrive SP (200V): 240V
1 ≤50W Unidrive SP (400V): 480V
Unidrive SP (575V): 575V
2 ≤75W
3 ≤100W 12.1.6 Temperature, humidity and cooling method
Ambient temperature operating range:
12.1.3 AC supply requirements 0°C to 50°C (32°F to 122°F).
Voltage: Output current derating must be applied at ambient temperatures
>40°C (104°F).
SPX20X 200V to 240V ±10%
SPX40X 380V to 480V ±10% Minimum temperature at power-up:
SPX50X 500V to 575V ±10% -15°C (5°F), the supply must be cycled when the drive has warmed
up to 0°C (32°F).
Number of phases: 3
Cooling method: Forced convection
Maximum supply imbalance: 2% negative phase sequence (equivalent
to 3% voltage imbalance between phases). Maximum humidity: 95% non-condensing at 40°C (104°F)
Frequency range: 48 to 65 Hz 12.1.7 Storage
Table 12-8 Maximum supply fault current -40oC (104oF) to +50oC (122oF) for long term storage, or to +70°C
Frame size Symmetrical fault level (kA) (158°F) for short term storage.

1, 2, 3 5 12.1.8 Altitude
Altitude range: 0 to 3,000m (9,900 ft), subject to the following conditions:
12.1.4 Line reactors 1,000m to 3,000m (3,300 ft to 9,900 ft) above sea level: de-rate the
Input line reactors reduce the risk of damage to the drive resulting from maximum output current from the specified figure by 1% per 100m
poor phase balance or severe disturbances on the supply network. (330 ft) above 1,000m (3,300 ft)
Where line reactors are to be used, reactance values of approximately For example at 3,000m (9,900ft) the output current of the drive would
2% are recommended. Higher values may be used if necessary, but may have to be de-rated by 20%.
result in a loss of drive output (reduced torque at high speed) because of
the voltage drop. 12.1.9 IP Rating (Ingress Protection)
The Unidrive SP is rated to IP20 pollution degree 2 (dry, non-conductive
For all drive ratings, 2% line reactors permit drives to be used with a
contamination only) (NEMA 1). However, it is possible to configure the
supply unbalance of up to 3.5% negative phase sequence (equivalent to
drive to achieve IP54 rating (NEMA 12) at the rear of the heatsink for
5% voltage imbalance between phases).
through-panel mounting (some current derating is required).
Severe disturbances may be caused by the following factors, for
In order to achieve the high IP rating at the rear of the heatsink with
example:
Unidrive SP size 1 and 2, it is necessary to seal a heatsink vent by fitting
• Power factor correction equipment connected close to the drive. the IP54 insert as shown in Figure 3-18 and Figure 3-19 on page 27. For
• Large DC drives having no or inadequate line reactors connected to increased fan life time in a dirty environment the heatsink fan must be
the supply. replaced with an IP54 rated fan. Contact the supplier of the drive for
• Direct-on-line started motor(s) connected to the supply such that details. Fitting of the IP54 insert and/or IP54 rated fan requires output
when any of these motors are started, the voltage dip exceeds 20% current derating to be applied, see section 12.1.1 Power and current
Such disturbances may cause excessive peak currents to flow in the ratings (Derating for switching frequency and temperature) on page 186
input power circuit of the drive. This may cause nuisance tripping, or in for further details.
extreme cases, failure of the drive. The IP rating of a product is a measure of protection against ingress and
Drives of low power rating may also be susceptible to disturbance when contact to foreign bodies and water. It is stated as IP XX, where the two
connected to supplies with a high rated capacity. digits (XX) indicate the degree of protection provided as shown in Table
Line reactors are particularly recommended for use with the following 12-9.
drive models when one of the above factors exists, or when the supply
capacity exceeds 175kVA:
SP1201 SP1202 SP1203 SP1204
SP1401 SP1402 SP1403 SP1404
Model sizes 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.
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

Unidrive SP User Guide 191

Table 12-9 IP Rating degrees of protection 12.1.12 Start up time

First digit Second digit This is the time taken from the moment of applying power to the drive, to
Protection against contact and Protection against ingress of water the drive being ready to run the motor:
ingress of foreign bodies Unidrive SP (Sizes 1 to 3): 4s
0 No protection 0 No protection
12.1.13 Output frequency / speed range
Protection against large
Open-loop frequency range: 0 to 3,000Hz
foreign bodies φ > 50mm
1 1 - Closed-loop speed range: 0 to 40,000rpm
(large area contact with the
hand) Closed-loop frequency range: 0 to 1,250Hz
Protection against medium 12.1.14 Accuracy and resolution
2 size foreign bodies φ > 12mm 2 - Speed:
(finger) The absolute frequency and speed accuracy depends on the accuracy
Protection against small of the crystal used with the drive microprocessor. The accuracy of the
Protection against spraywater
3 foreign bodies φ > 2.5mm 3 crystal is 100ppm, and so the absolute frequency/speed accuracy is
(up to 60° from the vertical)
(tools, wires) 100ppm (0.01%) of the reference, when a preset speed is used. If an
Protection against granular analog input is used the absolute accuracy is further limited by the
Protection against splashwater
4 foreign bodies φ > 1mm (tools, 4 absolute accuracy of the analog input.
(from all directions)
wires) The following data applies to the drive only; it does not include the
Protection against dust Protection against heavy performance of the source of the control signals.
5 deposit, complete protection 5 splash water (from all Open loop resolution:
against accidental contact. directions, at high pressure) Preset frequency reference: 0.1Hz
Protection against dust Precision frequency reference: 0.001Hz
Protection against deckwater
6 ingress, complete protection 6
(e.g. in heavy seas) Closed loop resolution
against accidental contact.
Preset speed reference: 0.1rpm
7 - 7 Protection against immersion Precision speed reference: 0.001rpm
8 - 8 Protection against submersion Analog input 1: 16bit plus sign
Analog input 2: 10bit plus sign
Table 12-10 NEMA ratings
Current:
NEMA The resolution of the current feedback is 10bit plus sign. The accuracy of
Description
enclosure rating the current feedback is 5%.
Enclosures are intended for indoor use, primarily
to provide a degree of protection against contact 12.1.15 Overall dimensions
Type 1 H Height including surface mounting brackets
with the enclosed equipment or locations where
unusual service conditions do not exist. W Width
D Projection forward of panel when surface mounted
Enclosures are intended for indoor use, primarily
F Projection forward of panel when through-panel mounted
Type 12 to provide a degree of protection against dust,
R Projection rear of panel when through-panel mounted
falling dirt and dripping non-corrosive liquids.
Table 12-11 Overall drive dimensions
12.1.10 Vibration
Model Dimension
Bump Test
frame
Testing in each of three mutually perpendicular axes in turn. H W D F R
size
Referenced standard: IEC 60068-2-29: Test Eb:
Severity: 18g, 6ms, half sine 100mm
1
No. of Bumps: 600 (100 in each direction of each axis) (3.937in) 219mm 139mm ≤80mm
Random Vibration Test 368mm 155mm (8.622in) (5.472in) (3.150in)
2
Testing in each of three mutually perpendicular axes in turn. (14.488in) (6.102in)
Referenced standard: IEC 60068-2-64: Test Fh: 250mm 260mm 140mm ≤120mm
3
Severity: 1.0 m²/s³ (0.01 g²/Hz) ASD from 5 - 20 Hz (9.843in) (10.236in) (5.512in) (4.724in)
-3 dB/octave from 20 to 200 Hz
Duration: 30 minutes in each of 3 mutually 12.1.16 Weights
perpendicular axes. Table 12-12 Overall drive weights
Sinusoidal Vibration Test Model kg lb
Testing in each of three mutually perpendicular axes in turn. SP1201, SP1202, SP1203, SP1204 5 11.0
Referenced standard: IEC 60068-2-6: Test Fc:
SP2201, SP2202, SP2203 7 15.4
Frequency range: 2 - 500 Hz
Severity: 3.5 mm peak displacement from 2 to 9 Hz SP3201, SP3202 15 33.1
10 m/s² peak acceleration from 9 to 200 Hz SP1401, SP1402, SP1403, SP1404 5 11.0
15 m/s² peak acceleration from 200 to SP1405, SP1406 5.8 12.8
500 Hz SP2401, SP2402, SP2403 7 15.4
Sweep rate: 1 octave/minute
SP3401, SP3402, SP3403 15 33.1
Duration: 15 minutes in each of 3 mutually
perpendicular axes. SP3501, SP3502, SP3503, SP3504,
15 33.1
SP3505, SP3506, SP3507
12.1.11 Starts per hour
By electronic control: unlimited
By interrupting the AC supply: ≤20 (equally spaced)

192 Unidrive SP User Guide

12.1.17 Input current, fuse and cable size ratings The value stated for the maximum continuous input current would only
The input current is affected by the supply voltage and impedance. be seen in one of the input phases. The current in the other two phases
would be significantly lower.
Typical input current
The values of maximum input current are stated for a supply with a 2%
The values of typical input current are given to aid calculations for power
negative phase-sequence imbalance and rated at the maximum supply
flow and power loss.
fault current given in Table 12-13.
The values of typical input current are stated for a balanced supply.
Table 12-13 Input current, fuse and cable size ratings
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.
European cable size EN60204 USA cable size UL508C
Maximum
Typical input Fuse rating
continuous input Fuse rating
Model current Input Output Class CC <30A Input Output
current IEC gG
Class J >30A
A A A mm2 mm2 A AWG AWG
SP1201 7.1 9.5 10 1.5 1.0 10 14 18
SP1202 9.2 11.3 12 1.5 1.0 15 14 16
SP1203 12.5 16.4 20 4.0 1.0 20 12 14
SP1204 15.4 19.1 20 4.0 1.5 20 12 14
SP2201 13.4 18.1 20 4.0 2.5 20 12 14
SP2202 18.2 22.6 25 4.0 4.0 25 10 10
SP2203 24.2 28.3 32 6.0 6.0 30 8.0 8.0
SP3201 35.4 43.1 50 16 16 45 6.0 6.0
SP3202 46.8 54.3 63 25 25 60 4.0 4.0
SP1401 4.1 4.8 6 1.0 1.0 6.0 18 22
SP1402 5.1 5.8 6 1.0 1.0 6.0 16 20
SP1403 6.8 7.4 8 1.0 1.0 10 16 18
SP1404 9.3 10.6 12 1.5 1.0 15 14 16
SP1405 10 11 12 1.5 1.0 15 14 14
SP1406 12.6 13.4 16 2.5 1.5 15 14 14
SP2401 15.7 17 20 4.0 2.5 20 12 14
SP2402 20.2 21.4 25 4.0 4.0 25 10 10
SP2403 26.6 27.6 32 6.0 6.0 30 8.0 8.0
SP3401 34.2 36.2 40 10 10 40 6.0 6.0
SP3402 40.2 42.7 50 16 16 45 6.0 6.0
SP3403 51.3 53.5 63 25 25 60 4.0 4.0
SP3501 5.0 6.7 8 1.0 1.0 10 16 18
SP3502 6.0 8.2 10 1.0 1.0 10 16 16
SP3503 7.8 11.1 12 1.5 1.0 15 14 14
SP3504 9.9 14.4 16 2.5 1.5 15 14 14
SP3505 13.8 18.1 20 4.0 2.5 20 12 14
SP3506 18.2 22.2 25 4.0 4.0 25 10 10
SP3507 22.2 26.0 32 6.0 6.0 30 8.0 8.0

Inrush current
The Unidrive SP will have an inrush current during power-up, the peak
inrush is limited to the value shown below:
SP120X 18 A peak
SP140X 35 A peak
SP220X 12 A peak
SP240X 24 A peak
SP320X 8 A peak
SP340X 14 A peak
SP350X 18 A peak

Unidrive SP User Guide 193

12.1.18 Maximum motor cable lengths 12.1.19 Braking resistor values

Table 12-14 Maximum motor cable lengths (200V drives) Table 12-17 Minimum resistance values and peak power rating for
the braking resistor at 40°C (104°F)
200V Nominal AC supply voltage
Minimum Instantaneous
Maximum permissible motor cable length for each of
Model resistance* power rating
Model the following frequencies
Ω kW
3kHz 4kHz 6kHz 8kHz 12kHz 16kHz SP1201 to SP1203 43 3.5
SP1201 65m (210ft) SP1204 29 5.3
SP1202 100m (330ft) SP2201 to SP2203 18 8.9
SP1203 130m (425ft) SP3201 to SP3202 5.0 30.3
37m
SP1204 SP1401 to SP1404 74 8.3
50m (120ft)
SP2201 75m SP1405 to SP1406 58 10.6
100m (165ft)
SP2202 200m 150m (245ft) SP2401 to SP2403 19 33.1
(330ft)
SP2203 (660ft) (490ft) SP3401 to SP3403 18 35.5
SP3201 SP3501 to SP3507 18 50.7
SP3202
12.1.20 Torque settings
Table 12-15 Maximum motor cable lengths (400V drives) Table 12-18 Drive control and relay terminal data
400V Nominal AC supply voltage Model Connection type Torque setting
Maximum permissible motor cable length for each of All Plug-in terminal block 0.5 N m 0.4 lb ft
Model the following frequencies
3kHz 4kHz 6kHz 8kHz 12kHz 16kHz Table 12-19 Drive power terminal data
SP1401 65m (210ft) High current
Model Low current Ground
SP1402 100m (330ft) AC terminals DC and
size DC and 48V terminal
SP1403 130m (425ft) braking
SP1404 Terminal block (M4 screws)
1
SP1405 1.5 N m (1.1 lb ft)
Plug-in
37m Terminal Stud (M5)
SP1406 50m terminal block
75m (120ft) block Terminal 4.0 N m
SP2401 100m (165ft) 1.5 N m
200m 150m (245ft) 2 (M5 screws) block 2.9 lb ft
SP2402 (330ft) (1.1 lb ft)
(660ft) (490ft) 1.5 N m (M4 screws)
SP2403 (1.1 lb ft) 1.5 N m
SP3401 Terminal block (M6 screws) (1.1 lb ft) 6.0 N m
3
SP3402 2.5 N m 1.8 lb ft 4.4 lb ft
SP3403 Torque tolerance ±10%

Table 12-16 Maximum motor cable lengths (575V drives)

575V Nominal AC supply voltage
Maximum permissible motor cable length for each of
Model the following frequencies
3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
SP3501
SP3502
SP3503
200m 150m 100m 75m 50m
SP3504
(660ft) (490ft) (330ft) (245ft) (165ft)
SP3505
SP3506
SP3507
• 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 is 3kHz for Open-loop and Closed-
loop vector, and 6kHz for Servo.
The maximum cable length is reduced from that shown in Table 12-14
and Table 12-15 if high capacitance motor cables are used. For further
information, refer to section High-capacitance cables on page 41.

194 Unidrive SP User Guide

12.1.21 Electromagnetic compatibility (EMC) Table 12-21 Emissions compliance

This is a summary of the EMC performance of the drive. For full details, Motor cable length (m)
Drive
refer to the Unidrive SP EMC Data Sheet which can be obtained from Filter
size 0 to 4 4 to 10 10 to 20 20 to 100
the supplier of the drive.
Table 12-20 Immunity compliance In-built E2U E2R
In-built and
Type of 1 E2U E2R
Standard
immunity
Test specification Application Level ferrite ring
6kV contact External R I
IEC61000-4-2 Electrostatic Module Level 3
EN61000-4-2 discharge
discharge
enclosure (industrial) In-built E2R
8kV air discharge
In-built and
10V/m prior to 2 E2U E2R
ferrite ring
Radio modulation
IEC61000-4-3 Module Level 3
frequency 80 - 1000MHz External R I
EN61000-4-3 enclosure (industrial)
radiated field 80% AM (1kHz)
In-built E2R
modulation
5/50ns 2kV transient In-built and
Level 4 3 E2U E2R
at 5kHz repetition ferrite ring
Control lines (industrial
frequency via External I
harsh)
IEC61000-4-4 Fast transient coupling clamp
EN61000-4-4 burst 5/50ns 2kV transient
at 5kHz repetition Level 3 Key (shown in decreasing order of permitted emission level):
Power lines
frequency by direct (industrial) E2R EN 61800-3 second environment, restricted distribution
injection
(Additional measures may be required to prevent interference)
AC supply
Common mode 4kV E2U EN 61800-3 second environment, unrestricted distribution
lines: Level 4
1.2/50µs waveshape
line to earth
I Industrial generic standard EN 50081-2 (EN 61000-6-4)
IEC61000-4-5 Differential mode AC supply EN 61800-3 first environment restricted distribution (The
Surges 2kV lines: Level 3
EN61000-4-5
1.2/50µs waveshape line to line following caution is required by EN61800-3:)
Signal ports This is a product of the restricted distribution class according
Lines to earth Level 2
to earth 1 to IEC61800-3. In a domestic environment this product may
10V prior to cause radio interference in which case the user may be
Conducted modulation
IEC61000-4-6
radio 0.15 - 80MHz
Control and Level 3 CAUTION required to take adequate measures.
EN61000-4-6 power lines (industrial)
frequency 80% AM (1kHz)
modulation R Residential generic standard EN 50081-1 (EN 61000-6-3)
-30% 10ms
EN 61800-3 first environment unrestricted distribution
Voltage dips
IEC61000-4-11 +60% 100ms AC power EN61800-3 defines the following:
and
EN61000-4-11 -60% 1s ports
interruptions • The first environment is one that includes domestic premises. It also
<-95% 5s
EN50082-1 Generic immunity standard for the
includes establishments directly connected without intermediate
IEC61000-6-1 residential, commercial and light - Complies transformers to a low-voltage power supply network which supplies
EN61000-6-1 industrial environment buildings used for domestic purposes.
EN50082-2 • The second environment is one that includes all establishments
Generic immunity standard for the
IEC61000-6-2 Complies other than those directly connected to a low-voltage power supply
industrial environment
EN61000-6-2 network which supplies buildings used for domestic purposes.
EN61800-3 Product standard for adjustable Meets immunity • Restricted distribution is defined as a mode of sales distribution in
IEC61800-3 speed power drive systems requirements for first and
EN61800-3 (immunity requirements) second environments
which the manufacturer restricts the supply of equipment to
suppliers, customers or users who separately or jointly have
1
See section Surge immunity of control circuits - long cables and technical competence in the EMC requirements of the application of
connections outside a building on page 51 for control ports for possible drives.
requirements regarding earthing and external surge protection
Emission
The drive contains an in-built filter for basic emission control. An
additional optional external filter provides further reduction of emission.
The requirements of the following standards are met, depending on the
motor cable length as stated in Table 12-21.

Unidrive SP User Guide 195

12.2 Optional external EMC filters

Table 12-22 Unidrive SP and EMC filter cross reference
Schaffner Epcos
Drive
CT part no. CT part no.
SP1201 to SP1202 4200-6118 4200-6121
SP1203 to SP1204 4200-6119 4200-6120
SP2201 to SP2203 4200-6210 4200-6211
SP3201 to SP3202 4200-6307 4200-6306
SP1401 to SP1404 4200-6118 4200-6121
SP1405 to SP1406 4200-6119 4200-6120
SP2401 to SP2403 4200-6210 4200-6211
SP3401 to SP3403 4200-6305 4200-6306
SP3501 to SP3507 4200-6309 4200-6308

12.2.1 EMC filter ratings

Table 12-23 Optional external EMC filter details

Maximum Voltage Power Ground leakage

continuous rating dissipation 1 phase
CT part current IP at rated Balanced supply Discharge
Manufacturer open
number rating current phase-to-phase and resistors
@ 40°C @ 50°C circuit
phase-to-ground
(104°F) (122°F)
V W mA
A A mA
4200-6118 10 10 6.9 29.4 153
4200-6119 16 16 200/400 9.2 38.8 277
See Note 1
4200-6210 32 28.2 11 38.0 206
Schaffner below
4200-6305 62 56.6 400 23 66.0 357
4200-6307 75 68.5 200 29 24.0 170
4200-6309 30 575 20
4200-6121 10 9.1 4.2 <30.0 186.5
4200-6120 16 14.6 10.8 <30.0 186.5 See Note 2
200/400
4200-6211 Epcos 32 29.1 17.8 <30.0 186.5 below
4200-6306 75 68.3 19.4 <30.0 238
4200-6308 575

NOTE N
1. 1MΩ in a star connection between phases, with the star point connected by a 680kΩ resistor to ground.
2. 1MΩ in a star connection between phases, with the star point connected by a 1.5MΩ 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

196 Unidrive SP User Guide

12.2.2 Overall EMC filter dimensions

Table 12-24 Optional external EMC filter dimensions

CT part Dimension Weight

Manufacturer
number H W D kg lb
4200-6118
440 mm (17.323 in) 100 mm (3.937 in) 45 mm (1.772in) 1.4 3.1
4200-6119
4200-6210 428.5 mm (16.870 in) 155 mm (6.102 in) 55 mm (2.165 in) 2 4.4
Schaffner
4200-6305
4200-6307 414 mm (16.299 in) 250 mm (9.842 in) 60 mm (2.362 in) 3.5 7.7
4200-6309
4200-6121
450 mm (17.717 in) 100 mm (3.937 in) 45 mm (1.772 in) 2.1 4.6
4200-6120
4200-6211 Epcos 431.5 mm (16.988 in) 155 mm (6.102 in) 55 mm (2.165 in) 3.3 7.3
4200-6306
425 mm (16.732 in) 250 mm (9.843 in) 60 mm (2.362 in) 5.1 11.2
4200-6308

12.2.3 EMC filter torque settings

Table 12-25 Optional external EMC Filter terminal data

CT part Power connections Ground connections

Manufacturer
number Max cable size Torque Ground stud size Torque
4200-6118
4mm2 12AWG 0.8 N m (0.6 lb ft)
4200-6119 M5 3.5 N m (2.6 lb ft)
4200-6210 10mm2 8AWG 2.0 N m (1.5 lb ft)
Schaffner
4200-6305
4200-6307 16mm2 6AWG 2.2 N m (1.6 lb ft) M6 3.9 N m (2.9 lb ft)
4200-6309
4200-6121
4mm2 12AWG 0.6 N m (0.4 lb ft)
4200-6120 M5 3.0 N m (2.2 lb ft)
4200-6211 Epcos 10mm2 8AWG 1.35 N m (1.0 lb ft)
4200-6306
16mm2 6AWG 2.2 N m (1.6 lb ft) M6 5.1 N m (3.8 lb ft)
4200-6308

Unidrive SP User Guide 197

13 Diagnostics Figure 13-1 Keypad status modes

The display on the drive gives various information about the status of the
Status Mode
drive. These fall into three categories:
Healthy Status Alarm Status Trip Status
• Trip indications
• Alarm indications Drive status
• Status indications = tripped
Trip type (UU
= undervolts)
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.
If a drive is faulty, it must be returned to an authorized
WARNING Control Techniques distributor for repair.
Figure 13-2 Location of the status LED
13.1 Trip indications
Status LED
If the drive trips, the output of the drive 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.
Trips are listed alphabetically in Table 13-1 based on the trip indication
shown on the drive display. Refer to Figure 13-1.
If a display is not used, the drive LED Status indicator will flash if the
drive has tripped. Refer to Figure 13-2.
The trip indication can be read in Pr 10.20 providing a trip number. Trip
numbers are listed in numerical order in Table 13-2 so the trip indication
can be cross referenced and then diagnosed using Table 13-1.
Non flashing: Flashing:
NOTE N Normal status Trip status
Trips beginning with a number are given at the end of Table 13-1 where
the number is replaced with an X (1 ≤ X ≤ 8). The number indicates the
tripped module in a multi-module drive.
Example
1. Trip code 3 is read from Pr 10.20 via serial communications.
2. Checking Table 13-2 shows Trip 3 is an OI.AC trip.

Comms No. Trip Keypad

code display
3 OI.AC

3. Look up OI.AC in Table 13-1.

4. Perform checks detailed under Diagnosis.

Trip Diagnosis
OI.AC Instantaneous output over current detected: peak output current greater than 225%
Acceleration / deceleration rate is too short.
If seen during autotune reduce voltage boost Pr 5.15
Check for short circuit on output cabling
Check integrity of motor insulation
Check feedback device wiring
Check feedback device mechanical coupling
3
Check feedback signals are free from noise
Is motor cable length within limits for that frame size?
Reduce the values in speed loop gain parameters – Pr 3.10, Pr 3.11 and Pr 3.12 (closed loop vector and servo
modes only)
Has offset measurement test been completed? (servo mode only)
Reduce the values in current loop gain parameters - Pr 4.13 and Pr 4.14 (closed loop vector and servo modes only)

198 Unidrive SP User Guide

Table 13-1 Trip indications

Trip Diagnosis
C.Acc SMARTCARD trip: SMARTCARD Read / Write fail
Check SMARTCARD is fitted / located correctly
185
Replace SMARTCARD
C.Chg SMARTCARD trip: Data location already contains data
Erase data in data location
179
Write data to an alternative data location
C.Cpr SMARTCARD trip: The values stored in the drive and the values in the data block on the SMARTCARD are different
188 Press the red reset button
C.dat SMARTCARD trip: Data location specified does not contain any data
183 Ensure data block number is correct
C.Err SMARTCARD trip: SMARTCARD data is corrupted
Ensure the card is located correctly
182 Erase data and retry
Replace SMARTCARD
C.Full SMARTCARD trip: SMARTCARD full
184 Delete a data block or use different SMARTCARD
CL2 Analog input 2 current loss (current mode)
28 Check analog input 2 (terminal 7) current signal is present (0-20mA, 4-20mA etc.)
CL3 Analog input 3 current loss (current mode)
29 Check analog input 3 (terminal 8) current signal is present (0-20mA, 4-20mA etc.)
CL.bit Trip initiated from the control word (Pr 6.42)
35 Disable the control word by setting Pr 6.43 to 0 or check setting of Pr 6.42
C.Optn SMARTCARD trip: Solutions Modules fitted are different between source drive and destination drive
Ensure correct Solutions Modules are fitted
180 Ensure Solutions Modules are in the same Solutions Module slot
Press the red reset button
C.rdo SMARTCARD trip: SMARTCARD has the Read Only bit set
Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access
181
Ensure card is not writing to data locations 500 to 999
SMARTCARD trip: SMARTCARD attempting to change the destination drive ratings
C.rtg
No drive rating parameters have been transferred

Press the red reset button

Drive rating parameters are:
Parameter Function
2.08 Standard ramp voltage
4.05/6/7, 21.27/8/9 Current limits
5.07, 21.07 Motor rated current
5.09, 21.09 Motor rated voltage
186
5.17, 21.12 Stator resistance
5.18 Switching frequency
5.23, 21.13 Voltage offset
5.24, 21.14 Transient inductance
5.25, 21.24 Stator inductance
6.06 DC injection braking current

The above parameters will be set to their default values.

C.Typ SMARTCARD trip: SMARTCARD parameter set not compatible with drive
Press the reset button
187
Ensure destination drive type is the same as the source parameter file drive type
dESt Two or more parameters are writing to the same destination parameter
199 Set Pr xx.00 = 12001 check all visible parameters in the menus for duplication

Unidrive SP User Guide 199

Trip Diagnosis
EEPROM data corrupted - Drive mode becomes open loop and serial comms will timeout with remote keypad on the drive
EEF
RS485 comms port.
31 This trip can only be cleared by loading default parameters and saving parameters
Enc1 Drive encoder trip: Encoder power supply overload
Check encoder power supply wiring and encoder current requirement
189
Maximum current = 200mA @ 15V, or 300mA @ 8V and 5V
Enc2 Drive encoder trip: Wire break
Check cable continuity
Check wiring of feedback signals is correct
190 Check encoder power is set correctly
Replace feedback device
If wire break detection on the main drive encoder input is not required, set Pr 3.40 = 0 to disable the Enc2 trip
Enc3 Drive encoder trip: UVW phase offset incorrect whilst running
Check the encoder signal for noise
Check encoder shielding
191
Check the integrity of the encoder mechanical mounting
Repeat the offset measurement test
Enc4 Drive encoder trip: Feedback device comms failure
Ensure encoder power supply is correct
Ensure baud rate is correct
192
Check encoder wiring
Replace feedback device
Enc5 Drive encoder trip: Checksum or CRC error
Check the encoder signal for noise
193 Check the encoder cable shielding
With EnDat encoders, check the comms resolution and/or carry out the auto-configuration Pr 3.41
Enc6 Drive encoder trip: Encoder has indicated an error
Replace feedback device
194
With SSI encoders, check the wiring and encoder supply setting
Enc7 Drive encoder trip: Initialisation failed
Re-set the drive
Check the correct encoder type is entered into Pr 3.38
Check encoder wiring
195
Check encoder power supply is set correctly
Carry out the auto-configuration Pr 3.41
Replace feedback device
Enc8 Drive encoder trip: Auto configuration on power up has been requested and failed
Change the setting of Pr 3.41 to 0 and manually enter the drive encoder turns (Pr 3.33) and the equivalent number of lines per
196 revolution (Pr 3.34)
Check the comms resolution
Drive encoder trip: Position feedback selected is selected from a Solutions Module slot which does not have a speed /
Enc9
position feedback Solutions Module fitted
197 Check setting of Pr 3.26 (or Pr 21.21 if the second motor parameters have been enabled)
Enc10 Drive encoder trip: Servo mode phasing failure because encoder phase angle (Pr 3.25 or Pr 21.20) is incorrect
Check the encoder wiring.
Perform an autotune to measure the encoder phase angle or manually enter the correct phase angle into Pr 3.25 (or Pr 21.20).
198 Spurious Enc10 trips can be seen in very dynamic applications. This trip can be disabled by setting the speed threshold in Pr 3.08 to
a value greater than zero. Caution should be used in setting the over speed threshold level as a value which is too large may mean
that an encoder fault will not be detected.
ENP.Er Data error from electronic nameplate stored in selected position feedback device
176 Replace feedback device

200 Unidrive SP User Guide

Trip Diagnosis
Et External trip from input on terminal 31
Check terminal 31 signal
Check value of Pr 10.32
6
Enter 12001 in Pr xx.00 and check for parameter controlling Pr 10.32
Ensure Pr 10.32 or Pr 10.38 (=6) are not being controlled by serial comms
HF01 Data processing error: CPU address error
Hardware fault - return drive to supplier
HF02 Data processing error: DMAC address error
Hardware fault - return drive to supplier
HF03 Data processing error: Illegal instruction
Hardware fault - return drive to supplier
HF04 Data processing error: Illegal slot instruction
Hardware fault - return drive to supplier
HF05 Data processing error: Undefined exception
Hardware fault - return drive to supplier
HF06 Data processing error: Reserved exception
Hardware fault - return drive to supplier
HF07 Data processing error: Watchdog failure
Hardware fault - return drive to supplier
HF08 Data processing error: Level 4 crash
Hardware fault - return drive to supplier
HF09 Data processing error: Heap overflow
Hardware fault - return drive to supplier
HF10 Data processing error: Router error
Hardware fault - return drive to supplier
HF11 Data processing error: Access to EEPROM failed
Hardware fault - return drive to supplier
HF20 Power stage recognition: serial code error
220 Hardware fault - return drive to supplier
HF21 Power stage recognition: unrecognised frame size
221 Hardware fault - return drive to supplier
HF22 Power stage recognition: multi module frame size mismatch
222 Hardware fault - return drive to supplier
HF23 Power stage recognition: multi module voltage rating mismatch
223 Hardware fault - return drive to supplier
HF24 Power stage recognition: unrecognised drive size
224 Hardware fault - return drive to supplier
HF25 Current feedback offset error
225 Hardware fault - return drive to supplier
HF26 Soft start relay failed to close, soft start monitor failed or braking IGBT short circuit at power up
226 Hardware fault - return drive to supplier
HF27 Power stage thermistor 1 fault
227 Hardware fault - return drive to supplier
HF28 Power stage thermistor 2 fault or internal fan fault (size 3 only)
228 Hardware fault - return drive to supplier
HF29 Control board thermistor fault
229 Hardware fault - return drive to supplier

Unidrive SP User Guide 201

Trip Diagnosis
It.AC Output current overload timed out (I2t) - accumulator value can be seen in Pr 4.19
Ensure the load is not jammed / sticking
Check the load on the motor has not changed
20 Tune the rated speed parameter (closed loop vector only)
Check feedback device signal for noise
Check the feedback device mechanical coupling
It.br Braking resistor overload timed out (I2t) – accumulator value can be seen in Pr 10.39
Ensure the values entered in Pr 10.30 and Pr 10.31 are correct
Increase the power rating of the braking resistor and change Pr 10.30 and Pr 10.31
19
If an external thermal protection device is being used and the braking resistor software overload is not required, set Pr 10.30 or
Pr 10.31 to 0 to disable the trip
O.CtL Drive control board over temperature
Check cubicle / drive fans are still functioning correctly
Check cubicle ventilation paths
23 Check cubicle door filters
Check ambient temperature
Reduce drive switching frequency
O.ht1 Power device over temperature based on thermal model
Reduce drive switching frequency
Reduce duty cycle
21
Decrease acceleration / deceleration rates
Reduce motor load
O.ht2 Heatsink over temperature
Check cubicle / drive fans are still functioning correctly
Check cubicle ventilation paths
Check cubicle door filters
Increase ventilation
22
Decrease acceleration / deceleration rates
Reduce drive switching frequency
Reduce duty cycle
Reduce motor load
O.ht3 Drive over-temperature based on thermal model
The drive will attempt to stop the motor before tripping. If the motor does not stop in 10s the drive trips immediately.
Check cubicle / drive fans are still functioning correctly
Check cubicle ventilation paths
Check cubicle door filters
27
Increase ventilation
Decrease acceleration / deceleration rates
Reduce duty cycle
Reduce motor load
OI.AC Instantaneous output over current detected: peak output current greater than 225%
Acceleration /deceleration rate is too short.
If seen during autotune reduce voltage boost Pr 5.15
Check for short circuit on output cabling
Check integrity of motor insulation
Check feedback device wiring
3 Check feedback device mechanical coupling
Check feedback signals are free from noise
Is motor cable length within limits for that frame size?
Reduce the values in speed loop gain parameters – Pr 3.10, Pr 3.11 and Pr 3.12 (closed loop vector and servo modes only)
Has offset measurement test been completed? (servo mode only)
Reduce the values in current loop gain parameters - Pr 4.13 and Pr 4.14 (closed loop vector and servo modes only)
OI.br Braking transistor over-current detected: short circuit protection for the braking transistor activated
Check braking resistor wiring
4 Check braking resistor value is greater than or equal to the minimum resistance value
Check braking resistor insulation
O.Ld1 Digital output overload: total current drawn from 24V supply and digital outputs exceeds 200mA
26 Check total load on digital outputs (terminals 24,25,26)and +24V rail (terminal 22)

202 Unidrive SP User Guide

Trip Diagnosis
OV DC bus voltage has exceeded the peak level or the maximum continuous level for 30 seconds
Increase deceleration ramp (Pr 0.04)
Decrease braking resistor value (staying above the minimum value)
Check nominal AC supply level
Check for supply disturbances which could cause the DC bus to rise – voltage overshoot after supply recovery from a notch induced
by DC drives.
2
Check motor insulation
Drive voltage rating Peak voltage Maximum continuous voltage level
200 415 405
400 830 810
575 990 960
O.SPd Motor speed has exceeded the over speed threshold
Increase the over speed trip threshold in Pr 3.08 (closed loop modes only)
7 Speed has exceeded 1.2 x Pr 1.06 or Pr 1.07 (open loop mode)
Reduce the speed loop P gain (Pr 3.10) to reduce the speed overshoot (closed loop modes only)
PAd Keypad has been removed when the drive is receiving the speed reference from the keypad
Fit keypad and reset
34
Change speed reference selector to select speed reference from another source
Ph AC voltage input phase loss or large supply imbalance detected
Ensure all three phases are present and balanced
Check input voltage levels are correct (at full load)
32 NOTE N
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.
PS Internal power supply fault
Remove any Solutions Modules and reset
5 Check integrity of interface ribbon cables and connections (size 4,5,6 only)
Hardware fault - return drive to supplier
PS.10V 10V user power supply current greater than 10mA
Check wiring to terminal 4
8
Reduce load on terminal 4
PS.24V 24V internal power supply overload
The total user load of the drive and Solutions Modules has exceeded the internal 24V power supply limit.
The user load consists of the drive’s digital outputs plus the SM-I/O Plus digital outputs, or the drive’s main encoder supply plus the
SM-Universal Encoder Plus and SM-Encoder Plus encoder supply.
9
• Reduce load and reset
• Provide an external 24V >50W power supply
• Remove any Solutions Modules and reset
rS Failure to measure resistance during autotune or when starting in open loop vector mode 0 or 3
33 Check motor power connection continuity
SCL Drive RS485 serial comms loss to remote keypad
Refit the cable between the drive and keypad
Check cable for damage
30
Replace cable
Replace keypad
SLX.dF Solutions Module slot X trip: Solutions Module type fitted in slot X changed
204,209,214 Save parameters and reset

Unidrive SP User Guide 203

Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Feedback module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the SM-Universal Encoder Plus, SM-Encoder
Plus and SM-Resolver.

Error
Trip Description Diagnostic
code
0 No trip No fault detected
Encoder trip: Encoder power Check encoder power supply wiring and encoder current requirement
1
supply overload Maximum current = 200mA @ 15V, or 300mA @ 8V and 5V
Check cable continuity
Check wiring of feedback signals is correct
2 Encoder trip: Wire break
Check supply voltage level
Replace feedback device
Check the encoder signal for noise
Encoder trip: UVW phase offset Check encoder shielding
3
incorrect whilst running Check the integrity of the encoder mechanical mounting
Repeat the offset measurement test
Ensure encoder power supply is correct
Encoder trip: Feedback device Ensure baud rate is correct
4
202,207,212 communications failure Check encoder wiring
Replace feedback device
Encoder trip: Checksum or CRC Check the encoder signal for noise
5
error Check the encoder cable shielding
Encoder trip: Encoder has
6 Replace encoder
indicated an error
Check the correct encoder type is entered into Pr 15/16/17.15
Check encoder wiring
7 Encoder trip: Initialisation failed
Check supply voltage level
Replace feedback device
Encoder trip: Auto configuration
Change the setting of Pr 15/16/17.18 and manually enter the number of turns (Pr 15/
8 on power up has been
16/17.09) and the equivalent number of lines per revolution (Pr 15/16/17.10)
requested and failed
9 All Thermistor trip
10 All Thermistor short circuit
Resolver: Poles not compatible
11 Check that the correct number of resolver poles has been set in Pr 15/16/17.15.
with motor
74 All The Solutions Module has over-heated

204 Unidrive SP User Guide

Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Automation module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the SM-Applications and SM-Applications Lite.

Error code Reason for fault

39 User stack overflow
40 Unknown error
41 Parameter does not exist
42 Parameter read only
43 Parameter write only
44 Parameter value over range
45 Invalid synchronisation modes
46 Not Used
47 Sync lost with Virtual Master
48 RS485 not in user mode
49 Invalid RS485 configuration
50 Math fault
51 Array index out of range
52 Control word user trip
53 DPL program not compatible with this target
54 Processor overload/ Task Overrun
55 Invalid encoder configuration
56 Invalid timer unit configuration
57 Function block not supported by system
202,207,212 58 Corrupted Non-volatile flash
59 Drive rejected application module as Sync master
60 CTNet hardware error
61 Invalid CTNet configuration
62 CTNet baud rate does not match network
63 CTNet node ID already in use
64 Digital Output Overload
65 Invalid Function Block parameters
66 User Heap Requirement too large
67 File Does Not Exist
68 File Not Associated
69 Flash Access Failed during DB upload from drive
70 User Program download while drive enabled
71 Failed to change drive mode
72 Invalid CTNet Buffer Operation
73 Fast Parameter Initialisation Failure
74 Solutions Module over temperature

Check value in Pr 15/16/17.50. The following table lists the possible error codes for the I/O module.

Error code Reason for fault

0 No errors
1 Digital output short circuit
74 Module over temperature

Unidrive SP User Guide 205

Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Fieldbus module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the Fieldbus modules.

Error code Fieldbus Option Reason for fault

52 All except DPLCAN Control word user trip
61 All Invalid configuration parameters.
65 All except DPLCAN Network loss
DeviceNet, CANopen and
66 "Bus-Off” Node sees an excessive number of transmission errors.
DPLCAN
67 CANopen Node has not received a SYNC telegram within a specified time - to be defined.
68 CANopen Node has not received the guarding telegram within the time period specified.
202,207,212
Node sends a data frame and no other node acknowledges
69 DPLCAN
receipt of the frame message.
No valid Fieldbus Menu data available in the module to download to the drive –
70 All The user may not have saved any data, or the data save may not have been
completed successfully.
The External power supply has been lost. This trip will only occur if the module
71 DeviceNet was on line with a master when the loss occurs. i.e. will not occur if the power
supply is not present during module initialisation.
74 All The Solutions Module has overheated.
98 All The Solutions Module background task has not been completed.
99 All Software Fault.

SLX.HF Solutions Module slot X trip: Solutions Module X hardware fault

Ensure Solutions Module is fitted correctly
200,205,210
Return Solutions Module to supplier
SLX.nF Solutions Module slot X trip: Solutions Module has been removed
Ensure Solutions Module is fitted correctly
203,208,213 Re-fit Solutions Module
Save parameters and reset drive
SL.rtd Solutions Module trip: Drive mode has changed and Solutions Module parameter routing is now incorrect
Press reset.
215
If the trip persists, contact the supplier of the drive.
SLX.tO Solutions Module slot X trip: Solutions Module watchdog timeout
Press reset.
203,208,211
If the trip persists, contact the supplier of the drive.
t010 User trip defined in 2nd processor Solutions Module code
10 SM-Applications program must be interrogated to find the cause of this trip
t036 to t038 User trip defined in 2nd processor Solutions Module code
36 to 38 SM-Applications program must be interrogated to find the cause of this trip
t040 to t089 User trip defined in 2nd processor Solutions Module code
40 to 89 SM-Applications program must be interrogated to find the cause of this trip
t099 User trip defined in 2nd processor Solutions Module code
99 SM-Applications program must be interrogated to find the cause of this trip
t109 to t110 User trip defined in 2nd processor Solutions Module code
109 to 110 SM-Applications program must be interrogated to find the cause of this trip
t119 to t120 User trip defined in 2nd processor Solutions Module code
119 to 120 SM-Applications program must be interrogated to find the cause of this trip
t129 to t130 User trip defined in 2nd processor Solutions Module code
129 to 130 SM-Applications program must be interrogated to find the cause of this trip
t139 to t140 User trip defined in 2nd processor Solutions Module code
139 to 140 SM-Applications program must be interrogated to find the cause of this trip

206 Unidrive SP User Guide

Trip Diagnosis
t149 to t150 User trip defined in 2nd processor Solutions Module code
149 to 150 SM-Applications program must be interrogated to find the cause of this trip
t159 to t170 User trip defined in 2nd processor Solutions Module code
159 to 170 SM-Applications program must be interrogated to find the cause of this trip
t172 to t175 User trip defined in 2nd processor Solutions Module code
172 to 175 SM-Applications program must be interrogated to find the cause of this trip
t177 to t178 User trip defined in 2nd processor Solutions Module code
177 to 178 SM-Applications program must be interrogated to find the cause of this trip
t198 User trip defined in 2nd processor Solutions Module code
198 SM-Applications program must be interrogated to find the cause of this trip
t216 to t219 User trip defined in 2nd processor Solutions Module code
216 to 219 SM-Applications program must be interrogated to find the cause of this trip
th Motor thermistor trip
Check motor temperature
24 Check thermistor continuity
Set Pr 7.15 = VOLt and reset the drive to disable this function
thS Motor thermistor short circuit
Check motor thermistor wiring
25 Replace motor / motor thermistor
Set Pr 7.15 = VOLt and reset the drive to disable this function
tunE Autotune stopped before completion
The drive has tripped out during the autotune
18 The red stop key has been pressed during the autotune
The secure disable signal (terminal 31) was active during the autotune procedure
tunE1 The position feedback did not change or required speed could not be reached during the inertia test (see Pr 5.12)
Ensure the motor is free to turn i.e. brake was released
11
Check encoder coupling to motor
tunE2 Position feedback direction incorrect or motor could not be stopped during the inertia test (see Pr 5.12)
Check motor cable wiring is correct
12 Check feedback device wiring is correct
Swap any two motor phases (closed loop vector only)
tunE3 Drive encoder commutation signals connected incorrectly or measured inertia out of range (see Pr 5.12)
Check motor cable wiring is correct
13
Check feedback device U,V and W commutation signal wiring is correct
tunE4 Drive encoder U commutation signal fail during an autotune
Check feedback device U phase commutation wires continuity
14
Replace encoder
tunE5 Drive encoder V commutation signal fail during an autotune
Check feedback device V phase commutation wires continuity
15
Replace encoder
tunE6 Drive encoder W commutation signal fail during an autotune
Check feedback device W phase commutation wires continuity
16
Replace encoder
tunE7 Motor number of poles set incorrectly
Check lines per revolution for feedback device
17
Check the number of poles in Pr 5.11 is set correctly
Uflt Multi module drive: Unidentified fault
Check all interconnecting cables between power modules
171
Ensure cables are routed away from electrical noise sources
UP ACC Onboard PLC program: cannot access Onboard PLC program file on drive
Disable drive - write access is not allowed when the drive is enabled
98
Another source is already accessing Onboard PLC program - retry once other action is complete

Unidrive SP User Guide 207

Trip Diagnosis
UP div0 Onboard PLC program attempted divide by zero
90 Check program
UP OFL Onboard PLC program variables and function block calls using more than the allowed RAM space (stack overflow)
95 Check program
UP ovr Onboard PLC program attempted out of range parameter write
94 Check program
UP PAr Onboard PLC program attempted access to a non-existent parameter
91 Check program
UP ro Onboard PLC program attempted write to a read-only parameter
92 Check program
UP So Onboard PLC program attempted read of a write-only parameter
93 Check program
UP udf Onboard PLC program un-defined trip
97 Check program
UP uSEr Onboard PLC program requested a trip
96 Check program
UV DC bus under voltage threshold reached
Check AC supply voltage level
Drive voltage rating (Vac) Under voltage threshold (Vdc)
1 200 175
400 350
575 435
X.Oht2 Multi module drive: Heatsink over temperature detected by module X
Check cubicle / drive fans are still functioning correctly
Check cubicle ventilation paths
Check cubicle door filters
121 to 128
Check ambient temperature
Reduce drive switching frequency
Increase ventilation
X.OI.AC Multi module drive: Instantaneous output over current detected by module X – peak output current greater than 225%
Acceleration /deceleration rate is too short.
If seen during autotune reduce voltage boost (Pr 5.15)
Check for short circuit on output cabling.
Check integrity of motor insulation,
Check feedback device wiring (if present)
111 to 118 Check feedback device mechanical coupling (if present)
Check feedback signals are free from noise
Is the motor cable length within limits for the frame size?
Reduce the values in speed loop gain parameters – Pr 3.10, Pr 3.11 and Pr 3.12 (closed loop vector and servo modes only)
Has offset measurement test been completed? (servo mode only)
Reduce the values in Pr 4.13 and Pr 4.14 - current loop gains (closed loop vector and servo modes only)
X.OI.br Multi module drive: Braking IGBT over current detected in module X
Short circuit protection for the braking transistor.
Check braking resistor wiring
141 to 148
Check braking resistor value is greater than or equal to the minimum
Check braking resistor insulation

208 Unidrive SP User Guide

Trip Diagnosis
Multi module drive: DC bus voltage has exceeded the peak level or the maximum continuous level for 30 seconds on
X.OV
module X
Increase deceleration ramp (Pr 0.02)
Decrease braking resistor value (staying above the minimum value)
Check nominal AC supply level
Check for supply disturbances which could cause the DC bus to rise – voltage overshoot after supply recovery from a notch induced
by DC drives, power factor correction or other large equipment being switched on and off the supply.
151 to 158
Check motor insulation
Drive voltage rating Peak voltage Maximum continuous voltage level
200 415 405
400 830 810
575 990 960
X.PH Multi module drive: Phase loss trip on module X
Check input supply voltage phases are at the correct value and balanced
101 to 108
Check the drive output current is stable
X.PS Internal power supply fault detected on module X
Remove any Solutions Module and reset
131 to 138 Check integrity of interface ribbon cables and connections
Hardware fault - return drive to supplier

Unidrive SP User Guide 209

Table 13-2 Serial communications look-up table

No. Trip No. Trip No. Trip

1 UU 39 L.SYNC 184 C.FULL
2 OU 40 to 89 t040 to t089 185 C.Acc
3 OI.AC 90 UP div0 186 C.rtg
4 OI.br 91 UP PAr 187 C.Typ
5 PS 92 UP ro 188 C.cpr
6 Et 93 UP So 189 EnC1
7 O.SPd 94 UP ovr 190 EnC2
8 PS.10V 95 UP OFL 191 EnC3
9 PS.24V 96 UP uSEr 192 EnC4
10 t010 97 UP udf 193 EnC5
11 tunE1 98 UP ACC 194 EnC6
12 tunE2 99 t099 195 EnC7
13 tunE3 100 196 EnC8
14 tunE4 101 to 108 X.PH 197 EnC9
15 tunE5 109 to 110 t109 to t110 198 EnC10
16 tunE6 111 to 118 X.OI.AC 199 DESt
17 tunE7 119 to 120 t119 to t120 200 SL1.HF
18 tunE 121 to 128 X.Oht2 201 SL1.tO
19 It.br 129 to 130 t129 to t130 202 SL1.Er
20 It.AC 131 to 138 1.PS to 8.PS 203 SL1.nF
21 O.ht1 139 to 140 t139 to t140 204 SL1.dF
22 O.ht2 141 to 148 X.OIBr 205 SL2.HF
23 O.CtL 149 to 150 t149 to t150 206 SL2.tO
24 Th 151 to 158 X.OV 207 SL2.Er
25 ThS 159 to 160 t159 to t160 208 SL2.nF
26 O.Ld1 161 to 168 t161 to t168 209 SL2.dF
27 O.ht3 169 to 170 t169 to t170 210 SL3.HF
28 CL2 171 UFLt 211 SL3.tO
29 CL3 172 to 175 t172 to t175 212 SL3.Er
30 SCL 176 EnP.Er 213 SL3.nF
31 EEF 177 to 178 t177 to t178 214 SL3.dF
32 PH 179 C.Chg 215 SL.rtd
33 RS 180 C.Optn 216 to 219 t216 to 219
34 Pad 181 C.RdO 220 to 230 HF20 to HF30
35 CL.bit 182 C.Err
36 to 38 t036 to t038 183 C.dat

210 Unidrive SP User Guide

The trips can be grouped into the following categories:

Table 13-3 Trip categories

Category Trips Comments

Under voltage trip cannot be reset by the user, but is automatically reset by the drive
Self resetting trips UU
when the supply voltage is with specification.
The drive stops before tripping provided the drive motoring power is suitably reduced
Phase loss PH
after 500ms of detecting phase loss
Low priority trips Old1, cL2, cL3, SCL If Pr 10.37 is 1 or 3 the drive will stop before tripping.
Normal trips All other trips Can be reset after 1.0s
Normal trips with extended OI.AC, OI.Br, x.OIAC,
Can be reset after 10.0s
reset x.OIBr
EEF trip EEF Cannot be reset unless a code to load defaults is first entered in Pr xx.00 or Pr 11.43.
HF20 to HF30, SL1.HF,
Non-re-settable trips Cannot be reset. Requires the drive to be powered down.
SL2.HF, SL3.HF
These indicate fatal problems and cannot be reset. The drive is inactive after one of
Hardware faults HF01 to HF19 these trips and the display shows HFxx. The Drive Healthy relay opens and the serial
comms will not function.

13.2 Alarm indications 13.3 Status indications

In any mode an alarm flashes alternately with the data displayed on the Table 13-5 Status indications
2nd row when one of the following conditions occur. If action is not taken
Upper Drive output
to eliminate the all alarms except "Autotune" the drive may eventually Description
display stage
trip.
ACt Regeneration mode active
Table 13-4 Alarm indications
The regen unit is enabled and synchronised to the Enabled
Lower supply.
Description
display ACUU AC Supply loss
br.rS Braking resistor overload The drive has detected that the AC supply has been
Enabled
Braking resistor I2t accumulator (Pr 10.37) in the drive has reached lost and is attempting to maintain the DC bus voltage
75.0% of the value at which the drive will trip and the braking IGBT is by decelerating the motor.
active. *Auto
Autotune in progress
Heatsink or control board or inverter IGBT over tunE
Hot Enabled
temperature alarms are active The autotune procedure has been initialised.
• The drive heatsink temperature has reached a threshold and the *‘Auto’ and ‘tunE’ will flash alternatively on the display.
drive will trip ‘Oh2’ if the temperature continues to rise (see the dc DC applied to the motor
‘Oh2’ trip). Enabled
The drive is applying DC injection braking.
Or
dEC Decelerating
• The ambient temperature around the control PCB is approaching Enabled
The drive is decelerating the motor.
the over temperature threshold (see the ‘O.CtL’ trip).
inh Inhibit
OVLd Motor overload
The drive is inhibited and cannot be run. Disabled
The motor I2t accumulator in the drive has reached 75% of the value at The drive enable signal is not applied to terminal 31 or
which the drive will be tripped and the load on the drive is >100% Pr 6.15 is set to 0.
POS Positioning
Enabled
The drive is positioning/orientating the motor shaft.
rdY Ready
Disabled
The drive is ready to be run.
run Running
Enabled
The drive is running.
SCAn Scanning
OL> The drive is searching for the motor frequency
when synchronising to a spinning motor. Enabled
Regen> The drive is enabled and is synchronising to
the line.
StoP Stop or holding zero speed
The drive is holding zero speed. Enabled
Regen> The drive is enabled but the AC voltage is
too low, or the DC bus voltage is still rising or falling.
triP Trip condition
The drive has tripped and is no longer controlling the Disabled
motor. The trip code appears on the upper display.

Unidrive SP User Guide 211

Table 13-6 Solutions Module and SMARTCARD status indications

at power-up

Lower
Description
display
boot
A parameter set is being transferred from the SMARTCARD to the
drive during power-up. For further information, please refer to section
9.2.4 Booting up from the SMARTCARD on every power up (Pr 11.42 =
boot (4)) on page 102.
cArd
The drive is writing a parameter set to the SMARTCARD during power-
up.
For further information, please refer to section 9.2.3 Auto saving
parameter changes (Pr 11.42 = Auto (3)) on page 101.
loAding
The drive is writing information to a Solutions Module.

13.4 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 and the corresponding time for each trip in Pr 10.43 to Pr
10.51. The time of the trip is recorded from the powered-up clock (if Pr
6.28 = 0) or from the run time clock (if Pr 6.28 = 1).
Pr 10.20 is the most recent trip, or the current trip if the drive is in a trip
condition (with the time of the trip stored in Pr 10.43). Pr 10.29 is the
oldest trip (with the time of the trip stored in Pr 10.51). Each time a new
trip occurs, all the parameters move down one, such that the current trip
(and time) is stored in Pr 10.20 (and Pr 10.43) and the oldest trip (and
time) is lost out of 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 Table 13-1 Trip
indications on page 199 is the value transmitted.

212 Unidrive SP User Guide

14 UL Listing Information Table 14-2 Maximum continuous output current (400V drives)
FLC (A) FLC (A)
The Control Techniques UL file number is E171230. Confirmation of UL Model Model
Normal Duty Normal Duty
listing can be found on the UL website: www.ul.com.
SP1401 2.8 SP2401 15.3
14.1 Common UL information SP1402 3.8 SP2402 21

Conformity SP1403 5.0 SP2403 29

SP1404 6.9 SP3401 35
The drive conforms to UL listing requirements only when the following
are observed: SP1405 8.8 SP3402 43

• The drive is installed in a type 1 enclosure, or better, as defined by SP1406 11 SP3403 56

UL50
Table 14-3 Maximum continuous output current (575V drives)
• Class 1 60/75°C (140/167°F) copper wire only is used in the
installation FLC (A) FLC (A)
Model Model
• The ambient temperature does not exceed 50°C (122°F) when the Normal Duty Normal Duty
drive is operating SP3501 5.4 SP3505 16
• The terminal tightening torques specified in section 3.12.2 Terminal
SP3502 6.1 SP3506 22
sizes and torque settings on page 34.
• If the drive control stage is supplied by an external power supply SP3503 8.3 SP3507 27
(+24V), the external power supply must be a UL Class 2 power SP3504 11
supply
Motor Overload Protection 14.5 Safety label
The drive provides motor overload protection. The overload protection The safety label supplied with the connectors and mounting brackets
level is 150% of full-load current (FLC) of the drive in open loop mode must be placed on a fixed part inside the drive enclosure where it can be
and 175% of full-load current (FLC) of the drive in closed loop vector or seen clearly by maintenance personnel for UL compliance.
servo modes. It is necessary for the motor rated current to be entered The label clearly states “CAUTION Risk of Electric Shock Power down
into Pr 0.46 (or Pr 5.07) for the protection to operate correctly. The unit 10 minutes before removing cover”.
protection level may be adjusted below 150% if required. Refer to
section 8.3 Current limits on page 97 for more information. The drive 14.6 UL listed accessories
also provides motor thermal protection. Refer to section 8.4 Motor
thermal protection on page 97. • SM-Universal Encoder Plus
• SM-Resolver
Overspeed Protection
• SM-Encoder Plus
The drive provides overspeed protection. However, it does not provide • 15-way D-type converter
the level of protection afforded by an independent high integrity • SM-I/O Plus
overspeed protection device. • SM-Applications
• SM-Applications Lite
14.2 Power dependant UL information • SM-PROFIBUS-DP
• SM-DeviceNet
14.2.1 Unidrive SP Size 1, 2 and 3
• SM-INTERBUS
Conformity
• SM-CAN
The drive conforms to UL listing requirements only when the following is • SM-CANopen
observed: • SM-Keypad
• The correct UL-listed fast acting fuses (class CC up to 30A and class • SM-Keypad Plus
J above 30A), e.g. Bussman Limitron KTK series, Gould Amp-Trap
ATM series or equivalent, are used in the AC supply. The drive does
not comply with UL if MCBs are used in place of fuses.

14.3 AC supply specification

The Unidrive SP is suitable for use in a circuit capable of delivering not
more than 5000rms symmetrical Amperes at 264Vac rms maximum
(200V drives), 528Vac rms maximum (400V drives) or 600Vac rms
maximum (575V drives).

14.4 Maximum continuous output current

The drive models are listed as having the maximum continuous output
currents (FLC) shown in Table 14-1, Table 14-2 and Table 14-3 (see
Chapter 12 Technical Data on page 186 for details).
Table 14-1 Maximum continuous output current (200V drives)
FLC (A) FLC (A)
Model Model
Normal Duty Normal Duty
SP1201 5.2 SP2201 15.5
SP1202 6.8 SP2202 22
SP1203 9.6 SP2203 28
SP1204 11 SP3201 42
SP3202 54

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List of figures
Figure 2-1 Features of the drive ........................................11 Figure 4-3 Unidrive SP size 3 power connections .............37
Figure 2-2 Typical drive rating lables .................................12 Figure 4-4 Unidrive SP size 2 ground connections ............38
Figure 2-3 Options available with Unidrive SP ..................12 Figure 4-5 Unidrive SP size 3 ground connections ............38
Figure 2-4 Accessories supplied with size 1 ......................14 Figure 4-6 Cable construction influencing the capacitance ..41
Figure 2-5 Accessories supplied with size 2 ......................15 Figure 4-7 Preferred chain connection for multiple motors ...42
Figure 2-6 Accessories supplied with size 3 ......................15 Figure 4-8 Alternative connection for multiple motors ........42
Figure 3-1 Location and identification of terminal covers ..16 Figure 4-9 Typical protection circuit for a braking resistor ....44
Figure 3-2 Removing the size 1 terminal covers ...............17 Figure 4-10 Fitting of grounding clamp (size 1 and 2) ..........45
Figure 3-3 Removing the size 2 terminal covers ...............17 Figure 4-11 Fitting of grounding clamp (size 3) ....................45
Figure 3-4 Removing the size 3 terminal covers ...............17 Figure 4-12 Fitting of grounding bracket (size 1 to 3) ..........45
Figure 3-5 Removing the finger-guard break-outs ............. 18 Figure 4-13 Removal of internal EMC filter ..........................46
Figure 3-6 Removing the 48V / DC terminal cover break- Figure 4-14 General EMC enclosure layout showing earth /
outs ...................................................................18 ground connections ..........................................47
Figure 3-7 Fitting and removal of a Solutions Module .......19 Figure 4-15 Drive cable clearances .....................................48
Figure 3-8 Fitting and removal of a keypad .......................19 Figure 4-16 Feedback cable, twisted pair ............................48
Figure 3-9 Surface mounting the size 1 drive ....................20 Figure 4-17 Feedback cable connections ............................49
Figure 3-10 Surface mounting the size 2 drive ....................21 Figure 4-18 Supply and ground cable clearance .................49
Figure 3-11 Surface mounting the size 3 drive ....................21 Figure 4-19 Sensitive signal circuit clearance ......................50
Figure 3-12 Through-panel mounting the size 1 drive .........22 Figure 4-20 Grounding the drive, motor cable shield and
Figure 3-13 Through-panel mounting the size 2 drive .........22 filter ...................................................................50
Figure 3-14 Through-panel mounting the size 3 drive .........23 Figure 4-21 Grounding the motor cable shield .....................50
Figure 3-15 Enclosure layout ...............................................24 Figure 4-22 Shielding requirements of optional external
Figure 3-16 Enclosure having front, sides and top panels braking resistor .................................................50
free to dissipate heat ........................................25 Figure 4-23 Grounding of signal cable shields using the
Figure 3-17 Example of IP54 (NEMA 12) rating layout ........26 grounding bracket .............................................51
Figure 3-18 Fitting of IP54 insert for size 1 ..........................27 Figure 4-24 Connecting the motor cable to a terminal
block in the enclosure .......................................51
Figure 3-19 Fitting of IP54 insert for size 2 ..........................27
Figure 4-25 Connecting the motor cable to an isolator
Figure 3-20 Footprint mounting the EMC filter .....................28
switch ................................................................51
Figure 3-21 Bookcase mounting the EMC filter ...................28
Figure 4-26 Surge suppression for digital and unipolar
Figure 3-22 Size 1 external EMC filter .................................29 inputs and outputs ............................................52
Figure 3-23 Size 2 external EMC filter .................................29 Figure 4-27 Surge suppression for analog and bipolar
Figure 3-24 Size 3 external EMC filter .................................30 inputs and outputs ............................................52
Figure 3-25 Through-panel mounting cut-out details for Figure 4-28 Location of the RJ45 serial comms connector ...52
size 1 ................................................................31 Figure 4-29 Default terminal functions .................................54
Figure 3-26 Through-panel mounting cut-out details for Figure 4-30 Location of encoder connector .........................56
size 2 ................................................................31
Figure 4-31 Start / stop control EN954-1 category B -
Figure 3-27 Fitting the heatsink mounted braking resistor replacement of contactor ..................................60
on size 1 ...........................................................31
Figure 4-32 Category 3 interlock using electromechanical
Figure 3-28 Connecting the brake resistor on a surface safety contactors ..............................................60
mounted size 1 .................................................31
Figure 4-33 Category 3 interlock using Secure Disable
Figure 3-29 Connecting the brake resistor on a through- with protected wiring .........................................60
panel mounted size 1 .......................................32
Figure 4-34 Use of contactor and relay to avoid the need
Figure 3-30 Removing the baffle plate on a size 2 ..............32 for protected wiring ...........................................60
Figure 3-31 Modifying the fan baffle on a size 2 ..................32 Figure 5-1 SM-Keypad .......................................................61
Figure 3-32 Fitting the heatsink mounted braking resistor Figure 5-2 SM-Keypad Plus ...............................................61
on a size 2 ........................................................32
Figure 5-3 Display modes ..................................................62
Figure 3-33 Connecting the brake resistor on a surface
Figure 5-4 Mode examples ................................................62
mounted size 2 .................................................33
Figure 5-5 Parameter navigation .......................................62
Figure 3-34 Connecting the brake resistor on a through-
panel mounted size 2 .......................................33 Figure 5-6 Menu structure ..................................................63
Figure 3-35 Locations of the power and ground terminals Figure 5-7 Menu 0 Cloning ................................................63
on Unidrive SP .................................................34 Figure 6-1 Menu 0 logic diagram .......................................70
Figure 4-1 Unidrive SP size 1 power connections ............. 36 Figure 6-2 Fixed and variable V/f characteristics ...............73
Figure 4-2 Unidrive SP size 2 power connections ............. 37

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Figure 7-1 Minimum connections to get the motor
running in any operating mode .........................82
Figure 8-1 Motor thermal protection (Heavy Duty) .............97
Figure 8-2 Motor thermal protection (Normal Duty) ...........98
Figure 8-3 Torque and rated voltage against speed ..........99
Figure 9-1 Installation of the SMARTCARD .....................100
Figure 9-2 Basic SMARTCARD operation .......................100
Figure 10-1 Unidrive SP Onboard PLC program
scheduling .......................................................105
Figure 10-2 Programming options for Unidrive SP ............106
Figure 11-1 Menu 1 logic diagram .....................................112
Figure 11-2 Menu 2 logic diagram .....................................116
Figure 11-3 Menu 3 Open-loop logic diagram ....................119
Figure 11-4 Menu 3 Closed loop logic diagram .................120
Figure 11-5 Menu 4 Open loop logic diagram ....................124
Figure 11-6 Menu 4 Closed-loop vector logic diagram ......125
Figure 11-7 Menu 4 Servo logic diagram ...........................126
Figure 11-8 Menu 5 Open-loop logic diagram ....................128
Figure 11-9 Menu 5 Closed-loop logic diagram .................130
Figure 11-10 Menu 6 logic diagram .....................................133
Figure 11-11 Menu 7 logic diagram .....................................135
Figure 11-12 Menu 8 logic diagram .....................................138
Figure 11-13 Menu 9 logic diagram .....................................142
Figure 11-14 Menu 12 logic diagram ...................................147
Figure 11-15 Open-loop brake function ...............................148
Figure 11-16 Open-loop brake sequence ............................148
Figure 11-17 Closed-loop brake function .............................149
Figure 11-18 Closed-loop brake sequence ..........................149
Figure 11-19 Menu 13 Open-loop logic diagram ..................152
Figure 11-20 Menu 13 Closed-loop logic diagram ...............154
Figure 11-21 Menu 14 Logic diagram ..................................158
Figure 11-22 Location of Solutions Module slots and their
corresponding menu numbers ........................161
Figure 11-23 SM-Universal Encoder Plus logic diagram .....162
Figure 11-24 SM-Resolver logic diagram .............................164
Figure 11-25 SM-Encoder Plus logic diagram .....................166
Figure 11-26 I/O module analog logic diagram ....................169
Figure 11-27 I/O module digital logic diagram 1 ..................170
Figure 11-28 I/O module digital logic diagram 2 ..................171
Figure 11-29 Digital input connections when Pr 6.04 is set
to 0 to 3 ...........................................................184
Figure 13-1 Keypad status modes .....................................198
Figure 13-2 Location of the status LED ..............................198

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List of tables
Table 2-1 200V Drive ratings (200V to 240V ±10%) ...........9 Table 12-1 Maximum permissible continuous output
Table 2-2 400V Drive ratings (380V to 480V ±10%) ...........9 current @ 40°C (104°F) ambient ....................186
Table 2-3 575V Drive ratings (500V to 575V ±10%) ...........9 Table 12-2 Maximum permissible continuous output
Table 2-4 Solutions Module identification .........................13 current @ 40°C (104°F) ambient with IP54
insert and standard fan fitted ..........................187
Table 3-1 Mounting brackets ............................................ 23
Table 12-3 Maximum permissible continuous output
Table 3-2 Environment considerations .............................26
current @ 50°C (122°F) ambient ....................188
Table 3-3 Drive EMC filter details .....................................28
Table 12-4 Losses @ 40°C (104°F) ambient ....................189
Table 3-4 Drive control and relay terminal data ................34
Table 12-5 Losses @ 40°C (104°F) ambient with IP54
Table 3-5 Drive power terminal data ................................34 insert and standard fan fitted ..........................190
Table 3-6 Schaffner external EMC Filter terminal data ....35 Table 12-6 Losses @ 50°C (122°F) ambient ....................190
Table 3-7 Epcos external EMC Filter terminal data ..........35 Table 12-7 Power losses from the front of the drive when
Table 4-1 Input current, fuse and cable size ratings through-panel mounted ..................................191
(European) .......................................................40 Table 12-8 Maximum supply fault current .........................191
Table 4-2 Input current, fuse and cable size ratings Table 12-9 IP Rating degrees of protection ......................192
(USA) ................................................................40
Table 12-10 NEMA ratings .................................................192
Table 4-3 Maximum motor cable lengths (200V drives) ...41
Table 12-11 Overall drive dimensions ................................192
Table 4-4 Maximum motor cable lengths (400V drives) ...41
Table 12-12 Overall drive weights ......................................192
Table 4-5 Maximum motor cable lengths (575V drives) ...41
Table 12-13 Input current, fuse and cable size ratings .......193
Table 4-6 Heatsink mounted braking resistor data ...........43
Table 12-14 Maximum motor cable lengths (200V drives) .194
Table 4-7 Minimum resistance values and peak power
Table 12-15 Maximum motor cable lengths (400V drives) .194
rating for the braking resistor at 40°C (104°F) .... 44
Table 12-16 Maximum motor cable lengths (575V drives) .194
Table 4-8 Unidrive SP and EMC filter cross reference .....45
Table 12-17 Minimum resistance values and peak power
Table 4-9 Connection details for RJ45 connector ............52
rating for the braking resistor at 40°C (104°F) ..194
Table 4-10 Isolated serial comms lead details ...................52
Table 12-18 Drive control and relay terminal data ..............194
Table 4-11 The Unidrive SP control connections consist
Table 12-19 Drive power terminal data ...............................194
of: .....................................................................53
Table 12-20 Immunity compliance ......................................195
Table 4-12 Encoder types ..................................................56
Table 12-21 Emissions compliance ....................................195
Table 4-13 Drive encoder connector details .......................57
Table 12-22 Unidrive SP and EMC filter cross reference ...196
Table 5-1 Alarm indications ..............................................63
Table 12-23 Optional external EMC filter details ................196
Table 5-2 Status indications .............................................64
Table 12-24 Optional external EMC filter dimensions .........197
Table 5-3 Solutions Module and SMARTCARD status
indications on power-up ...................................64 Table 12-25 Optional external EMC Filter terminal data .....197
Table 7-1 Minimum control connection requirements for Table 13-1 Trip indications ...............................................199
each control mode ............................................ 81 Table 13-2 Serial communications look-up table ..............210
Table 7-2 Minimum control connection requirements for Table 13-3 Trip categories ................................................211
each mode of operation ....................................81 Table 13-4 Alarm indications ............................................211
Table 7-3 Parameters required for feedback device Table 13-5 Status indications ...........................................211
set-up ...............................................................87 Table 13-6 Solutions Module and SMARTCARD status
Table 7-4 Restrictions of drive encoder lines per indications at power-up ...................................212
revolution .......................................................... 89 Table 14-1 Maximum continuous output current (200V
Table 8-1 Available switching frequencies .......................98 drives) .............................................................213
Table 8-2 Sample rates for various control tasks at Table 14-2 Maximum continuous output current (400V
each switching frequency .................................98 drives) .............................................................213
Table 9-1 SMARTCARD data blocks .............................101 Table 14-3 Maximum continuous output current (575V
Table 9-2 SMARTCARD codes ......................................101 drives) .............................................................213
Table 9-3 Key to parameter table coding .......................102
Table 9-4 Trip conditions ................................................103
Table 9-5 SMARTCARD status indications ....................104
Table 11-1 Menu descriptions .......................................... 108
Table 11-2 Key to parameter table coding .......................108
Table 11-3 Definition of parameter ranges & variable
maximums ......................................................109
Table 11-4 Maximum motor rated current ........................111
Table 11-5 Active reference .............................................178

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Index
Symbols D
+10V user output .....................................................................54 DC bus paralleling .................................................................. 39
+24V external input .................................................................54 DC bus voltage ......................................43, 111, 179, 182, 183
+24V user output .....................................................................55 Deceleration ...............................................................................
............ 43, 67, 72, 74, 84, 85, 86, 93, 95, 118, 176, 179, 182
Numerics Defaults (restoring parameter) ................................................ 64
0V common .............................................................................54 Delta motor operation ............................................................. 42
48V backup power supply operation .......................................39 Derating ................................................................................ 186
Destination parameter ............................................................ 53
A Diagnostics ........................................................................... 198
AC supply contactor ................................................................41 Digital I/O 1 ............................................................................. 56
AC supply requirements ................................................. 38, 191 Digital I/O 2 ............................................................................. 56
Acceleration .............................67, 72, 84, 85, 86, 93, 95, 118 Digital I/O 3 ............................................................................. 56
Access .....................................................................................16 Digital Input 1 .......................................................................... 56
Access Level ...........................................................................65 Digital Input 2 .......................................................................... 56
Accuracy ...............................................................................192 Digital Input 3 .......................................................................... 56
Advanced menus ....................................................................63 Dimensions (overall) ............................................................. 192
Advanced parameters ...........................................................108 Display .................................................................................... 61
Air-flow in a ventilated enclosure .............................................25 Display messages .................................................................. 63
Alarm .....................................................................................211 Drive enable ........................................................................... 56
Alarm Indications ...................................................................211 Drive features ......................................................................... 11
Altitude ..................................................................................191
Analog input 2 .........................................................................55 E
Analog input 3 .........................................................................55 Electrical Installation ............................................................... 36
Analog output 1 .......................................................................55 Electrical safety ...................................................................... 16
Analog output 2 .......................................................................55 Electrical terminals ................................................................. 34
Applications module category parameters ............................174 Electromagnetic compatibility (EMC) ....................... 16, 45, 195
Autotune .....................................................................90, 93, 95 EMC - Compliance with generic emission standards ............. 49
EMC - General requirements .................................................. 47
B EMC - Variations in the wiring ................................................ 50
Basic requirements .................................................................81 EMC filter dimensions (external, overall) .............................. 197
Braking ....................................................................................43 EMC filter torque settings (external) ..................................... 197
Braking resistor values ..........................................................194 EMC filters (optional external) .............................................. 196
Emission ............................................................................... 195
C EN61800-3 (standard for Power Drive Systems) ................... 49
Cable clearances ....................................................................48 Enclosure ................................................................................ 24
Cable lengths (maximum) .....................................................194 Enclosure Layout .................................................................... 24
Cable size ratings ..................................................................193 Enclosure sizing ..................................................................... 24
Cable types and lengths ..........................................................41 Encoder connections ........................................................ 48, 56
Cautions ....................................................................................7 Encoder feedback limits ......................................................... 98
CD ROM file contents ..............................................................14 Encoder types ......................................................................... 56
Closed loop vector mode ........................................................10 Environmental protection ........................................................ 16
Control connections ................................................................53 External EMC filter .................................................................. 28
Control terminal specification ..................................................54
Cooling ....................................................................................16 F
Cooling method .....................................................................191 Feedback device cable screening .......................................... 48
CTSoft .....................................................................................87 Ferrite ring .............................................................................. 49
Current limits ...........................................................................97 Field weakening (constant power) operation .......................... 99
Current loop gains ............................................................ 93, 95 Fieldbus module category parameters ................................. 173
Current ratings ......................................................................186 Fire protection ......................................................................... 16
Fixed V/F mode ...................................................................... 10
Fuse ratings .......................................................................... 193
Fuse types .............................................................................. 41

G
Getting Started ....................................................................... 61
Ground connections ......................................................... 41, 47
Ground leakage ...................................................................... 44
Ground terminals .................................................................... 34
Grounding bracket .................................................................. 45
Grounding clamp .................................................................... 45

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H M
Hazardous areas .....................................................................16 Maximum speed / frequency ...................................................99
Heatsink mounted braking resistor .................................. 31, 43 Mechanical Installation ............................................................16
High speed operation ..............................................................98 Menu 0 ............................................................................. 63, 67
Humidity ................................................................................191 Menu 01 - Frequency / speed reference ...............................112
Menu 02 - Ramps ..................................................................116
I Menu 03 - Slave frequency, speed feedback and speed
I/O module category parameters .......................................... 169 control .............................................................................119
Input current ratings ..............................................................193 Menu 04 - Torque and current control ...................................124
Input inductor calculation ........................................................39 Menu 05 - Motor control ........................................................128
Inrush current ........................................................................193 Menu 06 - Sequencer and clock ...........................................133
Internal EMC filter ...................................................................46 Menu 07 - Analog I/O ............................................................135
IP Rating (Ingress protection) ........................................ 26, 191 Menu 08 - Digital I/O .............................................................138
Isolator switch .........................................................................51 Menu 09 - Programmable logic, motorised pot and binary
Items supplied with the drive ...................................................14 sum .................................................................................142
Menu 10 - Status and trips ....................................................145
K Menu 11 - General drive set-up ............................................146
Keypad and display - fitting / removal .....................................19 Menu 12 - Threshold detectors and variable selectors .........147
Keypad operation ....................................................................61 Menu 13 - Position control ....................................................152
Menu 14 - User PID controller ...............................................158
L Menu 15, 16 and 17 - Solutions Module set-up ....................161
Line reactors .................................................................. 39, 191 Menu 18 - Application menu 1 ..............................................175
Menu 19 - Application menu 2 ..............................................175
Menu 20 - Application menu 3 ..............................................175
Menu 21 - Second motor parameters ...................................176
Menu 22 - Additional Menu 0 set-up .....................................177
Menu structure ........................................................................62
Minimum connections to get the motor running in any
operating mode .................................................................82
Mode parameter ......................................................................53
Model number .........................................................................10
Motor (running the motor) .......................................................81
Motor cable - interruptions ......................................................51
Motor isolator-switch ...............................................................51
Motor map parameters ............................................................90
Motor number of poles ...............................................90, 92, 95
Motor rated current .....................................................90, 92, 95
Motor rated current (maximum) ...............................................97
Motor rated frequency ...................................................... 90, 92
Motor rated power factor .................................................. 90, 92
Motor rated speed ............................................................ 90, 92
Motor rated speed autotune ....................................................93
Motor rated voltage .......................................................... 90, 92
Motor requirements ...............................................................191
Motor thermal protection .........................................................97
Motor winding voltage .............................................................42
Mounting methods ...................................................................20
Multiple motors ........................................................................42

N
Nameplate description ............................................................12
NEMA rating ...........................................................26, 191, 192
Notes .........................................................................................7

O
Onboard PLC ........................................................................105
Open loop mode ......................................................................10
Open loop vector mode ...........................................................10
Operating mode (changing) ............................................. 64, 81
Operating modes .....................................................................10
Optimisation ............................................................................90
Options ....................................................................................12
Output contactor ......................................................................42
Output frequency ...................................................................192

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P T
Parameter access level ...........................................................65 Technical data ...................................................................... 186
Parameter ranges .................................................................109 Temperature ......................................................................... 191
Parameter security ..................................................................65 Terminal block in the enclosure .............................................. 51
Planning the installation ..........................................................16 Terminal cover removal .......................................................... 16
Position feedback ....................................................................81 Terminal sizes ........................................................................ 34
Position feedback module category parameters ...................162 Thermal protection circuit for the braking resistor .................. 44
Power dissipation ..................................................................189 Through-panel mounting the drive .......................................... 22
Power ratings ................................................................. 44, 186 Torque settings ............................................................... 34, 194
Power terminals ......................................................................34 Trip ....................................................................................... 198
Precision reference Analog input 1 .........................................54 Trip categories ...................................................................... 211
Product information ...................................................................8 Trip History ........................................................................... 212
Trip Indications ..................................................................... 198
Q
Quadratic V/F mode ................................................................10 U
Quick Start commissioning ......................................................84 UL Listing Information ........................................................... 213
Quick start commissioning ......................................................87 User Security .......................................................................... 65
Quick start connections ...........................................................81
V
R Variable maximums .............................................................. 109
Ratings ............................................................................... 8, 40 Ventilation ............................................................................... 26
Reactor current ratings ................................................... 39, 191 Vibration ............................................................................... 192
Relay contacts .........................................................................56 Voltage mode ......................................................................... 91
Residual current device (RCD) ................................................44
Resistances (minimum) ...........................................................44 W
Resolution .............................................................................192 Warnings .................................................................................. 7
RJ45 connector - connection details .......................................52 Weights ................................................................................. 192
Routine maintenance ..............................................................35

S
Safety Information .............................................................. 7, 16
Saving parameters ..................................................................64
Sealed enclosure - sizing ........................................................25
SECURE DISABLE .................................................................59
Serial comms lead ...................................................................52
Serial communications connections ........................................52
Serial communications look-up table .....................................210
Serial communications port isolation .......................................52
Servo .......................................................................................10
Single line descriptions ...........................................................67
Slip compensation ...................................................................91
SMARTCARD operation ............................................... 100, 105
SMARTCARD trips ................................................................103
Solutions Module ...................................................................161
Solutions Module - fitting / removal .........................................19
Speed feedback ......................................................................81
Speed loop gains ............................................................. 94, 96
Speed range ..........................................................................192
Star motor operation ...............................................................42
Start up time ..........................................................................192
Starts per hour ......................................................................192
Status ............................................................................. 64, 211
Status Indications ..................................................................211
Storage ..................................................................................191
Supply types ............................................................................39
Surface mounting the drive .....................................................20
Surge immunity of control circuits - long cables and
connections outside a building ..........................................51
Surge suppression for analog and bipolar inputs and
outputs ..............................................................................52
Surge suppression for digital and unipolar inputs and
outputs ..............................................................................52
Switching frequency ......................................................... 98, 99
SYPTLite ...............................................................................105

Unidrive SP User Guide 219

Issue Number: 7 www.controltechniques.com
0471-0000-07

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