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dcM6-M12 Manual 3.07.qxd

1. FASTENING WITH _ 7 56 4 MS SCREWS L 1 1 a 15 4 17 6 156 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION ARA www saftronics com 12 1 Dimensions and Weights for dcM6 12 5 100 HP 230V and 7 5 200HP 460 V Chassis 240 Vdc Chassis Drive Dimensions Horsepower Motor Amps um Inches HxWxD 8 155 17 6 x 8 56 x 9 76 ___ s 2 2 29 480 Vdc Chassis Drive Dimensions Horsepower Motor Amps os E pua Inches HxWxD 17 6 x 8 56 x 9 76 2002 Saftronics Inc 157 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am PME dcM INSTRUCTION MANUAL www saftronics com 150 HP 230V Chassis 12 2 Dimension Drawing for M12 250 300 HP 460V and 125 o 2 LO N o 85 2002 Saftronics Inc 158 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TROMS dcM INSTRUCTION MANUAL www saftronics com 12 3 Dimension Drawing for M12 400 500 HP 460V Chassis 0 e gt I 990 980 990 50 9
2. SNV4 MOVLS sesso oos 2002 Saftronics Inc 24 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM dcM INSTRUCTION MANUAL www saftronics com 3 9 CONTROL SCHEMATIC FOR MODEL M12005 TO 2150 M1247P5 TO 4300 4015 AONADYAWA qaariddns gasn Ve GASSAYddNS 511020 OV 82 Gariddns YAWOLSNO IWNOLLdO HOLON SL v 82 v4 43M078 0 135 1 0 swa 2 8 wa L SSVIO 8 204 104 595054 OL HOLOV INOO HOLOW 3SuadA3u auvMHO4d 9 Sor Due 9 v 5or ud v y 10114 MO INYA 7 H3ldvis HOLON H3MO 18 aasn an MOVIS ANO add 21 dioHs3H8H 4 7 1 15 4015 Toeto oH Ha EA HOLOW swa boo N sng AL34VS w 9 LL IL TI LNA 092 D O H 1 2 09 O HO OFZ 14 21 5 YAWOLSNO N 6L D O NX 25 2002 Saftronics Inc
3. 203 1 e Lx 25 0 Z lt 2 1 2 E 0 91 2000 i T uz 5 A 1 v6ld 1 91607 SAH 62 Aejeq yo uQ x 1 uz nm i ge 1 8814 1 i 91607 ISA y o ge Aejeq yo uQ 8 ola lt IAWN 9 5 lt 9 i Lu 91607 35 i Le 0 EO n eelo 2 i 6 10 9 F 4 lt slaw SS E 62 4 E 2 ene 0 2008 2 SS 9 5 5 BS 5 3 Ke uz JO S 5 Gz 81171414 5 21601 1S H 08 9 0 LOG N pocas 2 4 4 4 4 4 53 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor aM www saftronics com dcM INSTRUCTION MANUAL 5 3 PARAMETER COPY The parameters defined by the firmware can be written and read by the four memory areas
4. The only parameter that is not factory set to the drive rating according to the chart in Section 3 2 is the field current C010 The dcM drive has field regulator this means that the field voltage will rise to the level to satisfy the current value set by C010 It is your responsibility to set the correct field current Quickstart Section follow Section 17 1 to 17 20 Basic Level Parameters include all the parameters to get Started and to Finish 80 of Applications Advance Level Parameters include all the parameters to get Started and to Finish all Applications Section 3 4 to 3 13 provides typical connection drawings 172 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am AMI www saftronics com dcM INSTRUCTION MANUAL 17 1 MENU PARAMETER TREE Rating Example Drive OK D3 07 Software Rev dcM12 4 70 dcM12 Regen Drive OK D3 07 dcM12 4 70 dcM6 Non regn 4 460Vac 2 240Vac 70 Unit Max Amp rating M parameters are monitor 000 Main Analog only Reference P parameters can be programmed in a running Programming operation Code C parameters cannot be C000 Motor Rated programmed in a running Current operation 2002 Saftronics Inc 173 efesotomasyon com Contr
5. E ba gt 9 c O pun 4 o o o il 9 c c c O gt 2 6 t O 0 uc dcM _ 5 www saftronics com INSTRUCTION MANUAL 3 10 CONTROL SCHEMATIC FOR MODEL M124400 TO 4800 4016 6 H3Sf aassauddns 51100 OV TIV 82 5 V YOLOW H3MO 18 O wvuuiwo 6 135 8 2 06 Vo swa 2 sng sng 99 88 204 104 59514 OL YOLOVLNOO HOLOW 3SHu3A3H QHvMHOJd 86 92 o 9 v sor 8v mH 87 lt amas sziwop o 22 52 se T swa 77 14915 onm 2 9 D v ualuvis YOLOW H3MO 8 06 Sua AL33VS SNDIVH8 ODIAVNAG aasn 40 15 1 21 1 os 92 ve rind 87 ZX 1X 092 LL 0088 10 iH EH
6. ow SE 2 0 oo ee 10 10 M00569 0 2002 Saftronics Inc 58 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor S F www saftronics com dcM INSTRUCTION MANUAL 6 3 MOTOR POTENTIOMETER This function allows to use an internal variable as a reference that can be increased or decreased using a digital input Up and a digital input Down or using the arrow keys 1 Reference At least one of the sources selected for the reference through parameters C105 C108 RefSelx must correspond to UpDownRef therefore the LOC REF LED is to be on or flashing In the standard use of the Motor Potentiometer function this source is the one selected to form the main reference Main Ref and the reference obtained will be normally configured as a speed reference even though it can be con figured as a current reference 2 Increase decrease commands The UpDowrRef internal reference may be increased or decreased using the commands coming from max three sources among the four available sources that can be selected through parame ters C110 C112 SeqSelx The terminal serial connection or field bus commands may be used after configuring one of parameters C130 C135 MDIx as 14 Up and 15 Dn or the and keys If an increase command is simultaneously entered with a decrease command the former will cancel the latter and
7. 0 NO C NO ENCODER 42 3 DT 250 2 09 0 00 0 ES800 Command board DT 80Vmax e o o o o N 5 ES727 Firing board 24 EXT Fl 424V 4 E _ JE ov A MDI 6 MDI 5 80 7 4 MDI 4 MDI 3 MDI 2 6 5 3 AN IN 1 MD Gg 4 17 AN IN 1 START 7 REF ENABLE CO K amp COMMON MODE AN OUT 1 AN OUT 2 10 9 dcM6 12 DIFFERENTIAL MODE 2002 Saftronics Inc 33 dcM INSTRUCTION MANUAL efesotomasyon com Control Techniques emerson saftronics ac drive servo motor www saftronics com 3 22 SIGNAL TERMINALS TERMINAL Description Ratings 1 10V 10V reference voltage output for analog inputs 10V c 10mA max 2 OV Zerovolt 3 10V 10V reference voltage output for analog inputs 10 10mA max 4 nOUT Speed signal output for tachometer or any other use 10 10V c Positive polarity with bridge A running not in regenerative state 5 max The value 10V corresponds to the max speed voltage feedback signal i e parameter M001 nFdbk is equal to 100 If the drive is in armature feedback mode
8. E f 109 R1 A Q E 3 H4 H3 H2 H ag BUCK BOOST 2 Ri TRANSFORMER X x2 X4 VJ V 166 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor www saftronics com dcM INSTRUCTION MANUAL ASSY P N 010 9020 FU1 FU2 4 FUS 010 0710 35A 700V FUS amp FUG F601002 06 1A 600V F601 FU7 amp FU8 002 14 10A 600V 010 9021 010 0711 40A 700V F601002 06 1A 600V F601 002 14 10 600 010 9022 010 0712 50A 700V F601002 06 1A 600V F601 002 14 10 600 010 9023 010 0713 80A 700V F601002 06 1A 600V F601 002 14 10 600 010 9024 010 0714 100 700 F601002 06 1A 600V F601 002 14 10A 600V 010 9025 010 0715 125 700 F601002 06 1A 600V F601002 17 20A 600V 010 9025 010 0716 160 700 F601002 06 1A 600V F601 002 17 20A 600V T0 9027 010 0717 180 700 F601002 06 1A 600V F601002 17 20A
9. 09 02 er z ri 2 H vzuos vrus FLOSS xn o em To n 2 81 0 zi 390148 om e 29 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 3 14 OPERATING COMPONENTS dcM Plus series drive consists of the following major functional sections 3 15 CONTROL CARD 5800 Contains most of the closed loop and open loop control functions such as the speed current and gating control It also contains the keypad and display that are used for entering and observing the various parameters that effect the operation of the drive The drive controller adjustment is accomplished by using a removable keypad up to a dis tance of 10 feet maximum The parameter values that are set via keypad are stored in the EEPROM These values remain in the memory even when the power is removed There is no real time clock that runs the Microprocessor So therefore there is no need for battery backup 5800 Description of Connectors CN1 Interface connector to ES728 connector CN14 CN2 Interface connector to ES734 connector CN2 Interface connector to ES728 connector 4 CN4 Interface connector to fixed field supply card not used on dcM Plus Drives CN5 Connector is the same as the keypad connector CN6 Keypad connector CN5 Connector is the same as the keypad
10. ENTER keys the values of the four parameters change as follows C105 gt 2 UpDownRef C106 gt 0 Disabled C107 gt 0 Disabled C108 gt 0 Disabled These parameters cannot be changed in LOCAL mode e C110 111 112 Command Source Selection 1 2 3 P C110 111 112 5 1 2 3 SeqSelx R 0 4 D C110 1 C111 0 C112 0 F C110 Determines command source n 1 C111 Determines command source n 2 C112 Determines command source n 3 0 Disabled This selection does not enable any command source 1 Terminal This selection enables the terminal board as a command source 2 UpDownRef This selection enables the internal Up Down reference as a command source 3 Serial Link This selection enables the serial connection as a command Source 4 FieldBus This selection enables the field bus as a command source The user may select max three sources therefore the MainRef may by equal to the sum of the references coming from all three available sources If the same source is enabled by two or multiple selections this corresponds to selecting this source only once WARNING For each MIXED gt LOCAL switching performed by simultaneously pressing the and ENTER keys the values of the four parameters change as follows C110 gt 2 KeyPad C111 gt 0 Disabled C112 gt O Disabled These parameters cannot be changed in LOCAL mode 126 2002 Saftronics Inc efesot
11. 9 22 2 gt 1 iy oHG 19 18534 it E oe ZION os 87 1 7 1 4 26 V V ih 1 16 via 129 192 c 10863 1 2 2 9 QW 1 1I 2 s ae or AO 1177 98 o Ave 5 11 S8 SHO 56 bad AT8WN3SSV lt yowis Y H9 V 82493 9 98 H3002N3 47 18 V B V 84 53 5014 0100 185 rm a a IL T HO 00 8nd Giai 8 V e 22 veS3 a So w mi ind 9 88 end gu o E 9 2 reis DT NO g O 8 v ena c Ve oz ind n n N 5 7 6 Ab o 3 11 POWER SECTION DIAGRAM FOR MODEL M12005 TO 4800 27 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM am SAF www saftronics com INSTRUCTION MANUAL 3 12 INTERNAL CONNECTION FOR MODEL M122005 TO 2100 M1247P5 TO 4200 10853 00854 eno ono 82253 89 as av ge ae al v9 vs ve vc vi
12. 2002 Saftronics Inc 127 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL lum A A 1 NOTE As for the ramp time and the motor field rated 1 current external limit at 10096 of the internal signal M010 011 012 the above mentioned values will corre spond to the times internally set through parameters P033 and par C010 respectively 42596 2 On the other hand if the internal signal is under 10096 said values will proportionally decrease P038 and 9 rounding L1 1 Aninx 45095 41009 will be decreased by the same value per cent as well In general for the external decrease function the signal applied to the analog input may have any polarity If multiple analog inputs have been configured as an external 1 decrease the analog input with the min value will prevail 50 gt j LIM B 00661 0 C130 131 132 133 134 135 Digital Input 1 2 3 4 5 6 Configuration P C130 131 132 133 134 135 MDI1 2 3 4 5 6 Cfg MDI x Cfg R 0 18 D C130 0 C131 1 C132 1 C133 1 4 5 C134 C135 F C130 It indicates the configuration of programmable digital input 1 MDI 1 terminal 28 if the terminal board is selected C131 It indicates the configuration of programmable digital input 2 MDI 2 terminal 30 i
13. card 5729 1 31 3 49 Field regulator card 5734 31 3 20 24Vdc Terminal 5801 32 3 21 dcM Signal connections 1 33 3 22 Signal terminals 1 34 3 23 LEDs and test points on control card 37 3 24 Feedback from encoder 38 3 25 Milliampere input output signals 39 2 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ap d o Se INSTRUCTION MANUAL www saftronics com 4 KEYPAD AND ALPHANUMERIC DISPLAY 41 4 1 Keys operating 1 41 4 2 Functions displayed by the LEDs 42 4 3 Local operating 1 42 0 43 5 FIRMWARE 5 44 5 1 General 2255 4 eee Rx eed ac 44 5 2 Block diagrar xe du E EE II Vee Yeah eee ee E 45 5 2 1 Main Bel sioe we
14. R 100 100 96 F This parameter indicates as a percentage of the max reference correspon ding to 10V the value of the reference resulting from N 3 reference applica tion between terminal 19 and OV The reference obtained may be configured through parameter C122 The value per cent displayed in this parameter takes account of the Gain Bias and Polarity blocks see parameters P134 P133 and P132 respective ly and of the Reverse function only if an input is configured as a speed additional reference applied in the above mentioned order M013 Up Down Internal Reference 013 UpDownref P 013 UpDnRef UpDnRef 96 R 100 100 Joa F This parameter indicates as a percentage of the max reference correspon ding to 10V the value of the reference assigned to the Up Down internal variable M014 Main Analog Input to Terminals 5 and 7 P 014 TermRef 014 TermRef FermRef F This parameter indicates as a percentage of the max reference correspon ding to 10V the value of the reference resulting from the application of the REF main analog input between terminals 5 and 7 The reference obtained is either a speed voltage reference or a current reference if the 6 S ave function is entered through a digital input see par C130 C135 The value per cent displayed in this parameter either as a speed voltage reference or a current reference considers the Gain Bias and P
15. when pressing the PROG key the display will cycle through all measure parameters in the bottom line on the Keypad page starting from the selected one If this parameter is kept at its default value the parameters displayed in the bottom line on the Keypad page are the parameters defined in par MeasureSel only P006 Measure Parameter Selection on the KeyPad Page E P P006 5 R 3131313131313131 D If par POO5 FirstParm is assigned its default value this parameter defines all measure parameters max 8 par that have to be cyclically displayed in the bottom line on the Keypad page max 8 parameters when pressing the PROG key 2002 Saftronics Inc 83 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor a PME www saftronics com dcM INSTRUCTION MANUAL P010 Max Speed P010 nFdbkMax P P010 nFdbkMax RPM R 300 6000 RPM D 1750 RPM F It sets in rpm the max speed the motor achieves in case of a tacho or encoder feedback when the speed reference is equal to 10096 In both cases the constant of the transducer used is to be set Use parameter 72 if the transducer is represented by the encoder use parameter C074 if the transducer is represented by the tacho In encoder feedback mode the values set in par C072 and in par P010 have to ensure that product C072 x P010 does no
16. 159 2002 Saftronics Inc www saftronics com efesotomasyon com Control Techniques emerson saftronics ac drive servo motor Weight 350 Ibs 12 4 Dimension Drawing for M12 600 800 HP 460V Chassis INSTRUCTION MANUAL dcM HI 0 eee o leit IFI 9 iUn ni JEEI DEL 2002 Saftronics Inc 160 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION AA www saftronics com 12 5 Dimension Drawing for M6 250 300 HP 460V and 125 150 HP 230V Chassis Weight 175 lbs 2002 Saftronics Inc 161 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor a PME www saftronics com dcM INSTRUCTION MANUAL 12 6 Dimension Drawing for M6 400 500 HP 460V Chassis Weight 175 lbs 13 28 162 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TRONS dcM INSTRUCTION MANUAL www saftronics com 12 7 Dimension Drawing for M6 600 800 HP 460V Chassis 0 a CN gt 163 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor www saftronics com dcM INSTRUCTION MANUAL 13 DYNAMIC BRAKING RESISTOR SIZE CHART 240 Vdc Armature 150 Braking Torque Constant To
17. DIGITAL INPUTS No 6 configurable digital inputs for different functions and No 2 fixed digital inputs for the START and ENABLE commands All inputs are optoinsulated and PLC controllable with PNP static outputs DIGITAL OUTPUTS 5 configurable relay digital outputs On the digital outputs the following functions may be pro grammed energizing delay de energizing delay positive or negative logic hysteresis LOCAL MODE OPERATION For the LOCAL mode operation the drive may be equipped with a keypad by request with a backlit alphanumeric display 8 keys and 8 LEDs The jog running stop and reference rever sal commands may also be entered through the keypad in addition to the LOCAL mode switching to the ordinary operating mode stored on EEPROM The keypad may be removed or remote controlled Once the drive has been set it may be operated also 14 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL with no keypad connection Both 7 segment displays can be seen through a special slot fitted on the cover of the ES800 control board together with the four LEDs for the most important indications DRIVE ADJUSTMENTS The ES800 control board is equipped with an EEPROM non volatile memory where all the special parameters of the drive together with the machine adjustments are stored after automatic tuning procedures or accordi
18. SNO NO OLND 6NO SIND 9NO ZNO LIND 8NO 9INO 20 le 6IND H L vias N7 89 as av 92 al 9 vs vv ve vc vi OL OL OL OL OL OL 01 01 OL OL OL OL 8108 220 90d 335 57 zi 2002 Saftronics Inc 28 O Z ba gt o 9 c O pun 4 0 o o o il 9 c c c O e gt 2 6 t O 0 uc 55 5 INSTRUCTION MANUAL www saftronics com O S 00864 mo 82253 2 EG a 9 8 a 4 WV N Z 61NO O E O omo 2 6 6 a SNO GND SINO CINO SNO ZNO HNO SNO BINO ZINO N a9 62 a ve H N OL a a 01 kd 01 OL _tooozervi voozr 052 tc NR vooo 2 OvAOZL yo unax 150599018 90 ONISN d 3A0W3H vsuos a Hea omma nouvonnnoa wuss Y7 Ln sp EI n a
19. is the one which causes motor clockwise rotation seen sideways in the drawing with no external torque The four quadrants may be identified as follows 1st Quadrant Forward direction with motor torque positive speed feedback and bridge A on 2nd Quadrant Reverse direction with braking torque negative speed feedback and bridge A on 3rd Quadrant Reverse direction with motor torque negative speed feedback and bridge B on 4th Quadrant Forward direction with braking torque positive speed feedback and bridge B on Parameters C063 allow the quadrant enabling disabling dcM6 default operation is assigned to the 1st quadrant only and may be enabled for the 2nd quadrant but not for the third and fourth quadrant only bridge A is in On the other hand dcM12 default operation is assigned to all four quadrants both bridge and are in Whenever a braking torque is produced an energy regeneration takes simultaneously place from the load to the mains What we said above is shown in the following figure where we suppose that the motor is fit to the axle of a reel winding or unwinding some tensioned material 7 3 Quad REVERSE MOTOR Pd 4 Quad FORWARD BRAKE 7 00572 62 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL The figure below shows all operati
20. so the relevant current may be assigned the values shown in the figure below RefFld M017 Varm lt C030x0 66 010 017 49 Ha i _ no Varm C030x0 66 010 1 jm mmm cun s n 0 C010 x C016 o TT 010 014 1 T 1 1 ARMES PN 1 4 018 oe 015 00655 0 First case The dynamic field regulation in field weakening mode is not required The nominal field current is set in parameter C010 fidNom Stand by Economy Run Forcing Stand by Economy t As soon as the run command is sent and for the time set in par C018 FldFrcTime the field forcing function may be enabled which increases the field current by the value per cent set in par 017 FldFrcLevel in order to have temporary torque boost This will have no effect if the field flux is saturated The field forcing will be always disabled also when the time set in par C018 is not yet over if the armature voltage reaches approx 66 of the value pro grammed in par VmainsNom Once the drive run is over the economy function may be enabled This function allows the field current to be decreased by the value per cent set in par C014 FldEcoLevel as soon as the drive run is
21. starting from signals V out1 2 originally configured according to the formula below Gai Bias AnOut Vout X 009 100 With the default values of the relevant parameters the final matching between V out and 1 out is the following Vout OV lout Vout 2V gt lout 4mA Vout 10V lout 20mA The table below shows the values to be assigned to the different parameters relating to the Gain and Bias functions to obtain a particular signal lout in mA starting from internal signal Vout in Volt The table assumes that the parame ters relating to the Polarity function par P157 and P158 are at their default value jumperJP10in 5801 in pos 2 3 jumper JP9 in ES801 in pos 2 3 Mou ou OUT 1 terminal 8 OUT 2 terminal 10 0 10V gt 0 20mA P152 10096 P151 0 P155 10096 P154 096 0 10V gt 4 20mA P152 8096 P151 2096 P155 8096 P154 2096 10 10 0 20mA P152 5096 P151 5096 P155 5096 P154 50 10 10V 5 4 20mA P152 4096 P151 6096 P155 4096 P154 6096 40 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL 4 KEYPAD AND ALPHANUMERIC DISPLAY 4 1 KEYS OPERATING MODALITIES The drives of the dcM6 and dcM12 Series may be equipped with a remotable keypad provided with an alphanu meric display including 8 keys and 8 signalling LEDs N
22. 5 72 7 1 Measure parameters 72 7 2 Programming parameters 81 7 3 Configuration parameters 114 8 DIAGNOSTICS uade mes 136 8 1 Alarm parameters 136 8 2 Warning parameters 144 9 CHARACTERISTICS AND INPUT FILTER 147 10 USER S PARAMETERS DIFFERENT FROM DEFAULT VALUES 149 11 SPARE PARTS 152 111 line fuse amp DC fuse part number 155 11 2 line fuse amp DC BS fuse kit assembly part number 155 2002 Saftronics Inc 3 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION MANUAL www saftronics com 12 DIMENSION DRAWINGS 156 12 1 Dimensions amp weights for 4 6 12 5 100HP 230V and 7 5 200 460V Chassis 157 12 2 Dimension drawing for dcM12 250 300HP 460V and 125 150HP 230V Chassis 158 12 3 Dimension drawing for dcM12 400 500HP 460V 159 12 4 Dimension draw
23. 5 Reverse 40 24V 24V main voltage supply output for digital inputs operation 24V pc and or to supply the encoder it is optoinsulated from the OV signal of analog 200 max inputs 41 43 MDO 5 Digital output 5 to be configured through parameter P194 250 0 Default configuration 4 CurrLimitation 42 OV OPTO Negative terminal of 24V external supply voltage if any to supply the control section and or the encoder it is optoinsulated from the OV signal of analog inputs If the digital inputs come from the static outputs of a PLC OV of the PLC is to be connected to this terminal 44 24V EXT Input for positive terminal of 24V external supply voltage to 24V y 2 max supply the control section 1 1a DRIVE LOCK WHILE STOPPING Suppose 051 is set at 1 Predictive value In that case even after the START contact to terminal 26 is open and the motor fall ramp is over if the ENABLE contact to terminal 24 is kept closed the drive regulates zero current no torque is generated i e the drive is still operating although the motor is idling While the motor is not running idling if for some particular reasons contactor M has to remain closed for a long time for the operator s safety it is possible to wire an additional contact to terminal 24 such contact is to be series connected to auxiliary contact NO of contactor M If this contact opens the current re
24. 55 5 www saftronics com 3 5 CONTROL SCHEMATIC FOR MODEL M064400 TO 4800 aariddns YAWOLSND WNOILdO H3MO 18 Y4 43M078 0 6 135 vo swa 2 8 wa 16 pem sng sng 21 04 SSV IO 8 204 104 59574 OL 19718 v 1 x 9 574 Haluvis YOLOW H3MO 8 E ODIWVNAG OIWVNAG sng AL34VS 57 iH aasn an OWLS INO 21 13NIgvo IL TI ve 2 Lin ZX HO LL A009 IL TI 16 01 6 14 D G a is ZH09 HdE 0 072 14 21 Alddns YAWOLSNO 6l D O 7 ao M 2002 Saftronics Inc E ba gt 9 c O pun 4 o o o il 9 c c c O gt 2 6 t O 0 uc dcM _ 5 www saftronics com INSTRUCTION MANUAL 3 6 POWER SECTION DIAGRAM FOR M62005 TO 4800 Gariddns HAWOLSND Ner WNOILdO 008 00 TAGOW NO LOV LNOO 27 TAGOW NO LOVLNOO IW 0084 0074 TAGO
25. C110 SeqSel1 1 Terminal C163 BaseAddress 0 C111 SeqSel2 0 Disabled C164 RTUTimeOut 300 ms C112 SeqSel3 0 Disabled C165 Rx TxDelay 0 00 ms C120 AnIn1Cfg 0 Excluded C121 Anin2Cfg 0 Excluded C122 Anin3Cfg 0 Excluded T00283 B 2002 Saftronics Inc 151 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL am MTM www saftronics com 11 SPARE PARTS MODEL PART QTY REQUIRED DESCRIPTION REFERENCE NUMBER PER UNIT Modbus dcM6 dcM12 ES733 1 1 Saflink Saftware dcM6 dcM12 046 7017 1 Microprocessor Control Card dcM6 dcM12 ES800 x 1 24 Vdc Interface Card dcM6 dcM12 ES801 x 1 High Voltage Card dcM6 ES728 6 x 1 High Voltage Card dcM12 ES728 12 x 1 Suppression Card pone A 4 3 ES727 x 1 Suppression Card 1 pes is dad ES727 xA 1 dcM dcM12 F6001 02 1 Keypad dcM6 dcM12 012 9004 1 4 6 dcM12 003 9020 1 Field Regulator Power Block dcM6 12 2005 to 2150 008 5001 1 32 A 1600 PIV dcM6 12 47P5 to 4800 OA 1600PIV doa 008 5002 Field Regulator Card dcM6 dcM12 ES734 x 1 Over Temperature Switch 90 A un ia 2 017 1502 1 Over Temperature Switch 85 C 8523002 03 2 Drive Fan 0110115 1 Drive Fan 02 0110149 1 Drive Fan Kit Assy peed 2 2 210069 1 cum
26. Motor Torque M025 MotorTorque M023 FldReg m 3 the figure shows a display example for each output Displays the state of the two inner digital inputs of the field regulator A black square indicates that the digital input is active i e the relating terminal on the field regulator is connected to OV 024 0 5250 kW This parameter indicates in kW the power supplied to the load as a division by 1000 of the output voltage product par M006 for the output current par 004 M025 Torque 180 180 96 It displays as a percentage of the motor nominal torque the motor torque as a product per cent of the armature current by the field current 10096 of this parameter is obtained with the motor armature nominal current set by par C000 and the motor field nominal current set by par C010 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION AA www saftronics com M026 Encoder Frequency P M026 EFreq M026 EncoderFreq EFreq R 102 4 102 4 kHz F 2 kHz the frequency of the encoder used as a 027 Drive Life M027 Drivelife P 027 Drivelife R 235926000 s approx 7 years and a half size h m 5 ev Em F This parameter indicates the drive overall operation time starting from its first power on This value is stored each t
27. current is higher than this parameter value Similarly the digital output configured as 9 VrefThreshold enables when the speed error absolute value between the Vref reference displayed on the KeyPad becomes higher than this parameters value Finally the digital input configured as 3 Motor at Speed enables when the speed error absolute value between the ramp circuit input reference and the speed voltage feedback is lower than this parameter value This means that the actual speed has reached the programmed setpoint i e the ramp transient is over NOTE The level value set these parameters cannot be lower than the value set in MDOxHyst type parameters WARNING To avoid any drive malfunction never save a value lower than the one saved in EEPROM for MDOxHyst type parameters 2002 Inc 109 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am PME www saftronics com dcM INSTRUCTION MANUAL P174 180 186 192 198 Digital Output 1 2 3 4 5 Switching Hysteresis P P174 180 186 192 198 MDO1 2 3 4 5 Hyst MDOxHyst R 0 200 D 2 F P174 Hysteresis level for the enabling disabling of digital output 1 to term 25 and 27 P180 Hysteresis level for the enabling disabling of digital output 2 to term 29 and 31 P186 Hysteresis level for the enabling disabling of digital output 3 to term 33 and 35 P
28. efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION AA www saftronics com A001 Field Current Failure 001 Field Failure A001 Field Failure 5 The alarm trips a When running in case of a field current failure b Alternatively during the current auto tuning if the field current has been detected The field current detection control is made through the comparison between par M018 and an internal threshold equal to 7 5 of the value of C010 value of the nominal field current This alarm may be disabled through parameter C150 1 This alarm trips only when the drive is running It trips after a 2s internal delay e A002 Heatsink Overtemperature 002 Heatsink Trip A002 Heatsink S The contact relating to the thermoswitch assembled in the drive heatsink is open thus signalling that the max allowable temperature has been ded NOTE When the thermoswitch contact is closed LED SA in control board ES800 turns on 1 NOTE After the connection of the mentioned alarm some minutes should generally elapse before e forming a reset 003 Armature Overcurrent A003 Armature A003 Armature OverCurrent OverCurrent S The instantaneous value peak value of armature overcurrent M004 has exceeded 200 96 of the drive rated current or 300 96 of the drive rated current under overlimit condi
29. efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL www saftronics com A016 Mains Overvoltage A016 Mains Overvoltage A017 Mains Undervoltage A018 AutoTuning Interrupted A018 AutoTune Interrupted FWD Lo E A016 Mains OverVoltage Value 009 of power section mains voltage Vmains has exceeded the lowest limit between the following values 1 the maximum voltage to be applied factory set increased by 1096 2 The rated voltage C030 increased by 2096 This alarm may trip only when the ENABLE digital input is active It may be delayed through parameter C141 and disabled through parameter C157 A017 Mains UnderVoltage Value 009 of power section mains voltage Vmains is under the rated voltage limit for a value equal to 1596 in case of drives which are able to regenerate mains energy 2nd and or 4th quadrant enabled Otherwise it proves a 2096 decrease in case of drives which are not able to regenerate mains energy 2nd and 4th quadrant disabled This alarm may occur only when the ENABLE digital input is active It may be delayed through parameter C141 and disabled through parameter C157 Set continuous autoreset through parameter C093 The alarm delay if any set through par C141 is active only if the supply voltage is not under 3 4 of the threshold value 8596 or 809
30. ing material or while controlling any machine integral to another from a mechanical point of view In fact said condi tions require a proper torque distribution 2 7 2 In the first event a simple external regulation of the current limit is generally requested by using one of the configurable analog inputs set parameters C120 121 122 to one of values 8 Ext curr lim 10 BrdgB ext lim The polarity of the used signal may be selected on par P126 129 132 default value Bipolar For this operating mode the speed reference should allow to keep the drive in current limit condition at e any time 2 7 3 the second case a direct setting of the current reference is generally performed To use the REF main input between terminals 5 and 7 it is then possible to program parameter C050 as 3 lref Vref default value PI oper ating whenever a permanent configuration is required Otherwise it could be advisable to close one of the MDIx configurable digital inputs by programming parameters C130 131 132 133 134 135 at value 6 Slave Enabled whenever the current reference setting is to performed only through an external command enabling A current reference setting may be performed on any REF IN1 IN2 IN3 analog inputs after program 1 ming them accordingly e In particular if the REF main input between terminals 5 and 7 is to be used the Gain Bias and Polarity operators use distinct parameters i e different from the parameters enabl
31. 02 2 ul uno pi4 LL 10011 m uon 2 Os 9 uy 2 2103 0114 2903 wue A eseg 8077000 4 1 43 25 80 lt 15007014 i je e1213pI3 4 4 uueAeseg peedseseg www saftronics com 5 2 6 Field Loop 51 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor 55 E o Dp avenue m m III mn E TI Tm m E Tet 7 SS QS c 2100 NV ET NE SS S esta 2 ued 5 5 RS 5 0 91 1000 ROW 3 li 5 LLAO NV 1 OS48AOM G XIAN uy Hing uy pno uy hx NINV 2019 21011 Bo gu uv gujuy Fox zo Bj pE x wns 4 NV 7 lt 1 i T X 0219 01011 ju uy NS pec ozto d Jewppe 036 201 wg Bio xul uy i NO NHO INSTRUCTION MANUAL 5 2 7 Analog In Out dcM 2002 Saftronics Inc 52 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor
32. 2 3 5 If a dynamic regulation of the field current in field weakening mode is required with a speed feedback dif ferent than the armature feedback besides programming par C010 and C014 program the motor armature nomi nal voltage in par C012 default value 1000V the value per cent of the field weakening start max speed in par C011 default value 33 and the limit at the field current min value in par C016 default value 25 of C010 As stated in the FIELD REGULATOR chapter set the last value at approx 7596 of the min motor rated field current corresponding to its max speed 2 3 6 Make sure that the rated value of the power section supply voltage corresponds to the indications stated in parameter default value 480V if necessary change the value 2 3 7 Access parameter C000 default value 100 and set the percentage value of the armature rated current of the motor with respect to the armature rated current of the drive If need be also set a proper thermal constant on parameter C002 default value 300 s by following the general indications described in the chapter of this manual dealing with that parameter 2 3 8 Choose the operating mode of the current loop through parameter C051 default value It is advised to leave the default selection of C051 at value 0 Operating in most cases and to set C051 selection at value 1 Predictive only when a very quick response is demanded with a dcM12 in encoder or
33. 5A for Drive size less than 100A Example 1 Warning C010 Field Amps must be set to a Field current 2 1 A percentage of the C010 2 1 5 x 100 nameplate rating of SUO en motor View M018 after When the drive size is a run command to larger then 100amps verify Example 2 C010 10096 15A Field current 2 1 A C010 2 1 15 100 C010 14 Go C030 AC Line Voltage Set C030 to the value displayed in M009 OK Set the remote speed reference to zero check by viewing 000 OK OK Apply a run command and turn the speed reference up slowly to 50 96 view MOO6 to verify that half the armature voltage is acquired 17 4 SETUP PROCEDURE FOR VOLTAGE FDBK If the rotation is wrong remove power and reverse the armature wires Check direction of motor rotation Observe on the keypad that the Ref Det LED is ON Run LED is ON Forward LED is ON Positive Voltage Ref is forward Adjust the acceleration and deceleration ramp rates as required P030 to P033 Adjust the STOP acceleration and deceleration ramp rates as required P034 to P035 OK No Do you have speed feedback Yes Yes No Go to section 17 6 Go to section 17 5 2002 Saftronics Inc 175 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL IPM www saftronics com 17 5 SETUP PROCEDUR
34. 600V 010 9025 910 9029 010 0718 200 700 010 0719 250A 700V F601002 06 1A 600V F601002 06 1A 600V F601 F601002 17 20A 600V 002 17 20A 600V 010 9030 010 9031 010 0721 315 700 010 0722 350 700 F601002 06 1A 600V F601002 06 1A 600V F601 F601002 17 20A 600V 002 17 20A 600V FUS amp FU6 L1 010 9019 PESA 9 FU7 amp FU8 2002 Saftronics Inc 167 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor a PME www saftronics com dcM INSTRUCTION MANUAL 15 CROSSOVER RESISTOR INSTRUCTIONS e To assure proper operation when the application requires Extended speed range above base speed when a DC contactor is used in the armature output Reason With the motor above the base speed and the field current in a field weakening condition the armature voltage will also be at the maximum value When the E stop contact is opened causing the motor DC contactor to open it immediately forces the field current to motor rated full field current This condition of high motor speed and full field current would cause the Back emf to rise and create a flashover condition The Crossover Resistor Kit will prevent this from happening DC MOTOR VDC __ __ ___A 700V Parts Description Qty 1 Terminal block Pn J150
35. 80 480 equal to 80V 80 Polarity has to be a positive one with bridge A running not in regenerative state 23 DT 250Vmax Input for a tacho when it does not exceed the absolute value 250 250 equal to 250V 300kQ Polarity has to be a positive one with bridge A running not in a regenerative state 24 ENABLE Drive operation command enabling The signal is active when the 1 9mA terminal is short circuited with 24 terminal 40 The contact related to this terminal shown in the SIGNAL CONNECTIONS diagram consists of a NO auxiliary contact of contactor KM energizing the drive power section See Note 1 25 27 MDO 1 Digital output 1 to be configured through parameter P170 250 MDO1Cfg Default configuration 0 Drive OK 26 START Enabling of the speed voltage references or current references to 1 found on analog inputs REF IN 1 IN 2 IN 3 summed up to the reference from serial connection field bus and UpDownRef internal variable or enabling of one of the run preset references The signal is active when the terminal is short circuited with 24V terminal 40 When the contact on terminal 26 opens a ramp down is set starting from the current speed voltage signal The ramp down time is set in parameter or P035 See RAMPS OVER REFERENCE chapter for the inequality relations assuring that the times set for the stop ramps in par P034 and P035 are exac
36. 9021 010 9020 010 9021 010 9020 010 9023 010 9020 010 9023 010 9021 010 9024 010 9023 010 9025 010 9023 010 9026 010 9023 010 9027 010 9024 010 9029 010 9025 010 9030 010 9026 010 9031 010 9027 010 9052 010 9050 010 9052 010 9050 010 9053 010 9051 010 9054 010 9052 010 9055 010 9053 010 9056 010 9054 010 9057 010 9054 010 9057 010 9055 010 9059 010 9056 010 9060 010 9057 010 9061 010 9057 125 4125 010 9029 010 9059 150 4150 010 9029 010 9059 200 4200 010 9031 010 9061 2002 Saftronics Inc 155 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL a PME www saftronics com 12 DIMENSION DRAWINGS 2 22 UNE 7 2 Air Flow 57 55 0 5 4 0 9 9 76 1 7 ul e Size 5 100 HP 230V Size 7 5 200 HP 460V 0000000000000000 e OOOOOOOOOOOOOOO
37. A026 EEPROM Wrong Backup Parameters A026 BackupArea Failure A026 EEPROM BackupArea Fail S The content of some part in EEPROM work area is altered In that case the alarm is to be reset Then warning W007 WOO9 will be displayed see 521 e ES the relevant sections explaining what to do in that case See also the PARAMETER COPY chapter 027 Serial Communication Failure A027 Serial Link Failure S This alarm trips if the drive is not sent any valid message within the time set time out in par C142 AO27 Slink when the drive is serial connected to the master The serial communication protocol selected for dcM Series drives is the MODBUS type according to the RTU trasmission mode The alarm may trip only if the serial communication is selected either as a possible reference source or as a possible command source i e when at least one of par C105 C108 HefSelx or C110 C112 SeqSelx is set at 3 Serial Link The alarm may be disabled through par C158 142 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION AA www saftronics com A028 Connection with Field Bus Failure A028 FieldBus A028 FieldBus Failure Failure S This alarm trips if the drive is not sent any valid message within the time set time out in par C143 AO28 F
38. AV T3H OV TIV 82 93119905 HAWOLSND Ner IWNOILdO Vid 155 VO Wa 99 88 HOLOVINOO HOLOW 92 DOr 7 NN 1 MO v ualuvis YOLOW aasn 41 15 21 L3NIavo 5 ve 7 3015 8 Wuvl re VO sng AL34VS 9 9c T ve 74 SSV19 A009 cH IL TI Lina HO ZH09 Hd HO Orc 5 uawoisno 2002 Saftronics Inc 20 50 zz H 4015 AON39H3IN3 5 aassauddns 51100 AV T3H OV 82 1 gt lt o2 2 HOLOW 4 z 2 E m 7 71 8r i ll ZAR o o seH Heel e En 99 54 MERC v 9 0 2 21 E bi o 2 0 c pun o c o il E o 0 2 c and o c o O 5 G o gt 0 E N uc
39. By introducing a preset running reference the START contact closing is always required 2 6 3 For the Ref n speed reference applied to the ramps the user may select the allowable polarity through par P012 default value Bipolar For said reference the maximum value may also be defined through parameter P013 and parameter P015 default values 100 and 100 respectively This limit is also valid for the n setpoint global reference After programming a polarity of one sign only on parameter P012 a minimum speed value is given both for the Ref n reference applied to the ramps and for n setpoint global speed reference through p P014 and p P016 default values 096 Anyway disabling of minimum speed can be achieved by closing one of the MDIx configurable digital inputs once parameters C130 131 132 133 134 135 have been programmed at value 9 MinSpdDisabled 2 6 4 n case of tacho or encoder feedback and in the event of a feedback signal failure it is possible to set the automatic switching towards the armature feedback through par C155 default value Alarm enabled If the dynamic regulation of the field current in field weakening mode is enabled par P011 default value 500 V is to be set at the same value as par C012 in order to keep the speed of rotation nearly constant in case of feedback failure 2 6 5 case of armature feedback the Rxl drop compensation may be entered through par P086 default value 100 whose value re
40. DIR ID MEM cur CUR I NM Tandem ID MM dcM6 12 4250 to 4300 TA1420001 2 oon dcM6 12 4400 to 4500 TA1520001 2 dcM6 12 4600 to 4800 TA1620001 2 018 5001 36 1 Interconnect Cable ee fot eod qe cable 018 5001 72 1 length in inches 018 5001 84 1 1 018 5001 120 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL MODEL PART QTY REQUIRED BESIGHIFTION REFERENCE NUMBER PER UNIT SCR dcM6 12 2005 to 2025 55 A 1600 PIV dcM6 12 47P5 to 4060 0090007 3 6 90A 1600 PIV 4075 2160 009 0008 3 6 162 A 1600 PIV A 009 0009 3 6 820 A 1600 PIV cM 12 4250 to 4300 N716452 6 12 dcM6 12 4400 to 4800 N719122 6 12 1400 A 1600 PIV 5 7004 ATPS to 4015 3 5 A T00 V 4 4 to 4010 010 0710 1 40 A 7009 0100711 s UI dcM12 4015 010 0711 1 60A 700 V 010 0712 80 A 700 V dcMG 12 4025 to 4040 010 0713 80 A 700 V deM12 4025 0100713 100 A 700 Y 010 0714 3 100 A 700 Y 12 4030 to 4040 1 125 A 700 V 52200 010 0715 3 125 700 Y 0125 4059 to 4060 010 0715 1 160 A 700 Y 2 010 0716 3 dcM12 2030 010 0716 1 160 A 700 Y n dl 010 0717 3 200 A 700 Y
41. From speed feedback failure alarm A008 From automatic tuning failure alarms 011 A014 A015 A018 and A019 From general external failure alarm A020 A029 and A030 From EEPROM failure alarms A024 A025 A026 and A031 From serial communication failure alarm A027 From bus field connection failure alarm A028 STANDARDS dcM drives comply with Low Voltage Directive and Electromagnetic Compatibility Directive As for the Machine Directive the drives are considered as a component part not a whole machine In accordance with this directive Saftronics releases the Manufacturers Statement for dcM6 and dcM12 Said drives particularly comply with the standards below LOW VOLTAGE DIRECTIVE 73 23 CEE and following amendment 93 68 CEE EN60146 1 1 IEC146 1 1 Semiconductor convertors General requirements and line commutated conver tors Part 1 1 Specifications of basic requirements EN61800 2 IEC1800 2 Adjustable speed electrical power drive systems Part 1 Rating specifications for low voltage d c power drive systems 50178 Electronic equipment for use in power installations pollution degree 2 EN60529 IEC529 Degrees of protection provided by enclosures IP code degree of protection 2002 Saftronics Inc 15 dcM INSTRUCTION MANUAL efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF www saftronics com EN60204 1 IEC204 1 Safety of m
42. INSTRUCTION MANUAL 2 Constant reference quick load change This may happen in a machine tool rotating at a constant speed when it starts a piece processing In that case to avoid any speed decrease at the transient beginning the proportional gain is to be temporarily increased and the integral time is be shorter as shown in the figure below Kp Ti P073 KpSpaAdapt 5 71 TiSpeed P070 i KpSpeed 74 TiSpdAdapt 1 Verr Verr P083 P084 P083 P084 Verr1 Verr2 Verr1 Verr2 M00657 0 Finally if a motor has a different mechanical time constant a different reduction ratio a different load inertial moment and so on the speed loop regulation parameters it requires are different than the standard ones In that case the configured digital input is to be closed by setting one of par C130 C135 at 8 Second ParmSet The new values of the proportional gain and the speed loop integral time will be the ones programmed in par P076 KpSpeed2 and P077 TiSpeea2 respectively instead of the original values set in par PO70 KpSpeed and P071 TiSpeed During the transient the parameter autoadaption function if enabled will bring the proportional gain and integral time values to the new values set in par P079 KpSpdAdapt2 and P080 TiSpdAdapt2 respectively 2002 Saftronics Inc 71 efesotomasyon com Control Techniques emerso
43. Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TRONS www saftronics com dcM INSTRUCTION MANUAL P125 Current Main Input Gain P125 IrefGain P P125 IrefGain R 800 0 800 0 96 D 100 0 96 F This parameter represents the amplification which is internally applied to the REF main reference between terminals 5 and 7 before being summed to the Bias Signal V obtained when applying the Gain and Bias operators to signal V4 is given by the following formula 125 49x P124 100 100 This is true if this signal is current reference i e when the digital input programmed for the 6 5 function is closed see par C130 C135 With two drives in MASTER SLAVE configuration as the reference standard level supplied by the MASTER drive is 5V at the nominal current 100 if also the SLAVE drive must supply its nominal current with said reference at REF main reference between terminals 5 and 7 gain P125 IrefGain is to be set at 20096 P126 129 132 Polarity for Auxiliary Analog Input 1 2 3 P AninxPol P 126 129 132 Anln1 2 3 Pol R 0 2 0 F P126 Polarity for auxiliary analog input 1 N 1 to terminals 11 and 13 P129 Polarity for auxiliary analog input 2 IN 2 on terminal 17 P132 Polarity for auxiliary analog input 3 N S on terminal 19 This parameter sets the allowable polarity fo
44. LINE FUSE amp DC BUS FUSE PART NUMBERS Saftronics Model Horsepower Number 06 M12 Part Number 5 2005 010 0710 27P5 010 0711 47P5 010 0710 2010 010 0711 4010 010 0710 2015 010 0713 4015 010 0710 2020 010 0713 4020 010 0711 2025 010 0714 4025 010 0713 2030 010 0715 4030 010 0713 2040 010 0716 4040 010 0713 2050 010 0717 4050 010 0714 2060 010 0719 4060 010 0715 2075 010 0721 4075 010 0716 2100 010 0722 4100 010 0716 4125 010 0719 4150 010 0719 4200 010 0722 AC Fuse Gould Shawmut Saftronics Gould Shawmut Part Number Part Number Part Number 00 66 3508 A00 66C35D8 010 0710 A00 66C35D8 A00 66C35D8 010 0710 A00 66C35D8 A00 66C35D8 010 0711 A00 66C40D8 A00 66C40D8 010 0712 A00 66C50D8 00 66 8008 010 0713 A00 66C80D8 A00 66C80D8 010 0714 A00 66C100D8 00 66 8008 010 0714 A00 66C100D8 A00 66C100D8 010 0715 A00 66C125D8 A00 66C125D8 010 0715 A00 66C125D8 A00 66C160D8 010 0718 A00 66C200D8 A00 66C180D8 010 0718 A00 66C200D8 00 66 25008 A00 66C250D8 010 0721 A00 66C315D8 A00 66C350D8 010 0724 A00 66C400D8 DC Fuse DC Fuse 11 2 AC LINE FUSE amp DC BS FUSE KIT ASSEMBLY PART NUMBERS Horsepower Model Number AC Fuse Holder Kit DC Fuse Holder Kit 4 06 12 Part Number Part Number 5 2005 010 9020 010 9050 AC Fuse Kit 07 5 10 15 20 100 27P5 47 5 2010 4010 2015 4015 2020 4020 2025 4025 2030 4030 2040 4040 2050 4050 2060 4060 2075 4075 2100 4100 010
45. Loss 0 Included The alarm is enabled 1 Excluded The alarm is disabled C153 Alarm 006 Trip Disabling C153 A006 fUnst C153 A006 fUnst kkk R 0 1 0 It inhibits alarm 006 Unstable Frequency 0 Included The alarm is enabled 1 Excluded The alarm is disabled C154 Alarm 007 Trip Disabling P C154 A007 Mains C154 A007 Mains R 0 1 0 It inhibits alarm A007 Mains Failure 0 Included The alarm is enabled 1 Excluded The alarm is disabled C155 Alarm 8 Trip Management P C155 A008 nFdbk R 0 2 0 This parameter manages alarm A008 Speed Feedback Failure trip 0 Included The alarm is enabled 1 Excluded The alarm is disabled 2 Switch to Varm The alarm is disabled but a speed feedback loss will cause the automatic switching of the speed feedback from TACHO or ENCODER to ARMATURE feedback If this happens also warning W002 Speed Fdbk switched to Varm will trip To reset it disable the ENABLE digital input 132 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION www saftronics com C156 Alarm A010 Trip Disabling C156 A010 ArmOV C156 A010 ArmOV RK R 0 1 0 This parameter inhibits alarm 010 Armature OverVoltage trip 0 Included The alarm is enabled 1 Excluded The a
46. Microprocessor control card controls the 25724 card through software control 2002 Saftronics Inc 31 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 25734 Description of Connectors N A CN2 Interface connector to ES800 connector CN2 Supplies voltage to the field SCR device IP1 Off 380 480 supply On 200 240 supply 3 20 24VDC TERMINAL CARD ES801 Terminal board is a discrete adapter board which allows discrete devices such as push buttons selector switches contact and analog voltage or 4 20 mA input speed reference signal The input and output contacts are isolated The encoder feedback is connected to a DB9 pin connector Optional encoder cable can be supplied with the dis tance of 4 feet and a terminal block P N 018 9006 ES801 1 Description of Jumpers JP7 1 2 0 10 Vdc input TB5 2 2 3 4 20 mA input TB5 7 JP8 1 2 0 10 input TB11 2 2 3 4 20 mA input TB11 13 JP9 1 2 0 10 Vdc output TB10 9 243 4 20 mA output TB10 9 JP10 1 2 0 10 Vdc output TB8 9 2 3 4 20 mA output TB8 9 32 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo moto am ARM www saftronics com dcM INSTRUCTION MANUAL 3 21 DCM SIGNAL CONNECTIONS ENCODER 40 24v 15 5v
47. R 100 100 D 4 00 F P073 Speed loop adapated proportional gain P079 Speed loop adapted second proportional gain If the parameter Automatic Adaptation is enabled par P082 set at 7 5 and Verr 002 gt Verr2 P084 these parameters represent the proportional gain used for regulation The value used is the one set in par P073 if the digital input configured by setting one of par C130 C135 to 8 Second ParmSet is open or it is represented by par 79 if this digital input is closed See also the SPEED PARAMETER AUTOADAPTATION chapter P074 080 Speed Loop Adapted Integral Time Second Time P P074 TiSpeedAdapt P074 TiSpdAdapt P080 TiSpeedAdapt2 sec R 010 5 00 s D 1 00 s TiSpdAdapt F P074 Sped loop adapted integral time sec P080 Speed loop adapted second integral time PROG If the parameter Automatic Adaptation is enabled par P082 set at 1 YES RESET and Verr M002 gt Verr2 P084 these parameters represent the integral time used for regulation The value used is the one set in par PO74 if the digital input configured by setting one of par C130 C135 to 8 Second ParmSet is open or it is represented by par PO80 if this digital input is closed See also the SPEED PARAMETER AUTOADAPTATION chapter P082 Speed Parameter Auto Adaptation P P082 AdaptCtrl P082 AdaptCtrl R 0 1 0 This parameter enables the speed para
48. Varm as a feedback It expresses as a percentage of the value set in par P088 the quantity used in the armature resistive drop compensation 10096 of this parameter corresponds to par P088 whole value used for compensation P087 Offset over the Speed Error P P087 VerrOffset P087 VerrOffset R 1 000 1 000 96 D 0 000 96 F This parameter using the value per cent of the max reference correspon ding to 10V allows the offset fine tuning at the output of the speed loop i e of the speed error You may adjust this parameter whenever the motor tends to turn slowly even if the speed voltage reference is equal to zero The value set in this parameter is neither subject to the polarity limits relat ing to parameter 012 nor to any min and or max value imposed by parameters P013 088 Armature Resistive Drop P P088 R 0 100 OV F This parameter expressed in Volts indicates the motor armature resistive drop with a current equal to the drive nominal current which is computed by the autotuning function set par P001 at 3 This parameter value is generally used to compute the back electromotive force and to display it in par M007 BEMF This value is also used for the armature resistive drop compensation both for the dynamic regulation of the field current in field weakening mode and in the armature feedback as a percentage set in par P086 WARNING a
49. analog quantity sent by the field bus at input The above mentioned Volt values which can be obtained by the two analog outputs relate to jumpers JP9 and JP10 of board ES801 in pos 1 2 Should they be placed in pos 2 3 the two analog outputs will deliver an outgoing only current signal equal to 0 20mA from the terminal in this case the value to be set on the parameters relating to Gain and Bias operators is shown in the MILLIAMPERE INPUT OUTPUT SIGNALS chapter 2002 Saftronics Inc 105 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor PME www saftronics com dcM INSTRUCTION MANUAL P151 154 Analog Output 1 2 Bias P AnOutxBias P P151 154 AnOut1 2 Bias R 400 0 400 0 96 D 0 000 F P151 Bias for analog output 1 on terminal 8 P154 Bias for analog output 2 on terminal 10 This parameter indicates as a percentage of the max signal corresponding to 10V the value of the signal generated in the terminal board when the internal signal is equal to zero Signal Vo obtained when applying the Gain and Bias operators to signal V is given by the following formula Vo V x P 10 2 152 155 Analog Output 1 2 P P152 155 AnOut1 2 Gain AnOutxGain R 800 0 800 0 D 100 0 96 F P152 Gain for analog output 1 on terminal 8 P155 Gain for analog output 2 on terminal 10 This parameter indicates the a
50. below 01 7 7 f c e m max A C010 C010 x CO1 C010 x C016 C011 x P010 P010 M00656 0 2002 Saftronics Inc 67 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am MM www saftronics com dcM INSTRUCTION MANUAL The value set in par C016 fldMinLim represents the min limit for the field current provided that the drive is run ning We recommend that this limit be never set below the min current that the regulator will actually retrieve Leave a 25 safety margin Field value 1 8A at the max speed is not to be set in any parameters as it will automatically be retrieved by the control loop of the back electromotive force Always try to set in par C016 the min limit depending on the field current at the max speed as sometimes the speed of rotation may reach very high levels which may damage the mechanical parts For example this may occur if the max speed has been set at a very high level a wrong terminal has been connected in case of a tacho feed back or the setting of transduction constant C072 or CO74 is wrong or the motor could be accelerated by an exter nal torque In both cases the field regulator will keep decreasing the field current in order to keep the back electromotive force constant and Alarm A010 Armature Overvoltage will not trip that s why C016 min value is to be set If an additional f
51. connector CN7 Connector is for option card ES733 MODBUS ES800 1 Description of JP Jumpers JP1 243 is standard setting JP1 1 2 used for factory test procedure JP2 2 3 is standard setting used for Picket Fence gate pulse firing 20 kHz JP2 1 2 continuous gate pulse firing 1 65 ms JP3 243 is standard setting JP3 1 2 to add the termination resistor on the drive when the key pad is extended to a distance of 30 feet 3 16 SUPPRESSION CARD ES727 It is a specially designed resistor capacitor network to protect the SCR s from excessive dv dt which can result from line voltage spikes ES727 Description of Connectors CN1 Interface connector to ES728 connector CN20 CN2 Interface connector to ES728 connector CN7 FU1 2 3 Fuse Protection P N F6001 02 30 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TROMS www saftronics com dcM INSTRUCTION MANUAL 3 17 HIGH VOLTAGE CARD ES728 Contains the circuit that interface with the ES800 control card that in turn controls the firing circuit to phase control the SCR s The ES728 provides power to the fan control monitors the O T switch and the line voltage ES729 Burden pak also mounted on this card 5728 Description of Connectors 230 460 Vac supply voltage connector connects to ES758 TB 53 amp 54 CN2 Gate lead dcM6 12 Gate lead 5B dcM12 4 Int
52. contact on the related terminals opens See also figure in the CONFIGURABLE DIGITAL OUTPUTS chapter 110 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am AMI www saftronics com dcM INSTRUCTION MANUAL P211 212 213 214 215 216 217 Preset Run Reference 1 2 3 4 5 6 7 SPSS pa P211 212 213 214 215 216 217 Preset Run Reference 2 1 2 3 4 5 6 7 P211 212 213 214 215 216 217 PresetSpd1 2 3 4 5 6 7 R 100 100 D P211 5 00 P212 20 0 P213 10 0 P214 0 00 96 P215 5 00 96 P216 20 0 P217 10 0 96 F P211 Preset run reference PresetSpd1 P212 Preset run reference PresetSpd2 P213 Preset run reference PresetSpd3 P214 Preset run reference PresetSpd4 P215 Preset run reference PresetSpd5 P216 Preset run reference PresetSpd6 P217 Preset run reference PresetSpd7 These references are speed voltage references to be used instead of the Main Ref reference Their polarity may be reversed using the Reverse function If a digital programmed for the 6 S ave function see par C130 C135 is closed or if par CO50 has been directly programmed for the 3 lref Vref function then the above mentioned preset run references become current references When run preset reference is entered the START digital input is to be enabled SELECTION Among the seven preset run refer
53. deM12 4075 to 4190 0100718 AC SCR Fuse dcM6 12 2060 016 9745 4 250 A 700 V dcM6 12 4125 to 4150 2002 Saftronics Inc 153 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL PME www saftronics com MODEL PART QTY REQUIRED DESCRIPTION REFERENCE NUMBER PER UNIT 2 dcM6 12 2075 010 0721 3 315 A 700 Y gt num 4150 010 0721 1 350 700 doMO t2 4200 010 0722 3 V dcM12 2075 010 0722 1 400 A 700 Y 010 0724 1 dcM6 12 2125 F602003 22 3 600 A 500 V 5 3250 4300 F602003 23 3 600 500 V dcM 12 4260 4300 F602003 23 1 dcM6 12 4400 4500 F602003 25 3 V dcM12 4400 F602003 25 1 dcM6 12 4600 4800 F602003 28 3 dcM12 4500 4600 F602003 28 1 200 dcM12 4700 4800 F602003 31 1 AG 00 Fuse N amp Field Fuse Holder 6 4 12 pee 4 dcM6 dcM12 F601002 06 2 ue A ATM 600 Vac Field Amps 0 to 5 0 A F601002 14 2 2 600 Field Amps 5 to 15 F601002 17 2 22217 Field Amps 15 to 20 A F601002 19 2 07 8 30 600 Vac 154 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am AMI www saftronics com dcM INSTRUCTION MANUAL AC Fuse 11 1 AC
54. drive servo motor PME www saftronics com dcM INSTRUCTION MANUAL W007 Default Values Stored in RAM 17007 W007 Default parameters used parameters used S This warning may pop up after resetting Alarm A026 EEPROM BackupArea Fail It indicates that the default parameters have been stored in the equipment RAM In general this could cause some problems at the drive power on The default values are then to be entered through the P002 gt 1 DefaultRestore command In addition if the equipment has been already started in the EEPROM work area manually store the parameter values noted down at the end of the startup procedure Always copy these values also in the backup area through the P002 2 WorkAreaBackup command the warning will disappear See also the PARAMETER COPY chapter 008 Wrong parameters in EEPROM Work Area W008 EEPROM WorkArea Failure W008 EEPROM WorkArea Failure 5 This warning may pop up after resetting Alarm A025 WorkArea Failure It indicates that the work area copy to the EEPROM work area has failed due to the alteration of the work area values In general the equipment may be normally started but the warning should reappear when the drive is powered on again Always enter the default values through the P002 gt 1 DefaultRestore command the warning will disappear In addition if the equipment has been already started in the EEPROM w
55. high and dangerous values the correct setting of this parameter allows Alarm A023 Underlimit to trip and the equipment to lock Typically this parameter could be set at 75 of the min current field rated value at the max speed See also the FIELD REGULATOR chapter C017 Boost over the Field Current C017 FidFrcLevel P C017 FidFrcLevel R 100 120 D 100 56 F This parameter may be programmed even when no dynamic regulation of the field current in field weakening mode is needed It represents the value expressed as a percentage of C010 flaNom to which the field current is increased according to the time set at parameter C018 FidFrcTime starting from the very moment when the run command is operated This is true only when a digital input configured for the 1 1 FldFrcEnabled function is closed This forcing function Field Forcing will be disabled if the armature voltage exceeds the following value x 1 316 and will be enabled when drive is started again See also the FIELD REGULATOR chapter 2002 Saftronics Inc 117 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL www saftronics com Product C010 x C017 should not exceed the 100 of the field maximum current to be supplied by the device The forcing function may have no effect if the current increase does not produce any remarkable field fl
56. integral part It is recommended that this mode be selected in case of a 12 in armature feedback or in case of a 6 and generally in all cases where the resistance torque is much higher than the inertia one or when the output bars of the dcM do not supply a motor but supply a resistive load 1 Predictive The current loop operates according to a predictive control 2002 Saftronics Inc 119 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL www saftronics com C052 Field Regulator Voltage Loop Operation C052 FldLoopSel 060 First Quadrant Selection C060 1stQ FwdMot RK C052 FldLoopSel 0 1 0 This parameter programs the field regulator voltage loop operating mode 0 operating Both the regulator proportional and integral sections are active 1 P operating Only the PI regulator proportional section is active C060 1stQ FwdMot 0 1 0 Operation enabling disabling of the first work quadrant of the torque speed plan See also figure in the OPERATION QUADRANTS chapter 0 Enabled The first quadrant is enabled 1 Disabled The first quadrant is disabled C061 Second Quadrant Selection C061 2ndQ RevReg kkk C062 Third Quadrant Selection C062 3rdQ RevMot P kkk PROG RESET C061 2ndQ RevReg 0 1 dcM12 0 dcM6 1 Oper
57. is performed off line at the first set up of the machine and whenever necessary i e if the electromechan ical characteristics of the machine have changed For instance the following sections refer to the digital commands entered through the terminal board The three kinds of automatic tuning are listed below Before operating one of the three the ENABLE contact at terminal 24 and the START contact at terminal 26 must both be open 1 Current self tuning Can be performed only choosing a predictive control for the current loop by means of the parameter C051 CurrLoopSel programmed with value 1 Predictive Unless the inertia torque of the load is much lower than the resistive torque it is recommended to perform this selection to achieve a very quick response in case of a dcM12 in feedback from tacho generator or encoder In this case a current self tuning is recommended to bet ter streamline the drive operation On the other hand this self tuning is not available if for the current loop you choose a proportional integral control by means of parameter C051 CurrLoopSel programmed at the value 0 P1 operating This selection is however recom mended in case of a dcM12 in armature feedback or in case of a dcM6 and generally in all cases where the resistance torque is much higher than the inertia one or when the output bars of the dcM do not supply a motor but supply a resistive load The command is issued by setting parameter to 1
58. mode and with any speed feedback This procedure which should always be done allows to compute the value of par P088 and saves it on EEPROM memory Par P088 is used to compute the back electromotive force and displays it in par M007 BEMF Par P088 value is also used for the armature resistive drop compensation both for the field current dynamic regulation in field weakening mode and for the armature feedback in that case this is possible through par P086 where one of its values per cent is programmed This command is entered by setting parameter P001 to 3 Rxl by using the DEC or INC keys and by pressing the ENTER key When the following message is displayed Close ENABLE to continue close the ENABLE contact at terminal 24 by closing KM power section contactor When the Press ENTER to continue message is displayed press the ENTER key again The autotuning procedure is over when message AutoTune in progress disappears and par P001 0 is displayed again During the autotuning procedure the optimization of the parameter value relating to the armature feedback reading occurs so that 006 Varm displays OV when the drive is not running 6 2 RAMPS OVER THE REFERENCE In parameters ranging from P030 to P039 the operator may program the ramp application to the set reference in order to produce a reference with no value instant variation discontinuity With respect to the references applied when the START input is on the p
59. non volatile memory work area so that the value is kept stored even after turning the drive off and is dis IN played at next power on JOG is active only when at least one of the sources selected for the commands corresponds to KeyPad and when depressed it enables the jog mode with a reference equal to the one obtained by enabling digital input JogA FORWARD REVERSE and when depressed it enables the polarity reversal of the Ref n reference applied to the ramps is active only when at least one of the sources selected for the commands corresponds to KeyPad RUN is active only when at least one of the sources selected for the commands corresponds to KeyPad and when depressed it enables a self retained run command with a reference equal to the one obtained by enabling the START digital input For the interaction of this key with the START digital inputs coming from other sources refer to the Ref n section in the BLOCK DIAGRAM chapter STOP in general it is active only when at least one of the sources selected for the commands corresponds to KeyPad and when depressed it enables a stop command just as if digital input START was disabled For the inter action of this key with the START digital inputs coming from other sources refer to the Ref n section in the BLOCK DIAGRAM chapter In addition even though none of the sources selected for the commands corresponds to KeyPad
60. not running by pressing the CPU RESET key for a while said key is to be found on control board ES800 beside the PRO key which is equivalent to temporarily switching off the control board 1 Never press the CPU RESET key if the machine is running e The user may interact with the parameters contained in the P A W menus Mxxx parameters are read only parameters the user cannot interact with them Parameter P000 is the key parameter containing the access codes allowing to modify any other Pxxx and Cxxx parameters Cxxx parameters unlike Pxxx parameters may be changed only when the ENABLE digital input is not active All said parameters allow the system to be completely configured some of them are changed during the auto tuning stages Also Axxx parameters are read only parameters they are displayed when an alarm trip is stored The last two digits related to the alarm tripped will blink and will be displayed on the two 7 segment displays assembled on control board 5800 Also Wxxx parameters are read only parameters They contain some warning messages that do not imply the drive lock unlike the alarm messages above The last two digits of the alarm tripped will remain fixed and will be dis played on the two 7 segment displays assembled on control board ES800 44 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am TM INSTR
61. of approx 600 sec for motors with some hundreds of Ampere while a value up to 1800 sec may be set for motors with some thousands of Ampere C010 Motor Field Rated Current C010 IfldNom C010 IfldNom R 0 00 100 96 D 10 0 96 This parameter is to be always programmed even if no dynamic regulation of the field current in field weakening mode is needed This parameter sets as a percentage of the max field current value supplied by the drive the motor field rated current supplied when the motor is not running or when the motor is rotating at a lower speed than the speed enabling the field regulation The value set in this parameter may be reduced from its max value to zero through one of the configurable analog inputs by setting par C120 121 122 to 1 1 Fld curr lim NOTE The standard values of the max field current that the drive can deliver are 5A for 15A for units above 100A and 35A optional For instance for a dcM 350 100 of C010 corresponds to 15A 2002 Saftronics Inc 115 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor a PME www saftronics com dcM INSTRUCTION MANUAL C011 Field Weakening Start Rated Speed P C011 BaseSpeed C011 BaseSpeed R 5 100 D 33 96 F This parameter shall be programmed only when a dynamic regulation of the field current in field weakening mode is needed It sets the speed expressed as
62. of control board ES800 a Flash U20 containing the default factory setting of all parameters b RAM U21 containing the parameters used when the drive is on Work area of EEPROM U11 where the user parameters may be stored d Backup area of EEPROM U11 where the user parameters may be copied for safety reasons We adopted any measure namely the serial communication for EEPROM 011 to prevent the values stored for the different parameters from being changed due to disturbance or transients At the same time a set of alarms and warnings will trip and suggest the reader how to retrieve the correct data The diagram below contains the sequence of the automatic controls performed when the equipment is turned on Power on EEPROM present and programmed Are data in EEPROM work area correct EEPROM Work Area usi Backup Area i EEPROM Work Area 1 FLASH A025 WO06 0 EEPROM po cte Backup Area i Are par in EEPROM work area correct No Are par in EEPROM backup area correct EEPROM Work Area 1 A026 W007 4 FLASH Backup Area i Step 3 typically takes place when the drive is turned on In steps 4 and 5 the parameter original values may be retrieved following the given instructions For steps 1 and 2 contact Saftronics For a better understanding of the meaning of the different alarms or warnings please refer to ALARM PARAME TER
63. on the power section one of the above mentioned alarms is kept stored 1 Yes When the power supply is restored after a mains break on the power section no alarm trip is kept stored 2002 Saftronics Inc 123 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL a PME www saftronics com 094 StartSafety C094 StartSafety RK C094 StartSafety 0 1 0 When the cause of the alarm trip has disappeared and a manual or automatic reset of the alarm has been performed this parameter determines whether a safety preventing the drive to automatically and immediately restart should be enabled Of course this function is active only if the device is actually able to restart no alarm detected power section properly supplied ENABLE and START digital inputs closed 0 No Device self start enabled when no alarm conditions are detected after the reset or when the power supply is restored 1 Yes The device is not allowed to restart by itself when no alarm conditions are detected after the reset or when the power supply is restored By contrast it may be restarted only after the ENABLE digital input temporary activation and deactivation In that case warning W004 is dis played Open Close ENABLE to run C100 LOCAL MIXED Selection Enabling P C100 LocRemSel C100 LocRemSel R 0 1 0 This parameter allows the drive switchin
64. only the REF main reference applied to the ramps is used with no additional references then M002 000 001 at steady state 003 Armature Current Reference P ArmCurrRef Iref 90 R F 004 Armature Current M004 ArmCurrent P larm Amps R eje F Iref 150 150 96 This parameter indicates as a percentage of the max reference correspon ding to the drive rated current the current loop input corresponding to the speed voltage loop output eventually limited by one or more relevant parameters see parameter C000 and parameter set P050 P062 in case of internal limit For instance for dcM 100 of will correspond to 100A 004 larm 5250 5250 Amps This parameter indicates in Amperes the mean value of the armature cur rent feedback which is obtained through the current transformers 005 Thyristor Firing Delay Angle 005 FiringDelay P 006 Armature Voltage 006 ArmatureV P p 005 Alfa P230 P231 This parameter indicates in electrical degrees the delay angle of the thyris tor firing pulses Such angle results from the intersections of the three phase line voltages MOO6 Varm 1000 1000 V This parameter indicates in Volts the voltage across the motor armature circuit Such voltage is directly measured at the drive output 2002 Saftroni
65. parameters ranging from P050 to P062 variably control the max current to be supplied to the load The figure below shows a possible programming for current limit lim A B depending on speed n and resulting from the_combination of the different configuring modes The figure refers to converter dcM12 the parameters in brack ets relate to bridge B l lim A B i im A k x 51 k C000 x Imax T2 k x 2 53 k x P055 RE NIE ed v P010 x P010 x P057 bt P010 P010 x P056 00725 0 As the figure shows in the calculation for the current limit the major value which all other parameters are related to is the one equal to product COO0 Imax T2 standing for the rate of motor C000 nominal current less any trimmer hardware limitation IMAX T2 As we discussed above for the drive normal use the IMAX T2 value is to be at 100 i e the Status page must not display warning A002 Imax T2 lt 100 Therefore the parameters shown in the figure represent a value per cent of motor rated current 1st Mode Limit independent of speed The current limit may be set at 50 51 rate of the motor nominal current 2nd Mode Two value limit depending on speed The current limit may be defined as a simple two value function i e two different 50 51 and 052 53 rates They are selected whether speed is respectively higher or
66. sources for the command setting corresponds to KeyPad For the interaction of this key with the START digital inputs coming from other sources see the Ref n section in the BLOCK DIAGRAM chapter C105 106 107 108 Source Reference Selection 1 2 3 4 C105 106 107 108 1 2 3 4 R 0 4 D C105 1 C106 0 C107 0 C108 0 F C105 Determines reference source n 1 C106 Determines reference source n 2 C107 Determines reference source n 3 C108 Determines reference source n 4 0 Disabled This selection does not enable any reference source 1 Terminal This selection enables the terminal board as a reference source 2 UpDownRef This selection enables the internal Up Down reference as a reference source 3 Serial Link This selection enables the serial connection as a reference source 4 FieldBus This selection enables the field bus as a reference source The user may select max four sources therefore the MainRef may by equal to the sum of the references coming from all four available sources If the same source is enabled by two or multiple selections this corresponds to selecting this source only once 2002 Saftronics Inc 125 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL WARNING For each MIXED gt LOCAL switching performed by simultaneously pressing the a
67. tacho feedback mode unless the load inertial torque is much lower than the resisting torque 2 3 9 When choosing the second mode predictive algorithm the current autotuning procedure should be per formed at first set parameter P001 to value 1 Current and follow the instructions displayed see also the AUTOMAT IC TUNING section By contrast if the first modality PI regulator is chosen go on with the next step of this Procedure 2 3 10 Access parameter C070 default value Tacho feedback 80 250V and make sure that the speed feed back type which has been set corresponds to the one required 2 3 11 Should the feedback be generated from a tacho check the value set on C070 among values 0 1 2 which should match the terminal being used to receive the signal from the tacho Then if the tacho transduction ratio set on parameter C074 default value 50V 1000 RPM is correct set the speed concerning the maximum reference in parameter P010 default value 1750RPM in r p m Any value being set on parameters C074 and P010 should be programmed in such a way that product 1 074 x P010 does not exceed the value of 250 in order to avoid possible speed control faults caused by the drive 2 3 12 Should the feedback be generated from an encoder check that the transduction ratio of the supplied sig nal which has been set on parameter C072 default value 1024 pulses rev is correct If necessary change it accordingly The speed c
68. the RAMPS OVER REF ERENCE chapter In order to exactly respect the time set for the stop ramp the time set in par is to be equal to at least 10 of the time set in P035 Such parameter sets a negative reference fall ramp to be enabled through the disabling of the START input instead of the main ramp defined in parameter As for the real speed ramp see relevant note stated in parameter P031 1 NOTE This parameter setting cannot be changed if a digital input configured for the 7 Ramps Disabled function is closed P036 Rise Ramp of the Jog Reference P036 RampUpJog P P036 RampUpJog as R 0 000 300 0 s D 0 000 s F Rise ramp time expressed in seconds from 096 to 10096 of the speed voltage reference selected among the three items programmed on parameters P222 P224 and enabled if max two preset digital inputs close should some parameter among C130 C135 be set to 12 JogA and 13 JogB The value programmed in this parameter is used for P221 2 Separate ramps As for the real speed ramp see relevant note in parameter P037 Fall Ramp of the Jog Reference P037 RampDnJog P P037 RampDnJog eec R 0 000 300 0 s 706 D 0 000 s F Fall ramp time expressed in seconds from 10096 to 0926 of the speed voltage reference selected among the three items set on parameters P222 P224 which is enabled if the value set in this parameter decreases or if max two preset digital i
69. the drive operation in current limitation mode thus compromising the forward speed control If the material to be lifted was lighter than the counterweight the motor would be pulled by the counterweight and would accelerate in a forward direction while drive dcM6 would be kept in neutral zero current Case C 2nd quadrant tension control while unwinding The driving motor controls the material feeding speed current limitation must never be attained whereas the unwinder motor controls the applied torque dcM6 operates in current limitation mode with a speed negative reference whose absolute value is always lower than the material feeding speed If the material is to be tensioned when the machine is standstill the drive should use a positive for ward reference which will be correct in any other case Otherwise dcM6 may directly operate with a preset cur rent reference The driving motor generally applies a reverse torque with the same direction as the material feeding In the unwinder motor the torque direction is opposite to the speed direction as a result regenerates some energy from the motor to the supply mains Case D 2nd quadrant speed control while lowering By default 6 has a negative reference the weight of the material to lower is to be heavier than the counterweight but not as heavy as to determine the drive opera tion in current limitation mode thus compromising the reverse speed control If the mat
70. the two seven segment displays which can be seen through the small slot on the drive cover 2 3 3 Check the correct operation of the air cooling unit if any Air blowing should be generated from the bottom to the top 2 3 4 The device is already supplying the motor field winding according to the economy function Field Economy set in par C014 On parameter C010 default value 10 set the field rated current percentage of the motor with respect to the field rated current of the drive The standard values of the drive field rated current are 5A for dcM 100 and less 15A above 100 with optional 35A If need be you can also change the standstill field current on parameter C014 default value 10 of C010 and the field decrease delay on parameter C015 default value 2405 If a boost on the field current is to be set at the device starting adjust the value of parameter C017 default value 100 and parameter C018 default value 10s accordingly by enabling the function through one of the configurable 2002 Saftronics Inc 7 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor www saftronics com dcM INSTRUCTION MANUAL digital inputs set parameters C130 131 132 133 134 135 to the 11 FldFrcEnabled value This however could have no effect if the field current increase does not produce any remarkable field flux increase thus limiting this function application
71. this output is not enabled 5 7 REF Main analog input 5 REF 7 REF JP7 on pos 1 2 If both signal wires are connected the two terminals represent a differential 10 2 410 input with a high rejection to interferences Alternatively with a signal to be 20kQ reflected to the drive OV the two terminals represent a common mode input This common mode input is a non reversing input if the signal hot wire is JP7 on pos 2 3 connected to terminal 5 when terminal 7 is disconnected whereas it is a 20mA max reversing input if it is connected to terminal 7 when terminal 5 is disconnected 2000 By setting jumper JP7 in terminal board ES801 on pos 2 3 the two terminals will represent an input for a signal expressed in milliAmperes a positive reference is generated if the current enters terminal 5 and goes out through terminal 7 See also the MILLIAMPERE INPUT OUTPUT SIGNALS chapter 6 OUT Current signal output filtered for possible ammeter or different use 10 10 Positive polarity with bridge A in operation The value is 6 67V according to the rated current of the drive i e 100A In case of adcM12 the mentioned signal be set as bipolar or unipolar by means of the parameter P156 OutPol 8 OUT 1 Analog output 1 to be configured through parameter P150 AnOut1Cfg JP10 on pos 1 2 By setting jumper JP10 in terminal board ES801 on pos 1 2 the terminal will 10 410 represent an o
72. values 12 JogA for the first and 13 JogB for the second 112 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL P230 Min Firing Angle P230 AlfaMin kkk P230 AlfaMin 0 00 80 0 12 30 0 dcM6 25 0 Min delay angle for the thyristor firing and the energy transfer from the mains to the load This is the limit for parameter 005 when the drive operates as motor WARNING In dcM6 you may enable the second quadrant through parameter C061 2ndQ RevReg e set to O Enabled for the energy regeneration from the load to the mains If the load is a motor and the motor max speed may be adjusted by dcM itself you have to set this parameter to at least 30 in order to prevent the power section from being damaged due to large back electromotive force that cannot be regenerated P231 Max Firing Angle P231 AlfaMax P P231 AlfaMax 100 180 150 Max delay angle for the thyristor firing and the energy transfer from the load to the mains This is the limit for parameter 005 when the drive operates as brake P240 Low Pass Filter over the Speed Voltage Error P240 LowPassConst 0 00 300 ms 0 00 ms This parameter expresses in milliseconds time constant t of the low pass filter for th
73. xno uy 02 ww Loe XqD4u W GPa Papas E n 55 uy jog uir xia 0409 r Eis Lon momo 5009 i 207022 621 Pme mee 100 0 00 lt M 10015 corey XWO uv D m uv lt 4 Cm gt 4 i g X i i 5 3 1804 SEL 0 2 doo Defqe s T8 834 o A m A Genoatdoisuchon awe f 5 25 N 9 2002 Saftronics Inc 48 efesotomasyon com Control Techniques emerson saftronics drive servo motor am ARM x 2 lt gt 2 E 2 2 202 T 0 21200 Pd H ig 42 LXCXIIN 2 lt j rpge doa 2 dw p uy 1 F it T toy EP m Bi us 1 riodoopaeds 2273 fin ug ac qol passurus puia eer SEL DELA pape gap ETT XII xg L ei gru uin 2 00853 0807 ZL diog z ueA needs Ae jegd
74. 0 0 s D 0 000 s F Fall ramp time expressed in seconds from 10096 to 096 of the positive speed voltage reference applied to the Main Ref or the Preset Ref preset run reference possibly limited at the minimum and or maximum value due to the disabling of the START digital input See also the figure shown in the RAMPS OVER REFERENCE chapter In order to exactly respect the time set for the stop ramp the time set in par P031 is to be equal to at least 10 of the time set in Such parameter sets a positive reference fall ramp to be enabled through the disabling of the START input instead of the main ramp defined in parameter P031 As for the real speed ramp see relevant note stated in parameter P031 NOTE This parameter setting cannot be changed if a digital input configured for the 7 Ramps Disabled function is closed 88 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL 5 Stop Ramp of the Negative Reference 085 RampStopNeg P 5 RampStopNeg R 0 000 300 0 s D 0 000 s F Fall ramp time expressed in seconds from 10096 to 096 of the negative speed voltage reference applied to the Main Ref or the Preset Ref preset run ref erence possibly limited at the minimum and or maximum value due to the dis abling of the START digital input See also figure shown in
75. 053 Qty 1 Resistor 30k 5W Pn R3003 07 168 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com 16 ES800 REPLACEMENT INSTRUCTIONS FOR IDENTICAL SOFTWARE REV DCM6 AND DCM12 CONTROL BOARD AND IC U11 REPLACEMENT dcM INSTRUCTION MANUAL 1 This applies only for direct software replacement 3 04 see note 16 1 on how to check on Software e Rev Introduction When replacing the Control Board for the dcM6 or dcM12 Drive it is recommended that the non volatile memory chip IC U11 be transferred from the old board to the replacement board so that the original factory programmed parameters are preserved If this is not done then significant programming steps will be required which is both time consuming and error prone In the case that IC U11 is damaged then please consult factory before proceeding When handling IC U11 maintain good practices as set forth by industry standards avoiding static electricity and mechanical damage SAFETY FIRST Disconnect and lockout all power before working on the equipment There are lethal voltages present and could result in injury damage to equipment Read this entire manual before attempting to proceed Replacement Procedure The following tools will be required to disassemble and replace the control board and IC U11 screwdriver small bladed screwdriver needle nose pliers C puller opti
76. 10 if P150 153 4 Current ref 5 BackEMF Back electromotive force 5V with 007 511V 6 Output Power Power resulting from the product of the output voltage by the output current 10V with MOO6 800V and M004 150 of the drive rated current E g if M006 400V and with the drive rated current e g 100A for a dcM100 the analog output value will be 3 33V 7 Inertia Comp Three value signal for the external synchronization of the inertia compensation during tension tests Throughout the acceleration ramp 10V with rated speed OV throughout the deceleration ramp 10V 8 nFdbk Speed feedback signal voltage 10V with MOO1 10096 9 ArmatureCurr Armature current feedback signal The value is 6 67V according to the rated current of the drive e g 100A for a dcM100 10 FieldCurrent Field current feedback signal The value is 10V according to the drive rated current whose standard values are 5A for 100A unit 15A for units above 100 A and 35A optional 11 Motor Torque Signal of the motor torque resulting from the product of the armature current by the field current Its value is 6 67V with the motor armature nominal current defined by par C000 and by the motor field nominal current defined by par 010 12 FieldBus1 Analog signal 1 reiterated at output resulting from the conversion of an analog quantity sent by the field bus at input 13 FieldBus2 Analog signal 2 reiterated at output resulting from the conversion of an
77. 192 Hysteresis level for the enabling disabling of digital output 4 to term 37 and 39 P198 Hysteresis level for the enabling disabling of digital output 5 to term 41 and 43 NOTE This parameter defines the switching hysteresis of the digital output considered below the value fixed by MDOxLevel See also figure in the CONFIGURABLE DIGITAL OPUTPUTS NOTE the hysteresis value set in these parameters may not exceed the level value set in MDOxLevel type parameters WARNING to avoid any drive malfunction never save value higher than the one saved in EEPROM for MDOxLevel type parameters P175 181 187 193 199 Digital Output 1 2 3 4 5 Contact Logic P 175 181 187 193 199 MDO1 2 3 4 5 Logic P MDOxLogic R 0 1 0 P175 It indicates the contact state when digital output 1 to term 25 and 27 is disabled P181 It indicates the contact state when digital output 2 to term 29 and 31 is disabled P187 It indicates the contact state when digital output 3 to term 33 and 35 is disabled P193 It indicates the contact state when digital output 4 to term 37 and 39 is disabled P199 It indicates the contact state when digital output 5 to term 41 and 43 is disabled 0 Normally Open When the output enables the relevant relay energizes and the contact on the relevant terminals closes 1 Normally Closed When the output enables the relevant relay de energizes and the
78. 2 10 vdc JP9 in pos 1 2 0 20mA JP9 in pos 2 3 to be configured by 153 154 155 158 17 18 DC Tachometer Input when it does not exceed the absolute value equal to 250vdc Polarity has to be a positive one with bridge A running To be configured by P010 C070 2 C074 DC Tachometer Input when it does not exceed the absolute value equal to 80vdc Polarity has to be a positive one with bridge A running To be configured by P010 C070 1 C074 DC Tachometer Input when it does not exceed the absolute value equal to 25vdc Polarity has to be a positive one with bridge A running To be configured by P010 C070 0 C074 S 17 19 ENCODERS OPEN COLLECTOR PUSH PULL NPN TYPE ENCODER FOR LINE DRIVE ENCODER USE DB9 CONNECTOR section 3 24 parameters remain the same Main voltage supply for open collector encoder Opto isolated from the 24vdc OV signal of analog inputs Main voltage supply for open collector encoder Opto isolated from the 5vdc OV signal of analog inputs CH n Zero position pulse of encoder do not use Negitive terminal of 24V Opto isolated from the OV signal of analog inputs Also used as the of a PLC digital input common 2002 Saftronics Inc 183 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ice INSTRUCTION MANUAL www saftronics com 17 20 TYPICAL MOTOR WIRING Many motors utilize
79. 2 10 x This is true if this signal is a speed voltage reference i e when the digital input programmed for the 6 S ave function is open see par C130 C135 P123 Main Current Input Polarity P123 IrefPol RK P124 Current Main Input Bias P124 IrefBias FERRER QU P123 IrefPol 0 2 0 This parameter sets the allowable polarity for the REF main input between terminals 5 and 7 AFTER applying the Gain and Bias operators This is true if this input is a current reference i e when the digital input programmed for the 6 Slave function see par C130 C135 is closed 0 Bipolar Bipolar reference 1 Positive only Positive reference only 2 Negative only Negative reference only If you program a unipolar REF reference the reference with the opposite polarity will be shut and considered as equal to zero P124 lrefBias 400 0 400 0 96 0 000 96 This parameter represents as a percentage of the max reference corresponding to 10V the reference value obtained when the signal applied to the REF main input between terminals 5 and 7 is equal to zero Signal obtained when applying the Gain and Bias operators to signal V4 is given by the following formula vi x 2125 10 x P124 100 100 This is true if this signal is a current reference i e when the digital input programmed for the 6 Slave function is closed see par C130 135 2002 Saftronics
80. 2 100 96 P123 IrefPol 0 P053 llim2B 4 P124 IrefBias 0 000 P054 Speed 1 A 2 100 P125 lrefGain 100 0 P055 llimHyper 100 P126 Anin1Pol 0 P056 SpeedHyper1 100 P127 1 0 000 57 SpeedHyper2 100 96 P128 AniniGain 100 0 96 P058 Clim 50 96 P129 Anln2Pol 0 P059 dl dtMax 40 ms P130 2 0 000 P060 OverLimA 100 96 P131 AnIn2Gain 100 0 96 P061 OverLimB 100 96 P132 AnIn3Pol 0 Bipolar P062 TFullOvLim 2 00 s P133 0 000 70 KpSpeed 4 00 P134 AnIn3Gain 100 0 96 T00281 B 2002 Saftronics Inc 149 dcM efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION MANUAL WWW Saftronics com PAR Setting Default value siam PAR Setting Default value Modified value P150 AnOut1Cfg 0 0 Volt P195 MDO5OnDelay 0 000 s P151 AnOut1Bias 0 000 96 P196 0 000 s P152 AnOut1Gain 100 0 96 P197 MDOSLevel 50 96 P153 AnOut2Cfg 0 0 Volt P198 MDO5Hyst 2 96 P154 AnOut2Bias 0 000 P199 MDOS5Logic 0 Normally Open P155 AnOut2Gain 100 0 96 P211 PresetSpd1 5 00 96 0 Bipolar P156 OutPol P212 PresetSpd2 20 0 dcM6 P157 AnOut1Pol 0 Bipolar
81. 4 or P035 takes place depending on the polarity programmed 1 Without Ramps The jog references are directly taken 2 Separate Ramps The jog references pass through separate ramps P036 P037 Ramp P037 takes place both when the value set in this parameter decreases and when the jog digital input opens P222 Jog Reference 1 2 3 P P222 223 224 1 2 3 R 100 100 96 D P222 5 00 P223 5 00 96 P224 0 00 96 F P222 Jog1 Reference P223 Jog2 Reference P224 Jog3 Reference These references are speed voltage references whose polarity may be reversed by applying the Reverse function If a digital input programmed for the 6 Slave function see par C130 C135 is closed or if par C050 has been directly programmed for the 3 ref Vref then the above mentioned jog references become current references SELECTION Among the three jog references to be stored the valid one results from the closing of one or more dig ital inputs that have been properly configured If two digital inputs are set to 12 JogA and 13 JogB the preset jog reference is determined by the table below where a blank square indicates the digital input opening state or the input that has not been set and the black square indicates the closing state Selected jog reference JogB JogA Jog1 Jog2 4043 gt gt 5 If you want to select only one jog reference out of three you just need to set one input with
82. 6 the parameter original values may be retrieved following the given instructions 3 Backup parameter restoration To restore the backup parameters set par 2 ParmsCopy at 3 Restore and press the ENTER key twice The parameters stored the EEPROM backup area will be restored in the RAM and in the EEPROM work area even if new values had been stored Before doing this the equipment checks the data contained in the EEPROM backup area Correct par in EEPROM backup area L EEPROM Yes Work Area Keeps gt M SE running Backup Area i Q M00720 B 2002 Saftronics Inc 55 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor PME www saftronics com dcM INSTRUCTION MANUAL 6 SPECIAL FEATURES 6 1 AUTOMATIC TUNING The drives of the dcM6 and dcM12 series are provided with a particular operating mode which is able to recog nize the essential characteristics of the motor and load as well in order to automatically calculate the optimal param eters to be inserted into the current and speed loops The different parameters containing the above mentioned characteristics do already have default values written in the EEPROM which normally grant a generally satisfactory operation for the most common applications of the drive To better streamline the performances the AUTOMATIC TUNING procedure can be performed This display assisted procedure
83. 6 of the rated value and if no regenerative braking is in progress In any other case the alarm will immediately trip A018 AutoTune Interrupted The current autotuning stage has been interrupted due to the disabling of the Enable digital input A019 Limitation During Speed AutoTuning A019 AutoTune Limitation A019 AutoTune Limitation During the speed auto tuning stage the drive current limit took place 140 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION ARA www saftronics com 020 ExternalAlarm 1 A020 External 020 External Failure 1 Failure 1 S The digital input configured by setting one of par C130 C135 to 10 ExtFailure 1 is open Ep be n 1 NOTE After the connection of the mentioned alarm some minutes should generally elapse before e forming a reset A021 Motor Thermal Protection Trip A021 Motor l t Trip A021 Motor 121 Trip S Motor overtemperature The motor 12 trip depends on the value programmed in parameters C001 MotThrshold and MotThConst EZ 1 NOTE After the connection of the mentioned alarm some minutes should generally elapse before e forming a reset A022 Drive Thermal Protection Trip A022 Drive 022 Drive It Trip S Drive overtemperature The alarm trip depends on the drive factor
84. 7 Speed Loop Integral P071 TiSpeed P070 KpSpeed P076 KpSpeed2 100 100 4 00 P070 Speed loop proportional gain P076 Speed loop second proportional gain These parameters represent the Kp speed loop proportional gain with the following transfer function 3 i G s Kp 1 81 used for regulation and computed by the speed autotuning This gain is represented by par P070 if the digital input configured by setting one of par C130 C135 to 8 Second ParmSet is open or it is represented by par P076 if this digital input is closed Time Second Time P071 TiSpeed P077 TiSpeed2 010 5 00 8 1 00s P071 Speed loop integral time P077 Speed loop second integral time These parameters represent in seconds integral time T of the speed loop having the following transfer function d 5 Kp 1 81 used for regulation and computed by the speed autotuning This time is represented by par P071 if the digital input configured by setting one of par C130 C135 to 8 Second ParmSet is open or it is represented by par P077 if this digital input is closed 2002 Saftronics Inc 95 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL a PME www saftronics com P073 079 Speed Loop Adapted Proportional Gain Second Gain P P073 KpSpeedAdapt P073 KpSpdAdapt P079 KpSpeedAdapt2
85. 91 5 P197 5096 F P173 Speed voltage level current level error level or reference level for the switching of digital output 1 to terminals 25 and 27 if it is set according to one of said indications P179 Speed voltage level current level error level or reference level for the switching of digital output 2 to terminals 29 and 31 if it is set according to one of said indications P185 Speed voltage level current level error level or reference level for the switching of digital output 3 to terminals 33 and 35 if it is set according to one of said indications P191 Speed voltage level current level error level or reference level for the switching of digital output 4 to terminals 37 and 39 if it is set according to one of said indications P197 Speed voltage level current level error level or reference level for the switching of digital output 5 to terminals 41 and 43 if it is set according to one of said indications NOTE The digital output configured as 1 SpeedThreshold enables when the speed absolute value in 001 nFabk is higher than this parameter value The digital output configured as 2 larm Threshold enables when the current absolute value in 004 expressed as a percentage of the drive arma ture nominal current is higher than this parameter value The digital output configured as 8 Threshold enables when the current in MO18 fld expressed as a percentage of the drive field nominal
86. AF TRONS dcM INSTRUCTION MANUAL www saftronics com PAR Setting Default value Modified value PAR Setting Default value Modified value C050 SpdLoopSel operating C130 MDI1Cfg 0 Reset C051 CurrLoopSel operating C131 MDI2Cfg 12 JogA C052 FldLoopSel operating C132 MDI3Cfg 13 JogB C060 1stQ FwdMot 0 Enabled C133 MDI4Cfg 1 Preset Speed A 0 Enabled C061 2ndQ RevReg 2 C134 MDI5Cfg 4 Clim dcM6 0 Enabled C062 3rdQ RevMot 2 C135 MDI6Cfg 5 Reverse dcM6 0 Enabled C063 4thQ FwdReg C141 A016 7 VAC 1000 ms 4 6 C070 nFdbkSelect 4 Armature C142 A027 Slink 1 00 8 072 EncoderPls 1024 pls R C143 AO28 Fbus 1 00 8 074 Tach Volts 50 V 1000 RPM C150 A001 Fid O Included C090 AutoReset 0 times C151 A004 Load O Included C091 AutoResTime 3005 C153 006 51 O Included C092 PwrOnReset 0 No C154 A007 Mains O Included C093 MainsReset 1 Yes C155 008 O Included C094 StartSafety 0 No C156 10 O Included C100 LocRemSel 0 Enabled C157 16 7 O Included C103 EmergStop O Included C158 A027 SLink 1 Excluded C105 RefSel1 1 Terminal C159 A028 Fbus 1 Excluded C106 RefSel2 0 Disabled C160 DevicelD 1 C107 RefSel3 0 Disabled C161 BaudRate 9600 bps C108 RefSel4 0 Disabled C162 Parity 0 None
87. Bias Polarity blocks see parameters P128 P127 and P126 respectively and of the Reverse function which are applied in the above mentioned order The value per cent displayed in this parameter also displays the reference issued from a current external signal milliAmperes provided that jumper on terminal board ES801 is set on position 2 3 if an analog input is to be used as a 0 4 20mA signal the value to be set on the parameters relating to Gain and Bias operators is shown in the MILLIAMPERE INPUT OUTPUT SIGNALS chapter 74 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SIROS www saftronics com dcM INSTRUCTION MANUAL MO1 1 Auxiliary Analog Input 2 on Terminal 17 P M011 2 M011 AnalogIn2 100 100 This parameter indicates as a percentage of the max reference correspon ding to 10V the value of the reference resulting from N 2 reference application between terminal 17 and OV The reference obtained may be configured through parameter C121 The value per cent displayed in this parameter takes account of the Gain Bias and Polarity blocks see parameters P131 P130 and P129 respectively and of the Reverse function only if an input is configured as a speed additional reference applied in the above mentioned order M012 Auxiliary Analog Input on Terminal 19 012 Analogin3 P M012 AnIn3
88. Bipolar reference 1 Positive only Positive reference only 2 Negative only Negative reference only If you program a unipolar REF reference the reference of the opposite polarity will be shut and considered as equal to zero P121 Speed Voltage Main Input Bias P P121 VrefBias P121 VrefBias R 400 0 400 96 D 0 000 96 F This parameter represents as a percentage of the max value correspon ding to 10V the reference value obtained when the signal applied to the REF main input between terminals 5 and 7 is equal to zero Signal obtained when applying the Gain and Bias operators to signal V4 is given by the following formula v x P122 10 x 47 This is true if this signal is a speed voltage reference i e when the digital input programmed for the 6 S ave function is open see par C130 C135 2002 Saftronics Inc 101 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL a PME www saftronics com P122 Speed Voltage Main Input Gain P122 VrefGain P122 VrefGain 800 0 800 0 96 100 0 96 This parameter represents the amplification which is internally applied to the REF main reference signal between terminals 5 and 7 before being summed to the Bias Signal obtained when applying the Gain and Bias operators to signal V is given by the following formula v x P12
89. Bus when the drive is serial connected to the master The alarm may trip only if the bus field is selected either as a possible reference source or as a possible command source i e when at least one of par C105 C108 RefSelx or C110 C112 SeqSelx is set at 4 FieldBus The alarm may be disabled through par C159 A029 External Alarm 2 A029 External Failure 2 A029 External Failure 2 2 5 The digital input configured by setting one of par C130 C135 at 17 Ext Failure 2 is open FWD Eat E 030 External Alarm A030 External A030 External Failure 3 Failure 3 S The digital input configured by setting one of par C130 C135 to 18 Ext Failure 3 is open FWD Lo 5 Er 031 EEPROM Work Area Internal Data Altered A031 Internal A031 Internal EEPROM Failure EEPROM Failure S When the equipment is turned on the data that cannot be accessed by the user and that are contained in the EEPROM work area are altered See Ce 28 Em also the PARAMETER COPY chapter WARNING This alarm cannot be deleted Please contact SAFTRONICS A032 Microcontroller Reset A032 uC Reset S The execution of the drive control program has been cancelled by the micro controller itself due to an invalid statement read by FLASH memory In that case you just need to reset the alarm 2002 Saftronics Inc 143 efesotomasyon com
90. C000 motor rated current eventually with the trimmer hardware limit IMAX T2 That limit is used if the speed is higher than the value set in P054 When 001 nFdbk speed is lower than the value set in P054 P051 limit is used See also figure shown in the CURRENT LIMIT chapter 1 WARNING The product of P053 x C000 x IMAX T2 is not to exceed 100 that corresponds to the e drive rated current e g 100A for dcM P054 First to Second Current Limit Speed P P054 Speed 1 gt 2 P054 Speed 1 gt 2 R 0 100 96 D 100 96 F This is the speed expressed as the value per cent set in PO10 nFdbkMax above which switching from the first to the second current limit value from P050 to P052 from P051 to P053 depending on the active bridge occurs See also figure shown in the CURRENT LIMIT chapter This parameter is aimed at obtaining a two value characteristic for the current limit P055 Hyperbolic Pattern End Current Limit ia P PO55 llimHyper R 0 300 100 96 This parameter sets the current limit value at the end of the hyperbolic pattern Such value indicates the percentage of motor rated current eventually with thetrimmer hardware limit IMAX T2 See also figure shown in the CURRENT LIMIT chapter 92 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TROMS www saftronics com dcM INSTRUCT
91. CTION MANUAL 3 7 INTERNAL CONNECTION FOR M062005 2100 M0647P5 4200 E IL IF 84 1 3 88 be 5 3 lt 1 lt E 2 5 8 3 e Z O 8 1 0 0 8 5 LLI 62 5 er a x 4 5 z 8 8 1 lt j 4 Es x z r3 o F 1 3 821128 est 54 est 1 o est 11 38 61153 ese Iss o BRIDGE 1 FWD SCR5A 5 SCR1A CT1 CT2 2002 Saftronics Inc 23 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM am www saftronics com INSTRUCTION MANUAL 3 8 INTERNAL CONNECTION FOR MODEL M062125 TO 2150 4250 TO 4800 10853 00854 82259 T Lu A009 VL e OF Oo 4 9 504 6LNO 9ND ZN HNO 8NO PINO an v9 vs vv ve LO v9 vs ve OL OL kd OL 21 tid ary HWX 71051 15008 NISN 31 3AOW3H TYNOILdO NOILVOINNWIOD WV A009 voz 88 04
92. Connections for drive inputs are shown in the drawing below nest LH ille 2002 Saftronics Inc 165 dcM INSTRUCTION MANUAL efesotomasyon com Control Techniques emerson saftronics ac drive servo motor www saftronics com Installation for Non Standard 240 Vdc Field Supply DO Mount the AC Fuse Kit to the dcM6 12 drive with the four 4 4 10 screws to the mounting holes on the both sides of the fan housing Connect the wire marked R1 to the Buck Boost transformer terminals marked H4 amp X1 Add a jumper to H3 amp H2 and then another jumper to X2 amp X3 Connect the wire marked E1 to the Buck Boost terminals marked X4 and then to the terminals marked E1 Connect the wire marked E2 from the bottom of L2 Fuse holder to the Buck Boost terminals marked H1 and then to the terminals marked E2 on the drive Connect the wire marked 53 amp 54 to the terminals marked 53 amp 54 The terminals marked F1 amp F2 is the connection for the motor field Connections for drive inputs are shown in the drawing below Part Numbers for Buck Boost transformer P N 040171 Rated at 250VA for a 5 2Amp field supply P N 040172 Rated at 500VA for a 10 4Amp field supply P N T040173 Rated at 750VA for 15 6Amp field supply e 7 T i
93. Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL www saftronics com A033 Unknown Failure A033 Unknown Unknown Failure Failure S An unknown alarm has been stored In that case you just need to reset the alarm FWD FF en we sos sur Additional Alarms This message usually pops up when control board ES800 begins to supply the pad for the first time If the message does not disappear this means that the keypad is live but the control board communication is shut off Said message is displayed when a time out has elapsed This means that the micro ERROR controller on the keypad has detected a communication break with control board LINK MISMATCH ES800 In both cases if 88 is displayed along with one of the two messages or some other AEA 88 svor digits other than 00 for Drive OK two blinking digits for an alarm or two fixed digits for a warning control board ES800 is probably damaged and shall be replaced 8 2 WARNING PARAMETERS The warning parameters are displayed in the Status page to indicate that a particular condition is taking place although the drive is not locked Those parameters are marked by a W followed by the parameter number 002 Speed Feedback Loss W002 Speed Fdbk switched to Varm W002 Spped Fdbk switched to Varm 5 The drive has switche
94. Current through the DEC or INC keys and by pressing the ENTER key When the following message Close ENABLE to continue is displayed close the ENABLE contact at term 24 by closing if not already done the KM remote switch that supplies the power section When the Press ENTER to continue message is displayed press the ENTER key again The autotuning procedure is over when message AutoTune in progress disappears and 001 0 is displayed again The values of parameters P103 P104 are calculated and saved on EEPROM Moreover the value of parameter con cerning the armature feedback reading is optimized in such a way that while the drive is off parameter MOO6 Varm displays OV During the self tuning as above the alarm A014 out of range can trip if the motor rated current set by par C000 is too low if compared to the drive rated current Therefore the drive may never be overdimensioned if com pared to the motor but on the contrary its size must be comparable to or immediately higher than the motor rated current 2 Speed autotuning This tuning can be performed for whichever choice of current loop operation and is generally recommended It can be avoided in case of a dcM6 of a dcM12 in armature feedback or when the inertia torque of the load is variable i e a coiler The command is issued by setting parameter 001 to 2 Speed through the DEC or INC keys and by pressing the ENTER key When the following mes
95. E FOR TACHOMETER FEEDBACK Record Motor Rpm at Base Speed and set P010 Default is 1750 RPM OK AC Tachometer for dcM6 drive only DC Tachometer for dcM6 12 drives Constant HP applications require a speed fdbk device Example of Constant Hp is when the motor is extended from base speed to top speed eg 1750 to 2300 rpm See section 17 11 AC Tachometer as the speed feedback device The AC tach requires a diode bridge rectifier The AC tach fdbk will not work on a dcM12 Drive Before changing the drive from armature voltage to tachometer fdbk Run the drive in armature fdbk and check the polarity of the DC tach voltage The correct polarity would be positive fdbk for a positive reference Forward LED is ON 000 will verify this positive REF for FWD rotation If motor rotation is wrong remove line power to the controller and switch the armature leads Example for a DC Tach OK 50 1000 rpm 1750rpm C074 50Vdc 1000 rpm Set C074 Volts rpm C070 nFdbkSelect C070 50Vdc 1000 rpm x 1750 87 5Vdc Set C070 nFdbkSelect Set C070 2 This set the maximum input level Verify that the proper 4 Example for a Tach 60Vac 1000 rpm 1750rpm 60Vac 0 9 54Vdc C074 54Vdc 1000 rpm C070 nFdbkSelect C070 54Vdc 1000 rpm x 1750 94 5Vdc Set C070 2 This set the maximum input level Verify that the proper input terminal is correct input termina
96. FldFrcLevel and according to the time programmed at parameter C018 FidFrcTime 12 JogA When this input is closed it selects together with another possible digital input programmed with function 13 JogB a jog reference among the ones programmed on parameter P222 P224 according to the corresponding matching table 13 JogB When this input is closed it selects together with another possible digital input programmed with function 12 J0gA a jog reference among the ones programmed on parameter P222 P224 according to the 2002 Saftronics Inc 129 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor www saftronics com dcM INSTRUCTION MANUAL corresponding matching table 14 Up When the input closes it increases the value of the UpDownRef internal reference with respect to the ramp set in par PO40 UpDnRefRamp See also the MOTOR POTENTIOMETER chapter 15 Dn When the input closes it decreases the value of the UpDownRef internal reference with respect to the ramp set in par PO40 UpDnRefRamp See also the MOTOR POTENTIOMETER chapter 16 UpDnRefReset When the input closes it sets to zero with no ramps the value of the UpDownRef internal reference See also the MOTOR POTENTIOMETER chapter 17 Ext Failure 2 When the input opens alarm A029 trips 18 Ext Failure 3 When the input opens alarm A030 trips NOTE for MDIxCfg set at 6 Slave Enable With re
97. I lt 25A 5 0 lt f lt 30 0 60 50 Corresponds to the limits for EN55011 gr 1 cl B 55022 cl B VDE0875G UNRESTRICTED DISTRIBUTION gt 25 Size Frequency band Quasi peak Average Medium power 0 15 lt f lt 0 5 MHz 79dB uV 66dB uV drive 0 5 lt lt 5 0 73 60 gt 25 5 0 lt f lt 30 0 73 60 Corresponds to the limits for EN55011 gr 1 cl A 55022 cl A VDE0875N 2002 Saftronics Inc 147 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL RESTRICTED DISTRIBUTION 1 lt 25A Size Frequency band Quasi peak Average Low power 0 15 f lt 0 5MHz 79dB uV 66dB uV drive 0 5 1 lt 5 0 73 60 1 lt 25A 5 0 lt f 30 0 73 60 Corresponds to the limits for 55011 Gr 1 EN55022 VDE0875N RESTRICTED DISTRIBUTION 1 gt 25 Size Frequency band Quasi peak Average Medium power 0 15 lt f lt 0 5MHz 79dB uV 66dB uV drive 0 5 lt lt 5 0 73 60 1 gt 25 5 0 lt f lt 30 0 73 60 Corresponds to the limits for 55011 Gr 1 cl A EN55022 cl A VDE0875N NOTE Standards EN55011 and 55022 above define the limits and the measuring methods of the radio interference for some product categories Particularly EN55011 IEC CISPR11 Limits and measuring methods of radio interference specifications for industrial scientific and medical equipment ISM EN55022
98. IEC CISPR22 Limits and measuring methods of radio interference specifications generated by the equip ment for information technology ITE The limits for the disturbance of ISM equipment belonging to group 1 class A in EN55011 correspond to those for ITE equipment belonging to class A in EN55022 The limits for the disturbance of ISM equipment belonging to group 1 class B in EN55011correspond to those for ITE equipment belonging to class B in EN55022 1 Always connect AC DC drives with filters to low voltage grids in residential areas as they may pro duce radiofrequency disturbance The filter is to be installed between three phase switching inductance L and the drive input and is to be M connected to bars L1 2 3 The wires connecting the filter to the drive are to be as short as possible Second environment The product standard does not state any limit for the equipment disturbances and radiofrequency interferences for any equipment to be connected to a low voltage industrial grid or to a civic grid which is not used for residential areas For the second environment the product standard allows to use any drive with no additional filter However the installer has to make sure that there is no electromagnetic compatibility trouble with the other appliances in the system 148 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TROMS dcM INSTRUCTION MANUA
99. IH 9NIHIM A009 1 139 336 O 1 ZH09 HdE 12 21 Ver C x 2002 Saftronics Inc 26 o o E E 2 o i tS c o 17 o o 2 c G o 5 E Q Q c gt o o uc 55 5 2 2 5 5 Ver F ywoe r lt S OON 0545 WNOILdO V gt 6E ZNI NY v oan m 008 00rr 1300 NO LOWLNOO bc NI NY 7 x 00 54 TAGOW NO LOVLNOO W 56 TAGOW NO AINO a3sn OQN s SI H Iz ai WHO JS dHo02 S 7 8 dHOOL S W CIOHSSYHL wpe LT i 104 STVNINYAL 23 9 13 85753 z oan t O 2 T D 39 V L10A 104 193 OL HOVL LOANNOO W Q 4 1 Loan 002 871 T 52 1062 4 001 5 ATIVNH3 X3 1 53504 4 0 104 OVAOvZ 0 00 SHalaWvuvd 136 WV 2 92 93 NO Hdr HOS m 8 1 uo1vu3do E 192 1noi Sy 0 Tan 8
100. ING for commands and references Press A and ENTER keys simultaneously to switch to LOCAL mode for the drive commands digital inputs and references Switching is enabled only when parameter C100 LocRemSel is set at value 0 Enabled with the drive disabled i e not running Whenever the drive is turned on it will directly switch to the operating mode previously saved on EEPROM Therefore the LOCAL mode status enabled by pressing the and ENTER keys is not included among the variables that be saved on EEPROM The diagram below shows the sequence of the pages displayed through the MONITOR function the v and a keys are simultaneously pressed For a better understanding let us suppose to start from the page relating to par PO10 nFdkMax the current page in the diagram The diagram also shows that the Keypad page is also displayed by simultaneously pressing the A and ENTER keys LOCAL mode only as explained in the LOCAL MODE OPERA TION chapter 10 nFdbkMax 3000 Rew l Program Enable page page Drive 03 06 RTE vref 14 5 4 DCREG4 100 2440 gt Keypad paga Status M Pan eem 4 2 FUNCTIONS DISPLAYED BY THE LEDS The eight LEDs located on the alphanumeric display have the following functions The RUN LED is on when the drive is running i e when the firing board sends pulses This LED bl
101. ION MANUAL P056 Hyperbolic Limit Start Speed P P056 SpeedH 1 P056 SpeedHyper1 R 100 96 D 100 96 F If this speed expressed as a value cent of P010 nFdbkMax is exceeded the current limit becomes a speed hyperbolic function See also figure shown in the CURRENT LIMIT chapter 1 WARNING In this parameter do not save any value exceeding the one saved in EEPROM for P057 e as this will cause the drive malfunction P057 Hyperbolic Limit End Speed P P057 SpeedHyper2 P057 SpeedHyper2 R 0 100 100 96 If this speed expressed as a value cent of P010 nFdbkMax is exceeded the current limit stops being a speed hyperbolic function and becomes constant again See also figure shown in the CURRENT LIMIT chapter WARNING In this parameter do not save any value lower than the one saved in EEPROM for P056 as this will cause the drive malfunction PO58 Current Limit Decrease Per Cent P P058 Clim P058 Clim R 100 u run 5 50 96 F Current limit decrease per cent for both bridges following the configured digital input closing as long as one parameter among C130 C135 is set to 4 Clim Such value is to be applied to the present current limit resulting from the composition of the values set in all relevant parameters see parameter C000 parameter set P050 P062 in case of internal
102. L www saftronics com 10 USER S PARAMETERS DIFFERENT FROM DEFAULT VALUES PAR Setting Default value Modified value PAR Setting Default value Modified value P003 ProgLevel 0 Basic P071 TiSpeed 1 00s P004 FirstPage 0 Status P073 KpSpdAdapt 4 00 P005 FirstParm Select AE 74 TiSpdAdapt 1 00s MeasureSel P076 5 2 4 00 P010 nFdbkMax 2500 RPM P077 TiSpeed2 1 00s P011 VarmMax 1 P079 KpSpdAdapt2 4 00 P012 SpdDmndPol O Bipolar P080 TiSpdAdapt2 1 00s P013 nMaxPos 100 P082 AdaptCtrl 0 No P014 nMinPos 0 96 P083 500 P015 nMaxNeg 100 84 Verr2 1 00 P016 nMinNeg 0 P085 TiRampScale x1 P030 RampUpPos 0 000 s P086 ArmatureCmp 100 96 P031 RampDnPos 0 000 s P087 VerrOffset 0 000 96 P032 RampUpNeg 0 000 s 088 Rxl OV RampDnNeg 0 000 s P100 KpCurr 200 P034 RampStopPos 0 000 s P101 TiCurrDisc 1 30 ms P035 RampStopNeg 0 000 s P102 TiCurrCont 32 0 ms P036 RampUpJog 0 000 s P103 Pred 70 92 V P037 RampDnJog 0 000 s P104 Ldl dt Pred 0 707 V P038 InitialRndg 0 0s P110 KpFld 2 00 9 FinalRndg 0 0s P111 TiFld 100 s P040 UpDnRefRamp 10 00 s P120 VrefPol 0 Bipolar P050 Ilim1A 100 P121 VrefBias 0 000 P051 llim1B P122 VrefGain 100 0 P052
103. MI www saftronics com dcM INSTRUCTION MANUAL 7 2 PROGRAMMING PARAMETERS The value of the programming parameters may be fixed by the user even during the drive operation These parame ters are marked with a P followed by the parameter number Programming Code P000 Key P Key R 0 2 0 Programming access code 0 Program Disable Only P000 may be changed 1 Program Enable All parameters may be changed for Cxxx parameters the ENABLE digital input is not to be active 2 Modified Parms As for parameters Pxxx and Cxxx only the parameters whose actual value is different from the default value are displayed along with all the Mxxx measure parameters The programming mode will also be activated according to the results obtained by setting parameter 1 Even though par P003 ProgLevel is set at 0 all the Pxxx Cxxx parameters whose current value is different from the default value are dis played e parameter no values other than 0 ProgramDisable be stored on EEPROM P001 Autotuning Command P P001 AutoTune P001 Autotune RK R 0 3 D 0 F Access code for autotuning 0 Disabled No autotune is performed 1 Current The current loop autotuning is performed by choosing a predictive control through par C051 CurrLoopSel set at 1 Predictive it computes the value for par P103 P104 The parameter relating to the a
104. OTE the keypad is not series installed on the drive and is to be delivered separately The remotable keypad kit is to be ordered for the keypad assembly on a separate panel see the REMOTABLE KEYPAD 9 chapter The 2 line 16 digit backlit LCD display installed in the keypad shows the parameter values the diagnostic messages and the values of the quantities processed by the drive From now on the term page indicates the 32 characters that are simultaneously displayed The eight keys have the following functions allows to switch from display mode fixed cursor to pro gramming mode blinking cursor and vice versa So when the cursor is fixed you may use the scrolling keys to display the different parame ters in sequence When the cursor is blinking you may change the value of the current parameter v DEC allows to decrease either the page number or the value displayed inside the current page depending on which mode you selected with the PROG key i e depending on the cursor state Po q 1 PROG ENTER INC allows to increase either the page number or the value yj 25 displayed inside the current page depending which mode you FORWARD selected with the PROG key i e depending on the cursor state ENTER programming mode only it saves the current value on the page displayed on
105. P030 RampUpPos R 0 000 300 0 s D 0 000 s F Rise ramp time expressed in seconds from 096 to 10096 of the positive speed voltage reference applied to the Main Ref or the Preset Ref preset run reference possibly limited at the minimum and or maximum value See also figure shown in the RAMPS OVER REFERENCE chapter For both dcM12 and dcM6 the real speed ramp corresponds to the ramp set in this parameter as long as the drive is not in current limit mode NOTE This parameter programming cannot be changed if a digital input configured for the 7 Ramps Disabled function is closed P031 Fall Ramp of the Positive Reference P031 RampDnPos P P031 RampDnPos sec R 0 000 300 0 s D 0 000 s F Fall ramp time expressed in seconds from 10096 to 096 of the positive speed voltage reference applied to the Main Ref or the Preset Ref preset run reference possibly limited at the minimum and or maximum value See also figure shown in the RAMPS OVER REFERENCE chapter For dcM12 the real speed ramp corresponds to the ramp set in this parameter as long as the drive is not in current limit mode whereas for dcM6 the real speed ramp corresponds to the ramp set as soon as it exceeds the time required for the coast to stop stage NOTE This parameter programming cannot be changed if a digital input configured for the 7 Ramps Disabled function is closed 2002 Saftronics Inc 87 efesotomasyon
106. P213 PresetSpd3 10 0 P158 AnOut2Pol 0 Bipolar P214 PresetSpd4 0 00 P170 MDO1Cfg 0 Drive OK P215 PresetSpd5 5 00 P171 MDO1OnDelay 0 000 s P216 PresetSpd6 20 0 96 P172 MDO1OffDly 0 000 s P217 PresetSpd7 10 0 6 P173 MDO1Level 50 6 P221 JogSelect 0 Common Ramps P174 MDO1Hyst 2 96 P222 001 5 00 96 P175 MDO1Logic 0 Normally Open P223 Jog2 5 00 96 P176 MDO2Cfg 1 SpeedThreshold P224 Jog3 0 00 P177 MDO2OnDelay 0 000 s P230 AlfaMin 2 P178 MDO2OffDly 0 000 s P231 AlfaMax 150 P179 MDO2Level 3 96 P240 LowPassCnst 0 00 ms P180 MDO2Hyst 2 P250 UpDnRefPol 0 Bipolar P181 MDO2Logic 0 Normally Open P251 UpDnRefMem 1 Yes P182 MDO3Cfg 2 larm Threshold 000 100 96 P183 MDO3OnDelay 0 000 s C001 MotThrshold 100 96 P184 MDOSOffDIy 0 000 s C002 MotThConst 340 5 P185 10 C010 10 0 P186 MDO3Hyst 2 011 BaseSpeed 33 P187 MDO3Logic 0 Normally Open C012 BaseVarm 1000V P188 MDO4Cfg 5 Drive Running C014 FldEcoLevel 10 P189 MDO4OnDelay 0 000 s C015 FldEcoDelay 240 s P190 MDO4OffDly 0 000 s C016 IfldMinLim 25 96 P191 MDO4Level 5 96 C017 FldFrcLevel 100 P192 MDO4Hyst 2 C018 FidFrcTime 10 8 P193 MDO4Logic 0 Normally Open VmainsNom 480V P194 MDO5Cfg 4 CurrLimitation 150 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor S
107. PPLICATION The devices of the dcM series are AC DC drives with fully digital control system They fit the arma ture and field supply of direct current motors to enable the speed or torque control dcM12 operates in four quadrants while dcM6 operates in two quadrants SUPPLY Control section from 380 500Vac single phase alternate voltage or 200 240Vac on request tolerance 10 20 taken directly from the power supply three phase voltage or differing from it and not necessarily in phase with it Alternatively with a 24Vdc direct voltage tolerance may be 15 10 with no hardware adjustment Armature section from three phase alternate mains or a 10 480Vac generator unit by request 10 690Vac Tolerance is 10 on the maximum applicable voltage or 20 on rated voltage should the former tolerance be larger than the latter Tolerance is 15 over rated voltage with 12 and 20 over rated voltage with dcM6 Frequency is 50 60Hz Phase sequence insensitiveness of power phas es Field regulator from 380 500Vac single phase alternate voltage 10 20 for a power supply ranging from 200 to 240Vac jumper J1 is to be enabled on field regulator board ES734 in position 230 ON Supply frequency is 50 60 Hz AIR COOLING Forces ventilation OVERLOAD CAPACITY Current limit increasing capacity up to 15096 of the nominal value The max overload cycle determining the alarm protection trip consists of a 15096 current
108. PROM for P084 as this will cause the drive malfunction See also SPEED PARAMETER AUTOADAPTATION chapter P084 Second Speed Error for Auto Adaptation P P084 Verr2 P084 Verr2 R 0 00 100 96 D 1 00 96 F This is the speed error value expressed as a percentage of the max error corresponding to 10V above which the speed PI as long as the Parameter Autoadaptation is enabled parameter P082 set to 1 YES will use parameters P073 and P074 or P079 and P080 should the digital input configured by setting one parameter among C130 C135 to 8 Second ParmSet be respectively open or closed WARNING In this parameter do not save any value lower than the one saved in EEPROM for P083 as this will cause the drive malfunction See also SPEED PARAMETER AUTOADAPTATION chapter P085 Speed Integral Time Increment During Ramp P085 TiRampScaleVerr2 4 85 TiRampScale y R x1000 09 Multiplication factor of the speed PI integral time during the ramp transient set inside the drive 2002 Saftronics Inc 97 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am MMC www saftronics com dcM INSTRUCTION MANUAL PO86 Armature Compensation P P086 ArmatureCmp P086 ArmatureCmp R 100 96 D 100 F Value of the compensation of resistive drop in the motor so as to adjust the speed back electromotive force using
109. Ref FBRef R 100 100 96 ev This parameter indicates as a percentage of the max value corresponding to 10V the value of the reference applied through the field bus M017 Field Current Reference M017 RefFld P M017 RefFld RefFld 96 R 0 00 100 96 F It indicates as a percentage of the max reference corresponding to the max field current that may be generated by the drive the current loop input corresponding to the voltage loop output of the internal field regulator The standard values of the max field current generated by the drive are equal to for 100A unit 15A for units above 100 A and 35A optional For instance for a dcM 350 100 of M017 will correspond to 15A 018 Field Current 018 FldCurrent P M018 Amps R 0 00 40 0 Amps F This parameter indicates in Amperes the field current feedback value obtained through the zero gauss current transformer 76 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 019 Analog Output 1 on Terminal 8 M019 AnalogOut1 AnOut1 V FWD 8 Fa La e iia M019 AnOut1 10 0 10 0 V This parameter indicates in Volts the value of the analog output available on terminal 8 The output at issue may be configured throug
110. S The display will show AutoTune In Progress Leave C051 The load does not Set to C051 1 need to be disconnected from the motor 1 Predictive The field supply YES does not need to be removed Applications that require a high response current loop are the following applications High Speed Spindle CNC Machine Web Processing Winders Multi Drive Systems that are following another regenerative drive YES Go to Step 17 9 YES Do you require a high response for a low inertia load Set C051 0 0 Pl operating YES YES Stop command or disable the enable Go to Step 17 9 input YES The display will show P001 0 when the current tune is finished 2002 Saftronics Inc 179 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL a APER www saftronics com 17 9 SETUP PROCEDURE FOR SPEED AUTO TUNING The Stop command or enable input must be disabled Caution The motor will Warning rotate Set the speed reference to The load does not zero before starting speed need to be tune disconnected from the motor Verify that speed reference is set to zero 000 Set P001 2 YES Press the enter key on kepad OK Close ENABLE to continue or Press PROG to quit YES Start command or close the enable input OK Press Enter to con
111. S and WARNING PARAMETERS chapters E M00717 B 54 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL The parameters may be copied by the user as follows 1 Default parameter restoration To restore the default parameters set 002 ParmsCopy at 1 DefaultRestore and press the ENTER key twice The user s customized parameters are erased and the factory settings for parameters Pxxx and Cxxx will be reset in EEPROM work area except the internal data that cannot be accessed by the user EEPROM Work Area FAV lt FAS 2 Backup of the stored parameters To back up the stored parameters set par 2 ParmsCopy at 2 WorkAreaBackup and press the ENTER key twice The values stored in the EEPROM work area will be trans ferred to the RAM and will be copied on the EEPROM backup area Before doing this the equipment checks the data contained in the EEPROM work area We strongly recommend to perform this backup once the equipment is started when all changes made to those parameters are stored in the EEPROM work area and written in the special table to be found in the last pages of this manual EEPROM Work Area 1 K eeps FLASH TAI WIN aes Backup Area i 1 1 00719 Correct par in EEPROM work area In step
112. TRONS www saftronics com dcM INSTRUCTION MANUAL C050 Speed Voltage Loop Operation C050 SpdLoopSel P C050 SpdLoopSel R 1 3 D 1 This parameter programs the speed loop operating mode 1 operating The regulator proportional and integral sections are both active 2 P operating Only the PI regulator proportional section is active 3 lref Vref The speed loop is inactive The current reference is supplied by the Main Ref after being transferred to Gain Bias Polarity and the Reverse function by one of the internal jog references or by one of the preset run references with the Reverse function if necessary The current reference may be summed to IN 1 reference between terminals 11 and 13 to IN 2 reference on terminal 17 and to IN 3 reference on terminal 19 as long as they have been configured by setting C120 121 122 2 I loop add ref and after being transferred to Gain Bias Polarity The current references always enter the control loop with no ramp or rounding even if they have been set in parameters P030 P039 NOTE If a digital input configured for the 6 Slave function is closed then this parameter programming e cannot be changed C051 Current Loop Operation P C051 CurrLoopSel C051 CurrLoopSel RK R 0 1 D 0 F This parameter programs the current loop operating mode 0 operating The current loop operates through a PI regulator proportional part plus
113. UCTION MANUAL www saftronics com 5 2 BLOCK DIAGRAM 1 1 1 1 1 1 i 4 t 2002 Saftronics Inc 45 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor cows dm APTUS INSTRUCTION MANUAL www saftronics com 5 2 1 Main Ref Ref Sel x UpOnRef 2050nRef vns 00709 0 FBRef BLANC L OFF ON MDIx Cig 14 15 Up Dn LOC SEQ 14 15 n ac 46 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL 5 2 2 Ref n D 9 Min5SpdDisabled ARL Digin S MDix Cig 12 13 40GA B 3 Seq Sel x 28819 Seq Sel x 1 Seria Link MDiv Cig T 23 Preset Speed C130 135 A S START GB 26 0 Sink Start o semis Y FBus Stari b 4 Tu west FBDgin S 2002 Saftronics Inc 47 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor 2 7 QS 0 400 NN 5 oS gt paeds 5 ec Eso li oon ene TM NALE Ta uy ippa 01 1043 S f e y MINE 2 60 LM
114. W NO 5 1099 dHOOZ S 4 1062 4 001 5 GASN S IVNIAH3LL Z3 13 ANY 89253 104 L03HHO9 OL HOWL LO3NNOO 099 9 2 ANY 1062 001 8 HOS ATIVNH31X3 53514 104 OvAOFZ 0 00 SHalalWvuvd 138 82283 NO Ldr HOS I I sg VN GIOHS3HHL Nuvi INYA 3 Z MEO AO 11 98 AS S8 1 9 9 TEN t8 11 48 2 70 NE 0109 13S 9 HO LNNHS 1 8 L vwog y 200K Z NI NY NI NY AO 2 7 LNO NV LNO NV TWLIDIC 7 1nol gt gt 1 gt 1 10853 91dW Ave Ave WHO JS TT 104 ov 9 v ud O vv 9 ly 18534 ly 7 v ur 005 uo YOLOW 2G Ver lt A18W3SSV 15 NO 8 9 2002 Saftronics Inc 22 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRU
115. a percentage of P010 nFdbkMax determining the field weakening start See also the FIELD REGULATOR chapter C012 Rated Armature Voltage at Field Weakening P C012 BaseVarm C012 BaseVarm R 50 1000 V D 1000V F It sets in Volts the motor nominal armature voltage already obtained at the speed determining the field weakening start To have a field current dynamic regulation in field weakening mode when the speed changes 1 set this parameter at a value lower than 1000V 2 with par C70 set a feedback speed other than value 4 Armature If the speed feedback set is the armature feedback no field current dynamic regulation in field weakening mode will take place for any value of the actual parameter See also FIELD REGULATOR chapter For this parameter set a lower value than the default value 1000V only in field weakening dynamic regulation mode Otherwise if the field current value is to be kept constant do not change this parameter s default value C014 Standstill Field Current P C014 FldEcoLevel C014 FldEcoLevel R 100 10 This parameter may be programmed even when no dynamic regulation of the field current in field weakening mode is needed It represents the current value expressed as a percentage of C010 to which the field must be reduced when the drive is not running once the time set at parameter C015 FlaEcoDelay has elapsed As soon as t
116. a proportional constant with A as units of measure We may therefore infer that once temperature has stabilized the rise in temperature will be proportional to the cur rent second power as it is equal to k x lj The figure below shows the heating of a motor supposing it is fed with two different current values lg and 102 which are quantified depending on the reference current represented by parameter C001 AT t 1 gt C001 1 lt C001 00573 0 The reference current value programmed in parameter C001 is by default 110 of motor rated current Therefore the rise in temperature is never to exceed the max allowable temperature i e k x COO temperature allowable value when the motor runs regularly with a current equal to 001 With a current equal to Igo alarm 021 will trip in instant t For the motor overtemperature protection the correct setting of the thermal time constant value programmed in parameter default value is 300s is then needed 2002 Saftronics Inc 65 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor a PME WWW Saftronics com dcM INSTRUCTION MANUAL 6 7 FIELD REGULATOR dcM6 and dcM12 drives are equipped with an internal field regulator that may be used both to set a field current fixed value and for a dynamic regulation in field weakening mode In both cases the field current reference displayed in par M017 RefFid
117. a tacho and detected via terminal 20 1 Tach 25 80 V The signal used as a speed feedback is included in the 25 80V voltage range the voltage is supplied by a tacho and detected via terminal 22 2 Tach 80 250 V The signal used as a speed feedback is included in the 80 250V voltage range the voltage is supplied by a tacho and detected via terminal 23 3 Encoder The signal used as a speed feedback is an encoder output detected via terminals 14 and 16 or via 9 pole D connector CN2 4 Armature The signal used as a voltage feedback is the drive voltage output in case of a motor the voltage feedback is the armature voltage When the drive operates according to an armature feedback with a resistive load parameter C051 CurrLoopSel should be set to the 0 operating default value NOTE In case of a tacho or encoder feedback the max motor speed with a speed reference equal to 100 is programmed through parameter 010 nFdbkMax in case of an armature feedback the max voltage with a speed reference equal to 100 is programmed through parameter 011 VarmMax 2002 Saftronics Inc 121 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor a PME www saftronics com dcM INSTRUCTION MANUAL C072 Encoder Pulses Rev 075 EncoderPis P C072 EncoderPls kkkkk pls R R 100 10000 pulses rev D 1024 pulses rev F This parameter conveys information about the encoder pu
118. achinery Electrical equipment of machines Part 1 General requirements ELECTROMAGNETIC COMPATIBILITY DIRECTIVE 89 336 CEE and following amendments 92 31 CEE 93 68 CEE and 93 97 CEE IMMUNITY 61000 4 2 1000 4 2 Electromagnetic compatibility EMC Part 4 Testing and measurement tech niques Section 2 Electrostatic discharge immunity tests EMC Basic Publication 3 6kV for contact discharge 8kV for air discharge EN61000 4 3 IEC1000 4 3 Electromagnetic compatibility EMC Part 4 Testing and measurement tech niques Section 3 Radiated radio frequency electromagnetic field immunity test level 3 field intensity 10V m EN61000 4 4 IEC 1000 4 4 Electromagnetic compatibility EMC Part 4 Testing and measurement tech niques Section 4 Electrical fast transient burst immunity test Basic Publication level 3 2kV 5kHz for power supply ports 1kV 5kHz for signal interfaces 2kV 5kHz for measurement and control ports EN61000 4 5 IEC1000 4 5 Electromagnetic compatibility EMC Part 4 Testing and measurement tech niques Section 5 Surge immunity test level 3 1kV for line line connection and 2kV for line ground con nection RADIOFREQUENCY RADIATED DISTURBANCE EN61800 3 IEC1800 3 second environment industrial grid with no RFI filter EN61800 3 first environment civic grid EN55011 group 1 class and EN55022 class A and B using optional RFI filters For the definition o
119. ated in the OVERLOAD CAPABILITY 2 TABLE i e 150 of the drive rated current e g 150A for a 100 P061 Bridge B Current Overlimit P P061 OverLimB used in dcM12 only P061 OverLimB R 100 300 96 D 150 96 Bridge B current limit may be increased by this value per provided that you program P061 gt 100 This function is to be found in dcM12 only Such value is applied to the present current limit resulting from the composition of the values set in all relevant parameters see parameter C000 and parameter set P050 P062 in case of internal limit WARNING The actual overlimit is not to exceed the value stated in the OVERLOAD CAPABILITY TABLE i e 150 of the drive rated current e g 150A for 100 94 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TROMS www saftronics com dcM INSTRUCTION MANUAL P062 Overlimit Digital Output Delay P062 TFullOvLim P062 TFullOvLim 200 60 0 8 605 When this time expressed in seconds is over if the drive is still in current overlimit the 6 FullOverLimit function is enabled which is programmed in one of the configurable digital outputs Said output is disabled as soon as the drive is no longer in overlimit mode P070 076 Speed Loop Proportional Gain Second Gain P P070 KPSpeed R D F 71 07
120. ation enabling disabling of the second work quadrant of the torque speed plan See also figure in the OPERATION QUADRANTS chapter 0 Enabled The second quadrant is enabled 1 Disabled The second quadrant is disabled C062 3rdQ RevMot used in dcM12 only 0 1 dcM12 0 dcM6 1 not used Operation enabling disabling of the third work quadrant of the torque speed plan This function is available in dcM12 only See also figure in the OPERATION QUADRANTS chapter 0 Enabled The third quadrant is enabled 1 Disabled The third quadrant is disabled 120 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am AMI www saftronics com dcM INSTRUCTION MANUAL C063 Fourth Quadrant Selection C063 4thQ FwdReg ENTER D dcM6 0 deMt2 1 not used F Operation enabling disabling of the fourth work quadrant of the torque speed plan This function is available in dcM12 only See also figure in the OPERATION QUADRANTS chapter 0 Enabled The fourth quadrant is enabled 1 Disabled The fourth quadrant is disabled P C063 4thQ FwdReg used in dcM12 only R 0 1 070 Feedback Selection C070 nFdbkSelect P C070 nFdbkSelect R 0 4 F This parameter selects the signal to be used as a feedback 0 Tach 8 25 V The signal used as a speed feedback is included in the 8 25V voltage range the voltage is supplied by
121. ation supplied by LEDs REF FORWARD and REVERSE when e the drive is not yet running do not consider any additional speed or current references The LOC SEQ LED is on if the sources selected for the commands are KeyPad related it flashes if another source different than Keypad is selected while it is off if none of the sources selected for the commands is KeyPad related The LOC REF LED is on if the sources selected for the references are UpDownRef related only it flashes if anoth er source different than UpDownRef is selected while it is off if none of the sources selected for the references is UpDownRef related The BRAKE LED indicates that the electrical braking or in general the energy regeneration from the load to the mains is on The I LIMIT LED indicates that the drive is in current limit When this LED is on ILIM LED in control board ES800 is on as well 4 3 LOCAL OPERATING MODE As we stated above the Main Ref can result from the sum of max four sources 1 Terminals Terminal Ref 2 Up Down internal reference UpDown Ref 3 Serial connection Serial Link Ref 4 Field bus Field Bus Ref Similarly the command sequences digital inputs can be simultaneously entered through three sources selected among the four available sources 1 Terminals Terminal Digital Input 2 Keypad KeyPad 3 Serial connection Serial Link Digital Input 4 Field bus Field Bus Digital Input MIXED mode whenever the drive
122. bottom of the control board supporting guard 6 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL 2 3 MAIN CHECKS AND CONFIGURATIONS 2 3 1 Supply the control section and the field regulator of the device except the power section The four LEDs which can be seen through the small rectangular slot on the cover should be off Whenever the display shows an alarm condition it is necessary to reset it by simultaneously pressing the PROG and ENTER keys on the front keypad or by means of one of the configurable digital inputs by programming parameters C130 131 132 133 134 135 at the 0 Reset value this configu ration is a default value on MDI1 terminal 28 Should the alarm not disappear from the display and therefore the alarm cause persists refer to the ALARM PARAMETERS section of the manual Before changing the above mentioned parameters and any other parameter set the value of parameter 101 Any other setting up procedure described below should always be saved the EEPROM The observance of said instruction shall produce the loss of all data while turning off the device The programming level is set in parameter its default value is called 0 This parameter allows to access and modify few other parameters only as it is used for a qui
123. by C132 Default is 13 JogB MDI 4 Digital Input 4 Configured by C133 Default is 1 Preset Speed A MDI 5 Digital Input 5 Configured by C134 Default is 4 Clim MDI6 Digital Input 6 Configured by C135 Default is 5 Reverse 23 Start Enables the ramp rates for speed current reference 24 Enable Drive operation command contact related to the NO auxilary contact of the contactor M energizing the drive power section 17 15 DIGITAL OUTPUTS 25 27 MDO 1 Digital Output 1 Configured by P170 Default is 0 Drive OK 31 2 Digital Output 2 Configured by P176 Default is 1 SpeedThreshold 33 3 Digital Output 3 Configured by P182 Default is 2 larmThreshold 37 39 MDO 4 Digital Output 4 Configured by P188 Default is 2 5 Drive Running 41 ial MDO 5 Digital Output 5 Configured by P194 Default is 4 CurrLimitation 182 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL 17 16 ANALOG OUTPUT SIGNAL Speed Signal 10 vdc analog output signal for tachometer or encoder speed signal Positive signal for Bridge A 10 is equal to max spd ie MO01 nFdbk is equal to 100 To be configured by P156 Current Signal Output 6 67 analog output signal equals 100 of drive size to be configured by P156 17 17 Analog Output
124. ck and simple starting If during the start up procedure some parameters which are not included in said programming level must be changed set parameter to 1 Advanced 2 3 2 When alarm condition is stored the display generally keeps on showing the Status page unless the KeyPad page has been programmed through parameter P004 FirstPage When no alarm condition is stored the Status page displays the Drive OK message the software version which has been installed the drive type the drive size and the max supply voltage that may be applied to the power section Otherwise the Alarms and Warnings are displayed on this page Here follows an example of such displaying messages Drive D3 07 4 12 4 100 P500 By the example stated above we understand that no alarm conditions are detected that the installed software ver sion is 03 07 and that the device is a dcM12 with continuous output current equal to 100A and a maximum three phase voltage applicable to the power section equal to 480V The displaying of warning message 003 Imax T2 lt 100 means that it is necessary to turn the T2 trimmer completely clockwise since a partial rotation clockwise could result in a disagreement between the current limit and the armature maximum current values to be obtained More precisely the armature maximum current value could be lower than the one required The trimmer is located on the right side of the ES800 board near
125. com Control Techniques emerson saftronics ac drive servo motor PME www saftronics com dcM INSTRUCTION MANUAL 2 Rise Ramp of the Negative Reference 2 RampUpNeg P 2 RampUpNeg R 0 000 300 0 s D 0 000 s F Rise ramp time expressed in seconds from 096 to 10096 of the negative speed voltage reference applied to the Main Ref or the Preset Ref preset run reference possibly limited at the minimum and or maximum value See also figure shown in the RAMPS OVER REFERENCE chapter As for the real speed ramp see relevant note stated in parameter NOTE This parameter programming cannot be changed if a digital input configured for the 7 Ramps Disabled function is closed P033 Fall Ramp of the Negative Reference P P033 RampDnNeg P033 RampDnNeg R 0 000 300 0 s D 0 000 s F Fall ramp time expressed in seconds from 10096 to 096 of the negative speed voltage reference applied to the Main Ref or the Preset Ref preset run reference possibly limited at the minimum and or maximum value See also figure shown in the RAMPS OVER REFERENCE chapter As for the real speed ramp see relevant note stated in parameter P031 NOTE This parameter programming cannot be changed if a digital input configured for the 7 Ramps Disabled function is closed P034 Stop Ramp of the Positive Reference P034 RampStopPos P P034 RampStopPos R 0 000 30
126. complete drives PDS power drive systems composed of a drive a motor the transducers and sensors CDM complete drive module composed of motorless drives BDM basic drive module composed of both control and power section The standard also defines the environments and commercial distribution modes for which the drives are to be equipped with optional RFI filtering devices Includes civic and industrial users who are directly connected with no intermediate transformers to a low voltage grid intended for domestic users Includes any industrial user other than those who are directly connected to a low Second Environment voltage grid intended for domestic users First Environment 0 The drive is also supplied to those users who do not have any specific competence Restricted Distribution The drive is supplied to those users who competent As for RFI filters aimed at decreasing the radiofrequency disturbance the product standard includes different pre scriptions depending on the environment where the drive is installed and on the commercial distribution system First environment The appliances to be connected to a low voltage grid also intended for civic users shall comply with the following restrictions UNRESTRICTED DISTRIBUTION lt 25A Size Frequency band Quasi peak Average Low voltage 0 15 lt f lt 0 5MHz 66 to 56dB uV 56 to 46dB uV drive 0 5 lt 1 lt 5 0 56 46
127. connected to 24V MDI3 OP32 green S5 Terminal 34 connected to 24V OP33 green S6 Terminal 36 connected to 24V OP34 green S7 Terminal 38 connected to 24 MDI6 OP35 green SC Contact at terminals 25 27 closed MDO1 OP36 green SD Contact at terminals 29 31 closed MDO2 OP37 green SE Contact at terminals 33 35 closed MDO3 OP38 green SF Contact at terminals 37 39 closed MDO4 9 green SG Contact at terminals 41 43 closed MDO5 OP40 green STX active serial transmission to keypad TEST POINTS TS3 21 GND OV TS6 dia1 2 HOOUT armature current 2 5V at 100 TS8 dia 1 2 armature voltage 5 0V with 665V 665V TS9 dia1 2 VAC mains voltage 3 0V approx with 380VAC TS36 dia 2 1 GND OV TS38 dia 1 2 tacho generator 4 5V at 100 TS46 dia 1 2 channel B of encoder digital signal 0 5V TS47 dia 1 2 CHA channel A of encoder digital signal 0 5V TS56 dia 2 1 GND OV TS59 dia 1 2 5V 5V digital referred to GND TS60 dia 1 2 5 5 optoinsulated for encoder referred to OP TS61 dia 1 2 OV reference for 5VOP and TS62 dia 1 2 A 24 optoinsulated referred to OP 2002 Saftronics Inc 37 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am MMC www saftronics com dcM INSTRUCTION MANUAL 3 24 FEEDBACK FROM ENCODER Open Colle
128. cs Inc 73 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL www saftronics com M007 Back electromotive force Moos Mains Frequency M007 BackEMF BEMF V 008 MainsFreq WI Ea 204 009 Mains Voltage 7 BEMF 1000 1000 V This parameter indicates in Volts the back electromotive force generated by the motor Such voltage is internally calculated using the motor electric ratings If the current loop operation has been programmed by setting parameter C051 to 0 operating this parameter will not be calculated 008 Frequency 40 0 70 0 Hz normally displayed range This parameter indicates in Hertz the power supply mains frequency measured on the input bars 009 Vmains 0 1000 This parameter indicates in Volts the mains voltage applied to the drive power section 010 Auxiliary Analog Input 1 to Terminals 11 13 M010 Analogln1 Anin1 96 C CE Le se 10 1 100 100 96 This parameter indicates as a percentage of the max reference correspon ding to 10V the value of the reference resulting from N 1 reference application between terminals 11 and 13 The reference obtained may be configured through parameter C120 The value per cent displayed in this parameter takes account of the Gain
129. ctor Encoder For the encoder connection the following may be used 1 The M1 screw double terminal board with 44 terminals 2 The CN2 9 pole D connector In both cases all the available input channels and supply values are optoinsulated with respect to the analog inputs potential When choosing the encoder type check the max speed frequency that may be obtained from the following formula pls rev X Nmax 60 where pulse rev is the encoder number of pulses for each complete rotation and Nmax is the max rotation speed expressed in rev min Using the screw terminal board In the first event the features of the encoder to be connected are the following 1a Complementary push pull encoder or NPN type or Open Collector 2a High level of the output waveform on the three channels equal to 24VDC max 3a Input maximum frequency equal to 102 400kHz e g 1024 pulse rev for 6000 RPM max 4a or 24 voltage available for encoder supply through dcM drive The following terminals should be used 14 Input for channel A 16 Input for channel B 12 Input for channel 15 5VDC supply output 42 40 24VDC supply output The encoder screened cable shield should be connected to the ground potential as directly as possible Use one of the three collar shaped cable fasteners located on the bottom of the control board supporting guard Line Drive Encoder Using the D connector In the second case the featur
130. d 380 500Vac Of course the latter requirement shall not be necessary whenever the user is going to supply the control section with a 24Vdc direct voltage on terminals 40 42 This is always possible even without making any hardware modifica tion The standard equipment may be supplied on terminals 53 54 control section with a single phase alternate volt age between 380 500Vac On demand the device may be supplied on terminals 53 54 a with single phase alter nate voltage between 200 240Vac The standard equipment may be supplied through teminals E1 2 field regulator with a single phase voltage rang ing from 380 to 500Vac In order to supply terminals E1 2 with a single phase alternate voltage ranging from 200 to 240Vac just enable jumper J1 on field regulator board ES734 in position 230 ON 2 2 2 Check also that the device is not oversized compared to the motor rated current That means that the motor current value should not be lower than the 7596 of the device rated current 2 2 3 Carefully inspection the wiring by referring to the POWER CONNECTIONS and SIGNAL CONNECTIONS sections of this manual In particular make sure that a NO auxiliary contact of the M contactor has been connected in series with the ENABLE contact on terminal 24 2 2 4 Connect the shield of the screened cables relating to the analog signals to the ground potential as directly as possible Use the three collar shaped cable fasteners situated on the
131. d from tacho or encoder feedback to armature feed back When the run contacts open the warning disappears and the equipment restores the prior feedback type 144 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor lg gll INSTRUCTION ARA www saftronics com W003 Hardware Limit Current not at Maximum Value 003 Imax T2 lt 100 W003 Imax T2 5 Should the display show warning message 003 Imax T2 10096 trimmer T2 of control board ES800 has NOT been completely rotated clockwise The trimmer indicates a hardware limitation of the armature current which is also a wrong position In fact it would cause a disagreement between the preset current limit values shown by the display and the maximum armature current to be obtained Then the latter value would be lower than that required In this case it is necessary to turn trimmer T2 completely clockwise Then the warning disappears Trimmer T2 is located on the right side of board ES800 near the two 7 segment displays which can be seen through the small slot on the drive cover The trimmer should be used by the Service personnel only to temporarily reduce all the current limits during special test performances After that it should be reset to its maximum position W004 Safe Restart after an Alarm Reset W004 Open Close W004 Open Close ENABLE to run ENABLE to run S I
132. dual voltage fields 150 300 Vdc In general the fields will be in parallel for 150 Vdc operation and in series for 300 Vdc operation Improper field connections can result in damage to the motor Be sure to double check the motor nameplate and the wiring diagram If the motor contains a thermal protector connect it in accordance with the wiring diagram If the motor does not have a thermal protector the two terminals provided in the control logic for it must be jumpered together before the drive can be energized A typical motor field current shows the 300 Vdc current rating and the minimum field current for the max motor speed When connected for 150 V the current is double the base speed current value Al A2 SERIES 20 0 didi 51 FIELD S2 21 fod SHUNT F2 F4 F1 FIELD 22 H 150VDC SHUNT FIELD SHUNT 300V FIELD CONNECTION F1 F3 22 22 P1 TO MOTOR START STOP 7 4 THERMAL LOGIC NOTE FOR REGENERATIVE DRIVES CONNECT SERIES FIELD VIA A FULL WAVE BRIDGE RECTIFIER CONSULT FACTORY SERIES 51 FIELD 52 H I 184 2002 Saftronics Inc
133. e current loop operation has been programmed by setting parameter C051 to 1 Predictive this parameter will indicate in Volts the value of the motor armature equivalent inductive drop with a current variation in a millisecond from zero to the drive rated value that is calculated by the current autotuning P110 Field Regulator Voltage Loop Proportional Gain P P110 KpFld P110 KpFld R 050 100 F Proportional gain Kp of the field regulator voltage loop with the following transfer function G s Kp 1 used for regulation STj 100 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL P111 Field Regulator Voltage Loop Integral Time P P111 TiFld P111 TiFld R 100 1 00 s D 100 s F This parameter indicates in seconds integral time Ti of the field regulator voltage loop with the following transfer function 1 G s 1 E used for regulation P120 Speed Voltage Main Input Polarity P P120 VrefPol P120 VrefPol un R 0 2 0 F This parameter sets the polarity allowed for REF main reference between terminals 5 and 7 AFTER applying Gain and Bias operators This is true only if this input is a speed voltage reference i e when the digital input programmed for the 6 Slave function is open see par C130 C135 0 Bipolar
134. e first speed error operating according to the following transfer 1 ST function G s 2002 Saftronics Inc 113 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL P250 Up Down Internal Reference Polarity P250 UpDnRefPol P P250 UpDnRefPol R 0 2 0 F This parameter sets the allowable polarity for the UpDownRef internal reference See also the MOTOR POTENTIOMETER chapter 0 Bipolar Bipolar reference 1 Positive only Positive reference only 2 Negative only Negative reference only P251 Up Down internal Reference Restoration at Power On P P251 UpDnRefMem P251 UpDnRefMem R 0 1 1 If set at default value 1 Yes this parameter restores the last value stored for the UpDownRef internal reference before or a power failure or the device power off Otherwise 0 No setting this internal reference will always restart from zero See also the MOTOR POTENTIOMETER chapter 0 No Reset zero value at power on 1 Yes Restoration at power on 7 3 CONFIGURATION PARAMETERS The value of the configuration parameters may be defined by the user only when the ENABLE digital input is not active These parameters are marked with a C followed by the parameter number Motor Rated Current P C000 Inom C000 Inom 2 R 1 100 D 100 96 This paramete
135. e of the tacho or encoder failure This alarm may be disabled through parameter C155 A009 Field OverCurrent The value of field current M018 has exceeded the product of C010 C017 value of the rated field current increased by the value percent set with the boost for more than 15 For the alarm trip the ENABLE digital input must be active The alarm trip is subject to a 10s internal delay When this alarm trips the field current is cut out A010 Armature OverVoltage The value of armature voltage MOO6 Varm has exceeded the max allowable limit which is linked with the rated value of the power section supply voltage such limit is determined by the following product x 1 316 For instance for a supply voltage nominal value equal to 400Vac the alarm threshold will remain equal to 526Vdc This alarm may be disabled through parameter C156 138 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION AA www saftronics com A011 Auto Tuning Inductance out of Range 0111 out of A011 L out of Range S The inductance corresponding to equivalent inductive drop P104 Ldl dt Pred resulting from the current auto tuning is not included in the allowable m A012 Mains Frequency out of Range A012 Frequency out of A012 Frequency out of Range S Frequency 008 MFreq of the mains is over 70 H
136. ed in case of voltage speed reference In particular the Gain function is programmed in parameter P125 default value 100 the Bias function is programmed in parameter P124 default value 096 while the Polarity function is pro grammed in parameter P123 default value Bipolar By contrast if auxiliary analog input IN 1 2 3 is to be used parameter C120 121 122 is to be set at value 2 loop add ref In addition main reference REF is to become a current reference either perma nently by programming parameter C050 at value 3 lref Vref or termporarily by closing a digital input set at value 6 Slave Enabled For each of those two modes main input REF is to be connected to zero volt For a drive couple operating in MASTER SLAVE mode the current reference to be supplied by the 1 master drive may be obtained on terminal 8 10 by programming P150 153 4 Current ref As the refer e ence standard level supplied by the MASTER drive is 5V at its rated current 003 100 if also the SLAVE drive must supply its rated current with said reference at REF main reference between termi nals 5 and 7 gain P125 lrefGain is to be set at 200 2002 Saftronics Inc 11 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 2 8 CURRENT LIMIT CONTROL OPTIONS 2 8 1 the speed and current control the current internal limitation remai
137. ed is equal to 1200 bps 128000 The transmission speed is equal to 28000 bps C162 Serial Connection Parity Control C162 Parity P C162 Parity d R 0 2 D 0 This parameter indicates whether the parity control is enabled and specifies the type of control 0 None No parity control is to be found Each character ends with two STOP BITS 1 Even The parity control is enabled It is an even parity control the data to be transmitted are added a bit so the total number of 1 is even Each character ends with a STOP BIT only 2 Odd The parity control is enabled It is an odd parity control the data to be transmitted are added a bit so the total number of 1 is odd Each character ends with a STOP BIT only 134 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL C163 Master Data Area Base Address C163 BaseAddress C164 Serial Time Out C164 RTUTimeOut ms C163 BaseAddress 0 32767 0 This parameter indicates the correspondence between the drive data area and the master data area C164 RTUTimeOut 0 00 2000 ms 300 ms This parameter indicates in milliseconds the timeout of the drive time out while receiving an additional character before considering the inquiry transmitted by the mast
138. efesotomasyon com Control Techniques emerson saftronics ac drive servo motor aM www saftronics com dcM6 dcM12 Digital DC Drives INSTRUCTION MANUAL This manual is an integral and essential part of the product Carefully read the instructions contained herein as they provide important hints for use and maintenance safety This device shall be used only for the purposes it is aimed at Any other use is to be considered as improper and dangerous The manufacturer is not responsible for any possible damage caused by improper erroneous and irrational uses e Saftronics is responsible for the device in its original setting Any changes to the structure or operating cycle of the device must be performed or authorized by Saftronics Engineering Department e Saftronics is not responsible for the consequences resulting from the use of non original spare parts Saftronics reserves the right to make any technical changes to this manual and the device without prior notice Any misprint or spelling mistake will be edited in the new versions of this manual The information contained herein is Saftronics property and cannot be reproduced Saftronics enforce their rights on the drawings and catalogues according to the law REV D3 07 P N 027 2051 May 2002 Copyright Saftronics Inc 2002 Saftronics Inc retains the right to change specifications and illustrations in the text without prior notification The contents of this doc
139. eing already familiar with the use of the keypad If need be refer to the KEYPAD AND ALPHANUMERIC DISPLAY section for further information For a clearer drive operation the drive operating mode is supposed to send references and control sequence to inputs by means of the terminal board This section has to be considered as a simple and useful guide aimed at achieving a proper adjusting of the device It covers both the regulations regarding the most common applications and the setting up of more specific configura tions For further information about the function of the different hardware terminals or software parameters and any addi tional details refer to the specific sections of the manual In particular it is strongly recommended to refer to the POWER CONNECTIONS and SIGNAL CONNECTIONS sec tions for a correct use of the hardware terminals as well as the BLOCK DIAGRAM and the PARAMETER LIST sec tion for a proper setting of the software parameters 2 2 PRELIMINARY CHECKS 2 2 1 When installing the equipment carefully read the information given on the stick on plate fitted on the front panel and make sure that the supply voltage value required to supply the power section at bars L1 2 3 does not exceed the maximum value advised standard value 480Vac for dcM6 and dcM12 Check also that the supply voltage for the field regulator on terminals E1 2 and for the control section on terminals 53 54 is included within the suggested range standar
140. eld regulator 2002 Saftronics Inc 13 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am PME www saftronics com dcM INSTRUCTION MANUAL AUTOMATIC TUNING The drive acknowledges the main characteristics of the motor and load to automatically calculate the most convenient parameters to be introduced in the speed and current loops SERIAL INTERFACE may be supplied with a MODBUS protocol according to RS232 C standard and RS485 standard For more details please contact Saftronics and ask for INTERFACING VIA MODBUS FIELD BUS ProfiBus DP available By request InterBus DeviceNet ControlNet CANopen are available The following items may be set at dcM input a START and ENABLE digital inputs and six programmable digital inputs b Speed voltage reference or current reference Finally dcM may duplicate by means of its programmable analog or digital outputs the input signals sent by the field bus and resend those signals to the bus field for the analog or digital inputs For more information please ask for INTERFACING VIA PROFIBUS DP ACCURACY 0 1 of rated speed following 1 Load variations up to 100 of the rated torque 2 Root mean square variations of the supply voltage of 10 15 or higher depending on each case with respect to the rated value 3 Temperature variations of 10 C ANALOG INPUTS No 3 configurable analog inputs and No 1 fixed analog input 12 bit resolu
141. ences to be stored the valid one results from the closing of one or more digital inputs that have been properly configured If three digital inputs set to 1 Preset Speed A 2 Preset Speed B and 3 Preset Speed C the preset run reference is determined by the table below where a blank square indicates the digital input opening state or the input that has not been set and the black square indicates the closing state Selected run reference PresetSpdC _ PresetSpdB PresetSpdA Main Ref PresetSpd1 PresetSpd2 PresetSpd3 PresetSpd4 mE PresetSpd5 PresetSpd6 PresetSpd7 0 Among the seven preset run references if you want to select only the first three ones you just need to two digital inputs as 1 Speed A and 2 Preset Speed B For one reference only you just need to set one input to 1 Speed A first input 2 Preset Speed B second input 3 Preset Speed C fourth input 2002 Saftronics Inc 111 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor PME www saftronics com dcM INSTRUCTION MANUAL P221 Jog Ramp Selection P221 JogSelect P P221 JogSelect R 0 2 0 This parameter defines the ramps to be assigned to the jog references 0 Common Ramps The jog references pass through common ramps P031 P032 P033 When the jog digital input opens ramp P03
142. er a concluded message C165 Rx gt TxDelay 0 00 2000 ms 0 00 ms This parameter concerns the half duplex transmission mode only like the two wire RS485 standard It defines in milliseconds the delay time of the drive before its response to a master inquiry to make sure that the latter has already switched to the listening mode 2002 Saftronics Inc 135 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 8 DIAGNOSTICS 8 1 ALARM PARAMETERS These parameters are displayed on the Status page when an alarm trips in this case the equipment is simultane ously locked They are marked on the display with an A followed by the parameter number TRIP Whenever a failure is detected the microcontroller operates both the keypad display and the two seven seg ment displays of the control board The code relating to an alarm is shown and the drive is then locked Delay and disabling When both alarms A016 Mains Overvoltage and A017 Mains Undervoltage are tripped i e the alarms of the out of tolerance mains value their connection may be delayed with parameter C141 Similarly alarm A027 Serial Link Failure and A028 FielaBus Failure may be delayed through parameters C142 and C143 respectively The other alarms are characterized by an internal preset and fixed delay Finally the trip of a certain number of alarms may be di
143. erally used if the motor manufacturer impos es that when the speed of rotation increases the max current to be supplied to the motor is to increase with a similar law so as to avoid any switching trouble in the collector Another typical application example of the hyperbolic limit is the mixed control of the armature limit current shown in the figures The three figures show depending on speed n the trends of armature max current IA field current IF max torque T and max power In the first range 0 lt n lt n4 the motor is in full field and the armature max current is kept constant so the opera tion is in constant max available torque mode The max allowable power as the product of armature voltage by armature current increases proportionally and attains its max level at speed n In the second range n lt n lt na the motor is in full field but the armature max current decreases hyperbolically thus leading the max torque to decrease with speed The max available power as a product of torque by speed is kept constant so the operation is in constant max available power mode In the third range n lt n lt the armature current is kept constant but the motor is in field weaking mode so the max torque goes on inversely decreasing with respect to speed The max available power as a product of torque by speed or of voltage by current is kept con stant so the operation is still i
144. erface connector to ES800 connector CN5 Gate lead 6B dcM12 CN6 Gate lead 6A dcM6 12 CN7 Interface connector to ES727 connector CN2 AC supply voltage CN8 Gate lead 3A dcM6 12 CN9 Gate lead 3B dcM12 CN10 Gate lead 4B dcM12 11 Gate lead 4A dcM6 12 CN12 Gate lead 1A dcM6 12 13 Gate lead 1B dcM12 CN14 Interface connector to ES800 connector CN1 CN15 Gate lead 2B dcM12 16 Gate lead 2A dcM6 12 CN17 Interface connector to Burden pak ES729 18 Interface connector to Burden pak ES729 19 C T s feedback leads CN20 Interface connector to ES727 connector CN1 CN21 N A CN22 O T switch leads CN23 Fan supply leads 3 18 BURDEN PAK CARD ES729 The burden pak is scaled to the power unit rating ES729 takes the current feedback signal and provides current limit protection to the drive If the burden pak is replaced with any other burden pak it could result in damage to the power unit if not properly sized ES729 Description of Connectors Interface connector to ES800 connector 18 2 Interface connector to ES728 connector CN17 3 19 FIELD REGULATOR CARD ES734 Field regulator is designed to control the field current of a DC motor 5 Amps for a 100 Amps Power Unit and less and 15 Amps for Power Unit above 100Amps with option of 35 Amps The ES734 controls a single phase semi con trolled bridge 2 SCR s 2 Diodes and a free wheeling diode The ES800
145. erial to be lowered is lighter than the counterweight the motor would be pulled by the counterweight and would accelerate in a forward direction while drive dcM6 would be kept in neutral zero current The torque direction is opposite to the speed direction as a result dcM6 regenerates some energy from the motor to the supply mains 2002 Saftronics Inc 63 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor PME www saftronics com dcM INSTRUCTION MANUAL 15 Quad FORWARD MOTOR 15 Quad FORWARD MOTOR ELEVATOR CAPSTAN Non regenerative current control limitation E Non regenerative forward speed control 2m Quad REVERSE BRAKE 2 Quad REVERSE BRAKE ELEVATOR CAPSTAN C Regenerative current control limitation i E Regenerative reverse speed control 00721 0 64 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor SAF TRONS www saftronics com dcM INSTRUCTION MANUAL 6 6 MOTOR HEATING THERMAL IMAGE dcM converter s software is able to detect the motor rise in temperature A motor heating i e the rise in tempera ture with respect to ambient temperature T t Tamp of a motor supplied with constant current l follows a curve 1 where is the motor thermal time constant k is
146. es of the encoder to be connected are the following 1a Line driver encoder RS422 output standard 2a High level of the output waveform on the six channels ranging from 5 15Vdc 3a Max input frequency equal to 102 400kHz e g 1024 pulse rev for 6000 RPM max 4a 5Vdc or 24Vdc encoder supply through dcM drive The following D connector pins should be used pin 1 Input for channel A pin 2 Input for channel A pin 3 Input for channel B pin 4 Input for channel B pin 5 Input for channel N 1 pin 6 Input for channel N 1 pin 7 5VDC supply output pin 8 pin 9 24VDC supply output 38 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL In this case it is not necessary to use one of the three collar shaped cable fasteners located on the bottom of the control board supporting guard to connect the screened cable shield of the encoder to the ground potential unless a screened 9 pole flying male connector is used Said connector is to be assembled inside a screening metal body In that way the ground potential on 90 female connector in board ES801 will be transmitted to the metal body then to the screened cable shield connecting the encoder This is not required for the speed feedback but is required for the position control 3 25 MILLIAMPERE INPUT OUTPUT SIGNALS It is possible to
147. ets in milliseconds the delay time of the drive locking when either alarm A016 Mains OverVoltage or A017 Mains UnderVoltage trips For alarm A017 Mains UnderVoltage the delay set through this parameter is active only if the supply voltage does not decrease under 3 4 of the threshold value 8596 or 8096 of the rated value and if no regeneration braking is in progress In any other case the alarm will immediately trip C142 A027 SLink 1 00 100 s 1 00 s When the serial communication is selected as a reference or command source this parameter sets in seconds alarm A027 Serial Link Failure trip delay provided that no valid message has been sent C143 A028 FBus 1 00 100 s 1 00 s When the field bus is selected as a reference or command source this parameter sets in seconds alarm A028 FielaBus Failure trip delay provided that no valid message has been sent C150 Alarm 001 Trip Disabling P C150 A001 Fid R ejje 9 F C150 A001 Fld 0 1 0 It inhibits alarm A001 Field Failure trip 0 Included The alarm is enabled 1 Excluded The alarm is disabled 2002 Saftronics Inc 131 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL C151 Alarm 004 Trip Disabling P C151 A004 Load C151 A004 Load R 0 1 0 It inhibits alarm 004 Load
148. f first environment and second environment and for the instructions on how to choose the filters to be used see chapter EMC CHARACTERISTICS AND INPUT FILTERS WORKING TEMPERATURE From 0 to 40 C ambient temperature 2 derating for each degree of temperature increase MAXIMUM OPERATING ALTITUDE 1000m 5 1 1 derating for each 100m of altitude increase RELATIVE HUMIDITY 20 90 with no condensate WEIGHT amp DIMENSIONS see Section 12 16 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor SAF ROMS www saftronics com dcM INSTRUCTION MANUAL 3 2 RATINGS 3 2 1 240 Vdc Drive Rating Size Selection Chart HP AC Input DC Output Burden Pak AC Fuse DC Fuse Heat Loss 06 12 5729 Watts 5 2005 17 20 100 20 35 35 51 7 5 27P5 24 29 72 40 40 50 87 10 2010 32 38 95 40 40 50 114 15 2015 45 55 78 70 80 80 165 20 2020 58 72 90 80 80 100 216 25 2025 72 89 89 100 100 125 267 30 2030 86 106 70 150 125 160 318 40 2040 114 140 93 150 160 200 420 50 2050 143 175 97 180 180 200 525 60 2060 173 212 84 250 250 315 636 75 2075 208 255 73 350 315 350 765 100 2100 277 341 97 350 350 400 1023 125 2125 350 425 85 500 500 600 1275 150 2150 415 506 85 600 600 600 1518 3 2 2 480 Vdc Drive Rating S
149. f par C094 StartSafety is set to 1 Yes and an alarm tripped has been manually or automatically reset this warning indicates the steps to take for 58 2 nw EZ the drive restart This warning disappears when the ENABLE input opens 005 Restart after an Emergency Stop from Keypad W005 Open Close START to run W005 Open Close START to run S If the equipment has been stopped by pressing the STOP key on the keypad par C103 EmergStop set on purpose this warning indicates the FWD STOP steps to take for the drive restart This warning disappears when the START Lm 006 Backup Values Stored RAM 006 Backup parameters used W006 Backup parameters used 5 This warning may pop up after resetting Alarm A025 EEPROM WorkArea Failure It indicates that the backup parameter values have been loaded in the drive RAM Provided that these values are the required values i e provided that the P002 command 2 WorkAreaBackup has been sent after starting the equipment the equipment could be normally started but the alarm will be displayed when the equipment is started again We recommend to rewrite the EEPROM work area by restoring the backup values through command P002 gt 3 Backup Restore the warning disappears See also the PARAMETER COPY chapter 2002 Saftronics Inc 145 efesotomasyon com Control Techniques emerson saftronics ac
150. f the Reverse function applied to the reference selected to be displayed in this parameter i e Ref Preset Ref or Jog Ref The value contained in this parameter is displayed also in the first line on the Keypad page while the other measure parameters selected through par 5 FirstParm and MeasureSel may be contained in the lower line Speed Voltage Feedback P M001 nFdbk 001 SpeedFdbk nFdbk 96 R 100 100 96 F This parameter indicates as a percentage of the max feedback corresponding to 10V the value of the n setpoint speed voltage global reference resulting from the algebraic sum of all references applied In case of a tacho feedback or an encoder feedback 10096 of such value corresponds to the max speed set through parameter 010 In case of an armature feedback 10096 of such value corresponds to the max voltage set through parameter 011 72 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TROMS www saftronics com dcM INSTRUCTION MANUAL M002 Speed Voltage Error M002 SpeedError Verr 002 Verr 200 200 96 This parameter indicates as a percentage of the max error corresponding to 10V the difference between the n setpoint speed voltage global reference and the feedback quantity tacho encoder or armature voltage For instance if
151. f the terminal board is selected C132 It indicates the configuration of programmable digital input 3 MDI 3 terminal 32 if the terminal board is selected C133 It indicates the configuration of programmable digital input 4 MDI 4 terminal 34 if the terminal board is selected C134 It indicates the configuration of programmable digital input 5 MDI 5 terminal 36 if the terminal board is selected C135 It indicates the configuration of programmable digital input 6 MDI 6 terminal 38 if the terminal board is selected 0 Reset When the input closes it enables deleting the alarm previously stored This is equivalent to simultaneous pressing the PROG and ENTER keys 1 Preset Speed A When the input closes it selects in conjunction with other digital inputs programmed with the 2 Preset Speed and 3 Preset Speed C functions a preset run reference among all references programmed in parameters P211 P217 according to the matching table contained in the section relating to said parameters 2 Preset Speed B When the input closes it selects in conjunction with other digital inputs programmed with the 1 Preset Speed A and 3 Preset 128 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL Speed C functions a preset run reference among all references programmed in parameters P211 P217 according t
152. feed an analog input as an mA signal to terminals 5 7 REF or terminals 11 13 IN 1 if current enters terminal 5 and goes out from terminal 7 or if current enters terminal 11 and goes out from terminal 13 the internally generated signal is positive by default Similarly it is possible to obtain an analog output as an mA signal from terminal 8 OUT 1 or terminal 10 OUT 2 said signal that may be only outgoing towards OV is obtained by an internally generated signal which is positive by default 1 INPUT SIGNALS Between signal in in mA which is externally applied and signal Vg in Volt which is internally generated in the load resistance terminals the following relation is applied lin 20mA VnL 4V The Gain and Bias functions and the Polarity and Reverse following functions may be applied to signal V RL before generating the TermRef reference displayed by parameter M014 or signal AnIn1 displayed by parameter M010 according to the formula below TermRef Anin1 Vg x Ens 10x Bias 100 With the default values of the relevant parameters the final matching between in and TermRef 1 is the follow ing ln OMA gt 1 lin 4 gt 1 0 8V lin 20 1 4V The table below shows the values to be assigned to the different parameters relating to the Gain and Bias functions in order to obtain a particular reference Term
153. ference will be set to zero and the drive will be disabled motor idling drive in stand by On the other hand in case parameter C051 is set at 0 operating the drive will automatically inhibit any firing pulse as soon as the motor down ramp is over The motor keeps idling 1b MOTOR NEUTRAL If a rotating motor controlled by the drive is to be put in neutral the contactor is recommended not to be opened First open the above mentioned additional contact which is to be previously wired to terminal 24 series connected to auxiliary NO contact of contactor M then open contactor M 36 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL am SAF TRONS www saftronics com 3 23 LEDS AND TEST POINTS ON CONTROL CARD The following is a list of visual indications provided by the LEDs installed on control card ES800 The voltage values of the test points on the same board are also stated LED OP1 green 58 heatsink switch closed OP5 green SA bridge A active OP6 yellow SB bridge B active OP7 green RUN drive running OP8 yellow LIM drive in current limitation OP27 green 50 Terminal 24 connected to 24 ENABLE OP28 green 51 Terminal 26 connected to 24V START OP29 green S2 Terminal 28 connected to 24 MDI1 OP30 green 53 Terminal 30 connected to 24V MDI2 OP31 green S4 Terminal 32
154. g from the MIXED mode i e from terminal board serial communication field bus or keypad to the LOCAL mode only i e from keypad only and vice versa by simultaneously pressing the A and ENTER keys 0 Enabled Switching obtained by pressing the two above mentioned keys simultaneously enabled 1 Disabled Switching obtained by pressing the two above mentioned keys simultaneously disabled This parameter may be used to avoid an accidental switching of the drive operation trough the keypad NOTE in any operating mode the drive running procedure always requires the ENABLE contact closing on terminal 24 124 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF ROMS www saftronics com dcM INSTRUCTION MANUAL C103 Emergency Stop P C103 EmergStop C103 EmergStop RK R 0 1 0 This parameter defines the operating mode of the STOP key 0 Included Regardless of the command sources that have been selected pressing the STOP key determines the Start digital input contact disabling Speed will therefore decrease according to the ramp set in parameter P034 RampStopPos or P035 RampStopNeg depending on the reference polarity To restart the device open and close the START digital input In that case warning W005 Open Close START to run is displayed 1 Excluded This key is active when at least one of the selected
155. h parameter P150 The value per cent displayed in this parameter considers the Gain Bias and Polarity operators set through parameters P152 P151 and P157 respectively 020 Analog Output 2 on Terminal 10 020 AnalogOut2 AnOut2 V 20 AnOut2 10 0 10 0 V This parameter indicates in Volts the value of the analog output available on terminal 10 The output at issue may be configured through parameter P153 The value per cent displayed in this parameter considers the Gain Bias and Polarity operators set through parameters P155 P154 and P158 respectively 021 Final Internal State of Digital Inputs M021 Digln W 3 the figure shows a display example for each input This parameter displays the final internal state of the ENABLE and START digital inputs and of MDIx digital inputs that can be configured through par C130 C135 The final internal state results from the combination of com mands sent from the sources enabled with par C110 C112 SeqSelx selected through terminals serial connection or field bus Particularly for the ENABLE input the signals AND is considered this input is active only if all inputs are active and if the ENABLE contact is closed on terminal 24 For the remaining seven inputs the signals OR is considered at least one of the inputs must be active A small black square indicates that the digital input is active The ID digital input matching
156. he device is supplied at the terminals of the field rectifier and as long as the run command is not operated the field current value supplied is the one set in the current parameter The Field Economy function is disabled whenever the motor speed of rotation is other than zero See also the FIELD REGULATOR chapter 116 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL C015 Standstill Field Current Decrease Delay 6015 FidEcoDelay 4 015 FldEcoDelay sec R 0 0 300 5 D 240 s F This parameter may be programmed even when no dynamic regulation of the field current in field weakening mode is needed This parameter indicates in seconds the time interval that has to pass before reducing the field current to value C014 FidEcoLevel starting from the time when the drive stops See also the FIELD REGULATOR chapter C016 Field Weakening Min Current P C016 IfldMinLim R 10 100 F This parameter shall be programmed only when a dynamic regulation of the field current in field weakening mode is needed It sets as a percentage of C010 flaNom the motor field nominal current min limit during the dynamic regulation in field weakening mode Field current can never be lower than the value of actual parameter even if speed is at its max value If the motor speed of rotation reaches too
157. his parameter do not save as an absolute value any value exceeding the one saved in EEPROM for P016 as this will cause the drive malfunction This parameter may be used to limit the speed set in the running direction at issue P016 Min Negative Speed Voltage Reference P016 nMinNeg R 100 0 96 Eafe EE 0 F It sets as a percentage of the max reference corresponding to 10V the min absolute value allowed both for the Hef n reference applied to the ramps and for the n setpoint negative global speed voltage reference even if no reference is applied or if positive references are applied In this parameter in order to enter a min reference you need to program 86 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION AA www saftronics com P012 2 Negative only first Anyway disabling of minimum speed can be achieved by closing the digital input set to the 9 MinSpdDisabled function see parameter set C130 C135 WARNING In this parameter do not save as an absolute value any value exceeding the one saved in EEPROM for P015 as this will cause the drive malfunction WARNING If a value of P012 2 is saved EEPROM do not save any value other than zero for this parameter as this will cause the drive malfunction Rise Ramp of the Positive Reference P
158. ield current decrease is inhibited Alarm A023 Underlimited trips and the drive is locked The dynamic regulation of the field current in field weakening mode is possible only in tacho or encoder feedback mode not in armature feedback mode If a speed feedback failure occurs the automatic switch may be programmed towards the armature feedback by setting par C155 to 2 Switch to warm In order to keep the speed of rotation approx constant with the same reference the max armature voltage is to be programmed in par P011 Always referring to the motor chosen in the example above P011 VarmMax C012 VarmNom 400V 6 8 CONFIGURABLE DIGITAL OUTPUTS dcM drive is provided with 5 digital outputs relay normally open contact Any output may be assigned to some configurations for further details see the chapter relating to par P170 176 182 188 194 and to the others chap ters relating to the configurable digital outputs Depending on the configuration assigned every output enables either when a certain logic condition occurs e g 3 Motor at Speed or when an analog quantity exceeds a certain level e g 8 fld Threshold In both cases the drive may be programmed in order to have a particular delay before enabling or disabling the digi tal output At the same time the logic may be defined i e the digital output enabling determines the relay excitation so the contact closing or the relay disexcitation so the contact open
159. ime the power section is shut off 028 PhaseSeq P M028 PhaseSeq 028 PhaseSeq R RST TSR F Indicates which is the phase sequence supplying the drive section power 5 with reference to bars L1 L2 L3 respectively 029 Digital Input State from Terminal Board P M029 TrmDgln 029 ES123456 mE R m 3 the figure shows a display example for each input F This parameter displays the state in the terminal board of the ENABLE and START digital inputs and of the MDIx digital inputs configured through par C130 C135 A small black square indicates that the digital input is active i e that the relevant terminal is connected to 24V The ID input terminal matching is the following ENABLE input logical state terminal 24 START input logical state terminal 26 gt input logical state terminal 28 gt MDI2 input logical state terminal 30 gt MDI input logical state terminal 32 gt input logical state terminal 34 gt MDI5 input logical state terminal 36 gt MDIEG input logical state terminal 38 2002 Saftronics Inc 79 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor cows dm APTUS INSTRUCTION MANUAL www saftronics com M030 Digital Input State from Serial Connection P M030 58001 M030 ES123456 i R m 3 the figure shows a display example for each in
160. ing Moreover if the digital input is to be enabled when an analog quantity exceeds a particular level the enabling level and the hysteresis necessary to avoid any relay high frequency vibration when the relevant analog quantity is near the level chosen are to be defined For instance suppose configurable digital output MDO1 is to be enabled when the armature current reaches 38 of the drive nominal current A hysteresis is to be entered in said current threshold equal to 1096 of the current level chosen The output enabling is to have a 10 second delay The output disabling is to have a 18 seconds delay In order to obtain this the following setup is required 68 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL P170 2 larm Threshold P173 38 P174 10 P171 10s P172 186 The first diagram in the following figure shows a possible trend of the time depending armature current The second diagram shows MDO digital output enabling and disabling The third and fourth diagram show the physical state of the contact at terminals 25 27 respectively provided that the logic setup is the following P175 0 Normally Open or P175 1 Normally Closed larm P173 38 P173 P174 28 i the current level is not lower than level Hysteresys MDO1 i for a
161. ing for dcM12 600 800HP 460V 160 12 5 Dimension drawing for dcM6 250 300HP 460V and 125 150HP 230V Chassis 161 12 6 Dimension drawing for dcM6 400 500HP 460V 162 12 7 Dimension drawing for dcM6 600 800HP 460 163 13 DYNAMIC BRAKING RESISTOR SIZE 164 14 FUSE MOUNTING INSTRUCTIONS 165 15 CROSSOVER RESISTOR INSTRUCTIONS 168 16 ES800 REPLACEMENT INSTRUCTIONS FOR IDENTICAL SOFTWARE REV 169 17 QUICK START SECTION 172 17 1 Menu parameter tree 173 17 2 parameter 174 173 Setting motor data 2 175 17 4 Set up procedure for voltage 175 17 5 Set up procedure for tachometer feedback 176 17 6 Set up procedure for encoder feedback 177 177 Set up procedure for automatic tuning 178 17 8 Set up procedure for current auto 0 179 17 9 Set up pr
162. inks during the fall ramp programmed in parameters P034 RampStopPos or P035 RampStopNeg after disabling the START dig ital input When this LED is on the RUN LED in control board ES800 is on as well The REF LED may have the following two functions a If at least one reference among ref n reference applied to the ramps and one of the three auxiliary references IN 1 IN 2 IN 3 is configured as a speed reference then the LED will turn on when the speed reference is other than zero even when the motor is not started 42 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL b If no reference among ref n reference applied to the ramps and the three auxiliary references IN 1 IN 2 IN 3 is configured as a speed reference but at least one of them is configured as a current reference then the LED will turn on when the current reference is other than zero even if the motor is not started The FORWARD and REVERSE LEDs indicate the direction of rotation of the motor when it is on the forward direc tion is the one obtained by generating a motor torque with a positive reference When the motor is not yet running the FORWARD LED will flash if the prepared run reference has a positive polarity whereas the REVERSE LED will flash if the prepared run reference has a negative polarity WARNING the reference polarity indic
163. iques emerson saftronics ac drive servo motor cow dm APTUS INSTRUCTION MANUAL www saftronics com 014 Min Positive Speed Voltage Reference P 14 nMinPos P014 nMinPos 2 R 0 100 96 D 0 96 F This parameter sets as a percentage of the max reference corresponding to 10V the min allowable value both for the Ref n reference applied to the ramps and for the n setpoint global positive speed voltage reference even if no reference is applied or if negative references are applied In this parameter in order to enter a min reference you need to program P012 f Positive only first Anyway disabling of minimum speed can be achieved by closing the digital input set to the 9 MinSpdDisabled function see parameter set C130 C135 WARNING In this parameter do not save any value exceeding the one saved in EEPROM for P013 as this will cause the drive malfunction 1 WARNING If a value of P012 1 is saved EEPROM do not save any value other than zero for this parameter as this will cause the drive malfunction P015 Max Negative Speed Voltage Reference we o R 100 0 96 D 100 4 This parameter sets a percentage of the max reference corresponding to 10V the max allowable absolute value both for the Ref n reference applied to the ramps and for the n setpoint global negative speed voltage reference resulting from the algebraic sum of all the applied references WARNING In t
164. is finished Stop command or remove the enable input 2002 Saftronics Inc 181 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor www saftronics com dcM INSTRUCTION MANUAL 17 12 MAIN REF INPUT 10 V Positive Reference voltage output for analog speed potentiometer Common voltage for analog inputs rs Negitive Reference voltage output for analog speed potentiometer o Voltage 10 vdc JP7 in pos 1 2 Configured by P120 121 122 Ref In i Current 0 20mA JP7 in pos 2 3 Configured by P120 124 125 Ref In 3 17 13 1 2 3 AUX INPUT 2 OV Common voltage for analog inputs 11 An Ini Voltage 10 vdc JP8 in pos 1 2 Configured by C120 P126 127 128 17 l An In2 Voltage 10 vdc JP8 in pos 1 2 Configured by C121 P129 130 131 19 An In3 Voltage 10 vdc in pos 1 2 Configured by C122 P132 133 134 11 0 20mA In1 4 13 Current 0 20mA in pos 2 3 Configured by C120 n 1 1 17 14 DIGITAL INPUTS rT 4 40 24Vdc opto main voltage supply output for digital inputs operation 24vdc 28 and or to supply the encoder MDI 1 Digital Input 1 Configured by C130 Default is 0 Reset MDI 2 Digital Input 2 Configured by C131 Default is 12 JogA MDI 3 Digital Input 3 Configured
165. is the following E ENABLE input logical state S gt START input logical state gt input logical state gt MDI2 input logical state gt MDI input logical state gt MDI4 input logical state gt input logical state gt input logical state 2002 Saftronics Inc 77 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL PME www saftronics com M022 Digital Output State M022 12345 MDO M022 MDO m 3 the figure shows a display example for each output This parameter displays the state of the available MDOx digital outputs that may be configured through parameters P170 P199 A small black square indicates that the digital output is closed The output terminal states are the following 1 gt state of the contact corresponding to output MDO1 terminals 25 27 2 gt state of the contact corresponding to output MDO2 terminals 29 31 3 gt state of the contact corresponding to output MDOS terminals 33 35 4 gt state of the contact corresponding to output MDO4 terminals 37 39 5 gt state of the contact corresponding to output MDO5 terminals 41 43 MO23 Field Regulator Internal Digital Input State 023 RUN gt 55 2 FidReg M FWD Es ew 12112 z M024 Output Power M024 OutputPower Pout kW MIN M025
166. is turned on the active operating mode depends on the values stored on EEP ROM for parameters C105 C108 RefSelx and parameters C110 C112 SeqSelx The active mode may be inferred by the state of LEDs LOC REF and LOC SEQ Therefore Main Ref can result from the sum of all four avail able sources whereas the command sequence digital inputs can be simultaneously entered through max three of the four sources LOCAL mode only if the A and ENTER keys are simultaneously pressed if par C100 LocRemSel is set at 0 Enabled the drive will operate in LOCAL mode only for references and commands i e digital inputs Therefore only one selected source is available for the reference equal to UpDownRef and only one source available for the commands equal to KeyPad will be simultaneously selected In this way the run stop commands may be set only through keypad by pressing the RUN and STOP keys In addition the jog run may be set only by means of the 2002 Saftronics Inc 43 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL JOG key according to the reference value equal to the one obtained by enabling digital input JogA The polarity reversal of the Ref n reference applied to the ramps may be obtained by pressing the only REVERSE When this mode is programmed the display will automatically sh
167. ive reference P033 8 Ext curr lim The reference to analog input N x is a current limit external reference for bridge A only dcM6 or for both bridges A and B dcM12 9 BrdgA ext lim The reference to analog input N x is a a current limit external reference for bridge A only in dcM12 This function is available for dcM12 only 10 BrdgB ext lim The reference to analog input N x is a a current limit external reference for bridge B only in dcM12 This function is available for dcM12 only 11 Fld curr lim The reference to analog input N x is a signal for the decrease per cent of the motor rated current programmed through parameter C010 FidNom NOTE As for the external current limit at 100 of the internal signal M010 MO11 or M012 and if we suppose that limit parameters P050 P057 are programmed for 100 then the current limit will be the one set by C000 motor rated current eventually reduced by hardware limit IMAX T2 On the other hand if the internal signal is under 100 the current limit will proportionally decrease this is shown in the diagram where the polarity to be applied to the external limit signal of both bridges is assumed to be positive par C126 129 132 AnInxPol at1 Positive only and 000 50 050 50 and 051 100 If more than analogic input has been setup an external current limit then the one with minimum limit resulting in absolute value is considered
168. ize Selection Chart Model Number 06 12 AC Input Amps DC Output Amps Parameter C000 76 Burden Pak Size ES729 Heat Loss Watts The above table is based in Table 430 147 of the National Electrical Code 1 Voltage across the burden resistor is directly proportional to the output current Full armature current is equal to 1 Vdc 2 To set C000 Motor FLA Burden Pak value 100 2002 Saftronics Inc 17 dcM efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION MANUAL www saftronics com 3 3 CT S SETTINGS BY HP FOR DCM6 M12 Model Current Transformers BurdenPAK M06 Connection Diagram Resistor Value 12 P N 2005 TA1120004 6 2500 100 0 2 1 2 taps ES729 20 47 5 4010 Ratio 125 27P5 2010 TA1120004 6 2500 100 0 2 1 3 taps ES729 40 4015 4020 Ratio 250 TA1120004 8 3333 Q 4025 4030 100 0 2 1 4 taps ES729 60 Ratio 500 2015 TA1120004 7 1428 Q 100 0 2 1 4 taps ES729 70 4040 Ratio 500 2025 TA1120004 5 0000 Q 100 0 2 1 4 taps ES729 100 4050 4060 Ratio 500 2030 2040 TA1220001 6 6667 Q 200 0 2 ES729 150 4075 Ratio 1000 2050 TA1220001 5 5558 Q 200 0 2 ES729 180 4100 Ratio 1000 2060 TA1320001 6 0000 Q 300 0 2 ES729 250 4125 4150 Ra
169. jumper JP9 and or JP10 2 3 is to be brought to the output at issue polarity may not be defined as the current direction is the one outgoing from the terminal towards zero volt P170 176 182 188 194 Digital Output 1 2 3 4 5 Configuration P 170 176 182 188 194 MDO1 2 3 4 5 Cfg P MDOxCfg kkk R 11 D P170 0 P176 1 P182 2 P188 5 P194 4 F P170 It indicates the configuration of digital output 1 MDO 1 to terminals 25 and 27 P176 It indicates the configuration of digital output 2 MDO 2 to terminals 29 and 31 P182 It indicates the configuration of digital output 3 MDO 3 to terminals 33 and 35 P188 It indicates the configuration of digital output 4 MDO 4 to terminals 37 and 39 P194 It indicates the configuration of digital output 5 MDO 5 to terminals 41 and 43 0 Drive OK No alarm is active 1 SpeedThreshold The speed voltage threshold set has been overcome 2 larm Threshold The armature current threshold set has been overcome 3 Motor at Speed The speed voltage set at the ramp circuit input has been reached i e the ramp transient has been performed This function is enabled as long as the drive is running 4 CurrLimitation The drive is in a current limit state i e the armature cur rent is at the max value allowed at that moment 5 Drive Running The drive is running it is controlling 6 Full OverLimit The drive has been in a current o
170. k electromotive force and to display it in par M007 BEMF and it will not be able to keep the BEMF constant during the dynamic adjustment of the field current in field weakening mode or in armature feedback stage by means of the compensa tion function to be done through parameter P86 with a value defined as a percentage of par P088 value 2 4 SPEED CONTROL MODE OPERATION 2 4 1 The previous section MAIN CHECKS AND CONFIGURATIONS has already covered the programming proce dure of the speed corresponding to the maximum reference as far as the three main types of speed feedback tacho encoder armature are concerned As for the analog inputs main input REF between terminals 5 and 7 is generally used in common mode in differ ential mode or by sending a O 4 20mA reference after adjusting jumper JP7 of board ES801 in pos 2 3 The ramp function may be applied to said input Alternatively it is possible to use input IN 1 between terminals 11 and 13 in common mode in differential mode or by sending a 0 4 20mA reference after adjusting jumper of board ES801 pos 2 3 You can finally use input IN 2 between terminal 17 and OV or input IN 3 between terminal 19 and OV NOTE whenever a 0 4 20mA reference is to be used refer to the chapter dealing with MIL LIAMPERE INPUT OUTPUT SIGNALS to know the value to be programmed in the parameters relating to the Gain and Bias operators Make sure that at maximum
171. l is correct Go to step 17 7 2002 Saftronics Inc 176 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL 17 6 SETUP PROCEDURE FOR ENCODER FEEDBACK Record Motor Rpm at Base Speed and set P010 Default is 1750 RPM Top Speed if Constant Hp is required OK Before changing the drive from Armature Voltage Fdbk to Encoder Fdbk If motor rotation is wrong remove line power to controller and switch the field leads 21 Set C070 3 nFdbkSelect CK Set C072 Encoder Fdbk to ppr of encoder Pulse rev If posible turn the motor by hand and check that the correct polarity would be positive fdbk for a positive reference Forward LED is ON amp 001 will verify this If this is not possibly then set the speed reference to show 2 96 verify on 000 View 001 then start the drive and if the speed starts to take off or the drive trips on A086 Spd fdbk loss then reverse the signal CHA with CHB and CHA with CHB Go to step 17 7 Constant HP applications require a speed fdbk device Example of Constant Hp is when the motor is extended from base speed to top speed eg 1750 to 2300 rpm See section 17 11 2002 Saftronics Inc 177 efesotomasyon com Control Techniques emerson saftronic
172. larm is disabled C157 Alarm 016 017 Trip Disabling C157 A018 7 VAC P C157 A016 7 VAC R 0 1 0 It inhibits both alarm A016 Mains OverVoltage and A017 alarm Mains UnderVoltage 0 Included The two alarms are enabled 1 Excluded The two alarms are disabled C158 Alarm 027 Trip Disabling C158 A027 SLink C158 A027 SLink R 0 1 F It inhibits alarm A027 Serial Link Failure trip 0 Included The alarm is enabled 1 Excluded The alarm is disabled C159 Alarm 028 Trip Disabling C159 A028 FBus P C159 28 R 0 1 meee F It disables alarm A028 FielaBus Failure trip 0 Included The alarm is enabled 1 Excluded The alarm is disabled 2002 Saftronics Inc 133 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL C160 Serial Connection Drive Address ee P C160 DevicelD go R 1 247 D 1 F This parameter indicates the physical address identifying the dcM drive in the MODBUS connection relating to the serial mains which it is connected to if any C161 Serial Connection Transmission Speed P C161 BaudRate C161 BaudRate R 1200 128000 bps D 9600 bps F This parameter expresses the serial connection transmission speed baud rate in bits per second 1200 The transmission spe
173. limit and trimmer hardware limit IMAX T2 if any 2002 Saftronics Inc 93 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL a PME www saftronics com P059 Ramp Over the Current Reference P059 di dtMax P059 dl dtMax kkk lus A D 40 96 5 F This parameter indicates the max variation of the current reference in a microsecond that variation is expressed as a percentage of the max value 100 corresponding to the drive rated current This is the same as imposing to the current reference a min rise ramp time from zero to 100 and a min fall ramp time from 100 to zero The time expressed in milliseconds corresponding to a particular value of such R 01 1 0 ps B EIG gt parameter results from the following formula t e g the range of this 10 x P 059 parameter is equal to 0 1 10ms with a 0 25ms default value P060 Bridge A Current Overlimit P P060 OverLimA P060 OverLimA xA R 100 300 150 96 Bridge A current limit may be increased by this value per cent provided that you program P060 gt 100 Such value is applied to the present current limit resulting from the composition of the values set in all relevant parameters see parameter C000 and parameter set P050 P062 in case of internal current WARNING The actual overlimit is not to exceed the value st
174. lly occurs between the error value set in par P083 and the one set par P084 Verr2 This may be seen in the figure below Kp P073 KpSpdAdapt 777777777 P070 KpSpeed gt er Verr P084 Verr1 Verr2 00658 0 The speed parameter autoadaptation also controls the speed loop integral time During the transient the integral time may be changed starting from the original value set par PO71 TiSpeed up to the new value set in par P074 TiSpdAdapt In that case as well the transition between the two values gradually occurs between the error value set in par P083 Verr1 and the one set in par P084 Verr2 Two opposite cases are shown below requiring an opposite integral time change 1 Constant load quick reference change This may happen with an inertial load when the drive is in current limit mode due to a sudden speed reference change In that case to avoid any speed overshot at the transient end the proportional gain is to be temporarily increased and the integral time is to be longer as is shown in the figure below Kp Ti KpSpdAdapt F 77777 TiSpdAdapt P070 KpSpeed P071 TiSpeed Verr Verr P083 P084 P083 P084 Verr1 Verr2 Verr1 Verr2 00659 0 70 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM
175. log input 3 on terminal 19 This parameter indicates the amplification which is internally applied to the signal in the terminal board before summing the Bias Signal Vo obtained when applying the Gain and Bias operators to signal V4 is given by the following formula Vo V x P 10 104 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL P150 153 Analog Output 1 2 Configuration P P150 153 AnOut1 2 Cfg P AnOutxCfg R 0 13 D 0 F P150 It indicates the configuration of analog output 1 OUT 1 to terminal 8 P153 It indicates the configuration of analog output 2 OUT 2 to terminal 10 0 0 Volt O Volt 1 Ramped Vref Ramp block output 10V at 10096 of the max reference 2 Speed Error Speed error 10V with MOO2 10096 3 SpeedLoop OUT Speed loop output i e input signal of current limitation lock with the n setpoint global speed voltage reference at 128 of the max value the feedback 001 at 0 and the proportional gain 7 P076 P073 or P079 depending on the circumstances equal to 1 supposing that only the proportional part of PI regulator is active 4 Current Ref Current reference 5V with 003 100 For a drive pair having a MASTER SLAVE configuration the current reference to be given by the master drive may be obtained on terminal 8
176. lower than P054 rate of P010 max speed 3rd Mode Limit with hyperbolic trend depending on speed The current limit may be defined hyperbolically depending on speed I lim n no In the formula above nO is the max speed rate of the hyperbole vertical asymptote whereas c is the constant for inverse proportionality In the latter mode you need to program P056 rate for the max speed enabling the hyperbolic step P057 rate for the max speed disabling the hyperbolic step and 55 rate the motor nominal current at the end of the hyperbolic step provided that the motor nominal current rate at the beginning of the hyperbolic step corresponds to P050 51 value 60 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am S F ROMS www saftronics com dcM INSTRUCTION MANUAL For a better understating c and ng values obtained under such conditions are shown below C P050 x P055 x P057 P056 P050 P055 ng P050 x P056 P055 x P057 P050 P055 The operator may also program P057 100 so that the hyperbolic step ends with PO10 max speed When the current limit is defined by overlapping two of the modes above or all the modes above then the current limit enabled time after time will be the lower one among the limits relating to each of the modes applied The hyperbolic relation of the current limit with respect to speed is gen
177. lses rev The values set in parameter C072 and parameter P010 should allow product C072 P010 not to exceed 102 400kHz e g 1024 pulses rev for 6000 RPM max in order to avoid any drive failure 074 Tacho Transduction Ratio P C074 TachoConst R 5 120 V 1000 RPM D 50 V 1000 RPM F This parameter conveys information about the transduction ratio of the tacho used for the speed feedback according to a V 1000 RPM unit of measure 1 The values set on parameter C072 and parameter P010 should allow product C074 x P010 not to exceed the 250V value to avoid possible failures in the speed control by the drive C090 AlarmAutoReset Number P C090 AutoReset C090 AutoReset R 0 10 times D 0 times F This parameter programs the max number of autoreset retries of an alarm autoreset which may be performed when 2s have passed since the removal of the cause generating the alarm when the minimum time between two resetting procedures set on parameter C091 AutoResTime has not passed Set C090 0 to disable the function 122 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION AA www saftronics com C091 ResetTime of AutoresetNumber 091 AutoResTime P C091 AutoResTime R 1 999 5 F This parameter determines in seconds the minimum time interval that should pass from the last re
178. lue set in P054 When 001 nFdbk speed is higher than the value set in P054 P052 limit is used See also figure shown in the CURRENT LIMIT chapter WARNING The product of P050 C000 IMAX T2 is not to exceed 100 that corresponds to the drive rated current e g 100A for a dcM P052 Bridge A Second Current Limit P052 llim1A P P052 Ilim2A o R 0 300 96 100 This parameter sets the second current limit value relating to bridge A Such value indicates the percentage of motor rated current eventually with the trim mer hardware limit IMAX T2 That limit is used if the speed is higher than the value set in P054 When 001 nFdbk speed is lower than the value set in P054 P050 limit is used See also fig ure shown in the CURRENT LIMIT chapter WARNING The product of P052 x C000 IMAX T2 is not to exceed 10096 that corresponds to the drive rated current e g 100A for dcM 2002 Saftronics Inc 91 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL aM www saftronics com P053 Bridge B Second Current Limit P P053 2 used in dcM12 only P053 llim2B R 0 300 6 JOG 12 100 6 0 not used This parameter sets the second current limit value relating to bridge B It is available in dcM12 only Such value indicates the percentage of
179. meter auto adaptation following the error variation according to what has been mentioned in parameters and P084 to avoid possible speed overshoots which could occur in case of quick reference variations at constant load current limit drive or temporary speed losses in case of quick load variations at constant reference 0 No The auto aaptation is not enabled 1 Yes The auto adaptation is enabled 96 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL In both cases a different programmation is needed in the first event parameters are to be set not only for a proportional gain increase but also for an_integral time increase In the second case it is neces sary to set an integral time decreasing besides the proportional gain increase See also SPEED PARA METER AUTOADAPTATION chapter 083 First Speed Error for Auto Adaptation P P083 Verr1 P083 Verrl R 0 00 100 96 D 500 96 F This is the speed error value expressed as a percentage of the max error corresponding to 10V below which the speed PI will use parameters 7 and P071 or P076 and P077 should the digital input configured by setting one parameter among C130 C135 to 8 Second ParmSet be respectively open or closed WARNING In this parameter do not save any value exceeding the one saved in EE
180. meters P035 as well as any rounding value programmed in parameters P038 and P039 When the ramp times and rounding values are to be brought back to their original values the digital input is to be opened before sending the new speed reference if not the ramp programmed will not take place 8 Second ParmSet If a motor constantly operates under different conditions such as mechanical time constants gear ratio inertial moments and so on that require separate control parameters for the speed loop the input closing enables switching from the parameter standard values to its alternative values Particularly for the proportional gain integral time adaptated proportional gain adapted integral time the values programmed in P070 74 will switch to the values programmed in P076 80 respectively For the first two parameters the speed auto tuning will calcu late the standard or alternative values depending on the state of the digital input concerned 9 MinSpdDisabled you set parameter P012 SpdDmndPol to 1 Positive only 2 Negative only when the input closes this function will disable the min speed positive reference programmed in parameter 014 nMinPos the min speed negative reference programmed in parameter 16 nMinNeg 10 Ext Failure 1 Alarm A020 trips when the input opens 11 FldFrcEnabled When this input is closed it increases the field current to the value possibly set at parameter 017
181. mplification that is internally applied to the generated signal before summing the Bias Signal Vo obtained when applying the Gain and Bias operators to signal V4 is given by the following formula Vo V 10 Gain 100 100 P156 Analog Out Polarity on Terminal 6 P P156 lOutPol used in DCm12 only P156 R 0 1 dcM12 0 dcM6 1 not used F This parameter defines the range of current analog output Out on terminal 6 It is available in dcM12 only 0 Bipolar Bipolar range the amperemeter connected is to be a central zero one 1 Positive only Unipolar range the amperemeter connected is NOT to be a central zero one 106 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am AMI www saftronics com dcM INSTRUCTION MANUAL P157 158 Analog output polarity 1 2 P P157 158 AnOut1 2 Pol AnOutxPol R 0 1 0 P157 Polarity with which the signal in Volt can be generated by analog out put 1 on terminal 8 P158 Polarity with which the signal in Volt can be generated by analog out put 2 on terminal 10 0 Bipolar Bipolar range 1 Positive only Unipolar range only positive in the two above mentioned outputs This parameter is active only if the signal set on the analog output is a voltage signal 10 10V jumper JP9 and or JP10 in pos 1 2 If a current signal 0 20mA
182. n constant max available power mode The current limit value set at each speed value as we discussed above may be increased overlimit by the rate programmed in parameter P060 and P061 for bridge A and bridge B respectively Such limit current increase is permanent but if a given max allowable duty cycle is not respected for the current required 15096 of the rated current for 1m every 10m alarm A022 Drive It Trip trips n ns Nmax gt n Nmax T gt 00571 0 2002 Saftronics Inc 61 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor www saftronics com dcM INSTRUCTION MANUAL Finally the current limit value set at each speed value as we discussed above may be decreased using an external command by enabling a digital input programmed for function 4 Clim The current limit value enabled is decreased by the rate programmed in parameter 058 The value of the current limit besides being decreased by a set rate may also be continuously decreased through one of the configurable analog inputs by setting parameters C120 121 122 at one of values 8 Ext curr lim 10 BrdgB ext lim 6 5 OPERATION QUADRANTS The operation quadrants are defined in Cartesian coordinates with speed n torque T The forward direction is associated with positive speeds feedback polarity bridge A
183. n saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 7 OPERATION PARAMETERS 7 1 MEASURE PARAMETERS The measure parameters are the display parameters marked with an M followed by the parameter number The following symbols have been used to describe the above mentioned parameters and any other parameters after wards stated Keys to the symbols used Parameter number Range of the allowable values Factory setting Function m UO JDU Reference Applied to the Ramps Vreference P MOOO Vref Vref PROG R 150 4150 96 RESET F If the drive is on RUN LED on this parameter corresponds as a value per cent of the max reference corresponding to 10V to the Ref n reference applied to the ramps Otherwise if the ENABLE digital input is inactive this parameter indicates the reference that is likely to be applied to the ramps when the drive is running once this input is enabled and without changing the current state of the START PRESET SPEED and JOG inputs according to the logic stated in the table contained in the BLOCK DIAGRAM The reference obtained is either a speed voltage reference or a current reference should the 6 Slave function see parameters C130 C135 be enabled through a digital input The value per cent displayed in this parameter either as a speed voltage reference or a current reference keeps track o
184. ng features of drive dcM6 Any equipment for the control of a motor may perform either a speed or a torque control In the four cases below dcM6 is used to motorize a winder an unwinder or an elevator The driving motor if any is supposed to be controlled by an external device In the figure below letter T stands for the torque direction whereas letter s stands for the motion direction By default drive 6 may operate in the 1st quadrant only The drive operation in the 2nd quadrant is to be prop erly programmed through par C061 2ndQ RevReg Case A 1st quadrant tension control while winding The driving motor controls the material feeding speed current limitation must never be attained whereas the winder motor controls the applied torque dcM6 operates in current limitation mode with a positive speed reference which is always higher than the material feeding speed Otherwise dcM6 may directly work with a preset current reference The driving motor will generally apply an oppo site torque with respect to the material feeding direction except when the tension controlled by the winder is very low and the material friction is not negligible In this case the driving motor will have to generate a forward torque as well Case B 1st quadrant lifting speed control By default dcM6 speed reference is a positive one and the weight of the material to lift is to be heavier than the counterweight but not as heavy as to determine
185. ng times a certain ratio of inequality should be proved Said value is reported the note in chapter 5 OVER REFERENCE 2002 Saftronics Inc 9 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am PME www saftronics com dcM INSTRUCTION MANUAL 2 5 2 On the other hand the jog run ramps are indicated by parameter P221 by default they have also been applied to the Ref n reference and depending on the parameter setting may also be indicated by parameters P035 default values Os or by parameter P036 and parameter 7 default values Os 2 5 3 The ramp and rounding times indicated by parameters P035 8 9 may also be changed in continuous mode from the outside through one of the configurable analog inputs To do that set parameters C120 121 122 to one of values 3 Ramps reduct 7 tDN reduction otherwise they may be set to zero through one of the MDIx configurable digital inputs by programming parameters C130 131 132 133 134 135 to 7 Ramps Disabled 2 5 4 In case of medium duration ramps set the integral time automatic increase during ramp through par P085 disabled by default 2 6 SPEED CONTROL OPTIONS 2 6 1 The signal entering analog inputs REF IN1 IN2 IN3 may be set with the following operators Gain with parameter P122 parameter P128 parameter P131 and parameter P134 respectively default values 10096 Bia
186. ng to the user s requirements The EEPROM is an 8 pin component fitted on a socket which can be very easily removed and then fitted on an additional board in case of possible failures with no need to repeat the machine running procedure Possibility of restoring the default parameters or any param eters relating to a special configuration including prior back up Possibility of displaying only the parameters having a current value different from the default value Firmware updating via serial source downloading using FLASH memory For more information please ask for the dcM FIRMWARE UPDATING VIA SERIAL COMMUNICATION manual PROTECTIONS For output short circuit ultra fast fuses to be fitted externally by the Customer for dcM12 From excessive e on thyristors R C single filters together with the varistors on the three phase line From lack of drive ventilation alarm A002 from thermoswitch on dissipator From drive overload alarm A022 from Ixt thermal image of the same From motor overload alarm A021 from 2 t thermal image of the same From armature overcurrent alarm A003 From field overcurrent alarm A009 From field regulator failure alarm 001 A023 From armature overvoltage alarm A010 From load loss alarm A004 From unstable or out of range mains frequency alarms A006 and A012 From mains supply three phase failure alarms A007 A013 A016 and A017 with possibility of disabling any alarm related to mains microlosses
187. nputs open should some parameter among C130 C135 be set to 12 J0gA and 13 JogB The value programmed in this parameter is used for P221 2 Separate ramps As for the real speed ramp see relevant note in parameter P031 2002 Saftronics Inc 89 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL am SAF www saftronics com 8 Ramp Initial Rounding P038 InitialRndg P 8 InitialRndg R 0 0 10 s D 0 0s F This parameter sets in seconds the initial rounding of the ramps up and ramps down defined through parameters See also figure shown in the RAMPS OVER REFERENCE chapter 1 NOTE This parameter programming cannot be changed if a digital input configured for the 7 Ramps Disabled function is closed P039 Ramp Final Rounding P039 FinalRndg P P039 FinalRndg sec R 0 0 10 s D 0 0 8 This parameter sets in seconds the final rounding of the ramps up and ramps down defined through parameters P033 See also figure shown in the RAMPS OVER REFERENCE chapter 1 NOTE This parameter programming cannot be changed in case a digital input configured for the e 7 Ramps Disabled function is closed P040 Ramp of the Up Down Internal Reference P040 UpDnRefRamp P P040 UpDnRefRamp R 1000 100 s D 10 00 s F This parameter sets the time variation in second
188. ns always activated It is generally set as single value adjusting through parameter P050 and parameter P051 default values 100 and always repre sents a percentage of the armature current rated value indicated by parameter C000 default value 100 So whenever a double value adjusting is required it is necessary to set also parameter P052 and parameter P053 default values 100 by fixing the switching speed threshold with parameter P054 default value 100 If an hyperbolic adjusting is to be programmed set parameter P055 parameter P056 and parameter P057 default values 100 2 8 2 A current overlimit i e a permanent increase of the current limit is available in case of heavy torque demands The limit overcurrent value may be programmed through par P060 and P061 default value 100 If the current required is inconsistent with the max allowable duty cycle 15096 of the nominal current for 1m every 10m alarm A022 will trip Drive It Trip 2 8 3 On the other hand to achieve a current limit decrease through an external command it is necessary to close one of the MDIx configurable digital inputs by programming parameters C130 131 132 133 134 135 at value 4 Clim said configuration is set by default on MDI5 terminal 36 after setting the limit decrease value on parameter P058 default value 50 2 8 4 To enable or disable one or more work quadrants of the torque speed plan set parameter C160 C163 default value
189. o terminal 13 when terminal 11 is disconnected By setting jumper JP8 in terminal board ES801 on pos 2 3 the two terminals will represent an input for a signal expressed in Milliamperes a positive reference is generated if the current enters terminal 11 and goes out through terminal 13 See also the MILLIAMPERE INPUT OUTPUT SIGNALS chapter 12 CH N Zero position pulse of the encoder 14 CH A Channel A of the encoder 102 400kHz max 34 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TRONS www saftronics com dcM INSTRUCTION MANUAL SIGNAL TERMINALS CONTINUED TERMINAL Description Ratings 15 5V 5V mains supply voltage for the encoder optoinsulated from the OV 5Vbc signal of analog inputs 160mA max 16 CH B Channel B of the encoder 102 400kHz max 17 IN 2 Analog input 2 to be configured through parameter C121 AnIn2Cfg 10 10 20kQ 18 OV Zerovolt 19 IN 3 Analog input to be configured through parameter C122 3 0 10 10V 20kQ 20 DT 25Vmax Input for a tacho when it does not exceed the absolute value 25 425 equal to 25V 5 Polarity has to be a positive one with bridge A running not in a regenerative state 21 OV Zerovolt 22 80Vmax Input for tacho when it does not exceed the absolute value
190. o the matching table contained in the section relating to said parameters 3 Preset Speed C When the input closes it selects in conjunction with other digital inputs programmed with the 1 Preset Speed A and 2 Preset Speed B functions a preset run reference among all references programmed in parameters P211 P217 according to the matching table contained in the section relating to said parameters 4 Clim When the input closes it enables decreasing the actual current limit for both bridges according the value per cent programmed in P058 Clim 5 Reverse When the input closes it reverses polarity for the Ref n reference applied to the ramps including the preset run references and the internal jog references and for the references on auxiliary inputs provided that they are configured as speed references 6 Slave Enabled When the input closes it disables the speed loop the same function is obtained if parameter C050 is programmed as 3 Iref Vref As a consequence the current reference is supplied by the Main Ref or by one of the preset run references or by one of the internal jog references summed to references 1 IN 2 and IN 3 provided that they have been configured as additional current references However the current reference enter the control loop with no ramp or rounding even though they have been programmed in parameters P030 P039 7 Ramps Disabled When the input closes it resets the ramp times programmed in para
191. ocedure for speed auto tuning 180 17 10 Set up procedure for R x auto tuning 181 17 11 Set up procedure for constant HP range 181 17 12 Main Ref Input isses eme ee en ne RR ee 182 17 13 2 3 Aux Input 1 182 17 14 Digital Inputs esee mem ded Vor Rod ER 182 17 15 Digital Outputs 182 17 16 Analog Output Signal 1 1 183 17 17 Programmable analog output signal 183 17 18 DC tachometer sesiis sires a ie ond Unde dun edhe edd 183 17 19 Encoders open collector push pull NPN type encoder for line drive encoder use DBO connector kg Ped Xo Y een 183 17 20 Typical motor wiring 0 184 4 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TROMS www saftronics com 1 CHECKING AT RECEPTION INSTRUCTION MANUAL When receiving the unit check that no damage is visible and its compliance with
192. ol Techniques emerson saftronics drive servo motor www saftronics com dcM INSTRUCTION MANUAL 17 2 HOW TO CHANGE A PARAMETER Key 1 Program Enabled Drive OK D3 07 12 4 70 Press Inc Key How to Set and scroll up to C010 C010 11 Press Prog Reset Key Press the Monitor Function Inc amp Dec Key Simultaneously C010 IfldNom 10 0 Blinking cursor Press Inc Key P000 Key and scroll up to 11 096 0 ProgramDisable C010 Prog Reset Key Blinking cursor Press Enter Reset to save parameters P000 Key 0 ProgramDisable 0 Blinking cursor C010 11 0 96 Fixed cursor Set P000 2 0 or when the power Return is removed the P000 Key to P000 Key by drive will default 1 Program Enabled Press Inc amp Dec key back to Blinking cursor simultaneously P000 Key 0 Program Disable Press Prog Reset Key Go to step 17 3 174 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 17 3 SETTING MOTOR DATA Go To P011 Armature Voltage is factory set verify that P011 is set to the motor nameplate rating eg 500 or 240Vdc Go To C000 Armature Amps is factory set verify that is set to the FLA asa percentage motor nameplate rating Section 3 2 C010 10096
193. olarity R 100 100 2002 Saftronics Inc 75 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL a SAF www saftronics com blocks see par P122 P121 and P120 or par P125 P124 and P123 respectively for the two types of references applied in the above mentioned order For example if a motor rotates at 2000 RPM with a 10V reference and if P122 100 then with a 10V reference and if P122 25 the motor will rotate at 500 RPM the display will show M014 25 and M001 25 otherwise with a 2 5V reference and if P122 200 the motor will rotate at 1000 RPM the display will show M014 50 and M001 50 The value per cent displayed in this parameter also indicates the reference obtained from a current external signal milliAmpere if jumper JP7 ES801 terminals board is set in pos 2 3 if the user intends to use an analog input as a 0 4 20mA signal the value to program in the parameters relating to the Gain and Bias operators is stated in the INPUT OUTPUT SIGNAL IN MILLIAMPERE chapter M015 Serial Connection Reference M015 SLinkRef P M015 SLRef SLRef R 100 100 96 Ea 125 This parameter indicates as percentage of the max value corresponding to 10V the value of the reference applied through serial connection M016 Field Bus Reference 11016 FBRef P M016 FB
194. om 2 00 to 3 04 and the replacement board is 3 07 the following steps are required to see what rev you have on both cards To verify software rev look at IC 020 rev 800F1037 05 rev 800H1037 If both cards have the same rev follow the steps in 16 0 If not the parameters in the old card must now be manual ly entered into the new card Call Saftronics for instruction 170 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor www saftronics com dcM INSTRUCTION MANUAL DISCONNECT ALL POWER BEFORE PROCEEDING COVER 4 SCREWS G KEYPAD RETAINER KEYPAD RETAINER KEYPAD MOUNTING PLATE 4 SCREWS amp WASHERS TERMINALCOVER S MY 2 SCREWS REMOVE DISCONNECT PER CABLES INSTRUCTIONS REMOVE CONTROL BOARD REMOVAL OF U11 CAN BE BY A SMALL BLADE SCREWDRIVER OR AN IC PULLER TERMINAL BLOCK INTERFACE BOARD SQUEEZE LOCKING CLIPS ACROSS RIB AND PULL UP ON PC BOARD 5 PLACES a dcM6 12 CONTROL BOARD AND 011 REPLACEMENT 2002 Saftronics Inc 171 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL WWW Saftronics com 17 QUICK START SECTION Drive Size Factory set to the drive rating according to the chart in Section 3 2 with the exception of modified drives as noted on the Saftronics Label
195. omasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL C120 121 122 Analog Input 1 2 3 Configuration C120 121 122 Anin1 2 3 Cfg AninxCfg R 0 10 0 F C120 It defines the configuration of programmable analog input 1 IN 1 between terminals 11 and 13 C121 It defines the configuration of programmable analog input 2 IN 2 on terminal 17 C122 It defines the configuration of programmable analog input 3 IN 3 on terminal 19 0 Excluded 1 n loop add ref The reference to analog input IN x is an additional speed voltagen reference 2 1 loop add ref The reference to analog input N x is an additional current reference 3 Ramps reduct The reference to analog input N x is a signal for the decrease per cent of the four ramp times programmed through parameters P030 P033 4 tUP reduction The reference to analog input N x is a signal for the decrease per cent of the rise ramp time of positive reference P030 5 tUP reduction The reference to analog input N x is a signal for the decrease per cent of the rise ramp time of negative reference P032 6 tDN reduction The reference to analog input N x is a signal for the decrease per cent of the fall ramp time of positive reference P031 T tDN reduction The reference to analog input N x is a signal for the decrease per cent of the fall ramp time of negat
196. onal Refering to Figure 1 Disassembly 1 Remove Terminal Cover with 2 screws 2 Remove Main Cover with 4 screws 3 Remove Keypad Retainer with 1 screw 4 Remove Keypad by inserting a small bladed screwdriver as per instructions on Keypad 5 Remove Keypad Mounting Plate from stand offs with 4 screws and washers 6 IC U11 should now be visible on the Control Board and should be removed at this time and saved Proceed with CAUTION as this component can be easily damaged if not handled properly An IC puller is preferred but if one is not available using a small bladed screwdriver slide the blade under one end of the IC above the socket and gently pry Do not try to remove the IC completely Then go to the other end and repeat Alternate this procedure until the IC is loose and can easily be removed After removal inspect the IC to insure that there is no damage and the pins have not been bent Put the IC in a plastic container as it will be assembled in the new Control Board 2002 Saftronics Inc 169 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 7 Disconnect 3 cables connected to CN1 CN2 and CN3 8 Remove 1 mounting screw from the Interface Board 9 The Control Board and Interface Board are held by plastic mounting clips to the chassis Using a pair of needle nose pliers gently squeeze each clip across the rib and a
197. oncerning the maximum reference expressed in r p m should always be set on parameter P010 default value 1750RPM Any value being set in parameters C072 and P010 should be programmed in such a way that product C072 x P010 does not exceed 102 400kHz value obtained from an encoder supplying 1024 pulse rev 1024 6000 that can rotate at 6000 102400 60 in order to avoid possible speed control faults caused by the drive 8 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL 2 3 13 Should the feedback be generated from an armature set on parameter 011 default value 500 the arma ture voltage corresponding to the maximum value in Volt 2 3 14 Except for a dcM6 model a dcM12 model with an armature feedback or whenever the load inertial moment is largely variable e g in a coiler the speed automatic tuning may be performed at that moment Set parameter 001 to value 2 Speed and follow the instructions displayed see also the AUTOMATIC TUNING section 2 3 15 Now Rxl armature resistive drop autotuning is to be done by setting par P001 to 3 Rxl and following the instructions displayed see also AUTOMATIC TUNING chapter On the other hand if the autotuning function is not performed and par 088 is left at its default value the drive will not be able to process the bac
198. oopdag www saftronics com 5 2 4 1 Ref 49 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor 9215 i 3 ye 0 61400 7 85 80 zc T 1484 E sar 4 sng 2 N gt 0 7 2 iv id 5 ShngploH r mem b 5 X 195 bos 9 96 ut lod 100 egeua uls m ul 9 2 4 beg vc ezon 3 9215 eAuq 2000 kl 18409 1207 E baseseud peudp Ip 1 Ixd jegdooqung epy XEN UIN XEN IP IP INSTRUCTION MANUAL 5 2 5 Current Loop dcM 2002 Saftronics Inc 50 bi o 2 T o c o c o il E o 0 2 c and o c o O 5 G o gt 0 E N uc 55 5 INSTRUCTION MANUAL 21 19 O FLZOOIN 01314 0 z3 8 I 72293 Pld 984 x 609 JO XIAN
199. ork area manually store the parameter values noted down at the end of the startup procedure The P002 2 WorkAreaBackup command may be reset See also the PARAMETER COPY chapter 009 Wrong Parameters in EEPROM Backup Area W009 EEPROM Backup Area Fail W009 EEPROM BackupArea Fail S This warning may pop up after resetting Alarm A026 EEPROM BackupArea Fail It indicates that the work area copy to the EEPROM work area has failed due to the alteration of the work area values In general the equipment may be normally started but we suggest that the default values be entered through the P002 gt 1 DefaultRestore if the values saved in the work area do not correspond to the values required Then manually store the parameter values noted down at the end of the startup procedure Always copy these values in the backup area through the P002 gt 2 WorkAreaBackup command the warning will disappear See also the PARAMETER COPY chapter 146 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TRONS www saftronics com 9 CHARACTERISTICS AND INPUT FILTER dcM INSTRUCTION MANUAL The drive EMC product standard refers to systems such as motors and convertors as well as to their power supply and auxiliary circuits The standard defines the drive immunity and emission requirements with several tests to be applied to the equip ment above
200. ot gone by If an autoreset has been programmed through parameter C090 it has no effect on alarms 011 L out of Range A014 R out of Range A015 AutoTune Error A018 AutoTune Interrupted A019 AutoTune Limitation A025 EEPROM WorkArea Failure 026 EEPROM BackupArea Failure A032 uC Reset and A033 Unknown Failure Mains microbreak Especially for alarms A006 Unstable Frequency 007 Mains Failure 012 Frequency out of Range A013 Missing Synchronization or A017 Mains Undervoltage i e the alarms which may typically trip after a mains microbreak on power section it is possible to program the autoreset with an unlimited number of autodeletions by means of parameter C093 This operation may be performed also without programming on param eter C090 the general autoreset for all the other alarms RESTART Whenever the power section is live and the device is able to restart no alarm detected supply enabled on power section both ENABLE and START digital inputs active it may be restarted at once or soon after a tempo rary enabling and disabling of the ENABLE input according to what has ben programmed in parameter C094 StartSafety Similarly also when the power section is constantly supplied the value of this parameter may either enable the drive to be restarted or not once a manual or automatic reset has deleted an alarm storage and the cause generating the alarm has disappeared 136 2002 Saftronics Inc
201. over and once the delay set in par C015 FldEcoDelay is over This may be useful when an energy saving function is needed or when the motor temperature is to constantly exceed a min value anticondensate function If a min speed of rotation is detected when the drive is not running motor pulled the field current will be brought to the nominal value set by par C010 Second case Another typical use of the field regulator is the dynamic regulation in field weakening mode depending on the speed change This may be used to control DC motors designed for operating in the two constant available max torque power sections Of course said function may be mixed with the others This operating mode may be used both when a relatively large torque is needed at a low speed and when a rela tively high max speed is needed but with a smaller torque as for winders or unwinders in tension control 66 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL In order to enable this operating mode the drive starts decreasing the field current when the speed required increas es so that the back electromotive force does not exceed the nominal value Suppose the motor ratings are the following as far as the field weakening is concerned Nominal armature voltage 400V Nominal field voltage 220V Nominal field current 9A with moto
202. overlimit lasting for 1 minute It can be performed with a 1 10 duty cycle CONTROL Fully digital with feedback double loop inner adjustment for the current control and external adjustment for the voltage speed control Equipped with two microcontrollers one of them is specially designed to per form the current loop and offers the possibility of choosing between a Pl type regulator or in case of a dcM12 type only a predictive algorithm to achieve a more dynamic response Adaptive speed regulator and automatically variable parameters according to the speed error Possibility of choosing between two sets of regulation parameters for the speed loop referring to two possible different situations of the motor i e the mechanical time constant the reduction ratio the inertial moment etc SPEED REACTION From tacho encoder or armature feedback Possibility of automatically switching to the armature feedback in case of failures OPERATING FEATURES dcM 12 operation and total reversibility in the four quadrants may operate as a motor or a brake towards both directions of rotation Speed or torque control system dcM6 operation as motor in the 1st quadrant with speed or torque control system May operate as a brake in the 2nd quadrant with speed or torque control system In both drive versions each quadrant may be enabled or disabled independently Possibility of operation with constant available maximum torque power through an internal fi
203. ow the KeyPad page relevant to par 000 Vref and to other parameters selected through par 5 FirstParm and MeasureSel The programming mode is already active as if par were set at 1 Program Enable This means that the UpDownRef reference value can be changed by pressing the increment and decrement keys When the KeyPad page is displayed the program ming mode is always active even though the operating mode is not the LOCAL mode only If no source is selected for the UpDownRef reference the KeyPad page allows to read the prepared reference only When the and ENTER keys are pressed again current values for parameters C105 C108 RefSelx and parameters C110 C112 SeqSelx will be reset 5 FIRMWARE STRUCTURE 5 1 GENERAL The drive control firmware is to be found in FLASH U20 of control board ES800 its software version D x xx is dis played by the Status page whereas the user s parameters may be saved on EEPROM 011 in the same board Both components are located beneath the metal support of the keypad EEPROM U11 is assembled on 4 4 pin socket to be easily removed when required The software version installed may also be read on the two seven segment displays installed on control board ES800 by pressing the PRO key on the board located beneath the two displays For instance digit 36 stands for software version D3 06 The parameter storage on EEPROM 011 be checked when the machine is
204. posite polarity will be shut and considered as equal to zero This parameter has no effect either on the jog internal references that may have a dual polarity with no min values or on the possible offset on the speed error set through parameter P087 In order to enter a positive P014 or negative P016 min speed voltage reference you need to first program P012 1 Positive only P012 Z2 Negative only respectively In order to change P012 value both parameters P014 and P016 are to be equal to zero WARNING If a certain min reference other than zero is saved in EEPROM parameter P014 or P016 in 012 do not save any value that does not match the polarity of the said min reference as this will cause the drive malfunction P013 Max Positive Speed Voltage Reference P P013 nMaxPos P013 nMaxPos oL R 0 100 96 D 100 96 This parameter sets as a percentage of the max reference corresponding to 10V the max allowable value both for the Hef n reference applied to the ramps and for the n setpoint global positive speed voltage reference resulting from the algebraic sum of all the applied references This parameter may be used to limit the speed set in the running direction at issue WARNING In this parameter do not save any lower value than the one saved in EEPROM for P014 as this will cause the drive malfunction 2002 Saftronics Inc 85 efesotomasyon com Control Techn
205. presents the value per cent of par PO88 computed by the autotuning function The autotuning function may be enabled by setting POO1 to 3 Rxl 10 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor SAF TROMS www saftronics com dcM INSTRUCTION MANUAL 2 6 6 Should the motor tend to turn slowly with a zero reference i e when a speed error offset is detected it is possible to stop the motor by adjusting parameter P087 default value 0 2 6 7 A limitation of the firing angle value may be obtained both in the energy transfer towards the load and in the energy regeneration towards the mains Set parameter P230 default value 30 for 12 and 25 for dcM6 and parameter P231 default value 150 respectively 2 6 8 To avoid possible speed overshoots due to quick variations of reference at constant load drive in current limit mode or to avoid temporary speed losses in case of quick variations of load at constant reference it may be advis able to introduce the parameter auto adaptation this function has been disabled by default through parameter P082 and any other related parameter Refer to the SPEED PARAMETER AUTOADAPTATION chapter to know the different programming procedures required 2 7 CURRENT TORQUE CONTROL MODE OPERATION 2 7 1 A current control torque is generally required when tension controls are performed on a winding or unwind
206. put F This parameter displays the state from serial connection of the ENABLE and START digital inputs and of the MDIx digital inputs that can be ured through parameter C130 C135 A small black square indicates that the digital input is active The ID digital input matching is the following E ENABLE input logical state START input logical state gt input logical state gt MDI2 input logical state gt input logical state gt input logical state gt input logical state gt MDI6 input logical state 0 00 140 MO31 Digital Input State from Bus Field P M031 FBDgin 031 ES123456 FBDgln 777 R m 3 the figure shows a display example for each input F This parameter displays the state from bus field of the ENABLE and START digital inputs and of the MDIx digital inputs that can be configured through parameters C130 C135 A small black square indicates that the digital input is active The ID digital input matching is the following E ENABLE input logical state START input logical state gt input logical state gt MDI2 input logical state gt input logical state gt input logical state gt input logical state gt input logical state 80 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am A
207. r 46 52 2 RON TC 47 5 2 3 Voltage LOOD sss gu a deat RR Y ed Bede es RA 48 524 Heft wee nian yee RE qus 49 5 2 5 Current Loop i idu eR REEF ________ _ UE A S RR RR 50 5 2 6 Fold LOOD gos 51 5 2 7 Analog In QUE 2424502222500 Ree RR wae sea es 52 5 2 8 eee EA 53 5 3 Parameter Copy cia sex REOR peepee heme ee Edu 54 6 SPECIAL FEATURES 56 6 1 Automatic tuning ii sos eee epee Regg re P way x Ge RR CR es 56 6 2 Ramps over the reference 57 6 3 Motor potentiometer 2 59 6 4 Current limitation 0 4 4 60 6 5 Operation 2 2 1 62 6 6 Motor heating thermal image 65 6 7 Field regulator les khoe ken heuer der don ec AR UN E xag xa 66 6 8 Configurable digital outputs 4 68 6 9 Speed parameter autoadaptation 70 7 OPERATION
208. r at zero speed or with not yet weakened field Field weakening starting speed 1000 RPM Min field current 1 8A with motor at its max speed Max speed 4000 RPM First we have to consider that the 220VdC voltage required for the field exceeds max 205VdC that can be obtained with a field regulator power supply terminals E1 2 ranging from 200 to 240VAC so standard range 380 500VCA is required for said terminals The range above may supply an output voltage up to 425DC higher than the value needed As we stated in the chapter concerning the basic start up procedure the resistive drop autotuning is to be performed by setting par to 3 Rxl Starting from this value and the value of the rated armature the drive will estimate the nominal back electromotive force max to be adjusted The parameters below are to be set supposing a dcM6 4 350A is used with a 15A nominal field current P010 nFdbkMax 4000 RPM C010 flaNom 9 x100 60 9A with respect to the drive 15A rated current 15 C011 BaseSpeed 1000 x 10022576 1000 RPM of field weakening starting stage with respect to max 4000 4000 RPM C012 VarmNom 400V C016 1 8 x 0 75 100 15 7596 of min 1 8A with respect to 9A rated current 9 The parameters above are required for the field weakening correct operation and the trend with respect of the field current reference speed displayed in par MO17 RefFid is shown in the figure
209. r auxiliary reference 1 2 3 IN x AFTER applying the Gain and Bias operators 0 Bipolar Bipolar reference 1 Positive only Positive reference only 2 Negative only Negative reference only If a unipolar auxiliary reference is programmed the reference of the opposite polarity if any will be shut and considered as equal to zero 2002 Saftronics Inc 103 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor PME www saftronics com dcM INSTRUCTION MANUAL P127 130 133 Auxiliary Analog Input 1 2 3 Bias P P127 130 133 AnIn1 2 3 Bias P AnInxBias R 400 0 400 0 96 D 0 000 96 F P127 Bias for auxiliary analog input 1 to terminals 11 and 13 P130 Bias for auxiliary analog input 2 on terminal 17 P133 Bias for auxiliary analog input 3 on terminal 19 This parameter indicates as a percentage of the max reference corresponding to 10V the reference value obtained when the signal applied to the terminal board is equal to zero Signal obtained when applying the Gain and Bias operators to signal V4 is given by the following formula Vo V X P 10x 2 P128 131 134 Auxiliary Analog Input 1 2 3 Gain P P128 131 134 AnIn1 2 3 Gain P AnInxGain 2 R 800 0 800 0 96 D 100 0 96 F P128 Gain for analog input 1 to terminals 11 and 13 P131 Gain for analog input 2 on terminal 17 P134 Gain for ana
210. r sets the motor rated current as a percentage of the drive rated current For instance for a dcM 100 100 of C000 corresponds to 100A This parameter is the reference value for all calculations relating to the different current limits 114 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SIROS www saftronics com dcM INSTRUCTION MANUAL C001 Current for Motor Thermal Protection P C001 MotThrshold C001 MotThrshold Of R 1 120 EE MR F This parameter sets as a percentage of the motor rated current programmed on parameter the reference current for the thermal image formation of motor temperature increase to enable the motor electronic protection agaist overheating protection 121 See also figure in MOTOR HEATING THERMAL IMAGE chapter For instance in a dcM 100 where a value equal to 000 80 has been set 110 of COO1corresponds to 88 2 Time Constant for Motor Thermal Protection P C002 MotThConst C002 MotThConst R 10800 s D 340 s F This parameter sets in seconds the thermal time constant for thermal image formation of motor temperature increase to enable the motor electronic protection against overheating protection 121 See also figure in MOTOR HEATING THERMAL IMAGE chapter Program 002 0 to disable control As a reference in parameter 002 you can set a value
211. ree phase bridges in antiparallel forming the drive power section 3 The device main code and size code are detailed before and after a full stop respectively Saftronics codes 4 The control section may be supplied either with 380 500Vac single phase alternate voltage or with a 24Vdc direct voltage considering of course a different terminal pair 5 The armature section can be supplied with a 500Vac max three phase alternate voltage and according to a 50 60Hz frequency value thus absorbing at rated load a three phase alternate current equal to 287A 6 The field section may be supplied with a single phase alternate voltage equal to 380 500Vac and according to a 50 60Hz frequency value thus absorbing at rated load an alternate current equal to 15A 7 The device is able to supply 520Vdc max on the armature output with continuous supply of 350A with a max imum overload of 15096 of the nominal value at a preset duty cycle 8 The device is able to supply 425Vdc max on the field output with a continuous supply of 15A 2002 Saftronics Inc 5 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 2 START UP 2 1 INTRODUCTION This section describes the main checks and operations which should be carried out to achieve an excellent adjusting of the dcM drive All information contained herein is directed to the Users b
212. ref 1 in Volt starting from external signal in in mA The table assumes that the parameters relating to the Polarity function parameter P120 and P126 are at their default value and that the Reverse function is not applied jumper JP7 in ES801 in pos 2 3 jumper JP8 in ES801 in pos 2 3 peed reference IN Terminals 11 13 Gain Bias Gain Bias Gain Bias 0 20 gt 0 10V P122 250 121 096 125 25096 P124 096 128 25096 127 096 0 20MA gt 10 10 122 500 P121 100 125 500 P124 100 128 500 P127 100 4 20 gt 0 10V 122 312 5 121 25 125 312 5 P124 25 P1282 312 596 P127 25 4 20mA 10 10V 122 625 121 150 125 625 124 150 P128 625 P127 150 2002 Saftronics Inc 39 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor a www saftronics com dcM INSTRUCTION MANUAL 2 OUTPUT SIGNALS Between signal AnOut1 2 in Volt which is internally generated after configuring analog output OUT 1 or OUT 2 as desired and which is displayed by parameters M019 and M020 respectively and outgoing signal out in mA the fol lowing relation is to be applied AnOut1 2 10V gt lout 2 OMA Before generating signal AnOut1 2 the Gain and Bias functions may be used followed by the Polarity function
213. reversal P102 Current Loop Integral Time with Continuous Current Conduction P P102 TiCurrCont R 2 00 320 ms D 32 0 ms F If the current loop operation has been programmed by setting parameter C051 to 0 PI operating this parameter will indicate integral time T expressed in milliseconds of the current loop with the following transfer function 1 Gis Ko 1 used for the control in case of discontinuous current conduction i e when ever the output current is left at zero for given time intervals A decrease in the value set in this parameter determines a faster dynamic response to a reference step 2002 Saftronics Inc 99 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL P103 Armature Equivalent Resistive Drop P P103 Rxl Pred P103 RxlPred R 0 000 283 6 V JOG 70 92 F If the current loop operation has been programmed by setting parameter C051 to 1 Predictive this parameter will indicate in Volts the value of the motor armature equivalent resistive drop with a current value equal to the drive rated value The equivalent armature resistive drop takes account of the electric ratings of the motor as well as the control chain P104 Armature Equivalent Inductive Drop P P104 Ldl dt Pred P104 Ldl dt Pred R 0 000 2 828 V D 0 707 V F If th
214. rmature feedback reading is optimized so that par Varm displays OV when the drive is on 2 Speed The speed loop autotuning is performed and par P070 71 or P076 P077 are computed if the digital input is closed by configuring one of par C130 C135 as 8 SecondParmSet 3 Rxl The armature resistive drop measure is performed The result is stored in par P088 Hxl The parameter value relating to the armature feed back reading is optimized so that par MOO6 Varm displays OV when the drive is off For this parameter no values other than 0 Disabled may be stored on EEPROM e 2002 Saftronics Inc 81 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am MMC www saftronics com dcM INSTRUCTION MANUAL 2 Parameter Copy Command 002 ParmsCopy P P002 ParmsCopy R 0 3 D 0 F Access code for the parameter copy 0 Disabled No parameter copy command is sent 1 DefaultRestore Restoration of the factory s parameter default values 2 WorkAreaBackup Backup of the current parameters 3 Backup Restore Restoration of the backup parameters See also the PARAMETER COPY chapter For this parameter no values other than 0 Disabled may be stored on EEPROM Programming Level P P003 ProgLevel P003 ProgLevel R 0 1 0 0 Basic 1 Advanced Sets the programming level required chosen between a fast sta
215. rogrammable rise and or fall ramps are separate concerning the positive polarity and the negative polarity of the set reference P030 P033 Some initial final rounding is also possible either at the beginning of the transient P038 or at the end of the transient P039 In addition when the START digital input is disabled two additional fall ramps may be programmed stop ramps P034 and P035 also separate concerning the reference positive polarity and negative polarity the initial final rounding programmed are not applied to the stop ramps The figure below shows a possible example of the reference that can be produced by the ramp circuit The following inequality is to be verified between the ramp times programmed in parameter P030 P033 and the initial final rounding times programmed in parameters 8 P039 P038 P039 031 032 033 2 2 As the figure shows for each ramp transient rise ramp or fall ramp transient the duration of the ramp really set is equal to the addition of the time programmed in the relevant parameter of half the initial rounding time and half the final rounding time 2002 Saftronics Inc 57 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor www saftronics com am PME INSTRUCTION MANUAL dcM In order to exactly respect the time set for the stop ramps in par PO34 and P035 the following equality 9 oo S A 2
216. rque Range Only Dimensions Horsepower Watts Inches Quantity Part WxDxH Required Number 006 4301 12x4x5 005 4303 005 4304 1 480 Vdc Armature 15096 Braking Torque Constant Torque Range Only Dimensions Watts Inches Quantity Part WxDxH Required Number 005 4351 005 4352 12x4x5 005 4354 005 4355 005 4357 005 4358 12x10x5 005 4359 005 4360 005 4362 005 4363 18 13x5 005 4364 26x10x5 005 4365 005 4366 26x13x5 005 4367 005 4368 26x16x5 005 4369 005 4370 26 x 13x 10 005 4371 NOTE 1 Consult factory for sizing wattage when the application requires field weakening 164 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com 14 FUSE MOUNTING INSTRUCTIONS dcM INSTRUCTION MANUAL IMPORTANT To assure proper operation when installing this mounting kit please review chapter eleven e of the drive manual to verify the proper fuse size compared to the drive size Installation for Standard 150 300 Vdc field supply Mount the AC Fuse Kit to the dcM6 12 drive with the four 4 10 screws to the mounting holes on the both sides of the fan housing Connect the wire marked E1 8 E2 to terminals marked E1 4 E2 Connect wire marked 53 4 54 to the terminals marked 53 amp 54 The terminals marked F1 amp F2 is the connection for the motor field
217. rting base level with the basic functions and an advanced level for skilled users who want to optimize the equipment performance Vref P035 RampStopNeg Reference applied to the ramps P038 InitialRndg P039 FinalRndg M031 Digital input state P060 OverLimA from field bus P061 OverLimB P000 Key P086 ArmatureCmp P003 ProgLevel P087 VerrOffset P010 nFdbkMax C000 Inom P011 VarmMax C010 P030 HampUpPos C030 VmainsNom P031 RampDnPos C051 CurrLoopSel 2 RampUpNeg C070 nFdbkSelect RampDnNeg C072 4 RampStopPos C074 Tach Volts If this parameter is set at 1 Advanced all other parameters may be accessed 82 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor INSTRUCTION ARA www saftronics com 4 Page Displayed at Power on P004 FirstPage P P004 FirstPage R 0 4 0 This parameter determines the page displayed when the control section is turned on 0 Status The Status page is displayed at power on 1 KeyPad The KeyPad page is displayed at power on P005 Measure Parameter Display the KeyPad Page 005 FirstParm P 005 FirstParm MOOO M031 Select Select gt 006 If this parameter is assigned a value among the available Mxxx parameters
218. s both for the rise ramp and the fall ramp from 0 to 100 of the internal UpDownHef when the increase decrease digital inputs are enabled See also the MOTOR POTENTIOMETER chapter 90 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor SAF www saftronics com dcM INSTRUCTION MANUAL P050 Bridge A First Current Limit P050 llim1A P P050 llim1A R 0 300 D 100 This parameter sets the first current limit value relating to bridge A Such value indicates the percentage of C000 motor rated current eventually with the trimmer hardware limit Imax T2 That limit is used if the speed is lower than the value set in P054 When 001 nFdbk speed is higher than the value set in P054 P052 limit is used See also figure shown the CURRENT LIMIT chapter WARNING The product of P050 x C000 x IMAX T2 is not to exceed 100 that corresponds to the e drive rated current e g 100A for dcM P051 Bridge B First Current Limit il P P051 llim1B used dcM12 only T of R 0 300 6 STOP D 12 100 dcM6 0 not used mi F This parameter sets the first current limit value relating to bridge B It is available in dcM12 only Such value indicates the percentage of C000 motor rated current eventually with the trimmer hardware limit IMAX T2 That limit is used if the speed is lower than the va
219. s with parameter P121 parameter P127 parameter P130 and parameter P133 respectively default values 096 and Polarity with parameter P120 parameter P126 parameter P129 and parameter P132 respectively default values Bipolar All these four inputs may be assigned to the Reverse operator by means of programmable digital inputs MDIx by setting parameter C130 131 132 133 134 135 at 5 Reverse This is the default configuration for MDI6 on terminal 38 If the LOC SEQ LED is on or flashing polarity may also be reversed by pressing the REVERSE key The internal reference resulting from the application of the operators above is displayed by par M014 MO10 MO11 and 012 respectively 2 6 2 In order to obtain the Ref n reference applied to the ramps it is possible to choose one of the preset run ref erences up to a maximum of seven preset in parameters P211 212 213 214 215 216 217 default values 5 26 2096 10 96 0 96 5 96 20 96 10 96 respectively To do so select the reference concerned with a combina tion of max three MDIx configurable digital inputs by programming parameters C130 131 132 133 134 135 at values 1 Preset Speed A 2 Preset Speed B and 3 Preset Speed C see the table contained in the chapter dealing with parameters P211 P217 the 1 Preset Speed A function is programmed by default on MDIA terminal 34 The above mentioned Reverse function may be applied to these preset running references too
220. s 1 st quadrant enabled for dcM6 and 1st 4th quadrant enabled for dcM12 2 9 ANALOG AND DIGITAL OUTPUTS 2 9 1 The configurable analog outputs OUT1 and OUT2 are available on terminals 8 and 10 Their meaning is indicated by parameters P150 and P153 respectively default value OV Any analog output OUT1 OUT2 may include Gain operator with parameter P152 and parameter P155 respectively default values 100 Bias opera tor with parameter P151 and parameter P154 respectively default values 096 and Polarity operator with parameter P157 and parameter P158 respectively default values Bipolar By moving jumpers JP9 and or JP10 from pos 1 2 standard to pos 2 3 said analog outputs turn to 0 20mA cur rent outputs respectively outgoing current only for the value to be set in the parameters relating to Gain and Bias operators see MILLIAMPERE INPUT OUTPUT SIGNALS chapter 2 9 2 The two non configurable analog outputs have been already defined n OUT on terminal 4 and OUT terminal 6 The latter may be defined as polarity of the output signal through parameter P156 default value Bipolar for dcM12 and Positive Only for dcM6 2 9 3 There are five MDOx configurable digital outputs They are available on terminals 25 27 29 31 33 35 37 39 and 41 43 and are defined by parameters P170 176 182 188 194 The MDOx configurable digital outputs may include functions On Delay with parameters P171 177 183 189 195 re
221. s ac drive servo motor SAF www saftronics com dcM INSTRUCTION MANUAL 17 7 SETUP PROCEDURE FOR AUTOMATIC TUNING Automatic tuning is able to recognize the essential characteristics of the motor and load The default values cover most applications To better stream line the higher performances application the automatic tuning can be preformed Do you have a regenerative drive M12 with speed Go to step 17 8 feedback Auto Tunning Is not Required Your application does not require auto tuning The default values will provide adequate speed performance Run the drive and view M001 for speed stability If the motor is unstable adjust PO70 in small increments while the motor is running The dynamic response of the equipment will determine whether the gain is to be set at a higher or lower level then the default value 178 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 17 8 SETUP PROCEDURE FOR CURRENT AUTO TUNING The stop command or enable input must be disabled YES Set C051 1 1 Predictive YES Set P001 1 then press Enter Key YES Close ENABLE to continue or Press PROG to quit YES Start Command or close the enable input YES Press ENTER to continue or press PROG to quit YES Press the enter key on keypad YE
222. s in seconds the delay time that actually enables the digital output starting from the time when all necessary requirements are met See also figure in the CONFIGURABLE DIGITAL OUTPUTS chapter P172 178 184 190 196 Digital Output 1 2 3 4 5 Off Delay P P172 178 184 190 196 MDO1 2 3 4 5 OffDly MDOxOffDelay R 0 000 600 0 s D 0 000 s F P172 Delay time expressed in seconds disabling digital output 1 to terminals 25 and 27 P178 Delay time expressed in seconds disabling digital output 2 to terminals 29 and 31 P184 Delay time expressed in seconds disabling digital output 3 to terminals 33 and 35 P190 Delay time expressed in seconds disabling digital output 4 to terminals 37 and 39 P196 Delay time expressed in seconds disabling digital output 5 to terminals 41 and 43 108 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL This parameter indicates in seconds the delay time that actually disables the digital output starting from the time when all necessary requirements are met See also fig ure in the CONFIGURABLE DIGITAL OUTPUTS chapter P173 179 185 191 197 Digital Output 1 2 3 4 5 Switching Level P P173 179 185 191 197 1 2 3 4 5 P MDOxLevel oL R 0 200 96 D P173 5096 P179 3 96 P185 1096 P1
223. sabled through parameters C150 159 STORAGE When 0 55 have gone by after the display visualization and the device locking because of a failure this condition is stored in the EEPROM except when it occurs while the control section is not supplied Power on autoreset The storage in the EEPROM will not occur whenever parameter C092 5 is set to value 1 Yes By cutting out the control section supply at the following drive power it will be ready to be restarted provided that the alarm cause has been removed DELETION To allow the device restarting it is necessary to reset i e to delete the tripped alarm Of course this alarm has to be no more present i e the cause generating it must be removed Manual and Automatic Reset A manual reset may be performed by simultaneously pressing the PROG and ENTER keys or by closing a digital input which had been programmed as 0 Heset Alternatively you may program an automatic reset autoreset by setting any value different from zero on parameter C090 AutoRese The drive performs then a complete autoreset when 2s have passed since the removal of the cause generating the alarm said autoreset is repeated whenever the alarm is connected again and then the cause disappears parameter C090 sets precisely the maximum number of autoreset operations which may be performed when the minimum time between a reset and the following one preset on parameter C091 AutoResTime has n
224. sage Close ENABLE to continue is displayed close the ENABLE contact at term 24 by closing if not already done the KM remote switch that supplies the power section When the Press ENTER to continue message is displayed press the ENTER key again The autotuning procedure is over when message AutoTune in progress disappears and 001 0 is displayed again 56 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL The values of the parameters P070 and P071 or alternatively of parameters P076 and P077 are calculated and saved on EEPROM Parameters P076 and P077 are calculated instead of the parameters 070 and PO71if the pos sible digital input that has been configured by setting one of the parameters C130 C135 to the value 8 SecondParmSet is closed N b The speed self tuning during which the motor has to physically turn delivers a positive polarity to the bar A as compared to bar A2 Whenever two different sets of speed loop adjusting parameters have been considered through one of the MDIx configurable dital inputs being set at value 8 Second ParmSet then the speed automatic tun ing calculates the parameters relating to one of the two sets according to the state of the above men tioned digital input 3 Autotuning for resistive drop Rxl This autotuning procedure complies with any current loop operation
225. set before setting the autoreset counter to zero The counter may be cleared only by a manual reset when the drive has performed all the resets programmed on parameter C090 and the cause generating again an alarm doesn t disappear before the mentioned time interval has passed C092 PowerOnReset P C092 PwrOnReset C092 PwrOnReset wm o F This parameter determines whether no memorization should be performed in the EEPROM after an alarm trip so that the alarm will not be displayed at the following drive power on if of course the alarm cause has been 0 The alarm trip is stored and displayed when the drive is powered on again 1 Yes The alarm trip is not stored so it is not displayed when the drive is powered on again R 0 1 a C093 Autoreset after Mains Failure C093 MainsReset P C093 MainsReset R 0 1 1 This parameter determines whether the drive in case of a mains break regardless of its duration concerning the power section is able to perform an unlimited number of alarm autoresets in such a way that by restoring the power supply no alarm is kept stored As a rule the generating alarm is A007 MainsFailure though it may sometimes happen that alarms A006 Unstable Frequency A012 Frequency out of Range A013 Missing Synchronization or A017 Mains Undervoltage have tripped 0 No When the power supply is restored after a mains break
226. software lock exists avoiding increasing par 88 value until the value set in par PO11 VarmMax is exceeded WARNING In this parameter do not save any value exceeding the one saved in EEPROM for P011 as this will cause the drive malfunction e 98 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor TRONS www saftronics com dcM INSTRUCTION MANUAL P100 Current Loop Proportional Gain P100 KpCurr P P100 KpCurr R 005 1 00 D 200 F If the current loop operation has been programmed by setting parameter C051 to 0 PI operating this parameter will indicate proportional gain Kp of the current loop with the following transfer function G s used for the control sTj P101 Current Loop Integral Time with Discontinuous Current Conduction P P101 TiCurrDisc R 1 00 100 ms D 1 30 ms F If the current loop operation has been programmed by setting parameter C051 to operating this parameter will indicate integral time T expressed in milliseconds of the current loop with the following transfer function 1 K 1 G s Ko 1 used for the control in case of discontinuous current conduction i e when ever the output current is left at zero for given time intervals A decrease in the value set in this parameter determines a faster switch off of the active bridge during
227. spect to the external setting of a current reference 1 when the internal signal percentage is increased 014 MO10 MO11 MO12 the current reference percentage displayed by par MOOS ref will increase accordingly until the limit current value is reached Beyond that value the current reference set will be kept constant This is shown in the figure by side where the current reference external setup is assumed to be defined by the REF main analog input and 000 50 050 50 and P051 100 With two drives configured in MASTER SLAVE mode as the reference standard level supplied by the MASTER drive is 5V at the nominal current 100 if also the SLAVE drive must supply its nominal current with said reference at main reference between terminals 5 and 7 gain P125 IrefGain is to be set at 20096 M003 1 NOTE If you set several digital inputs to the same configuration close at least one of the relevant digital inputs to enable that configuration REF luu 00662 0 130 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TRONS www saftronics com dcM INSTRUCTION MANUAL C141 Alarm A016 017 Trip Delay C141 A0 18 7 4 1 C142 Alarm AO27 Trip Delay C142 A027 SLink D EJ C141 A016 7 VAC 0 00 2000 ms 1000 s This parameter s
228. spectively and default values Os Off Delay with parameters P172 178 184 190 196 respectively and default values Os Level with parameters P173 179 185 191 197 respectively and default values 5096 396 5096 596 5096 Hysteresis with parameters P174 180 186 192 198 respectively and default values 295 and Logic with parameters P175 181 187 193 199 respectively and default values Normally Open 2 10 BACKUP AND RESTORATION OF STORED PARAMETERS 2 10 1 After starting the device and checking its correct settings it is recommended that the user writes down the parameters that have been changed and stored with respect to their default values To do so use the special table 12 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL specified in Section 10 of the OPERATION MANUAL in chapter USER S PARAMETERS CHANGED WITH RESPECT TO DEFAULT VALUES If you set par to 2 Modified Parms and if you scroll all other parameters using the arrow keys the display will show only those parameters having a current value different than the default value 2 10 2 A backup of the stored parameters is recommended If need be set par 2 to 2 WorkAreaBackup to enable the backup parameter restoration To do so set par 2 to 3 Backup Restore 3 GENERAL CHARACTERISTICS 3 1 GENERAL DESCRIPTION A
229. speed and maximum voltage the output armature voltage does exceed the motor rated value The operation stability is generally more critical when the speed maximum value being set according to the maximum reference decreases In order to set maximum speed values being especially low it is therefore recommended to reduce the reference amplification through the Gain function relating to the selected analog input see the SPEED CONTROL OPTIONS chapter instead of adjusting the feed back 2 4 2 The value of the reference for the jog run jog may be chosen among the three values set on parameters P222 P224 default values 5 96 5 96 and 0 96 respectively while the set value should be selected via a combi nation of two MDIx configurable digital inputs max by programming parameters C130 131 132 133 134 135 at values 12 JogA and 13 JogB these configurations are both default values on MDI2 on terminal 30 and on terminal 32 respectively see the table reported in the chapter dealing with parameters P222 P224 2 5 RAMP CONFIGURATION IN SPEED CONTROL MODE 2 5 1 reference applied to the ramps will be indicated in the following chapters of this Manual and in the BLOCK DIAGRAM as Ref n For this Ref n some ramp times may be programmed set the value on par P030 P035 default values Os or set the roundings through par P038 and P039 default values Os 1 Between ramp times and roundi
230. t exceed 102 400kHz e g 1024 pulse rev 6000 RPM max whereas in tacho feedback mode the values set in par C074 and par P010 have to ensure that product C074 x P010 does not exceed 250V in order to avoid any drive speed control failure P011 Max Armature Voltage P011 VarmMax P P011 VarmMax R 50 2000V D 500 V F It sets in Volts the max armature voltage the motor achieves in case of an armature feedback when the voltage reference is equal to 10096 WARNING a software lock exists avoiding to decrease par P011 value under the value set in par P088 WARNING for this parameter never save a parameter lower than the one saved EEPROM for P088 in order to avoid the drive malfunction 84 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am ARM www saftronics com dcM INSTRUCTION MANUAL P012 Speed Voltage Reference Polarity P012 SpdDmndPol P P012 SpdDmndPol R 0 2 D 0 This parameter sets the allowable polarity both for the Ref n reference applied to the ramps and for the n setpoint global speed voltage reference resulting from the algebraic sum of all the applied references 0 Bipolar Bipolar reference 1 Positive only Positive reference only 2 Negative only Negative reference only If you program a unipolar global reference the possible reference of the op
231. t the same time pull up on the board so that it is free of the clip There are 4 clips on the Control Board and 1 on the Interface Board 10 amp 11 Once the boards are free from the chassis they may be separated at connectors CN1 Interface Board and CN10 Control Board and the Control Board completely removed The con nections to the Interface Board 11 terminal block do not need to be removed unless this board is also being replaced Re assembly Connect the new Control Board 10 CN10 to the Interface Board 11 CN1 and place over the plastic locking clips 9 on the chassis Gently push down on each clip until the board s is seated at the bottom of clip Assemble mounting screw 8 to Interface Board Using the procedure previously described remove IC U11 6 and put aside Insert the IC removed from the old Control Board by gently pushing into the socket making sure that the pins are aligned and properly seated 1 Insure that the notch on the IC is oriented properly as shown in the attached diagram e Reconnect 3 cables 7 and insure they are properly seated Replace Keypad Mounting Plate 5 with 4 screws and washers Align Keypad 4 and connecting cable and push into Mounting Plate making sure the Keypad connecting cable is properly seated Replace Keypad Retainer 3 then Main Cover 2 and finally Terminal Cover 1 Check all connections for integrity before applying power 16 1 Identifying Software Rev When your software rev is fr
232. this key may have the STOP function by setting par C103 EmergStop to O Included 2002 Saftronics Inc 41 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am PM www saftronics com dcM INSTRUCTION MANUAL NOTE When operating the drive uses the current parameter set i e the parameters available at the moment The parameter that has been updated with the and A keys will be immediately used instead of the previous parameter even if it is not saved with the ENTER key The new value will not obviously be stored when the drive is turned off For simpler use of the drive the following command shortcuts are available ALARM RESET Press the PROG and ENTER keys simultaneously to close a digital input configured as 0 for an alarm reset Of course the alarm will be cancelled once the cause responsible for its trip has disap peared QUICK PAGE SHIFT MONITOR function Press the v and A keys simultaneously to access the page relating to parameter P000 Key Press v and again to access the Keypad page relating to parameter MOOO Vref and to other measure parameters selected through parameter 005 FirstParm and MeasureSel Press v for the third time to display the Status page By pressing both keys once again the operator may return to the page where the prior keys had been pressed LOCAL MODE SWITCH
233. time longer than MDO10ff delay 18s 1108 lt gt P175 0 Normally Open P175 1 Normally Closed t M00660 A 2002 Saftronics Inc 69 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor a TM www saftronics com dcM INSTRUCTION MANUAL 6 9 SPEED PARAMETER AUTOADAPTATION When the speed reference value is suddenly changed and the load speed is not able to follow such variation the speed loop proportional gain in the transient is to be large enough to avoid any excessive speed overshot both dur ing acceleration and deceleration On the other hand once the speed is constantly kept at the new value set said value is generally too high for the speed loop and may cause some instability The dcM allows to enable the speed parameter autoadpation through par P082 AdaptCtrl This parameter allows the proportional gain to have a rather high value selected through par P072 KpSpdAdapt when also the speed error displayed in par M002 Verr is high so when the speed has not yet reached the reference When the load speed reaches the new value set so the speed error decreases until it becomes null the proportional gain is gradu ally reduced until it reaches the original value set in par PO70 KpSpeed the transition between the two values is not sudden but it gradua
234. ting size selection 17 3 2 2 480Vdc drive rating size selection 17 3 3 Ct s settings by HP from dcM6 dcM612 18 3 4 Control schematic for model M062005 to 2150 47P5 to 4300 20 3 5 Control schematic for model M064400 to 4800 21 3 6 Power section diagram for M62005 to 4800 22 3 7 Internal connection for M062005 to 2100 M0647P5 04200 23 3 8 Internal connection for model M062125 to 2150 4250 to 4800 24 3 9 Control schematic for model M12005 to 2150 M1247P5 to 4800 25 3 10 Control schematic for model M124400 to 4800 26 3 11 Power section diagram for model M12005 to 4800 27 3 12 Internal connection for model M122005 to 2100 M1247P5 04200 28 3 13 Internal connection for model M122125 to 2150 4250 to 4800 29 3 14 Operating components 30 315 Control Card ES800 d ide ble 30 3 46 Suppression card ES727 30 3 47 High voltage card ES728 31 3 48
235. tinue or Press PROG to quit OK Press the enter key OK Auto Tune In Progress YES The display will show P001 0 when the speed tune is finished YES Stop command or remove the enable input OK Does application require Constant HP YES Go to step 17 10 NO 180 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics drive servo motor am S F TRONS www saftronics com dcM INSTRUCTION MANUAL 17 10 SETUP PROCEDURE FOR 17 11 SETUP PROCEDURE FOR R X1 AUTO TUNING CONSTANT HP RANGE Set P001 3 Set P010 equal to your top speed YES 0 2100 rpm Press the enter key on the keypad OK Set P001 1 P001 1 Advanced YES Scroll down to Set C012 to motor rated Armature Voltage eg 500 or 240 vdc Start command or close the Close ENABLE to continue or Press PROG to quit enable input Constant HP The field current will remains constant up to Press ENTER to continue base speed and decreases from base or press PROG to quit speed to top speed value Verify with M018 Armature Voltage will increases from zero speed to base speed and then remain constant to top speed Press the enter key on the Verify with 006 keypad AutoTune In Progress The display will show P001 0 when the Rx
236. tio 1500 18 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF TRONS www saftronics com dcM INSTRUCTION MANUAL CT S SETTINGS BY HP FOR DCM6 M12 CONTINUED Model Current Transformers BurdenPAK M06 Connection Diagram Resistor Value 12 2075 2100 TA1320001 4 2857 Q 300 0 2 4 ES729 350 4200 Ratio 1500 2125 TA1420001 BLK 4 0000 600 0 3 WHT ES729 500 4250 4300 Ratio 2000 TA1420001 BLK 3 3333 0 2150 600 0 3 WHT ES729 600 Ratio 2000 TA1520001 BLK 2 6666 4400 800 0 4 WHT ES729 750 Ratio 2000 TA1520001 BLK 222220 4500 800 0 4 WHT ES729 900 Ratio 2000 1620001 BLK 1 6667 4600 4700 1000 0 5 WHT ES729 1200 Ratio 2000 1720001 BLK 0 9375 4800 41000 1500 1 0 WHT ES729 1600 Ratio 1500 BurdenPak Calculation CT Ratio ES729 Amps rating ES729 250 Example 1500 250 6 000 Note The above table is based on Table 430 147 of the National Electrical code 1996 2002 Saftronics Inc 19 efesotomasyon com Control Techniques emerson saftronics drive servo motor dcM am MM www saftronics com INSTRUCTION MANUAL 3 4 CONTROL SCHEMATIC FOR MODEL M062005 TO 2150 47P5 TO 4300 8 ens 104 53515401 VO swa 4015 AON39H3W3 YASN YOLOW H3MO 8 qassauddns 51100
237. tion sign No 2 voltage analog inputs 10Vdc input resistance 20k or current analog inputs 4 20mA load resistance 200W are available with differential input or common mode in both cases Possibility of application of Bias Gain Polarity Reverse operators Minimum speed function available by request INTERNAL REFERENCES Seven preset run references and 2 jog references are provided One run reference is also available that can be used for the Motorized Potentiometer function RAMP FUNCTION Fully digital function with independent setting may also be external of acceleration or decel eration time duration for both running directions Outside zero setting command for ramp times Possibility of initial or final ramp rounding with 2nd type function In the dcM12 automatic extension of the acceleration or deceleration ramps whenever the load requires a torque value very close to the maximum torque in both cases either motor or braking respectively In dcM6 automatic extension of the deceleration ramp when ever inferior to the coasting time In that way the ramp generated inside the drive is always related to the motor actual speed ANALOG OUTPUTS No 2 configurable analog outputs 12 bit resolution Possibility of application of Bias Gain Polarity operators V Out voltage signal proportional to the motor running speed Out current signal propor tional to the supplied armature current double polarity or positive single polarity only
238. tions A004 Load Loss 004 Load Loss A004 Load Loss S The alarm trips a When one of the two connections to the load terminals is cut off b If the DC side fuse if any is blown This alarm may be disabled through parameter C151 2002 Saftronics Inc 137 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor dcM INSTRUCTION MANUAL a PME www saftronics com 006 Unstable Mains Frequency A006 Unstable Frequency 228 007 Mains Phase Failure 007 Mains Failure EZ 008 Speed Feedback Failure A008 Speed Fdbk Failure VILA 009 Field Overcurrent A010 Armature OverVoltage 006 Unstable Mains Frequency The mains frequency voltage varies more than the max allowable value equal to 500us between two mains periods This alarm may occur only when the ENABLE digital input is active Set disabling through parameter C153 and continuous autoreset through parameter C093 A007 Mains Failure Failure of one of the three mains phases or more than one This alarm may occur only when the ENABLE digital input is active Set disabling through parameter C154 and continuous autoreset through parameter C093 A008 Speed Fdbk Failure The alarm trips a When the tacho or encoder connection is reversed b When the tacho or encoder connection is cut off c In cas
239. tly respected 28 MDI 1 Digital input 1 to be configured through parameter C130 MDI1Cfg I 9mA Default configuration 0 29 31 2 Digital output 2 to be configured through parameter P176 250 MDO2CfQ Default configuration 1 SpeedThreshold 30 MDI 2 Digital input 2 to be configured through parameter C131 MDI2Cfg I 9mA Default configuration 12 JogA 32 MDI Digital input to be configured through parameter C132 MDISCfg I 9mA Default configuration 73 00 33 35 MDO 3 Digital output 3 to be configured through parameter P182 250 0 Default configuration 2 larm Threshold 34 MDI 4 Digital input 4 to be configured through parameter C133 MDI4Cfg I 9mA Default configuration 1 Preset Speed A 2002 Saftronics Inc 35 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor M www saftronics com SIGNAL TERMINALS CONTINUED TERMINAL Description Ratings 36 MDI 5 Digital input 5 to be configured through parameter C134 MDI5Cfg I 9mA Default configuration 4 Clim 37 39 MDO 4 Digital output 4 to be configured through parameter P188 250 4 0 Default configuration 5 Drive Running 38 MDI 6 Digital input 6 to be configured through parameter C135 MDI6Cfg 9mA Default configuration
240. ument may not be copied without the explicit permission of Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ap MI INSTRUCTION MANUAL wwwssitroHice Com TABLE OF CONTENTS 1 CHECKING AI 5 2 SIAHISUP xs gt 6 21 Introduction ke a AU Fo EAR a A G EE d aare A 6 2 2 Preliminary Ch CkS 00 4 ERG RE ERE 6 2 3 Main checks and configurations 7 2 4 Speed control mode operation 9 2 5 Ramp configuration in speed control mode 9 2 6 Speed control 4 10 2 7 Current torque control mode operation 11 2 8 Current limit control options 2 12 2 9 Analog and digital outputs 12 2 10 Backup and restoration of stored parameters 12 3 GENERAL CHARACTERISTICS 13 3 1 General description 1 13 3 2 RAOS rr TC CL 17 3 2 1 240 drive ra
241. utput for a voltage signal while when the jumper is set on pos 5mA max 2 3 the terminal will represent an output for a signal expressed in milli amp mperes An outgoing current only may be produced towards JP10 on pos 2 3 potential See also the MILLIAMPERE INPUT OUTPUT SIGNALS chapter 0 20mA 10V max 9 OV Zerovolt 10 OUT 2 Analog output 2 to be configured through parameter P153 AnOut2Cfg JP9 on pos 1 2 By setting jumper 9 terminal board ES801 pos 1 2 the terminal will 10 10 represent an output for a voltage signal while when the jumper is set on pos 5mA max 2 3 the terminal will represent an output for a signal expressed in An outgoing current only may be produced towards JP9 on pos 2 3 potential See also the MILLIAMPERE INPUT OUTPUT SIGNALS chapter 0 20mA 10V max 11 13 IN 1 Analog input 1 11 IN 1 13 IN 1 to be configured through JP8 on pos 1 2 parameter C120 Anin1Cfg 10 2 410 If both signal wires are connected the two terminals represent a differential 20kQ input with a high rejection to interferences Alternatively with a signal to be reflected to the drive OV the two terminals represent a common mode input JP8 on pos 2 3 This common mode input is a non reversing input if the signal hot wire is 20mA max connected to terminal 11 when terminal 13 is disconnected whereas it is a 2000 reversing input if it is connected t
242. ux increase 018 Boost Duration on Field Current C018 FldFrcTime P C018 FldFrcTime R 0 0 60 s D 10 s F This parameter may be programmed even when no dynamic regulation of the field current in field weakening mode is needed This is the time interval expressed in seconds during which the field current is increased according to the percentage set at parameter 017 FidFrcLevel starting from the very moment when the run command is operated See also the FIELD REGULATOR chapter Nominal Mains Voltage C030 VmainsNom P VmainsNom R 10 NNN V D 480 V F This parameter sets in Volts the three phase mains voltage nominal value in the power section The upper extreme value to be set i e the maximum three phase voltage to be supplied to the power section indicated as NNN is factory set is shown in the Status page and depends on the components used for the device manufacturing It may be one of the following four values 440V 500V 600V 690V The value set in this parameter controls alarm A016 Mains OverVoltage A017 Mains UnderVoltage and A010 Armature OverVoltage trip mains overvoltage or undervoltage and armature overvoltage respectively NOTE the value set this parameter cannot exceed the drive factory set value 118 2002 Saftronics Inc efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am SAF
243. verlimit state throughout the time set in P062 2002 Saftronics Inc 107 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor am www saftronics com dcM INSTRUCTION MANUAL 7 Weakening The dynamic regulation of the field current in field weakening mode is in progress 8 Ifld Threshold The field current threshold set has been overcome 9 Vref Threshold The reference threshold has been overcome 10 No warnings No warning is displayed on the Status page 11 FieldBus Relay contact reiterated at output resulting from the conversion of a digital signal sent by the field bus at input 1 WARNING The indication provided by the digital input configured as 3 Motor at Speed does consid e er any additional speed reference P171 177 183 189 195 Digital Output 1 2 3 4 5 On Delay P P171 177 183 189 195 MDO1 2 3 4 5 OnDelay MDOxOnDelay R 0 000 600 0 s D 0 000 s F P171 Delay time expressed in seconds enabling digital output 1 to terminals 25 and 27 P177 Delay time expressed in seconds enabling digital output 2 to terminals 29 and 31 P183 Delay time expressed in seconds enabling digital output 3 to terminals 33 and 35 P189 Delay time expressed in seconds enabling digital output 4 to terminals 37 and 39 P195 Delay time expressed in seconds enabling digital output 5 to terminals 41 and 43 This parameter indicate
244. vice versa Two contempo rary increment decrement commands have the same effect as a single command 3 Ramps over the increment decrement commands Whenever an increment decrement command is enabled the internal reference is increased or decreased according to the ramp set through par 40 UpDnRefRamp When the motor is running that ramp is in series with the ramp with the Ref n reference which is determined by parameters P030 P033 so the ramp obtained is the longer one 4 Polarity Par P250 UpDnRefPol allows to program whether the internal reference may range from 100 410096 or whether it may vary between the values with sign or 5 Storing the last reference set In order to keep the last value stored at each power on or in case of power fail ure set par P251 UpDnRefMem to 1 Yes Otherwise 0 No setting the internal reference will restart from zero 6 Reference reset The internal reference value may be set to zero at any time by enabling the digital input set to 14 UpDnRefReset through one among par C130 C135 MDIx In that case the internal reference is set to zero with no ramps If a reset command is simultaneously sent with an increase or decrease command the reset com mand has priority 2002 Saftronics Inc 59 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor cow dm APTUM INSTRUCTION MANUAL www saftronics com 6 4 CURRENT LIMITATION The
245. y set values Egg coco A023 Field Weakening Min Current Limit A023 Underlimited A023 Ifld Underlimited S During the dynamic regulation in field regulation mode the alarm trips if the field current may no longer decrease because it is locked by the min value defined by par C016 fldMinLim when the motor speed increases The current may not decrease below par C016 value This alarm that may have a 500ms internal delay may trip due to a too high value set in par C016 the motor excessive speed This alarm resets the field current value See also the FIELD REGULATOR chapter 2002 Saftronics Inc 141 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor cow dm APTUS INSTRUCTION MANUAL www saftronics com A024 EEPROM Missing or Blank A024 Missing or blank EEPROM S At the drive power on the alarm trips a If EEPROM is missing nm b If EEPROM is not programmed fue STOP See also the PARAMETER COPY chapter WARNING This alarm cannot be deleted Please contact Saftronics A025 Wrong Parameters in EEPROM Work Area A025 EEPROM WorkArea Failure 5 The content of some part in EEPROM work area is altered In that case the alarm is to be reset Then warning WOO6 or 008 will be displayed see FWD the relevant sections explaining what to do in that case wi STOP Le 1 Egg J n See also the PARAMETER COPY chapter
246. your requirements To do that refer to the plate see following figure located on the converter front side If the unit is damaged contact the insurance company or the supplier If the unit is stored before it is used check that the storage area conditions are acceptable temperatures ranging from 20 and 60 relative humidity lower than 95 and no dew The warranty covers any manufacturing faults The manufacturer has no responsibility for damages occurred during transportation or unpacking In no case and in no circumstances the manufacturer will be responsible for damages or failures due to wrong usage abuse wrong installation or incorrect temperature humidity or corrosive materials as well as for faults caused by operation exceeding the rated values The manufacturer will not be responsible for consequential or acci dental damages The manufacturer provides a 12 month warranty starting from the delivery date c SAFTRONICS FORT MYERS FL 1 dcM12 4 350 Digital AC DC DRIVE Circuit B6 A B6 C ZZ0061035 35NUU INPUT Control AC2PH 380 500Vac or 24Vdc ARMATURE 500Vac max 50 60Hz 287A 4 FIELD AC2PH 380 500Vac 50 60Hz 15A OUTPUT ARMATURE 520Vdc max 350A 15096 FIELD 0 425Vdc 15A nl 00568 0 1 The device denomination is dcM12 4 350 It is an AC DC digital operated drive These initials identify the configuration consisting of two full control th
247. z or is under 40 Hz This alarm occurs only when the ENABLE digital input is activated EI ES Set continuous autoreset through parameter C093 A013 Synchronization Failure A013 Missing A013 Missing Synchronization Synchronization S Failure of the circuits supplying the synchronizing signals of the mains three phase voltage This alarm may trip only when the ENABLE digital EIE e ES input is active Set continuous autoreset through parameter C093 A014 AutoTuning Resistance out of Range A014 R out of A014 R out of Range S The resistance corresponding to equivalent resistive drop P103 Pred resulting from the current auto tuning is not included in the allowable range A015 Torque During Current AutoTuning A015 AutoTune Error S During the current auto tuning stage 001 1 the motor torque allows the motor to rotate at 001 nFdbk value higher than approx 1 5 due to any residual magnetism even if the field is off This alarm may also occurs if during the armature resistive drop autotuning 001 3 the motor torque allows it to rotate at M001 nFdbk speed higher than approx 1 5 in tacho or encoder feedback mode or higher than 1096 in encoder feedback mode because of any residual magnetism even if the field is off In this case it is necessary to lock mechanically the motor to perform the automatic calibration 2002 Saftronics Inc 139

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