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SINUS PENTA USER MANUAL

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1. SINUS PENTA PROGRAMMING 2 INSTRUCTIONS C024 MI C067 M2 Mutual inductance 250 00mH C110 M3 C025 MI C068 M2 Rotor time constant ms C111 M3 C026 MI C069 M2 m of bus voltage low 0 ms C112 pass filter C028 M1 C071 M2 Min motor speed BASIC 1071 O rpm 114 M3 1114 C029 1 1029 C072 M2 Max motor speed BASIC 1072 1500 rpm C115 M3 1115 C030 M1 1030 C073 M2 Flux weakening speed 1073 90 116 1116 CO31 MI 1031 C074 M2 Max speed alarm 1074 0 Disabled C117 M3 1117 C032 M1 1032 C075 M2 Reduction in quadratic torque curve 1075 3096 C118 M3 1118 C033 M1 E 1033 CO76 M2 iis revs referring to reduction in 1076 2096 C119 M3 quadratic torque curve 1119 C034 1 1034 C077 M2 Voltage Preboost for IFD 1077 See Table 73 C120 M3 1120 C034a MI 1204 77 M2 VIC Boost for positive reference 1206 096 C120a 1208 C034b 1 1205 077 M2 VTC Boost for negative reference 1207 0 C120b M3 1209 C035 1 1035 C078 M2 1078 See Table 73 C121 M3 1121 M Voltage Boost at programmable 1088 C079 M2 d prog 1079 See Table 73 C122 M3 1122
2. PROGRAMMING 9x SINUS PENTA INSTRUCTIONS SANTERNO GRUPPO CARRARO PO8x P10x Multispeed P080 Mspd use O Preset Speed P081 Spdl 0 00 rpm P083 Spd2 0 00 rpm P085 Spd3 0 00 rpm P087 Spd4 0 00 rpm 88 5 5 0 00 P089 Spd 0 00 rpm P090 Spd7 0 00 rpm P091 Spd8 0 00 rpm P092 Spd9 0 00 rpm P093 Spd10 0 00 rpm P094 Spd11 0 00 rpm P095 Spd12 0 00 rpm P096 Spd13 0 00 rpm 97 5 14 0 00 P098 Spd15 0 00 rpm P099 FireM Spd 750 00 rpm P100 Un Meas 0 0 01 rpm PO8x PO9x PID Multireference P080a Mref use PID O Preset Ref PO81a Ref 1 PID 0 00 P082a Ref 2 PID 0 00 P083a Ref 3 PID 0 00 P084a Ref 4 PID 0 00 P085a Ref 5 PID 0 00 PO86a Ref 6 PID 0 00 P087a Ref 7 PID 0 00 P099a FireM Ref PID 0 00 P10x Prohibit Speeds P105 Velbp1 O rpm P106 Velbp2 rpm P107 Velbp3 O rpm P108 Bwbps rpm P11x P12x 96 Var Ref P115 VarPercl 0 0 96 P116 VarPerc2 0 0 96 P117 VarPerc3 0 0 96 P118 VarPerc4 0 0 96 P119 VarPerc5 0 0 96 P120 VarPerc 0 0 96 P121 VarPerc7 0 0 96 P12x P15x Speed Loop P125 Ti min 1 0 500 s P126 Ti max MI 0 500 s P128 Kp min 1 10 00 P129 Kp max MI 10 00 P130 Err min 1 1 00 96 P131 Err max M1 1 00 96 P135 Ti min M2 0 500 s P136 Ti max M2 0 500 s P138 Kp min M2 10 00 P139 Kp max M2 10 00 P140 Err min M2 1 00 96 P141 Err max
3. PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 20 3 List of Parameters P176 to P215 Table 33 List of parameters P176 to P215 P176 AO analog output ADVANCED 1 10V 776 P177 Selected variable for AO1 analog output ADVANCED 1 Motor speed 777 P178 Min value of AOT selected variable ADVANCED 1500 rpm 778 P179 Max value of AOT selected variable ADVANCED 1500 rpm 779 P180 AO Analog output offset ADVANCED 0 000 V 780 P181 Filter for analog output ADVANCED ms 781 P182 Min AO1 output value with reference to P178 ADVANCED 10 0V 782 P183 Max AO output value with reference to P179 ADVANCED 10 0V 783 P184 2 analog output ADVANCED 1 10V 784 P185 Selected variable for AO2 analog output ADVANCED 2 Speed reference at 785 constant rpm P186 Min value of AO2 selected variable ADVANCED 1500 rpm 786 P187 value of AO2 selected variable ADVANCED 1500 rpm 787 P188 2 Analog output offset ADVANCED 0 000 V 788 P189 Filter for 2 analog output ADVANCED ms 789 P190 Min 2 output value with reference to P186 ADVANCED 10 0V 790 P191 Max AO2 output value with reference to P187 ADVANCED 10 0V 791 192 analog output ADVANCED 2 04 10V 792 P193 Selected variable for AO3 analog output ADVANCED 5 Output current 793 P194 Min value of AO3 selected variable ADVANCED 7
4. Meaning Sinus Penta Fault 0000 No malfunction A000 1000 General malfunction NoCurrent Fault A060 AutoTune Fault A065 2000 Current 2300 Current on device output side 2310 Continuous overcurrent 2311 Continuous overcurrent No 1 SW OverCurrent A044 2312 Continuous overcurrent No 2 PWMAI Fault A051 2320 Short circuit earth leakage PWMA Fault A041 PWMAO Fault A050 PWMA Not ON A053 3000 Voltage 3100 Mains voltage 3130 Phase failure Mains Loss A064 3200 Internal voltage 3210 Internal overvoltage OverVoltage A048 3220 Internal undervoltage UnderVoltage A047 4000 Temperature PT100 Channel 1 Fault A105 PT100 Channel 2 Fault A106 PT100 Channel 3 Fault A107 PT100 Channel 4 Fault A108 4100 Ambient 4110 Excess ambient temperature Amb Overtemp A109 4300 Drive temperature 4310 Excess drive temperature Drive OverHeated A074 HeatSink Overheated A094 5000 Device hardware 5111 U1 supply 15 V x 15V Loss A087 5200 Control 5210 Measurement control ADC Not Tuned A088 5220 Computing circuit 5300 Operating unit Parm Lost Chk A072 Parm Lost COMI A073 MMI Trouble A078 KeyPad WatchDog A081 Parm Lost COM2 A089 Parm Lost COM3 A090 5400 Power section Fan Fault A096 2nd Sensor Fault A099 5440 Contactors 5441 Contactor 1 2 manvfacturer specific Bypass Circuit Fault A045 5442 Contactor 2 manvfacturer specific Bypass Connector Fault A
5. P390 Type of signal over XAIN4 input ADVANCED 1 0 10V 990 P391 Mis of XAIN4 input producing min reference X ADVANCED 0 0V 991 P3914 Percentage of Speed Min Trq Min producing min ADVANCED 100 0 704 reference Y axis related to P391 P392 oin of XAIN4 input producing max reference X ADVANCED 10 0V 992 Percentage of Speed_Max Trq_Max producing max IANICED 2 P3224 reference Y axis related to P392 100 0 d P393 Offset over XAINA input ADVA OV 993 P394 Filtering time over XAIN4 input __ADVANCED 100ms 994 P395 Type of signal over XAIN5 input ADVANCED 3 4 20 995 P396 of XAIN5 input producing min reference ADVANCED A Dis 996 Percentage of Speed Min Trq Min producing min NCED P3264 reference Y axis related to P396 eee 100 0 397 d of XAIN5 input producing max reference ADVANCED 20 0mA 997 Percentage of Speed Min Trq Min producing min ap P poeta reference Y axis related to P397 ADVANCED 109 0 ds P398 Offset over XAIN5 input ADVANCED OmA 998 Filtering time over XAIN5 input ADVANCED 100 ms P390 Type of Signal over XAINA Input Default 1 Level ADVANCED Address This parameter selects the type of single ended analog signal over XAIN4 terminal in the terminal board The signal can be a voltage signal a unipolar signal or a bipolar signal ia mireris 10 V Bipolar voltage
6. 051 Percentage of Speed Min Trq Min producing min 100 0 675 reference Y axis related to 51 Value of REF input producing max reference X axis ADVANCED 10 0V 652 Percentage of Speed Max Trq Max producing max 48 un Y axis iode P052 i neue ore P055 Type of signal over AIN1 input ADVANCED 2 4 20mA 655 056 Value of AINT input producing min reference X axis ADVANCED 4 0mA 656 Percentage of Speed Min Trq Min roducin min 05 ANNE X axis Mw to P056 2 ib 99 id P057 Value of AINT input producing max reference X axis ADVANCED 20 0mA 657 Percentage of Speed Max Trq Max producing max dads briser P056 RI 190094 ane P058 Offset over AINT input ADVANCED OmA 658 P059 Filtering time over AINT input ADVANCED 5 ms 659 P060 Type of signal over AIN2 input ADVANCED 2 4 20 660 P061 Value of AIN2 input producing min reference X axis ADVANCED 4 0mA 661 Percentage of Speed Min Trq Min roducin min Posta A ine Y axis to P061 i 100 0 on 062 Value of AIN2 input producing max reference X axis ADVANCED 20 0mA 662 P062a Percentage of Speed Max Trq Max producing max ADVANCED 100 0 701 reference Y axis related to P061 P063 Offset over AIN2 input ADVANCED OmA 663 P064 Filtering time over AIN2 input ADVANCED 5 ms 664 P065 Minimum reference and START disabling threshold ADVANCED 0 665 066 START disable delay
7. bu en ac Eve QR Else tee 138 Curve voltage speed implemented AO1 Example 1 141 Curve voltage speed implemented by AO Example 2 142 Curve voltage speed implemented by AO1 Example 3 142 Curve voltage speed implemented by AO1 Example 4 143 Curve voltage speed implemented by AO1 Example 5 seen 143 Using Timers example rir ELE 154 PID Block iiiter tiu or r araara Fo sexe AEE ELO xU 159 Permanent oscillation with Kp critical gain cesses nee ene eene nene enhn ne nenenrse senis 160 Response to system tuned with the method of Ziegler and Nichols ssssssseeeeee 161 Response to the step based on the value of Kp when Ti is kept constant 162 Response to the step when Kp 1 too large EI PORE VEI ede te ink de Ege 163 Response to the step based on the value of Ti when Kp is kept constant sessssssseeene 164 Response to the step when the values of Kp and Ti are too small 164 PID Sleep and Wake up Mode when P237a is set to 1 nennen 168 Block diagram of the digital outputs essere nnn rennen rennen enne 176 Bep soe
8. eene nennen 36 5 5 Configuring a Reference from Encoder sse eere nere nene rennen nnne 37 6 START UP MENU eR 38 6 1 OVetVIe Ws icit E 38 7 FIRSTESTARTOP 2 40 7 1 IED Control Algorithm 40 7 2 VTC Control Algorthrm suere eret tete ese ese 42 7 3 FOC Motor Control MEE 44 8 MEASURES 3 vs cae ieetececctdeccedeusvsecsotuecstetustececousdestecesvereucawessdedesoeeeconsaeversuses 48 8 1 Su 48 8 2 Motor MedsU res Meriu e espere a E RISO REN ER AR D MAE RE 49 8 3 PID Regulator Menu 8 4 Digital Inputs Menu 2 428 SINUS PROGRAMMING lt SANTERNO INSTRUCTIONS GRUPPO CARRARO 8 5 References Menu e asesetec iiec ERE ERR CERE RR e Rd P d ee des ore ae A eU ER ces eS 61 8 6 Q tputs MENU n 65 8 7 Temperature Measures from PT100 Menu ccsssccceeeeceeeeeenceeeeeeaeeeeecneeeseeaceeeseeeeeeseeaeecessnaeeseesneeeeeeeeeerss 67 8 8 AUTOCICIGMOStIGS M RR 68 8 9 Data Logger Measures Menu insere titer tetro ert hae IRE
9. 70 8 10 Digital Input Settings Menus ore rette credet deett ipic cose Fee in eMe cabs een 72 8 11 Fault List Menu eee aea a ER cass 73 8 12 Power Of list Meni nr mt 74 9 PRODUCT MENU m M 75 9 1 Gi P 75 9 2 List of Parameter P263 and Fire Mode Enable Password 75 10 PASSWORD AND USER LEVEL 79 o 2 eT 79 10 2 List of Parameters POOO to seen 79 11 DISPLAY KEYPAD MENU 5 eros e sea oua hao eo nba sea pa sea hao haa EE Roo aoa ENEE ERNE 81 11 1 SEE 81 11 2 ROOT PO EENEN 81 11 3 Keypad Page and Local Mode ssssssssssssssssseeenee eee eene 82 11 4 List of Parameters P264 to P269 isses esee 83 12 RAMPS MENU P 88 DII mE EN 88 12 1 1 Description of the Speed Ramps ssssssssssssssssssseseeeeee eere nnn rne
10. voltage Power Down cannot occur C008 xT Regen where x can be 2 4 5 or 6 Speed A t DC bus Voltage C230 AC Mains OK gt a lt gt lt C226 Extra Power Down Delay Deceleration P000357 b Figure 57 Power Down Example 339 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO The figure above illustrates the patterns of the motor speed and the DC bus voltage in case of mains loss In the example above power supply is restored before the drive turns off and before the deceleration ramp is over so the motor accelerates with the preset acceleration ramp If power supply is restored during the deceleration ramp in Power Down the connected motor accelerates following the selected acceleration ramp A speed value for the end of Power Down can be set in C235 the desired operating mode at stop can be set in C234 When the motor speed attains the end level of Power Down the following functions can be selected in parameter C234 Stop The drive will control the motor until it stops down independently of the value set in C235 when the motor stops and power supply is restored the RUN command must be disabled and enabled again to accelerate the motor DCB When the speed of the Power Down end set in C235 is attained DC braking occurs If power supply is restored during DC braking the RUN command must be disabled and enabled again to accelerate the motor St
11. ANE PER SEE 247 SIM 247 31 1 1 IFD Control and VIC aa a a 247 31 1 2 Example IFD and VIG ict bnc bte teet ERR E CERO DAR Pe E AR E I e eU Eo Y Ee ER RR 247 31 1 3 gsSlexen lE 248 31 1 4 Any Control Algorifim iit EEEE E EEEO E EE bu er 248 31 2 Jistof Parameters COO to CO004 ce d ee Ede cie e se vade Pe e Re aene ir 249 32 MOTOR CONTROL MENDU e eo ha se run eo haeo haa a ERR RR SE Pha REFERRE ERR a NER YR ERERE SERA 251 Selig WOVEIVIEW Hum 251 32 1 1 Electrical Specifications of the Connected Motor 252 32 1 2 MOTOR Ratings sire terrre tenera Ea onde a even deta susie Pe e Free dacs te e sat date sedet sa e Poe E vta n ERR EET HUS 252 32 1 3 Parameters of the Equivalent Circuit of the Asynchronous Machine 253 32 1 4 Pattern IED Only m E 254 32 1 5 Example 1 V f Pattern Parameterization cccccsccccccecccesssseeeeeeeccesessseeeeeeececeseseeeeeeceseeensseeeeeeesenes 255 32 1 6 Example 2 V f Pattern Parameterization ccccssccccececeeesssseeeeceeecssesseeeeeeececeseseeeeeesesseesseeeeeeeseees 256 32 1 7 Slip Compensation IFD Only ssssssssssssssssseeeen rennen 256 32 1 8 Torqu Control VIG and FOC Only etes
12. R 184 ANALOG Mode sissies 185 DOUBLE DIGITAL Mode ore rgo I Or UR ER ER HAE IER 185 General structure of the parameterization of a digital 186 Digital output for speed thresholds 188 Electromechanical brake command example seen nennen ennemi 189 Block diagram of the virtual digital outputs 215 Example of MPL functionality otro rrt PERRO EE RAE NO EE ERa en ANDRIA EXER IEEE RE T 220 Carrier frequency example 2 retirer Ier ERES dots raid op eod etg Pru epulae tace tiet Eee dns 247 Equivalent circuit of the asynchronous machine 253 Types of programmable V T curves ERI eoe Ee EE X EN 254 Torq e controlwith speed limit te ettet hr Eee eel 262 Current limit decreased based on the carrier frequency sse 281 Selectiaig the comimand sOUIGeS cio dere UE PEE NE NES ERR ve ei YE e kd t ERAS bi subs t se tst i Refs 287 Selecting the source references tret edite e Rede Ya dea Hee e Rr 291 Inputs that can be selected to implement control functions 296 Controlling Run and Direction when the STOP Input is not programmed sse 305 Controlling Run and Direction when the STOP Input is programmed
13. P176 ABS 0 10V AO1 Analog output P177 1 Speed Selected variable for AO1 analog output P178 0 rpm Min value of AO1 selected variable P179 500 Max value of AO1 selected variable P180 0 000 V AO1 Analog output offset P181 ms Filter for AO1 analog output P182 0 0 V Min AO1 output value with reference to P178 P183 10 0 V Min AO1 output value with reference to P179 141 428 PROGRAMMING SINUS PENTA INSTRUCTIONS Ee SANTERNO GRUPPO CARRARO N V n o A a O N o joa qp o 500 400 300 200 100 o 100 200 300 400 500 rpm Figure 18 Curve voltage speed implemented by AO1 Example 2 Example 3 Table 30 Programming ABS 0 10V P176 ABS 0 10V AO Analog output P177 1 Speed Selected variable for AO1 analog output P178 500 rpm Min value of AOI selected variable P179 500 rpm Max value of AO selected variable P180 0 000 V AO Analog output offset P181 ms Filter for AO1 analog output P182 0 0 V Min AO output value with reference to P178 P183 10 0 V Min AOT output value with reference to P179 500 400 300 200 100 100 200 300 400 500 rpm Figure 19 Curve voltage speed implemented by AO1 Example 3 The programming mode above would imply a straight line passing through 500rpm OV AN NOTE and 500rpm 10V but based on the selected mode and consideri
14. 394 53 ALARMS AND WARNINGS cceccccccsccccccccsccescescsccecccccescecceccescescescscescessescescesceseesceeces 395 53 1 What Happens When a Protection Trips cccccccceeeeseeeeeeneeeeeeneeeeseeaeeeesseaeeeesenaeeesesnaeeceenaeeeeseeeeeenenneeess 395 53 2 What To Do When n Alarm Trips 396 583 REIR REN 397 53 4 List of the DRIVECOM Alarm 414 SEEMS Ioh 416 CT EE DIRE ERE M 417 SE PENES TR 418 54 CUSTOM PARAMETERS 5 5 sens ees nasa sao U c aeo sa a oen eo Nena Ea Save aar NE e aao 419 55 MIND Cu M N E 427 6 428 SINUS PENTA 0 2 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 Figure 37 Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Figure 43 Figure 44 Figure 45 Figure 46 Figure 47 Figure 48 Figure 49 Figure 50 Figu
15. epe y any neo P EARN 257 32 2 ist of Parameters C008 to C128 isset HERE RP SE RR SRI EE Eod 258 32 3 Tables Including the Parameters Depending on the Drive 273 33 LIMITS MENU EE 281 33 1 YOVERVIEW C 281 33 2 Parameters C043 to C135 e EE 282 34 CONTROL METHOD MEND 1 5 nora ero sa esa a ERES YER ERR E EE sua 286 D EEG UJ 286 4 428 SINUS PROGRAMMING lt SANTERNO INSTRUCTIONS GRUPPO CARRARO 34 1 1 Efe UIT 6 EE RR D 287 34 1 2 5 eee ee ton Penn bee e e eto enne aue ege e Ree Ma pee ne RN abs 289 34 1 3 Alternative Command and Reference 291 34 1 4 Torque Limit SGUrces 292 34 1 5 Remote Local Mode ccessssesseeeeee Ie eee eene ehe nhe hene ene hse rese rese ese rss re rise senten 292 34 2 l ast of Parameters CT4Q0 10 ies eter ere tate ee e eant Pee aaee ae t ev en e eee ede e needs 293 35 DIGITAL INPUTS MENU cscccsccosseccsscccceccsscesc
16. sssssssssssssssssssese eene ener eene nnn nnne sse eene reins nns esee eere nnns serene enean 123 Table 23 List of parameters P105 to P108 cccccccccccssssssseeeceeeesesssseeeeeeeeeseessseeeeeeeesseseseeeeeeeeeseensaseeeeeesesessseeeeeeeeess 126 Table 24 List of parame terssP 1 T5 to P 121 iiiter ciere ente itecto eer Ete 128 Table 25 Liskof parameters PT25 to P152 iiis cese noted eth REESE RE Te FERE FERES Y ERE ERA RR ERRORS E PARERE EROR ERR RR 130 Table 26 List of parameters P155 to 173 133 Table 27 Variables to be selected for the Analog and Frequency Outputs 139 Table 28 Programming AO T O OV eet eost pote abbr ee ERREUR SER ANTH E ST P P UNRERURS S CU ERR 141 Table 29 Programming AO1 ABS nennen 141 Table 30 Programming AQT ABS O 142 Table 31 ABS O territi ETE ER 143 Table 32 Programming AQU TOV Rer EE SP ERN esac Gus EEE EOR NER ERRARE RR REESE PERRA ER 143 Table 33 List of parameters P176 to P215 cccccccccccccssssssseeeeceeessesseeeeeeeeeesessseeeeeeeeeeseneseeeeeeseeeeensseeeeeseseseneneeeeeeeeess 144 Table 34 Lis
17. 0 1 2 3 4 5 6 7 8 9 10 Figure 28 Response to the step based on the value of Ti when Kp is kept constant The figure below represents the response of the PI regulator when the values for Kp and Ti are lower than the optimum value computed with the method of Ziegler and Nichols _ P0008140 Figure 29 Response to the step when the values of Kp and Ti are too small 164 428 SINUS 9x PROGRAMMING SANTERNO INSTRUCTIONS GRUPPO CARRARO 22 3 3 DERIVATIVE ACTION D Symbol Tuning function Main goal Td An input variance error generates an output Decreases the response time for the return to the variance proportional to the variance rate tuning point The derivative action set with Td increases the stability of the system thus increasing the transient response The derivative action tends to get an earlier response but it increases the system sensitivity to the disturbance overriding the error signal 22 3 4 TUNING ACTIONS AT CONSTANT SPEED When the system is operating at constant speed the system response shall be the most accurate as possible minimum error and shall adjust any little reference variations When at constant speed if the system does not promptly respond to little reference variations a shorter integral time may solve this problem Otherwise when little and long lasting oscillations affect the reference value setting a longer integral time could be the r
18. 0 2 When the Torque control with speed limit mode is used the drive will limit the motor rotation to the rpm set in parameter C029 C072 C115 This function can be used to automatically toggle from the torque control mode to Function the speed control mode when the torque control mode is implemented the motor speed can reach any value included in the AB area see figure below If the limit speed is attained due to particular load conditions the drive will automatically switch to the speed control BC zone The controlled torque is no longer maintained If the torque returns to its setpoint value the drive will automatically switch to the torque control again AB zone TORQUE TORQUE CONTROL ZONE B SPEED CONTROL ZONE AB z Torque Set Point BC Speed Limit C SPEED P000665 b Figure 43 Torque control with speed limit AN NOTE 2 can be selected only if a FOC control is implemented 262 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO C012 55 98 Speed Feedback from Encoder Default Level Address Control Function 0 No 1 Yes fof BASIC 1012 1055 1098 VTC and FOC This parameter enables the encoder as a speed feedback It defines the encoder characteristics and whether Encoder A MDI6 and MDI7 in the terminal board or Encoder B with option board is used as a speed feedback see the ENCODER FREQ
19. Max Producing Max Reference X axis related to P072 O 1000 100 0 1000 100 0 ADVANCED 714 This parameter represents the max speed percentage or the min torque percentage acion for a torque reference to be used for the maximum reference set with P072 117 428 SINUS PENTA PROGRAMMING GUC ION Z SANTERNO GRUPPO CARRARO 73 Value of ECH Producing Min Reference X axis ieee 32000 32000 32000 rpm DESEE 1500 1500 rpm EARI ADVANCED 673 This parameter selects the value of the Encoder input for minimum reference or better the reference set in CO28xPO73a Master mode or in CO47xP073a Slave mode If motor 2 is active the values set in C071 and C090 will be used instead of C028 and C047 if motor is active the values set in C114 and C133 will be used Function P073a Percentage of Speed Min Trq Min Producing Min Reference Y axis related to P073 Range 100 0 Piel imag 1000 100 0 Level ADVANCED 702 This parameter represents the max speed percentage the min torque percentage for a torque reference to be used for the maximum reference set with PO73 Function P074 Value of ECH Producing Max Reference X axis Range 32000 rpm Default 1500 rpm Level ADVANCED Address This parameter selects the value of the Encoder input for maximum reference or better the reference set in CO2
20. 238 Table 58 List of parameters P390 to P399 sssssssssssssssssssseseeeee eene eene nennen ener hne nnns seen e tenis nsns sene 239 Table 59 Programmable Motor Tune functions sssssssssssssseeeee eene enne nennen nnns seen eter nenne 244 Table 60 liskof inputs 1073 1074 ettet E R R eda Eo eese qe ved 246 9 428 PROGRAMMING SINUS PENTA RU ONE 22 SANTERNO GRUPPO CARRARO Table 61 Maximum value of the output frequency depending on the Penta size 248 Table 62 List of parameters to CO04 sssssssssssssseeeeee nennen nnne nnns essen 249 Table 63 Description of the parameters classified by motor nennen enne 252 Table 642 Motor ratings Jie enter tee enero Fen ee eae Mens Lese Me Roa geo Hee pea Peu EY bee Mo a TNR UNE 252 Table 65 Parameters of the equivalent circuit of the asynchronous machine 253 Table 66 Motor parameters used by control algorithms cccccceeeseeeeeneeeeeeeeeeeeeeneeeececeeeeseenneeececeresenaeeeeseeeeeeeeaea 253 Table 67 IFD control parameters for the connected 255 Table 68 Parameters setting Slip Compensation IFD Control
21. 306 Using two encoders example senisoos rrinim irra rota Mo prae paie tr eR ENTRIES ee abes sg del S eh 322 DGB Meld aiid DCB at Start iissa tise Geta eiecti ede ette ee PE n rs PRO REN 331 DCGB atStart with VIC Control re ERE ERR e E LEY EE ER ERN oe 332 DCB ot Stop 333 Manual DCB Example E 334 ManvalDCB Example 2 ENa era er ARE gens e i EREA 335 Manual DCB Example 3 inaano EEN Ear a O EEE EE EE EEE a EA EEE 336 Power Down Example i a TERI UE RE O E a ER Ua RE Hope vade bee IRR ERR 339 speed Searching Example RR 346 Speed Searching Examiple 2 e ee EEE E eo R ESEA 347 Trip current drop depending on speed values sssssssssssssseeseeeeeneeeee nenne rennen 352 PROGRAMMING INSTRUCTIONS Z SANTERNO Figure 61 Figure 62 Figure 63 Figure 64 Figure 65 Figure 66 Figure 67 8 428 SINUS PENTA GRUPPO CARRARO Set up of parameter C267 depending on the LRC FLC ratio essen 355 Trip delay of alarm A075 based on the IEC Class eene eene nnne 356 Str cture of the PID Regulator te Ehe te Pee Rt Ego 360 Reference source and feedback source selection eene 361 PID ramp tefer nce ien te rr 36
22. 10000 10000 100 0096 10000 100 0096 Level Address This parameter defines the max allowable value of the PID feedback See the description of P245 170 428 SINUS PROGRAMMING 2 SANTERNO ERTE P249 PID Reference Ramp Up Time Range Function of P251 Default Level Address This parameter defines the ramp up time of the PID regulator reference from 096 to the max allowable absolute value max P245 P246 Function LOT MEM 0 32700 Function of P251 0000 3 Level Address This parameter defines the ramp down time of the PID regulator reference from Function max allowable value max P245 P246 to 0 P251 Unit of measure of PID Ramp Default Level Address This parameter defines the unit of measure for the PID reference ramp times Function It defines the unit of measure for the time of the third ramp of the PID reference P249 and P250 so that the allowable range becomes Os 327000s Example 0 0 01 s 0 327 00 s 1 0 15 0 3270 0 s 2 1 0s 0 32700 s 3 10 0 5 0 327000 5 Factory setting the PID reference ramp is zero if a given ramp time is set up the ramp will be AN NOTE rounded off 5096 at the beginning and at the end of the ramp See parameters P252 and P253 171 428 PROGRAMMING SINUS PENTA NORE 2 SANTERNO GRUPPO CARRARO P252 PID Ramp Start Rounding
23. 2 SANTERNO GRUPPO CARRARO Example 2 Pipe Fill Function PROGRAMMING INSTRUCTIONS The PIPE FILL function avoids water hammer in irrigation pipes To avoid water hammer pipes must be filled very slowly for air drainage To do so force a minimum rate reference thus obtaining the minimum delivery of the pumping system Once the min rate is attained the feedback starts increasing when the filling pressure is attained the system can start operating in normal conditions Table 55 MPL parameterization for Pipe Fill function P368 MPL3 Digital output mode DOUBLE ANALOG P369 MPL3 Selecting variable A Analog input allocated to PID FBK P370 MPL3 Selecting variable B Analog input allocated to PID FBK P371 MPL3 Testing variable A P372 MPL3 Testing variable B gt P373 MPL3 Comparing value for Test A PIPE FILL value P374 MPL3 Comparing value for Test B PIPE FILL value P375 MPL3 Function applied to the result of the 2 tests A Set B Reset P375a MPL3 Selecting variable C DO Disabled P375b MPL3 Function applied to the result of f A B C P376 MPL3 Output logic level TRUE P377 MPL4 Digital output mode DIGITAL P378 MPL4 Selecting variable A D51 MPL3 P379 MPLA Selecting variable B P380 MPLA Testing variable A P381 MPLA Testing variable B P382 MPL4 Comparing value for Test A P383 MPL
24. Hz 247 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 31 1 3 FOC CONTROL The FOC control algorithm selects the silent modulation mode C004 and allows increasing the carrier frequency with parameter 2 The FOC algorithm uses a carrier frequency corresponding to e carrier freq allowed for the Penta size concerned if freq is lt 8kHz see Table 71 e greatest between C002 and 8 kHz if the mox carrier freq allowed is gt 8kHz this means that the value set in C002 is applied only when exceeding 8kHz The carrier frequency is not affected by the value set in C001 31 1 4 ANY CONTROL ALGORITHM The maximum preset carrier frequency value also limits the maximum speed value to be programmed Max programmable speed rated speed maximum output frequency rated frequency where the maximum output frequency results from the following C002 gt 5000Hz fout max C002 16 C002 x 5000Hz fout max C002 10 C002 is the maximum carrier frequency and the divisor is the min allowable number of pulses per period Table 61 Maximum value of the output frequency depending on the Penta size Max output frequency Hz 2T AT Smaller than 0015 0015 to 0129 0150 to 0162 Greater than 0162 From 0023 to 0030 437 5Hz 0040 1000Hz and 0049 800Hz Max Output Frequency Size Hz 5T 5T NOTE The maximum output frequency is li
25. 1 A SET B RESET Level Address This parameter determines the logic function applied to the result of the two tests Function allowing calculating the output value 201 428 SINUS PROGRAMMING GUC ION Z SANTERNO P296 MDO3 Output Logic Level Range Default Level Address MDOS digital output logic function to apply a logic reversal negation to the Function calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied DISABLE DIGITAL DOUBLE DIGITAL ANALOG DOUBLE ANALOG DOUBLE FULL BRAKE ABS BRAKE ABS LIFT Default 1 DIGITAL Level ADVANCED Address QuoUBROMO This parameter defines the operating mode of digital output 4 The different Gupchion operating modes are described at the beginning of this chapter P298 Selecting Variable A Range 0 119 See Table 39 Default D1 Inverter Run Ok Level ADVANCED Address This parameter selects the digital signal used to calculate the value of MDO4 digital output It selects an analog variable used to calculate the value of MDO4 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 P299 MDOA Selecting Variable B O 119 See Table 39 Default oY D1 Inverter Run Ok ADVANCED 899 This parameter selects the second digital signal used
26. This is the measure of the speed value processed with respect to the ramp time 32000 integer part t 99 decimal part Always active 1654 integer part 1655 decimal part 32000 99 rpm Motor speed value M006 Drive Output Frequency Range 10000 1000 0 Hz see Table 61 Active Always active Address KA This is the measure of the voltage frequency output of the drive 49 428 SINUS PROGRAMMING NET ON 2 SANTERNO M007 Torque Reference at Constant Speed Nm 3200 Nm Note The actual range depends on the torque limit values set for the selected motor C047 C048 Motor 1 090 091 Motor 2 C133 C134 Motor 3 Active Active only when a torque reference is used for the selected motor Address This is the measure of the torque reference required at constant speed and expressed in Nm M008 Torque Demand Nm 32000 Nm Note The actual range depends on the rated torque and the torque limit values set for the selected motor C047 C048 Motor 1 090 091 Motor 2 C133 C134 Motor 3 Active for VTC and FOC controls only Address With speed control Torque demand of the speed regulator for the type of control used Aan With torque control Torque reference processed with respect to the preset torque ramp time Address Function 500 96 Note The actual range depends on the torque limit values set for the selected motor C047 C048 Motor 1
27. entere nennt ener 88 12 1 2 Description of the Torque RAMPS eers TAE ER innere enne enne 91 12 2 hist of Parameters POO9 to P033 ise cepe IERI REINES FIERE NUI 92 13 INPUTS FOR REFERENCES MENU 1e ecoute on tono Ea 100 13 1 Processing Speed Torque References 100 13 2 Scaling Analog Inputs REF AINT 12 103 13 3 Parameters POSO To PO7 4G NE Ex Est O Ee ERE S LEX Re e RYE RTL Re Gad 107 14 MULTISPEED MENU Ex ae EXE EE 119 S A 119 14 2 VWistofParameters POBO To PTOO orc ere Rr ee 119 15 PID M LTIREFERENCES MENU 2 oerte eee ee a eeu rao ru raa Epod E ERR 122 IMMO VI 122 15 2 List of Parameters 080 to PO9QG ccccccccccssssessseeeeeeeeeseesneeeeeeeeeesensseeeeeeeeecesensseeeeeeeeesesssseeeeeeeeeesesaaaeees 123 16 PROHIBIT SPEED MENU 4 1 cerra ri Ea euo a o ae Loa oed pa Devan ae uos ra av o peu s tau o Euge vnd A ERA 125 1 2 E 125 16 2 List of Parameters P105 to P108 cccccccccccecsessssseeeeeeeessessneeeeeeeeecesenseeeeeee
28. 19 1 5 Programming Root 19 1 6 Using ocu lUa 20 1 7 ESC Key Pressing and ata time eene ren rene nnne ener rennen rennen rennen 21 1 8 RESET Key Alarm and Control Board Reset ssssssssssessssseeeeeeeee ene enne ennemi 22 1 9 TX RX Key Download Upload from to the Keypad 22 1 10 Key Keypad 3 aree eec pene ea NS SES E RS REEL save gh ed S Ue e ee EAS 23 lobo SAVE ENTER Key iio easier ree re Ra t s esi 23 1 12 Indicator LEDs on the nne rennen nnne nnne 24 2 DESCRIPTION OF INPUT AND OUTPUT SIGNALS 25 3 REFERENCES AND FEEDBACKS ra o boa n e bua e ssd pene a psa e ab pao o Dag oo Da Ene asse iva obs 26 3 1 Main Speed Torque REENER REN 26 3 2 Speed Torque limit Reference E eser REA IEEE PRENNE NEAR E UE 26 3 3 PID Reference D deasesmidedessaddesersuacevoscadecudeened 26 3 4 PID Feedback Reference corr RERO GI RU I rea a rU desea EM FO Retard 26 4 PROGRAMMABLE FUNCTIONS riiee osten o eov eere aevo Ue o Nerea
29. The error code meaning is the following code DESCRIPTION The function sent by the Master is different from 0x03 Read Holding Registers ILLEGAL FUNCTION and 0x10 Preset Multiple Registers ILLEGAL ADDRESS The Master wrote to or read from an illegal address ILLEGAL DATA VALUE value the Master tried to write is not included in the correct DEVICE BUSY The drive refused the Master writing attempt e g because it is running and a Cxxx parameter is activated Other users are writing to the selected parameter when the Master is trying to ANOTHER USER WRITING write to this parameter e g display keypad in editing mode or Upload Download to from keypad The parameter the Master is trying to write to is not included in the selected BAD ACCESS LEVEL User Level e g it is trying to write an ADVANCED parameter when the BASIC user level is selected 375 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 47 SERIAL LINKS MENU 47 1 Overview NOTE Please refer to the Sinus Penta s Installation Instructions Manual for the description of the serial links and connections For a greater immunity against communication interference an optional optoisolated serial board ES822 may be used instead of RS485 serial link Serial links RS232 and RS485 can AN NOTE interface with ES822 board Please refer to the Sinus Penta s Installation Instructions Manual for the description of the optional optoisola
30. 1 parameter write is enabled To access parameter POOO allowing parameter write access the Password and User Level Menu from the Parameters Menu Range 00000 32767 00000 No 32767 00001 Level Address Cannot be accessed via serial link Parameter write via serial link is always enabled Set the correct value in POOO to enable parameter write The default password for POOO is 00001 You can enter a custom password in P002 79 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO POO1 User Level 0 Basic Range 1 Advanced 2 Engineering Default Level Address The inverter programming parameters are grouped by access levels based on their functions more or less complex functions Some menus or some parts of menus are not displayed when a given access level is selected When the BASIC access level is selected once the inverter parameterization is correct navigation is easier as only frequently accessed parameters are displayed The User Level is stated for each parameter P002 Password for Write Enable Range 00001 32767 00001 32767 00001 Level ENGINEERING Desc 510 Once write is enabled after entering the correct password in POOO you can use parameter 2 to enter a custom password Function The new password allowing parameter write enable is the value entered in P002 CAUTION Note it down and keep it handy P003 Condi
31. INVERTER OK 00 0 00 02 0 00 rpm INVERTER OK M00 4 0 00rpm M02 0 00 rpm INVERTER OK 00 0 00 02 0 00 rpm INVERTER OK M00 4 0 00rpm 2 0 00 rpm MEA PAR IDP MEA PAR CF IDP MEA PAR CF IDP MEA PAR CF IDP MEASURE MENU PARAMETERS MENU PRODUCT MENU M Parameters P Par that can Language Cannot be altered be altered when motor is running MEA PAR MOTOR PASSWORD AND MEASURES ACCESS LEVEL MEA PAR PID REGULATOR DISPLAY KEYPAD MEA PAR DIGITAL RAMPS INPUTS PAR REFERENCES INPUTS FOR REFERENCES MEA PAR OUTPUTS MULTISPEED MEA PAR PT100 PID TEMPERATURES MULTIREFERENCES MEA PAR AUTODIAGNOSTICS PROHIBIT SPEED MEA PAR DATA LOGGER REFERENCE VARIATION MEASURES PERCENT MEA PAR DIGITAL INPUTS SPEED LOOP AND SETTINGS CURRENT BALANCE MEA PAR FAULT FOC FIELD LIST ORIENTED CONTROL MEA PAR POWER OFF ANALOG OUTPUTS LIST AND FREQUENCY OUTPUTS Selection Inverter Data IDP SINUS PENTA START UP MENU Press ENTER to start IDP PRODUCT SINUS PENTA GRUPPO CARRARO 2 SANTERNO PAR TIMERS PAR PID PARAMETERS PAR PID2 PARAMETERS PAR DIGITAL OUTPUTS PAR AUXILIARY DIGITA
32. 4 3 400 1409 909 1 c 9719 6200 8209 109 033005 JOO Bui pos 66 d 06 d vl0d 1 04 90 06804 SOUBIOIOY JO Figure 7 Speed Reference computing 101 428 SINUS PENTA SANTERNO GRUPPO CARRARO PROGRAMMING INSTRUCTIONS 1010W q 1 99000d JOJOW JOJO of oC umog NMOG JOJO YELO EELO spu J00 1600 0609 690d 490d spw 8 00 00 LU SHu 2 lt 4 66 d 06 d e vl0d LZ0d 90 0604 J0J 1n ur uoneunjes uoneimes JOJJUOD UOISI AU Figure 8 Torque Reference computing 102 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 13 2 Scaling Analog Inputs REF AINT AIN2 analog inputs NOTE Please refer to the Sinus Penta s Installation Instructions Manual for hardware details about Three analog inputs are available REF AINT AIN2 They can be voltage inputs or current inputs switching is made possible through hardware Dip Switch SW1 and software parameters and are bipolar analog inputs 10V 10V or 20mA 20 REF
33. Alarm A048 can trip due to very loads and a too short deceleration ramp see the RAMPS MENU Alarm A048 can trip even when the motor is pulled by the load eccentric load If the drive is powered directly by the bus bar the bus feeder is responsible for the alarm trip e Failure in DC bus voltage measure circuit 1 Check voltage in terminals R S T Check mains voltage value M030 and DC bus voltage value M029 Also check the values of MO30 and M029 sampled in the FAULT LIST when the alarm tripped 2 case of very inertial loads and if the alarm tripped when decelerating try to set a longer deceleration ramp If short stop times are needed or if the motor is pulled by the load try to activate the resistive braking unit 3 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service Hardware fault from IGBT converter side A IGBT drivers of power converter A detected IGBT failure e Strong electromagnetic disturbance or radiated interference e Overcurrent Overtemperature IGBTs IGBT fault 1 Reset the alarm send a RESET command 2 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service Hardware overcurrent side A Hardware overcurrent detected by the drive output current circuit See A044 SW Overcurrent See A044 SW Overcurrent SINUS A052 Illegal XMDI in DGO Description Event Possible cause Solution PROGRAMMING
34. PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 36 1 2 WHEN ES836 IS USED e Reading 1 or 2 Encoders To read one Encoder use ES836 option board or digital inputs MDI6 and MDI7 if a push pull encoder is used Both the option board and digital inputs MDI6 and MDI7 can be used to read two encoders at a time Use parameter C189 to set the readout of the speed measure of the controlled motor or to read reference values You can use encoder or encoder B as a speed feedback or a reference source speed reference torque reference or PID reference Example If you want to use encoder A as a speed reference source and encoder B as a speed feedback set C189 as 6 A Ref B use PO73 and P074 INPUTS FOR REFERENCES MENU to define the min speed and the max speed read for scaling and saturation of encoder A selected as a reference source in one of parameters C144 C147 CONTROL METHOD MENU set parameter 12 motor 1 to Yes to enable the Speed Feedback from Encoder function If encoder A is selected no function can be programmed for MDI6 and MDI7 otherwise alarm A082 Illegal Encoder Configuration will trip when ENABLE closes If encoder B is selected and ES836 option board is not detected by the drive alarm A082 Encoder Configuration will trip when ENABLE closes Reading a Frequency Input Only MDI6 digital input FINA can be used as a frequency input if MDI8 is programmed as a frequency input
35. VENDOR SPECIFIC 1 Level ENGINEERING 00 507 This parameter sets the control mode Command Reference for the Slave station 0 PROFIDRIVE 1 VENDOR SPECIFIC 1 2 VENDOR SPECIFIC 2 Command Reference PROFIDRIVE According to the PROFldrive protocol According to the PROFldrive protocol VENDOR According to the PROFldrive protocol One to one scale of the SPECIFIC 1 programmed reference VENDOR The eight low bits in the CONTROL One to one scale of the SPECIFIC 2 WORD represent the eight digital programmed reference inputs in the control board NOTE Bit 11 in the control board enables or not the Fieldbus line watchdog in any of the three control modes above provided that parameter R016 is set higher than zero The watchdog activates only after the drive has received the first legal message sent from NOTE the master see Alarm A070 Communication Suspended thus preventing alarm A070 from tripping due to different power on times between the master station and the Penta drive 390 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 51 DATA LOGGER MENU 51 1 Overview The Data Logger menu is to be used if the Penta drive cannot dialog with ES851 Data Logger board through the RemoteDrive software Parameter R116 imposes to ES851 the type of connection required for the communication mode being used The parameters described in this menu
36. equals the max speed of the connected motor If CO11 CO54 97 2 Torque with speed limit this parameter is used to limit the motor rotation 0 32000 rpm see note in parameter C028 In the CONTROL METHOD MENU if an external speed torque limit source C147 is selected NOTE the speed limit value set with this parameter is the upper limit that can be reduced by adjusting the external source Also the ramp times set in the RAMPS MENU 09 25 are applied to this limit C030 73 116 Flux Weakening Speed Range 0 200 0 200 90 Level ENGINEERING 1030 1073 1116 This parameter defines the speed value determining the motor flux weakening It is expressed as a percentage of the motor rated speed C016 59 102 EE 32000 0 Disabled 32000 rpm 7 O Disabled Level ADVANCED 1031 1074 1117 If it is not set to zero this parameter determines the speed value to be entered for the maximum speed alarm 76 Function Function 268 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO C032 C075 C118 Reduction in Quadratic Torque Curve Default Level Address Control Function 0 1000 0 100 0 ADVANCED 1032 1075 1118 If the V f curve pattern C013 C056 C099 Quadratic this parameter defines the maximum voltage reduction in terms of theoretical V f pat
37. 481 500V 707 V for Class 4T 481 500V 813 for Class 5T 813 V for Class 5T 976 for Class 6T 976 V for Class 6T Level ENGINEERING Address Determines the reference value for DC bus voltage in case of automatic Function deceleration in Power Down C225 Yes V C231 PI Proportional Constant for Automatic Deceleration Range 0 32000 0 000 32 000 Default 50 Level ENGINEERING Address Proportional coefficient used in PI regulator controlling automatic deceleration in Function case of Power Down C225 Yes V C232 PI Integral Time for Automatic Deceleration 0 001 31 999 sec ME 32000 32000 Disabled Default Level ENGINEERING Address Integral time used in regulator controlling automatic deceleration in case of Power Down C225 Yes V Function 343 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO C234 Ramp Action at the End of Power Down 0 Stop Range 0 2 1 Stand by 2 Dcb Default lo 0 Stop IEEE ENGINEERING 1234 When the motor speed during Power Down attains the Power Down end value set in C235 three operating modes are possible depending on C234 programming Stop If the drive is capable of bearing DC bus voltage it will control the motor until it stops irrespective of the speed value set in C235 If power supply is restored when the deceleration ramp is over the RUN command must be disabled and enabled again to acceler
38. Function C161 C162 UP and DOWN Inputs gt Inactive 0 12 1 85 MDI8 O 20 if ES847 or ES870 is fitted 9 12 5 MPLI MPLA 13 20 5 XMDI1 XMDI8 Default Level Address This function increases UP or decreases DOWN the reference for which the UpDown source from MDI has been selected by adding a quantity to the reference itself This also depends upon the following parameters C163 Up Down Reset P067 Up Down Ramp Time PO 8 Store Up Down value at power off P068a Speed Torque Up Down Reset at stop PO68b PID Up Down Reset at stop PO68c Speed Torque Up Down Reset at sources changeover PO68d PID Up Down Reset at sources changeover P069 Up Down Reference range Inactive Range 0 12 n 1 85 20 if ES847 or ES870 is fitted 9 12 5 MPL MPL4 13 20 5 XMDI1 XMDI8 7000 Inactive Level Address This function sets to zero the reference variation obtained via the UP or DOWN inputs or Aa the and V keys located on the display keypad The Up Down reference Speed Torque only may also be reset using different functions see PO68a 68 309 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO C164 C165 C166 External Alarm Inputs 0 Inactive 0 12 1 85 MDI8 0 20 if ES847 or ES870 is fitted 9 12 gt MPLI MPL4 13 20 XMDI1 XMDI8 In ctve Level ADVANCED Address 1164 1165 1166 When allocating one of
39. Parameter C210 decreases the DC bus voltage threshold setting the ramp extension The k factor is as follows Pout Pmax 100 C210 k ranges between 1 0 and 1 3 AN NOIE The greater the k factor the lower the DC bus level setting the ramp extension For example when C210 0 2 power Pout shall exceed 5 of Pmax in order to obtain k 1 When 210 2 0 596 of Pmax is required to obtain k 1 Parameter C210 is interlocked with parameter PO31 Gradient variation acceleration reset AN NOTE so that C210 0 01 With resistance cannot be programmed in conjunction with P031 0 No C211 Max Time of Continuous Supply for Braking Resistance 0 32000 O 320 00 sec ENGINEERING 1211 This parameter determines the max continuous operating time required for the braking NN resistance If the braking resistance is used for a time C211 without being activated the braking resistance command is automatically disabled for time of inactivity set in C212 329 428 SINUS PENTA GRUPPO CARRARO PROGRAMMING INSTRUCTIONS Z SANTERNO C212 Duty Cycle Braking Ton Toff Ton Range 0 100 0 100 Default 10 Level ENGINEERING Address C212 Ton Ton Toff 100 This parameter determines the operating duty cycle allowed for the braking resistance It is ROBORE expressed as a percentage and defines the time of inactivity of the braking resistance when it is conti
40. e 395 ANTIWIINDUP teen root teen rette eterne dade uoce E AUTORESET AUTOTUNE AUX REFERENCES AUXILIARY DIGITAL OUTPUTS eese 206 B BRAKING RESISTANCE essent 328 BRIDGE CRANE eth eren 371 C CARRIER FREQUENCY 247 CHANGEOVER FROM REMOTE LOCAL COMMAND 295 COMMAND 5 287 CONTROL METHOD 286 CONTROLLED STOP IN CASE OF POWER FAILURE 27 CURRENT BALANCING 22 129 CW CCW INPUT 308 D DATA LOGGER nasisi Red DC BRAKING DC BRAKING DC BRAKING AT START AND NON CONDENSING FUNCTION E DE REUS 331 DC BRAKING AT STOP 333 DC BRAKING COMMAND SENT FROM TERMINAL BOARD 334 DCB INPUT PEE DIGITAL INPUTS DIGITAL OUTPUT MOBE rere DIGITAL OUTPUTS irre there nnns DIGITAL PID REGULATOR DISABLE INPUT z itineri ten eret enne DISABLE LOC REM FWD REV KEYS DISABLE RESET ALARMS ON MDI3 DISPLAY KEYPAD eese DOWNLOAD UPLOAD FROM THE KEYPAD 22 DRIVEGOM He P R 414 DRY RUN OFT 221 ENCODER FREQUENCY INPUTS EQUIVALENT CIRCUIT OF
41. the active value 1 or inactive value 0 of each preset input signal determines a bit logic binary number where SPEED VAR O is the less significant bit bit O while SPEED VAR 2 is the most significant bit bit 3 as shown in Tables 77 and 78 If one of these functions is not set up its bit is zero Table 88 Selection of the speed reference variation Bit 2 Bit 1 Bit O SPEED oe SPEED oe SPEED VARIATION 0 Variation of the Selected Speed Reference Table 89 Variation of the selected speed reference MULTISPEED 0 0 1 0 1 0 1 0 1 MULTISPEED 1 0 0 1 1 0 0 1 1 MULTISPEED 2 0 0 0 0 1 1 1 1 1 2 3 4 5 6 7 P115 P116 P117 P118 P119 P120 P121 If one of the functions above is not set up its bit is zero For example if C175 and C177 are INACTIVE 0 and C176 is programmed for one terminal only variation 2 corresponding to parameter P116 can be selected In any case the output speed must never exceed the max allowable speed even when a higher speed is required In Table 89 above NOTE 0 Inactive Input 1 Active Input 315 428 PROGRAMMING INSTRUCTIONS SINUS PENTA Z SANTERNO GRUPPO CARRARO C178 PID Up Down Reset Input Default Level Address Function C179 Source Selection Input Range CAUTION 316 428 Peo Cid Level Address Function Inactive 0 412 1 85 MDI8 20 if ES847 or ES870
42. NOTE This parameter can be accessed only if the operating mode of the selected digital output is gt 2 and lt 9 Example MPL1 2 lt P350 lt 9 Function applied to the result of f A B C for MPL1 P357a P366a P375a P384a Once the Boolean signal resulting from f A B is obtained an additional logic function can be applied to obtain the output TRUE FALSE Boolean signal If parameter P357a is disabled the output of f A B goes directly to the corresponding digital output if parameter P357a is enabled the output of the output of f A B becomes one of the two inputs of the second programmed block The user can choose one of the six Boolean tests above for the first variable f A B and for the second variable C Logic applied to MPL1 2 3 4 P358 P367 P376 P385 The logic of the Boolean signal can be reversed at the end of the processing chain The user can choose whether the logic level of the digital output is POSITIVE or NEGATIVE 0 FALSE a logic negation is applied NEGATIVE logic 1 TRUE no negation is applied POSITIVE logic A A NOTE This parameter can be accessed only if the operating mode of the selected digital output is other than zero Example MPL1 50 0 NOTE Please refer to Programmable Operating Modes Diagrams relating to the digital outputs 219 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 28 2 Operating Diagram of the Virtual Digital Outputs
43. ABS x Default Level Address This parameter defines the test to be performed for the variable detected by P272 Function using P276 as a comparing value 320 00 9 320 00 96 of the full scale value of selected variable A see Table 39 Range 32000 32000 Default 50 Level ADVANCED Address This parameter defines the comparing value with the selected variable for test A 320 00 9 320 00 96 Range 32000 42000 96 of the full scale value of selected variable B see Table 39 Default Level ADVANCED Address Waa This parameter defines the comparing value with the selected variable for test B 194 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P277 MDO1 Function Applied to the Result of the 2 Tests OR B A SET B RESET A AND B A XOR B A NOR B A NAND B AY OR OR BY AJ AND B A AND 10 A RESET B SET RISING EDGE 11 A SET B RESET FALLING EDGE 12 A RESET B SET FALLING EDGE t A SET B RESET Level Address 0 1 2 3 4 5 6 7 8 9 ET This parameter determines the logic function applied to the result of the two tests unction allowing calculating the output value P277a Selecting Variable C Range See Table 39 1 DO Disable Level Address This parameter selects the digital signal used to calculate
44. Figure 12 illustrates different trends of the speed reference when it matches with the max allowable value of a prohibit speed range when decreasing red or when it matches with the min allowable value of a prohibit speed range when increasing blue Example P105 500 rpmProhibit speed 1 P106 650 rpmProhibit speed 2 P107 700 rpmProhibit speed 3 P108 50 rpmSemi amplitude of prohibit speed ranges 450 rpm 550 rpm 2 600 rpm 700 rpm 3 650 rpm 750 rpm In this case the second and third prohibit ranges partially match because the max allowable value of the second range 700 rpm is higher than the min allowable value of the third range 650 rpm thus forming a prohibit speed range ranging from 600 rpm to 750 rpm 125 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 16 2 List of Parameters P105 to P108 Table 23 List of parameters P105 to P108 P105 Prohibit speed 1 ADVANCE 705 106 Prohibit speed 2 ADVAN 706 P107 Prohibit speed 3 NCED 707 P108 Hysteresis band of prohibit speed ranges N 708 P105 P106 P107 Prohibit Speed 1 2 3 Range 0 32000 rpm Default rpm Level ADVANCED 705 Dee 706 707 Determines the intermediate value of the first prohibit speed range This value is to EG be considered as an absolute value i e independent of the speed reference sign P108 Hysteresis
45. Motor Speed rpm 3000 1500 v A ee o 190 428 SINUS PENTA PROGRAMMING 9 SANTERNO INSTRUCTIONS GRUPPO CARRARO N Example 6 Digital output indicating the READY state to a PLC supervisor using Inputs A C This example shows how to activate a digital output based on the logic AND of 3 inputs A B C particularly the ENABLE input the ENABLE S Safety input for redundancy and the condition of Inverter Ok On An additional block applied to f A B and C is used Table 46 DGO parameterization for the Ready state of a PLC supervisor P270 Digital output mode DOUBLE DIGITAL P271 Variable A selection D21 MDI Enable P272 MDOT Variable B selection D22 MDI Enable S P273 MDO1 Testing variable A P274 Testing variable B P275 MDOI Comparing value for Test A P276 Comparing value for Test B P277 Function applied to the result of the two tests AND B P277a Variable C selection D2 Inverter Ok On P277b MDO1 Function applied to the result of f A B and C test f A B AND C P278 MDO1 Output logic level VERA 191 428 PROGRAMMING INSTRUCTIONS 24 4 Z SANTERNO GRUPPO CARRARO List of Parameters P270 to P305 Table 47 List of parameters P270 to P305 SINUS PENTA P270 MDO1 Digital output mode ADVANCED 3 ANALOG 870 P27
46. Pee OC Disable Level ENGINEERING Address The PID PID2 reference and PID PID2 feedback are expressed as a percentage in measures M020 M021 M020a MO21a Parameters P257 P457 allow setting a gain value to scale the PID reference and PID feedback and to obtain the following measures M023 P257 M020 M024 P257 M021 which are properly scaled Parameters P267 P267b see codification of 267 267 sets the unit of measure for the measures above the unit of measure can also be entered in parameter P267a P267c only if P267 P267b 0 Disable Example the PID reference is 100 M020 100 if P257 0 04 and P267 1 bars the scaled measure for the PID reference is 23 4 00 bars 85 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO Table 15 Preset PID units of measure Customized 0 Disabled see P267a bar 1 bar bar mbar 2 mbar mbar 3 atm 4 Pa 5 kPa 6 PSI 7 m3 s 8 m3 m 9 m3 h 10 1 5 11 12 h 13 14 C 15 F 16 Nm 17 kgm P267a P267c Custom PID PID2 Units of Measure Range 0x20 Ox8A every byte jm EE _ a ASCII Ox5D ASCII 0x25 Ox015D255B ASCII Ox5B gt 9 ENGINEERING This is a 32 bit data item Characters are 8 bit ASCII encoded there are three 8 bit 1867 1869 characters starting from the less s
47. R w S P068a Reset of ae value at x 0 No x R w s P068b Reset of PID UP DN value at m T No v R W S Poscreset of Speed Torque UP DN value at Source Selecion 2 S P068d Reset of PID value at Source Selection D No v R W 5 P069 E of UP DN and KPD Reference Unipolar M The PID regulator implementation and the PID output computing mode must also be set R w s C285 Selection of Reference Type 1 PID ravi R w s C286 Selection of Reference Type 2 PID U Disabled v s C287 Selection of Reference Type 3 PID i R w s C288 Selection of Feedback Type 1 PID AN2 p v R w s C289 Selection of Feedback Type 2 PID Disabled R w s C290 Selection of Feedback Type 3 PID Disabled x R w s C291 PID Operating Mode Normal v ALM s C281a PID Control Mode fo Standard SUM M w 5 C291b PID2 Operating Mode s C282 Quantity Selection to Compute Derivative Term 0 Measure x R Ww S C283 Kp Used as Multiplier for Integral and Derivative Terms 0 No Y R W 5 C294 PID Operation fi Reference The PID regulator parameters are defined in the PID PARAMETERS MENU This configuration limits the PID output between O and 10096 for a proper rotation of the connected pump Set P255 1000 ts if the PID output is equal to the min value for 5 seconds the drive is put on stand by 369 428
48. S BE 174 23 1 E 174 23 2 listof Parameters PA36 to PA OQ eoe 175 24 DIGITAL OUTPUTS MENU 1 Seer rane Ea aae LE Eas Na aaa 176 MEMO Jd E 176 24 1 1 Factory Seting Seccion Im 176 24 1 2 Structure of the Digital Outputs sse eene nennen r innert enne rennen 176 24 2 Programmable Operating Modes Diagrams essen nennen nnemenene nnne eenenere eser 184 243 Examples resena CR Or OU Hie GU ride etat ai ird eee eri bebe peer 187 24 4 Parameters P270 to P305 192 25 AUXILIARY DIGITAL OUTPUTS MENU ecce eee eene eene 206 C Et 206 25 2 List of Parameters P306 to P317 eeececccessscceeeseeeeeeneneeeeeeaeeeeeeaeeceeeaeeeesenaeeeceeaeeeseeaeeeesenaeeeeeeneeeeensnaeeees 206 26 MEASURE CONTROL FROM 1 210 201 EH 210 26 2 List of Parameters P318 to P325 210 27 FIELDBUS PARAMETERS MENU csssccssscccsscccsssccesscccescc
49. SANTERNO GRUPPO CARRARO Elettronica Santerno 5 Strada Statale Selice 47 40026 Imola BO Italy Tel 39 0542 489711 Fax 39 0542 489722 www elettronicasanterno com sales elettronicasanterno it PROGRAMMING SINUS PENTA INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 0 TABLE OF CONTENTS 0 1 Chapters 0 TABLE OF CONTENTS ccccsccesccsccusecccescssseccosscessssvsctsscoanosscteceesssecasencvecescwesdouseasvescngheverascnvssencsnsseess 2 0 1 oiu Eee Dex seu 2 0 2 gU ge 7 0 3 llc EE S 9 0 4 How to Use this Manual i eee IR CAE RR E eO e d da 11 Ur M EMEO UI c EE 11 0 4 2 Special Applications Dedicated to Sinus Penta 5 11 0 4 3 Menus and Submenus eicere tere pisei era tip Y CEU ee ee Re Pa ee eae 12 04 4 Alarras and eter IRR ete Rare ene Ree ree ARS ENSE aa nere RON NEN SERA d 14 1 USING THE DISPLAY KEYPAD nente essent eese 15 1 1 MD a 15 1 2 Menu Tree saana 16 1 3 LENAT Tehno a Pea 18 1 4 Parameter Alt ration ii b EP CHEER REPRE E PER RiR PEN Ea KERE NE eaS
50. ccccccceesceeeeeeneeeeeeeaeeeeeeneeeeeeeneeeeseeaaeeeeseeeeeeeneeeenes 256 Table 69 List of parameters to C128 eene esee nerit n nnns esent rnnt n nsns sese n ener nnns esee renens 258 Table 70 Equivalence between AC mains range and DC range cccesecceeeeeseeeeeeeeeeeeeeeeeeseeaeeeeeenaeeeseecseeeeneneeeeeeeaees 260 Table 71 Parameters depending on the Drive Size and Model 1 nnne 273 Table 72 Parameters depending on the Drive Size and Model 2 275 Table 73 Parameters depending the Drive Size and Model 3 eene 277 Table 74 Parameters depending on the Drive Size Model and Voltage 55 279 Table 75 Listof parameters C043 1o C135 secet esse ate ee ed ERR RUE 282 Table 76 Remote command inputs from serial link enn rene nenne enhn enne 288 Table 77 Reference inputs from serial link cccecccceeeeeceeeeeenceeeseeneeceeenneeecesaeeceeeaeeeeeseaeecenseaeesecseeeeeseseeeseneeeeneaees 290 Table 78 List of parameters C140 to 148 nnns esee nennen sensn innen 293 Table 79 Unprogrammable functions 297 Table 80 Terminals used for other innen 297 Table 81 Terminal board Factory setting eee e e e Re Eee URL e e e EIFE Te 300
51. 26 Mot Current 73 72 PT100 Temp 4 28 M027 Out Volt 74 M073 29 M028 Power Out 75 M074 30 M029 Vbus DC 76 M075 31 M030 V Mains 77 76 32 M031 Delay Dig IN 78 M077 33 M032 Istant Dig IN 79 M026a 121 34 M033 Term Dig IN 80 M039a Analog In XAIN4 35 M034 Ser Dig IN 81 MO039b Analog In XAIN5 36 M035 Fbus Dig IN 82 MO018a PID2 Ref 96 37 M036 Aux Dig IN 83 MO019a PID2 RmpOut 96 38 M037 Analog In REF 84 M020a PID2 Fbk 96 39 M038 Analog In AINT 85 M084 40 M039 Analog In AIN2 86 M021a PID2 Err 96 41 M040 Ser SpdRef 87 023 PID2 Ref 42 M041 dcm Ser SpdRef 88 M024a PID2 Fbk 43 M042 Fbus SpdRef 89 088 44 M043 dcm Fbus SpdRef 90 M089 Status 45 M044 Ser TrqLimRef 91 M090 Alarm 214 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 28 VIRTUAL DIGITAL OUTPUTS MPL MENU 28 1 Overview The Virtual Digital Outputs menu includes the parameters allowing configuring the virtual digital outputs MPL1 4 of the Sinus Penta drive Virtual digital outputs are logic blocks no hardware output is provided allocating more complex logic functions to outputs MDO1 4 MPL virtual outputs can be feedbacked at the input of a new block hardware or virtual block thus allowing implementing more complex functionality The Virtual Digital Outputs menu may be accessed onl
52. ADVANCED 0 gt Testing variable B ADVANCED 0 gt Comparing value for Test A ADVANCED 0 Comparing value for Test B ADVANCED 0 Function applied to the result of the 2 tests ADVANCED 0 A OR B Selecting variable C ADVANCED 0 Disable Function applied to the result of f A B C ADVANCED 0 OR C Output logic level Digital output mode ADVANCED ADVANCED 0 FALSE 1 DIGITAL Selecting variable A ADVANCED D1 Inverter Run Ok Selecting variable B ADVANCED D1 Inverter Run Ok Testing variable A ADVANCED 0 gt Testing variable B ADVANCED 0 gt Comparing value for Test A ADVANCED 0 Comparing value for Test B ADVANCED 0 Function applied to the result of the 2 tests ADVANCED 0 A OR B Selecting variable C ADVANCED 0 Disable Function applied to the result of f A B C ADVANCED 0 A B ORC 192 428 Output logic level ADVANCED 1 TRUE SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P270 MDO1 Digital Output Mode DISABLE DIGITAL DOUBLE DIGITAL ANALOG DOUBLE ANALOG DOUBLE FULL BRAKE ABS BRAKE ABS LIFT PWM MODE Default ANALOG Level Address This parameter defines the operating mode of digital output 1 The different operating
53. AINI AIN2 PTC Max FIN Serial Link PID Feedback 2 Sources PIDfbk vector C289 PID Feedback Field bus i Keypad Encoder PID Feedback 3 Sources PIDfbk vector C290 Min I out V out Fbk min P247 Vde Pout Torque out XAIN4 11 12 5 XAINS I3 14 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Figure 64 Reference source and feedback source selection The signals selected in the Sources Vector are to be considered as percentage values therefore analog signals are expressed as a percentage of the preset maximum values NOTE and minimum values For example when selecting a reference source if P052 Ref max 8V and P051 Ref min 3V 10096 will be considered when Ref 8V and 10096 will be considered when Ref 3V Among the allowable variables for the PID feedback electrical variables lout output current Vout output voltage Vdc bus voltage Pout output power and Torque out output torque only with NOTE VTC and FOC control Their percentage values relate to rated current values and rated voltage values of the selected motor and to 1500VDC respectively NOTE In Local mode the PID regulator is disabled if set as C294 Reference Sum or Voltage Sum gt gt gt Block 3 PID Control Mode This block allows applying different processing types to the feedback signals and allows enabling disabling the PID2 integrated into the system see C291a Block
54. Automatic estimation of the rotor time constant Tuning mode required for the correct operation of FOC algorithm After entering the correct no load current value parameters 21 C064 C107 for motors M1 M2 and respectively and tuning the current loop the system can measure the rotor time constant for no load rotation of the connected motor up to 90 of its constant speed Manual tune of the current loop Analog outputs and AO2 are displayed showing the speed reference and the speed value obtained with the preset parameters of the speed regulator see the SPEED LOOP AND CURRENT BALANCING MENU Set the current regulator s parameters in order to reduce to a minimum the difference between the two waveforms Manual tune of the current loop If automatic tuning 1 FOC Auto no rotation fails the current loop may be manually tuned Display analog outputs AO1 and AO2 showing the current reference value and the current value measured Set the current regulator s parameters see the FOC REGULATORS MENUJ in order to reduce to a minimum the difference between the two waveforms Manual tune of the flux loop The correct parameters of the flux regulator are calculated whenever the rotor time constant value changes see 2 FOC Auto rotation However you can manually tune the flux loop Display analog outputs AO1 and 2 showing the flux reference value and the flux value obtained Set the current regulator s parameters in
55. PROGRAMMING INSTRUCTIONS MPL2 digital output logic function to apply a logic reversal negation to the calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied P368 MPL3 Digital Output Mode Default Level Address Function P369 MPL3 Selecting Variable A Default Level Address Function DISABLE DIGITAL DOUBLE DIGITAL ANALOG DOUBLE ANALOG DOUBLE FULL BRAKE ABS BRAKE ABS LIFT DIGITAL This parameter defines the operating mode of virtual digital output 3 The different operating modes are described at the beginning of this chapter See Table 39 D38 Fire Mode This parameter selects the digital signal used to calculate the value of MPL3 digital output It selects an analog variable used to calculate the value of MPL3 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 P370 MPL3 Selecting Variable B Range Default Level Address Function 10119 See Table 39 DO Disable This parameter selects the second digital signal used to calculate the value of MPL3 digital output It selects an analog variable used to calculate the value of digital input MPL3 if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 231 428 SINUS PROGRAMMING
56. PROGRAMMING INSTRUCTIONS R w 8 P236 PID Maximum Output R w S P237 PID Minimum Output R w S P237e Weke Up mode for PID RJ w P237b Wake Up level for PID R w P238 Maximum Value of PID Integral Term R W S P238 Maximum Value of PID Derivative Term R W S P240 Proportional Coefficient Value R W 5 P241 Proportional Term Multiplicative Factor R w S P242 Integral Time Multiples of Tc R w 5 P243 Derivative Time Multiples of Tc 1000 R w S P244 Cycle Time Tc R w S P245 PID Reference Min Value S P246 PID Reference Max Value R w S P247 PID Feedback Minimum Value R w S P248 PID Feedback Maximum Value R w S P249 PID Ramp UP Acceleration Time R w S P250 PID Ramp DOWN Deceleration Time R w S P251 Unit of Measure for PID Ramps R w S P252 Start S Curve for PID Ramps R w 5 P253 End S Curve for PID Ramps Z SANTERNO GRUPPO CARRARO R w S P254 PID Out Threshold Enabling Integral Implem R W S P255 Inverter Disabling Time for PID Output Equal to Min Value R S P256 Time Spent by PID Output from 0 to 100 SINUS PENTA 100 00 0 00 D Disabled v 0000 x 000 0 00 5 2 qls v 0 0 Refmax 5 5 Disabled ms i When the level of liquid in the tank exceeds the reference value set from keypad a negative error is produced Error Reference Feedback Because the complemented output computi
57. To enable the UP DOWN from digital inputs also set the relevant Up and Down inputs see the DIGITAL INPUTS MENU XAIN4 and XAINS XAIN4 and XAIN5 come from the analog inputs in the terminal board of ES847 and generate a reference determined by the settings of the relevant parameters P390 to P399 allowing proper scaling offset compensation and filtering see the INPUTS FOR REFERENCES FROM OPTIONAL BOARD C143 C144 C145 C146 Sources Rekrence vector 12 Reference 1 Sources Reference vector C143 Ref Saturation 0 Disabled 1 Ref 2 AINI 3 AIN2 PTC Reference 2 Sources Reference vector C144 Reference 4 FIN 5 Serial Link 6 Field bus Reference 3 Sources Reference vector C145 Min 7 Keypad 8 Encoder Pare I Reference 4 Sources Reference vector C146 11 XAINS 12 13 POO0656 b Figure 46 Selecting the source references 34 1 3 ALTERNATIVE COMMAND AND REFERENCE SOURCES A digital input can be set as a selector between 2 alternative command and reference sources Example C179 MDI To select sources MDI C140 To select command source number 1 Keypad C141 To select command source number 2 Fieldbus C143 To select reference source number 1 AINT C144 To select reference source number 2 Fieldbus If MD16 in the drive terminal board set as a selector is open the drive will consider number 1 as reference and command sourc
58. Virtual digital outputs are software outputs that can be used as digital inputs from the following items e digital inputs e digital outputs e auxiliary digital outputs e virtual digital outputs themselves They can be used for special functionality of the system thus avoiding loop wiring on the same control board Example It can be necessary to control the state of the hardware ENABLE contact of the system to cause an external alarm to trip when MPL1 is selected in parameter C164 DIGITAL INPUTS MENU Enable P350 1 Digital p P351 D21 Enable P358 TRUE out F000660 b Figure 39 Example of MPL functionality For more details about possible configurations of the virtual digital outputs see Programmable Operating Modes Diagrams 220 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO Examples This section covers some examples for the supervision of pumping systems with the PID control algorithm The settings of the parameters being used are given in the tables below the parameters highlighted in grey have no effect Example 1 Dry Run Detection For most pumps especially submersible bore hole pumps it must be assured that the pump is stopped in case of dry run This is assured by the Dry Run Detection feature How Does It Work Dry run detection is based on power frequency monitoring Stop trip due to dry run is initiated under the following conditi
59. on the display keypad if the STOP function is programmed STOP PROGRAMMED C150 0 Inverter Enabled keySTART keySTOP START REVERSE keyREV Figure 49 C152 ENABLE S Input Default Level Address Function AY 306 428 CwICCw Start Ok Edge Flip Flop Flip Flop the Reset signal Reset overreading the Set Edge Flip Flop Flip Flop Reset jon Reverse Reference Flip Flop P000349 b Reset Controlling Run and Direction when the STOP Input is programmed gt Inactive 0 12 1 8 MDI8 20 if ES847 ES870 is fitted 9 12 MPLI MPLA 13 20 5 XMDI1 XMDI8 Inactive ADVANCED This is a safety ENABLE if this function is enabled the drive activates only if both ENABLE and ENABLE S inputs are active The ENABLE S signal cannot be delayed by software timers if a timer is programmed for the terminal relating to ENABLE S it will have no effect on the ENABLE S function whereas it will normally delay other functions programmed for the same terminal PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS C153 DISABLE Input gt Inactive 1 8 MDI8 9 12 MPLI MPL4 13 20 2 XMDI1 XMDI8 7080 Inactive Level ADVANCED Address 1153 The DISABLE function disables the drive and overrides any ENABLE signals The DISABLE command sets the drive output voltage to zero so the motor starts idling the moto
60. 1 Check that motor cables are properly connected to terminals U V 2 Check the motor parameters perform autotune procedure again VTC and FOC controls A disabled motor has been selected e Motor 2 is enabled but only one motor can be enabled 009 1 see the MOTOR CONTROL MENU e Motor is enabled but only 1 or 2 motors can be enabled 009 1 or 2 see the MOTOR CONTROL MENU e Incorrect setting in parameter C009 e Incorrect setting of the digital input parameters enabling the selection functions for motor 2 C173 and or motor 3 C174 1 Check and enter the correct value for 9 2 Check and enter the correct value for C173 C174 3 Check the status of the digital commands for terminals C173 and C174 If remote command sources are selected check the status of the commands that have been sent Sensor 2 fault Power heatsink overheated with cooling fan off see also A094 and A096 Failure in temperature control device and or cooling system Please contact ELETTRONICA SANTERNO s Customer Service Function programmed to MDI6 and frequency input A as well MDI6 terminal is programmed with a digital function command and as frequency input A Incorrect programming of a command function for MDI6 because frequency input A is already set in parameter C189 FinA see the DIGITAL INPUTS MENU and the ENCODER FREQUENCY INPUTS MENU Check and adjust programming of the digital input functions and of para
61. 7 decimal ENGINEERING To select analog outputs controlled by the fieldbus select the bit corresponding to the analog output to be controlled Example R017 0011b 3 decimal gt analog outputs AO1 and AO2 are controlled directly by the fieldbus irrespective of their configuration in the ANALOG AND FREQUENCY OUTPUTS MENU 381 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 48 3 Exchanged Parameters The tables below state the Sinus Penta parameters exchanged via Fieldbus Each table contains 1 the parameter code 2 its description 3 its range 4 its unit of measure also indicated on the display 5 the ratio between the Sinus Penta value exchanged via Fieldbus and the represented hardware value as displayed N B Each parameter is exchanged as an integer number with a 16 bit sign from 32768 to 32767 Bytes are exchanged in big endian mode the most significant value is stored to the AN NOTE smallest memory address When using an Intel based master PLC chipset then the data below will be byte swapped 48 3 1 FROM THE MASTER TO THE SINUS PENTA FIELDBUS integer portion 32000 FIELDBUS decimal portion Torque reference limit from FIELDBUS FIELDBUS Digital Inputs from FIELDBUS Outputs from FIELDBUS by FIELDBUS by FIELDBUS by FIELDBUS FIELDBUS Word 1 Speed reference limit from FIELDBUS integer portion Word 1 of the memory map details the integer p
62. Default Level Address Function 198 428 0 f A B OR C 1 f A B SET C RESET RISING EDGE 2 AND C 3 XOR C 4 NOR C 5 NAND C 6 f A B OR C 7 OR Cy 8 AND C fA B AND CJ 10 RESET C SET RISING EDGE 11 SET C RESET FALLING EDGE 12 RESET C SET FALLING EDGE 0 5 0 1 A SET B RESET ADVANCED 645 This parameter determines the logic function applied to the result of the two tests 0 12 allowing calculating the output value SINUS P287 2 Output Logic Level Default Level Address Function PROGRAMMING INSTRUCTIONS GRUPPO CARRARO Z SANTERNO MDO2 digital output logic function to apply a logic reversal negation to the calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied P288 MDO3 Digital Output Mode Default Level Address Function P289 Selecting Variable A m9 0 Default Level Address Function P290 MDO3 Selecting Variable B Default Level Address Function DISABLE DIGITAL DOUBLE DIGITAL ANALOG DOUBLE ANALOG DOUBLE FULL BRAKE ABS BRAKE ABS LIFT DIGITAL This parameter defines the operating mode of digital output 3 The different operating modes are described at the beginning of this chapter
63. Default Level Address Function Disabled No Derating ForcedCool Self cool 0 Disabled BASIC C265 ADVANCED C268 C271 1265 1268 1271 This parameter enables the Motor Thermal Protection function It also selects the type of thermal protection among different trip patterns 1 min 12090 Imax Imot 100 96 1 min 12096 Imax Imot 100 96 ADVANCED 1266 1269 1272 This parameter sets the thermal protection pick up current expressed as a percentage of the rated current of motor 1 2 3 Range Default Level Address Function 1 10 800 s 360s corresponding to IEC Class 10 BASIC C267 ADVANCED C270 C273 1267 1270 1273 This parameter sets the thermal time constant of the connected motor The time constant is the time within which the calculated thermal stage has reached 63 of its final value The motor attains its thermal time constant when it operates in constant load conditions for a time equal to approx 5 times the constant set in this parameter Range Default Level Address Function Josi Ok Disabled 1 Enabled Disabled This parameter enables the PTC probe AIN2 analog output managed as a 10V input The only parameter enabled for the control of AIN2 is P064 If the PTC thermal protection C274 is enabled the reference from AIN2 is automatically A NOTE PO60 P061 P062 and P063 cannot be viewed and are not consider
64. Flowchart A Flowchart B 31 428 PROGRAMMING SINUS PENTA INSTRUCTIONS Z SANTERNO GRUPPO CARRARO FLOWCHART A Setting Write Enable P001 Eng User Level Selecting the Reference Sources In the Motor 1 Configuration menu select the type of speed torque reference C011 The Control Method menu includes the parameters selecting the reference source You can set up to four sources which are summed up to each other For speed control and if references are to be sent also from digital inputs see the Multispeed menu Forcing the Reference Sources Sources Sources REF Ref Analog Input Serial Link Reference from serial link AINT AIN1 Analog Input Fieldbus Reference from fieldbus AIN2 AIN2 Analog Input Keypad Ref from display keypad Pulse Input Frequency Input MDI8 Preset Speed Reference from digital Encoder Encoder Input input The reference scaling is obtained through No reference scaling is required Speed the parameters included in the Input references are expressed in rpm torque Reference menu Each source is assigned to a parameter setting its min value and max value for the min max speed torque reference of the connected motor e g Motor 1 speed reference C028 for min speed C029 for max speed Torque reference C047 for min torque C048 for max torque 32 428 references are expressed as a percentage of the motor rated torque Saturation of the reference value
65. Level ENGINEERING Address The second group of four digital inputs may be assigned to any of the five timers and the same timer may be assigned to multiple inputs Select zero to avoid delaying the digital inputs Setting via serial link see codification in P226 Function 157 428 SINUS GRUPPO CARRARO PROGRAMMING INSTRUCTIONS Z SANTERNO P228 Timers Assigned to Outputs MDO1 4 0 Pe EQ 0 No timer assigned Range 0 0 0 0 5 5 5 5 1 5 TI T5 Default 0 0 0 0 0 No timer assigned Level ENGINEERING Address The digital outputs may be assigned to any of the five timers and the same timer may Function be assigned to multiple outputs Select zero to avoid delaying the digital outputs Setting via serial link see codification in P226 P229 Timers Assigned to Virtual Outputs MPL 1 4 0 0 0 5 5 5 5 a m Default 0 0 0 0 0 No timer assigned Level ENGINEERING Address The virtual digital outputs may be assigned to any of the five timers and the same timer TR may be assigned to multiple outputs Select zero to avoid delaying the virtual digital outputs Setting via serial link see codification in P226 158 428 SINUS PENTA PROGRAMMING 2 SANTERNO GRUPPO CARRARO 22 PID PARAMETERS MENU 22 1 Overview This menu defines the parameters for the digital PID regulator integrated in the drive The PID regulator
66. Multispeed selected 307 428 SINUS PENTA PROGRAMMING 2 SANTERNO GRUPPO CARRARO Table 84 Selected Speed reference START MULTISPEEDO 0 1 MULTISPEEDT MULTISPEED2 MULTISPEEDS x 0 G oO o 0 oO xlo j 2 3 4 5 6 7 8 9 10 11 12 13 141 15 N oo pem N 2 8 8 52 5 5 5 5 5 51 5 a If one of these functions is not set up its relevant is zero For example if C156 and C157 are Inactive 0 while C155 and C158 are programmed to two different terminals only Multispeed O 1 8 9 can be selected relating to the following references 81 P091 P092 Factory setting POBO Preset Speed if no Multispeed function is selected the active reference is the reference set according to the parameters in the INPUTS FOR REFERENCES MENU If POBO Speed Sum the selected Multispeed function adds up to the active reference the reference set according to the parameters in the INP
67. See the PID Parameters menu Reference P245 Min P246 Max values to the following Feedback P247 Min P248 Max Rated current of the selected motor Mot 1 C018 Rated voltage of the selected motor Mot 1 C019 DCb Bus 1500 V 33 428 PROGRAMMING SINUS PENTA INSTRUCTIONS Z SANTERNO GRUPPO CARRARO EXAMPLE The speed of a motor is to be controlled via a 0 5 V analog input Speed range is 0 1500 rpm two digital inputs are available to increase three speed values with steps of 100rpm Setting the min and max speed The parameters for the motor min max speed are C028 0 rpm C029 1800 rpm Setting the analog reference Default setting the analog reference is sent from REF input C143 REF The speed range for the analog input must be 1500 rpm Default setting in the INPUTS FOR REFERENCES MENU for REF analog input P0502 3 0 10 V Type of reference for REF input 051 0 0V Min value for REF input P052 10 0 V Max value for REF input P052 is the voltage value for REF input for a speed reference of 1800rpm C029 For a speed reference of 1500rpm with 5 V P052 is to be set as follows Max speed REF 5 V C029 Vx Vx 5 V 1800rpm 1500rpm 6 V If 52 6V a speed reference of 1500rpm is set for REF with 5V Setting the reference from digital inputs Default setting two digital inputs for multispeed values Digital Inputs menu C155 MDI4 C156 MDI5 Depending on the statu
68. The full processing of the digital inputs also includes the selection of other remote virtual terminal boards see the CONTROL METHOD MENU and the possibility of delaying input digital signal enable disable by means of software timers see the TIMERS MENU As shown in the figure above the digital input status is displayed in measures M031 M032 M033 Measure M033 shows the current status of the 8 inputs in the local hardware terminals in the drive board The symbol R displays the logic levels for terminals M033 for inactive inputs the active inputs are marked with 296 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO Measure M032 shows the current status of the virtual terminal board obtained by processing all active terminal boards It includes 10 signals with two additional signals with respect to the local hardware terminal board Inputs MDI8 are obtained with the logic OR of the input signals for all active terminals The ENABLE input is obtained with the logic AND of the input signals for terminal MDI2 in all active terminal boards The ENABLE S input is obtained with the logic AND of the terminals selected for this function in all active terminal boards Measure M031 is similar to M032 but it displays the status of the terminal board obtained after delaying the input signals of M032 using special timers The drive uses this terminal board to acquire digital commands Some
69. Two analog inputs XAIN4 XAIN5 are located on ES847 control board XAIN4 is a current input and XAIN5 is a voltage input They are both bipolar analog inputs 10V 10V or 20mA 20mA For both analog inputs parameters P390 to P399 allow setting the type of signal to be acquired offset compensation if any scaling to obtain a speed reference or a torque reference the signal filtering time constant Parameter P393 sets the offset of the input analog signal if P393 0 offset is zero while parameter P394 defines the filtering time constant factory setting P394 100ms The voltage signal can be bipolar 10V 10V or unipolar OV 10V The current signal can be bipolar C20mA 20mA unipolar 0mA 20mA or can have a minimum offset 20mA The user will set each analog input mode in parameters P390 P395 Table 57 Analog input hardware mode Differential input Pin 11 12 XAIN4 x 10V Input P390 Differential input Pin 13 14 XAIN5 x 20mA Input P395 AN NOTE Configurations different from the ones stated in the table above are not allowed Scaling is obtained by setting the parameters relating to the linear function for the conversion from the value read by the analog input to the corresponding speed torque reference value The conversion function is a straight line passing through 2 points in Cartesian coordinates having the values read by the analog input in the X axis and the speed
70. kind C142 4 Keypad 1142 MDI2 4 MDI3 Select Extern Alarm n 2 MDI4 source 3 Alr2 MDIS MDIS C165 MDIT MDI8 Select Extern Alarm n 3 Alr 3 ce P000343 b Figure 45 Selecting the command sources If the keypad is not selected as a command source or if the STOP input function is enabled C15020 more than one command source may be enabled at a time In this case the logic function implemented by the drive for the terminals of all active command sources is the following e for the terminals allocated to the ENABLE ENABLE S External Alarms n 1 n 2 n 3 functions e OR for all other terminals 287 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO If the keypad is enabled as a command source the START STOP RESET FWD REV LOC REM functions are enabled to disable FWD REV LOC REM see parameter P269 The keypad is ignored for the processing of logic functions AND OR of the other command sources that are enabled at that moment NOTE As the ENABLE command of the hardware terminal board is a hardware sofety device it NOTE enables the drive it is always active even when none of parameters C140 C141 or C142 selects the terminal board 1 The commands for the External Alarm n 1 n 2 n 3 functions are always considered for the NOTE drive terminal board only The LOCAL mode that can be enabled with the LOC REM key on th
71. used Torque is expressed as a percentage of the rated torque of the selected motor Function If an external torque limit is set C147 in the CONTROL METHOD MENU the values set in NOTE the parameters above represent the range of the source used for limitation they can be reduced by adjusting the external source the torque ramp times set in the RAMPS MENU will be applied to the preset limit torque reference 026 27 C048 C091 C134 Maximum Torque TC 5000 5000 500 0 500 0 200 120 0 TEE BASIC C048 ADVANCED C091 C134 1048 1091 1134 em Ml VIC and FOC This parameter sets the mox limit of the torque demanded by the control being Function used Torque is expressed as a percentage of the rated torque of the selected motor If an external torque limit is set C147 in the CONTROL METHOD MENU the values set in the AN NOTE parameters above represent the range of the source used for limitation the torque ramp times set in the RAMPS MENU will be applied to the preset limit torque reference PO26 P027 C049 C092 C135 Ramp Time for Torque Limit Range 10 30000 10 30000ms Default Level Address Control This parameter sets the time taken by the torque limit of the selected motor to go to zero from max value Function 284 428 PROGRAMMING INSTRUCTIONS SINUS PENTA Z SANTERNO C050 C093 C136 Frequency Decrease during Acceleration
72. 0 119 See Table 39 D3 Inverter Alarm ADVANCED This parameter selects the digital signal used to calculate the value of MDO3 digital output It selects an analog variable used to calculate the value of MDO3 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 0 119 See Table 39 D3 Inverter Alarm ADVANCED This parameter selects the second digital signal used to calculate the value of MDO3 digital output It selects an analog variable used to calculate the value of digital input MDOS if one of the analog operating modes is selected Digital signals and analog variables detailed in Table 39 199 428 PROGRAMMING S SINUS PENTA INSTRUCTIONS SANT ERNO P291 MDOS Testing Variable A ABS x gt ABS x 2 ABS x ABS x lt eom pm Default Level ADVANCED Address This parameter defines the test to be performed for the variable detected by P289 Function using P293 as a comparing value ABS x gt ABS x 2 ABS x ABS x lt SE sen aee Default Level ADVANCED Address This parameter defines the test to be performed for the variable detected by P290 Function using P294 as a comparing value 320 00 9 320 00 Range 32000 32000 96 of the full scale value of selected variable A see Table 39 Default Level ADVANCED Address This parameter defines the comparing value with
73. 10V The detected signal is saturated between these two values 1 20 mA Bipolar current input between 20mA and 20mA The detected signal is saturated between these two values 2 4 20 mA Unipolar current input with min threshold between 4 mA and 20mA The detected signal is saturated between these two values Before being saturated if the detected signal is lower than 4 mA or greater than 20 mA alarms A068 or A104 trip 3 0 10 V Unipolar voltage input between OV and 10V The detected signal is saturated between these two values 4 0 20 mA Unipolar current input between 0 mA and 20mA The detected signal is saturated between these two values Function NOTE and SW1 5 allowing selecting the proper electric circuit for the analog signal processing voltage signal or current signal If the PTC thermal protection C274 is enabled the reference from AIN2 is automatically NOTE managed as a 0 10V input The only parameter enabled for the control of AIN2 is P064 P060 P061 PO61a P062 P062a and P063 cannot be viewed and are not considered for calculations 7 The value set in parameter PO6O must match with the status of switches 5 1 3 SW1 4 P061 Value of AIN2 Input Producing Min Reference X axis 100 100 if PO60 0 10 0 V 10 0V if PO60 0 10V 200 200 if PO60 1 20 0 mA 20 0 mA if PO60 1 20 mA 40 200 if P060 2 4 0mA 20 0 mA if PO60 2 4 20 mA 0 100 i
74. 2 SANTERNO Illegal configuration of XMDI in the DGO e The drive checked if at least one XMDI input from ES847 or ES870 I O option board is available in the DIGITAL INPUTS MENU The drive checked if R023 I O Board setting is set to O in the EXPANSION BOARD CONFIGURATION MENU Wrong settings Check settings and enter correct settings A053 Not PWONA Description Event Possible cause Solution Hardware failure IGBT A power on failure IGBT A power on controlled by Motorola microcontroller has failed Control board failure 1 Reset the alarm send a RESET command 2 If the alarm persists please contact ELETTRONICA SANTERNO s Customer A054 Option Board not in Description Possible cause Solution Description Possible cause Solution Service ES847 or ES870 not in The control board detects no ES847 or ES870 I O expansion boards after parameter R023 I O Board Setting is set as 0 Option board not in or faulty 1 Check consistency of parameter RO23 see the EXPANSION BOARD CONFIGURATION MENU 2 Reset the alarm send a RESET command 3 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service External PTC resistor tripped The drive detected the opening of the connected to AIN2 input R gt 3600 ohm Opening of the PTC due to motor overheating e Incorrect wiring of e Incorrect setting of SW1 hardware switch on the
75. 50 0 260 0 C Active This measure is active only if programmed from parameter RO23 Function Temperature detected in analog channel 4 67 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 8 8 Autodiagnostics Menu This menu allows the user to check the functioning times and the relevant counters for maintenance purposes of the Penta drive it also allows reading out the analog channels used for temperature sensors and the relevant temperature values as well as the drive status M052 54 Functioning Times O 2147483647 0 7FFFFFFFh 0 429496729 4 sec Supply Time 1702 1703 LSWord MSWord Operation Time 1704 1705 LSWord MSWord This screen displays the ST supply time and the OT operation time The Operation Time is the activation time of the drive IGBTs Both values are expressed in 32 bits divided into two 16 bit words the low part and the high part Address Function Functioning Times 32000 320 0 Active Always active Address Ca Ambient temperature measured on the surface of the control board M064 IGBT Temperature Measure Range 32000 320 0 C Active Always active Address Measure of the temperature in IGBTs Note Not all drive sizes are provided with this sensor see Table 12 in the PRODUCT MENU Function 68 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO M065 Operati
76. Address Value of the Anti Wind Up coefficient that freezes the integral term of the PID when its output is being saturated see Anti windup Fondon When leaving 260 1 00 Anti Wind Up is complete I lt OUTsat P D If P260 0 00 Anti Wind Up is inhibited the integral term reaches the value of P238 based on the error sign Intermediate values for P260 give intermediate effects 173 428 SINUS PROGRAMMING GUC ION 2 SANTERNO GRUPPO CARRARO 23 PID2 PARAMETERS MENU 23 1 Overview This menu defines the parameters of the digital regulator PID2 as well as the parameters used in 2 zone mode To activate the PID2 regulator set C291a 7 2 PID CONFIGURATION MENU Once activated the PID2 regulator has the same functionality and operates in line with the standard PID PID PARAMETERS MENU The output of the standard PID regulator is algebraically summed with the output of the PID2 regulator Add 200 to the parameter codes pertaining to the standard PID to obtain the relevant parameter codes for PID2 Example P236 for standard PID corresponds to P436 for PID2 To enable the 2 zone mode set C291a 5 2 Zone MIN 6 2 Zone MAX PID CONFIGURATION MENU Once the 2 zone mode is enabled the standard PID regulator operates on the system with the larger error minimum feedback in respect to its reference 2 Zone MIN or with the smaller error maximum feedback in respect to its reference 2
77. D M Frequency for application of voltage 1087 co80 M2 at faite 1080 See Table 73 C123 M3 1123 C038 M1 1038 C081 M2 Autoboost 1081 See Table 73 C124 M3 1124 C039 M1 1039 C082 M2 Slip compensation 1082 0 Disabled C125 M3 1125 C040 1 1040 C083 M2 Voltage drop at rated current 1083 0 Disabled C126 M3 1126 259 428 SINUS PROGRAMMING INSTRUCTIONS C041 MI C084 M2 Fluxing ramp time C127 M3 See Table 72 C042 MI C085 M2 Vout saturation percentage C128 M3 100 C008 Rated Mains Voltage 200 240 2T Regen 380 480 481 500 AT Regen 500 600 5 Regen 600 690 6T Regen 380 480 Default Level Address This parameter defines the rated voltage of the mains powering the drive thus allowing obtaining voltage ranges to be used for the drive operation The value set Function in this parameter depends on the Drive voltage class To supply the drive via a non stabilized DC source the corresponding AC voltage range must be used see Table 70 DO NOT USE xT Regen settings in this case Table 70 Equivalence between AC mains range and DC range 200 240 Vac 280 338 Vdc 380 480 Vac 530 678 Vdc 481 500 Vac 68
78. INSTRUCTIONS 2 SANTERNO P244 Cycle Time of PID Regulator Tc 0 65000 ms Default Level Address This parameter sets the cycle time of PID regulator It is expressed in ms multiples of 5 only Example if P244 1000 ms the PID regulator cycle will be executed every second and the output will be refreshed every second as well Function P245 Min Value of PID Reference 10000 10000 100 0096 Default 0 0096 IEEE ENGINEERING 545 This parameter defines the min allowable value of the PID reference The PID references are to be considered as percentage values If analog references are selected P245 relates to the minimum value of the selected analog Function input Example Select AINT analog input as the PID reference and suppose that its max and min values are 4 10V and 10V respectively If P245 is 5096 this means that the PID reference will be saturated at 5096 for voltage values lower than 5V P246 Max Value of PID Reference 10000 10000 x 100 0096 10000 100 0096 Level Address This parameter defines the max allowable value of the PID reference See the Function description of P245 P247 Min Value of PID Feedback Range 100 00 Default Level Address This parameter defines the min allowable value of the PID feedback See the Function description of P245 P248 Max Value of PID Feedback
79. List of Parameters RO16 to e e enhn ehe ne ene hh ness e n e renes ese e e ere edes se EEEE enan 380 48 3 Exchanged Parameter Serera i nnne A AAE EEA RERE RR RA rennen rennen nre TARERE 382 48 3 1 From the Master to the Sinus Penta 382 48 3 2 From the Sinus Penta to the Master 385 49 EXPANSION BOARD CONFIGURATION MENU ccccscccsccecceccsscecceccesceccecceccescescscesces 387 49 1 OVERVIEW DUTIES 387 49 2 List of Parameters 21 to 23 387 50 PROFIDRIVE BOARD CONFIGURATION MENU csscccccsccecccccsccecceccesceccescescescescescesces 388 50 1 UMANE 388 50 2 List of Parameters 25 to ROAD 388 51 DATA LOGGER MENU cic cccsccccscsssssscsccsecssasccsectocscsensodsevesseenssvesesseseesacecesosesGesescoeecsessonesssecsve s 391 51 1 e Cn LA 391 51 2 List of Parameters R115 and R116 wee ccccecceccccccceesseecccccsceuesseeccccssssuuessececessuaeseusecesseeuueaeeeessssssuuaeesess 391 52 EEPROM MENU 393 52 1 MISMO a R 393 52 2 Wistortlnputs 009 to l012 ice n es ersten iae eoe ad tuo ei rr ee
80. Manual DCB Example 1 Motor Speed DC Braking Manual DCB Command and START Command if t1 gt 1 b tl lt t time t1 for braking command is shorter than t Two different cases may occur depending on the control algorithm and the setup of the motor speed searching function 334 428 PROGRAMMING lt SANTERNO INSTRUCTIONS GRUPPO CARRARO SINUS PENTA IFD or VIC Control when the Speed Searching function is disabled C245 NO Prematurely disable the manual braking command to stop DC braking If the motor is still rotating it will start idling To restart the motor following the preset acceleration ramp simply disable and enable the START command see Figure 54 Speed A Inc f C220 Free wheel Spdl DCB Speed Level gt t DCB jn r Command ON OFF i Start Command ON OFF P000355 b Figure 55 Manual DCB Example 2 Motor Speed DC Braking Manual DCB Command and START Command if t1 t and the control algorithm is either IFD Voltage Frequency or VTC VectorTorque when the Speed Searching Function is disabled 335 428 PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO SINUS PENTA IFD Control when the Speed Searching function is enabled C245 YES Prematurely disable the manual braking command to activate the Speed Searching function When the motor speed searching occurs the motor speed is increased depending on the preset acceleration ramp see Fig
81. Max motor speed Voltage preboost Acceleration ramp time Deceleration ramp time Current limit while accelerating Current limit at constant rom Current limit while decelerating Torque limit Encoder operating mode Encoder A pls rev Encoder B pls rev Autotuning selection Motor tuning selection Motor thermal protection Motor thermal time constant PID operating mode PID reference selection PID feedback selection Preset PID units of measure PID measure scale factor Max value of PID output Min value of PID output PID wake up enable PID wake up level START disable delay if PID Out P237 only if FOC is active only if IFD is active only if FOC is active only if IFD is active only if IFD is active only if IFD is active only if IFD is active only if VTC FOC are active only if FOC is active only if FOC is active only if FOC is active only if VTC FOC are active only if VTC FOC are active only if protection is active only if PID is active only if PID is active only if PID is active only if PID is active only if PID is active only if PID is active only if PID is active only if PID is active only if PID is active After setting the last parameter and moving the cursor forward the following page will appear Press UP ARROW to qu it DOWN ARROW to continue Press A to quit the Start up menu The default page of the system will be displayed 39 428 SINUS PE
82. P354 MPL1 Testing variable B ADVANCED 0 gt 954 P355 MPL1 Comparing value for Test A ADVANCED 0 955 P356 MPL1 Comparing value for Test B ADVANCED 0 956 P357 MPL1 Function applied to the result of the 2 tests ADVANCED 0 A OR B 957 P357a MPL1 Selecting variable C ADVANCED 0 Disable 932 P357b MPL1 Function applied to the result of f A B C ADVANCED 0 f A B ORC 933 P358 MPL1 Output logic level ADVANCED 1 TRUE 958 Digital output mode ADVANCED 1 DIGITAL Selecting variable A ADVANCED D33 Fan Fault Selecting variable B ADVANCED DO DISABLE Testing variable A ADVANCED 0 gt Testing variable B ADVANCED 0 gt Comparing value for Test A ADVANCED 0 Comparing value for Test B ADVANCED 0 Function applied to the result of the 2 tests ADVANCED 0 A OR B Selecting variable C ADVANCED 0 Disable Function applied to the result of f A B C ADVANCED 0 A B ORC Output logic level Digital output mode ADVANCED ADVANCED 1 TRUE 1 DIGITAL Selecting variable A ADVANCED D38 Fire Mode Selecting variable B ADVANCED DISABLE Testing variable A ADVANCED 0 gt Testing variable B ADVANCED 0 gt Comparing value for Test A ADVANCED 0 Comparing value for Test B ADVANCED 0 Function applied to the result of the 2 test
83. POOx PO3x Ramps 009 1 10 1 12 2 P013 Tdn2 14 51 2 P015 Tup3 P016 Tdn3 18 4 P019 Tdn4 i P020 Un Meas3 4 P021a Rnd Sel1 P021b Rnd Sel2 PO21c Rnd Sel3 PO21d Rnd Sel4 P022 RndStartAcc 50 96 P023 RndStopAcc 50 96 P024 RndStartDec 50 96 P025 RndStopDec 50 96 026 5 00 s P027 T Tdn 5 00 s P028 T Un Mea 1 0 15 29 Tup 5 P030 J Tdn 15 P031 SpdAccReset 1 Yes P032 TupFireM P033 TdnFireM 5 7 Reference PO50 REF 3 0 10V P051 REFMIN 0 0V P051a REFMIN 96 10096 P052 REFMAX 10 0V P052a REFMAX 96 10096 P053 REFOFFS 0 000 V P054 TauFilt REF 5 ms P055 AINT 2 4 20mA P056 AINTMIN 4 0 mA 5 96 10096 P057 AINTMAX 20 0 mA 057 96 10096 P058 AIN1OFFS 0 000 mA P059 TauFilt AINT 5 ms PO60 AIN2 2 4 20mA P061 AIN2MIN 4 0 mA PO61a AIN2MIN 96 10096 P062 AIN2MAX 20 0 mA P062a AIN2MAX 9 10096 P063 AIN2OFFS 0 000 mA P064 TauFilt AIN2 5 ms P065 SpdDisab rpm P066 SpdDisabTime Os P067 U D Ramp Square P068 U D Mem 1 Yes P068a U D1 StopRes 0 No P068b U D2 StopRes 0 No P068c U D 1SwSRes 0 No PO68d U D2SwSRes 0 No P069 U D Range 1 Unipolar P070 Jog Ref 0 P071 PulseMin 10000 Hz P071a PulseMin 96 10096 P072 PulseMax 100000 Hz P072a PulseMox 96 10096 P073 EncMin 1500 rpm P073a EncMin 96 10096 P074 EncMax 1500 rpm P074a EncMax 96 10096 419 428
84. PROGRAMMING 2 SANTERNO GRUPPO CARRARO C257 Alarm Reset at Power On Range 0 Disabled 1 Yes emo Disabled BAE ENGINEERING Address At power on this parameter enables the automatic reset of the alarms tripped when the is powered off C258 Enable Saving Undervoltage and Mains Loss Alarms Range 0 Disabled 1 Yes Demo 0 Disabled ENGINEERING Ix isis This parameter saves Undervoltage and Mains Loss alarms to the fault list 351 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 42 MOTOR THERMAL PROTECTION MENU 42 1 Overview The Motor Thermal Protection function protects the motor against overloads Some Sinus Penta models offer the possibility to set the heatsink temperature for the activation of cooling fans All relevant parameters are included in the Motor Thermal Protection menu Each connected motor has its own thermal model If the drive is used to control only one motor and its control mode is selected through the NOTE RE selection of the different motors the motor thermal protection is ensured by setting PTC protection for all motors For each programmable motor thermal protection can be configured in 4 modes which can be selected with parameter C265 or C268 or C271 for motor 2 and 3 respectively depending on the cooling system being used configuration modes 1 2 and 3 or whether a PTC is used configuration 4 0
85. Parameters setting Slip Compensation IFD Control Rated voltage Rated voltage of the connected motor voltage rating 01 eee C105 No load power Power absorbed by the motor when no load is connected to the C020 C063 C106 motor it is expressed as a percentage of the motor rated power Stator resistance Determines the resistance of the stator phases used to compute the C022 C065 C108 power consumption due to Joule effect Activation of slip compensation If other than zero this parameter enables slip compensation and C039 C082 C125 defines its relevant value Once the drive output power has been estimated and the power losses due to the Joule effect and to the mechanical parts depending on output voltage and no load power have been subtracted mechanical power is obtained Starting from mechanical power and the value set for slip compensation C039 for motor 1 you can obtain the increase of the output frequency limiting the error between the desired speed value and the actual speed value of the connected motor 256 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 32 1 8 TORQUE CONTROL VTC AND FOC ONLY VTC and FOC controls allow controlling the drive with a torque reference instead of a speed reference To do so set 1 Torque or 2 Torque with Speed Limit FOC only in the relevant parameter C011 for motor 1 C054 for motor 2 C097 for motor 3 In this way the mai
86. Range O 20 if ES847 or ES870 is 9 12 5 MPL1 MPLA fitted 13 20 XMDI1 XMDI8 Pees Inactive Level ADVANCED Address 1365 1366 1367 This function allows generating up to 7 PID references that can be programmed with parameters 81 to P087a according to the operating mode selected with PO80a The 3 functions determine which is the active reference among the 7 ovailable PID Function references the active value 1 the inactive value 0 of each programmed input signal determines a bit logic value where MULTIREF O is the least significant bit bit and MULTIREF 2 is the most significant bit bit 2 If one of the available functions is not programmed the value of the relevant bit is zero Table 90 Selection of PID Multireferences Bit 2 Bit 1 Bit O Multireference selected MULTIRFERENCE 2 MULTIRFERENCE 1 MULTIRFERENCE O 319 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 36 ENCODER FREQUENCY INPUTS MENU 36 1 Overview Three quick acquisition digital inputs are available in the Sinus Penta control board MDI6 ECHA FINA e MDI7 ECHB e MDI8 FINB These inputs can be used as encoder reading encoder A or as frequency inputs In addition if ES836 option board is used see the Sinus Penta s Installation Instructions manual an additional encoder reading encoder B is allowed AN NOTE If MDI6 and MDI7 are used for encode
87. Table 82 List of parameters C149a to C188c and 1006 sssssssssssssssseeeeeeee nennen eene rre 301 Table 83 Multispeed selection ier ier ree HE CP Er X RN boa baba Vue Pese 307 Table 384 Selected Speed reference tetra e e ee e EO EE ERR EUR ada e 308 Table 85 Multiramp selection iei eene pente 311 Table 86 Select d ramp ier Ep oat E edo 311 Table 87 Motor selection etit rtt te pore e epp pore leer eerie eere t esee ener RETE 314 Table 88 Selection of the speed reference variation eene nennen nennen nennen 315 Table 89 Variation of the selected speed reference cccceeseceeseeneeeeeeeeeeeseeaeeeeseaceeeeseaeeeeeeaeeeeeeaeeeeeseeeeesenseeeeneaees 315 Table 90 Selection of PID Multireferences nennen enne rennen eene 319 Table 91 List of parameters CT89 1o C199 anie reete eR suns QUE Ee EAE ERESRE EE i EAE E IN R a Ee Ln ERE Pega d 324 Table 92 Codification oF C1893 e PEPPER Un 325 Table 93 Codification of C199 5 etit re M RHENO DER TI icons AR EE Hy Pet ib NRI 327 Table 94 List of parameters C210 to 212 329 Table 95 list of parame
88. This parameter defines the operating mode of virtual digital output 4 The Funcion different operating modes are described at the beginning of this chapter P378 MPL4 Selecting Variable A O 119 See Table 39 D0 Disable Level Address This parameter selects the digital signal used to calculate the value of MPL4 digital output Function It selects an analog variable used to calculate the value of MPL4 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 P379 MPL4 Selecting Variable B O 119 See Table 39 3 DO Disable Level Address This parameter selects the second digital signal used to calculate the value of MPLA digital output Function It selects an analog variable used to calculate the value of MPL4 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 234 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS P380 MPL4 Testing Variable A Default Level Address This parameter defines the test to be performed for the variable detected by P378 using P382 as a comparing value Function Default Level Address This parameter defines the test to be performed for the variable detected by P379 Function using P383 as a comparing value P382 MPL4 Comparing Value for Test A 320 00 96
89. a logic negation is applied 1 TRUE no negation is applied P310 XMDO3 Signal Selection 0 59 See Table 39 A DO Disable Level Address Selects the digital signal used to calculate the value of XMDO3 digital output It selects an analog variable used to calculate the value of XMDOS3 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 Function P311 XMDO3 Output Logic Level Range Default Level Address XMDO3 digital output logic function to apply a logic reversal negation to the Function calculated output signal 0 FALSE a logic negation is applied 1 TRUE negation is applied 207 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO P312 XMDO4 Signal Selection Range See Table 39 EAM o 1 1 DO Disable Level Address Selects the digital signal used to calculate the value of XMDO4 digital output It selects an analog variable used to calculate the value of XMDO4 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 Function P313 XMDO4 Output Logic Level 0 TRUE 1 FALSE Level Address Range XMDO4 digital output logic function to apply a logic reversal negation to the Function calculated output signal 0 FALSE a logic negation is applied 1 TRUE negation i
90. not required for the implemented application The dedicated applications implement the most common automation applications thus replacing PLCs or dedicated control boards and they reduce to a minimum the electric equipment required thus ensuring lower maintenance costs Such operating modes can be implemented through the firmware updating and or through additional interface boards NOTE PENTA drive you can use the Remote Drive software provided by Elettronica Santerno Please refer to the RemoteDrive s User Manual for detailed instructions In order to install your application SW and update the firmware packets of your SINUS Any detail concerning optional functionality is given in separate manuals covering PENTA s optional applications 11 428 SINUS PROGRAMMING INSTRU C ONE 22 SANTERNO GRUPPO CARRARO 0 4 3 MENUS AND SUBMENUS This User Manual Programming Instructions is divided into different Menus Their sequence is the same as their display sequence in the display keypad and the RemoteDrive software Programming parameters and Measure parameters are divided into Mxxx Measures always Read Only Display on the display keypad and the Drive representation RemoteDrive integer may be a decimal figure plus unit of measure Type of control IFD VTC FOC the measure is related to ModBus address which the measure can be read from 55 integer Function Measure description Display on
91. 0 10V 20 0 mA 20 0 mA if P060 1 20 mA 4 0mA 20 0 mA if PO60 2 4 20 mA 0 0V 10 0V if P060 3 0 10V 0 0 mA 20 0 mA if PO60 4 0 20 mA 20 0 mA P062a Percentage of Speed_Min Trq_Min Producing Max Reference Y axis related to 62 bens O 1000 100 0 BACU 1000 100 096 Level ADVANCED Pe 701 This parameter represents the max speed percentage or the min torque percentage for a torque reference to be used for the maximum reference set with P062 Function P063 Offset over AIN2 Input 10 00V 10 00 V if 003 bm 2000 2000 20 00 mA 420 00 mA if PO60 1 2 4 Default Level ADVANCED Address This parameter selects the offset correction value of AIN2 analog signal that has been measured The value set is added to the signal measured before saturation or conversion its unit of measure is the same as the one of the signal selected for AIN2 analog input Function 113 428 SINUS PROGRAMMING GUC OKs Z SANTERNO GRUPPO CARRARO 64 Filtering Time over AIN2 Input ESTE o 65000 0 65000ms PSS ms PAR ADVANCED 664 This parameter selects the value of the filter time constant of the first command applied iude to AIN2 input signal when the signal saturation and conversion is over P065 Minimum Reference and START Disabling Threshold Range 0 32000 0 32000 rpm NEMO INI A
92. 090 091 Motor 2 133 134 Motor 3 Active only when a torque reference is used for the selected motor Address This is the measure of the torque reference required at constant speed and expressed as a percentage of the motor rated torque Function 50 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO M011 Torque Demand 9 Address Function Active Address Function Active Address Function Address Function 500 Note The actual range depends on the torque limit values set for the selected motor C047 C048 Motor 1 C090 C091 Motor 2 C133 C134 Motor 3 Active for VTC and FOC controls only With speed control Torque demand of the speed regulator expressed as a percentage of the motor rated torque With torque control Torque reference processed with respect to the preset torque ramp time and expressed as a reference of the motor rated torque Active only for VTC and FOC controls Approximate value of the torque produced by the motor and expressed as a percentage of the rated torque of the selected motor 32000 Nm Note The actual range depends on the preset torque limit values and the rated torque of the selected motor C047 C048 Motor 1 090 091 Motor 2 C133 C134 Motor 3 Active for VTC and FOC controls only This is the limit value for the torque at constant speed If an external torque limit is used the value of this measu
93. 1 ENGINEERING P156 Current regulator integral time Mot n 1 ENGINEERING 20 0 ms 756 P158 Flux regulator proportional constant Mot n 1 ENGINEERING 0 00 758 P159 Flux regulator integral time Mot n 1 ENGINEERING 33 ms 759 P162 Current regulator proportional constant Mot n 2 ENGINEERING 3 00 762 P163 Current regulator integral time Mot n 2 ENGINEERING 20 0 ms 763 P165 Flux regulator proportional constant Mot n 2 ENGINEERING 0 00 765 P166 Flux regulator integral time Mot n 2 ENGINEERING 33 ms 766 P169 Current regulator proportional constant Mot n 3 ENGINEERING 3 00 769 P170 Current regulator integral time Mot n 3 ENGINEERING 20 0 ms 770 P172 Flux regulator proportional constant Mot n 3 ENGINEERING 0 00 772 P173 Flux regulator integral time Mot n 3 ENGINEERING 33 ms 773 133 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO P155 P162 P169 Current Regulator Proportional Constant Range 0 65000 0 00 650 00 DTE 300 3 00 IEEE ENGINEERING 755 55 762 769 les MEM FOC Kp Proportional coefficient of PI current regulator Id and 19 in field rotary reference for motor n 1 P162 and P169 relate to motors 2 and 3 The regulator s structure is as follows error Set Point Measure Function integral status integral status error Ki Ts Output Kp error integral status where Kp is the proportional coefficient Ki is the integral coefficient 1 Ti where Ti is the integral ti
94. 100 250 100 250 100 250 100 250 0850 450 100 250 0965 220 100 250 1129 100 250 100 250 100 250 100 250 100 250 0960 100 250 2 575 580 100 100 Off 100 2 2 2 2 2 2 2 2 _ 1 2 1 2 1 2 1 1 2 2 2 2 2 2 xm 2 2 2 2 2 2 00 00 Off 00 1 276 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO Table 73 Parameters depending on the Drive Size and Model 3 C013 C035 C036 C056 C078 C079 C099 C121 C122 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 0 CONST 505 512 0 CONST 0 CONST 0 CONST 0 CONST 0 5 50 0 5 50 0179 2 FREE 0 2 20 20 0200 2 FREE 0 2 20 20 0216 2 FREE 0 2 20 20 540 565 0250 2 FREE o2 0 2 0 2 20 541 20 2 FREE 550 565 0366 2 FREE 0399 2 FREE Oojoj oilojo ojojo 20 20 277 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GR
95. 2 lt 9 Example MDO1 2 P270 9 Reference threshold for P271 P280 P289 P298 in MDOT P275 P284 P293 P302 This defines the comparing value of Test A with the first selected variable NOTE This parameter can be accessed only if the operating mode of the selected digital output is gt 2 Example MDO1 P270 2 Reference threshold for P272 P281 P290 P299 in MDO2 3 4 P276 P285 P294 P303 This defines the comparing value of Test B with the first selected variable NOTE This parameter can be accessed only if the operating mode of the selected digital output is gt 2 Example MDO1 P270 gt 2 181 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO MDO1 Function Applied to the Result of Tests A and B P277 P286 P295 P304 A logic function is applied to the two Boolean signals obtained in order to obtain the output TRUE FALSE Boolean signal Six different tests may be performed for variable A using the comparing value and variable B A OR B The selected digital output is enabled when at least one of the two conditions below is true this function also allows enabling the selected digital input based on one test only A SET B RESET The selected digital output is activated as the output of a Flip Flop Set Reset whose inputs are signal A and signal B This function can be used in case of hysteresis The output status Q depends on the previous value Q ho
96. 2 List of Parameters C140 to C148 Table 78 List of parameters C140 to C148 C140 Command digital input 1 ADVANCED 1 Terminal Board C141 Commond digital input 2 ADVANCED 1141 1 Terminal Board C142 Command digital input 3 ENGINEERING 1142 0 C143 Input reference 1 _ ADVANCED 1143 1 REF C144 Input reference 2 ADVANCED 1144 2 AINT C145 Input reference 3 ENGINEERING 1145 0 C146 Input reference 4 ENGINEERING 1146 0 C147 Toraque Limit input ENGINEERING 1147 0 EM ENGINEERING 1148 0 StandBy or Fluxing emote to Local command 1 NOTE The programming range of parameters C140 C141 C142 depends on the setting of parameter C150 and vice versa see the detailed description of the parameters above C140 C141 C142 Command Source Selection 1 2 3 0 Disabled 1 Terminal Board 2 Serial Link 3 Fieldbus 4 Terminal Board B 5 Keypad C140 C141 1 C140 C141 1 Terminal Board C142 0 C142 0 Disabled Level C140 C141 ADVANCED C142 ENGINEERING elsi 1140 1141 1142 ig isis Selection of the drive command source Default If the command source is set as Keypad different command sources can be set up only if the STOP or STOP B digital inputs are programmed see C150 and 150 to enable pushbutton operation or to make sure that the Source Selection function is activated see C179 If the first command source i
97. 320 00 96 Renee 92000 32000 of the full scale value of selected variable A see Table 39 IEEE ADVANCED 282 Function This parameter defines the comparing value with the selected variable for test A P383 MPL4 Comparing Value for Test B 320 00 96 320 00 96 Range 32000 32000 96 of the full scale value of selected variable B see Table 39 Default Level ADVANCED 983 Function This parameter defines the comparing value with the selected variable for test B 235 428 PROGRAMMING INSTRUCTIONS SINUS PENTA 2 SANTERNO GRUPPO CARRARO P384 MPL4 Function Applied to the Result of the 2 Tests Default Level Address Function P384a MPL4 Selecting Variable C P3840 _ Range Default Level Address Function A OR B A SET B RESET A AND B A XOR B A NOR B A NAND B AY OR B A OR BY AJ AND B A AND BY 10 A RESET B SET RISING EDGE 11 A SET B RESET FALLING EDGE 12 A RESET B SET FALLING EDGE 0 1 2 3 4 5 6 7 8 9 This parameter determines the logic function applied to the result of the two tests allowing calculating the output value See Table 39 DO Disable This parameter selects the digital signal used to calculate the value of MPL4 digital output The digital signals that can be selected are given in Table 39 P384b MPL4 Function Appli
98. 4 Ramp over PID Reference A ramp may be applied to the PID references sent from block 3 The same ramp is applicable for both blocks the processed references are the ones actually used in the PID regulator The parameters of the PID reference ramp are illustrated in the figure below The initial rounding off is applied to the reference whenever a new acceleration deceleration ramp is started while the end reference is applied at the end of each ramp 361 428 PROGRAMMING SINUS PENTA INSTRUCTIONS SANTERNO GRUPPO CARRARO P249 Ramp UP for PID reference A P250 Ramp DOWN for PID reference Ramps reference PID Reference P251 PID Ramp unit of measure P252 Start S Curve for PID ramps P253 End S Curve for PID ramps P000362 B 4 Figure 65 PID ramp reference The PID2 ramp reference control is same but parameters 2 are replaced with parameters PAxx Block 5 PID regulators This is the real PID regulator Its output may be disabled by an external digital command if programmed with C171 If the PID regulator is used as a reference source and P255 P455 for PID2 is not set to zero the PID output value control is enabled If the PID output equals the preset minimum value for a time longer than P255 P455 for PID2 the drive is automatically put on stand by In the last block the PID output is applied to the function defined by the Regulator Implementation p
99. 420 428 SINUS GRUPPO CARRARO 2 SANTERNO PROGRAMMING INSTRUCTIONS P21x P22x Timers P216 T1 delay On 0 05 P217 T1 delay 0 05 218 2 delay On 0 0s P219 T2 delay O 0 0s P220 T3 delay On 0 0s P221 T3 delay 0 05 222 4 delay On 0 0s 223 4 delay 0 0s P224 T5 delay On 0 0s P225 T5 delay 0 05 P226a Timer 0 P226b Timer MDI2 0 P226c Timer MDI3 0 P226d Timer MDIA 0 P227a Timer MDI5 0 P227b Timer MDI 0 P227c Timer MDI7 0 P227d Timer MDI8 0 P228a Timer MDOI 0 P228b Timer MDO2 0 P228c Timer MDO3 0 P228d Timer MDO4 0 P229a Timer MPL1 0 P229b Timer MPL2 0 P229c Timer MPL3 0 P229d Timer MPLA 0 P23x P26x PID Parameters P236 PID Out Max 100 00 96 P237 PID Out Min 100 00 96 P237a Wake Up Mode 0 Disabled P237b Wake Up Level 0 00 96 P238 Integ Max 100 00 96 P239 Der Max 100 00 96 P240 PID Kp 1 000 P241 PID KpMult 0 1 P242 PID Ti Tc 500 Tc P243 PID Td Tc 0 mTc P244 PID Tc 5 ms P245 PID Ref Min 0 00 96 P246 PID Ref Max 100 00 96 P247 PID Fdbk Min 0 00 96 P248 PID Fdbk Max 100 00 96 P249 PID Tup 0 00 s P250 PID Tdn 0 00 s P251 PID U Mea 1 0 1s P252 Rnd start 50 96 P253 Rnd stop 50 96 P254 Thresh Int 0 0 96 Refmox P255 Disab Time Disabled P256 Trate Lim ms P257 GainScale 1 000 P260 GainAWUP 1 00 P27x P30x
100. 428 SINUS PENTA PROGRAMMING 9 SANTERNO INSTRUCTIONS GRUPPO CARRARO N Testing Variable A for MDO1 2 3 4 P273 P282 P291 P300 If an analog variable is selected a logic TEST is performed to obtain a TRUE FALSE Boolean signal Seven different tests are available that can be performed for selected variable A and its comparing value A Table 40 Test functions GREATER THAN Selected variable gt comparing value GREATER THAN EQUAL TO Selected variable gt comparing value LOWER Selected variable lt comparing value LOWER THAN EQUAL TO Selected variable lt comparing value ABS GREATER THAN Absolute value selected variable gt comparing value ABS GREATER THAN EQUAL TO Absolute value selected variable gt comparing value ABS LOWER Absolute value selected variable lt comparing value ABS LOWER THAN EQUAL TO Absolute value selected variable lt comparing value This parameter can be accessed only if the operating mode of the selected digital output is gt 2 Example MDO1 P270 gt 2 Testing Variable B for MDO1 2 3 4 P274 P283 P292 P301 If an analog variable is selected a logic TEST is performed to obtain a TRUE FALSE Boolean signal Seven different tests are available that can be performed for selected variable B and its comparing value B see Table 40 NOTE This parameter can be accessed only if the operating mode of the selected digital output is gt
101. 528 800 900 0598 680 iie 0748 S65 S70 0831 S75 0964 1200 1000 1200 1480 575 580 2x541 2x542 1080 1340 1200 1480 1334 696 1650 858 954 3 552 1400 2kHz for 5T and 6T Class 274 428 1600 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO Table 72 Parameters depending on the Drive Size and Model 2 OoOj o o o ojoojojo ojio 150 50 150 50 150 50 10 1 On 1 150 50 1 150 50 1 oo 10 10 jola ojojo ojojo o oj oj ojoj o oj oj oj oj oj o oj o o ojo ojojo 1 70 515 1 1 10 1 10 S20 1 10 540 565 925 450 100 250 550 565 0366 0399 275 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO 0313 450 100 250 S51 0367 450 100 250 0402 450 100 250 450 100 250 450 100 250 450 100 250 450 100 250 0457 450 100 250 0748 450 100 250 565 570 9831 450 100 20 _ 57 0964 450 100 _ 450 100 250 450 100 250 450 100 250 450 100 250 254 053 450 100 250 252 05 450 100 20 _
102. A B RESET C SET RISING EDGE 11 SET C RESET FALLING EDGE 12 f A B RESET C SET FALLING EDGE Default B RESET Level Address This parameter determines the logic function applied to the result of the two tests allowing calculating the output value Function 227 428 PROGRAMMING INSTRUCTIONS P358 MPL1 Output Logic Level Default Level Address Function SINUS PENTA digital output logic function to apply a logic reversal negation to the calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied P359 MPL2 Digital Output Mode Default Level Address Function P360 MPL2 Selecting Variable A P361 MPL2 Selecting Variable B Default Level Address Function P3 1 meam 228 428 Default Level Address Function DISABLE DIGITAL DOUBLE DIGITAL ANALOG DOUBLE ANALOG DOUBLE FULL BRAKE ABS BRAKE ABS LIFT DIGITAL This parameter defines the operating mode of virtual digital output 2 The different operating modes are described at the beginning of this chapter See Table 39 D33 Fan Fault This parameter selects the digital signal used to calculate the value of MPL2 digital output It selects an analog variable used to calculate the value of MPL2 digital input if one of the analog operating modes is selected Digital signals and analog variab
103. C116 spddeflux M3 90 96 C117 nsa M3 Disabled C118 red 30 0 96 C119 spd redTrq3 20 96 C120 Preboost M3 C120a Boost ref pos M3 0 0 96 C120b Boost ref neg M3 0 0 96 C121 BoostO0 C122 Boost 123 5 r C124 AutoBst C125 SlipComp M3 Disabled C126 DV M3 Disabled 127 3 C128 Vout Sat 8596 C12x C13x Limits M3 C129 lacclim M3 15096 C130 Irunlim 15096 C131 Ideclim C132 defilimRed M3 0 Disabled C133 Tmin M3 0 0 96 C134 Tmax M3 12096 C135 Tlim Ramp M3 50ms C136 fRedLimAcc M3 0 Enabled C14x Control Method C140 Sel Comm 1 1 Terminals C141 Sel Comm 2 1 Terminals C142 Sel Comm 3 0 Disabled C143 Sel InRef 1 1 REF C144 Sel InRef 2 2 AINT C145 Sel InRef 3 0 Disabled C146 Sel InRef 4 0 Disabled C147 Sel T lim 0 Disabled C148 RemLoc mode 0 StandBy Fluxing C15x C18x Digital Inputs C149a StartB 0 None C150 Stop 0 None C150a StopB 0 None 151 0 C151a RevB 0 None C152 Enable S 0 None C153 Disable 0 None C154 DisabReset 0 No C155 Mltsp 0 4 MDIA C156 Mltsp 1 5 MDI5 C157 Mltsp 2 0 None 158 3 0 None C159 Cw CCw 8 MDI8 C160 DCB 0 None C161 Up 0 None C162 Down 0 None C163 U D Reset 0 None C164 ExtAlrm 1 0 None C164a ExtAlr Delay 0 ms C165 ExtAlrm 2 0 None C165a ExtAlr2Delay 0 ms C166 ExtAlrm 3 0 None C166
104. C245 to C248 C245 Speed Searching enable E NG 0 1 YES 246 a Searching disable if ENABLE is ENGINEERING 1246 1 5 247 i Searching time as 96 deceleration ENGINEERING 1247 1096 C248 Current used for Speed Searching ENGINEERING _ 1248 7596 C249 Speed searching starting level ENGINEERING 1249 Last speed C245 Speed Searching Enable Range 0 No 1 Yes Default 0 No Level ENGINEERING SEE 245 This parameter enables the speed searching function The Speed Searching function is enabled in the following cases when the ENABLE contact is open and closed before time tssqis C246 when the DC Braking command is disabled before the preset time is over see the DC BRAKING MENU when an alarm is reset with a reference other than 0 before time tssqis Function C246 Speed Searching Disable if ENABLE is Open Range 0 3000 0 Always ON 3000 sec Default 1 1 sec Level ENGINEERING 55 1246 NE 5 Determines the maximum allowable time passing between the drive disable and enable command when the Speed Searching function is activated When the drive is restarted output frequency will depend on the preset acceleration ramp When C246 Always ON speed searching will always occur independently of the time passing between the drive disable and enable 348 428 PROGRAMM
105. FINB with C189 if the option board is installed alarm A101 MDI8 Illegal Configuration trips No additional function must be assigned to MDI6 otherwise alarm A100 MDI6 Illegal Configuration will trip when ENABLE closes e Reading a Frequency Input and an Encoder MDI6 Digital input FINA is used as a frequency input and Encoder B is used because ES836 board avoids reading frequency input FINB through MDI8 If additional functions are programmed for digital input MDI6 alarm A100 MDI6 Illegal Configuration will trip when ENABLE closes If alarm A082 Illegal Encoder Configuration trips this means that the drive has not detected ES836 board check the board wiring Parameter C189 defines whether quick acquisition digital inputs are used to read a frequency input or an encoder and if the encoder is a reference source or a feedback source In the Encoder Menu you can also do the following e define the number of pls rev for the encoder being used e enable or disable the speed alarm e define a time constant applied to read filtering e define whether encoders are read by means of squaring channels or by channel A only while the direction of rotation will be defined by channel B ChB low level negative rotation ChB high level positive rotation 321 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 36 1 3 WHEN USING TWO ENCODERS MOTOR 1 MOTOR 2 N lt Encoder 2 signal Feed
106. Feedback value exceeds the level set with P237b P237a 3 the Error value drops below the level set with P237b P237a 4 the Error value exceeds the level set with P237b 167 428 INSTRUCTIONS SINUS PENTA PROGRAMMING 2 y SANTERNO P237b Wake up Level Default Level Address Function P237b P237 Wake Up Level 100 00 4100 00 96 Level of the Feedback or Error signal allowing re activating the PID control see P2370 P237a 1 Feedback P237b gt TIME Sleep Level gt TIME RUNNING P000666 b STOP Figure 30 PID Sleep and Wake up Mode when 237 is set to 1 P238 Max Value of Integral Term Default Level Address Function 0 10000 100 00 4100 00 100 00 This is the max allowable value of the integral term It is to be considered as an absolute value the output value resulting from the integral term ranges from P238 to P238 168 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS P239 Max Value of Derivative Term Range 0 10000 100 00 4 100 00 96 10000 100 00 96 Level Address This is the max allowable value of the derivative term it is to be considered as an Function absolute value the output value resulting from the derivative term ranges from P239 to P239 P240 PID Proportional Constant Range 0 65000 0 65 000 Default
107. INSTRUCTIONS Z SANTERNO P371 MPL3 Testing Variable A Default Level Address This parameter defines the test to be performed for the variable detected by P369 using P373 as a comparing value Function Default Level Address This parameter defines the test to be performed for the variable detected by P370 Function using P374 as a comparing value P373 MPL3 Comparing Value for Test A 320 00 96 320 00 96 Range 32000 32000 96 of the full scale value of selected variable A see Table 39 Default IEEE ADVANCED 973 Function This parameter defines the comparing value with the variable selected for test A P374 MPL3 Comparing Value for Test B 320 00 96 320 00 96 Range 32000 42090 of the full scale value of selected variable B see Table 39 Default Level Address Function This parameter defines the comparing value with the variable selected for test B 232 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO P375 MPL3 Function Applied to the Result of the 2 Tests A OR B A SET B RESET A AND B A XOR B A NOR B A NAND B AY OR B OR BY AJ AND B A AND BY 10 A RESET B SET RISING EDGE 11 A SET B RESET FALLING EDGE 12 A RESET B SET FALLING EDGE 0 1 2 3 4 5 6 7 8 9 Default Level Address This parameter determines the logic function applied to
108. Level Constant Example C292 Selection of the Variable for Calculating the Derivative Term Default Level Address Function 0 Measure 1 Error This parameter sets the variable used for calculating the derivative term By default the derivative term is computed according to the feedback measure but it can also be computed according to the PID error 366 428 Error Reference Feedback SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO C293 Proportional Multiplier of Derivative and Integral Terms Range Default Level Address Function This parameter defines if the proportional term is used for the multiplication of the derivative and integral terms as well C294 PID implementation Default Level Address Function 0 No means that the proportional term DOES NOT multiply the integral term 0 Analog output 1 Reference 2 Reference sum 3 Voltage sum T Reference ENGINEERING 1294 This parameter sets the type of implementation carried out by the PID regulator C294 Analog Output The PID regulator is independent of the drive operation unless a digital input is configured for PID disabling if the digital input closes the PID regulator is disabled and the output is set to zero In order to use the PID regulator output externally to the drive configure one of the analog outputs as PID Out C294 Reference The PID reg
109. Limit 0 Enabled 1 Disabled Range Default Level Address Control Function This parameter enables output frequency decrease during acceleration limit Setting 1 Disabled is recommended for high inertia loads When high inertia loads are connected to the drive the frequency decrease can lead to strong regeneration and DC bus A ub voltage oscillations 285 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 34 CONTROL METHOD MENU 34 1 Overview digital inputs COMMANDS and analog inputs REFERENCES Please refer to the Sinus Penta s Installation Instructions Manual for the hardware description of A NOTE See also the INPUTS FOR REFERENCES MENU and the DIGITAL INPUTS MENU The drive is factory set to receive digital commands via the terminal board the main speed reference is sent from the REF analog input and no external limit for torque limitation is enabled The parameters in this menu allow selecting the following The source of the drive commands digital inputs from three signal sources through parameters C140 C141 C142 which are logically matched so as to obtain an active MO31 command set For each of these 3 parameters you can select the source of the command signals from 4 different sources The source of the speed reference or torque reference from 4 different sources that can be selected with parameters C143 C144 C145 C146 that can be summed up togethe
110. Measure n 3 on Keypad page E M004 Motor Spd cannot be accessed P268e Measure n 4 on Keypad page MOOO Speed Ref cannot be accessed P269 Disable Loc Rem Fwd Rev keys ENGII 869 P264 Navigation Mode 1 Changed Pars Only Default Level Address Navigation by menu is factory set and is activated whenever the Penta drive is powered on Set P264 1 Changed Pars Only to navigate only through the parameters whose default values have been changed In that case linear navigation becomes active only the parameters that have been altered are displayed in sequence Press the A and W keys to go to a different parameter Navigation is slower if only few parameters have been changed Set P264 2 Linear to display parameters in sequence using the A and V keys If Linear navigation is selected parameters are no longer divided into menus and submenus Function This parameter cannot be saved Navigation by menu is restored whenever the drive is powered on 83 428 PROGRAMMING INSTRUCTIONS P264a Circular Navigation Default Level Address Function SINUS PENTA 5 SANTERNO GRUPPO CARRARO ADVANCED Parameter P264a is factory set to 1 YES This means that wrap navigation is activated navigation starts from the first page of the selected menu Press A to go to the next page When the last page is displayed press A again to return to the first page of the selected menu From the fir
111. Minimum output value obtained when the minimum value of the variable set in Function P186 is implemented 100 100 200 200 10 0 10 0 V Depends the value 20 0 20 0 mA selected in P184 AANE o0 Esra Level Range Address Maximum output value obtained when the maximum value of the variable set in 87 is implemented Disabled 10V 0 10V 0 20mA 4 20 ABS O 10V ABS O 20mA ABS 4 20mA Default Level ADVANCED Address A Selects the operating mode of AO3 analog output 148 428 PROGRAMMING SINUS PENTA Z SANTERNO INSTRUCTIONS GRUPPO CARRARO NOTE the DIP switch configuration and follow the instructions displayed on the keypad or refer Analog outputs set as voltage outputs by default To set them as current outputs see to the Sinus Penta s Installation Instructions Manual P193 Selected Variable for AO3 Analog Output MEM 59 See Table 27 Default 5 5 Motor current IEEE ADVANCED 793 Selects the variable to be allocated to AO3 analog output P194 Min Value of AO3 Selected Variable Depends on the value Range selected through P193 eee abe Default Level ADVANCED Address Minimum value of the motor speed corresponding to the min output value of AO3 cot in P198 P195 Max Value of AO3 Selected Variable Depends on the value selected throu
112. Mot2 Min prop coefficient BASIC 10 00 738 P139 Mot2 Max prop coefficient BASIC 10 00 739 P140 Mot2 Min error threshold BASIC 1 0096 740 P141 Mot2 Max error threshold BASIC 1 0096 741 P145 Mot3 Min integral time BASIC 500 ms 745 P146 Mot3 Max integral time BASIC 500 ms 746 P148 Mot3 Min prop coefficient BASIC 10 00 748 P149 Mot3 Max prop coefficient BASIC 10 00 749 P150 Mot3 Min error threshold BASIC 1 0096 750 P151 Mot3 Max error threshold BASIC 1 0096 751 pisa ENGINEERING 0 752 three phase current P125 P135 P145 Min Integral Time 1 32000 0 001 32 000 Disable ms IB AEN 500 500 ms Level BASIC 725 735 745 VTC FOC This parameter sets the min integral time for the speed regulator It may be accessed only if the min and max error thresholds are different P1304P131 for Motor P140zP141 for Motor2 P150zP151 for Motor3 RSS 1 32000 0 001 32 000 Disable ms 500 500 ms Level BASIC 726 Pee 736 746 VIC and FOC This parameter sets the max integral time for the speed regulator 130 428 PROGRAMMING SINUS PENTA p SANTERNO INSTRUCTIONS GRUPPO CARRARO P128 P138 P148 Min Proportional Coefficient Range 0 65000 0 00 650 00 Default 1000 10 00 Level BASIC Address 728 738 748 VIC and FOC This parameter sets the min proportional coefficient for the speed regula
113. Motorola The wrong software was downloaded 1 Download the correct DSP Texas software version Solution 2 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service Texas Flash not programmed When switched on DSP Motorola detected that Flash Texas is not correctly programmed KEII A prior attempt to download DSP Texas software failed 1 Download the correct DSP Texas software version 2 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service Solution 398 428 SINUS A040 User Alarm Description Event Possible cause Solution Description Event Possible cause Solution Possible cause Solution PROGRAMMING INSTRUCTIONS Alarm trip caused by the user as a testing procedure The user has forced the alarm to trip Value 1 was entered to address MODBUS 1400 via serial link Reset the alarm send a RESET command General hardware fault from IGBT side A Power converter A generated a general alarm e Electromagnetic disturbance or radiated interference e Overcurrent IGBT overtemperature IGBT fault 1 Reset the alarm send a RESET command 2 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service Illegal configuration of XMDI in the DGI menu The drive checked if at least XMDI input from ES847 or ES870 1 option board is available in the DIGITAL INPUTS MENU The drive checke
114. Multireference 3 Mref3 947 P084a PID Multireference 4 Mref4 948 P085a PID Multireference 5 Mref5 949 8 PID Multireference 6 Mref 986 P087a PID Multireference 7 Mref7 987 099 PID Reference in Fire Mode 988 P080a Multireference Default Level Address Function 0 Preset Ref 2 Exclusive Preset Ref O Preset Ref ENGINEERING This parameter sets if the PID reference resulting from the selection of a digital multireference is to be considered either as the unique active reference or as summed up to the other configured PID reference sources see example above P081a P087a PID Multireference 1 7 Range Default Level Address Function 1000 1000 ENGINEERING 945 949 986 987 This is the value of the PID reference selected with the corresponding combination of the digital inputs programmed as multireferences The reference is expressed in the unit of measure set with P267 see the DISPLAY KEYPAD MENU and is based on parameter P257 Gain for PID Scaling Example The max value for the PID feedback is 100 This value corresponds to a level of 25m in a tank When P257 0 25 100 of PID feedback corresponds to 25 metres When setting a reference level of 15 meters multireference 1 shall be set as POB1a 15 0 m 123 428 PROGRAMMING SINUS PENTA INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 099 PID Reference in Fire Mode Range
115. NO NO The Motor Thermal Protection function is disabled factory setting 1 YES No Derated The Motor Thermal Protection function is active with pick up current It independent of operating speed Forced The Motor Thermal Protection function is active with pick up current It depending on Cooled operating speed with fan cooled motor de rating The Motor Thermal Protection function is active pick up current It depends on operating 3 YESB Cooled speed and de rating is suitable for motors having a fan keyed to the shaft Thermoswitch on AlN2analog input for PTC features see the Sinus Penta s Installation Instructions manual 2 YES A 4 PTC PTC When 265 1 2 and 3 the motor thermal model is considered The heating of a motor is proportional to the square of the current flowing 12 The Motor overheated alarm A075 will trip after the time t computed based on the motor thermal model is over The alarm can be reset only after a given time depending on the thermal constant C267 of the motor thus allowing for the correct cooling of the motor Forced self cooled Cooled 0 5 liim T n Figure 60 Trip current drop depending on speed values The graph above shows how trip current It drops depending on the generated speed based on the value set in parameter C265 352 428 SINUS PENTA 9x PROGRAMMING SANTERNO INSTRUCTIONS GRUPPO CARRARO NOTE The motor heating can be monitored with
116. NOTE This parameter can be accessed only if the operating mode of the selected digital output is gt 2 and 9 Example MPL1 2 lt P350 lt 9 Reference threshold for P351 P360 P369 P378 in MPL1 P355 P364 P373 P382 Defines the comparing value of Test A with the first selected variable NOTE This parameter can be accessed only if the operating mode of the selected digital output is gt 2 Example MPL1 P350 2 Reference threshold for P352 P361 P370 P379 in MPLx P356 P365 P374 P383 Defines the comparing value of Test B with the first selected variable NOTE This parameter can be accessed only if the operating mode of the selected digital output is gt 2 Example MPL1 P350 2 217 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO MPL1 Function applied to the result of Tests A and B P357 P366 P375 P384 A logic function is applied to the two Boolean signals obtained in order to obtain the output TRUE FALSE Boolean signal Six different tests may be performed for variable A using the comparing value and variable B A OR B The selected digital output is enabled when at least one of the two conditions below is true this function also allows enabling the selected digital input based on one test only 0 o 1 A SET B RESET The selected digital output is activated as the output of a Flip Flop Set Reset whose inputs are signal A an
117. Nm and as a percentage of the rated torque of the selected motor the flux reference and the electrical variables measured by the drive mains side the DC bus and output PID Controller Menu This menu contains the values relating to the PID controller of the Penta drive Digital Inputs Menu This menu contains the state of the drive digital inputs and the indication of the functions programmed for the digital inputs of the Penta drive References Menu This menu contains the following values analog references the encoder input and the frequency input references the speed torque or reference feedback values of the PID coming from serial link or fieldbus Outputs Menu This menu contains the state of the drive digital outputs analog outputs and frequency outputs Temperatures from PT100 Menu This menu contains the temperature values detected in the first four analog channels of ES847 1 expansion board this menu is available only if ES847 is fitted Autodiagnostics Menu This menu contains the temperature values the operation time counter and the supply time counter the active alarm and the drive status Data Logger Measures Menu This menu contains the status of the type of connections serial links Ethernet and modem supported by ES851 Data Logger board this menu is available only if ES847 is fitted Digital Input Settings Menu This menu contains the functions assigned to the digital inputs Fault List Menu This menu conta
118. OR B P375a Oui3Sell DO Disable P375b Oui3Func 0 AB OR P376 Out3Logic 1 True P377 Out4Mode 1 Digital P378 Out4Sell D1 Inverter Run Ok P379 Out4Sel2 D1 Inverter Run Ok P380 Out4 Test 0 gt P381 Out4 Test2 0 gt P382 D04 ValTst1 0 000 P383 D04 ValTst2 0 000 P384 Out4Func 0 A OR B P384a Out4Sell DO Disable P384b Out4Func 0 f A B OR C P385 Out4Logic 1 True P39x Auxiliary Reference P390 XAIN4 3 0 10V P391 XAIN4MIN 0 0 V P391a XAINAMIN 96 10096 P392 XAINAMAX 10 0 V P392a XAINAMAX 96 10096 P393 XAINAOFFS 0 000 V P394 TauFilt XAIN4 100 ms P395 XAIN5 2 4 20mA P396 XAIN5MIN 4 0 mA P396a XAINSMIN 96 10096 P397 XAINSMAX 20 0 mA P397a XAINSMAX_ 100 P398 XAINSOFFS 0 000 mA P399 TauFilt XAIN5 100 ms P43x P46x PID2 Parameters P436 PID2 Out Max 100 00 P437 PID2 Out Min 100 00 96 P437a Wake Up Mode 0 Disabled P437b Wake Up Level 0 00 96 P438 Integ Max 100 00 96 P439 Der Max 100 00 96 P440 PID2 1 000 P441 PID2 KpMult 0 1 P442 PID2 Ti Tc 500 Tc P443 PID2 Td Tc 0 mTc P444 PID2 Tc 5 ms P445 PID2 Ref Min 0 00 96 P446 PID2 Ref Max 100 00 P447 PID2 Fdbk Min 0 00 P448 PID2 Fdbk Max 100 00 P449 PID2 Tup 0 00 s P450 PID2 Tdn 0 00 s P451 PID2 U Mea 1 0 15 P452 Rnd start 50 96 P453 Rnd stop 50 96 P454 Thresh Int 0 0 Refmax P455 Disab Time Disabled P456 Trate Lim ms P457 GainScale 1 000 P460 GainAWUP 1 00 422 428 SINUS 2 GRUPPO CARRARO PROGRAMMING INSTRUCTIONS 00 0
119. Off 0 100 Default 50 Level ENGINEERING Address 852 This parameter sets the time period of the rounding off applied to the first stage EUSCROR of the ramps It is expressed as a percentage of the ramp up down time une Example ramp up of 5sec P252 50 means that the speed reference is limited in acceleration for the first 2 5 sec of the ramp up AN NOTE When P252 is used the preset ramp time is increased P252 2 P253 PID Ramp End Rounding Off Range o 100 0 100 Default Level Address Function As P252 but P253 sets the rounding off applied at the end of the ramps AN NOTE When P253 is used the preset ramp time is increased by P253 2 P254 Integral Term Activation Threshold Range 0 0 5000 0 0 96 500 0 Default Level ENGINEERING Address 854 This parameter sets a threshold value below which the integrator is kept to zero It has effect only when the PID regulator is used as a reference corrector or generator In this case the threshold percentage value refers to the max speed or torque absolute value set for the active motor The integral term is not calculated when the speed or torque percentage value expressed as an absolute value is lower than the value set in P254 If P254 is set to zero the integrator is always activated 172 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO P255 STAR
120. PID CONFIGURATION MENU Different types of PID feedback control Two PIDs and 2 zone mode are available based on the setting in parameter C291a PID Control Mode 26 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 4 PROGRAMMABLE FUNCTIONS 4 1 Multimotor The Sinus Penta drive provides 3 separate sets of parameters allowing configuring three control algorithms for 3 types of motors e C009 Number of configured motors 2 e C173 Digital input for Motor 2 MDI When MDI6 is open the parameters relating to Motor 1 are used for the motor control when MDI6 is closed the parameters relating to Motor 2 are used for the motor control see the MOTOR CONTROL MENU and the LIMITS MENU 4 2 Voltage Frequency Pattern When using Volt Freq IFD control algorithm e g C010 V F IFD for Motor 1 you can select different types of V f patterns see the V f Pattern IFD Only section 4 3 Slip Compensation When using a Volt Freq IFD control algorithm e g C010 V F IFD for Motor 1 you can set the slip compensation function for a more accurate speed control see the Slip Compensation IFD Only section 4 4 Speed Searching When using a Volt Freq IFD control algorithm e g C010 V F IFD for Motor 1 you can set the speed searching function for the motor speed of rotation which is useful when the drive controls a motor which is already running as for motors connected to fans See the SPEED SEARCH
121. PID DISABLE INPUT 5 ueneno iet tnr tren PID FEEDBACK REFERENCE PID PARAMETERS PID REFEREN GE ieri eto onini etri hr PID UP DOWN RESET INPUT PID PID2 UNITS OF MEASURE PID2 PARAMETERS REFERENCE FROM ENCODER 37 324 REFERENCE VARIATION 122 127 REMOTE LOCAL eese RESET RESET UP DOWN INPUT REVERSE B INPUT REVERSE INPUT ROOT PAGE ROUNDING OFF SLAVE INPUT SLIP COMPENSATION SOURCE SELECTION INPUT 428 428 2 SANTERNO GRUPPO CARRARO SINUS PENTA SPEED LOOP 5 dee eret ther entier SPEED RAMPS SPEED SEARCHING SPEED VAR SPEED TORQUE LIMIT REFERENCE SPEED TORQUE REFERENCE SOURCES START STOP EE Seld pec STOP SUPPLY TIME COUNTER SW VERSIONS te pete indt TIMERS TORQUE CONTROL TORQUE LIMIT SOURCE TORQUE LIMIT SOURCE REF DISABLE INPUT TORQUE RAMBS TYPE OF LOC REM CONTACT WE PATTERN s ice teen i rene ri Marec He de VIRTUAL DIGITAL OUTPUTS VOLTAGE FR
122. PID feedback source Up to three feedback sources can be configured among the available reference sources If multiple sources are selected their sum is considered They are saturated based on parameters P247 Function and P248 PID reference maximum and minimum value respectively See also parameter C285 Feedback sources 14 and 15 can be selected only after setting XAIN in parameter RO23 364 428 PROGRAMMING 2 SANTERNO GRUPPO CARRARO SINUS PENTA C291 PID Operating Mode 0 Disable 0 2 1 Normal 2 Reverse Default 0 Disable IEEE ENGINEERING ISI 1291 This parameter defines how to compute the PID output Three computing modes are available 0 Disable 1 Normal 2 Reverse If O Disable is selected the PID regulator is inactive and its output is always set to zero FURTO In Normal mode the real PID output is considered If 2 Reverse is selected the output implemented by the PID regulator results from the subtraction of the max output value set in P236 from the output obtained by the PID regulator This operating mode can be used for special applications see the Keeping Fluid Level Constant Example at the end of this chapter C291a PID Control Mode Standard SUM Standard DIFF Average Minimum Maximum 2 Zone MIN 2 Zone MAX 2 PIDs Standard SUM OINAURWN O Default This parameter sets the PID control mode Functions
123. PROGRAMMING INSTRUCTIONS C169 JOG Input C170 SLAVE Input 312 428 Range Default Level Address Function Default Level Address Control Function SINUS PENTA GRUPPO CARRARO Z SANTERNO gt Inactive 0 12 1 8 MDI8 O 20 if ES847 or ES870 is fitted 9 12 5 MPLI MPLA 13 20 5 XMDI1 XMDI8 Inactive ADVANCED When the JOG function is enabled the motor rotates at low speed following slow ramps which are manually controlled by the user only by means of the keys in keypad If the drive is enabled ENABLE activated but is not running and if the JOG terminal is enabled the drive will run the connected motor will accelerate following a JOG ramp P029 up to the JOG speed reference P070 On the other hand if the terminal is disabled the drive will stop the connected motor will decelerate to zero speed following the JOG ramp P029 Reverse the direction of rotation of the active reference to reverse the JOG reference The motor starts running as soon as this terminal is activated only if the drive is enabled The RUN function will override the JOG function Therefore if the RUN function is active the JOG function is ignored If the motor is not running in SLAVE mode torque reference instead of speed reference it can rotate at JOG speed when the user activates the JOG function In SLAVE mode the JOG function is ignored if the motor is still rotating due to a
124. Penta Drive 76 Table 11 Voltage classes of the PD en Vd deua sau 76 Table 12 Control modes of the cooling fans esie Ea ck e Ek ERR edet 77 Table 13 List of parameters POOO to P003 eene eee erre esee senta 79 Table 14 List of parameters P264 to 269 isse eere einen 83 Table 15 Preset PID units of measure ccccssscccececesestesseeeeeceeeeeessaeeeeeeeeecesessseeeeeeeeeeeesseeeeeeeeeseeseisaeesesesecessseeeeeeeseeeeaea 86 Table 16 Exaraple of d Speed Ramp oeste there tee neto bre Xe Des E EES Lee uvas Desv ire 88 Table T7 Listof parameters POO9 to PO39 e FICHES CEA NERA RUN RN SEE EON ERA RR LEX SERE Ra Re EUR e edo ROSAS Pe e Led ERE Ane 92 Table 18 Parameters used for the Inputs for References Menu ssssssssssssssseeeeeeeee eene rennen nene 100 Table 19 Analog Input Hardware Mode sssssssssssssssseeseee eene tenete nnns nennen 103 Table 20 List of parameters P050 to 074 ccccccccccccssssssceeeceeessesseeeeeeeeeeseeseseeeeeeeeesessseeeeeeeeeeeenssaeeeeseseseseseeeeeeeeess 107 Table 21 List of parameters to P100 sssssssssssssssseeeeee eene emere nete nnns seen nennen nnns seen eterna nasse neni 119 Table 22 List of parameters 080
125. Rated mains voltage BASIC 1008 2 380 480V C009 N of configured motors ENGINEERING 1009 1 C010 MI 1010 C053 M2 Type of control algorithm BASIC 1053 0 IFD C096 1096 C011 1 1011 C054 M2 Type of reference ADVANCED 1054 0 Speed MASTER mode C097 M3 1097 C012 MI 1012 C055 M2 Speed feedback from encoder BASIC 1055 0 No C098 1098 C013 MI 1013 C056 M2 Type of curve BASIC 1056 See Table 73 C099 M3 1099 C014 MI 1014 C057 M2 Phase rotation ENGINEERING 1057 0 No C100 M3 1100 C015 MI 1015 C058 M2 Rated motor frequency BASIC 1058 50 0 Hz C101 M3 1101 C016 MI 1016 C059 M2 Rated motor rom BASIC 1059 1420 rpm C102 M3 1102 C017 MI 1017 C060 M2 Rated motor power BASIC 1060 See Table 74 C103 M3 1103 C018 1 1018 C061 M2 Rated motor current BASIC 1061 See Table 71 C104 M3 1104 C019 MI 1019 C062 M2 Rated motor voltage BASIC 1062 Depending po drive voltage C105 M3 1105 C020 MI 1020 C063 M2 Motor no load power ADVANCED 1063 0 096 C106 M3 1106 21 MI 1021 C064 M2 Motor no load current ADVANCED 1064 096 C107 M3 1107 22 MI 1022 C065 M2 Motor stator resistance ENGINEERING 1065 See Table 74 C108 M3 1108 C023 MI 1023 C066 M2 Leakage inductance ENGINEERING 1066 See Table 74 C109 M3 1109 258 428
126. SANTERNO INSTRUCTIONS GRUPPO CARRARO SINUS PENTA 39 POWER DOWN MENU 39 1 Overview In the case of power failure the drive can be kept powered on by exploiting the kinetic energy of the motor and the load energy recovered due to motor slowing down is used to power the drive thus avoiding loosing the drive control when a black out occurs All parameters relating to the Power Down function are included in the Power Down submenu in the Configuration menu The following options are available parameter C225 NO the Power Down function is inhibited factory setting Only in that case alarm A064 Mains Loss can be enabled by setting C225 to 3 Alarm YES after the time set in C226 Power Down start delay starting from the instant when power down occurs a deceleration ramp takes place deceleration ramp in Power Down C227 The time period of the deceleration ramp can be user defined YES V in case of power down for a time longer than C226 the motor coasts to stop so that DC bus voltage value is kept constant at C230 To do so a PI proportional integral regulator is used which is adjusted through parameter C231 proportional term and C232 integral term NOTE If the mains loss deactivates the ENABLE command the motor cannot coast to stop because the ENABLE command is required for the hardware enabling of IGBTs If a drive is DC powered by a Regenerative Penta or an equivalent drive stabilizing DC bus
127. SW2 on optional control board ES847 Failure in the current signal source Check setting of SW1 and SW2 Possible cause luti Check the current signal source The ambient temperature is too high Event The control board has detected a too high ambient temperature 77719 LTR Inverter or cabinet overheated failure of control board NTC 1 Open the cabinet and check its conditions Also check measure M062 2 Resetthe alarm send a RESET command Solution 3 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service 413 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 53 4 List of the DRIVECOM Alarm Codes If a PROFIdrive expansion board is used see PROFIDRIVE BOARD CONFIGURATION MENU the Sinus Penta fault codes are also coded according to the DRIVECOM communication profile The specific code is readable address 947 of the specific PROFIDRIVE PARAMETERS see PROFldrive COMMUNICATIONS BOARD USER MANUAL The DRIVECOM User Group e V is an association of international drive manufacturers universities and institutes It has set itself a goal to develop a simple integration of drives in open automation systems The DRIVECOM User Group therefore decided to standardise the communication interface for accessing drives Also visit www drivecom org Table 114 List of the DRIVECOM alarm codes
128. Sinus Penta s Installation Instructions Manual 2 Power on Power on the drive and do not close the link to the START input to prevent the motor from running 3 Parameter alteration Access parameter POOO Key parameter and set its code default value 00001 Use the ESC A V and SAVE ENTER keys to access the programming parameters Select the Engineering access level setting 1 Eng Also refer to the Menu Tree 4 Supply voltage Set the real supply voltage for the drive You can set either mains voltage range or the DC supply stabilized by a Regenerative Penta drive To set the type of power supply for the drive access the MOTOR CONTROL MENU and set configuration parameter 8 to the value corresponding to the installation concerned 5 Motor parameters Set C010 Control Algorithm as FOC Field Oriented Control Set the motor ratings as follows C015 fmot1 rated frequency C016 rpmnom rated rpm C017 Pmot1 rated power C018 rated current C019 Vmotl rated voltage C029 Speedmax1 max speed desired If the no load current of the motor is known in CO21 lo set the value of lo expressed as a percentage of the motor rated current If the no load current of the motor is not known but the motor can run with no connected load start the motor at its rated speed read the current value detected by the drive parameter MO26 in the Motor Measures Menu and use it as the first attempt value for
129. THE ASYNCHRONOUS MACHINE PROGRAMMING INSTRUCTIONS EXPANSION BOARDS EXTERNAL ALARM INPUTS EXTERNAL TORQUE LIMIT FAULT LIST terne tette teer re ee FEEDBACK FROM ENCODER FIELDBUS or tnter rte teen FIRE MODE s tides eter teret e e E ep dee FIRE MODE ENABLE INPUT FIRST STARTUP FLUXING AT ACTIVATION FLUXING MAX TIME FOG esci itii FOC CURRENT REGULATOR cece cece eee e reece FOC FLUX REGULATOR cece cece cece e eee FREQUENCY OUTPUT FUNCTIONING TIMES MAIN SPEED TORQUE 26 MAINTENANCE MDI MULITPROGRAMMING ENABLING 318 Disi m M METHOD OF ZIEGLER AND NICHOLS MOTOR MOTOR 1 MOTOR THERMAL PROTECTION MUETIMOT OR iss c etos eara erepta copre io cay ets MULTIRAMP IINPUTS eonun enini MULTISPEED MULTISPEED INPUTS v MULTISPEED 427 428 PROGRAMMING INSTRUCTIONS N NAVIGATION 18 OPERATION TIME 69 P PARAMETER ALTERATION 19 PASSWORD CONFIGURATION eese ene
130. VEO E EUREN 27 4 1 DIVER 27 4 2 Voltage Frequency Pattern sib RUE RUE EGER EXEAT Ere ET eee EA edo MERC Pedes 27 4 3 Slip E 27 4 4 Speed Searching reete e Ue Ue ipe FEBRE TA BR ER ERN EN Bd 27 4 5 Controlled Stop in Case of Power Failure Power Down eene 27 4 6 DO Braking e L aai 28 4 7 Motor Thermal Protector RN HE AREE R e v XD ETT ERRE 28 4 8 Prohibit Speeds oir orto 28 4 9 Digitali PID Regulator RESP 28 AMO Bridge Grane EN RN RES han Esa MERE 28 4 11 Setting Two Alternative Command Sources and Reference Sources 29 4 122 SUC P 30 5 PROGRAMMING EXAMPLES 5 eret re e eor haee s saot ss so PU SN SN LEER YEN seski RN E PERSE PvE eae 31 5 1 GrP 31 5 2 Programming a Reference eite hes echa ee Rp 31 5 3 Configuring the External ener enne snnt rennen trennen eene 35 5 4 Configuring the Feedback from
131. W48 ST Over appears To reset the warning message reset the partial counter or set the counter threshold to zero 359 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 44 PID CONFIGURATION MENU 44 1 Overview The Sinus Penta is provided with two separate PID Proportional Integral Derivative regulators allowing performing regulation loops such as pressure control delivery control etc with no need to connect external auxiliary devices The PID Configuration Menu defines configuration parameters for the two PID regulators The configuration parameters for the PID regulator can be modified only when the drive is in stand by and they set the following variables reference sources feedback sources and type of PID output implementation The programming parameters for the two PID regulators including coefficients of proportional integral and derivative terms output saturation etc are covered in the PID PARAMETERS MENU and the PID2 PARAMETERS MENU 44 2 Operation and Structure of the PID Regulator C285 287 Reference sources C171a C294 PID Control AE Control Selector Selection C288 290 Feedback sources selection 2 P000360 B Figure 63 Structure of the PID Regulator The figure above illustrates the block diagram of the PID regulator Each block is described below Block 1 PID reference sources Multiple reference sources can be selected at
132. You can set the starting voltage value C034 the desired voltage drop if compared to the relevant constant torque use C032 and the frequency allowing implementing this torque reduction use C033 If C013 Free Setting you can program the starting voltage C034 Preboost the increase in voltage to 1 20 of the rated frequency C035 and the increase in voltage C036 Boost1 to the programmable frequency C037 Frequency for Boost Vn C019 i C034 1 F Hz C015 n v C013 Free Setting Mn eeu ew AE C019 i C036 z 035 034 1 F Hz 1 20 fn C037 C015 n P000342 b Figure 42 Types of programmable V f curves The voltage produced by the drive may be altered also by setting the Automatic increase in torque curve parameter C038 for motor 1 For the description of the parameters used in the figure above see the table below 254 428 SINUS 2 SANTERNO GRUPPO CARRARO Table 67 IFD control parameters for the connected motors PROGRAMMING INSTRUCTIONS Rated frequency 3 1 101 Rated frequency of the connected motor current rating 9015 C058 10 Rated voltage rated voltage of the connected motor voltage rating C019 C062 C105 V f curve type 1 Type of V f curve applied SEA nd 0977 Torque reduction with quadratic curve C075 118 Torque reduction using V f quadratic curve Rated
133. Zone MAX In 2 zone mode parameters P236 P260 pertain to the system where the error results from the reference selected with C285 and from the feedback selected with C288 whilst parameters P436 P460 pertain to the system where the error results from the reference selected with C286 and from the feedback selected with C289 AN NOTE ThePID2 regulator is disabled when operating in 2 zone mode Please refer to the block diagram in Figure 63 174 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 23 2 List of Parameters P436 to P460 Table 37 List of parameters P436 to P460 P436 Max value of PID2 output ENGINEERING 100 0096 1346 P437 Min value of PID2 output ENGINEERING 100 00 1347 P437a Wake up Mode ENGINEERING 0 Disabled 1282 P437b Wake up Level ENGINEERING 0 00 1283 P438 Max value of PID2 integral term ENGINEERING 100 00 1348 P439 Max value of PID2 derivative term ENGINEERING 100 00 1349 P440 PID2 proportional constant ENGINEERING 1 000 1350 441 Multiplicative factor of 440 ENGINEERING 0 1 0 1351 P442 PID2 Integral time multiples of PA44 ENGINEERING 500 Tc ms 1352 443 PID2 Derivative time multiples of P444 ENGINEERING O Tc ms 1353 P444 Cycle time of PID2 regulator Tc ENGINEERING 5 ms 1354 P445 Min allowable value of PID2 reference ENGINEERING 0 0096 1355 P446 Max allowable value of PID2 reference ENGINEERIN
134. a reference in line 4 is the startup page P265 3 the START UP MENU is the startup page SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO P266 Type of Keypad Page in Local Mode 0 Measures Only Range 1 Ref Activated 2 Ref Activated Speed Default C 1 Ref Activated Level Address P266 sets the type of keypad page to be displayed in Local mode If P266 0 Measures Only in Local mode the reference cannot be altered If P266 1 Ref Activated in Local mode the Keypad page containing the activated reference is displayed for example if a torque control is active the Keypad page displayed in Local mode shows the torque reference in line 4 Use the and V keys to change the torque reference If a speed control is active and the drive reference is the PID output C294 PID Implementation 1 Reference when in Local mode you should disable the PID regulator and send a speed reference from keypad to do so set P266 2 Ref Activated Speed When pressing the LOC REM key to enter the Local mode the Keypad page containing the PID reference is displayed Use the A and keys to alter the PID reference Press the LOC REM key once again when the drive is disabled to disable the PID control The Keypad page containing the speed reference is displayed Use the A and V keys to alter the speed reference Function P267 Preset PID PID2 Units of Measure Range See Table 15
135. a time up to 3 reference sources can be selected with parameters C285 C286 C287 The resulting reference value depends on the setup in C291a see block 3 Dynamic selection is possible between two reference sources using the digital input configured as the source selector see C179 this parameter has effect only if the Two PIDs mode is activated Block 2 PID feedback sources Multiple feedback sources can be selected at a time up to 3 feedback sources can be selected with parameters C288 C289 C290 The resulting reference value depends on the setup in C291a see block 3 Dynamic selection is possible between two feedback sources using the digital input configured as the source selector see C179 this parameter has effect only if the Two PIDs mode is activated 360 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO C285 C286 C287 Sources PIDref vector 11 0 Disabled Ref AINI PID Reference 1 Sources PIDref vector C285 Ref Max P246 AIN2 PTC FIN Serial Link PID Ref Ramps PID Reference 2 Sources PIDref vector C286 gt C21 C2914 Field bus Keypad PID Reference 3 Sources PIDref vector C287 Min 1 Encoder 9 UpDwn MDI Ref min P245 10 X AINA 11 12 11 X AINS 13 14 TAME WH 26 C288 C289 C290 sources PIDfbk Vector 14 Disabled Ref PID Feedback 1 Sources PIDfbk vector C288 Fbk Max P248
136. along with frequency input A A101 MDI8 Illegal Configuration Function programmed for MDI8 along with frequency input B A102 REF gt 20mA REF Current input 4 20mA or 0 20mA greater than 20mA A103 AINT gt 20mA AINT Current input 4 20mA or 0 20mA greater than 20mA A104 AIN2 gt 20mA AIN2 Current input 4 20mA or 0 20mA greater than 20mA A105 PT100 Channel 1 Fault Hardware address out of measure range of the drive A106 PT100 Channel 2 Fault Hardware address out of measure range of the drive A107 PT100 Channel 3 Fault Hardware address out of measure range of the drive A108 PT100 Channel 4 Fault Hardware address out of measure range of the drive A109 Amb Overtemp Ambient overtemperature A110 A120 m Control board failure A001 A032 A043 A049 A063 A071 078 A088 A092 A110 A120 Control Board Failure Description Control board failure There may be several causes the board autodiagnostics file constantly checks its operating conditions Strong electromagnetic disturbance or radiated interference Possible cause E Possible failure of the microcontroller or other circuits on the control board Reset the alarm send a RESET command If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service Incompatible Software Texas version When switched on DSP Motorola detected an incompatible version of the software downloaded to Flash Texas software version incompatible with
137. are Rxxx parameters NOTE Once changed and saved they become active only when the drive is next switched on or when the control board is reset by holding down the RESET key for more than 5 secs CAUTION Logger board They must be confirmed and saved using the RemoteDrive software 1 The parameters set from this menu not saved to non volatile memory of the Data 51 2 List of Parameters R115 and R116 Table 110 List of parameters R115 and R116 563 0000 R115 SIM Card PIN 134 0 no active preset R116 Preset connection status ENGINI R115 SIM Card PIN iens 0x0000 OxAAAA O 9999 OxO000 0000 Level Address This parameter indicates the digits of the PIN of the SIM card fitted in the GSM GPRS The digits must be aligned left the symbol which is codified as OxA hex is intended as the number terminator Max 4 digits are allowed for the SIM card PIN AN NOTE The PIN can be composed of less than 4 digits and the symbol can be used as the PIN terminator R116 Preset Connection Status Line 2 See Table 111 This parameter indicates if preset configurations are actually set up for the types of connections supported by ES851 391 428 PROGRAMMING INSTRUCTIONS SINUS PENTA R116 Preset Connections Line 4 beue CE O 20 See Table 111 no active preset 392 428 Level ENGINEE
138. at 65 threshold ADVANCED 0s 666 P067 Keypad and terminal board UP DOWN ramp ADVANCED Quadratic 667 068 Storage of UP DOWN values at Power Off ADVANCED YES 668 P068a Reset UP DOWN speed torque at Stop ADVANCED 0 NO 940 PO68b Reset UP DOWN PID at Stop ADVANCED 0 NO 941 68 Reset UP DOWN speed torque at Source Changeover ADVANCED 0 NO 9A2 PO68d Reset UP DOWN PID at Source Changeover ADVANCED 0 NO 943 P069 Range of UP DOWN reference ADVANCED 1 Unipolar 669 P070 Jog reference speed torque ADVANCED 096 670 P071 Value of FIN producing min reference X axis ADVANCED 10 kHz 671 Percentage of Speed Min Trq Min roducin min PO71a e Y axis ee to P071 u i ADAEL 100 0 P072 Value of FIN producing max reference X axis ADVANCED 100 kHz 672 P072a Percentage of Speed Max Trq Max producing ADVANCED 100 0 714 reference Y axis related to PO72 P073 Value of ECH producing min reference X axis ADVANCED 1500 rpm 673 Percentage of Speed Min Trq Min roducin min to P073 i j pn E 100 0 702 74 Value of ECH producing max reference X axis ADVANCED 1500 rpm 674 Percentage of Speed Max Trq Max producing P074a Y axis P074 5 AD 109 0 793 107 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO P050 Type of Signal over REF Input 0 10V 1 20 Range 2 4 20 mA 3 0 10V 4 0 20mA Default 3 3 0 10V Level ADV
139. band of Prohibit Speed Ranges EHE O 5000 0 5000 rpm Default ADVANCED 708 Sets the semi amplitude of the prohibit speed ranges 126 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 17 REFERENCE VARIATION PERCENT MENU 17 1 Overview The Reference Variation Percent Menu allows defining the variation values of the speed torque or PID instant reference to be entered through digital inputs that have been properly programmed As per the selection of the variation percentage programmed to the reference and given by the combination of digital inputs configured with parameters C175 C177 please refer to the DIGITAL INPUTS MENU The parameters included in this menu represent seven speed torque or PID variation options to be applied to the speed reference Variation may range from 100 096 to 100 096 of the instant reference given by the addition of all the selected sources Example P115 0 0 Variation percent of reference 1 P116 50 0 Variation percent of reference 2 P117 80 0 Variation percent of reference 3 Based on the speed torque or PID variation selected through digital inputs the speed reference at constant speed will be as follows Variation 1 the current reference with no changes no effect Variation 2 the current reference increased 50 096 Variation 3 the current reference decreased 80 096 variation the value used to control the motor is saturated a
140. enabled C004 31 1 2 EXAMPLE IFD AND VTC Setting two levels of carrier frequency and the number of pulses used for synchronous modulation A lower value for carrier frequency ensures a better performance of the motor but implies higher noise levels Suppose that the connected motor has a rated speed equal to 1500rpm at 50Hz and that you need the best performance up to 200rpm and a noiseless carrier frequency at max speed 3000rpm In this case the max speed of the drive will produce an output voltage with a frequency value equal to 100Hz in proximity to this speed the carrier frequency should be at its maximum level Suppose that a model implementing max 1 6kHz carrier frequency is used Assign the following C001 1600Hz C002 16000Hz gt C002 100Hz 160 pulses per period fcarrier 18000 C002 16000 14000 12000 10000 2000 0 10 20 30 40 50 60 70 80 90 100 C001 C003 fout Hz C002 C003 Figure 40 Carrier frequency example Suppose that 192np so that 2 16000 192 83 33Hz The max carrier frequency is obtained with this output frequency The min frequency is kept constant until frequency 8 33 Hz is attained corresponding to 250 rpm of the motor speed In the output frequency range ranging from 8 33 to 83 33Hz synchronous modulation is obtained and the carrier frequency applied results from f carrier fout
141. enabled with parameter C012 for Event motor equivalent parameters for motors 2 and 3 Otherwise no encoder enabled for speed measure with parameter C189 see the ENCODER FREQUENCY INPUTS MENU e C012 for motor 1 or equivalent parameters for motors 2 and 3 See the BOUE MOTOR CONTROL MENU e The value set in C189 does not enable any encoder for speed measure e The FOC control has been improperly enabled Solution Set parameters correctly 408 428 SINUS A080 Speed Tracking Description Possible cause Solution A081 Keypad Watchdog Description Event Possible cause Solution PROGRAMMING PZ SANTERNO INSTRUCTIONS GRUPPO CARRARO N Encoder speed measure error The system detected an error between the measured speed and the measure setpoint Speed has been exceeding the value set in parameter C193 for a time longer than the value set in parameter C192 This protection is enabled only if parameter C194 is not set at zero e Wrong setting in parameters C192 C193 C194 see the ENCODER FREQUENCY INPUTS MENU e Torque limit too low e Connected load too heavy e Encoder failure encoder mechanical joint broken down disconnection of one of the signal cables of the encoder 1 Set parameters C192 C193 correctly 2 Check torque limit value see the INPUTS FOR REFERENCES MENU and the CONTROL METHOD MENU 3 Check the mechanical load 4 Make sure that the en
142. external alarm before the alarm trips Function 310 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS C167 C168 MULTIRAMP Inputs 0 gt Inactive Range 0 12 1 8 5 MDI8 O 20 if ES847 or ES870 is fitted 9 12 MPLI MPL4 13 20 5 XMDI1 XMDI8 Pees Inactive Level ENGINEERING CEES 1167 1168 This function allows selecting up to 4 acceleration deceleration ramps Each ramp has its own programming parameters see 09 P025 RAMPS MENU These 2 functions determine which of the 4 ramps is to be selected the active value 1 or inactive value 0 of each preset input signal determines a binary number with a bit logic where Multiramp O is the less significant bit bit O and Multiramp 1 is the most significant bit bit 1 The ramps range from 1 to 4 for the selected ramp add 1 to the binary figure obtained If one of these functions is not programmed the relevant bit is zero Function Table 85 Multiramp selection Selected Ramp Multiramp 1 Multiramp O 1 Table 86 Selected ramp Multiramp 0 Multiramp 1 If one of these functions is not programmed its bit is zero For example if C167 is Inactive 0 and C168 is programmed for one terminal only ramp 1 or ramp 4 can be selected NOTE If the ramp rounding off function is enabled PO21 0 the real ramp times also depend on the values set in parameters P022 P023 P024 P025 P031 311 428
143. from MDI ODUKRARWN AO 0 Disabled ENGINEERING 1147 VTC and FOC If a speed control with FOC or VTC control algorithms is used an external torque limit can be used Parameter C147 selects the Torque Limit source The torque ramp times set in 26 27 will be applied to the torque limit reference source that has been selected The external torque limit may be disabled by closing the digital input set with C187 Limiting sources 10 and 11 can be selected only after setting XAIN in parameter RO23 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO If the reference source is disabled the torque limit results from the max absolute torque determined by the drive size and the motor size NOTE The max absolute torque is the max value ranging between the absolute values of C047 and C048 motor 1 and relevant parameters for motor 2 and motor 3 Max absolute torque C047 C048 Factory setting the reference source is disabled C147 20 so the torque limit depends on the max absolute torque see also the INPUTS FOR REFERENCES MENUJ C148 Switch over from Remote to Local Command 0 StandBy Fluxing 1 Drive Running No Bumpless EE 2 Drive Running Commands Bumpless 3 Drive Running All Bumpless Default 0 StandBy or Fluxing Level ENGINEERING Address The drive factory setting 0 StandBy or Fluxing allows switching over from Remote to Local mode and vice versa only
144. from terminal MDI3 or press the RESET key in the display keypad and perform the autotune procedure again If the ENABLE command was not opened before autotune was over decrease by 596 the no load current value set in 21 and perform autotune again 45 428 PROGRAMMING INSTRUCTIONS 9 Tuning the rotor time constant 10 Startup 11 Speed regulator adjustment 12 Possible failures 46 428 SINUS PENTA 22 SANTERNO GRUPPO CARRARO The rotor time constant C025 is estimated with a special autotune procedure allowing the motor to run even in no load conditions First remove the ENABLE command then access the AUTOTUNE MENU and set 1073 1 Motor Tune and 1074 2 FOC Auto rot Use the ESC key to accept changes Close the ENABLE command and wait until autotune is over warning W32 Open Enable is displayed When autotune is complete the value obtained for the rotor time constant is automatically saved in parameter C025 If the motor cannot run in no load conditions use a first attempt value for lo that is automatically computed by the drive as described in step 7 Now that all the parameters have been set for the FOC motor control algorithm activate the ENABLE input terminal 15 and the START input terminal 14 and send a speed reference the RUN LED and REF LED will come on and the motor will start Make sure that the motor is rotating in the correct direction If not set parameter C014 Phase Rotat
145. functions cannot be programmed but they are assigned to special terminals Table 79 Unprogrammable functions START MDI1 ENABLE MDI2 RESET MDI3 can be disabled if C154 Yes Some terminals in the local hardware terminal board can also be used for different functions Table 80 Terminals used for other inputs MDI6 ECHA channel A of encoder A in the terminal board MDI7 ECHB channel B of encoder A in the terminal board MDI8 FIN frequency input 297 428 PROGRAMMING SINUS PENTA INSTRUCTIONS SANTERNO GRUPPO CARRARO N 35 1 1 START TERMINAL 14 MDI1 To enable the Start input set the control modes via terminal board factory setting The START command can also be sent from the display keypad The enabling disabling of the input can be delayed using special timers The START input function is assigned to MDI1 terminal and cannot be set to other terminals whereas the same terminal may be assigned to different functions The motor stop mode C185 can be programmed When sending a START command the following motor stop modes can activate the motor stops following a deceleration ramp or starts idling the motor is fluxed VTC FOC only when the START command is shut down and the ENABLE is not closed C184 When START is active and when ENABLE is active as well the RUN command is enabled the speed or torque setpoint increases proportionally to the preset ramp until it rea
146. input is single ended AIN1 and AIN2 inputs are differential inputs Factory setting is as follows the main speed reference is given by REF analog input OV 10V mode only motor 1 is active Its max speed and min speed parameters CO88 1500 rpm and 029 0 rpm respectively For the 3 analog inputs parameters P050 64 allow setting the type of signal to be acquired offset compensation if any scaling to obtain a speed reference or a torque reference the signal filtering time constant Parameter P053 sets the offset of the input analog signal if PO53 0 offset is zero while parameter P054 defines the filtering time constant factory setting PO54 5ms Type of input for each analog input Dip Switch SW1 allows setting the acquisition method of the input signal voltage signal or current signal The voltage signal can be bipolar 10V 10V or unipolar OV 10V The current signal can be bipolar 20mA 20mA unipolar 0mA 20 or can have a minimum offset 20mA The user will set each analog input mode in parameters 50 55 PO60 Table 19 Analog Input Hardware Mode Single ended input per 10V Input SW1 1 off 1 2 0 20 Input SW1 1 on pose A x 10V Input SW1 2 off Differential t AINT eren Sue 0 20mA Input SW1 2 on x 10V Input SW1 3 off SW1 4 5 off PO60 Differential input 7 8 AIN2 0 20mA Input SW1 3 SW1 4 5 off PT
147. is a correction of the output voltage The percentage value of the PID output relates to the instant voltage value For example if a motor is in Voltage Frequency mode and the drive output voltage is 200V rms at 25 Hz with PID implementation 0 if the PID implementation drops to 109 the implemented voltage will be 200 200 10 100 180V 367 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 44 4 Keeping Fluid Level Constant Example Sensor Level 4 20mA Figure 67 Keeping fluid level constant Example Suppose that the maximum level in the tank is to be kept at 5096 and that 4 20mA level probe is used with an output of AmA for the min level and 20mA for the max level The PID reference is sent from keypad while the probe feedback is sent to AIN2 PTC analog input which is configured as follows R w S P060 Type of Reference for Input AIN2 PTC 2 4 20 SW1 3 On v R w S P061 Reference Minimum Value for Input AIN2 PTC 40 R w S P062 Reference Maximum Value for Input AIN2 PTC 200 R S P063 Offset for Input AIN2 PTC 0000 R w S P064 Filter AIN2 PTC Constant The reference shall be saved from keypad thus avoiding setting it up again when the drive is shut off 368 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO R 5 P B8 Storage of UP DN values at Power Off 1 Yes
148. is fitted 9 12 gt MPLI MPLA 13 20 5 XMDI1 XMDI8 ADVANCED This function resets the variation of the PID reference obtained with the A and keys on the KEYPAD page of the user interface on the display keypad in PID mode gt Inactive 0 12 1 8 MDI8 O 20 if ES847 or ES870 is fitted 9 12 MPLI MPLA 13 20 5 XMDI1 XMDI8 ADVANCED The digital input set as a source selector is considered in the drive terminal board only When the digital input set as a source selector is open only the first command sources and references programmed the CONTROL METHOD MENU are considered C140 command source 1 and C143 reference source n 1 respectively as well as the first reference and feedback sources programmed in the PID CONFIGURATION MENU parameter C285 for reference source n 1 and C288 for feedback source n 1 When the digital input set as a source selector is closed only the second command source and the second reference source programmed in the CONTROL METHOD MENU are considered C141 for command source n 2 and C144 for reference source n 2 as well as the second reference sources and feedback sources set in the PID CONFIGURATION MENU parameter C286 for reference source n 2 and parameter C289 for feedback source n 2 If set different from O Disabled reference sources n 3 C145 in the CONTROL METHOD MENU and C287 and C290 in the PID CONFIGURATION MENU and reference sources n 4 C146 in the CONT
149. key as an ON OFF switch factory setting If the drive is enabled Press START to enable the drive RUN Press STOP to disable the drive RUN reference is set to zero so the speed or torque setpoint decreases to zero based on the preset deceleration ramp Function In case of preset STOP the keypad and one or more terminal boards may be enabled at a time In this case the START key and the STOP key in the display keypad are active and can enable or disable the drive RUN The STOP input is a normally closed input signal According to factory setting only the hardware terminal board selected with command source 1 C140 1 is active as a switch operated mode C150 0 To switch to the key operated mode set the STOP input C150 z0 The keypad and other NOTE terminal boards may be selected in key operated mode only If the STOP input is not programmed and the switch operated mode is active the keypad may be selected as the only command source C140 5 C141 0 C142 0 NOTE The STOP function has priority over the START function if both inputs are active the STOP input prevails Therefore the STOP input acts as a key and as a switch AN NOTE The START STOP commands are ignored when the drive is disabled C150a STOP B Input Inactive 0 12 1 8 MDI8 O 20 if ES847 or ES870 is fitted 9 12 5 MPL1 MPL4 13 20 5 XMDI1 XMDI8 7080 Inactive Range Level Address The STOP B Inpu
150. maintained until the drive is shut down Press SAVE ENTER the parameter value is stored to non volatile memory and is not deleted when the drive is shut down Inputs box cannot be saved to non volatile memory and are automatically set to their default values Rxxx parameters become active only when the drive control board has been reset by pressing the RESET key for a few seconds or by switching off the drive 1 5 Programming the Root Page When the drive is turned on the Root page is displayed as the starting page The Root page allows you to access the main menus Measures Parameters Configuration Product ID or to shift to the Keypad pages using the MENU key You can customise the root page using parameter P265 see the DISPLAY KEYPAD MENU 19 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 1 6 Using the MENU Key The MENU key allows going to the next menu From the Root page press the MENU key to enable circular navigation AN NOTE The Start Up menu is available only if P265 3 Start Up see the DISPLAY KEYPAD MENU NOTE The Keypad pages are available only if the relevant references feedback limits are activated see the CONTROL METHOD MENU and the CONFIGURATION MENU 20 428 SINUS PENTA PROGRAMMING Z SANTERNO Tene GRUPPO CARRARO 1 7 ESC Key Pressing A and V ata time Simultaneously press the A and V keys to perform the same function as the ESC key and
151. may be used to control a physical variable which is external to the drive the variable measure shall be available in the system and must be connected to the feedback input The PID regulator is used to keep the reference and the control variable constant feedback to do so the PID regulator controls three internal variables which are described below V Proportional term this the variable detecting the instant difference between the reference and the measured value of the physical variable to be controlled error Y ntegral term this is the variable keeping track of the history of the detected errors summation of all errors Y Derivative term this is the variable keeping track of the evolution of the error or the controlled variable difference between two consecutive errors or between two consecutive values of the feedbacked variable The weighed summation of these terms represents the output signal of the PID regulator The weight of these three terms may be defined by the user with the parameters below e Kp P240 P241 7 P242 rice td P243 Integ Max Anti P238 Wind Up P260 PID Out Max P256 P236 Inverse Rate Limiter Reference PID 9 o Normal PID Out Desaturation Algortm Deriv Max P239 E P239 P000341 B Feedback PID gt Figure 23 PID Block Diagram In LOCAL mode the PID regulator is di
152. min speed of the selected motor C028 C029 Motor 1 72 73 Motor 2 C114 C115 Motor 3 t 32000 integer part t 99 decimal part Always active 1692 integer part 1693 decimal This is the measure of the speed reference set by the fieldbus 500 0 Note The actual range depends on the torque limit value set for the selected motor C047 C048 Motor 1 090 091 Motor 2 C133 C134 Motor 3 Active Always active Address Range This is the measure of the torque reference set via serial link and expressed as a percentage of the rated torque of the selected motor Function 62 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO M045 Torque Reference from Fieldbus 500 0 96 Note The actual range depends on the torque limit values set for the selected motor C047 C048 Motor 1 C090 C091 Motor 2 C133 C134 Motor 3 Always active Address This is the measure of the torque reference set by the fieldbus and expressed as a percentage of uc the rated torque of the selected motor 100 00 96 Note The actual range depends on the min value and the max value of the PID reference set in parameters P245 P246 100 00 96 Note The actual range depends on the min value and the max value of the PID reference set in parameters P245 P246 Address Function 100 00 Note The actual range depends on the min value and the max value of the PID feedb
153. order to reduce to a minimum the difference between the two waveforms See the FOC REGULATORS MENU If Manual tune is selected do the following to quit the function disable the ENABLE command and set 1073 0 Disable After tuning the rotor time constant whenever the time constant value is manually changed parameters P158 and P159 are adjusted based on the time constant value that has been set up SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 30 1 2 CHECKING THE ENCODER OPERATION Set 1073 as Encoder Tune to check the correct operation of the encoder selected as a speed feedback see the ENCODER FREQUENCY INPUTS MENU and to automatically set the correct direction of rotation Before checking the correct operation of the encoder used as a speed feedback enter the NOTE motor ratings and the encoder ratings Please refer to the MOTOR CONTROL MENU and the ENCODER FREQUENCY INPUTS MENU Once 1073 is set as Encoder Tune and the ENABLE and START commands are enabled the connected motor attains a speed of rotation of approx 150 rpm its speed of rotation is detected by the encoder then the drive is disabled The following messages can be displayed on the display keypad A059 Encoder Fault W31 Encoder Then the following message is always displayed W32 OPEN ENABLE If alarm A059 Encoder Fault trips in the encoder input the value measured by the drive does not match with the real speed
154. output and any settings for MDO1 in the DIGITAL OUTPUTS MENU are ignored P201 Selected Variable for FOUT Frequency Output Ronge See Toble 27 Default Motor speed Level ADVANCED Address Selects the variable to be allocated to FOUT frequency output P202 Min FOUT Value of Selected Variable Depends on the value Range selected through P201 legates Default IEEE ADVANCED 802 Minimum value of the selected variable 150 428 SINUS PENTA PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P203 Max FOUT Value of Selected Variable Depends on the value PE selected through P201 Default Level ADVANCED Address Waa Maximum value of the selected variable P204 Min FOUT Output Value with Reference to P202 Range 10 00 100 00 kHz PNE IO0 J 1000kHz Level ADVANCED Address Minimum output value obtained when the minimum value of the variable set in 1509 is implemented P205 Min FOUT Output Value with Reference to P203 Range 10 00 100 00 kHz Default 100 00 kHz Level ADVANCED Address Maximum output value obtained when the maximum value of the variable set in Function P203 is implemented P206 Filter for FOUT Frequency Output P206 Range 0 65000 0 000 65 000 sec MEMO 0 000 sec Level ADVANCED Address Value of the filter time constant applied to FOUT frequency output P207 AO1 Gain P208 AO2 Gain
155. reference Also check if alarm messages are displayed In the Motor Measure submenu check the speed reference MOOO the reference speed processed by the ramps 2 the supply voltage of the control section MO30 the DC link voltage M029 the condition of the control terminals MO33 Check to see if these readouts match with the measured values SINUS PENTA 13 Additional parameter alterations 14 Reset PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO For the optimization of the motor performance adjust parameters 21 no load current C024 mutual inductance C025 rotor time constant Consider the following C021 Too high values Lower torque especially at rated speed because most part of the voltage imposed by the drive is used to magnetize the motor instead of generating a proper motor torque C021 Too low values Because of the motor flux weakening higher current ratings are needed C024 Mutual inductance This is computed each time the no load current level is altered This is not binding for the motor control but strongly affects the correct estimation of the output torque in case of overestimation decrease C025 and vice versa C025 Optimum value gt To obtain the optimum value of the rotor time constant the best way consists in performing several attempts with a constant load but with different values of C025 The optimum value is the one ensuring to obtain the output torque with
156. reference The first pattern has different ramp up and ramp down times and is not rounded off the second pattern has the same ramp times but different rounding off values are applied to the start end ramp up down time Figure 5 Speed profile without Rounding Off and with Rounding Off 2 example In the figures above the run command is represented by the high level of the second signal Note that the time the reference takes to reach constant rpm depends not only on the ramp times but also on the rounding off values you have defined 90 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO Acceleration RESET function This parameter has effect only if S ramps are used Parameter PO31 enables to reset acceleration when reference trends change Whenever a speed reference trend changes the motor acceleration is instantly set to zero and the ramp output reference will be computed considering the preset rounding off see Figure 6 The figure shows the instant when deceleration begins the rounding off value assigned to the speed reference when the gradient changes is the value set for the deceleration starting stage If parameter PO31 is set to No acceleration is brought to zero before the speed reference starts decreasing then deceleration begins with the preset pattern 1 66 Figure 6 Spe
157. result of f A B C for MDO1 277 P286a P295a P304a Once the Boolean signal resulting from f A B is obtained an additional logic function can be applied to obtain the output TRUE FALSE Boolean signal If parameter P277a is disabled the output of f A B goes directly to the corresponding digital output if parameter P277a is enabled the output of the output of f A B becomes one of the two inputs of the second programmed block The user can choose one of the six Boolean tests above for the first variable f A B and for the second variable C See Example 6 MDO1 2 3 4 Logic applied to MDO1 2 3 4 P278 P287 P296 P305 The logic of the Boolean signal can be reversed at the end of the processing chain The user can choose whether the logic level of the digital output is POSITIVE or NEGATIVE 0 FALSE a logic negation is applied NEGATIVE logic 1 TRUE no negation is applied POSITIVE logic NOTE This parameter can be accessed only if the operating mode of the selected digital output is other than zero Example MDO1 P2700 183 428 SINUS PROGRAMMING 2 SANTERNO GRUPPO CARRARO 24 2 Programmable Operating Modes Diagrams The diagrams shown in the figures illustrate the operating structure of MDO1 digital output the remaining digital outputs MDO2 MDO3 and MDOA will follow the same logics as implemented in the relevant parameters 271 Disable
158. set as a speed torque reference source in the MOTOR CONTROL MENU or as a PID reference source in the PID CONFIGURATION MENU and the encoder to be used as a speed feedback Configuration allowed for quick acquisition digital inputs is shown in Table 92 If the encoder is used as a reference source the detected speed value will be saturated and scaled based on values set in PO73 and P074 respectively minimum and maximum value for the encoder Example C189 A Reference B Unused P073 1500rpm P074 1500rpm if the encoder is used as a PID reference the reference measure is expressed as a percentage of the max value 73 74 Function If a frequency input is selected its readout is saturated and scaled based parameters PO71 and P072 respectively minimum and maximum value for the frequency input 324 428 SINUS PENTA PROGRAMMING INSTRUCTIONS GRUPPO CARRARO 2 SANTERNO Table 92 Codification of C189 0 Not used Not used 1 EncA Feedback Not used 2 EncA Reference Not used 3 Not used EncB Feedback 4 Not used EncB Reference 5 EncA Feedback EncB Reference EncA Reference EncB Feedback 7 EncA Reference and Feedback Not used 8 Not used EncB Reference and Feedback 9 MDI6 Frequency Input Not used 10 Not used MDI8 Frequency Input 11 MDI6 Frequency Input EncB Reference 12 EncA Reference MDI8 Frequency Input 13 MDI6 Frequency Input EncB Feedbac
159. set in cannot exceed the max value set in C002 Increase the max value in C002 if you need to increase the min value and if C001 equals C002 C002 Maximum Carrier Frequency R 1600 16000 1600 16000 Hz MEME Depending on the drive size Depending on the drive model see Table 71 See Table 71 Level ENGINEERING Address It represents the max value of the modulation frequency being used As per FOC control the modulation frequency set in C002 is used only if exceeding 8 kHz when the max allowable carrier frequency is gt 8kHz Otherwise the max carrier frequency allowed is used for the models implementing a carrier frequency lt 8 kHz independently of 2 NOTE The max value set in C002 cannot be lower than the min value set in C001 Decrease the min value in if you need to decrease the max value and if C001 equals C002 The max value in C002 also determines the max allowable speed value for the selected NOTE motor in order to ensure a minimum number of pulses per period of frequency produced This value is 16 for maximum carrier frequency max C002 value greater than 5kHz and 10 for lower maximum carrier frequency see Table 71 249 428 PROGRAMMING INSTRUCTIONS Pulse Number Default Level Address Control Function C004 Silent Modulation Default Level Address Function SINUS PENTA 0 12 1 24 0 5 2 48 3 96
160. than the time set in C226 starting from the mains loss detection the deceleration ramp set in C227 is performed 2 YesV In case of mains loss deceleration is automatically regulated by a PI regulator see C231 and C232 so that voltage level in DC link is kept constant at the reference value set in C230 IFD control because no torque demand regulation is available the deceleration ramp gradient is adjusted depending on the gradient value set in C227 3 Alarm In case of power failure the A064 Mains Loss alarm trips If a drive is DC powered by a Regenerative Penta or an equivalent drive stabilizing DC bus AN NOTE voltage Power Down cannot occur C008 xT Regen where x can be 2 4 5 or 6 341 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO C226 Power Down Enable delay 1 250 ms Default Level ENGINEERING Address This parameter determines the Power Down delay after a mains loss is detected Panchen by the drive When Power Down is disabled C225 Disable and the mains loss alarm is enabled C233 Yes the Power Down enable delay is applied to the alarm tripped AN NOTE Setting a too long Power Down delay in case of mains loss can cause the drive to switch off C227 Stop Ramp Time in Power Down Range 1 32000 1 32000 sec Default 20 Level ENGINEERING Address Determines the gradient of the deceleration ramp occurring at Power Down Function a
161. the AUTOTUNE MENU However some parameters may be manually adjusted to meet the requirements needed for special applications The parameters used for the different control algorithms are stated in the table below Table 66 Motor parameters used by control algorithms Stator resistance Leakage inductance v Mutual inductance v Rotor time constant v v Used Not used Because the value of the stator resistance is used for any type of control always AN NOTE perform the autotune procedure with 1073 Motor Tune and 1074 All no rotation 253 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 32 1 4 V F PATTERN IFD ONLY This group of parameters which is included in the Motor Control Menu defines the V f pattern trend of the drive when it is used as an IFD control algorithm When setting the type of V f pattern e g C013 for motor 1 the following curves can be used e Constant torque e Quadratic e Free setting The diagram below illustrates three types of programmable curves compared to the theoretical V f curve If CO13 Constant Torque Preboost parameter C034 allows altering the starting voltage value if compared to the theoretical V f curve this allows torque compensation for losses caused by the stator impedance and a greater torque at lower revs If C013 Quadratic the drive will follow a V f pattern with a parabolic trend
162. the result of the two tests Function allowing calculating the output value P375a MPL3 Selecting Variable C See Table 39 Default DO Disable Level Address This parameter selects the digital signal used to calculate the value of MPL3 digital Function output The digital signals that can be selected are given in see Table 39 P375b MPL3 Function Applied to the Result of f A B C 0 OR C 1 SET C RESET RISING EDGE 2 AND C 3 XOR C 4 NOR C 5 NAND C 6 OR C 7 A B OR Cy 8 AND C A B AND CY 10 f A B RESET C SET RISING EDGE 11 f A B SET C RESET FALLING EDGE 12 f A B RESET C SET FALLING EDGE Default B RESET Level Address This parameter determines the logic function applied to the result of the two tests allowing calculating the output value Function 233 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO P376 MPL3 Output Logic Level 5 0 TRUE ange 1 FALSE Default Level Address MPL3 digital output logic function to apply a logic reversal negation to the Function calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied P377 4 Digital Output Mode DISABLE DIGITAL DOUBLE DIGITAL ANALOG DOUBLE ANALOG DOUBLE FULL BRAKE ABS BRAKE ABS LIFT Default DIGITAL Level Address
163. the variable selected for test A 320 00 9 320 00 96 of the full scale value of selected variable B See Table 39 Default ADVANCED 294 This parameter defines the comparing value with the variable selected for test B 200 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P295 MDO3 Function Applied to the Result of the 2 Tests A NAND B A OR B A OR BY AJ AND B A AND By 10 A RESET B SET RISING EDGE 11 A SET B RESET FALLING EDGE 12 A RESET B SET FALLING EDGE 0 1 2 3 4 5 6 7 8 Default Level Address This parameter determines the logic function applied to the result of the two tests Function allowing calculating the output value P295a MDOS Selecting Variable C Range See Table 39 DO Disable Level Address This parameter selects the digital signal used to calculate the value of MDO3 Function digital output The digital signals that can be selected are given in Table 39 P295b MDOS3 Function Applied to the Result of f A B C 0 OR C 1 A B SET C RESET RISING EDGE 2 AND C 3 XOR C 4 NOR C 5 NAND C 6 f A BN OR C 7 f A B OR CY 8 AND C 9 AND CY 10 RESET C SET RISING EDGE 11 SET C RESET FALLING EDGE 12 f A B RESET C SET FALLING EDGE
164. these 3 functions to a digital input the status of this input will ALWAYS BE CHECKED ON THE DRIVE S TERMINAL BOARD When the command contact opens the drive is locked due to an alarm tripped Parameters C164a C165a C166a allow delaying external alarms To restart the drive the digital input set as an external alarm must be closed and a Reset procedure is required Alarms tripped due to these 3 functions are A083 A084 A085 respectively This function is factory set as disabled Function The terminal board for these 3 functions is the hardware terminal board of the drive If different command sources are enabled see the CONTROL METHOD MENU the External Alarm signal command is obtained only for the hardware terminal board of the drive Therefore in order to avoid any external alarm the input signal for the active terminal must CAUTION pe active in the terminal board Alarms trip when only one input signal for the terminal selected on one of the active command sources is disabled A trip delay can be programmed with parameters C164a C165a 1 C164a C165a C166a External Alarm Trip Dela gt Inactive 0 12 1 8 MDI8 O 20 if ES847 or ES870 is fitted 9 12 MPLI MPLA 13 20 5 XMDI1 XMDI8 Pm immedi Level 1305 1306 1307 External alarm trip delay To avoid untimely alarm trip it may be necessary to set a check time for the opening of the input set as an
165. this operating mode may be configured for VTC control Vector Torque Control and FOC control Field Oriented Control only The control algorithm and the MASTER SLAVE mode can be set for each of the 3 programmable motors depending on which motor is active at that moment motor 1 motor 2 or motor 3 To enable the SLAVE mode set the following parameters to 1 or 2 C011 motor 1 C054 motor 2 C097 motor 3 The SLAVE mode may also be selected through a digital input see the DIGITAL INPUTS MENU When the main reference is acquired by the drive RUNNING on it becomes the reference for the time ramps generating the current speed torque set point for the connected motor The set up of the main reference is based on a number of parameters included in several menus Table 18 Parameters used for the Inputs for References Menu Scaling parameters for references sent from analog inputs REF AIN1 AIN2 Scaling parameters for references sent from encoder and frequency input PO50 P074 References Parameters for changes made using the UP and DOWN keys Parameter for JOG reference setting Parameter for drive disabling in case of reference at min value References from Scaling parameters for references sent from analog inputs option board XAIN4 XAIN5 P098 Multispeed Parameters setting preset multispeed values to be selected through digital inputs P105 P108 Prohibit Speed Parameters settin
166. threshold the drive operation is disabled To enable this operating mode with other types of control parameters 65 and P066 must be set accordingly The drive may also be disabled by the PID regulator see parameter P255 If the ENABLE input signal is disabled for one of the active terminals the drive is instantly disabled and the motor starts idling The motor could run at uncontrolled speed due to the activation of the mechanical load If so the mechanical load could cause uncontrolled acceleration slowing down of the connected motor CAUTION CAUTION Ifa protection alarm trips the drive disables and the motor starts idling If software timers are enabled for digital inputs the timer for the ENABLE signal timer active NOTE for MDI2 delays the signal enabling The ENABLE signal is always instantly disabled for the ENABLE function Toff in MDI2 is ignored The activation of the ENABLE command enables the alarms controlling the configuration consistency of certain parameters NOTE When the ENABLE signal is shutdown C parameters cannot be altered factory setting If NOTE Condition required for altering C parameters Standby Fluxing the parameters may be altered even if the drive is enabled but the motor is not running When the ENABLE signal is shutdown for VTC and FOC controls the motor is fluxed by the NOTE drive Motor fluxing is allowed only if the START contact is shutdown and C184 Yes If set acco
167. to be programmed for an asynchronous motor 400V 50Hz having a rated power of 7 5 kW and a rated speed of 1420 rpm with a voltage compensation depending on the motor torque Voltage compensation AutoBoost is calculated as follows I Type of V f curve C013 Constant Torque Rated frequency C015 50Hz Motor rpm C016 1420rpm Rated power C017 7 5kW Rated voltage C019 400V Preboost C034 depending on the starting torque Autoboost 8 4 Voltage compensation AutoBoost results from the formula below AV C019 x C038 100 x T Tn Where T is the estimated motor torque and Tn is the rated motor torque Tn is calculated as follows Tn Pn x pole pairs 2nf C017 x pole pairs 2x x C015 Pole pairs is the integer number obtained by rounding down 60 15 1 6 The programmable parameters relating to the AutoBoost functions are the following C038 AutoBoost variable torque compensation expressed as a percentage of the motor rated voltage 19 The value set in C038 is the voltage increase when the motor is running at its rated torque C017 Pn rated power of the connected motor 32 1 7 SLIP COMPENSATION IFD ONLY This function allows compensating the speed decrease of the asynchronous motor when the mechanical load increases slip compensation This is available for IFD control only The parameters relating to this function are included in the Motor Control Menu Configuration Menu Table 68
168. to move up one level in the menu tree In the example below starting from parameter C015 in the MOTOR CONTROL MENU inside the Configuration Menu you move up to the Root page by pressing the ESC key or the and V keys at a time Page C015 Parameter of Configuration Menu Motor 1 When using the SAVE ENTER key to alter a parameter including multiple fields ESC gt is displayed for the ESC key press ESC to move to the next field In the example below 2 programmable fields are displayed for P269 lt 6 Press the following keys to quit the last page displayed e ESC new values are not saved to Eeprom e SAVE ENTER new values are saved to Eeprom 21 428 PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO SINUS PENTA 1 8 RESET Key Alarm and Control Board Reset The RESET key is used to reset the drive after an alarm trips and the cause responsible for the alarm has been removed Press the RESET key for more than 5 seconds to reset the control board and reinitiate it This procedure may be useful when changes made to Rxxx parameters which activate only after resetting the equipment must immediately come to effect with no need to switch off the drive 1 9 TX RX Key Download Upload from to the Keypad Use the keypad to perform the UPLOAD parameters stored in the drive are copied to the keypad and DOWNLOAD parameters stored in the keypad are copied to the drive functions P
169. value will be acknowledged but not saved to non volatile memory and will therefore be lost at power off Press SAVE ENTER to confirm parameter alteration 18 428 Figure 2 Navigation example SINUS PENTA PROGRAMMING 2 SANTERNO GRUPPO CARRARO 1 4 Parameter Alteration Factory setting allows parameter alteration The parameters included in the Parameters Menu Pxxx parameters can be changed at any moment whereas the parameters included in the Configuration Menu Cxxx Rxxx box parameters can be altered only when the motor is stopped For safer operating conditions the configuration parameters must be changed only when the drive is disabled the ENABLE command is inactive to do so POO3 must be set to O stand by only To disable parameter alteration just change POOO write enable and save its new setting POOO and P002 password are both factory set to 1 If POOO 0 an inexpert user cannot change parameter values but if PO00 1 an advanced user will be able to alter the parameter values For even safer operating conditions you can change the password stored in P002 in that case you must set POOO accordingly AN NOTE Note down and keep at hand the value set in P002 Press the SAVE ENTER key for parameter alteration when a flashing cursor appears press and W to change the parameter value Do one of the following to quit the editing mode Press ESC the parameter value used by the drive is altered and is
170. voltage 0 6553 5 kW 0 65535 Note The actual range depends on drive size Always active Measure of the active power produced by the drive M028a Energy Consumption Active Address Function 0 1000000000 0 10000000 00 kWh Always active 1723 1724 LSWord MSWord Counter of the drive energy consumption This is a value expressed in 32 bits divided into two 16 bit words the low part and the high part 53 428 SINUS PROGRAMMING RU NONE 22 SANTERNO M029 DC Bus Voltage ESSE O 1400 0 1400 V Always active Address Measure of the voltage in the drive DC link M030 Supply Voltage Active Always active Address Measure of the RMS value of the drive supply voltage 54 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO 8 3 PID Regulator Menu This menu contains the measures relating to the input and output values of the internal PID regulator M018 PID Reference at Constant RPM 96 Address Function Address Function 100 00 96 Note The actual range depends on the max value and the min value of the PID reference set in parameters P245 P246 Always active This is the measure of the PID reference expressed as a percentage Scaling is detailed in the PID PARAMETERS MENU and the PID CONFIGURATION MENU 100 00 Note The actual range depends on the max value and the
171. weakening 272 428 SINUS 32 3 Drive Size 2 GRUPPO CARRARO Table 71 Parameters depending on the Drive Size and Model 1 PROGRAMMING INSTRUCTIONS Tables Including the Parameters Depending on the MI C018 M2 C061 C C004 M3 C104 0005 6 4 10 5 11 5 14 5 16 YES 0007 8 4 12 5 13 5 16 5 YES 0008 8 5 15 16 19 5 YES 0009 9 16 5 17 5 19 5 YES S05 0010 11 17 19 23 5 YES 0011 11 2 16 5 21 25 5 YES 0013 13 2 19 21 25 5 YES 0014 14 8 16 5 25 30 5 YES 0015 15 23 25 30 5 YES 50 46 75 46 80 3 3 3 3 3 3 3 3 3 3 ESES ENESES 55 96 88 5 88 5 115 3 12 8 YES 112 134 3 12 8 YES 80 105 118 87 120 144 98 155 142 3 12 8 YES 173 3 12 8 YES 186 3 L YES 212 300 340 408 NO 228 345 365 438 NO 540 565 264 lt 2 2 2 2 2 2 516 2 2 NO 50 S65 0312 375 480 0366 421 550 ND NO D 0399 480 630 AJAJAJA RRR A A N ZZz 273 428 PROGRAMMING INSTRUCTIONS 375 480 SINUS PENTA 421 550 528 680 720 0457
172. when the drive is not running Different settings allowed by parameter C148 are detailed below switching from Remote to Local mode and vice versa can be performed even when the drive is running e No Bumpless When switching from Remote to Local mode a zero speed or torque reference is sent to the drive the START button must be pressed to start the drive Commands Bumpless When switching from Remote to Local mode a zero speed or torque reference is sent to the drive but the running conditions are the same as in Remote mode For example if the motor is running in Remote mode the drive still runs even in Local mode and the reference can be changed with the INC DEC key starting from zero e All Bumpless gt When switching from Remote to Local mode the drive maintains the same speed torque reference and the same running condition as in Remote mode For example if the motor is running at 1000 rpm in Remote mode the drive still runs even in Local mode with a reference of 1000 rpm that can be changed with the INC DEC key starting from zero NOTE Parameter C148 affects parameters C140 to C147 and C285 to C287 see PID CONFIGURATION MENU when the PID controller is enabled 295 428 PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 35 DIGITAL INPUTS MENU 35 1 Overview NOTE A The parameters contained in this menu assign particular digital control functions to each digital inpu
173. 0 10V ABS 0 20mA ABS 4 20mA 000 Default Level Address Function In the example above A01 is set as a current input Contact 1 of SW2 dip switch is open contact 2 is closed Analog outputs are set as voltage outputs by default To set them as current outputs see the NOTE DIP switch configuration and follow the instructions displayed on the keypad or refer to the Sinus Penta s Installation Instructions Manual P177 Selected Variable for AO1 Analog Output Range See Table 27 Default Motor speed Level ADVANCED Address Function Selects the variable to be allocated to AO1 digital output P178 Min value of AO1 Selected Variable 32000 432000 320 0096 320 00 96 of the full scale Range Depending on the value selected in value P177 See Table 27 Default 1500 15 0096 of 10000 rpm 1500 rpm Level ADVANCED Address BUnchon Minimum value of the motor speed corresponding to the min output value of AOI set in P182 145 428 PROGRAMMING INSTRUCTIONS SINUS PENTA Z SANTERNO GRUPPO CARRARO P179 Max value of AO1 Selected Variable Default Level Address Function 32000 32000 Depending on the value selected in P177 320 0096 320 00 96 of the full scale value See Table 27 4 15 0096 of 10000 rpm 1500 rpm ADVANCED Maximum value of the motor speed corresponding to the min output value of AO set in P183 P180 AO
174. 0 Carrier Freq C001 Minimun Carrier C002 Maximum Carrier C003 Pulse Number 1 24 C004 Silent Modulation 00 04 Motor Control M1 CO008 VmainsNom C009 Mot Numb 1 CO010 Ctrl Type M1 0 IFD CO11 RefMode 1 0 Speed CO012 EncEnab MI 0 No 13 f model l C014 Phase Rot Mot 0 No C015 Fmot 1 50 0 Hz 016 mot M1 1420 rpm C017 Pnom 1 C018 Inom M1 19 MI 020 1 0 0 C021 i0 M1 0 C022 Rstat MI 023 14 1 C024 Lm 1 250 00 C025 TauRot 1 ms C026 vdcFiltM1 Oms 028 1 rpm 029 1 1500 C030 spddeflux M1 90 96 1 1 Disabled 032 1 30 0 033 1 20 C034 Preboost M1 C034a Boost ref pos M1 0 0 C034b Boost ref neg M1 0 0 035 M1 C036 Boost 1 C037 FrqBst C038 AutoBst C039 SlipComp M1 Disabled C040 DV_M1 Disabled C041 Tfl M1 C042 Vout Sat 1 8596 CO4x CO5x Limits M1 CO043 lacclim M1 15096 CO044 lrunlim M1 15096 CO045 Ideclim M1 C046 defilimRed 1 0 Disabled C047 Tmin 1 0 0 96 C048 Tmax 1 12096 C049 Tlim Ramp M1 50ms C050 fRedLimAcc 1 0 Enabled C05x C08x Motor Control M2 C053 Cirl Type 2 0 IFD C054 RefMode M2 0 Speed C055 EncEnab M2 0 No
175. 0 740 0 35 0 35 0598 280 0 09 500 0 003 0 002 0 002 0 15 0 10 0 09 730 810 1000 0 22 0 14 0 13 870 970 1220 0 26 0 003 0 17 0 007 2xS51 0850 0965 1129 0 13 1200 280 428 0 13 1400 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 33 LIMITS MENU 33 1 Overview The Limits Menu defines the current torque limits applied to the control functions IFD VTC or FOC controls selected for the three connected motors For IFD control current limits are used Three limit current levels are available which are expressed as a percentage of the motor rated current 1 Current limit while accelerating 2 Current limit at constant rpm 3 Current limit while decelerating Two special parameters are also available one sets the decrease of the limit current value when the motor runs at constant power flux weakening while the other parameter disables the frequency decrease in case of acceleration current limit this is useful for inertial loads If a VTC control or a FOC control is used limits are expressed as a percentage of the rated motor torque Values set in the two parameters relating to min torque and max torque represent the limits for saturation of the control torque demand If an external torque limit is set C147 in the CONTROL METHOD MENU the values set in the parameters ab
176. 0 Analog input REF 19 AINI 100 00 Analog input AINT 20 AIN2 PTC 100 00 Analog input AIN2 21 Enc In 10000 rpm Speed read by the encoder used as a reference 22 Pulseln 100 00 kHz Frequency input 23 Flux Ref 1 0000 Wb Flux reference at constant speed 24 Flux 1 0000 Wb Current flux reference 25 ig ref 1000 0A Current reference in axis q 26 id ref 1000 0A Current reference in axis d 27 iq 1000 0A Current measure in axis q 28 id 1000 0A Current measure in axis d 29 Volt Vq 1000 0V JVoltage in axis q 30 Volt Vd 1000 0V Voltage in axis d 31 Cosine 100 00 Cosine waveform 32 Sine 100 0096 Sine waveform 33 Angle 1 0000 rad Electric angle of delivered Vu 34 10V 10 000V Voltage level 10V 35 10V 10 000V Voltage level 10V 36 Flux Current 1000 0A Flux Current 37 Sqr Wave 100 0096 Square wave 38 Saw Wave 100 00 Saw wave 39 Hts Temp 100 00 C Temperature of the heatsink 40 Amb Temp 100 00 C Ambient temperature 41 49 RESERVED RESERVED 50 PT100_1 100 00 PT100 Channel 1 51 PT100 2 100 00 1 Channel 2 52 PT100 3 100 00 100 Channel 53 PT100 4 100 00 PT10O Channel 4 54 12196 100 00 Motor thermal capacity 55 XAINA 100 00 XAINA Analog input 56 XAIN5 100 00 XAIN5 Analog input 57 OT Count 650000h Maintenance Operation Time Counter 58 ST Count 650000h Maintenance Supply Time Counter 59 RESERVED RESERVED Table 27 provides a brief description of each variable and its full scal
177. 0 705 Vdc 500 600 Vac 705 810 Vdc 600 690 Vac 810 970 Vdc Select xT Regen where x relates to the voltage class of the drive if the drive is DC supplied through a regenerative Sinus Penta or a different drive used to stabilize the DC bus to a higher level than the stabilization level obtained when rectifying the 3 phase mains A nu C009 N of Configured Motors Range Default Level ENGINEERING Address This parameter determines the number of motors to be configured The active motor is selected through digital inputs programmed with C173 and C174 see the DIGITAL INPUTS MENU The programming parameters of the Motor Control 2 Menu can be accessed only if C009 2 or 3 the programming parameters of the Motor Control Menu can be accessed only if C009 3 Function 260 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS Range Default Level Address This parameter sets the type of control algorithm to be used Type of controls 0 IFD control 1 VIC Sensorless Vector Torque control 2 FOC Field Oriented Control V f control allows controlling the motor by producing voltage depending on frequency It is possible to configure several types of V f patterns see V f Pattern IFD Only Sensorless vector control processes the machine equations depending on the equivalent parameters of the asynchronous machine such as stator resistance and leakage induc
178. 0 to 4 set the processing mode of the feedback signal as detailed below 1 If C179 Input for Source Selection 0 Disabled STANDARD SUM All the selected feedback signals are summed up STANDARD DIFF The sum of the selected feedback signals is subtracted from the feedback signal programmed in C288 AVERAGE The resultant of the feedback is given from the arithmetical average of the selected signals MINIMUM The signal having the smallest value among the selected signals is considered as the feedback Function MAXIMUM The signal having the largest value among the selected signals is considered as the feedback 2 If C179 is enabled STANDARD SUM C288 C290 or C289 C290 STANDARD DIFF C288 C290 or C289 C290 AVERAGE AVG C288 C290 AVG C289 C290 MINIMUM MIN C288 C290 or MIN C289 C290 MAXIMUM MAX C288 C290 or MAX C289 C290 The references are always summed with each other unless they are managed with the Source Selection see C179 365 428 PROGRAMMING INSTRUCTIONS Function C291b PID2 Operating Mode Default Level Address Function SINUS PENTA 2 SANTERNO GRUPPO CARRARO Functions 5 and 6 2 Zone Mode automatically disable the Source Selection function that can be programmed with C179 In functions 5 and 6 only the references selected with C285 C286 and the feedback values selected with C288 C289 are used 2 Zone MIN The PID operates on the system with an a
179. 000 100 Analog input REF 7 AIN 100 00 100 Analog input AIN AIN2 Pt 100 00 100 Analog input AIN2 PTC Speed read from encoder and used as a reference EE EE A82 Pulseln 100 00 kHz 100 Frequency input A83 Flux REF 1 0000 Wb 10000 Flux reference at constant speed o r 1 1 A84 Flux 1 0000 Wb 10000 ctive flux reference A85 lq REF 1000 0A A86 Id REF 1000 0A Current reference over axis q Current reference over axis d O 10 A87 lq 1000 0A 10 O Current measure over axis q A88 Id 1000 0A 10 urrent measure over axis d 100 100 oltage over axis q oltage over axis d aveform Cosine aveform Sine A93 Ange 10002 100 Electric angle of delivered Vu A94 10V Analog 10 Volt 1 1 Analog 10 Volt 96 Reserved A97 Sq Wave 10002 100 Square wave Saw wave ojo lt z REE EE g imixix 5 2 2 o 2 28 8 olo olo rm Ege lo E GIS 3 0 e c 3 Heatsink temperature A100 AmbTemp 100 00 C_ 100 Ambient temperature A101 A109 Reserved T100 channel 1 AIII PTIO 2 32000 C 100 100 channel 2 T100 channel 3 T100 channel 4 otor thermal capacity 117 OT Counter 320000 1 Maintenance Operation Time counter 118 ST Counter 320000 All9 Reseved 180
180. 046 5443 Contactor 3 manvfacturer specific Bypass Circuit Open A093 5500 Data storage 5510 RAM RAM Fault A049 414 428 SINUS PENTA PROGRAMMING SANTERNO INSTRUCTIONS A GRUPPO CARRARO 6000 Device software 6010 Software reset Watchdog 6100 Internal software False Interrupt A043 Generic Motorola A063 1ms Interrupt OverTime A071 6200 User software User Fault A040 6300 Data record 6301 Data record No 1 SW Version KO A092 6302 Data record No 2 Option Board not in A054 6303 Data record No 3 Illegal XMDI in DGI A042 6304 Data record No 4 Illegal XMDI in DGO A052 6305 Data record No 5 Illegal XMDI in MPL A057 6306 Data record No 6 FOC No Encoder A079 6307 Data record No 7 Illegal Encoder Cfg A082 6308 Data record No 8 Illegal Motor Selected A098 6309 Data record No 9 MDI6 Illegal Configuration A100 630A Data record No 10 MDIB8 Illegal Configuration 101 7000 Supplementary modules 7100 Power 7110 Brake chopper Braking Resistor Overload A091 7120 Motor Motor Not Connected A097 7300 Sensor PTC Alarm A055 PTC Short Circuit A056 REF A066 AINI lt 4mA A067 AIN2 lt 4 A068 XAIN5 lt 4mA A069 REF gt 20mA A102 AINI gt 20mA A103 AIN2 gt 20mA A104 XAIN5 gt 20mA A086 7301 Tacho fault Tracking Error A080 Encoder Fault A059 7310 Speed Speed Alarm
181. 05 Example of a speed ramp Table 16 Example of a Speed Ramp 0 0 01 s 0 327 00 s 1 0 1s 0 3270 0 s 2 15 0 32700 5 3 10s 0 327000 s 88 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO The factory setting of the unit of measure is 0 1 s the ramp time is 10 sec Figure 4 Example of S ramps You can also select the rounding off and the rounding off percentage for the 4 stages of starting ramp up and the starting ramp down and for the end ramp up and the end ramp down S ramps The ramp rounding off allows reaching the reference end value with a zero tangent both while accelerating and while decelerating thus suppressing torque peaks that could damage mechanical couplings The rounding off is expressed as a percentage of the ramp time it relates to if used it allows increasing the preset ramp time by half the sum value of the two rounding off values Its effect is shown in the figures below Example POO9 10sec P021 1111 binary rounding off selected for all four ramps P022 5096 P023 50 The resulting ramp up time is as follows 9 POO9 PO22 PO23 2 100 10 10 50 50 2 100 15 sec The effect of this rounding off can be seen in the figures below 89 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO The figure shows two patterns for the ramp
182. 0V O 200 if PO50 4 0 0 mA 20 0 mA if PO5O 4 0 20 mA Default Level ADVANCED Address This parameter selects the value for REF input signal for minimum reference or mem better the reference set in C028xP051a Master mode or in C047xP051a Slave mode If motor 2 is active C071 and C090 will be used instead of C028 and C047 if motor is active the values set in C114 and C133 will be used P051a Percentage of Speed Min Trq Min Producing Min Reference Y axis related to P051 100 096 Default Level ADVANCED Address This parameter represents the min speed percentage or the min torque Function percentage for a torque reference to be used for the minimum reference set with P051 108 428 PROGRAMMING SINUS PENTA Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P052 Value of REF Input Producing Max Reference X axis 100 100 if PO50 O 10 0V 10 0 V if PO50 0 10 200 200 if PO50 1 20 0 mA 20 0 mA if PO50 1 20 40 200 if PO50 2 4 0mA 20 0 mA if 50 2 4 20 mA 0 100 if PO50 3 0 0V 10 0V if PO50 3 0 10V 0 200 if PO50 4 0 0 mA 20 0 mA if PO5O 4 0 20 mA Default Level Address This parameter selects the value for REF input signal for minimum reference or better Functi the reference set in CO29xP052a Master mode or in CO48xP052a Slave mode If motor 2 is active C072 and C091 will be used instead
183. 1 Selecting variable A ADVANCED A61 Speed 871 P272 MDOT Selecting variable B ADVANCED A61 Speed 872 P273 Testing variable A ADVANCED 0 gt 873 P274 Testing variable ADVANCED 3 lt 874 275 MDO1 Comparing value for Test ADVANCED 50 rpm 875 P276 Comparing value for Test B ADVANCED 10 rpm 876 P277 MDOT Function applied to the result of the 2 tests ADVANCED 1 A SET B RESET 877 P277a Selecting variable C ADVANCED 0 Disable 642 P277b Function applied to the result of f A B C ADVANCED 0 OR C 643 P278 MDO Output logic level ADVANCED 1 TRUE 878 Digital output mode ADVANCED 6 BRAKE Selecting variable A ADVANCED A71 Trq Output Selecting variable B ADVANCED A61 Speed Testing variable A ADVANCED 0 gt Testing variable B ADVANCED 3 lt Comparing value for Test ADVANCED 20 Comparing value for Test B ADVANCED 50 rpm Function applied to the result of the 2 tests ADVANCED 1 A SET B RESET Selecting variable C ADVANCED 0 Disable Function applied to the result of f A B C ADVANCED 0 ORC Output logic level Digital output mode ADVANCED ADVANCED 1 TRUE 1 DIGITAL Selecting variable A ADVANCED D3 Inverter Alarm Selecting variable B ADVANCED D3 Inverter Alarm Testing variable A
184. 1 Analog Output Offset Default Level Address Function Range Default Level Address Function 9999 9999 Depending on the value 9 999 9 999 selected in P176 ADVANCED Offset value applied to AO1 analog output 0 65000 0 000 65 000 sec 0 000 sec ADVANCED Value of the filter time constant applied to AO1 analog output P182 Min AO1 Output Value with Reference to P178 Default Level 55 Function 100 100 200 200 Depending on selected in P176 10 0 10 0 V the value 20 0 20 0 mA ADVANCED Minimum output value obtained when the minimum value of the variable set in P178 is implemented P183 Max AO2 Output Value with Reference to P179 Range Default Level Address Function 100 100 200 200 Depending on selected in P176 10 0 10 0 V the value 20 0 20 0 mA ADVANCED Maximum output value obtained when the maximum value of the variable set 146 428 in P179 is implemented PROGRAMMING SINUS PENTA Z SANTERNO INSTRUCTIONS P184 AO2 Analog Output Disabled 10V 0 10V 0 20mA 4 20 ABS 10V ABS O 20 ABS 4 20mA Default Level ADVANCED 55 Function Selects the operating mode of 2 analog output Analog outputs are set as voltage outputs by default To set them as current outputs see the NOTE DIP switch configuration and foll
185. 1000 1000 Default 500 Level ENGINEERING Address erue This parameter sets the value of the PID reference when in Fire Mode The value of the uneo PID reference depends on unit of measure set in P257 124 428 SINUS PENTA PROGRAMMING 22 SANTERNO INSTRUCTIONS GRUPPO CARRARO 16 PROHIBIT SPEED MENU 16 1 Overview This menu allows setting prohibit speed ranges that the motor cannot maintain at constant rpm due to mechanical resonance Three prohibit speed ranges are available 3 intermediate values of the speed range and their semi amplitude one for all ranges In this way the speed reference value is never included in one of the preset speed ranges when decreasing if the speed reference matches with the max allowable value of a prohibit speed range the value assigned to the reference is given by the min allowable value of the speed range and vice versa when the reference is increasing The discontinuity of the speed reference has no effect on the actual speed of the connected motor because this will vary with continuity until it reaches the new rpm value of the speed reference The intermediate values of the prohibit speed ranges are to be intended as absolute values independent of the reference sign Motor Speed Decreasing 2 108 4 Increasing A Reference Speed P105 P106 P107 Reference P000132 B Figure 12 Prohibit Speed ranges
186. 15 rated frequency C016 1 rated rpm C017 Pmot1 rated power C018 rated current C019 Vmotl rated voltage C029 Speedmax1 max allowable speed For loads with square torque with respect to the rpm centrifugal pumps fans etc set C034 preboost1 to 096 Press SAVE ENTER each time a new parameter value is set 6 Autotune For the IFD control algorithm the Autotune function is not necessary but is always recommended First remove the ENABLE command then access the AUTOTUNE MENU and set 1073 1 Motor Tune and 1074 0 All Ctrl no rotation Use the ESC key to accept changes Close the ENABLE command and wait until tune is complete Warning W32 Open Enable is displayed The drive has computed and saved the values for C022 stator resistance and C023 leakage inductance If alarm A097 Motor Wires KO trips check the motor wiring If alarm A065 Autotune KO trips this means that the ENABLE command has opened before autotune was complete In this case reset the drive sending a command from terminal MDI3 or press the RESET key in the display keypad and perform the autotune procedure again 7 Overload Set parameters in the LIMITS MENU depending on the max desired current 8 Startup Activate the ENABLE input terminal 15 and the START input terminal 14 and send a speed reference the RUN LED and REF LED will come on and the motor will start Make sure that the motor i
187. 2 Details of the PID regulator 5 nennen nnn 362 Keeping fluid level constant Example 368 SINUS e PROGRAMMING SANTERNO INSTRUCTIONS N GRUPPO CARRARO 0 3 Tables Table 1 Codification of Measures M031 MO32 sssssssI III III HII HH 59 Table 2 Codification of Measures M033 M034 MO035 ssssssss HII mee 60 Table 3 Codification of Measures M036 M036a 6 60 Table 4 Codification of Measure 5 22 nennen etr etre enin annes s 65 Table 5 Codification of Measure M056a sss nennen ense ener nsns rennen 65 Table Codification of Measure iiir hh e E ERE EUER S ERE EXRE EUER EE 66 Table 7 Data Logger connection status sssssssssssssseeenennnnnennnenenennnnnnnenn renes nnn REESE ene inn nnn nini 71 Table 8 Codification of the functions assigned to the digital inputs 72 Table 9 List of parameter P263 and Fire Mode Enable Password ccccessssscceececessesseeeeeeeeeecessssseeeeesesesenssseeeeeeeesensaea 75 Table 10 Indexes corresponding to the different models sizes of the
188. 250 sec Level ADVANCED Address If this parameter is other than zero and if also parameter 65 is other than zero the drive disabling function is enabled if the absolute value of the current speed reference is kept in the prohibit range for a time longer than the time set in PO66 reference is set to zero and the motor speed decreases following the active ramp up to zero rpm when the motor speed is equal to zero the drive will automatically deactivate See also the description of parameter P065 Function 114 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO P067 Keypad and Terminal Board UP DOWN Ramp Range sec 6500s Quadratic Default Quadratic Level ADVANCED Address Reference may be increased or decreased with input digital signals UP and DOWN or with INC and DEC keys in the keypad local mode Reference increment or decrement is obtained by adding to the current reference a quantity which will be increased or decreased with a time ramp AWA Parameter PO67 indicates the ramp time to increase the reference from zero to the preset speed or torque maximum absolute value i e the max value between absolute values Spd Min and Spd Max Trq_Min and Trq_Max If motor 1 is active Spd 28 Spd Mox C029 047 Trq Max C048 PO68 Storage of UP DOWN Values at Power Off Range 0 Disabled 1 Enabled Default 1 Enabled Leve
189. 267 s 10 360 20 720 30 1080 Table 99 Suggested values for the motor thermal time constant The standard above defines a 7 2 ratio between LRC and FLC The value to be entered in C267 is then defined from the formula below C267 IEC Class x 36 If the ratio between LRC and FLC is not 7 2 please refer to the graph in Figure 61 42 2 2 MAXIMUM LockED ROTOR TIME BASIC If the IEC class is not known then the IEC class can be approximated by the procedure described below The following values must be known e Full Load Current of the motor e Locked Rotor Current LRC e Maximum Locked Rotor Time LRT or Direct On Line DOL Start Time The FLC of the motor can be obtained directly from the nameplate on the motor The LRC and LRT must be obtained from the manufacturer or the motor datasheets The LRC also referred to as starting current or motor start up current is the current that a motor draws at start up when full voltage is applied to the terminals LRT is the time a motor can safely maintain LRC from a cold start This information might also be available as a thermal withstand curve or a thermal damage curve If this is the case then the LRC and LRT must be deduced from the curves 353 428 PROGRAMMING SINUS PENTA INSTRUCTIONS Z SANTERNO GRUPPO CARRARO The following formula can be applied LRC x LRT IEC Class FLC x 6 Once the approximated IEC class has been calculated use th
190. 270 Digital output mode ANALOG P271 Variable A selection A61 Speed MEA P272 MDO1 Variable B selection P273 Testing variable A ABS x P274 Testing variable B ABS x lt P275 MDO1 Comparing value for Test A 100 00 rpm P276 Comparing value for Test B 20 00 rpm P277 MDO1 Function applied to the result of the two tests A Set B Reset P277a MDO1 Variable C selection DO Disabled P277b MDO1 Function applied to the result of and C test P278 MDO1 Output logic level TRUE Both tests are performed over the motor speed P271 P272 are set to motor speed The values of reference for the two tests are 100rpm and 20rpm the function applied is Flip Flop Set Reset and the output is considered as a true logic Test 1 is the Set signal of the Flip Flop and Test 2 is the Reset signal Motor Speed rom A 100 20 20 100 Out E gt Figure 36 Digital output for speed thresholds example 188 428 SINUS PROGRAMMING SANTERNO INSTRUCTIONS GRUPPO CARRARO N Example 4 Digital output for electromechanical brake for lifting applications programming example related to MDO4 digital output Table 44 DGO parameterization for electromechanical brake command P297 MDO4 Digital output mode ABS BRAKE P298 MDO4 Variable A selection A71 Torque
191. 2700 s if 020 0 gt 1 s 0 327000 s if 020 0 5 10s Default See Table 72 Level ADVANCED Address Function Same as ramp 1 see P010 NOTE Values for ramp 3 can be applied to the reference provided that multiramp digital inputs are set up and that ramp 3 is selected see the DIGITAL INPUTS MENU 94 428 PROGRAMMING SINUS PENTA Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P018 Speed Ramp 4 Acceleration Time 0 327 00 s if 20 0 0 01 s 0 3270 0 s if P020 0 gt 0 1 s Euge 0532700 0 32700 s if 02020 gt 1 s 0 327000 s if PO20 0 gt 10s Default See Table 72 Level ADVANCED Address 618 Function Same as ramp 1 see POO9 NOTE Values for ramp 4 can be applied to the reference provided that multiramp digital inputs are set up and that ramp 4 is selected see the DIGITAL INPUTS MENU P019 Speed Ramp 4 Deceleration Time 0 327 00 s if PO20 0 gt 0 01 s 0 3270 0 s if PO20 0 gt 0 1 s 032700 0 32700 s if P020 0 gt 1s 0 327000 s if 20 0 gt 10s Default See Table 72 Level ADVANCED Address Function Same as ramp 1 see P010 NOTE Values for ramp 4 can be applied to the reference provided that multiramp digital inputs are set up and that ramp 4 is selected see the DIGITAL INPUTS MENU P020 Speed Ramps 3 and 4 Time Unit of Measure Default See Table 72 Level ADVANCED Address Defines the unit of measure for the times for speed ramp 3 PO1
192. 294 PID Implementation 1 Reference When the LOC REM key is pressed for the first time and the Local mode is selected PID Ref is displayed in line 4 allowing changing the PID reference when the LOC REM key is pressed twice the PID Ref is disabled and the speed reference can be altered Use the A and keys to alter the reference shown in line 4 on the Keypad Page 82 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 11 4 List of Parameters P264 to P269 Table 14 List of parameters P264 to P269 P264 Navigation mode 0 BY MENU 864 P264a Circular navigation 1 YES 865 P264b Navigation mode with the MENU key 0 STANDARD 512 P265 Root page 3 Start Up 866 P266 Type of Keypad page in Local Mode 1 Ref Activated 511 267 Preset units of measure 0 Disable 867 P267a Custom PID units of measure 26 1867 P267b Preset PID2 units of measure 0 Disable 861 P267c Custom PID2 units of measure 26 1869 P268 Measure 1 on Root page M004 Motor Spd cannot be accessed P268y Scaling of Measure n 1 on Root page 100 00 515 P268a Measure n 2 on Root page MOOO Speed Ref cannot be accessed P268z Scaling of Measure n 2 on Root page 100 00 516 P268b Measure 1 on Keypad page M006 Mot Freq cannot be accessed P268c Measure n 2 on Keypad page M026 Motor Current cannot be accessed P268d
193. 4 192 5 384 1 24 ENGINEERING 1003 IFD and VTC This parameter has effect only if C0012C002 It represents the min value of pulses per period obtained when modulation frequency changes synchronous modulation 1 Yes See Table 71 ENGINEERING This parameter enables silent modulation The electric noise due to the switching 250 428 frequency is dampened SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 32 MOTOR CONTROL MENU 32 1 Overview The Sinus Penta allows configuring three different types of motors and three different types of control algorithms at the same time The three types of control algorithms are identified with the acronyms Y IFD Voltage Frequency Control Y VTC Vector Torque Control Y Field Oriented Control The Voltage Frequency control allows controlling the motor by producing voltage depending on frequency The Vector Torque Control sensorless processes the machine equations depending on the equivalent parameters of the asynchronous machine It also allows separating torque control from flux control with no need to use a transducer The Field Oriented Control is a closed chain control requiring a speed transducer to detect the position of the motor shaft instant by instant The parameter set for the selected motor is included in the Motor Control menu Y Motor Control 1 Menu concerns motor 1 Y Motor Control 2 Menu concerns moto
194. 4 Comparing value for Test B P384 MPLA Function applied to the result of the 2 tests P384a Selecting variable C DO Disabled P384b MPL4 Function applied to the result of f A B C P385 MPL4 Output logic level TRUE P009 Acceleration time 1 Ramp for normal operation P010 Deceleration time 1 Ramp for normal operation P011 Acceleration time 2 Ramp for PIPE FILL P012 Deceleration time 2 Ramp for PIPE FILL P080 Multispeed function 0 Preset Speed P081 Output speed 1 Mspdl Min operating speed C182 MDI Multiprogramming enable Enabled C155 MDI for multispeed 0 selection 12 MPL4 C167 MDI for multiramp O selection 9 MPL1 C171 MDI for PID disable 9 MPLI NOTE PIPE FILL value Measure read from the analog input allocated to the feedback when pipes are full Ramp for normal operation Ramp required for normal operation Ramp for PIPE FILL 2 Ramp required while filling the pipes Min operating speed Min speed required for the correct delivery of the pump 223 428 PROGRAMMING INSTRUCTIONS GRUPPO CARRARO 2 SANTERNO 28 3 List of Parameters P350 to P385 Digital output mode Table 56 List of parameters P350 to P385 ADVANCED SINUS PENTA 1 DIGITAL P351 MPL1 Selecting variable A ADVANCED D21 MDI Enable 95 P352 1 Selecting variable B ADVANCED DO DISABLE 952 P353 Testing variable A ADVANCED 0 gt 953
195. 5 1058 1101 Control All This parameter defines the rated motor frequency nameplate rating C016 C059 C102 Rated Motor Rom 1 32000 1 32000 rpm 1420 1420 rpm Level BASIC 1016 1059 1102 This parameter defines the rated motor rpm nameplate rating C017 C060 C103 Rated Motor Power Range 1 32000 0 1 3200 0 kw See twice the upper values in Pnom column in Table 74 DACW See Table 74 Level elim 1017 1060 1103 This parameter defines the rated motor power nameplate rating C018 C061 C104 Rated Motor Current Range 1 32000 0 1 3200 0A See twice the upper values in Inom column in Table 71 See Table 71 Level BASIC Address 1018 1061 1104 ASG This parameter defines the rated motor current nameplate rating C019 C062 C105 Rated Motor Voltage 50 12000 5 0 1200 0 V 2300 for class 2T drives 230 0V for class 2T drives 4000 for class 4T drives 400 0V for class 4T drives 5750 for class 5T drives 575 0V for class 5T drives 6900 for class 6T drives 690 0V for class 6T drives Default Address 1062 1105 This parameter defines the rated motor voltage nameplate rating 264 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO C020 C063 C106 Motor No Load Power 0 0 100 0 Default Level ADVANCED Address 1020 1063 1106 This parameter defines the
196. 5 and P016 Function and speed ramp 4 P020 and P018 The allowable programmable range may be extended from 0 s to 327000s 95 428 PROGRAMMING INSTRUCTIONS SINUS PENTA P021 Selection for Ramp Rounding Off Default Level Address Function 0000b 1111b binary 0x0000 hexadecimal 0 15 See Table 72 ADVANCED 0000b no S ramps 1111b all S ramps In this parameter you can select the bit corresponding to the ramp to be rounded off Example P021 0011b 3 decimal gt ramps 1 and 2 are rounded off The ramp rounding off allows reaching the reference end value with a zero tangent both while accelerating and while decelerating thus suppressing torque peaks that could damage mechanical couplings P022 Acceleration Ramp Start Rounding Off Time Default Level 55 Function 0 100 ADVANCED Sets the rounding off time period for the first stage of the acceleration ramp This parameter is expressed as a percentage of the acceleration ramp time of the active ramp Example the second ramp is active with an acceleration ramp time of 5sec P022 5096 Therefore reference acceleration is limited for the first 2 5 sec of the ramp time AN NOTE When using parameter P022 the preset acceleration ramp time is increased 022 2 P023 Acceleration Ramp End Rounding Off Time Default Level Address Function 0 100 ADVANCE
197. 6 Connect end echo time out 32 Connect end idle time out 64 Connect end term expired No conn Dialing Connecting Connected Attempt finished No data exchange Data exchanged No data exchange Data exchanged No connection Connection Status of the connection via modem COMI COM2 Ethernet Oj O H Reserved In computer networking the Internet Protocol Control Protocol IPCP is a network control protocol for establishing and configuring Internet Protocol over a Point to Point Protocol link The IPCP configures enables and disables the IP protocol modules on both ends of the point to point link 71 428 PROGRAMMING INSTRUCTIONS 8 10 Z SANTERNO GRUPPO CARRARO Digital Input Settings Menu This menu allows checking the functions assigned to the digital inputs 72 428 Table 8 Codification of the functions assigned to the digital inputs STOP Stop function REVERSE Startup with negative speed EN S ENABLE in safety condition DISABLE Drive disable MVelO Multispeed O MVell Multispeed 1 MVel2 Multispeed 2 MVel3 Multispeed 3 Cw CCw Reversal of the direction of rotation DCB DC braking UP Reference increase DOWN Reference decrease UDReset Reset of speed setpoint due to UP DOWN comm
198. 8 SINUS PENTA PROGRAMMING 2 SANTERNO eee GRUPPO CARRARO 18 SPEED LOOP AND CURRENT BALANCING MENU 18 1 Overview The SPEED LOOP AND CURRENT BALANCING MENU for VTC and FOC controls allows setting the parameter values of the speed regulators for the three connected motors and to manually adjust the motor current balancing see parameter P152 The speed regulator for each motor has two parameterization functions two integral terms two proportional terms and two speed error thresholds expressed as a percentage of the motor rated speed The response of the speed regulator can be dynamically linked with the speed error in this way the speed regulator will be more sensitive to remarkable speed errors and less sensitive to negligible speed errors Factory setting because two identical error thresholds are set only two parameters are used max integral time and min proportional constant The setup of min integral time and max proportional constant is enabled provided that two different error thresholds are used Example P125 500 ms Minimum integral time 126 100 ms Maximum integral time P128 10 00 Minimum proportional constant P129 25 00 Maximum proportional constant P130 2 96 Minimum error threshold P131 20 96 Maximum error threshold Error P130 For speed errors lower than or equal to 296 of the motor rated speed the speed regulator adopts the min coefficients i e parameters P126 determining the le
199. 94 P195 Max value of AO3 selected variable ADVANCED Inverter Imax 795 P196 Analog output offset ADVANCED 0 000 V 796 P197 Filter for AO3 analog output ADVANCED ms 797 P198 Min AO3 output value with reference to P194 ADVANCED 0 0 V 798 P199 Max output value with reference to P195 ADVANCED 10 0V 799 P200 FOUT output in MDO1 frequency ADVANCED 0 Disabled 800 P201 Selected variable for FOUT frequency output ADVANCED 1 Motor speed 801 P202 Min FOUT value of selected variable ADVANCED 0 802 P203 Max FOUT value of selected variable ADVANCED 0 803 P204 Min FOUT output value with reference to P202 ADVANCED 10 00 kHz 804 P205 Max FOUT output value with reference to P203 ADVANCED 100 00 kHz 805 P206 Filter for FOUT frequency output ADVANCED ms 806 P207 AOI Gain ADVANCED 807 P208 2 Gain ADVANCED 808 P209 Gain ADVANCED RESERVED 809 P210 AO Variable MODBUS address ADVANCED 810 P211 AO2 Variable MODBUS address ADVANCED 811 P212 Variable MODBUS address ADVANCED 812 P213 Amplitude of sinusoidal analog output signal ENGINEERING 100 096 813 P214 Frequency of sinusoidal analog output signal ENGINEERING 1 00 Hz 814 P215 Frequency of saw wave analog output signal ENGINEERING 1 00 Hz 815 144 428 PROGRAMMING SINUS PENTA Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P176 AOlAnalog Output Disabled 10V 0 0 20mA 4 20mA ABS
200. 9xP074a Master mode or in CO48xP074a Slave mode If motor 2 is active C072 and C091 will be used instead of C029 and C048 if motor 3 is active the values set in C114 and C133 will be used Function P074a Percentage of Speed Max Producing Max Reference Y axis related to P074 bene O 1000 7717123 1000 Level ADVANCED Address This parameter represents the max speed percentage or the max torque percentage for a torque reference to be used for the maximum reference set with P074 118 428 SINUS PROGRAMMING OZ SANTERNO INSTRUCTIONS GRUPPO CARRARO 14 MULTISPEED MENU 14 1 Overview AN NOTE See also the INPUTS FOR REFERENCES MENU and the DIGITAL INPUTS MENU The Preset Speed menu allows defining the values for 15 preset speed or multispeed references set in parameters P081 to P098 Their application method is set in The desired speed is selected through the digital inputs described in the previous section relating to the Digital Inputs Menu The following reference ranges that can be programmed with the parameters above 32000 rpm if multispeed unit of measure is gt P100 1 00 rpm 3200 0 rpm if multispeed unit of measure is P100 0 10 rpm 320 00 if multispeed unit of measure is gt P100 0 01 rpm Use parameters C155 C156 C157 and C158 to set the digital inputs in multispeed mode Parameter defines the functionality of the referen
201. A INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO The non condensing function consists in injecting DC into the motor DC current brakes the motor and heats the motor windings thus avoiding condensation This function is active only for the IFD control if C221 is other than zero and ENABLE ON For the other control algorithms the non condensing function is performed by injecting current during motor fluxing Parameter C221 expressed as a percentage of the rated current of the controlled motor determines the level of direct current injected into the braking resistance Parameters used to program this function are the following C216 enabling DCB at Start C218 setting the duration of DCB at Start C220 setting the intensity of the DC braking C221 setting the intensity of the holding current this function is active for the IFD control only Ipc f C220 Enable ON OFF Start Command ON OFF P000351 b Figure 52 DCB at Start with VTC Control Output Speed and DC Braking when the DCB At Start Function is active for the Vector Torque control 332 428 SINUS PENTA PROGRAMMING lt SANTERNO INSTRUCTIONS GRUPPO CARRARO 38 1 2 DC BRAKING AT STOP To activate this function set C215 to YES or in Power Down mode set C234 Power Down Stop Mode as DCB DC Braking occurs after sending a stop with ramp command The speed level for DC Braking is set in C219 If the drive is in Power Down mode and C234 is set a
202. A051 PWMAI Fault Hardware overcurrent side A A052 Illegal XMDI in DGO Illegal configuration of XMDI in the DGO menu A053 PWMA Not ON Hardware failure A power on impossible A054 Option Board not in Failure in detecting preset option I O board A055 PTC Alarm External PTC tripped A056 PTC Short Circuit External PTC in short circuit A057 Illegal XMDI in MPL Illegal configuration of XMDI in the MPL menu A059 Encoder Fault Error of motor speed measure A060 NoCurrent Fault Current is zero in FOC control A061 Ser WatchDog Watchdog tripped in serial link O 9 pole D connector A062 SRI WatchDog Watchdog tripped in serial link 1 RJ45 A063 Generic Motorola Control board failure A064 Mains Loss No power is supplied from the mains A065 AutoTune Fault Autotune failed A066 REF lt 4mA REF Current input 4 20mA lower than 4mA A067 AIN1 lt 4mA AINT Current input 4 20mA lower than 4mA A068 AIN2 lt 4mA AIN2 Current input 4 20mA lower than 4mA A069 5 lt 4mA 5 Current input 4 20mA lower than 4mA A070 Fbs WatchDog Fieldbus Watchdog tripped A071 lms Interrupt OverTime Control board failure A072 Parm Lost Chk Parameter download upload error A073 Parm Lost COMI Parameter download upload error A074 Drive OverHeated Drive thermal protection tripped A075 Motor OverHeated Motor thermal protection tripped A076 Speed Alarm Motor
203. A076 7500 Communication Ser WatchDog A061 SRI WatchDog A062 Fbs WatchDog A070 Illegal Drive Profile Board A095 8000 Monitoring 8300 Torque control 8311 Excess torque Motor OverHeated A075 9000 External malfunction External Alarm 1 A083 External Alarm 2 A084 External Alarm 3 A085 415 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 53 5 Warnings Warning messages are displayed on the display keypad They are flashing messages that usually appear in line 1 or 2 of the first three lines of the display AN NOTE Warnings are neither protections nor alarms and are not stored to the fault list Some warnings simply state what s happening or suggest what to do when using the keypad However most of the warning messages are Coded warnings they are displayed with letter W followed by two digits stating which warning is active at that moment Example W 3 2 OP EN E N A B L E Warning messages are detailed in the following section 416 428 SINUS 53 6 PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO Warning List Table 115 Warning list WOS3 SEARCHING The user interface is searching the data of the next page to display 04 DATA READ KO Software warnings concerning data reading WO6 HOME SAVED The page displayed has been saved as the ho
204. ADVANCED Address This parameter selects the digital signal used to calculate the value of MDO2 digital output It selects an analog variable used to calculate the value of MDO2 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 Function P281 MDO2 Selecting Variable B 0 119 See Table 39 Deen Speed MEA Level Address This parameter selects the second digital signal used to calculate the value of MDO2 digital output It selects an analog variable used to calculate the value of MDO2 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 Function 196 428 PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO SINUS PENTA P282 MDO2 Testing Variable A AN v BS x gt ABS x 2 ABS x lt 850 lt gt Default Level ADVANCED 882 This parameter defines the test to be performed for the variable detected by P280 Function using P284 as a comparing value P283 MDO2 Testing Variable B AN Vv BS x gt BS x ABS X ABS x lt lt ee gt gt IA Default Level ADVANCED Address Functi This parameter defines the test to be performed for the variable detected by P281 unction using P285 as a comparing value 320 00 9 320 00 96 Range 32000 32000 of the
205. ADVANCED C087 C130 1044 1087 1130 This parameter defines the current limit at constant rpm it is expressed as a percentage of the rated current of the selected motor The maximum allowable value depends on the drive size C045 C088 C131 Current Limit while Decelerating 0 Disabled nns 1 096 Min Imax inverter Inom mot 400 096 See Table 72 BASIC C045 ADVANCED C088 C131 1045 1088 1131 FD This parameter defines the current limit while decelerating it is expressed as a percentage of the rated current of the selected motor Function The maximum allowable value depends on the drive size C046 C089 C132 Current Limit Decrease in Flux Weakening 021 0 Disabled 1 Enabled 7080 O Disabled Level ADVANCED Address 1046 1089 1132 Control Fo This parameter enables the current limit decrease function in flux weakening The current limit is multiplied by the ratio between the motor rated torque and the frequency forced to the drive limit current limit being used Fnom Fout Function 283 428 PROGRAMMING SINUS PENTA Z SANTERNO GRUPPO CARRARO C047 C090 C133 Minimum Torque 5000 5000 500 0 500 0 Default 0 0 Level ADVANCED ERICH 1047 1090 1133 em Ml VIC and FOC This parameter sets the min limit of the torque demanded by the control being
206. AIN5 analog input P399 Filtering Time over XAIN5 Input Range 0 65000 0 65000ms Default 100 Level ADVANCED Address Function This parameter selects the value of the filter time constant of the first command applied to XAIN5 input signal when the signal saturation and conversion is over 242 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 30 AUTOTUNE MENU 30 1 Overview NOTE See the FIRST STARTUP section for tuning based on the control algorithm to be used At the end of the Autotune procedure the system automatically saves the whole parameter set of the drive NOTE Autotune must be performed only after entering the motor ratings or the ratings of the NOTE encoder used as a speed feedback Please refer to the MOTOR CONTROL MENU and the ENCODER FREQUENCY INPUTS MENU gt gt The selected motor may be tuned in order to obtain the machine ratings or the parameterization required for the correct functioning of the control algorithms The user can also check the proper operation wiring of the encoder used as a speed feedback The Autotune menu includes two programming inputs 1073 and 1074 Input 1073 allows enabling and selecting the type of autotune Input 1074 which can be programmed only if 1073 Motor Tune describes the type of autotune which is performed Because the values set in 1073 or 1074 cannot be changed once for all and are automatically reset after autotu
207. ANCED 650 This parameter selects the type of single ended analog signal over the REF terminal in the terminal board The signal can be a voltage signal a current signal a unipolar signal or a bipolar signal 0 10 V Bipolar voltage input between 10 and 10V The detected signal is saturated between these two values 1 20 mA Bipolar current input between 20 and 20mA The detected signal is saturated between these two values 2 4 20 mA Unipolar current input with min threshold between 4 mA and 20mA The detected signal is saturated between these two values Before being saturated if the detected signal is lower than 4 mA or greater than 20 mA alarms A066 or A102 trip 3 0 10 V Unipolar voltage input between OV and 10V The detected signal is saturated between these two values 4 0 20 mA Unipolar current input between 0 mA and 20mA The detected signal is saturated between these two values The value set in parameter PO50 must match with the status of SW1 1 switch allowing NOTE selecting the proper electric circuit for the analog signal processing voltage signal or current signal P051 Value of REF Input Producing Min Reference X axis 100 100 if P050 0 10 0 10 0V ifPO50 0 10 200 200 if PO50 1 20 0 mA 20 0 mA if PO50 1 20 mA Range 40 200 if PO50 2 4 0mA 20 0 mA if PO50 2 4 20 mA O 100 if 50 3 O0 0V 10 0V if P050 3 0 1
208. Address 1039 1082 1125 Control IFD This parameter represents the motor rated slip expressed as a value percent If set to O this function is disabled Function C040 C083 C126 Voltage Drop at Rated Current Range 0 500 0 50 0 Po Level ADVANCED Address 1040 1083 1126 Control IFD Defines the increase in voltage in terms of the corresponding produced frequency when the current produced by the motor is greater than or equal to the rated current For example C040 10 Voltage drop at rated current 13 Constant Torque Type of V f pattern C015 50 Hz Rated frequency 019 380 V Rated voltage If the drive output frequency is 25 Hz it must deliver 190V When the output current is equal to the rated current of the motor C018 the voltage actually produced is Vout 190 1 C040 100 2094 Range 40 4000 40 4000 msec Default See Table 71 Level ENGINEERING Address 1041 1084 1127 Control VTC and FOC Function This parameter indicates the time spent for motor fluxing 271 428 PROGRAMMING SINUS PENTA 2 SANTERNO GRUPPO CARRARO C042 C085 C0128 Vout Saturation Percentage 10 120 10 120 96 Default 100 Level ENGINEERING Address 1042 1085 1128 This parameter sets the bus voltage value percent used to generate the output Function voltage of the drive Changes made to this parameter affect the motor performance in terms of flux
209. C Input SW1 3 off SW1 4 5 See note A NOTE If AIN2 input is configured as PTC refer to the MOTOR THERMAL PROTECTION MENU to select the proper parameters lts measures are no longer valid AN NOTE Configurations different from the ones stated in the table above are not allowed CAUTION For each analog input REF AINT AIN2 make sure that the mode parameter setting PO50 P055 PO60 matches with the setting of the relevant SW1 Dip Switches Scaling is obtained by setting the parameters relating to the linear function for the conversion from the value read by the analog input to the corresponding speed torque reference value The conversion function is a straight line passing through 2 points in Cartesian coordinates having the values read by the analog input in the X axis and the speed torque reference values multiplied by the reference percentage parameters in the Y axis Each point is detected through its two coordinates The ordinates of the two points are the following the value of Speed Min or Trq Min for the torque reference multiplied by the percentage set through P051a P056a P061a P071a P073a for the first point the value of Speed Max or Max for the torque reference multiplied by the percentage set through P052a P057a P062a P072a P074a for the second point 103 428 PROGRAMMING SINUS PENTA INSTRUCTIONS Z SANTERNO GRUPPO CARRARO Speed Min depends on the selected motor see parameter C028 motor 1 71 m
210. C011 C054 C097 is set to O Speed 1025 is the speed limit if C147 5 Serial Link and the type of reference of the active motor is set to 2 Torque with Speed Limit The range of this reference depends on the active Minimum Speed value and Maximum Speed value as set in parameters C028 and C029 for motor 1 and relevant parameters for motor 2 and motor 3 If C029 lt C028 then Min speed C029 Max speed C028 If C029 gt C028 then Min speed C028 Max speed C029 1026 is the decimal portion of the speed reference in RPM and has effect in FOC motor control mode only 1029 is used as a torque reference if at least one among parameters C143 146 is set to 5 Serial Link and the type of reference of the active motor parameters CO11 54 C097 is set to 1 Torque or 2 Torque with Speed Limit 1029 is used as a torque limit if C147 5 Serial Link 1029 is expressed as a percentage of the max absolute torque set with the parameters C047 and C048 motor 1 and relevant parameters for motor 2 and motor 3 The max absolute torque is the max value between absolute values of parameters C047 and C048 Max absolute torque Mox C047 C048 The unit of measure is tenths of 96 Torque reference 6 1029 0 1 96 Reference range If C047 lt C028 then Min speed C029 Max speed C028 If C029 gt C028 then Min speed C028 Max speed C029 Example 1200 120 096 For a description of the Fieldbus source
211. C056 v_f mode2 C057 Phase Rot Mot2 0 No C058 Fmot M2 50 0 Hz 59 mot M2 1420 rpm 060 M2 C061 Inom M2 C062 Vnom M2 t 063 M2 0 0 96 064 10 M2 0 C065 Rstat M2 C066 Ld M2 C067 Lm M2 250 00 mH C068 TauRot M2 ms C069 vdcFiltM2 Oms C071 nmin M2 O rpm C072 nmax M2 1500 rpm C073 spddeflux M2 90 96 C074 nsa M2 Disabled 075 Trq2 30 0 96 076 redTrq2 20 96 C077 Preboost 2 l CO077a Boost ref pos M2 0 0 CO077b Boost ref neg M2 0 0 96 C078 Boost0 M2 m C079 Boost M2 CO080 FraBst C081 AutoBst C082 SlipComp M2 Disabled C083 DV_M2 Disabled C084 Tfl M2 C085 Vout Sat M2 8596 08 09 Limits M2 C086 lacclim M2 15096 C087 lrunlim M2 15096 C088 Ideclim M2 F1 C089 defilimRed M2 0 Disabled C090 Tmin M2 0 0 96 C091 Tmax M2 12096 C092 Tlim Ramp 2 50ms C093 fRedLimAcc M2 0 Enabled 423 428 PROGRAMMING INSTRUCTIONS 2 GRUPPO CARRARO SINUS PENTA 09 12 Motor Control C096 Cirl Type 0 IFD C097 RefMode 0 Speed C098 EncEnab 0 No 099 f mode3 C100 Phase Rot Mot3 0 No C101 Fmot M3 50 0 Hz C102 n mot M3 1420 rpm C103 Pnom M3 C104 Inom M3 105 C106 PO 0 0 96 C107 i0 M3 0 96 C108 Rstat M3 C109 Ld M3 C110 Lm M3 250 00 mH C111 TauRot 0 ms C112 vdcFiltM3 Oms C114 nmin M3 0 rpm C115 nmax M3 1500 rpm
212. C198 0 2Ch Quad Number of channels of Encoder B C199 0 Fdbk No Ref No Encoder reading sign reversal 322 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO Motor Control 1 Menu Setup of control mode with speed feedback from encoder and min speed and max speed of the controlled motor 012 5 Speed feedback from M1 encoder C028 Orpm Min speed of motor M1 C029 1500rpm Max speed of motor M1 Control Method Menu Setup of the source of the speed feedback from encoder C143 8 Encoder Selection of reference 1 source C144 0 Disable Selection of reference 2 source C145 0 Disable Selection of reference 3 source C146 0 Disable Selection of reference 4 source References Menu Setup of the reading range for the encoder used as a speed reference P073 rpm Encoder input min rpm P074 750 rpm Encoder input max rpm Ramps Menu Ramps time applied to the reference are reset to maintain the desired speed variation without entering any delay value 0 Acceleration time 1 Deceleration time 1 When motor 1 reaches its max speed 750 the speed reference is 100 because the speed value read by the encoder used as a reference source is saturated and scaled with respect to the min rpm and max rpm set in P073 74 Because the max speed of the motor controlled by the drive is 1500 rpm C029 the speed refere
213. D Sets the rounding off time period for the end stage of the acceleration ramp This parameter is expressed as a percentage of the acceleration ramp time of the active ramp AN NOTE When using parameter P023 the preset acceleration ramp time is increased by 023 2 96 428 PROGRAMMING SINUS PENTA Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P024 Deceleration Ramp Start Rounding Off Time 0 100 Default 50 Level ADVANCED Address See the function for 22 The only difference is that this rounding off function is Tunelen applied to the first stage of a deceleration ramp NOTE When using parameter P024 the preset deceleration ramp time is increased by P024 2 P025 Deceleration Ramp End Rounding Off Time Range 0 100 Default Level ADVANCED Address See the function for 23 The only difference is that this rounding off function is Function applied to the last stage of a deceleration ramp NOTE When using parameter P025 the preset deceleration ramp time is increased by P02596 2 P026 Torque Ramp Time Up 0 32700 Function of P028 Default 500 ADVANCED 626 Defines the time taken by the torque reference of the selected motor to go to zero from max value as an absolute value between Torque min and Torque CO47 C048 for motor 1 and so on P027 Torque Ramp Time Down 0 32700 Function of P028 Def
214. D1 Inverter Run D2 Inverter Ok On D3 Inverter Ok Off 278 Selected Quantity A Out gt Logic Vector Selection P000260 B Figure 32 DIGITAL Mode 184 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS Vector Selection A P000263 B Testing Quantity B Figure 33 ANALOG Mode Selected Quanti A Vector Selection A DO Disable P272 D1 Inverter Run Ok i D2 Inverter Ok On D3 Inverter Ok Off Logic i Selected Quantity B Function Vector Selection B P000261 B Figure 34 DOUBLE DIGITAL Mode 185 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO P270 Vector Selection A Selected Test A Function Out Test 2 Vector Selection B Selected Test B 262 Figure 35 General structure of the parameterization of a digital output 186 428 SINUS GRUPPO CARRARO Z SANTERNO 24 3 Examples This section illustrates some examples A table stating the set up of the parameters used is given for each example Parameters highlighted in grey have no effect due to their preset selection Example 1 Digital output for Inverter Alarm digital command MDO3 digital output default setting Table 41 DGO parameterization for drive State OK PROGRAMMING INSTRUCTIONS P288 MDO3 Digital output mode DIGITAL P289 Variable A selection D3 Inverter Ala
215. DC bus Voltage lower than minimum voltage Voltage measured in DC bus capacitors has dropped below the min value allowed for a proper operation of the drive class being used e Supply voltage has dropped below 200Vac 25 class 2T 380V 35 class AT 500V 15 class 5T 600Vac 596 class 6T e Alarm A047 can trip even when voltage temporarily drops below the allowable min value which is caused for example by the direct starting of the connected load e f the drive is powered directly by the bus bar the bus feeder is responsible for the alarm e Failure in DC bus voltage measure circuit 1 Check voltage in terminals R S T Check mains voltage value and DC bus voltage value 29 Also check the values of MO30 and 29 sampled in the FAULT LIST when the alarm tripped 2 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service 401 428 PROGRAMMING INSTRUCTIONS A048 Overvoltage 402 428 Description Possible cause Solution Description Possible cause Solution Description Possible cause Solution SINUS PENTA PZ SANTERNO GRUPPO CARRARO N Overvoltage in DC bus voltage in DC link Voltage measured in DC bus DC link capacitors has exceeded the value allowed for a proper operation of the drive class being used e Check that voltage does not exceed 240Vac 10 class 2T 480V 10 class 515Vac 10 class 5T 630Vac 1096 class 61
216. DI2 When autotune is over one of the following messages is displayed W31 Encoder Ok encoder direction matches with the motor direction of rotation wrong encoder reading check parameters in the Encoder Frequency Input menu and check wiring If encoder B is used check the configuration of the dip switches in the encoder board and the configuration of the jumper selecting the encoder supply mode When performing the Autotune function the encoder signal used as feedback is ENCODER B Encoder acquired via option board ES836 see the Installation Instructions manual for the Configuration of the jumper and the dip switches for the encoder type and supply In the Encoder Frequency Input menu set the source for Encoder B speed feedback set C189 AZ NO B FBK if also encoder B or frequency input FIN B used see programming options for C189 in the Encoder Frequency Input section Set the number of pls rev for the encoder being used parameter C191 SINUS PENTA SINUS PROGRAMMING Z SANTERNO GRUPPO CARRARO 5 5 Configuring a Reference from Encoder Setting Write Enable P001 Eng Access Level See flowchart A for the reference selection and set the encoder as the reference source ENCODER A Push Pull single ended 24V encoder connected to digital inputs MDI6 and MDI7 ENCODER B Encoder acquired with option board ES836 see the Inst
217. DVANCED 665 If this parameter is other than zero the current speed reference computed when processing of all active source references is over it is saturated as an absolute value of this parameter s value Saturation implies an absolute value i e this parameter determines a prohibit range of the reference approx zero Example P065 100 rpm and current speed reference is 500 rpm if reference drops below 100 rpm for example down to 50rpm the value of the active reference is saturated to 100 rpm until reference exceeds 100 rpm again or is lower than 100 rpm in that case the preset value will be assigned to the reference If also parameter 66 is other than zero the drive disabling function is enabled if the absolute value of the current speed reference is kept in the prohibit range for a time longer than the time set in PO66 reference is set to zero and the motor speed decreases following the active ramp up to zero rpm when the motor speed is equal to zero the drive will automatically deactivate The drive will automatically reactivate if the reference exceeds the value set in parameter P065 as an absolute value Function AN NOTE Parameter 65 is active in Master mode only i e when the reference is a speed reference NOTE Parameter 65 is active only when the Speed searching and Power Down functions are disabled C245 0 and C225 0 PO 66 START Disable delay at P065 Threshold O 250 0
218. Digital Outputs P270 Outl Mode 3 Analog P271 OutlSell A61 Speed P272 Out1Sel2 A61 Speed P273 Outl Test 0 gt P274 Out1 Test2 3 lt 275 001 ValTst1 50 000 rpm P276 D01 ValTst2 10 000 rpm P277 Out Func 1 A Set B Reset P277a Outl Sell DO Disable P277b Outl Func 0 f A B OR C P278 OutlLogic 1 True P279 Out2Mode 6 Brake P280 Out2Sel1 71 Torque output P28 1 Out2Sel2 A61 Speed P282 Out2 Test 0 gt P283 Out2 Test2 3 lt P284 DO2 ValTst1 20 000 P285 D02 ValTst2 50 000 rpm P286 Out2Func 1 A Set B Reset P286a Out2Sell Disable P286b Out2Func 0 OR C P287 Out2Logic 1 True P288 Out3Mode 1 Digital P289 Ou 3Sell D3 Inverter Alarm P290 Out3Sel2 D3 Inverter Alarm P291 Out3 Test 0 gt P292 Out3 Test2 0 gt P293 D03 ValTst1 0 000 P294 D03 ValTst2 0 000 P295 Out3Func 0 A OR P295a Out3Sel1 DO Disable P295b Out3Func 0 f A B OR C P296 Out3Logic 0 False P297 Out4Mode 1 Digital P298 Out4Sell D1 Inverter Run Ok P299 Out4Sel2 D1 Inverter Run Ok P300 Out4 Test 0 gt P301 Out4 Test2 0 gt P302 D04 ValTst1 0 000 P303 D04 ValTst2 0 000 P304 Out4Func 0 A OR B P304a Out4Sell Disable P304b Out4Func 0 f A B OR C P305 Out4Logic 1 True 421 428 PROGRAMMING 9x SINUS PENTA
219. Disabled C264 Heatsink Temperature for Fan Activation Range 1 100 Default 50 Level ADVANCED Address The heatsink cooling fans are switched on each time the drive is enabled and the IGBTs are switching When disabled the fans are switched off only if the heatsink Function temperature drops below the value set in C264 Set Always ON for cooling fan continuous operation The real temperature of the heatsink can be displayed in measure parameter M064 This parameter has effect only for the Penta models where fans are controlled directly by AN NOTE the drive control board N as displayed on the Product screen in the PRODUCT MENU The last field of line 3 shows a code relating to the type of fan operation e _ Fans are not controlled by ES821control board e S ES821 Control board detects the correct operation of the cooling fans in cause of fan fault the relevant alarm trips e activation depends on the thermoswitch condition detected by the control board e N The temperature sensor controlling the fan operation is an NTC Temperature is measured by ES821 control board M064 the threshold for switching off the fans when the drive is disabled is set in parameter C264 In this case only fan activation depends on parameter C264 357 428 PROGRAMMING INSTRUCTIONS SINUS PENTA C265 C268 C271 Thermal Protection Activation Range Default Level Address Function Range
220. ED MENU e C186 MDI Enabling Fire Mode see the DIGITAL INPUTS MENU The Fire Mode is enabled when closing the MDI set through C186 The drive will use the speed reference set in PO99 and the ramp times set in PO32 All alarms will be ignored except for the following A041 FAULT Side A IGBT Hardware Side A general alarm A044 OVERLOAD SW Software Overcurrent A048 OVER VOLTAGE DC bus voltage exceeding Vdc max A050 IGBT FAULT A Hardware Fault from IGBT Drive side A A051 OVERLOAD HW A Hardware Overcurrent side A A053 PWMA Not ON Hardware Failure Side A IGBT cannot be fired Control Board Failure When the Fire Mode is active innumerable alarm autoresets are automatically enabled 30 428 If an asterisk appears next to INVERTER OK on the display the product guarantee is no longer valid The asterisk appears if at least one condition requiring the activation of a protection feature occurs when the inverter is running in Fire Mode SINUS PENTA PROGRAMMING 22 SANTERNO INSTRUCTIONS GRUPPO CARRARO 5 PROGRAMMING EXAMPLES 5 1 Overview This section illustrates some programming examples for particular functions of the Penta drive Flowcharts are used for easier reference For any detail concerning individual parameters see the relevant sections in this manual 5 2 Programming a Reference Speed Torque Reference PID Reference Feedback PID Ref Fdb
221. EQUENCY PATTERN alere W WARNING BIST es et xe tpe neu 417 WATCHDOG isc scien EET 376 X 238 238
222. Elettronica Santerno Customer Service SOS OL B 0 A RESET command must be sent to reset the alarms tripped Do one of the following e Enable the RESET signal in MDI3 terminal in the hardware terminal board e Press the RESET key on the keypad e Enable the RESET MDI3 signal in one of the virtual terminal boards enabled as remote control sources see the CONTROL METHOD MENU To activate the Autoreset function enable parameter C255 see the AUTORESET MENU the drive will automatically try to reset the alarms tripped 396 428 SINUS 53 3 Alarm List 2 SANTERNO PROGRAMMING INSTRUCTIONS GRUPPO CARRARO Table 113 List of the possible alarms A001 A032 Bee Control board failure A033 TEXAS VER KO Incompatible Texas Software Version A039 FLASH KO Texas Flash not programmed A040 User Fault Alarm caused by the user A041 PWMA Fault General hardware fault from IGBT side A A042 Illegal XMDI in DGI Illegal configuration of XMDI in the DGI menu A043 False Interrupt Control board failure A044 SW OverCurrent Software overcurrent A045 Bypass Circuit Fault Fault of the precharge By Pass A046 Bypass Connector Fault Precharge By Pass connector fault A047 UnderVoltage Dc bus voltage lower than Vdc min A048 OverVoltage Dc bus voltage exceeding Vdc max A049 RAM Fault Control board failure A050 PWMAO Fault Hardware Fault from IGBT converter side A
223. Encoder B is not fitted has been improperly mounted or is faulty Possible connector failure 1 Check and adjust the value set in C189 see the ENCODER FREQUENCY INPUTS MENU 2 Check and adjust the control function programming for digital inputs MDI6 and MDI7 see the DIGITAL INPUTS MENU 3 Check if optional encoder board is fitted and properly mounted 410 428 Possible cause Solution Description Event Possible cause Solution A083 External alarm 1 A084 External alarm 2 A085 External alarm 3 The External Alarm 1 2 3 functionality has been programmed but the relevant digital input is disabled see the DIGITAL INPUTS MENU If multiple digital command sources are programmed alarms A083 A085 trip if one of the terminals in the active sources is disabled see the CONTROL METHOD MENU The cause for the alarm trip does not depend on the drive check for the reason why the contact connected to terminal MDIx where the External Alarm function is programmed opens Check external signal Loss of x 15V The voltage level of x 15V is inadequate Possible failure of the control board or other circuits in the Penta Drive Reset the alarm send a RESET command If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service SINUS PENTA PROGRAMMING E SANTERNO INSTRUCTIONS GRUPPO CARRARO D Overvoltage due to the overload of the braking resistor that has been operating for a time equal
224. Fuscion better the reference set CO29xP392a Master mode or in CO48xP392a Slave mode If motor 2 is active C072 and C091 will be used instead of C029 and C048 if motor 3 is active the values set in C115 and C134 will be used P392a Percentage of Speed Max Trq Max Producing Max Reference Y axis related to P392 0 1000 100 096 Default 1000 Level ADVANCED Address This parameter represents the max speed percentage or the max torque percentage for a torque reference to be used for the maximum reference set with P392 P393 Offset over XAIN4 Input Range 10 00V 10 00 V Default o yi Level ADVANCED Address This parameter selects the offset correction value of the XAIN4 analog signal that has been measured AWE The value set is added to the signal measured before saturation or conversion its unit of measure is the same as the one of the signal selected for XAIN4 analog input 240 428 SINUS PROGRAMMING 2 SANTERNO GRUPPO CARRARO P394 Filtering Time over XAIN4 Input 65000 0 65000ms Default 100 Level ADVANCED Address This parameter selects the value of the filter time constant of the first command applied to the XAIN4 input signal when the signal saturation and conversion is over P395 Type of Signal over XAIN5 Input Level ADVANCED Address This parameter selects the type of differential analog
225. G 100 00 1356 P447 Min allowable value of PID2 feedback ENGINEERING 0 00 1357 P448 Max allowable value of PID2 feedback ENGINEERING 100 00 1358 P449 PID2 reference ramp up time ENGINEERING Os 1359 P450 PID2 reference ramp down time ENGINEERING Os 1360 451 Unit of measure of PID2 ramp ENGINEERING 1 0 15 1361 P452 PID2 ramp start rounding off ENGINEERING 5096 1362 P453 PID2 ramp end rounding off ENGINEERING 5096 1363 P454 Integral term activation threshold ENGINEERING 0 0096 1364 P455 START Disable delay with PID Out P437 ENGINEERING 0 Disabled 1284 P456 PID2 output gradient limit ENGINEERING 1 ms 1368 P457 Gain for PID2 measure scaling ENGINEERING 1 000 1369 P460 Gain for Anti Wind Up ENGINEERING 1 00 1370 NOTE summed outputs C291a 7 2 PID and C171a 0 Disabled Parameters P437a P437b and P455 are overridden if the Two PIDs mode is selected with 175 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 24 DIGITAL OUTPUTS MENU 24 1 Overview The Digital Outputs menu includes the parameters allowing configuring the drive digital outputs MDO1 MDO2 MDO3 and MDO4 NOTE The Digital Outputs menu may be accessed only if the user level is ADVANCED or ENGINEERING NOTE For a detailed hardware description of the digital outputs please refer to the Sinus Penta s Installation Instructions manual NOTE MDO digital output can be programmed only if the frequency output is not
226. ING SINUS PENTA Z SANTERNO INSTRUCTIONS GRUPPO CARRARO C247 Frequency Decrease Rate 1 100096 Default 1096 Level ENGINEERING 1247 lere NN This parameter sets the frequency decrease rate during the speed search stage The frequency decrease rate expressed in Hz s is given from the following formula x C247 10 This means that when C247 100 1 Penta drive takes 105 to go from the max frequency to OHz When C247 10 0 1 default value the system takes 1005 to go from the max frequency to OHz The maximum frequency of the connected motor is given from the following formula fax npoles x C029 2 x 60 AN NOTE The frequency decrease rate is not dependent on the preset ramp times NOTE When the Penta drive enters the current limitation mode the time the system takes for speed searching can be longer than the preset time C248 Current Used for Speed Searching 20 MIN 10596 Drive Imax Motor Inom 100 75 Level ENGINEERING DC 1248 lere FD Determines the max current level for speed searching it is expressed as a percentage of the rated motor current 0 Last speed 023 1 MaxSpd Last dir 2 MaxSpd Pos Dir 3 MaxSpd Neg Dir 0 Last speed Function Default Level ENGINEERING tW 1249 Speed Searching starts according to the value set in C249 C249 O Last Speed Value the last speed search value generated be
227. ING Address 1302 Control VTC and FOC This parameter determines the digital input assigned to the mechanical brake closure feedback NO contact which closes only when the brake is engaged When the brake closure is detected after a deceleration ramp the current required for motor fluxing is injected into the motor If no digital input is Function available for the detection of the brake closure set max time in C183 in order to avoid injecting current into the motor after the deceleration ramp When the motor is not running the START command is disabled and the speed setpoint is at zero for a time longer than the one set in C183 the drive will be put on standby 372 428 SINUS PENTA PROGRAMMING 4 SANTERNO INSTRUCTIONS GRUPPO CARRARO 46 SERIAL COMMUNICATIONS 46 1 Overview Sinus Penta drives may be connected to other devices through a serial link This allows reading and writing the parameters accessed through the remotable display keypad Elettronica Santerno also supplies the RemoteDrive software package allowing controlling the drive through a computer connected via serial link The RemoteDrive offers the following functionality image copy keypad emulation oscilloscope functions and multifunction tester data logger history data table compiler parameter setting and data reception transmission storage from and to a computer scan function for the automatic detection of the connected inverters up to 247 connec
228. ING 0 0096 845 P246 Max value of PID reference ENGINEERING 100 0096 846 P247 Min value of PID feedback ENGINEERING 0 0096 847 P248 Max value of PID feedback ENGINEERING 100 0096 848 P249 PID reference ramp up time ENGINEERING Os 849 P250 PID reference ramp down time ENGINEERING Os 850 P251 Unit of measure of PID ramp ENGINEERING 1 0 1s 851 252 ramp start rounding off ENGINEERING 5096 852 P253 PID ramp end rounding off ENGINEERING 5096 853 P254 Integral term activation threshold ENGINEERING 0 0096 854 P255 START Disable delay with Out P237 ENGINEERING 0 Disabled 855 P256 PID output gradient limit ENGINEERING ms 856 P257 Gain for PID measure scaling ENGINEERING 1 000 857 P260 Gain for Anti windup ENGINEERING 1 00 860 166 428 SINUS P236 Max Value of Output Default Level 55 Function P237 Min Value of PID Output Default Level Address Function PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 10000 9 10000 100 00 100 00 10000 100 00 ENGINEERING 836 This is the max allowable value of PID regulator output This value is expressed as a percentage its allocation depends on parameter C294 defining PID action Example if C294 External Out the PID regulator delivers a reference obtained based on the controlled variable and its setpoint In this case the PID output can be brought o
229. ING MENU for more details 4 5 Controlled Stop in Case of Power Failure Power Down See the POWER DOWN MENU to set a controlled stop in case of power failure 27 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 4 6 DC Braking When using a Volt Freq IFD or Vector Torque VTC control algorithm you can set DC braking at start or at stop The DCB Hold function can be set for the Volt Freq IFD function See the DC BRAKING MENU for more details 4 7 Motor Thermal Protection The Motor Thermal Protection function protects the motor against possible overloads This function can be obtained via a PTC acquired in AIN2 analog input up to 6 PTCs can be series connected or it can be a software protection implemented through an algorithm reproducing the motor thermal image See the MOTOR THERMAL PROTECTION MENU for more details For more details about using AIN2 input please refer to the Sinus Penta s Installation Instructions Manual 4 8 Prohibit Speeds Prohibit speeds are speed ranges corresponding to mechanical resonance frequencies They prevent the drive from running at the preset speed ranges See the PROHIBIT SPEED MENU for more details 4 9 Digital PID Regulator The Sinus Penta drive is provided with a digital PID proportional integral derivative regulator that can be used to implement the following e Analog output e Main reference of the drive Speed Torque reference e Correction of t
230. INSTRUCTIONS GRUPPO CARRARO 8 4 Digital Inputs Menu This menu allows checking the state of the command sources for the digital inputs local terminals serial link and fieldbus the terminal board resulting from their combination and the terminals which are actually used for the drive control The terminals which are actually used to control the drive also consider any timers applied to the digital inputs M031 Delayed Digital Inputs See Table 1 Always active 1681 State of the virtual control terminal board used by the drive This is the terminal board resulting from the combination of the preset command sources local terminal board serial link and fieldbus where the ENABLE command is given by the AND logic of all the ENABLE commands For the other inputs the OR command between the different command sources is used See also the CONTROL METHOD MENU and the TIMERS MENU Range Bit controlled See Table 1 measure Active Always active Address State of the virtual control terminal board before applying the timers to the digital inputs if no timer is applied it matches with M031 This is the terminal board resulting from the combination of the preset command sources local terminal board serial link and fieldbus where the ENABLE command is given by the AND logic of all the ENABLE commands For the other inputs the OR command between the different command sources is used See also the CONTROL METHOD ME
231. INSTRUCTIONS SANTERNO GRUPPO CARRARO P306 P317 Aux Digital Outputs P306 Out1Sel DO Disable P307 OutlLogic 1 True P308 Out2Sel DO Disable P309 Out2Logic 1 True P310 Out3Sel DO Disable P311 Out3Logic 1 True P312 Out4Sel DO Disable P313 Out4Logic 1 True P314 Out5Sel DO Disable P315 Out5Logic 1 True P316 Out6Sel DO Disable P317 Out Logic 1 True P32x PT100 Settings P320 Meal Type 0 Disable P321 Offset Meal 0 322 2 Type 0 Disable P323 Offset Mea2 0 324 3 0 Disable P325 Offset Mea3 0 P326 Mea4 Type 0 Disable P327 Offset 0 P33x Fieldbus Parameters P330 fbs meas3 M012 Torq Out 96 P331 fbs meas4 M022 Out P35x P38x MPL P350 Out1 Mode 1 Digital P351 Out1Sel1 D21 MDI Enable P352 Out1Sel2 Disable P353 Outl Test 0 gt P354 Out1 Test2 0 gt 3 lt P355 D01 ValTst1 0 356 001 ValTsi2 0 P357 OutlFunc 0 OR B P357a Outl Sell DO Disable P357b Out Func 0 f A B OR C P358 Outl Logic 1 True P359 Out2Mode 1 Digital P360 Out2Sel1 A71 Torque output P361 Out2Sel2 A61 Speed P362 Out2 Test 0 gt P363 Out2 Test2 3 lt P364 DO2 ValTst1 20 000 96 P365 D02 ValTst2 50 000 rpm P366 Out2Func 1 A Set B Reset P366a Out2Sell DO Disable P366b Out2Func 0 f A B OR C P367 Out2Logic 1 True P368 Out3Mode 1 Digital P369 Out3Sel1 D2 Inverter Ok On P370 Out3Sel2 D2 Inverter Ok On P37 1 Out3 Test 0 gt P372 Out3 Test2 0 gt P373 D03 ValTst1 0 000 P374 D03 ValTst2 0 000 P375 Out3Func 0 A
232. L OUTPUTS PAR PT100 MEASURE SETTINGS PAR FIELDBUS PARAMETERS PAR VIRTUAL DIGITAL OUTPUTS PAR INPUTS FOR REFERENCES FROM OPTIONAL BOARD Figure 1 Menu Tree PROGRAMMING INSTRUCTIONS 17 428 SINUS PENTA PROGRAMMING INSTRUCTIONS GRUPPO CARRARO Z SANTERNO 1 3 Navigation e Page INVERTER OK INVERTER OK INVERTER OK INVERTER OK 00 0 00 00 0 00 00 0 00 C2 M00 0 00rpm M02 0 00 rpm M02 0 00 rpm M02 0 00 rpm M02 0 00 rpm MEA PAR CF IDP a MEA PAR CF IDP GO MEA PAR CF IDP O MEA PAR CF IDP MEASURE MENU PARAMETERS MENU PRODUCT MENU M Parameters P Pars that can Language selection Cannot be altered be altered when and Inverter data motor is running MEA PAR IDP SINUS PENTA MOTOR PASSWORD AND Start Up Menu MEASURES ACCESS LEVEL Press ENTER to start MEA PAR IDP PID REGULATOR DISPLAY KEYPAD PRODUCT Gite P009 Acceler Ramp 1 meng 10 005 Navigation within P010 Deceler Ramps Ramp 1 menu 10 005 Access to parameter PO10 Deceler alteration P010 Ramp 1 NM gt 0 005 D Parameter alteration Deceler P010 Ramp 1 SUA 528 20 00s If the ESC key is pressed to quit the new parameter
233. Level Address This is the value of the proportional coefficient The PID regulator will use Kp JASE resulting from the product of P240 multiplied by P241 multiplicative factor P241 Multiplicative Factor of P240 Default Level Address Multiplicative factor of the proportional coefficient This is used to obtain a wider range for the proportional coefficient used in PID regulator and ranging from 0 000 to 6500 0 Function Supposing that the default values are used for P240 and P241 the proportional coefficient used in the PID regulator is unitary in case an error of 1 occurs between the reference and the controlled variable the proportional term representing one of the three values of the regulator output will be 1 P242 PID Integral Time Multiples of P244 Range 0 65000 0 Disabled 65000 Tc ms 500 500 Te ms Level ENGINEERING Address 842 Ti constant dividing the integral term of PID regulator Ki 1 Ti 1 P242 Ts It is expressed in sampling time units Ts see P244 If this parameter is set to zero the integral action is cancelled Function P243 PID Derivative Time Multiples of P244 0 65000 0 65 000 Tc ms Default Level l ENGINEERING 843 Constant multiplying the derivative term of PID regulator If this parameter is set to zero the derivative action is disabled Function 169 428 SINUS PROGRAMMING
234. M digital input or when a control source switches to the other using the digital input programmed in C179 MDI for source selection see the DIGITAL INPUTS MENU 68 Reset UP DOWN PID at Source Changeover Range 0 NO 1 YES Default Level ADVANCED Address If PO68d 1 Yes the PID reference sent via the UP DOWN digital signals or with the A and keys in the keypad is reset whenever switching from the Remote mode to the Local mode and vice versa using the LOC REM key or the LOC REM digital input or when a control source switches to the other using the digital input programmed in C179 MDI for source selection see the DIGITAL INPUTS MENU P069 Range of UP DOWN Reference Range 0 Bipolar 1 Unipolar 1 Unipolar Level ADVANCED Address If PO69 1 the quantity added via the UP DOWN digital signals or with the A and V keys Local mode is unipolar i e it is positive only and has a min value equal to zero For bipolar quantities the added quantity may be negative Function P070 JOG reference Speed Torque Range NEMO Level ADVANCED Address Value of the JOG reference For speed control the percentage of the jog reference relates to the maximum speed value of the selected motor max value as an absolute value between min and max speed parameters in case of torque control the percentage of the jog reference relates to the max torque value of the selected moto
235. M2 Current limit while accelerating 1086 15096 C129 M3 BEEN gt C044 MI BASIC 1044 C087 M2 Current limit at constant rpm 1087 150 C130 M3 1130 C045 MI BASIC 1045 C088 M2 Current limit while decelerating 1088 See Table 72 C131 M3 BEND us C046 MI 1046 C089 M2 Current limit decrease in flux weakening ADVANCED 1089 0 Disabled C132 M3 1132 C047 MI 1047 C090 M2 Minimum torque ADVANCED 1090 0 096 C133 M3 1133 48 MI BASIC 1048 C091 M2 Maximum torque 1091 120 0 C134 M3 ED un C049 1 1049 C092 M2 Ramp time for torque limit ADVANCED 1092 200 096 sec C135 M3 1135 C050 MI Frequency decrease during acceleration 1050 C093 M2 limit ADVANCED 1093 0 Enabled C136 M3 1136 282 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO C043 C086 C129 Current Limit While acceleratin 0 Disabled Range 1 0 Min Imax inverter Inom mot 400 0 DOCUMEN 150 Level BASIC C043 ADVANCED C086 C129 ECES 1043 1086 1129 lere NE This parameter defines the current limit while accelerating it is expressed as a percentage of the rated current of the selected motor Function The maximum allowable value depends on the drive size C044 C087 C130 Current Limit at Constant Rom 0 Disabled EINE 0 2000 1 0 Min Imax inverter Inom mot 400 0 Default 150 Level BASIC C044
236. M2 1 00 96 P145 Ti min M3 0 500 s P146 Ti max M3 0 500 s P148 Kp min M3 10 00 P149 Kp max M3 10 00 P150 Err min M3 1 00 96 P151 Err max M3 1 00 96 P152 curr symm 0 96 P15x P17x FOC Regulator P155 Curr Kp MI 3 00 P156 Curr Ti MI 20 0 ms P158 Flux Kp 1 0 00 P159 Flux Ti 1 33 ms P162 Curr Kp M2 3 00 P163 Curr Ti M2 20 0 ms P165 Flux Kp M2 0 00 P166 Flux Ti M2 33 ms P169 Curr Kp M3 3 00 P170 Curr Ti M3 20 0 ms P172 Flux Kp M3 0 00 P173 Flux Ti M3 33 ms P17x P21x Analog Outputs P176 AO1 Mode 1 10V P177 AO1 Se 1 Motor Speed P178 AO1 Min 1500 000 rpm P179 AO1 Max 1500 000 rpm P180 AO1 Offset 0 000 V 181 0 000 s P182 AO1 Out min 10 0 V P183 AO1 Out max 10 0V 184 2 Mode 1 10V P185 AO2 Se 2 Speed Ref P186 AO2 Min 1500 000 rpm P187 AO2 1500 000 rpm P188 AO2 Offset 0 000 V 189 2 0 000 5 190 2 Out min 10 0 V P191 AO2 Out max 10 0 V P192 AO3 Mode 1 10V P193 AO3 Se 5 Motor Current P194 AO3 Min 0 000 A P195 AO3 Max 36 000 A P196 AO3 Offset 0 000 V P197 AOS 0 000 s P198 AO3 Out min 10 0 V P199 AO3 Out max 10 0 V P200 PulsOut Mode 0 Disabled P201 PlsOut Sel 1 Motor Speed P202 Pls Out Min O rpm P203 Pls Out Max rpm P204 Pls Out Fmax 10 00 kHz P205 Pls Out Fmin 100 00 kHz P206 Pls Out Filt 0 000 s P207 AO1Gain P208 AO2Gain P209 AO3Gain RESERVED P210 AO Address RESERVED P211 AO2Address P212 AO3Address P213 Sin Amp 100 0 P214 Sin Freq 1 00 Hz P215 Saw Freq 1 000 Hz
237. MING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO C300 C300a Pretensioning Torque Range 5000 5000 500 0 500 0 Default o oo Level ENGINEERING Address 1300 1308 Control VTC and FOC If not set to zero this parameter defines the torque value expressed as a percentage of the rated torque of the selected motor reached before the speed ramp starts after sending a START command After sending a START command the drive brings the motor torque to the level set in C300 C300a and torque is adjusted by the speed loop for the time set Function in C301 C301a in order to keep the motor standstill Once this time has elapsed the speed ramp can start and the motor follows the required speed profile The torque sign defines the running direction The sign of the speed reference determines which value percent is to be used C300 is for the positive sign C300a is for the negative sign C301 C301a Pretensioning Torque Time Range 0 32000 0 32000 ms Level ENGINEERING Address 1301 1309 Control VTC and FOC Delay time passing between the start command and the speed ramp start Function During this time the motor torque output is set in C300 C300a to keep the load suspended C302 Closed Brake Input NO contact 0 19 0 gt Inactive 1 825 MDI8 20 if ES847 or ES870 is 9 125 MPL1 MPL4 installed 13 20 XMDI1 XMDI8 Default C 0 gt Inactive Level ENGINEER
238. Mspd8 ADVANCED 0 00 rpm 691 P092 Output speed Mspd9 ADVANCED 0 00 rpm 692 P093 Output speed Mspd10 ADVANCED 0 00 rpm 693 P094 Output speed Mspd 11 ADVANCED 0 00 rpm 694 P095 Output speed Mspd 12 ADVANCED 0 00 rpm 695 P096 Output speed Mspd 13 ADVANCED 0 00 rpm 696 P097 Output speed Mspd 14 ADVANCED 0 00 rpm 697 P098 Output speed Mspd 15 ADVANCED 0 00 rpm 698 P099 Fire Mode speed ENGINEERING 750 rpm 699 P100 Multispeed unit of measure ADVANCED 2 1 0 rpm 700 119 428 PROGRAMMING INSTRUCTIONS PO80 Multispeed Function Default Level Function SINUS PENTA 0 Preset Speed 1 Sum Speed 2 Exclusive Preset Speed 0 Preset Speed Defines the functionality of the multispeed values for the global speed reference Three functions are available e 0 Preset Speed the selected multispeed is the actual rpm value upon limit due to min and max speed parameters for the selected motor of the motor speed reference If no multispeed is selected no digital input programmed for multispeed selection is activated or all digital inputs programmed for multispeed selection are deactivated the speed reference is the reference for the sources set in the CONTROL METHOD MENU e 1 Sum Speed gt the reference relating to the selected multispeed is considered as the sum of the references for the other reference sources selected in the CONTROL METHOD MENU e 2 Exclusive Preset Speed the selected multispeed is the actua
239. NG 1188 none C172 KEYPAD LOCK Input ADVANCED 1172 none C173 MOTOR 2 SEL Input ENGINEERING 1173 none C174 MOTOR 3 SEL Input ENGINEERING 1174 none C175 SPEED VAR 0 Input ENGINEERING 1175 none C176 SPEED VAR 1 Input ENGINEERING 1176 none C177 SPEED VAR 2 Input ENGINEERING 1177 none C178 PID RESET UP DOWN input ADVANCED 1178 none C179 SOURCE SELECTION Input ADVANCED 1179 MDI6 C180 LOC REM Input ADVANCED 1180 MDI7 C180a Type of LOC REM contact ADVANCED 1303 Pushbutton Storage C181 Safety Start enable ADVANCED 1181 inactive C182 Multiprogramming enable ENGINEERING 1182 inactive C183 Max fluxing time before drive Disable ADVANCED 1183 disabled C184 Fluxing at activation only with START closed ADVANCED 1184 no C185 Stop Mode ADVANCED 1185 deceleration ramp C186 Fire Mode enabling Input ENGINEERING 1186 none Table 82 List of parameters C149a to C188c and 1006 301 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO C187 Torque Limit Source Ref Disabling Input 1187 none C188a PID Multireference 1 Input 1365 none C188b PID Multireference 2 Input 1366 none C188c PID Multireference Input 1367 none NOTE NOTE AN CAUTION If a parameter is set to zero its function is disabled otherwise the parameter value stands for the MDIx input assigned to the function Auxiliary digital inputs XMDI values from 13 to 20 in control function parameters can be set up on
240. NTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 48 FIELDBUS CONFIGURATION MENU 48 1 Overview See the OPTIONAL BOARDS FOR FIELDBUS section in the Sinus Pento s Installation Instructions Manual for the description of the optional board required NOTE NOTE Once saved they are active only when the drive is next switched on or when the control board is reset by holding down the RESET key for more than 5 secs The parameters included in this menu are Rxxx parameters This menu is not applicable to ES919 communications boards see relevant section in the Sinus Penta s Installation Instructions Manual 5919 boards act as gateways and change the MODBUS RS485 packets into the packets of each protocol being used CAUTION The exchanged parameters are all the Mxxx measures from the Sinus Penta to the Master and all the box inputs from the Master to the Sinus Penta as detailed in the MEASURES MENU Table 76 Remote command inputs from serial link and Table 77 Reference inputs from serial link 48 1 1 ALARM A070 COMMUNICATION SUSPENDED Alarm A070 trips if the Sinus Penta is not sent any legal message via FIELDBUS within the timeout set in parameter RO16 Set parameter RO16 to O to disable alarm A070 A legal message is the word of the digital inputs M035 with bit 15 1 written by the master Important this is enabled only when the drive receives the first message with bit 15 1 To reset alarm A070 force com
241. NTA PROGRAMMING INSTRUCTIONS 22 SANTERNO GRUPPO CARRARO 7 FIRST STARTUP For the signal wiring and power wiring please refer to the Sinus Penta s Installation Instructions manual Parameter programming is detailed in the START UP MENU 7 1 IFD Control Algorithm SINUS PENTA drives are factory set with the IFD C010 control algorithm allowing the first startup of the equipment The default functions of the drive terminals are given in the table below For more details please refer to the Sinus Penta s Installation Instructions manual 1 Wiring Follow the instructions stated in the Caution Statements and Installation sections Installation Instructions Manual 2 Power on Power on the drive and do not close the link to the START input to prevent the motor from running 3 Parameter alteration Access parameter POOO Key parameter and set its code default value 00001 Use the ESC A V and SAVE ENTER keys to access the programming parameters Also refer to the Menu Tree 4 Supply voltage Set the real supply voltage for the drive You can set either mains voltage range or the DC supply stabilized by a Regenerative Penta drive To set the type of power supply for the drive access the MOTOR CONTROL MENU and set configuration parameter 8 to the value corresponding to the installation concerned 5 Motor parameters Set C010 Control Algorithm as IFD Voltage Frequency set the motor ratings as follows C0
242. NU and the TIMERS MENU Function Table 1 Codification of Measures M031 M032 0 START 5 MDI6 ECHA FINA 1 MDI2 ENABLE 6 MDI7 ECHB 2 MDI3 RESET 7 MDI8 FINB 3 MDI4 8 ENABLE 5 4 MDI5 9 ENABLE M033 Local Control Terminal Board Range Bit controlled measure See Table 2 Active Always active Address State of the digital inputs in the drive terminal board Range Bit controlled measure See Table 2 Active Always active Address Function State of the digital inputs in the terminal board controlled via serial link 59 428 SINUS PENTA PROGRAMMING NET ON 22 SANTERNO M035 Control Terminal Board from Fieldbus Range Bit controlled measure See Table 2 Active Always active 55 Function State of the digital inputs in the terminal board controlled from fieldbus Table 2 Codification of Measures M033 M034 M035 0 START 4 MDI5 1 MDI2 ENABLE 5 MDI6 ECHA FINA 2 MDI3 RESET 6 MDI7 ECHB 3 MDI4 7 MDI8 FINB M036 Auxiliary Digital Inputs in the Terminal Board Range Bit controlled measure See Table 3 Active Always active Address Function State of the 8 auxiliary digital inputs in E5847 or ES870 terminal board M036a Auxiliary Digital Inputs via Serial Link Bit controlled measure See Table 3 Active Always active Address Function State of the 8 auxiliary digital inputs via seria
243. Note The actual range depends on the max value and the min value of Ronde 119000 the PID2 feedback set in parameters P447 P448 This measure is active if enabled from C291a This is the measure percent of the PID2 feedback selected with C286 for the PID2 or the 2 zone mode Scaling is detailed in the PID2 PARAMETERS MENU and the PID CONFIGURATION MENU 100 00 96 Note The actual range depends on the min and max saturation values of the reference and the feedback set in parameters P245 P246 for the reference and in P247 P248 for the feedback Always active Address Euncti This is the measure of the PID input error expressed as a percentage See also the PID PARAMETERS MENU and the PID CONFIGURATION MENU 100 00 96 Note The actual range depends on the min and max saturation values of the reference and the feedback set in parameters P445 P446 for the reference and in P447 P448 for the feedback 10000 This is the measure percent of the PID2 input error or the 2 zone mode input error difference between the reference selected with C286 and the feedback selected with C289 Please refer to the PID2 PARAMETERS MENU and the PID CONFIGURATION MENU 56 428 SINUS M022 PID Output Address Function Address Function Address Function Address Function PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 100 00 96 10000 Note The actual range depends on the min and ma
244. OCK command will have no effect on the LOCAL function it only avoids altering the programming parameters while it is still possible to AN NOTE send references and the START STOP REV JOG RESET commands via keypad If the LOCK command is active and the LOCAL mode is disabled the LOCK function prevents the LOCAL mode from activating C173 C174 MOTOR SEL Input gt Inactive 0 12 1 85 MDI8 20 if ES847 or ES870 is fitted 9 12 1 MPLA 13 20 2 XMDI1 XMDI8 NEMO E Range Level ENGINEERING 1173 This function activates motor 2 and 3 and sets the relevant programming parameters see Table 87 A different active motor can be selected only when the drive is disabled Table 87 Motor selection 0 0 Motor n 1 1 0 Motor n 2 0 1 Motor n 3 1 1 Motor 1 AN NOTE When both inputs are enabled Motor 1 is selected again 314 428 SINUS PENTA PROGRAMMING 2 SANTERNO C175 C176 C177 SPEED VAR Inputs gt Inactive 1 85 MDI8 9 12 MPLI MPL4 13 20 XMDI1 XMDI8 Pee In ctve Level ENGINEERING emm 1175 1176 1177 0 12 Range O 20 if ES847 or 5870 is fitted This function generates up to 7 values of variation for the active reference ranging from 1009 to 100 with parameters P115 P121 The 3 functions determine which of the 7 values of the speed reference variation is active
245. ORESET MENU If an alarm trips see the ALARMS AND WARNINGS section and reset the equipment after AN CAUTION detecting the cause responsible for the alarm Electrical shock hazard exists on output terminals U V W and resistive braking module terminals B even when the drive is disabled DANGER Set C154 Yes to remove the reset function from MDI3 After that only one different NOTE function can be allocated to MDI3 even when multiprogramming is active see parameter C182 35 2 Factory setting of the Digital Inputs Table 81 Terminal board Factory setting START 14 MDIT Enables the drive RUN ENABLE 15 MDI2 Enables the drive RESET 16 MDI3 Resets the alarms tripped MULTISPEED 0 17 MDI4 Bit for Multispeed selection MULTISPEED 1 18 MDI5 Bit 1 for Multispeed selection Source Sel 19 MDI6 Source Selection Loc Rem 20 MDI7 Local Remote Control Selection CwCCW 21 MDI8 Reference reversal 300 428 PROGRAMMING INSTRUCTIONS SINUS PENTA 2 SANTERNO GRUPPO CARRARO 35 3 List of Parameters C149a to C188c and 1006 The parameters ranging from C149a to C180 and from C186 to C187 one for each command function activate single functions and set the terminal for each enabling disabling function Parameter C181 enables a safe START mode Parameter C182 enables multiple programming if compatible to the same terminal Max two functions can programmed to the sam
246. OTE Always check the min and max values of the outputs programmed in the relevant Three operating modes can be selected for the Frequency Output 0 Disabled The output frequency is disabled 1 Pulse Out MDO1 Digital Output is programmed as a frequency output The selected variable has a positive or negative sign 2 ABS Pulse Out As Pulse Out but the selected variable is considered as an absolute value NOTE When P200 is not set to DISABLE MDO digital output is used as a frequency output and any MDOI settings in the DIGITAL OUTPUTS MENU are ignored 140 428 SINUS PENTA PROGRAMMING 9x SANTERNO INSTRUCTIONS GRUPPO CARRARO N 20 2 2 ANALOG OUTPUT PROGRAMMING EXAMPLES This section contains a description of operating examples of the analog outputs obtained with different programming modes Example 1 Table 28 Programming AO1 0 OV P176 0 10V AO Analog output P177 1 Speed Selected variable for AO1 analog output P178 500 rpm Min value of AOT selected variable P179 500 rpm Max value of AOT selected variable P180 0 000 V AO Analog output offset P181 ms Filter for AO1 analog output P182 0 0 V Min AO1 output value with reference to P178 P183 10 0 V Min AO1 output value with reference to P179 500 400 300 200 100 0 100 200 300 400 500 rpm Figure 17 Curve voltage speed implemented by AO1 Example 1 Example 2 Table 29 Programming AO1 ABS 0 10V
247. Output P299 MDO4 Variable B selection A61 Speed MEA P300 Testing variable A gt P301 Testing variable ES P302 MDO4 Comparing value for Test A 20 0096 P303 MDO4 Comparing value for Test B 50 00 rpm P304 MDO4 Function applied to the result of the two tests A Set B Reset P304a MDO4 Variable C selection DO Disabled P304b MDO4 Function applied to the result of f A B and C test P305 MDO4 Output logic level TRUE The digital output energizes only if no alarm trips The torque demand is greater than P302 20 0096 Set The digital output de energizes if an alarm trips or if the decelerating speed is lower than the speed value set in P303 50rpm Reset Motor Speed rom A 1500 wv Torque Out 10076 50 20 Out Figure 37 Electromechanical brake command example CAUTION Always use the NO contact of the digital output for the electromechanical brake command BRIDGE CRANE MENU For details about the electromechanical brake used for lifting applications see also the 189 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO Example 5 Using the PWM Function Suppose that the motor of a machine tool is controlled by a drive The tool must be lubricated based on the cutting speed At cutting speed the electrovalve controlling lubrication must work for 0 5
248. P209 AO3 Gain P210 1 Variable MODBUS Address RESERVED P211 AO2 Variable MODBUS Address P212 AO3 Variable MODBUS Address P213 Amplitude of Sinusoidal Analog Output Signal Range 0 1000 0 100 0 Default 1000 Level ENGINEERING Address Amplitude of the sinusoidal analog output signal when Sine or Cosine variables are selected Function 151 428 PROGRAMMING INSTRUCTIONS SINUS PENTA Z SANTERNO GRUPPO CARRARO P214 Frequency of Sinusoidal Analog Output Signal stir T aan Default Level Address Function 0 20000 0 200 00Hz 100 ENGINEERING Frequency of the sinusoidal analog output signal when Sine or Cosine variables are selected P215 Frequency of Saw Wave Analog Output Signal Default Level Address Function 0 20000 200 00Hz ENGINEERING Frequency of saw wave analog output signal when Sine or Cosine variables are selected This can be used as the carrier frequency when setting MDO1 or MDO2 in PWM mode see the example given in the DIGITAL OUTPUTS MENU 152 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 21 TIMERS MENU 21 1 Overview The Timers menu allows setting enable and disable delay times for digital inputs outputs For the ENABLE digital input no disable delay is allowed because the logic status of the NOTE ENABLE command is used directly by the hardware activati
249. PENTA GRUPPO CARRARO PROGRAMMING INSTRUCTIONS 2 SANTERNO Fout Motor Speed Enable ON OFF P000358 b Figure 58 Speed Searching Example 1 Output Frequency and motor RPM for the Speed Searching Function C245 YES activated by the ENABLE command to lt C246 or C246 0 Three stages The drive output frequency corresponds to the last value which was active before disabling the drive output Time t current matches with the value set in C248 Time t Output frequency is decremented following the ramp set in C247 for rotation speed searching Time t The connected motor accelerates following the acceleration ramp 346 428 SINUS PENTA 2 SANTERNO GRUPPO CARRARO Fout Motor 4 Speed tO in 2 t3 Inverter A disabled Reset ON OFF Enable A ON OFF P000359 b Figure 59 Speed Searching Example 2 PROGRAMMING INSTRUCTIONS Frequency Motor Rom Drive Lock RESET and ENABLE during Speed Searching C245 YES due to an Alarm Trip torr X tss C246 or C246 0 A NOTE If the Safety at Start function is disabled C181 Inactive it is not necessary to open and close the ENABLE contact Speed searching matches with the RESET command 347 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 40 2 List of Parameters C245 to C248 Table 97 List of parameters
250. PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 26 MEASURE CONTROL FROM PT100 26 1 Overview This menu relates to ES847 control board It can be viewed only if RO23 I O board setting PT100 see the EXPANSION BOARD CONFIGURATION MENU The analog inputs can be linked to measure sensors AN NOTE Set DIP Switches 1 and 2 as follows for proper data acquisition from PT100 SW SW2 26 2 List of Parameters P318 to P325 Table 49 List of parameters P318 to P325 P320 Channel 1 measure mode 0 no input 920 P321 Channel 1 measure offset 0 0 C 921 P322 Channel 2 measure mode 0 no input 922 P323 Channel 2 mesaure offset Y 0 0 C 923 P324 Channel 3 measure mode 0 no input 924 P325 Channel 3 mesaure offset 0 0 C 925 326 Channel 4 measure mode 0 no input 926 P327 Channel 4 mesaure offset 0 0 927 210 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS P320 Channel 1 Measure Mode 0 no input kange i 1 val PT100 OO noinput Level Address This parameter selects the type of analog signal available in terminals 27 28 in ES847 expansion board Function 0 no signal is used The P parameter relating to the analog input disappears 1 val PT100 The acquired signal is transformed into degrees centigrade See Measure M069 P321 Channel 1 Measure Offset 30000 30000 300 00 300 00 MEMO ll j Level Ad
251. Producing Max Reference Y axis related to P057 O 1000 100 0 IPAE 1000 100 096 Level ADVANCED Address This parameter represents the min speed percentage or the min torque percentage for torque reference to be used for the minimum reference set with 57 P058 Offset over AIN1 Input 10 00 V 10 00 V if P055 O or 3 UII 2000 2000 20 00 mA 20 00 mA if PO55 1 2 4 3 Level ADVANCED Address This parameter selects the offset correction value of AINT analog signal that has been measured The value set is added to the signal measured before saturation or conversion its unit of measure is the same as the one of the signal selected for AINT analog input Function P059 Filtering Time over AINT Input O 65000 0 65000ms Default 5 Level ADVANCED Address This parameter selects the value of the filter time constant of the first command applied to AINT input signal when the signal saturation and conversion is over Function 111 428 SINUS PROGRAMMING GUC ION Z SANTERNO GRUPPO CARRARO PO60 Type of Signal over AIN2 Input Default Level Address This parameter selects the type of differential analog signal over terminals AIN2 and AIN2 in the terminal board The signal can be a voltage signal a current signal a unipolar signal or a bipolar signal 0 V Bipolar voltage input between 10 and
252. R physical Selected MDI4 digital input remote OR physical Selected digital input remote OR physical Selected MDI6 digital input remote OR physical Selected MDI7 digital input remote OR physical Selected MDI8 digital input remote OR physica MDI1 Digital input remote OR physical DELAYED by MDI timers ENABLE Digital input remote AND physical DELAYED by MDI timers 178 428 SINUS PENTA PROGRAMMING Z SANTERNO INSTRUCTIONS Maintenance Operation Time elapsed Maintenance Supply Time elapsed 179 428 SINUS PENTA PROGRAMMING GUC OKs 2 SANTERNO GRUPPO CARRARO Selectable analog variables mocro pom 1 1 Speed reference at constant speed 1 Speed reference when ramps are over 10 Frequency produced by the drive 10 Current RMS A66 OuiVot 10000V 10 utp ut voltage RMS A67 OutPow 10000kW 10 Output power A68 DC Vbus 1000 10 DCHink voltage 10 10 10 10 10 Torque reference at constant speed Torque demand Estimation of the torque output Torque limit setpoint PID reference at constant speed A74 PID RMP 100 00 96 PID reference when ramps are over 100 100 o O m o e zxi 615 gle 9 o a e lt A75 PID Err 100 00 100 Error between PID reference and PID feedback A76 PID Fbk 100 00 PID feedback A77 PID Out 100 00 PID output ey olo A78 REF 10
253. RAMMING 2 SANTERNO GRUPPO CARRARO 42 2 3 MAXIMUM LockED ROTOR TIME ENHANCED If a more precise calculation is required when the ratio between LRC and FLC is different from 7 2 you can refer to the graph below where the x axis shows the LRC FLC ratio and the y axis shows the multiplicative constant to be applied to the LRT to calculate the value of parameter C267 60 50 40 gt 30 a C267 LRT 20 10 2 3 4 5 6 7 8 9 LRC FLC 00081 6 0 Figure 61 Set up of parameter C267 depending on the LRC FLC ratio Example 1b When using a 7 5kW motor the multiplicative constant corresponding to an LRC FLC 8 2 is approx 46 if referring to the graph above As a result the motor thermal time constant that you would select is 27 3 x 46 C267 12575 which is a more accurate value than 1080s computed in Example 1a Example 2 The 250kW motor in Table 100 can be approximated to have a trip class of 690 x 79 IEC Class 90 85 100 x6 Because this value is not given in Table 99 the motor thermal time constant that you would select is directly C267 90 85 x 36 3260s or 90 85 x 33 2998s if the value 33 is considered resulting from Table 100 with a ratio between LRC FLC 6 9 355 428 PROGRAMMING em SINUS PENTA INSTRUCTIONS A SANT ERNO GRUPPO CARRARO 42 3 Thermal Protection Trip Delay The graph below shows the thermal protection trip delay depending on the IEC Class and t
254. REF input P052 gt 10V Value of the max reference for REF input P055 gt 0 10V Type of reference for AINT input 056 5V Value of min reference for AINT input P057 gt 5V Value of max reference for AIN1 input The speed reference is the min speed set in C028 motor 1 when both REF input and AINT input values are lower than or equal to the minimum values set in P051 and P056 respectively motor speed also depends on the preset max carrier frequency see Table 61 It can be max 4 times the rated speed of the connected motor The maximum allowable value as an absolute value for C028 and C029 min and max A See The value set as the min speed is used as the saturation of the global reference the speed NOTE f reference will never be lower than the value set as min speed The min speed is not respected only when the REV command or the CW CCW command AN NOTE are sent after setting a value for max speed exceeding the min value C029 C028 for motor 1 and with the max reference to the drive The motor rpm will be C029 C028 267 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO C029 C072 C115 Max Motor Speed 32000 in parameter C028 DACULI 1500 Level 1029 1072 1115 This parameter defines the maximum speed of the connected motor When references forming the global reference are at their max relative value the global reference
255. RING Address Function NOTE This parameter allows forcing one of the available connecting modes to ES851 Data Logger The parameters used for Ethernet connections and modem connections are the ones stored in the Penta drive Configurations 19 and 20 support both dial in and dial out After imposing any of the preset values given in Table 111 ES851 Data Logger is forced to Interlocked mode see the Data Logger Measures Menu Table 111 Preset connections 0 No active presetting 1 Ethernet enabled 2 PPP null modem 3 1 85232 38400 2 2 4 1 85232 38400 1 2 5 1 RS232 38400 2 20 6 1 85232 38400 1 20 7 1 85232 9600 2 2 8 1 RS232 9600 1 no 2 9 1 RS232 9600 2 no 20 10 1 RS232 9600 1 no 20 11 2 RS485 38400 2 no 2 12 2 RS485 38400 1 no 2 13 2 RS485 38400 2 no 20 14 2 RS485 38400 1 no 20 15 2 RS485 9600 2 no 2 16 2 RS485 9600 1 no 2 17 2 RS485 9600 2 no 20 18 2 RS485 9600 1 no 20 19 Dial Out analog modem 20 Dial Out GSM modem SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 52 EEPROM MENU 52 1 Overview The drive has four different memory zones e RAM Volatile memory containing the drive s current parameterization e Default Zone Non volatile memory that cannot be accessed by the user containing the factory setting of the drive parameters e Wo
256. ROL METHOD MENU are always considered as summed up to the reference source selected by the source selector SINUS PROGRAMMING 2 SANTERNO eme C180 LOC REM Input gt Inactive 0 12 1 8 MDI8 O 20 if ES847 or ES870 is fitted 9 12 MPLI MPL4 13 20 2 XMDI1 XMDI8 Default Level ADVANCED Address The LOCAL mode can be enabled via the relevant digital input it ignores any enabling disable delay times set via software timers or by pressing the LOC REM located on the display keypad Factory setting allows enabling the Local mode only when the drive is not running Settings may be changed through C148 Changeover from Remote to Local Command see the CONTROL METHOD MENU switching from Remote to Local command is allowed even when the drive is operating and when the running condition or reference must be maintained in Local mode This function allows switching over to LOCAL mode and allows ignoring parameters C140 to C147 and C285 to C287 see the PID CONFIGURATION MENU when the PID controller is enabled thus allowing setting them via KEYPAD only The following functions are still active in the hardware terminal board of the control board being used ENABLE External Alarm 1 2 3 Sel Motor n 2 Sel Motor n 3 SLAVE PID Disable and the LOCAL function itself that can be disabled at any time If the input is deactivated when the drive is disabled signals coming from different sources will activ
257. RRARO AN CAUTION The Fire Mode Enable Password is set to when the Restore Default is performed Manufacturer _ Manufacturer The name of Elettronica Santerno is displayed followed by Elettronica Santerno s Function website www elettronicasanterno com You can also send a Modbus query message to read the product ID Product ID 1 65535 Address You can read the product ID from address 476 The eight high bits give the first character of the ID the eight low bits give the second character of the product ID E g for PD Penta Drive MODBUS value read from address 476 20548d 0x5044H 50H Character P 44H Character D 78 428 SINUS PENTA sx PROGRAMMING SANTERNO INSTRUCTIONS GRUPPO CARRARO 10 PASSWORD AND USER LEVEL MENU 10 1 Overview The Password and User Level menu allows altering the programming parameters and sets their visibility e POOO enables parameter alteration e POOI sets the user level e P002 allows to change the password set in e P003 conditions required to alter C parameters 10 2 List of Parameters P000 to P003 Table 13 List of parameters to P000 Write enable BASIC 00001 513 P001 Programming level BASIC O Basic 514 P002 Write enable password ENGINEERING 00001 510 poog Conditions required to alter C ADVANCED StandBy Fluxing 509 parameters POOO Write Enable Factory setting is
258. Range Inactive Active after a mains loss and the START and ENABLE inputs are on If multiple terminal boards are selected with parameters C140 C141 C142 open and close the ENABLE terminal MDI2 in one of the active terminal boards to restart the drive Pees Inactive Level ADVANCED Address This function enables the Safety START mode When this function is enabled and the drive is to be restarted after resetting an alarm open iX Tiere and close the ENABLE terminal This prevents the drive from RUNNING when it is turned off and on again for example C182 Multiprogramming Enabling Range Inactive Active Default Inactive Level ENGINEERING Address This function allows allocating two different functions to the same terminal Only few preset combinations are allowed NOTE When invalid configurations are set up ILLEGAL DATA appears on the display keypad of the Penta drive C183 Max Fluxing Time Before Drive disabling Range 0 65000 0 65000 ms 8 5 1 Disabled Level ADVANCED Address 1183 Control VTC and FOC This function disables the drive if the fluxing time period is longer than the preset time if the ENABLE command not a RUN command is sent To restore motor fluxing disable and enable the ENABLE command or send a START command when ENABLE is closed Function AN NOTE The time set in C183 is added to the Fluxing Ramp Time set in C041 C084 C127 C184 Fluxing at Activati
259. Stop Duration Default Level Address Control Function Enables the DC Braking at Start function 0 1 60 0 sec ADVANCED IFD and VTC Determines the duration of the DCB at Stop function 337 428 PROGRAMMING INSTRUCTIONS C218 DCB at Start Duration Address Range Default Level Control Function SINUS PENTA C220 DCB Current Level C221 DCB Hold Range Default Level Address Control Function Range Default Level Address Control Function 1000 0 1000 rpm Determines the speed at the beginning of DCB at stop while decelerating 0 MIN 12096 drive Imax motor Inom 100 Determines the level of direct current injected to brake the motor It is expressed as a percentage of the rated current of the controlled motor ETE 100 0 10096 Default Level Address Control Function ADVANCED 1221 IFD Determines the level of direct current injected during the Hold function To activate this function set a value other than zero in parameter C221 DC level is expressed as a percentage of the rated current of the controlled motor C222 C223 C224 Ramp Braking Time for DCB Default Level Address Control Function 2 32000 2 32000 msec See Table 71 ENGINEERING 1222 1223 1224 IFD and VIC This parameter represents the time required for flux weakening before DCB 338 428 PROGRAMMING 2
260. T Disable Delay with Out P237 0 Disabled Range 0 60000 1 60000 s lo Default Level Address This parameter sets the max time for the drive operation when the PID regulator output continuously operates at its min value P237 0 Disabled If this is true for a time equal to the time set in P255 the drive is automatically put on stand by until Function 1 the PID output value exceeds the min value if P237a Disabled 2 the Feedback or the Error drops below the Wake up level in P237b if P237a 1 or 3 respectively 3 when the Feedback or the Error exceeds the Wake up level in P237b if P237a 2 or 4 respectively If C149 is set as External Out or P255 is set to zero this function is disabled P256 Output Gradient Limit 165000 65000 msec j j Level Address This parameter limits the max acceleration for the PID regulator output Function The max acceleration for the PID regulator output is equal to 100 P256 msec P257 Gain for PID Measure Scaling O 32000 0 000 32 000 Defaut I Level Address Gain for the scaling of PID measures M023 M025 This gain has effect only on the measures above It does not affect the PID operation Function This parameter allows scaling if you want to display PID measures with a different unit of measure M023 M020 P257 M024 M021 P257 P260 Anti Wind Up Gain Default Level
261. This parameter determines the logic function applied to the result of the two tests allowing calculating the output value PROGRAMMING INSTRUCTIONS SINUS PENTA lt SANTERNO P305 MDO4 Output Logic Level Range Default Level Address MDO4 digital output logic function to apply a logic reversal negation to the Function calculated output signal 0 FALSE a logic negation is applied 1 TRUE negation is applied 205 428 PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO SINUS PENTA 25 AUXILIARY DIGITAL OUTPUTS MENU 25 1 Overview This menu includes the parameters allowing allocating the control functions implemented via the digital inputs located on I O expansion boards This menu can be viewed only after enabling data acquisition from the expansion boards 25 2 List of Parameters P306 to P317 Table 48 List of parameters P306 to P317 P306 XMDO1 Signal selection NEERING _ Disable P307 XMDO1 Output logic level NEERIN 1 True 907 P308 XMDOJ2 Signal selection DO Disable 908 P309 XMDO2 Output logic level 1 True 909 P310 XMDO3 Signal selection DO Disable 910 P311 XMDO3 Output logic level 1 True 911 P312 XMDO4 Signal selection DO Disable 912 P313 XMDOA4 Output logic level 1 True 913 P314 XMDOS Signal selection DO Disable 914 P315 XMDO5 Output logic lev
262. UENCY INPUTS MENU 0 1 Default Level Address Control Function Default Level Address Function 0 Constant Torque 0 2 1 Quadratic 2 Free Setting See Table 73 BASIC 1013 1056 1099 IFD Allows selecting different types of V f pattern If C013 56 99 Constant torque voltage at zero frequency can be selected Preboost C034 77 120 If CO13 CO56 CO99 Quadratic you can select voltage at zero frequency preboost C034 77 120 max voltage drop with respect to the theoretical V f pattern C032 C075 C118 and the frequency allowing implementing max voltage drop C033 C076 C119 If C013 CO56 CO99 Free Setting you can set voltage at zero frequency preboost 77 120 voltage increase to 2096 of the rated frequency BoostO C035 78 121 and voltage increase to a programmed frequency Boost1 C036 79 122 frequency for Boost1 C037 123 0 No 1 Yes __ 5 8 No ENGINEERING 1014 1057 1100 Allows reversing the mechanical rotation of the connected motor its load is reversed accordingly DANGER When activating C014 C057 C100 the mechanical rotation of the connected motor and 263 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO C015 C058 C101 Rated Motor Frequency 10 10000 1 0 Hz 1000 0 Hz See upper limits in Table 62 Default 500 50 0 Hz Level BASIC Address 101
263. UPPO CARRARO 0313 2 FREE S51 0367 2 FREE 0402 2 FREE 0457 2 FREE 20 2 Ee RI 0748 2 FREE 0 2 20 20 565570 981 2ret 202 J 2 575 994 2r 02 0 20 0 575 580 2 541 0523 2 FREE 2542 0459 2 FREE L3 3x552 0960 2 FREE 7 7 1128 2 FREE 0 2 278 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO Table 74 Parameters depending on the Drive Size Model and Voltage Class 505 512 0038 15 0040 15 0049 18 5 0179 75 0 58 120 540 0200 80 0 52 132 0216 90 0 46 150 540 565 0250 100 0 35 185 541 550 565 279 428 PROGRAMMING INSTRUCTIONS 0313 132 0 28 250 SINUS PENTA 0367 160 0 23 280 52 0402 185 0 005 0 17 355 0 010 0290 ac 355 0 017 0 72 480 0 020 0 86 0314 ses 400 0 017 0 72 550 0 020 0 86 0368 ES 450 0 014 0 57 610 0 017 0 69 0401 xs gt 500 0 014 0 43 680 0 017 0 51 500 0 36 590 0457 200 0 14 315 0 008 0 25 560 565 0524 220 0 12 355 0 007 0 20 250 0 12 400 0 006 0 20 540 620 0 29 0 29 65
264. US PENTA ROOx RO1x Serial Link ROO1 com_slaveaddr 1 R002 com answdelay 5 ms ROO3 scO_baudrate 38400 bps RO04 com_4time_delay 2 ms 005 wdg time 0 0s ROO6 parity scO 1 No 2 Stop Bit ROO8 cm1_slaveaddr 1 ROO9 cm1_answdelay 5 ms RO10 scl baudrate 38400 bps RO11 cm delay 2 ms RO12 sr1_wdg_ time 0 0s RO13 parity scl 1 No 2 Stop Bit RO1x Fieldbus Configuration RO16 fbs time ms 017 fb sel 0 No RO17b AO2 fb sel 0 No RO17c AO3 fb sel 0 No RO2x Expansion Board Settings Logger 1 NO R023 Board setting 0 None RO2x RO4x PROFldrive Settings R025 SlaveAddr 1 RO26 PZD3 Addr 1 Digital Inputs RO27 PZD4_O Addr 0 not used RO28 PZD5 O Addr 0 not used RO29 PZD6_O Addr 0 not used RO30 PZD7_O_Addr 0 not used RO31 PZD8 O Addr 0 not used RO32 PZD9 O Addr 0 not used RO33 PZD10 Addr 0 not used RO34 PZD3 Addr 0 not used RO35 PZD4_ Addr 0 not used RO36 PZD5 Addr 0 not used RO37 PZD6_ Addr 0 not used RO38 PZD7_ _Addr 0 not used RO39 PZD8 Addr 0 not used RO40 PZD9 Addr 0 not used RO41 PZD3 Addr 0 not used RO44 DP com mode 0 DP VO RO45 DP sel 1 VENDOR SPECIFIC 1 Key Parameter depending on the current size Parameter depending on the voltage class 426 428 SINUS PENTA 55 INDEX A Dio MM pm 174 A ALARM UST 397 ALARMS AND WARNINGS
265. UTS FOR REFERENCES MENU If POBO Preset Speed Esc the selected Multispeed replaces the active reference which will be ignored If no Multispeed function is selected the resulting reference is equal to zero See also the INPUTS FOR REFERENCES MENU for the reference processing sequence the Speed Decrease function and the Reference Reversal function become active downstream of the Multispeed function In Table 84 0 Inactive input NOTE 2 Active input X Input having no effect C159 CW CCW Input Inactive 0 12 1 8 MDI8 O 20 if ES847 or ES870 is fitted 9 12 5 MPLI MPLA 13 20 5 XMDI1 XMDI8 Range Default Level Address The Cw CCw function reverses the active reference signal the connected motor KA decelerates to zero following the preset deceleration ramp then it accelerates following the preset acceleration ramp until it reaches the new reference value 308 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS Inactive C160 DCB Input 1 85 MDI8 9 12 5 MPL4 R 0 12 EMI o 20 if ES847 or ES870 is fitted 13 20 gt XMDIB tractive ADVANCED 1160 IFD and VIC For other types of control this function has no effect even if C16020 The DCB command enables DC braking for a time period depending on the speed value determining the input activation See the DC BRAKING MENU for more details
266. a ExtAlr3Delay ms C167 MltRmp 0 0 None C168 MltRmp 1 0 None C169 Jog 0 None C170 Master Slave 0 None C171 PID disab 0 None C171a PID sel control 0 Disabled C172 Keypad lock 0 None C173 2nd Mot 0 None C174 3rd Mot 0 None C175 PercSpd 0 0 None C176 PercSpd 1 0 None C177 PercSpd 2 0 None C178 PlDud res 0 None C179 SourceSel 0 MDI C180 Loc Rem 0 MDI7 C180a Loc RemType Mr PD C181 Safe Start 0 Disabled C182 MultiProg 0 Disabled C183 Tflux dis AlwaysON C184 StartFlux 0 No C185 StartFrWheel 0 Dec Ramp C186 FireMode 0 None C187 DisabExtTlim 0 None C188a MrefPID 1 0 None C188b MrefPID 2 0 None C188c MrefPID 3 0 None C18x C19x Encoder Frequency Input C189 UseEnc 0 A B Unused C190 pulsEncA 1024 C191 pulsEncB 1024 C192 SpdAlrTime 5 00 s C193 SpdErr 300 rpm C194 TrackAlrEn 1 Enable C195 tauFiltFdbk 5 0 ms C196 tauFiltRef 5 0 ms C197 nCH ENCA 0 2Ch Quad C198 nCH ENCB 0 2Ch Quad C199 EncSign 0 Fdbk NO Ref NO 424 428 SINUS 2 GRUPPO CARRARO PROGRAMMING INSTRUCTIONS C21x_Braking Unit C210 Enab Vel BrakeO C211 BrakeTon 2 00 s C212 BrkDutyCycle 10 96 C21x C22x DC Braking C215 Enab dcb stop 0 No C216 Enab dcb start 0 No C217 Tdcb stop 0 5s C218 Tdcb start 0 5s C219 dcb speed 50 rpm 220 1 dc
267. ack set in parameters 247 248 Always active Address This is the measure of the PID feedback set via serial link and expressed as a percentage 63 428 PROGRAMMING 9x SINUS PENTA INSTRUCTIONS A SANT ERNO M049 PID Feedback from Fieldbus 100 00 10000 Note The actual range depends on the min value and the max value of the PID feedback set in parameters P247 P248 Always active Address This is the measure of the PID feedback set by the fieldbus and expressed as a percentage 32000 32000 Always active 1700 Reading of the encoder set as a reference source see the ENCODER FREQUENCY INPUTS MENU and the CONTROL METHOD MENU 10000 100000 Hz 1000510000 Note The actual range depends on the frequency min value and max value set in PO71 P072 Always active Address Euncti Frequency readout in the digital input set as a reference source see the ENCODER FREQUENCY INPUTS MENU and the CONTROL METHOD MENU 64 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 8 6 Outputs Menu This menu allows checking the state of the digital outputs the analog outputs and the frequency outputs located in the terminal board M056 Digital Outputs Range Bit controlled measure See Table 4 Active Always active Address State of digital inputs MDO1 4 and state of the precharge contactor Ta
268. aining any details about the measures displayed in the Keypad page 23 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 1 12 Indicator LEDs on the Display Keypad Eleven LEDs are located on the keypad along with a 4 line 16 character LCD display a buzzer and 12 function keys The display shows the parameter values the diagnostic messages and the variables processed by the drive The figure below shows the location of the indicator LEDs and their functionality Figure 3 Display keypad REF LED Green Reference for speed frequency or torque 0 SUZ Motor acceleration 27 or deceleration po00307 0 LIMIT LED Yellow e active limit Voltage or current limit active Reference on BRAKE LED Yellow Ordinary run Either one is active eor DC current brake LIMIT BRAKE IGBT braking Ramp extension RUN LED Green _ Motor not powered 4 Motor powered 771 but no torque idle Motor powered and running L CMD LED Green ALARM LED Red Commands sent from Inverter OK Sources other than ns NU Commands sent both from keypad _terminal board Commands sent from keypad only Alarm tripped No parameter transfer in progress L REF LED Green Reference sent from sources other than keypad tz Ref
269. allation Instructions manual for the configuration of the jumper and the dip switches for the encoder type and supply NOTE In the Digital Inputs menu do not set any function for MDI6 and MDI7 In the Encoder Frequency Input menu set the In the Encoder Frequency Input menu set the source source for Encoder A speed reference set C189 for Encoder B speed reference set C189 A2 NO B A REF B NO if also encoder B or frequency REF if also encoder A or frequency input FIN A are input FIN B are used see programming options used see programming options for C189 in the for C189 in the Encoder Frequency Input Encoder Frequency Input section section Set the number of pls rev for the encoder being used Set the number of pls rev for the encoder being parameter C191 used parameter C190 Checking the Reference Sign If the sign for the reference from encoder is not correct you should reverse it by setting C199 FBK XX REF YES 37 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 6 START UP MENU 6 1 Overview For an easier startup of the Penta drive you can activate the Start Up Menu The Start Up Menu is a wizard allowing programming the main parameters for the connected motor and the parameters for PID control The parameters in this menu are the same as described in the FIRST STARTUP section The Start Up Menu is displayed when the Penta drive is first started The Start Up Menu ca
270. and Alarm 1 Auxiliary trip 1 Alarm 2 Auxiliary trip 2 Alarm 3 Auxiliary trip 3 MRmpO Multiramp 0 MRmp1 Multiramp 1 mode SLAVE Selection of Slave Mode PID Dis PID Disable KpdLock Display keypad unit Mot 2 Selection of Motor 2 Mot 3 Selection of Motor 3 Var 0 Reference Variation O Var 1 Reference Variation 1 Var 2 Reference Variation 2 PID UDR PID Reference Reset due to UP DOWN commands LOCAL Selection of Local mode Brk Lock Mechanical brake locking FireM Fire Mode enabled Src Sel Reference command source switch nTlim External torque limit disable START B START function terminals B STOP B STOP function terminals B REVERSE B Startup with negative speed terminals B MRefO PID Multireference 1 MRef1 PID Multireference 2 MRef2 PID Multireference 3 PID Csl PID Control Selection START START function ENABLE ENABLE function RESET Alarm RESET EncA Encoder A Input EncB Encoder B Input FinA FINA Frequency input FinB FINB Frequency input Multi More than one function allocated to the same input SINUS PENTA SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 8 11 Fault List Menu Scroll the Fault List Menu to display the codes of the last eight alarms tripped Press the SAVE ENTER key to access the alarm submenu and navigate to each value measured by the drive when the alarm tripped The diagram below shows a navigation example for the Fault List Menu relating to al
271. and By When the speed of the Power Down end set in C235 is attained the drive is in stand by if power supply is restored when the drive is in stand by the RUN command must be disabled and enabled again to accelerate the motor 340 428 SINUS PENTA PROGRAMMING 2 SANTERNO GRUPPO CARRARO 39 2 List of Parameters C225 to C235 Table 96 List of parameters C225 to C235 Procedure in case of Power Down 3 Alarm C226 Power Down enable delay 1226 10 ms C227 Stop ramp time in Power Down 1227 20 sec C228 increment of ramp gradient in ENGINEERING 1228 0 10 C229 Improved sensitivity of DC bus control ENGINEERING 1229 1 339V for class 2T 679V for class AT 380 480V ae au ee ENGINEERING 1230 707V for class AT 481 500V 813V for class 5T e 976V for class 6 PI Proportional constant for T 231 ENGINEERING 1231 0 050 automatic deceleration 239 mete animate ENGINEERING 1232 0 5 sec deceleration C234 action at the end of Power ENGINEERING 1234 0 Stop C235 M speed at the end of Power 1235 C225 Procedure in Case of Power Down 0 Disabled 1 Yes 2 YesV 3 Alarm Default Level Address Type of power down 0 Disabled The Power Down function is disabled 1 Yes In case of mains loss after a time longer
272. arameter C294 The PID regulator structure is detailed in the diagram below block 4 Kg P240 P241 798 242 td P243 nteg Max Inverse Anti P238 256 Wind Up a Rate Limiter Reference PID Normal i PID Out P260 gt iri g gt a A P238 Desaturation P237 Out Min Feedback PID Max P239 dAtd t b dt _ P239 P000341 B Figure 66 Details of the PID regulator structure The PID2 structure is the same as the PID structure but parameters P2xx are replaced with and parameter C291 is replaced with parameter C291b Parameters C292 and C293 are in common for PID and PID2 A ids Block 6 Digital input for PID control selection Block 6 activates only when both PIDs are enabled C291a 2 or when in 2 Zone mode C291a 2 Zone MIN or 2 Zone MAX 362 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO In Two PIDs mode if C171a 0 Disabled the PID output is summed with the PID2 output if C171a is enabled the logic state of the configured input determines which is the output of the PID regulator to be used 0 PID 1 5 PID2 In 2 zone mode if C171a is enabled when the selected input is activated the 2 zone mode MIN or MAX is disabled In that case the PID regulator always operates on the err
273. arameters in this menu are Rxxx parameters AN NOTE Once saved they are active only when the drive is next switched on or when the control board is reset by holding down the RESET key for more than 5 secs 49 2 List of Parameters 021 to RO23 Table 108 List of parameters RO21 to RO23 RO21 Data Logger setting RO23 board setting 553 None RO21 Data Logger Setting 1 Disable ange 2 Enable ee E Level ENGINEERING Address This parameter enables or disables Data Logger initialization if the Data Logger Function board is fitted R023 I O Board Setting 0 None 1 XMDI O Range 2 XMDI O XAIN 3 XMDI O PT100 4 XMDI O XAIN PT100 Default Level ENGINEERING Address Based on the settings in the relevant parameter this parameter enables Function controlling digital I O XMDI O analog inputs XAIN and PT100 probes located on optional control boards NOTE ES847 is required to control analog inputs XAIN and PT100 probes Either ES847 or ES870 can be used to control digital XMDI O 387 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 50 PROFIDRIVE BOARD CONFIGURATION MENU 50 1 Overview This menu allows programming the PROFldrive expansion board It can be viewed only if the PROFldrive board is connected to ES821 control board when its control board is reset by holding down the RESET k
274. arm n 1 in particular Note that n 1 is the last alarm tripped and n 8 is the first alarm tripped The measures marked with Mxxx are the same measures explained in this section Navigation Example Fault List Menu 73 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 8 12 Power Off List Menu This menu contains the measures of some characteristic variables detected at the drive power off in conjunction with the alarm if any tripped at that moment Press the SAVE ENTER key to access the submenu and navigate to the measures detected by the drive when the alarm tripped Measures and codes are the same as the ones shown in the Fault List Menu The diagram below shows a navigation example for the Power Off List Navigation Example PowerOff List Menu SAVE ENTER LJ 74 428 PROGRAMMING 2 SANTERNO GRUPPO CARRARO SINUS PENTA 9 PRODUCT MENU 9 1 Overview The Product Menu includes parameter P263 Language allowing the user to select a dialog language it also contains the Fire Mode enabling Password and the following information read only about the product Product Name and Type Implemented Software SW Versions Serial Number Manufacturer 9 2 List of Parameter P263 and Fire Mode Enable Password Table 9 List of parameter P263 and Fire Mode Enable Password 1 ENGLISH 863 P263 Language BASIC BASIC 0 868 Fire Mode Enable Passwo
275. ate again If the main reference of the drive is the PID output you can set C180a Type of LOC REM Contact Pushbutton and P266 Type of Keypad page in Local Mode Ref Activated Spd As a result when the Loc key is pressed and released once the drive enters the Local mode and the PID reference can be altered whereas when the Loc command is pressed and released again provided that the drive is not enabled the PID is disabled and the RPM reference can be sent to the connected motor See also the CONTROL METHOD MENU and the Keypad page and Local mode in the DISPLAY KEYPAD menu 0 Switch Range 0 2 1 Pushbutton 2 Pushbutton Storage Default 2 Pushbutton Storage Level ADVANCED Address Factory setting the digital contact set as LOC REM C180 is Pushbutton based If the PID output is the main reference and P266 Type of Keypad Page in Local Mode Ref Activated Spd allowing entering the LOCAL mode when the LOC REM command is first sent thus controlling the PID reference and allowing the LOCAL mode to be Maintained when the LOC REM command is sent for the second time thus disabling the PID and allowing setting a speed reference the LOC REM digital input must be set as C180a Pushbutton If C180a 2 the logic status of LOC REM will be saved at power off and will be used when the drive is next powered on 317 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO C181 Safety Start
276. ate the motor If power supply is restored when the motor is still decelerating the speed of reference is forced to the motor with the preset acceleration ramp Stand by When decelerating once the speed value set in C235 is attained the drive is put on stand by and the motor keeps decelerating motor idling If power supply is restored the same conditions as described in the step above see Stop instead of stopping the motor the drive is put on stand by DCB When decelerating once the speed value set in C235 is attained DC braking occurs Its duration depends on the speed value set in C235 and on DC braking parameters see the DC BRAKING MENU C217 C235 C219 with C235 C219 equal to max 10 If power supply is restored the same conditions as described in the step above occur see Stop instead of stopping the motor the drive performs DC braking C235 Motor Speed at the End of Power Down 0 5000 0 5000 rpm Default IEEE ENGINEERING 1235 Motor speed at the end of Power Down If C234 is set as Stand by the drive is put on stand by if C234 is set as DCB it determines DC braking Both conditions occur during the deceleration ramp due to Power Down and when the speed value set in C235 is attained Function 344 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 40 SPEED SEARCHING MENU 40 1 Overview When a command is sent to disable th
277. ated torque of the selected motor If an external torque limit is used the value of this measure is the torque limit obtained at constant speed on the other hand if the torque limit is internal to the drive this value is the actual torque limit 500 Note The actual range depends on the torque limit values set for the selected motor C047 C048 Motor 1 C090 C091 Motor 2 C133 C134 Motor 3 Active for VTC and FOC controls only This is the torque limit value being used expressed as a percentage of the motor rated torque Active for VTC and FOC controls only Flux reference required and expressed in Weber Wb 52 428 SINUS M026 Output Current Active PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO 0 6553 5 0 65535 Note The actual range depends drive size Always active Address Function Measure of the RMS of the output current M026a Motor Thermal Capacity Active Address M027 Output Voltage Address Function Address Function 0 0 100 0 Always active Heating of the connected motor This parameter indicates the current level of the motor heating following I2t pattern set in the MOTOR THERMAL PROTECTION MENU This value is expressed as a percentage of the allowable asymptotic value 0 65535 V Note The actual range depends on the drive voltage class Always active Measure of the RMS of the output
278. ated current C019 Vmot1 rated voltage C029 Speedmax1 max speed desired Also set C022 resistance of one stator phase for a star connection or one third of one phase resistance for a delta connection and C023 stator leakage inductance of one phase for a star connection or one third of the leakage of one phase for a delta connection The value for C022 corresponds to half the resistance value measured with an ohm meter between two phases of the motor If values to be set for C022 and C023 are not known motor autotune is required see step 6 otherwise go to step 7 Press SAVE ENTER each time a new parameter is set First remove the ENABLE command then access the AUTOTUNE MENU and set 1073 1 Motor Tune and 1074 0 All Ctrl no rotation Use the ESC key to accept changes Close the ENABLE command and wait until tune is complete Warning W32 Open Enable is displayed The drive has computed and saved the values for C022 stator resistance and C023 leakage inductance If alarm A097 Motor Wires KO trips check the motor wiring If alarm A065 Autotune KO trips this means that the ENABLE command has opened before autotune was complete In this case reset the drive sending a command from terminal MDI3 or press the RESET key in the display keypad and perform the autotune procedure again With the Autotuning function calculate the value of the leakage inductance C023 NOTE From the resulting value manually subtract the
279. ault 500 Level ADVANCED Address Defines the time taken by the torque reference of the selected motor to go from max value to zero as an absolute value between Torque min and Torque max CO47 C048 for motor 1 and so on 97 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO P028 Unit of Measure for Torque Ramp Time Range Default Level Address Defines the unit of measure for the torque ramp times See the unit of measure for Function ramp 1 par P014 Range 0 6500 sec Default Level Address Funden The preset time corresponds to the time the ramped speed torque reference takes to go from zero to JOG speed torque value P070 Jog Ramp Deceleration Time O 6500 0 6500 sec Default 1 ADVANCED 55 630 c The preset time corresponds to the time the ramped speed torque reference takes x to go from zero to the JOG speed torque value P070 P031 Gradient Variation Acceleration Reset Range 0 No 1 Yes Default Level ADVANCED Address Defines whether acceleration is reset or not when switching from acceleration to deceleration and vice versa reference gradient For more details see the description of the speed ramps at the beginning of this section Function NOTE Parameter 1 is interlocked with parameter C210 Automatic extension of down ramp so that P031 0 No cannot be programmed in conjuncti
280. ay O 60000 0 0 6000 0 sec Defaut j Level Address This parameter sets T1 disabling time Using P226 or P227 if timer 1 is assigned to a digital input having a particular function this parameter represents the delay occurring between the input closure and the function deactivation Use P228 to assign timer 1 to a digital output in that case the digital input de energizing will be delayed according to the time set in P217 Function 155 428 PROGRAMMING INSTRUCTIONS P218 T2 Enable delay Default Level Address Function SINUS PENTA GRUPPO CARRARO Z SANTERNO 0 60000 0 0 6000 0 sec ENGINEERING This parameter sets T2 enable time P219 T2 Disable delay Default Level Address Function Operation as per P216 0 60000 0 0 6000 0 sec ENGINEERING This parameter sets T2 disabling time P220 T3 Enable delay P220 P221 T3 Disable delay Sia P222 4 Enable delay 9222 Address Default Level Address Function Range Default Level Address Function Range Default Level Function Operation as per P217 0 60000 0 0 6000 0 sec This parameter sets T3 enable time Operation as per P216 0 0 6000 0 sec This parameter sets T3 disable time Operation as per P217 O 60000 0 0 6000 0 sec ENGINEERING This parameter sets T4 enable time Operation as pe
281. b 100 96 221 1 dcb hold 0 C222 Tdefl M1 C223 Tdefl M2 C224 Tdefl M3 C22x C23x Power Down C225 pwd type 3 Alarm C226 Tpdd 10 ms C227 Tpddec 20s C228 Pddecboost 0 10 90 C229 Pddcder 1 C230 Vpddel C231 Kpvdclc 0 050 C232 Kivdclc 0 500s C234 stopmode 0 Stop C235 stoplev 0 rpm C24x Speed Searching C245 Enab SpdSch 0 No C246 tssd ls C247 SpsRate 10 96 248 15 75 C249 SpsSpd 0 Last Speed C25x AutoReset C255 nPulsRes Disable C256 T ResCyc 300 s C257 PowOnRes 0 No C258 UvMIStore 0 No C26x C27x Thermal Protection C264 FanTemp 50 C265 ThermProt 1 0 C266 ThermCurr 1 120 C267 ThermConstM 360s C268 ThermProt M2 0 No C269 ThermCurr M2 120 96 C270 ThermConstM2 360s C271 ThermProt M3 0 No C272 ThermCurr M3 120 96 C273 ThermConstM3 360s C274 PTC ThermProt 0 Disable 27 Maintenance C276 Set OP Time Oh C276 Set SP Time Oh C28x C29x PID Configuration C285 Sel InPID 1 2 AINT C286 Sel InPID 2 0 Disabled C287 Sel InPID 3 0 Disabled C288 Sel Fdbk 1 PID 3 AIN2 PTC C289 Sel Fdbk 2 PID 0 Disable C290 Sel Fdbk 3 PID 0 Disable C291 PID Mode 0 Disable C291a PID Control mode 0 Standard SUM C291b PID Mode 0 Disable C292 Der Mode 0 Measure C293 PID Struct 0 No C294 PID Act 1 Reference C30x Crane C300 StartTrq ref pos 0 0 C301 t_StartTrq ref pos ms C300a StartTrq ref neg 0 0 C301a t_StariTrq ref neg 0 ms C302 Brk On 0 None 425 428 PROGRAMMING INSTRUCTIONS GRUPPO CARRARO SIN
282. back optional board v Encoder 1 signal Reference and MDI7 Power supply for Motor 2 P000139 B Figure 50 Using two encoders example Suppose that motor 2 is to be controlled in closed chain and thot its speed value is twice the speed value of motor 1 do so use speed of motor 1 provided with an encoder as the reference for the Penta Drive and use the speed measure of encoder B which is coaxial to the motor controlled by the drive as a speed feedback Suppose that motor 1 speed ranges from to 750rpm and that motor 1 is provided with a Push Pull encoder with Single Ended outputs and that its resolution is 2048 pls rev Motor 2 is provided with an NPN encoder with Single Ended outputs its resolution is 1024 pls rev Only one Push Pull encoder can be connected to digital inputs MDI6 MDI7 so encoder NPN of motor 2 representing the speed feedback of the drive must be connected to ES836 board drive Encoder B whereas the encoder of motor 1 Push Pull used as a reference shall be connected to terminals MDI and MDI7 drive Encoder Encoder Configuration is as follows Encoder Frequency Inputs Menu operating modes and encoder feature setting C189 6 A Reference B Feedback Encoder Frequency input operating mode C190 2048 pls rev Number of pls rev for Encoder A C191 1024 pls rev Number of pls rev for Encoder B C197 0 2Ch Quad Number of channels of Encoder A
283. ble 4 Codification of Measure M056 0 MDOT FOUT 1 MDO2 2 MDO3 3 MDO4 6 State of the precharge contactor 5 Virtual Digital Outputs Bit controlled measure See Table 5 Always active 1675 State of virtual digital outputs MPL1 4 Table 5 Codification of Measure M056a Bitn Digital Output 0 MPL1 1 MPL2 2 MPL3 3 MPL4 M057 Frequency Output 10000 100000 Hz 10000 100000 Note The actual range depends on the min value and the max value of MDO digital output set as a frequency reference Values are set in P204 and P205 see ANALOG AND FREQUENCY OUTPUTS MENU Active Always active Address This is the frequency measure produced by digital output when set as a frequency output 65 428 PROGRAMMING 9x SINUS PENTA INSTRUCTIONS k SANTERNO M058 AO Analog Output Active Always active Address Value percent of analog output AOI referred to the preset max output value maximum cbsolute value between P182 and P183 see ANALOG AND FREQUENCY OUTPUTS MENU M059 2 Analog Output CINE 100 Always active ENSE 1709 Value percent of AO2 analog output referred to the preset max output value maximum absolute value between P190 and P191 see ANALOG AND FREQUENCY OUTPUTS MENU 060 Analog Output AO3 Range Active Always acti
284. bling in this case the Start function is not enabled The Start function will be enabled only when MDII digital input is ON for a time longer than the time set in P216 154 428 SINUS PROGRAMMING 22 SANTERNO GRUPPO CARRARO 21 2 List of Parameters P216 to P229 Table 34 List of parameters P216 to P229 T1 Enable delay 0 0 P217 Disable delay 0 0 817 P218 T2 Enable delay 0 0 818 P219 T2 Disable delay 0 0 819 P220 T3 Enable delay 0 0 820 P221 T3 Disable delay 0 0 821 P222 T4 Enable delay 0 0 822 P223 T4 Disable delay 0 0 823 P224 T5 Enable delay 0 0 824 P225 T5 Disable delay 0 0 825 P226 Timer assigned to inputs MDI1 4 0 No timer assigned 826 P227 Timer assigned to inputs MDI5 8 0 No timer assigned 827 P228 for 0 No timer assigned 828 P229 use T URSI OU RUNS 0 No timer assigned 829 P216 T1 Enable delay 0 60000 0 0 6000 0 sec Default Level ENGINEERING Address This parameter sets T1 enable time Using P226 or P227 if timer 1 is assigned to a digital input having a particular function P216 represents the delay occurring between the input closure and the function activation Use P228 to assign timer 1 to a digital output in that case the digital input energizing will be delayed according to the time set in P216 Function P217 1 Disable del
285. bps R011 Time Added to 4byte time for Serial link 1 RJ45 2msec RO12 Watchdog Time for Serial Link 1 RJ45 0 R013 Parity Bit for Serial Link 1 RJ45 1 Disabled 2 Stop bit ROO1 Drive MODBUS Address for Serial Link O D9 pole Default 1 Level ENGINEERING Address 588 This parameter determines the address assigned to the drive connected through vate ds RS485 of serial link O 9 pole male D connector ROO2 Response Delay for Serial Link 0 D9 pole MESSEN 1 101000 11000 msec Sse Level ENGINEERING 55 589 This parameter determines the drive response delay after a master query sent through serial link O 9 pole male D connector Function ROO3 Baud Rate for Serial Link D9 pole 1200 bps 2400 bps 4800 bps 9600 bps 19200 bps 38400 bps 57600 bps 38400bps Default Level ENGINEERING Address 590 This parameter determines the baud rate expressed in bits per second for serial link O 9 pole male D connector Function 377 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 4 Time added to 4 Byte Time for Serial Link O D9 pole 1 10000 1 10000 msec Default 2 Level ENGINEERING Address This parameter determines the limit time when no character is received from serial Function li
286. by the Master to the Sinus Penta as the PID feedback must be multiplied by 100 E g In order to send PID feedback of 50 the word must contain the value 5000 or 111110100 50 x 100 5000 PID feedback from FIELDBUS 384 428 SINUS 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 48 3 2 FROM THE SINUS PENTA TO THE MASTER Status Alarms 1 2 M026 Output Current 0 65000 A x 10 3 M004 Motor Speed 32000 32000 x1 4 Third measure that may be All th See selected See selected e measures configured with P330 measure measure 5 Fourth measure that may amp See selected See selected be configured with P331 measure measure 6 DIN Digital Inputs 7 DOU Digital Outputs 8 REF REF Analog Input 16380 16380 9 AINT AIN1Analog Input 16380 16380 10 AIN2 AIN2 Analog Input 16380 16380 Word 1 Status Alarms The Status and Alarms are displayed over the fieldbus in the following format The Status codes may be found in Table 116 The Alarm codes may be found in Table 113 Word 2 Output Current The output current measure M026 is displayed as a value that must be divided by 10 to obtain the actual motor current As a result if the returned value from the Sinus Penta to the Master is 100 then the actual output motor current is 10A bit 15 8 bit 7 0 Aj Word 3 Motor Spe
287. ce resulting from the setting of the relevant parameters from P050 to P064 See the INPUTS FOR REFERENCES MENU for the scaling offset compensation and filtering of the reference obtained The inputs may be used as voltage or current inputs depending on the setting and the position of the relevant dip switches see the Sinus Penta s Installation Instructions manual FIN The FIN source is a frequency input on terminal MDI6 FINA or MD18 FINB and it generates a reference determined by the setting of the relevant parameters from PO71 to P072 allowing proper scaling see the INPUTS FOR REFERENCES MENU and the ENCODER FREQUENCY INPUTS MENU SERIAL LINK The Serial Link source is an input located on the MODBUS link the reference value must be written by the user to the addresses below 289 428 PROGRAMMING INSTRUCTIONS SINUS PENTA GRUPPO CARRARO 2 SANTERNO Table 77 Reference inputs from serial link 1412 1025 Speed reference limit Min speed RPM integer portion Max speed BASIC Speed 1413 1026 Speed reference limit 99 99 RPM 100 decimal portion BASIC Speed 1416 1029 Min torque 0 Max torque BASIC Torque Torque reference limit A A A FIELDBUS NOTE NOTE NOTE 1025 is the speed reference if at least one among parameters C143 146 is set to 5 Serial Link and the type of reference of the active motor parameters
288. ces set in the preset speed function PRESET SPEED EXCLUSIVE PRESET SPEED SUM SPEED If POBO PRESET SPEED the speed reference is the value set in the preset speed which is active at that moment If digital inputs set as multispeed are all open inactive the speed reference is the reference coming from the sources selected in the Control Method Menu C143 to C146 If POBO EXCLUSIVE PRESET SPEED the speed reference is the value set in the multispeed which is active at that moment If digital inputs set as multispeed are all open inactive no other reference source is considered the speed reference is zero If POBO SUM SPEED the speed reference value assigned to the preset speed which is active at that moment is summed up to the total amount of the speed references The reference obtained is always saturated by the parameters relating to the min speed and the max speed of the selected motor 14 2 List of Parameters POS80 to P100 Table 21 List of parameters to P100 P080 Multispeed function BASIC O Preset Speed 680 P081 Output speed 1 BASIC 0 00 rpm 681 P083 Output speed Mspd2 BASIC 0 00 rpm 683 P085 Output speed Mspd3 BASIC 0 00 rpm 685 P087 Output speed Mspd4 ADVANCED 0 00 rpm 687 P088 Output speed Mspd5 ADVANCED 0 00 rpm 688 P089 Output speed Mspd ADVANCED 0 00 rpm 689 P090 Output speed Mspd7 ADVANCED 0 00 rpm 690 P091 Output speed
289. cessccesscccescecessccenscceescsoesssoees 213 SOVEIVIGW mM EC re E 213 27 2 VistofParameters P330 to P393 iere ri EO 213 28 VIRTUAL DIGITAL OUTPUTS MPL MENU 215 VIBPEMEO JS m 215 28 1 1 gslejeeemm E o eae aa e e e eea a aa E A 215 28 1 2 Structure of the Virtual Digital Outputs cccccceseececeeeenceeeceeeeeesenaeeeseeaeeeeeseeeeesseeeeessnaeeeeeseeeeees 215 28 2 Operating Diagram of the Virtual Digital Outputs eene nnne nente nnne 220 28 3 Listof Parameters P350 to P385 esce ettet bee erue ERE e RECHNER IR EE TENER ER EROR e ee Prae 224 29 INPUTS FOR REFERENCES FROM OPTIONAL BOARD eeeeee e eee eene en nene nennen 238 29 1 Scaling Analog Inputs XAIND ssssssssssseseseeeeneneeeenenm rennen re nenne 238 29 2 lusto parameters P390 fo P399 239 30 AUTOTUNE MENU 5 243 MEME S uu TEE 243 30 1 1 Motor Autotune and Adjusting Loops 243 30 1 2 Checking the Encoder Operation 245 30 2 list of Inputs 073 1074 oett E E E 246 31 CARRIER FREQUENCY MENU
290. check the mechanical conditions of the connected load load locked overload 407 428 PROGRAMMING SINUS PENTA INSTRUCTIONS SANTERNO GRUPPO CARRARO A075 Motor Overheated Motor thermal protection tripped The software motor thermal protection tripped Output current has been exceeding the drive rated current for long periods e Poor mechanical conditions of the connected load e Wrong setting of parameters in the Thermal Protection Menu 1 Check mechanical conditions of the connected load Solution 2 Check parameters C265 C266 C267 and equivalent parameters for motors 2 and 3 in the MOTOR THERMAL PROTECTION MENU Event Possible cause A076 Limit Speed The motor speed is too high The motor speed is higher than the current value set in parameter C031 for motor 1 or equivalent parameters for motors 2 and 3 If C031 0 the limit speed protection is disabled If the encoder is disabled the variable used for this software protection is e The current speed setpoint for IFD The estimated motor speed for VTC control Value of parameter C031 too low Torque reference too high for SLAVE mode 1 Check the compatibility of the parameter with respect to the maximum speed parameter Possible cause Solution 2 In SLAVE mode check the torque reference value A079 Encoder Not Enabled DSa FOC control but encoder not enabled The FOC control is active but no encoder has been
291. ches the active reference IFD control in order to enable the RUN command the main speed reference must be other than zero When START is inactive but ENABLE is active the RUN command is disabled the reference is set to zero and the speed or torque setpoint decreases down to zero depending on the preset deceleration ramp The way the START enables or disables the RUN command also depends on the setup of other functions in particular the STOP REVERSE and JOG functions see parameters C150 C151 C169 If the REVERSE C1512z0 function is enabled it can enable disable the RUN command However if the START and REVERSE commands are both active the RUN command is disabled In this case START is interpreted as FORWARD and REVERSE as REVERSE When both Start and Reverse are active the system cannot interpret the query to be FORWARD or REVERSE If the JOG function is enabled C16920 it can enable disable the RUN command but only if the RUN command has not been previously enabled by other functions If the STOP function is enabled C1500 the RUN command may be enabled disabled only by pressing the relevant key see the description of the STOP function C150 If only the keypad is enabled as the command source press the START key located on the AN NOME keypad to enable the drive RUN and press the STOP key to disable the drive RUN If C185 Free Wheel when activating the start command the drive will not carry ou
292. coder works properly check its mechanical connection to the motor and check that the encoder signal cables are properly connected to the terminals Watchdog for the communication to the keypad Communication failed when the keypad was enabled as a reference source or a command source or when it was in Local mode Watchdog time is equal to approx 1 6 seconds Keypad cable disconnected Failure of one of the two connectors of the keypad Strong electromagnetic disturbance or radiated interference Keypad failure Incorrect setting in parameters relating to serial link 1 see the SERIAL LINKS MENU Check the connection of the keypad cable Make sure that the keypad cable connectors are intact on both drive side and keypad side 3 Check communication parameters of serial link 1 409 428 PROGRAMMING INSTRUCTIONS A082 Encoder Configuration SINUS PENTA SANTERNO GRUPPO CARRARO Functions programmed for MDI6 and MDI7 or Encoder B selected and encoder board not detected e Encoder has been selected for speed measure or as a reference source but different digital command functions are programmed for terminals MDI6 e Encoder B has been selected for the speed measure or as a reference source but the control board did not detect any optional encoder board Incorrect setting of the use of the encoders in parameter C189 e Incorrect programming of digital input functions e Option board for
293. conjunction with MDI7 it also allows acquiring a push pull encoder signal called Encoder A e MDI8 can be used to acquire a frequency input called FINB this avoids acquiring encoder B via ES836 option board e Multifunction Digital Outputs is a Push pull output MDO2 is an Open Collector output and MDO3 4 are relay outputs Electrical ratings of the control board inputs outputs are given in the Sinus Penta s Installation Instructions Manual When programming Analog Inputs see the INPUTS FOR REFERENCES MENU Analog Outputs see the ANALOG AND FREQUENCY OUTPUTS MENU Digital Inputs see the DIGITAL INPUTS MENU Digital Inputs used as Frequency Encoder Inputs see the ENCODER FREQUENCY INPUTS MENU Multifunction Digital Outputs see the DIGITAL OUTPUTS MENU configured as 4 20mA SW dip switches which are located on the control board must set as follows The drive is factory set with the REF input configured as 0 10V and AIN1 AIN2 inputs CAUTION SWT1 25 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 3 REFERENCES AND FEEDBACKS The drive references are the following e Main speed torque reference e Speed torque limit reference e PID reference e feedback 3 1 Main Speed Torque Reference If a speed control e g CO11 Speed for Motor 1 is used the main reference is a speed reference while if a torque control is used e g CO11 Torque CO11 Speed
294. control board see Installation Manual 1 Allow the motor to cool then reset the alarm 2 Make sure that the PTC is correctly connected to AIN2 analog input see Installation Manual 3 Make sure that SW1 hardware switch is correctly set 403 428 PROGRAMMING INSTRUCTIONS A056 PTC Short Circuit Description Event Possible cause A057 Illegal XMDI in MPL Description Possible cause Solution Description Possible cause Solution 404 428 SINUS PENTA 47 SANTERNO GRUPPO CARRARO N External PTC resistor short circuit Detected the short circuit of the PTC connected to AIN2 input R lt 10 ohm e Short circuit in the PTC e Incorrect wiring of e Incorrect setting of SW1 hardware switch on the control board see Installation Manual 1 Make sure that the PTC is correctly connected to AIN2 analog input see Installation Manual 2 Make sure that SW1 hardware switch is correctly set Illegal configuration of XMDI in the MPL Menu The drive checked if at least one XMDI input from ES847 5870 I O option board is available in the VIRTUAL DIGITAL OUTPUTS MPL MENU The drive checked if RO23 I O Board setting is set to in the EXPANSION BOARD CONFIGURATION MENU Wrong settings Check settings and enter correct settings Motor speed measure error During the encoder tune a speed error measure occurred with respect to the estimated speed although the sign
295. cted variable for test A P356 MPL1 Comparing Value for Test B 320 00 9 320 00 96 Range 32000 32000 96 of the full scale value of selected variable B see Table 39 Default Level Address Function This parameter defines the comparing value with the selected variable for test B 226 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO P357 MPL1 Function Applied to the Result of the 2 Tests A OR B A SET B RESET A AND B A XOR B A NOR B A NAND B AY OR B OR BY AJ AND B A AND BY 10 A RESET B SET RISING EDGE 11 A SET B RESET FALLING EDGE 12 A RESET B SET FALLING EDGE 0 1 2 3 4 5 6 7 8 9 Default Level Address This parameter determines the logic function applied to the result of the tests allowing calculating the output value P357a MPL1 Selecting Variable C See Table 39 Default DO Disable Level Address This parameter selects the digital signal used to calculate the value of MPL1 digital Function output The digital signals that can be selected are given in Table 39 P357b MPL1 Function Applied to the Result of C 0 OR C 1 SET C RESET RISING EDGE 2 AND C 3 XOR C 4 NOR C 5 NAND C 6 OR C 7 A B OR Cy 8 AND C A B AND CY 10 f
296. cy for the application required 1 Check ambient temperature Solution 2 Check motor current 3 Decrease IGBT carrier frequency see the CARRIER FREQUENCY MENU Possible An illegal Drive Profile board is implemented Incorrect configuration of the optional Drive Profile board The Drive Profile board is configured for a different drive The Drive Profile board is not configured for a different drive Faulty Drive Profile board Possible Make sure that the Drive Profile board is correctly configured for the Sinus Penta Solution drive Replace the Drive Profile board 411 428 PROGRAMMING INSTRUCTIONS A096 Fan Fault Description Event Possible cause Solution A097 Motor Cables KO Ao Description Event Possible cause Solution A098 Illegal Motor Possible cause Solution Description Possible cause Solution SINUS PENTA SANTERNO GRUPPO CARRARO Fan alarm 412 428 Description Possible cause Solution Power heatsink overheated with fan locked or disconnected or faulty see also A094 and A099 Fan locked or disconnected or faulty Replace fan Motor not connected This protection trips during autotune or DC Brake if the motor is not connected to the drive or if its current value is not compatible with the drive size One cable of the motor is disconnected e The motor size is too small if compared to the drive size
297. d AINT P000332 B 104 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO The figures below illustrate programming examples for REF analog input if motor 1 is selected and in MASTER mode speed reference Input type C029 P052a selection M037 Saturation Input type C028 P051a selection M037 C029 P052a P000333 B Figure 10 Computing Inputs REF 1 and 2 examples The setup in the first part of the figure is as follows 050 3 P051 1V P051a 10096 P052 10V 052 100 Speed Min C028 100 rpm Speed Max C029 1100 rpm The setup in the second part of the figure is as follows P050 P051 1V 51 100 P052 10V 052 100 Speed Min C028 1200 rpm Speed Max C029 400 rpm 105 428 PROGRAMMING SINUS PENTA INSTRUCTIONS Z SANTERNO GRUPPO CARRARO Analog Input Speed Saturation Input type C029 P052a 10 0V M037 fov Offset 051 P000334 B Figure 11 Computing REF Input Example 3 The Setup in Figure 11 is as follows P050 0 P051 5V P051a 100 P052 8V P052a 100 Speed Min C028 300 rpm Speed Max C029 1450 rpm 106 428 SINUS PROGRAMMING INSTRUCTIONS PZ SANTERNO GRUPPO CARRARO 13 3 List of Parameters P050 to 074 Table 20 List of parameters P050 to 74
298. d if RO23 Board setting is set to in the EXPANSION BOARD CONFIGURATION MENU Wrong settings Check settings and enter correct settings 399 428 PROGRAMMING SINUS PENTA INSTRUCTIONS SANTERNO GRUPPO CARRARO A044 SW Overcurrent SW Overcurrent Event Immediate current limit tripped e Abrupt variations of the connected load Output short circuit or ground short circuit e Strong electromagnetic disturbance or radiated interference If alarm A044 tripped while accelerating e short acceleration ramp Possible cause If alarm A044 tripped while decelerating e short deceleration ramp e Excessive gain of the current regulator P155 or too short integral time P156 when using the FOC control algorithm e Excessive gain of the speed regulator P128 or too short integral time P126 when using the VTC control algorithm 1 Check if the drive and the motor are properly dimensioned with respect to the connected load 2 Make sure that no short circuit is to be found between two phases or between one phase and the grounding outgoing from the drive terminals U V W Remove voltage from the motor set IFD control and operate the drive in no load conditions 3 Check if the command signals are sent to the drive using screened cables where required see Sinus Penta s Installation Instructions manual Detect external sources for electromagnetic disturbance check wiring and make sure that antidis
299. d is stored to memory and will be active at next power on Regardless of the Autoreset function setup an automatic reset of the last alarm stored can be obtained when the drive is next turned on C257 Yes Undervoltage alarm A047 DC bus voltage below allowable threshold with motor running or Mains Loss alarm A064 mains loss when the motor is running and the Power Down function is disabled are not stored in the fault list when the drive is powered off factory setting To enable parameter storage set C258 to Yes 41 2 List of Parameters C255 to C258 Table 98 List of parameters C255 to C258 C255 Autoreset attempt number B 0 C256 Attempt counting reset time 1256 300 sec C257 Alarm reset at Power On 1257 0 Disabled C258 Enable Undervoltage and Mains ee 1258 0 Disabled Loss alarms C255 Autoreset Attempt Number Address If set different from Disable Disable 0 this parameter enables the Autoreset function and sets the max number of reset attempts for a time interval set in C256 If a time equal to the time set in C256 passes starting from the last alarm tripped the autoreset attempt count is reset Function C256 Attempt Counting Reset Time 0 1000 sec 300 Level ENGINEERING Address Determines the time that passes from the last alarm tripped to reset the autoreset attempt number Function 350 428 SINUS PENTA
300. d signal B This function can be used in case of hysteresis The output status Q depends on the previous value hold and on the result of the two tests Test A is the Set command Test B is the Reset command Example Suppose that the output enables only when the motor speed exceeds 50rpm and disables when the motor speed drops below 5 rpm To do so assign the first condition to Test A representing the Set command for Flip Flop P351 Motor Speed P353 gt P355 50rpm and assign the second condition to Test B representing the Reset command P352 Motor Speed P354 lt P356 5 A more detailed example is given at the end of this section XOR B The selected digital output enables when either one condition or the other is true but not when both conditions are true at a time XOR B Output 0 o 1 o li 218 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO NOR B The selected digital output enables when no condition is true The NOR function between two variables corresponds to the AND of the same false variables i e A NOR B AND B Output po o NAND B The selected digital output enables when no condition is true or when only one of the two conditions is true The NAND function between two variables corresponds to the OR of the same false variables i e A B A OR B Oo 1
301. dress Function Same as ramp 1 see P010 NOTE Values for ramp 2 can be applied to the reference provided that multiramp digital inputs are set up and that ramp 2 is selected see the DIGITAL INPUTS MENU 93 428 SINUS PROGRAMMING INSTRUCTIONS SANTERNO GRUPPO CARRARO P014 Speed Ramps 1 and 2 Time Unit of Measure 0 0 01 5 1 5 0 15 0 3 231s 3o 10s Default See Table 72 Level ADVANCED Address 614 Defines the unit of measure for the time periods for speed ramp 1 POO9 and PO10 for speed ramp 2 P012 and P013 and for ramps in Fire Mode P032 and P033 The allowable programmable range may be extended from 0 s to 327000s Function E g 14 1 then POO9 100 this means P009 100 1 5 10s P01420 then POO9 100 this means P009 100 x 1 5 1 5 14 3 then POO9 100 this means P009 100 x 10 5 1000s P015 Speed Ramp 3 Acceleration Time 0 327 00 s if PO20 0 0 01 s 0 3270 05 020 0 0 1 lt 22 00 0 32700 s if PO20 0 gt 1s 0 327000 s if 020 0 gt 10 s Default See Table 72 Level ADVANCED Address Function Same as ramp 1 see P009 NOTE Values for ramp 3 can be applied to the reference provided that multiramp digital inputs are set up and that ramp 3 is selected see the DIGITAL INPUTS MENU 16 Speed Ramp 3 Deceleration Time 0 327 00 5 if PO20 0 0 01 s 0 3270 0 s if PO20 0 gt 0 1 s SUELE O 32700 0 3
302. dress Value of the measure offset for channel 1 an offset can be applied to the Function measure to correct possible errors P322 Channel 2 Measure Mode 0 no input Range 1 val PT100 Default Level Address This parameter selects the type of analog signal available in terminals 29 30 in ES847 expansion board Function 0 no signal is used The P parameter relating to the analog input disappears 1 val PT100 The acquired signal is transformed into degrees centigrade See Measure M070 P323 Channel 2 Measure Offset ecm 30000 30000 300 00 300 00 Default Level Address Value of the measure offset for channel 2 an offset can be applied to the measure to correct possible errors Function 211 428 PROGRAMMING INSTRUCTIONS P324 Channel 3 Measure Mode Default Level Address Function SINUS PENTA GRUPPO CARRARO Z SANTERNO 0 no input 1 val PT100 0 no input This parameter selects the type of analog signal available in terminals 31 32 in ES847 expansion board 0 no signal is used The P parameter relating to the analog input disappears 1 val PT100 The acquired signal is transformed into degrees centigrade See Measure M071 P325 Channel 3 Measure Offset P325 Range Default Level Address Function 30000 30000 300 00 300 00 Value of the measure offset for channel 3 an offset can be applied to the P326 Channel 4 Measure M
303. ds a preset threshold value depending on the drive voltage class the clamp transistor closes in the braking resistor so energy in excess is dissipated to the resistor and DC bus voltage does not exceed voltage ratings The max duty cycle of the braking resistor is parameterized with C212 and C211 maximum duty cycle 100 Ton Ton Toff and maximum time of continuous supply Ton respectively If the braking resistor activation is Ton C212 when this interval is over the relevant command will be disabled for a time equal to Toff 100 C212 C211 C212 sec Example A lifting application implementing a Sinus Penta 0086 at 400V requires a braking resistor with a 50 duty cycle The braking period is 30s According to the tables in the Braking Resistors section Installation Instructions manual the applicable braking resistor is 24 kW The max continuous duty for said resistor is 62s the braking period is then compatible with that rating Otherwise a higher rated resistor should be applied Parameter setting C210 With resistor C211 30s C212 50 Factory setting assumes that no braking resistor is provided In this case C210 sets promptness with respect to variations of DC bus for the deceleration ramp slowing down in order not to overload the bus capacitor bank If 210 is set to zero in FOC control deceleration slows down when given values of the voltage bar are reached depending on the drive vol
304. e 15RO102B1 SINUS MULTIFUNCTION AC DRIVE USER MANUAL Programming Instructions Issued on 09 07 09 R 06 SW VER 1 67x English This manual is integrant and essential to the product Carefully read the instructions contained herein as they provide important hints for use and maintenance safety e This device is to be used only for the purposes it has been designed to Other uses should be considered improper and dangerous The manufacturer is not responsible for possible damages caused by improper erroneous and irrational uses Elettronica Santerno 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 the Engineering Department of Elettronica Santerno Elettronica Santerno assumes no responsibility for the consequences resulting by the use of non original spare parts e Elettronica Santerno reserves the right to make any technical changes to this manual and to the device without prior notice If printing errors or similar are detected the corrections will be included in the new releases of the manual e Elettronica Santerno is responsible for the information contained in the original version of the Italian manual The information contained herein is the property of Elettronica Santerno and cannot be reproduced Elettronica Santerno enforces its rights on the drawings and catalogues according to the law
305. e Kp is the value of the proportional gain corresponding to the permanent oscillation critical gain and T is the period of the permanent oscillation Kp P240 Ti P242 Td P243 P 0 5 Kp PI 0 45 T 1 2 PID 0 6 Kp 2 8 000809 0 Figure 24 Permanent oscillation with Kp critical gain 160 428 SINUS PENTA A 22 3 PROGRAMMING 5 SANTERNO GRUPPO CARRARO P0008100 Figure 25 Response to a system tuned with the method of Ziegler and Nichols The method of Ziegler and Nichols is not always applicable because some systems do not NOTE produce any oscillations even in presence of large proportional gains However leading a system close to instability can be very dangerous Manual Tuning of the PI Regulator The PI regulator con be manually tuned when the tuning method of Ziegler and Nichols is not applicable The sections below cover the following how the transient is affected from the proportional action when the integral action is kept constant in a PI regulator how the transient is affected from the integral action when the proportional action is kept constant in a PI regulator how the transient is affected from the derivative action in a PID regulator 22 3 1 PROPORTIONAL ACTION P Symbol Tuning function Main goal Kp An input variance error produces an output Changes the tuning variable based the variance proportional to
306. e UPLOAD DOWNLOAD page the starting page is automatically displayed While UPLOADING WO8 UPLOADING flashing warning appears If parameters are successfully uploaded the following warning appears W11 UPLOAD OK If not the W12 UPLOAD KO warning appears Retry parameter upload 22 428 SINUS PROGRAMMING 2 SANTERNO GRUPPO CARRARO While DOWNLOADING W07 DOWNLOADING flashing warning appears If parameters are successfully downloaded the following warning appears W09 DOWNLOAD OK If not alarm A073 trips and download must be retried before restarting the drive 1 10 LOC REM Key Keypad Pages To enable the Local Remote operating mode Remote sources are command and or reference sources other than the display keypad press the LOC REM key in the display keypad or use a digital input configured as Loc Rem see C180 The LOC REM key is enabled when no digital input is configured as Loc Rem or when a digital NOTE input is configured as a Loc Rem button see C180a The LOC REM key is disabled when a digital input is configured as a Loc Rem selector switch see 180 C148 sets whether toggling between Remote mode and Local mode is activated only when the drive is disabled or whether toggling from Remote to Local mode does not affect the drive running conditions bumpless commands but it does affect the reference You can also choose to keep running conditions and reference unaffected any command
307. e configured even through the display keypad of the drive where it is installed Function 0 No alarm 1 Parameter save fault 2 Log write error 3 FBS configuration failure 4 RS232 Modbus configuration failure 5 RS485 Modbus configuration failure 0 6 99 104 6 TCP IP stack configuration failure 99 Flash card lacking or inaccessible 100 Invalid stream access 101 TCP IP socket fault 102 Dial out connection failure 103 ES821 Clock fault 104 Modem initialization failure This measure is active only if programmed from parameter RO21 Address This indicates a general alarm tripped for ES851 In case an alarm trips please contact AR ri ETTRONICA SANTERNO s CUSTOMER SERVICE and mention the alarm code and name 70 428 SINUS SANTERNO INSTRUCTIONS GRUPPO CARRARO N M101 Connection Status Range Bit controlled measure Active This measure is active only if programmed from parameter R021 Address Status of the connections supported ES851 Note that the COMI serial link is RS232 by default whereas COM 2 is RS485 by default For more details please refer to the Programming Instructions manual for ES851 Data Logger Function Table 7 Data Logger connection status Type of modem connection failure None Dial KO Connect KO Authentication IPCP Modem not yet initialized Modem init KO Modem not configured Modem not dial out 1
308. e drive the motor idles When the drive activates again the Speed Searching function allows the drive to reach the motor speed All parameters relating to this function are included in the Speed Searching submenu in the Configuration menu For FOC control the motor speed of rotation is always known so this function is always active and independent of the parameters of the relevant menu AN NOTE The Speed Searching parameters are used for IFD control only When C245 is set to YES do the following to activate the Speed Searching function open and close the ENABLE command before t is over C246 disable the DC Braking command before the DC braking preset time is over see the DC BRAKING MENU reset any alarm tripped with reference other than before t is over Speed searching does not take place when the drive turns off due to mains loss If the drive restarts after a time longer than t C246 frequency output is generated following the acceleration ramp and no speed searching takes place If C246 0 Always speed searching if enabled with C245 occurs when the drive restarts RUN irrespective of the time elapsed from disabling The figures below show output frequency and motor rpm during speed searching After time t for rotor demagnetization speed searching occurs as follows see 3 steps below Speed at the beginning of the speed searching function depends on the settings in C249 345 428 SINUS
309. e input 1006 Function selection for DGI control ADVANCED 1393 inactive C149a START B Input ADVANCED 1297 none C150 STOP Input ADVANCED 1150 none C150a STOP B Input ADVANCED 1298 none C151 REVERSE Input ADVANCED 1151 none 151 REVERSE B Input ADVANCED 1299 none C152 ENABLE S Input ADVANCED 1152 none C153 DISABLE Input ADVANCED 1153 none C154 Disable RESET alarms on MDI3 ADVANCED 1154 NO C155 MULTISPEED 0 Input ADVANCED 1155 MDIA C156 MULTISPEED 1 Input ADVANCED 1156 MDI5 C157 MULTISPEED 2 Input ADVANCED 1157 none C158 MULTISPEED 3 Input ADVANCED 1158 none C159 CW CCW Input ADVANCED 1159 MDI8 C160 DCB Input ADVANCED 1160 none C161 UP Input ADVANCED 1161 none C162 DOWN Input ADVANCED 1162 none C163 RESET UP DOWN Input ADVANCED 1163 none C164 External alarm 1 Input ADVANCED 1164 none C164a External alarm 1 trip delay ADVANCED 1305 immediate C165 External alarm 2 Input ADVANCED 1165 none C165a External alarm 2 trip delay ADVANCED 1306 immediate C166 External alarm 3 Input ADVANCED 1166 none C166a External alarm 3 trip delay ADVANCED 1307 immediate C167 MultiRamp O Input ENGINEERING 1167 none C168 MultiRamp 1 Input ENGINEERING 1168 none C169 JOG Input ADVANCED 1169 none C170 SLAVE Input ADVANCED 1170 none C171 PID DISABLE Input ADVANCED 1171 none 171 Input for PID control selection ENGINEERI
310. e keypad or with the LOCAL command function from the terminal board see C180 forces the keypad as the NOTE only command source thus ignoring the values set in parameters C140 C141 C142 gt PP gt The following functions are therefore enabled for the hardware terminal board External Alarm n 1 n 2 n 3 Motor Sel n 2 Motor Sel n 3 SLAVE PID Disable LOCAL and the ENABLE and RESET functions are always enabled for terminals MDI2 and MDI3 Table 76 Remote command inputs from serial link Remote virtual terminal board Bit input 0 1 for 8 bits 1406 T from serial link corresponding to MDI1 MDI8 a Bit input 0 1 for 8 bits 1407 1020 terminal ca from serial link XMDI8 AN NOTE 1020 is enabled only if RO23 is set other than 0 Example If C140 3 Fieldbus and C141 2 Serial link the ENABLE command is sent by closing terminal MDI2 on the terminal board and AND by forcing bit MDI2 from the serial link on input 1019 MODBUS address 1406 and bit MDI2 from Fieldbus see the FIELDBUS CONFIGURATION MENU The START command may also be sent OR by forcing bit MDI1 from serial link on input 1019 or by forcing bit MDI1 from Fieldbus for the relevant variable 288 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 34 1 2 SPEED TORQUE REFERENCE Sources The main reference is the value at constant speed to be attained by the contr
311. e motor thermal time constant C267 that corresponds to the closest IEC class from Table 99 above Example 1a the 7 5kW motor in Table 100 can be approximated to have a trip class of 820 x 20 IEC Class 27 3 100 6 The motor thermal time constant that you would select is class 30 C267 10805 As an even quicker guide the trip class can generally be approximated as the locked rotor time Locked Rotor Full Load Locked Rotor Output kW IEC Frame Current LRC Current FLC Time cold Rated speed FLC LRT s rpm 0 12 63 450 0 41 44 1415 0 18 63 460 0 58 59 1400 0 25 71 500 0 7 106 1400 0 37 71 500 1 03 81 1395 0 55 80 600 1 3 37 1430 0 75 80 570 1 61 35 1420 1 1 90S 700 2 37 31 1445 1 5 90L 750 3 28 22 1450 2 2 112M 720 4 42 55 1455 4 112M 660 7 85 26 1445 5 5 1325 M 850 10 34 26 1465 7 5 132S M 1465 Example 1a 1b 9 2 160M 1460 11 160M 1465 15 160L 1465 18 5 180M L 1470 22 180L 1475 30 200L 1475 37 2255 1480 45 2255 1480 55 2505 1480 75 2505 1480 90 2805 1485 110 315S M 1485 132 315S M 1485 150 3155 1485 160 3155 1485 185 355M L 1490 200 355M L 1490 220 355M L 1490 250 355M L 690 425 1490 Example 2 260 355M L 650 445 90 1490 280 355M L 710 471 86 1490 300 355M L 670 504 103 1490 315 355M L 670 529 92 1490 330 355M L 650 554 70 1490 Table 100 Typical datasheet for 4 pole 50Hz 400V motors 354 428 SINUS PENTA PROG
312. e value FS Ref PROGRAMMING INSTRUCTIONS 139 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 20 2 1 OPERATING MODE OF ANALOG AND FREQUENCY OUTPUTS This section covers the different representation modes to be selected for the analog and frequency outputs The following modes can be used for analog outputs 0 Disabled Disabled analog output enables a RESERVED operating mode 1 10V The analog output is set as a voltage output and the possible min and max output values range from 10V The selected variable has a positive or negative sign 2 0 10V The analog output is set as a voltage output and the possible min and max output values range from to 10V The selected variable has a positive or negative sign 3 0 20 The analog output is set as a current output and the possible min and max output values range from to 20mA The selected variable has a positive or negative sign 4 4 20 The analog output is set as a current output and the possible min and max output values range from 4 to 20mA The selected variable has a positive or negative sign ABS 0 10V 5 0 10V output mode but the selected variable is considered as an absolute value ABS 0 20 As 0 20mA output mode but the selected variable is considered as an absolute value ABS 4 20 As 4 20mA output mode but the selected variable is considered as an absolute value On parameters N
313. ed The output motor speed M004 is displayed as follows bio L bit 7 0 Words 4 amp 5 Third amp Fourth measure that may be configured with P330 amp P331 Words 4 amp 5 may be configured with P330 and P331 more details are given in the FIELDBUS PARAMETERS MENU Both words 4 amp 5 are represented as follows DES EIAS represented by P330 and P331 385 428 PROGRAMMING SINUS PROGRAMMING GUC TOK Z SANTERNO GRUPPO CARRARO Word 6 Digital Inputs Digital input status in the word bit 15 8 zi ram bit 7 0 zx MDI3 MDI2 MDI1 XMDI8 XMDI7 XMDI6 XMDI5 XMDIA XMDI3 XMDI2 XMDI 1 MDI8 MDI7 MDI6 MDI5 MDI4 RESET ENABLE START Word 7 Digital Outputs Digital output status in the word eooo feoeo Status of the Pre charge contactor Words 8 9 10 REF AIN1 AIN2 Analogue Signal Full scale value 16380 is a rated value corresponding to an input range of 10V This value can be altered due to automatic compensation of the tolerance of the input stage REF AINT AIN2 NOTE unfiltered measure values detected in the A D converter output The measures of the analog inputs sent from the Sinus Penta to the Master are the For filtered measures use M037 M038 and M039 respectively 386 428 PROGRAMMING 22 SANTERNO GRUPPO CARRARO SINUS PENTA 49 EXPANSION BOARD CONFIGURATION MENU 49 1 Overview P
314. ed Functions O3h Read Holding Register Allows reading the register state of the slave device This function does not allow the broadcast mode address Additional parameters are the address of the basic digital register to be read and the output number to be read QUERY RESPONSE Slave address Slave address 03h Function 03h Function Register address high Byte number Register address low Data Register N high Register N low Data Error correction Error correction 10h Preset Multiple Register Sets the state of multiple registers for the slave device In broadcast mode address the state of those registers is set in all the connected slave devices Additional parameters are the basic register address the number of registers to be set the relevant value and the number of bytes used for the data items 374 428 QUERY RESPONSE Slave address 10h Function Register 1 addr Hi Register 1 addr Lo Register N Hi Register N Lo Byte number Data Hi Data Lo Data Hi Data Lo Error correction Slave address 10h Function Register 1 addr Hi Register 1 addr Lo Register N Hi Register N Lo Error correction SINUS PROGRAMMING ez SANTERNO INSTRUCTIONS GRUPPO CARRARO Error Messages If a message error is detected the inverter will send a message to the master Slave address Function MSB 1 Error code Error correction
315. ed for calculations 358 428 SINUS PENTA PROGRAMMING 2 SANTERNO Neid GRUPPO CARRARO 43 MAINTENANCE MENU 43 1 Overview The Maintenance menu allows setting partial counters for the drive supply time ST and operation time OT When the preset time is reached a warning message appears 43 2 List of Parameters C275 to C278 Table 102 List of parameters C275 to C278 C275 Operation time counter reset C276 Operation time threshold 1276 Oh C277 Supply time counter reset 1277 NO C278 Supply time threshold 1278 Oh C275 Operation time counter reset Range 1 YES Default Level Address This parameter resets the partial counter for the drive operation time C276 Operation Time Threshold Range 0 650000h Defaut Level ENGINEERING Address This parameter sets the threshold for the operation time of the drive When this time is exceeded Warning 48 W48 OT Over appears To reset the warning message reset the partial counter or set the counter threshold to zero C277 Supply Time Counter Reset 1 YES Default Level Address KM This parameter resets the partial counter for the drive supply time C278 Supply Time Threshold 0 65000 0 650000 Defaut 0 ll l5 Level ENGINEERING Address This parameter sets the threshold for the supply time of the drive When this time is exceeded Warning 49
316. ed profile with Acceleration Reset Yes to No Example 12 1 2 DESCRIPTION OF THE TORQUE RAMPS If the control algorithm is VTC or FOC and if it is controlled by setting Torque CO11 for motor 1 C054 for motor 2 and C097 for motor 3 respectively the reference is ramped based on the values set in parameter 26 torque increase ramp time PO27 torque decrease ramp time and P028 unit of measure for the ramp times The ramp up time setting is the time the output torque reference takes to go from to the max value as an absolute value between Torque min and Torque max of the selected motor C047 C048 for motor 1 and so on 91 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 47 SANTERNO GRUPPO CARRARO 12 2 List of Parameters P009 to P033 Table 17 List of parameters POO9 to P033 P009 Speed ramp 1 acceleration time BASIC See Table 72 609 P010 Speed ramp 1 deceleration time BASIC See Table 72 610 P012 Speed ramp 2 acceleration time ADVANCED See Table 72 612 P013 Speed ramp 2 deceleration time ADVANCED See Table 72 613 Ppeed ramps lands Hime Um of ADVANCED See Table 72 614 measure P015 Speed ramp 3 acceleration time ADVANCED See Table 72 615 P016 Speed ramp 3 decelerati
317. ed to the Result of f A B C Default Level Address Function 236 428 0 OR C 1 SET C RESET RISING EDGE 2 AND C 3 XOR C 4 NOR C 5 NAND C 6 OR C 7 A B OR Cy 8 AND C A B AND CY 10 f A B RESET C SET RISING EDGE 11 SET C RESET FALLING EDGE 12 f A B RESET C SET FALLING EDGE 1 A SET B RESET This parameter determines the logic function applied to the result of the two tests allowing calculating the output value SINUS PENTA PROGRAMMING 2 SANTERNO P385 MPL4 Output Logic Level Default Level Address MPL4 digital output logic function to apply a logic reversal negation to the Function calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied 237 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 29 INPUTS FOR REFERENCES FROM OPTIONAL BOARD This menu relates to ES847 I O expansion board It can be viewed only if R023 I O board setting XAIN see the EXPANSION BOARD CONFIGURATION MENU In addition to the analog inputs located on ES821 control board a current analog input and a voltage analog input can be acquired if ES847 is fitted 29 1 Scaling Analog Inputs XAIN4 XAIN5 NOTE Please refer to the Sinus Penta s Installation Instructions Manual for hardware details about analog inputs
318. ef from display keypad No reference scaling is required References are expressed as a percentage of the motor rated torque Saturation of the reference values depends on min max torque parameters e g Motor 1 C047 for min torque C048 for max torque The torque ramp set in parameters P026 P027 of the Ramps menu is assigned to the limit torque reference 35 428 PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 5 4 Configuring the Feedback from Encoder 36 428 Write Enable P001 Eng Access Level Setting Setting the Speed Feedback In the Motor Control menu set C012 as a speed feedback from Encoder ENCODER A Push Pull single ended 24V encoder connected to digital inputs MDI6 and MDI7 NOTE In the Digital Inputs menu do not set any function for MDI6 and MDI7 In the Encoder Frequency Input menu set the source for Encoder A speed feedback set C189 A FBK B NOJ if also encoder B or frequency input FIN B are used see the programming options for C189 in the Encoder Frequency Input section Set the number of pls rev for the encoder being used parameter C190 A059 Encoder Fault automatically corrected see C199 Checking the Encoder Check to see if the encoder is properly connected CAUTION the motor must start running In the Autotune menu set 1073 Tune and close the enabling contact of the drive M
319. efault Level Address Function See Table 39 D21 MDI Enable This parameter selects the digital signal used to calculate the value of MPL1 digital output It selects an analog variable used to calculate the value of MPL1 digital output if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 P352 MPL1 Selecting Variable B Default Level Address Function 10 119 See Table 39 DO Disable This parameter selects the second digital signal used to calculate the value of MPLT digital output It selects an analog variable used to calculate the value of MPL1 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 225 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO P353 MPL1 Testing Variable A Default Level Address This parameter defines the test to be performed for the variable detected by P351 using P355 as a comparing value Function Default Level Address This parameter defines the test to be performed for the variable detected by P352 Function using P356 as a comparing value P355 MPL1 Comparing Value for Test A 320 00 96 320 00 96 Renee 32000 32000 of the full scale value of selected variable A see Table 39 eo Level ADVANCED NEES 955 Function This parameter defines the comparing value with the sele
320. el E 1 True 915 316 XMDO6 Signal selection ENGI Disable 916 317 XMDO6 Output logic level 1 True 917 P306 XMDO1 Signal Selection Default Level Address Selects the digital signal used to calculate the value of XMDO1 digital output It selects an analog variable used to calculate the value of XMDO1 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 Function P307 XMDO1 Output Logic Level Range Default Level Address XMDO1 digital output logic function to apply a logic reversal negation to the Function calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied 206 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO P308 XMDO2 Signal Selection MEM 0 59 See Table 39 Peso DO Disable IEEE ENGINEERING 55 Selects the digital signal used to calculate the value of XMDOJ2 digital output It selects an analog variable used to calculate the value of XMDO2 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 Function P309 XMDO2 Output Logic Level Default Level Address XMDO2 digital output logic function to apply a logic reversal negation to the Function calculated output signal 0 FALSE
321. er The preset threshold for the drive Supply Time has been exceeded 417 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 53 7 State List Table 116 State list 0 ALARM Alarm tripped 1 STARTING UP The drive is starting up 2 MAINS LOSS Mains loss 3 TUNING The drive is tuning 4 SPEED SEARCHING Searching for motor speed 5 DCB at START DC Braking at start 6 DCB at STOP DC Braking at stop 7 DCB HOLD DC current for Hold function 8 MANUAL DCB DC Braking at start 9 LIMIT WHILE ACCEL Current torque limit while accelerating 10 LIMIT WHILE DECEL Current torque limit while decelerating 11 LIMIT AT ST SPD Current torque limit at constant rpm 12 BRAKING Braking module startup or deceleration ramp extension 13 RUN AT ST SPEED Drive running at speed set point 14 ACCELERATING Drive running with motor in acceleration stage 15 DECELERATING Drive running with motor in deceleration stage 16 INVERTER OK Drive on Stand by with no alarms tripped 17 FLUXING Motor fluxing stage 18 FLUXED MOTOR Motor fluxed 19 FIRE MODE RUN Constant rpm in Fire Mode 20 FIRE MODE ACC Acceleration in Fire Mode 21 FIRE MODE DEC Deceleration in Fire Mode Drive on Stand by with no alarms tri 22 void dba M ues ap ee ce 25 SPARE Board in Spare mode 27 WAIT NO ENABLE Waiting for opening ENABLE command 28 WAIT NO START Waiting f
322. erence sent both I from keypad and TIN terminal board Reference sent from keypad only Parameter uploading from inverter to keypad LED off FWD and REV LEDs Green LED flashing e reference 0 LED on fixed Total reference of frequency speed torque is being sent and is positive Total reference of frequency e speed torque is being sent and is negative See also the OPERATING AND REMOTING THE KEYPAD section in the Sinus Penta s Installation Instructions manual 24 428 SINUS PENTA PROGRAMMING 5 SANTERNO INSTRUCTIONS GRUPPO CARRARO 2 DESCRIPTION OF INPUT AND OUTPUT SIGNALS The control board of the drives of the Sinus Penta series is provided with the following inputs outputs 3 Analog Inputs single ended REF input differential AINT amp AIN2 inputs that can be programmed as voltage current inputs via SW1 DIP switch see Configuration DIP switches in the Sinus Penta s Installation Instructions Manual 3 Analog Outputs that can be programmed as voltage current inputs via SW2 DIP switch see Configuration DIP switches in the Sinus Pento s Installation Instructions Manual e 8 MDI Multifunction Digital Inputs of them MDI7 MDI8 are fast acquisition inputs allowing acquiring frequency signal or encoder signals e 6 can be used to acquire a frequency signal called FINA if used in
323. es that is C140 Keypad and C143 AINT if it is closed number 2 will be considered C141 Fieldbus and C144 Fieldbus If references sources 3 and 4 C145 and C146 are not set to Disable the reference sent for these sources shall be a sum of the source selected by MD16 vector See C179 in the DIGITAL INPUTS MENU 291 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 34 1 4 TORQUE LIMIT SOURCE The source of the Torque Limit can be selected with parameter C147 The Torque limit function is a limit of the absolute value of the torque required from the drive Torque limit lt torque lt Torque limit The torque limit references may be selected from the following 0 Source disabled 1 REF single ended analog input from terminal board 2 AIN1 differential analog input from terminal board 3 AIN2 differential analog input from terminal board see also the ENCODER FREQUENCY INPUTS MENU 4 FIN frequency input from terminal board 5 Serial link with MODBUS protocol 6 Fieldbus fieldbus on option board 7 Keypad remotable display keypad 8 Encoder in terminal board MDIG ECHA MDI7 ECHB or option board 9 Up Down from MDI Up down from digital inputs see C161 and C162 10 XAINA auxiliary differential voltage analog input from ES847 terminal board 11 XAIN5 auxiliary differential current analog input from ES847 terminal board If the reference source i
324. esssccssesscsccsscesceccsscuscescuscescessecccscesesesceces 296 35 1 E AN AE 296 35 1 1 START Terminal AMDI crisisen eis Eri IE ini irai edens 298 35 1 2 ENABLE Terminal 15 MDI2 sse eee hehe 299 35 1 3 RESET Terminal 16 P 300 35 2 Factory setting of the Digital Inputs ccceeeesceceeeseeeeeeeecececeeaeeceeeeaceceeeaaeecesenaeesessaeeeesaeeeeesaeesensnaeeees 300 35 3 List of Parameters C149a to C188c and 1006 301 36 ENCODER FREQUENCY INPUTS MENU ccccocccsccscceccscceccecceccecceccesceccesceccesceseescesces 320 36 1 SINE 320 36 1 1 When ES836 XA eB NEUTER 320 36 1 2 When ES836 IS Used E pigs vac 321 36 1 3 When Using Two Encoders eodeni inus ee ERU EO ta PO AS ai eg arri debe one E Re ERAS 322 36 2 List of Parameters C189 to C199 seen rsen nean s penas ed abes AST Sa ERR rada 324 37 BRAKING RESISTANCE MENU ccccescsscccccsccscceccsccecccccescecceccescescesecscescesscscesceseesccsces 328 37 1 jer M 328 37 2 List of Parameters C210 to C212 RI 329 38 DC BRAKING MENU i iicssccctssccscsssccscssaccatccscceccavadcc
325. et at 0 The type of parity used for serial communications 47 1 1 WATCHDOG ALARMS The Watchdog alarms determined by the serial link may be the following e A061 Serial alarm n 0 WDG e A062 Serial alarm n 1 WDG e A081 Keypad Watchdog The first two alarms trip when no legal message is sent from the serial link to the drive for a time longer than the time set in the relevant watchdog parameters these alarms are active only if parameters ROO5 or RO12 are set other than zero The third alarm trips only if the display keypad used as a reference command source detects a communication loss for a time longer than 2 seconds 376 428 PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO SINUS PENTA 47 2 List of Parameters R001 to R013 Table 106 List of parameters ROO1 to RO13 ROO1 Drive MODBUS Address for Serial Link 0 D9 pole 1 ROO2 Response Delay for Serial Link 0 D9 pole 5msec ROO3 Baud Rate for Serial Link O D9 pole 6 38400 bps ROO4 Time added to 4byte time for Serial Link 0 D9 pole 2msec R005 Watchdog time for Serial Link O D9 pole 0 006 Parity Bit for Serial Link O D9 pole ROO8 Drive MODBUS address for Serial Link 1 RJ45 1 Disabled 2 Stop bit 1 ROO9 Response Delay for Serial Link 1 RJ45 5 msec R010 Baud Rate for Serial Link 1 RJ45 6 38400
326. ever one of these parameters is written the drive automatically computes and saves the NOTE parameters of PI flux regulator and FOC control proportional constant for motor 1 P158 P165 for motor 2 P172 for motor 3 and integral time P159 P166 for motor 2 P173 for motor 3 C026 C069 C112 Time Constant of Bus Voltage Low pass Filter Range 0 32000 0 0 3200 0 ms Default Level 1026 1069 1112 This parameter defines the time constant of the low pass filter of the bus voltage readout Function Altering this value can avoid motor oscillations especially when no load is connected to the motor 266 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO C028 C071 C114 Min Motor Speed SENE 32000 32000 32000 32000 rpm Default Level Neeley 1028 1071 1114 This parameter defines the minimum speed of the connected motor When references forming the global reference are at their min relative value the global reference equals the min speed of the connected motor Example CONTROL METHOD MENU C143 1 REF Selection of reference 1 source C144 gt 2 AINT Selection of reference 2 source C145 J 0 Disable Selection of reference source C146 gt 0 Disable Selection of reference 4 source INPUTS FOR REFERENCES MENU 50 0 10V Type of reference for REF input P051 10V Value of the min reference for
327. ey for more than 5 secs For the correct operation of the PROFldrive board please refer to the Sinus Penta s NOTE Installation Instructions manual and to the PROFldrive COMMUNICATIONS BOARD Parameters in this menu are Rxxx parameters AN NOTE Once changed and saved they become active only when the drive is next switched on or AN USER MANUAL 50 2 List of Parameters R025 to R045 Table 109 List of parameters R025 to R045 R025 Slave address ENGINEERING 547 1 R026 PZD3 OUT ENGINEERING 548 1 DIGITAL INPUTS R027 PZD4 OUT ENGINEERING 549 0 NOT USED R028 PZD5 OUT ENGINEERING 550 0 NOT USED R029 PZD OUT ENGINEERING 554 0 NOT USED RO30 PZD7 OUT ENGINEERING 555 0 NOT USED RO31 PZD8 OUT ENGINEERING 556 0 NOT USED RO32 PZD9 OUT ENGINEERING 557 0 NOT USED RO33 PZD10 OUT ENGINEERING 558 0 NOT USED RO34 PZD3 IN ENGINEERING 559 0 NOT USED RO35 PZD4 IN ENGINEERING 581 0 NOT USED RO36 PZD5 IN ENGINEERING 582 0 NOT USED RO37 PZD6 IN ENGINEERING 583 0 NOT USED RO38 PZD7 IN ENGINEERING 584 0 NOT USED RO39 PZD8 IN ENGINEERING 585 0 NOT USED R040 PZD9 IN ENGINEERING 586 0 NOT USED RO41 PZD10 IN ENGINEERING 587 0 NOT USED RO44 Drive Profile Communication Mode ENGINEERING 520 0 DP VO RO45 Drive Profile Selection ENGINEERING 521 1 VENDOR SPECIFIC 1 388 428 PROGRAMMING SINUS PENTA 22 SANTERNO eee GRUPPO CARRARO RO25 SLAVE ADDRESS O 126 Defa
328. f P060 3 0 0 V 10 0V if P060 3 0 10V 0 200 if PO60 4 0 0 mA 20 0 mA if PO60 4 0 20 mA Default Level ADVANCED Address This parameter selects the value for AIN2 input signal for minimum reference or better the reference set in CO28xPO61a Master mode in CO47xPO 61a Slave mode If motor 2 is active C071 and C090 will be used instead of C028 and C047 if motor 3 is active the values set in C114 and C133 will be used Function 112 428 PROGRAMMING SINUS PENTA Z SANTERNO INSTRUCTIONS GRUPPO CARRARO 61 Percentage of Speed Min Tra Min Producing Min Reference Y axis related to P061 0 1000 100 096 1000 ADVANCED 679 This parameter represents the min speed percentage or the min torque percentage for a torque reference to be used for the minimum reference set with P061 Function P062 Value of AIN2 Input Producing Max Reference X axis 100 100 if PO60 0 200 200 if PO60 1 Range 40 200 if P060 2 0 100 if PO60 0 200 if PO60 4 IA 200 IEEE ADVANCED 662 This parameter selects the value for AIN2 input signal for maximum reference or better the reference set in CO29xP062a Master mode in C048 Slave mode If motor 2 is active CO72xP062a and C091 will be used instead of C029 and C048 if motor is active the values set in C115 and C134 will be used 10 0 V 10 0 V if PO60
329. f the speed alarm C194 is enabled and the speed error exceeds the speed threshold C193 this parameter determines the error threshold for the speed error timeout Even if the alarm speed is disabled time set in C192 and error threshold set in C193 are used to signal a speed searching error to digital outputs set with BRAKE or LIFT mode Digital outputs are then disabled C194 Speed Error Enable Default Level Address Function 0 Disabled 1 Enabled 1 Enabled This parameter enables the speed error alarm C195 Filter Time Constant over Value of Feedback from Encoder Default Level 55 Function 0 30000 5 3000 0 ms 50 ENGINEERING This parameter defines the time constant used for filtering the reading of the encoder used as a speed feedback C196 Filter Time Constant over Value of Reference from Encoder Range Default Level Address Function 0 30000 5 3000 0 ms This parameter defines the time constant used for filtering the reading of the encoder used as a reference C197 Number of Channels of Encoder A Default Level Address Function 021 0 2 Squaring Channels 1 Channel only 0 2 Squaring Channels ENGINEERING This parameter defines the number of channels used for encoder A reading Factory setting is 2 Squaring channels Speed can be read through one channel only as for phonic wheel channel 2 can define the di
330. ference sources n 1 are selected Keypad and AINT analog input control mode A When MDI6 is closed the command sources and reference sources n 2 are selected Fieldbus control mode B ii CAUTION In the example above if C179 Disable the OR logic for the Keypad and Fieldbus is considered whereas the Fieldbus and AINT control sources are considered as summed up See also parameter C179 in the DIGITAL INPUTS MENU 29 428 PROGRAMMING INSTRUCTIONS SINUS PENTA Z SANTERNO GRUPPO CARRARO 4 12 Fire Mode When the digital input programmed as FIRE MODE is activated all the protecting functions of the drive are ignored so that no alarm trips when the drive is operating NOTE AN CAUTION The Fire Mode function must be used only when it is strictly necessary such as in fire pumps to protect human lives This function must never be used to prevent alarms from tripping in domestic or industrial applications To activate the parameters relating to the Fire Mode enter the Password in the PRODUCT MENU This Password is provided by Elettronica Santerno s Service Department The drive Serial Number is required see the Serial Number parameter in the PRODUCT MENU The following parameters can be accessed only after entering the Password enabling the Fire Mode e P032 Acceleration Ramp in Fire Mode see the RAMPS MENU e P033 Deceleration Ramp in Fire Mode see the RAMPS MENU e P099 Speed Fire Mode see the MULTISPE
331. for Motor 1 but the digital input is closed for the Slave programmed with C170 the main reference of the drive is a torque reference The main reference can be one of the following e Analog digital inputs programmed as sources see parameters C143 C146 in the CONTROL METHOD MENU e PID output if C294 Implementation Reference e Digital inputs programmed as Multispeed see MULTISPEED MENU only when the main reference is a speed reference 3 2 Speed Torque Limit Reference If a speed control is used e g CO11 Speed for Motor 1 and a VTC or FOC algorithm is used you can program a source as an external torque limit see parameter C147 in the CONTROL METHOD MENU If a torque control is used and an external speed limit has been set up e g CO11 Torque with Speed Limit for Motor 1 and a FOC algorithm is used you can program one source as an external speed limit see parameter C147 in the CONTROL METHOD MENU 3 3 PID Reference If the internal PID regulator is enabled C291 different from Disabled its reference is given by default by the sum of the three sources programmed as references see parameters C285 C287 in the PID CONFIGURATION MENU Different types of PID reference control Two PIDs and 2 zone mode are available based on the setting in parameter C291a PID Control Mode 3 4 PID Feedback Reference The PID feedback by default is the sum of the three sources programmed as feedback see parameters C288 C290 in the
332. fore disabling the system is used for speed searching C249 1 MaxSpd LastDir the max speed programmed for the motor in the last Ree direction of rotation of the connected motor is produced C249 2 MaxSpd Pos Dir the speed searching function will begin with the max speed programmed for the motor in the positive direction of rotation independently of the last frequency value produced before disabling the drive C249 3 MaxSpd Neg Dir as 2 but the direction of rotation of the connected motor will always be negative 349 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 22 SANTERNO GRUPPO CARRARO 41 AUTORESET MENU 41 1 Overview The Autoreset function can be enabled in case an alarm trips You can enter the maximum number of autoreset attempts and the time required for resetting the attempt number If the Autoreset function is disabled you can program an autoreset procedure at power on which resets an active alarm when the drive is shut off Undervoltage alarms or mains loss alarms can be saved in the fault list in the Autoreset menu To activate the Autoreset function set a number of attempts other than zero in parameter C255 If the number of attempts reset within a time interval t lt C256 is equal to the value set in C255 the autoreset function is disabled it will be enabled again only when a time longer than or equal to C256 has passed If the drive is turned off when an alarm is active the alarm trippe
333. fter the first extra deceleration stage if C225 Yes IFD Control algorithm C227 is the basic gradient for deceleration adjustment when C225 Yes V C228 Start Increment of Ramp Gradient in Power Down Range 1 00 100 00 26 Default Level ENGINEERING Address Determines an increase in deceleration ramp gradient at the beginning of the Power Down function This is required to increase DC bus voltage Function C228 0 start deceleration is due to C227 C228 has no effect C228 100 start deceleration is 100 times faster than deceleration set in C227 start ramp C227 100 sec C228 1 00 start deceleration is zero deceleration ramp of infinite time C229 Improved Sensitivity of DC Bus Control 1 250 Default Level ENGINEERING Address Based on the DC bus voltage trend this function allows detecting mains loss in advance If the value for this coefficient is too high erroneous mains loss conditions can be detected due to a sudden drop in DC bus voltage Function 342 428 SINUS PROGRAMMING 2 SANTERNO C230 Voltage Level of DC Bus in Power Down 250 450 for Class 2T 250 450 V for Class 2T 400 800 for Class 4T 400 800 V for Class 4T 500 960 for Class 5T 500 960 V for Class 5T 600 1150 for Class 6T 600 1150 V for Class 6T 339 for Class 2T 339 V for Class 2T 679 for Class 4T 380 480V 679 V for Class 4T 380 480V 707 for Class
334. full scale value of selected variable A see Table 39 Default 2000 Level ADVANCED Address This parameter defines the comparing value with the selected variable for test A Ranae 320 00 9 320 00 96 9 96 of the full scale value of selected variable B see Table 39 Default Level Address This parameter defines the comparing value with the selected variable for test B 197 428 PROGRAMMING INSTRUCTIONS SINUS PENTA 2 SANTERNO GRUPPO CARRARO P286 MDO2 Function Applied to the Result of the 2 Tests Default Level Address Function P286a MDO2 Selecting Variable C P280 Default Level Address Function OR B A SET B RESET A AND B A XOR B A NOR B NAND B AJ OR B A OR By AJ AND B A AND BY 10 A RESET B SET RISING EDGE 11 A SET B RESET FALLING EDGE 12 A RESET B SET FALLING EDGE t A SET B RESET ADVANCED 886 This parameter determines the logic function applied to the result of the two tests 0 1 2 3 4 5 6 7 8 9 allowing calculating the output value 0 59 i See Table 39 jo 100 Disable ADVANCED 644 This parameter selects the digital signal used to calculate the value of MDO2 digital output The digital signals that can be selected are given in Table 39 P286b MDO2 Function Applied to the Result of f A B C
335. g output frequency value and a filtering function The figure below shows the typical structure of the analog outputs in particular AOlanalog output and its parameter set are illustrated 136 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS P210 Modbus 1 Val Max Out Max P180 P179 P183 Offset 181 gt DAC gt Selection Vector Selection Val Min Out Min P178 P182 PO00338 b Figure 15 Typical structure of the Analog Outputs Vector Selection Selects the variable to be represented through the digital analog converter DAC P177 is the selection parameter for AO analog output and P185 and P193 for AO2 and respectively Mode Sets the acquisition mode of the selected variable or as an absolute value and the type voltage current for the analog output If Mode Disable a different operating mode is activated for the analog output for which the represented variable is determined by the MODBUS address set in Address and the gain value set in Gain is applied P176 Mode P207 Gain P210 Address for AOT P184 Mode P208 Gain P211 Address for AO2 P192 Mode P209 Gain P212 Address for AO3 e Val Min Out Min Defines the minimum saturation value of the variable to be represented and the corresponding value to be assigned to the analog output For values equal t
336. g prohibit speed values P115 P121 decrease Parameters setting slowing down values percent to be selected through digital inputs C143 C146 Control Method Parameters setting the reference source C011 C028 C029 Control of Motor 1 C054 C071 C072 Control of Motor 2 C097 C114 C115 Control of Motor 3 Parameter setting the Master speed mode or the Slave torque mode Parameters setting the min speed or the max speed Current Limit for DNUS Motor 1 Current Limit for deu Motor 2 C133 C134 Current Limit for Motor 3 Parameters setting the min torque and the max torque The following pages contain block diagrams illustrating speed reference processing Figure 6 and torque reference processing Figure 7 Menus and parameters used are also stated 100 428 PROGRAMMING INSTRUCTIONS Z SANTERNO SINUS PENTA q c99000d c s 4 Opara e UOISJOAU uogenjes 80ld S0ld peeds jueoJeg iqiuojd 9ougi uogeinjeg 690d 290d 5 JOJOW 8Aljoy of oC 4030 N 1 6002 860d 080d 4 uogeinjes peedsniniN uoneines GLLO YLLO 2609 1 JOJON
337. g the inverter this will start only if the ENABLE contact is opened and closed again 395 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 53 2 What To Do When an Alarm Trips If a protection trips or the drive is in emergency condition the drive is locked and the motor CAUTION aie starts idling Before resetting an alarm disable the ENABLE signal on terminal MDI2 to disable the drive CAUTION and to prevent the connected motor from running at uncontrolled speed Proceed as follows 1 Disable the ENABLE signal on terminal MDI2 to disable the drive and to lock the motor unless parameter C181 1 the Safety Start function is active after resetting an alarm or after supplying the drive this will start only if the ENABLE contact is open and closed 2 Ifthe motor is idling wait until it stops Check the FAULT LIST carefully for any information about the alarm tripped in order to determine the cause responsible for the alarm and its possible solutions Any information stored to the FAULT LIST is also required when contacting Elettronica Santerno s Customer Service In the following sections find the relative alarm code and follow the instructions Solve any external problems that may have been responsible for the protection trip If the alarm tripped due to the entry of wrong parameter values set new correct values and save them Reset the alarm If the alarm condition persists please contact
338. gh P193 Ses Tabla Inverter Imax Max drive current depending on the drive size Level ADVANCED Address Maximum value of the motor speed corresponding to the min output value of AO3 pushes set in P199 P196 AO3 Analog Output Offset Depends on the value selected through P192 ses fable Default IEEE ADVANCED 796 Offset value applied to AO3 analog output P197 Filter for AO3 Analog Output Range 0 65000 sec 0 000 65 000 sec 0 000 sec Level ADVANCED Address Value of the filter time constant applied to AO3 analog output 149 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO P198 Min AO3 Output Value with Reference to P194 10 0 10 0 V Function according to the 20 0 20 0 mA selection of P192 Default Level ADVANCED Address Minimum output value obtained when the minimum value of the variable set in P194 is implemented Function 10 0 10 0 V Function according to 20 0 20 0 mA selection of P192 Range Default Level ADVANCED Address Maximum output value obtained when the maximum value of the variable set in Funciion i lt implemented 0 Disabled 1 Pulse 2 ABS Pulse Default 0 Disabled Level Address Selects the operating mode of FOUT frequency output NOTE When P200 is not set to DISABLE MDO digital output is used as a frequency
339. ging from to 255 A response of the slave device to a message of the master device will simply return the function code to the master device if no error took place otherwise the most significant bit in this field is set to 1 The only functions allowed are O3h Read Holding Register and 10h Preset Multiple Register see below 373 428 PROGRAMMING SINUS PENTA INSTRUCTIONS Z SANTERNO GRUPPO CARRARO Data The data field contains any additional information for the function being used Error Control The error control is performed through the CRC Cyclical Redundancy Check method The1 6 bit value of the relevant field is computed when the message is sent by the transmitter and is then re computed and checked by the receiver CRC Register is computed as follows CRC Register is set to FFFFh Exclusive OR is executed between CRC register and the first 8 bits of the message the result is saved to a 16 bit register This register is right shifted of one place If the right bit is 1 exclusive OR is executed between the 16 bit register and value 1010000000000001b Steps 3 and 4 are repeated until 8 shifts are performed Exclusive OR is performed between the 16 bit register and the next 8 bits of the message Steps 3 to 6 are repeated until all message bytes are processed The result is a CRC that is attached to the message by sending the less significant byte as the first byte Support
340. he current flowing which is supposed to be constant Parameter C266 pick up current is factory set to 12096 10000 1 1000 2 m IEC Class 90 t IEC Class 60 o IEC Class 30 100 1 IEC Class 20 10 100 150 200 250 300 350 I FLC P000817 B Figure 62 Trip delay of alarm A075 based on the IEC Class Example The protection level is compliant with IEC Class 30 If the current flowing is 20096 of the FLC alarm A075 will trip after approx 480s 8 minutes 356 428 SINUS PENTA PROGRAMMING 2 SANTERNO GRUPPO CARRARO 42 4 List of Parameters C264 to C274 Table 101 List of parameters C264 to C274 Heatsink temperature for fan activation ADVANCED C265 Thermal Protection activation for motor 1 BASIC 1265 O Disabled C266 Pick up current for motor 1 Inom ADVANCED 1266 12096 C267 Thermal time constant for motor 1 BASIC 1267 360s C268 Thermal Protection activation for motor 2 ADVANCED 1268 0 Disabled C269 Pick up current for motor 2 Inom 1269 120 C270 Thermal time constant for motor 2 1270 360s C271 Thermal Protection activation for motor 3 1272 0 Disabled C272 Pick up current for motor Inom 1271 12096 C273 Thermal time constant for motor 3 1273 360s C274 PTC Thermal Protection Enable 1274 O
341. he main reference e Correction of the output voltage only for Volt Freq IFD control See the PID PARAMETERS MENU and the PID CONFIGURATION MENU for more details 4 10 Bridge Crane Application For lifting applications such as a bridge crane it may be useful to consider the actual time required to release the safety electromechanical brake the delay between the electrical command and the actual opening of the brake and the closure of the electromechanical brake For a detailed description of the benefits offered by the parameters relating to lifting applications see the BRIDGE CRANE MENU 28 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 4 11 Setting Two Alternative Command Sources and Reference Sources You can set a digital input as a selector switch allowing selecting two alternative control sources and reference sources Example A selector switch is required to select control mode B the drive references and commands are sent via fieldbus and control mode A the drive references and commands are sent via AINT analog input The following parameters shall be set up accordingly C179 MDI for source selection MDI6 C140 Selection of control source n 1 Keypad C141 Selection of control source n 2 Fieldbus C143 Selection of reference n 1 AINT C144 Selection of reference n 2 Fieldbus When MDI digital input in the terminal board is open terminal 19 the command sources and re
342. he operating mode of the virtual digital output concerned is 3 9 Example MPL1 P350 3 OR P350 9 216 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO Testing Variable A for MPL1 2 3 4 P353 P362 P371 P380 If an analog variable is selected a logic TEST is performed to obtain a TRUE FALSE Boolean signal Seven different tests are available that can be performed for selected variable A and its comparing value A Table 53 Test functions GREATER THAN Selected variable comparing value GREATER THAN EQUAL TO Selected variable comparing value LOWER Selected variable comparing value LOWER THAN EQUAL TO Selected variable lt comparing value ABS GREATER THAN Absolute value selected variable gt comparing value ABS GREATER THAN EQUAL TO Absolute value selected variable 2 comparing value ABS LOWER Absolute value selected variable comparing value ABS LOWER THAN EQUAL TO Absolute value selected variable comparing value A NOTE This parameter can be accessed only if the operating mode of the selected digital output is gt 2 Example MPL1 P350 gt 2 Testing variable B for MPL1 2 3 4 P354 P363 P372 P381 If an analog variable is selected a logic TEST is performed to obtain a TRUE FALSE Boolean signal Seven different tests are available that can be performed for selected variable B and its comparing value B see Table 39
343. ice eee etti kir ei EH PE IHRER UO EPI ES SES RARE ERA PS ET HENN 380 Table 108 List of parameters RO21 to R023 e e d rA i rae erR 387 Table 109 List of parameters R025 to R045 cccesccceesecceeceeeneeceesneeeeeeeaeeeeecneeeeseaeeeeeseaaececseaeeeeseaeeseeseeeesenseeeeseaees 388 Table 110 List of parameters R115 and 116 enn 391 Table 16 arte eee tet e e spese te pee nones 392 Table 112 List of programmable inputs 1009 to 1012 ececcceeececeeeenceeeeeseeeceeeneeeeeseaneeeeeeeeeeeseeeseeeeaeeeeesneeeseeeneeeeeees 394 Table 113 list of the possible alarms rccte ette EO E HE 397 Table 114 List of the DRIVECOM alarm codes ccccessceeeeeeneeeeeeaceeeseenneeeseeaeeeeseaeeecneaacececeaeecsesaeeeseeneeeeeseneeeeneaees 414 Table VS AW Gri AG list dre dens RR FERE TR EO EXTERN ERR sand 417 Table 418 10 428 SINUS PENTA PROGRAMMING lt SANTERNO INSTRUCTIONS GRUPPO CARRARO 0 4 How to Use this Manual 0 4 1 OVERVIEW This User Manual Programming Instructions provides any information required to setup and monitor the drives of the Sinus Penta series manufactured by Elettronica Sa
344. ight solution 22 4 Anti windup The major benefit of the integral action is to ensure null errors at steady speed However just like the derivative action the integral action shall be applied with caution to avoid worse performance A case in point is the output saturation occurring at the same time as an excessive integral action When the output saturates the control action is limited so the error is still remarkable If the error persists the actuator will saturate because the longer the time the error persists the stronger the integral action is this phenomenon is called windup In case of output saturation the integral term can reach very high values as a result the error shall have opposite sign for a long period before exiting from saturation The PID regulator of the Penta drive is provided with an Anti windup function which compensates the effect described above This Anti windup action is described below P proportional term I integral term D derivative term The output is always calculated as follows OUT lt P 1 D When output saturation occurs OUT lt OUTsat The integral term is forced based on the following lt OUTsat P D which is the Anti windup function This prevents the integral term from reaching very high values the integral term is then kept constantly in line with the saturated output value OUTsat that is present at each moment any variations of the error i e the P that allows exit
345. ignal a current signal a unipolar signal or a bipolar signal 0 Bipolar voltage input between 10V and 10V The detected signal is saturated between these two values 1 20 mA Bipolar current input between 20mA and 20mA The detected signal is saturated between these two values 2 4 20 mA Unipolar current input with min threshold between 4 mA and 20mA The detected signal is saturated between these two values Before being saturated if the detected signal is lower than 4 mA or greater than 20 mA alarms A067 or A103 trip 3 0 10 V Unipolar voltage input between OV and 4 10V The detected signal is saturated between these two values 4 0 20 mA Unipolar current input between 0 mA and 20mA The detected signal is saturated between these two values Function The value set in parameter P055 must match with the status of switch SW1 2 allowing NOTE selecting the proper electric circuit for the analog signal processing voltage signal or current signal 56 Value of AIN1 Input Producing Min Reference X axis 100 100 if P055 0 10 0V 10 0V ifPO55 0 10V 200 200 if P055 1 20 0 mA 20 0 mA if P055 1 20 mA GRISE 40 200 if P055 2 4 0mA 20 0 mA if P055 2 4 20 mA 100 if P055 3 00V 10 0 if PO55 3 0 10V O 200 if PO55 4 0 0 mA 20 0 mA if PO55 4 0 20 mA Default Level ADVANCED Address This parameter selects the value for AINT input sig
346. ignificant bit Bit 24 must always be set to 1 Parameter P267a P267c is active only if P267 P267b 0 Disable and it relates to the unit of measure actually displayed in M023 M024 M023a 24 This parameter allows setting a 3 character string to display the units of measures for the PID Measures M023 M024 M023a M024a Press the SAVE ENTER key to edit each character when a flashing cursor appears on the left of each character press A and V to scroll all the characters displayed Press the ESC key to go to the next character Press SAVE ENTER to store the new parameter value Function AN NOTE See also parameter P257 P457 in the PID PARAMETERS MENU 86 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS Default Level Cannot be accessed via serial link These two parameters allow selecting two measures to be displayed on the Root Function Page P268y P268z Scaling of Measure n 1 n 2 on Root page Range 0 10000 0 100 00 Default 10000 100 00 Level ADVANCED e EE 515 516 These parameters allow scaling the read out of the measures on the Root page which have been selected with parameters P268 and P268a Function P268b P268c P268d P268e Measure n 1 n 2 n 3 n 4 on Keypad Page R M064 ange P268b M006 Mot Freq P268c M026 Motor Current P268d M004 Motor Spd 268 Speed Ref Level ADVANCED Address Can
347. ill be reversed When the reference sign is reversed the direction of rotation of the connected motor is not immediately reversed the setpoint decreases to zero following the preset deceleration ramp and it increases up to the reference value having the opposite sign following the preset acceleration ramp gt Inactive 0 4 12 1 8 MDI8 O 20 if ES847 or ES870 is fitted 9 12 1 MPL4 13 20 5 XMDI1 XMDI8 Address Function 304 428 The REVERSE B Input acts as the REVERSE Input see C151 when Terminal Board B is active SINUS PENTA 2 PROGRAMMING INSTRUCTIONS GRUPPO CARRARO The figure illustrates the processing logic diagram for the START REV Cw CCw functions and the START STOP REV keys on the display keypad if the STOP function is not programmed STOP Not PROGRAM C150 0 Keypad Disabled Keypad Enabled START REVERSE Jon Reference Reverse Cw CCw Inverter Enabled keySTART keySTOP keyREV Start Ok Flip Flop with Set on rise signal and Resef on Flip Flop level Reset Reverse Reference Flip Flop Reset P000347 b Figure 48 Controlling Run and Direction when the STOP Input is not programmed 305 428 PROGRAMMING INSTRUCTIONS The figure illustrates the process SINUS PENTA Z SANTERNO GRUPPO CARRARO ing logic diagram for the START REV Cw CCw functions and the START STOP REV keys
348. in P457 see also the PID2 PARAMETERS MENU and the PID CONFIGURATION MENU As for the display keypad the unit of measure can be programmed with parameters P267b P267c in the DISPLAY KEYPAD menu 57 428 PROGRAMMING INSTRUCTIONS M024 PID Feedback 58 428 Address Function Range Active Address Function SINUS PENTA GRUPPO CARRARO Note The actual range depends on the max value and the min value of the 32000 PID feedback set in parameters 247 248 and on the gain level set in P257 Always active Z SANTERNO This is the measure of the feedback being used for the PID regulator as MO20 but multiplied by the gain level set in P257 see also the PID PARAMETERS MENU and the PID CONFIGURATION MENU As for the display keypad the unit of measure can be programmed with parameters P267 267 in the DISPLAY KEYPAD menu Note The actual range depends on the max value and the min value 32000 of the PID2 feedback set in parameters PA47 P448 and on the gain level set in P457 This measure is active if enabled from C291a 1738 This is the measure of the feedback being used for the PID2 regulator or the 2 zone mode as 20 but multiplied by the gain level set in P457 see also the PID2 PARAMETERS MENU and the CONFIGURATION MENU As for the display keypad the unit of measure can be programmed with parameters P267b P267c in the DISPLAY KEYPAD menu SINUS PENTA PROGRAMMING 2 SANTERNO
349. ing from saturation have immediate effect to the output without having to wait for a long time before discharging the integral term itself The effect of the Anti windup can be adjusted with parameter P260 if P260 lt 1 the effect is reduced and the system is less sensitive to error variations if P260 0 the effect is cancelled The value of P260 1 is correct for the applications requiring to quickly exit from saturation On the other hand reducing P260 can be useful when output variations are to be avoided for negligible error variations 165 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 22 5 List of Parameters P236 to P260 Table 36 List of parameters P236 to P260 P236 Max value of PID output ENGINEERING 100 0096 836 P237 Min value of PID output ENGINEERING 100 0096 837 P237a Wake up Mode ENGINEERING 0 Disabled 858 P237b Wake up Level ENGINEERING 0 0096 859 P238 Max value of PID integral term ENGINEERING 100 0096 838 P239 Max value of PID derivative term ENGINEERING 100 0096 839 P240 PID proportional constant ENGINEERING 1 000 840 P241 Multiplicative factor of P240 ENGINEERING 0 1 0 841 P242 PID Integral time multiples of P244 ENGINEERING 500 Tc ms 842 P243 PID Derivative time multiples of P244 ENGINEERING O Tc ms 843 P244 Cycle time of PID regulator Tc ENGINEERING 5 ms 844 P245 Min value of PID reference ENGINEER
350. input between 10V and 10V The detected signal is saturated between these two values 1 0 10 V Unipolar voltage input between OV and 10V The detected signal is saturated between these two values 239 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO P391 Value of XAIN4 Input Producing Min Reference 100 100 90 0 10 0 10 0 if P390 0 10 0 100 if P390 1 10 0V ifP390 1 0 10V Default Level ADVANCED Address This parameter selects the value for XAIN4 input signal for minimum reference or Function better the reference set in C028 xP391a Master mode or in CO47xP391a Slave mode If motor 2 is active C071 and C090 will be used instead of C028 and C047 if motor is active the values set in C114 and C133 will be used P391a Percentage of Speed Min Trq Min Producing Min Reference Y axis related to P391 Range 0 1000 Default 1000 Level ADVANCED Address This parameter represents the min speed percentage or the min torque percentage for a torque reference to be used for the minimum reference set with P391 P392 Value of XAINA Input Producing Max Reference X axis Bonon 100 100 if P390 0 10 0V 10 0 V if P390 0 10V g 0 100 if P390 3 10 0 ifP390 1 0 10V Default Level ADVANCED 55 This parameter selects the value for XAIN4 input signal for maximum reference or
351. inputs Multiple reference sources may be enabled at the same time up to 4 reference sources with parameters C143 C144 C145 C146 in this case the drive will consider the sum of all active reference as the main reference Finally a dynamic selection between two command sources and two reference sources is allowed when using the digital input configured as Source Selection see C179 286 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 34 1 1 COMMAND SOURCES The drive commands may be sent from the following sources Disabled Terminal board A Serial link with MODBUS protocol Fieldbus fieldbus on option board Terminal board B Keypad remotable display keypad AWN The factory setting enables only Terminal Board A 140 1 and 141 1 as command source see also the DIGITAL INPUTS MENU Both Terminal board A and B refer to the same terminal board located on ES821 but allow switching between one set of START STOP REVERSE commands sent to three terminals to a different set of commands sent to three different terminals Most commands may be delayed when enabled or disabled refer to the TIMERS MENU M032 1682 0 Disabled TET C149 source 1 ADI NOE WT mer MOY MT WO HDI gt A source is Keypad Enable MDI2 source2 C152 1152 Select Ens Extern Alarm 1 Select Alr 1 MDH
352. ins the trip log of the last eight alarms tripped and the values of some measures being used when the alarm trip was stored PowerOff Log Menu This menu contains the value of some measures being used at the drive power off 48 428 SINUS PROGRAMMING 5 SANTERNO INSTRUCTIONS GRUPPO CARRARO 8 2 Motor Measures Menu This menu contains speed values torque values and electrical variables measured by the drive on the mains side DC bus and output MOOO Speed Reference at Constant RPM 32000 99 rpm 32000 Note The actual range depends on the selected motor because it is defined integer part by the value set in the parameters for the motor max speed and min speed t 99 decimal 28 29 Motor 1 part C071 C072 Motor 2 C114 C115 Motor 3 Active Active only when a speed reference is used for the selected motor 55 1650 integer part 1651 decimal Value of the speed reference obtained when the motor rotates at constant speed once the preset Function aa ramp time 15 over 32000 99 rpm 32000 Note The actual range depends on the selected motor because it is defined integer part by the value set in the parameters for the motor max speed and min speed t 99 decimal 28 29 Motor 1 part 071 072 Motor 2 C114 C115 Motor 3 Active Active only when a speed reference is used for the selected motor 1652 integer part 1653 decimal part
353. iod is assigned to each pair of values In the Ramps menu you can set the acceleration and deceleration times for the four speed ramps available for ordinary operation for the torque ramp and the speed torque ramp in JOG mode Using two special parameters you can also set the start rounding off and the end rounding off for the acceleration ramps while two different parameters allow setting the start rounding off and the end rounding off for the deceleration ramps A fifth parameter allows selecting the ramps for the preset rounding off 12 1 1 DESCRIPTION OF THE SPEED RAMPS For the four speed ramps that can be selected through a combination of the digital inputs set in C167 and C168 you can set the following acceleration time deceleration time and their units of measure allowing increasing the programmable time range P009 Ramp Up Time 1 P010 Ramp Down Time 1 P012 Ramp Up Time 2 P013 Ramp Down Time 2 P014 Unit of Measure for Ramp Times 1 and 2 P015 Ramp Up Time 3 P016 Ramp Down Time P018 Ramp Up Time 4 P019 Ramp Down Time 4 P020 Unit of Measure for Ramp Times 3 and 4 The set ramp time corresponds to the time the speed reference takes to reach the max speed from O rpm as an absolute value between min speed and max speed of the selected motor C028 and C029 for motor 1 and so on The time unit of measure may have the following values 0 0 01 5 1 5 0 15 2 15 3 5 105 The programmable range may Os 32700
354. ion to 1 Yes or open the ENABLE and START inputs remove voltage from the drive and after waiting at least 5 minutes reverse two of the motor phases If overshoot occurs when the speed setpoint is attained or if a system instability is detected uneven motor operation adjust the parameters relating to the speed loop SPEED LOOP AND CURRENT BALANCING MENU Set the two parameters relating to integral time P125 P126 as Disabled and set low values for the parameters relating to proportional gain P127 P128 Set equal values for P127 and P128 and increase them until overshoot takes place when the setpoint is attained Decrease P127 and P128 by approx 3096 then decrease the high values set for integral time in P125 and P126 keep both values equal until an acceptable setpoint response is obtained Check to see if the motor runs smoothly at constant speed If alarm A060 Fault No Curr trips this means that the current loop is not properly tuned Follow the instructions given in step 8 and decrease the value of l parameter C021 in the MOTOR CONTROL MENU If the motor is noisy when starting this means that the rotor time constant is not correct Follow the instructions given in step 9 again or manually change the value of the rotor time constant parameter C025 for a smooth motor startup If no failure occurred go to step 13 Otherwise check the drive connections paying particular attention to supply voltages DC link and input
355. is bumpless For more details please refer to the description of parameter C148 CONTROL METHOD MENU In LOCAL mode the L CMD and L REF LEDs come on when drive references and commands are sent via display keypad the Keypad page allows changing the given reference using the A and V keys see P266 in the DISPLAY KEYPAD When not in LOCAL mode press the MENU key to access the Keypad pages from the root page Only the Keypad pages relating to the Keypad source will be displayed along with the Measure Keypad page Example Parameter C147 Torque Limit Reference Selection is set to Keypad From the root page press the MENU key once to display the Measure Keypad page and press the MENU key twice to display the Keypad page relating to the torque limit and allowing changing the torque limit reference using the and V keys The Keypad page allows entering custom measures see parameters P268b to P268e in the DISPLAY KEYPAD menu From the Keypad pages press the SAVE ENTER key to access the Keypad Help page containing any details about the measures displayed in the Keypad page 1 11 SAVE ENTER Key The SAVE ENTER key allows selecting a lower level when navigating within the programming menus It also allows changing a parameter value to change a parameter value press the SAVE ENTER key from the page of the parameter you want to alter An example is given in From the Keypad pages the SAVE ENTER key allows accessing the Keypad Help page cont
356. is clogged or faulty or when the delivery pressure sensor is malfunctioning e g the pump membrane is locked when the sensor is located downstream of the mains 221 428 PROGRAMMING 9x SINUS PENTA INSTRUCTIONS SANTERNO GRUPPO CARRARO P377 MPL4 Digital output mode DOUBLE FULL P378 MPLA Selecting variable A D51 MPL3 P379 MPLA Selecting variable B A76 PID Feedback P381 MPL4 Testing variable B gt P383 MPL4 Comparing value for Test B Min FBK value P384 MPLA Function applied to the result of the 2 tests A Set B Reset Disabled P384a 4 Selecting variable C P385 MPL4 Output logic level See steps 1 and 2 below Virtual digital output MPLA locks the system operation in two modes 1 Virtually connecting the output to an external alarm input 2385 C164 12 MPL4 2 Disabling the P385 TRUE C171 12 MPL4 On the other hand when the malfunctioning signal is sent to the PLC supervisor the same parameterization in MPL4 shall be entered in the digital output concerned When the Sleep Mode see PID PARAMETERS MENU and the Dry Run Detection mode are NOTE activated simultaneously the delay time for the Dry Run Detection mode shall be shorter than the AN NOTE Min Operating PWR Min power required for the pump delivery Min FBK value the min feedback value shall be P237 minimum PID A Sleep Mode time 222 428 SINUS
357. is means that data exchanged between the master and CAUTION Communication Suspended 383 428 SINUS PROGRAMMING GUC TOK Z SANTERNO GRUPPO CARRARO Word 6 Command for Digital Outputs from FIELDBUS Digital commands from FIELDBUS are the 4 lower bytes of the word ns T T ow cwo Byte format Fbus CMD 1 Fbus CMD 2 Fbus CMD 3 Fbus CMD 4 Columns 2 and 3 state the name and position of the commands sent via fieldbus Example to control digital input 1 via fieldbus through command 4 set the parameters below in the DIGITAL OUTPUTS MENU P270 1 Digital Digital Output Mode P271 D37 Fbus CMD4 Variable A Selection P278 1 True Output Logic Level Words 7 8 9 Analog Outputs controlled by FIELDBUS Parameter RO17 needs to be properly set up to distinguish which Analog Outputs are to be controlled by the Fieldbus Byte format Example R017 011 3 analog outputs AO1 and 2 are controlled directly by the fieldbus independently of their configuration in the ANALOG AND FREQUENCY OUTPUTS MENU The correspondence between the exchanged value and the real value in volts of the digital outputs is as follows Exchan ve 1889 10 20 1000 0 0 111 10 20 mA Word 10 PID feedback from FIELDBUS The PID feedback M049 can be sent from the fieldbus if at least one of the parameters C288 to C290 is set as 6 Fieldbus The value sent
358. ith the selected variable for test 203 428 PROGRAMMING INSTRUCTIONS SINUS PENTA 2 SANTERNO GRUPPO CARRARO P304 MDO4 Function Applied to the Result of the 2 Tests Default Level Address Function P304a MDO4 Selecting Variable C P304a Default Level 0 A OR B 1 A SET B RESET 2 A AND B 3 A XOR B 4 A NOR B 5 A NAND B 6 A OR B 7 A OR B 8 A AND B 9 A AND B 10 A RESET B SET RISING EDGE 11 A SET B RESET FALLING EDGE 12 A RESET B SET FALLING EDGE o A OR 8 ADVANCED 904 This parameter determines the logic function applied to the result of the two tests allowing calculating the output value 0 12 0 59 i See Table 99 o 1 1 Disable Address Function This parameter selects the digital signal used to calculate the value of 4 digital output The digital signals that can be selected are given in Table 39 P304b MDOA Function Applied to the Result of f A B C Default Level Address Function 204 428 0 OR C 1 SET C RESET RISING EDGE 2 AND C 3 XOR C 4 NOR C 5 NAND C 6 OR C 7 A B OR C 8 AND C A B AND CY 10 f A B RESET C SET RISING EDGE 11 f A B SET C RESET FALLING EDGE 12 f A B RESET C SET FALLING EDGE 1 A SET B RESET
359. ive Enable input MDI3 terminal 16 for some time or press the RESET key on the display keypad AN NOTE When the IFD control algorithm is used only speed references can be set up 41 428 PROGRAMMING INSTRUCTIONS SINUS PENTA 22 SANTERNO GRUPPO CARRARO 7 2 VTC Control Algorithm 1 Wiring 2 Power on 3 Parameter alteration 4 Supply voltage 5 Motor parameters 6 Autotune 7 Overload 8 Startup 42 428 Follow the instructions stated in the Caution Statements and Installation sections in the Sinus Penta s Installation Instructions Manual Power on the drive and do not close the link to the START input to prevent the motor from running Access parameter Key parameter and set its code default value 00001 Select the Engineering access level setting POO1 Eng Use the ESC A V and SAVE ENTER keys to access the programming parameters Also refer to the Menu Tree Set the real supply voltage for the drive You can set either mains voltage range or the DC supply stabilized by a Regenerative Penta drive To set the type of power supply for the drive access the MOTOR CONTROL MENU and set configuration parameter to the value corresponding to the installation concerned Set C010 Control Algorithm as VTC Vector Torque Control Set the motor ratings as follows C015 fmot1 rated frequency C016 1 rated rpm C017 Pmot1 rated power C018 r
360. k 14 EncA Feedback MDI8 Frequency Input Values 7 8 the same encoder can be used both as a reference source and as a reference feedback Value 7 encoder A can be used both as a speed feedback for the motor control and as a PID regulator reference C190 Number of Pls Rev for Encoder A 256 10000 256 10000 pls rev 1024 Default Level Address Function BASIC 1190 Defines the number of pls rev for encoder A encoder in the terminal board C191 Number of Pls Rev for Encoder B Range Default Level Address Function 256 10000 256 10000 pls rev 1024 Defines the number of pls rev for encoder B encoder that can be connected to ES836 C192 Timeout for Speed Alarm po C12 Default Level Address Function option board 0 65000 0 00 650 00 sec 5 00 sec ENGINEERING If the speed alarm C194 is enabled and the speed error exceeds the speed threshold C193 this parameter determines the speed error timeout Even if the alarm speed is disabled time set in C192 and error threshold set in C193 are used to signal a speed searching error to digital outputs set with BRAKE or LIFT mode Digital outputs are then disabled 325 428 PROGRAMMING INSTRUCTIONS C193 Speed Error Threshold Default Level Address Function SINUS PENTA GRUPPO CARRARO Z SANTERNO 0 32000 0 32000 rpm 300 ENGINEERING I
361. l ADVANCED ALIES 668 If PO68 1 the Speed Torque or PID references added through input digital signals UP and DOWN or with the INC and DEC keys local mode are stored at the drive power off and are added to the start reference when the drive is restarted This function allows storing he reference value obtained with UP and DOWN signals Function P068a Reset UP DOWN Speed Torque at Stop O NO 1 YES EMO F Level Address If PO68a 1 Yes the Speed Torque reference sent via the UP DOWN digital signals or with the and keys in the keypad is reset whenever the START command for the drive is disabled and the deceleration ramp is finished PO68b Reset UP DOWN PID at Stop 1 O NO 1 YES Default Level ADVANCED Address If PO68b 1 Yes the PID reference sent via the UP DOWN digital signals or via the A and W keys in the keypad is reset whenever the START command for the drive is disabled and the deceleration ramp is finished 115 428 SINUS PROGRAMMING GUC ION Z SANTERNO GRUPPO CARRARO PO68c Reset UP DOWN Speed Torque at Source Changeover Default Level ADVANCED Address If PO68c 1 Yes the Speed Torque reference sent via the UP DOWN digital signals or with the and V keys in the keypad is reset whenever switching from the Remote mode to the Local mode and vice versa using the LOC REM key or the LOC RE
362. l link MO36b Auxiliary Digital Inputs via PROFIdrive Bit controlled measure See Table 3 Active Always active Address Function State of the 8 auxiliary digital inputs via PROFIdrive Table 3 Codification of Measures M036 M036a 6 0 XMDIT 4 XMDI5 1 XMDI2 5 XMDI6 2 XMDI3 6 XMDI7 3 XMDI4 7 XMDI8 60 428 SINUS 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 8 5 References Menu This menu contains the measures of the possible reference sources for speed torque or PID available in the terminal board analog inputs frequency inputs and encoder input and sent via serial link or fieldbus M037 REF External Analog Reference Function of the type of reference voltage current set in PO50 The numerical value always includes two decimal figures the unit of measure is V or mA Function of the preset type of reference voltage current Active Always active Address Measure of the voltage current value detected by the drive in REF analog input Function of the type of reference voltage current set in 55 The numerical value always includes two decimal figures the unit of measure is V or mA Function of the preset type of reference voltage current Active Always active Address Measure of the voltage current value detected by the drive in AINT analog input Function of the type of reference voltage current set i
363. l rpm value upon saturation due to min and max speed parameters for the selected motor of the motor speed reference Unlike function O Preset Speed if no multispeed is selected no digital input programmed for multispeed selection is activated or all digital inputs programmed for multispeed selection are deactivated the speed reference is zero P081 to PO98 Output Speed n 1 15 Default Level Address Function 32000 32000 32000 rpm 0 From P081 to P085 BASIC From P087 to P098 ADVANCED 681 698 This parameter sets the multispeed output speed selected through the relevant digital inputs Table 84 The multispeed value is scaled based on the unit of measure set in P100 The reference resulting from the multispeed selected through the relevant digital inputs will be computed based on the setting of parameter 80 120 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO P099 Fire Mode Speed Range 32000 32000 32000 rpm 750 1 750 00 rpm ENGINEERING Address 699 Determines the value of the output speed in Fire Mode The Fire Mode speed Function depends on the unit of measure programmed in P100 P100 Multispeed Unit of Measure Range 0 0 01 rpm 2 1 0 rpm Default 2 1 0 rpm Level ADVANCED Address Determines the unit of measure considered for the 15 allowable multispeed values euo and the Fire Mode
364. larms tripped before the drive is switched off set parameter C257 in the Autoreset Menu The drive stores the moment when an alarm trips to the FAULT LIST supply time and operation time The drive status when the alarm tripped and some measures sampled when the alarm tripped are also stored to the Fault List The readout and storage of the fault list can be very useful to detect the cause responsible for the alarm and its possible solution see also the Fault List Menu A AN NOTE CAUTION Alarms to A039 relate to the main microcontroller DSP Motorola of ES821 control board which detected a fault on the control board itself No fault list is available for Alarms A001 to A039 and no Reset command can be sent via serial link alarms can be reset through the RESET terminal on the terminal board or the RESET key on the keypad No software for the keypad interface is available the drive parameters and measures cannot be accessed via serial link Avoid resetting alarms A033 and 039 as they trip when the flash memory is not provided with its correct software Alarms A033 and A039 can be reset only when proper software is downloaded for the the inverter flash memory Before resetting an alarm deactivate the ENABLE signal on terminal MDI2 to disable the inverter and prevent the connected motor from running at uncontrolled speed unless parameter C181 1 the Safety Start function is active after resetting an alarm or after supplyin
365. ld and on the result of the two tests Test A is the Set command Test B is the Reset command Example Suppose that the output enables only when the motor speed exceeds 50rpm and disables when the motor speed drops below 5 rpm To do so assign the first condition to Test A representing the Set command for Flip Flop P271 Motor Speed P273 gt P275 50rpm and assign the second condition to Test B representing the Reset command P272 Motor Speed P274 lt P276 5rpm A more detailed example is given at the end of this section A XOR B The selected digital output enables when either one condition or the other is true but not when both conditions are true at a time 182 428 SINUS PENTA PROGRAMMING Ee SANTERNO INSTRUCTIONS GRUPPO CARRARO N A NOR B The selected digital output enables when no condition is true The NOR function between two variables corresponds to the AND of the same false variables i e A NOR B AND Output 0 0 A NAND B The selected digital output enables when no condition is true or when only one of the two conditions is true The NAND function between two variables corresponds to the OR of the same false variables i e B A OR Output 0 0 1 NOTE This parameter can be accessed only if the operating mode of the selected digital output is gt 2 and 9 Example MDO1 2 lt P270 lt 9 Function applied to the
366. led DIGITAL The digital output depends on a selected digital signal and on the logic output function True False See Examples 1 and 2 DOUBLE DIGITAL The digital output depends on 2 selected digital signals on the logic function calculating the output value and on the logic output function True False ANALOG The digital output depends on a selected analog variable which is tested through Test A and Test B thus obtaining 2 digital signals starting from their value the selected logic function calculates the output value whereas the True False logic output function calculates the end value See Example 3 DOUBLE ANALOG The digital outputs depends on 2 selected analog variables Test A is performed for variable A whilst Test B is performed for variable B thus obtaining 2 digital signals starting from their value the selected logic function calculates the output value whereas the logic output function True False calculates the end value DOUBLE FULL As DOUBLE ANALOG or DOUBLE DIGITAL mode but both digital signals and analog variables can be selected If you select a digital signal its value TRUE or FALSE is used to calculate the selected logic function If you select an analog variable the test selected for this variable is performed and its result TRUE or FALSE is used to calculate the selected logic function BRAKE As ABS BRAKE below although the selected variables are no
367. led via a digital input that is properly set up when the drive detects the brake closure it automatically adjusts the value of the current injected into the motor to the fluxing value This is required when during the lifting stage the mechanical brake closes when the load is suspended after reaching negligible speed In that case the torque produced by the motor is capable of keeping the load hanging when the brake closes this has no effect on the speed regulator because the motor is already standstill When the brake closes no torque must be generated to keep the load hanging so the current injected into the motor drops to the value required for the motor fluxing NOTE The Bridge CRANE menu is used for VTC and FOC Control only For safety reasons the brake closure contact must be an NO contact closed contact only NOTE when the brake is engaged In addition to parameters C300 to C302 a dedicated MDO must be set as 6 BRAKE see MOIE the DIGITAL OUTPUTS MENU gt gt gt 45 2 List of Parameters C300 to C302 Table 105 List of parameters C300 to C302 C300 Positive pretensioning torque Cnom ENGINEERING 1300 0 0 C301 Positive pretensioning torque time ENGINEERING 1301 0 C300a Negative pretensioning torque Cnom ENGINEERING 1308 0 0 C301a of negative pretensioning ENGINEERING 1309 0 C302 Closed brake input NO contact ENGINEERING 1302 0 None 371 428 SINUS PROGRAM
368. les are detailed in Table 39 This parameter selects the second digital signal used to calculate the value of MPL2 digital output It selects an analog variable used to calculate the value of MPL2 digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS P362 MPL2 Testing Variable A Default Level Address This parameter defines the test to be performed for the variable detected by P360 using P364 as a comparing value Function Default Level Address This parameter defines the test to be performed for the variable detected by P361 Function using P365 as a comparing value P364 MPL2 Comparing Value for Test A 320 00 96 320 00 96 Renee 92000 32000 of the full scale value of selected variable A see Table 39 IEEE ADVANCED 964 Function This parameter defines the comparing value with the selected variable for test A P365 MPL2 Comparing Value for Test B 320 00 96 320 00 96 Range 32000 32000 of the full scale value of selected variable B see Table 39 Default Level ADVANCED 965 Function This parameter defines the comparing value with the selected variable for test B 229 428 PROGRAMMING INSTRUCTIONS SINUS PENTA 2 SANTERNO GRUPPO CARRARO P366 MPL2 Function Applied to the Result of the 2 Te
369. lgebraic error over MAX C285 C288 C286 C289 This means that the system takes control of the PID having the minimum feedback in respect to its setpoint 2 Zone MAX The PID operates on the system with an algebraic error under MIN C285 C288 C286 C289 This means that the system takes control of the PID having the minimum feedback in respect to its reference NOTE When C171a Input for PID Control Selection is activated and the selected input is activated the 2 zone MIN or MAX mode is disabled and the PID always operates on the error resulting from C285 C288 Function 7 Two PIDs programming automatically disables the Source Selection function that can be programmed with C179 The two PIDs use only the signals selected with C285 C288 for PID and with C286 C289 for PID2 2 PID PID and PID2 operate in parallel the outputs of the two PIDs are matched based on the configuration of C171a If C171a 0 Disabled the outputs of the two PIDs are summed to each other If C171a is enabled the output of the PID regulator depends on the logic state of the configured input O gt PID 1 5 PID2 1 Normal 2 Inverse This parameter sets how to calculate the PID2 output Two modes are available 1 Normal 2 Inverse In Normal mode the output of the PID regulator is the actual PID2 output If 2 Inverse is selected the error sign is reversed The Inverse operating mode can be used for special applications only see Keeping Fluid
370. lo If the connected motor must run at a higher speed than its NOTE rated speed flux weakening measure the no load current value of the motor at its rated speed not at its max speed If the no load current of the motor is not known and the motor cannot run in no load conditions use a first attempt value for lo that is automatically computed by the drive as described in step 7 When parameter C021 lo 0 the drive will automatically NOTE set a value depending on the motor ratings whenever the motor autotune step 7 is performed Once a no load current value is entered in C021 the value of the parameter relating to mutual inductance C024 will be automatically computed when parameters 1073 1 Motor Tune and 1074 1 FOC Auto no rotation are set up as for current autotune C024 is computed even if no autotune procedure occurs Also set C022 resistance of one stator phase for a star connection or one third of one phase resistance for a delta connection and C023 stator leakage inductance of one phase for a star connection or one third of the leakage of one phase for a delta connection The value for C022 corresponds to half the resistance value measured with an ohm meter between two phases of the motor If values to set for C022 and C023 are not known motor autotune is required see step 6 otherwise go to step 7 Press SAVE ENTER each time a new parameter is set 44 428 SINUS PENTA 6 Encoder TEST 7 Auto
371. ls the operation of the cooling fans temperature is measured by the Penta drive and the threshold for the startup of the cooling fan is set in parameter C264 SW Application This screen displays the type of software application which is implemented in the drive e g Multipump Regenerative etc See Elettronica Santerno s Catalogue about Software Accessories For the application software downloading instructions see the Applications Manual SW Versions 0 65535 0 65 535 Texas 233 MMI 1489 Motorola 1487 This screen displays the SW versions implemented on the Penta drive Function Texas SW version of the DSP Texas MMI SW version of the display keypad Motorola SW version of Motorola microprocessor Serial Number Range 0 9999999 Address 1827 1828 LSWord MSWord This is the serial number of the drive The serial number is required when contacting ELETTRONICA SANTERNO s CUSTOMER SERVICE in order to activate the Fire Mode This measure is expressed in 32 bits divided into two 16 bit words the low part and the high part Function Fire Mode Enable Password Default Level Address To enable the Fire Mode please contact ELETTRONICA SANTERNO s CUSTOMER Function SERVICE and give the Serial Number of the drive where the Fire Mode is to be activated Enter the password given by the Customer Service 77 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CA
372. ly after setting XMDI O in parameter RO23 Set C182 1 to allocate 2 functions to the same terminal 1006 Function Selection for DGI Control Default Level Address Function C149a START B Input Default Level Address Function 0 gt Inactive 1 gt Clear all 2 Set factory default This is not a programming parameter the input is set to zero whenever the drive is powered on and whenever the command is executed ADVANCED 0 gt Inactive 1 gt Forces to 0 Inactive the settings of all the digital inputs 2 Forces to the default values the settings of all the digital inputs gt Inactive 1 85 MDI8 9 12 MPLI MPLA 13 20 5 XMDI1 XMDI8 0 12 O 20 if ES847 or ES870 is fitted ADVANCED The START B Input operates as the START Input see START Terminal 14 MDI1 when Terminal Board B is active 302 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS C150 STOP Input Inactive 1 8 MDI8 9 12 gt MPLI MPL4 13 20 2 XMDI1 XMDI8 Peo Inactive Level ADVANCED 1150 This parameter disables the RUN function enabled by the START command 0 12 Renge 0 20 if ES847 or ES870 is fitted The setting of this function affects the enabling disabling mode of the RUN command it can be enabled disabled using the START and STOP keys or the START STOP and REVERSE keys instead of the START
373. me Ts is the regulator operating time ranging from 200 to 400 microseconds based on carrier frequency NOTE This parameter is automatically computed and saved when the Autotuning procedure is performed see the AUTOTUNE MENUJ P156 P163 P170 Current Regulator Integral Time 1 32000 1 0 32000 Disabled 200 20 0 ms IEEE ENGINEERING 756 Address 763 motor n 2 770 motor n 3 Oe FOC Ti Integral time of PI current regulator Id and in the field rotary reference for motor n 1 P163 and P170 relate to motors 2 and 3 The regulator s structure is as follows error Set Point Measure Function integral status integral status error Ki Ts Output Kp error integral status where Kp is the proportional coefficient Ki is the integral coefficient 1 Ti where Ti is the integral time Ts is the regulator operating time ranging from 200 to 400 microseconds based on carrier frequency NOTE This parameter is automatically computed and saved when the Autotuning procedure is performed see the AUTOTUNE MENUJ 134 428 SINUS PROGRAMMING lt SANTERNO GRUPPO CARRARO P158 P165 P172 Flux Regulator Proportional Constant Default Level Address Control Function lo 1000 ENGINEERING 758 765 772 FOC Kp Proportional coefficient of PI flux regulator for motor n 1 P165 and P172 relate to motors 2 and 3 The regulator s structure is as follow
374. me page displayed at power on wo7 DOWNLOADING The keypad is writing to the drive the WORK zone parameters saved on its own flash memory WO8 UPLOADING The keypad is reading from the drive the WORK zone parameters that will be saved on its own flash memory WO09 DOWNLOAD OK Parameters were successfully downloaded written from the keypad to the drive W11 UPLOAD OK Parameters were successfully uploaded read from the drive to the keypad w12 UPLOAD KO The keypad interrupted parameter upload to the drive Parameter reading has failed W13 NO DOWNLOAD procedure was queried but no parameter is saved to the flash W16 PLEASE WAIT Wait until the system completes the operation required W17 SAVE IMPOSSIBLE Parameter save is not allowed The keypad interrupted parameter download to the drive Parameter writing has W18 PARAMETERS LOST failed As a result not all parameters have been updated parameter inconsistency W19 NO PARAMETERS LOAD UPLOAD impossible W20 NOT NOW The required function is not available at the moment W21 CONTROL ON The required function is inhibited because the drive is running Download failed because parameters saved to keypad memory relate to a SW w23 DOWNLOAD VERKO version or product ID incompatible with the drive SW version or product ID W24 VERIFY DATA Download preliminary operation underway the system is checking the integrity and compatibility of the parameters saved in the keypad memory W28 OPEN START Open and close
375. measure MO26a This value is expressed as a percentage of the asymptotic value that can be attained When 265 4 the thermal protection function is implemented from a PTC sensor the PTC alarm A055 trips when voltage acquired by AIN2 used as a PTC signal input exceeds a preset threshold value when the characteristic temperature is attained Alarm A055 can be reset only if temperature decreases 596 with respect to the trip temperature 42 2 Choosing the Characteristic Parameters Parameter C266 relates to the instantaneous pick up current that the internal thermal protection function will begin to monitor the current The default value of 12096 is a typical value and this can generally stay as is The motor thermal time is specific to the motor design and it varies between different motor manufacturers If the motor thermal time is unknown the thermal time constant C267 can be set up as described in the sections below IEC Class Maximum Locked Rotor Time Basic and Maximum Locked Rotor Time Enhanced The first method is the most simple and gives an approximate result The other two methods are more complex but give more accurate results 42 2 1 IEC CLass The motor can be protected as defined in the IEC 60947 4 1 standard for the thermal overload relays If the protection class is known in order to set up the thermal protection for a certain IEC trip class the value of C267 can be entered as IEC Class C
376. meter C189 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS A101 MDI8 Illegal Configuration 1 IPIS Function programmed to MDI8 and frequency input B as well MDI8 terminal is programmed with a digital function command and as frequency input B Incorrect programming of a command function for MDI8 because frequency input B 75178133 is already set in parameter C189 FinB see the DIGITAL INPUTS MENU and the ENCODER FREQUENCY INPUTS MENU Solution Check and adjust programming of the digital input functions and of parameter C189 Event A102 A103 A104 A086 Current input gt 20 mA A102 REF Current input 4 20mA 0 20mA greater than 20mA A103 AINT Current input 4 20mA or 0 20mA greater than 20mA A104 AIN2 Current input 4 20mA or 0 20mA greater than 20mA A086 5 Current input 4 20mA or 0 20mA greater than 20mA A current value greater than 20mA has been detected over one input REF AINT AIN2 XAIN5 set with the following ranges 4 20mA or 0 20mA e Wrong setting of SW on ES821control board except for A069 e Failure in the current signal source 1 Check setting of SW1 except for A069 Description Possible cause Solution 2 Check the current signal source A105 PT100 Channel 1 fault A106 PT100 Channel 2 fault A107 PT100 Channel 3 fault A108 PT100 Channel 4 fault Hardware input out of the measure range of the drive Description Wrong setting of SW1 or
377. min value of the PID2 reference set in parameters P445 P446 This measure is active if enabled from C291a This is the measure percent of the reference selected with C286 for the PID2 or the 2 zone mode Scaling is detailed in the PID2 PARAMETERS MENU and the PID CONFIGURATION MENU 100 00 96 Note The actual range depends on the max value and the min value of the PID reference set in parameters P245 P246 i Always active Active Address Function This is the measure of the PID reference after the ramps expressed as a percentage Scaling is detailed in the PID2 PARAMETERS MENU and the PID CONFIGURATION MENU 100 00 96 Note The actual range depends on the max value and the min value of the PID2 reference set in parameters P445 P446 This measure is active if enabled from C291a This is the measure percent of the current PID reference after the ramps selected with C286 for the PID2 or the 2 zone mode Scaling is detailed in the PID2 PARAMETERS MENU and the PID CONFIGURATION MENU 55 428 SINUS PROGRAMMING oC IN lt SANTERNO GRUPPO CARRARO M020 PID Feedback 96 1100 00 96 Note The actual range depends on the max value and the min value of the PID feedback set in parameters 247 248 Always active Address Functi This is the measure of the PID feedback expressed as a percentage Scaling is detailed in the PID PARAMETERS MENU and the PID CONFIGURATION MENU 100 00 96
378. mited to the speed level programmed in parameters C028 C029 32000 32000 rpm This results in RPM NPole 120 EXAMPLE When using a 4 pole motor and 30 000rpm are required F fulfilled On the other hand if the same performance requirements are needed with an 8 pole system 30 000rpm cannot be obtained as is 2000Hz As a result when using an 8 pole motor the maximum allowable programmable speed is 15 000rpm RPM F 120 number of motor poles will be 1000Hz so the performance requirements are out outmax outmax 248 428 SINUS PENTA 9x PROGRAMMING SANTERNO INSTRUCTIONS GRUPPO CARRARO 31 2 List of Parameters C001 to C004 Table 62 List of parameters C001 to C004 Cool Minimum carrier frequency GIN IEERING 1001 See Table 71 C002 Maximum carrier frequency ENGINEERING 1002 See Table 71 C003 Number of pulses ENGINI IG 1003 1 24 C004 Silent modulation G 1004 See Table 71 The default value and the max value of carrier frequency C001 and C002 depend on the drive size To check those values see Table 71 C001 Minimum Carrier Frequency 1600 16000 1600 16000 Hz Depending on the drive model Depending on the drive model see Table 71 See Table 71 Level ENGINEERING RECESIE 1001 IFD and VTC AEA It represents the min value of the modulation frequency being used NOTE The min value
379. mming parameters CF gt Configuration parameters IDP Product identification Line 1 on this page displays the drive operating status see the description of parameter M089 Lines 2 and 3 display two measures which may be selected with parameters P268 P268a These measures can be scaled through parameters P268y and P268z Line 4 displays the four main menus of the drive The selected menu is displayed in square brackets use the A and V keys to select a different menu Press the SAVE ENTER key to access the selected menu 81 428 PROGRAMMING SINUS PENTA 2 SANTERNO GRUPPO CARRARO 11 3 Keypad Page and Local Mode Keypad To access Keypad pages press the MENU key from the Root or press the LOC REM key after selecting the Local mode The measures displayed on the Keypad page can be set up through parameters P268b to P268e From the Keypad page press the SAVE ENTER key to display the Keypad Help page describing the measures displayed on the Keypad page The Keypad Help page is displayed for a few seconds once the Keypad Page is displayed Hold down the ESC key for a few seconds to resume navigation If parameter P264b Navigation mode via MENU key is set to Operator navigation is locked A NOTE The following Keypad Pages are available Measures only gt four lines displaying measures only Speed line 4 shows the speed reference that can be changed with the A and W keys Torque li
380. modes are described at the beginning of this chapter NOTE MDO Digital output can be programmed only if the frequency output is not set up P200 Disable see ANALOG AND FREQUENCY OUTPUTS MENU P271 MDOT Selecting Variable A Range See Table 39 Default A61 Speed MEA Level ADVANCED 55 This parameter selects the digital signal used to calculate the value of MDO1 digital output It selects an analog variable used to calculate the value of MDO1digital output if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 P272 Selecting Variable B Range See Table 39 Default Level Address This parameter selects the second digital signal used to calculate the value of digital output It selects an analog variable used to calculate the value of MDOT digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 193 428 SINUS PROGRAMMING GUC ION 2 SANTERNO P273 MDOT Testing Variable A ABS x gt ABS x gt ABS x lt ABS x lt 0 1 2 3 4 5 6 7 0 Default Level Address This parameter defines the test to be performed for the variable detected by P271 Function using P275 as a comparing value P274 MDON1 Testing Variable B 5 gt ABS x gt 5 lt
381. munication between the Master and the Penta drive with bit 15 of the digital input word always set to 1 and reset the drive control board If communications between the Master and the Slave Penta cannot be restored alarm A070 is reset after setting parameter RO16 to zero and after resetting the Penta drive When the drive is next powered on resetting the alarm reset will affect the drive control board 48 2 List of Parameters R016 to R017 Table 107 List of parameters RO16 to R017 RO16 Fieldbus Watchdog Time ENGINEERING 603 Oms RO17 Analog Outputs controlled by the Fieldbus ENGINEERING 604 000b RO16 Fieldbus Watchdog Time Range 0 60000 0 60000 ms Default Level ENGINEERING Address If not set at zero this parameter determines the time limit after which 70 Fieldbus WDG trips no legal writing is received from the fieldbus in a given time interval Function NOTE master as described in Alarm A070 Communication Suspended This avoids untimely activation due to different start times between the master and the drive The Watchdog activates only once the drive has received the first legal message from the 380 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO RO17 Analog Outputs Controlled by the Fieldbus Default Level Address Function 000b None 001b AO 010b AO2 100b AO3 000b 111b binary 0000h 0007h hex 0
382. n 060 The numerical value always includes two decimals the unit of measure is V or mA Function of the preset type of reference voltage current Active Always active Address ECA Measure of the voltage current value detected by the drive in AIN2 analog input Function of the type of reference voltage set in P390 The Function of the preset type of numerical value always includes two decimals the unit of reference measure is V Active only if set via parameter R023 Address Measure of the voltage value detected by the drive in XAIN4 analog input 61 428 PROGRAMMING NET ON 22 SANTERNO GRUPPO CARRARO SINUS PENTA MO39b 5 External Analog Reference Function of the type of reference current set in P395 The numerical value always includes two decimals the unit of measure is Address Function 32000 99 rpm 4 32000 Note The actual range depends on the selected motor because it is defined by the value set in the parameters for the max speed and min speed of the selected motor C028 C029 Motor 1 72 73 Motor 2 C114 C115 Motor 3 integer part 99 decimal part Active Always active 1690 integer part 1691 decimal part This is the value of the speed reference set via serial link 32000 99 rpm Note The actual range depends on the selected motor because it is defined by the value set in the parameters for the max speed and
383. n Third measure exchanged via Fieldbus P331 Fourth Measure from the Fieldbus Range See Table 51 Default M022 PID Out Level ENGINEERING Address Function Fourth measure exchanged via Fieldbus 213 428 PROGRAMMING SINUS PENTA INSTRUCTIONS Ee SANTERNO GRUPPO CARRARO N Table 51 List of Programmable Measures for P330 P331 0 NONE 46 M045 Fbus TrqLimRef 1 Speed Ref 47 M046 SerPID Ref 2 M001 dcm Spd Ref 48 47 FbusPID Ref 3 M002 Ramp Out 49 M048 SerPID Fbk 4 dcm Rmp Out 50 M049 FbusPID Fbk 5 M004 Motor Speed 51 M050 Encoder Ref 6 005 dcm Mot Spd 52 51 Freq In Ref 7 M006 Mot Freq 53 M052 Op Time Lo 8 M007 Torq Ref 54 M053 Op Time Hi 9 M008 Torq Demand 55 M054 Sply Time Lo 10 M009 Torq Out 56 M055 Sply Time Hi 11 M010 Torq Ref 95 57 M056 Digital Out 12 M011 Torq Dem 58 M057 Freq Out 13 MO012 Torq Out 59 M058 Analog Out AO1 14 M013 T Lim Ref 60 M059 Analog Out AO2 15 M014 T Lim RmpOut 61 M060 Analog Out AO3 16 M015 T Lim Ref 96 62 M061 Aux Dig OUT 17 M016 T Lim RmpOut 96 63 M062 Amb Temp 18 M017 Flux Ref 64 M036a Aux Ser Dig IN 19 M018 PID Ref 65 M064 Hts Temp 20 M019 PID RmpOut 66 M065 OP Counter 21 M020 PID Fbk 96 67 M066 SP Counter 22 M021 PID Err 96 68 MO36b Aux FBus Dig IN 23 M022 PID Out 69 022 PID2 Out 96 24 M023 PID Ref 70 M069 PT100 Temp 1 25 M024 PID Fbk 71 M070 PT100 Temp 2 26 5 Virtual Dig Out 72 MO071 PT100 Temp 3 27
384. n active reference torque Inactive 0 12 1 8 5 MDI8 20 if ES847 or ES870 is fitted 9 12 5 MPLI MPLA 13 20 5 XMDI1 XMDI8 C ADVANCED 1170 VTC and FOC When activating the terminal allocated to the Slave Input the main reference becomes a torque reference and the speed loop is by passed This function enables the SLAVE operating mode torque reference instead of the MASTER operating mode speed reference the Torque References and the Ramp Torques are used see the INPUTS FOR REFERENCES MENU and the RAMPS MENU SINUS A AN CAUTION C171 PID DISABLE Input Range Default Level Address Function PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO This function is ignored if the operating mode selected for the active motor is the SLAVE mode i e CO11 1 or 2 motor 1 CO54 1 or 2 motor 2 CO97 1 or 2 motor 3 Commands are factory set to MASTER mode and the speed reference is selected as factory setting CO11 0 C054 0 C097 0 Switching from MASTER to SLAVE mode or vice versa is allowed only when the drive is disabled gt Inactive 0 12 1 8 MDI8 O 20 if ES847 or ES870 is fitted 9 12 MPLI MPLA 13 20 5 XMDI1 XMDI8 ADVANCED This function is used for managing the PID regulator see the PID CONFIGURATION MENU When the terminal allocated to this function is activated the PID regulator can be disabled its ou
385. n be reactivated at any time To do so set P265 in Start Up mode see the DISPLAY KEYPAD MENU and power on the Penta drive again The following is the root page of the Start Up menu IDP SINUS PENTA START UP MENU Press ENTER to start Press Enter to enter the wizard Before entering the control parameters you are asked to choose a dialogue language P263 Language 9 9 GO GO 2 2 2 then you are asked to choose the display mode of the Start Up Menu t he Menu 9 9 GO GO G2 2 O Choose one of the following 1 EV ERY START UP 2 ONLY NOW NEXT START UP 4 NEVER If you select EVERY START UP the wizard appears whenever the Penta drive is powered on if you select ONLY NOW you can scroll through the menu and the wizard is disabled as soon as you quit the menu if you select NEXT START UP the menu is displayed only when the Penta drive is next started up if you select NEVER the Start Up menu is disabled 38 428 SINUS N Parameters included in the Start Up menu amp SANTERNO PROGRAMMING INSTRUCTIONS GRUPPO CARRARO Rated mains voltage Type of control algorithm Speed feedback from encoder Type of V f pattern Rated motor power Rated motor Rated motor power Rated motor current Rated motor voltage No load current of the motor Min motor speed
386. n for the Ready state of a PLC supervisor cccceecceeeeecceeeeeneeeeeeeeeeeeseaeeeeeseeeeeenaees 191 Table 47 List of parameters P270 to P305 SES RIA ARA e 192 Table 48 List of parameters P306 to P317 ccccccccccccsssssssseceeeceeeeseessneeeeeeeeeeeesseeeeeeeeeeeseessseeeeeeeesesensaeeeeeeeesessneaeeeeeenss 206 Table 49 List of parameters P318 to 25 eene 210 Table 50 List of parameters P330 to 213 Table 51 List of Programmable Measures for P330 P331 cccccscccccccesesssseeeeeeeeeesessseeeeeeeeesesseseeeeeeesessessaeeeeeeeeseeeaea 214 Table 52 Digital Output Modes NR Y Pe E RN EN eaa 216 Table 53 Test TUrelloris idee tent exse ink sta dne d RUM E d asa in dede adele ded Ld 217 Table 54 MPL parameterization for Dry Run Detection eene eene nenne enne rene 221 Table 55 MPL parameterization for Pipe Fill function 223 Table 56 List of parameters P350 to P385 sssssssssssssssssssessees esee nennen enne rnnt nnne sese nen 224 Table 57 Analog input hardware mode
387. n no load currents are delivered and the motor rotates at low rpm Function 132 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 19 FOC REGULATORS MENU 19 1 Overview AN NOTE Please refer to the Motor Control section as well AN NOTE This menu may be accessed only if the FOC control is programmed for one of the connected motors 010 2 for motor n 1 053 2 for motor n 2 CO96 2 for motor n 3 The FOC control has the same basic structure as that of any classic field oriented control The inner loops of FOC control are two PI current regulators having the same parameterization The first regulator controls lq torque current the second regulator controls Id flux current lq Torque current is computed based on the required torque set point In Slave mode torque reference the required set point comes from the external reference in Master mode the torque set point is given by the output of the speed regulator see the SPEED LOOP AND CURRENT BALANCING for the regulation of the motor speed of rotation Id Flux current results from the output of the flux regulator ensuring that the connected motor is always properly fluxed This menu allows accessing the current PI regulators and flux regulators for the FOC control 19 2 List of Parameters P155 to P173 Table 26 List of parameters P155 to P173 Current regulator proportional constant Mot n
388. n reference corresponds to the motor torque demand and may range from C047 to C048 Limits Menu for motor 1 minimum and maximum torque expressed as a percentage of the motor rated torque For motors 2 and 3 the parameters relating to min and max torque C090 C091 and C133 C134 are included in the Limits Menu 2 and Limits Menu 3 Using a 0020 drive connected to 15kW motor C048 is factory set to 120 of the motor rated torque If the max reference is applied C143 REF the torque reference will be 12096 If 7 5kW motor is connected C048 may exceed 200 torque values exceeding 20096 may be obtained based on the value set in C048 The motor rated torque results from the following formula C P o where P is the rated power expressed in W and o is the rated speed of rotation expressed in radiants sec Example the rated torque of a 15kW motor at 1420rpm is equal to 15000 100 9 Nm 1420 22 60 The starting torque is rated torque 12096 121 1 257 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 32 2 List of Parameters to C128 Table 69 List of parameters C008 to C128 C008
389. nal for minimum reference or better Fonon the reference set in CO28xP056a Master mode or in 47 5 Slave mode If motor 2 is active C071 and C090 will be used instead of C028 and C047 if motor 3 is active the values set in C114 and C133 will be used 5 Percentage of Speed Min Trq Min Producing Min Reference Y axis related to P056 Range 0 1000 PIA 1000 100 096 Level ADVANCED Address This parameter represents the min speed percentage or the min torque percentage for a torque reference to be used for the minimum reference set with PO56 Function 110 428 PROGRAMMING SINUS PENTA Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P057 Value of AIN1 Input Producing Max Reference X axis 100 100 if P055 0 10 0 10 0V if PO55 0 10V 200 200 if P055 1 20 0 mA 20 0 mA 55 1 20 mA 40 200 if P055 2 4 0mA 20 0 mA if PO55 2 4 20 mA 0 100 if P055 3 0 0V 10 0V if PO55 3 0 10V 0 200 if P055 4 0 0 mA 20 0 mA if P055 4 0 20 mA 200 20 0mA Level ADVANCED Address This parameter selects the value for AINT input signal for maximum reference Function better the reference set in CO29xP057a Master mode or in CO48xP057a Slave mode If motor 2 is active C072 and C091 will be used instead of C029 and C048 if motor 3 is active the values set in C115 and C134 will be used P057a Percentage of Speed Min Trq Min
390. nce is 1500 rpm 323 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 36 2 List of Parameters C189 to C199 Table 91 List of parameters C189 to C199 C189 Encoder Frequency input operating BASIC 1189 Not used mode Not used C190 Number of pls rev for encoder A BASIC 1190 1024 C191 Number of pls rev for encoder B BASIC 1191 1024 C192 Speed searching error timeout 1192 5 00 C193 Error between reference and speed 1193 300 rpm C194 Tracking error alarm enable 1194 1 Active Filter time constant over value of 198 feedback from encoder sms C196 Filter time constant over value of 1196 5 0 ms reference from encoder C197 Number of channels of Encoder A 1197 0 2 Squaring channels C198 Number of channels of Encoder B 1198 0 2 Squaring channels C199 Encoder sign reversal IEERING 1199 O Fdbk NO Ref NO C189 Encoder Frequency Input Operating Mode Range See Table 92 Default lo O Not used Not used Level Address This parameter determines the operating mode of quick acquisition digital inputs If MDI8 is used as a frequency input the option board for encoder B is not required MDI6 digital input may be used as a frequency input if used along with MDI7 it can be used for encoder A reading Reading both encoders A and B can be programmed parameter C189 defines the encoder to be used as a reference source if
391. nceeeeeeneeeeceeaeeeessnaeeceeseeeeeeseeeeesenaeeeeneaees 360 44 3 List of Parameters C285 to C294 Hee ene e enhn eese e e e ese ese e eret es sss ne tenes s sese arn nus 363 44 4 Keeping Fluid Level Constant Example sess ene neennenenenerrn eee n ener 368 45 BRIDGE CRANE MENU pee 371 45 1 TEMPLUM 371 45 2 List of Parameters C300 to C302 ee ene e hehehe se e e nsere E e eene e ese e e ene e ese se EEEE enan 371 46 SERIAL COMMUNICATIONS csccssccscccccsccscsscneccscccccccescescnccnscescccssscescncssecescescsscesccesses 373 T PEE O MIC TUM 373 46 2 MODBUSSRTU PROTOCOL ott naea a be coe eu dn e Le CE cod ak Seve eese ne TRE SER PE Pe pe 373 47 SERIAL LINKS eo x eroe a so era VERE eua NE YR SERRE Roe VR UA EY 376 47 1 TIERE 376 47 1 1 Watchdog Al rrris 2 RENE E stuamacssdavedea PESE DROP SERIE 376 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 47 2 List of Parameters ROOT to 377 48 FIELDBUS CONFIGURATION MENU csccoscocccsccsccscceccsccecceccesceccescescescesccsccscesccssesces 380 48 1 TMIQERNIUIDIUTIN TEMERE 380 48 1 1 Alarm A070 Communication Suspended c ccccccceesessesneeeeececeeeeeenneeeeeeeeeesesenaaeeeeeeeesenenneeeeeeers 380 48 2
392. ne 4 shows the torque reference that can be changed with the and keys Limit Torque line 4 shows the limit torque reference that can be changed with the and keys PID line 4 shows the PID reference that can be changed with the A and keys If the Local Mode is NOT selected pressing the MENU key allows viewing only the pages containing the references sent via keypad see the CONTROL METHOD MENU and the PID CONFIGURATION MENU LOCAL MODE In LOCAL mode the L CMD and L REF LEDs come on when the Local mode is active only the commands and references sent via keypad are enabled while any other control source or reference source is disabled see the CONTROL METHOD MENU the DIGITAL INPUTS MENU and the INPUTS FOR REFERENCES MENU The keypad page displayed when the LOC REM key is pressed depends on the setting of parameter P266 Type of Keypad Page in Local Mode P266 Measures Only Page containing 4 preset measures no reference can be altered P266 Ref Activated Line 4 in the Keypad Page contains the drive reference speed reference if a speed control is activated torque reference if a torque control is activated PID Ref if the drive reference is the PID output C294 PID Implementation 1 Reference Use the A and V keys to change the reference displayed in line 4 on the Keypad Page P266 Ref Activated Spd To be used only when the drive reference depends on the PID output when a speed control is used C
393. ng IGBT switching when no ENABLE command is sent the output power stage is instantly deactivated NOTE The reset function for the alarms on the leading edges of MDI3 is not delayed NOTE auxiliary alarm set to the digital inputs is not delayed Five timers are available the use can set an enabling disable delay for each of them The NOTE same timer may also be assigned to multiple digital inputs outputs NOTE The ENABLE 5 function cannot be delayed PP gt gt Example 1 The drive enable MDI1 START depends on a signal coming from a different source An activation delay of 2 seconds and a deactivation delay of 5 seconds are needed To do so set two delay times for activation and deactivation for the same timer and assign it to MDI1 START digital input In the example below timer 1 is used P216 2 0 sec Activation delay 1 P217 5 0 sec Deactivation delay T1 P226 0 0001 Timer assigned to START 153 428 PROGRAMMING INSTRUCTIONS Z SINUS PENTA GRUPPO CARRARO MDI ON OFF P217 Start Palo Inverter MDI ON vee OFF gt 21 p t Start ton lt P216 P216 Inverter ON OFF t P000340 b Figure 22 Using Timers example Figure 23 shows two possible operating modes left application of the delay times set for the drive enabling disabling right the start signal persists for a shorter time than the delay set for ena
394. ng mode is selected and because the complemented output is the speed reference the higher the error absolute value the higher the PID output value This means that the quicker the level increases the quicker the pump suction On the other hand if the level is lower than the reference a positive error is produced because the PID output is limited to 096 the pump will not activate if the PID output is equal to the min value for a timer longer than P255 1000 P244 5sec the drive is put on stand by 370 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 45 BRIDGE CRANE MENU 45 1 Overview For lifting applications it may be necessary to consider the opening closing of a mechanical brake in order to obtain a proper control of the connected motor For example if a mechanical brake takes 500ms to open after the start command the delay is due to the type of brake the motor will not be running for 500ms while the speed reference increases the preset ramp The motor then pushes against the brake and when it can rotate freely the motor torque will not match with the torque required to move the connected load If the speed setpoint is kept to zero for a given time after sending the start command considering the time required for the mechanical brake to open the motor control will implement the proper torque for the motor speed as soon as the motor can start rotating The brake closure can be control
395. ng the variable as an absolute value the min point for output AOT will be 0 rpm 5 V 142 428 SINUS PENTA 47 SANTERNO GRUPPO CARRARO N Example 4 Table 31 Programming AO1 ABS 0 10V P176 ABS 0 10V AO1 Analog output P177 1 Speed Selected variable for AO1 analog output P178 100 Min value of AO1 selected variable P179 500 rpm Max value of AO1 selected variable P180 0 000 V AO1 Analog output offset P181 Filter for AO1 analog output P182 0 0 V Min AOT output value with reference to P178 P183 10 0V Min AOT output value with reference to P179 40 MR 84 74 6 4 5 4 24 14 9 500 400 300 200 100 0 100 200 300 400 500 rpm Figure 20 Curve voltage speed implemented by AO1 Example 4 Example 5 Table 32 Programming AO1 10 P176 10V AO Analog output P177 1 Speed Selected variable for AO1 analog output P178 500 rpm Min value of AOI selected variable P179 500 rpm value of 1 selected variable P180 0 000 V AO Analog output offset P181 ms Filter for AO1 analog output P182 10 0V Min AO output value with reference to P178 P183 10 0V Min AO output value with reference to P179 a 0 64 4 24 400 300 200 100 100 200 300 400 5 Figure 21 Curve voltage speed implemented by AO1 Example 5 rpm PROGRAMMING INSTRUCTIONS 143 428
396. ning the ENABLE signal must be disabled and the ESC key must be used to accept the new value 30 1 1 MOTOR AUTOTUNE AND ADJUSTING LOOPS Set 1073 as Motor Tune to enable autotune functions that can be selected with 1074 For the correct operation of the tuning algorithms enter the motor ratings and the ratings NOTE ofthe encoder used as a speed feedback Please refer to the MOTOR CONTROL MENU and the ENCODER FREQUENCY INPUTS MENU 243 428 PROGRAMMING INSTRUCTIONS SINUS PENTA Z SANTERNO GRUPPO CARRARO Table 59 Programmable Motor Tune functions 0 all Ctrl no rotation 1 FOC Auto no rotation 2 FOC Auto rotation 3 Man rotation speed 4 FOC Man no rotation current 5 FOC Man no rotation flux gt gt 244 428 NOTE NOTE Automatic estimation of the stator resistance and the leakage inductance If no load current 18 is zero no load current values are computed based on the rated power of the connected motor Tuning mode required for the correct operation of the control algorithms Automatic autotune of the current loop Tuning mode required for the correct operation of FOC algorithm If autotune of the current loop fails Alarm A065 Autotune KO trips the current loop may be manually tuned see 4 FOC Man rotation current While autotuning the system can monitor the reference current and the current obtained in analog outputs AO2 and AO respectively
397. nk O 9 pole male D connector and the message sent from the master to the drive is considered as complete ROO5 Watchdog Time for Serial Link O D9 pole 0 60000 0 6000 0 sec Default 5 Level ENGINEERING Address If not set at zero this parameter determines the time limit after which alarm A061 Function WDG Serial Alarm trips if the drive does not receive any legal message through serial link O 9 pole male D connector ROO6 Parity Bit for Serial Link O D9 pole 0 Disabled 1 Stop bit R 1 Disabled 2 Stop bit mE 2 Even 1 Stop bit 3 Odd 1 Stop bit 1 Disabled 2 Stop bit Level Address This parameter determines whether the parity bit is used or not when creating the Function MODBUS message through serial link O 9 pole male D connector ROO8 Drive MODBUS Address for Serial Link 1 RJ45 Range 1 247 Default 1 Level ENGINEERING Address Function This parameter determines the address assigned to the drive connected to the network through RS485 of serial link 1 RJ45 connector NOTE The display keypad connected through RJ45 connector dialogues correctly with the drive using the default values preset in the parameter set for serial link RJ45 ROO Response Delay for Serial Link 1 RJ45 Range 1 1000 1 1000 msec Default Level ENGINEERING Address This parameter determines the drive response delay after a master query sent through
398. nk for a time longer than the time set in the parameters relating to serial link watchdog see the SERIAL LINKS MENU e Serial link is disconnected e Communication failure on remote master side e Watchdog operating times too short 1 Check serial link 2 Make sure that the remote master constantly sends read write queries with max intervals between two queries lower than the preset watchdog operating time 3 Set longer watchdog operating times see 5 for serial link and RO12 for serial link 1 Mains loss Mains loss e One supply cable is disconnected e Mains supply too weak e Mains gap 1 Check voltage in terminals R S T Check mains voltage value M030 Also check the value of sampled in the FAULT LIST when the alarm tripped 2 This protection may be disabled or delayed see the POWER DOWN MENU 405 428 PROGRAMMING INSTRUCTIONS A065 Autotune KO Description Possible cause Solution SINUS PENTA GRUPPO CARRARO 2 Autotune failed Autotune aborted or failed e The ENABLE contact was opened before autotune was over e Autotune aborted maybe because the parameter values were inconsistent with the motor ratings 1 Reset the alarm send a RESET command 2 Check the motor parameters and make sure that they are consistent with the motor ratings see the MOTOR CONTROL MENU and perform a new autotune procedure 3 If the alarm persists please co
399. not be accessed via serial link These four parameters allow selecting four measures to be displayed on the Keypad Page Default funcion NOTE Measure n 4 is displayed on the Measure Keypad page only and is replaced by the reference value on the remaining Keypad pages Measure n 4 is available in the measure Keypad page only The reference to measure n NOTE in 4 is available for the remaining Keypad pages P269 Disable Loc Rem Fwd Rev Keys Range O No No 3 YES YES MENO Level ENGINEERING Address This parameter allows disabling the LOC REM and or the FWD REV key This is a bit controlled parameter bit O relates to LOC REM while bit 1 relates to FWD REV Set O to select NO set 1 to select Yes Function P269 0 gt both keys are enabled P269 1 gt the LOC REM key is disabled P269 2 the FWD REV key is disabled P269 3 both keys are disabled 87 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 12 RAMPS MENU 12 1 Overview An acceleration deceleration ramp is a function allowing linear variations of the motor speed The ramp time is the time the motor takes to reach its max speed when it starts from zero speed or the time the motor takes to reach speed when decelerating Four pairs of programmable values are available Each pair defines the motor acceleration time and deceleration time The unit of measure of the basic time per
400. nstant rpm exceeds the time set in POO9 for a percentage equal to PO22 P023 2 Function 92 428 PROGRAMMING SINUS PENTA Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P010 Speed Ramp 1 Deceleration Time Default See Table 72 Level BASIC Address 610 Determines the time the reference takes to go from the max preset speed considering the max value between absolute values for max speed and min Function speed set for the selected motor to zero rpm If S ramps are used the actual time the reference takes to reach speed exceeds the time set in PO10 for a percentage equal to 24 25 2 0 327 00 s if P014 0 0 01 s 0 3270 0 s if P014 0 gt 0 15 0 32700 s if PO14 0 gt 15 0 327000 s if PO14 0 gt 105 0 32700 12 Speed Ramp 2 Acceleration Time 0 327 00 s if P014 0 0 015 0 3270 0 s if P014 0 gt 0 15 0 32700 s if PO14 0 gt 15 0 327000 s if PO14 0 gt 10s Range 0 32700 Default See Table 72 Level ADVANCED Address Function Same as ramp 1 see P009 NOTE Values for ramp 2 can be applied to the reference provided that multiramp digital inputs are set up and that ramp 2 is selected see the DIGITAL INPUTS MENU P013 Speed Ramp 2 Deceleration Time 0 327 00 s if P014 0 gt 0 01 s 0 3270 0 s if P014 0 gt 0 15 0 32700 s 4 PO14 0 gt 15 0 327000 s if PO14 0 gt 105 0 32700 Default See Table 72 Level ADVANCED Ad
401. nt 5 FOC Man rotation flux Default This is not a programming parameter the input is set to zero whenever the drive is powered on and whenever the command is executed Level Address 1074 selects the type of autotune to perform if 1073 1 Motor Tune see section GIGI Motor Autotune and Adjusting Loops No changes can be made to 1073 and 1074 when the ENABLE signal is present If you NOTE attempt to change these values when ENABLE is active W34 ILLEGAL DATA warning appears Remove the ENABLE signal to set these values and activate the ENABLE signal to begin the selected autotune process gt If SAVE ENTER is pressed to store the changes made to 1073 and 1074 W17 SAVE IMPOSSIBLE warning appears Use the ESC key instead 246 428 SINUS PENTA PROGRAMMING 2 SANTERNO GRUPPO CARRARO 31 CARRIER FREQUENCY MENU 31 1 Overview The Carrier Frequency Menu sets some of the PWM modulation characteristics based on the preset type of control 31 1 1 IFD CONTROL AND VTC CONTROL The IFD and VTC control algorithms allow gaining access to all the parameters included in the Carrier Frequency menv The user can set the minimum value and the maximum value of the switching carrier frequency and the number of pulses per period used to produce the output frequency when switching from min carrier frequency to max carrier frequency synchronous modulation The silent modulation function can also be
402. ntact ELETTRONICA SANTERNO s Customer Service Description Event Possible cause Solution NOTE 406 428 A066 REF Current input 4 20mA lower than 4mA A067 AIN1 Current input 4 20mA lower than 4mA A068 AIN2 Current input 4 20mA lower than 4mA A069 XAIN5 current input 4 20mA lower than 4mA A current value lower than 4 mA has been detected over one input REF AINT AIN2 XAIN5 set with the following range 4 20mA Wrong setting of SW1 on ES821 control board except for A069 Signal cable disconnected Failure in the current signal source Check setting of SW1 except for A069 Check that the signal cable is properly connected to its terminal Check the current signal source The alarms above trip only if the relevant inputs have been selected see CONTROL METHOD MENU and PID CONFIGURATION MENU SINUS PENTA PROGRAMMING E SANTERNO INSTRUCTIONS GRUPPO CARRARO N A070 Fieldbus WatchDog a Watchdog Fieldbus tripped The watchdog fieldbus tripped and communication is suspended Communication is interrupted the Master did not send any valid message for a time longer than the time set in the parameter relating to the value set with parameter RO16 of the fieldbus watchdog time see the FIELDBUS CONFIGURATION MENU Voltage removed from Fieldbus e No communication from Master e Watchdog times too short 1 Check fieldbus connections 2 Check that the master ensures a constant
403. ntage or the min torque percentage for a torque reference to be used for the minimum reference set with P396 241 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO P397 Value of XAIN5 Input Producing Max Reference X axis Range 200 200 if P055 2 20 0 mA 20 0 mA if P055 2 20 mA 40 200 if P055 3 4 0mA 20 0 mA if P055 3 4 20 mA O 200 if P055 4 0 0 mA 20 0 mA if P055 4 0 20 mA EEM 200 200mA Level ADVANCED Address This parameter selects the value for XAIN5 input signal for maximum reference or better the reference set in CO29xP397a Master mode or in CO48xP397a Slave mode If motor 2 is active C072 and C091 will be used instead of C029 and C048 if motor is active the values set in C115 and C134 will be used Function Range Default 1000 Level ADVANCED Address This parameter represents the min speed percentage or the max torque percentage for a torque reference to be used for the maximum reference set with P397 P398 Offset over 5 Input 2000 2000 20 00 mA 20 00 mA Default Level ADVANCED Address This parameter selects the offset correction value of XAIN5 analog signal that has been measured value set is added to the signal measured before saturation or conversion its unit of measure is the same as the one of the signal selected for X
404. nterno SpA Setup monitoring may be obtained using one of the following options e Display keypad unit e Serial link through RS485 standard port or ES822 isolated optional serial board RS485 RS32 e ES851 optional Data Logger and communications board For the instructions on how to use and remote the display keypad unit please refer to the Sinus Penta s Installation Manual Any information sent to from the drive via the display keypad unit may be obtained also via serial link using the RemoteDrive software application offered by Elettronica Santerno RemoteDrive allows the following functions image acquisition keypad simulation oscilloscope functions and multifunction tester data logger table compiler including history data parameter setup and data reception transmission storage from and to a calculator scan function for the automatic detection of the connected drives up to 247 drives may be connected You can also create your own dedicated software via serial communication link This manual provides any information concerning addressing Address field and scaling Range field for the drive interfacing 0 4 2 SPECIAL APPLICATIONS DEDICATED TO SINUS PENTA DRIVES Special software is supplied with the drives of the Sinus Penta series that can be used for particular applications The menu tree the programming mode and navigation mode of the Sinus Penta are used parameters or menus will be added removed whether required
405. nuously operating for the max time set in C211 330 428 SINUS PENTA PROGRAMMING 5 SANTERNO INSTRUCTIONS GRUPPO CARRARO 38 DC BRAKING MENU 38 1 Overview When the IFD or VTC control algorithm are used DC current can be injected into the motor to stop it DC current may be automatically injected at stop and or at start DC current injection may also be controlled by the terminal board All relevant parameters are included in the DC BRAKING MENU The intensity of the DC current injected is expressed as a percentage of the rated current of the active motor 38 1 1 DC BRAKING AT START AND NON CONDENSING FUNCTION To activate DC braking at start set C216 to YES Braking occurs after sending a START command with a speed reference other than zero before the acceleration ramp A START command may be one of the following RUN command or REV command sent via terminal board START command from keypad etc depending on the preset control mode DC braking level and duration are set in the following parameters C220 Expressed as a percentage of the rated current of the controlled motor C218 Expressed in seconds Speed 3 loc f C220 C218 Enable A ON OFF Start Command ON OFF P000352 b Figure 51 DCB Hold and DCB at Start Output speed holding and DC braking current when the DCB Hold and DCB at Start functions are active 331 428 PROGRAMMING SINUS PENT
406. o or lower than Val Min Out Min will be assigned to the selected analog output For analog outputs AOT AO2 and AO3 the following parameters will be used P178 P182 P186 P194 and P190 P198 for values Val Min Out Min e Val Max Out Max Defines the maximum saturation value of the variable to be represented and the corresponding value to be assigned to the analog output For values equal to or higher than Val Max Out Max will be assigned to the selected analog output For analog outputs AO1 AO2 and AO3 the following parameters will be used P179 P183 P187 P195 and P191 P199 for values Val Max Out Mox Offset Defines the offset value applied to the analog output Offset is set in parameter P180 for AOT analog output in parameters P188 P196 for AO2 and respectively Filter Defines the filter time constant applied to the analog output The filter time constant is set in parameter P181 for AO1 analog output in parameters P189 P197 for AO2 and AO3 respectively 137 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 20 1 3 FREQUENCY OUTPUT When programming the frequency output the setting of MDO1 in the Digital Outputs Menu is disabled The figure below illustrates the structure of the frequency output Parameterization is similar to the one used for the analog outputs P200 Max Val Out Max P201 Mode P203 P205 P206 MDO1 50 duty Fou
407. ode Default Level Address Function measure to correct possible errors 0 no input 1 val PT100 0 no input This parameter selects the type of analog signal available in terminals 33 34 in ES847 expansion board 0 no signal is used The P parameter relating to the analog input disappears 1 val PT100 The acquired signal is transformed into degrees centigrade See Measure M072 P327 Channel 4 Measure Offset Range 30000 30000 300 00 300 00 Default Level Address Function ADVANCED 927 Value of the measure offset for channel 4 an offset can be applied to the measure to correct possible errors 212 428 PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO SINUS PENTA 27 FIELDBUS PARAMETERS MENU 27 1 Overview This menu allows selecting the Third measure and the Fourth measure from the Fieldbus The list of the selectable measures is the same as the list in the MEASURES MENU The First measure and the Second measure are fixed Output Current and Motor Speed see Exchanged 27 2 List of Parameters P330 to P331 Table 50 List of parameters P330 to P331 13 Torque Out 96 23 PID Out 931 P330 Third measure from the Fieldbus P331 Fourth measure from the Fieldbus P330 Third Measure from the Fieldbus Range See Table 51 Default M012 iTorque Out Level ENGINEERING Address Functio
408. of C029 and C048 if motor 3 is active the values set in C115 and C134 will be used P052a Percentage of Speed Max Trq Max Producing Max Reference X axis related to P052 0 1000 100 0 EE 1000 Level Address This parameter represents the max speed percentage or the max torque percentage for a torque reference to be used for the maximum reference set with P052 P053 Offset over REF Input 10 00 V 410 00 V if PO50 Oor3 i i 2000 2000 20 00 mA 20 00 mA if PO50 1 2 4 Default Level Address This parameter selects the offset correction value of the REF analog signal that has Function been measured The value set is added to the signal measured before saturation or conversion its unit of measure is the same as the one of the signal selected for REF analog input P054 Filtering Time over REF Input O 65000 0 65000ms Default 5 Level ADVANCED Address l This parameter selects the value of the filter time constant of the first command Function A applied to the REF input signal when the signal saturation and conversion is over 109 428 SINUS PROGRAMMING GUC ION Z SANTERNO P055 Type of Signal over AIN1 Input Default Level ADVANCED Address This parameter selects the type of differential analog signal over terminals AIN1 and AINT in the terminal board The signal can be a voltage s
409. of Parameters P176 to P215 sssssssssssssssssseseesenee eese eene enne reni 144 21 TIMERS MENU rice E 153 211 SOVEIVIEW Ee 153 21 2 luskof Parameters P216 to P229 der En Een r iori einne inaia inaia i i eda 155 22 PID PARAMETERS MEND a E SR YER wa E das E EAR RP REN P ERES REIR 159 221 Ems 159 22 2 PID Regulator Tuning Method of Ziegler and Nichols seen 160 22 3 Manual Tuning of the PI Regulator ssssssssssssssssseeeeeeeee nennen nere nnm een nn netrr rennen enne 161 PROGRAMMING SINUS PENTA INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 22 3 1 Proportional Action P RO neta Fert een E Lee dre tien eer eese n dana Kr dL on ansa ede piae n 161 22 3 2 Integral ACHon 163 22 3 3 Beni e 165 22 3 4 Tuning Actions at Constant Speed eeseeessseecceceeeeeennnneeeeeeeesesenanaeeeeeeeeeeesnaneeeeereseseneenatesesereeeeeaea 165 22 4 RUDI HL 165 22 5 List of Parameters P236 to P260 ei 166 23 PID2 PARAMETERS
410. of rotation of the motor Check that the encoder is properly set up see the ENCODER FREQUENCY INPUTS MENU and wired if the Encoder B input is used check the Configuration of the dip switches located on ES836 option board see the Sinus Pento s Installation Instructions manual If W31 Encoder OK appears the speed feedback from encoder is correct In addition the autotune sets the encoder signal as feedback with parameter C199 245 428 PROGRAMMING SINUS PENTA INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 30 2 List of Inputs 1073 1074 Table 60 List of inputs 1073 1074 1073 1074 Type of autotune BASIC 1460 Type of motor tune BASIC 1461 1073 Type of Autotune 0 Disable Range 1 Motor Tune 2 Encoder Tune This is not a programming parameter the input is set to zero whenever the drive is Default powered on and whenever the command is executed Level Address 1073 selects the type of tune to perform If you select 1 Motor Tune 1074 sets different types of tune for current loops flux loops and speed loops and for the estimation of the motor ratings see Motor Autotune and Adjusting Loops If you select 2 Encoder Tune you can check the correct operation of the encoder used as a speed feedback see Checking the Encoder Operation Function 1074 Type of Motor Tune 0 All Auto no rotation 1 FOC Auto no rotation 2 FOC Auto rotation 3 VIC FOC Man rotation speed 4 FOC Man rotation curre
411. of the measured speed is consistent with the estimated speed e Incorrect parameterization of the encoder concerning the type and number of pulses rev e Voltage removed from one of the two encoders e Incorrect mounting of the encoders e Encoder failure 1 Check that the encoder parameters are correct see the ENCODER FREQUENCY INPUTS MENU 2 Check that both encoders are properly connected 3 Check mounting of the encoders 4 Using an oscilloscope check that the encoder signals are correct SINUS A060 No Current Fault FOC Description Possible cause Solution Description Possible cause Solution PROGRAMMING PZ SANTERNO INSTRUCTIONS GRUPPO CARRARO N The error detected in FOC control by the current loop exceeds the max allowable value The FOC control detected a current regulation error One motor cable is disconnected Failure in the current measure circuit Wrong setting of current regulator parameters for FOC control Check motor connections terminals U V W Check parameterization of current regulators for FOC control see the FOC REGULATORS MENU Perform a new current regulator autotune see AUTOTUNE MENU 3 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service A061 Serial Link Watchdog O tripped A062 Serial Link Watchdog 1 tripped The serial link watchdog has tripped Communication failure no read write query sent to serial li
412. olled variable speed or torque MOOO M007 required from the drive This reference is acquired by the drive only if the START command and the ENABLE commands are active otherwise it is ignored When the main reference is acquired by the drive START and ENABLE are active it becomes the input signal controlled by the time ramp functions that generate the speed torque reference setpoint for the connected motor The speed or torque references may come from the following command sources Source disabled REF single ended analog input from terminal board AINT differential analog input from terminal board AIN2 differential analog input from terminal board FIN frequency input from terminal board see also the ENCODER FREQUENCY INPUTS MENU Serial link with MODBUS protocol Fieldbus fieldbus in option board Keypad remotable display keypad Encoder in terminal board MDI6 ECHA MDI7 ECHB or option board Up Down from MDI Up down from digital inputs see C161 and C162 10 XAINA auxiliary differential voltage analog input from ES847 terminal board 11 XAIN5 auxiliary differential current analog input from ES847 terminal board OMNAMKRWN O 4 NOTE If multiple reference sources are selected the processed reference is the algebraic sum of all enabled references REF AINT and AIN2 The sources called REF AIN1 and AIN2 come from the analog inputs in the terminal board and generate a referen
413. on Time Counter Range 0765000 0 650000h Active Always active Address Time elapsed after resetting the operation time counter The Operation Time is the activation Function time of the drive IGBTs M066 Supply Time Counter Range 0 65000 0 650000h Active Always active Address 1716 Time elapsed after resetting the supply time counter 89 Drive State See Table 116 Always active Address 1739 Function Describes the current condition of the Penta drive M090 Active Alarm Active Address Function Alarm tripped at the moment 69 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 8 9 Data Logger Measures Menu This menu displays the status of the types of connections serial links Ethernet and modem supported by ES851 Data Logger board This menu can be viewed only if the Data Logger board is fitted See also the DATA LOGGER MENU M100 Data Logger Status Line 3 0 NOT FITTED 1 OK not interlocked 2 OK interlocked This measure is active only if programmed from parameter RO21 Address 0 NOT FITTED ES851 is not installed on the Penta drive 1 OK not interlocked ES851 is operating independently of the drive where it is installed To program ES851 a connection to a computer via the RemoteDrive software is required or a special preset set via display keypad is required see the DATA LOGGER MENU 2 OK interlocked ES851 is ready to b
414. on only with START Closed Range 0 No 1 Yes MEMO Level ADVANCED Address 1184 Control VTC and FOC iX Isis Fluxing may be carried out only when the START command is closed 318 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO C185 STOP Mode Range 0 Deceleration Ramp 1 Idling 1 O Decelertion Ramp Level ADVANCED Address This function allows selecting whether the drive is to be deactivated with a controlled jesus deceleration ramp or is left idling when the START command is open Inactive C186 Fire Mode Enable Input 1 8 5 MDII MDI8 9 12 gt MPLI MPL4 0 12 Range O 20 if ES847 5870 is fitted 13 20 XMDI1 XMDI8 Level ENGINEERING Address 1186 This parameter allows programming a digital input to activate the Fire Mode see the Fire Mode section Function C187 Torque Limit Source Ref Disable Input 0212 0 gt Inactive 8 1 825 MDI8 Range O 20 if ES847 or 5870 is 9 12 5 MPLA fitted 13 20 gt XMDI8 Default 0 Inactive Level ADVANCED Address This function sets a digital input allowing disabling the external torque limit When the Function digital input set for C187 is active the torque limit will depend on the parameters contained in the LIMITS MENU of the active motor 0212 Inactive 1 82
415. on time ADVANCED See Table 72 616 P018 Speed ramp 4 acceleration time ADVANCED See Table 72 618 P019 Speed ramp 4 deceleration time ADVANCED See Table 72 619 P020 PE ADVANCED See Table 72 620 P021 Selection for S ramp rounding off ADVANCED SeeToble 72 621 P022 ar eren S ramp start rounding off ADVANCED 50 622 P023 c S ramp end rounding off ADVANCED 50 623 P024 m NR S ramp start rounding off ADVANCED 5096 624 P025 RCM 5 ramp end rounding off 50 625 026 Torque ramp time up i 5s 626 P027 Torque ramp time down 5s 627 P028 Unit of measure for torque ramp time 0 1 5 628 P029 ramp acceleration time 1 629 ramp deceleration time ls 629 P031 Gradient variation acceleration reset 1 YES 630 P032 Fire Mode Ramp acceleration time ENGINEERING See Table 72 632 P033 Fire Mode Ramp deceleration time ENGINEERING See Table 72 633 P009 Speed Ramp 1 Acceleration Time 0 327 00 s if P014 0 gt 0 01 s 0 3270 0 s if P014 0 gt 0 15 0 32700 s if PO14 0 gt 15s 0 327000 s if P014 0 gt 10s Range 0 32700 Default See Table 72 Level Address Determines the time the reference takes to go from rpm to the max preset speed considering the max value between absolute values for max speed and min speed set for the selected motor If S ramps are used the actual time the reference takes to reach co
416. on with C210 z With resistor 98 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P032 Fire Mode Acceleration Ramp 0 327 00 s if P01420 40 01 s 0 3270 0s if P01421 0 1 s 0 327005 ifP014 2 15s 0 327000 s if PO14 3 gt 105 0 32700 Default See Table 72 Level ENGINEERING Address Function This ramp is used to accelerate the motor when in Fire Mode P033 Fire Mode Deceleration Ramp 0 327 00 s if PO14 0 0 01 s 0 3270 0 s if P0141 5 0 15 0 327005 ifP01422 1s 0 327000 s if PO14 3 gt 10s 0 32700 Default See Table 72 Level ENGINEERING Address Function This ramp is used to decelerate the motor when in Fire Mode 99 428 SINUS PENTA PROGRAMMING INSTRUCTIONS GRUPPO CARRARO 13 INPUTS FOR REFERENCES MENU 13 1 Processing Speed Torque References The main reference is the value at constant rpm for the controlled physical variable speed or torque M000 M007 required for the drive This reference is acquired by the drive only if the START command is active and the drive is RUNNING otherwise it is ignored The main reference is the reference at constant rpm when the drive is RUNNING it will increment the speed or torque set point which will reach the main reference with a timed ramp see the RAMPS MENU The drive operating mode is factory set to MASTER with a speed reference In SLAVE mode a torque reference is used
417. ons Table 54 MPL parameterization for Dry Run Detection P359 MPL2 Digital output mode DOUBLE ANALOG P360 MPL2 Selecting variable A A67 Output Power P361 MPL2 Selecting variable B A76 PID Feedback P362 MPL2 Testing variable A P363 MPL2 Testing variable B lt P364 MPL2 Comparing value for Test A Min operating PWR P365 MPL2 Comparing value for Test B Min FBK value P366 MPL2 Function applied to the result of the 2 tests A AND B P366a MPL2 Selecting variable D11 PID Out Max P366b MPL2 Function applied to the result of f A B C f A B AND C P367 MPL2 Output logic level TRUE A s It is recommended that a TIMEOUT be entered for Dry Run Detection Enter a timeout for MPL2 output see TIMERS MENU P368 MPL3 Digital output mode DOUBLE ANALOG P369 MPL3 Selecting variable A A67 Output Power P370 MPL3 Selecting variable B A76 PID Feedback P371 MPL3 Testing variable A gt P372 MPL3 Testing variable B P373 MPL3 Comparing value for Test A Min operating PWR P374 MPL3 Comparing value for Test B Min FBK value P375 MPL3 Function applied to the result of the 2 tests AND B P375a MPL3 Selecting variable C D51 12 P375b MPL3 Function applied to the result of f A B C f A B OR C P376 MPL3 Output logic level TRUE A MPL3 detects when piping
418. optional encoder board Wrong configuration of the dip switches for the encoder selection push pull or line driver encoder in the optional encoder board No connection to the encoder channel check wiring At least one Encoder channel is faulty replace the encoder First remove the ENABLE command then access the MOTOR CONTROL MENU and set 1073 1 Motor Tune and 1074 0 All Ctrl no rotation Use the ESC key to accept changes Close the ENABLE command and wait until autotune is complete warning W32 Open Enable is displayed The drive has computed and saved the values for C022 and C023 If alarm A097 Motor wires KO trips check the motor wiring If alarm A065 Autotune KO trips this means that the ENABLE command has opened before autotune was completed In this case reset the drive sending a command from terminal MDI3 or press the RESET key in the display keypad and perform the autotune procedure again First remove the ENABLE command then access the AUTOTUNE MENU and set 1073 1 Motor Tune and 1074 1 FOC Auto no rotation Use the ESC key to accept changes Close the ENABLE command and wait until autotune is complete warning W32 Open Enable is displayed The drive has computed and saved the values for P155 and P156 If alarm A065 Autotune KO trips this means that the ENABLE command has opened before autotune was completed or that the autotune algorithm failed In this case reset the drive sending a command
419. or opening START command 29 PIDOUT min DISAB Drive disabled due to PID output lt Min 30 REF min DISABLED Drive disabled due to REF lt Min il IFD WAI RER Drive enabled with IFD control 92 waiting for START in order to start When fluxing the RUN command was not given within the max time 33 DISABLE NO START set in C183 The drive is kept disabled until the RUN command is given 418 428 SINUS 2 54 CUSTOM PARAMETERS In the table below you can write down settings that are different from the default values GRUPPO CARRARO PROGRAMMING INSTRUCTIONS POOx User Level 1 0 P003 ModCmode 1 StandBy Fluxing Product P263 Lang 1 ENGLISH P26x Display P264 ModNav 0 Menu P264a ModNavMenu 1 Yes P264b ModMenu 0 Standard P265 FirstPage 3 Start Up P266 kpd type 1 Ref Activated P267 umisl 0 Disable P267a Custom PID units of measure P268 Measure n 1 on Root M004 P268y Scaling of Measure 100 00 page n 1 on Root page ab da Measure n 2 on M000 P268z Scaling of Measure 100 00 oot page n 2 on Root page a 1 on M006 P268c Measure n 2 on M026 eypad page Keypad page bleed n 3 M004 P268e Measure n 4 on M000 eypad page Keypad page P269 DisabKey1 0 No P269a DisabKey2 0 No
420. or resulting from C285 C288 and with parameters P2xx The PID regulator output may be used as an external output speed torque reference of the drive speed torque reference increase or if the IFD control is used the PID regulator input may be used for correcting the output voltage If the PID regulator output is the speed reference of the drive the selected speed torque ramp is applied SERIAL LINK The Serial Link source is an input from the MODBUS link the reference value shall be written by the user to the following addresses Table 103 Reference sources from serial link 1418 1031 BASIC PID Reference PID reference value Set in P267 1420 1033 BASIC PID Feedback PID feedback value Set in P267 44 3 List of Parameters C285 to C294 Table 104 List of parameters C285 to C294 C285 Selection of PID reference n 1 ENGINEERING 1285 2 AIN1 C286 Selection of PID reference n 2 ENGINEERING 1286 0 Disable C287 Selection of PID reference n 3 ENGINEERING 1287 0 Disable C288 Selection of PID feedback n 1 ENGINEERING 1288 3 AIN2 PTC C289 Selection of PID feedback n 2 ENGINEERING 1289 0 Disable C290 Selection of PID feedback n 3 ENGINEERING 1290 0 Disable C291 PID operating mode ENGINEERING 1291 0 Disable C291a_ PID control mode ENGINEERING 1295 O Standard SUM C291b PID2 operating mode ENGINEERING 1296 1 Normal C292 co E of the variable for calculating
421. ortion of the speed reference M042 in either IFD VTC or FOC mode bit 7 0 Speed reference integer portion The speed reference from the FIELDBUS is obtained by adding the decimal portion to the integer portion see Word 2 This value is included in the global speed reference of the drive measure along with the other reference sources if at least one of parameters C143 to C146 is set as 6 FieldBus The speed limit from FIELDBUS is significant if parameter C147 is set as 6 FieldBus and the type of reference of the active motor parameters C011 54 C097 is set as 2 Torque with Speed Limit 382 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO Word 2 Speed reference limit from FIELDBUS decimal portion Word 2 details the decimal portion of the speed reference M043 ONLY IN FOC MODE The value sent by the Master to the Sinus Penta as the decimal portion of the speed reference must be multiplied by 100 In order to send a speed reference of XXX 50rpm the low byte of the word must contain the value 50 or 00110010 0 5010 x 100 50 Example M042 210 M043 50 speed ref 210 50 rpm Word 3 Torque reference limit from FIELDBUS The torque reference from the FIELDBUS M045 is significant if at least one of parameters C143 to C146 is set as 6 FieldBus and if the type of reference of the active motor parameters 11 054 097 is set as 1 Torque or as 2 Torque with S
422. otor 2 or C114 motor 3 Min depends on the selected motor see parameter C047 motor 1 C090 motor 2 or C133 motor 3 Speed Max depends on the selected motor see parameter C029 motor 1 C072 motor 2 or C115 motor Trq Max depends on the selected motor see parameter C048 motor 1 91 motor 2 or C134 motor 3 The X axis values of the two points depend on the analog input REF Input Parameter P051 is the X axis value of the first point parameter P052 is the X axis value of the second point AINTInput Parameter 56 is X axis value of the first point parameter P057 is the X axis value of the second point Input AIN2 Parameter 61 is the X axis value of the first point parameter 62 is the X axis value of the second point The figure below illustrates how parameters set computing the signals for speed or torque analog reference Saturation 10 0V Input Signal gt Speed Torque 10 0V M038 Saturation Input type selection Offset Correction Saturation Bote bes Speed Minx C071 10 0V Speed C072 Hotorn 3 Min C114 0 0V peed Max C115 IL SLAVE mode Torque bias Dieter EpL Max C048 20 0mA Motorn 2 1 9 Min C090 4 Motorn 2 091 O 22289 Trq_Min C133 2 Figure 9 Computing Speed Analog Reference from terminal boar
423. ove represent the range of the source used for limitation the torque ramp times set in the RAMPS MENU will be applied to the preset limit torque reference Also ramp time for torque limit can be selected 49 for motor 1 C092 for motor 2 and C135 for motor 3 for VTC and FOC controls only The Ipeak current load is available see Table 71 for a maximum time of 3 seconds and only if the preset carrier frequency is lower than equal to the default frequency value see Table 71 When operating with synchronous modulation the current peak value dynamically decreases when the output frequency increases Manually enabling disabling that function can be done only when using the IFD control with current limit parameters C043 C044 C045 When using the VTC or FOC control the system will automatically handle the maximum current value that can be used also based on the torque limit configured with 47 048 lim c043 co44 C045 r fcarrier C001 C002 faer f fmax Figure 44 Current limit decreased based on the carrier frequency f Max frequency for which Imax can be obtained 281 428 PROGRAMMING SINUS PENTA INSTRUCTIONS Ee SANTERNO GRUPPO CARRARO N 33 2 List of Parameters C043 to C135 Table 75 List of parameters C043 to C135 C043 MI BASIC 1043 C086
424. ow the instructions displayed on the keypad or refer to the Sinus Penta s Installation Instructions Manual P185 Selected Variable for AO2 Analog Output 185 See Table 27 Default Reference at constant speed Level ADVANCED Address Function Selects the variable to be allocated to AO2 digital output P186 Min Value of AO2 Selected Variable R Depends on the value selected in P185 Default 1500 1500 rpm Level ADVANCED Address See Table 27 Funcii Minimum value of the motor speed corresponding to the min output value of Miu AO2 set in P190 P187 Max value of AO2 Selected Variable Depends the value selected in P185 SIME 1500 1500 Level Address Maximum value of the motor speed corresponding to the min output value of AO set in P191 147 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 9999 9999 Depends the value 9 999 9 999 selected in P184 P188 AO2 Analog Output Offset Default Level ADVANCED Address Offset value applied to AO2 analog output 0 65000 0 000 65 000 sec Default Level ADVANCED Address Value of the filter time constant applied to AO2 analog output P190 Min AO2 Output Value with Reference to P186 100 100 200 200 10 0 10 0 V Depends on the value 20 0 20 0 mA selected in P184 Default Level ADVANCED Address
425. peed Limit or if the drive is in slave mode from digital input The torque limit from the FIELDBUS is significant if parameter C147 is set as 6 FieldBus The value sent by the Master to the Sinus Penta as the torque reference torque limit must be multiplied by 10 In order to send a torque reference torque limit of 50 the word must contain the value 500 or 111110100 5096 x 10 500 SS Torque reference limit Word 4 PID reference from FIELDBUS The PID reference M047 can be sent from the fieldbus if at least one of the parameters C285 to C287 is set as 6 Fieldbus The value sent by the Master to the Sinus Penta as the PID reference must be multiplied by 100 E g In order to send PID reference of 50 the word must contain the value 5000 6 or 111110100 50 x 100 5000 PID reference from FIELDBUS Word 5 Digital Inputs from FIELDBUS The virtual digital inputs via the Fieldbus are the low byte of the word MDI3 MDI2 AED MDI8 MDI7 MDI6 MDI5 MDI4 RESET ENABLE START The logic status of these bits is included in the overall status of the drive digital inputs measure MO31 along with the other command sources if at least one of the parameters C140 C142 is set as 6 FieldBus AN NOTE Auxiliary virtual terminal board XMDI1 8 cannot be simulated via fieldbus the drive is consistent thus keeping the watchdog counter reset see Alarm A070 Bit 15 must always be written 1 th
426. phase if a delta connection is used it matches with 1 3 of the inductance of one phase Autotune is always recommended Function A NOTE With the Autotuning function calculate the value of the leakage inductance C023 From the resulting value manually subtract the value in mH of the output inductance if any 265 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO C024 C067 C110 Mutual Inductance Range 0 65000 0 00 650 00mH Default 25000 Level ADVANCED Address 1024 1067 1110 This parameter defines the mutual inductance of the connected motor The approximate value of the mutual inductance results from no load current according to the formula below M Vnom Rstat lo 2xfnom lo Function Parameter C024 mutual inductance is automatically calculated based on the preset no load current value C021 whenever parameters 1073 and 1074 are set as follows AN NOTE 1073 1 Motor Tune 1074 All no rotation whether current loop tuning is performed or not C025 068 111 Rotor Time Constant Range 0 5000 0 5000 Default Level ADVANCED Address 1025 1068 1111 Control FOC This parameter defines the rotor time constant of the connected motor If the rotor time constant is not stated by the motor manufacturer it can be obtained through the autotune function see the FIRST STARTUP section and the AUTOTUNE MENU When
427. power absorbed by the motor at rated voltage and rated Function rpm when no load is connected to the motor C021 C064 C107 Motor No Load Current Peg 0 Level BASIC Address 1021 1064 1107 This parameter defines the current absorbed by the motor at rated voltage and rated rpm when no load is connected to the motor It is expressed as a percentage of the motor rated current C018 C061 C104 For a proper tuning of the current loops Function required for FOC control enter a value other than zero If the stator resistance is tuned 073 1 Motor Tune 1074 0 All no rotation and the no load current parameter is zero a value for a first attempt is assigned to this parameter depending on power and pole pairs of the connected motor C022 C065 C108 Motor Stator Resistance 0 32000 0 000 32 0000 Default See Table 74 Level ADVANCED Address 1022 1065 1108 This parameter defines stator resistance Rs If a star connection is used it matches with the value of the resistance of one phase Function half the resistance measured between two terminals if a delta connection is used it matches with 1 3 of the resistance of one phase Autotune is always recommended 0 00 320 00mH See Table 74 Level ADVANCED Address 1023 1066 1109 This parameter defines the global leakage inductance of the connected motor If a star connection is used it matches with the value of the inductance of one
428. r For each of these 4 parameters you can select the source of the reference signals from 9 different sources The source of the torque limit reference through parameter C147 allowing selecting the reference source from 9 different sources Therefore you can select and enable different command sources hardware or virtual sources different speed or torque references hardware or virtual sources and enable an external torque limit The drive commands may be sent from The hardware terminal board terminal board on ES821 which is logically separated into terminal board A and terminal board B The keypad The virtual remote terminal board through serial link with MODBUS communications protocol The virtual remote terminal board through Fieldbus option board Multiple terminal boards may also be enabled up to 3 terminal boards with parameters C140 C141 C142 in this case the drive will apply logic functions OR or AND to the different terminals to obtain the activated terminal board see Command Sources The following references and torque limit signals may be sent Three analog inputs acquired to the hardware terminal board REF AIN1 AIN2 plus two analog inputs XAIN4 XAIN5 acquired to the hardware terminal board located on ES847 option board FIN frequency input Encoder input Keypad Serial link with MODBUS communications protocol Fieldbus option board Up Down from MDI Up and Down digital
429. r max value as an absolute value between min and max torque limit 116 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO P071 Value of FIN Producing Min Reference X axis Range 1000 10000 10 kHz 100 kHz DACW 1000 Level ADVANCED Address This parameter selects the value of the frequency input signal for minimum reference Function better the reference set in CO28xPO71a Master mode or in CO47xP071a Slave mode If motor 2 is active CO71 and C090 will be used instead of C028 and C047 if motor 3 is active the values set in C114 and C133 will be used P071a Percentage of Speed Min Trq Min Producing Min Reference Y axis related to P071 RCM CS 1000 100 0 DACW 1000 100 096 Level ADVANCED Pelo 713 This parameter represents the min speed percentage or the min torque percentage for a torque reference to be used for the minimum reference set with PO71 Function P072 Value of FIN Producing Max Reference X axis 1000 10000 10 kHz 100 kHz TN 10000 100 kHz ADVANCED This parameter selects the value of the frequency input signal for maximum reference better the reference set CO29xP072a Master mode in CO48xP072a Slave mode If motor 2 is active C071 and C090 will be used instead of C029 and C048 if motor 3 is active the values set in C115 and C134 will be used P072a Percentage of Speed
430. r 2 Y Motor Control 3 Menu concerns motor 3 Factory setting allows configuring only one motor To access the Configuration menus of the other connected motors simply enter the number of the selected motor in C009 Number of Configured Motors in the Motor Control 1 Menu To select the connected motor use digital inputs programmed with parameters C173 and C174 Digital Input for Motor 2 Activation and Digital Input for Motor 3 Activation respectively see also the DIGITAL INPUTS MENU The parameters included in the Motor Control Menus are detailed in the table below 251 428 PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO SINUS PENTA Table 63 Description of the parameters classified by motor Mains rated voltage C008 Control algorithm being used C010 C053 C096 Type of reference being used speed torque C011 C054 C097 Availability of the speed feedback from encoder C012 C055 C098 Electric ratings of the motor C015 C025 C058 C068 C101 C111 Max speed and min speed required speed at the beginning of flux weakening C028 C031 C071 C074 114 117 max speed alarm threshold and enabling Wi pattern parameters C013 C032 C056 C075 C099 C118 C038 C081 C124 Slip compensation activation C039 C082 C125 Drop in rated current voltage C040 C083 C126 Fluxing ramp time C041 C084 C127 The parameters that can be modified depend on the type of control that ha
431. r P216 P223 T4 Disable delay 156 428 Range Default Level Address Function 0 60000 0 0 6000 0 sec ENGINEERING This parameter sets T4 disable time Operation as per P217 PROGRAMMING SINUS PENTA 22 SANTERNO INSTRUCTIONS P224 T5 Enable delay 0 60000 0 0 6000 0 sec Default Level Address This parameter sets T5 enable time Function Operation as per P216 P225 T5 Disable delay Range 0 0 6000 0 sec MEMO Level Address This parameter sets T5 disable time 217 P226 Timers Assigned to Inputs MDI1 4 0 n Usi sits 0 No timer assigned 0 0 0 0 5 5 5 51 1 5 T5 Default 0 0 0 0 0 No timer assigned Level ENGINEERING Address The first group of four digital inputs may be assigned to any of the five timers and the same timer may be assigned to multiple inputs Select zero to avoid delaying the digital inputs Setting via serial link see codification table below Function Table 35 Codification of P226 Timers assigned to digital inputs MDI 1 4 Codification example for P226 MDI1 Timer T2 MDI2 No timer assigned MDI3 Timer T2 MDI4 Timer T5 value in P226 101 010 000 010 bin 2690 dec P227 Timers Assigned to Inputs MDI5 8 108 0 0 o 5 5 5 5 0 timer assigned Default 0 0 0 0 0 No timer assigned
432. r idles and stops due to friction or the mechanical load If the DISABLE function is set C15320 to activate the drive deactivate the input signal on the terminal selected with C153 to enable the drive then activate the ENABLE function and the ENABLE S function if programmed R 0 12 EUM o 20 if ES847 or ES870 is fitted C154 Disable RESET Alarms on MDIS Range 0 NO 1 Yes Default Level ADVANCED Address Function If C154 1 Yes the alarm reset function can be disabled from MDI3 C155 C156 C157 C158 MULTISPEED Inputs 0212 Inactive 1 8 MDI1 MDI8 zm if ES847 or ES870 is 9 12 5 MPL1 MPLA 13 20 2 XMDI1 XMDI8 4 C156 Default C155 C156 0 C158 C157 C158 Inactive 0 Level ADVANCED Address 1155 1156 1157 1158 This function generates up to 15 speed references that can be programmed with parameters PO81 P098 according to the programming mode set in 80 The 4 Multispeed functions determine which of the 15 active speed references are Aa active active value 1 or inactive value 0 of each preset input signal determines bit logic binary number MULTISPEED is the less significant bit bit O and MULTISPEED 3 is the most significant bit bit 3 If one of these functions is not set up its relevant bit is zero Table 83 Multispeed selection Bit 3 Bit 2 Bit 1 Bit O MULTISPEED 3 MULTISPEED 2 MULTISPEED 1 MULTISPEED 0
433. r reading only Push Pull encoders can be used NOTE For the reversal of the encoder speed measure properly set up parameter C199 36 1 1 WHEN ES836 15 NOT USED Encoder reading Digital inputs MDI6 and MDI7 are used for reading the two channels of a 24V push pull encoder powered directly by the encoder board see the Sinus Penta s Installation Instructions Manual No function can be programmed for MDI6 and MDI7 if you attempt to program MDI6 and MDI7 alarm A082 Illegal Encoder Configuration will trip when ENABLE closes Reading a Frequency Input Digital inputs MDI6 or MDI8 can be used If MDI is programmed as a frequency input FINA with C189 no other function can be programmed otherwise alarm A100 MDI Illegal Configuration trips when ENABLE closes If MDI8 is programmed as a frequency input FINB with C189 no other function can be allocated to MDI8 and ES836 option board must not be applied to the power drive otherwise alarm A101 MDI8 Illegal Configuration trips when ENABLE closes e Reading a Frequency Input and an Encoder MDI6 and MDI7 are used to read the push pull encoder and MDI8 is used to read the frequency input The following alarms may trip e A082 Illegal Encoder Configuration if additional functions are allocated to MDI6 or MDI7 e A101 MDIB Illegal Configuration if additional functions are allocated to MDI8 or if the power drive detects the presence of ES836 option board 320 428 SINUS
434. rd P263 Language ITALIANO ENGLISH Range ESPANOL PORTUGUES DEUTSCH Default ENGLISH Level Address The dialog language is factory set to English Use parameter P263 to choose a different language The software implemented in the display keypad is called MMI man machine interface its version is displayed in the SW screen of the Product Menu Function By request Elettronica Santerno can provide the extended version of the MMI software CAUTION m containing languages different from the ones mentioned above 75 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO Product Name and Type Fan control bits 0 to 3 0 3 see Table 12 Voltage class bits 4 to 7 0 3 see Table 11 Drive size bits 8 to 15 0 81 Table 10 55 Product type 1736 This screen displays the name of the product PENTA and the type of product see example below Function The product name PENTA appears in the second line of the display keypad The third line shows the voltage class the size of the drive and the type of fan control In the case shown in the example the voltage class is 400V the size of the drive is 0020 and the fan operation is not controlled by the drive character _ The numbers corresponding to the different models of the Penta Drive are given in the table below Table 10 Indexes corresponding to the different model
435. rdingly safety parameter C181 prevents the drive from starting if the ENABLE signal is already active when the drive is powered on NOTE gt gt gt 299 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 35 1 3 RESET TERMINAL 16 MDI3 The RESET function is assigned to input terminal MDI3 It resets the alarms to unlock the drive operation It cannot set to other terminals whereas the same terminal may be assigned to different functions To allocate the reset function to a different terminal than MDI3 set C154 Yes If a protection trips the drive locks the motor starts idling the motor idles and stops due to friction or the mechanical load and an alarm message is displayed see also the AUTORESET MENU and the ALARMS AND WARNINGS section Reset procedure To unlock the drive activate the RESET input for an instant or press the RESET key on the keypad When the drive unlocks and the cause responsible for the alarm has disappeared Inverter ok comes up on the screen otherwise the alarm persists and cannot be reset If set up accordingly safety parameter C181 permits to deactivate and reactivate the ENABLE signal to restart the drive once the cause responsible for the alarm has disappeared Factory setting does not reset alarms at power off Alarms are stored and displayed at next NOTE power on and the drive is locked A manual reset is then required to unlock the drive see the AUT
436. re 51 Figure 52 Figure 53 Figure 54 Figure 55 Figure 56 Figure 57 Figure 58 Figure 59 Figure 60 PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO Figures DUUM EE INavigatiort example iiio ttr IRAN Disploy keypad M Example of S ramps Speed profile without Rounding Off and with Rounding Off 2 example sse 90 Speed profile with Acceleration Reset Yes to No Example sse 91 Speed Reference computing RON RERE NR REEE ESTE OE r E E E EA EE iai nennen 101 Torque Reference Computing ene Pet ESSE ES 102 Computing Speed Analog Reference from terminal board AINT 104 Computing Inputs REF 1 and 2 examples 105 Computing REF Input Example 3 5 retener e ER HL ER LRL ERE EUR RR eS Een 106 Prohibit Speed ranges REPE RINA 125 Speed Control example 5 cer eek KE ERRARE EREMO RARE FO aste aka dea a ERIE 127 Dual Parameterization function example eene eere 129 Typical structure of the Analog Outputs sse nennen innen 137 Structure of the Frequency
437. re is the torque limit obtained at constant speed on the other hand if the torque limit is internal to the drive this value is the actual torque limit expressed in Nm 32000 Nm Note The actual range depends on the preset torque limit values and the rated torque of the selected motor C047 C048 Motor 1 C090 CO091 Motor 2 C133 C134 Motor 3 Active for and FOC controls only This is the torque limit value being used expressed in Nm 51 428 PROGRAMMING INSTRUCTIONS SINUS PENTA MO013a Speed Limit before the Ramps 32000 32000 rpm Active for FOC only Active Address Function Limit value at constant speed of the motor speed of rotation in torque control with speed limit mode 011 2 for Motor 1 C054 C097 for Motors 2 and 3 14 Speed Limits after the Ramps Range Active Address Function Address Function Address Function M017 Flux Reference Active Address Function 32000 2000 rpm Active for FOC only Current limit value of the motor speed of rotation in torque control with speed limit mode C011 2 for Motor 1 C054 C097 for Motors 2 and 3 500 Note The actual range depends on the torque limit values set for the selected motor C047 C048 Motor 1 090 091 Motor 2 C133 C134 Motor 3 Active for VTC and FOC controls only This is the limit value for the torque at constant speed expressed as a percentage of the r
438. rection of rotation low level negative rotation high level positive rotation 326 428 PROGRAMMING 2 SANTERNO GRUPPO CARRARO SINUS PENTA C198 Number of Channels of Encoder B 0 2 Squaring channels EM C o 0 2 Squaring channels Default Level 55 This parameter defines the number of channels used for encoder B reading see rameter C197 C199 Encoder Sign Reversal Range See Table 93 7080 NO Ref Level Address Function This parameter permits to reverse the speed sign measured by encoder inputs the direction of rotation of the connected motor A NOTE When tuning the encoder the encoder sign used as feedback is automatically adjusted to Table 93 Codification of C199 0 Fdbk NO Ref NO 1 Fdbk YES Ref NO 2 Fdbk NO Ref YES 3 Fdbk YES Ref YES 327 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO 37 BRAKING RESISTANCE MENU 37 1 Overview The Braking Resistance Menu enables the clamp transistor command and sets its max duty cycle in the drive braking resistance If no braking resistance is installed promptness of the DC bus voltage control can be adjusted in order to avoid OVERVOLTAGE alarm causing abrupt deceleration To enable the clamp transistor command for the braking resistance set C210 With resistor In this operating mode when DC bus voltage excee
439. refore the comparison value for Test A set with P275 P284 P293 P302 has no meaning NOTE This parameter can be accessed only if the operating mode of the digital output concerned is other than zero Example MDO1 P270z0 Variable B selected for MDO1 2 3 4 P272 P281 P290 P299 This selects a different digital signal or the analog variable used for Test B set with P274 P283 P292 P301 The whole list of the selectable items and their description appears at the end of this section see Table 39 If a digital signal is selected Test B is not performed therefore the comparison value for Test B set with P276 P285 P294 P303 has no meaning NOTE This parameter cannot be accessed if the operating mode of the digital output concerned is equal to or 9 Example MDO1 P270 3 OR P270 9 Table 39 List of the selectable digital inputs and analog outputs Selectable digital signals BOOLEAN Selectable Value DO Disable Always FALSE 0 D1 Run Ok D2 Ok On D3 Alarm D4 Run ALR D5 Fwd Run D6 Rev Run D7 Lim MOT D8 Lim GEN D9 Limiting D10 Prec Ok D11 PID MAX D12 PID MIN D13 MDI 1 D14 MDI 2 D15 MDI 3 D23 MDI 1 Delayed D24 MDI 2 Delayed D25 MDI 3 Delayed D26 MDI 4 Delayed D27 MDI 5 Delayed D28 MDI 6 Delayed D29 MDI 7 Delayed D30 MDI 8 Delayed D31 ENABLE DL Selected MDI1 digital input remote OR physical Selected MDI2 digital input remote OR physical Selected MDIS digital input remote O
440. ress the TX RX key to go to the UPLOAD page press the TX RX key again to toggle between the UPLOAD and DOWNLOAD pages NOTE parameters to a drive whose SW Version IDP PIN or current voltage classes are different from those of the drive previously used for parameter UPLOAD In that case download is not allowed The DOWNLOAD function allows the parameters stored in the keypad to copied to the A Warning is displayed among W41 to W46 when trying to DOWNLOAD drive However parameters are not stored to the non volatile memory of the drive NOTE To store the downloaded parameters to the non volatile memory of the drive go to the EEPROM menu and execute a Save Work command once the download procedure is complete Otherwise when power is lost the parameters downloaded to the drive are lost The TX RX key is disabled under the following conditions e password is entered in POOO e ihe OPERATOR mode is activated with the MENU Key P264b OPERATOR e thedrive is running In the example below you can go to the UPLOAD page from any page the upper LED starts flashing If you then press the TX RX key you can go to the UPLOAD and DOWNLOAD pages e DOWNLOAD inverter E ENTER Press SAVE ENTER from the UPLOAD DOWNLOAD page to confirm UPLOADING DOWNLOADING The relevant LED will come on fixed light If the SAVE ENTER key is not pressed for confirmation within 10 seconds from the selection of th
441. ription at the end of this section The ABS BRAKE mode is applied by selecting the measured or estimated speed value 51 as variable and the output torque 60 as variable B Variables are considered as absolute values ABS LIFT As ABS BRAKE but the brake unlocks digital output open when a given torque value is attained which is automatically determined based on the last torque value required in the previous stroke Variable A Selected for MPL1 2 3 4 P351 P360 P369 P378 Selects the digital signal or the analog variable used for Test A set with P353 P362 P371 P380 The whole list of the selectable items and their description are stated in Table 39 If a digital signal is selected Test A is not performed therefore the comparison value for Test A set with P355 P364 P373 P382 has no meaning NOTE This parameter can be accessed only if the operating mode of the digital output concerned is other than zero Example MPL1 50 0 Variable B selected for MPL1 2 3 4 P352 P361 P370 P379 This selects a different digital signal or the analog variable used for Test B set with P354 P363 P372 P381 The whole list of the selectable items and their description are stated in Table 39 If a digital signal is selected Test B is not performed therefore the comparison value for Test B set with P356 P365 P374 P383 has no meaning NOTE Parameter P352 cannot be accessed if t
442. rk Zone Non volatile memory where customized parameters are saved Whenever the drive is reset this parameterization is loaded to the RAM e Back up Zone gt Non volatile memory storing new drive parameterization Back up parameters are modified only when the user explicitly saves the back up zone Any parameter can be changed by the user The drive will immediately use the new parameter value The user may save the parameter value in the Work zone If no new value is saved for a given parameter the drive will use the parameter value stored in the Work zone when next turned on e P parameters can be written at any moment e According to factory setting C parameters see to modify them even when fluxing and the motor is not running can be written only if the drive is not running and the ENABLE command is disabled terminal MDI2 open e R parameters have the same features as C parameters but the new parameter value once written and saved will be used only at next power on To use the new parameter value immediately turn the drive off and on or press the RESET key for at least 5 seconds The Work zone may be copied to the BACKUP zone through 1012 included in the Eeprom menu and described in the section below 1012 input also allows copying the Backup zone to the WORK zone in order to restore the parameter values stored in the WORK zone 1012 input also allows restoring the factory setting values for all parameter
443. rm L il 295 MDOS3 Variable C selection DO Disabled P296 MDO3 Output logic level The digital output status depends on the Boolean variable Inverter Alarm which is TRUE only when an output is a fail safe contact the relay energizes if the drive is on and no alarms tripped Example 2 Digital output for Drive Run OK digital command MDOA digital output default setting Table 42 DGO parameterization for drive Run OK alarm trips This P297 Digital output mode DIGITAL P298 MDO4 Variable A selection D1 Drive Run Ok BEZA 295 Variable C selection DO Disabled P305 MDO4 Output logic level The digital output status depends on the Boolean variable Drive Run Ok which is TRUE only when the drive is modulating IGBTs on 187 428 PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO SINUS PENTA Example 3 Digital output for speed thresholds Suppose that a digital output energizes if the motor speed exceeds 100rpm as an absolute value and de energizes when the motor speed is lower than or equal to 20rpm as an absolute value Parameter P270 sets ABS mode so that the selected variables are considered as absolute values The condition greater than is selected for test 1 and lower than equal to is selected for test 2 Table 43 DGO parameterization for speed thresholds P
444. rs C255 to C258 cc cccccsesssvsesesccececsvesesccosecedsievececodsbecasessscsssnenatebssssesseuanavssssseseenansvees 350 42 MOTOR THERMAL PROTECTION MENU cccscceccsccecceccecceccecceccescecceccescesscsccscceccsceece 352 42 1 352 42 2 Choosing the Characteristic Parameters scssccecceeeseeeneneeeeceeeesensnneeeeeeeeeseeneeaaeeeeceseeseenaeeeeceeeressnaneeeees 353 42 2 1 NESES o TEE 353 42 2 2 Maximum Locked Rotor Time Basic 353 42 2 3 Maximum Locked Rotor Time Enhanced sessssesse eene n ene en eenn enne n nennen 355 42 3 Thermal Protection Trip Delay ceteri eere ERREUR TNR R EN 356 42 4 List of Parameters C264 to C274 Hee ene e nnne eese e e e rhs sse e e reete AEE e e eese ese ese EEEE enan 357 43 MAINTENANCE es eis esa vo sna eno eun g iae Sepa Pan ERAN VER ERR SeREn P RES R RSS ER ESPERE SERE EHE E ESN NEUE 359 43 1 UU T D I 359 43 2 List of Parameters C275 to C278 eee e esses n anus 359 44 PID CONFIGURATION MENU cccccscescccccsccscceccscceccescesceccecceccescesccscescessceccsceseeecceces 360 44 1 T Tc 360 44 2 Operation and Structure of the Regulator ccccccceeeeseeeese
445. s ADVANCED 0 A OR B Selecting variable C ADVANCED 0 Disable Function applied to the result of f A B C ADVANCED 0 AB ORC Output logic level Digital output mode ADVANCED ADVANCED 1 TRUE 0 DISABLE Selecting variable A ADVANCED DISABLE Selecting variable B ADVANCED DISABLE Testing variable A ADVANCED 0 gt Testing variable B ADVANCED 0 gt Comparing value for Test A ADVANCED 0 Comparing value for Test B ADVANCED 0 Function applied to the result of the 2 tests ADVANCED 0 A OR B Selecting variable C ADVANCED 0 Disable Function applied to the result of f A B C ADVANCED 0 AB ORC 224 428 Output logic level ADVANCED 1 TRUE SINUS P350 MPLT Digital Output Mode Default Level Address Function PROGRAMMING 2 SANTERNO INSTRUCTIONS DISABLE DIGITAL DOUBLE DIGITAL ANALOG DOUBLE ANALOG DOUBLE FULL BRAKE ABS BRAKE ABS LIFT DIGITAL This parameter defines the operating mode of virtual digital output 1 The different operating modes are described at the beginning of this chapter Disable see ANALOG AND FREQUENCY OUTPUTS MENU A NOTE MPL1 Digital output can be programmed only if the frequency output is not set up P200 P351 MPL1 Selecting Variable A Range D
446. s error Set Point Measure integral status integral status error Ki Ts Output Kp error integral status where Kp is the proportional coefficient Ki is the integral coefficient 1 Ti where Ti is the integral time Ts is the regulator operating time ranging from 200 to 400 microseconds based on carrier frequency Default Level Address Control Function 1 32000 1 0 32000 Disabled 33 ms ENGINEERING 759 766 773 FOC Ti Integral time of flux regulator PI for motor n 1 P163 and P170 relate to parameters 2 and 3 The regulator s structure is as follows error Set Point Measure integral status integral status error Ki Ts Output Kp error integral status where Kp is the proportional coefficient Ki is the integral coefficient 1 Ti where Ti is the integral time Ts is the regulator operating time ranging from 200 to 400 microseconds based on carrier frequency NOTE Parameters P159 P166 P173 are automatically recomputed and saved whenever the Rotor Time Constant parameter C025 is altered 135 428 PROGRAMMING SINUS PENTA INSTRUCTIONS SANTERNO GRUPPO CARRARO N 20 ANALOG AND FREQUENCY OUTPUTS MENU 20 1 Overview Please refer to the Sinus Penta s Installation Instructions Manual for the hardware NOTE description of the analog output and the frequency output or for the configuration of the dip switches for voltage current outp
447. s sizes of the Penta Drive 0 0005 17 0035 34 0150 5 0313 68 0749 1 0007 18 0036 35 0162 52 0314 69 0750 2 0008 19 0037 36 0164 53 0366 70 0800 3 0009 20 0038 37 0179 54 0367 71 0828 4 0010 21 0040 38 0180 55 0368 72 0831 5 0011 22 0049 39 0181 56 0399 73 0832 6 0013 23 0060 40 0200 57 0401 74 0850 7 0014 24 0062 41 0201 58 0402 75 0960 8 0015 25 0067 42 0202 59 0457 76 0964 9 0016 26 0069 43 0216 60 0459 77 0965 10 0017 27 0074 44 0217 61 0523 78 1128 11 0020 28 0076 45 0218 62 0524 79 1129 12 0023 29 0086 46 0250 63 0526 80 1130 13 0025 30 0088 47 0259 64 0598 81 1296 14 0030 31 0113 48 0260 65 0599 82 1800 15 0033 32 0129 49 0290 66 0600 83 2076 16 0034 33 0131 50 0312 67 0748 Table 11 Voltage classes of the PD Index 0 2T 2 5T 3 6T 76 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO Table 12 Control modes of the cooling fans 0 The cooling fans are not controlled by the Penta drive The Penta drive acquires information about the correct operation of the cooling fans and it logs the 1 5 temperature measures If a fan fault is detected the relevant alarm trips the other hand temperature measures do not cause any alarm The fan start is controlled by the state of the thermoswitch inside the Penta drive 2 P 3 N An NTC temperature sensor contro
448. s DCB the speed level is set in C235 Power Down Stop Level The figure below illustrates the output speed and DC Braking trends when the DC Braking at Stop function is active Parameters used to program this function are the following C215 function enabling C217 braking duration C219 motor speed at the beginning of DC Braking C220 intensity of DC braking In Power Down mode if C234 Power Down Stop Mode is set as DCB C235 motor speed at the beginning of DC Braking Speed Inc f C220 DCB Speed Level Start C217 Command ON OFF P000353 b Figure 53 DCB at Stop Motor speed and DC Braking patterns when the DC BRAKING AT STOP function is active 333 428 PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO SINUS PENTA 38 1 3 DC BRAKING COMMAND SENT FROM TERMINAL BOARD Activate the digital input set as DCB C160 to send a DC Braking command DC Braking duration is determined by the following formula C217 ng C219 with nour C219 equal to max 10 Possible cases time t1 for braking command is longer than t To restart the motor following the preset acceleration ramp when DC Braking is over just disable the DCB command and disable and enable again the START command see figure below Speed Ipc f C220 Spdl DCB Speed Level DCB L 3 Command ON OFF Start Command ON OFF P000354 b Figure 54
449. s already set and it is not a Keypad source you can set the Keypad as a second or third source only if the STOP or STOP B inputs are programmed C150 or C150a to enable pushbutton operation or to make sure that the Source Selection function is activated see C179 NOTE NOTE gt gt 293 428 PROGRAMMING INSTRUCTIONS SINUS PENTA GRUPPO CARRARO 2 SANTERNO C143 C144 C145 C146 Reference 1 2 3 4 Selection Default Level Address Function C147 Torque Limit Input Default Level Address Control Function 294 428 Disabled REF AINT AIN2 Frequency input Serial Link Fieldbus Keypad Encoder UpDown from MDI 10 XAIN4 11 XAIN5 C143 1 REF C144 2 AINT C145 C146 0 C145 C146 0 Disabled C143 C144 ADVANCED C145 C146 ENGINEERING 1143 1144 1145 1146 This parameter selects the sources for the speed or torque reference The reference resulting from the sum of the selected sources represents the drive speed or torque reference If the PID action has been set as reference C294 Reference the drive speed or torque references shall only be given by the PID output and not by the sources set in C143 C146 Reference sources 10 and 11 can be selected only after setting XAIN in parameter RO23 0 9 O 11 if ES847 is in OMNAMKRWN O Disabled Frequency input Serial Link Fieldbus Keypad Encoder UpDown
450. s applied P314 XMDOS Signal Selection o 59 585 See Table 39 o DO Discble Level Address Selects the digital signal used to calculate the value of XMDOS5 digital output It selects an analog variable used to calculate the value of XMDOS digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 Function P315 XMDO5 Output Logic Level Range Default Level Address XMDOB digital output logic function to apply a logic reversal negation to the Function calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied 208 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS P316 XMDO6 Signal Selection MEM 0 59 See Table 39 Disable Default Level Address Selects the digital signal used to calculate the value of XMDO6 digital output It selects an analog variable used to calculate the value of XMDO6 digital input if Funcion one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 P317 XMDO6 Output Logic Level 0 FALSE Range Default Level Address XMDO6 digital output logic function to apply a logic reversal negation to the calculated output signal 0 FALSE a logic negation is applied 1 TRUE no Function negation is applied 209 428 SINUS
451. s been selected 32 1 1 ELECTRICAL SPECIFICATIONS OF THE CONNECTED MOTOR This group of parameters can be divided into two subunits the first subunit includes the motor ratings the second subunit includes the parameters of the equivalent circuit of the asynchronous machine being used 32 1 2 MOTOR RATINGS Table 64 Motor ratings Rated frequency C015 C058 C101 Rated rpm C016 C059 C102 Rated power C017 C060 C103 Rated current C018 C061 C104 Rated voltage C019 C062 C105 No load power C020 C063 C106 No load current C021 C064 C107 252 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 32 1 3 PARAMETERS OF THE EQUIVALENT CIRCUIT OF THE ASYNCHRONOUS MACHINE Table 65 Parameters of the equivalent circuit of the asynchronous machine Stator resistance C022 C065 C108 Leakage inductance C023 C066 C109 Mutual inductance C024 C067 C110 Rotor time constant C025 C068 C111 R 5 l lo R R Ms M Figure 41 Equivalent circuit of the asynchronous machine Where Rs Stator resistance wires included Rr Rotor resistance I 1 Full leakage inductance M Mutual inductance not required for control implementation S Slip t rot M Rr rotor time constant Because the motor characteristics are generally unknown the Sinus Penta is capable of automatically determining the motor characteristics see the FIRST STARTUP section and
452. s depends on Min Speed and Max Speed parameters speed control and on Min Torque and Max Torque parameters torque control E g Motor 1 speed C028 for min speed C029 for max speed Motor 1 torque C047 for min torque C048 for max torque SINUS PENTA PROGRAMMING SANTERNO INSTRUCTIONS GRUPPO CARRARO W FLOWCHART B Setting POOO Write Enable FOO 1 Eng levd Selecting the Reference Feedback Sources The PID Configuration menu includes the parameters selecting the reference feedback source You can set up to three sources which are summed up to each other Forcing the Reference Feedback Sources Sources Serial Link Reference from serial link Sources REF Ref Analog Input AIN1 AINT Analog Input Fieldbus Reference from fieldbus AIN2 AIN2 Analog Input Keypad Ref from display keypad Pulse Input Frequency Input MDI8 Feedback reference only Encoder Encoder Input lout Output current Vout Output voltage Vdc DC bus voltage Pout Output power The reference scaling is obtained through the parameters included in the Reference menu Each source is assigned to a parameter setting its min value and max value for the min max PID Reference Feedback value No reference scaling is required References are expressed as a percentage As a feedback reference output current lout output voltage Vout DC bus voltage Vdc are available which refer as full scale
453. s disabled the torque limit results from the max absolute torque determined by the drive size and the motor size AN NOTE max absolute torque is the max value ranging between the absolute values of C047 and C048 motor 1 and relevant parameters for motor 2 and motor 3 Max absolute torque Mox C047 C048 Factory setting is C147 0 the reference source is disabled and the torque limit is given by the max absolute torque 34 1 5 REMOTE LOCAL MODE According to factory setting switching over from the Remote mode to the Local mode can only be made when the drive is disabled The reference and command sources for the Remote mode depend on the settings of parameters C140 to C147 in the CONTROL METHOD MENU and on the settings of parameters C285 to C287 in the PID CONFIGURATION MENU When switching over from the Remote mode to the Local mode the command and reference can be sent via keypad only This is true for the switch over from the Local to the Remote mode as well Parameter C148 allows customizing the Loc Rem function so that it can be performed even when the drive is running Parameter C148 also allows setting whether the same running condition and the same reference must be maintained when switching over from the Remote to the Local mode NOTE For more details on the Loc Rem function see LOC REM Key Keypad Pages and DIGITAL INPUTS MENU 292 428 SINUS PENTA PROGRAMMING 2 SANTERNO Neid GRUPPO CARRARO 34
454. s in Run R W when the drive is in stand by or in Run but the motor is stopped see P003 Condition required for altering C parameters in the PASSWORD AND USER LEVEL MENU Display on the display keypad and the Drive representation RemoteDrive integer may be a decimal figure plus unit of measure Factory setting of the parameter as displayed plus unit of measure Factory setting of the parameter Default as represented for the drive User level BASIC ADVANCED ENGINEERING ModBus address which the parameter can be read from written to integer This optional field is displayed when a parameter is not active for all types of motor controls IFD VTC FOC Address Control Parameter description NOTE switched off and switched on again or after resetting its control board by pressing the RESET button for more than 5 seconds 4 Unlike Cxxx parameters parameters become active only after the drive has been 13 428 SINUS PROGRAMMING 2 SANTERNO GRUPPO CARRARO box Inputs These are not parameters but inputs the values allocated to these inputs are not stored to non volatile memory lxxx value is always when the drive is powered on Display on the display keypad and the Drive representation RemoteDrive integer may be a decimal figure plus unit of measure User level BASIC ADVANCED ENGINEERING ModBus address which the input can be read from writ
455. s in the WORK zone 1 Restore back up 2 Save back up BACK UP DEFAULT Memory locations 4 Restore default 393 428 PROGRAMMING SINUS PENTA NORE 2 SANTERNO GRUPPO CARRARO 52 2 List of Inputs 1009 to 1012 Table 112 List of programmable inputs 1009 to 1012 1009 Parameter save 1012 EEPROM control 1399 1009 Parameter save 131 2466 131 2466 This is not a parameter at power on and whenever the EEPROM command is Default executed 1009 is set to zero BASIC 1396 Allows only one parameter to be saved to EEPROM Function The value to be saved must be the same as the value set in the Address field of the parameter concerned 1012 EEPROM Control 0 No Command 2 Restore Backup Range 0 2 4 5 11 4 Save Backup 5 Save Work 11 Restore Default This is nof a parameter at power on and whenever the EEPROM command is Default executed 1012 is set to zero Level BASIC 1399 This parameter saves and restores the entire set of parameters that can be accessed by the user 2 Restore Backup the parameters stored in the Backup zone are copied and stored in the WORK zone They represent the new RAM parameterization the previous RAM parameters are cleared Backup gt RAM Work 4 Save Backup the parameters in the WORK zone are saved to a copy of the Function Backup zone Work Backup 5 Save Work the c
456. s of digital inputs MDI4 and MDI5 0 0 1 1 0 1 1 0 0 i In the Multispeed menu set the speed steps as follows 1 Sum Speed P081 100rpm Multispeed 1 P083 200rpm Multispeed 2 P085 300rpm Multispeed 3 P080 Multispeed function the selected multispeed is summed up to the reference for the analog input P081 P083 085 are the steps depending on the selected multispeed for digital inputs MDI4 34 428 SINUS PENTA 22 SANTERNO GRUPPO CARRARO PROGRAMMING INSTRUCTIONS 5 3 Configuring the External Torque Limit Setting Write Enable P001 Eng Access Level The Control Method menu contains parameter C147 for the selection of the torque limit source Selecting the Reference Source Forcing the Reference Sources Sources REF REF Analog Input AINT AINT Analog Input AIN2 AIN2 Analog Input Pulse Input Frequency Input MDI8 Encoder Encoder Input The reference scaling is obtained through the parameters included in the Reference menu Each source is assigned to a parameter setting its min value and max value for the min max torque of the connected motor e g Motor 1 C047 for min torque C048 for max torque The torque ramp set in parameters 26 27 of the Ramps menu is assigned to the limit torque reference Sources Serial Link Reference from serial link Fieldbus Reference from fieldbus Keypad R
457. s rotating in the correct direction If not select the Engineering Level POOT and set parameter C014 Phase Rotation to 1 Yes or open the ENABLE and START inputs remove voltage from the drive and after waiting at least 5 minutes reverse two of the motor phases 40 428 SINUS PROGRAMMING 47 SANTERNO INSTRUCTIONS GRUPPO CARRARO 9 Possible failures If no failure occurred go to step 10 Otherwise check the drive connections paying particular attention to supply voltages DC link and input reference Also check if alarm messages are displayed In the MEASURES MENU check the reference speed M001 the supply voltage to the control section M030 the DC link voltage M029 and the condition of control terminals MO33 Check to see if these readouts match with the measured values 10 Additional parameter When parameter POO3 Standby Only condition required for altering C alterations parameters you can alter Cox parameters in the CONFIGURATION menu only when the drive is DISABLED or STOPPED whereas if Standby Fluxing you can alter Cxxx parameters when the motor is stopped but the drive is enabled Before altering any parameters remember that the correct code for parameter must be previously set up You can write down any custom parameters in the table provided on the last pages of this Programming Manual 11 Reset If an alarm trips find the cause responsible for the alarm and reset the dr
458. sabled if it is used to correct the reference or the voltage values C294 2 Sum Reference or C294 3 Sum Voltage AN NOTE In LOCAL mode if the drive reference is the PID output C294 Reference and the Type parameter on the Keypad page in Local mode is P266 Ref Active Spd the PID reference can be altered by activating the Local mode from the Keypad page Press the LOC REM key again when the drive is disabled or the MDI LOC REM key if it is programmed as a pushbutton C180a Pushbutton to disable the PID and to set the speed reference directly from the Keypad page 159 428 SINUS PENTA PROGRAMMING INSTRUCTIONS lt SANTERNO GRUPPO CARRARO 22 2 PID Regulator Tuning Method of Ziegler and Nichols Tuning a PID regulator consists in selecting and allocating values to PID parameters in order to adjust the operation of the system to the technical requirements of the process and to the equipment restrictions One of the possible PID tuning procedures is the Method of Ziegler and Nichols This method implies the following steps 1 Set the integral action and the derivative action to zero Ti P242 0 Td P243 0 2 Assign very low values to Kp P240 then apply a little step to the reference signal setpoint selected with C285 286 287 3 Gradually increase the value of Kp until permanent oscillation is attained in the PID loop 4 Tune the parameters for a P Pl or PID regulator based on the table below wher
459. sec with a frequency of 1Hz time period of 1 sec at max speed a duty cycle of 50 Ton T is required with a time period of 1 second the time when the electrovalve opens is inversely proportional to the cutting speed Spdl is the max cutting speed and dtc is the duty cycle required the saw carrier frequency required for PWM must be 1 Hz P213 the min value must be when speed Orpm the electrovalve is disabled and max value 5 1 100 dic 2 Spd1 Supposing that the tool can rotate in both directions that 1 1500rpm and that MDO2 digital output is used parameters are set as follows Table 45 DGO parameterization for the PWM function P270 MDO1 Digital output mode PWM MODE P271 Variable A selection A62 Speed Ref P273 Testing variable A gt P275 MDO1 Comparing value for Test A 3000 00 rpm P276 MDO1 Comparing value for Test B 0 0 rpm P277a MDOT Variable C selection Disabled P278 MDO1 Output logic level TRUE P215 Saw signal frequency 0 01Hz Parameter P215 in the ANALOG AND FREQUENCY OUTPUTS MENU sets the frequency of the saw wave i e the PWM frequency of the digital output In PWM mode parameter P275 sets the max value peak value of the saw wave while parameter P276 sets the min value of the saw wave The test selected with P273 is performed between the analog variable selected in P271 and the saw wave
460. secensseeeeeesesesessseeeeeeeeseeesesaeeess 126 17 REFERENCE VARIATION PERCENT MENU eee esee eee eene nennen hene eene tene eene teen 127 IPM PEEMEO TIERE TITIO ILL 127 17 2 Listof Parameters P115 to P121 essen etri Knai 128 18 SPEED LOOP AND CURRENT BALANCING 129 tede Ern 129 18 2 Listof Parameters P125 to P152 iei RS E re aai 130 19 FOC REGULATORS MENUQ 5 Dena abba a ER DAR So PARE Ee ada a EPA E EE E SR issiria 133 IAPMES eem 133 19 2 List of Parameters P155 to P173 ccccssccccccecsssesseeeeeeeeeeessneeeeeceeeeeessseeeeececeseesseeeeeeceeesesssaeeeeeeeseeesstaeeess 133 20 ANALOG AND FREQUENCY OUTPUTS MENU 136 VIO JU cm 136 20 1 1 Factory setting of the Analog Outputs cccccceceessseceeeeeeeeeeeaeeeeeenaeeeeeeeeeeesenaeeceeseeeceeneeeesenneeeesaes 136 20 1 2 Analgg t 136 20 1 3 ize AOI 138 20 2 III 139 20 2 1 Operating Mode of Analog and Frequency Outputs 140 20 2 2 Analog Output Programming Examples 141 20 3 List
461. see the FIELDBUS CONFIGURATION MENU KEYPAD A A 290 428 NOTE NOTE The keypad is a special reference source The keypad reference may be altered with the A and keys only if this reference is on a Keypad page displaying a reference in line 4 If the keypad is enabled a variation to the active reference may be added through an algebraic sum calculated by processing the other reference sources thot are activated at that moment The reference variation method be selected with parameters P067 P068 P069 and C163 This function is the same as the UP and DOWN functions from the terminal board see the DIGITAL INPUTS MENU C161 and C162 and PO068 P069 in the INPUTS FOR REFERENCES MENU The LOCAL mode that can be enabled with the LOC REM key on the keypad or with the LOCAL command function from terminal board see C180 forces the keypad to become the only command and reference source thus ignoring the values set in parameters C143 C144 C145 C146 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO ENCODER The Encoder source is an encoder input it can come from the terminal board terminals MDI6 MDI7 in Encoder A or from the optional Encoder B board see the ENCODER FREQUENCY INPUTS MENU It generates a reference resulting from the correct setting of the relevant parameters P073 74 allowing the relevant scaling see the INPUTS FOR REFERENCES MENU UP DOWN from digital inputs
462. sequence of legal messages FIELDBUS CONFIGURATION MENU with max time intervals lower than the preset watchdog time 3 Set longer watchdog times see RO16 4 To reset alarm A070 force communication between the Master and the Penta drive with bit 15 of the digital input word always set to 1 and reset the drive control board If communication between the Master and the Slave Penta cannot be restored alarm A070 is restored after setting parameter RO16 to zero and after resetting the Penta drive When the drive is next powered on the alarm reset will affect the drive control board A072 3 A089 90 Parameter Upload Download Error from Keypad to Drive ET Upload download failed one of the controls of the parameter consistency detected a Description fault A communication error occurred while uploading downloading the programming parameters from the keypad to the drive Temporary interruption to the serial link between keypad and control board Check the connection between the keypad and the control board reset the alarm and perform a new upload download procedure Drive thermal protection tripped The output current has been exceeding the drive rated current for long periods e Current equal to Imax 20 for 3 seconds or eMe e Current equal to Imax for 120 seconds 505 530 e Current equal to Imax for 60 seconds S40 S80 Check the drive current output during ordinary operation M026 in the Measure Menu Saluer
463. serial link 1 RJ45 connector Function 378 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS RO10 Baud Rate for Serial Link 1 RJ45 1200 bps 2400 bps 4800 bps 9600 bps 19200 bps 38400 bps 57600 bps Default 1 6 38400bps Level Address This parameter determines the baud rate expressed in bits per second for serial link Function 1 RJ45 connector RO11 Time Added to 4 Byte Time for Serial Link 1 RJA5 Range 1210000 10000 msec Default 2 Level ENGINEERING Address This parameter determines the time limit when no character is received from serial Function link 1 RJ45 connector and the message sent from the master to the drive is considered as complete RO12 Watchdog Time for Serial Link 1 RJ45 0 60000 0 6000 0 sec Defaut Level ENGINEERING Address If this parameter is not set at zero it determines the time limit after which alarm A062 Function WDG Serial Link 1 Alarm trips if the drive does not receive any legal message through serial link 1 RJ45 connector RO13 Parity Bit for Serial Link 1 RJ45 0 Disabled 1 Stop bit 1 Disabled 2 Stop bit 2 Even 1 Stop bit 3 Odd 1 Stop bit Default 1 Disabled 2 Stop bit Level Address This parameter determines whether the parity bit is used or not when creating the MODBUS message through serial link 1 RJ45 connector Function 379 428 SINUS PE
464. set up P200 Disable see the ANALOG AND FREQUENCY OUTPUTS MENUJ NOTE XMDI digital outputs values from 13 to 20 in the parameters relating to the control functions can be set up only after setting XMDI O in parameter RO23 24 1 1 FACTORY SETTINGS The factory settings are as follows is a zero speed relay it energizes when a preset threshold is exceeded controls an electromechanical brake used for crane applications it energizes to release the brake MDOS3 de energizes fail safe logic in case of Inverter Alarm MDO4 energizes in case of Inverter Run Ok Drive running no standby 24 1 2 STRUCTURE or THE DiGITAL OUTPUTS A digital output is composed of two logic blocks allowing data processing before implementing the actual digital output Block 2 depends on the settings in parameters P277a P286a 295 P304a yes INPUTA Output f A B logic Bock set by NO parameters Output INPUTB P271 F277 f AB logic block setbyF277b 9If A B C that tests AB and signal C P000659 b Figure 31 Block diagram of the digital outputs 176 428 SINUS PENTA PROGRAMMING 5 SANTERNO INSTRUCTIONS GRUPPO CARRARO Operating modes set in MDO1 2 3 4 Digital Output P270 P279 P288 P297 The user can select one of the following operating modes Table 38 Digital Output Mode DISABLE The selected digital output is disab
465. signal over terminals XAIN5 and XAIN5 in the terminal board The signal can be a current signal a unipolar signal or a bipolar signal 2 20 mA Bipolar current input between 20 and 20mA The detected signal is saturated between these two values 3 4 20 mA Unipolar current input with min threshold between 4 mA and 20mA The detected signal is saturated between these two values Before being saturated if the detected signal is lower than 4 mA or greater than 20 mA alarms A069 or A086 trip 4 0 20 mA Unipolar current input between 0 mA and 20mA The detected signal is saturated between these two values P396 Value of XAIN5 Producing Min Reference X axis 200 200 if 55 2 20 0 mA 20 0 mA if P395 2 20 mA 40 200 if P055 3 4 0mA 20 0 mA if P395 3 4 20 0 200 if PO55 4 0 0 mA 20 0 mA if P395 4 0 20 mA Default Level ADVANCED Address This parameter selects the value for XAIN5 input signal for minimum reference better the reference set CO28xP396a Master mode CO47xP396a Slave mode If motor 2 is active C071 and C090 will be used instead of C028 and C047 if motor 3 is active the values set in C114 and C133 will be used P396a Percentage of Speed Min Trq Min Producing Min Reference Y axis related to P396 0 1000 100 096 Default 1000 Level ADVANCED Address This parameter represents the min speed perce
466. speed in P099 CAUTION When changing the unit of measure of the multispeed values in P100 the preset speed values for the multispeed and Fire Mode values will be RECOMPUTED 121 428 PROGRAMMING SINUS PENTA INSTRUCTIONS lt SANTERNO GRUPPO CARRARO 15 PID MULTIREFERENCES MENU 15 1 Overview This menu includes the parameters for the utilisation and allocation of PID Multireferences from digital inputs The reference sources are based on the setup in parameters C285 to C287 see the PID CONFIGURATION MENU The overall reference also depends on the multireferences that are already set if any or on the reduction percent of the reference itself see the REFERENCE VARIATION PERCENT MENU Configuration example PID Configuration Menu C285 Source of PID reference 1 2 AINT C286 Source of PID reference 2 0 Disable C287 Source of PID reference 3 0 Disable Digital Inputs Menu C188a Input for Multireference 1 7 MDI7 C188b Input for PID Multireference 2 8 MDI8 C188c Input for PID Multireference 3 0 Disable PID Multireferences Menu P081a PID Reference 1 Mref 1 1 0 bars P082a PID Reference 2 Mref 2 1 5 bars P083a PID Reference 3 Mref 3 2 5 bars PID Parameters Menu P257 Gain for PID scaling 0 1 When AINT digital input is set to 100 the pressure reference is 10 bars 100 P257 10 0 Supposing that AIN1 is set to 10 the references below are obtained based on the combina
467. speed referring to torque reduction with quadratic curve C033 C076 119 Speed that implements the torque reduction using a quadratic curve Voltage preboost 5 C034 C077 C120 Determines the voltage produced by the drive at min output frequency fomin Voltage boost O of torque curve Determines the variation of the output rated voltage at fnom 20 Boost gt 0 C035 C078 C121 increases the starting torque Voltage boost 1 of torque curve Determines the voltage variation with respect to rated voltage at preset C036 C079 C122 frequency Frequency for the application of Boost 1 e C037 C080 C123 Determines the frequency for the application of the boost at preset frequency Torque curve automatic increase Variable torque compensation expressed as a percentage of the rated motor Cosa C124 voltage The preset value expresses the voltage increase when the motor is running at rated torque 32 1 5 EXAMPLE 1 V F PATTERN PARAMETERIZATION Motor 1 the voltage frequency pattern is to be programmed for an asynchronous motor 400V 50Hz with a rated speed of 1500rpm up to 2000rpm Type of V f curve C013 Constant Torque Rated frequency 015 50H Rated voltage C019 400V Preboost C034 depending on the starting torque Max speed C115 2000rpm 255 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 32 1 6 EXAMPLE 2 V F PATTERN PARAMETERIZATION The voltage frequency pattern is
468. speed too high A078 MMI Trouble Control board failure A079 FOC No Encoder FOC control but Encoder not enabled A080 Tracking Error Encoder speed tracking error A081 KeyPad WatchDog Communication watchdog via keypad Functions programmed for MDI6 and MDI7 or ise Illegal Encoder Cfg encoder B ad and encoder board not detected A083 External Alarm 1 External alarm 1 A084 External Alarm 2 External alarm 2 A085 External Alarm 3 External alarm 3 A086 XAIN5 gt 20mA XAIN5 Current input 4 20mA or 0 20mA greater than 20mA A087 15V LOSS 15V Loss A088 ADC Not Tuned Control board failure A089 Parm Lost COM2 Parameter download upload error A090 Parm Lost COM3 Parameter download upload error A091 Braking Resistor Overload Overvoltage tripped with braking resistor activated due to continuous operation time exceeding the max programmed time 397 428 PROGRAMMING SINUS PENTA INSTRUCTIONS SANTERNO GRUPPO CARRARO A092 SW Version KO Control board failure A093 Bypass Circuit Open By Pass relay open A094 HeatSink Overheated IGBT heatsink temperature too high A095 Illegal Drive Profile Board Drive Profile board not correctly configured A096 Fan Fault Fault of the cooling fans A097 Motor Not Connected Motor not connected A098 Illegal Motor Selected Illegal motor selected via MDI A099 2nd Sensor Fault Fault of fan sensor 2 A100 MDI6 Illegal Configuration Function programmed for MDI6
469. sser integral coefficient 1 P126 and P128 Error 2 P131 If the speed error exceeds the second error threshold the speed regulator shall quickly make up for the greater error so it uses the highest coefficients i e P125 determining the greater integral coefficient 1 P125 and P129 P130 lt Error lt P131 When the speed error is included between the two error thresholds the speed regulator will use coefficients that are dynamically linked with the speed error see figure below Integral coefficient 1 P126 130 1 125 1 P126 P131 P130 Proportional coefficient 128 er c P130 P129 P128 P131 P130 Integral Proportional P000264 B coefficient coefficient A 17P125 P129 P128 1 P126 error error gt 1 b sn rpm rpm P130 P131 P130 P131 Figure 14 Dual Parameterization function example 129 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO 18 2 List of Parameters P125 to P152 Table 25 List of parameters P125 to P152 P125 Motl Min integral time BASIC 500 ms 725 P126 Motl Max integral time BASIC 500 ms 726 P128 Motl Min prop coefficient BASIC 10 00 728 P129 Motl Max prop coefficient BASIC 10 00 729 P130 Motl Min error threshold BASIC 1 0096 730 P131 Motl Max error threshold BASIC 1 0096 731 P135 Mot2 Min integral time BASIC 500 ms 735 P136 Mot2 Max integral time BASIC 500 ms 736 P138
470. ssible If no failure occurred go to step 11 Otherwise check the drive connections paying particular attention failures to supply voltages DC link and input reference Also check if alarm messages are displayed In the MEASURES MENU check the speed reference MOOO the reference speed processed by the ramps 2 the supply voltage of the control section M030 the DC link voltage M029 the condition of the control terminals MO33 Check to see if these readouts match with the measured values 11 Additional When parameter Standby Only condition required for altering C parameters you can alter parameter Cxxx parameters in the CONFIGURATION menu only when the drive is DISABLED or STOPPED alterations whereas if Standby Fluxing you can alter Cxxx parameters when the motor is stopped but the drive is enabled Before altering any parameters remember that the correct code for parameter POOO must be previously set up You can write down any custom parameters in the table provided on the last pages of this Programming Manual 12 Reset If an alarm trips find the cause responsible for the alarm and reset the drive Enable input MDI3 terminal 16 for some time or press the RESET key on the display keypad 43 428 PROGRAMMING sx SINUS PENTA INSTRUCTIONS SANTERNO GRUPPO CARRARO 7 3 FOC Motor Control 1 Wiring Follow the instructions stated in the Caution Statements and Installation sections in the
471. st page of the selected menu press V to to the last page of the active menu If P264a 0 NO when the last page of the active menu is displayed the A key is disabled you can only view the previous pages up to the first page of the active menu by pressing the W key Default Level Address Function P265 Startup Page Default Level Address Function 84 428 0 STANDARD 1 OPERATOR 0 STANDARD ADVANCED Press the MENU key from any parameter to go to the access page of the menu containing that parameter press the MENU key again to go to the Root page press the MENU key again to go to the Keypad page If factory setting is active P264b 0 STANDARD press the MENU key from the Keypad page to go to the Root page then to the starting parameter If P264b 1 OPERATOR navigation is locked once the Keypad Page is displayed Hold down the ESC key for a few seconds to resume navigation This prevents inexpert users from navigating through the parameters stored to the keypad If the Keypad page is preset as the startup page P265 1 Measures and P264b 1 OPERATOR navigation is always locked 0 Root 1 Measures 2 Keypad 3 Start Up 3 Start Up P265 sets the page to be displayed when the drive is turned on P265 0 the Root page is the startup page P265 1 the Keypad Page displaying 4 measures only is the startup page P265 2 The Keypad page displaying
472. sts Default Level Address Function P366a MPL2 Selecting Variable C P3660 Range Default Level Address Function A OR B A SET B RESET A AND B A XOR B A NOR B A NAND B AY OR B A OR BY AJ AND B A AND BY 10 A RESET B SET RISING EDGE 11 A SET B RESET FALLING EDGE 12 A RESET B SET FALLING EDGE 1 A SET B RESET 0 1 2 3 4 5 6 7 8 9 This parameter determines the logic function applied to the result of the two tests allowing calculating the output value See Table 39 DO Disable This parameter selects the digital signal used to calculate the value of MPL2 digital output The digital signals that can be selected are given in Table 39 P366b MPL2 Function Applied to the Result of f A B C Default Level Address Function 230 428 0 OR C 1 SET C RESET RISING EDGE 2 AND C 3 XOR C 4 NOR C 5 NAND C 6 AY OR B 7 A OR 8 AND B A AND BY 10 A RESET B SET RISING EDGE 11 A SET B RESET FALLING EDGE 12 A RESET B SET FALLING EDGE 1 A SET B RESET This parameter determines the logic function applied to the result of the two tests allowing calculating the output value SINUS P367 MPL2 Output Logic Level Default Level Address Function
473. t Selection Selection vector Min Val Out Min P202 P204 P000339 Db Figure 16 Structure of the Frequency Output 138 428 SINUS 20 2 Variables 2 GRUPPO CARRARO This section covers the variables that can be represented for the analog and frequency outputs Table 27 Variables to be selected for the Analog and Frequency Outputs Selection Value FS Ref Description Disable 100 0096 Disabled output 1 Speed 10000 rpm Speed of the connected motor 2 Speed Ref 10000 rpm Speed reference at constant speed 3 Ramp Out 10000 rpm Ramped speed reference Mot Freq 1000 0 Hz Frequency produced by the drive 5 Mot Curr 1000 0A Current RMS 6 Out Volt 1000 0 V Output voltage RMS 7 OutPower 1000 0 kW Output power 8 DC Vbus 1000 0V DC link voltage 9 Torq Ref 100 0096 Torque reference at constant speed 10 Torg Dem 100 00 Demanded torque 11 Torq Out 100 0096 Evaluation of the torque output 12 Torq Lim 100 0096 Setpoint of the torque limit 13 100 0096 PID reference at constant speed 14 RMP 100 009 Ramped PID reference 15 PID Err 100 00 Error between PID reference and feedback 16 PID Fbk96 100 00 Feedback to the PID 17 PID Out 100 00 Output of the PID 18 REF 100 0
474. t acts as the STOP Input see C150 when Terminal Board B is active Function The STOP B is a normally closed input signal 303 428 PROGRAMMING INSTRUCTIONS C151 REVERSE Input Default Level Address Function AN CAUTION C151a REVERSE B Input Range Default Level SINUS PENTA GRUPPO CARRARO Z SANTERNO gt Inactive 0 12 1 8 MDI8 O 20 if ES847 or ES870 is fitted 9 12 MPLI MPLA 13 20 5 XMDI1 XMDI8 The REVERSE function carries out a START command but it reverses the motor direction of rotation If both the START and REVERSE inputs are active at the same time the drive is sent a STOP command If the STOP input function is not programmed C150 0 the REVERSE signal and the START input act as switches otherwise they act as keys If the keypad is active pressing the FWD REV key on the display keypad will also reverse the direction of rotation of the connected motor The reference direction of rotation can be reversed with Cw CCw if this is set up C159 0 Both functions cause a signal reversal if they are both active they will cancel each other The keypad and the terminal board can be simultaneously activated only if the STOP C150 0 function is activated Three sources for the signal reversal are then active REVERSE Cw CCw REV key if two of them are active they will cancel each other while if all three sources are active the reference sign w
475. t expressed as absolute values but depend on the selected tests ABS BRAKE The ABS BRAKE mode allows controlling the electromechanical brake of a motor used for lifting applications To enable the relevant output make sure that all the conditions depending on the drive status are true see the description at the end of this section The ABS BRAKE mode is applied by selecting the measured or estimated speed value 51 as variable A and the output torque 60 as variable B Variables are considered as absolute values See Example 4 ABS LIFT As ABS BRAKE but the brake unlocks digital output open when a given torque value is attained which is automatically determined based on the last torque value required in the previous stroke PWM MODE The PWM mode may be selected for digital outputs MDO1 and MDO2 only it cannot be selected for relay digital outputs MDO3 and MDO4 The digital output becomes a low frequency PWM output with a duty cycle proportional to the value of the selected analog output See Example 5 177 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 5 SANTERNO GRUPPO CARRARO Variable A Selected for MDO1 2 3 4 P271 P280 P289 P298 This selects the digital signal or the analog variable used for Test A set with P273 P282 P291 P300 The whole list of the selectable items and their description appears at the end of this section see Table 39 If a digital signal is selected Test A is not performed the
476. t in the terminal Please refer to the Sinus Penta s description of the digital inputs Installation SINUS PENTA Instructions manual for the hardware board Each parameter has a particular function which is assigned to a given terminal on the terminal board Figure 47 Inputs that can be selected to implement control functions Physical inputs eo MDI 1 e MDI2 e MDI3 e gt e 15 e MDI 6 e MDI 7 e MDI 8 o Physical i ts XMDI2 e inpu e XMDI 3 e XMDI3 NO TIMERS gt e FOR XMDI e XMDI 6 e XMDI 7 e XMDI MPLI Virtual Timers METS inputs ot MPL3 MPL4 Time FP000664 b Function START ENABLE RESET STOP REVERSE CwCCw ENANLE S DISABLE START B STOPB WW Start OK Direction gt gt MULTISPEED 0 gt gt MULTISPEED 1 gt gt MULTISPEED 2 gt gt MULTISPEED 3 DCB UP DOWN gt UP DOWN Reset gt EXT ALARM 1 EXT ALARM 2 gt EXT ALARM 3 W gt MULTIRAMP 0 gt gt MULTIRAMP 1 gt JOG PID Disable gt Keypad LOCK 2 Motor 3 Motor gt VAR SPEED 0 gt gt VAR SPEED 1 3 VAR SPEED 2 gt SEQ Enable gt gt PID UP DOWN Reset gt gt FIRE MODE LOCALE gt gt SOURCE SELECTION gt MASTER SLAVE gt gt DISABLE EXT LIMIT
477. t max and min speed torque values set in the parameters relating to the selected motor Whatever the speed torque reference value resulting from the application of a speed A NOTE Speed control example Speed PO00815 B reference A P116 50 0 Reference before speed variation P117 80 0 gt a Selected speed variation 4 Variation 3 Variation 2 Variation 1 5 Figure 13 Speed Control example 127 428 SINUS PENTA PROGRAMMING RU NONE 22 SANTERNO GRUPPO CARRARO 17 2 List of Parameters P115 to P121 Table 24 List of parameters P115 to P121 P115 Reference variation percent n 1 j IGINEERINC P116 Reference variation percent n 2 ENGINEERING 0 096 716 P117 Reference variation percent n 3 ENGINEERING 0 096 717 P118 Reference variation percent n 4 ENGINEERING 0 096 718 P119 Reference variation percent n 5 ENGINEERING 0 096 719 P120 Reference variation percent 6 ENGINEERING 0 096 720 P121 Reference variation percent n 7 ENGINEERING 0 0 721 P115 P121 Reference Variation Percent n 1 n 7 Default Level ENGINEERING Range 1000 100 0 Address 715 721 These parameters define the variation percent of the current reference for Function speed control 7 for torque control M018 if PID control is activated to be considered as a ramp reference when selecting variation percent 1 7 128 42
478. t of parameters P216 to P229 cccccccccccccssssssseeeeeceesseesseeeeeeceeceeesseeeeeeceseeessseeeeeeseceeeesaeeeeeeceseeseaaeeeeeenss 155 Table 35 Codification of P226 Timers assigned to digital inputs MDI 1 4 157 Table 36 list of parameters P236 to P260 erbe ER bad oap a ET AE ed Vea 166 Table 37 List of parameters P436 to PAGO sess seen eren eene nnns seen nene rennen nnne enne 175 Table 38 Digital Output Mode eva Pe Y uo PE ae dana EN ES 177 Table 39 List of the selectable digital inputs and analog outputs ssssssssssseeeeeneeeenere nnne 178 Table 40 Test TUHGHODS X ceterae 181 Table 41 DGO parameterization for drive State 187 Table 42 DGO parameterization for drive Run OK sssssssssssssssseeneee eene eee nnne nennen nnne nennen tren nsns nene nennen 187 Table 43 DGO parameterization for speed thresholds ccecesceeeeenneeeeseneeeeeeeneeeeceeaeeeeseeaeeeeeeneeeesseaneeesseneeeeseaees 188 Table 44 DGO parameterization for electromechanical brake 189 Table 45 DGO parameterization for the PWM function cccssscceecesccesenseeeeeceeeeeensaeeeeeeeeesseessseeeeeseseeeenaeeeeeeeeseeaaea 190 Table 46 DGO parameterizatio
479. t the NOTE deceleration ramp and will be put stand by 298 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 35 1 2 ENABLE TERMINAL 15 MDI2 The ENABLE input function is assigned to terminal MDI2 and enables the drive operation It cannot be set to other terminals whereas the same terminal may be assigned to different functions The ENABLE input is always to be activated to enable the inverter operation irrespective of the control mode If the ENABLE input is disabled the drive output voltage is always set to zero so the connected motor starts idling the motor idles and stops due to friction or the mechanical load In case of pulled loads e g lifting applications when the motor is idling the mechanical load could cause the motor to run at uncontrolled speed If the ENABLE input is disabled when the drive is controlling the motor it is closed with a delay time depending on the drive size This ENABLE delay starts from the instant when the input is disabled irrespective of the enable delay if any set through a software timer in MDI2 The operating mode and the logic used by the ENABLE input to enable disable the drive also depends on the programming of the ENABLE S and DISABLE functions If the IFD control is used the drive enabling also depends on the START input and the current value of the active reference If the START command is active but the reference is lower than the preset
480. tage class If C210 is gt 0 DC bus voltage is controlled by considering the derivative of the bus voltage The higher the value in C210 the lower the values for voltage variation affecting deceleration ramp times NOTE The clamp transistor is not commanded if the drive is supplied from a Regenerative source see C008 xT Regen where x can 2 4 5 or 328 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 37 2 List of Parameters C210 to C212 Table 94 List of parameters C210 to C212 1210 See Table 72 1211 2 00sec 1212 10 210 211 Max time of continuous supply C212 Duty Cycle Braking Ton Toff Ton Automatic extension of down ramp C210 Automatic Extension of Down Ramp Range 0 01 With Resistance 320 0096 See Table 72 Level ENGINEERING 1210 If C210 With Resistor this parameter commands enabling resistor and DC bus relating to this operating condition allowing dissipating energy regenerated from the motor If no braking resistor is used energy regenerated from the motor cannot be dissipated In this condition the down ramp is extended if the variation in DC bus voltage is too rapid or exceeds certain threshold values Set a higher value in parameter C210 for a more sensitive ramp extension a lower rating of regenerated power allows obtaining longer ramps thus avoiding overvoltage
481. tage varies at 596 of the motor rated frequency with respect to the voltage obtained with a constant V f pattern constant voltage frequency Range 100 400 100 400 96 Default Level Address Control Function See Table 73 ADVANCED 1036 1079 1122 IFD Torque compensation at preset frequency parameter C037 for motor 1 C080 for motor 2 and C123 for motor 3 Determines how output voltage varies at preset frequency with respect to voltage obtained with a constant V f pattern constant voltage frequency C037 C080 C123 RPM Relating to C36 C079 C122 Frequency for Application of Boost 1 Range Default Level Address Control Function See Table 73 ADVANCED 1037 1080 1123 IFD Frequency for application of voltage Boost with parameter C036 for motor 1 parameter C079 for motor 2 and parameter C122 for motor This is expressed as a percentage of the motor rated frequency 270 428 PROGRAMMING SINUS PENTA 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO C038 C081 C124 Torque Curve Automatic Increment Default See Table 73 Level ADVANCED Address 1038 1081 1124 Control IFD Variable torque compensation expressed as a percentage of the motor rated voltage ia meis The preset value expresses the voltage increase when the motor is running at its rated torque C039 C082 C125 Slip Compensation Range 0 200 0 Disabled 200 96 o 0 Disabled Level ADVANCED
482. tance C022 C023 for motor 1 C065 C066 for motor 2 C108 C109 for motor 3 respectively and allows separating torque control from flux control with no need to use a transducer The drive can be then controlled with a torque reference instead of a speed reference Field oriented control is a closed loop control requiring a speed transducer to detect the position of the motor shaft instant by instant The machine equations depend on the following magnetizing current obtained from no load current C021 C064 for motor 2 and C107 for motor 3 mutual inductance C024 C067 for motor 2 and C110 for motor 3 rotor time constant C025 C068 for motor 2 and C111 for motor 3 The machine equations allow separating torque control from flux control with no need to use a transducer the drive can be controlled with a torque reference instead of a speed reference Function AN NOTE FOC control requires a speed transducer such as an encoder feedback 261 428 SINUS PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO C011 54 97 Type of Reference Master Slave 0 Speed MASTER mode 1 Torque SLAVE mode 2 Torque with speed limit SLAVE mode FOC only 0 Speed MASTER mode Level ADVANCED Address 1011 1054 1097 Control VTC and FOC This parameter defines the type of reference to be used The torque control may be set up see section Torque Control VTC and FOC Only as well
483. tecdedescssussscsdasccsececevcseses ceevacsevvecssdsscnsbesesees 331 38 1 ARREO 331 38 1 1 DC Braking at Start and Non condensing 331 38 1 2 DC Braking at Stop iei temere teer Page ERE EN ERR TRUE 333 38 1 3 DC Braking Command Sent from Terminal Board 334 38 2 listof Parameters C215 to C224 iie eese tet ete e ele e a CE FUR enne aue Ren eser ee Fue 337 39 POWER DOWN MENU ccscesccecceccecceccescecccsccscestccccsccsccscceccecceccescescescesscsccecescessesces 339 39 1 OVERVIEW aena eaa E saneaesebous stvedguaneassuiscadesaarsoaiadscabeiseausessannyavacans 339 39 2 Parameters C225 to 235 eerte 341 40 SPEED SEARCHING 2 345 40 1 ere 345 40 2 List of Parameters C245 to 2 Ee Ra EARN SEE 348 41 AUTORESET MENU 4 3 o ese ER e asa eo ER 350 41 1 ev RTT RPI 350 41 2 List of Paramete
484. ted board i The parameters described in this menu are Rxxx parameters NOTE Once changed and saved they become active only when the drive is next switched on or when the control board is reset by holding down the RESET key for more than 5 secs Drives of the SINUS PENTA series may be connected to peripheral devices through a serial link This enables both reading and writing of all parameters normally accessed through the display keypad Two wire RS485 is used which ensures better immunity against disturbance even on long cable paths thus reducing the communication errors Two serial links are available Serial Link O is provided with a 9 pole male D connector Serial Link 1 is provided with an RJA5 connector or a three phone connector connected to the display keypad The display keypad connected through 5 connector dialogues correctly with the drive using the default values preset in the parameter set for serial link 1 The drive will typically behave as a slave device i e it only answers to queries sent by another device A master device typically a computer is then needed to start serial communications The following items may be configured for both serial links The drive MODBUS address The drive response delay to a Master query The baud rate of the serial link expressed in bits per second The time added to the 4 byte time The serial link watchdog which is active if the relevant parameter is not s
485. ted inverters 46 2 MODBUS RTU PROTOCOL Messages and data are sent by means of standard protocol MODBUS in RTU mode This standard protocol performs control procedures using an 8 bit binary representation In RTU mode a message begins with a silence interval equal to 3 5 times the transmission time of a character If the character transmission stops for a time equal to 3 5 times the transmission time of a character the controller will consider this time interval as the end of the message Similarly a message starting with a shorter silence time is considered as part of the previous message Message Address Function Data Error control End of message beginning 1 2 3 4 8 bits 8 bits n x 8 bits 16 bits 1 2 3 4 Use parameter R004 TimeOut to increase the silence time interval up to max 10000ms for the systems that do not recognize standard timeouts Address The address field acknowledges any value ranging from 1 to 247 as the address of the slave peripheral device The master device queries the peripheral device specified in the address field the peripheral device will respond with a message containing its address to let the master device know which the slave source of the response is A master device query with a address is addressed to all slave devices which will not respond at all broadcast mode Function The function related to the message may be chosen within the legal field ran
486. ten to integer Control This optional field is displayed when a parameter is not active for all types of motor MUI controls IFD VTC FOC Input description Use the ESC key to enter the value of an box input If the SAVE ENTER key is used W17 SAVE IMPOSSIBLE warning is displayed When altering a Pxxx or Cxxx parameter via the display keypad you may activate its new value NOTE immediately flashing cursor or when you quit the programming mode fixed cursor Typically numeric parameters immediately come to effect while alphanumeric parameters have a delayed effect new parameter value When altering or Cxxx parameter via the RemoteDrive the drive will immediately use the 0 4 4 ALARMS AND WARNINGS The last part of this User Manual covers alarms and warnings Wxxx displayed by the drive Description Possible cause Solution 14 428 SINUS PENTA PROGRAMMING 2 SANTERNO GRUPPO CARRARO 1 USING THE DISPLAY KEYPAD UNIT 1 1 Overview This section contains several examples about navigating in the display keypad unit and the UPLOAD and DOWNLOAD functions of the programming settings of the drive when using the keypad More details about the keypad settings contrast backlight etc are given in the section covering the display keypad in the Installation Manual Details about custom navigation in the root page the measures in the Keypad page and
487. tern which is implemented at the frequency programmed in C033 C076 C119 Range Default Level Address Control Function Default Level 55 Control Function 1 100 1 100 20 ADVANCED 1033 1076 1119 IFD If the V f curve pattern C013 C056 C099 Quadratic this parameter defines the frequency implementing the max torque reduction in terms of theoretical V f pattern set in C032 C075 C120 bd See Table 73 BASIC 1034 1077 1120 IFD Torque compensation at minimum frequency produced by the drive IFD control determines the increase of the output voltage at OHz Default Level Address Control Function 500 500 50 0 50 0 96 096 ENGINEERING 1204 1206 1208 VIC VTC control determines the increase of the torque at low rpm with a positive speed torque reference 269 428 PROGRAMMING INSTRUCTIONS SINUS PENTA GRUPPO CARRARO 2 SANTERNO C034b CO77b C120b Torque Boost for Negative Reference Range 500 500 50 0 50 0 96 Default Level Address Control Function Range Default Level Address Control Function 0 ENGINEERING 1205 1207 1209 VIC VTC control determines the increase of the torque at low rpm with a negative speed torque reference 100 100 100 100 See Table 73 ADVANCED 1035 1078 1121 IFD Torque compensation at low rpm Determines how output vol
488. ters 215 to C224 337 Table 96 List of parameters C225 to 2 5 rrara 341 Table 97 List of parameters C245 to C248 isse e rre PER E 348 Table 98 List of parameters C255 to C258 iirst ricsei testoni eene eene ATE E ener enr nnne 350 Table 99 Suggested values for the motor thermal time constant enne 353 Table 100 Typical datasheet for 4 pole 50Hz 400V motors ccceesceceseeneeeeeeenceceeseaeeeeeeneeeceeeaeeeeeeeaeeeesteeeeseeeeeeneea 354 Table 101 List of parameters C264 to C274 eee eene enne rennen e ener innen 357 Table 102 List of parameters C275 1o C278 iio RR RAS SEED RUE 359 Table 103 Reference sources from serial link ccccseeeceeeeeneeeeeeneeeeteneneeeceeaeeceseaeeeeseaaceseceaeeeeseeeeseseeeeeseneseeseaees 363 Table 104 List of parameters C285 to C294 eene enne eren nnn nenne rennen 363 Table 105 List of parameters C300 to 2 222 eene enn nnne nennen 371 Table 106 List of parameters to ROT13 sssssssssssssssessseeene eene rennen enne tenen nnne seen rrr ene 377 Table 107 List of parameters ROT6 to ROT7 icis
489. the Root page and the custom unit of measure of the PID controller are given in the DISPLAY KEYPAD MENU of this manual When using the navigation by menu mode P264 BY MENU the structure of the menu tree that can be explored using the display keypad is described in the Menu Tree section The complete tree structure is displayed but the actual structure depends on the user level set in and on the implemented programming For example if only motor 1 is programmed C009 1 the menus relating to motors 2 and 3 will not be displayed Motor 2 3 Configuration and Motor 2 3 Limit Also if the type of motor control is CO10 IFD Voltage Freq the BRIDGE CRANE menu will not be displayed When P264 Linear linear navigation the parameters displayed are no longer grouped into menus and you can scroll through all parameters using the A and V keys When P264 Modified Pars Only only the parameters having different values than the factory settings are displayed and you can scroll through all parameters using the and keys The Navigation Example section shows how to use function keys to navigate through the parameters and to alter parameter values P264 BY MENU The function keys and their functionality are described below 15 428 PROGRAMMING INSTRUCTIONS SINUS PENTA 1 2 Menu Tree 16 428 Z SANTERNO GRUPPO CARRARO MEASURES COMMANDS PARAMETERS CONFIGURATION PRODUCT IDENTIFIER
490. the START MDI1 signal to start the drive W31 ENCODER OK Encoder tuning procedure finished the encoder is correctly connected W32 OPEN ENABLE Open and close the ENABLE MDI2 signal to enable the drive W33 WRITE IMPOSSIBLE Writing procedure impossible W34 ILLEGAL DATA Illegal value entered operation failed W35 NO WRITE CONTROL Writing procedure impossible because Control is active and the drive is running W36 ILLEGAL ADDRESS Illegal address entered operation failed The drive is disabled and does not acknowledge the ENABLE command because it is writing a C parameter W37 ENABLE LOCKED CAUTION The drive will start up as soon as writing is over Editing mode cannot be accessed because parameter modification is disabled Wer LOCKED POOO is different from P002 W39 KEYPAD DISABLED Editing mode cannot be accessed because the keypad is disabled W40 FAN FAULT Fan locked or disconnected or faulty W41 SW VERSION KO Download impossible because of different SW Versions W42 IDP KO Download impossible because of different IDPs Identification Products W43 PIN KO Download impossible because of different PINs Part Identification Numbers W44 CURRENT CLASS KO Download impossible because of different current classes W45 VOLTAGE CLASS KO Download impossible because of different voltage classes W46 DOWNLOAD KO Download impossible generic cause W48 OT Time over The preset threshold for the drive Operation Time has been exceeded W49 ST Time ov
491. the derivative ENGINEERING 1292 293 Proportional Multiplier of derivative and integral terms ENGINEERING 1293 0 NO C294 PID implementation ENGINEERING 1294 1 363 428 SINUS PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO C285 C286 C287 Selection of PID Reference n 1 2 3 AIN2 PTC Pulse Input Serial Link Fieldbus Keypad Encoder Up Down from MDI 10 XAIN4 11 XAIN5 C285 2 AINT Default C286 0 C287 0 Level ENGINEERING Address 1285 1286 1287 C285 selects the first PID reference source from the PID regulator Up to three reference sources may be configured 285 C287 considered as a sum The sources are used by the PID and are expressed in percentage values with reference to their max value and min value set in the References menu Function If multiple reference sources are selected their sum is considered They are saturated between P246 and P245 PID reference maximum and minimum value respectively Reference sources 10 and 11 can be selected only after setting XAIN in parameter R023 0 Disable 1 REF 2 AINT 3 AIN2 PTC 4 Pulse Input 5 Serial Link 6 Fieldbus 7 Keypad 8 Encoder 9 lout 10 Vout 11 Vdc 12 Pout 13 Tout 14 XAINA 15 XAIN5 C288 3 AIN2 PTC Default C289 0 Disable C290 0 Disable 0 13 0 15 when ES847 is fitted NE 1288 1289 1290 C288 selects the first
492. the display keypad and the Drive representation RemoteDrive integer may be a decimal figure plus unit of measure Factory setting of the parameter as displayed plus unit of measure Level User level BASIC ADVANCED ENGINEERING ModBus address which the parameter can be read from Address integer Control This optional field is displayed when a parameter is not active for all types of motor controls IFD VTC FOC Function Parameter description Factory setting of the parameter Default as represented for the drive 12 428 SINUS PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO Cxxx Parameters Read Only when the drive is running and the motor is operating R W when the drive is in stand by or in Run but the motor is stopped see in PASSWORD AND USER LEVEL MENU Display on the display keypad and the Drive representation RemoteDrive integer may be a decimal figure plus unit of measure Factory setting of the parameter as displayed plus unit of measure User level BASIC ADVANCED ENGINEERING ModBus address which the parameter can be read from written to integer Control This optional field is displayed when a parameter is not active for all types of motor controls IFD VTC FOC Parameter description Factory setting of the parameter as represented for the drive Default Address Rxxx Parameters Read Only when the drive i
493. the lower current see 26 in the Motor Measures Menu When parameter Standby Only condition required for altering C parameters you can alter Cxxx parameters in the CONFIGURATION menu only when the drive is DISABLED or STOPPED whereas if POO3 Standby Fluxing you can alter Cxxx parameters when the motor is stopped but the drive is enabled Before altering any parameters remember that the correct code for parameter POOO must be previously set up You can write down any custom parameters in the table provided on the last pages of this Programming Manual If an alarm trips find the cause responsible for the alarm and reset the drive Enable input terminal 16 for some time or press the RESET on the display keypad 47 428 SINUS PENTA PROGRAMMING INSTRUCTIONS lt SANTERNO GRUPPO CARRARO 8 MEASURES MENU 8 1 Overview The Measures Menu contains the variables measured by the drive that can be used by the user In the display keypad measures are divided into subgroups The measure subgroups are the following Motor Measures Menu This menu contains the values of the speed reference at constant rpm the values of the reference being used and the speed values of the connected motor expressed in rpm the drive rated frequency the torque reference at constant rpm the torque demand and the motor torque output the torque limit reference at constant speed and the torque limit being used expressed both in
494. the value of MDO1 Function digital output The digital signals that can be selected are given in Table 39 P277b 1 Function Applied to the Result of f A B C 0 OR C 1 SET C RESET RISING EDGE 2 f A B AND C 3 XOR C 4 NOR C 5 NAND C 6 OR C 7 A B OR CY 8 AND C 9 AND Cy 10 f A B RESET C SET RISING EDGE 11 f A B SET C RESET FALLING EDGE 12 f A B RESET C SET FALLING EDGE PEE A SET B RESET Level Address This parameter determines the logic function applied to the result of the two tests Function allowing calculating the output value 195 428 PROGRAMMING SINUS PENTA NORE 2 SANTERNO P278 MDO1 Output Logic Level Default Level Address digital output logic function to apply a logic reversal negation to the calculated output signal 0 FALSE a logic negation is applied 1 TRUE no negation is applied Function DISABLE DIGITAL DOUBLE DIGITAL ANALOG DOUBLE ANALOG DOUBLE FULL BRAKE ABS BRAKE ABS LIFT PWM MODE Default Level ADVANCED Address F ncloh This parameter defines the operating mode of digital output 2 The different operating modes are described at the beginning of this chapter P280 MDO2 Selecting Variable A Range 0 119 See Table 39 Default A71 Torque Output T NE
495. the variance amplitude variable being tuned E Response to the step Response time Small Kp Overshoot Shorter Optimum Kp Optimum Optimum Large Kp Undershoot Longer 161 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO P000811 0 KP 0 1 CONSTANT TI 0 l 1 0 1 2 3 4 5 6 7 8 9 10 Figure 26 Response to the step based on the value of Kp when Ti is kept constant 162 428 SINUS 2 SANTERNO GRUPPO CARRARO When Kp is increased the error is reduced at constant rate but the transient can also be adversely affected Adverse effects can be a longer transient with stronger oscillations due to the damping reduction or even instability This is shown in the figure below 22 3 2 Figure 27 Response to the step when Kp is too large INTEGRAL ACTION 1 Symbol Tuning function Main goal 3 AS Soon on input vanidnee occurs Error an Sets the tuning point eliminates the offset from Ti output variance occurs The variation rate is proportional to the error magnitude the proportional action PI Regulator Response to the step Response time Small Kp Overshoot Shorter Optimum Kp Optimum Optimum Large Kp Undershoot Longer 163 428 PROGRAMMING INSTRUCTIONS PROGRAMMING SINUS PENTA ONG PZ SANTERNO GRUPPO CARRARO N P000813 0 TI 0 333 CONSTANT KP 0
496. tion of the digital inputs configured as multireferences and based on the function allocated to parameter 080 80 Multireference Function Preset Ref 0 0 1 0 bars 0 1 1 0 bars 1 0 1 5 bars 1 1 2 5 bars if both digital inputs configured as Multireferences are activated the overall reference is given from AINT analog input selected as the first PID reference C285 P080a Multireference Function Exclusive Preset Ref 0 0 0 0 bars 0 1 1 0 bars 1 0 1 5 bars 1 1 2 5 bars 122 428 SINUS PENTA PROGRAMMING Z SANTERNO GRUPPO CARRARO When no Multireference input is activated the overall reference is null 1 0 bar 2 0 bar 0 0 1 1 0 1 0 2 5 1 3 5 If both digital inputs configured as Multireference are inactive the overall reference is given from AINT analog input selected as the first PID reference C285 For the combinations where at least one of the digital inputs configured as multireference is active the resulting reference is the sum of the value for AINI plus the value for the selected multireference 15 2 List of Parameters 080 to 099 Table 22 List of parameters 080 P099a P080a PID Multireference function P081a PID Multireference 1 Mref1 P082a PID Multireference 2 Mref2 946 P083a PID
497. tions for C Parameter Alterations O Stand by only 1 StandBy Fluxing Default 1 StandBy Fluxing Level ADVANCED Address Factory setting allows C parameters to be programmed even when the inverter is IX hIeifs However the motor must be stopped If POO3 0 Stand by only C parameters can be changed only when the inverter is disabled CAUTION If POO3 1 StandBy Fluxing when changing a C parameter the drive automatically disables stops modulating and the motor starts idling 80 428 SINUS PROGRAMMING EZ SANTERNO INSTRUCTIONS GRUPPO CARRARO 11 DISPLAY KEYPAD MENU 11 1 Overview It is recommended that the Operating and Remoting the Keypad section in the Sinus Penta s NOTE Installation Instructions Manual be read as well The Display Keypad Menu contains programming parameters to do the following Set the navigation mode within the drive menus Select the Root Page Select measures from the Root Page and the Keypad Page Select the type of Keypad Page displayed in Local mode Set custom PID units of measure Disable the Loc Rem or Fwd Rew keys in the keypad The Root Page the Keypad Page and Local mode are detailed in the following sections 11 2 Root Page The Root page is factory set as the startup page to be displayed when the drive is turned on You can access the four main menus only from the root page MEA Measures AN NOTE PAR Progra
498. to calculate the value of MDO4 digital output It selects an analog variable used to calculate the value of digital input if one of the analog operating modes is selected Digital signals and analog variables are detailed in Table 39 202 428 PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO Defout Level ADVANCED BOCCS 900 This parameter defines the test to be performed for the variable detected by P298 using P302 as a comparing value SINUS PENTA P300 MDO4 Testing Variable A AAV V ABS x gt ABS x gt ABS x AS lt Function P301 Testing Variable I AIV y 07 gt ABS x gt ABS x ABS x lt gt SX Qno sou Default 0 ADVANCED 901 This parameter defines the test to be performed for the variable detected by P299 Function using P303 as a comparing value P302 MDO4 Comparing Value for Test A 320 00 9 320 00 96 Range 32000 32000 96 of the full scale value of selected variable A see Table 39 Default Level 55 Aaa This parameter defines the comparing value with the selected variable for test A P303 Comparing Value for Test 320 00 96 320 00 96 Range 32000 32000 of the full scale value of selected variable B see Table 39 Default Level a D Address This parameter defines the comparing value w
499. to the maximum time due to settings in C211 and C212 A091 Braking Resistor Overload Description The braking resistance command was inhibited because the maximum ON time was expired and the energy caused by regeneration that can no longer be dissipated has led to overvoltage This application requires an intense use of the Braking Resistor for example in lifting applications where a long downstroke is required when the load is connected to the motor 1 Reset the alarm send a RESET command Solution 2 If the power dissipated by the braking resistance allows for a heavier use set C211 with a greater ON time Possible A093 Precharge Bypass open Bypass relay open The control board requested the closure of the bypass relay or contactor for the short Event circuit of the DC link capacitor precharge resistors but no closing signal is sent auxiliary of the relay during functioning precharge already closed Decus Failure in the relay control circuit or in the auxiliary signal circuit detecting relay closing 1 Reset the alarm send a RESET command Solution 2 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service A094 Heatsink Overheated heatsink temperature too high power heatsink overheated even if the cooling fan is on see also A096 and A099 e Ambient temperature exceeding 40 e Motor overcurrent e Excessive carrier frequen
500. tor Default ix reife value 10 if a speed error of 1 occurs the regulator will require 10 of the motor rated torque 0 65000 0 00 650 00 1000 10 00 BASIC 729 739 749 VTC and FOC This parameter sets the max proportional coefficient for the speed regulator Default value 10 if a speed error of 196 occurs the regulator will require 1096 of the motor rated torque This parameter may be accessed only if the min and max error thresholds are different P130 P131 for Motor P140 z P141 for Motor2 P150 P151 for Motor3 Range 0 32000 0 00 320 00 00 0 E Level BASIC Neen 730 740 750 and FOC This parameter determines the min error threshold AWA In case of speed errors lower than or equal to the min threshold parameters P126 and P128 will be used P131 P141 P151 Max Error Threshold Range 0 32000 0 00 320 00 Default 1 00 Level BASIC EE 731 741 751 VIC and FOC This parameter sets the max error threshold P130 P131 or in case of speed errors greater than or equal to the max threshold parameters P125 and P129 will be used 131 428 PROGRAMMING SINUS PENTA NGIBUCHONG Z SANTERNO GRUPPO CARRARO P152 Symmetry Regulation of Three phase Current Range Default Level ENGINEERING Address This parameter affects three phase current balancing It must be used when dissymmetry of the motor currents occurs especially whe
501. torque reference values in the Y axis The speed torque reference values are multiplied by the reference percent parameters Each point is detected through its two coordinates The ordinates of the two points are the following the value of Speed Min Trq Min for the torque reference multiplied by the percentage set with P391a P396a for the first point the value of Speed Max or Trq Max for the torque reference multiplied by the percentage set with P392a P397a for the second point Speed Min depends on the selected motor see parameter C028 motor 1 71 motor 2 or C114 motor 3 Trq Min depends on the selected motor see parameter C047 motor 1 C090 motor 2 or C133 motor 3 Speed Max depends on the selected motor see parameter C029 motor 1 C072 motor 2 or C115 motor 3 Trq Max depends on the selected motor see parameter C048 motor 1 91 motor 2 or C134 motor 3 The X axis values of the two points depend on the analog input XAIN4 Input Parameter P391 is the X axis of the first point parameter P392 is the X axis of the second point 238 428 SINUS PENTA PROGRAMMING 2 SANTERNO GRUPPO CARRARO XAINS Input Parameter P396 is the X axis of the first point parameter P397 is the X axis of the second point see also Scaling Analog Inputs REF AINT AIN2 29 2 List of parameters P390 to P399 Table 58 List of parameters P390 to P399
502. tput and its external variable are set to zero More precisely if the PID regulator is in External Out mode C294 0 when the PID DISABLE function is enabled the PID output is set to zero and the external variable regulated by the PID regulator feedback is no longer regulated by the PID regulator itself In Reference mode the PID DISABLE function disables the PID regulator as described above and switches the reference thus becoming the main active reference again C171a Input for PID Control Selection Default Level Address Function Default Level 55 Function gt Inactive 0 4 12 1 8 MDII MDI8 O 20 if ES847 or ES870 is fitted 9 12 gt MPLI MPL4 13 20 2 XMDI1 XMDI8 Inactive ENGINEERING This parameter pertains to the activation of the two PIDs or the 2 zone mode see the PID CONFIGURATION MENUJ It allows using the PID regulator outputs in different ways and allows disabling the 2 zone mode Inactive 0 12 1 8 MDI8 O 20 if ES847 or ES870 is fitted 9 12 5 MPL1 MPLA 13 20 2 XMDI1 XMDI8 Inactive ADVANCED This function avoids accessing parameter modification through the removable display keypad and avoids accessing the LOCAL mode by pressing the LOC REM key or by enabling the LOCAL input function C181 313 428 SINUS PENTA PROGRAMMING INSTRUCTIONS 2 SANTERNO GRUPPO CARRARO If the LOCAL mode is already active the L
503. tune of the stator resistance leakage inductance 8 Autotune of the current loop A ets PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO The motor must run when testing the encoder Access the ENCODER FREQUENCY INPUTS MENU set the source of the encoder signal used as a speed feedback Encoder A in terminal board Encoder B from ES836 option board enter the number of pulse rev and the number of the encoder channels more details are given in the relevant section in the Installation Instructions Manual In MOTOR CONTROL MENU set the parameter relating to the speed feedback from encoder C012 Yes Access the AUTOTUNE MENU and set parameter 1073 Select Autotune Type as Encoder Tune Use the ESC key to confirm changes Close the ENABLE command and wait until encoder tune is complete W32 Open Enable is displayed Once encoder tune is complete the display will show one of the following messages W31 Encoder Ok the speed feedback is correct If the speed detected by the encoder is opposite to the desired speed the drive will automatically reverse the feedback sign parameter C199 A059 Encoder Fault the speed detected from the encoder is not consistent with the control speed Possible causes Wrong number of pls rev of the encoder Wrong power supply of the Encoder e g 5V instead of 24V check the encoder ratings and the position of jumpers and dip switches for the encoder supply in the
504. turbance filters are installed on the coils of contactors and electrovalves if fitted inside the cabinet Solution If necessary set longer acceleration times see the RAMPS MENU 5 If necessary set longer deceleration times see the RAMPS MENU 6 If necessary decrease the values set in the LIMITS MENU Bypass precharge Fault The drive forced to close its relay or contactor for the short circuit of the precharge resistors in DC link capacitors DC bus but it did not detect the relevant closing signal while precharging See also A046 e Disconnection of auxiliary signal e Precharge relay contactor failure 1 Reset the alarm send a RESET command 2 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service 400 428 SINUS A046 Bypass Connector Fault Description Event Possible cause Solution PROGRAMMING 7 SANTERNO INSTRUCTIONS GRUPPO CARRARO D Precharge bypass connector fault Auxiliary signal for the closing of the bypass connector of the short circuit precharge resistor is considered as closed before the relevant closing command is sent See also A045 e Precharge bypass connector reversed e Precharge relay contactor failure 1 Reset the alarm send a RESET command 2 If the alarm persists please contact ELETTRONICA SANTERNO s Customer Service A047 Undervoltage Description Event Possible cause Solution
505. ulator output is the speed torque reference of the connected motor depending on the type of reference configured when the motor is running any other reference source which will be selected will be ignored If the output is a speed reference 10096 corresponds to the max absolute value between min speed and max speed set for the motor being used Motl lt C028 C029 Mot2 lt Max C071 C072 Mot3 lt C114 C115 0 3 On the other hand if 10096 relates to a torque value this is the max absolute value between the min limit and the mox limit of the torque of the active motor Motl lt max C047 C048 Mot2 lt max C090 C091 Mot3 lt C133 C134 C294 Reference Sum The PID regulator output is a correction of the speed torque reference of the active motor depending on the type of reference configured when the motor is running The percentage value of the PID output relates to the instant value of the speed torque reference For example if the speed reference of the active motor is 800rpm and the PID output is ignored if this drops to 50 the overall speed setpoint will be 800 800 50 100 1200rpm Therefore the PID regulator can never reversed the reference sign C294 Voltage Output Sum This configuration is active only when the control algorithm of the active motor is Voltage Frequency In this case the PID regulator output
506. ult 1 Level ENGINEERING Address This parameter sets the address for the PROFidrive board The programmed value has effect only if the board address selectors are set to zero see the NOTE Sinus Penta s Installation Instructions manual RO26 to RO33 PZD3 10 OUT 0 NOT USED 1 DIGITAL INPUTS 2 AUXILIARY DIGITAL INPUTS I O expansion board 3 DIGITAL OUTPUT COMMANDS 4 TORQUE REFERENCE 5 PID REFERENCE 6 PID FEEDBACK _ I DIGITAL INPUTS Level ENGINEERING 248 550 554 558 These parameters allow selecting the inputs to be downloaded from the Master PLC to the drive through the eight process data items that can be mapped in the fast communication area between the Master and the Slave station Deeg NOTUSED Level ENGINEERING PASSE 559 581 587 These parameters allow selecting the measures to be passed to the drive from the Master PLC through the eight process data items that can be mapped in the fast communication area between the Master and the Slave station You can select any measure from the MEASURES MENU Function R044 DRIVE PROFILE COMMUNICATION MODE Default Level ENGINEERING Address This parameter sets the version of the PROFldrive protocol 389 428 SINUS PENTA PROGRAMMING INSTRUCTIONS Z SANTERNO GRUPPO CARRARO RO45 DRIVE PROFILE SELECTION 0 PROFIDRIVE Range 1 VENDOR SPECIFIC 1 2 VENDOR SPECIFIC 2 1
507. ure 55 Speed Ipc f C220 DCB Command ON OFF Start Command ON OFF P000356 b Figure 56 Manual DCB Example 3 Motor Speed DC Braking and Manual DCB Command and START Command if 11 lt the control algorithm is IFD and the Speed Searching Function is enabled 336 428 SINUS PENTA PROGRAMMING Z SANTERNO INSTRUCTIONS GRUPPO CARRARO 38 2 List of Parameters C215 to C224 Table 95 List of parameters C215 to C224 C215 Enabling DCB at Stop function C216 Enabling DCB at Start function C217 DCB at Stop duration C218 DCB at Start duration C219 Speed at the beginning of DCB at Stop C220 DCB current level C221 DCB Hold C222 Ramp braking time for Motor 1 DCB C223 Ramp braking time for Motor 2 DCB 1223 See Table 72 C224 Ramp braking time for Motor 3 DCB 1224 C215 Enabling DCB at Stop Function Default Level Address Control Function 0 No 1 Yes ADVANCED IFD and VIC Enables DC Braking during deceleration when the speed set in C219 is reached or the speed set in C235 if in Power Down mode and C234 DCB is C216 Enabling DCB at Start Function Default Level 55 Control Function reached 0 No ADVANCED IFD and VTC C217 DCB at
508. urrent values of the parameters stored in the RAM zone are saved to non volatile memory in the Work zone All the parameters are saved with this command RAM Work 11 Restore Default factory setting values are restored for all parameters each factory setting value is stored to non volatile memory in the Work zone Default gt RAM Work 394 428 SINUS PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 53 ALARMS AND WARNINGS AN CAUTION 53 1 A If a protection trips or the drive enters the emergency mode the drive is locked and the motor starts idling What Happens When a Protection Trips NOTE Before operating the drive in emergency conditions carefully read this section and the following section What To Do When an Alarm Trips The drive alarms are detailed below When a protection alarm trips 1 the ALARM LED on the keypad comes on 2 the page displayed on the keypad is the root page of the FAULT LIST 3 the FAULT LIST is refreshed 4 when using the Drive Profile board the drive reports faults as hexadecimal values which are assigned and coded according to the DRIVECOM specification See Table 116 In factory setting when the drive is switched on after an alarm has tripped which has not been reset it is kept in emergency condition If the drive is in emergency mode when switched on this could be due to an alarm tripped before the drive was reset To avoid storing the a
509. utput value and on the logic output function True False ANALOG The digital output depends on a selected analog variable which is tested through Test A and Test B thus obtaining 2 digital signals starting from their value the selected logic function calculates the output value whereas the True False logic output function calculates the end value DOUBLE ANALOG The digital outputs depends on 2 selected analog variables Test A is performed for variable A whilst Test B is performed for variable B thus obtaining 2 digital signals starting from their value the selected logic function calculates the output value whereas the logic output function True False calculates the end value DOUBLE FULL As DOUBLE ANALOG or DOUBLE DIGITAL mode but both digital signals and analog variables can be selected If you select a digital signal its value TRUE or FALSE is used to calculate the selected logic function If you select an analog variable the test selected for this variable is performed and its result TRUE or FALSE is used to calculate the selected logic function BRAKE As ABS BRAKE below although the selected variables are not expressed as absolute values but depend on the selected tests ABS BRAKE The ABS BRAKE mode allows controlling the electromechanical brake of a motor used for lifting applications To enable the relevant output make sure that all the conditions depending on the drive status are true see the desc
510. uts NOTE digital output is used when the frequency output is enabled P200 other than Disabled Any configuration set in the DIGITAL OUTPUTS MENU will have no effect The Sinus Penta drive allows configuring three programmable analog outputs as voltage outputs or current outputs as well as one frequency output 20 1 1 FACTORY SETTING OF THE ANALOG OUTPUTS Analog outputs are factory set to voltage values ranging from 10V and the following variables are selected 25 OUTPUT MIN MAX TERMINALS OUTPUTS SELECTED VARIABLE RANGE VALUE VALUE 10 AO Speed speed of the connected motor 10V 1500 1500 11 2 Speed Ref speed reference at constant rpm 10V 1500 1500 12 Current of the connected motor 10V 0 Imax Depending on the inverter size 20 1 2 ANALOG OUTPUTS As per the analog outputs the ANALOG AND FREQUENCY OUTPUTS MENU allows selecting the variable to be represented its range its acquisition mode or as an absolute value the type of analog output voltage current and the output values corresponding to the min value and the max value of the selected variable An offset value and a filtering function may also be applied to the analog outputs For the frequency output this menu contains the parameters for the selection of the represented variable its acquisition mode or as an absolute value its min value and max value and the correspondin
511. utside through an analog output The matching between P236 and the output value see the ANALOG AND FREQUENCY OUTPUTS is user defined If C294 Reference the PID regulator output is the motor speed torque reference the system will ignore any other reference source parameter P236 is a percentage referring to the max value considered as an absolute value between the max and the min speed torque reference of the active motor If C294 Add Reference the percentage in P236 relates to the instant value of the speed torque reference to be adjusted If a Frequency control is used the PID regulator can be used to adjust the drive output voltage in this case P236 relates to the instant voltage value E g If a drive delivers 50V and an adjustment of 10 is implemented the drive will deliver 55V 10000 10000 100 00 100 00 100 00 This is the min allowable value of PID regulator output For the value percent of P237 see the description of parameter P236 P237a Wake up Mode Default Level Address Function Disabled Feedback P237b Feedback gt P237b Error P237b Error gt P237b Disabled If this parameter is disabled the PID control re activates only when the PID output exceeds the value set in parameter P237 If this parameter is enabled the PID control re activates when P237a 1 the Feedback value drops below the level set with P237b P237a 2 the
512. value in mH of the output inductance installed between the drive and the motor Set parameter C048 in the LIMITS MENU based on the maximum torque that can be generated expressed as a percentage of the motor rated torque Activate the ENABLE input terminal 15 and the START input terminal 14 and send a speed reference The RUN LED and REF LED will come on and the motor will start Make sure that the motor is rotating in the correct direction If not set parameter 14 Phase Rotation to 1 Yes or open the ENABLE and START inputs remove voltage from the drive and after waiting at least 5 minutes reverse two of the motor phases SINUS PENTA PROGRAMMING lt SANTERNO INSTRUCTIONS GRUPPO CARRARO 9 Speed If overshoot occurs when the speed setpoint is attained or if a system instability is detected uneven regulator motor operation adjust the parameters relating to the speed loop SPEED LOOP AND CURRENT adjustment BALANCING MENU Set the two parameters relating to integral time P125 P126 as Disabled and set low values for the parameters relating to proportional gain P127 P128 Set equal values for P127 and P128 and increase them until overshoot takes place when the setpoint is attained Decrease P127 and P128 by approx 3096 then decrease the high values set for integral time in P125 and P126 keep both values equal until an acceptable setpoint response is obtained Check to see if the motor runs smoothly at constant speed 10 Po
513. ve Address Value percent of AO3 analog output referred to the preset max output value maximum absolute clue between P198 and P199 see ANALOG AND FREQUENCY OUTPUTS MENU M061 Auxiliary Digital Outputs Range Bit controlled measure See Table 6 Active Always active Address Function State of the auxiliary digital outputs located on the expansion board Table 6 Codification of Measure M061 0 XMDO1 3 XMDO4 1 XMDO2 4 XMDO5 2 XMDO3 5 XMDO6 66 428 SINUS PENTA PROGRAMMING 2 SANTERNO INSTRUCTIONS GRUPPO CARRARO 8 7 Temperature Measures from PT100 Menu This menu displays the temperatures detected in the first four analog channels of the expansion board Scaling complies with DIN EN 60751 for PT100 100 ohm 9 0 C and 0 385 ohm C ES847 Expansion Board must be fitted on the equipment See also the EXPANSION BOARD CONFIGURATION MENU M069 PT100 Measure in Channel 1 500 2600 50 0 260 0 C Active This measure is active only if programmed from parameter RO23 Address Function Temperature detected in analog channel 1 Range 500 2600 50 0 260 0 C Active This measure is active only if programmed from parameter RO23 Address Function Temperature detected in analog channel 2 Range 500 2600 50 0 260 0 C Active This measure is active only if programmed from parameter RO23 Address Function Temperature detected in analog channel 3
514. x saturation values of the PID output set in parameters P236 P237 Always active This is the measure of the output produced by the PID regulator and expressed as a percentage Please refer to the PID PARAMETERS MENU and the PID CONFIGURATION MENU for the scaling of the PID output 100 00 96 Note The actual range depends on the min and max saturation values of the PID output set in parameters 436 437 This measure is active if enabled from C291a This is the measure percent of the PID2 feedback selected with C286 for the PID2 or the 2 zone mode Scaling is detailed in the PID2 PARAMETERS MENU and the PID CONFIGURATION MENU Note The actual range depends on the max value and the min value of the PID reference set in parameters P245 P246 and on the gain level set in P257 Always active This is the measure of the reference after the ramps being used for the PID regulator as 019 but multiplied by the gain level set in P257 see also the PID PARAMETERS MENU and the PID CONFIGURATION MENU As for the display keypad the unit of measure can be programmed with parameters P267 P267a in the DISPLAY KEYPAD menu Note The actual range depends on the min and max values of the PID2 reference set in parameters P445 P446 and on the gain level set in P457 This measure is active if enabled from C291a This is the measure of the reference being used for the PID2 or the 2 zone mode as M019a but multiplied by the gain level set
515. y if the user level is ADVANCED or NOTE ENGINEERING NOTE XMDI auxiliary digital outputs values from 13 to 20 in the parameters relating to the control functions can be set up only after setting XMDI O in parameter R023 28 1 1 FACTORY SETTING energizes when the ENABLE input is present MPL2 energizes when a fan fault trips MPL3 energizes when the Fire Mode is activated MPL4 is factory set as disabled 28 1 2 STRUCTURE OF THE VIRTUAL DIGITAL OUTPUTS A virtual digital output is composed of two logic blocks allowing data processing before implementing the actual digital output Block 2 depends on the settings in parameters P357a P366a P375a P3844 yes INPUTA Output Logic Bock set by NO parameters Output INPUTB P351 P357 logic block X setbyP357b thattestsf AB gt and signal C P000658 b Figure 38 Block diagram of the virtual digital outputs MPL Operating modes set in MPL1 2 3 4 P350 P359 P368 P377 The user can select one of the following operating modes 215 428 PROGRAMMING em SINUS PENTA INSTRUCTIONS SANTERNO GRUPPO CARRARO Table 52 Digital Output Modes DISABLING The selected digital output is disabled DIGITAL The digital output depends on a selected digital signal and on the logic output function True False DOUBLE DIGITAL The digital output depends on 2 selected digital signals on the logic function calculating the o

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