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1. 58 1021 58 t09 BRAKING LIMITER oer pao cet 50 10 6 DAMPING THE DC LINK VOLTAGE RIPPLE DIODE RECTIFIER 4000 59 H SREE EEA 7 2 2 2 702 1 21 00 4 db UR aora 1 D EA RS 111 001 HE c bd nsa eee 7 572 1 51 18 65 13 22 IDRIVEWINDONM crae incliti dense a 67 13 3 PROGRAMMING OF THE SPARE BOARDS cccccsseccsssccesscccsssccuscceecccesccceusccesceesscceescceussseeseseusscesseseeunsess 67 LEX 01 0 1 42211011 de np app eap a DE ET mew cratered 11 b 362 ee M M 5 EETA rug 1604 A aq 11 Document number Lang Rev ind en A 6 1 5 General Introduction This document covers the basic commissioning tasks of the torque control software TC SW Purpose of this document is to serve as a guideline for the AMC table parameter initializations and as a check of the motor control operation Simple basic
2. 15 3 2 INVERTER PARAMETERS 16 Sd Paramete rS ast 17 COCO 17 18 3 3 FAIS PEED DRIVES done E 18 3 3 1 Important parameter settings for high speed eene eene nnne nnne 18 2222 SVector CORIFOLS PI CONWOUTS uc ae ie 19 3 3 3 Vector control opnnmized pulse s ec ee d tai is BERS 20 E UU UU 1 4 1 OPERATION MODES 23 4 2 CHECK DEC MAGNETIZATION 23 4 3 REVISE MOTOR MODEL PARAMETERS ra RERE a EEREN EEE E Ea 24 4 4 PROSTS ADT 25 4 5 SISRTNIOEBS 5 24 god PCEN OU ON enata tem atis idees NOSE ire aoa 22 2225 EVV SUA Sl 20 3 5 DaT SUIT soak tod niti 26 4 6 MOTOR MODEL TUNING WITH HIGH SPEED DRIV
3. ule 7 l 12 SEMEN CIS ETEM E ME 2 1 INTRODUCTION 52 50 405 TATE 9 202 PROGRAMMING AMC SOFTWARE ides tease 9 2 2 1 Unpacking theSoliware Package ioo et e nm OV tei eet 9 222 Downloading the AMC SOR tWGFe ee a to 9 253 PROGRAMMING FIRMWARE ON MAIN INTERFACE BOARD ONLY ACS 5000 12 ZO OSHS GPE CINE BOOK ra Loose eee 12 202 USING QU INIT 2 DOGN A tn Ip ERES utem beides Rib 12 2 4 PROGRAMMING FIRMWARE ON PHASE INTERFACE BOARDS cesses nennen nennen enses 12 241 Usine an old Phasednterlace Board 12 242 Uso On INT e tt Ete 12 3 1 ASYNCHRONOUS MOTOR DATA Mal zo t aimed ms 13 sd AINIIN SCAN 13 SZ De PAULIN OOF PAV 14 91 07 DIGS GIG oic 14 2124 Molor edunt 15 SAD molor
4. _ vs In this formula Document number Lang Rev ind Page Ysa tw Actual stator flux in d axis corrected if in field weakening Ys laim Ys nom cos delta limit D axis stator flux if machine is at load angle limit 132 10 Ys nom Nominal stator flux P jain Controller gain in 95 calculated from parameter 132 11 The controller gain is calculated from the difference of the load angle for which the torque is reduced from 100 to 096 at exactly the load angle limit 132 10 The torque limit calculated according to above equation is shown in 132 15 Example If the actual load angle limit is 85 deg 132 10 the delta of the load angle is set to 5 deg 132 11 and the actual load angle is 80 deg 100095 the torque is limited to 100 nominal value Thom The output torque of the limiter can be seen in the parameter 132 15 load angle torque reference The status of the limiter is displayed in parameter 132 20 load angle limiting 10 5 Braking limiter BCU RBU The following only applies for ACS 6000 This function limits the dc link voltage rise while braking with BCU RBU The following parameter values have to be defined based on the HW dimensioning as they are used to protect the braking unit HW Torque is limited to a value which corresponds to the nominal RBU BCU braking power value given by 192 16 RBU ON BRK POWER unless one of the dc link half voltages exceeds certain level given by 192 21
5. 17 09 VLU Ctrl amp Monitor water cooled drives ENABLED air cooled drives DISABLED 112 04 NOM DC VOLTAGE 5000 191 18 DISCHARGE FT LVL water cooled drives air cooled drives a ACS6000 112 04 NOM DC VOLTAGE In most cases the nominal DC voltage depends on the application AD with ARU supply 4840V AD Industry 4410V AD Marine 4220V 3 2 1 Operational parameters The following operational parameter has to be set 21 01 StartFunction ACS 5000 Select between CONST DC MAGN or SCALAR FLY FLYING START and FLASH START are not supported as a standard starting method ACS 6000 Select between CONST DC MAGN FLYING START or SCALAR FLY 3 2 2 Pulse encoder The drive can operate encoderless or with a pulse encoder depending on the operational mode set in parameter 111 02 If parameter 111 02 ENCODERLESS DRIVE is set to TRUE no pulse encoder is needed to run the drive If the AMC board is booted with parameter 111 02 set to TRUE the initialization for TACHOLESS operation is executed If parameter 111 02 ENCODERLESS DRIVE is set to FALSE a pulse encoder is needed parameters from group 165 have to be checked and the NTAC module has to be initialized If the AMC board is booted with parameter 111 02 set to FALSE the NTAC module initialization is executed After changing of parameter 111 02 the AMC board needs to be rebooted in order to execute the correct initialization Document number La
6. 5 5000 Medium Voltage AC Drives 12 to 24 MVA For Speed and Torque Control of oynchronous and Induction Motors Torque control software TC SW for Asynchronous Machine Drive Commissioning manual LKCI5410 1 General All personnel who will install or do maintenance shall be familiar with the safety instructions before opening the door of the frequency converter cubicle All relevant safety regulations must be followed during the installation commissioning and maintenance procedures When installed and used in accordance with instructions it causes no risk to its associated environment Some of the control cards of the frequency converters are at the main circuit potential causing hazardous voltage levels to be present between the control cards and the frequency converter frame The doors of the frequency converters must be kept locked while the frequency converter is in operation 1 1 Commissioning It is mandatory to follow the commissioning manuals and the user manual safety instructions The required measurements have to be executed otherwise some equipment might be damaged 1 2 Operation The operation of the frequency converter can be entrusted to a person who is not familiar with its basic functions The operator should however be informed of the significance of the diagnostics In case of an alarm indication possibly followed by tripping the operator should be able to decide whether part of the system should be
7. e After the test execution the enabling signal 131 36 is set to DISABLE automatically torque control state machine stays in READY RUN if no faults otherwise fault message is generated and drive trips with Class 1 iv ooon poan opan Anaa 8611 AAAA 131 37 TEST RESUL gbh lGCTtest MV labor fiber optic AZ out 4 2 1 14 56 00 Target 01 Time Origin 01 31 11 14 56 00 1 02 PHASE CURRENT 55 Pa Min 60 0 60 0 2 01 DC VOLTAGE 1 V 0 6000 Fn sequence Min 0 Max 36 b conducting flt Min b 6 b conducting test Min 3 3 Fig 2 IGCT A22 non conducting Document number Lang Rev ind
8. If the main circuit of the inverter unit is live then the motor terminals are also live even if the motor is not running Opening the disconnecting device does not remove all voltages Before starting work check which circuits remain live after opening of the disconnecting device by referring to the circuit diagrams for your particular delivery Labels are also provided to identify the live circuits The protection with a door opened is minimum IP 20 Removal of any barrier while power is connected shall be done with the utmost care and consideration of personal safety NOTE also a possible uninterruptible power supply UPS Control voltages of 115 230 VAC may be present on the digital inputs or outputs even though the inverter unit is not powered up Before starting work check which circuits remain live after opening of the disconnecting device by referring to the circuit diagrams for your particular delivery and also checking the labeling for the live circuits included in the cubicle Do not make any voltage tests on any part of the unit while the unit is connected Disconnect motor cables before making any measurements on motors or motor cables The printed circuit boards are sensitive to electrostatic discharge ESD When handling the printed circuit boards ensure that personnel is properly grounded with wrist straps and other appropriate material for handling printed circuit boards The control boards of frequency converters
9. BACKUP OF OLD PARAMETERS Make a backup of the used parameters as first action In Drive Debug save the parameter list as a text file and as a PAC file 2 SAVE THE PREVIOUS FLASH AS BACKUP Remove the previous Flash and store it in a safe place as backup in case programming of the loading package fails 3 DOWNLOADING THE NEW RELEASE Download the new SW release After downloading the new SW release take a backup of the new default parameters 4 RESTORING OF PARAMETERS After backing up the parameters with DriveDebug downloading the new software package and restoring the backup file check that the loading package version in the AMC Table Index 100 11 SW PACKAGE VER is correct Otherwise you have to update the name of the software package manually 102 01 PARAM LOCK OFF 100 11 SW PACKAGE VER LxOlxxxx xxxx version of new loading package 102 01 PARAM LOCK ON 5 COMPARE THE NEW RESTORED PARAMETERS AND THE BACKUP PARAMETERS Please note that between different SW releases the parameters of the AMC table may be modified Parameters may have been shifted to different places or the meaning or scaling of the parameter may be different After restoring the parameters to the new release always compare all of the names and values with the old release Compare the new default parameters with the old values In case a default value mismatches check the release documents If no information is given please contact the manufactur
10. Target 0 1 Time Origin 05 15 07 10 10 34 1 09 MOTOR SPEED 5 Min 120 0 Max 120 0 1 11 MOTOR RMS CUR Pa Min 0 0 Max 120 0 1 17 FLUX ACT Min 60 0 110 0 Figure 3 Motor magnetizing current during slow ramp Document number Lang Rev ind 3 If the magnetizing current is higher than it should be especially at low speeds this could indicate that the motor parameters are not correct In this case increasing the stator inductance parameter 150 02 might help 5 1 Magnetizing current at no load The magnetizing current should be given in the motor data sheets or in the test report of the motor The test report is normally more reliable than the data sheet One can also estimate the magnetizing current by calculating it with the following formula U U l T wap sb A8 Xh Xtsig With 2no load current Arms U motor terminal voltage line to line Vrms f stator frequency Hz stator inductance 150 02 H the no load current in Arms can be found in 1 10 Voltage drop over stator resistance and copper and iron losses are neglected in this formula Please see Appendix 1 Asynchronous motor equivalent circuit for symbol names 5 2 Saturation of inductance The saturation of the main inductance is a function of the magnetizing current and the torque The parameters of this function can be set in group 150 Sat
11. tuned START CORR POWER Power Figure 8 Hysteresis widening as a function of the power Document number Lang Rev ind 7 3 switching frequency based on current This chapter does not apply for high speed drives This function can be used to lower the switching frequency for high inverter currents The function is mainly used to achieve the current dependant switching frequency levels defined at the beginning of the chapter for the 9 and 11 MVA modules of ACS 6000 The related parameters and default values are ACS5000 134 35 INV CURR CORR 100 134 36 CURR CORR VALUE 0 ACS6000 134 22 INV CURR CORR 100 134 23 CURR CORR VALUE 50 The function increases the hysteresis and thus decreases the switching frequency if the current is above the value given in INV CURR CORR ATTENTION The parameter INV CURR CORR is related to inverter current not motor current For this function the maximum inverter current is equal to 150 This means that with the default setting for INV CURR CORR 100 the function starts to decrease the switching frequency at 66 of maximal inverter current The parameter CURR CORR VAUE defines how much the hysteresis is increased at maximum inverter current If the switching frequency does not go down enough at higher currents the parameter CURR CORR VALUE can be increased boost SFmax 250 MAX CUR CORR SFmax 300 100 Current CORR STRT INV
12. DERATE SLOPE 1 Derating Factor 1 in 4 7 15 AUX CTRL WORD1 b12 PowerDerateSlope2 activ 133 25 WATER DERATE SLOPE 2 ME 2 Derating Factor 2 in rg 40 40 5 45 36 056 cw WtrTemplntAlarmHighLimit 36 41 CW1 WtrTemplntDeratingLimit N B e 100 torque means Hypothetical torque on used machine when running with maximum INU current parameter 112 02 Document number Lang Rev ind e Limiting the current is done by limiting the torque Document number Lang Rev ind Page 10 Dynamic torque limiters There are several dynamic torque limiters They are able to change limit the torque reference in order to prevent trips such as overvoltage undervoltage or too high angular frequency The dynamic limiters are located after the static limiters Except the braking limiter the dynamic torque limiters are P controllers with a threshold level and a gain as parameters Each limiter has a parameter indicating what the maximal torque is that the limiter allows and a parameter indicating if the limiter is active In case any limiter is active the torque reference coming form the speed controller is changed In these cases the motor speed will not follow the speed reference any more 10 1 Overvoltage limiter The purpose of this limiter is to prevent the DC link voltage to exceed the threshold value defined by parameter 132 02 In case the drive is breaking this limiter is needed to r
13. ind 11 Speed controller The speed controller must be tuned to the motor and the driven load The tuning of the speed controller is performed with the coupled motor by applying a speed step directly to the input of the controller The response of the controller on the speed step is monitored and if necessary the default settings of control parameters are changed in such a way that the response of the controller is optimal for the driven process After the tuning sudden load changes should be corrected without stressing the mechanical equipment gear box belts etc and affecting other control loops When tuning the speed controller only one control parameter should be changed at a time The effects of the parameter change with respect to step response and possible oscillations have to be monitored over the whole speed range Speed response tests should be carried out at different speeds between the minimum and the maximum speed of the motor The speed intervals should be small enough to be able to detect possible resonance points Due to varying friction at different speeds of the driven load the response time can vary as well In this case it is recommended to adjust the appropriate response time to about half of the process speed opeed steps of 2 of the maximum speed or bigger are applied to see the response behaviour of the actual speed Proceed as follows to tune the speed controller using speed steps 1 Acceler
14. needed for motor initialization Motor nominal voltage Motor nominal current Motor nominal frequency fl 110 04 Motor nominal speed n rom 110 05 Motor nominal shaft power P Document number Lang Rev ind 110 06 Motor nominal power factor cos pn 1 Parameter number refers to the TC SW AMC table index ACS 5000 minimal rated currents The rated current in parameter 110 02 must be in a certain range to guarantee that the current scaling calculation does not saturate For ACS 5000 the following table shows the minimal rated currents for all supported inverter types Inverter tyoe Max measurable current Minimal rated current 190 02 110 02 24MVA 2200 A 389 A 1760 A 3316 A 2200 A 1760A MVA W 1320 A 234 A MVA A 1300 A 230A 3 5MVA 650A 115A 3 1 4 Motor model parameters Following electrical parameters are needed for motor model initialization 150 01 Stator resistance Rs O m 150 02 Stator inductance Ls 150 03 Machine stray inductance oLs 150 04 Rotor time constant Tr ms Parameter number refers to the TC SW AMC table index 3 1 5 Calculation of motor model parameters Calculation of motor model parameters listed above depends on what kind of motor data is available The procedure is done with the help of an EXCEL file which is named AD Motor Parameter calculation xls This file is delivered as part of the release structure It contains a Read Me she
15. space You need some software tool in your system to unpack the loading package like PKUNZIP or WINZIP e Create new folder or directory on your PC e g CALOAD Later this folder is referred to as V e Copy and unzip the file LxOy ZIP to this folder x may be A for 6000AD K for 5000AD L for 5000SD S for 6000SD y be H for boards and for AMC34 boards All necessary files will be available in this folder and the automatically created subdirectories e Delete the zip file if you want to save disk space e The folder must contain at least the following files ACONFIG BAT Vza exe only with CxOt 7z ACxOt exe or CxOt 7Z AL ACS BAT AL MOT BAT AVERSION BAT either TitlisSD txt TitlisAD txt Mam txt or akseli txt AmcData AUTOLOAD DDF AAmcData DUMMLANG csv AAmcData ENCPARAM CSV only in case of SD AmcData ENCPARAM XLS only in case of SD AmcData INVPARAM csv AAmcData INVPARAM XLS AAmcData MOTPARAM CSV AAmcData MOTPARAM XLS AmcExe am34 cld AmcExe BASELIB DDF AmcExe pa_56303 cld AmcExe Task1 ddf with all projects except ACS 5000AD and ACS 5000SD these files are expected in the folder AmcData APPLPARS CSV AmcData APPLPARS XLS with ACS 5000AD and ACS 5000SD also the following files are part of the package AL HYS BAT AmcData HYSPARAM CSV AmcData HYSPARAM XLS 2 2 2 Downloading the Software The folder contains the ACS 5000 6000 AMC software
16. stator voltage and current behavior It has to be considered that the parameters of the two equivalent circuits are not identical T equivalent circuit L equivalent circuit R1T Xl1sgT 254 R2T s XsgL H2L s T equivalent circuit Parameter Unit Description X1sgT Ohm otator leakage reactance X2sgT Ohm Rotor leakage reactance XmT Ohm Main or magnetizing reactance R1T Ohm Stator resistance R2T Ohm Rotor resistance L equivalent circuit Parameter Unit Description XsgL Ohm Overall leakage reactance XmL Ohm Main or magnetizing reactance Ohm otator resistance R2L Ohm Rotor resistance Transformation from one equivalent circuit to the other All parameters that can be identified from the terminals are equal in both circuits Stator resistance R1 R1T otator inductance X1 X1T XIL XmI X1sgT XmL XsgL otray coefficient o ol L Stray inductance Xsg 1 X1L XsgT XsgL Rotor time constant Tr SHI L Document number Lang Rev ind Page Based on these equalities the T circuit parameters be transformed into L circuit parameters RIL RIT XmT XIsgT XmT X2sgT XIL XIT XmT XIsgT 1 XsgL o XIL XmL XIL XsgL X2sgT 2 R2T m XmL 2 7 frated T2L frated rated motor frequency The values of the L equivalent circuit are used in the AMC table parameters 150 01
17. tuning instructions are given in case of unsatisfactory operation of the drive It is assumed that professional person trained by ABB does the commissioning work Commissioning person should have adequate knowledge about the torque control software TC SW and motor control in general and should be able to use ABB standard tools e g Drive Window Drive Debug Recommended DriveDebug version is 2 91 Service pack available for DriveDebug 2 9 DriveDebug versions before version 2 91 cannot access the fast internal Trendlogger Function TrendLogWin because it is located in y memory Document number Lang Rev ind Page en A 7 2 Loading software and firmware 2 1 Introduction The drive comes from the factory with the AMC software and firmware of the PLDs referred to as firmware in the following that was the latest release at the time of testing It may happen that between testing and commissioning new versions of software and or firmware were released In this case the procedure described in this section has to be followed From the actual compatibility list it can be seen which version of the firmware has to be used together with the software see file ACS 5000 6000 SW Compatibility List xls of software release on the database After first turning on the auxiliary power to the AMC board check which versions of software and firmware are actually loaded e Press the button Drive on the panel the display must show corr
18. voltage is 10095 1 Other saturation coefficients S are given relative to this one Ul 100 UIV Un V I9 100 I AVIn A S 100 U I Un In With Un 100 96 51 5 In 96 in this case In 96 27 3 The table now looks like this ACS 5000 Ul 19 2 25 2 38 4 51 4 765 100 107 115 9 125 4 132 7 138 1 1 50 66 100 13 2 200 27 3 309 355 409 486 564 S 105 105 105 105 104 100 94 90 84 74 67 5 6000 50 66 100 132 200 273 309 35 5 409 486 564 105 105 105 105 104 100 94 90 4 74 67 2 Now this table has to be adapted to the parameters of group 150 The following points of the no load curve have been chosen from the table Point A 150 24 20 0 150 25 104 0 Point N 150 26 27 3 150 27 100 0 PointB 150 28 35 5 150 29 90 0 3 It is recommended to have point N as close as possible to nominal voltage The voltage at point A should be 15 25 below nominal voltage and at point B 15 25 above nominal voltage Document number Lang Rev ind 5 2 2 Saturation as a function of torque The purpose of parameters 150 06 up to 150 22 is to express the main inductance saturation as a function of motor torque Parameter 150 06 corresponds to T 0 no load and parameter 150 22 to T 200 torque steps between parameters are 12 5 The default value of all ta
19. zl System Software Open Graph 2 5 Close Printer Setup w Status Refresh Save Exit Backup Backup All 51 12 14 4 09 Download Properties 1 Select the restore target Select Drive 3 x Empty memory 1041 Drive name mpty memory 10917 Cancel 2 Select the correct backup and press OK to start restoring Document number Lang Rev ind Page Restore Drive Empty memory 10H from E X Anawa MEI CREER 10 Backup 2 9MVA MHI CRP FERRY1 0H1 Lancel Drive Empty memory 30H17 Boot Loader e Estimated time lett 5 min 34 sec 07994 KB loaded Document number Lang Rev ind Appendix 1 Asynchronous motor equivalent circuit Usually the datasheet of an asynchronous machine contains the parameters of the T equivalent circuit which has stray reactances both on primary and on secondary side and agrees with the physical understanding of the machine Nevertheless in the motor control the L equivalent circuit of the machine is used this equivalent circuit uses one parameter less and describes exactly the same machine The two equivalent circuits cannot be distinguished regarding
20. 0 average SF 250ms MAX lt 75 average SF 50ms MAX 20 25 maximum SF 1ms MAX lt 1 3 maximum For the 11 MVA modules the tuning target is SF 1s MAX 230 average SF 250ms MAX lt 67 average SF 50ms MAX lt 20 25 maximum SF 1ms MAX 1 3 maximum For 9 and 11MVA modules the switching frequency has to be decreased for high currents This is mentioned more detailed in the load tuning The switching frequency is dropping below these levels at low stator frequencies as can be seen from the following plots The reason is that at low stator frequencies the switchings are not equally distributed on all switches In order not to overload the active switches the average switching frequency has to be reduced The effect can be seen in the long time windows of 250ms and 1 Document number Lang Rev ind Switching Frequencies at Load T 150 90 60 15 47 49 Target 0 1 Time Origin 11 29 07 16 47 49 Min SEC 134 06 MAX SF 1ms MAX pcs Min 0 000 Max 6 000 134 07 MAX SF 50ms MAX pcs Min 0 0 Max 60 0 134 08 MAX SF 250ms MAX pcs Min 0 0 120 0 134 18 SF 15 MAX pcs Min 0 Max 360 130 17 MOD INDEX FILT Min 0 0 120 0 Figure 4 Switching frequency test at no load operation for ACS 5000 Document number Lang Rev ind Page Switching Frequencies at na lo
21. 1 or table 2 for ACS 6000 9MVA type Example for the 1000A unit of ACS 5000 acs 12MVA At the beginning of the execution of this command you are asked to confirm the version information press Y or N For ACS 6000 AD and SD you are asked in a second step to select the type of drive W water cooled master default A air cooled master not used anywhere 5 5 6000 no cooling type specified only used in test environments In ACS 5000AD the necessary parameters are included in the file INVPARAM XLS CSV Wait until download is finished If there is a problem read the Ist file for details e For all products except ACS 5000AD and ACS 5000SD download the motor parameters using mot dummy This loads a basic motor parameter set which has to be completed according to the procedure described in the later sections of this document Document number Lang Rev ind Page en A 11 2 3 Programming Firmware on Main Interface Board Only ACS 5000 2 3 1 Using a PECINT Board To program the firmware on the PECINT board follow the procedure is described in file Titlis TNO41002 INT FPGA Main Modulator Programming Manual pdf This file is part of the Latest Software Release on the database 2 3 2 Using an INT2 Board In newer drives the PECINT board is replaced by the INT2 board which is also used as Phase Interface board The zip file containing the Main INT2 firmware also contains the t
22. 150 04 Document number Lang Rev ind Page Appendix 2 Related document and SW tool list Motor data sheet from machine factory Motor type test report EXCEL file for parameter calculation Users Manual TC SW AMC table oignal and Parameter table FA manual Drive window Drive debug Document number Lang Rev ind Page Appendix 3 Description of the IGCT conducting test function For ACS5000 the IGCT conducting test function is available With this function one can test if inverter switches are conducting or not When enabled the test is executed automatically after inverter has been charged The test is based on execution of different switch sequence combinations and DC current flow The inverter has to be connected to the motor to get current flow If no current can flow the test results will not be correct After test drive stays in READY REF state if all IGCT are conducting and is ready to run the motor When the test has found non conducting IGCT drive trips with CLASS 1 and opens the main circuit breaker Inverter circuit Document number Lang Rev ind Page Test parameters and results The test has only one parameter 131 36 used to enable the test with ENABLE After the test the value is set to DISABLE automatically 111 Sroupname FLUX REF CONTROL __ Description CON TEST ENA Index 1 22 2 IGCT conducting test Max Def Intscaling TEST RES
23. 152 03 FILTER RESISTANCE project specs 3 3 2 Vector control controllers The PI controllers parameters must be initialized prior the run There are two alternative operating modes of the vector control module Stator Flux Oriented Control SFOC or Rotor flux Oriented Control RFOC which can be selected by the parameter switch TRUE FALSE The default selection is Stator Flux Oriented Control SFOC If not stated differently for a special project select SFOC If SFOC mode is selected then the following group of parameters must be set 157 27 SFOC ENABLED TRUE 157 01 KP SFLUX MAX 100 157 02 TI SFLUX CTRL 100ms 157 03 PI SFCTRL MAX LIM 10009 157 04 PI SFCTRL MIN LIM 1000 Document number Lang Rev ind 157 05 KP SFLUX START 1 3 KP SFLUX MAX 157 06 CUT OFF SFLUX ACT 200Hz 157 07 KP TORQUE MAX 20 157 08 TI TORQUE CTRL 10ms 157 09 PI TCTRL MAX 10009 157 10 PI TCTRL MIN LIM 1000 157 11 KP TORQUE START 1 3 KP TORQUE MAX 157 12 CUT OFF TORQ ACT 200Hz If RFOC mode is selected then the following group of parameters must be set 157 27 SFOC ENABLED FALSE 157 80 KP RFLUX MAX 100 157 81 TI RFLUX CTRL 100ms 157 82 PI RFCTRL MAX LIM 10009 157 83 PI RFCTRL MIN LIM 1000 157 84 KP RFLUX START 1 3 KP RFLUX MAX 157 85 CUT OFF RFLUX ACT 200Hz 157 86 KP ISDQ MAX 50 157 87 TI ISDQ CTRL 10ms 157 88 PI ICTRL MAX LIM 1000 157 89 PI I
24. 250 ms SF faults Then tune the other hysteresis boost parameters In low motor frequency high power metal applications where the NP voltage can increase very fast the unfiltered NP voltage can be used by setting parameter 134 40 NP VOLT FILTER to disabled The drawback would be a increase of the switching frequency of around 30Hz in average Document number Lang Rev ind Page In ACS6000 NP mainly occur if the SF or in SD in case the current is too low In case of NP trips check the SF and try to increase it to the values given at the beginning of the chapter In case of an SD motor at no load the stator current can be very low this can also result in problems for the NP control Use the Minimum Current function described below to increase the stator current An inaccurate power feed forward term to ARU can result on unstable dc link pumping or NP voltage spikes During tuning the power feed forward term can be disabled with a parameter 112 07 PFF ENABLE Trips can also occur in case only the ARU is running 2 no INU running The problem can be solved by activating 134 36 NP LIMITER in case there is a VLU RBU BCU The VLU will be switched on if the NP voltage exceeds 400V and will be switched off as soon as the NP VOLTAGE drops below 300V This parameter has no influence when the VLU is not enabled e g slave drives Another way to get rid of the problem is by only starting the ARU in case an INU starts Check the ARU Signa
25. 6 lower value for the rotor time constant at loading conditions Reduce the value of the parameter 150 04 ROTOR TIMECONST according to the temperature rise on maximum loading condition Please pay special attention to this parameter when the drive is equipped with a tachometer 6 2 Stator resistance An inaccurate stator resistance value may result in an unstable control because flux estimation is based on integration The stator resistance has a big impact on this integration especially at low frequency This is a common problem for different kinds of control methods for example PWM DTC In practice the stator resistance value 150 01 RS should be set to a lower value 50 75 than given by the motor parameter calculation tool AD Motor Parameter calculation xls It is preferable to set this parameter too small than too big Please pay special attention to this parameter when the drive is not equipped with a tacho Document number Lang Rev ind If the drive is started with DC Start mode Parameter 131 01 START FUNCTION CNST DC MAQN the stator resistance including cable resistance is measured during the DC Start and displayed in Parameter 154 19 IDStart RS The used RS value 150 01 RS should always be smaller than this value 6 3 Stator main inductance NO LOAD TUNING The stator main inductance value 150 02 LS can be tuned with help of the no load current values Please see chapter Motor model at no
26. B will not open and DC link will not discharge The overriding control will stay in Rdy Ref state 8 1 Enabling Disabling There are different root causes for Auto Restart Auto Restart Classes For each class it is possible to enable or disable Auto Restart Default settings Auto Restart for all Classes is disabled Enabling disabling of different Auto Restart Classes is made via parameter 111 20 AUTORESTART CW Please refer to the Signal Parameter Table to select the correct bits 8 2 Timer Settings Several timer settings need to be done in parameter group 111 The properties of all timers are discussed in the Signal Parameter Table 111 22 AR TIMER MAX This specific parameter is depending on the system Default value 3 s 111 23 AR DELAY oet this parameter to an adequate value to delay the restart actions Default value 0 5 s 111 24 AR WAIT MAX app 20 ms 111 26 TIME SUCC AR app 30s 8 3 Observing Auto Restart Find in parameter 111 21 AUTORESTART SW all necessary information about the status of the functionality The maximum number of allowed successive Auto Restart is set in parameter 111 25 Default value 5 The number of Auto Restarts is stored in the Powerfail File and is accessible via parameter 191 21 Document number Lang Rev ind Page 9 Static torque limiters 91 Pull out torque limiter This limiter is only used with AD motors When the load exceeds so called pull out breakd
27. CTRL MIN LIM 1000 157 90 KP ISDQ START 1 3 KP ISDQ MAX 157 91 CUT OFF ISDQ ACT 200Hz The suggested settings of phased locked loop PLL should be selected as shown below 157 13 KP PLL CTRL 200 157 14 TI PLL CTRL 10ms 157 15 CUT OFF PLL ACT 1000Hz 157 16 CUT OFF FX REF 1000Hz 157 17 CUT OFF PLL WF 0Hz Use given default values first If the behaviour of the drive is not satisfying and additional tuning is needed contact the MV Supportline 3 3 8 Vector control optimized pulse patterns In case of high frequency machines it is possible to switch from PWM modulator to the implemented pulse pattern modulator at higher operating speeds At higher speeds the drive can only run with three optimized pulse patterns i e PP1 PP3 defined by number of angles used e g 1x 2x 3x respectively The areas of PP are defined by three frequency change over points which specify the correct modulation indexes Hystereses are included to prevent from using the same PP on the boundary of two areas The actual motor frequency multiplied with the actual PP shows approximately the switching frequency The SF may be slightly higher if there are additional switching 5 due to NP control ABB Switzerland Ltd Document number Lang Rev ind en A 20 Attention The information regarding which pulse pattern at given operating area must be selected is project specific Contact support line for the project sp
28. CUR 150 Figure 9 Hysteresis widening as a function of Inverter current 7 4 Neutral point control The neutral point NP control is done differently for ACS5000 and ACS6000 55000 can be forced to switch for NP in ACS6000 NP is only controlled if there already is a switch due to torque or flux That is why there are 3 levels for NP control in ACS5000 and only 2 levels for ACS 6000 Document number Lang Rev ind In any case it is recommended to run the drive with a certain margin in the output voltage This simplifies NP control Set the parameter 130 04 VOLTAGE RESERVE to 5 Only for ACS 5000 The NP control uses hysteresis controllers to regulate the NP voltages of the three phases 160 15 NP VOLTAGE 1 160 23 NP VOLTAGE 2 160 31 NP VOLTAGE 3 The control of the NP voltage is done independently for each DC link The performance of the control can be tuned via parameters 134 23 NP 1ST HYST deactivation level 134 24 NP 2ND HYST activation level 134 25 NP 3RD HYST forcing level The values are given in absolute Volts For the air cooled ACS 5000 the levels are bigger than for the water cooled types Below the NP 15 HYST the NP control is not active If NP rises above the value of NP 2ND HYST the control becomes active If NP is bigger than the value of NP 3RD HYST a switching is forced to control NP The inner two NP hysteresis bands are chosen to be very small which activates NP control almost continu
29. ES e EE Eve PU ES TIAS 20 j WETTE ete etl Coton E 3 5 1 MAGNETIZING CURRENT AT NO LOAD 31 3 2 SATURATION OF MAIN INDUC TANCE eben enu 31 5 2 1 Saturation as a function of magnetizing 31 Quz SSUIUFGUOH IS Tun CUOR LOI UC tet rd eee t pU 33 5 3 SWITCHING FREQUENCY AT 33 1272 7 11 6 1 ROTOR TIME CONSTAN anemia veda 38 6 2 DIATORRESISTANOE 38 6 3 STATOR MAIN INDUCTANCE E 39 6 4 SEATOR STRA Y INDUCTANCE i 30 6 5 COS Fl UA DU 12 S WW wq xd NOE 4 1 Ju SWITCHING FREQUENCY AT LOADING 40 3 2 TUNE
30. INU XV C768 AE112 3BHB007211R0112 1760 1760A 1400A Water oer INU Single 2 768 121 3BHB007211R0121 3316 3316A 1500 18MVA _ Bs Water 22 Single INU XV C768 AE111 3BHB007211R0111 2200 2200A 1000 12MVA Water Single INU XV C768 AE112 3BHB007211R0112 1760 1760 800A 9 5MVA Water Single INU XV C768 AE113 3BHB007211R0113 1320 1320A 600A 7MVA_W Water Single INU XV C768 AE116 3BHB007211R0116 1300 1300A 586A 7MVA_A Air Single INU XV C768 AE115 3BHB007211R0115 650 650A 293A 3 5MVA Air Table 1 SCA subprints and matching inverter types Document number Lang Rev ind en A 10 in ACS 6000 if a 9 MVA stack is used it is important to check the type and select the right type of inverter for download The following table gives the appropriate information ACS 6000 Description Stack IGCT FW Diode NP Diode Inverter type type for Download 9 MVA S 093N 3BHB013085R001 5SDF1045H002 5SDF1045H002 9MVA Stack High Speed with ABB Diode 9 MVA 3BHB013085R001 3BHB006457R0001 3BHB006457R0001 Stack High Speed with EUPEC Diode 9 MVA 13085 001 3BHL000986P3003 SBHL000986P3003 Stack Low Speed with ABB Diode Table 2 Stack types for 9 MVA ACS 6000 e Download the software and the inverter parameter set using the command acs inverter type inverter type is the appropriate name from table
31. LIMIT BRAKING VOL V Then the torque is limited with a ramp to a value which corresponds 40 of the nominal RBU BCU braking power Ramp time is given by the parameter 192 23 BRA LIM RAMP TIME ms When all of the dc link half voltages are under certain level given by 192 22 BRAKING V V then the limitation is ramped back to a value which corresponds the nominal RBU BCU braking power value given by 192 16 RBU ON BRK POWER The calculated value is shown 132 13 BRAK UNIT REF 96 and the status on 132 17 BRA UNIT LIMITING LIMITING NOT LIMITING This limiter does not limit the braking power torque and current to acceptable level alone The maximum braking current has to be limited by the static limiters chain to a certain value especially on low speeds to keep the braking current on certain level See chapter of static limiters 10 6 Damping the dc link voltage ripple diode rectifier This function should be disabled for ACS 6000 drives with ARU This function is not a limiter but it can also change the torque reference The torque reference is modified after the speed controller or torque reference Document number Lang Rev ind given from FA and before the dynamic torque limitations The static torque limitations are already taken into account inside the FA This functionality was developed for weak supply networks In these networks a stiff torque control may result in oscillatio
32. SWITCHING FREQUENCY BASED ON FREQUENCY 43 7 3 TUNE SWITCHING FREQUENCY BASED ON 45 7 4 LUE DA 45 7 5 DYNAMIC SWITCHING FREQUENCY CONTROL 47 7 6 uis adis eade v 49 M 8 1 25 tae es aon OA EL AM 51 8 2 51 8 3 OBSERVING AUTO RESTARE t 51 2 2 MENT 9 TOROUEEINDEBER 52 9 2 OVEREOADABIBITY OR DBRATING goats 32 Ln die TU 7 20797727 E 10 1 OVER VOLTAGE LIMITER seta ue 55 10 2 UNDERVOLTAGE LIMITER 56 10 3
33. The purpose of this limiter is to limit the frequency speed The frequency of the motor is limited to the value defined by parameter 132 07 for positive and by parameter 132 08 for negative direction of rotation The torque reference is calculated from the formula os Pim 1 Jas LH T 1 e f Hz ain In this formula fim limit level of frequency defined by parameter 132 07 or 132 08 fat actual value of frequency signal 161 04 fhom nominal value of frequency parameter 110 03 Pgain Controller gain in defined by parameter 132 09 Example If the actual frequency is 10 refer to the nominal frequency from below the limit frequency and 5 1000 the torque is limited to 100 nominal value Thom The output torque of the limiter can be seen in the parameter frequency torque reference In AD drives this is parameter 132 12 in SD drives parameter 132 14 The status of the limiter is displayed in parameter frequency limiting In AD drives this is parameter 132 16 in SD drives 132 19 10 4 Load Angle Limiter This limiter is only used for SD machines The purpose of this limiter is to keep the load angle of the machine below a certain limit in order to avoid pull out of the machine The load angle limit is set in parameter 132 10 and the gain of the P controller is set in 132 11 The torque limit is calculated according to the following equation MES Vs acsi a aV
34. ULT INU 1 Index mid bits status of IGCT 0 OK 1 not conducting Max De Int scaling TEST RESULT INU 2 Index ete bits status of IGCT 0 OK 1 not conducting Max Def Int scaling The test results are put to location 131 37 in case of single inverter and also to location 131 38 in case of double inverters Below the meaning of bit position in those two locations is presented The test result is shown as a bit value 0 meaning conducting 1 meaning not conducting Because of inverter configuration outer IGCTs with number 1 or 4 are indicated precisely if not conducting the inner ones 2 or 3 are shown as a pair with outer 1 or 4 Examples of results Sad asd nd o eut uc eu er ak an ut AUR RM All IGCT are conducting Saad suc d 2 22 2 ad v a HUDDDOGUBDCOUDDODOOOGEDDO GU IGCT A14 is not conducting apa csv fv ea ea noe fe fe fo IGCT C22 14 are not conducting Document number Lang Rev ind Page Test flow The test has to be enabled before drive is charged e g in READY ON state e Set parameter 131 36 IGCT CON TEST ENA to ENABLE The test has to be enabled before drive is charged e g in READY ON state e Charge the drive The test execution is activated in the last step of RDY ON to RDY RUN action follow it with window like below fig 2
35. VA air cooled for square load characteristic ACS 5000A 3 5 MVA ACS 5000W 1 293 A 50 Hz 60 Hz motors 1 1005 A Hz current iout switching frequency few 0 0 10 20 30 40 50 60 70 80 90 100 l o Figure 5 Current and Switching frequency limitations for all ACS 5000 with square load torque and for ACS 5000W and ACS 5000A 3 5MVA with constant load torque Document number Lang Rev ind Page For the 7MVA air cooled ACS 5000 with constant torque load characteristic the following levels may not be exceeded ACS 5000A 7 MVA 50 Hz 60 Hz motors lout sw 586 A Hz current iout 100 250 80 60 40 55 20 0 MOdindex 7o 0 10 20 30 40 50 60 70 80 90 100 Figure 6 Current and Switching frequency limitations for air cooled 7MVA ACS 5000 In ACS 5000SD two parameters are available to tune the switching frequency 134 75 FLUX HYST FACTOR only acts on flux hysteresis band 134 76 TORQ HYST FACTOR only acts on torque hysteresis bands This tuning should be done under load Results when tuning under no load condition may be misleading The switching frequency reacts rather sensitive to flux hysteresis band Nevertheless it must be considered that the flux hysteresis band is important for the quality THD of the stator currents If it is too big the current quality deteriorates Therefore it is recommended to use 134 75 very carefully If possible tune the switching frequency by adap
36. acts directly on the torque reference coming from FA and that all limiters will act on the modified torque reference Do not forget to clear the parameter 26 03 TORQ STEP after the tuning is terminated 159 01 ENA DAMPING Enables the functionality 159 02 UDC FILT TIMECONS T 159 02 5 T T is the cycle time of the supply network 20ms 50Hz 159 03 DAMPING GAIN Normally 100 an increased value can be used to achieve a stronger damping 159 04 ALLOWED DAMPING Maximally allowed damping in of nominal torque For example 5 95 results in maximal change of the torque of 5 96 Increase this value with steps of 1 5 96 during tuning if necessary 159 05 not in use 159 06 TORQ REF MODIFIED Compare this value to the torque reference value given by the FA during tuning 159 07 ENABLING SPEED Speed above which damping is enabled For example a value of 10 enables the damping function as soon as the motor Document number Lang Rev ind speed is higher than 1096 of the motor nominal speed 159 08 GENERAT MODE Generator mode must be set to FALSE for ACS5000 and ACS6000 single drives Contact supportline in case needed with an ACS6000 multidrive 159 09 ENA P CONTR MODE This parameter changes the control principle of the UDC damping function If this parameter is set to true then a simple P controller is used to dampen the DC link Normally this parameter should be FALSE Document number Lang Rev
37. ad ACS 6000 Target 0 1 Time Origin 81 05 10 13 47 09 134 05 SF 1ms pcs Min 0 000 6 000 134 06 SF 5 ms MAX pcs Min 0 0 Max 60 0 134 07 SF 250ms MAX pcs Min 0 0 120 0 134 08 SF 1s pcs 0 360 1 09 MOTOR SPEED Pa Min 150 150 130 10 MODULATION INDE Min 0 0 120 0 Figure 5 Switching frequency test at no load operation for ACS 6000 In case the operation is unacceptable the following hysteresis band tuning method can be used Case 1 if supply frequency gt 20 Hz and SF 1s MAX gt 250 in average SF 15 MAX in average 250 250 oet parameter 134 27 ACS 5000 134 14 ACS 6000 HYST BOOST MIN to a new value using HYST BOOST MIN a 1 HYST BOOST MIN Calculate error A ABB Switzerland Ltd Case 2 if supply frequency 20 Hz and SF 50ms gt 25 maximum SF 50ms MAX maximum 25 25 Set parameter 134 26 ACS 5000 134 13 ACS 6000 HYST BOOST 0HZ to a new value using eq HYST BOOST 1 HYST BOOST 0HZ tuned Calculate error A ACS 5000 The parameter 134 26 HYST BOOST OHz should be 100 by default ACS 6000 The parameter 134 13 HYST BOOST OHz be much higher especially for low frequency machines Values up to 300 are normal Document number Lang Rev ind 6 Motor model a
38. age The following procedure only needs to be done if the motor parameters are not known from a data sheet In case that a data sheet is available the simple ID Run can be performed to cross check the set parameters but the identified parameters do not need to be used in group 150 1 Set the parameters 131 02 DC MAGN FLUX to 10096 and 131 03 DC MAGN TIME to 50096 must have this value otherwise estimation of stator resistance will fail 2 Setthe speed reference to 3 Start the drive and stop it again after DC magnetization is over torque control state machine leaves the magnetization state Check 170 05 TC State 10 RDY_REF to be sure 4 Read parameters 154 19 IDStart RS and 154 20 IDStart sigmaLs and write them down 5 Repeat steps 3 and 4 for about 5 times Write down the estimated values If the values do not differ too much from each other 10 use the average of the results to proceed Otherwise use the worksheet Plate Data of the EXCEL file AD Motor Parameter calculation xls 6 If between inverter and motor a filter choke is used the resistance and the inductance of this filter choke are included in the estimated values For the resistance the impact is small and can be neglected therefore The value of the filter inductance as set in parameter 152 01 has to be subtracted from the estimated inductance value in 154 20 to get the value of the leakage inductance of the motor 7 Transfer the average va
39. and all tools needed to download to the flash memory of the AMC board Document number Lang Rev ind Page en A 9 Due to licensing issues the drivers used to download the loading package are not included in the loading package You need a running installation of Drive Debug or Drive Window on your PC which offers the needed drivers e Connect the PC to channel of the AMC board e Open a DOS window and change the directory to e The parameter set has to be chosen according to the installed current measurement subprint SCA on the CVMI boards The rated current of the attached machine is not relevant for this step The safest way to determine the corresponding current rating is to check the marking of the SCA subprints The following table gives the appropriate information ACS 6000 range current for 11 peak ACS6000 XV C768 AE119 3BHB007211R0119 4 500 4 500A Wool 11MVA continuous XV 101 1R0101 684 3684 A indi 9MVA ACS6000 XV me AE102 1R0102 2 865 24865 inl 7MVA 7 ACS6000 XV C768 AE105 007211 0105 2 046 2 046 A 700A 5MVA 5MVA ACS6000 XV C768 AE106 3BHB007211R0106 1 228 1 228 A 420A 3MVA 3MVA ACS 5000 Description SCA type SAP number Measurement Rated Inverter type range current for rms Download Double INU XV C768 AE111 3BHB007211R0111 2200 2200A 2000A 24MVA Water oer INU Double
40. ap plication 100 depending reverse frequency for Document number Lang Rev ind SFLY FREQ REVERSE mE the application SFLY FREQ MIN searching SFLY SEARCH SPEED the application 4 6 Motor model tuning with high speed drives This sections is valid for high speed drives nominal frequency typically gt 75 2 In general the same procedure to identify correct motor parameters applies as for standard machines 50 60Hz The basic tool used to get the parameters is the EXCEL file AD Motor Parameter calculation xls Whereas with standard machines the worksheet Plate Data usually gives reasonable results this is not the case with high speed motors It is highly recommended to use the motor parameters from a data sheet of the manufacturer if available Entering these data into the worksheets Equivalent 1 phase 51 or pu yields the parameters that need to be set in the AMC table If no data sheet is available an initial parameter set is determined using the worksheet Plate Data The sequence described in section 4 3 of this document shall be used to identify the stator resistance and the leakage inductance of the motor Together with the worksheet Measured Lsigma the other parameters of the motor model and controllers are determined Follow this sequence for tuning 1 Start Motor with DC Magnetization and low speed 2 Increase motor speed and check behavior S
41. ate the motor to the selected speed setpoint 2 Select parameter 120 10 SPEED STEP 3 Set the speed step to 296 of the maximum speed and the duration for 3000 ms as shown in the figure below Step Settings Ed Step Note Active time is optional Rising edge 2 00 Falling edge 400 Active time 3000 ms l 1j Falling first Step Variable Variable 120 10 SPEED STEP Value 0 00 rpm Minimum value 100 00 Maximum value 100 00 Set the datalogger to trigger from signal 120 10 SPEED STEP 5 Add signals 120 10 SPEED STEP 122 4 MOTOR SPEED 122 14 TORQUE REF 5 and 161 2 TORQUE NOFILT to the datalogger as shown below Document number Lang Rev ind Variables Datalogger Settings EG 120 10 SPEED STEP 122 4 MOTOR SPEED 122 14 TORQUE REF 5 161 2 TORQUE_NOFILT Number of samples before 100 Sample interval ms Triggering Conditions Trigger Variable for Level or Difference triggering SA onn Select EH Trigger 120 10 SPEED STEP Limits Rising edge 1 0 Level Falling edge Hysteresis 0 0 Difference X External 6 Start the datalogger and apply the steps Tuning is performed by using parameters 121 01 KPS proportinal to the gain and 121 05 TIS integration time of speed controller 7 Reduce the integral time constant 24 08 T until an overshoot is obs
42. ble elements is 100 5 3 Switching frequency at no load ACS 5000 The default hysteresis bands are tuned for operation with the following configurations Water cooled ACS 5000 any size under any load conditions e Air cooled 3 5MVA ACS 5000 under any load conditions e Air cooled 7MVA ACS 5000 with square load characteristics For the air cooled 7 ACS 5000 with constant torque load characteristic special hysteresis bands must be loaded This is done by typing the following command line at the prompt in the DOS command window hys 7MVA A CN ACS 5000 and ACS 6000 The switching frequency can also be checked using a similar speed reversal test at no load During the speed reversal the switching frequencies for different time windows are monitored 1 Make the speed reversal from the maximal positive speed to the maximal negative speed with a long reversing time Save the trend from the speed reversal 3 Take the trend of ACS 5000 134 06 SF 1ms MAX 134 07 SF 50ms MAX 134 08 SF 250ms MAX 134 09 SF 1s MAX ACS 6000 134 05 SF 1ms MAX 134 06 SF 50ms MAX 134 07 SF 250ms MAX 134 08 SF 1s MAX 1 09 MOTOR SPEED and 130 10 MODULATION INDEX Allowed values for different switching frequency windows are ACS 5000 Document number Lang Rev ind SF 1s MAX lt 250 average SF 250ms MAX lt 75 average SF 50ms MAX 20 25 maximum SF 1ms MAX 1 3 maximum ACS 6000 SF 1s MAX 30
43. ding significant delay to the current measurement ACS 5000 The user can choose between a second order low pass filter and a second order band stop filter The cut off frequency respectively the center frequency of the filters can be selected in a certain range For the band stop filter also the relative bandwidth can be chosen Parameters with default values 134 45 PH CUR FILTER SEL NO FILTER 134 46 FILTER CHAR FREQ 50 kHz 134 47 REL BANDSTO WIDTH 20 ACS 6000 The filter can be activated by parameter 134 24 LONG CABLE MODE Start by setting the parameter to filter 1 CABLE lt 125m dampening is not enough switch to the second filter setting CABLE 150m Valid from EPLD Version 2100 Use the estimated current instead of the measured current In the control software an observer model estimates the stator current The estimated value is corrected with the measured value such that the estimated current value follows the true current very nicely but avoiding the high frequency disturbance components For ACS 5000 this function often has to be enabled The parameters for this function are located in group 153 Defaults EST ENABLE DISABLE DAMP COEFF 100 MEAS RATE 5 Document number Lang Rev ind Monitor the influence by temporarily changing the Datalogger 1 settings Set the CH2 monitoring signal to Parameter 154 23 Phase U CUR EST A Take several Datalogger measurements at dif
44. e level If the switching frequency is below this value the hysteresis limits are started to be ramped down to their nominal value This value has to be lower than the activation level but slightly higher than the tuning target Otherwise the function will stay active all the time and performance is deteriorated The amount the hysteresis is widened is given by the parameter DYNAMIC BOOST Normally values of 130 140 are sufficient to prevent any SF trips Tuning of the 50ms and 1 s dynamic switching frequency control function are analog to the 250ms function The parameter BOOST ACTIVE CNT counts how many times the dynamic boost was active Check this parameter to see if and under which loading conditions the function becomes active Document number Lang Rev ind Page Hecommended values at the end of commissioning DYNAMIC BOOST 140 DYN BOOST RAMPING 1 7 6 1ms Switching frequency In case there are problems with the 1ms switching frequency first check the cable specification to ensure the installed cables and the cable length fulfils the requirements Inform MV AC Supportline if there is any uncertainty If the cables are ok the following functions can be used to prevent 1ms SF trips e Filter the current In the PEC INT ACS 5000 or the INT ACS 6000 a current filter can be activated It uses the full sampling rate of the current measurement 200kHz and therefore allows to implement filtering functions without ad
45. ecific settings Carrier 157 18 CARR FREQ MAX 157 19 CARR FREQ 0Hz 157 25 CARRIER MIRRORED Pulse patterns 157 41 FREQ SW HYST 157 50 1st PP SELECT 157 51 FREQSWLEV 1 157 60 2nd PP SELECT 157 61 FREQ SW LEV 2 157 70 3rd PP SELECT 157 71 FREQSW LEV 3 1600 Hz 1600 Hz TRUE 1Hz project specs project specs project specs project specs project specs project specs PP is not used set a frequency which the drive will never reach to disable it Example of high speed drive sey 1 2 3 1 08 MOTOR SPEED rpm 0 12000 1 13 MOTOR TORQUE Min 0 0 120 0 160 33 SWITCHING FREQ Hz Hin O 450 161 01 FLUX ACT Po Min 0 0 120 0 161 04 FREQUENCY Hz Min 0 0 180 0 1 11 MOTOR RMS CUR Pa Min 0 0 120 0 1 Start Scalar flying start 2 Magnetization and start turning motor with PWM modulation 3 Switch between PWM gt 1 PP Switch point 157 51 FREQ SW LEV 1 48 Hz PP 157 50 1st PP SELECT 3 Hysteresis 157 41 FREQ SW HYST 1Hz Document number Lang Rev ind en A 21 ABB Switzerland Ltd 4 Switch between 1 PP 2 PP Switch point 157 61 FREQ SWLEV 2 115Hz PP 157 60 2nd PP SELECT 2 Hysteresis 157 41 FREQ SW HYST 1Hz 5 Stop Note e he SF dip at 97 Hz Mod Index 0 463
46. ect drive type e Check the following parameters o 101 03 DEVICE NAME must correspond to the size of the drive see below o 100 11 SW PACKAGE VER if this corresponds to the SW version that shall be installed on the drive the AMC software does not need to be downloaded and the corresponding section below can be ignored Only for ACS 5000 o 6 31 INTO VERSION this is the version of the PLD firmware on the main interface board PECINT or INT2 board if the version is compatible to the wanted AMC software version the PLD does not need to be programmed and the corresponding section below can be ignored o 6 32 INT1 VERSION 6 33 INT2 VERSION 6 34 INT3 VERSION The numbers describe the version of the PLDs on the Phase interface boards They must be equal If the version is compatible to the wanted AMC software the PLDs do not need to be programmed and the corresponding section below may be ignored It is highly recommended to use a new flash board for downloading a new loading package Keep the old flash as spare part in case programming of the new SW fails In any case make a complete backup and a parameter backup of the loaded software before overwriting the existing software with a new version Use Drive Debug and Drive Windows to make the backups Document number Lang Rev ind en A 8 2 2 Programming AMC Software 2 2 1 Unpacking the Software Package e The software package needs about 4Mbytes of free disk
47. ed measured by tacho Estimated speed in 160 38 measured speed 160 37 4 Check sense of rotation without speed encoder e Set a low speed reference as an example 20 of nominal speed and start the motor e Check the sense of rotation of the motor Does it correspond to the customers need e Check the speed signal 160 34 it must be close to the reference speed e Stop the drive 5 Check sense of rotation with speed encoder only necessary if tacho is available In group 165 there are parameters and signals concerning tachometer check that these parameters are set according to the data sheet and that the wiring is correct Compare estimated 160 38 and measured 160 37 speed at a speed of again about 20 If both values coincide in magnitude and sign and correspond to the reference value the tacho can be used for speed feedback set 111 07 to DEFAULT If the signs of the estimated and measured speed are not equal check whether the phase order of the motor cables or the sense of rotation of the tacho needs to be adapted 111 29 Repeat the test also in negative direction 20 if possible 6 Reference for tacholess control In tacholess control a low speed reference may be problematic Therefore use high enough speed reference on starting lowest speed reference can be set to a suitable value 135 04 MINIMUM SPEED or 135 02 MAXIMUM SPEED depending on the rotation direction Also accelerating ramp time and speed contro
48. educe the breaking torque and prevent an overvoltage trip However if the overvoltage is coming from the network the limiter will also increase the torque and thereby the motor speed This might not be tolerable for some applications In these cases the limiter has to be disabled The limiter also has a problem if it becomes active at zero speed In this case it is not clear if the torque should be positive or negative it might even happen that the reference toggles between these two states The torque reference is calculated from the formula Lg 1 P DCnom In ACS 5000 the maximum of all six half DC link voltages multiplied by two is used as actual DC voltage In this formula Upcact actual value of DC voltage in volts ACS 6000 160 09 in ACS 5000 the maximum of 160 11 160 13 160 19 160 21 160 27 and 160 29 multiplied by two is used Upca m threshold level of DC voltage in volts defined by parameter 132 02 Upcanom nominal DC voltage defined by parameter 112 04 P jain controller gain in defined by parameter 132 03 Example 1 If the actual voltage is 1095 95 refer to the DC nominal value defined by parameter 112 04 below the threshold level and Pgain is 1000 the torque is limited to minimally 100 i e the drive is still allowed to brake with nominal torque Example 2 If the actual voltage reaches the threshold level in parameter 132 02 the allowed torque is limited to minimally 096 i e the drive
49. er Check the invparam xls file to see the default values for the given inverter type updated file is included in the new loading package Document number Lang Rev ind 13 Backup of the software and parameters Before leaving the site make a backup of all the loaded software in the flash and the used parameters Don t forget the excitation units in case of a synchronous machine drive Also make sure that the Dataloggers have been set back to their default values This can be done easily by using Parameter 106 18 and 106 19 Also check if both Dataloggers have been started afterwards Use both tools DriveDebug and DriveWindow 2 xx 13 1 DriveDebug Select the target drive in the target list window double click on the required target DriveDebug test Default Target 0 1 MY Proto File Edit Target Config Trend Wir Open Target List Window Update Target List Window with Open the Parameter table upload the parameters DriveDebug test Default Target 0 1 MY Proto File Edit Target Config MonwWin 220 TrendWi Target List Window Update Target List Window ith Manes Change Default Target Open Control Panel Open Parameter Window Open Faulk Window Save the Parameters as text file This has to be done for all boards INU ARU Don t forget the CCB board DCS in case of an SD drive Document number Lan
50. erved in the response The integral time constant is then adjusted such that there is no overshoot or only a slight overshoot depending on the drive application The function of the integral part is to remove as quickly as possible the difference caused by the proportional control between the reference and the actual value If the drive is stable and allows a high proportional gain the integral time constant can be set to a short value to obtain an overcompensated step response If the torque limit is reached during a step a further compensation of the response should not be attempted See figure below for different step responses Error Step height 7 aas 2 Lmmmmm NX 4 J A EF d Time Required response time A undercompensated too short intergration time and low proportional gain B undercompensated too low proportional gain C normal D normal when better dynamic performance is needed E overcompensated short intergration time and high proportional gain ABB Switzerland Ltd Document number Lang Rev ind en A 63 12 Update to newer software release Before executing any update please check the compatibility list Read the txt file included in the loading package carefully to check what has changed compared to the previous version 1
51. estore Enable Goammunicatian Disable Communication Comm Skakistics Document number Lang Rev ind Page 13 2 DriveWindow Also make a backup with DriveWindow 1 Create a new backup package DriveWindow ABB SMP MY Proto 01411331 File Edit View Metwork Drive Desktop Monitor Datalogger Workspace 41 d 2 2 2 E in y 5 E 5 n ez Graph 2 Make a backup of all connected drives if a branching board exists otherwise select the drives individually DriveWindow ABB SMP MY Proto 4 File Edit View Network Drive Desktop Workspace k Parameters d 15 System Software Mew Open Graph 5 Close Printer Setup Save Status Refresh Save AS Exil Backup Backup All 3 After finishing save the backups to a file File System Software Save As 13 3 Programming of the spare boards The spare boards of the customer have to be programmed with the same software version as is installed in the drives This can be done using the DriveWindow Restore function The boards must be powered using an external 24V DC power supply It also has to be checked that the spare INT boards with ACS6000 also ARU and PUB have the correct EPLD versions loaded Otherwise the correct EPLD s have to be loaded and labeled 1 Connect DriveWindow to the control board with the empty flash Drive Window ABB SMP E
52. et on which detailed instructions are given For all worksheets it is crucial to fill in the name plate parameters of the motor i e rated voltage current frequency speed mechanical power and power factor Document number Lang Rev ind e preferred way of getting the correct motor parameters is to use the values from a data sheet given by the manufacturer of the machine In the EXCEL file there are two worksheets supporting this procedure Equivalent 1 one for the data in Sl units and the other for the data in normalized form per unit The values of the so called T equivalent circuit are filled in and the corresponding L equivalent circuit parameters are calculated e f no data sheet is available or for comparison purposes perform the simple ID Run that is related to the DC magnetization start method The ID Run can only be performed after the drive is ready to run In a first step it is therefore necessary to set a rough estimate of the motor parameters to be able to get the drive free of trips If no other data is available use the worksheet Plate Data of the EXCEL file Later perform the ID Run as described here The result of the ID Run is the stator resistance and the overall leakage inductance of the machine including the filter choke if existing They are shown in parameters 154 19 IDStart Rs and 154 20 IDStart sigmaLs These values can be filled into the worksheet Measured Lsigma of
53. ferent loading conditions and compare the estimated current to the measured current If they do not match stop using the function or contact MV AC Supportline for support At the end restore the default settings of the Datalogger 1 CH2 Par 1 03 Phase V Current Only for ACS 6000 e f this is not enough to prevent 1ms switching frequency trips then activate the 1ms switching frequency limiter Change Parameter 134 33 SF ims LIMIT from 10 to 4 starting level of the 1ms limiter Adjust then the blocking time 134 34 only if really necessary Default value is 8 If the value is too big then the control can get unstable and this results in high torque ripple and high current peaks Parameter 134 35 counts up how many time this function was active Hecommend values 134 33 SF 1ms LIMIT 4 pcs 134 34 SF BLOCK TIME 25u 8 pcs Please use this function with care because it is interfering with the modulation Document number Lang Rev ind Page 8 Auto Restart The Auto Restart functionality prevents long interruptions of the process in fault cases If this functionality is enabled drive will restart automatically after the faults source which requires an auto restart has disappeared Commissioning of the Auto Restart functionality requires profound knowledge of the system and the environment where it is working in It should only be commissioned after consultation with the costumer An Auto Restart will stop modulation but MC
54. g Rev ind DriveDebug test Default Target 0 1 MY Proto File Edit Target Config Maonwin amp co0win Trendwin Save Current Window As Parameters MOTOR VALUES 1 81 HOTOR SPEED 1 82 MOTOR SPEED 5 1 83 ROTOR EL ANGLE 1 64 MOTOR TEMPERATURE 1 85 MOTOR RHS CURRENT 1 86 HOTOR RHS CUR 1 87 FLUX ACT 1 88 COSFIT 1 89 HOTOR VOLTAGE 4 1 18 TORQUE 1 11 HOTOR TORQUE 5 1 12 FREQUENCY 1 13 POWER 1 48 POWER 1 15 HaxBearingTemp Current wind Display Trend Text File Display Recorder File Current Symbol File Select Symbol File Current Appl var File Select Appl Var File Configuration File Operations Monitor Window File Operations ACSO Window File Operations Trend Window File Operations Exit Save the Parameters as binary file Parameter backup restore mode Upload Complete all meat C Version Ca 17 Motor data Save the whole flash file content to a tar file not supported for CCB DriveDebug test Default Target 0 1 Proto File Edit Target Config 200090 TrendWwir Open Target List Window Update Target List window with Change Default Target Open Control Panel Open Parameter Window Open Faulk Window Data Logger Monitor Flash File Operations Backup R
55. he RDY ON state MCB open and no voltage on the DC link when parameters are initialized This chapter describes the data needed to initialize the torque control software After motor data initializations the Control SW is ready for electrical commissioning At this point is assumed that all the Application parameters are already set correctly Parameters below Group 100 3 1 Asynchronous motor data In order to control an asynchronous motor with DTC a set of motor parameters has to be set Parts of these parameters are available directly from a motor s name plate other parameters have to be calculated as described below First check the parameter 111 06 Drive Type Setting 5 5000 5000 AD 5 6000 6000 AD 3 1 1 Internal frequency scaling For internal frequency scaling reasons the parameter 110 13 FREQUENCY SCALING has to be set to a range that fits with the motor nominal frequency This parameter has to be set before any other parameter is changed After changing upload the parameter table again and check all frequency values see below For standard machines the default value applies 6 75 7 2 For other machines The frequency scaling needs to be closely defined based on operating frequency range of the drive e g for machine rated at 245Hz it should be 110 13 FREQUENCY SCALING 27 300Hz 5 Similarly e g for machine rated at 187Hz it should be 110 13 FREQUENCY SCALING 20 25 225Hz 4 At
56. is in ride through mode the torque reference coming from the speed controller is overwritten by the torque reference that is calculated according to above equation As soon as the DC link voltage passes an upper level defined in 132 27 the drive returns to normal operating mode ACS 5000AD and SD The duration of ride through operation is limited to the time given in 132 33 After this time is exceeded the drive trips Setting this parameter to 0 disables the supervision of ride through time In addition the speed is supervised Below the threshold given by parameter 132 32 the drive trips because it is assumed that below that speed there is not enough energy taken from the rotating machinery to support the DC link voltage The ride through functionality is enabled by default The default values for the control are ACS 6000 132 05 UNDERVOLT LIMIT 3580 132 06 UNDERVOL LIM GAIN 1000 ACS 5000AD 132 21 UNDERVOLT ENA TRUE 132 36 UNDERVOLT UDC REF 3700 V 132 37 UNDERVOLT P GAIN1 1000 132 38 UNDERVOLT P GAIN2 100 96 132 32 UNDERVOLT N MIN 10 96 132 33 UNDERVOLT MAX LEN 0 ms 0 means infinite time ACS 5000SD 132 21 RIDETHRU ENA RUE 132 25 UDC NORM2RT 3800 V Document number Lang Rev ind 132 26 UDC REF RT 4200 V 132 27 UDC RT2NORM 4400 V 132 28 GAIN UDC CTRL RT 100 132 32 N MIN RIDETHRU 10 132 33 MAX RIDETHRU LEN 0 ms 0 means infinite time 10 3 Frequency limiter
57. is normal The dip comes from the switching definition of PP3 e 1 is not used in the example above Document number Lang Rev ind 4 No Load run 4 1 Operation modes The drive may be operated with or without speed encoder Depending on the system configuration select o with an encoder parameter 111 02 set to FALSE o Without an encoder parameter 111 02 set to TRUE The AMC board has to be rebooted after changing parameter 111 02 For ACS 5000 There are several control modes o DTC 111 01 0 o SCALAR DTC 111 01 1 o FACTORY TEST 111 01 2 o VECTOR CONTROL 111 01 3 o SCALAR RCM 111 01 4 o SCALAR STEP UP 111 01 5 For high speed machines nominal frequency typically gt 75 Hz VECTOR CONTROL needs to be selected All other machines are operated with DTC 4 2 Check DC Magnetization As a first test it is proposed to check DC magnetization 1 Set the current trip value to about 7096 of the original value for the first start 2 If there is a tacho set 111 02 to FALSE and boot the AMC board Set 111 07 to TEST ENCODER This mode runs the machine in encoderless mode but shows additionally the speed measured by tacho Estimated speed in 160 38 measured speed 160 37 3 Setthe speed reference to 0 rpm 4 Set magnetizing mode 21 01 to CNST DC MAGN 5 Monitor the phase currents 1 01 PHASE U CURRENT 1 03 PHASE V CURRENT 1 05 PHASE W CURRENT 6 Start the drive and stop i
58. is not allowed to brake any more Document number Lang Rev ind Page The limiter can be enabled disabled by parameter 132 01 For ACS 5000 and ACS 6000AD it is enabled by default The other default values for the control are ACS 5000 132 02 OVERVOLT LIMIT 6300 V 132 03 OVERVOLT LIM GAIN 1000 95 ACS 6000 132 02 OVERVOLT LIMIT 5400 V 132 03 OVERVOLT LIM GAIN 1000 The output torque of the limiter can be seen in the parameter overvoltage torque reference In AD drives this is parameter 132 10 in SD drives parameter 132 12 The status of the limiter is displayed in parameter overvolt limiting In AD drives this is parameter 132 14 in SD drives 132 17 10 2 Undervoltage limiter Ride through In the SD machines the ride through function does not work for long times since the EXU trips with undervoltage There is a special EXU ride through function which restarts EXU after power loss without tripping the main drive The purpose of the undervoltage limiter is to keep the DC voltage from dropping below the threshold level defined by parameter 132 36 ACS 5000AD 132 26 ACS 5000 SD or 132 05 ACS 6000 The torque reference is calculated from the formula jop FU ocin T P U Iv DCnom ain In this formula Upc act actual value of DC voltage in volts ACS 6000 160 09 in ACS 5000 the average of the three actual full DC voltages 160 09 160 17 and 160 25 is used Upc tim thresh
59. l amp Parameter table on how to do this 7 5 Dynamic switching frequency control This chapter does not apply for high speed drives This function dynamically widens the hysteresis bands when the switching frequency exceeds a threshold The idea is that the general tuning is done without this function At the end of the commissioning after the basic tuning is done the dynamic switching frequency control should be enabled to prevent switching frequency trips Enable this function only after tuning of the hysteresis bands Parameters related to this functionality are located in group 134 of AMC table DYNAMIC BOOST widening factor of the hysteresis in 96 when the boost is active DYN BOOST RAMPING slope which returns the hysteresis back to normal after the boost is released in ms BOOST ACTIVE CNT counts how many times the function has become active DYN BOOST 50 ACT switching frequency level at which the boost is activated in the 50ms window in 96 of actual switching frequency trip level DYN BOOST 50 REL switching frequency level at which the boost is released in the 50ms window in 96 of actual switching frequency trip level DYN BOOST 250 ACT switching frequency level at which the boost is activated in the 250ms window in 96 of actual switching frequency trip level DYN BOOST 250 REL switching frequency level at which the boost is released in the 250ms window in 96 of actual switching frequency trip level F
60. ller should be chosen according to the starting behavior 7 Set the current frequency and speed trip limits back to their original values 8 Checking torque limitation chain o Try both rotation directions if the mechanical system allows it o Check the maximum and minimum speed limitations For example if the reference is negative the minimum speed has to be negative The combination of minimum maximum and zero speed should allow stopping n zero gt MIN n min For example if the drive is only used in the negative direction 135 02 MAXIMUM SPEED 20 rpm 135 04 MINIMUM SPEED 1000 rpm 135 07 ZEROSPEED LIMIT 50 rpm o Check other limits given to the speed controller chain o Check static torque limitation chain The output is given in 133 12 USED MAX LIM and in 133 13 USED MIN Document number Lang Rev ind o Check dynamic torque limitation chain The output is given in 132 18 USED TRQ REF It should be close to the actual torque in 1 13 or 1 22 9 Checking motor model This procedure can be used to cross check the used stator inductance of the motor o Run the uncoupled or at least unloaded motor at rated frequency and rated flux which corresponds to rated Measure the stator current RMS value 15 RMS Calculate the stator inductance using the equation Ls V_rated sart 3 2 x f_rated Is_ RMS The resulting value should not deviate more than 10 from the value used in pa
61. load 6 4 Stator stray inductance PULL OUT LIMITER Motor main and stray inductances influence the calculated pull out torque limit Please refer to chapter Pull out torque limit in dynamic limiters At the nominal operation point the calculated limit should correspond to 90 of the motor pull out torque 1 If the value of the main inductance 150 02 LS has been tuned according to the no load measurements it can be expected to be reliable especially if the value corresponds to a value calculated with the Equivalent 1 phase sheet of the motor parameter calculation tool AD Motor Parameter calculation xls 2 If the drive is started in DC Start mode Parameter 131 01 START FUNCTION CNST DC MAGN the stator stray inductance including cable inductance is measured during the DC Start and displayed in Parameter 154 20 IDStart sigmaLS Use the worksheet Measured Lsigma in the parameter calculation tool to get the remaining parameters These data can be used to confirm data given in the data sheet or estimated with the Excel sheet 3 Then the estimated value of the pull out torque limiter should be dependent only on Stator stray inductance 150 03 SIGMALS Try to tune this value so that the pull out torque limiter gives a reasonable value This method is rather inaccurate 6 5 Motor nominal cosfii The cosfii actual value of an asynchronous motor varies for different operation points If a high load overload is needed i
62. lues of the estimated stator resistance and leakage inductance into the worksheet Measured Lsigma of the EXCEL file AD Motor Parameter calculation xls Complete this worksheet with the name plate data of the motor From this data the worksheet calculates the parameters of the motor model 8 Transfer the data from the EXCEL worksheet to group 150 It is important to use as stator resistance value 150 01 RS only about 75 of the value that is identified and used in the EXCEL worksheet This helps to stabilize the flux estimation of the motor model at low frequencies 4 4 First Start Follow the procedure described below to check whether the phase order of the motor and the direction of the speed encoder coincide if there is a tacho Some torque limitations may also result in unexpected rotation The first start without load as described here helps to avoid uncontrolled motor operation due to wrong settings Follow the described procedure to ensure proper operation 1 Check visually the phase order between the inverter and the motor if possible Document number Lang Rev ind Page 2 Reduce the current trip limit to about 70 of its original value Reduce the frequency and speed trip levels to about 50 of their original value If there is a tacho set 111 02 to FALSE and boot the AMC board if the value was changed Set 111 07 to TEST ENCODER This mode runs the machine in encoderless mode but shows additionally the spe
63. may be on main circuit potential Dangerous voltage levels may be present between the control cards and the frame of the inverter unit when the main circuit voltage is on It is critical that the use of measuring instruments such as an oscilloscope and their connection to the frequency converter is done using caution and safety always as a priority The fault tracing instructions give special mention of cases in which measurements may be performed on the control cards also indicating the measuring method to be used Electric arc welding may damage electronic circuits located in the drive sections To reduce the risk of damage while arc welding connect the return conductor of the welding equipment to the piece being welded on and within 0 5 meters of the arc welding equipment Document number Lang Rev ind Page en A 3 Welding of the cabinet frame is not recommended due to the possible damage which it may cause to the electronics Document number Lang Rev ind Page en A 4 CONTENTS eio EE 1 1 COMMISSIONIN 2 12 OPERA THON TET i 2 1 3 MAINTENANCE 2 1 4 WARNINGS deste 3 1 5 GENERAL INTRODUCTION
64. mpty memory 31170831 Fie Edit View Mebwork Drive Desktop Monitor Datalogger Help ale 212 Empty 140111 If the connection is not possible because the operating system is not compatible with the software on the flash execute the following steps a Connect the DDCS link to the AMC34 control board CH3 and the PC b Switch off the 24V power supply of the board Document number Lang Rev ind C Open a DOS window and execute ntnisa for NT 2000 XP operation system d In the DOS window execute bootint 1 Switch on the 24V power supply of the board Following messages should be displayed D hootint 1 BOOTIHT Forbid boot to automatically st Autoloading prohibited D Continue restoring the empty flash 2 Open the Backup package DriveWindow ABB SMP Empty memory 11118831 File Edit View Network Drive Desktop Monitor Dataloge workspace d Parameters System Software Open Graph Printer Setup w Status Refresh Exit Backup Backup All Restore Download Properties 3 Select System Software Restore Menu item is now enabled Document number Lang Rev ind Drive Window ABB SMP Empty memory 0H1 File Edit View Wetwork Drive Desktop Monitor arkspace 535
65. n the field weakening area a smaller value may have to be given to the motor nominal cosfii 110 06 MOTOR NOM COSFII Document number Lang Rev ind 7 Switching frequency tuning at loading conditions The checking and tuning presented in this chapter has to be done with normal loading conditions 2normal operation of the process Actions presented in this chapter are only needed if drive operation is not satisfying 7 1 Switching frequency at loading conditions This chapter does not apply for high speed drives During first normal loading conditions perform the following checks 1 the trend of all switching frequencies ACS 5000 134 06 SF MAX 1ms 134 07 SF MAX 50ms 134 08 SF MAX 250ms 134 09 SF MAX 1s 160 07 MOTOR RMS CUR and 160 34 MOTOR SPEED ACS 6000 134 05 SF 1ms MAX 134 06 SF 50ms MAX 134 07 SF 250ms MAX 134 08 SF 1s MAX 160 07 MOTOR RMS CUR and 160 34 MOTOR SPEED 2 Check that the switching frequencies are below the allowed average values for different switching frequency windows and the presented characteristics are not exceeded ACS 5000 SF 1s MAX 250 SF 250ms MAX 75 SF 50ms MAX 20 25 SF 1ms MAX 1 3 Document number Lang Rev ind Page The following maximum switching frequencies may not be exceeded for the following drive configurations e ACS 5000 water cooled for all load characteristics e ACS 5000 3 5MVA air cooled for all load characteristics e ACS 5000 7M
66. ncy and power This chapter does not apply for high speed drives 1 Determine for which motor frequencies and powers the switching frequency exceeds the allowed limits This defines the frequency power plain Switching frequency f freg P where tuning is needed 2 Setthe frequency range of the boost according to the determined values ACS 5000 134 32 PWR CORR FREQ MIN minimum frequency relative to motor nominal frequency where boost is activated 134 33 PWR CORR FREQ MAX maximum frequency relative to motor nominal freq where boost is deactivated 134 34 FREQ DELTA defines the slope of a weighting factor see fig 4 is ramped from 0 100 ACS 6000 134 19 PWR CORR FREQ MIN 134 20 PWR CORR FREQ MAX 134 21 FREQ DELTA Document number Lang Rev ind Page FREQ DELTA PWR CORR FREQ MIN PWR CORR FREQ MAX frequency 17 Figure 7 Boost weighting as a function of the frequency 3 Set the power range of the boost according the determined values ACS 5000 134 29 START CORR POWER power limit where boost is activated 134 30 POWER DELTA defines the slope when boost is ramped from 0 POWER CORR MAX 96 ACS 6000 134 16 START CORR POWER 134 17 POWER DELTA SF Is MAX SF Is target SF Is target Calculate error A Set 134 31 POWER CORR MAX ACS 5000 134 18 POWER CORR MAX ACS 6000 maximal widening of the hysteresis bands to new value using POWER CORR MAX A 1 POWER CORR MAX
67. ng Rev ind Page Parameter 111 07 ENCODER MODE SEL is used to select different operating modes for the encoder During commissioning it may be helpful to select the mode TEST ENCODER which initializes the encoder correctly but does not use the measured speed for any function inside the control The measured speed can thus be compared to the estimated speed to check for deviations Do not forget to set 111 07 back to the value DEFAULT which lets the encoder be used for speed control and motor model Note For high speed drives encoders are not supported 3 2 8 Other parameters Check that following AMC table parameter groups have reasonable values for drive system in question refer to the drive process requirements 110 Drive configuration data 111 Operation mode 112 Inverter data 116 Torque selector word 120 Reference modifications 121 Speed control parameters 130 Flux control 131 Magnetizing 132 Dynamic torque limiter usual value of the gains at least 100096 133 Static torque limiter 134 SF NP control 135 Frequency speed limits 136 Torque current limits 141 Stop 150 Motor parameters 153 Motor model tune 159 Damping Udc 165 Tacho 186 Trip levels 192 BCU RBU VLU Pay special attention to the following indices 130 03 FLUX REF IN default value for all drives is 100 except for ACS 5000 7 air cooled drives for which 102 is used 130 05 FLUX RAMP TIME default 0 1sec for use with UV limite
68. ns of the DC link voltage In case of a weak supply network the DC link voltage oscillations typically have the same frequency as the supply network frequency Under certain conditions this may lead to saturation of the line transformer and to trips The oscillations can be damped if the torque reference value is modified as a function of the actual DC link voltage Set the limitation 159 04 ALLOWED DAMPING to a reasonable value for example 596 This parameter determines how strong the torque can be modified due to DC oscillations The value is given in 95 of the nominal torque oet 159 02 UDC FILT TIMECONS to 20ms and 159 03 DAMPING GAIN to 100 The larger the time constant 159 02 is set the bigger the resulting delay and thus phase shift between the filtered and the original signal Enable the function Monitor the behavior of the DC link voltage Increase the gain by steps of 5 10 96 Keep in mind that the gain of this function should be as small as possible in order to keep the noise of the resulting torque reference small Compare the output of this function with the torque reference given by the FA The maximal value of the torque change 159 04 ALLOWED DAMPING should be set higher than the value needed to remove the oscillation Otherwise a sudden change of the torque reference could excite the oscillation again This risk can be checked using the TORQ STEP input parameter 26 03 Choose a small value and keep in mind that this
69. nt number Lang Rev ind The following signals are related to the function 160 42 TEMP DIFF INU de ionized water temperature over derate level 160 43 TEMP DIFF AMBIENT ambient temperature difference over alarm level 160 69 TEMP ALARM INU de ionized water temperature alarm level 170 09 TC AUX CW BitO 1 cabinet temperature over alarm level Inverter current can be derated due to three sources high cabinet temperature high cooling water temperature e high ambient air temperature If none of these sources is active 160 42 0 and 160 43 0 and 170 09 bitO 0 the allowed inverter current is determined by parameter 112 02 If the cabinet temperature is above the alarm level the allowed inverter current is set to the level of parameter 133 01 If the ambient temperature is above the alarm level the inverter current is derated Starting from the level set by parameter 112 02 the current is decreased with the rate specified by parameter 133 03 If the de ionized water temperature is above the derating level 160 42 gt 0 the inverter current is derated with slope 1 defined by parameter 133 02 starting from the maximum current defined in parameter 112 02 Only for ACS 6000 If the temperature is above the alarm level 160 42 gt 160 69 the derating is carried on with slope 2 defined in parameter 133 25 This behavior is illustrated on the following picture TorqLimit 76 10096 133 02 WATER
70. old level of DC voltage in volts ACS 6000 132 05 ACS 5000AD 132 36 ACS 5000SD 132 26 Upc nom nominal DC voltage defined by parameter 112 04 P gain controller gain in 95 ACS 6000 132 06 and ACS 5000SD 132 28 ACS 5000AD 132 37 and 38 respectively in ACS 5000AD the RT controller gain depends on the sign of the voltage error if Upc act gt Upc P cain 132 37 else Pjan 132 38 Document number Lang Rev ind Example If the actual voltage is 5 refer to the DC nominal value defined by parameter 112 04 below the threshold level and Pgain is 100 the torque is limited to values smaller than minus 596 of nominal torque The output torque of the limiter can be seen in the parameters 132 11 ACS 6000AD 132 13 ACS 6000SD or 132 30 ACS 5000 The status of the limiter is shown in parameters 132 15 ACS 6000AD 132 16 ACS 6000SD or 132 23 ACS 5000 Only for ACS 5000SD The voltage used as input to the limiter is shown in 132 24 and the resulting torque limit is shown in 132 30 Experience has shown that with a gain 132 28 significantly bigger than the default value of 100 the three DC links in the ACS 5000 converter may start to oscillate against each other keeping the average still nicely under control It was therefore necessary to implement a trigger level defined in 132 25 for the beginning of ride through operation which is lower than the reference value in 132 26 As long as the drive
71. or ACS 600050 there are also following parameters Document number Lang Rev ind DYN BOOST 1s ACT switching frequency level in of actual switching frequency trip level in 1s window where boost is activated DYN BOOST 1s REL switching frequency level in 96 of actual switching frequency trip level in 1s window where boost is passivated Tuning of the 250ms dynamic switching frequency control function If the switching frequency in the 250ms window exceeds the value defined by parameter DYN BOOST 250 ACT all hysteresis bands are widened The increase is given by the parameter DYNAMIC BOOST This parameter is scaled so that 10096 corresponds to the factor of 1 To activate the function values of more than 10096 have to be chosen e g 15096 gives a scaling factor of 1 5 When the switching frequency in the 250ms window is below the value defined by parameter DYN BOOST 250 REL all hysteresis bands are ramped back down to the original values Ramping time is defined by parameter DYN BOOST RAMPING The following figure shows how the function works 134 41 DYN BOOST RAMPING Figure 10 Dynamic Boost functionality The DYN BOOST 250 ACT value has to be set below the trip level for the 250ms window otherwise the drive trips before the function becomes active The parameter should be set ca 2096 below the trip value to ensure the function becomes active before the drive trips The parameter DYN BOOST 250 REL is the releas
72. ously This helps to distribute switching losses evenly on all semiconductors loss balancing The switching frequency is not influenced Monitor the NP voltage actual values 160 15 160 23 and 160 31 NP VOLTAGE1 2 and 3 with 1ms sample time For speeds 50 the third level of NP deviation should be reached only seldom For speeds gt 50 the third level is hit regularly It should not be necessary to tune the NP hysteresis bandwidths The trip level for the NP voltage is 660V 186 06 NP VOLTAGE TRIP Changing this value is prohibited Only for ACS 6000 The NP control uses a hysteresis controller to regulate the NP voltages voltage 160 15 NP VOLTAGE The performance of the control can be tuned via parameters 134 11 NP 2ND HYST deactivation level 134 12 NP 3RD HYST activation level Below the NP 2ND HYST the NP control is not active If NP rises above the value of NP 3RD HYST the control becomes active The trip level for NP voltage is 800V 186 06 NP VOLTAGE TRIP The value is chosen to match with the over voltage trip value Changing the value is prohibited Monitor the NP voltage actual value 160 15 NP VOLTAGE with 1ms sample time If the value exceeds 500V then the control may trip to NP voltage later on Change the NP control hysteresis to keep the NP voltage under 500V Too narrow NP hysteresis deactivation and activation level are too close to each other may result to switching frequency trips especially 50 or
73. own torque the motor stalls To avoid this the pull out torque is calculated out of the formula below The calculated value with a reduction margin factor equal to 0 9 is used to limit the output torque This limit is shown in 9e of nominal torque in AMC table signal 133 15 96 Kain sput out 100 value shown in signal 133 15 k 4 18 Set in parameter 133 16 default 90 If parameter 133 16 does not exist the used gain is 9096 g YP 8 sp where 2 0L COSQ d mH mH 11141 ma 2 2 41063 Az 43 11041 A 1000 21114361 10000 coso 111 Please see also chapter Stator stray inductance on On line tuning at loading conditions 92 Overloadability or derating The thermal overloadability function is based on measured temperatures of cabinets thermostats cooling water and ambient air In case of elevated temperatures the inverter current is derated to certain level with certain rates according to parameter settings The following parameters are related to the function 112 02 INU MAX CURRENT maximum current of inverter unit 133 01 INU MAX CONT CUR maximum continuous current of inverter unit 133 02 WATER DERATE 1 inverter current derating factor per degree First slope 133 03 AMBIENT DERATE inverter current derating factor per degree 133 02 WATER DERATE 2 inverter current derating factor per degree Second slope Docume
74. pull out Parameter 131 14 can be increased when the estimated speed drops to zero and the motor is still rotating Too high value leads to over current 4 5 3 Scalar flystart Default parameters proposed settings and descriptions for the mode are ACS 5000 with DTC 21 01 START FUNCTION SCALAR FLY 131 21 SFLY FLUX REF 1096 131 22 SFLY FLUX RAMP 300 or less 131 23 SFLY FREQFWD 100 131 24 SFLY TORQUE REF 0 131 25 SFLY KP CONTROL 100 131 26 SFLY TI CONTROL 205 131 27 SFLY BACKWARD EN FALSE 131 28 SFLY FREQ REVERSE 100 131 29 SFLY FREQ MIN 2 131 80 SFLY CURR THRES 145 ACS 5000 with Vector Control 157 95 KP SFLUX SFLY 100 96 157 96 TI SFLUX SFLY 100 ms 157 97 CUT OFF FLUX SFLY 200 Hz 157 98 KP TORQUE SFLY 100 157 99 TI TORQUE SFLY 10 ms 157 100 CUT OFF TORQ SFLY 200 Hz ACS 6000 value value 131 21 25 10 25 Flux init value 96 of rated SFLY FLUX REF flux 131 22 300 50095 5 time for flux SFLY FLUX RAMP SFLY FREQFWD the application searching 0 2 if the drive This parameter helps in runs forward low speed area to prevent 131 24 SFLY TORQUE REF 2 if the drive a overvoltage trip runs reverse SFLY KP CONTROL the application fly controller 131 26 depending on ki fly Ts Ti SFLY TI CONTROL the application sample time 1ms fan z 60s integration time 131 27 FALSE depending on Backward Search SFLY BACKWARD EN the
75. r 132 07 FREQUENCY MAX 132 08 FREQUENCY MIN 132 09 FREQLIM GAIN 133 06 USER MAX MOT CUR 133 07 USER MAX GEN CUR 186 07 FREQUENCY TRIP 3 3 High speed drives 3 3 1 Important parameter settings for high speed drives Set the following parameters accordingly 134 22 NP CURR FILT 1ms f250 150 Hz Document number Lang Rev ind Page 0 1 ms f gt 150 Hz 134 23 NP 1ST HYST 65 V 134 24 NP 2ND HYST 110 V 134 25 NP 3RD HYST 150 V 153 08 ENLESS COR D GAIN 0 02 for DTC 0 2 153 09 ENLESS COR Q GAIN 0 02 for DTC 0 2 155 54 W ENA US CTRL 600 Hz disabled 155 56 W ENA IS LIM 600 Hz disabled 186 63 W ENA ZV PROT 600 Hz disabled 191 08 DI DT MON ILIM 5000 A disabled Make sure that the switching frequency trip limits are correctly set 186 07 FREQUENCY TRIP 11096 of motor nominal frequency 186 08 SF 1ms TRIP Default value 186 09 SF 50ms TRIP Default value 186 10 SF 250ms THIP TBD 186 11 SF 1s TRIP TBD For ride through the following parameters are recommended 130 02 MIN FLUX REF 50 96 130 05 FLUX RAMP TIME 0 01 s 132 38 UNDERVOLT P GAIN2 1000 96 For scalar flying start SCAFLY the suggested parameter settings are 131 01 START FUNCTION SCALAR FLY 131 21 SFLY FLUX REF 10 96 131 23 SFLY FREQFWD 10096 or defined by process 131 30 SFLY CURR THRES 400 96 If there is an output choke between converter and motor it must also be included in the parameters 152 01 FILTER INDUCTANCE project specs
76. rameter 150 02 4 5 Start modes There are several start modes available ACS 5000 DC magnetization or scalar flying start ACS 6000 DC magnetization flying start scalar fly start flash start 4 5 1 DC magnetization If it is known that the machine is at standstill when starting use the DC magnetization method Parameter 21 01 CNST DC MAGN This method is much faster than the flying start so if possible this method should be used Default parameters for the mode are 21 01 START FUNCTION CNST DC MAGN 131 02 DC MAGN FLUX 100 131 03 MAGN TIME 300 4 5 2 Flying start mode This mode starts directly modulating with DTC having zero torque reference ACS 5000 Not available for ACS 5000 ACS 6000 Default parameters for the mode are 21 01 START FUNCTION FLYING START 131 11 FLY FLUX REF INIT 70 131 12 FLY FLUX RAMP 200 131 13 FLY HOLD TIME 0 131 14 RS OVERESTIM 300 Before tuning of flying start the hysteresis has to be tuned See the corresponding section for details Tuning information about the flying start parameters The parameter 131 11 defines the value of the initial current pulse to the motor It should be as big as possible but over current has to be avoided Document number Lang Rev ind The Parameter 131 12 defines the ramping time for the flux 100 corresponds to 150 04 the rotor time constant Longer ramps lead to improved stability of the flying start and avoid
77. removed from operation or whether the system should be restarted after resetting the alarm For example repeated tripping from overcurrent will not damage the frequency converters In the event that it is taken out of service the appropriate maintenance personnel should be called to further investigate the problem 1 3 Maintenance work During the warranty period any repair work must be carried out exclusively by ABB service personnel After the warranty period repair work can be carried out by ABB service personnel or by qualified personnel who have attended a service training course In most cases the diagnostic displays can be used for preliminary tracing of the fault location and fault resetting can be done without opening the door of the frequency converters The following points must be observed before any work is performed on the frequency converters Document number Lang Rev ind en A 2 1 4 Warnings Any installation work must be done with the power off and power is not to be reconnected unless the installation work is complete Dangerous residual voltages remain in capacitors when the disconnecting device is opened Wait 5 minutes after switching off the supply before starting work Always ensure that the measurement voltage between terminals UDC and UDC of all DC links is close to 0 V and that the supply has been switched off before performing any work on the equipment or making main circuit connections
78. t again after about DC magnetization is over Check the phase currents as described in the following For ACS 5000 Check the currents during magnetization currents should look according to Figure 1 i ref is the current reference defined by parameters 131 02 DC MAGN FLUX and 150 02 LS positive current in phase a ref Document number Lang Rev ind negative current in phases b and c ib ic 1 21 ref DC magnetization uses the voltage vectors 1 0 0 and 00 and therefore only creates voltage in the positive x axis Figure 1 Illustration of DC magnetizing current in the three phases For ACS 6000 check current during magnetizing currents should look according to Figure 2 positive current in phase a negative current phase c ic i ref no current in phase b 0 0 b y N a X DC magnetizing N Se X y X 3 E N 2227 FAN T d 30 deg gt a x y 2 2 y C Figure 2 Illustration of DC magnetizing current in the three phases 4 3 Revise Motor Model Parameters During DC magnetization the stator resistance Rs and the overall leakage inductance of the motor are estimated The slope of the current when starting DC magnetization is used to estimate the leakage inductance and the voltage that is needed to maintain the DC current is used to estimate the stator resistance Document number Lang Rev ind P
79. t loading conditions Motor model parameters can be defined with several different approaches electrical values of equivalent circuit given on motor data sheet motor rating plate data test reports measured values by the ACS 5000 ACS 6000 The first approach is to use the motor parameter calculation tool AD Motor Parameter calculation xls lf a data sheet of the motor is available use the worksheets Equivalent 1 phase SI or pu to get the correct settings in the AMC table Use the sheet Measured Lsigma to evaluate the simple ID Run that is included in the DC magnetization routine The initial parameter set used with ID Run can be determined with the sheet Plate Data If the ID Run does not give stable results with several attempts and no data sheet of the motor is available use the values calculated by means of the worksheet Plate Data 6 1 Rotor time constant The value of the rotor time constant is dependent on the temperature value Lr The maximum rotor temperature rise can be estimated from the measured stator winding temperatures or from the temperature rise class of the motor Rotor temperature rise can be higher than the stator temperature rise The original value can also be inaccurate Saturation can also change the inductance value and result in a different rotor time constant value The resistance of copper changes 0 4 1K For example a 100 temperature rise results in a 29 9
80. table Torque Stable Flux Stable Current 3 Runa Ramp from 0 Max speed and check SF The switch over points are as defined in the AMC table parameters The actual motor frequency multiplied with the actual PP gives the SF If the SF is significantly higher it needs to be checked where the additional switchings are coming from for example NP control Contact the MV Supportline if the above mentioned procedure does not lead to satisfactory results Document number Lang Rev ind 5 Motor model at no load The operation of the motor model can be checked with a slow speed reversal at no load Monitor the magnetizing current during the speed reversal 1 Make the speed reversal from nominal speed with slow ramp times Observe the used torque reference e g 3 02 during reversal Set accelerating 22 02 and decelerating times 22 03 to high values so that the torque reference is close to zero e g 60 s or longer When operating below nominal speed the flux of the motor is constant With a long speed reversal time the motor torque is negligible Magnetizing current should be approximately constant during speed reversal and the current level corresponds to the no load current compare with the motor data sheet 2 Save the trend of the speed reversal test Record the trends of 1 17 FLUX ACT 1 11 MOTOR RMS CURRENT 1 09 MOTOR SPEED Magnetizing during slow ramp Min 200 160 120 80 A0 10 10 34
81. tention After defining the correct frequency scaling please also check if all other frequency speed related parameters have been changed accordingly For internal frequency scaling reasons the parameter 110 13 FREQUENCY SCALING has to be set to a range that fits with the motor nominal frequency Document number Lang Rev ind Page This parameter has to be set before any other parameter is changed After changing upload the parameter table again and check all values The following parameters have to be checked and corrected if they are used 110 08 MOTOR NOM FREQ 132 07 FREQUENCY MAX 132 08 FREQUENCY MIN 186 07 FREQUENCY TRIP 186 63 W ENA ZV PROT 189 44 PWM TRUN FREQ If SCALAR or SCALAR RCM is used as DRIVE CTRL MODE 111 01 111 08 FREQUENCY REF 155 18 StepUpBoostFreq 155 19 StepUpMinFreq 155 54 W ENA US CTRL 155 56 W ENA IS LIM 3 1 2 Default motor parameters ACS 6000AD Before the motor data are changed according to the nominal motor plate data the default motor data have to be loaded This is done after loading the SW to the board using the following command mot dummy only ACS 6000 ACS 5000AD Nothing needs to be done Accidentally downloading dummy parameters does not harm the drive ACS 5000AD High speed drives With the following loading command predefined high speed parameter are set mot high speed 3 1 8 Nominal rating plate data Following rating plate data is
82. the mentioned EXCEL file to get the remaining motor parameters See the corresponding section under No Load Run for details on the ID Run e f only motor name plate data are available use the worksheet Plate Data of the EXCEL file to get an estimate of motor parameters These values can also be used as a first guess which is later refined Attention Note that calculation of the motor parameters based on the plate s data is valid for 50 60Hz machines only In case of high speed drives fundamental frequency in the range 100 250Hz the proposed parameters from the Plate Data worksheet may differ significantly from the real motor parameters The simple ID Run with DC magnetization must be performed on the drive first to identify the correct stator winding parameters if no data sheet is available See the section under No Load Run for details on the ID Run 3 2 Inverter parameters Following electrical parameters have to be set manually 55000 The values in brackets default values and may changed if necessary For the latest HW release of the air cooled ACS 5000 the DC Charging Level parameter 17 02 should be set to at least 5450V instead of 5300V in order to avoid charging faults Parameter Name Value Unit 17 04 DischargeTimeout water cooled drives 200 S air cooled drives 300 S 17 08 ModulationDischrg water cooled drives DISABLED air cooled drives ENABLED Document number Lang Rev ind
83. ting the parameter 134 76 which only acts on the torque hysteresis equally on all bands Keep in mind that these parameters are constant and therefore have an influence in all operating points If these two parameters need to be changed check the whole operating range of the drive to avoid areas where the switching frequency exceeds the aforementioned limits ACS 6000 3 5 and 7MVA units SF 1s MAX 300 SF 250ms MAX 75 SF 50ms MAX lt 20 25 SF 1ms MAX 1 3 For the high power modules in ACS 6000 the switching frequency target is current dependant Document number Lang Rev ind Page ACS 6000 9MVA units SF 1s MAX 250 1640A lt 300 x 1280A ACS 6000 11 units for max 41 Water temp SF 1s MAX lt 102 2156A 138 0 2010A lt 230 lt 1640A SF 250ms MAX SF1s MAX 4 10 For 11MVA modules the 1sec and the 250ms SF trip levels are current dependent and will be reduced starting from 1650A rms The proposed values for the switching frequency are valid for normal conditions In case of extreme operation conditions like hot cooling water use the calculated values of the system design group If the switching frequencies during load conditions of the drive stay below these limits no further tuning is needed In case the switching frequency considerably exceeds the value for the 1s time window the functions described below have to be used 7 2 Tune switching frequency based on freque
84. uration coefficients are defined so that a value of 100 corresponds to the factor 1 0 at nominal flux The main inductance used by the control is multiplied with these saturation coefficients The default value of all table elements is 100 5 2 1 Saturation as a function of magnetizing current The saturation of the main inductance as a function of the magnetizing current is given by 3 points of the no load curve of the motor 1 point A is measured at less than nominal flux parameters 150 24 and 150 25 point N is measured at nominal flux parameters 150 26 and 150 27 point B is measured at higher than nominal flux parameters 150 28 and 150 29 Parameters 150 24 150 26 and 150 28 are the current values in of the motor nominal current for three different flux levels points A N and B Parameters 150 25 150 27 and 150 29 are the saturation coefficients corresponding to points A N and B Document number Lang Rev ind The following example shows how the static saturation coefficients are fed into the AMC table The no load curve is given by the motor manufacturer in the form of a table Example for an ACS 5000 With known nominal voltage and current Un 6300 V In 220 A Example for an ACS 6000 With known nominal voltage and current Un 2 3150 V In 2 220 A 1 Calculate the percent notation of the above table and the static saturation coefficients The saturation coefficient for nominal
85. wo files and PROG LXEM bat To download to the interface board the batch file PROG LXEM bat has to be executed from a command window 2 4 Programming Firmware on Phase Interface Boards 2 4 1 Using an old Phase Interface Board To program the firmware on the INT boards follow the procedure described in the file ACS 5000 6000 AD amp SD Phase INT EPLD Release Notes pdf This file is part of the Latest Software Release on the database 2 4 2 Using an INT2 Board In newer drives the PECINT board is replaced by the INT2 board which is also used as the Main Interface board The zip file containing the Phase INT2 firmware also contains the two files LXEFxxxx cmd and PROG LXEF bat To download to the interface boards the batch file PROG LXEF bat has to be executed from a command window for each Phase Interface board individually Document number Lang Rev ind Page en A 12 3 Description of the asynchronous motor data initializations The ACS 5000 ACS 6000 is delivered with factory default parameters Factory default parameters do not include asynchronous motor data Prior to the first start of the drive the motor data must be initialized to the AMC table The data needs to correspond to the motor connected to the drive All parameters presented in this chapter have to be initialized Commissioning personnel can use the ABB standard tool Drive Window for data downloading The drive has to be in t

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