CDA 3000 - Application Manual

EN EN FR ES
F1
CDA3000
Application Manual
Inverter drive system to 132 kW
Adaptation of the drive system to the application
Overview of documentation
CDA3000 Catalogue
Before purchase
Selecting and ordering a drive system CDA3000 Operation Manual Operation Manual KEYPAD KP200
Application Manual
With shipment (depending on supply package)
D
Quick and easy initial commissioning CANLust Communication Module Manual
E
Operation via KEYPAD KP200 CANopen Communication Module Manual
F1
Adaptation of the drive system to the application PROFIBUS-DP Communication Module Manual
G1
Project planning, installation and commissioning of the CDA3000 on the field bus
G2
G3
Application Manual CDA3000

ID no.: 0840.22 B.5-00 12/2005
F1
Date:
Valid for software version V3.5 and above
We reserve the right to make technical changes.
Dear User,
This manual is aimed primarily at you as a programmer of drive and automation solutions. It describes how you can adapt your new CDA3000 drive system optimally to your specific application. We assume that your drive is already running if not, you should first consult the Operation Manual. Don't be put off by the size of the manual: Only sections 1 to 3 contain essential information with which you need to familiarize yourself. The remaining sections and the Appendix are provided as reference resources: (They demonstrate the full scope of functions and flexibility of the CDA3000's software package in solving a wide variety of drive tasks.) In those sections you can concentrate on the functions relevant to your own application, such as power failure bridging or DC braking. Good luck, and have a nice day!
How to use this manual
1 2 3 4 5 6
Safety Inverter module CDA3000 User and data structure Preset solutions Functions and parameters Control modes
1 2 3 4 5 6
Appendix: Parameter overview, Error table, Glossary

Index
DE EN FR
Pictograms
Attention! Misoperation may result in damage to the
drive or malfunctions.
Danger from electrical tension! Improper behaviour

may endanger human life.
Danger from rotating parts! The drive may start running automatically.
Note: Useful information Reference:More information in other sections of the

Application Manual or additional documents
Function not available in the control mode
Function is disabled
Table of Contents 1
1.1 1.2 1.3
Safety
Measures for your safety ........................................1-1 Intended use ............................................................1-2 Responsibility ..........................................................1-2
2
2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8
Inverter module CDA3000

Device and terminal view .......................................2-2 Module mounting ....................................................2-6 Ambient conditions .................................................2-7 Specification of control connections .....................2-8 LEDs .......................................................................2-14 Isolation concept ...................................................2-15 Reset ......................................................................2-18 Loading device software .......................................2-19
3
3.1 3.1.1 3.1.2 3.1.3 3.2 3.3 3.4 3.4.1 3.4.2 3.5
User interface and data structure

Data structure .........................................................3-2 Application data sets ............................................3-4 User data sets ......................................................3-5 Characteristic data sets .......................................3-6 User levels in the parameter structure ..................3-7 Operation with KEYPAD KP200 .................................3-9 Operation with DRIVEMANAGER ...............................3-14 User screens ......................................................3-15 Parameter Editor ................................................3-20 Commissioning ......................................................3-21
DE EN FR
4
4.1 4.2 4.3 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5 4.3.6 4.4 4.4.1 4.4.2 4.4.3 4.4.4 4.4.5 4.4.6 4.4.7 4.5 4.5.1 4.5.2 4.5.3 4.5.4 4.5.5 4.5.6 4.6 4.6.1 4.6.2 4.6.3 4.6.4 4.6.5
Application data sets

Activating an application data set .........................4-3 Selection of application data set ...........................4-4 Traction and lifting drive ........................................ 4-8 DRV_1 ............................................................... 4-10 DRV_2 ............................................................... 4-12 DRV_3 ............................................................... 4-15 DRV_4 ............................................................... 4-19 DRV_5 ............................................................... 4-22 Comparison of parameters, traction and lifting drive ..................................... 4-26 Rotational drive .....................................................4-29 ROT_1 ............................................................... 4-32 ROT_2 ............................................................... 4-34 ROT_3 ............................................................... 4-36 ROT_4 ............................................................... 4-39 ROT_5 ............................................................... 4-41 ROT_6 ............................................................... 4-43 Comparison of parameters, rotational drives ................................................. 4-46 Field bus operation ............................................... 4-50 BUS_1 ............................................................... 4-52 BUS_2 ............................................................... 4-53 BUS_3 ............................................................... 4-55 BUS_4 ............................................................... 4-57 BUS_5 ............................................................... 4-58 Comparison of parameters, field bus operation ............................................. 4-60 Master/Slave operation ........................................ 4-62 M-S_1 ............................................................... 4-66 M-S_2 ............................................................... 4-68 M-S_3 ............................................................... 4-70 M-S_4 ............................................................... 4-73 Comparison of parameters, Master/Slave operation ...................................... 4-75
5
5.1 5.2 5.2.1 5.2.2 5.2.3 5.2.4 5.2.5 5.2.6 5.2.7 5.3 5.3.1 5.3.2 5.3.3 5.3.4 5.3.5 5.3.6 5.3.7 5.3.8 5.3.9 5.3.10 5.4 5.4.1 5.4.2
Software functions
_15FC-Initial commissioning ..................................5-4 Inputs and outputs ................................................5-24 _18IA-Analog inputs ..........................................5-24 _20OA-Analog output ........................................5-32 _21ID-Digital inputs ...........................................5-38 _24OD-Digital outputs .......................................5-46 _25CK-Clock input/clock output .........................5-55 _28RS-Reference structure ...............................5-61 _26CL-Control location ......................................5-71 Protection and information ...................................5-76 _30OL-Frequency limitation ...............................5-76 _33MO-Motor protection ...................................5-79 Device protection ...............................................5-91 _34PF-Power failure bridging ............................5-96 _36KP-KEYPAD .................................................5-104 _38TX-Device capacity utilization ....................5-112 _39DD-Device data .........................................5-117 _VAL-Actuals ...................................................5-120 _50WA-Warning messages ..............................5-123 _51ER-Error messages ....................................5-127 Bus operation and option modules ....................5-133 _55LB-LUSTBUS ................................................5-133 _57OP-Option modules ....................................5-134
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5.5 5.5.1 5.5.2 5.5.3 5.5.4 5.5.5 5.5.6 5.5.7 5.5.8 5.5.9 5.5.10 5.5.11 5.5.12 5.5.13 5.5.14 5.5.15 5.5.16
Open-loop and closed-loop control ...................5-139 _31MB-Motor holding brake ............................ 5-139 _32MP-MOP function ...................................... 5-149 _59DP-Driving profile generator ...................... 5-153 _27FF-Fixed frequencies ................................. 5-159 _60TB-Driving sets .......................................... 5-161 _65CS-Characteristic data switchover (CDS) ............................................................... 5-166 _66MS-Master/Slave operation ....................... 5-169 _67BR-DC braking .......................................... 5-173 _68HO-DC holding .......................................... 5-177 _80CC-Current controller ................................. 5-179 _64CA-Current-controlled startup .................... 5-182 _69PM-Modulation .......................................... 5-189 _84MD-Motor data .......................................... 5-192 _77MP-Remagnetization ................................. 5-194 _86SY-System ................................................ 5-196 _82PR-Process controller ................................ 5-198
6
6.1 6.1.1 6.1.2 6.1.3 6.1.4 6.1.5 6.1.6 6.1.7 6.2 6.2.1 6.2.2 6.2.3
Control modes
Voltage Frequency Control (VFC) ...........................6-6 _70VF-V/F characteristic ..................................... 6-9 _74IR-IxR load compensation ............................ 6-16 _75SL-Slip compensation .................................. 6-20 _76CI-Current injection ..................................... 6-23 _73AP-Anti-oscillation ....................................... 6-27 _63FS-Up synchronization ................................. 6-30 Tips and optimization aids for control engineers ............................................... 6-33 Sensorless Flux Control (SFC) .............................. 6-42 _78SS- Speed controller SFC ............................ 6-47 _80CC-Current controller ................................... 6-50 Tips and optimization aids for control engineers ............................................... 6-54
6.3 6.3.1 6.3.2 6.3.3 6.3.4
Field-Oriented Regulation (FOR) ...........................6-65 _79EN-Encoder evaluation .................................6-69 _81SC-Speed controller FOR .............................6-75 _80CC-Current control .......................................6-78 Tips and optimization aids for control engineers ...............................................6-81
A B C D
Overview of parameters Error messages Glossary Index
DE EN FR
1 Safety
1.1 Measures for your safety
The CDA3000 inverter drives are quick and safe to handle. For your own safety and for the safe functioning of your device, please be sure to observe the following points: Read the Operation Manual first! Follow the safety instructions!
2 3 4 5 6 A
Electric drives are dangerous: Electrical voltages > 230 V/400 V: Dangerously high voltages may still be present 10 minutes after the power is cut. So always make sure the system is no longer live! Rotating parts Hot surfaces In order to prevent personal injury and damage to property, only personnel with electrical engineering qualifications may work on the device. The qualified personnel must familiarize themselves with the Operation Manual (refer to IEC364, DIN VDE0100). Knowledge of national accident prevention regulations (e.g. VBG 4 in Germany, regulations laid down by the employers' liability insurance associations) is essential. Always comply with the connection conditions and technical specifications. Comply with the standards for electrical installations, such as regarding wire cross-section, grounding lead and ground connections. Do not touch electronic components and contacts (electrostatic discharge may destroy components).
Your qualification:
During installation observe the following instructions:
1-1
DE EN FR
1 Safety
1.2
Intended use
Frequency inverter drives are components that are intended for installation in electrical systems or machines. The drive may not be commissioned (i.e. it may not be put to its intended use) until it has been established that the machine as a unit complies with the provisions of the Machinery Directive (98/37/EC). EN 60204 (Safety of machines) is to be observed. The CDA3000 conforms to the Low Voltage Directive DIN EN 50178. EMC The following generic standards are complied with in application of the installation instructions: EN 50081-1 and EN 50081-2 (line-borne and radiated interference emission) IEC 1000-4-2 to 5 / EN61000-4-2 to 5 (Interference immunity of the inverter module) Product norm EN 61800-3 (Variable-speed drives)
If the frequency inverter is used for special applications (e.g. in areas subject to explosion hazard), the required standards and regulations (e.g. EN 50014, "General provisions" and EN 50018 "Flameproof housing") must always be observed. Repairs may only be carried out by authorized repair workshops. Unauthorized opening and incorrect intervention could lead to physical injury or material damage. The warranty provided by LUST would thereby be rendered void.
1.3
Responsibility
Electronic devices are fundamentally not fail-safe. The company setting up and/or operating the machine or plant is itself responsible for ensuring that the drive is rendered safe if the device fails. EN 60204-1/DIN VDE 0113 "Safety of machines", in the section on "Electrical equipment of machines", stipulates safety requirements for electrical controls. They are intended to protect personnel and machinery, and to maintain the function capability of the machine or plant concerned, and must be observed. An emergency stop system does not necessarily have to cut the power supply to the drive. To protect against danger, it may be more beneficial to maintain individual drives in operation or to initiate specific safety sequences. Execution of the emergency off measure is assessed by means of a risk analysis of the machine or plant, including the electrical equipment to EN 1050, and is determined with selection of the circuit category in accordance with DIN EN 954 "Safety of machines - Safetyrelated parts of controls".
1-2
2 Inverter module CDA3000

2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 Device and terminal view .......................................2-2 Module mounting ....................................................2-6 Ambient conditions .................................................2-7 Specification of control connections .....................2-8 LEDs .......................................................................2-14 Isolation concept ...................................................2-15 Reset ......................................................................2-18 Loading device software .......................................2-20
2 3 4 5 6 A
This section sets out basic aspects of the device hardware which are essential to understanding and using the Application Manual. For more information on the device hardware refer to the CDA3000 Operation Manual.
2-1
DE EN FR
2.1
Device and terminal view
CM-CAN2
CM-DPV1
H1 H2 H3
H4 H5
1 2
+
X10
H4 H5
1 2
+
X10
(1)
X4
X11
X7
(2)
X1
U V W
X1
U V W
L+ RB L-
L+ RB L-
20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
X2
X12 X11
X15
1 2 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35
X6
L3 N L1 L2 L1
X3
CDA32.xxx
CDA34.xxx
UM-8I4O
Figure 2.1
Layout, CDA3000
No. H1, H2, H3 LEDs
Designation
Function Device status display Mains, motor, to < 22 kW: Braking resistor L+/RB, from > 22 kW: Braking resistor +/RB DC feed (L+/L-) 4 digital inputs 3 digital outputs (of which 1 relay) 2 analog inputs 1 analog output
X1
Power connection
X2
Control connection
Table 2.1
Key to Figure 2.1
2-2
No. X3 X4 X6 X7 X10 X11 X12 X13 X15 (1) (2) S1, S2 Table 2.1
Designation PTC connection RS232 connection Option slot 1 Option slot 2
Function PTC, thermostatic circuit-breaker or linear temperature transmitter KTY 84-130 for DRIVEMANAGER or KEYPAD KP200 e.g. for user module UM8I4O e.g. for communication module
1 2 3 4 5 6
Voltage supply for communi+ 24 V, ground cation module CAN-In / PROFIBUS-DP CAN-Out Address coding plug User module UM-8I4O Reset button Boot button Address coding switch Key to Figure 2.1 Bus connection input CAN bus connection output Only for CANopen, Profibus DP Voltage supply, 8 digital inputs, 4 digital outputs see section 2.7 see section 2.7 Only for CANopen, Profibus DP
X1
Designation Motor cable U Motor cable V Motor cable W Grounding lead PE Grounding lead PE DC-link voltage + Braking resistor DC-link voltage Grounding lead PE NC Neutral conductor Mains phase
X1
Designation Motor cable U Motor cable V Motor cable W Grounding lead PE Grounding lead PE DC-link voltage + Braking resistor DC-link voltage Grounding lead PE Mains phase L3 Mains phase L2 Mains phase L1
Table 2.2
Power terminal designation, CDA3000
2-3
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X2
Designation OSD02/14 OSD02/11 OSD02/12 DGND OSD01 OSD00 DGND UV ISD03 ISD02 ISD01 ISD00 ENPO UV UV OSA00 AGND ISA01 ISA00 UR
Function Changeover relay make contact Changeover relay root Changeover relay break contact Digital ground Digital output Digital output Digital ground Auxiliary voltage 24 V Digital input Digital input Digital input Digital input Power stage hardware enable Auxiliary voltage 24 V DC Auxiliary voltage 24 V DC Analog output Analog ground Analog input Analog input Reference voltage 10 V
14 11 12
20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
Table 2.3
Control terminal designation, CDA3000
2-4
X15
Designation
Function
1 2 3 4 5 6 A
1 2 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35
Table 2.4
UV DGND
24 V DC supply, feed Digital ground
UV IED00 IED01 IED02 IED03 IED04 IED05 IED06 IED07 DGND
Auxiliary voltage 24 V DC Digital input Digital input Digital input Digital input Digital input Digital input Digital input Digital input Digital ground
DGND OED00 OED01 OED02 OED03
Digital ground Digital output Digital output Digital output Digital output
Control terminal designation, UM-8140
2-5
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2.2
Module mounting
Inverter modules up to size BG5 are side mounted. To remove them, press the red release lever on the front and withdraw the module to the side. As from size BG6 the modules are built-in. This additionally requires mounting package MP-xxxx for each module (see order catalogue). The modules are interconnected with the aid of the mounting package from X6 X6 and X7 X7.
Inverter module BG1 ... BG5
Inverter module BG6 ... BG8
VAL
Hz
stop return
start enter
H1 H2 H3
X7
ANT D-3RIEBST 563 ECH 3 Lah NIK
X4
H1
nau
H2
H3
Typ: Ne tz: Ausg .:
X4
X6
SN .: 000.
000.
0000
X7
0000
IK ECHN IEBST au ANTR Lahn
D-35
633
Typ:
X2
k! clic X6
1 2
Netz: : Ausg.
00 SN.: .000000 00 000.0
X6
X1
U V W
X3
IK ECHN IEBST au ANTR Lahn
633 D-35
RB + RB L-
ATTENTION WARNING ACHTUNG Kondensatorent- capacitor disscharge temps de decharge du condensteur ladezeit >3 Min. time >3 minutes. Betriebsanleitung Pay attention to the >3 min. observer le operation manual! mode dmploi! beachten!
1 2 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35
Typ: Netz: Ausg.:
L1 L2 L3
00 SN.: .000000 00 000.0
X7
L1 L2 L3 L+ L- RB U
V W
X6 = option slot 1 for user modules (UM-xxxx) X7 = option slot 2 for communication modules (CM-xxxx).
Figure 2.2
The CDA3000 inverter modules have two option slots to accommodate user and communication modules.
Mounting of user/communication modules
Attention!
Do not plug modules in during operation.
2-6
2.3
Ambient conditions
Characteristic
Inverter module -10 ... 45 C (BG1 ... BG5) 0 ... 40 C (BG6 ... BG8) with power reduction to 55 C -25 ... +55 C -25 ... +70 C
User and communication module
1 2 3 4 5
in operation Temperature range in storage in transit Relative air humidity Mechanical strength to IEC 68-2-6 in stationary use in transit Device
-10 ... 55 C
15 ... 85 %, condensation not permitted Vibration: 0.075 mm in frequency band 10 ... 58 Hz Shock: 9.8 m/s2 in frequency band >58 ... 500 Hz Vibration: 3.5 mm in frequency band 5 ... 9 Hz Shock: 9.8 m/s2 in frequency band >9 ... 500 Hz IP20 (NEMA 1) Cold plate IP20 Push-through heat sink IP54 (3 ... 15 kW) Push-through heat sink IP20 (22 ... 37 kW) VBG 4 see section 5.5.12 "Modulation" None
Protection
Cooling method
Convection IP20
Touch protection Power reduction Mounting height Table 2.5
6 A
Up to 1000 m above MSL, above 1000 m above MSL with power reduction of 1% per 100 m, max. 2000 m above MSL Ambient conditions for the modules
2-7
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2.4
Specification of control connections
Inverter module CDA3000
Des.
Terminal
Specification
floating
Analog inputs ISA00 X2-2 UIN = +10 V DC, 10 V DC IIN = (0) 4-20 mA DC, switchable by software to: 24 V digital input, PLC-compatible Switching level low/high: <4.8 V / >8 V DC Resolution 10-bit RIN=110k Terminal scan cycle = 1ms Tolerance: U: 1% of MV I: 1% of MV UIN = +10 V DC, software-switchable to: 24 V digital input, PLC-compatible Switching level low/high: <4.8 V / >8 V DC Resolution 10-bit RIN=110 k Terminal scan cycle = 1ms Tolerance: U: 1% of MV
against digital GND
ISA01
X2-3
against digital GND
Analog output OSA00 X2-5 PWM with carrier frequency 19.8 kHz Resolution 10-bit flimit = 1.1 kHz ROUT=100 Uout=+10 V DC Imax=5 mA Short-circuit-proof Internal signal delay time 1ms Tolerance +2.5%
Table 2.6
2-8
Des.
Terminal
Specification
floating
Digital inputs ISD00 X2-9 Limit frequency 5 kHz PLC-compatible Switching level low/high: <5 V / >18 V DC, range >5 V to <18 V DC undefined Imax at 24 V = 10 mA RIN = 3 k Internal signal delay time 100s Terminal scan cycle = 1ms ISD01 X2-10 Limit frequency 150 kHz PLC-compatible Switching level low/high: <5 V / >18 V DC, range >5 V to <18 V DC undefined Imax at 24 V = 10 mA RIN = 3 k Internal signal delay time 2s Terminal scan cycle = 1ms Data input with reference coupling (Master/ Slave) ISD02 X2-11 Limit frequency 500 kHz PLC-compatible Switching level low/high: <5 V / >18 V DC, range >5 V to <18 V DC undefined Imax at 24 V = 10 mA RIN = 3 k Internal signal delay time 2s Terminal scan cycle = 1ms A-input with square encoder evaluation for 24 V HTL encoder against GND_EXT Permissible pulse count 32...16384 pulses per rev. (2n with n = 5...14) Table 2.6 Specification of control connections
1 2
3 4
5 6 A
2-9
DE EN FR
Des. ISD03
Terminal X2-12
Specification Limit frequency 500 kHz PLC-compatible Switching level low/high: <5 V / >18 V DC, range >5 V to <18 V DC undefined Imax at 24 V = 10 mA RIN = 3 k Internal signal delay time 2s Terminal scan cycle = 1ms B-input with square encoder evaluation for 24 V HTL encoder against GND_EXT Permissible pulse count 32...16384 pulses per rev. (2n with n = 5...14)
floating
ENPO
X2-8
Power stage enable = High level Switching level low/high: <5 V / >18 V DC, range >5 V to <18 V DC undefined Imax at 24 V = 10 mA RIN = 3 k Internal signal delay time 20s Terminal scan cycle = 1ms PLC-compatible
Digital outputs OSD00 X2-15 Short-circuit-proof PLC-compatible Imax = 50 mA OSD01 X2-16 Internal signal delay time 250s Terminal scan cycle = 1ms Protection against inductive load High-side driver
Short-circuit-proof with 24 V supply from inverter module PLC-compatible Imax 50mA Internal signal delay time 2s Terminal scan cycle = 1ms No internal freewheeling diode; provide external protection High-side driver Data output with reference coupling
1)
1)
applicable to limited degree Specification of control connections
Table 2.6
2-10
Des.
Terminal
Specification
floating
Relay output OSD02 X2-18 X2-19 X2-20 Relay 48 V / 1 A AC, changeover contact Usage category AC1 Operating delay approx. 10 ms
X2:18 X2:19 X2:20
2 3
Motor temperature monitor PTC1/2 X3-1 X3-2 Measuring voltage max. 12 V DC Measuring range 100 - 15 k suitable for PTC to DIN 44081/44082 suitable for temperature sensor KTY84-130 tolerance band yellow suitable for thermostatic circuit-breaker (Klixon) Sampling time 5ms
4 5 6
1) applicable to limited degree
voltage supply +10.5 V X2-1 Auxiliary voltage UR =10.5 V DC Short-circuit-proof Imax = 10 mA External auxiliary voltage: UV = 24 V DC +25%, Imax = 500 mA Short-circuit-proof Imax = 200 mA (overall, also includes driver currents for outputs OSD00 and OSD01) No polarity reversal protection
+24 V
X2-6 X2-7 X2-13
Analog ground AGND X2-4 Isolated from DGND
Digital ground DGND X2-14 X2-17 Isolated from AGND
Table 2.6
2-11
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Note:
The sampling time of the inputs and outputs is 1 ms. The digital voltages relate to the digital ground and the analog voltages to the analog ground.
Pin assignment of serial interface X4

Pin no. 1 2 3 4 5 6 7 8 9 Table 2.7 +15 V DC for KEYPAD KP200 TxD, send data RxD, receive data NC, free contact GND for +15 V DC of KEYPAD KP200 +24 V DC, control pcb power supply NC, free contact NC, free contact GND for +24 V DC, control pcb power supply Specification of interface contacts Function
User module UM-8I4O

Des. Digital input +24 V DC IED00 to IED07 X15-21 X15-22 to X15-29 Supply voltage for IEDxx Limit frequency 5 kHz PLC-compatible Switching level Low/High: >5 V / >15 V DC Imax at 24 V = 6 mA Terminal Specification floating
RIN = 4 k Internal signal delay time 2s Terminal scan cycle = 1ms DGND Table 2.8 X15-30 Digital ground for IEDxx
Specification of control connections, UM-8I4O
2-12
Des. OED00 to OED03
Terminal X15-32 to X15-35
Specification Short-circuit proof, Ikmax = 1.2 A/OEDxx PLC-compatible Current at "1": Imin = 5 mA Imax = 500 mA Imax in parallel operation = 125 mA Internal signal delay time 250s Terminal scan cycle = 1ms Protection against inductive load Thermal overload protection High-side driver
floating
1 2 3 4 5 6 A
DGND
X15-31
Digital ground for OEDxx
Supply voltage, module feed +24 V DC X15-1 UV = 24 V DC +25% I = 0.6 A No polarity reversal protection Digital ground
DGND Table 2.8
X15-2
Specification of control connections, UM-8I4O
2-13
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2.5
LEDs
At the top right of the inverter module there are three status LEDs coloured red (H1), yellow (H2) and green (H3).
Device status 24 V DC supply voltage for control unit applied (24 V DC internal or external), or controller in "parameter setting" mode Ready (ENPO set) In service/Auto-tuning active Warning (in "ready" condition) Warning ("in service"/"auto-tuning active") Error Red LED (H1) Yellow LED (H2) Green LED (H3)
(flash code)
LED off, LED on, LED flashing

Table 2.9 Meanings of LEDs
Note:
The parameter-setting mode by control unit is not indicated separately.
Flash code of red LED H1 1x 2x 3x 4x 5x 6x 7x 8x Table 2.10
Display KEYPAD E-CPU E-OFF E-OC E-OV E-OLM E-OLI E-OTM E-OTI
Error cause Collective error message Undervoltage shut-off Current overload shut-off Voltage overload shut-off Motor overloaded Device overloaded Motor temperature too high Cooling temperature too high
Error messages
Error messages can be viewed in more detail using the KEYPAD KP200 control unit or the DRIVEMANAGER.
2-14
2.6
Isolation concept
The analog and digital grounds are isolated from each other in order to avoid transient currents and interference over the connected lines. The analog ground is connected directly to the inverter module processor. It serves as the reference potential for analog reference input. The digital inputs and outputs are isolated from it. Disturbance variables are thereby kept away from the processor and the analog signal processing function. To enhance operating safety we recommend that the analog and digital grounds should not be interconnected.
RB
1 2 3 4
M 3~
SNT
+ 10 V + 24 V
I/O analog
I/O digital
5 6 A
Figure 2.3
Voltage supply to I/Os
When selecting the cable, note that the cables for the analog inputs and outputs must always be shielded. The cable or wire core shield on shielded pairs should cover as large an area as possible in respect of EMC considerations. In this way high-frequency interference voltages are safely discharged (Skin effect). Electromagnetically compatible wiring is essential, and must be provided.
Special case: Use of an analog input as a digital input

Use of the internal 24 V DC as the supply voltage when using an analog input with the "digital input" function requires connection of analog and digital ground. For the reasons mentioned above, this can lead to interference, and demands extra care in selecting and connecting the control cables.
2-15
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X2 1 2 3 4 A bridge is only required when the internal 24 V is used. 5 6 7 13 14 15 16 17 Figure 2.4
Function Reference voltage 10 V, 10mA ISA00, as dig. input ISA01, as dig. input Analog ground OSA00 Auxiliary voltage 24 V, max. 200 mA Auxiliary voltage 24 V Digital ground
Digital ground
Removal of isolation when using the analog inputs with the digital function
If more digital inputs and outputs are required than are present on the inverter module, we recommend using user module UM-8I4O. It ensures safe operation of the CDA3000 inverter module with no disturbance of the analog signals. Safe operation based on burst immunity to EN 61000-4-4 is not affected by connection of the analog and digital ground. The only effect may be on evaluation of the analog input resulting from interference voltage where long cables are attached to the digital outputs and inputs.
2-16
Example: Risk of disturbance
CDA3000
X2:1, UR X2:2, ISA00 X2:4, AGND X2:14/17, DGND System field signals Dig. input
1 2 3 4 5 6 A
Figure 2.5
Disturbance of the analog input in event of defective wiring
Note:
The analog inputs should be used either both only in analog or both only in digital mode. Combining the analog inputs with one input in analog mode and one in digital mode may result in disturbance of the analog input.
2-17
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2.7
Reset
Parameter reset
On the KEYPAD PARA menu: Press the two cursor keys to reset the parameter currently being edited to the factory defaults (152-ASTER = DRV_1). In the DRIVEMANAGER: In the edit window of the parameter editor choose the "Default" button.
Factory setting of a data set

By setting parameter 4-PROG = 1 in subject area _86SY- System, the active data set in the RAM is reset to its factory defaults. Attention! The factory setting causes application data set 1 (traction and lifting drive, DRV_1) to be loaded. Pay attention to the terminal assignment and the functionality of the inverter module in this operation mode.
Finally, the factory setting in the RAM should be saved in a user data set by way of parameter 164-UMWR in subject area "_15FC-Initial commissioning". Caution: Saving the factory setting by way of 150-SAVE = START in subject area "_15FC-Initial commissioning" causes user data set 1 to be overwritten, because it is preset in the factory setting.
Factory setting of all user data sets (complete device in delivery condition)
DRIVEMANAGER: By setting parameter 4-PROG = 850 in subject area _86SY-System, the device is reset completely to its factory setting. This includes all user data sets. During this process communication with the DRIVEMANAGER is cut. Reconnect. KEYPAD: You can achieve the same effect by simultaneously pressing the two cursor keys on the KEYPAD KP200 while the inverter module is powering up. The KEYPAD displays "RESET". The reset takes approx. 30 seconds to restore the factory defaults of all user data sets. Then the device is ready to start again. User data set 1 is in the active data set (RAM). Attention! The factory setting causes application data set 1 (traction and lifting drive, DRV_1) to be loaded. Pay attention to the terminal assignment and the functionality of the inverter module in this operation mode.
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2.8
Loading device software
Loading new device software

With the DRIVEMANAGER a new device software release (firmware) can be loaded into the Flash-EPROM of the CDA3000. This means the software can be updated without opening up the inverter module. 1. To perform the update, connect the DRIVEMANAGER to the inverter module. 2. From the Tools menu choose "Load device software (firmware) ...". The DRIVEMANAGER then guides you through the further work steps. LEDs H2 and H3 are lit steadily during transfer of the firmware. When the transfer is completed successfully, LED H2 goes out provided no ENPO signal is applied.
1 2 3 4 5
Device software damaged (Bootstrap)

The Bootstrap button is not designed for frequent use, and so should not be pressed unnecessarily. Note: Do not press the button beyond its contact point, otherwise it may be permanently damaged.
If there is no software in the inverter module or if the connection was broken during downloading of a software program, the following procedure must be followed: 1. The required firmware (Hex file "3_xxx_xx.hex") must be present. 2. Start the firmware transfer. From the DRIVEMANAGER under Tools "Load device software (firmware) ...". 3. Select device type "CDA3000 (frequency inverter)". 4. Follow the prompt to set the device to Bootstrap mode. Bootstrap mode on the CDA3000: With the Boot key (2) pressed down, tap the button (1) briefly once. LED H2 goes out, if it was previously lit.
6 A
H1 H2 H3
(1)
CDA3000
X4
(2)
5. The DRIVEMANAGER prepares the device for the firmware transfer and erases the program memory (Flash-EPROM). Then LED H2 lights up in addition to LED H3 and the firmware is transferred. 6. The device reports "Software successfully transferred".
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7. A new connection is set up. Message: "Waiting for readiness" from 0...100 %. When the transfer is completed successfully, LED H2 goes out provided no ENPO signal is applied. 8. The CDA3000 automatically cancels Bootstrap mode.
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3 User interface and data structure

3.1 3.1.1 3.1.2 3.1.3 3.2 3.3 3.4 3.4.1 3.4.2 3.5 Data structure .........................................................3-2 Application data sets ............................................3-4 User data sets ......................................................3-5 Characteristic data sets .......................................3-6 User levels in the parameter structure ..................3-7 Operation with KEYPAD KP200 .................................3-9 Operation with DRIVEMANAGER ...............................3-14 User screens ......................................................3-15 Parameter Editor ................................................3-20 Commissioning ......................................................3-21
2 3 4 5 6 A
The user interface and data structure of the CDA3000 is highly flexible, as a result of various user control variants and wide-ranging parameter-setting facilities. In this way an ordered data structure provides assistance in data handling and in setting the parameters of the CDA3000 inverter module. A special subject area containing the key parameters for safe operation of the drive provides assistance for quick and easy initial commissioning. The parameters of the inverter module can be set using the simple KEYPAD KP200 control unit or the user-friendly DRIVEMANAGER PC user software.
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3.1
Data structure
For parameter setting, individual parameters, parameter groups in subject areas or complete, predefined parameter data sets can be selected. These preset parameter data sets are termed application data sets (ADS). If the application data sets are modified by adaptations for the customer, the results are user data sets (UDS). Parameters can only be set in the active data set.
Application data sets (ADS) User data sets (UDS)
Traction and lifting drive (DRV_1) 001 MODE 999 xyz
Rotational drive (ROT_1) 001 MODE
User data set 1
User data set 2
WE=DRV_1
999 xyz
WE=DRV_1
Bus operation (BUS_1) 001 MODE 999 xyz
Master/Slave operation (M-S_1) 001 MODE
User data set 3
User data set 4
WE=DRV_1
999 xyz
WE=DRV_1
ROM
ROM
Save with 150-SAVE 164-UDSWR
Active data set

Traction and lifting drive
Load with 152-ASTER
Load with 165-UDSAC
001 MODE 999 xyz
Fahr- und lifting drive

Common parameters Characteristic CDS1 Characteristic CDS2
Customer parameter setting
RAM
VAL
Hz
stop return
start enter
D RIV EM AN AG ER
Figure 3.1
Data structure of the CDA3000
Explanatory notes: Parameters from subject area "_15FC-Initial commissioning". FS = Factory setting
3-2
Note:
Any change of parameters is made only in the RAM, and at the end must be saved to the ROM by means of parameter 150-SAVE in subject area "_15FC-Initial commissioning". To save the change, click on the "Save setting in device" button in the DRIVEMANAGER user software. The same effect is achieved by simultaneously pressing the two cursor keys on the KEYPAD KP200 control unit for approx. 2 seconds while at the menu level. At the menu level the display shows "MENU".
1 2 3 4 5 6 A
Parameters
The parameters are changeable variables which are all assigned a factory setting (FS). They have a fixed value range with a minimum and maximum value. The current parameter value is always displayed.
Subject areas
For ease of handling the parameters are bundled into parameter groups. The parameter groups are termed subject areas, and contain the software functions of the CDA3000 inverter module.
Initial commissioning
Process controller
Commissioning
Remagnetization Modulation
Current-controlled startup
Current controller
Error messages Warning messages Control location Reference structure Clock input/clock output Digital outputs Digital inputs Analog output Analog inputs Actual values Device data
Device capacity utilization
DC holding DC braking
Master/Slave operation
Characteristic switchover
Driving sets Fixed frequencies

Driving profile generator
KP 200 Power failure bridging Motor protection Option modules LUSTBUS
MOP function Motor holding brake
Frequency limitation
Inputs/ outputs
Protection and information
SIO and options
Open-loop and closed-loop control functions
Anti-oscillation Up synchronization Current injection Slip compensation

I x R load compensation
Current controller Speed controller SFC
Current controller Speed controller FOR Encoder evaluation
VF characteristic
VF characteristic
Sensorless Flux Control Field Oriented Regulation
Sensorless Flux Control Field Oriented Regulation
Figure 3.2
Subject areas for function-oriented operation of the inverter module.
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3.1.1 Application data sets
Application data sets (ADS) are preset, complete parameter data sets which are provided to handle a wide variety of application-typical movement tasks. Loading an application data set into the RAM automatically configures the inverter module (see Figure 3.1). All subject areas, including the signal processing inputs and outputs, are preset to the chosen solution. Using an application data set makes commissioning of the inverter module much quicker and easier. By changing individual parameters, the application data sets can be adapted to the needs of the specific task. These modified application data sets are stored in the device as user data sets. This helps you quickly achieve your desired motion solution. A total of 15 application data sets cover the typical areas of application of the CDA3000 inverter module.
Application data sets and typical applications:

Application data set Application
Traction and lifting drive Rotational drive Bus operation Master/Slave operation
Table 3.1
Conveyor belt, rack, trolley, spindle and lifting gear drives Spindle, extruder and Winding drives or centrifuges Integration of the inverter system in a network via CANLust, CANopen or Profibus-DP Reference coupling of several inverter modules
Typical uses of the application data sets
Note:
The factory setting (FS) is application data set 1 of the "traction and lifting drive" category. It is automatically loaded and activated the first time the unit is started. After every subsequent start the selected user data set is loaded.
3-4
3.1.2 User data sets
When the application data set has been adapted to the respective application, the resultant new data set must be saved as a custom setting in the user data set. It is not possible to store the data in a factory predefined application data set (see Figure 3.1). Four user data sets (UDS) can be managed in the inverter module, with one user data set containing two subordinate characteristic data sets (CDS). The user data sets managed by the inverter can be selected and activated via the KEYPAD, DRIVEMANAGER, by bus access or via terminals. Online switching (drive started) between the user data sets is not possible. For a user data set switchover the "ENPO" signal can remain set but the power stage of the inverter module must be inactive, i.e. no start signal must be applied. The switchover takes approximately 2 to 3 seconds. The "completed" signal for the switchover can be delivered to a digital output. Note: It is not possible to switch user data sets online.
1 2 3 4 5
Example of switchover via terminals:

Terminal 1 Terminal 2
User data set 1 001 MODE 999 xyz
User data set
6 A
0 1 0 1
Table 3.2
0 0 1 1
Example of selection of user data sets via terminals
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3.1.3 Characteristic data sets
Each user data set and the application data sets may contain a second characteristic data set. The switch can be made to this second characteristic data set by terminals when a frequency limit is reached when the direction is reversed or by bus access. Note: Online switching between characteristic data sets CDS1 and CDS2 is possible.
The following subject areas contain parameters for the second characteristic data set:
Subject area Parameter
Reference structure Driving profile generator Current-controlled startup V/F characteristic IxR load compensation Slip compensation Current injection Magnetization Speed controller SFC Speed controller FOR Analog inputs Process controller
Table 3.3
Min., max. and fixed frequency Ramps All parameters All parameters All parameters All parameters All parameters All parameters All parameters All parameters Scaling Controller parameters
Characteristic data set dependent parameters
3-6
3.2
User levels in the parameter structure
By means of the parameters the inverter module can be fully adapted to the application task. In addition there are parameters for the internal variables of the inverter module which, for the sake of general operating safety, are protected against user access. The user levels are set by way of parameter 01-MODE in subject area "_36KP-KEYPAD". The number of editable and displayable parameters changes depending on the user level. The higher the user level the greater the number of accessible parameters. In contrast, users are presented with a more concise range of those parameters which are really required, allowing them to find their specific solution more rapidly. Consequently, choosing as low a user level as possible makes operation significantly easier. Note: The user levels protect against unauthorized access. Consequently, in parameter setting with the KP200 user level 01MODE=2 is activated approximately 10 minutes after the last key press.
1 2 3 4 5 6 A
Whether a parameter can be only viewed, or viewed and edited, on the current user level is indicated by symbols.
in DRIVEMANAGER in KEYPAD -S-E-E- (flashing) Table 3.4 Description Parameter display only (shown) Parameter editable (edit) Parameter being edited (edit)
Indication of whether a parameter is editable
Error ATT1
If a user attempts to edit a display-only parameter in the KEYPAD, access is denied and a warning message ATT1 is displayed. The warning message can be reset by pressing the Start/Enter key. More user error and fault messages are detailed in the Appendix.
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Changing user level

If a higher user level is selected by way of parameter 01-MODE, a prompt for the associated password is automatically delivered. The password can be changed by way of a password parameter in subject area "_36KPKEYPAD" (setting "000" = password disabled).
Target group Password parameters Comments No access permission, for status monitoring only Layman No parameter No parameter setting Display of basic parameters With basic knowledge for minimal operation Beginner 362-PSW2 Expanded basic parameters editable Expanded parameter display For commissioning and field bus connection Advanced 363-PSW3 Parameter setting for standard applications Expanded parameter display With control engineering skills Expert Other Specialist personnel
1)
User level 01-MODE
Password in FS 1)
000
000
364-PSW4 365-PSW5 367-PSWCT
All control parameters editable Expanded parameter display For system integrators For operation and commissioning by KEYPAD KP 200
4 5 CTRL menu
000 573
FS = Factory setting Table 3.5 Setting user levels via subject area "_36KP-KEYPAD"
If a password is set for user level 2 ... 4, viewing and parameter editing at the relevant user level via KP200 is retained until the switch is made to a lower user level. For this, a new user level must be selected via parameter 01-MODE.
Changing the password for a user level

A password can only be changed for the authorized levels - passwords to a higher user level cannot be viewed or changed. The password is changed by selecting the parameter, editing it and then saving it by pressing the Enter key on the KEYPAD KP 200. It can also be changed by way of the DRIVEMANAGER. The password is not activated until you switch to a lower user level. Note: Please make a note of any change of password and keep your passwords safe from third parties.
3-8
3.3
Operation with KEYPAD KP200
Mounting and connection of the KEYPAD

KP200 KP200
X4
1
3m max .
stop return
start enter
b)
2 3
a)
4
Figure 3.3 Mounting of the KEYPAD: a) on the CDA3000 inverter module (connector X4) or b) on the switch cabinet door
Controls and displays

(1)
(1)
SMART CARD
5
SMARTCARD chipcard to save and transfer settings 3-digit display, e.g. for parameter number, Current menu 5-digit display for parameter name and value Acceleration or braking ramp active
6 A
(2) (3) (4)

(5)
VAL
(2) (3) (4)
(5)
Hz
(6)
stop return start enter
(6)
Bar graph display, 10-character
start enter
Call up menu branches or parameter; Save changes; Start in "Control drive" mode Quit menu branches; Cancel changes; Stop in "Control drive" mode Select menu, subject area or parameter; Increase setting Select menu, subject area or parameter; Reduce setting
stop return
Figure 3.4
Operating and display elements of the KEYPAD KP200
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Menu structure
The KEYPAD KP200 has a user-friendly menu structure which is identical to that of the KP100 for the SMARTDRIVE VF1000 inverters and the MASTERCONTROL SERVOCONTROLLERS.
VAL
Actuals select display Capacity indicator
PARA
Subject area select Parameter select change Initial commissioning Drive
CTRL
CARD
SMARTCARD read write write protection
control
Figure 3.5
Functions of the menus
On the menu level ("MENU" display) you can use the cursor keys to switch between menus. Press the Start/Enter key to open a menu and the Stop/Return key to quit the menu.
VAL
PARA
CTRL
CARD
start enter stop return stop return
start enter stop return
start enter
Figure 3.6
Navigation at menu level
Note:
Any change of parameters in the "PARA" menu branch is made only in the RAM, and at the end must be saved to the ROM. At the menu level, this is done by simultaneously pressing the two cursor keys for approx. 2 seconds.
3-10
VAL
VAL
PARA
PARA
CTRL
CTRL
CARD
CARD
1
start enter
A
start enter stop return start enter stop return start enter
2 3
VAL
PARA
CTRL
CARD
B
stop return stop return
%VA -1 hmin Hz/s
start enter stop return stop return
start enter
0...9
VAL PARA CTRL CARD
C
start enter stop return stop return start enter start enter stop return stop return start enter
4 5
0...9
CTRL
CARD
VAL
PARA
%VA
start enter
6
Select CARD menu ((load/save with SMARTCARD) READ = load SMARTCARD WRITE = save to SC LOCK = + write protection UNLOCK = - write protection Select parameter area, start with Start/Enter key
MP
A B
Select VAL menu (display actuals) Display continuous actual value, use cursor key to switch to ...
Select PARA menu (parameter setting) Select subject area
Select CTRL menu (control drive via KEYPAD) Drive stopped (where appropriate password prompt with display PASSW, factory setting = no password) Enter reference
C D
Next actual value Display actual value
Select parameter
Display parameter value and Start drive with Start/Enter, Function terminated without change as necessary use cursor keys to change error reference value (MP = MOP function) Table 3.6 Menu structure of the KEYPAD KP200 at a glance
For more information on operation with the KEYPAD refer to the KEYPAD KP200 Operation Manual. DE EN FR
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Exponential value display

The five-digit parameter value display is in exponential format. The reference input in the CTRL menu is likewise entered and displayed in exponential format.
Exponent
VAL PARA CTRL CARD
Exponential value
Base value
Hz
Figure 3.7
Exponential representation on the KP200 display
The exponential format is easy to work with if you view the exponential value as a "decimal point shift factor".
Exponential value Positive Negative Table 3.7
Direction of decimal point shift in base value To right Value increases To left Value decreases
Exponential value as "decimal point shift factor"
The decimal point is shifted in the base value by the number of places according to the exponential value.
Example:
VAL PARA CTRL CARD
Decimal point shifted by one place to the left
Hz
-1 Hz = 5.763 Hz 57.63 2 Hz = 5763 Hz 57.63
Decimal point shifted by two places to the right

VAL PARA CTRL CARD
Hz
3-12
Firmware Up to V. 3.2 From V. 3.3 Only exponential view
Display of parameter values
1 2 3 4 5 6 A
PARA menu: The figures are represented with a 0 in the exponent, provided no data loss results. VAL menu: The figures are always represented with a 0 in the exponent, even if a loss of accuracy results.
Table 3.8
Exponential representation on KP200 depending on firmware version
SMARTCARDS
SMARTCARDS are created depending on the firmware of the CDA3000 drive controller. When the firmware is upgraded in line with a new version of the device software, the upgrade is automatically imported into the SMARTCARD when saving ("WRITE"). SMARTCARDs are therefore always upwardly compatible. Note: SMARTCARDS created with a firmware >V.3.00 cannot be imported into devices with firmware >V.3.00. This requires a SMARTCARD created with firmware version V.2.15.
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3.4
Operation with DRIVEMANAGER
Connection and startup

Connect the interface cable and switch on the power supply to the drive unit. When the program starts the DRIVEMANAGER automatically connects to the attached drive unit (at least V2.3).
The quick route to a drive solution
If the connection setup does not occur automatically, check the settings in the Tools > Options menu and start the connection setup with the icon.
H1 H2 H3
ANTRIEBSTECHNIK
D-35633 Lahnau
X4
Typ: Netz: Ausg.:
SN.: 000.000.00000000
X1
U V W
X2
!
ACHTUNG WARNING ATTENTION Kondensatorent- capacitor disscharge temps de decharge ladezeit >3 Min. time >3 minutes. du condensteur Betriebsanleitung Pay attention to the >3 min. observer le beachten! operation manual! mode dmploi!
RB+ RB L-
yy ;;
RS232
X4
3m m ax
RS232
D RIV E M AN AG ER
L1 L2 L3
X3
Figure 3.8
Connection via RS232 interface cable (9-pin, plug-andsocket)
The key functions

Icon Function Menu
Connect to device For more information refer to the DRIVEMANAGER Operation Manual
Communication > Connect > Single device
Change device settings
Active device > Change settings
Print parameter data Active device > Print settings set Active device > Open-loop control > Basic operation modes, no position references Active device > Monitoring > Quickly changing digital scope values Active device > Save device settings to
Control drive
Digital scope Save settings from device to file
3-14
Icon
Function
Menu
Load settings from file into device Bus initialization (change settings) Disconnect from device
Active device > Load device settings from
1 2 3 4 5 6 A
Communication > Bus configuration Communication > Disconnect
Compare device setActive device > Compare settings tings
Note:
For more information refer to the DRIVEMANAGER Operation Manual.
3.4.1 User screens
DRIVEMANAGER Quick access to CDA3000 setup window or from the menu: Active device > Change settings
Figure 3.1
CDA3000 setup in minimized view
On the "CDA3000 setup" screen the frequency inverter parameters can be set.
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Figure 3.2
CDA3000 setup in expanded view
Note:
The settings for the various preset solutions are described in section 4. The setting options offered by the software functions (inputs/ outputs, loop control, etc.) are described in section 5.
Note:
Any changes to the parameters are effected only in the volatile memory, and must be saved subsequently in the device by way of the "Save setting in device" button. The same effect is achieved by simultaneously pressing the two cursor keys on the KP200 control unit for approx. two seconds while at the menu level (see section 3.3).
3-16
Screen operation
For example:
1 2 3 4 5
Figure 3.3
Example of screen operation
6 A
Functions of buttons:
Apply change and close screen Reject change and close screen Apply change (activate) and leave screen open. Optional settings for the relevant function
Explanation of setting
For example:
OFF (1) = No function
Function (max. five characters), Display on KP200
Setting via field bus
Plain text display of function
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Help function
In any input dialog box a Help function providing further information on the parameter can be called up by pressing the F1 key. e.g. function selector screen, analog default input
Figure 3.4
Identifier
Parameter number: Abbreviation:
Number of parameter Name, max. KP200) five characters (displayed in
Figure 3.5
Value range
Minimum/Maximum: Factory setting:
The value must be within this range (here: between OFF and /E-EX). After a device reset to the factory setting (FS) this value is automatically entered.
3-18
1 2 3
Figure 3.6 Access
4
Subject area: Read level: Write level: For ease of handling the individual parameters are grouped into subject areas. At this level or above the parameter can be read. At this level or above the parameter can be edited.
5 6 A
Figure 3.7
Format
For more information on the data and memory types, refer to Appendix A.
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3.4.2 Parameter Editor
Parameter Editor
The Parameter Editor contains all the parameters of the device, divided into subject areas, as on the KP200 control unit. The reason for this is to provide experienced users with access to all the parameters of the device (depending on their user level). Note that changes to individual parameters may possibly not be supported by the preset solution.
Subject areas
For ease of handling the individual parameters are grouped into subject areas (parameter groups).
Parameter
The parameters are changeable variables which are all assigned a factory setting (FS). They have a fixed value range with a minimum and maximum value. The current parameter value is always displayed. Menu: Tools Parameter Editor
Figure 3.8
Parameter Editor
Note:
Full use and parameterization of modified software is possible only with the Parameter Editor.
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3.5
Commissioning
Procedure for commissioning with the aid of the Application Manual 1. Initial commissioning based on Operation Manual:
The precondition is initial commissioning with the aid of the Operation Manual. The user manual only covers adaptation of the software functions. If the settings from the initial commissioning based on the Operation Manual are not adequate for your application:
1 2 3 4 5 6 A
2.
Selection of the optimum application data set

The application data sets record the typical applications of the CDA3000 inverter module. See table with overview of application data sets (see section 4.2, "Selection of application data set"). The application data set which best covers the specific application is selected.
3.
Custom adaptation of the application data set to the application

The application data sets serve as the starting point for application-oriented adaptation. Other function adaptations are made to the parameters in the function-oriented subject areas (see Figure 3.2 in section 3.1 "Data structure"). Save your settings in the device.
4.
Checking the set application solution

To preserve the safety of personnel and machinery, the application solution should only be checked at low speed. Make sure the direction of rotation is correct. In case of emergency the inverter power stage can be disabled, and the drive stopped, by removing the ENPO signal.
5.
Concluding commissioning
When you have successfully completed commissioning, save your settings (using the SMARTCARD or DRIVEMANAGER) and store the data set in the device.
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Note:
As from DRIVEMANAGER V3.0 the parameters are set by way of graphical menus which guide you through the commissioning process.
3-22
4 Application data sets

1
4.1 4.2 4.3 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5 4.3.6 4.4 4.4.1 4.4.2 4.4.3 4.4.4 4.4.5 4.4.6 4.4.7 4.5 4.5.1 4.5.2 4.5.3 4.5.4 4.5.5 4.5.6 4.6 4.6.1 4.6.2 4.6.3 4.6.4 4.6.5 Activating an application data set .........................4-3 Selecting the application data set ..........................4-4 Traction and lifting drive ........................................4-8 DRV_1 ...............................................................4-10 DRV_2 ...............................................................4-12 DRV_3 ...............................................................4-15 DRV_4 ...............................................................4-19 DRV_5 ...............................................................4-22 Comparison of parameters, traction and lifting drive .....................................4-26 Rotational drive .....................................................4-29 ROT_1 ...............................................................4-32 ROT_2 ...............................................................4-34 ROT_3 ...............................................................4-36 ROT_4 ...............................................................4-39 ROT_5 ...............................................................4-41 ROT_6 ...............................................................4-43 Comparison of parameters, rotational drives ......4-46 Field bus operation ...............................................4-50 BUS_1 ...............................................................4-52 BUS_2 ...............................................................4-53 BUS_3 ...............................................................4-55 BUS_4 ...............................................................4-57 BUS_5 ...............................................................4-58 Comparison of parameters, field bus operation .............................................4-60 Master/Slave operation ........................................4-62 M-S_1 ...............................................................4-66 M-S_2 ...............................................................4-68 M-S_3 ...............................................................4-70 M-S_4 ...............................................................4-72 Comparison of parameters, Master/Slave operation ......................................4-74
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2 3 4 5 6 A
The inverter module contains preset solutions for the most frequent applications (so-called "application data sets"). The object of these presets is to find the optimum device setup for the application with minimal parameter setting. Based on the application-specific basic settings for the "traction and lifting drive" and "rotational drive" categories, all software functions relevant here are already optimized to those applications. With additional basic settings the inverter module can be very easily be preset for field bus operation or for network operation with several inverter modules (Master/Slave operation). Within these four presets, the inverter module offers users the possibility of selecting various control terminal settings. In this way the inputs and outputs of the inverter module are adapted to the signals required in the process. With the total of 20 available presets the inverter module can be adapted with a small number of parameters to virtually any application, thereby greatly reducing commissioning times.
4-2
4.1
Activating an application data set
By means of assistance parameter 152-ASTER, in subject area "_15FCInitial commissioning", a preset application data set is activated in the inverter module. This means that the presets for the application in question are loaded. Parameter 151-ASTPR, in subject area "_15FC-Initial commissioning", always retains the original device preset as its display value when an application data set is edited.
152-ASTER 151-ASTPR DRV_1 DRV_2 DRV_3 DRV_4
5 x traction and lifting drive
1 2 3 4 5
Best possible presetting
Requirements of the application
DRV_5
ROT_1 ROT_2 ROT_3 ROT_4 ROT_5 ROT_6

6 x rotational drive
6
5 x field bus operation
BUS_1 BUS_2 BUS_3 BUS_4 BUS_5
M-S_1 M-S_2 M-S_3 M-S_4

4 x Master/Slave operation
Figure 4.1
Activating a preset with assistance parameter 152-ASTER in subject area "_15FC-Initial commissioning"
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4.2
Selection of application data set
Application data set: traction and lifting drive (activated by 152-ASTER = DRV_x)
DRIVE
DRV_1
Quick jog/slow jog driving profile Process messages
Conveyor belt
m2
DRV_2
Quick jog/slow jog driving profile Characteristic data set switchover User data set switchover Process messages
Rack drive
m2
DRV_3
Quick jog/slow jog driving profile User data set switchover Limit switch evaluation Process messages
Spindle drive
m2
DRV_4
Time-optimized driving profile (fixed frequency) User data set switchover Encoder evaluation Process messages
Trolley drive
m2
DRV_5
Time-optimized driving profile Table sets for fixed frequencies User data set switchover Encoder evaluation Limit switch evaluation Process and warning messages
Lifting drive
Table 4.1
Area of application: Traction and lifting drive
Note:
Application data set DRV_5 requires user module UM-8I40 at option slot 1 (terminal X6).
4-4
Application data set: Rotational drive (activated by 152-ASTER = ROT_x)
ROTATION
ROT_1
Analog speed input Speed adjustment via button (MOP function) Process messages Analog speed input
1 2 3 4 5 6 A
yy @@ ;; yy @@ ;;
Extruder Spindle drive
ROT_2
Analog speed correction Encoder evaluation Process message Analog speed input
ROT_3
Analog speed correction Table sets for fixed frequencies User data set switchover
Rotational drive
Encoder evaluation Process and warning messages Stirrer Analog speed input Analog speed correction ROT_4 Fixed frequencies Process messages Process controllers Analog actual value recording Analog speed reference input ROT_5 Process messages Characteristic data set switchover Winding drive ROT_6 Functionality of VF1000 Analog speed input Fixed frequencies Process messages Uniform acceleration and deceleration ramps
Table 4.2
Area of application: Rotational drive
Note:
Application data set ROT_3 requires user module UM-8I40 at option slot 1 (terminal X6). DE EN FR
4-5
Application data set: Field bus operation (activated by 152-ASTER = BUS_x)
FIELD-BUS
Field bus CANLust CANopen Profibus DP
BUS_1
Field bus operation Operation mode VFC or optionally SFC Field bus operation
BUS_2
Operation mode VFC or optionally SFC Select Manual mode - Quick jog driving profile - Analog speed input Process messages
PLC
CDA
Field bus operation
BUS_3
CDA
Field bus operation Limit switch evaluation Select Manual mode - Quick jog driving profile - Analog speed input
CDA
Process messages
Field bus operation BUS_4 Operation mode FOR
Field bus operation Operation mode FOR BUS_5 Select Manual mode - Quick jog driving profile - Analog speed input Process messages Table 4.3 Area of application: Field bus operation
Note:
The "field bus operation" application requires the appropriate communication module at option slot 2 (terminal X7).
4-6
Application data set: Master/Slave operation (activated by 152-ASTER = M-S_x)
MASTER-SLAVE
M-S_1
Master Digital guide value input Adjustment of guide value via button (MOP function) Analog speed input Process messages Process messages
1 2 3 4 5 6 A
Master/Slave
M-S_2
Master Digital guide value input Analog speed input Encoder evaluation Process messages
CDA3000 Master
CDA3000 Slave
M-S_3
Slave Digital guide value recording Adjustment of guide value via button (MOP function) Process messages
CDA3000 Slave
CDA3000 Slave
M-S_4
Slave Digital guide value recording Encoder evaluation Process messages
Table 4.4
Area of application: Master/Slave operation
4-7
DE EN FR
4.3
Loading one of the application data sets DRV_1 to DRV_5 into the RAM by setting parameter 152-ASTER, in subject area "_15FC-Initial commissioning", causes the inverter module automatically to adopt the preset software functions as well as the presets for all the inputs and outputs for the traction and lifting drive application area.
Active functions in the preset

152-ASTER = DRV_1 DRV_2 DRV_3 DRV_4 DRV_5 Function
v
Quick jog driving profile
v
Quick jog/slow jog driving profile
v
Table sets with fixed frequencies and ramps
Characteristic data switchover

t t
1
001 MODE
2
001 MODE
User data set switchover
999 xyz
999 xyz
Table 4.5
Traction and lifting drive presets
4-8
4 Application data sets 152-ASTER = DRV_1 DRV_2 DRV_3 DRV_4 DRV_5 Function
1 2 3 4 5 6
Limit switch evaluation
3~
Motor brake actuation
M 3~
Encoder evaluation (necessary for control mode FOR)
Messages: Ready to start Speed reached Warnings: Inverter module overloaded 80% of IN reached Motor overloaded Inverter ambient temperature too high Table 4.5 Traction and lifting drive presets
Aster DRV_1 DRV_2 DRV_3 DRV_4 DRV_5 Table 4.6
Summary description "Quick jog/slow jog driving profile" "Quick jog/slow jog driving profile with switchover" "Quick jog/slow jog driving profile with limit switch evaluation" "Clock drive with fixed frequency and encoder evaluation" "Clock drive with fixed frequencies, encoder and limit switch evaluation"
Page reference Page 4-10 Page 4-12 Page 4-15 Page 4-19 Page 4-22
Page reference to summary description of DRV_x
4-9
DE EN FR
4.3.1 DRV_1

Preset 1 for traction and lifting drives
Function Clock drive with time-optimized quick jog driving profile or Quick jog/slow jog driving profile Motor holding brake actuation BRK_1 Application Conveyor belt Trolley drive Rack drive Spindle drive etc.
X2 20
K0 +24V
Des. OSD02/14 OSD02/11 OSD02/12 DGND OSD01 OSD00 DGND UV ISD03 ISD02 ISD01 ISD00 ENPO UV UV OSA00
14 11 12
Function Relay contact for "Ready" message
19 18 17
Digital ground "Reference reached" message Output for motor holding brake Digital ground Auxiliary voltage 24 V Not assigned Selection of slow jog Start/Stop quick jog anti-clockwise Start/Stop quick jog clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX 0 ... 10 V corresponds to 0 ... FMAX Analog ground 0 ... 10 V corresponds to 0 ... FMAX Not assigned Not assigned Reference voltage 10 V, 10 mA
M 3~
H1 K1
16 15 14 13 12
S1 STL STR ENPO
11 10 9 8 7 6
0 ... 10 V
N1
+ 4 3 2 1 AGND ISA01 ISA00 UR
Figure 4.2
Control terminal assignment with ASTER = DRV_1
4-10
The parameter presets for application data sets DRV_x are located as parameter comparison references in section 4.3.6 "Comparison of parameters, traction and lifting drive". Input signals
303-FMAX1 270-FFIX1 590-ACCR1 592-DECR1
1 2 3
f [Hz] v [m/s] 0
594-STPR1
- 303-FMAX1
STR STL S1 (1)
1 0 1 0 1 0 1 0
4 5 6 A
t [ms] (1) DC braking torque, subject area _68HO

Figure 4.3 Example of a quick jog/slow jog driving profile for two directions of rotation (ASTER = DRV_1)
Output signals
f [Hz] v [m/s] 0
H1 0 K1 0
1
t [ms]
H1 Speed reached K1 Motor holding brake Figure 4.4 Output signals dependent on driving profile (ASTER = DRV_1 to DRV_5)
4-11
DE EN FR
4.3.2 DRV_2
Quick jog/slow jog driving profile with switchover

Function Clock drive with time-optimized quick jog driving profile or Quick jog/slow jog driving profile Application switchover Switchover of setting when load changed Motor holding brake actuation BRK_1 Application Conveyor belt Trolley drive Rack drive Spindle drive Lifting drive etc.
X2 20
K0 +24V
Des. OSD02/14 OSD02/11 OSD02/12 DGND OSD01 OSD00 DGND UV ISD03 ISD02 ISD01 ISD00 ENPO UV UV OSA00 AGND ISA01 ISA00 UR
14 11 12
19 18 17
Digital ground "Reference reached" message Output for motor holding brake Digital ground Auxiliary voltage 24 V Characteristic data set switchover Selection of slow jog Start/Stop quick jog anti-clockwise Start/Stop quick jog clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX 0 ... 10 V corresponds to 0 ... FMAX Analog ground User data set switchover User data set switchover Reference voltage 10 V, 10 mA
M 3~
H1 K1
16 15 14 13
S4 S3 STL STR ENPO
12 11 10 9 8 7 6
0 ... 10 V
N1
+ S2 S1
4 3 2 1
Figure 4.5
4-12
Note:
After setting the parameters of the user data sets, change parameter value 166-UDSSL from PARAM (KEYPAD, DRIVEMANAGER) to TERM (terminal operation) and save (see section 5.1 "_15FC-Initial commissioning").
1 2
The parameter presets for application data sets DRV_x are located as parameter comparison references in section 4.3.6 "Comparison of parameters, traction and lifting drive".
3 4 5
When interconnecting analog and digital ground, refer to the notes in section 2.6 "Isolation concept". Electromagnetically compatible wiring is essential, and must be provided. Input signals
f [Hz] v [m/s] 0
594-STPR1
- 303-FMAX1
6 A
STR STL S1 (1)
1 0 1 0 1 0 1 0
t [ms]
(1) DC braking torque, subject area _68HO Figure 4.6 Example of use of the control terminal presetting with ASTER = DRV_2
The output signals are shown in section 4.3.1 "DRV_1", Figure 4.4.
4-13
DE EN FR
User data set switchover (switchable offline)

S1 0 1 0 1 Table 4.7 S2 0 0 1 1 Active UDS UDS 1 for application 1 UDS 2 for application 2 UDS 3 for application 3 UDS 4 for application 4 Example x-axis, traction drive y-axis, traction drive z-axis, lifting drive Sorting belt
Characteristic data set switchover (switchable online)

S4 0 1 Table 4.8 Active characteristic data set Characteristic data set 1 Characteristic data set 2 Characteristic data set switchover Example Lifting drive with load Lifting drive without load
4-14
4.3.3 DRV_3
Quick jog/slow jog driving profile with limit switch evaluation

Function Clock drive with time-optimized quick jog driving profile or Quick jog/slow jog driving profile Application switchover Evaluation of safety limit switches Motor holding brake actuation BRK_1 Application Rack drive Spindle drive Trolley drive Lifting drive etc.
1 2 3 4 5 6 A
X2 20
K0 +24V
14 11 12
19 18 17
Digital ground "Reference reached" message Output for motor holding brake Digital ground Auxiliary voltage 24 V Limit switch left Limit switch right Start/Stop quick jog anti-clockwise Start/Stop quick jog clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX 0 ... 10 V corresponds to 0 ... FMAX Analog ground Selection of slow jog User data set switchover Reference voltage 10 V, 10 mA
M 3~
H1 K1
16 15 14 13
S4 S3 STL STR ENPO
12 11 10 9 8 7 6
0 ... 10 V
N1
+ S2 S1
4 3 2 1
Figure 4.7
4-15
DE EN FR
Note:
f [Hz] v [m/s] 0
594-STPR1
- 303-FMAX1
STR STL S1 (1)
1 0 1 0 1 0 1 0
t [ms] (1) DC braking torque, subject area _68HO

Figure 4.8 Example of use of the control terminal preset with ASTER = DRV_3
4-16
1 2 3 4 5 6 A

S1 0 1 Table 4.9 Active UDS UDS 1 for application 1 UDS 2 for application 2 User data set switchover Example x-axis, traction drive z-axis, lifting drive
4-17
DE EN FR

S4 S3
Figure 4.9
Example of a limit switch evaluation
303-FMAX1
f [Hz] 0
592-DECR1
590-ACCR1
- 303-FMAX1
STR STL S3 S4
1 0 1 0 1 0 1 0
t [ms]
Figure 4.10 Limit switch evaluation of S4 and S3
Example: Limit switch right resets Start Clockwise. Resetting of Start Clockwise is not evaluated. The Start Anti-clockwise command can be used to move out of the limit switch zone. Note: Overriding the limit switches is not permitted! For this reason, a mechanical override guard must be provided. The limit switches are evaluated on the basis of evaluation of static signals and not based on signal edges, so an override is not evaluated.
4-18
4.3.4 DRV_4
Clock drive with fixed frequency and encoder evaluation

Function Clock drive with time-optimized driving profile Switchover for application Encoder evaluation Motor holding brake actuation BRK_1 Application Conveyor belt Rack drive Spindle drive Trolley drive Lifting drive etc.
1 2 3
Function
14 11 12
X2 20
K0 +24V
19 18 17
Relay contact for "Ready" message
4 5 6 A
Digital ground "Reference reached" message Output for motor holding brake Digital ground Auxiliary voltage 24 V Encoder track B Encoder track A Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX 0 ... 10 V corresponds to 0 ... FMAX Analog ground User data set switchover User data set switchover Reference voltage 10 V, 10 mA
~
N2
M 3~
H1 K1
16 15 14 13
(1)
B A STL STR ENPO
12 11 10 9 8 7 6
0 ... 10 V
N1
+ S2 S1
4 3 2 1
(1) The encoder is evaluated only in control mode FOR. For notes on the encoder, see Figure 4.12 or section 6.3.1 "_79ENEncoder evaluation" Figure 4.11 Control terminal assignment with ASTER = 4
4-19
DE EN FR
Note:
When interconnecting analog and digital ground, refer to the notes in section 2.6 "Isolation concept". Electromagnetically compatible wiring is essential, and must be provided.
Attention!
When control mode FOR is changed to VFC in parameter 300-CFCON, it is essential that the response at reference value 0 Hz in parameter 597-RF0 should be set to OFF, otherwise current will be continuously applied to the motor in uncontrolled mode while at standstill. This may result in the motor overheating.
Encoder
A HTL encoder (see Figure 4.12) can be connected to terminals X2:11 and X2:12.
Figure 4.12
Block diagram, HTL output circuit
4-20
Input signals
303-FMAX1 594-STPR1 590-ACCR1
1 2 3
f [Hz] v [m/s] 0
- 303-FMAX1
STR STL
1 0 1 0
t [ms]
Figure 4.13 Example of a quick jog driving profile for two directions of rotation (ASTER = DRV_4)
4 5 6
Example x-axis, traction drive y-axis, traction drive z-axis, lifting drive Sorting belt

S1 0 1 0 1 Table 4.10 S2 0 0 1 1 Active UDS UDS 1 for application 1 UDS 2 for application 2 UDS 3 for application 3 UDS 4 for application 4
4-21
DE EN FR
4.3.5 DRV_5
Clock drive with fixed frequencies, encoder and limit switch evaluation
Function Clock drive with time-optimized driving profile Selection of fixed frequencies Encoder evaluation Limit switch evaluation Switchover of applications Application Conveyor belt Rack drive Trolley drive Spindle drive Lifting drive
X2 20
K0 +24V
14 11 12
19 18 17
Digital ground "Reference reached" message Output for motor holding brake Digital ground Auxiliary voltage 24 V Encoder track B Encoder track A Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX 0 ... 10 V corresponds to 0 ... FMAX Analog ground Not assigned Not assigned Reference voltage 10 V, 10 mA
~
N2
M 3~
H1 K1
16 15 14 13
(1)
B A STL STR ENPO
12 11 10 9 8 7 6
0 ... 10 V
N1
+ 4 3 2 1
(1) The encoder is evaluated only in control mode FOR. For notes on the encoder, see Figure 4.12 or section 6.3.1 "_79EN-Encoder evaluation". Figure 4.14
4-22
Control terminals of user module UM-8I4O

X15 1 2 21
S1 S2 S3
H1 H2 H3
ANTRIEBSTECHNIK
Des. UV DGND UV IED00 IED01 IED02 IED03 IED04 IED05 IED06 Digital ground
Function 24 V supply +20%, 0.6 A
1 2 3 4 5 6 A
Auxiliary voltage 24 V Switch to driving sets Select driving sets for fixed frequencies (section 5.5.5 _60TB Driving sets) Limit switch right Limit switch left User data set switchover
22 23 24 25 26 27 28 29 30 31
D-35633 Lahnau
X4
S4 S5
U V W
18
19
20
X1
X2
S6
X15
1 2
17
S7 S8
12
13
14
15
16
OPTN1 (X6)
RB+ RB L-
!
ACHTUNG Kondensatorentladezeit >3 Min. Betriebsanleitung beachten! WARNING capacitor disscharge time >3 minutes. Pay attention to the operation manual! ATTENTION temps de decharge du condensteur >3 min. observer le mode dmploi!
IED07 DGND DGND OED00 OED01 OED02 OED03 Digital ground Digital ground Warning "Inverter module overloaded" Warning "Motor overloaded" Warning "80% of IN exceeded" Warning "Ambient temperature too high"
11
10
4 5
10
11
12
L1 L2 L3
X3
16 17 18 19 20
H2 H3 H4 H5
32 33 34 35
Figure 4.15
Assignment of control terminal expansion with ASTER = DRV_5
Note:
If limit switch evaluation is not required, the 24 V auxiliary voltage (UVV) should be jumpered from terminal X15:21 directly to terminals X15:26 and X15:27 of the limit switch inputs. As an alternative, both digital inputs can also be deactivated with function selectors 218-FIE04 and 219-FIE05 respectively, or be assigned a different function (see section 5.2.3).
Note:
4-23
DE EN FR
Note:
Signal evaluation of the digital inputs on the CDA3000 inverter module is state-controlled and on the terminal expansion module it is edge-controlled.
The parameter presets for application data sets DRV_x are located as parameter comparison references in section 4.3.6 "Comparison of parameters, traction and lifting drive". Input signals
v/t diagram
602-FFTB7 602-FFTB2 303-FMAX1 601-FFTB1 590-ACCR1 608-TACR0 609-TACR1 610-TACR2 604-FFTB4 594-STPR1 619-TDCR3 612-TACR4 615-TACR7
f [Hz] v [m/s] 0
600-FFTB0
611-TACR3
TDCR4 603-FFTB3
STR S1 S2 S3 S4
1 0 1 0 1 0 1 0 1 0
t [ms]
Figure 4.16 Example of use of table sets with fixed frequencies and ramps (ASTER = DRV_5)
4-24

S7 0 1 0 1 Table 4.11 S8 0 0 1 1 Active UDS UDS 1 for application 1 UDS 2 for application 2 UDS 3 for application 3 UDS 4 for application 4 Example x-axis, traction drive y-axis, traction drive z-axis, lifting drive Sorting belt
1 2 3 4 5 6 A
4-25
DE EN FR
4.3.6 Comparison of parameters, traction and lifting drive

I/O Parameter
Comparison of application data sets for traction and lifting drives with the factory setting (152-ASTER = DRV_1):
152-ASTER = Function DRV_1 (FS) DRV_2 DRV_3 DRV_4 DRV_5
Initial commissioning 151-ASTPR 152-ASTER 166-UDSSL 300-CFCON Driving profile generator 597-RF0 Response at reference value 0 Hz Function selector analog standard input ISA00 Function selector analog standard input ISA01 Function selector digital standard input ISD00 Function selector digital standard input ISD01 Function selector digital standard input ISD02 Function selector digital standard input ISD03 Function selector for analog output OSA00 Function selector digital standard output OSD00 Function selector digital standard output OSD01 Function selector digital standard output OSD02 Function selector digital input IED00 OFF 0 Hz 0 Hz CDA3000 inverter module inputs and outputs ISA00 ISA01 ISD00 ISD01 ISD02 ISD03 OSA00 OSD00 OSD01 OSD02 180-FISA0 181-FISA1 210-FIS00 211-FIS01 212-FIS02 213-FIS03 200-FOSA0 240-FOS00 241-FOS01 242-FOS02 OFF OFF STR STL SADD1 OFF AACTF BRK_1 REF S_RDY CUSEL /LCW /LCCW ENC ENC ENC ENC UM0 UM1 UM0 SADD1 UM0 UM1 Original device preset DRV_1 DRV_2 DRV_2 DRV_3 DRV_3 TERM DRV_4 DRV_4 TERM FOR DRV_5 DRV_5 TERM FOR Preset within the active application data set DRV_1 Control location for switchover of the active PARAM user data set Current open-loop/closed-loop control mode of the device VFC
User module UM-8I4O inputs and outputs IED00 214-FIE00 OFF SADD1
1) Only >V.3.30: After setting the parameters of the user data sets, change parameter value 166-UDSSL from PARAM (KEYPAD KP200, DRIVEMANAGER) to TERM (terminal operation).
Table 4.12
Automatic changes by means of the assistance parameter
4-26
4 Application data sets 152-ASTER = I/O IED01 IED02 IED03 IED04 IED05 IED06 IED07 OED00 OED01 OED02 OED03 Parameter 215-FIE01 216-FIE02 217-FIE03 218-FIE04 219-FIE05 220-FIE06 221-FIE07 243-FOE00 244-FOE01 245-FOE02 246-FOE03 280-RSSL1 289-SADD1 Function Function selector digital input IED01 Function selector digital input IED02 Function selector digital input IED03 Function selector digital input IED04 Function selector digital input IED05 Function selector digital input IED06 Function selector digital input IED07 Function selector digital output OED01 Function selector digital output OED01 Function selector digital output OED02 Function selector digital output OED03 Reference selector 1 Offset for reference selector 1 CDS1: Current-controlled startup function selector CDS2: Current-controlled startup function selector Characteristic data set switchover DRV_1 (FS) OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF FMAX 10 0 9 DRV_2 DRV_3 DRV_4 DRV_5 FFTB0 FFTB1 FFTB2 /LCW /LCCW UM0 UM1 WIIT WIT WIS WOTD
1 2 3 4 5
Reference structure
Current-controlled startup 640-CLSL1 645-CLSL2 CCWFR CCWFR OFF OFF OFF OFF
6 A
Characteristic data switchover 651-CDSSL OFF TERM
Table 4.12
Automatic changes by means of the assistance parameter An empty line means that the setting is the same as for DRV_1 (factory setting).
4-27
DE EN FR
Active functions with traction and lifting drive

Function IxR load compensation Effect In case of load surges a higher torque is available, and the motor heats up less Increase in starting torque VFC SFC FOR
Current injection
Protection against current overload Current-controlled starshut-off in acceleration from high tup with ramp stop mass moments of inertia Rotation of the motor shaft without load is counteracted. Increase in startup and standstill torque
from V2.1
DC holding Magnetization Table 4.13
Active functions
More details of the software functions and setting options are presented in section 5 "Software functions" and section 6 "Control modes".
4-28
4.4
Rotational drive
Loading one of the application data sets ROT_1 to ROT_3 into the RAM by setting parameter 152-ASTER causes the inverter module automatically to adopt the preset of the software functions as well as all inputs and outputs for the rotational drive application.
1 2

152-Aster = ROT_1 ROT_2 ROT_3 ROT_4 ROT_5 ROT_6 Function
3 4 5
v
Table sets with fixed frequencies and ramps
v
6 A
Speed input -10 to +10 V
Speed correction 0 to 10 V
n n
Speed change via button (MOP function)
Table 4.14
Presets: Rotational drives
4-29
DE EN FR
4 Application data sets 152-Aster = ROT_1 ROT_2 ROT_3 ROT_4 ROT_5 ROT_6 Function
Ref
t
Process controller, PR controller with analog actual/reference value
Act
1
001 MODE
2
001 MODE
999 xyz
999 xyz
Characteristic data switchover

t t
3~
Encoder evaluation (necessary for control mode FOR)
Messages: Reference reached Standstill Ready to start Warnings: Inverter module overloaded 80% of IN reached Motor overloaded Inverter ambient temperature too high Table 4.14 Presets: Rotational drives
4-30
Aster ROT_1 ROT_2
Summary description "Analog speed input" "Analog speed input with correction value and encoder evaluation" "Analog speed input with correction value and switchover to driving sets, encoder evaluation and user data set switchover" "Analog speed input with correction value and switchover to driving sets" "Process controller with analog speed input and night reduction" "Analog speed input with switchover to fixed frequencies (VF1000 compatible functionality)"
Page reference Page 4-32 Page 4-34
1 2 3 4 5 6 A
ROT_3
Page 4-36
ROT_4 ROT_5 ROT_6 Table 4.15
Page 4-39 Page 4-41 Page 4-43
Page reference to summary description of ROT_x
4-31
DE EN FR
4.4.1 ROT_1
Analog speed input

Preset 1 for rotational drive
Function Analog speed input for two directions of rotation Adjustment of speed via button (MOP function) Application Spindle Winding drive Vacuum pumps Extruder Stirrer etc.
X2 20
K0 +24V
14 11 12
19 18 17
Digital ground "Standstill" message "Reference reached" message Digital ground Auxiliary voltage 24 V Reduce speed Increase speed Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX Analog ground Not assigned Reference -10 V ... + 10 V Reference voltage 10 V, 10 mA
H2 H1
16 15 14 13
S2 S1 STL STR ENPO
12 11 10 9 8 7 6
0 ... 10 V
N1
+ -
5 4 3 2 1
R1 10 k
Figure 4.17
Control terminal assignment with ASTER = ROT_1
4-32
The parameter presets for application data sets ROT_x are located as parameter comparison references in section 4.4.7 "Comparison of parameters, rotational drives". Input signals
1 2
v/t diagram
(1) (1) 590-ACCR1 592-DECR1
f [Hz] v [m/s] 0
590-ACCR1
592-DECR1 590-ACCR1 592-DECR1
3 4 5
STR STL S1 S2
1 0 1 0 1 0 1 0
t [ms]
(1) Reference value of ISA00 Figure 4.18 Example of a driving profile for two directions of rotation (ASTER = ROT_1)
6 A
Output signals
f [Hz] v [m/s] 0
H1 H2
1 0 1 0
t [ms]
H1 Speed reached H2 Standstill Figure 4.19 Output signals dependent on driving profile (ASTER = ROT_1, ROT_2 and ROT_3)
4-33
DE EN FR
4.4.2 ROT_2
Analog speed input with correction value and encoder evaluation

Preset 2 for rotational drives
Function Analog speed input for two directions of rotation Adjustment of speed via correction value Encoder evaluation Application Spindle Winding drive Extruder etc.
X2 20
K0 +24V
14 11 12
19 18 17
Digital ground "Standstill" message "Reference reached" message Digital ground Auxiliary voltage 24 V Encoder track B Encoder track A Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX Analog ground Correction value 0 V ... + 10 V Reference -10 V ... + 10 V Reference voltage 10 V, 10 mA
H2 H1
16 15 14
N2
M 3~
(1)
13
B A STL STR ENPO
12 11 10 9 8 7 6
0 ... 10 V
N1
+ -
5 4 3 2
R2 10 kW
10 kW
R1
(1) The encoder is evaluated only in control mode FOR. For notes on the encoder, see section 6.3.1 "_79EN-Encoder evaluation". Figure 4.20 Control terminal device with ASTER = ROT_2
4-34
The parameter presets for application data sets ROT_x are located as parameter comparison references in section 4.4.7 "Comparison of parameters, rotational drives".
1 2
Input signals
(1) (1)
590-ACCR1
f [Hz] v [m/s] 0
594-STPR1
590-ACCR1
3 4 5
590-ACCR1
592-DECR1
(1)
STR STL
1 0 1 0
t [ms]
(1) Reference value of ISA00 Figure 4.21 Example of a driving profile for two directions of rotation (ASTER = ROT_2)
6 A
The output signals are shown in section 4.4.1 "ROT_1", Figure 4.19.
4-35
DE EN FR
4.4.3 ROT_3
Analog speed input with switchover to driving sets, encoder evaluation and user data set switchover
Function Analog speed input for two directions of rotation Adjustment of speed via correction value Selection of driving sets Switchover of applications Encoder evaluation Application Spindle Winding drive etc.
X2 20
K0 +24V
14 11 12
19 18 17
Digital ground "Standstill" message "Reference reached" message Digital ground Auxiliary voltage 24 V Encoder track B Encoder track A Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX Analog ground Correction value 0 V ... + 10 V Reference -10 V ... + 10 V Reference voltage 10 V, 10 mA
H2 H1
16 15 14
N2
M 3~
(1)
13
B A STL STR ENPO
12 11 10 9 8 7 6
0 ... 10 V
N1
+ -
5 4 3 2
R2 10 kW
10 kW
R1
(1) The encoder is evaluated only in control mode FOR. For notes on the encoder, see Figure 4.12 or section 6.3.1 "_79EN-Encoder evaluation". Figure 4.22 Control terminal assignment with ASTER = ROT_3
4-36
The parameter presets for application data sets ROT_x are located as parameter comparison references in section 4.4.7 "Comparison of parameters, rotational drives".
1 2
Control terminals of user module UM-8I4O

X15 1 2
H1 H2 H3
ANTRIEBSTECHNIK
Des. UV DGND UV IED00 IED01 IED02 IED03 IED04 Digital ground
Function 24 V supply +20%, 0.6 A
3 4 5 6 A
21
S1 S2
Auxiliary voltage 24 V Switch to driving sets Selection for driving sets (section 5.5.5 _60TB Driving sets)
D-35633 Lahnau
X4
22 23 24 25 26 27 28 29 30 31
U V W
18
19
20
X1
X2
S3
X15
1 2
S4 S5 S6
12
13
14
15
16
17
RB+ RB L-
!
OPTN1 (X6)
11
10
User data set switchover IED05 IED06 Not assigned IED07 DGND DGND OED00 OED01 OED02 OED03 Digital ground Digital ground Warning "Inverter module overloaded" Warning "Motor overloaded" Warning "80% of IN exceeded" Warning "Ambient temperature too high"
10
11
12
L1 L2 L3
X3
16 17 18 19 20
H3 H4 H5 H6
32 33 34 35
Figure 4.23
Assignment of control terminal expansion with ASTER = ROT_3
4-37
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Input signals
v/t diagram
602-FFTB7 602-FFTB2 303-FMAX1 601-FFTB1 590-ACCR1 608-TACR0 609-TACR1 610-TACR2 604-FFTB4 594-STPR1 619-TDCR3 612-TACR4 615-TACR7
f [Hz] v [m/s] 0
600-FFTB0
611-TACR3
TDCR4 603-FFTB3
STR S1 S2 S3 S4
1 0 1 0 1 0 1 0 1 0
t [ms]
Figure 4.24 Example of use of table sets with ramps (ASTER = ROT_3)

S5 0 1 0 1 Table 4.16 S6 0 0 1 1 Active UDS UDS 1 for application 1 UDS 2 for application 2 UDS 3 for application 3 UDS 4 for application 4 Example Spindle 1 Spindle 2 Spindle 3 Sorting belt
4-38
4.4.4 ROT_4
Analog speed input with switchover to driving sets

Function Analog speed input for two directions of rotation Adjustment of speed via correction value Selection of driving sets Application Spindle Winding drive etc.
1 2 3
X2 20 Des. OSD02/14 OSD02/11 OSD02/12 DGND OSD01 OSD00 DGND UV ISD03 ISD02 ISD01 ISD00 ENPO UV UV OSA00 AGND ISA01 ISA00 UR
14 11 12
K0 +24V
19 18 17
4 5 6 A
Digital ground "Standstill" message "Reference reached" message Digital ground Auxiliary voltage 24 V Driving set 1 Driving set 2 Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX Analog ground Correction value 0 V ... + 10 V Reference -10 V ... + 10 V Reference voltage 10 V, 10 mA
H2 H1
16 15 14 13
S2 S1 STL STR ENPO
12 11 10 9 8 7 6
0 ... 10 V
N1
+ -
5 4 3 2
R2 10 k 10 k R1
Figure 4.25
4-39
DE EN FR
Input signals
v/t diagram
608-TACR1 600-FFTB0 617-TDCR1 608-ACR0 601-FFTB1 590-ACCR1 DECR1 STPR1 600-FFTB0
f [Hz] v [m/s] 0
STR S1 S2
1 0 1 0 1 0
t [ms]
Figure 4.26 Example of use of ASTER = ROT_4
Selection of reference source

S1 0 1 1 Table 4.17 S2 0 0 1 Active reference source Analog inputs ISA00 and ISA01 Table set 0 (608-TACR0, 600_FFTB0, 616-TDCR0) Table set 1 (609-TACR1, 601-FFTB1, 617-TDCR1) Reference value (FS) variable 5 Hz 10 Hz
Fixed frequency selection or analog reference input
With switch S1 the reference selector 1 (parameter 280-RSSL1) is influenced to determine the reference input via analog input ISA01 or driving set selection.
4-40
4.4.5 ROT_5
Process controller with analog speed input and night reduction

Function Analog actual value recording for PR controller Analog speed input for PR controller Selection of a night reduction Application Pumps Winding drives etc.
1 2 3 4 5 6
Night lowering Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable
X2 20
K0 +24V
14 11 12
19 18 17
H2 H1
16 15 14 13 12
S1 STL STR ENPO
"Standstill" message "Reference reached" message
11 10 9 8 7
0 ... 10 V
6
+ -
N1
5 4 3 2 1
Actual frequency 0 ... FMAX Analog ground Controller reference 0 V ... + 10 V Controller actual -10 V ... + 10 V Reference voltage 10 V, 10 mA
R1 >10 k9
Figure 4.27
4-41
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Attention!
When using a firmware version > V3.3 in the ROT_5 function, after loading any parameter data set based on a firmware version < V3.3 the process controller must be deactivated, see section 5.5.16 "_82PR-Process controller". The process controller is not deactivated automatically in this case.
v/t diagram
(3)
DECR2 f [Hz] DECR2

0
(2)
STR S1 S2
1 0 1 0 1 0
(1) t [ms]
(1) PR controller active (CDS switchover) (2) Control deviation as amount (3) Analog reference value of ISA01 Figure 4.28 Example of use of ASTER = ROT_5

S1 0 1 Table 4.18 S2 0 0 Active reference source Analog input ISA01 Night lowering (271-FFIX2)
Fixed frequency selection or analog reference source
4-42
4.4.6 ROT_6
Analog speed input with switchover to fixed frequencies (VF1000 compatible functionality)
Function VF1000-compatible functionality Analog speed input for two directions of rotation Selection of fixed frequencies via binary coding of switches Uniform driving profile ramps for analog speed input and fixed frequencies Application Spindle Winding drive etc.
1 2 3 4
X2 20
K0 +24V
14 11 12
19 18 17
5 6 A
Digital ground "Standstill" message "Reference reached" message Digital ground Auxiliary voltage 24 V Choice of fixed frequency (binary coded) * Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX Analog ground Not assigned Reference -10 V ... +10 V Reference voltage 10 V, 10 mA
H2 H1
16 15 14 13
S2 S1 STL STR ENPO
12 11 10 9 8 7 6
0 ... 10 V
N1
+ -
5 4 3
R1 >10 k
2 1
* Function, see following Table 4.19 Figure 4.29 Control terminal assignment with ASTER = ROT_6
4-43
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Reference Analog reference at input ISA00 (R1) Table frequency 601-FFTB1 (FS = 10Hz) Table frequency 602-FFTB2 (FS = 15Hz) Table frequency 603-FFTB3 (FS = 20Hz) Table 4.19
S2 (ISD03) 0 0 1 1
S1 (ISD02) 0 1 0 1
ISA00 active inactive inactive inactive
Scaling of binary coded inputs ISD02 (S1) and ISD03 (S2)
Input signals
v/t diagram
ISA0
f [Hz]
590-ACCR1
592-DECR1 603-FFTB3 601-FFTB1 590-ACCR1 602FFTB2 592-DECR1
ISA0 590-ACCR1
0
1 0 10 V 5V 0 1 0 1 0
STR ISA0
S1 S2
t [ms]
Figure 4.30 Example of use of analog speed input and fixed frequencies
4-44

S1 0 1 0 1 S2 0 0 1 1 Active reference source Analog input ISA00 Table set 1 (601-FFTB1, 590-ACCR1, 592-DECR1) Table set 2 (602-FFTB2, 590-ACCR1, 592-DECR1) Table set 3 (603-FFTB3, 590-ACCR1, 592-DECR1) Reference value (FS) variable 10 Hz 15 Hz 20 Hz
1 2 3 4 5 6 A
Table 4.20
Fixed frequency selection or analog reference input with uniform ramps from subject area _59DP-Driving profile generator
4-45
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4.4.7 Comparison of parameters, rotational drives
Comparison of the application data sets for rotational drives with the factory setting (152-ASTER = DRV_1):
152-ASTER = I/O Parameter Function DRV_1 (FS) ROT_1 ROT_2 ROT_3 ROT_4 ROT_5 ROT_6
Initial commissioning 151-ASTPR Original device preset Preset within the active application 152-ASTER data set 166-UDSSL 300-CFCON DRV_1 DRV_1 ROT_1 ROT_1 ROT_2 ROT_2 ROT_3 ROT_3 TERM FOR FOR ROT_4 ROT_4 ROT_5 ROT_5 ROT_6 ROT_6
Control location for switchover of the PARAM active user data set Current open-loop/closed-loop conVFC trol mode of the device Response at reference value 0 Hz Function selector analog standard input ISA00 Function selector analog standard input ISA01 Function selector digital standard input ISD00 Function selector digital standard input ISD01 Function selector digital standard input ISD02 Function selector digital standard input ISD03 Function selector for analog output OSA00 Function selector digital standard output OSD00 Function selector digital standard output OSD01 Function selector digital standard output OSD02 OFF
Driving profile generator 597-RF0 0 Hz 0 Hz CDA3000 inverter module inputs and outputs ISA00 ISA01 ISD00 ISD01 ISD02 ISD03 OSA00 OSD00 OSD01 OSD02 180-FISA0 181-FISA1 210-FIS00 211-FIS01 212-FIS02 213-FIS03 200-FOSA0 240-FOS00 241-FOS01 242-FOS02 OFF OFF STR STL SADD1 OFF AACTF BRK_1 REF S_RDY REF ROT_0 REF ROT_0 REF ROT_0 REF ROT_0 REF ROT_0 REF ROT_0 MP-UP ENC ENC ENC FFTB0 CUSEL FFTB0 PM10 V PM10 V PM10 V PM10 V PM10 V PM10 V 0-10V 0-10 V 0-10 V 0-10 V
MP-DN ENC
SADD1 FFTB1
Table 4.21
4-46
4 Application data sets 152-ASTER = I/O Parameter Function DRV_1 (FS) ROT_1 ROT_2 ROT_3 ROT_4 ROT_5 ROT_6
1 2 3 4 5
User module UM-8I4O inputs and outputs IED00 IED01 IED02 IED03 IED04 IED05 OED01 OED01 OED02 OED03 214-FIE00 215-FIE01 216-FIE02 217-FIE03 218-FIE04 219-FIE05 Function selector digital input IED00 OFF Function selector digital input IED01 OFF Function selector digital input IED02 OFF Function selector digital input IED03 OFF Function selector digital input IED04 OFF Function selector digital input IED05 OFF OFF OFF OFF OFF SADD1 FFTB0 FFTB1 FFTB2 UM0 UM1 WIIT WIT WIS WOTD
Function selector digital output 243-FOE00 OED01 Function selector digital output 244-FOE01 OED01 245-FOE02 Function selector digital output OED02
Function selector digital output 246-FOE03 OED03 271-FFIX2 Fixed frequency CDS2
Fixed frequencies 20 FMAX FCON 10 0 FA0 FA0 FA1 0 FA0 FA1 7 FA0 FA1 7 7 8 FA1 FA0 Reference structure 280-RSSL1 Reference selector 1 281-RSSL2 Reference selector 2 289-SADD1 Offset for reference selector 1 MOP function 320-MPSEL Driving sets 625-DPSEL Ramp selection of driving sets Current-controlled startup 640-CLSL1 DS1: Function selector 645-CLSL2 DS2: Function selector Characteristic data switchover CDS 651-CDSSL Control location of the characteristic OFF data set (CDS) TERM CCWFR CCWFR CCWFR OFF CCWFR OFF OFF OFF CCWFR OFF CCWFR OFF CCWFR CCWFR TAB DP2 Configuration for motor operated potentiometer OFF F1
6 A
Table 4.21
4-47
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4 Application data sets 152-ASTER = I/O Parameter Function DRV_1 (FS) ROT_1 ROT_2 ROT_3 ROT_4 ROT_5 ROT_6
DC holding 681-HODCT Holding time Process controller 820-PRCT1 CDS1: PR controller On/Off OFF ON 0.5 0 0 0 0 0 0
Table 4.21
4-48
Active functions with rotational drives

Function Effect VFC SFC FOR
1 2
In case of load surges a higher torque IxR load compensation is available, and the motor heats up less Current injection Increase in starting torque
from V2.1
Protection against current overload shut-off in acceleration from high load torques Current-controlled starProtection against drive stalling tup with ramp reversal Acceleration and deceleration processes with maximum dynamics along the current limit Magnetization Table 4.22 Increase in startup and standstill torque
3 4 5 6 A
Active functions
4-49
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4.5
Field bus operation
Setting parameter 152-ASTER loads one of the application data sets BUS_1 to BUS_3 into the RAM (see Figure 4.1 in section 4.1 "Activating an application data set"). As a result the software functions and the inputs and outputs for the field bus operation application are preset. The precondition for field bus operation is that an appropriate communication module is mounted on the CDA3000.
PLC
+ + + +
(1)
CPU
~= ~
M 3~
CPU (2)
~= ~
M 3~
CPU (2)
~= ~
M 3~
(2)
(3)
(3)
(3)
n1 n2
(4)
n1 n2 Process
(4)
n1 n2
(4)
(5)
(1) (2) (3) (4) (5)
Field bus Inverter module IEC standard motor Gearing Application Drive solution: "Field bus operation"
Figure 4.31
4-50

BUS_1 BUS_2 BUS_3 BUS_4 BUS_5 Function
1 2 3 4
SPS/PLC
Reference and control via PLC
IN1 IN2 IN3 IN4 OUT1 OUT2 OUT3
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Digital inputs and outputs readable and writable over the bus Manual mode independent of bus Limit switch evaluation
M 3~
Table 4.23
Encoder evaluation (for control mode FOR) Presets - field bus operation
6 A
Aster BUS_1 BUS_2 BUS_3 BUS_4 BUS_5 Table 4.24
Summary description "Control via field bus (complete)" "Control via field bus" and "additional emergency operation" "Control via field bus" and "additional emergency operation with limit switch evaluation" "Control via field bus in FOR mode" "Control via field bus in FOR mode with additional emergency operation"
Page reference Page 4-52 Page 4-53 Page 4-55 Page 4-57 Page 4-58
Page reference to summary description of BUS_x
In field bus operation the "auto-start" function is active in the preset.
4-51
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4.5.1 BUS_1
Control via field bus (complete)

Preset 1 for field bus operation
Function Control of the inverter module over the field bus Setting and reading of digital inputs and outputs over the field bus Application Traction and lifting drive Rotational drive
X2 20 19 18 17 16
X10
Function
14 11 12
Relay contact Output 3
Digital ground Digital output 2 Digital output 1 Digital ground Auxiliary voltage 24 V Digital input 4 Digital input 3 Digital input 2 Digital input 1 Power stage hardware enable Auxiliary voltage 24 V Analog output Analog ground Analog output 2 Analog output 1 Reference voltage 10 V, 10 mA
OPTN2 (X7)
H1 H2 H3
ANTRIEBSTECHNIK
1 2
15 14 13 12 11 10 9
ENPO
D-35633 Lahnau
X4
X11
X12
X2
18 19 20
X1
U V W
RB+ RB L-
!
10
11
12
13
14
15
16
17
L1 L2 L3
X3
8 7 6 5 4 3 2 1
Figure 4.32
Control terminal configuration with ASTER = BUS_1
The parameter presets for application data sets BUS_x are located as parameter comparison references in section 4.5.6 "Comparison of parameters, field bus operation".
4-52
4.5.2 BUS_2
Control via field bus and additional emergency operation

Function Control of the inverter module over the field bus Control of the device in emergency also independently of field bus Manual/automatic switchover Setting and reading of digital inputs and outputs over the field bus Application Traction and lifting drive Rotational drive
1 2 3
X2 20
K0 +24V
14 11 12
19 18 17 16
4 5 6 A
Digital ground Digital output 2 Digital output 1 Digital ground Auxiliary voltage 24 V Digital input 4 Selection of manual mode
Start/Stop anti-clockwise for manual mode Start/Stop clockwise for manual mode
X10
OPTN2 (X7)
H1 H2 H3
ANTRIEBSTECHNIK
1 2
15 14 13 12
S1 STL
D-35633 Lahnau
X4
X11
X12
X2
18 19 20
X1
U V W
11 10 9 8 7
RB+ RB L-
!
10
11
12
13
14
15
16
17
STR
X3
L1 L2 L3
ENPO
Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX Analog ground Not assigned Reference for manual mode 0...10 V Reference voltage 10 V, 10 mA
0 ... 10 V
N1
+ -
5 4 3 2 1
R1
10 kW
Figure 4.33
4-53
DE EN FR
The parameter presets for application data sets BUS_x are located as parameter comparison references in section 4.5.6 "Comparison of parameters, field bus operation". Input signals
(1)
(1)
(1)
590-ACCR1
f [Hz] v [m/s] 0
594-STPR1
590-ACCR1
590-ACCR1 (1)
592-DECR1
S1 STR STL
1 0 1 0 1 0
t [ms] (1) Analog reference value of ISA00

Figure 4.34 Example of use of manual mode independently of bus operation, ASTER = BUS_2
Note:
While the "MAN" function is active, the settings must not be saved in the device, as the reference structure is changed in the background and the "MAN" function would be activated after the next power-on.
4-54
4.5.3 BUS_3
Control via field bus and additional emergency operation with limit switch evaluation
Function Control of the inverter module over the field bus Control of the device in emergency also independently of field bus Manual/automatic switchover Evaluation of safety limit switches Application Traction and lifting drive
1 2 3
X2 20
K0 +24V
14 11 12
4 5 6 A
19 18 17 16
Digital ground Digital output 2 Digital output 1 Digital ground Auxiliary voltage 24 V Limit switch left Limit switch right Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX 0 ... 10 V corresponds to 0 ... FMAX Analog ground Selection of manual mode Reference for manual mode 0...10 V Reference voltage 10 V, 10 mA
X10
OPTN2 (X7)
H1 H2 H3
ANTRIEBSTECHNIK
1 2
15 14 13
S4 S3 STL STR ENPO
D-35633 Lahnau
X4
X11
X12
X2
18 19 20
X1
U V W
12 11 10 9 8 7 6
RB+ RB L-
!
L1 L2 L3
10
11
12
13
14
15
16
17
X3
0 ... 10 V
N1
5 4 3 2 1
S1
10 kW
R1
Figure 4.35
4-55
DE EN FR
The parameter presets for application data sets BUS_x are located as parameter comparison references in section 4.5.6 "Comparison of parameters, field bus operation".
(1)
(1)
590-ACCR1
f [Hz] v [m/s] 0
594-STPR1
590-ACCR1
590-ACCR1 (1)
592-DECR1
S1 STR STL
1 0 1 0 1 0
t [ms]
(1) Analog reference value of ISA00 Figure 4.36 Example of use of emergency operation independently of bus operation ASTER = BUS_3
The mode of functioning of the limit switch evaluation is presented in Figure 4.9 and Figure 4.10 in section 4.3.3 "DRV_3".
4-56
4.5.4 BUS_4
Control via field bus in FOR mode

Function Control of the inverter module over the field bus FOR mode with encoder evaluation Setting and reading of digital inputs and outputs over the field bus Application Traction and lifting drive Rotational drive
1 2 3
X2 20 19 18 17 16 Des. OSD02/14 OSD02/11 OSD02/12 DGND OSD01 OSD00 DGND UV ISD03 ISD02 ISD01 ISD00 ENPO UV UV OSA00 AGND ISA01 ISA00 UR Function
14 11 12
Relay contact Output 3
4 5 6 A
Digital ground Digital output 2 Digital output 1 Digital ground Auxiliary voltage 24 V Encoder track B Encoder track A Digital input 2 Digital input 1 Power stage hardware enable Auxiliary voltage 24 V Analog output Analog ground Analog output 2 Analog output 1 Reference voltage 10 V, 10 mA
X10
OPTN2 (X7)
H1 H2 H3
ANTRIEBSTECHNIK
1 2
15 14
M 3~
D-35633 Lahnau
X4
X11
13
(1)
X12
X2
18 19 20
X1
U V W
12 11 10 9
ENPO
RB+ RB L-
!
10
11
12
13
14
15
16
17
L1 L2 L3
X3
8 7 6 5 4 3 2 1
(1) The encoder is evaluated only in control mode FOR. For notes on the encoder, see section 6.3.1 "_79EN-Encoder evaluation". Figure 4.37 Control terminal configuration with ASTER = BUS_4
4-57
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4.5.5 BUS_5
Control via field bus in FOR mode with additional emergency operation
Function Control of the inverter module over the field bus FOR mode with encoder evaluation Setting and reading of digital inputs and outputs over the field bus Manual/automatic switchover Control of the device also independently of field bus Application Traction and lifting drive Rotational drives
X2 20 19 18 17 16
X10
Function
14 11 12
Relay contact Message for "Ready"
Digital ground Digital output 2 Digital output 1 Digital ground Auxiliary voltage 24 V Encoder track B Encoder track A Digital input 2 Digital input 1 Power stage hardware enable Auxiliary voltage 24 V Analog output Analog ground Selection of manual mode Reference for manual mode 0 ... 10 V 1 Reference voltage 10 V, 10 mA
OPTN2 (X7)
H1 H2 H3
ANTRIEBSTECHNIK
1 2
15 14
M 3~
D-35633 Lahnau
X4
X11
13
(1)
X12
X2
18 19 20
X1
U V W
12 11
STL STR ENPO
13
14
15
16
17
10 9 8 7
RB+ RB L-
!
L1 L2 L3
10
11
12
X3
0 ... 10 V
N1
+ -
5 4 3 2 1
S1
(1) The encoder is evaluated only in control mode FOR. For notes on the encoder, see section 6.3.1 "_79EN-Encoder evaluation". Figure 4.38 Control terminal configuration with ASTER = BUS_5
4-58
(1)
1 2 3
(1)
(1)
590-ACCR1
f [Hz] v [m/s] 0
594-STPR1
590-ACCR1
590-ACCR1 (1)
592-DECR1
S1 STR STL
1 0 1 0 1 0
4 5
Example of use of manual mode independently of bus operation, ASTER = BUS_5
t [ms] (1) Analog reference value of ISA00

Figure 4.39
6 A
Note:
4-59
DE EN FR
4.5.6 Comparison of parameters, field bus operation
Comparison of the application data sets for field bus operation with the factory setting (152-ASTER = DRV_1):
152-ASTER = BUS_1 BUS_2 BUS_3 BUS_4 FOR OPTN2 OPTN2 /LCW ENC OFF ENC ENC OPTN2 0 ON 0 ON DRV_1 (FS) BUS_5 FOR I/O Parameter Function
Initial commissioning 151-ASTPR Original device preset 152-ASTER Preset within the active application data set Control location for switchover of the active user 166-UDSSL data set 300-CFCON Current open-loop/closed-loop control mode of the device Function selector analog standard input ISA00 Function selector analog standard input ISA01 Function selector digital standard input ISD00 Function selector digital standard input ISD01 Function selector digital standard input ISD02 Function selector digital standard input ISD03 DRV_1 DRV_1 PARAM VFC BUS_1 BUS_2 BUS_3 BUS_4 BUS_5 BUS_1 BUS_2 BUS_3 BUS_4 BUS_5 OPTN2 OPTN2 OPTN2 OPTN2 OPTN2
CDA3000 inverter module inputs and outputs ISA00 180-FISA0 ISA01 181-FISA1 ISD00 210-FIS00 ISD01 211-FIS01 ISD02 212-FIS02 ISD03 213-FIS03 OFF OFF STR STL SADD1 OFF AACTF BRK_1 REF S_RDY FMAX FCON 10 OFF TERM 0 ON 0 ON 0 ON OPTN2 PM10V PM10V OPTN2 PM10V OPTN2 OPTN2 OPTN2 OPTN2 MAN OFF MAN OPTN2 MAN
OPTN2 OPTN2 /LCCW ENC
OSA00 200-FOSA0 Function selector for analog output OSA00 OSD00 240-FOS00 Function selector digital standard output OSD00 OSD01 241-FOS01 Function selector digital standard output OSD01 OSD02 242-FOS02 Function selector digital standard output OSD02 Reference structure 280-RSSL1 Reference selector 1 281-RSSL2 Reference selector 2 289-SADD1 Offset for reference selector 1 Control location 7-AUTO Auto-Start 260-CLSEL Control location selector
OPTN2 OPTN2 OPTN2 OPTN2 OPTN2 OPTN2 OPTN2 OPTN2 OPTN2 OPTN2 OPTN2
FOPT2 FOPT2 FOPT2 FOPT2 FOPT2
OPTN2 OPTN2 OPTN2 OPTN2 OPTN2
1)Only >V.3.5: After setting the parameters of the user data sets, change parameter value 166-UDSSL from PARAM (KEYPAD KP200, DRIVEMANAGER) to OPTN2 (bus operation).
Table 4.25
4-60
Active functions in field bus operation

1 2
IxR load compensa- In case of load surges a higher torque is tion available, and the motor heats up less Current injection Current-controlled startup with ramp stop DC holding Magnetization Table 4.26 Increase in starting torque Protection against current overload shut-off in acceleration from high load torques Rotation of the motor shaft without load is counteracted Increase in coasting and standstill torque Active functions
3 4 5
6 A
4-61
DE EN FR
4.6
Application data sets M-S_1 to M-S_4 contain settings for Master/Slave operation between inverter modules.
(1)
CPU
~=
FU0
i1
~
(2.1)
~=
FU1
i2
CPU
~
(2.2)
~=
FU2
CPU
~
(2.2)
M 3~
(3) n0
M 3~
(3) n1 = n0 . i1
M 3~
(3) n2 = n0 . i2 (4)
Process
(1) Reference coupling (2) Inverter module (2.1)Master (2.2)Slave (3) IEC standard motor (4) Application Figure 4.40 Drive solution "Master/Slave operation"
In Master/Slave operation the reference values of max. 6 inverter modules are permanently coupled together. The reference value of the master is also the guide value for the devices connected to the master (slaves). The master transmits the reference value to the slaves by way of a data telegram. In each slave the guide value received from the master can be programmed, meaning that any desired transmission ratios can be set. In this way it is possible to replace mechanical speed couplings. Note: Coupling of the electrical axles in control modes VFC and SFC causes the motors to run at a fixed ratio. Only in the FOR control mode do the motors run speed-synchronous.
4-62
Characteristics of the control methods in comparison

VFC Voltage Frequency Control 1 : 20 typically 1 to 5% 0.01 Hz SFC Sensorless Flux Control 1 : 50 typically 0.5% 0.0625 Hz FOR Field-Oriented Regulation > 1 : 10000 Quartz-accurate 2-16
1 2 3 4
Properties
Speed adjustment range M=M Nom Static speed accuracy referred to the rated speed Frequency resolution Table 4.27
Comparison of motor control methods
Master
Reference 3000 U/min

X2 16 17
M1 3~
n = 3000 rpm
5
n = 1500 rpm
Slave 1
i = 0.5
X2 10 14
M2 3~
6 A
Slave 2
i = 0.3333
X2 10 14
M3 3~
n = 1000 rpm
Slave 5
i = 0.2
X2 10 14
M6 3~
n = 600 rpm
Figure 4.41
Master/Slave coupling via two control cables
Note:
In primary frequency coupling a dead time of max. 2 ms is created between the axes.
4-63
DE EN FR
n = 3000 rpm Master n [rpm]
Slave 1 i = 0.5 n = 1500 rpm
Slave 2 i = 0.3333 n = 1000 rpm
Slave 5 i = 0.2 n = 600 rpm t [ms]

Figure 4.42 Speed curve in Master/Slave operation
4-64

152-ASTER = M-S11) M-S22) M-S33) M-S44) Function
1 2
MASTER
Inverter module is master

SLAVE
SLAVE
3
Inverter module is slave
MASTER
SLAVE
SLAVE
4 5 6
n n
Speed change via button (MOP function)
3~
Encoder evaluation
Messages: Standstill Ready to start Table 4.28 PresetsMaster/Slave operation
Aster M-S_1 M-S_2 M-S_3 M-S_4 Table 4.29
Summary description "Master drive with analog guide value input" "Master drive with encoder evaluation" "Slave drive" "Slave drive with encoder evaluation"
Page reference Page 4-66 Page 4-68 Page 4-70 Page 4-73
Page reference to summary description of M-S_x
4-65
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4.6.1 M-S_1
Master drive with analog guide value input

Preset 1 for Master/Slave operation
Function Speed synchronism of several drives with programmable transmission ratio Inverter module is master Digital guide value input Adjustment of guide value via button (MOP function) Application Replacement of mechanical gears and line shafts (not angle-synchronous) Winding drive Drafting equipment Trolley drive
X2
K0 +24V Slave
DGND X2/10
14 11 12
20 19 18 17 16
H1
Digital ground Slave interface "Standstill" message Digital ground Auxiliary voltage 24 V Reduce speed Increase speed Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX Analog ground Not assigned Reference -10 V ... + 10 V Reference voltage 10 V, 10 mA
15 14 13
S2 S1 STL STR ENPO
12 11 10 9 8 7
0 ... 10 V
N1
+ -
5 4 3
R1 10 k
2 1 Figure 4.43
Control terminal assignment with ASTER = M-S_1
The parameter presets for application data sets M-S_x are located as parameter comparison references in section 4.6.5 "Comparison of parameters, Master/Slave operation".
4-66
Input signals
v/t diagram
(1) 590-ACCR1 592-DECR1 590-ACCR1
1
592-DECR1 590-ACCR1 (1) 594-STPR1
f [Hz] v [m/s] 0
2 3 4
STR STL S1 S2 (2)
1 0 1 0 1 0 1 0
t [ms]
(1) Analog reference value of ISA00 (2) DC holding torque Figure 4.44 Example of a driving profile for two directions of rotation (ASTER = ROT_2)
5 6 A
Output signals
f [Hz] v [m/s] 0
H1 H2
1 0 1 0
t [ms]
H1 Reference reached H2 Standstill Figure 4.45 Output signals dependent on driving profile (ASTER = M-S_1 and M-S_2)
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4.6.2 M-S_2
Master drive with encoder evaluation

Function Speed synchronism of several drives with programmable transmission ratio Inverter module is master Digital guide value input Encoder evaluation Application Replacement of mechanical gears and line shafts (not angle-synchronous) Winding drive Drafting equipment Trolley drive
X2 20
K0 +24V Slave
DGND X2/10
14 11 12
19 18 17 16
Digital ground Slave interface "Standstill" message Digital ground Auxiliary voltage 24 V Encoder track B Encoder track A Start/Stop anti-clockwise Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX Analog ground Not assigned Reference -10 V ... + 10 V Reference voltage 10 V, 10 mA
H1
15 14
N2
(1)
M 3~
B A STL STR ENPO
13 12 11 10 9 8 7
0 ... 10 V
N1
+ -
5 4 3 2 1
R1
10 kW
(1) The encoder is evaluated only in control mode FOR. For notes on the encoder, see section 6.3.1 "_79EN-Encoder evaluation". Figure 4.46 Control terminal assignment with ASTER = M-S_2
4-68
The parameter presets for application data sets M-S_x are located as parameter comparison references in section 4.6.5 "Comparison of parameters, Master/Slave operation". Input signals
(1) (1)
1 2 3 4 5
590-ACCR1
594-STPR1
590-ACCR1
f [Hz] v [m/s] 0
590-ACCR1 592-DECR1
(1)
1 0 1 0
STR STL (2)
t [ms]
(1) Analog reference value of ISA00 (2) DC holding torque Figure 4.47 Example of a driving profile for two directions of rotation (ASTER = M-S_2)
6 A
The basic characteristic of the output signals is shown in 4.6.1 "M-S_1", Figure 4.45.
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4.6.3 M-S_3
Slave drive
Function Speed synchronism of several drives with programmable transmission ratio Inverter module is slave Adjustment of guide value via button (MOP function) Application Replacement of mechanical gears and line shafts (not angle-synchronous) Winding drive Drafting equipment Trolley drive Des. OSD02/14 OSD02/11 OSD02/12 DGND OSD01 OSD00 DGND UV ISD03 ISD02 ISD01 ISD00 ENPO UV UV OSA00 AGND ISA01 ISA00 UR
14 11 12
X2
K0 +24V
20 19 18 17 16
H1
Digital ground Disabled in M/S operation "Standstill" message Digital ground Auxiliary voltage 24 V Reduce speed Increase speed Master interface Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX Analog ground Not assigned Not assigned Reference voltage 10 V, 10 mA
Master
DGND
15 14 13
S2 S1
12 11 10
X2/16
STR ENPO
9 8 7
0 ... 10 V
N1
+ -
5 4 3 2 1
Figure 4.48
Control terminal assignment with ASTER = M-S_3; with S1 and S2 an offset can be added to or subtracted from the guide value
4-70
The parameter presets for application data sets M-S_x are located as parameter comparison references in section 4.6.5 "Comparison of parameters, Master/Slave operation". Input signals
590-ACCR1 590-ACCR1 592-DECR1 594-STPR1
1 2
f [Hz] v [m/s] 0
(1)
0
3 4 5 6 A
STR S1 S2
1 0 1 0 1 0
(2)
t [ms]
(1) Guide value from master (2) DC holding torque Figure 4.49 Example of a driving profile with Master/Slave coupling (ASTER = M-S_3)
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Output signals
f [Hz] v [m/s] 0
H1 H2
1 0 1 0
t [ms]
H1 Reference reached H2 Standstill Figure 4.50 Output signals dependent on driving profile (ASTER = M-S_3 and M-S_4)
4-72
4.6.4 M-S_4
Slave drive with encoder evaluation

Function Speed synchronism of several drives with programmable transmission ratio Inverter module is slave Encoder evaluation Application Replacement of mechanical gears and line shafts (not angle-synchronous) Winding drive Drafting equipment Trolley drive
1 2 3
X2 20
K0 +24V
14 11 12
19 18 17 16
4 5 6 A
Digital ground Disabled in M/S operation "Standstill" message Digital ground Auxiliary voltage 24 V Encoder track B Encoder track A Master interface Start/Stop clockwise Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V Actual frequency 0 ... FMAX Analog ground Not assigned Not assigned Reference voltage 10 V, 10 mA
H1 Master
DGND
15 14 13
N2
(1)
B A
12 11 10
X2/16
STR ENPO
9 8 7
0 ... 10 V
N1
+ -
5 4 3 2 1
(1) The encoder is evaluated only in control mode FOR. For notes on the encoder, see section 6.3.1 "_79EN-Encoder evaluation". Figure 4.51 Control terminal assignment with ASTER = M-S_4
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The parameter presets for application data sets M-S_x are located as parameter comparison references in section 4.6.5 "Comparison of parameters, Master/Slave operation".
Input signals
f [Hz] v [m/s] 0
(1) 0
STR
1 0
594-STPR1
(2)
t [ms]
(1) Guide value from master (2) DC holding torque Figure 4.52 Example of a driving profile with Master/Slave coupling (ASTER = M-S_4)
The basic characteristic of the output signals is shown in 4.6.3 "M-S_3", Figure 4.50.
4-74
4.6.5 Comparison of parameters, Master/Slave operation
Comparison of the application data sets for Master/Slave operation with the factory setting (152-ASTER = DRV_1):
1
152-ASTER =
2
M-S_3 M-S_4
I/O
Parameter
Function
DRV_1 (FS)
M-S_1
M-S_2
Initial commissioning 151-ASTPR Original device preset 152-ASTER Preset within the active application data set Control location for switchover of the active user 166-UDSSL data set 300-CFCON Current open-loop/closed-loop control mode of the device DRV_1 DRV_1 PARAM VFC M-S_1 M-S_1 1) M-S_2 M-S_2 1) FOR M-S_3 M-S_3 1) M-S_4 M-S_4 1) FOR
3 4 5
CDA3000 inverter module inputs and outputs ISA00 180-FISA0 Function selector analog standard input ISA00 ISD01 211-FIS01 Function selector digital standard input ISD01 ISD02 212-FIS02 Function selector digital standard input ISD02 ISD03 213-FIS03 Function selector digital standard input ISD03 OSA00 200-FOSA0 Function selector for analog output OSA00 OSD00 240-FOS00 Function selector digital standard output OSD00 OSD01 241-FOS01 Function selector digital standard output OSD01 OSD02 242-FOS02 Function selector digital standard output OSD02 Reference structure 280-RSSL1 Reference selector 1 281-RSSL2 Reference selector 2 289-SADD1 Offset for reference selector 1 MOP function 320-MPSEL Configuration for motor operated potentiometer Driving profile generator 597-RF0 Response at reference value 0 Hz Current-controlled startup 640-CLSL1 DS1: Function selector 645-CLSL2 DS2: Function selector DC holding 681-HODCT Holding time OFF STL SADD1 OFF AACTF BRK_1 REF S_RDY FMAX FCON 10 OFF OFF CCWFR CCWFR 0,5 CCWFR CCWFR 0 PM10V MP-UP MP-DN ROT_0 FMSO PM10V ENC ENC ROT_0 FMSO FSMI MP-UP MP-DN ROT_0 OFF FSMI ENC ENC ROT_0 OFF
6 A
FA0 0 F1
FA0 0
FDIG
FDIG 0
F1 0 Hz OFF OFF 0 CCWFR CCWFR 0 Hz OFF OFF
1) After setting the parameters of the user data sets, change parameter value 166-UDSSL from PARAM (KEYPAD KP200, DRIVEMANAGER) to TERM (terminal operation).
Table 4.30
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Active functions in Master/Slave operation

IxR load compensa- In case of load surges a higher torque is tion available, and the motor heats up less Current injection Current-controlled startup with ramp stop DC holding Magnetization Table 4.31 Increase in starting torque
Protection against current overload shut-off in acceleration from high load torques Rotation of the motor shaft without load is counteracted Increase in coasting and standstill torque
to V. 1.40
Active functions
4-76
5 Software functions
5.1 5.2 5.2.1 5.2.2 5.2.3 5.2.4 5.2.5 5.2.6 5.2.7 5.3 5.3.1 5.3.2 5.3.3 5.3.4 5.3.5 5.3.6 5.3.7 5.3.8 5.3.9 5.3.10 5.4 5.4.1 5.4.2 _15FC-Initial commissioning ..................................5-3 Inputs and outputs ................................................5-23 _18IA-Analog inputs ..........................................5-23 _20OA-Analog output ........................................5-31 _21ID-Digital inputs ...........................................5-37 _24OD-Digital outputs .......................................5-45 _25CK-Clock input/clock output .........................5-54 _28RS-Reference structure ...............................5-60 _26CL-Control location ......................................5-71 Protection and information ...................................5-76 _30OL-Frequency limitation ...............................5-76 _33MO-Motor protection ...................................5-79 Device protection ..............................................5-91 _34PF-Power failure bridging ............................5-96 _36KP-KEYPAD .................................................5-104 _38TX-Device capacity utilization ....................5-112 _39DD-Device data .........................................5-117 _VAL-Actuals ...................................................5-120 _50WA-Warning messages ..............................5-123 _51ER-Error messages ....................................5-127 Bus operation and option modules ....................5-133 _55LB-LUSTBUS ................................................5-133 _57OP-Option modules ....................................5-134
2 3 4 5 6 A
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5.5 5.5.1 5.5.2 5.5.3 5.5.4 5.5.5 5.5.6 5.5.7 5.5.8 5.5.9 5.5.10 5.5.11 5.5.12 5.5.13 5.5.14 5.5.15 5.5.16
Open-loop and closed-loop control ...................5-139 _31MB-Motor holding brake ............................ 5-139 _32MP-MOP function ...................................... 5-149 _59DP-Driving profile generator ...................... 5-153 _27FF-Fixed frequencies ................................. 5-159 _60TB-Driving sets .......................................... 5-161 _65CS-Characteristic data switchover (CDS) ... 5-166 _66MS-Master/Slave operation ....................... 5-169 _67BR-DC braking .......................................... 5-173 _68HO-DC holding .......................................... 5-177 _80CC-Current controller ................................. 5-179 _64CA-Current-controlled startup ................... 5-182 _69PM-Modulation .......................................... 5-189 _84MD-Motor data .......................................... 5-192 _77MP-Remagnetization ................................. 5-194 _86SY-System ................................................ 5-196 _82PR-Process controller ................................ 5-198
Control method parameters: 6 "Control modes". Overview of all parameters: Appendix A "Overview of parameters".
Explanatory notes on the following tables
"Online" column
Many parameters can be altered online, that is to say the changed value takes effect immediately. This means a change in parameter value need only be confirmed by pressing the Enter key. Therefore these parameters do not require controller initialization by briefly removing the enable signal ENPO or the start signal.
"Factory setting" ("FS") column

The factory settings are identified by the abbreviation FS. The following lists and tables contain all parameters up to user level 01 -MODE = 4 in their factory setting (152-ASTER = DRV_1).
5-2
1
"KP/DM" and "BUS" columns
The abbreviations "KP/DM" represent the settings made in the DRIVEMANAGER and the KEYPAD KP200. "BUS" represents the setting as a digit for bus operation
2 3 4 5
Types of parameters
The software of the inverter module differentiates between different types of parameters which are marked by symbols in the parameter editor of the DRIVEMANAGER :
Parameters dependent on the existing hardware. These are automatically detected by the inverter module and their parameters set accordingly. These must be entered accordingly by the user. In the parameter editor of the DRIVEMANAGER editable parameters are identified by this symbol .
6 A
Parameters dependent on the specific application.
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The relevant user screens for parameter setting can be accessed from the main "CDA3000 Setup" screen.
Figure 5.1
CDA3000 setup in expanded view
5.1
_15FC-Initial commissioning
Function Input of the characteristic motor data Selection and activation of the application data set with the preset solutions Controller auto-tuning
Application Quick and easy commissioning of the inverter module Automatic setup of all controllers Identification of the connected motor
The general procedure for initial commissioning is described in the operating instructions and in section 3.5.
Note:
Project planning note for the minimum connected load of the motor to the frequency inverter CDA3000: IMotor > ICDA3000 x 0.5
5-4
1.
1 2 3 4 5 6 A
2.
Figure 5.1
Initial commissioning
5-5
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3.
Figure 5.2
Selection of preset solution
5-6
4.
1 2 3 4 5
Figure 5.3 Control method
6 A
5-7
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5.
Figure 5.4
Input of motor data
5-8
6.
1 2 3 4 5 6 A
Figure 5.5 Input of moments of inertia
5-9
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7.
Figure 5.6
Motor contactor
When using a motor contactor, the output should be assigned the "ENMO" function as appropriate and lastly motor identification started.
Initial commissioning parameters

Parameter 150-SAVE 151-ASTPR 152-ASTER 154-MOPNM 155-MOVNM 156-MOFN Function Back-up device setup Original application data set Current application data set (ADS) Rated motor power Rated motor voltage Rated motor frequency Table 5.1
Value range STOP/START DRV_1 ... M-S_4 OFF ... M-S_4 see 4.1 * * 0.1 ... 1000
FS
Unit
Online
DRV_1 DRV_1 * * 50 kW V Hz
Parameters of subject area "_15FC-Initial commissioning"
5-10
5 Software functions 157-MOSNM 158-MOCNM 159-MOCOS 160-MOJNM 161-SCJ1 162-SCJ2 163-ENSC 164-UDSWR 165-UDSAC 166-UDSSL 167-SCPRO 300-CFCON Rated speed Rated motor current Nominal cos motor Mass moment of inertia of motor CDS1: Mass moment of inertia of system CDS2: Mass moment of inertia of system Enable auto-tuning Back-up device setup in a user data set Activate user data set Control location for switchover of the active user data set Auto-tuning progress indicator Current open-loop/closed-loop control mode of the device Table 5.1 Explanatory notes 0 ... 100000 * 0 ... 1 0 ... 100 0 ... 1000 0 ... 1000 STOP/START 1 ... 4 1 ... 4 see Table 5.17 0 ... 100 see Table 5.10 * * 1 see Table 5.5 0 0 STOP 1 1 PARAM 0 VFC %

rpm A
1 2 3 4 5 6 A
Parameters of subject area "_15FC-Initial commissioning"
Parameter values resulting from the size of the current inverter module are assigned an asterisk (*) in the "Value range" and "Factory setting" columns.
Backing-up the device setup (150-SAVE)

With the setting 150-SAVE = START the device setup is stored in the active user data set. During the save operation the parameter value START is displayed; it does not switch to STOP until the operation has been completed successfully. The same effect is achieved by simultaneously pressing the two cursor keys on the KEYPAD KP200 control unit for approx. 2 seconds while at the menu level. At the menu level the display shows "MENU".
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Setting application data set (152-ASTER)

Selection of the application data set defines the framework parameters of the predefined application solutions. This special adaptation to different preset solutions is made with parameter 152-ASTER. When a parameter of an application data set is changed, the assistance parameter 152-ASTER is automatically set to OFF. Parameter 151-ASTPR for the active application data set retains its setting.
BUS KP/DM BUS 0
OFF
DRV_1 DRV_2 DRV_3 DRV_4 DRV_5 ROT_1 ROT_2 ROT_3 BUS_1
10
11
12
13
14
15
16
17
18
19
20
KP/DM BUS_2 BUS_3 M-S_1 M-S_2 M-S_3 M-S_4 ROT_4 ROT_5 ROT_6 BUS_4 BUS_5 Table 5.2 Settings for selection of the application data sets
For explanatory notes on assistance parameter 152-ASTER refer to section 4 "Application data sets". Note: Select a suitable application data set before setting the inverter parameters for your application. Selecting the application data set later will overwrite your parameter setting with the fixed presets of the application data set concerned. The only exceptions are the auto-tuning parameters.
Input of motor data

The motor data are read from the motor rating plate, depending on circuit type and frequency inverter, and entered in the parameters.
5-12
Motor connection of an IEC standard motor (230/400 V, /Y)

Frequency inverter Rated voltage/ circuit type Motor terminal block
1 2
W2
CDA 32.xxx 3 x 230 V/
U2
V2
U1 W2
CDA 34.xxx 3 x 400 V/Y
V1 U2
W1 V2
3 4
U1
Table 5.3
V1
W1
Connection of a 3 x 230 / 400 V standard motor as per IEC 34
5 6 A
Note:
When using special three-phase AC motors not conforming to IEC 34, obtain information on the type of termination from the motor manufacturers.
5-13
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Manufacturer
LOGO
Type specification with size

3 ~ Motor Serial no.
Year of manufacture
2 4 6
1 3 5
1.5 kW 1410 rpm Insulating material class Protection Addition DIN references Nominal mode
6.4 / 3.7 A cos f 0.8 50 Hz Weight
Figure 5.7
Motor rating plate
No. 1
Function Rated voltage of motor in circuit type 230 V Y 400 V Rated current of motor in circuit type 6.4A Y 3.7A Rated power of motor Power factor cos f of motor Rated speed of motor Rated frequency of motor Motor rating plate data
Parameter 155-MOVNM
Setting : 230 V Y: 400 V : 6.4 A Y: 3.7 A 1.5 kW 0.8 1410 rpm 50 Hz
2 3 4 5 6 Table 5.4
158-MOCNM 154-MOPNM 159-MOCOS 157-MOSNM 156-MOFN
Setting motor mass moment of inertia (160-MOJNM)

The mass moment of inertia of the motor must be entered under parameter 160-MOJNM in order to ensure optimum running in control mode SFC/FOR. If no mass moment of inertia is entered (160-MOJNM=0), a mass moment of inertia matching an IEC standard motor is defined based on the motor data. The basis is provided by the table presented below for a six-pole asynchronous motor. The mass moment of inertia of the motor is dependent on the number of pole pairs and the related rotor design. Consequently, the table values are adjusted according to the number of pole pairs.
5-14
Mass moments of inertia of standard three-phase a.c. motors with squirrel-cage rotor to DIN VDE 0530, 1000 rpm, 6-pole, 50 Hz and internally cooled, stored in the CDA3000:
Power P [kW] 0.09 0.12 0.18 0.25 0.37 0.55 0.75 1.1 1.5 2.2 3.0 4.0 5.5 7.5 11 13 15 20 22 30 37 45 55 75 90 Table 5.5 Mass moment of inertia JM [kgm] 0.00031 0.00042 0.00042 0.0012 0.0022 0.0028 0.0037 0.0050 0.010 0.018 0.031 0.038 0.045 0.093 0.127 0.168 0.192 0.281 0.324 0.736 1.01 1.48 1.78 2.36 3.08
1 2 3 4 5 6 A
Base values for the mass moment of inertia referred to a sixpole IEC standard motor
5-15
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Setting of mass moment of inertia of system (160-SCJ1, 162-SCJ2)

The mass moment of inertia of the system must be entered under parameters 160-SCJ1 (CDS1) and 162-SCJ2 (CDS2) in order to ensure optimum running in control mode SFC/FOR. If no mass moment of inertia is entered for the system, a 1:1 adjustment of the mass moment of inertia is assumed and the mass moment of inertia of the system is set equal to that of the motor.
Reduction of the mass moment of inertia of the system

M 3~ JM
n1 n2
Jred
Jred =
i
J2 J2 = n1 i2 n2
J2
( )
JM = Jred = i
Mass moment of inertia: of motor (MOJNM) Reduced mass moment of inertia of the system (SCJx) Gear transmission ratio factor
Reduction of mass moment of inertia
Figure 5.8
Note:
Above a ratio of 1:5 (JM : Jred) the mass moment of inertia of the application must be specified, otherwise the control response will not be stable.
Note:
Specification of the mass moments of inertia is of significance for control modes SFC and FOR. The speed controller is set on the basis of the mass moments of inertia during auto-tuning (see section 6.2 "Sensorless Flux Control" and 6.3 "Field Oriented Regulation").
5-16
Activation of auto-tuning (163-ENSC)

Before activating auto-tuning it is essential to enter the motor rating plate data. Likewise the reduced mass moment of inertia of the system and the mass moment of inertia of the motor must also be entered beforehand, if known.
1 2
Necessity for auto-tuning

Open-loop or closed-loop control mode Auto-tuning necessary? Motor power output < inverter power output and application of one of the following functions: Current injection Magnetization DC braking VFC DC holding Slip compensation IxR load compensation Up synchronization Motor holding brake SFC FOR Table 5.6 Auto-tuning should always be performed in the initial commissioning phase. Conditions for auto-tuning
3 4 5 6 A
Successful auto-tuning requires that the motor power output be less than the inverter output. Note: During auto-tuning the motor circuit must be closed. Accordingly, contactors should only be jumpered during the auto-tuning phase. If the motor contactor is activated via the inverter module by the ENMO function, the motor contactor is automatically closed during auto-tuning (see section 5.2.4 "_24OD-Digital outputs").
The START value of parameter 163-ENSC activates auto-tuning of the inverter module. Auto-tuning identifies the motor and its characteristic values are automatically entered in the "Motor data" subject area. Additionally, all controller parameters are set up for the motor. During auto-tuning the parameter value START is displayed; it does not switch to STOP until auto-tuning has been completed successfully. A percentage progress indicator (0-100%) is additionally displayed by way of parameter 167 -SCPRO.
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Attention!
In the final auto-tuning phase the values obtained are not automatically stored in the active user data set. As from DRIVEMANAGER V3.0 the current data set can be stored in the user data set on completion of screen-guided initial commissioning with auto-tuning.
The parameter data set is stored by way of 150-SAVE=START in the current user data set or directly by parameter 164-UDSWR in a different user data set. Parameters written to during auto-tuning of the device are retained when a new application data set is selected. Switching user data set does overwrite the auto-tuning parameters, however. The auto-tuning should therefore be performed before parameter setting of the user data sets (UDS).
Used in control mode VFC SFC FOR _15FC Initial commissioning, section 5.1 160-MOJNM 161-SCJ1 162-SCJ2 Mass moment of inertia of motor CDS1: Mass moment of inertia of system CDS2: Mass moment of inertia of system

Auto-tuning parameters
_31MB Motor holding brake 313-SSCW 314-SSCCW 315-SSHYS BRK2: Frequency limit for motor holding brake (clockwise)

BRK2: Frequency limit for motor holding brake (anti-clock wise) BRK2: Frequency hysteresis for motor brake
_33MO Motor protection 335-MOPCN 336-MOPFN Rated motor current for motor protection Rated motor frequency for motor protection

_63FS Up synchronization 631-FSFMX 632-FSRMP 634-FSOND 636-FSVFD Table 5.7 Maximum frequency during searching in up synchronization Ramp during searching in up synchronization Demagnetization time in up synchronization Transition time to normal mode in up synchronization Parameters changed during auto-tuning

5-18
5 Software functions Used in control mode VFC SFC FOR _64CA Current-controlled startup 641-CLCL1 642-CLFL2 643-CLFR1 646-CLCL2 647-CLFL2 648-CLFR2 CDS1: Current limit value, current-controlled startup CDS1: Lowering frequency, current-controlled startup CDS1: Initial frequency, current-controlled startup CDS2: Current limit value, current-controlled startup CDS2: Lowering frequency, current-controlled startup CDS2: Initial frequency, current-controlled startup

1 2 3 4
_70VF V/F characteristic, section 6.1.1 700-VB1 701-VN1 702-FN1 715-VB2 716-VN2 717-FN2 CDS1: Boost voltage CDS1: Rated motor voltage CDS1: Rated motor frequency CDS2: Boost voltage CDS2: Rated motor voltage CDS2: Rated motor frequency

5 6 A
_74IR IxR load compensation, section 6.1.2 741-KIXR1 743-KIXR2 CDS1: IxR correction factor CDS2: IxR correction factor

_75SL Slip compensation, section 6.1.3 751-KSC1 753-KSC2 CDS1: Slip compensation factor CDS2: Slip compensation factor

_76CI Current injection, section 6.1.4 (as from firmware V1.4) 760-CICN1 763-CICN2 CDS1: Current injection reference 1 CDS2: Current injection reference value

_77MP Magnetizing, section 5.5.14 770-MPCN1 772-MPCN2 774-MPT CDS1: Magnetizing current CDS2: Magnetizing current Magnetization time for SFC and FOR

_78SS Speed controller SFC, section 6.2.1 780-SSGF1 781-SSG1 Table 5.7 CDS1: Scaling of speed controller gain CDS1: Controller gain of encoder Parameters changed during auto-tuning

5-19
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5 Software functions Used in control mode VFC SFC FOR 782-SSTL1 783-SSTF1 784-SSGF2 785-SSG2 786-SSTL2 787-SSTF2 CDS1: Speed controller lag time CDS1: Filter time constant of speed estimate CDS2: Scaling of speed controller gain CDS2: Controller gain of encoder CDS2: Speed controller lag time CDS2: Filter time constant of speed estimate

_80CC Current control, section 6.3.3 800-CCG 801_CCTLG 802-CCTF 803-VCSFC 804-CLIM1 805-CLIM2 Current controller gain Current controller lag time Filter time constant for current measurement Correction factor of fault voltage characteristic SFC CDS1: Maximum reference current for current control CDS2: Maximum reference current for current control

_81CC Speed controller FOR, section 6.3.2 810-SCGF1 811-SCG1 812-SCTL1 813-SCTF1 814-SCGF1 815-SCG1 816-SCTL1 817-SCTF1 818-SCGF0 CDS1: Scaling of speed controller gain CDS1: Speed controller gain CDS1: Speed controller lag time CDS1: Jitter filter time constant CDS2: Scaling of speed controller gain CDS2: Speed controller gain CDS2: Speed controller lag time CDS2: Jitter filter time constant Speed controller gain at frequency zero

_84 MD Motor data, section 5.5.13 840-MOFNM 841-MOL_S 842-MOR_S 843-MOR_R 844-MONPP Table 5.7 Nominal pole flux Leakage inductance Stator resistance Rotor resistance Number of pole pairs of motor Parameters changed during auto-tuning

5-20
Storing a user data set (UDS) (164-UDSWR)

Customer/user settings are stored in one of the four possible user data sets. The user data set is selected by way of parameter 164-UDSWR and then the parameter settings in the RAM are stored as a complete user data set. Note: Parameter 150-SAVE only ever saves the active data set to the current user data set.
1 2 3 4 5 6 A
Switching between UDS (165-UDSAC, 166-UDSSL)

A user data set can be activated by way of parameter 165-UDSAC. The active user data set is displayed as the parameter value. The control location for activation of a user data set is defined with parameter 166-UDSSL.
Settings with 166-UDSSL for switchover of the active user data set
BUS 0 1 2 3 4 KP/DM PARAM TERM SIO OPTN1 OPTN2 Function Switchover by direct editing of the parameter Switchover by input with function selector setting UM0 (significance 20) or UM1 (significance 21) Switchover by SIO control word (RS 232 port) Switchover by control word of option module to slot 1 Switchover by control word of option module to slot 2 Settings for switchover of the active user data set
Table 5.8
User data sets cannot be switched "online". The hardware enable via the "ENPO" signal may still be applied, but the inverter module power stage must be inactive. This means no start signal must be present in the switchover phase.
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Example of switchover by terminal operation (166-UDSSL = TERM)

Terminal Terminal 1 2
User data set
0 1 0 1
Table 5.9
0 0 1 1
Example of selection of user data sets via terminals
A UDS switchover takes several seconds, depending on the number of internal parameters to be changed. The UDS switchover can be monitored by setting the parameters of a digital output (section 5.2.4 "_24ODDigital outputs") by way of its function selector. For this, the relevant function selector must be set to "C-RDY".
5-22
UDS active FOxxx=C-RDY 0

1
UDS1
UDS2
UDS1 t t
1 2 3 4 5
TERM1 Start
1 0
t
1 0
tUDS
FOxxx Function selector of a digital output TERM1UDS switchover via a digital input Start Start enable via STR/STL tUDS Internal device time for parameter switch to a new UDS
Figure 5.9 UDS switchover
For more information on the data structure see section 3.1.
6
Current open-loop/closed-loop control modes with 300-CFCON
BUS 0 1 2 Table 5.10 KP/DM VFC SFC FOR Function Controlled operation based on an adjustable V/F characteristic Sensorless flux control with overlaid current control Encoder-controlled speed control (Field-Oriented Regulation) Reference Section 6.1 Section 6.2 Section 6.3
Setting of the current open-loop/closed-loop control mode
Note:
Control modes SFC and FOR only work with an asynchronous motor. Control mode VFC additionally supports synchronous and reluctance motors.
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5.2
Inputs and outputs
Each input and output of the inverter module has a parameter which assigns it a function. These parameters are termed "function selectors" and are located in the relevant subject areas of the inputs and outputs. The reference structure and the control location additionally have an influence on the function of the inputs and outputs. Presets are already entered in the application data sets. For information on the hardware of the inputs and outputs refer to section 2.4 "Specification of control connections" and the Operation Manual.
5.2.1 _18IA-Analog inputs
Function
Effect
Definition of the internal processing of the analog input signals

(1)
FISAx
Conditioning and filtering of the analog reference input or use as a digital input
(4)
F0PXy F0PNy F0NXy F0NNy F1PXy F1PNy
(2)
AFILx
(3)
IADBx
(5)
RF1FA
(6)
ISA0x
(7)
(1) (2) (3) (4) (5) (6) (7) x y
Analog reference input or use as a digital input Input filter for fault isolation from 0 to 21 s Backlash function for fault isolation around zero Scaling of the analog input Scaling factor [%], see section 5.2.6 "_28RS-Reference structure" Analog value Digital value Number of the input Number of the characteristic data set (CDS) Function block for adaptation of the analog inputs
Figure 5.10
5-24
Configuration options, ISA0x

FxPXy
+ fmax
+ fmax
FxPXy
1 2
0 - 10 V 0 - 20 mA
f IADBx
FxPNy
+ fmin
-10 V
FxPNy
+10 V
-10 V
- fmin
FxNNy IADBx
+10 V
- fmax
3
U/I
- fmax
FxNXy
U/I
Figure 5.11
Scaling in unipolar operation
Figure 5.12
Backlash function in bipolar operation
4 5 6
1. 2.
Figure 5.13
"Analog inputs" tab
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3.
Parameter 180-FISA0 181-FISA1 182-F0PX1 183-F0PN1 184-F0NX1 185-F0NN1 186-F1PX1 187-F1PN1 188-AFIL0 189-AFIL1 190-F0PX2 191-F0PN2 194-F0NX2 195-F0NN2 196-F1PX2 197-F1PN2 192-IADB0 193-IADB1
1)
The Options screens are selected depending on the "Function" setting.
Parameters for analog inputs ISA0x

Function Function selector analog standard input ISA00 Function selector analog standard input ISA01 CDS1: Maximum value ISA00 at +10V CDS1: Minimum value ISA00 at +0V CDS1: Maximum value ISA00 at -10V CDS1: Minimum value ISA00 at -0V CDS1: Maximum value ISA01 at +10V CDS1: Minimum value ISA01 at +0V Filter time constant for analog channel ISA00 Filter time constant for analog channel ISA01 CDS2: Maximum value ISA00 at +10V CDS2: Minimum value ISA00 at +0V CDS2: Maximum value ISA00 at -10V CDS2: Minimum value ISA00 at -0V CDS2: Maximum value ISA01 at +10V CDS2: Minimum value ISA01 at +0V ISA00 play range ISA01 play range Value range see Table 5.12 see Table 5.12 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 see Table 5.14 see Table 5.14 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 0 ... 90 0 ... 90 FS OFF OFF 50 0 0 0 50 0 3 3 50 0 0 0 50 0 0,00 0,00 Hz Hz Hz Hz Hz Hz % 1) % 1) Hz Hz Hz Hz Hz Hz

Unit
Online
Referred to 10 V Table 5.11 Parameters from subject area "_18IA-Analog inputs"
5-26
Settings for 180-FISA0 and 181-FISA1 analog inputs

BUS 0 1 2 3 4 KP/DM OFF STR STL INV /STOP Function No function Start clockwise Start anti-clockwise Reverse direction /Emergency stop Input off Start enable for motor clockwise running Start enable for motor anti-clockwise running Reference is inverted, causing a reversal of direction Stop ramp is executed dependent on active characteristic data set (CDS). ATTENTION: Signal inverted ( / ) (section 5.5.3 "_59DP-Driving profile generator") Effect
1 2 3 4 5 6 A
SADD1
Offset for reference Reference selector 280-RSSL1 is offset by the selector 280-RSSL1 value in 289-SADD1 to a different reference source (section 5.2.6 "_28RS-Reference structure"). Offset for reference Reference selector 281-RSSL2 is offset by the selector 281-RSSL2 value in 290-SADD2 to a different reference source (section 5.2.6 "_28RS-Reference structure"). External error Error messages from external devices produce a fault signal with response as defined in parameter 524-R-EXT (section 5.3.10 "_51ER-Error messages").
SADD2
E-EXT
8 9 10 11
RSERR MP-UP MP-DN CUSEL
Reset error message Error messages are reset if the error is no longer present. MOP, increase refer- Reference of digital MOP function is increased ence value (section 5.5.2 "_32MP-MOP function"). MOP, reduce reference Reference value of digital MOP function is reduced (section 5.5.2 "_32MP-MOP function").
Select characteristic Switch characteristic data set (CDS) data set (CDS) 0 = CDS1, 1 = CDS2 (section 5.5.6 "_65CS-Characteristic data switchover (CDS)"). Driving set selection Binary driving set selection (bit 0), frequency with acceleration and deceleration ramp (section (significance 20) 5.5.5 "_60TB-Driving sets"). Driving set selection Binary driving set selection (bit 1), fixed frequency with acceleration and deceleration ramp (significance 21) (section 5.5.5 "_60TB-Driving sets"). Driving set selection Binary driving set selection (bit 2), fixed frequency with acceleration and deceleration ramp (significance 22) (section 5.5.5 "_60TB-Driving sets"). Settings for analog inputs
12
FFTB0
13
FFTB1
14
FFTB2
Table 5.12
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5 Software functions BUS 15 KP/DM UM0 Function User data set (UDS) switchover, (significance 20) 16 UM1 User data set (UDS) switchover, (significance 21) 17 /LCW Limit switch clockwise Limit switch clockwise Response to error message in case of reversed limit switches as defined in parameter 534-RLSW (section 5.3.10 "_51ER-Error messages"). Response to error message in case of reversed limit switches as defined in parameter 534-RLSW (section 5.3.10 "_51ER-Error messages"). Binary data set selection (bit 1) (section 5.1 "_15FC-Initial commissioning"). Effect Binary data set selection (bit 0) (section 5.1 "_15FC-Initial commissioning").
18
/LCCW
19
SIO
Input appears in sta- Status of input readable via status word parametus word of serial ter 550-SSTAT of LUST-BUS interface (terminal (section 5.4.1 "_55LB-LUSTBUS"). X4) Reserved for option module at slot 1 Reserved for option module at slot 2 Reserved for modified software Reserved for modified software Reserved for modified software Reserved for modified software Input is available to option module at slot 1, usable only in conjunction with communication modules Input is available to option module at slot 2, usable only in conjunction with communication modules Input can be used by modified software Input can be used by modified software Input can be used by modified software Input can be used by modified software
20
OPTN1
21
OPTN2
22 23 24 25 26
USER0 USER1 USER2 USER3 MAN
Manual mode activa- An inverter module configured for bus operation tion in field bus oper- can be switched to manual mode (e.g. setup or ation emergency operation mode) Analog reference input 0-10 V Reference input 0-10 V. Pay attention to scaling and adapt reference structure by means of reference selector (section 5.2.6 "_28RS-Reference structure"). The current limit value CLIM1/2 for SFC and FOR is limited and thus also the maximum torque (section 5.5.10 "_80CC-Current controller").
29
0-10V
30
SCALE
Limitation of motor current
Table 5.12
Settings for analog inputs
5-28
5 Software functions BUS 31 KP/DM PM10V Function Voltage input -10 V ... +10 V Effect Reference input 0-10 V. Pay attention to scaling and adapt reference structure by means of reference selector (section 5.2.6 "_28RS-Reference structure").
1 2
32 33
0-20 4-20
Current input 0 ... 20 mA Current input 4 ... 20 mA If the current falls below 4 mA, the wire-break monitor is tripped. Response to error message is defined by way of parameter 529 -R-WBK (section 5.3.10 5.3.10 "_51ER-Error messages").
3 4
Table 5.12
Settings for analog inputs
Explanatory notes
The settings STR to MAN of the function selectors evaluate the input as a digital input (24V digital input). Wire-break monitoring: When 4-20 mA is set, the system state monitor triggers an error as soon as the current at the input (ISA00 only) falls below 3 mA (for error message see Appendix).. For characteristic switchover via CUSEL, the control location for the switchover must be set in parameter 651-CDSSL to TERM (terminal operation). The "MAN" function permits a device configured for bus operation to be operated by the operator locally. This function can be used for system setup or emergency operation mode. By the "MAN" function the parameters are automatically assigned new parameter values, as set out in Table 5.13. This is also done while the power stage is active - that is, online. To do so, the drive is stopped and the control location is placed at the manual operation point (Term). A restart can only be executed from the "TERM" control location when the 0 Hz reference has been reached. An active auto-start is only suppressed on switchover to control location "TERM".
5 6 A
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Action Control location Input ISD00 Input ISD01 Terminals Start clockwise
Function
Parameter 260-CLSEL = TERM 210-FIS00 = STR 211-FIS01 = STL 276-RSSL1 = FA0 277-RSSL2 = FCON
Start anti-clockwise
Reference chan- Analog input 0 nel 1 Reference chan- Off nel 2 Table 5.13
Online changes based on activation of the input with the MAN function
Note:
When the analog inputs are operated digitally, the static signal at the terminal is evaluated (see section 2.4 "Specification of control connections"). It should be noted in this that the filter time constant (parameter 188-AFIL0 and 169-AFIL1) will cause a delay in the response time. If this is not wanted, for example when the inputs are assigned the limit switch evaluation function, parameters 188-AFIL0 and 189-AFIL1 must be set to 0.
When the analog input is used as a digital input, the notes regarding the isolation concept must be observed (see section 2.6). The response of the CDA3000 inverter module to the reference value 0Hz can be set in the driving profile generator subject area by parameter 597-RF0.
5-30
Settings for 188-AFIL0 and 189-AFIL1 filter time constant for analog channels
Value 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Table 5.14 Filter time [ms] Off 2 4 8 16 32 64 102 248 458 732 1068 1469 1933 2461 3052 Setting of filter time constants Value 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Filter time [ms] 3707 4425 5207 6053 6962 7935 8971 10071 11235 12462 13752 15107 16524 18006 19551 21159
1 2 3 4 5 6 A
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5.2.2 _20OA-Analog output
Function
Effect
Definition of which scaled actual value is delivered at the analog output (0 ... 10 V)
Conditioning and filtering of the analog actual value The analog output provides diagnosis by way of a voltmeter if no DRIVEMANAGER with digital scope is available.
Designation on tab Function Filter 0V corresponds to 10V corresponds to Table 5.15
Setting
Programmable values see Table 5.16 see Table 5.16 see Table 5.16 see Table 5.16
Stored in
Key to Figure 5.16
(4)
Referenced value 10 V (see table 5.16)
(2)
FOSA0
(3)
OAFI0
(5)
OAMX0 OAMN0
OSA00
(1)
(1) (2) (3) (4) (5)
Actual Selection of the analog actual value Output filter for fault isolation from 0 to 64 ms Referenced value 10 V Scaling of the analog output Function block for adaptation of the analog output
Figure 5.14
5-32
Configuration options, OSA00

10 V
1 2 3
U [V]
0V OAMN0 [%]
(1)
OAMX0 [%]
(1)
Output variable, e.g. frequency Scaling of the analog output
4 5
Figure 5.15
1.
6 A
2.
Figure 5.16
"Analog outputs" tab
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3.
Parameters for analog output

Parameter 200-FOSA0 201-OAMN0 202-OAMX0 203-OAFI0 204-TSCL Function Function selector analog standard output OSA00 Minimum value for analog output OSA00 Maximum value for analog output OSA00 Filter time constant for analog channel OSA00 Torque scaling value Table 5.16 Explanatory notes
x
Value range see Table 5.17 -200 ... 200 -200 ... 200 (2 ms), x = 0 ... 6 0.5 ... 2040
FS ACTF 0 100 4 see Table 5.18
Unit
Online
% %
Nm
Parameters from subject area _20OA Analog output
For the two corner points (0 V, 10 V) the actual value can be adapted from a reference value in the range from - 200 % to + 200 %.
Settings for 200-FOSA0 analog output

BUS 0 1 OFF ACTF KP/DM Function No function Output off Effect/Notes Referenced value 10 V
Current actual frequency Clockwise only (positive values only) Control mode FOR: true actual frequency Control mode SFC: estimated actual frequency Control mode VFC: display of reference frequency Current actual speed Only only (positive values only) Control mode FOR: true actual frequency Control mode SFC: estimated actual frequency Control mode VFC: no display
FMAX1/2
ACTN
FMAXx * 60 / number of pole pairs 2*IN 2*IN 10 V / 20 mA 10 V
3 4 5 6
APCUR ACCUR ISA0 ISA1
Current apparent current Current effective current Voltage or current at analog input ISA00 Voltage at analog input ISA01 Table 5.17 Settings for analog output
5-34
5 Software functions BUS 7 8 KP/DM MTEMP KTEMP Function Effect/Notes Referenced value 10 V 200 C
Current motor tempera- Motor temperature only with linear evaluation (PTC) ture Current heat sink temperature < 15 kW: Temperatures > 100 C in the power stage module correspond to temperatures > 85 C on the heat sink and result in a shut-off > 15 kW: Temperatures > 85 C result in a shut-off, because the temperature sensor is mounted directly on the heat sink.
1 2 3 4
200 C
9 10
DTEMP DCV
Current interior temper- Interior temperatures > 85 C result in a shut-off ature DC-link voltage Referenced values dependent on device version CDA32.xxx 500 V CDA34.xxx 1000 V Referenced values dependent on device version CDA32.xxx 500 V CDA34.xxx 1000 V
200 C
500 V / 1000 V
11
VMOT
Motor voltage
500 V / 1000 V 2*PN 2*PN
12 13 14
PS PW ACTT
Apparent power Effective power Current actual torque Control mode FOR: true actual torque Control mode SFC: estimated actual torque Control mode VFC: no display
5 6 A
Dependent on device, see Table 5.18
15
AACTF
Amount of current actual Clockwise (pos. value) and anti-clockwise (neg. frequency value) are represented as amounts. Control mode FOR: true actual frequency Control mode SFC: estimated actual frequency Control mode VFC: display of reference frequency Amount of current actual Clockwise (pos. value) and anti-clockwise (neg. speed value) are represented as amounts. Control mode FOR: true actual speed Control mode SFC: estimated actual speed Control mode VFC: no display Table 5.17 Settings for analog output
FMAX1/2
16
AACTN
FMAXx * 60 / number of pole pairs
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Device-dependent torques for scaling (204-TSCL)

Torque for scaling Device type Power output [kW] 0.375 0.75 1.1 1.5 0.75 1.5 2.2 3 4 5.5 7.5 11 15 22 30 37 45 55 75 90 0.5 ... 2040 Nm Value range for 204-TSCL Referenced value 10 V [Nm] 5 10.2 15 20 10.2 20 30 40 54 72 98 144 196 288 392 480 584 712 968 1162
CDA32.003 CDA32.004 CDA32.006 CDA32.008 CDA34.003 CDA34.005 CDA34.006 CDA34.008 CDA34.010 CDA34.014 CDA34.017 CDA34.024 CDA34.032 CDA34.045 CDA34.060 CDA34.072 CDA34.090 CDA34.110 CDA34.143 CDA34.170 Table 5.18
Torque scaling values for different device power classes in SFC and FOR
5-36
Setting for 203-OAFI0 Filter constant for analog output OSA00

Value 0 1 2 3 4 5 6 Table 5.19 Filter time [ms] Off 2 4 8 16 32 64 Setting of filter time constants
1 2 3 4 5 6 A
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5.2.3 _21ID-Digital inputs
Function
Effect
The function selectors determine the function of the digital inputs.

(1)
FIS0x FIE0x FISAx
ISD0x ISE0x ISA0x IFx
Free function assignment of all digital inputs
FIFx
(2)
(1) Selection of function of digital input (2) Digital value Figure 5.17 Function block for adaptation of the digital inputs
1. 2.
Figure 5.18
"Digital inputs" tab
5-38
3.
1
Parameters for digital inputs
2
FS STR STL SADD-1 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Unit Online

Parameter 210-FIS00 211-FIS01 212-FIS02 213-FIS03 214-FIE00 215-FIE01 216-FIE02 217-FIE03 218-FIE04 219-FIE05 220-FIE06 221-FIE07 222-FIF0 223-FIF1
1)
Function Function selector digital standard input ISD00 Function selector digital standard input ISD01 Function selector digital standard input ISD02 Function selector digital standard input ISD03 Function selector digital input of user module IED00 Function selector digital input of user module IED01 Function selector digital input of user module IED02 Function selector digital input of user module IED03 Function selector digital input of user module IED04 Function selector digital input of user module IED05 Function selector digital input of user module IED06 Function selector digital input of user module IED07 Function selector virtual digital fixed input 0 Function selector virtual digital fixed input 1
Value range see Table 5.21 --------------
3 4 5 6 A
Switch between FMSI and simple input functions does not work online Table 5.20 Explanatory notes Parameters from subject area _21ID Digital inputs
The analog inputs ISA00 and ISA01 can also be assigned digital functions (see section 5.2.1). Selectors FIF0 and FIF1 provide two virtual inputs with the fixed value 1 (High level). They can be used in place of a permanently active switch. DE EN FR
5-39
Settings for FIS00 ... 214-FIE00 ... 223-FIF1

F I S 0 0

BUS KP/DM
Function
Effect
F I S 0 1

F I S 0 2

F I S 0 3

F I E 0 x

F I F x

0 1 2 3 4
OFF STR STL INV /STOP
No function Start clockwise Start anti-clockwise Reverse direction /Emergency stop via stop ramp
Input off Start enable for motor clockwise running Start enable for motor anti-clockwise running Reference is inverted, causing a reversal of direction Stop ramp is executed dependent on active characteristic data set (CDS). ATTENTION: Signal inverted ( / ) (section 5.5.3 "_59DP-Driving profile generator")
SADD1 Offset for reference selector 280RSSL1
Reference selector 280-RSSL1 is offset by the value in 289-SADD1 to a different refer ence source. (section 5.2.6 "_28RS-Reference structure") Reference selector 281-RSSL2 is offset by the value in 290-SADD2 to a different refer ence source. (section 5.2.6 "_28RS-Reference structure") Error messages from external devices produce a fault signal with response as defined in parameter 524-R-EXT. (section 5.3.10 "_51ER-Error messages") Error messages are reset if the error is no longer present. Reference value of digital MOP function is increased. (section 5.5.2 "_32MP-MOP function") Reference value of digital MOP function is reduced. (section 5.5.2 "_32MP-MOP function") Switch characteristic data set (CDS) 0 = CDS1, 1 = CDS2 (section 5.5.6 "_65CS-Characteristic data switchover (CDS)") Settings of the function selectors
SADD2 Offset for reference selector 281RSSL2
E-EXT
External error in another device
8 9
RSERR MP-UP
Reset error message MOP, increase reference value
10 MP-DN MOP, reduce reference value
11 CUSEL
Select characteristic data set (CDS)
Table 5.21
5-40
5 Software functions F I S 0 0 F I S 0 1 F I S 0 2 F I S 0 3 F I E 0 x
BUS KP/DM
Function
Effect
F I F x
1 2 3 4 5 6
12 FFTB0
Driving set selection (significance 20)
Binary driving set selection (bit 0), fixed frequency with acceleration and deceleration ramp. (section 5.5.5 "_60TB-Driving sets") Binary driving set selection (bit 1), fixed frequency with acceleration and deceleration ramp. (section 5.5.5 "_60TB-Driving sets") Binary driving set selection (bit 2), fixed frequency with acceleration and deceleration ramp. (section 5.5.5 "_60TB-Driving sets")
13 FFTB1
14 FFTB2
15 UM0 16 UM1 17 /LCW
User data set (UDS) switchover, (signifi- Binary data set selection (bit 0) (section 5.1 "_15FC-Initial commissioning") cance 20) User data set (UDS) switchover, (signifi- Binary data set selection (bit 1) (section 5.1 "_15FC-Initial commissioning") cance 21) Limit switch clockwise Limit switch evaluation without override protection. Response to error message in case of reversed limit switches as defined in parameter 534-R-LSW. (section 5.3.10 "_51ER-Error messages") Limit switch evaluation without override protection. Response to error message in case of reversed limit switches as defined in parameter 534-R-LSW. (section 5.3.10 "_51ER-Error messages") Status of input readable via status word parameter 550-SSTAT of LUSTTBUS (section 5.4.1 "_55LB-LUSTBUS") Input available to option module at slot 1. Usable only in conjunction with communication modules. Input available to option module at slot 2. Usable only in conjunction with communication modules. Input can be used by modified software Input can be used by modified software Input can be used by modified software Input can be used by modified software Settings of the function selectors
18 /LCCW
Limit switch anti-clockwise
19 SIO
Input appears in status word of serial interface (terminal X4) Reserved for option module at slot 1
20 OPTN1
21 OPTN2
Reserved for option module at slot 2
22 USER0 23 USER1 24 USER2 25 USER3
Reserved for modified software Reserved for modified software Reserved for modified software Reserved for modified software Table 5.21
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5 Software functions F I S 0 0 F I S 0 1 F I S 0 2
BUS KP/DM
Function
Effect
F I S 0 3
F I E 0 x
F I F x
26 MAN
Manual mode activation in field bus operation Encoder input
An inverter module configured for bus operation can be switched to manual mode (e.g. setup mode or emergency operation) Connection of A or B signal of a HTL encoder (section 6.3.1 "_79EN-Encoder evaluation") Slave input for reference input in Master/ Slave coupling. (section 5.5.7 "_66MS-Master/Slave operation") Input for reference input via a clock frequency of 0-10 kHz (section 5.2.5 "_25CK-Clock input/clock output")
27 ENC
28 FMSI Reference coupling input
34 INCLK Clock input
Table 5.21
Settings of the function selectors
5-42
Explanatory notes
1 2 3 4 5 6 A
In closed-loop control mode "FOR" an encoder with HTL signal is connected at inputs ISD02 and ISD03. Input ISD02 is assigned track A and ISD03 track B. If input ISD01 is assigned the function FMSI (fast reference coupling), the digital output OSD01 cannot be used. For characteristic switchover via CUSEL, the control location for the switchover must be set in parameter 651-CDSSL to TERM (terminal operation). The "MAN" function permits a device configured for bus operation to be operated by the operator locally. This function can be used for system setup or emergency operation mode. By the "MAN" function the parameters are automatically assigned new parameter values, as set out in Table 5.13. This is also done while the power stage is active - that is, online. To do so, the drive is stopped and the control location is placed at the manual operation point (Term). A restart can only be executed from the "TERM" control location when the 0 Hz reference has been reached. An active auto-start is only suppressed on switchover to control location "TERM".
Action Control location Input ISD00 Input ISD01 Terminals Start clockwise
Function
Parameter 260-CLSEL = TERM 210-FIS00 = STR 211-FIS01 = STL 276-RSSL1 = FA0 277-RSSL2 = FCON
Start anti-clockwise
Reference chan- Analog input 0 nel 1 Reference chan- Off nel 2 Table 5.22
Online changes based on activation of the input with the MAN function
Note:
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Explanatory notes
The digital inputs only evaluate static signals (see section 2.4 "Specification of control connections").
Terminals
The start command for a direction of rotation can be set by way of the terminals of the inverter module. The start commands determine the direction. If the reference value has a negative preceding sign the fact is indicated during starting by an inverted response - that is to say, in response to Start Clockwise the motor shaft rotates anti-clockwise.
STL STR Explanation STOP, Motor is uncontrolled if stop ramp and DC braking are off. Otherwise the motor decelerates with the programmed stop ramp or the preset braking current down to 0 Hz and is then brought to a standstill with the preset holding current for a variable holding time. START anti-clockwise, Acceleration with ACCRx or DECRx START clockwise, Acceleration with ACCRx or DECRx BRAKING with DECRx or TDCRx. As soon as the motor reaches 0 Hz it is brought to a standstill with the preset holding current if the DC holding function is activated. Otherwise the motor is uncontrolled at standstill. The braking process can be interrupted by applying only one start contact; the motor then accelerates again. REVERSE direction, overlap time (STL and STR = 1) min. 2 ms 1 Table 5.23 0 Truth table for control via terminals
1 0
0 1

Limit switch evaluation is based on the evaluation of static signals. No signal edges are evaluated. The limit switches are monitored dependent on direction of rotation, so reversed limit switches are signalled as errors. The drive runs down uncontrolled. Mechanical passing of the limit switches is not permitted and is not monitored in terms of plausibility.
5-44
Example: If the right side limit switch is approached in clockwise running, this signal stops the drive. But if this signal is overridden and the limit switch is no longer damped, the drive starts up again in the direction of rotation if the clockwise start enable is still applied.
1 2 3 4 5
Direction of travel
(1)
(2)
(1) Mechanical end stop (2) Limit switches not overridable Figure 5.19 Limit switch evaluation
6 A
Note:
The evaluation of pulse switches or upstream limit switches is not supported. Bridges in limit switches, leads and switch cabinets are not monitored or detected. In accordance with EN 954-1 "Safety of machines", category B is attained without additional control elements.
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5.2.4 _24OD-Digital outputs
Function
Effect
The function selectors determine the function of the digital outputs.
Free function assignment of all digital outputs
(1)
FOS0x FOE0x
OSD0x OED0x
(2)
(1) Selection of function of digital input (2) Digital value Figure 5.20 Function block for adaptation of the digital outputs
1.
2.
Figure 5.21
"Digital outputs" tab
5-46
3.
1
Parameters for digital outputs
2
FS 0.099 BRK1 REF S-RDY OFF OFF OFF OFF 50 ms Unit Hz Online
1)
Parameter 230-REF_R 240-FOS00 241-FOS01 242-FOS02 243-FOE00 244-FOE01 245-FOE02 246-FOE03 247-TENMO
1) Switch
Function Reference-reached window Function selector digital standard output OSD00 Function selector digital standard output OSD01 Function selector digital standard output OSD02 (changeover relay) Function selector digital output of user module OED00 Function selector digital output of user module OED01 Function selector digital output of user module OED02 Function selector digital output of user module OED03 Time between motor contactor and active loop control
Value range 0 ... 20 see Table 5.25 ------0 ... 2000
3 4 5 6 A
between FMSO/FCLK and simple output functions does not work online Table 5.24 Parameters from subject area "_24OD-Digital outputs"
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Settings for 240-FOS00, ... 246-FOE03

F O S 0 0
BUS
KP/DM
Function
Effect
F O S 0 1
F O S 0 2
F O E 0 x
0 1
OFF ERR
No function Collective error message
Output off. Device in error state. The error must be eliminated and acknowledged before operation can be restarted. (section 5.3.10 "_51ER-Error messages")
WARN
Collective warning message Parameterizable warning limit exceeded, device still ready. (section 5.3.9 "_50WA-Warning messages") Collective error message negated Device in error state. The error must be eliminated and acknowledged for operation to be restarted. (section 5.3.10 "_51ER-Error messages")
/ERR
/WARN
Collective warning message Parameterizable warning limit exceeded, device still negated ready. Wire-break-proof output. (section 5.3.9 "_50WA-Warning messages") Control in function Clockwise rotation Anti-clockwise rotation Motor at standstill Power stage active and closed-loop/open-loop control in function Motor running clockwise Motor running anti-clockwise Motor in standstill window (fref=0 Hz). Control mode FOR: dependent on actual value Control mode SFC: dependent on reference value Control mode VFC: dependent on reference value Refer to the information given under "Explanatory notes". The internally processed reference value exceeds the reference limit and is restricted to the limit value. (section 5.3.1 "_30OL-Frequency limitation") The preset reference has been reached. Control mode FOR: dependent on actual value Control mode SFC: dependent on reference value Control mode VFC: dependent on reference value Refer to the information given under "Explanatory notes". Output can be set via the serial interface by the LUSTBUS control word. (section 5.4.1 "_55LB-LUSTBUS")
5 6 7 8
ACTIVE ROT_R ROT_L ROT_0
LIMIT
Reference limitation active
10
REF
Reference reached
11
SIO
Access by control word of LustBus
Table 5.25
Settings for function selector FOxxx of the digital outputs
5-48
5 Software functions F O S 0 0

BUS
KP/DM
Function
Effect
F O S 0 1

F O S 0 2

F O E 0 x

1 2 3
12 13 14
OPTN1 OPTN2 BRK1
Reserved for option module at slot 1
Output available to option module at slot 1. Usable only in conjunction with communication modules.
Reserved for option module, Output available to option module at slot 1. Usable slot 2 only in conjunction with communication modules. Holding brake function 1 Output is activated if actual speed in control modes (without motor current moni- FOR/SFC has exceeded value in parameter FBCxx. In toring) open-loop control mode VFC the reference infringement is evaluated. (section 5.5.1 "_31MB-Motor holding brake") Holding brake function 2 Output is activated if, in VFC (SFC), the control reference or, in FOR, the control actual value has exceeded the value in parameter SSCxx (clockwise: SSCW, anti-clockwise: SSCCW)
15
BRK2
16
WUV
Warning: undervoltage in DC Warning message when DC-link voltage has fallen link below value in parameter 503-WLUV. Device ready (section 5.3.9 "_50WA-Warning messages") Warning: overvoltage in DC link Warning message when DC-link voltage has exceeded value in parameter 503-WLUV. Device still ready. (section 5.3.9 "_50WA-Warning messages") Warning message when integrator of current I over time t has tripped to protect the device. (section 5.3.3 "Device protection")
17
WOV
18
WIIT
Warning, I2t integrator started (device)
19
WOTM
Warning: motor temperature Warning message when motor temperature has exceeded value in parameter 502-WLTM. (section 5.3.9 "_50WA-Warning messages") Warning: heat sink tempera- Warning message when the heat sink temperature ture of device of the device has exceeded the value in parameter 500-WLTI. (section 5.3.9 "_50WA-Warning messages") Warning: interior temperature of device Warning message when device interior temperature has exceeded value in parameter 501-WLTD. (section 5.3.9 "_50WA-Warning messages")
20
WOTI
21
WOTD
22
WIS
Warning message: apparent Warning message when apparent current has current limit value exceeded value in parameter 506-WLIS. (section 5.3.9 "_50WA-Warning messages") Warning message: output frequency limit Warning message when output frequency has exceeded value in parameter 505-WLF. (section 5.3.9 "_50WA-Warning messages")
23
WFOUT
Table 5.25
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5 Software functions F O S 0 0
BUS
KP/DM
Function
Effect
F O S 0 1
F O S 0 2
F O E 0 x
24
WFDIG
Warning: master reference value incorrect Warning: ixt integrator started (motor) Device initialized Device ready
Warning message when the reference value of the master passed to the slave is incorrect. (section 5.3.9 "_50WA-Warning messages") Warning message when integrator for current I over time t has tripped to protect the motor. (section 5.3.2 "_33MO-Motor protection") Output is activated if the device is initialized after power-on. Output is activated if by setting the signal ENPO the device is "ready to start", parameters for a UDS switchover have been completely reset and there are no error messages. DC link is buffered by means of power failure bridging. (section 5.3.4 "_34PF-Power failure bridging") Output can be used by modified software Output can be used by modified software Output can be used by modified software Output can be used by modified software Output of master for reference input to slave in Master/Slave coupling (section 5.5.7 "_66MS-Master/Slave operation") Output for reference input via a clock frequency of 0-1 kHz (section 5.2.5 "_25CK-Clock input/clock output") Warning message when torque has exceeded value in parameter 507-WLTQ (see section 5.3.9 "_50WAWarning messages"). Output is activated on start of control and remains active extended by the time 247-TENMO when the start is cancelled and the drive is stopped Output is deactivated on start of control and remains inactive extended by the time 247-TENMO when the start is cancelled and the drive is stopped
25
WIT
26 27
S_RDY C_RDY
28
DCV
DC-link buffering active
29 30 31 32 33
USER0 USER1 USER2 USER3 FMSO
Reserved for modified software Reserved for modified software Reserved for modified software Reserved for modified software Reference coupling output, Master/Slave operation Clock output for reference input Warning message: torque
34
OCLK
35
WTQ
36
ENMO
Switch motor contactor
37
/ENMO
Switch motor contactor, negated function
Table 5.25
5-50
Explanatory notes
The warning messages are not displayed in the DRIVEMANAGER. They can be evaluated in bit-coded form in parameter 120-WRN. Parameters can be set for warning limits in subject area _50WAWarning messages (section 5.3.9). The "reference reached" (REF) and "motor standstill" (ROT_0) functions are dependent on the selected operation mode.
Digital output function active
1 2 3
Operation mode VFC SFC FOR Table 5.26
Reference reached (REF)
Motor standstill (ROT_0)
Message deviates from true motor speed Dependent on slip Dependent on estimated speed None
Reference + REF_R Reference + REF_R Reference + REF_R Reference + REF_R Actual + REF_R Actual + REF_R
4 5 6 A
Dependency of digital output functions on operation mode
With parameter 230-REF_R a range can be defined in which the reference (control mode: VFC/SFC) or actual (control mode: FOR) may deviate from the reference value without the "Reference reached" (REF) message being deactivated. This enables reference value fluctuations resulting from reference input via analog inputs to be taken into account.
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230-REF_R
f [Hz]
fref/FMAXx [%] ISA0x 100 50 0 1 0
REF
t
Figure 5.22 Digital output with "reference reached" setting when using the "reference-reached window"
Explanatory notes
"Clockwise" (ROT_R) and "anti-clockwise" are detected dependent on parameter 230-REF_R.
Digital output function active Operation mode ROT_R VFC SFC FOR Table 5.27 Positive reference + REF_R Positive reference + REF_R Positive actual + REF_R ROT_L Negative reference -REF_R Negative reference -REF_R Negative actual -REF_R
Overview of direction recognition dependent on control mode
The motor holding brake function BRK2 cannot be activated or deactivated online.
5-52
Explanatory notes
The motor cable must always be switched with the power cut, otherwise problems such as burnt-out contactor contacts or inverter overvoltage or overcurrent shut-off will occur. To ensure the power is cut when switching, the contacts of the motor contactor must be closed before enabling the inverter power stage. In the reverse case, the contacts must remain closed until the inverter power stage is shut off. This is done by configuring appropriate safety times for switching of the motor contactor in the control sequence of your machine or using the special ENMO software function of the CDA3000 inverter. A power contactor in the motor cable can be controlled by the frequency inverter. The pick-up and drop-out times of the power contactor can be incorporated by way of timer parameter 247-TENMO. In this way you can ensure that after a start enable the reference is only specified when the contactor is closed, or if the power stage is inactive the motor is isolated from the frequency inverter by contactor.
1 2 3 4 5 6 A
Note:
The TENMO timer time should allow additional times for typical contactor bounce. They may extend over several hundred ms, depending on contactor.
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f [Hz]
0
STR 1
0
ENMO 1
0
POWER 1
0
TENMO TENMO
ENMO Motor power contactor POWER Frequency inverter power stage Figure 5.23 Motor contactor control via digital output with setting ENMO
With the setting 247-TENMO=0 the motor contactor functionality is disabled. When the ENMO function is activated the motor contactor is automatically closed during auto-tuning. The motor contactor functionality is active when one of the function selectors of the digital outputs OSD0x or OED0x has the value ENMO or /ENMO. Note: If a switch is made in the motor cable with the power stage still active, to avoid error message E-OC resulting from transient currents in the switching phase a motor choke should be installed. Also, in the event of error message E-OC1 a check is made prior to output of the error message whether the hardware enable ENPO is applied. If it is not, an intentional switch in the motor cable by a motor contactor is assumed, and the error message is suppressed.
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5.2.5 _25CK-Clock input/clock output
Function
Effect
Definition of the internal processing of the clock input Scaling of input frequency of clock input Definition of output frequency of clock output dependent on modulation frequency of power stage
The reference value can be set by way of a clock frequency The actual value is mapped onto a clock signal at OSD01
1 2 3 4 5
1. 2.
6 A
Figure 5.24
Clock input
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3.
Figure 5.25
INCLK input
Parameters for clock input

Parameter 251-FFMX1 252-FFMN1 253-FFMX2 254-FFMN2 255-INCLF Function CDS1: Maximum value clock input ISD01 at 10 kHz CDS1: Minimum value clock input ISD01 at 0 kHz CDS2: Maximum value clock input ISD01 at 10 kHz CDS2: Minimum value clock input ISD01 at 0 kHz Filter time constant for the clock input Table 5.28 Value range -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 0.002-20 FS 50 0 50 0 0.01 Unit Hz Hz Hz Hz s Online
Clock input parameters of subject area "_25CK-Clock input/ clock output"
Explanatory notes on clock input
Use of the clock input is restricted to the digital input ISD01. To activate the fast clock input, set function selector 211-FIS01 = INCLK. By way of the digital input ISD01 the reference of the device can be specified with a clock signal of 0-10 kHz.
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X2
Des.
Function
1 2 3
max. 100 m
Control with clock output
17
DGND
Digital ground
10
ISD01
Clock input
Figure 5.26
Wiring with reference input via clock input
4
Scaling of clock input
FFMXx f[Hz] 1600
5 6 A
FFMNx -1600 0 kHz

Figure 5.27
F[kHz]
10 kHz
Scaling of clock input ISD01
1.
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2.
3.
Figure 5.28
Clock output
Parameters for clock output

Parameter 250-OCLK Function Multiplier for clock output OSD01 Table 5.29 Value range 1x, 2x, 4x ... 128x FS 1x Unit Online
Clock output parameters of subject area "_25CK-Clock input/ clock output"
5-58
Explanatory notes on clock output
Use of the clock output is restricted to the digital output OSD01. To activate the fast clock output, set function selector 241-OSD01=OCLK. The transmission ratio is adjustable in increments of 2n from 1x to 128x, and is limited to a maximum of half the switching frequency of the power stage (parameter 690-PMFS). The clock signal of output OSD01 is 0-1 kHz with negligible jitter. At a higher output clock rate the inaccuracy of the clock signal increases because of the jitter. Consequently, specifications here only take into account a clock signal of 0...1 kHz. The clock signal is composed from the output frequency times the value of the multiplier 250-OCLK.
1 2 3 4 5
Connection example
Function Des. X2
max. 100 m
Digital ground Clock output DGND OSD01 17 16
Control with clock input 0 - 1 kHz
6 A
Figure 5.29
Wiring when using the clock output
Note:
The clock cables must be shielded. The shield should be earthed across a wide area on one side if there is a risk of equalizing currents. The shielding effect against high-frequency interference signals (MHz range) is significantly reduced, however.
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Condition of multiplier 250-OCLK
PMFS OFMX < OCLK < FMAXx . 2 FMAXx
with OCLK = 2x (x=0, 1, 2, ... 7)
OFMX FMAXx PMFS
Recommended max. output frequency of clock output Maximum rotation frequency, parameter 303-FMAX1 or 305 FMAX2 Switching frequency or power stage, parameter 690-PMFS
The quality of the outputted clock signal depends on the switching frequency of the power stage. In this, if the maximum output frequency OFMX is exceeded the clock signal becomes more and more asymmetrical.
Recommended max. output frequency of clock output OFMX dependent on switching frequency of power stage
PFMS [kHz] 4 8 16 Table 5.30 OFMX [Hz] 1000 2000 4000 Recommended max. output frequency of clock output
This results in the following table for the multiplier 250-OCLK dependent on switching frequency of the power stage and the maximum output frequency.
Maximum recommended multiplication value for parameter 250-OCLK

Switching frequency of power stage in [kHz] 4 8 16 Table 5.31 Maximum output frequency FMAXx in [Hz] 50 16x 32x 64x 100 8x 16x 32x 150 4x 8x 16x 200 4x 8x 16x 250 4x 8x 16x 300 2x 4x 8x 350 2x 4x 8x 400 2x 4x 8x
Maximum recommended multiplier in parameter 250-OCLK
5-60
Table 5.31 results in the following output frequencies for the clock output.
Output frequency of clock output OSD01 dependent on multiplier 250-OCLK

Switching frequency of power stage in [kHz] 4 8 16 Table 5.32 Maximum output frequency FMAXx in [Hz] 50 800 1600 3200 100 800 1600 3200 150 600 1200 2400 200 800 1600 3200 250 1000 2000 4000 300 600 1200 2400 350 700 1400 2800 400 800 1600 3200
1 2 3 4 5 6 A
Output frequency of clock output OSD01 dependent on multiplier 250-OCLK
5.2.6 _28RS-Reference structure
Function
Effect
By way of the reference structure the two reference channels are added together. Each channel can draw a reference source from a predefined selection.
The reference structure is adjusted to the application by the assistance parameters such that no adaptation is required for most applications. For special requirements, the internal processing of the reference value can be adapted by way of the flexible reference structure.
1.
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2.
Figure 5.30
Reference/Ramps tab
3.
Note:
This section is intended only for users who are unable to find their drive solution, or any suggested solution, in the preset application data sets.
5-62
Explanatory notes on Figure 5.31
1. Reference channels: Reference selectors (B) RSSL1 and RSSL2 switch a reference source (A) onto the reference channel. The selectors can additionally be switched by digital inputs. After reference channel 1 has been influenced by parameter RF1FA (0 ... 100%), reference channel 2 is added to it. The sum of the two channels can then be inverted. At various points within the reference structure the current reference value can be observed by means of parameters REF1 to REF6. 2. Driving profile generator: The driving profile generator consists of a ramp generator and a smoothing generator (F and G) The ramp generator can switch in operation between different ramp steepnesses from the two characteristic data sets (651-CDSSL). Simultaneously setting inputs STR and STL presets the reference 0 Hz for the ramp generator (see also section 5.2.7 "_26CL-Control location" and section 5.5.3 "_59DP-Driving profile generator"). 3. Driving sets: The driving sets are activated by setting one of the reference selectors to FFTB, using the fixed frequencies FFTBx with the preset ramps of the ramp selector (see also section 5.5.5 "_60TB-Driving sets"). 4. Smoothing time: The filter smoothes the beginning and end of the ramp to limit bucking. The acceleration and braking times are extended by the smoothing time.
Symbol Meaning Reference source (input), in some cases with second characteristic set Reference selector (switch) Parameter Interim reference values (for display only) Limitation of reference value Mathematical influence Table 5.33 Symbols used in Figure 5.31
1 2 3 4 5 6 A
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Reference input block diagram
OPTN 2 (X7)
CDSSL FMAX1/2
B
RSSL1 SADD1
OPTN 1 (X6) FIS01 ISD01 FMSI

TBSEL
FMIN1/2 FFIX1/2
FIS01 ISD01 INCLK

TACR0..7 FFTB0..7 TDCR0..7 RSSL2 SADD2
(1)
FOPT2
SIO (LUSTBUS)
FOPT1 FDIG
FISA1 ISA01 (analog) FISA0
FCLK FSIO FA1 PRCTx=OFF FA0

0 Hz
ISA00 (analog)
A
FISxx or FIExx
FCON=0
PRCTx=OFF
ISAxx ISRxx IEDxx
MP-UP
FPOT 0 Hz
J
MPSEL
CDSSL
ISAxx ISRxx IEDxx
FISxx or FIExx
FMAX1/2
REF4
MP-DN
FMIN1/2
A B C D E F
Reference sources Reference selectors (RSSLx) with offset function (SADDx) Reference adjustment, percentage Possibility of inversion Reference limitation (amount only) Ramp generator
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1
CDSSL
K
PRMX1/2
FIxxx=INV
C
RF1FA
FA0
PRCT1/2
-PRMX1/2
FIxxx=INV * (-1) PRCTx=OFF * (-1)
2 3
% +
REF1
REF2
4
REF3
5
L
M
TACR0..7
TBSEL
RSSLx = FFTB
TDCR0..7 CDSSL
BRK2
START = 0 FOS0x = BRK2 oder FOE0x = BRK2
RSSLx = FFTB
6 A
TREF
TCTRL
ACCR1/2
DECR1/2
0 Hz
REF5
REF6
STPR1/2
JTIME
CDSSL
G H J K L (1)
Activate/deactivate smoothing (inactive in table FFTB) Driving profile generator MOP function Process controller Motor holding brake in setting BRK2 Table with 8 driving sets, incl. acceleration and braking ramps
Figure 5.31
Parameters from subject area _28RS Reference structure
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Parameters of the reference structure

Parameter 280-RSSL1 281-RSSL2 282-FA0 283-FA1 284-FSIO 285-FPOT 286-FDIG 287-FOPT1 288-FOPT2 289-SADD1 290-SADD2 291-REF1 292-REF2 293-REF3 294-REF4 295-REF5 296-REF6 297-RF1FA Function Reference selector 1 Reference selector 2 Analog reference input ISA00 Analog reference input ISA01 Reference serial interface Reference of MOP Digital reference input (reference coupling) Reference value of option slot 1 Reference value of option slot 2 Offset value for reference selector 1 Offset value for reference selector 2 Reference value of reference channel 1 Reference value of reference channel 2 Reference before reference limitation Reference before ramp generator Reference before ramp smoothing Reference for transfer to control Factor for reference channel 1 Table 5.34 Explanatory notes Value range see Table 5.35 see Table 5.35 * * * * * * * 0 ... 11 0 ... 11 * * * * * * 0 ... 100 100 FS FMAX FCON 0 0 0 0 0 0 0 10 0 Hz Hz Hz Hz Hz Hz % Hz Hz Hz Hz Hz Hz Hz

Unit
Online

Parameters from subject area _28RS Reference structure
Parameter values which are produced from calculations and so are not editable have an asterisk (*) in the "Value range" column. The offset value for the reference selector is entered as a positive integer.
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Setting for 280-RSSL1 and 281-RSSL2

BUS 0 1 2 3 4 5 6 7 8 KP/DM FCON FA0 FA1 FSIO FCLK FDIG FOPT1 FOPT2 FFTB Function Shuts off unused reference channel Analog reference value of input ISA00 ( 10 V, 0 ... 20mA etc.) Analog reference value of input ISA01 (0 ... + 10 V) Reference via serial interface Reference via clock signal 0 ... 10 kHz at ISD01 Reference for Master/Slave operation Reference of option module at slot 1 (user module) Reference of option module at slot 2 (communication module) Table with eight fixed frequencies and associated acceleration and braking ramps; selection of table item via inputs with function FFTBx or directly in parameter TBSEL Fixed frequency, switchable with characteristic data set switchover (FFIX1 and FFIX2) Minimum output frequency, switchable with characteristic data set switchover (FMIN1 and FMIN2) Maximum output frequency, switchable with characteristic data set switchover (FMAX1 and FMAX2)
1 2 3 4 5 6 A
9 10 11
FFIXx FMINx FMAXx
Table 5.35
Settings for reference selectors
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Working with reference selectors RSSLx and offset SADDx

Reference channels 1 and 2 are supplied by the reference sources depending on the setting of reference selectors 276-RSSL1 and 277 RSSL2. By adding together the two reference sources, an offset with reference channel 2 can be added to reference channel 1 for example. An offset SADDx can be applied to the selectors RSSLx. In this way the reference selector can be switched between various sources in operation. The offset can be changed by way of the digital inputs. For this, the function selectors of the inputs must be configured accordingly to the parameter value SADDx. The offset consists of a positive integer (here: 0 ... 11), entered in the relevant parameter 28x-SADDx. The inputs set the offset for the reference selector with the rising edge and cancel the offset with the falling edge. The reference sources are selected in loop sequence, i.e. after reference source FMAX comes reference source FCON. The offset is cancelled in the reverse direction.
FMAX FMIN FFIX FFTB FOPT2 FOPT1 FDIG FCLK FSIO FA1 FA0 FCON=0
Activate offset
Figure 5.32
Selection of reference sources
Note:
Selector RSSLx can only be switched by a digital input, assigned the offset SADDx. Several digital inputs with the offset SADDx do not cause repeated feedforward of selector RSSLx.
Example of reference source switching: 210-FIS00 = SADD1 The digital input ISD00 switches the offset value of parameter 285-SADD1 on/off 285-SADD1 = 3 The offset value of parameter SADD1 has a stepwidth of "3 increments"
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If the digital input ISD00 is set, the reference selector RSSL1 is increased by the value "3 increments" from parameter 285-SADD1 (see Figure 5.33). If there is a falling edge at input ISD00, the offset is cancelled again, causing the original reference source to be set.
(1)
210-FIS00 = SADD1
ISD00
1 2 3
(2)
285-SADD1 = 3
(3)
276-RSSL1 = FA0
SADD1 Offset
. . .
FCLK FSIO
FA1 FA0 FCON = 0
(4)
4 5 6 A
(1) (2) (3) (4)
Offset = 3 Activate offset via digital input Offset value for base reference source Base reference source Reference from selected reference source on reference channel
Figure 5.33
Example: Input ISD00 delivers offset for reference selector RSSL1. Operation of input ISD00 switches the reference source.
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Procedure for setting reference input

The precondition is the factory setting (FS) in which only the first characteristic data set is active (650-CDSAC = 0). It is advisable always to follow the procedure below to set the reference input for your application:
Step 1
Function Select reference source Define reference limit Set ramp generator Activate bucking limitation Reference adjustment
Explanation Set the reference selector to the desired reference source (see table: "Explanation of reference sources").
Subject area
Parameter
"_28RS-Reference struc- 280-RSSL1 ture" 301-FMIN1 303-FMAX1 306-FMXA1 590-ACCR1 592-DECR1 594-STPR1 596-JTIME
Define the reference limits for minimum and maximum output "_30OL-Frequency limifrequency and for the absolute output frequency of the con- tation" trol. Enter the acceleration and braking ramps and any applicable "_59DP-Driving profile stop ramp. generator" Define the smoothing of your driving profile as necessary in order to obtain smooth transitions between the individual ramps. "_59DP-Driving profile generator"
Set the parameters for a reference adjustment as necessary. "_28RS-Reference struc- 297-RF1FA This may be a percentage factor by which reference channel ture" FIxxx=INV 1 is multiplied, or an inversion of the common reference value from both reference channels by way of a function selector. Table 5.36 Procedure for setting the reference input for characteristic data set CDS1
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5.2.7 _26CL-Control location
Function
Effect
The control location determines the source from which the control commands are given. Auto-Start after power-up
Possible control locations are: - Terminals - KEYPAD KP200 - Serial interface - Option slot 1 or 2 Drive auto-start
1 2 3 4 5
1. 2.
6 A
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3.
Figure 5.34
Setting of Auto-Start function
CLSEL
TERM KPAD SIO OPTN1 OPTN2
(1)
(1) Selected control location Figure 5.35 Function block: Control location selector
Parameters for control location

Parameter 7-AUTO Function Auto-Start Value range OFF/ON see Table 5.38 FS OFF TERM Unit Online

260-CLSEL Control location selector Table 5.37
Parameters from subject area _26CL Control location
Explanatory notes
An auto-start is executed when a start command is received (STR/STL) and the hardware enable ENPO is set.
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Attention!
The drive starts up automatically after power-up or resetting of an error message dependent on the error response.
1 2 3 4 5 6 A
Auto-Start is preset in the presets of the application data sets BUS_x.
Settings of the control location selector 260-CLSEL

BUS 0 1 2 3 4 5 Table 5.38 OFF TERM KPAD SIO OPTN1 OPTN2 KP/DM No function Terminals KEYPAD KP200 Serial interface RS232 (Serial Input Output) Option module at slot 1 (user modules) Option module at slot 2 (communication modules) Function
Settings for 260-CLSEL Control location selector
Terminals
The start command for a direction of rotation can be set by way of the terminals of the inverter module. The start commands determine the direction.
Attention!
If the reference value (BUS, SIO, +/- 10 V, etc.) has a negative preceding sign, the fact is indicated on startup by an inverted response, i.e. the motor shaft rotates anti-clockwise in response to a clockwise start.
STL
STR
Explanation STOP, Motor is uncontrolled if stop ramp and DC braking are off. Otherwise the motor decelerates with the programmed stop ramp or the preset braking current down to 0 Hz and is then brought to a standstill with the preset holding current for a variable holding time. START anti-clockwise, Acceleration with ACCRx or DECRx START clockwise, Acceleration with ACCRx or DECRx Truth table for control via terminals
1 0 Table 5.39
0 1
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5 Software functions STL STR Explanation BRAKING with DECRx or TDCRx. As soon as the motor reaches 0 Hz it is brought to a standstill with the preset holding current if the DC holding function is activated. Otherwise the motor is uncontrolled at standstill. The braking process can be interrupted by applying only one start contact; the motor then accelerates again. REVERSE direction, overlap time (STL and STR = 1) min. 2 ms 1 Table 5.39 0 Truth table for control via terminals
KEYPAD KP200
In the CONTROL menu the KEYPAD takes over complete control over the inverter. It attunes the control location selector and the reference channel 1 to KP200. The second reference channel is shut off. By way of the KEYPAD control of the inverter can be seized and a reference value with preceding sign can be set to determine the direction of rotation. Parameters for setting and adapting the KEYPAD are located in subject area _36KP-KEYPAD. For more information on the KeyPad refer to the CDA3000 Operation Manual or see section 3.3 "Operation with KEYPAD KP200".
Serial interface
To control the inverter module via the serial interface (terminal X4) the LUSTBUS PROTOCOL is used. The DRIVEMANAGER user software uses this LUSTBUS protocol for communication and control of the frequency inverter.
TION
The control location is set to SIO as soon as the DRIVEMANAGER "Control device" function is selected.
FUNC-
At the end of the control window the old setting is restored before the control function is taken over by the DRIVEMANAGER. Note: If communication between the inverter module and the DRIVEMANAGER is interrupted, the setting can no longer be reset by the DRIVEMANAGER.
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Parameters for setup and data exchange of the serial interface are located in subject area "_55LB-LUSTBUS" (section 5.4.1).
1 2 3 4 5
Option slots 1 and 2

Activation of the inverter module by way of communication modules can be handled via the DRIVECOM state machine or the LUST-specific protocol. The control location is set to OPTx. The option slots are described in section 2.2 "Module mounting". Pay attention to the special notes set out there. Parameters for setting and data exchange of the communication modules are described in section 5.4.2 "_57OP-Option modules".
Overview of option modules

Order designation CM-CAN1 CM-CAN2 CM-DPV1 UM-8I4O Table 5.40 Option modules CANLust CANopen Summary description Conforming to CiA Draft Standard 301 Conforming to CiA Draft Standard 402 Control location OPTx OPTx OPTx TERM
6 A
PROFIBUS-DP Conforming to EN 50170 / DIN 19245 I/O module Terminal expansion module with 8 inputs and 4 outputs
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5.3
Protection and information
Protection of the motor and of the CDA3000 inverter module is preset depending on the power class of the module. By means of parameter setting the protection can be adapted for special applications and the protection zone made more sensitive. These safety devices are indicated by warning and error messages. As an aid to setup, conclusions can be drawn from the current actuals and the display of device capacity utilization in the form of a peak value memory. A special case is power failure bridging, which can be parameterized in response to infringement of a minimum voltage at the mains voltage input.
5.3.1 _30OL-Frequency limitation
Function
Effect
Limitation of the output frequency for a characteristic data set

FMAXx
Setting of maximum and minimum limit frequencies
FFIXx
f [Hz]
FMINx 0
Start
1 0
10 V 0V
FFIX 1
0
t [ms]
Figure 5.36
Limitation of output frequency
1.
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2. 3.
1 2 3 4 5 6
Figure 5.37 "Reference - frequency limitation CDS1" tab
Parameters of frequency limitation

Parameter 301-FMIN1 302-FMIN2 303-FMAX1 305-FMAX2 306-FMXA1 307-FMXA2 308-DLOCK Function CDS1: Minimum reference frequency CDS2: Minimum reference frequency CDS1: Maximum reference frequency CDS2: Maximum reference frequency CDS1: Absolute output frequency of control CDS2: Absolute output frequency of control Activate directional lock Table 5.41 Value range see Table 5.43 see Table 5.43 see Table 5.43 see Table 5.43 see Table 5.43 see Table 5.43 see Table 5.43 FS 0 0 50 50 BG1...5: 440 Hz BG6...8: 240 Hz OFF Unit Hz Hz Hz Hz Hz Hz Online
Parameters from subject area _30OL Frequency limitation
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Settings for 308-DLOCK

BUS 0 1 2 Table 5.42 OFF STR STL KP/DM No directional lock Directional lock clockwise Directional lock anti-clockwise Settings for 308-DLOCK Activate directional lock Function
Explanatory notes
With FMINx 0 Hz, after starting the output frequency is accelerated from 0 Hz with the ramp ACCRx to FMINx. The absolute maximum frequency FMXAx limits the output frequency of control functions, such as slip compensation in VFC mode. Changing parameter FMINx or FMAXx activates a controller initialization. The maximum reference frequency FMAXx and the absolute output frequency of the control FMXAx must always be greater than 0 Hz. The output frequencies of the different power classes are limited internally to maximum values based on the power stages and the modulation of the PWM signal. For the absolute output frequency, values up to 1600 Hz can be entered, though subject to the internal limitation (see Table 5.43).
Output frequencies of the power classes

Value range Power class 0.75 kW ... 15 kW 22 kW ... 90 kW Table 5.43 Size FMINx/FMAXx 1 ... 5 6 ... 8 0 ... 400 Hz 0 ... 200 Hz FMXAx 0 ... 440 Hz 0 ... 240 Hz
Output frequencies of the frequency inverter power classes
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5.3.2 _33MO-Motor protection
Function
Effect
Monitoring of motor temperature by temperature sensors or by temperature-sensitive switches and Ixt monitoring.
The inverter module shuts off the motor with an error message: E-OTM, if the motor temperature exceeds a programmable limit value. E-OLM if the up-integrated current/time value exceeds the required motor-dependent limit value for a specific release time. This function replaces a motor circuit-breaker. The inverter module can deliver a warning message when the Ixt motor protection integrator starts.
1 2 3 4 5 6 A
1.
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2.
Figure 5.38
"Motor protection" tab
T PTC
Parameters for PTC evaluation
Parameter 330-MOPTC 334-MOTMX Type of PTC evaluation Maximum motor temperature Table 5.44 Function Value range see Table 5.47 10 ... 250 FS OFF 150 C Unit Online

Parameters for PTC evaluation from subject area _33MO Motor protection
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Settings for 330-MOPTC

BUS 0 1 2 3 Table 5.45 KP/DM OFF KTY PTC TSS Monitoring off Linear PTC (KTY84-130, yellow) Threshold PTC (to DIN 44081/44082) Klixon (temperature switch as break contact) Function
1 2 3
Settings for type of motor PTC evaluation
Explanatory notes
The inverter module shuts off the motor with the error message E-OTM if the temperature exceeds a limit value. In evaluation by KTY84-130 the limit value can be set by parameter 334-MOTMX "Maximum motor temperature". The following temperature sensors can be evaluated: Linear PTC (KTY 84-130, tolerance band yellow) Threshold PTC (to DIN 44081, DIN 44082) Thermostatic circuit-breaker (Klixon)
4 5 6 A
With "KTY 84 -130" evaluation the current motor temperature is displayed in actual value parameter 407-MTEMP in C.
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Typical resistance values of a linear PTC (KTY 84 - 130)

Temperature (C) -20 0 20 50 80 100 150 Table 5.46 Typical resistance values () Tolerance ~ +/- 6% 424 498 581 722 852 1000 1334 Typical resistance values of a linear PTC of type KTY 84-130
Diagram of PTC KTY 84-130
Figure 5.39
Resistance diagram as function of temperature of a PTC KTY 84-130
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Typical resistance range of a DIN PTC

Temperature (C) -20 ... 150 Table 5.47 Typical resistance values () 50 ... 4000 Typical resistance values of a DIN-PTC with a TNF of 90 ... 160 C
1 2 3 4 5
Diagram of a DIN PTC
R 4000
1330
550
6
250
20
-20 C
Figure 5.40
TNF-20 TNF TNF+15 TNF-5 TNF+5
Resistance diagram as function of temperature of a DIN PTC
Note:
The resistance of the DIN PTC is always defined relative to its nominal response temperature (TNF, formerly termed TNAT). The measurable resistance is dependent on the fitting variant (PTC in-line configuration).
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PTC evaluation dependent on the temperature curve of an IEC standard motor

T/C
Pick-up value
Release value
t
E-OTM 1 0 t [s]
Figure 5.41
PTC evaluation operation diagram
I t
Ixt monitoring
Ixt
Ixt monitoring protects the motor against overheating over its entire speed range. This is especially important for internally cooled motors, since in lengthy service at low speed the cooling provided by the fan and the housing is insufficient. When set correctly, this function replaces a motor circuit-breaker. The characteristic can be adapted to the operating conditions by way of interpolation points.
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Parameters for Ixt monitoring

Parameter 331-MOPCB Function 2. current interpolation point (Ib) of the motor protection characteristic (referred to the max. characteristic current) 1. current interpolation point (Ia) of the motor protection characteristic (referred to the max. characteristic current) 2. frequency interpolation point (fb) of the motor protection characteristic Rated motor current (IN) for motor protection 335-MOPCN 336-MOPFN Rated motor frequency (fN) for motor protection Table 5.48 Value range 0 ... 100 FS 100 Unit % Online
1 2
332-MOPCA
0 ... 100
100
333-MOPFB
0,1 ... 1600 dependent on inverter module, see Table 5.55 0.1 ... 1000
50
Hz
3 4 5 6 A
IN 50
A Hz
Parameters for Ixt monitoring from subject area _33MO Motor protection
Settings for 335-MOPCN

Inverter module CDA32003 CDA32004 CDA32006 CDA32008 CDA34003 CDA34005 CDA34006 CDA34008 CDA34010 CDA34014 CDA34017 CDA34024 CDA34032 CDA34045 CDA34060 CDA34072 Table 5.49 Recommended 4-pole IEC standard motor [kW] 0.375 0.75 1.1 1.5 0.75 1.5 2.2 3.0 4.0 5.5 7.5 11 15 22 30 37 Rated motor current for motor protection, MOPCN [A] 2.0 3.4 5.1 6.5 2.0 3.8 5.6 7.5 9.1 11.6 16.3 23.1 31.1 44.1 57.1 70.1
Rated motor current in factory setting in inverter module
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5 Software functions Recommended 4-pole IEC standard motor [kW] 45 55 75 90 Rated motor current for motor protection, MOPCN [A] 85.1 98.1 140.1 168.1
Inverter module CDA34090 CDA34110 CDA34143 CDA34170 Table 5.49
Rated motor current in factory setting in inverter module
Note:
During auto-tuning parameters 335-MOPCN Rated motor current and 336-MOPFN Rated motor frequency are adjusted to the values of the initial commissioning specifications.
Explanatory notes
Ixt monitoring protects the motor against overheating over its entire speed range when the motor protection characteristic is adjusted. This is important for internally cooled motors, because in lengthy service at low speeds the cooling by the housing and the fan may not be adequate. To protect the motor, as a rule of thumb the motor protection characteristic and operation of the IEC standard motor should conform to the following limit values.
Frequency (Hz) 0 25 50 Rated motor current (%) 30 80 100
Observe the motor manufacturers' specifications. The inverter module shuts off the motor with error message E-OLM if the up-integrated current time value exceeds the motor-dependent limit value for a specific release time. This function replaces a motor circuit-breaker. Owing to the motor cooling, the down integration of the Ixt monitoring takes 10 times longer than the up integration. Startup of the Ixt integrator can be delivered with the setting of function selector FOSxx=WIT to a digital output (see section 5.2.4 "_24OD-Digital outputs").
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The Ixt integrators of the individual user data sets (UDS) remain active, even if a user data set switchover is effected. This means that, with an inactive UDS, an Ixt integrator once started is down integrated. This takes account of the standstill time of a multi-axis system.
1 2 3
Motor protection characteristic in factory setting
I [A]
IN = 335-MOPCN fN = 336-MOPFN
4 5 6 A
fN
f [Hz]
Figure 5.42
Factory setting of the motor protection characteristic
Setting of the motor protection characteristic

I [A]
1 IN Ib 2 WE 3
Ia
IN = 335-MOPCN fN = 336-MOPFN Ib = 331-MOPCB fb = 333-MOPFB Ia = 332-MOPCA FS = Factory setting
fb
fN
f [Hz]
Figure 5.43
Characteristic adjustment by interpolation points below the rated frequency fN
Explanatory notes on setting of the motor protection characteristic
If the current to a frequency is below the characteristic line, the motor is at a safe operation point.
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If the current to a frequency is above the characteristic line, the motor is overloaded. The Ixt integrator is activated and depending on "Current x time" the drive is shut off with the error message E-OLM. The Ixt integrator starts at 110% of the current limit value of the motor protection characteristic.
IStart = ILimit . 1.1
If the current and frequency of an operation point are known, the Ixt monitoring can be calculated by the mathematical formula "straight line through two points".
The shut-off time of the Ixt monitoring can be calculated at an operation point (Iact/fact):
Ioff = 2400% . s Ilim . Iact . 100% 110% IN IN
Iact = current at frequency fact Ilim = current limit value of motor protection characteristic at frequency fact IN = rated motor current MOPCN
Calculation of the current limit value with adjusted motor protection characteristic by means of interpolation points:
Condition Section Figure 5.43 Calculation
f act < MOPFB
Ilim = MOPCB - MOPCA . Ifact + MOPCA MOPCB
MOPFB fact < MOFN
Ilim = MOPCN - MOPCA . (Ifact - MOFN) + MOPCN MOFN - MOPFB
MOFN < f act
3
Table 5.50
Ilim = MOCNM
Overload calculation with adapted motor protection characteristic
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Typical torque characteristic of a standard three-phase AC motor in standard inverter operation PInverter = PMotor
2.0 1.8
1 2
(5) (4)
1.5
(3)
(2)
P>
M MN
1.0
3
(2)
(2.1)
(2)
0.5
(2.2) (1)
4 5
0.1 10 50 70 100 120
f [ Hz]
Figure 5.44 Typical torque characteristic of a standard three-phase AC motor
6 A
(1) Delivered power output of a standard three-phase AC motor in standard inverter operation (2) Permissible torque characteristic of an internally cooled standard threephase AC motor in standard inverter operation (2.1) Typical characteristic at motor power outputs <4 kW (2.2) Typical characteristic at motor power outputs >15 kW (3) Permissible torque characteristic of an adequately externally cooled standard three-phase AC motor with standard inverter. It should, however, be noted that at motor power outputs >15 kW a rotor fan is very often used, meaning that the characteristic (3) may need to be reduced. (4) Maximum permissible torque of a standard three-phase AC motor to VDE 0530 part 1 (120s). Maximum torque with inverter modules which permit 150% overload. (5) Maximum torque with inverter modules which permit 180% overload.
Note:
Precise data can only be given by the manufacturers of the motors.
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Motor protection possibilities

A Motor circuitbreaker (e.g. PKZM)1) Overload in continuous operation 2) Heavy starting 3) Blocking 2) Blocking 3) Ambient temperature >50C 2) Impairment of cooling 2) Inverter operation <50 Hz B C D C+D
Overload type
Software funcMotor PTC moniMotor PTC moniThermistor protection: motor protec- toring and motor toring of the tive relay tion of the protection of the CDA3000 CDA3000 CDA
No protection
Limited protection
Full protection
1) Operation in the motor cable between frequency inverter and motor not permitted 2) The inverter and motor have the same power rating (1:1) 2) The inverter is at least four times larger than the motor (4:1) 4) Effective when motor warm, too long response time when motor cold 5) No full protection, because only the permissible current is applied as the basis
Table 5.51
Motor protection possibilities
In the factory setting, the shutdown time under differing loads can be read from the diagram below.
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5.3.3 Device protection
Function
Effect
Protection of the CDA3000 inverter module against destruction by overload
The inverter module shuts off the motor with an error message: E-OTI, if the device temperature exceeds a fixed limit value. E-OLI, if the up-integrated current time value exceeds the inverter module-dependent limit value for a specific release time. E-OC in case of short-circuit or ground fault detection The inverter module can deliver a warning message when the I2xt device protection integrator starts.
1 2 3 4 5 6 A
The software and hardware of the CDA3000 inverter module autonomously monitors and protects the frequency inverter. The power stage protects itself against overheating dependent on the heat sink temperature the current DC-link voltage the power stage transistor module used and the modulation switching frequency The current heat sink temperature of the inverter module in the range of the power transistors (KTEMP) and the device interior temperature (DTEMP) are displayed in C (actual value/VAL menu).
Note:
Under high load the I2xt integrator is activated. The I2xt monitor protects the device against permanent overload. The shutdown limit is calculated from the rated current and the overload withstand capability of the inverter module.
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Device CDA32.003 (O.375 kW) to CDA34.032 (15 kW) CDA34.045 (22 kW) to CDA34.170 (90 kW) Table 5.52
Shutdown limit, Ixt device 1.8 x rated device current for 30 s 1.5 x rated device current for 60 s
Ixt shutdown limits according to device size
When the I2xt integrator starts up a warning message can be delivered at a digital output. Function selector digital output = WIIT
Short
The hardware of the inverter module detects a short-circuit at the motor output and shuts down the motor.
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Current capacity of inverter modules

The maximum permissible inverter output current and the peak current are dependent on the mains voltage, the motor cable length, the power stage switching frequency and the ambient temperature. If the conditions change, the maximum permissible current capacity of the inverter modules also changes. Refer to the following charts and tables for details of which current load is permissible under which changed service conditions.
1 2 3
I IN 2
(3) (4) (2)
4 5
1
(1)
6
5 25 40 45 50 f [Hz]
(1) Continuous operation (3) Intermittent* 0 to 5 Hz rotating field frequency Inverter modules 0.37 to 15 kW I/IN = 1.8 for 30 s at 4 kHz I/IN = 1.25-1.8 for 30 s at 8 kHz Inverter modules 22 to 90 kW I/IN = 1.5 for 60 s at 4 kHz I/IN = 1-1.5 for 60 s at 8 kHz
(2) Intermittent* (4) Pulse mode > 5 Hz rotating field freInverter modules quency 0.37 to 15 kW Inverter modules I/IN = approx. 2.2 at 4, 8, 16 kHz 0.37 to 15 kW Inverter modules 22 to 90 kW I/IN = 1.8 for 30 s at 4 kHz I/IN = approx. 1.8 at 4, 8 kHz I/IN = 1.8 for 30 s at 8 kHz I/IN = 1.8 for 30 s at 16 kHz Inverter modules 22 to 90 kW I/IN = 1.5 for 60 s at 4 kHz I/IN = 1.5 for 60 s at 8 kHz *Intermittent IN > Ieff
I eff =
1 2 -- n I ti i=1 i T
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Features
Inverter modules for 230 V systems
Rec. 4-pole standard motor [kW] 0.375 Switching frequency Rated current of power stage [A] [kHz] 4 8 16 4 8 16 4 8 16 4 8 16 4 8 16 4 8 16 4 8 16 4 8 16 4 8 16 4 8 16 2.4 2.4 1.8 4 4 3 5.5 5.5 4.3 7.1 7.1 5.5 2.2 2.2 1.0 4.1 4.1 2.4 5.7 5.7 2.6 7.8 7.8 5 10 10 6.2 14 14 6,6 Peak current for Peak current for intermittent mode intermittent mode 0 to 5 Hz [A] > 5 Hz [A] 4.3 4.3 3.2 7.2 7.2 5.4 9.9 9.9 7.7 12.8 12.8 8 2.2 2.2 1.0 4.1 3.6 5.7 5.7 7.8 7.8 10 8.8 14 12,2 4.3 4.3 3.2 7.2 7.2 5.4 9.9 9.9 7.7 12.8 12.8 9.9 4 4 1.1 7.4 7.4 4.3 5.7 5.7 4.7 14 14 7.8 18 16.5 7.8 25 21 9,2
Inverter module
CDA32.003,Cx.x
CDA32.004,Cx.x1)
0.75
CDA32.006,Cx.x1)
1.1
CDA32.008,Cx.x1)
1.5
CDA34.003,Cx.x
0.75
CDA34.005,Cx.x1)
1.5
CDA34.006,Cx.x1)
2.2
CDA34.008,Wx.x
3.0
CDA34.010,Wx.x
4.0
CDA34.014,Wx.x
5,5
Peak current for 30 s with inverter modules 0.37 to 15 kW Peak current for 60 s with inverter modules 22 to 90 kW Cooling air temperature: 45 C at power stage switching frequency 4 kHz 40 C at power stage switching frequency 8, 16 kHz
1)
Mains voltage 1 x 230 V -20 % +15 % Motor cable length 10 m Mounting height 1000m above MSL End-to-end mounting
With heat sink HS3... or additional cooling surface Table 5.53 Features
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5 Software functions Rec. 4-pole standard motor [kW] 7.5 Switching frequency Rated current of power stage [A] [kHz] 4 8 16 4 8 16 4 8 16 4 8 4 8 4 8 4 8 4 8 4 8 4 8 17 17 8 24 24 15 32 32 20 45 45 60 60 72 72 90 90 110 110 143 143 170 170 Peak current for Peak current for intermittent mode intermittent mode 0 to 5 Hz [A] > 5 Hz [A] 17 13.5 24 24 32 28 45 39 60 52 72 62 90 78 110 96 143 124 170 147 31 21.2 9.2 43 40 22 58 40 22 68 54 90 71 112 78 135 104 165 110 215 143 255 212
Inverter module
1 2 3 4 5 6 A
CDA34.017,Wx.x
CDA34.024,Wx.x
11
CDA34.032,Wx.x
15
CDA34.045,Wx.x CDA34.060,Wx.x CDA34.072,Wx.x CDA34.090,Wx.x CDA34.110,Wx.x CDA34.143,Wx.x CDA34.170,Wx.x
22 30 37 45 55 75 90
Peak current for 30 s with inverter modules 0.37 to 15 kW Peak current for 60 s with inverter modules 22 to 90 kW Cooling air temperature: 45 C at power stage switching frequency 4 kHz 40 C at power stage switching frequency 8, 16 kHz
1)
Mains voltage 1 x 230 V -20 % +15 % Motor cable length 10 m Mounting height 1000m above MSL End-to-end mounting
With heat sink HS3... or additional cooling surface Table 5.53 Features
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5.3.4 _34PF-Power failure bridging
Function
Effect
After a power failure the inverter module is powered by the rotational energy of the motor.
A short-time interruption of the mains voltage merely results in a reduction in motor speed, which can be reset to the original level when the power is restored.
Note:
The power failure bridging function should only be operated with control modes SFC and FOR. When the power failure bridging function is active the current-controlled startup function is deactivated.
1. 2.
Figure 5.45
Power failure bridging
5-96
Parameters for power failure bridging

Parameter 340-PFSEL 341-PFVON Function Power failure bridging selector DC-link switching threshold as from which power failure bridging is active DC-link control reference Value range see Table 5.55 32.xxx 34.xxx 32.xxx 34.xxx 343-PFTIM 351-PFC 354-PFR Time span until check as from mains power restoration Power failure bridging effective current reference Deceleration ramp power failure bridging Table 5.54 212 ... 408 425 ... 782 212 ... 408 425 ... 782 FS 0 260 452 236 438 50 100 999 V V V V ms % Hz/s Unit
1 2 3 4 5
342-PFVRF
1 ... 10000 0 ... 180 1 ... 999
Parameters from subject area _34PF Power failure bridging
Power failure bridging selector 340-PFSEL

BUS 0 1 2 3 4 Table 5.55 KP/DM OFF NOFCT RETRN NORET NOLIM Function Power failure bridging off No function Longest possible DC-link bridging with restart Longest possible DC-link bridging without restart Fastest possible DC-link controlled speed reduction
6 A
Settings of power failure bridging types
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Note:
The power failure bridging selector presets the parameters of the subject area to values for max. DC-link buffering or fastest possible speed reduction. We therefore recommend not changing the parameter setting.
Explanatory notes
When "fastest possible DC-link controlled speed reduction" is set with 340-PFSEL=NOLIM and "longest possible DC-link buffering without restart is set with 340-PFSEL=RETRN, no check is made for restoration of mains power. If the DC-link control reference (342-PFVRF) is above the DC-link switching threshold above which power failure bridging is activated (341 -PFVON), the power failure bridging function jumps between "on" and "off". When "... with restart" is set, this results in a switch between deceleration and acceleration ramp. The power failure bridging deceleration ramp 354-PFR applies as the maximum limit value of DC-link control. The braking ramp is adapted dynamically by the DC-link control. The power failure bridging effective current reference 351-PFC can be used to influence the steepness of the dynamic braking ramp. In this way the effective current value influences the DC-link control.
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Effect of setting of effective current reference 351-PFC

PFC
UDC [V]
small, e.g. 20 %
1 2
PFVON UDCoff
IW IN
3 4
PO 1 0
5
large, e.g. 150%
PFC
6 A
UDC [V]
PFVON UDCoff
1 IW IN
PO
1 0 t
Figure 5.46
Effect of effective current reference PFC
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Power failure detection

The power failure is detected based on the measured DC-link voltage (UDC) when a parameterizable lower limit voltage threshold (PFVON) is infringed.
UDC
PFVON
t toff
PFVON toff Figure 5.47
DC-link switching threshold as from which power failure bridging is activated Time of power failure Power failure voltage threshold
Variants of power failure bridging

Variant Longest possible speed reduction Fastest possible speed reduction Table 5.56 Restart Yes No No 340-PFSEL RETRN NORET NOLIM Diagram
1 2 3
Variants of power failure bridging
Explanatory notes on the power failure bridging variants
After a power failure detection by limit value 341-PFVON of the DC-link voltage, the DC-link voltage is regulated to the reference value 342-PFVRF. This is done by means of a frequency jump, by which the asynchronous motor is set to a regenerative operating state. Regenerative braking is implemented by regulation to the reference value of the DC-link voltage 342-PFVRF. If the rotational energy of the motor is not sufficient to bridge the DC-link voltage, when the fixed undervoltage switching threshold Udcoff is reached the power stage is disabled. The motor then runs down uncontrolled.
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Figure 1: Longest possible speed reduction with restart
1
UDC [V]
PFTIM
2
PFVON PFVRF UDCoff
3
x
. PFTIM
t [s]
f[Hz]
fref
4 5
(1)
ACCRx
6
0 (2)
t [s]
PO
1 0 t [s]
(1) Dynamic ramp (2) Braking time
When power failure is detected the power failure bridging regulates the DC-link voltage UDC to the voltage PTVRF. In the PFTIM cycle the DC-link voltage is checked for return of mains power. If the power is supplied before the DC-link voltage has collapsed to the voltage limit Udcoff, the drive is accelerated to the currently preset frequency reference via the driving profile ramp ACCRx.
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Figure 2: Longest possible speed reduction without restart
UDC [V]
PFVON PFVRF UDCoff
t [s]
f[Hz]
(1) 1 0
(1) Braking time
t [s]
PO
When power failure is detected the power failure bridging regulates the DC-link voltage UDC to the voltage PTVRF. The drive is set to regenerative mode and the braking ramp is dynamically adjusted to attain the voltage reference PTVRF. If the energy gained from the regenerative operation is too low, the DC-link voltage falls to the voltage limit UDCoff and the power stage is disabled. The drive then runs down uncontrolled.
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Figure 3: Fastest possible speed reduction without restart (emergency stop in case of power failure)
UDC [V]
PFVRF UBCon
1 2 3
UDCoff
PFVON UDCoff
4
t [s]
5
f[Hz]
6 A
2 (1) 1 0
(1) Braking time
t [s]
PO
After power failure is detected the power failure bridging regulates the DC-link voltage UDC to the reference voltage PTVRF, which is above the braking chopper response voltage UBCon. With the braking chopper connected, the energy recovered from regeneration of the drive is discharged directly. During regeneration the braking ramp is dynamically adjusted by the control to provide maximum braking. If the DC-link voltage UDC falls to the voltage limit UDCoff, the power stage is disabled and the drive runs down uncontrolled. The power stage is also disabled if the frequency limit 2 Hz is reached. DE EN FR
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5.3.5 _36KP-KEYPAD
Function Effect
Password settings for the user levels Definition of the permanent displays
Protection of the inverter module against unauthorized access Selection of key actual values for permanent display
VAL
inactive (Low level)
active (High level)

OSD02 OSD01 OSD00 ISD03 ISD02 ISD01 ISD00 ENPO
Figure 5.48
Display for continuous actual value display and bar graph
The continuous actual value display and bar graph can be used separately to display actual values. The bar graph is used for status display of system values or to view trends of individual actual values.
1.
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2.
1 2 3 4 5 6
Figure 5.49 "Displays" tab
Parameters of the KEYPAD

Parameter 360-DISP 361-BARG 362-PSW2 363-PSW3 364-PSW4 367-PSWCT 368-PNUM 369-CTLFA 1-MODE 13-UAPSP Function Continuous actual value display of the KP200 Bar graph display of the KP200 Password for user level 2 of the KP200 Password for user level 3 of the KP200 Password for user level 4 of the KP200 Password for the CTRL menu of the KP200 Activate/deactivate parameter number display of the KP200 Multiplier of incremental value in CTRL menu of KP200 User level of KP200 Parameter list of user defined subject area _11UA in KP200 Table 5.57 Value range see Table 5.58 0 ... 65535 0 ... 65535 0 ... 65535 0 ... 65535 ON / OFF 1 ... 65535 1 ... 6 All parameters except actual value FS 406 419 0 0 0 0 OFF 10000 2 see Table 5.60 Unit Online

Parameters from subject area _36KP KEYPAD
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Explanatory notes
The user levels are presented in detail in section 3.2. By way of parameter MODE the user level is selected and, where appropriate, a prompt is delivered for the password, unless deactivated by the entry 0. If a password is entered at the relevant user level, switch to a lower user level to activate the password via parameter 01-MODE. Parameter CTLFA is used to set the scrolling speed of the Up cursor keys for setting reference values in the CTRL and Down menu.
Error messages resulting from user error in operation of the KEYPAD or SMARTCARD are detailed in Appendix B.
Note:
KEYPAD user error: Reset with Start/Enter SMARTCARD: user error: Reset with Stop/Return.
Settings for 360-DISP and 361-BARG

Function DM Actual torque (SFC and FOR) Actual speed (FOR) Output voltage DC-link voltage Current actual frequency Current reference frequency Effective value of effective current Effective value of apparent current Apparent power Effective power System time after power-up Inverter operating hours Power stage operating hours Table 5.58 14 401 404 405 400 406 409 408 428 429 86 87 413 Parameter KP200 ACTT ACTN VMOT DCV ACTF REFF ACCUR APCUR PS PW TSYS TOP ACTOP KP200 user level 2 2 2 2 2 2 2 2 2 2 3 3 2 DISP

BARG

Settings for continuous actual value display and bar graph
5-106
5 Software functions Parameter DM States of digital inputs and outputs Filtered input voltage ISA00 Filtered input voltage ISA01 Filtered input current ISA00 Motor temperature with KTY84 evaluation Interior temperature Heat sink temperature Control word of system Faulty parameter in self-test Filtered output voltage Process controller: Current control deviation Table 5.58 419 416 417 418 407 425 427 422 423 420 430 KP200 IOSTA ISA0 ISA1 IISA0 MTEMP DTEMP KTEMP CNTL ERPAR OSA00 PRER KP200 user level 2 4 4 4 2 2 2 4 4 4 2
Function
DISP

BARG
1 2
3 4 5 6 A
Settings for continuous actual value display and bar graph
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Scaling of parameters
Parameter OFF ACTF Function No function Current actual frequency Output off Clockwise only (positive values only) Control mode FOR: true actual frequency Control mode SFC: estimated actual frequency Control mode VFC: display of reference frequency Only only (positive values only) Control mode FOR: true actual frequency Control mode SFC: estimated actual frequency Control mode VFC: no display Effect/Notes Reference value
FMAX1/2
ACTN
Current actual speed
FMAXx * 60 / number of pole pairs
APCUR ACCUR ISA0
Current apparent current Current effective current Voltage or current at analog input ISA00 Voltage at analog input ISA01 Current motor tem- Motor temperature only with linear evaluaperature tion (PTC) Current heat sink temperature < 15 kW: Temperatures > 100 C in the power stage module correspond to temperatures > 85 C on the heat sink and result in a shut-off > 15 kW: Temperatures > 85 C result in a shut-off, because the temperature sensor is mounted directly on the heat sink. Interior temperatures > 85 C result in a shut-off Referenced values dependent on device version CDA32.xxx 500 V CDA34.xxx 1000 V Referenced values dependent on device version CDA32.xxx 500 V CDA34.xxx 1000 V
2*IN 2*IN
10 V / 20 mA
ISA1 MTEMP KTEMP
10 V 200 C
200 C
DTEMP DCV
Current interior temperature DC-link voltage
200 C
500 V / 1000 V
VMOT
Motor voltage
500 V / 1000 V 2*PN
PS Table 5.59
Apparent power Scaling of actual parameter values
5-108
5 Software functions Reference value 2*PN Control mode FOR: true actual frequency Control mode SFC: estimated actual frequency Control mode VFC: no display in section 5.2.2 "_20OAAnalog output" Dependent on device, see Table 5.18
Parameter PW ACTT
Function Effective power Current actual torque
Effect/Notes
1 2 3 4
AACTF
Amount of current actual frequency
Clockwise (pos. value) and anti-clockwise (neg. value) are represented as amounts. Control mode FOR: true actual frequency Control mode SFC: estimated actual frequency Control mode VFC: display of reference frequency
FMAX1/2
5 6 A
AACTN
Amount of current actual speed
Clockwise (pos. value) and anti-clockwise (neg. value) are represented as amounts. FMAXx * 60 / number of Control mode FOR: true actual speed Control mode SFC: estimated actual speed pole pairs Control mode VFC: no display
Table 5.59
Scaling of actual parameter values
User defined subject area _11UA

The user definable subject area _11UA is only visible on the KEYPAD KP200 control unit. Parameter 13-UAPSP conceals a data box in which a maximum of 14 parameters for viewing in subject area _11UA can be entered. No actual value parameters can be displayed in the subject area. Parameter entries in the data box can only be made with the DRIVEMANAGER (from V3.0).
1.
DE EN FR
5-109
2.
Figure 5.50
"User application" tab
Factory setting of parameter UAPSD

Parameter Index Value Name 0 1 2 3 4 5 6 7 8 01 01-MODE Operation of the KP200 Save setting in device Current application data set Function selector analog standard input ISA00 Function selector analog standard input ISA01 Function selector digital standard output OSD02 (relay) CDS1: Fixed frequency CDS1: Minimum frequency CDS1: Maximum frequency Function
150 150-SAVE 152 152-ASTER 180 180-FISA0 181 181-FISA1 242 242-FQS02 270 270-FFIX1 301 301-FMAN1 303 303-FMAX1
Table 5.60
Factory setting of user defined subject area _11UA in parameter 13-UAPSP
5-110
5 Software functions Parameter Index Value Name 9 10 11 12 13 330 330-MOPTC 590 590-ACCR1 592 592-DECR1 594 594-STPR1 95 95-ERR1 Function Rated motor current for motor protection CDS1: Acceleration ramp CDS1: Deceleration ramp CDS1: Stop ramp Last error
1 2 3 4 5 6 A
Table 5.60
Factory setting of user defined subject area _11UA in parameter 13-UAPSP
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5.3.6 _38TX-Device capacity utilization
Function
Effect
Display of all information of importance for drive configuration as Peak value memory Mean device capacity utilization
(1) (2) (3)
Optimization of drive configuration Fast troubleshooting
F/Hz
t/s
CDCMX CACMX CSTMX
t/s
(1) Acceleration (2) Stationary operation (3) Braking Figure 5.51 Peak current value storage for checking of drive dimensioning
The peak current value memory continuously stores the absolute peak values in the acceleration, stationary operation and braking phases. Also, the mean device capacity utilization is calculated by means of a filter time constant. When the values have been read they can be reset.
5-112
1. 2.
1 2 3 4 5 6 A
Figure 5.52 "Device capacity utilization" tab
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Parameters for device capacity utilization

Parameter 380-CACMX 381-CDCMX 382-CSTMX 383-CFCMX 384-CSCLR 388-CMID 389-CMIDF 435-CMIS 436-CMISF Function Max. current in acceleration phase referred to device rated current Max. current in braking phase referred to device rated current Max. current in stationary operation referred to device rated current Effective value of maximum current Reset peak value storage Mean device capacity utilization ~ Ieff Filter time constant for mean device capacity utilization Mean device capacity utilization in stationary operation Filter time constant for device capacity utilization in stationary operation Table 5.61 Value range 2 x IN Device 0 ... 300% IN Device 0 ... 300% IN Device 0 ... 300% IN Device ACTIVE / CLEAR 0 ... 250% IN Device 1 ... 1000 0 ... 250% IN Device 0 ... 5000 FS * * * * ACTIVE 100 20 * 1000 % s % ms Unit % % % A
Online
Parameters from subject area _38TX Device capacity utilization
Explanatory notes
Parameter values which are produced from current calculations and so are not editable have an asterisk (*) in the "Value range" column. Peak value storage in the entire subject area _38TX is reset by setting the value 384-CSCLR = CLEAR. For display of the mean device capacity utilization via 388-CMID, the filter time constant 389-CMIDF must be set to a value greater than five times the cycle duration of the drive.
Example: Mean device capacity utilization

The mean device capacity utilization is formed by way of a filter element in the form of a PT1 element. For this, the filter constant must be set to five times the cycle duration of the drive (CMIDF = 5 * T).
5-114
Block diagram:
I[A]
1
Mean device capacity utilization Current within a cycle t [s]
2 3
Figure 5.53
Mean device capacity utilization
Calculation of effective inverter capacity utilization

Note: The following condition must be met for safe operation:
I eff < I N Inverter

The following condition must additionally be met:
Load N-Inverter Overload
4 5 6 A
with 0.37 kW to 15 kW: 22 kW to 90 kW: [1.8 - 1] . 30 s < 67.2 As [1.5 - 1] 60 s < 75 As

.
v [m/s]
i1 i[A]
i2
i3 i4
i5
t1
t2
t3 t4 T
t5
Figure 5.54
Effective inverter capacity utilization
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i 1 t1 + i2 t2 + i3 t 3 + i4 t4 + i5 -----------------------------------------------------------------------------------------------------------T td
Clock cycle duration Current in cycle segment x in [A] Time for cycle segment x in [s] Effective inverter current
Ttd ix tx Ieff
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5.3.7 _39DD-Device data
Function
Effect
Delivery of all data of the inverter module
Unique identification of the inverter module and the device software
1 2 3 4 5 6 A
The device data contain information on the inverter hardware and software which should be kept to hand and quoted when calling on telephone support from LUST. The device data can in part also be read from the rating plates. 1. Rating plate with performance data of hardware, type designation and serial number
H1 H2 H3
X4
CHNIK u EBSTE Lahna ANTRI 33
D-356
2. Rating plate with software version details, type designation and serial number
X2
Typ
Aus
z: Net g.:
a 1
SN.: 00.00 000.0 0000 00
(1)
X1
U V W
ANTRIEB
!
ACHTUNG WARNING ATTENTION Kondensatorent- capacitor disscharge temps de decharge ladezeit >3 Min. time >3 minutes. du condensteur Betriebsanleitung Pay attention to the >3 min. observer le beachten! operation manual! mode dmploi!
D-3563
STECHN
3 Lahnau IK
Type :
Soft CS: ware : Set:
copy
Data
RB RB
000 000 0
SN.
: 000
.00
0.0
X3
L-
L1 L2 L3
(2)
Note:
A more recent firmware than indicated on the software rating plate (2) should additionally be indicated by a notice on the device itself.
1.
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2.
Figure 5.55
"Device" tab
Parameters for device data

Parameter 89-NAMDS 90-SREV 92-REV 93-KOMP 106-CRIDX 127-S_NR 130-NAME 390-TYPE 394-A_NR 397-CFPNM Data set name Base standard version of modified software Software revision Compatibility class of SMARTCARD Revision index as suffix to revision number Serial number of device Symbolic device name Inverter type Article number of device Device rated current Table 5.62 Function Value range 0-28 characters * * * * * 0-32 characters * * * A
FS -
Unit
Online
Parameters from subject area _39DD Device data
5-118
Explanatory notes
Parameter values which are produced from current calculations and so are not editable have an asterisk (*) in the "Value range" column. The symbolic device name is used in device network lists for ease of identification of the inverter module. The parameter can only be edited with the DRIVEMANAGER. When a name is issued it is displayed ahead of the device designation. For ease of identification the complete data set (all four UDS) can be assigned a name, such as for archiving of machine data sets.
1 2 3 4 5 6 A
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5.3.8 _VAL-Actuals
Function
Effect
Display of all actuals of importance for diagnosis and monitoring
Monitoring of process variables Quick diagnosis of errors
Actuals
Actuals can be displayed in the DRIVEMANAGER (DM), KEYPAD KP200 (KP) or by way of the analog output OSA00:
Parameter 14-ACCT 86-TSYS 87-TOP 400-ACTF 401-ACTN 404-VMOT 405-DCV 406-REFF 407-MTEMP 408-APCUR 409-ACCUR 413-ACTOP 416-ISA0 417-ISA1 418-ISA0I 419-IOSTA 422-CNTL 423-ERPAR 425-DTEMP 427-KTEMP 428-PS 429-PW Actual torque (in SFC or FOR) System time after power-up in [min.] Operating hours meter (total power on) Current output frequency Current actual speed (with SFC and FOR) Output voltage of inverter DC-link voltage Current reference frequency Motor temperature in KTY84 evaluation Effective value of apparent current Effective value of effective current Operating hours of power stage Filtered input voltage ISA00 Filtered input voltage ISA01 Filtered input current ISA00 States of digital and analog I/Os Control word of system (see field bus description) Number of a faulty parameter in self-test Interior temperature of the inverter module Heat sink temperature of the inverter module Apparent power Effective power Table 5.63 Function DM

KP

OSA00
Unit Nm Min. h
Hz rpm V V C
A A h V V A
C C kVA kW
Parameters from subject area _VAL Actual value parameters
5-120
Explanatory notes
The actuals can be displayed in the KeyPad KP200 either in the bar graph or as numerical values in the continuous actual value display. For more details refer to section 5.3.5 "KEYPAD". The filtered input voltages and currents of parameters 416...418 are influenced by way of the parameters of subject area "_18IA-Analog inputs" (section 5.2.1).
1 2 3 4 5 6
Control word of system (422-CNTL)

The control word of the system provides information on the current control status, such as Braking, Start Clockwise or Start Anti-clockwise. Details of the current status word of the inverter module should be kept to hand for quoting when calling on Telephone support from Lust. The control word contains the control bits for activation of the inverter. In control via terminal the control bits are set according to the status of the inputs. The parameter is read-only and is used by Lust for support purposes.
Status word of system (419-IOSTA)

The status word can be displayed in hexadecimal form in the KEYPAD and DRIVEMANAGER or in binary form in the bar graph (KP200): Hexadecimal: Parameter 360-DISP = IOSTA (subject area _36KP)
DISP = IOSTA BARG = IOSTA (2) 9876543210
= High = Low
(1)
VAL
Binary: Parameter 361BARG = IOSTA (subject area _36KP)
(1) Actuals in the VAL menu (2) Binary representation in the bar graph Figure 5.56 Representation of states via KEYPAD KP200
5-121
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Status word 419-IOSTA

Bit 0 1 2 3 4 5 6 7 8 9 I/O Function DISP 0001H 0002H 0004H 0008H 0010H 0020H 0040H 0080H 0100H 0200H BARG 9 8 7 6 5 4 3 2 10
ENPO Digital hardware enable input ISD00 Digital input ISD01 Digital input ISD02 Digital input ISD03 Digital input OSD00 Digital output OSD01 Digital output OSD02 Digital output (relay) ISA00 Analog input in digital function ISA01 Analog input in digital function
Table 5.64
Status word IOSTA in subject area VAL
Status word 419-IOSTA for factory setting DRV_1 with ENPO = 0 (off)
Input / output ISD00/OSD02 ISD01/OSD02 ISD02/OSD02 ISD03/OSD02 Table 5.65 Function [input/output] Start clockwise/ready to start Start anti-clockwise/ready to start Slow jog/ready to start Not assigned/ready to start DISP 0082H 0084H 0088H 0090H BARG 9 8 7 6 5 4 3 2 10
Status word IOSTA in subject area VAL
Digital output OSD02 operates the relay when the inverter is "ready to start". This is indicated by bit 7 in the bar graph and hex value 0080H on the display.
5-122
5.3.9 _50WA-Warning messages
Function
Effect
When programmable limit values are exceeded for various actuals of the inverter module or of the motor a warning is delivered.
An impending fault in the drive system is signalled in good time to the system control.
1 2 3 4 5
Warning messages are automatically reset as soon as the cause of the warning no longer exists. The warning message is sent via the digital outputs, and at the same time the actual value to be monitored for the warning is also defined.
1. 2.
6 A
Figure 5.57
"Error/Warning" tab
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3.
Figure 5.58
Warning thresholds
Warning messages
Parameter 120-WRN 500-WLTI 501-WLTD 502-WLTM 503-WLUV 504-WLOV 505-WLF 506-WLIS 507-WLTR 508-TWTQ Status word, warnings Device temperature warning threshold Interior temperature warning threshold Motor temperature warning threshold Undervoltage warning threshold Overvoltage warning threshold Frequency warning threshold Apparent current warning threshold Torque warning threshold (SFC and FOR only) Switch-on delay for torque warning threshold Table 5.66 Function Value range 0000 .... FFFF 5 ... 100 5 ... 80 5 ... 250 0 ... 800 0 ... 800 0 ... 1600 0 ... 999.95 0 ... 2500 0 ... 60 100 80 180 0 800 0 999.95 2500 1 FS Unit Hex C C C V V Hz A Nm s Online

Parameters from subject area _50WA Warning messages
5-124
Explanatory notes
Any warning can be delivered at any digital output. The motor temperature warning (WLTM) indicates a motor overload. The device temperature warning (WLTI) takes the temperature value from the sensor on the heat sink on the power stage transistors or, in the case of small inverter modules, directly from the power stage module. Owing to high breakaway and startup torques, it may be necessary to activate the torque warning threshold only after the threshold value has been exceeded for a period of time. This can be done with parameter 508-TWTQ "Switch-on delay for torque warning threshold". Inadequate or excessive DC-link voltage triggers the undervoltage (WLUV) or overvoltage (WLOV) warning as appropriate. The frequency warning relates to the current output frequency of the inverter module. The status word 120-WRN is formed from the current warning messages. The warning messages are not displayed in the DRIVEMANAGER. They can be evaluated in hexadecimal coding in parameter 120-WRN.
1 2 3 4 5 6 A
Note:
A listing of the error and warning messages displayed in the DRIVEMANAGER is given in the Appendix.
Warning messages are assigned a hysteresis:

Physical variable Voltages Temperature Frequency Table 5.67 Hysteresis Undervoltage - 0 V / + 10 V Overvoltage - 10 V / + 10 V - 0 C / + 5 C + 0 Hz / - 1 Hz Hysteresis of warning messages
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Status word 120-WRN

Warning WOTI Function Warning message when heat sink temperature has exceeded value in parameter 500-WLTI Warning message when interior temperature has exceeded value in parameter 501-WLTD Warning message when motor temperature has exceeded value in parameter 502-WLTM Warning message when DC-link voltage has exceeded value in parameter 504-WLOV Warning message when DC-link voltage has fallen below value in parameter 503-WLUV Warning message when output frequency has exceeded value in parameter 505-WLF Warning message when apparent current has exceeded value in parameter 506-WLIS Warning message when I2*t integrator of device is active Warning message from slave when reference value from master is faulty in Master/ Slave operation Warning message when Ixt integrator of motor is active Warning message when torque has exceeded value in parameter 507-WLTQ Hex value 0001H Bit 0
WOTD
0002H
WOTM
0004H
WOV WUV WFOUT WIS WIIT
0008H 0010H 0020H 0040H 0080H
3 4 5 6 7
WFDIG
0100H
WIT WTQ Table 5.68
0200H 0400H
9 10
Hexadecimal representation of warning messages
5-126
5.3.10 _51ER-Error messages
Function
Effect
Display of faults in the drive system
Quick location of the cause of the error and definition of the response of the drive to an error
1 2 3 4
Error messages can be detected and evaluated by way of the status LEDs of the inverter module. If the red LED H1 is flashing an error has occurred. The response to an error can be parameterized according to the cause of the error.
Flash code of red LED (H1) 1x 2x 3x 4x 5x 6x 7x 8x Table 5.69
Display KEYPAD E-CPU E-OFF E-OC E-OV E-OLM E-OLI E-OTM E-OTI
Error cause Collective error message Undervoltage shut-off Current overload shut-off Overvoltage shut-off Motor overloaded Device overloaded Motor temperature too high Heat sink/device temperature too high
5 6 A
Error message signalling
Note:
For more error numbers and possible causes refer to the Appendix.
Acknowledgment and resetting of errors

Errors can be acknowledged and reset in various ways: Rising edge at digital input ENPO Rising edge at a programmable digital input with setting of the function selector to RSERR Write value 1 to parameter 74-ERES via bus system
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Parameters for error messages

Parameter 74-ERES 140-R-RNM 510-R-SIO 511-R-CPU 512-R-OFF 513-R-OC 514-R-OV 515-R-OLI 516-R-OTM 517-R-OTI 518-R-SC 519-R-OLM 520-R-PLS 521-R-PAR 522-R-FLT 523-R-PWR 524-R-EXT 525-R-USR 526-R-OP1 527-R-OP2 529-R-WBK 530-R-EEP 531-EFSCL 532-R-PF 533-R-FDG 534-R-LSW 535-R-PRC 536-R-FLW Function Reset device errors Response to error in setting an operation mode Response to SIO watchdog Response to CPU error Response to undervoltage Response to current overload Response to overvoltage Response to Ixt cut-off of inverter Response to motor overheating Response to inverter module overheating Response to error during initial commissioning Response to motor I2xt cut-off Response to software runtime error Response to faulty parameter list Response to floating point error Response to unknown power pack Response to external error message Response to modified software error message Response to error in option module slot 1 Response to error in option module slot 2 Response to wire break ISA00 at 4 ... 20mA Response to memory error in FLASHEPROM Ground fault detection response threshold scaling Response after DC-link buffering Response to reference coupling transmission error Response to reversed limit switches Response to exceeding of maximum control deviation (PR) Response to exceeding of maximum frequency deviation Table 5.70
Value range STOP/START RESET STOP ... RESET RESET STOP ... RESET STOP ... RESET STOP ... RESET STOP ... RESET 0 ... RESET STOP ... RESET LOCK ... RESET STOP ... RESET RESET RESET RESET RESET STOP ... RESET STOP ... RESET STOP ... RESET STOP ... RESET STOP ... RESET RESET 0 ... 200 STOP ... RESET STOP ... RESET 1 ... 3 STOP ... RESET STOP ... RESET
FS STOP RESET STOP RESET STOP LOCK LOCK LOCK LOCK LOCK LOCK LOCK RESET RESET RESET RESET STOP STOP STOP STOP STOP RESET 0 STOP STOP LOCK LOCK LOCK
Unit
Online
4 4 4 4
Parameters from subject area _51ER Error messages
5-128
5 Software functions Parameter 543-R-OL5

from SW 2.0
Function Response to Ixt shut-off below 5 Hz Time delay of error message E-OC-1 System time on occurrence of last error Last error Second-last error Third-last error Fourth-last error Table 5.70
Value range STOP ... RESET 0 ... 1000 0 ... 65535 0 ... 65535 0 ... 65535 0 ... 65535 0 ... 65535
FS LOCK 0 0 0 0 0 0
Unit
Online
1 2 3 4 5 6 A
545-TEOC 94-TERR 95-ERR1 96-ERR2 97-ERR3 98-ERR4
ms h h h h h
Parameters from subject area _51ER Error messages
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Settings for 140-RNM to 534-R-LSW

BUS KP/DM 0 WRN No response Disable power stage. If the error is no longer present, the device can be restarted after confirming the error message. If auto-start is programmed (7-AUTO=ON), the device starts automatically following the reset. Disable power stage and secure against restarting. If the error is no longer present, the device can be restarted after confirming the error message. If auto-start is programmed (7-AUTO=ON), automatic starting of the device is prevented. Disable power stages and wait for error reset by power down/up. NOTE: This error can only be reset by powering down and back up! After a reset the device runs through an initialization and self-test phase. During this time it cuts bus connections and detects no signal changes at RESET the inputs. Additionally, the outputs return to their hardware home positions. Conclusion of an initialization and self-test phase can be indicated by way of a digital output with "Device ready" (see section 5.2.4 "_24OD-Digital outputs", setting C_RDY). If the error is no longer present, the device indicates "ready" following the reset and can be restarted. If auto-start is programmed (7-AUTO=ON), the device starts automatically. Response to error Function
STOP
LOCK
Table 5.71
Explanatory notes
The grey highlighted parameters cannot be set, they are for display purposes only. The response to a ground fault detection error or an insulation error is defined by parameter 513-R-OC "Response to current overload".
Presentation of error history

Parameters 95-ERR1 to 98-ERR4 store the error with its location and number and the time of error referred to the operating hours meter. After each error the error memory scrolls on and error parameter 95-ERR1 displays the last error.
5-130
Example of viewing on DRIVEMANAGER:

95-ERR1 = E - OTM - 1, 191h Time of error referred to operating hours meter Error location no. (cause) Error
1 2 3 4 5 6 A
Note:
A listing of the error and warning messages displayed in the DRIVEMANAGER is given in Appendix B.
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Example of viewing via KEYPAD KP200:
VAL
Error location no. Error
stop return
start enter
E-OC time limited error checkback

When switching in the motor cable at the motor output of the frequency inverter, if the power stage is active or the motor is still excited high voltages and currents will occur for a short period of time. Although they cannot destroy the frequency inverter power stage, they do produce error message E-OC-1. The power stage is disabled as soon as the overcurrent is detected with message E-OC-1. The programmable time delay delays the error message, and at the end of the delay time a check is made whether the hardware enable ENPO is still set. If it is, the error message is signalled.
Fault current monitoring by differential current monitoring

The implemented differential current monitoring is based on typical RCM differential current protection devices. Based on the scaleable response threshold of the ground fault detector by way of parameter 531-EFSCL, fault currents can be detected and the device power stage can be disabled. Error message E-OC-110 is delivered. The basic principle of electrical engineering requires that all conductors (except grounding leads) are routed through a converter. In an error-free system the sum total of all currents is then equal to zero, so no differential current is evaluated by the software via the current sensors of the inverter. As a result, symmetrical insulation errors occurring in all motor cables against PE or ground cannot be detected by the differential current monitor.
5-132
5.4
Bus operation and option modules
This Manual details only the software parameters of the CDA3000 inverter module. For more details on the field bus systems refer to the relevant documents relating to the option modules.
1 2 3 4 5 6
5.4.1 _55LB-LUSTBUS
Function
Effect
Creation of the device addresses and baud rate for the service and diagnostic interface
Adaptation of the serial interface (RS232) to a PC with the DRIVEMANAGER software or the KEYPAD KP200
Parameters for LUSTBUS

Parameter Function Value range 1200 2400 4800 9600 19200 28800 57600 0 ... 30 0 ... 255 0.00 ... 20.00 00H ... FFH 0 ... 65535 0000H ... FFFFH FS Unit Online
81-SBAUD
LUSTBUS transfer rate
57600
Bit/s
82-SADDR
LUSTBUS device address
1 0 0,00 00 Hex 0 0000Hex s

4 4 4 4
83-SDMMY LUSTBUS dummy parameter 84-SWDGT 85-SERR 550-SSTAT LUSTBUS watchdog time setting LUSTBUS error status word Status word of serial interface
551-SCNTL Control word of serial interface Table 5.72 Explanatory notes
Parameters from subject area _55LB LUSTBUS
If only one inverter module is operated on the DRIVEMANAGER no device address need be set. For more than one device, different address parameters must be set. The LUSTBUS watchdog time setting is deactivated to 0.0 s at the factory.
Note:
Where there are several devices on a bus system, to provide a clearer differentiation between them it is advisable to enter a symbolic name in each device by way of parameter 130-Name (see section 5.3.7 "Device data").
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5.4.2 _57OP-Option modules
Function
Effect
Setting of device addresses and baud rate for the communication modules Configuration of process data for the communication modules Diagnostic data for field bus operation
Adaptation of the option modules to the application
An up-to-date overview of the option modules is given in the CDA3000 Catalogue.
1. 2.
Figure 5.59
Bus systems
5-134
The status and control word can be monitored from the Actuals screen, as can the option slot assignment.
1. 2.
2 3 4 5 6 A
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3.
Figure 5.60
Actuals of bus systems

Order designation CM-CAN1 CM-CAN2 CM-DPV1 UM-8I40 Table 5.73 Option modules CANLust CANopen PROFIBUS-DP I/O module Summary description Conforming to CiA Draft Standard 102 Conforming to CiA Draft Standard 301/402 Conforming to EN 50170 / DIN 19245 Terminal expansion module with 8 inputs and 4 outputs
Parameters for option modules

Parameter Function Value range 25 ... 500 0 ... 4 Slave/Master FS 500 4 Slave
Unit
Online
489-CLBDR CANLUST controller baud rate 492-CACNF CANLust control/reference transfer mode 570-CAMOD CANLust option module function selection Table 5.74
Parameters from subject area _570P Option modules
5-136
5 Software functions Parameter Function Value range 0 ... 29 0000H ... FFFFH 0000H ... FFFFH 0 ... 255 1 ... 32000 * * * * 1 ... 127 25 ... 1000 0 ... 127 0000H ... FFFFH FS 0 0000 Hex 0000 Hex 0 80 0.00 0.00 NONE NONE 1 500 0 0000 Hex ms ms

Unit
Online
571-CLADR CAN bus Device address 572-CASTA CANLUST bus status word 573-CACTR CAN bus control word 574-CAWDG CAN bus watchdog time 575-CASCY Sampling time for status message 576-OP1RV SW version of communication module at option 577-OP2RV slot 578-OPTN2 Assignment of option module 579-OPTN1 Assignment of option module 580-COADR CANopen device address 581-COBDR CANopen controller baud rate 582-CPADR Profibus DP device address 583-IOEXT Status word of user module
1 2 3 4 5 6 A
* module-dependent
Table 5.74
Parameters from subject area _570P Option modules
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Explanatory notes
All option modules communicate with the CDA3000 inverter module based on the standard of the CANLust protocol. The watchdog monitoring is deactivate to 0 ms at the factory.
Baud rates of CAN controllers

CAN system CANLUST CANopen Table 5.75 Parameter 489-CLBDR 581-COBDR Values [bit/s] 25, 50, 75, 125, 250, 500 25, 125, 500, 1000
Transmission speed of CAN controllers
Status word of user module 583-IOEXT

I/O IED00 IED01 IED02 IED03 IED04 IED05 IED06 IED07 OED00 OED01 OED02 OED03 Table 5.76 Function Module detected and logged onto bus Digital input Digital input Digital input Digital input Digital input Digital input Digital input Digital input Digital output Digital output Digital output Digital output Status word IOEXT of user module Hex value 8000H 8001H 8002H 8004H 8008H 8010H 8020H 8040H 8080H 8100H 8200H 8400H 8800H Bit=1 15 15/0 15/1 15/2 15/3 15/4 15/5 15/6 15/7 15/8 15/9 15/10 15/11
Note:
Signal evaluation of the digital inputs on the CDA3000 inverter module is state-controlled and on the terminal expansion module it is edge-controlled.
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5.5
Open-loop and closed-loop control
The following software functions are used in both the open-loop and the closed-loop control modes.
1 2 3 4
5.5.1 _31MB-Motor holding brake
Function
Effect
An electromechanical holding brake can be actuated depending on a limit value Optionally, release and engaging of the holding brake can be timed.
The holding brake engages when a minimum frequency limit is infringed.
Motor holding brake BRK1
M 3~
BRK1
The diagram below represents the function of the motor holding brake within the programmable frequency range. The brake can be released by a digital output set by the function selector dependent on a reference.
5 6
f [Hz] FBCW 0 FBCCW
FBHYS
t
A
FBHYS
BRK1
1 0
t [ms]
BRK1 Digital output Figure 5.61 Frequency ranges of the holding brake in setting BRK1
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1. 2. 3.
Figure 5.62
"BRK1 function" tab
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Parameters for motor holding brake BRK1

Parameter 310-FBCW Function BRK1: Frequency limit for motor brake (clockwise) Value range 0 ... 1600 FS 3 Unit Hz Online
1 2
311-FBCCW BRK1: Frequency limit for motor brake (anti-clockwise) 312-FBHYS BRK1: Switch-on hysteresis of motor holding brake Table 5.77
-1600 ... 0
-3
Hz
0 ... 1600
Hz
3 4
Parameters from subject area _31MB Motor holding brake BRK1
Settings of digital outputs for motor holding brake BRK1

F O S 0 0
Setting
Function
F O S 0 1
F O S 0 2
F O E 0 x
5 6 A
BRK1 Table 5.78
Output is set when the control reference has exceeded the value in parameter FBCxx (clockwise: FBCW, anti-clockwise: FBCCW).
Settings for FOxxx of digital outputs for motor holding brake BRK1
Explanatory notes
The frequency limit for engagement/release of the holding brake can be set independently for clockwise and anti-clockwise running. Pay attention to the switching hysteresis. The switching points for the motor holding brake BRK1 are linked to the reference value in all control modes.
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Motor holding brake BRK2
M 3~
BRK2
When the brake functionality BRK2 is selected via a digital output, the functionality is automatically adjusted depending on the chosen control mode. Allowance can be made for the time for release or engagement of the motor holding brake by means of separate timer elements.
Control mode
Features, braking function BRK2
VFC (SFC)*
Brake actuation switching points dependent on control reference Momentary build-up by operation with slip frequency of motor with motor holding brake closed Brake actuation switching points dependent on the control actual value (rotor frequency) Momentary build-up at standstill with motor holding brake closed
FOR
*)
Also refer to the safety note presented below and the latest supplementary sheet accompanying the CDA3000. Features of the BRK2 braking function dependent on control mode
Table 5.79
Attention!
In SFC mode only a limited torque is available under regenerative load. Consequently, SFC cannot be used for lifting gear, for example. For more details refer to the latest supplementary sheet accompanying the CDA3000 frequency inverter.
1. 2.
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3.
1 2 3 4 5
Figure 5.63 "BRK2 function" tab
6
Value range 0.125 ... 200 0.125 ... 200 0.125 ... 100 10 ... 10,000 10 ... 10,000 FS * * * 10 10 Unit Hz Hz Hz ms ms Online

Parameters for motor holding brake BRK2

Parameter 313-SSCW 314-SSCCW 315-SSHYS 316-TREF 317-TCTRL Table 5.80 Function BRK2: Frequency limit for motor brake (clockwise) BRK2: Frequency limit for motor brake (anti-clockwise) BRK2: Frequency hysteresis for motor brake BRK2: Delay of acceleration in holding brake function BRK2: Delay of shut-off in holding brake function
Parameters from subject area _31MB Motor holding brake BRK2
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Setting of digital outputs for motor holding brake BRK2

F O S 0 1 F O S 0 2 F O S 0 3 F O E 0 x
Setting
Function
BRK2
Output is set if, in VFC (SFC), the control reference or, in FOR, the control actual value has exceeded the value in parameter SSCxx (clockwise: SSCW, anti-clockwise: SSCCW)
Table 5.81
Settings for FOxxx of digital outputs for motor holding brake BRK2
Explanatory notes
Values marked by an asterisk (*) are calculated automatically during auto-tuning of the frequency inverter and entered in the parameters. The frequency limit in control mode VFC (SFC) for engagement/ release of the holding brake can be set independently for clockwise and anti-clockwise running. Pay attention to the switching hysteresis. The BRK2 brake actuation does not work in DC braking. It is not possible to reconfigure a digital output from or to setting BRK2 online. To set the parameters the power stage must be inactive. In conjunction with brake actuation BRK2 with the motor protection control ENMO, the timer element 247-TENMO "Time between motor contactor and active control" (see section 5.2.4 "_24OD-Digital outputs") is run before and after brake actuation. The value for the motor brake frequency hysteresis is calculated from 0.5 times the slip frequency of the motor. The frequencies for anti-clockwise and clockwise are attuned to the slip frequency of the motor. In the factory setting the frequency limit and hysteresis are configured to values for an IEC standard motor with a ratio of inverter to motor of 1:1.
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BRK2 in control mode VFC (SFC)

During initial commissioning the following parameters are preset automatically depending on motor during auto-tuning.
Parameter 313-SSCW 314-SSCCW 315-SSHYS Table 5.82 Function BRK2: Frequency limit for motor brake (clockwise) BRK2: Frequency limit for motor brake (anti-clockwise) BRK2: Frequency hysteresis for motor brake Slip frequency Slip frequency Slip frequency * hysteresis factor Value
1 2 3 4 5
Parameter preset for BRK2 by auto-tuning in motor identification
Time diagram of motor holding brake BRK2 in VFC (SFC)

REF6 f [Hz] SSCW+SSHYS SSCW SSCCW -SSCCW-SSHYS SSHYS
6
SSHYS
1 0 1 0 1 0 1 0
STR
STL
POWER BRK2
TREF
TCTRL
TREF
TCTRL
POWER BRK2
Frequency inverter power stage Digital output Function of motor holding brake BRK2 in VFC (SFC)
Figure 5.64
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Explanatory notes
Reference > 313-SSCW or 314-SSCCW In the event of reference input above the programmable frequencies added to the amount of 315-SSHYS, the drive accelerates to the frequency limit + hysteresis value and the reference is held until the time 316-TREF has elapsed. The 316-TREF time parameters should be set to those of the brake. At the end of the time 316-TREF the brake should have released and the reference is accelerated to the currently set reference above the frequency limit + hysteresis value. The programmable frequency limit is set to the slip frequency of the motor and ensures that the motor builds up a torque against the brake. Consequently, a torque is available for the load as soon as the brake has been released. Reference < 313-SSCW or 314-SSCCW In the event of reference input below the programmable frequency limit, the reference is held at the frequency limit (313-SSCW, 314SSCCW) until the time 317-TCTRL has elapsed. The 317-TCTRL time parameters should be set to the release time of the brake. At the end of the time 317-TCTRL the brake should have safely engaged. Reference values below the frequency limit configured to the slip frequency produce inadequate torques. As a result, the brake secures the load if there is insufficient torque available when operating the motor below the slip frequency.
BRK2 in control mode FOR

For the motor holding brake BRK2 parameter 315-SSHYS "BRK2: Frequency hysteresis for motor holding brake" must be adjusted manually. The following parameters of the BRK2 functionality in FOR can be activated:
Parameter 313-SSCW Function BRK2: Frequency limit for motor brake (clockwise) Activatable
314-SSCCW BRK2: Frequency limit for motor brake (anti-clockwise) Table 5.83 Active parameters of motor holding brake BRK2 in control mode FOR
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5 Software functions Parameter 315-SSHYS 316-TREF 317-TCTRL Table 5.83 Function BRK2: Frequency hysteresis for motor brake BRK2: Delay of acceleration in holding brake function BRK2: Delay of shut-off in holding brake function Activatable
1 2 3 4 5
Active parameters of motor holding brake BRK2 in control mode FOR
Time diagram of motor holding brake BRK2 in FOR

f [Hz] SSHYS -SSHYS
STR
STL
1 0 1 0 1 0 1 0
6
TCTRL
POWER BRK2
TREF MPT
POWER BRK2 MPT
Inverter power stage Digital output Motor flux build-up phase Function of motor holding brake BRK2 in control mode FOR
Figure 5.65
Explanatory notes
Reference = 0 Hz In the start phase the motor holding brake is switched depending on the reference value. If the current reference value is = 0 Hz, the magnetization phase to build up flux in the motor is run for the time 774-MPT (see section 5.5.14 "_77MP-Remagnetization"). Then the digital output = BRK2 is activated and the timer element 316-TREF is activated. The 316-TREF time parameters should be set to the pickup time of the brake. At the end of the time 316-TREF the brake should be released and the drive accelerates to the preset reference
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value. At the end of the time 316-TREF the functionality of the motor holding brake BRK2, the "reference reached" message and the standstill recognition are determined by the actual value of the rotor. Reference = 0 Hz If at reference = 0 Hz the actual value is in the configured "referencereached window" of parameter 230-REF_R, motor standstill is detected. Simultaneously with reference input = 0 Hz, when the actual value of the frequency limit 315-SSHYS is reached the timer element 317-TCTRL is started. The 317-TCTRL time parameters should be set to the release time of the brake. At the end of the time 317-TCTRL the brake should have safely engaged and hold the load. Finally the power stage is disabled. The control reference and actual values can be compared to activate an error message. The limit value for exceeding of the maximum frequency deviation (tracking error) is determined by parameter 751MXFLW in subject area "_79EN-Encoder evaluation". The response is defined with parameter 535-R-FLW in subject area "_51ER-Error messages".
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5.5.2 _32MP-MOP function
Function
Effect
With two inputs the reference can be increased or reduced in linear form
Simple adaptation of the motor speed to the process
1 2
MPSEL
0 1 2 3 6
FPOT
(1)
3 4 5
(1) Active MOP function in reference source FPOT Figure 5.66 Function block: MOP function selector
1.
6 A
2.
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3.
Figure 5.67
MOP functions
Parameters for MOP function

Parameter Function Value range 0 ... 6 FS 0 Unit Online
320-MPSEL Configuration for motor operated potentiometer Table 5.84
Parameters from subject area _32MP MOP function
Settings for MOP function 320-MPSEL

BUS KP/DM 0 1 OFF F1 No function Increase and reduce speed within limits FMINx ... FMAXx with inputs MP_UP and MP_DN. Increase and reduce speed within limits FMINx ... FMAXx with inputs MP_UP and MP_DN. If both inputs are set simultaneously, the offset speed is reset to 0 Hz. Increase and reduce speed within limits FMINx ... FMAXx with inputs MP_UP and MP_DN. In case of failure of the mains voltage the offset speed is stored. Increase and reduce speed within limits FMINx ... FMAXx with inputs MP_UP and MP_DN. If both inputs are set simultaneously, the offset speed is reset to 0 Hz. In case of failure of the mains voltage the offset speed is stored. Increase and reduce speed within limits FMINx ... FMAXx with inputs MP_UP and MP_DN. The offset speed is reset to 0 Hz when the start command is cancelled. Increase and reduce speed within limits FMINx ... FMAXx with inputs MP_UP and MP_DN. If both inputs are set simultaneously, the offset speed is reset to 0 Hz. The offset speed is reset to 0 Hz when the start command is cancelled. Settings for 320-MPSEL MOP function Function
F2
F3
F4
F5
F6
Table 5.85
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Setting of inputs for MOP functions

Note: In terminal operation the function selector of one digital or one analog input (in digital function) is configured with MP-UP = increase reference MP-DN = reduce reference (see section 5.2 "Inputs and outputs").
1 2 3
Example: Setting F1 of MOP function

A digital potentiometer is operated by way of two digital inputs. One input reduces the reference value, the other increases it. At the analog input ISA0x a base value can be set as the analog speed reference FSIN, so the digital inputs act as an offset. The MOP function assigns the reference source FPOT a reference value.
4 5 6 A
ACCRx
DECRx
FMAX
f [Hz]
FSIN
Offset Offset
0
1 0 1 0 1 0
Basis
MP_DN
MP_UP
(1)
Start
t [ms]
(1) Reset reference to base value Figure 5.68 Basic function with reset to base value (corresponds to setting F1 in Table 5.85)
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Definitions
Base value Offset ISDxx = MP_UP ISDxx = MP_DN Analog speed reference set at input ISAxx Portion of the increase or decrease in the base value, influenced by the inputs with the functions MP_UP and MP_DN Offset input for reference increase Offset input for reference decrease
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5.5.3 _59DP-Driving profile generator
Function
Effect
Setting of the acceleration and deceleration ramps Setting of a smoothing of the start and end point of the linear ramp
Adaptation of the motor dynamics to the application Reduced drive bucking
1 2 3 4 5 6 A

The reference limiter is inserted upstream of the driving profile generator. By way of the reference selector the reference sources are selected, and thus indirectly in the driving profile generator the general ramp generator or table-supported ramp generator. The driving profile generator generates the appropriate acceleration and deceleration ramps to attain the specified frequency reference. The braking ramp STPRx is effective throughout the entire driving profile generator if it is activated with STPRx 0. Normal, non-table-supported driving sets (RSSLx FFTB): Ramp generator with characteristic data sets, selection of characteristic data set by way of characteristic data selector 650-CDSSL Table-supported driving sets (RSSLx = FFTB): Driving sets from a stored table, selection of data sets by way of table selector 624-TBSEL As from firmware V3.2, the ramps of the driving profile generator can also be activated uniformly for the driving sets. As a result the table-supported ramps are deactivated (see section 5.5.5 "_60TB-Driving sets").
Note:
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Driving profile generator block diagram

x 1 2
CDSSL x = 1, 2
ACCR
DECR
STPR
f [Hz]
RSSLx = FFTB
DECRx STPRx
ACCRx
RSSLy
0 Hz
START
(1)
IFMAXx
= FFTB
F1
f [Hz]
REF4 IFMINx
STR/STL +ENPO
RSSLx = FFTB
TDCRz STPRx
TACRz
JTIME
TBSEL z = 0...7
t [s]
F2
z 0 1 2 TACR TDCR STPR
DPSEL
E Reference limitation (subject area "_30OL-Frequency limitation") F Driving profile generator F1 Ramp generator, normal (see Table 5.87) Smoothing adjustable only after interim reference REF5, visible as from REF6 F2 Table-supported ramp generator (subject area "_60TB-Driving sets") (1) Frequency reference Figure 5.69 Parameters in subject area _59DP (cf. reference structure Figure 5.31)
Ramp generator
The ramp generator can smooth linear ramps at the end points in order to limit bucking.
Movement mode dynamic, bucking Setting JTIME = 0, linear ramps without smoothing
Low impact on mechanism JTIME 0, sinusoidal ramps based on smoothing by x [ms]. Table 5.86 Ramp generator
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= FFTB
+
REF5
JTIME
t [s]
~ ~
JTIME
1
ACCRx DECRx
f [Hz]
STPRx
2 3 4 5 6 A
t [s]
Figure 5.70
Driving profile of ramp generator
Sinusoidal ramps
As a result of the bucking limitation the acceleration and deceleration times are increased by the smoothing time JTIME. An emergency stop via the stop ramp STPRx is executed in linear mode - that is to say without bucking limitation - to keep the braking duration as short as possible. Note: The mechanism is left heavily vibrated. Material fatigue due to load changes is reduced. A mechanism with play is subject to less deflection.
1.
2.
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3.
Figure 5.71
"Reference - Driving profile generator CDS1" tab
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Parameters for the ramp generator

Parameter 590-ACCR1 591-ACCR2 592-DECR1 593-DECR2 594-STPR1 595-STPR2 596-JTIME 597-RF0 Function CDS1: Acceleration ramp CDS2: Acceleration ramp CDS1: Deceleration ramp CDS2: Deceleration ramp CDS1: Stop ramp CDS2: Stop ramp Smoothing time of sinusoidal ramp Response at reference value 0 Hz Value range 0 ... 999 0 ... 999 0 ... 999 0 ... 999 0 ... 999 0 ... 999 0 ... 10000 OFF / 0 Hz FS 20 20 20 20 20 20 0 OFF Unit Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s ms
Online
* * * * * *
1 2 3 4 5 6 A
* From firmware V. 2.10
Table 5.87
Parameters from subject area _59DP Driving profile generator
Explanatory notes
If one of the two ramps (acceleration ramp ACCRx, deceleration ramp DECRx) of a characteristic data set is set to 0 (zero), both ramps are inactive and the associated ramp parameter is likewise set automatically to 0. If one of the ramps (acceleration ramp ACCRx, deceleration ramp DECRx) of a characteristic data set is set to >0 Hz, and the second ramp still has the value 0 Hz, the second ramp is also automatically set to the value >0 Hz. The DC braking function has priority over the stop ramp STPRx. Standard control signals with the assignment of the ramps are set out in Table 5.39 (section 5.2.7). The ramp values can only be changed online as from firmware V. 2.10. The smoothing also affects the driving sets (section 5.5.5 "_60TBDriving sets").
Note:
Dynamic acceleration and deceleration results in high startup and braking currents. This also applies to the emergency stop by way of the stop ramp. In deceleration the motor drops into regenerative operation and increases the DC-link voltage (DCV).
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Error messages in acceleration processes

Acceleration Positive Error E-OC (current overload) E-OLI (inverter module I 2xt cut-off) Negative E-OV (overvoltage) E-OLI (inverter module I 2xt cut-off) E-OTI (inverter module overheating) Table 5.88 Remedy Flatter ramp Higher-powered inverter module Flatter ramps External braking resistor Higher-powered inverter module
Rectification of errors in acceleration processes
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5.5.4 _27FF-Fixed frequencies
Function
Effect
Setting of a fixed frequency per characteristic data set
Operation of a drive in quick jog/slow jog driving profile Simple reference input
1 2
f [Hz] FMAXx
3 4
t [s]
FFIXx
FFIXx
5
1 0
FMAXx STR
6
t [s] t [s]
STL
Slow jog
1 0
S1
Quick jog
1 0
t [ms]
Fixed frequency for quick jog/slow jog application
t [s]
Figure 5.72
1.
2.
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3.
Figure 5.73
"Reference - fixed frequencies CDS1" tab
Parameters of the fixed frequencies

Parameter 270-FFIX1 271-FFIX2 Function CDS1: Fixed frequency CDS2: Fixed frequency Table 5.89 Explanatory notes Value range -1600 ... 1600 -1600 ... 1600 FS 20 20 Unit Hz Hz Online

Parameters from subject area _27FF Fixed frequencies
The fixed frequency can be selected by way of the digital inputs. To do so, set the reference source in the reference structure to 280-RSSL1 = FFIX (see section 5.2.6 "_28RS-Reference structure").
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5.5.5 _60TB-Driving sets
Function
Effect
Setting of up to 8 fixed frequencies with driving set dependent acceleration and deceleration ramps Selection of ramp generator
Adaptation of the motor dynamics to the application Ramp dependency of driving set or driving profile generator
1 2 3 4 5 6
A driving set contains a fixed frequency, which when the set is selected serves as the frequency reference, and an acceleration and deceleration ramp. Up to 8 driving sets can be stored in a table. Initiation of an emergency stop by means of a braking ramp with parameter STPRx 0 disables the table-supported ramps and activates the braking ramp. Note: Explanatory notes on the driving profile generator are given in section 5.5.3 "_59DP-Driving profile generator".
Example of application of the driving sets

Preconditions: Function selector of digital input ISD00: Function selector of digital input ISD01: FIS00 = FFTB0 FIS01 = FFTB1
FFTB1 TACR1 FFTB0 FFTB0 TDCR2 TACR0 0 TACR2 1 0 1 0 0 TACR0 FFTB3 TDCR3
f [Hz]
S2 S1
FFTB2
Start 1
t [ms]
Figure 5.74 Example of driving sets with fixed frequencies
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Selection of driving sets

Driving set 0 1 2 3 4 5 6 7 Table 5.90 FIxxx= FIxxx= FIxxx= FFTB2 FFTB1 FFTB0 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Fixed frequency FFTB0 FFTB1 FFTB2 FFTB3 FFTB4 FFTB5 FFTB6 FFTB7 Acceleration ramp TACR0 TACR1 TACR2 TACR3 TACR4 TACR5 TACR6 TACR7 Deceleration ramp TDCR0 TDCR1 TDCR2 TDCR3 TDCR4 TDCR5 TDCR6 TDCR7
Selection of driving sets
The driving sets (rows in the table) are selected by way of: the inputs which are parameterized to switch to FFTBx, or the control word in field bus systems
1.
2.
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3.
1 2 3 4 5 6
Figure 5.75 "Reference - driving sets" tab
A
FS 5 10 15 20 25 30 40 50 20 20 20 20 Unit Hz Hz Hz Hz Hz Hz Hz Hz Hz/s Hz/s Hz/s Hz/s Online

Parameters of the driving sets

Parameter 600-FFTB0 601-FFTB1 602-FFTB2 603-FFTB3 604-FFTB4 605-FFTB5 606-FFTB6 607-FFTB7 608-TACR0 609-TACR1 610-TACR2 611-TACR3 Function Table frequency 1 Table frequency 2 Table frequency 3 Table frequency 4 Table frequency 5 Table frequency 6 Table frequency 7 Table frequency 8 Table acceleration ramp 1 Table acceleration ramp 2 Table acceleration ramp 3 Table acceleration ramp 4 Table 5.91
Value range -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 -1600 ... 1600 0.01 ... 999 0.01 ... 999 0.01 ... 999 0.01 ... 999
Parameters from subject area _60TB Driving sets
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5 Software functions Parameter 612-TACR4 613-TACR5 614-TACR6 615-TACR7 616-TDCR0 617-TDCR1 618-TDCR2 619-TDCR3 620-TDCR4 621-TDCR5 622-TDCR6 623-TDCR7 624-TBSEL 298-RFMD Function Table acceleration ramp 5 Table acceleration ramp 6 Table acceleration ramp 7 Table acceleration ramp 8 Table deceleration ramp 1 Table deceleration ramp 2 Table deceleration ramp 3 Table deceleration ramp 4 Table deceleration ramp 5 Table deceleration ramp 6 Table deceleration ramp 7 Table deceleration ramp 8 Table driving set selector (display) Ramp and reference selection Table 5.91 Value range 0.01 ... 999 0.01 ... 999 0.01 ... 999 0.01 ... 999 0.01 ... 999 0.01 ... 999 0.01 ... 999 0.01 ... 999 0.01 ... 999 0.01 ... 999 0.01 ... 999 0.01 ... 999 * TB1 ... DP2 TB1 FS 20 20 20 20 20 20 20 20 20 20 20 20 Unit Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Online
Parameters from subject area _60TB Driving sets
Settings for ramp selection of fixed frequencies

BUS 0 1 2 3 Table 5.92 KP/DM TB1 DP1 TB2 DP2 Function Ramps of the driving set table Ramps of the driving profile generator Ramps and reference from driving set table and reference switchover RSSL1 Ramps of driving profile generator and reference from driving set table and reference switchover RSSL1
Settings for 298-RFMD "Ramp and reference selection"
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Explanatory notes
1 2 3 4 5 6 A
Deactivation of parameter by the value 0 (zero) Parameter values which are produced from current calculations and so are not editable have an asterisk (*) in the "Value range" column. If one of the two ramps of a driving set becomes 0 Hz, the ramps of the driving set are deactivated. The other associated ramp is thus automatically set to 0 Hz. If one of the two ramps (acceleration ramp ACCRx, deceleration ramp DECRx) of a driving set is set to >0 Hz, and the second ramp still has the value 0 Hz, the second ramp is also automatically set to the value >0 Hz. The ramps of the driving profile generator are set in subject area "_59 DP-Driving profile generator". If the ramp selection is configured with reference switchover, instead of the current reference of reference channel RSSL1 on activation of a driving set 1...7 the reference selector RSSL1 is switched internally to the relevant driving set. The reference of the driving set 0 thus corresponds to the preset of the reference selector 280-RSSL1. The driving sets are selected with terminal selection via the digital inputs in function FFTB0 ... FFTB2. The function names represent only the significance of the driving set selection and not the direct selection of the table frequency with that parameter name. Example: ISD02 = FFTB0 = Significance 2 ISD03 = FFTB1 = Significance 21
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5.5.6 _65CS-Characteristic data switchover (CDS)
Function
Effect
Online switching is possible between two characteristic data sets
Adaptation of the motor dynamics to the application Operation of two different motors on one inverter module
Parameters for characteristic data set switchover

Parameter 650-CDSAC 651-CDSSL 652-FLIM Function Characteristic data set (CDS) active Control location for switchover of characteristic data set (CDS) Limit frequency for switchover to CDS Table 5.93 Value range see Table 5.95 see Table 5.96 -1600 ... 1600 FS 0 OFF 20 Hz

Unit
Online
Parameters from subject area _65CS Characteristic data switchover
Explanatory notes
Any application data set may contain a second characteristic data set. An overview of the functional areas containing parameters for the second characteristic data set is presented by Table 5.94.
Functional areas with characteristic data set parameters

Subject area Analog inputs Clock input/clock output Fixed frequencies Frequency limitation Reference structure Driving profile generator Current-controlled startup V/F characteristic IxR load compensation Slip compensation Current injection Table 5.94 Parameter Scaling parameter Scaling parameter All parameters All parameters Min., max. and fixed frequency Ramps All parameters All parameters All parameters All parameters All parameters Subject areas with parameters in the second characteristic data set (CDS)
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5 Software functions Subject area Magnetization _78SS Speed controller SFC Current control Speed controller FOR Process controller Anti-oscillation Table 5.94 All parameters All parameters Reference current for control All parameters Controller parameters All parameters Subject areas with parameters in the second characteristic data set (CDS) Parameter
1 2 3 4 5 6 A
Active characteristic data set display 650-CDSAC

BUS 0 1 Table 5.95 KP/DM CDS1 CDS2 Function Characteristic data set 1 (CDS1) active Characteristic data set 2 (CDS2) active
Display of active data set
Possibilities of characteristic data set switchover with 651-CDSSL

BUS 0 KP/DM OFF No switchover CDS 1 active Switchover on exceeding of frequency of value in parameter FILIM CDS 2, if frequency > FLIM, otherwise CDS 1 2 3 4 Table 5.96 TERM RED SIO Switchover via digital input CDS 2, if IxDxx = 1, otherwise CDS 1 Switchover on reversal of direction CDS 2, if anti-clockwise, otherwise CDS 1 Switchover via SIO CDS 2 if control bit set, otherwise CDS 1 Function
FILIM
Settings for characteristic data set switchover variants
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5 Software functions BUS 5 6 KP/DM OPTN1 OPTN2 Function Switchover via field bus at option slot 1 CDS 2 if control bit set, otherwise CDS 1 Switchover via field bus at option slot 2 CDS 2 if control bit set, otherwise CDS 1 Switchover on exceeding of frequency of absolute value (amount formation) in parameter FILIM CDS2, if frequency > (FILIM), otherwise CDS1 Table 5.96 Settings for characteristic data set switchover variants
FIABS
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5.5.7 _66MS-Master/ Slave operation
Function
Effect
Speed synchronism of several different drives by setting of the coupling factor in Master/Slave operation
Determine transmission ratio for reference coupling
1 2 3 4
One inverter module is parameterized as the master. The master passes the signal for fast reference coupling to up to five inverter modules parameterized as slaves.
OSD01 (1) CPU
ISD01 i1 CPU
ISD01 i2 CPU
FU 0
FU 1
FU 2
5 6
n0
n1 = n0 i1
n2 = n0 i2
(1) Reference ix Coupling factor of slave axle, parameter 837-MSFCT Figure 5.76 Fast reference coupling via Master/Slave operation
Function Master Slave Table 5.97
Parameter setting of the function selector Digital output OSD01: FOS01 = FMSO Digital input ISD01: FIS01 = FMSI Setting instructions
Terminal Signal: X2-16 Dig. ground: X2-17 Signal: X2-10 Dig. ground: X2-14
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Reference coupling dependent on chosen operation mode

MASTER sends ...
VFC: Reference (stator frequency) Scope: revalue SFC: Estimated rotor frequency Scope: wRS_est FOR: Actual rotor frequency Scope: wRS_F 300-CFCON OSD01
SLAVE executes ...

300-CFCON ISD01 VFC: Reference (stator frequency) Scope: refvalue SFC: Estimated rotor frequency Scope: wRS_est FOR: Actual rotor frequency Scope: wRS_F
Figure 5.77
Reference coupling dependent on chosen operation mode on the master
1. 2.
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3.
1 2
Figure 5.78 Master/Slave screens
3 4
FS 1 0 ms Unit Online

Parameters for Master/Slave operation

Parameter 837-MSFCT 838-MSECT Function Coupling factor for Master/Slave operation Error trigger time in case of failure of reference master Table 5.98 Value range 0.0 ... 1000, 000000 0 ... 65535
5 6 A
Parameters from subject area _66MS Master/Slave operation
Explanatory notes
A maximum of six devices can be interlinked. In the event of failure of the reference input from the master, or if the reference signal checksum is faulty, the slave inverter responds after the set time in parameter 838-MSECT with error message E-FDG. The response to the error message can be configured in subject area "_51ER-Error messages". When the time period from 838-MSECT starts a warning message can be delivered. For this, the relevant function selector of the digital output must be set to the warning message WFDIG. Fast reference coupling is limited to output OSD01 and input ISD01. The coupling factor MSFCT is represented in INT 32Q16 number format. That means that the decimal places are represented at a pitch of 65536.
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Example of coupling factor MSFCT

Input of coupling factor in parameter 837-MSFCT 837-MSFCT=2.032 Given:i = 2.032 Set: Executed value of coupling factor with internal processing of processor
Solution:
1. 2. 3. 2.032 x 65536 = 133169.152 Eliminate decimal places: 133169 133169 : 65536 = 2.0319
Attention!
Digital output OSD01 has no function in the slave inverter module, and cannot be used as the master for other slaves.
Structure of reference processing in the slave

Reference
ISD01 (Slave)
Telegram received Checksum OK
no Warning message
yes
yes
no
Last valid reference
Error trigger time elapsed
yes Error message E-FDG Response as preset in 533-R-FDG
Execute reference
Figure 5.79
Structure of reference processing in the slave
If no telegram with a correct checksum is received within the error trigger time error message E-FDG is triggered when the time has elapsed. During the error trigger time the last valid reference is executed.
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5.5.8 _67BR-DC braking
Function
Effect
Feed of a direct current into the motor, causing it to brake.
No braking resistor is required to brake motors.
1 2
f [Hz]
3
0
4
t
IDC [A]
5 6 A
BRDCC
0 1 Start 0
1)
BRTMN
BRTOF
BRTMX
1) IDC =
No start possible within this time span equalizing current of CDA3000 DC braking with demagnetization time BRTOF and braking time BRTMX
Figure 5.80
For demagnetization purposes no current is applied to the motor in the time BRTOF, so the field in the motor can be safely removed. Then for the time BRTMX the direct current BRDCC is injected into the motor and the motor is braked without energy feedback into the inverter module. The motor converts the braking energy directly into heat. Note: If too short a demagnetization time is chosen, the residual magnetization of the motor may result in error shutdowns in the inverter module.
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Application with differing motor types: Asynchronous motor: Braking time longer than braking with stop ramp, but no braking resistor necessary for inverter module. No braking effect, because at high speeds the sum total of the braking torques per revolution is virtually zero (due to the rotor design). The resulting regenerative operation may lead to error messages.
Synchronous motor, reluctance motor:
1.
2. 3.
Figure 5.81
"DC braking" tab
5-174
Parameters for DC braking

Parameter 670-BRDC 671-BRDCC 672-BRTMX 673-BRTOF 674-BRTMN Function Mode of actuation of DC braking Braking current for DC braking referred to device rated current Maximum braking time Demagnetization time before DC braking Minimum braking time Table 5.99 Value range OFF ... STOP 0 ... 180 0 ... 60 0.10 ... 10.00 0 ... 65535 FS OFF 80 15 2 0 % s s ms

Unit
Online
1 2 3 4 5 6 A
Parameters from subject area _67BR DC braking
Explanatory notes
Depending on parameter setting, the motor may either run down uncontrolled, or be decelerated with a stop ramp or with direct current. After DC braking, the DC holding function can be appended to counteract any rotation caused by the load on the motor. The braking torque is reduced to approx. one third of the braking torque in operation with a braking resistor (braking chopper operation). The minimum braking time (674-BRTMN) cannot be aborted by a new start signal. In the time between the minimum braking time (674-BRTMN) and the maximum braking time (672-BRTMX) the DC braking can be aborted by a start signal. The maximum braking time period (672-BRTMX) includes the minimum braking time (674-BRTMN). In DC braking the BRK2 motor holding brake function has no effect.
Attention!
By activating the DC brake, in response to STR/STL=0 (Low) DC braking is executed instead of the stop ramp (STPRx).
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Settings of the DC braking activation mode with 670-BRDC

BUS 0 1 2 Table 5.100 KP/DM OFF NSTRT STOP No DC braking DC braking active after cancellation of starting Selection of DC braking via digital input or SOI control bit (field bus system) Digital input: FIxxx = /STOP Function
Settings for 670-BRDC DC braking
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5.5.9 _68HO-DC holding
Function
Effect
On completion of DC braking an adjustable direct current is injected into the motor.
Rotation of the motor shaft under no load is counteracted. No standstill torque is applied against a load on the motor shaft.
1 2 3
f [Hz]
4 5
IDC
t
1
HODCC
0
6
t
DECR HODCT
Start
1 0
IE Output current of CDA3000 DECR Controlled braking (DECRx, STPRx, BRDC) Figure 5.82 DC holding for the time HODCT
1.
2.
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3.
Figure 5.83
"DC holding" tab
Parameters for DC holding

Parameter 680-HODCC 681-HODCT Function Holding current referred to device rated current Holding time in DC holding Table 5.101 Explanatory notes Value range 0 ... 180 0.00 ... 60.00 FS 60 0.5 Unit % s
Online
Parameters from subject area _68HO DC holding
Deactivation of DC holding by HODCT = 0 s.
Activation of DC holding with 68-HODCT 0 s

Preceding function DC braking 670-BRDC = ON Stop ramp STPRx Braking ramp DECRx Table 5.102 Activation conditions for DC holding Activation condition, DC holding At end of maximum braking time 672BRTMX On reaching of reference zero.
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5.5.10 _80CC-Current controller
Function
Effect
Setting of the PI controller for current control
Parameter setting of the PI current controllers for the functions DC braking DC holding Magnetization (VFC) Current injection (VFC) Torque-forming current iq in SFC Flux and torque-forming current in FOR
1 2 3 4 5 6
Note:
Activation of auto-tuning of the motor and controller parameters by way of parameter 161-ENSC = START in subject area "_15FC-Initial commissioning" (section 5.1) automatically optimizes the current controller setting.
1.
2.
Figure 5.84
"Current controller" screen
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Parameters of the current controller

Parameter 800-CCG 801-CCTLG 802-CCTF 803-VCSFC 804-CLIM1 805-CLIM2 Function Current controller gain Current controller lag time Filter time constant for current measurement in SFC Correction of fault voltage characteristic (SFC, FOR) CDS1: Maximum reference current for current control CDS2: Maximum reference current for current control Table 5.103 Value range 0 ... 500 0.001 ... 100 0.0005 ... 20 0 ... 199 0 ... 180 0 ... 180 FS dependent on inverter dependent on inverter dependent on inverter dependent on inverter 100 100 s s % % %
Unit
Online
Parameters from subject area _80CC Current controller
Explanatory notes
The filter time constant for current measurement is used only by the Sensorless Flux Control (SFC) mode. The following functions are operated with the parameters determined by auto-tuning: DC braking DC holding Magnetization (VFC) Current injection (VFC) Torque-forming current iq in SFC Flux and torque-forming current in FOR
The factory setting of the current controller relates to an IEC standard motor with the respective device power rating. You will find the motor specification in subject area "_15FC-Initial commissioning" (section). With the analog input ISA01 by way of FISA1=SCALE the current can be influenced for torque formation within CLIMx. A torque limitation can thus be effected by way of the analog input.
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Notes on optimization
Open-loop/ closed-loop control mode Need for optimization Motor power output = inverter output and IEC standard motor No optimization required, because 1:1 rating in factory setting VFC Motor output power < inverter output or no IEC standard motor Optimization and adaptation by activation of auto-tuning (see section 5.1 "_15FC-Initial commissioning") Optimized after successful initial commissioning with auto-tuning (see section 5.1 "_15FC-Initial commissioning"). Further information: For required setting aids refer to section 6.2.3 "Tips and optimization aids for control engineers". Optimized after successful initial commissioning with auto-tuning (see section 5.1 "_15FC-Initial commissioning"). Notes on optimization
1 2 3 4 5 6 A
SFC
FOR Table 5.104
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5.5.11 _64CA-Currentcontrolled startup
Function
Effect
The drive accelerates with the preset acceleration ramp. When a programmable current limit is reached the acceleration is slowed or stopped, depending on selected function, until sufficient current reserves are available again. The same applies to deceleration of the drive.
Protection against current overload shut-off in acceleration of large moments of inertia. Protection against drive stalling. Acceleration and deceleration processes with maximum dynamics along the current limit.
1.
2.
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3.
1 2 3 4 5
Figure 5.85 "Current-controlled startup" tab
Parameters of current-controlled startup/rundown

Parameter 639-CLTF 640-CLSL1 641-CLCL1 642-CLFL1 643-CLFR1 644-CLRR1 645-CLSL2 646-CLCL2 647-CLFL2 648-CLFR2 649-CLRR2 Function Filter time constant for current-controlled startup/rundown CDS1: Function selector CDS1: Current limit value CDS1: Lowering frequency CDS1: Initial frequency CDS1: Lowering ramp CDS2: Function selector CDS2: Current limit value CDS2: Lowering frequency CDS2: Initial frequency CDS2: Lowering ramp Table 5.105 Value range 0.002 ... 20 OFF, CCWFS, CCWFR 0 ... 200 0 ... 100 0 ... 1600 0 ... 1600 OFF, CCWFS, CCWFR 0 ... 200 0 ... 100 0 ... 1600 0 ... 1600 FS 0.01 CCWFS 125% 4 0 100 CCWFS 125% 4 0 100 % Hz Hz Hz % Hz Hz Hz
6
Online
Unit s
Parameters of subject area _64CA Current-controlled startup
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Note:
When setting the parameter values manually in VFC mode, please pay attention to the information set out in section 6.1.7 "Tips and optimization aids for control engineers" (step 3), otherwise the "current-controlled startup" function may negatively affect the "current injection" function.
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Settings of the function selector CLSLx for current-controlled startup/rundown

BUS 0 KP/DM OFF Function Current-controlled startup inactive. During acceleration with the acceleration ramp ACCRx (1), when 75% of the current limit value CLCLx (2) is reached the acceleration is reduced in linear mode from 100% ACCRx at the current limit 75% CLCLx to 0% ACCRx at 100% CLCLx. This means that at 100% CLCLx the drive is no longer being accelerated (3). If the current limit 100% CLCLx is exceeded (4), the reference frequency is reduced. The reduction is effected with the steepness specified in CLRRx. The steepness rises in linear mode up to 100% CLRRx at the current limit 125% CLCLx. This process is limited when the lowering frequency CLFLx is reached (5). When the apparent current falls below the current limit 100% CLCLx the drive is again accelerated with the acceleration ramp ACCRx. The conditions previously detailed apply once again. The same also applies to braking, where the frequency can be increased up to the maximum. 2 CCWFS Function as in the case of CLSLx = 1, but the output frequency is stopped at 125% CLCLx. That is to say, there is no acceleration or frequency reduction. For presentations of the operational phases, see Figure 5.86 and Figure 5.87. Settings for function selector for current-controlled startup/ rundown
1 2 3 4 5 6 A
CCWFR
() Table 5.106
Explanatory notes
The function implements a current limitation by altering the startup/ rundown ramps. In the frequency range 0 Hz to the initial frequency CLFRx the current acceleration ramp ACCRx is reduced to 25%. The control remains active after startup. In this way, under increasing load - and thus increasing current - the speed is reduced under ramp control, in order to protect the motor against stalling. The same also applies to braking, where the frequency can be increased up to the maximum. The current limit value CLCLx relates to the device rated current. The rated current of the respective inverter module is designated as CLCLx = 100%.
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Example: Acceleration and braking in motorized operation with CLSLx = CCWFR

Acceleration IN as [%] of CLCLx Apparent current
125 100 75
15/16 . Is
Braking
0
FMAXx
(2) (3) (4)
fout [Hz] Motor speed

CLFLx
(1)
(5) (3)
CLFRx
ACCRx +100
(1) (2)
Ramp
[%]
0
(3) (3) (4)
(5)
DECRx -100 ACCR

STR
DECR
1 0
STL
1 0
t
IN Rated device current as apparent current IS fout Motor speed CLFLxLowering frequency CLFRxInitial frequency (1) to (5) see Figure 5.87 and Table 5.106 Figure 5.86 Acceleration and braking in motorized operation CLSLx = CCWFR
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Notes for control engineers:
fout < CLFRx (initial frequency)

If the actual speed of the motor is below the initial frequency CLFRx, the preset ramp steepness ACCRx/DECRx is limited to a quarter.
1 2 3 4 5 6
(1) (2)
fout > CLFRx (initial frequency)

Operating state / Load Braking, regenerative Acceleration, motorized Stationary, motorized Braking, motorized Acceleration, regenerative Table 5.107 see Figure 5.86 see Figure 5.87 Function
Modes of action of current-controlled startup/rundown
DECRx [%]
ACCRx [%] 100 100
A
IN as [%] of CLCLx
100
Apparent current IN as [%] of CLCLx

0 125 100 75 0 75
(3) (4)
125
(5)
100 ACCRx [%]
100 DECRx [%]
(x) Presentation of operational phases (1) to (5) in Table 5.106 and Figure 5.86 Figure 5.87 Dependency of the ramp steepness on the rated device current dimensioned to the current limit value
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Attention!
In lifting applications this function should be disabled, because regenerative lowering loads during braking may cause the drive to accelerate as a result of the prevailing apparent current IS.
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5.5.12 _69PM-Modulation
Function
Effect
Setting of switching frequency of inverter power stage
The higher the switching frequency, the lower the noise, the smoother the motor runs at high speed and the lower the output power of the inverter module.
1 2 3 4 5
As the switching frequency (modulation frequency) increases the power loss of the inverter module also increases. The reason for this lies in the common losses in the switching of power semiconductors in the power stage. This necessitates a reduction in the power of the inverter module in order to prevent the device from overheating. The power rating is also influenced by the motor cable length, the ambient temperature and the mounting height.
Minimum switching frequency of power stage for very smooth running of the motor
Switching frequency of power stage 4 kHz 8 kHz 16 kHz Table 5.108 Max. output frequency of inverter to 400 Hz to 800 Hz to 1600 Hz
6 A
Minimum switching frequency for adequately smooth running of the motor
Note that as from firmware version V3.2 the maximum permissible rotating field frequencies are limited - see following table:
Inverter type CDA32.004 to CDA34.032 CDA43.045 to CDA34.170 Size (BG1...5) (BG6...8) Rated current 4 to 32 A 45 to 170 A Rotating field frequency 0 ... 400 Hz max. 0 ... 200 Hz max.
Note:
To use inverters with rotating field frequencies > 200/400 Hz you will need the special inverter version for high-frequency motors. For detailed ordering information refer to the CDA3000 Order Catalogue.
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Rule of thumb: The modulation frequency should be 8 to 10 times the maximum output frequency of the inverter.
1.
2. 3.
Figure 5.88 Switching frequency of power stage
Parameters of the modulation frequency

Parameter 690-PMFS Function Switching frequency of power stage Table 5.109 Explanatory notes Value range 4, 8, 16 FS dependent on device Unit kHz Online
Parameters from subject area _69PM Modulation
Factory setting of devices < 22 kW: Factory setting of devices > 22 kW:
8 kHz, max. 400 Hz 4 kHz, max. 200 Hz
Safety functions for the device are automatically adapted to the modulation frequency. Devices with outputs of 22 kW and above cannot be operated at 16 kHz.
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Maximum permissible current dependent on switching frequency of power stage see section 5.3.3 "Device protection".
1 2
Current losses on motor cables

Mains voltage 1 x 230 V Clock frequency Motor choke Mains voltage 1 x 400 V Motor choke Mains voltage 1 x 460 V Motor choke
3 4 5 6 A
without with without with without with [mA per m] [mA per m] [mA per m] [mA per m] [mA per m] [mA per m] 4 8 16 Table 5.110 10 15 25 Not available at time of going to press 15 30 60 Not available at time of going to press 20 40 70 Not available at time of going to press
Current losses on motor cable dependent on clock frequency
Allow for current losses with cable lengths >10 m or 25 m. Table 5.110 applies to motor cable lengths up to 150 meters.
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5.5.13 _84MD-Motor data
Function
Effect
Filing of acquired motor data for further calculation
The motor data can be transferred to other inverter modules In systems with identical motors no motor identification is required as the parameters can be transferred
1. 2.
Motor data acquired during auto-tuning
Parameter 454-MOLMF 839-MONAM 840-MOFNM 841-MOL_S 842-MOR_S 843-MOR_R 844-MONPP 850-MOL_M Function Correction factor, magnetizing inductance (Lh characteristic) Name of motor Nominal pole flux Leakage inductance Stator resistance Rotor resistance Number of pole pairs of motor Magnetizing inductance of motor from magnetic characteristic Table 5.111 Value range 0...999.95 0 ... 28 characters 0 ... 100 0 ... 10 0 ... 128 0 ... 500 0 ... 32 0 ... 10 * * * * * * H Vs H W W FS 100 Unit % Online
Parameters of subject area _84MD Motor data
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Explanatory notes
The fields marked with an asterisk (*) are dependent on the rated power of the inverter module. In the factory setting the typical data of an IEC asynchronous standard motor of the device rated power are entered in the parameters. During auto-tuning of the inverter module (163 -ENSC=START) the motor data are acquired in the course of initial commissioning. The precondition for this is correct input of the motor rating plate data and a closed motor circuit. All motor data can be transferred and saved by way of the SMARTCARD or the DRIVEMANAGER. The parameters of the current and speed control loops should additionally be transferred so that the motor can be run correctly on the inverter module. In identification of special motors and main spindle motors >20 KW, incorrect plotting of the Lh characteristic may occur in isolated cases. In most cases the error is indicated by the fact that the desired rated speed of the drive is not reached. Remedy: Increase parameter MOLMF until the motor is running about 5% above rated speed.
1 2 3 4 5 6
Simplified equivalent circuit diagram of the asynchronous machine
s Xh R1 R2 X1 X2 RFE IM
Slip Magnetizing inductance Stator phase resistance Rotor resistance Stator magnetizing inductance Rotor magnetizing inductance Iron loss resistance Magnetizing current
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5.5.14_77MP-Remagnetization
Function
Effect
Injection of a defined direct current via a PR current control circuit into the motor
Increase starting and standstill torque Deactivation of Voltage Frequency Control mode during the magnetization and flux build-up phase
f [Hz] v [m/s]
I [A]
MPCNx
MP
Start
1 0
MPTx
t [s]
MPCNx Magnetizing current MPTx Magnetizing time Figure 5.89 Magnetization phase (MP)
1.
2.
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3.
1 2 3
Figure 5.90 "Magnetization" tab
4
FS 33 0.00 33 0.00 0.50 Unit % s % s s Online
Parameters of magnetization
Parameter 770-MPCN1 771-MPT1 772-MPCN2 773-MPT2 774-MPT Function CDS1: Magnetizing current CDS1: Magnetization time VFC CDS2: Magnetizing current CDS2: Magnetization time VFC Magnetization time for SFC and FOR (calculated during auto-tuning) Table 5.112 Explanatory notes Value range 0 ... 180 0.00 ... 2.00 0 ... 180 0.00 ... 2.00 0.00 ... 16.00
5 6 A
Parameters from subject area _77MP Magnetization
When the time MPTx elapses the inverter module switches to the "Open-loop control/Closed-loop control active" state. That means that during the magnetization phase the V/F characteristic is deactivated for a short time. The transition can be made directly from the magnetization phase to current injection. The magnetization time for control modes SFC and FOR is calculated during auto-tuning (163-ENSC) and should only be altered by highly experienced control engineers.
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5.5.15 _86SY-System
Function
Effect
Performing a device reset Triggering of a controller reinitialization
The device is optionally reset completely or in part to its factory setting (FS) Controller data and limit values are recalculated
Figure 5.91
Reset to factory setting
Parameters of the system

Parameter 4-PROG 15-PLRDY Function Reset device to factory setting Activate control initialization Table 5.113 Value range 0 ... 65535 ON/OFF FS 2 OFF Unit Online

Parameters from subject area _86SY-System
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Explanatory notes
1 2 3 4 5 6
In the factory setting the application data set DRV_1 is activated (see parameter list in Appendix). A control initialization is always carried out under the following conditions: Setting of ENPO signal and startup (STR or STL) Quitting of the subject area level in the PARA menu branch, into the menu branch selection level (menu level). The display shows "MENU". In KP200 operation:
Activation of a control initialization by means of parameter 15-PLRDY is only necessary when the DRIVEMANAGER device status indicator shows "Parameter setting" and the device is to adopt the newly set values of parameters for control of the device in advance. After the control initialization the device status is set to switch-on inhibited/ready. Not every parameter setting leads to the "Parameter setting" device state.
Reset device to factory setting 4-PROG

BUS 1 KP/DM 1 Function Reset the active data set in the RAM to its factory setting. The factory setting must then be saved to a user data set, because the RAM is a volatile storage medium. Reset the active data set in the RAM and all user data sets up to user level 4 to factory settings. In the final step, the factory setting is saved to all user data sets. Reset the active data set in the RAM and all user data sets up to user level 6 to factory settings. In the final step, the factory setting is saved to all user data sets. Factory setting reset functions
815
815
850
850
Table 5.114
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5.5.16 _82PR-Process controller
Function
Effect
Actual value input via analog input ISA00 Freely selectable reference input Monitoring of max. control deviation Switch to fixed frequency
Control of dynamic processes Night lowering for minimum operation Setting of control via DRIVEMANAGER scope
Attention!
When using a firmware version >V3.3 in the ROT_5 function, after loading any parameter data set based on a firmware version < V3.3 the process controller must be deactivated (see section 5.5.16 "_82PR-Process controller"). The process controller is not deactivated automatically in this case.
FPOT Flxxx=INV PRG2 PRTL2 PRG1 PRTL1 fact PRCTx=ON
REF ISA00 FA0
. (-1)
fref
PIMX2 PRMX1 -PIMX2 -PRMX1
. (-1)
Previous setting
REF2
Figure 5.92
Block diagram of process controller with integration into reference structure
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1.
1 2 3
2. 3.
4 5 6 A
Figure 5.93
Process controllers
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Parameter 820-PRCT1 821-PRVT2 822-PRG1 823-PRTL1 824-PRG2 825-PRTL2 826-PRMX1 827-PRMX2 828-PRMCD 829-PRACD
Function CDS1: Process controller On/Off CDS2: Process controller On/Off CDS1: Process controller gain CDS1: Process controller lag time CDS2: Process controller gain CDS2: Process controller lag time CDS1: Process controller limitation CDS2: Process controller limitation Maximum control deviation of process controller Switch-on delay of process controller max. control deviation function Table 5.115
Value range ON_1/ON_2/OFF ON_1/ON_2/OFF 0 ... 250 0 ... 9999 0 ... 250 0 ... 9999 0 ... 1600 0 ... 1600 0 ... 1600 0 ... 999
FS OFF OFF 0.10 0.10 0.10 0.10 1600 1600 50 5
Unit
Online

s s Hz Hz Hz s
Parameters from subject area _82PR-Process controller
Explanatory notes
The MOP function is disabled when the process controller is activated. The reverse direction function in the reference structure as from reference point 3 (REF3) is disabled on activation of the process controller. The reverse direction function inverts the reference value of the process controller. The output of the process controller is limited to +/-PRMXx. When the limit is reached the integrating component of the controller is stopped and released again when the value falls back within the limit (see Table 5.117 "Limitation of process controller I-component on exceeding of a reference limit") The sampling time of the process controller is 2 ms. On activation of the stop ramp STPRx monitoring of the maximum control deviation is reset. This prevents an "exceeding of maximum control deviation" error message. In the event of a reference change via the deceleration or acceleration ramp the monitor remains active. The control deviation can be monitored for exceeding of the maximum value 828-PRMCD. When loop control is started the monitor is activated after the time 829-PRACD. Exceeding of the maximum control deviation triggers the error message E-PRC. The response to this error message can be configured in parameter 535-R-PRC "Response to exceeding of max. control deviation (PR)" (see section 5.3.10 "_51ER-Error messages").
5-200
When the process controller is activated parameter 597-RF0 is automatically set to 0 Hz. So current is still applied to the motor at the reference value 0 Hz.
1 2 3 4 5 6 A
Setting for parameters 820-PRCT1 and 821-PRCT2

BUS 0 1 KP/DM OFF ON_1 Function Controller inactive Effect Process controller off
Controller active, mode 1 When the controller is activated it starts up with the value 0 for the manipulated variable Controller active, mode 2 Apply current manipulated variable after activation of controller by reference (manipulated variable) RE.F6 (output of ramp generator) Setting for parameters 820-PRCT1 and 821-PRCT2
ON_2
Table 5.116
Limitation of process controller I-component

Reference limitation Response Controller I-component
I-component is stopped I-component is set to a value resulting from P-component and limitation No I-component limitation Table 5.117 Case I Process controller limitation PRMXx reached

Case II Max. frequency limit FMAXx reached Min. frequency limit FMINx 0 reached
Case III Min. frequency limit FMINx +0 reached and directional lock active
Limitation of process controller I-component on exceeding of a reference limit
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Explanatory notes
The process controller can be set with the aid of the DRIVEMANAGER scope function. The controller parameters can be preset according to the Ziegler and Nichols or Chien, Hrones and Reswik setup criteria. If a reference limit of the controller I-component is exceeded, the Icomponent procedure is as shown in the following table.
Setting of process controller

Presentation of a control circuit comprising a controlled system (here: PT1 system) and a PR controller
Kp w(t) PR controller Ks x(t) PT1 system
Figure 5.94 Presentation of a control circuit
Tn yR(t) z(t)
xd(t)
T1
ys(t)
Formula symbol w(t) xd(t) x(t) yR(t) ys(t) z(t) Table 5.118
Designation Reference input variable Control difference/control deviation Controlled variable Controlled variable controller output Manipulated variable controlled system input Disturbance
Digital scope Recording variable Process controller: Reference value Process controller: Control deviation Process controller: Actual value Process controller: Output value Abbrevi piRegRef piRegE piRegIn piRegOut -
Assignment of the control circuit variables to the DRIVEMANAGERdigital scope
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Generally a controller is set better the shorter the correction time, the lower the overshoot () of the controlled variable and the smaller the residual control deviation (xd(t)). This is demonstrated by the characteristic of the controlled variable based on the control deviation xd(t).
Unstable characteristic Stability limit
1 2 3 4
xd
xd
Tcrit
5
Figure 5.95 Unstable control char- Figure 5.96 acteristic Control characteristic at stability limit Damped oscillation Aperiodic damping
6 A
xd
xd
Figure 5.97
Control characteristic with damped oscillation
Figure 5.98
Control characteristic with aperiodic damping
In practice, the following settings have proved successful: Ziegler and Nichols settings Chien, Hrones and Reswik settings
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Ziegler and Nichols settings

Note: With this method the control circuit is operated at the stability limit. If this is not possible for operational or safety reasons, this optimization method must not be used.
This method requires no data from the controlled system. You will need the DRIVEMANAGER scope function. Procedure:
1.
1. Start the DRIVEMANAGER digital scope. Record the following values: Channel 0: Start control, e.g. input ISD00=STR Channel 1: Process controller output value (piRegOut) Channel 2: Process controller reference value (piRegRef) Channel 3: Process controller actual value (piRegIn) Trigger: Channel 0, trigger level: 0.5
2. 3.
2. Set lag time PRTLx = 0 seconds, thereby operating the process controller as a purely P-controller
3. Increase the controller gain PRGx step-by-step until the controlled variable "Process controller: output value" just begins executing a continuous oscillation at constant amplitude. The controller gain PRGx preset for this is noted as critical controller gain PRGxcrit.
4.
4. The critical period Tcrit of the control oscillation is obtained from the digital scope.
5.
5. The control parameters PRGx and PRTLx are calculated on the basis of the following table and then set.
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Controller type P-controller PR controller Table 5.119
Controller gain PRGx 0.5 x PRGxknit 0.45 x PRGxknit
Lag time PRTLx 0.83 x Tknit
1 2 3 4 5 6 A
Ziegler and Nichols settings
6.
6. The parameter settings obtained should be checked and must be fine-tuned as necessary for further optimization.
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Chien, Hrones and Reswik settings

In this method, the transfer coefficient Ks, the compensating time Tg and the delay time Tu of the controlled system must be known. With the aid of the DRIVEMANAGER digital scope these variables can be determined graphically by recording the step response. This method is particularly suitable for higher-order controlled systems.
1.
1. Start the DRIVEMANAGER digital scope. Record the following values: Channel 0: Start control, e.g. input ISD00=STR Channel 1: Process controller output value (piRegOut) Channel 2: Process controller reference value (piRegRef) Channel 3: Process controller actual value (piRegIn) Trigger: Channel 0, trigger level: 0.5
2.
2. Calculation of Ks:
Ks = Actual value change X = yR Manipulated variable change = x1 - x 0 y1 - y0
yR y1 y0 t X x1 x0 t
Figure 5.99 Step response of a higher-order controlled system
3.
3. Definition of Tu and Tg: For this the inflectional tangent through the step response needs to be plotted. The point of intersection through the time axis defines the delay time Tu. The point of intersection of the compensated step response with the inflectional tangent defines the compensating time Tg.
5-206
X(t) (1)
1 2
(2)
3
Tu Tg
Figure 5.100 Graphical definition of delay and compensating times
4 5 6 A
Note:
In controlled systems with dead time Tt in place of the delay time Tu the substitute dead time from Tu + Tt must be taken into account.
4.
4. The control parameters PRGx and PRTLx are calculated on the basis of the following table and then set.
Controller P-controller PI controller Table 5.120 Aperiodic characteristic PRGx PRTLx Control characteristic with 20% PRGx PRTLX
~ 0.3 Ks ~ 0.6 Ks
. .
Tg Tu Tg Tu
~ 0.3 Ks ~ 0.3 Ks
. .
Tg Tu Tg Tu
~ 4 . Tu
~ 2.3 . Tu
Chien, Hrones and Reswik setting rules for fast disturbance compensation
5.
5. The parameter settings obtained should be checked and must be fine-tuned as necessary for further optimization.
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6.1 6.1.1 6.1.2 6.1.3 6.1.4 6.1.5 6.1.6 6.1.7 6.2 6.2.1 6.2.2 6.2.3 6.3 6.3.1 6.3.2 6.3.3 6.3.4 Voltage Frequency Control (VFC).............................6-6 _70VF-V/F characteristic.......................................6-9 _74IR-IxR load compensation ............................6-16 _75SL-Slip compensation ..................................6-20 _76CI-Current injection ......................................6-23 _73AP-Anti-oscillation .......................................6-27 _63FS-Up synchronization .................................6-30 Tips and optimization aids for control engineers ...........................................................6-33 Sensorless Flux Control (SFC) ..............................6-42 _78SS- Speed controller SFC .............................6-47 _80CC-Current controller ...................................6-50 Tips and optimization aids for control engineers ...........................................................6-54 Field-Oriented Regulation (FOR) ...........................6-65 _79EN-Encoder evaluation .................................6-69 _81SC-Speed controller FOR .............................6-75 _80CC-Current control .......................................6-78 Tips and optimization aids for control engineers ...........................................................6-81
2 3 4 5 6 A
During commissioning of the inverter module three different control methods can be selected. The necessary identification of the motor is carried out automatically by the CDA3000 inverter module, causing all control circuits to be preset.
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6 Control modes
Overview of motor control methods

Voltage Frequency Control (VFC): Asynchronous motors Reluctance motors Synchronous motors Special motors Motor running is controlled by characteristic. Voltage of motor is altered proportional to output frequency of inverter. Calculation of the rotor speed and the rotor angle from the electrical variables. High torque output based on field orientation (calculation of the currents to be set). High dynamics and smooth running Operation without encoder Calculation of the rotor speed and rotor angle from the encoder information. Very high torque output based on field orientation (calculation of the currents to be set). Maximum dynamics and smoothness Operation with HTL encoder
Sensorless Flux Control (SFC): Asynchronous motors
Field-Oriented Regulation (FOR): Asynchronous motors
Properties of the motor control methods in comparison

VFC Voltage Frequency Control 20-30 ms NO NO
1)
Properties Torque rise time Dynamic disturbance correction Standstill torque Acceleration torque
SFC Sensorless Flux Control < 2 ms YES NO 1.8 MNom 90% YES
.
FOR Field-Oriented Regulation < 2 ms YES YES 2 MNom 100% YES

.
1.2 MNom 60% Limited Table 6.1 Motor control method
Current usage of inverter Anti-stall protection
6-2
6 Control modes
Properties Speed adjustment range M = MNom Static speed accuracy Frequency resolution Motor principle
1)
VFC Voltage Frequency Control 1:20 typically 1 to 0.01 Hz Asynchronous Synchronous Reluctance 5%2)
SFC Sensorless Flux Control 1:20 typically 1%2)
FOR Field-Oriented Regulation >1:10000 quartz accurate2) 2-16 Hz Asynchronous
1 2 3 4 5 6
0.0625 Hz Asynchronous
IInverter = 2 IMotor
2)
Referred to the rated speed Table 6.1 Motor control method
General points on operation of three-phase AC motors with frequency inverters
c c
Basic manipulating
Field weakening
range
Figure 6.1
Characteristic of speed curves
Three-phase AC machines are executed in synchronous and asynchronous design. Their stator windings are arranged and their electrical properties designed such that in operation in a three-phase AC system a rotating field is created in the motor which drives the rotor.
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6 Control modes
The synchronous speed (ns) of a motor is determined by the number of pole pairs (P) and the feed frequency (f1) of the stator.
f 1 60 n s = ---------------p
Based on the induction from the stator rotating field, asynchronous motors develop a torque which drives the rotor and which attempts to reduce the speed relative to the stator rotating field and thus to counteract the cause of induction. Without the induction of a voltage in the rotor, however, no current (i2) capable of forming a torque will flow. Consequently, a relative difference is established between the stator speed (n1) and the rotor speed (n), which is defined as the slip (s).
n1 n n s = ------ = ------------n1 n1
The asynchronous operating speed (nb) is thus composed of the synchronous speed (ns) and the slip (s).
f 1 60 n b = ---------------- ( 1 s ) p
Low-loss speed control is only possible by means of a change of frequency. In order to retain a constant motor torque in the event of a speed adjustment, the magnetic flux 1 in the stator winding must remain constant. The voltage U1 must therefore be adjusted proportional to the stator frequency f1.
U1 M 1 i 2 and 1 ---f1
A frequency/speed adjustment by means of the frequency inverter thus results in a parallel shift of the characteristic in the basic setting range along the speed axis (see Figure 6.1 diagram on right). If the stator frequency is increased further when the rated frequency fNand rated voltage UN are reached, even though the maximum output voltage of the frequency inverter has been reached (U=Const.), the result is a field weakening. As the speed rises, this results in a drop in torque with
1 M ---2 n
6-4
6 Control modes
General points on the interaction between control methods and motors

If control methods such as SFC and FOR are used for speed control, the correct motor data are decisive factors in terms of the quality of the methods. During auto-tuning of the inverter module, all controllers are optimally set up based on the rating plate data and the automatically calculated electrical motor parameters. If the motor data from the rating plate do not exactly match the actual electrical data of the motor, the control quality decreases. If the rated speed nn is imprecisely specified, for example, the number of pole pairs may be incorrectly calculated or an unfavourable motor flux may be set. All further controller settings will then also be incorrect. As already outlined, this will negatively affect the dimensioning and optimization of the controllers.
1 2 3 4 5 6 A
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6 Control modes
6.1
Voltage Frequency Control (VFC)
The multiplicity of functions of Voltage Frequency Control does not permit unrestricted simultaneous usage. However, in many cases it is possible to sequence functions such as DC braking followed by DC holding.
Combination of V/F characteristic functions

Slip compensation 1st active function Current-controlled startup IxR load compensation
Remagnetization
Current injection
2. Activate 2nd function Remagnetization Current injection IxR load compensation Slip compensation Current-controlled startup DC braking DC holding Anti-oscillation
Combination not active simultaneously, but activatable within a data set
Simultaneous combination possible without restriction In a fixed frequency range both functions may overlap and thus restrict simultaneous working: In a fixed frequency range both functions may overlap and thus restrict simultaneous working. Combination not possible
6-6
Anti-oscillation
DC braking
DC holding
6 Control modes
CIFRx
100 CI IR + SL + Boost
1 2
[%]
0 (CIFMx + CIFRx) CIFMx
t [ms]
II: Current injection; IR: IxR load compensation; SL: Slip compensation CIFMx: Limit frequency of current injection Figure 6.2 Combination of V/F characteristic functions
3 4 5 6 A
Setting when motor power output = inverter output

When using an asynchronous IEC standard motor no auto-tuning is needed. When using special motors, auto-tuning is required despite the identical power outputs. Note: In the factory setting the inverter module is preset to a 1:1 ratio between the inverter output and the power output of the asynchronous standard motor.
Settings when motor power output < inverter output

Auto-tuning affects the functions listed in the table below. Auto-tuning is required with asynchronous special motors where the ratio between motor and inverter output is other than 1:1.
Function Magnetization IxR load compensation Slip compensation DC braking DC holding Current injection Current-controlled startup Table 6.2

Active in FS
(from firmware V 1.4)
Generally applied functions in open-loop control mode VFC
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6 Control modes
Note:
The factory setting of the inverter module is Voltage Frequency Control with 50 Hz characteristic over two interpolation points. IxR load compensation and current injection are additionally activated. Please refer to the information given in the relevant sections regarding the IxR load compensation and current injection software functions.
6-8
6 Control modes
6.1.1 _70VF-V/F characteristic
Function
Effect
Adaptation of the inverter module to the motor and to the load characteristic of the application
Generation of the optimum torque for the application.
1 2 3
VNx
U [V]
4 5
FNx f [Hz]
VBx
6 A
Figure 6.3
V/F characteristic with two interpolation points
V4-1 V3-1
V5-1 V6-1 VN1
U [V]
V2-1
V1-1 VB1
F1-1
F2-1
F3-1
F4-1
F5-1
F6-1
f [Hz]
Figure 6.4
V/F characteristic with two interpolation points
FN1
6-9
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1.
2.
6-10
6 Control modes
3.
1 2 3 4 5 6
Figure 6.5 Adaption of V/F characteristic
A
Parameters of V/F characteristic
Parameter 700-VB1 701-VN1 702-FN1 703-V1-1 704-V2-1 705-V3-1 706-V4-1 707-V5-1 708-V6-1 709-F1-1 710-F2-1 711-F3-1 712-F4-1 Function CDS1: Boost voltage CDS1: Rated motor voltage CDS1: Rated motor frequency CDS1: Voltage buffer value 1 CDS1: Voltage buffer value 2 CDS1: Voltage buffer value 3 CDS1: Voltage buffer value 4 CDS1: Voltage buffer value 5 CDS1: Voltage buffer value 6 CDS1: Frequency buffer value 1 CDS1: Frequency buffer value 2 CDS1: Frequency buffer value 3 CDS1: Frequency buffer value 4 Table 6.3
Value range 0 ... 100 0 ... * 0 ... 1600 0 ... * 0 ... * 0 ... * 0 ... * 0 ... * 0 ... * 0 ... 1600 0 ... 1600 0 ... 1600 0 ... 1600
FS 0 * 50 0 0 0 0 0 0 0 0 0 0
Unit V V Hz V V V V V V Hz Hz Hz Hz
Online
Parameters from subject area _70VF V/F characteristic
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6 Control modes
Parameter 713-F5-1 714-F6-1 715-VB2 716-VN2 717-FN2 718-V1-2 719-V2-2 720-V3-2 721-V4-2 722-V5-2 723-V6-2 724-F1-2 725-F2-2 726-F3-2 727-F4-2 728-F5-2 729-F6-2 730-ASCA1 731-ASCA2
Function CDS1: Frequency buffer value 5 CDS1: Frequency buffer value 6 CDS2: Boost voltage CDS2: Rated motor voltage CDS2: Rated motor frequency CDS2: Voltage buffer value 1 CDS2: Voltage buffer value 2 CDS2: Voltage buffer value 3 CDS2: Voltage buffer value 4 CDS2: Voltage buffer value 5 CDS2: Voltage buffer value 6 CDS2: Frequency buffer value 1 CDS2: Frequency buffer value 2 CDS2: Frequency buffer value 3 CDS2: Frequency buffer value 4 CDS2: Frequency buffer value 5 CDS2: Frequency buffer value 6 CDS1: Assistance parameter for V/F characteristic CDS2: Assistance parameter for V/F characteristic Table 6.3 Explanatory notes
Value range 0 ... 1600 0 ... 1600 0 ... 100 0 ... * 0 ... 1600 0 ... * 0 ... * 0 ... * 0 ... * 0 ... * 0 ... * 0 ... 1600 0 ... 1600 0 ... 1600 0 ... 1600 0 ... 1600 0 ... 1600 see Table 6.4 see Table 6.4
FS 0 0 0 * 50 0 0 0 0 0 0 0 0 0 0 0 0 OFF OFF
Unit Hz Hz V V Hz V V V V V V Hz Hz Hz Hz Hz Hz
Online
Parameters from subject area _70VF V/F characteristic
The values marked with an asterisk (*) are dependent on device version 230 V or 400 V. CDS1 = Characteristic data set 1, CDS2 = Characteristic data set 2 The voltages between two interpolation points are interpolated in linear mode. Interpolation points with the setting 0 Hz are inactive. The sequence of interpolation points is automatically sorted in ascending order of frequency. As a result, a new interpolation point can also be entered without having to shift other interpolation point settings. During controller initialization the limit values of the settings are checked. If the limit values are infringed an error message is delivered (see Appendix).
6-12
6 Control modes
Settings of assistance parameters 730-ASCA1 and 731-ASCA2

The ASCA parameters contain preset characteristic shapes based on the setting options of the six interpolation points of the V/F characteristic.
BUS 0 1 2 3 4 5 KP/DM OFF L50Hz L60Hz L87Hz Q50Hz Q60Hz Function Fully programmable characteristic with up to six interpolation points Linear 50 Hz characteristic with two interpolation points Linear 60 Hz characteristic with two interpolation points Linear 87 Hz characteristic with two interpolation points Square 50 Hz characteristic with six interpolation points Quadratic 60 Hz characteristic with six interpolation points Table 6.4 Usage Optimum setting options for V/F control of special motors Standard motor (European market) Standard motor (American market) Expanded manipulating range for Standard motor (European market) for pump and fan applications Standard motor (American market) for pump and fan applications
1 2 3 4 5 6 A
Setting of predefined V/F characteristics
6-13
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6 Control modes
87 Hz characteristic for expanded manipulating range

The operating range with constant torque of a 400 V / 50 Hz motor in star configuration can be expanded to 87 Hz in delta configuration. Note: It should be checked whether the motor is adequate to the load (400 V / at 87 Hz), since the motor can be run above its rated power. Only the motor manufacturer can give precise information.
Example: Expanded manipulating range based on 87 Hz characteristic

1. Motor data taken from rating plate Motor type: Rated power: Rated speed: Rated voltage: Circuit: Asynchronous motor 4 kW 1420 min-1 230 V / 400 V /Y
2. Change motor circuitry on terminal board Change motor from star configuration (400 V / Y) to delta configuration (230 V / ).
3. Adapt power output of inverter module As a result of the changed configuration of the motor (400 V / ) the power of the inverter module must be adjusted. Condition: P Inverter P Motor
P Inverter = ( 4kW 1,73 )
Selected inverter module: CDA34.017 (rated power 7.5 kW)

4. Adapt motor data entry in "Initial commissioning" subject area. a) 154-MOPNM = Pn50Hz x b) 155-MOVNM = 400 V c) 156-MOFN = 87 Hz d) 157-MOSNM = nn50Hz x e) 158-MOCNM = IMotor
6-14
6 Control modes
5. Drive diagram of 87 Hz characteristic

U V 600 500 400 300 200 100 P M kW MN 12 10 8 6 4 2 1,2 1,0 0,8 0,6 0,4 0,2 M U P
230 V / 50 Hz 400 V / 87 Hz
1
fN
2 3 4
20
40
50
60
80 87
100 f Hz
Figure 6.6
Constant torque range to 87 Hz
5 6
Note:
Auto-tuning must be repeated following input of the converted motor data (see section 5.1 "_15FC-Initial commissioning").
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6 Control modes
6.1.2 _74IR-IxR load compensation
Function
Effect
Automatic adaptation of the V/F characteristic to the load situation Compensation for voltage drop on motor stator resistor
In case of load surges a higher torque is available The motor heats up less under load
Mains VF characteristic Reference [Hz]

U f
U[v]
-U[v]
isa
Load calculation
~=
isb isc
M 3~
Figure 6.7 IxR load compensation block diagram
IxR load compensation is implemented by shifting the V/F characteristic by a voltage amount U dependent on the effective current. The V/F characteristic is determined by the parameters from subject area "_70VFV/F characteristic".
6-16
6 Control modes
IxR load compensation: IxR=ON

IW [A] U [V] U
UN
1 2
IW U
3 4
CIFMx CIFMx + CIFRx
FNx
f [Hz]
5 6 A
IW U UN CIFMx U
Effective current Output voltage Rated voltage Initial frequency Voltage adaptation by IxR load compensation V/F characteristics of IxR load compensation
Figure 6.8
1.
2.
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6-17
6 Control modes
3.
Figure 6.9
Adaptation of IxR load compensation
Parameters of IxR load compensation

Parameter 740-IXR1 741-KIXR1 742-IXR2 743-KIXR2 744-IXRTF 755-IXRTV Function CDS1: IxR load compensation on/off CDS1: IxR correction factor CDS2: IxR load compensation on/off CDS2: IxR correction factor Filter time constant for IxR compensation Switch-off time constant for IxR compensation Table 6.5 Value range OFF, ON, ON_2 0 ... 100 OFF, ON, ON_2 0 ... 100 0.0005 ... 20 0.0005 ... 20 FS ON_2 * ON_2 * 0.3 0.01 s s
Unit
Online
Parameters from subject area _74IR IxR load compensation
6-18
6 Control modes
Explanatory notes
The precondition for IxR load compensation is correct setting of parameters 159-MOCOS (cos) and 158-MOCNM (rated motor current INM). If the output frequency exceeds the rated motor frequency (parameter FNx), the IxR load compensation is deactivated. The stator resistance required for the function is automatically calculated during initial commissioning and stored in parameter KIXRx (IxR correction factor). Parameter values marked by an asterisk (*) in the "Factory setting" (FS) column are dependent on the device power output. The values correspond to an asynchronous IEC standard motor with the rated device power output - that is, a 1:1 rating.
1 2 3 4 5 6 A
Settings for 740-IXR1 and 742-IXR2

BUS 0 KP/DM OFF Function IxR load compensation inactive IxR load compensation takes effect as from frequency CIFMx at 0% and is adjusted in linear mode up to 100% as from frequency CIFMx and CIFRx. Above that frequency it remains 100% active. IxR load compensation thus also takes effect during rampdependent acceleration (startup/rundown). IxR load compensation takes effect when the reference value is reached, meaning at the end of the acceleration phase. The "Reference-reached window" can be defined in subject area "_24CD-Digital outputs" (section 5.2.4) with parameter 230-REF_R. IxR load compensation becomes inactive as soon as the "Reference-reached window" is quit. The switch-off transition is regulated by way of a delay element and can be set with parameter 755-IXRTV.
ON
ON_2
Table 6.6
Setting of predefined V/F characteristics
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6 Control modes
6.1.3 _75SL-Slip compensation
Function
Effect
Increase output frequency proportional to the load on the motor
Compensation for the slip caused by the load on the motor, thus producing a constant speed
Mains
VF characteristic Reference [Hz]

U
U[v]
f
,f[Hz]
isa
Load calculation
~=
isb isc
M 3~
Figure 6.10 Slip compensation block diagram
1.
2.
6-20
6 Control modes
3.
1 2 3 4
Figure 6.11 Adaptation of slip compensation
5
Unit Online
Parameters of slip compensation

Parameter 750-SC1 751-KSC1 752-SC2 753-KSC2 754-KSCTF Function CDS1: Slip compensation on/off CDS1: Slip compensation correction factor CDS2: Slip compensation on/off CDS2: Slip compensation correction factor Filter time constant for slip compensation Table 6.7 Value range OFF, ON 0 ... 30 OFF, ON 0 ... 30 0.0005 ... 20 FS OFF * OFF * 0.01 % s %
6 A
Parameters from subject area _75SL Slip compensation
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6 Control modes
Explanatory notes
Parameter values marked by an asterisk (*) in the "Factory setting" (FS) column are dependent on the device power output. The values correspond to an asynchronous IEC standard motor with the rated device power output. The precondition for slip compensation is correct setting of parameters MOCOS (cos) and MOCNM (rated motor current INM). A frequency correction proportional to the effective current is added to the reference frequency. Slip compensation takes effect as from frequency CIFMx and is 100% active as from frequency CIFMx + CIFRx. The correction factor KSCx required for the function is automatically calculated during initial commissioning and stored in parameter KSCx. In the factory setting the correction factor for an IEC standard motor is stored with a ratio of inverter to motor of 1:1. The frequency correction f may be positive or negative, depending on whether motorized or regenerative operation is selected.
Note for control engineers: The correction factor KSC can be calculated by the following equation:
n synch n nom KSCx = ------------------------------- 100% n synch

Note: If the slip compensation and the IxR load compensation influence each other, increasing the filter time of the slip compensation may bring a remedy.
6-22
6 Control modes
6.1.4 _76CI-Current injection
Function
Effect
Current injection via current control as from a parameterizable limit value as a percentage of device rated current
Increase the starting torque up to the set limit frequency
1 2 3 4
CIFMx
f [Hz] v [m/s]
CICNx
CI MP
I [A]
Start
5 6
t [s]
1 0
CIFMx CICNx MP CI Figure 6.12
Limit frequency of current injection Reference for current injection Magnetization, not active in FS Current injection Effective range of current injection (CI)
1.
2.
6-23
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6 Control modes
3.
Figure 6.13
Adaptation of current injection
Parameters of current injection

Parameter 760-CICN1 761-CIFM1 762-CIFR1 763-CICN2 764-CIFM2 765-CIFR2 766-CITM1 767-CICT1 768-CITM2 769-CICT2 Function CDS1: Current injection reference CDS1: Current injection limit frequency CDS1: Current injection transition range CDS2: Current injection reference CDS2: Current injection limit frequency CDS2: Current injection transition range CDS1: Current injection timer for switchover to CICT1 CDS1: Current injection reference at end of CITM1 CDS2: Current injection timer for switchover to CICT2 CDS2: Current injection reference at end of CITM2 Table 6.8 Value range 0 ... 180 0 ... 100 0.5 ... 10 0 ... 180 0 ... 100 0.5 ... 10 0 ... 60 0 ... 180 0 ... 60 0 ... 180 FS 120 4 2 120 4 2 6 30 6 30 Unit % Hz Hz % Hz Hz s % s % Online
Parameters from subject area _76CI Current injection
6-24
6 Control modes
Explanatory notes
In the frequency range CIFRx the current injection is regulated back to the normal operating current as from the limit frequency CIFMx. In conjunction with IxR load compensation and slip compensation, current injection can only operate simultaneously to a limit degree in the startup phase. In the factory setting the magnetization phase is not active in VFC mode. With CIFMx=0 the function can be deactivated.
1 2 3 4 5
In a fixed frequency range both functions may overlap and thus restrict simultaneous working.
CIFRx
[%]
t [ms]
6 A
CI: Current injection IR: IxR load compensation SL: Slip compensation CIFMx: Limit frequency of current injection
Note:
When setting the parameter values manually in VFC mode, please pay attention to the information set out in section 6.1.7 "Tips and optimization aids for control engineers" (step 3), otherwise the "current-controlled startup" function may negatively affect the "current injection" function.
6-25
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6 Control modes
Note:
The current injection reference is a percentage of the device rated current (IGN) of the inverter module. Up to firmware V1.35 at motor power outputs < inverter output the reference should be adjusted manually to 80% of the rated motor current (IMN).
I MN CICNx = ------ 80% I GN

From firmware V1.4 the adjustment is made during auto-tuning (see section 5.1 "_15FC-Initial commissioning") to 100% of the motor rated current. From firmware V2.10 the adjustment is made during auto-tuning to 120% of the motor rated current up to 1.5 times the motor rated slip. This limit frequency CIFMx is likewise automatically calculated during auto-tuning. Also, after the time CITMx the injected current is reduced to CICTx.
CICTx [I%]
CICNx CICTx
CITNx
t [s]
Attention!
Motors with internal cooling: When application data sets DRV_4, DRV_5, ROT_2, ROT_3, M-S_2 or M-S_4 are switched from closed-loop control mode 300-CFCON=FOR to open-loop control mode VFC, parameter 597-RF0=0Hz from subject area _59DP Driving profile generator must be set to OFF. Otherwise at standstill a current in the amount of CICNx will be injected which may over time destroy the motor by overheating, because internally cooled motors have no fan cooling when at a standstill.
6-26
6 Control modes
6.1.5 _73AP-Antioscillation
Function
Effect
Oscillations of the motor are compensated by automatic reference value changes
The oscillation of a motor is compensated Minimization of oscillation amplitude
1 2 3
Mains VF characteristic Reference [Hz]

U
U[v]
f
,f[Hz]
isa
Load calculation
~=
isb isc
4
M 3~
5 6 A
Figure 6.14
Anti-oscillation block diagram
1.
2.
6-27
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6 Control modes
3.
Figure 6.15
Adaptation of anti-oscillation
The anti-oscillation acts by altering the reference value of the loop control. The reference is influenced by a value proportional to the change in the effective current. Based on the effective current the periodic oscillation can be plotted.
Parameters of anti-oscillation
Parameter 732-APFL1 733-APFR1 734-APGN1 735-APFL2 736-APFR2 737-APGN2 Function CDS1: Anti-oscillation limit frequency CDS1: Anti-oscillation transition range CDS1: Anti-oscillation gain CDS2: Anti-oscillation limit frequency CDS2: Anti-oscillation transition range CDS2: Anti-oscillation gain Table 6.9 Value range 0 ... 1600 0.5 ... 10 -19999 ... 19999 0 ... 1600 0.5 ... 10 -19999 ... 19999 FS 4 2 0 4 2 0 Hz Hz
Unit Hz Hz
Online
Parameters from subject area _73SL Anti-oscillation
6-28
6 Control modes
Explanatory notes
Anti-oscillation is disabled in the factory setting (FS). Slip compensation and anti-oscillation are antivalent, i.e. they are not simultaneous in function (with slip compensation active antioscillation is inactive). The effective range of the current injection and the anti-oscillation must not overlap. The anti-oscillation is not preset by auto-tuning. It must be optimized manually as required. In the transition range the anti-oscillation is activated in ascending order from 0% to 100%.
1 2 3 4
Note on optimization
With the aid of the DRIVEMANAGER scope function the oscillation of the motor can be checked and the action of the anti-oscillation optimized.
5 6
Scope setting:
Abbreviation refvalue / iw_sleep /
Channel 0 1 2 3 Table 6.10 Control reference
Recording variable
Unit Hz
/ Effective current after filter for slip compensation /
/ A /
Scope setting to optimize the anti-oscillation function
By changing the gain and the field of application, the oscillation amplitude of the effective current can be minimized. The lower the oscillation amplitude the lower the swing motion of the rotor.
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6 Control modes
6.1.6 _63FS-Up synchronization
Function
Effect
A small detection current determines the current frequency of the rotating motor
Up synchronization of the rotating field of the frequency inverter to a rotating motor Smooth Up synchronization
The Up synchronization is effected by injection of a low detection current with a changing frequency. Maximum frequency and the last direction specified are assumed. By influencing the detection current a smooth Up synchronization can be achieved. Before activating the frequency inverter rotating field for operation of the motor a demagnetization phase is run through. Then the obtained rotation frequency is activated.
1.
2.
6-30
6 Control modes
3.
1 2 3 4 5 6
Figure 6.16 Adaptation of Up synchronization
Parameters of Up synchronization
Parameter Function Value range off/on 0 ... 1600 1 ... 999 10 ... 60 0.05 ... 60 0.05 ... 60 0.05 ... 60 0.0005 ... 20 FS off 50 50 20 1 0.2 1 0.01 Hz Hz/s % s s s s Unit Online
630-FSSEL Search mode for Up synchronization Maximum frequency during searching in Up synchroniza631-FSFMX tion 632-FSRMP Ramp during searching in Up synchronization 633-FSCL Current during searching in Up synchronization
634-FSOND Demagnetization time in Up synchronization 635-FSSTD Search delay in Up synchronization 636-FSVFD Transition time to normal mode in Up synchronization 637-FSTF Filter time constant for effective current during Up synchronization Table 6.11
Parameters from subject area _63FS Up synchronization
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Explanatory notes
The "Up synchronization" function is disabled in the factory setting (FS). By adjusting the detection current 633-FSCL the Up synchronization can be run smoothly, and acceleration of the motor toward the rotation frequency of the detection current can be avoided. The detection current 633-FSCL is scaled to the rated device current. The ramp of the search is adjusted during auto-tuning such that the search time from FMAXx to 0 Hz is 1 s. The maximum frequency during searching is adjusted to the maximum frequency FMAXx during auto-tuning. The Up synchronization preset relates to a drive rating of device to IEC standard motor at a ratio of 1:1. If there is a discrepancy, autotuning should be carried out to adjust the parameters based on an initial commissioning (see section 5.1 "_15FC-Initial commissioning").
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6 Control modes
6.1.7 Tips and optimization aids for control engineers
Generally the presets of the functions for IEC standard motors are adequate. However, the performance of special motors can be improved using the optimization aids. The following section presents tips and optimization aids to deal with typical application errors.
Step 1 Checks Help
1 2 3 4 5 6 A
Check that your wiring is connected see section 2.1 "Device and terminal properly and the phase sequence is corview" rect In IEC standard motors: see section 5.1 "_15FC-Initial commisEnter correct (plausible) motor data and sioning" start auto-tuning. In special, reluctance or synchronous Continue with step 3 motors:
3 4 5
Check the current injection. Check the IxR load compensation. Check the boost voltage if no current injection is active. Check the interaction between current injection, IxR load compensation and boost voltage. Check the V/F characteristic
Optimization of current injection in this section. Optimization of IxR load compensation in this section. Optimization of boost voltage in this section. Optimization of the interaction in this section. Optimization of V/F characteristic in this section.
Table 6.12
Procedure for optimization of voltage frequency control
Note:
Please take note of the general information regarding the properties of the motor control methods in the introduction to section 6 "Control modes".
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Is Start
Current injection
Magnetization
actvalue
UDC
refvalue
f
U
VF characteristic
Reference
f t
U
f
,f ,f
deltaScope
,U
deltau
is_ramp
Currentcontrolled startup
Slip compensation
Antioscillation
I x R load compensation
isa isb isc
Is
Iw
Iweff
Iseff
Iw Is
Active and apparent current calculation
isa isb isc
Measuring point of digital scope
M 3~
Figure 6.17
Block diagram of control circuit (VFC)
6-34
6 Control modes
Recording variables of the scope function in the DRIVEMANAGER

Recording variable Control reference Control actual value Frequency change by slip compensation Voltage change by IxR Phase current in phase U Phase current in phase V Phase current in phase W Apparent current after filter for current-controlled startup Effective value of apparent current Effective value of effective current Table 6.13 Abbreviation refvalue actvalue deltaScope deltau isa isb isc is_ramp Iseff Iweff User level 1 1 3 3 1 1 1 3 1 1
1 2 3 4 5 6 A
Recording variables of the DRIVEMANAGER scope
Current injection
3.
The current injection should be set to 1.5 times the slip frequency (FMx) and the reference value (CICNx) to 120% of the rated motor current.
Typical slip frequencies of asynchronous motors

Power to 15 kW to 90 kW Table 6.14 Typical slip frequency 3-7 Hz up to 1 Hz
Typical slip frequencies dependent on power group
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Calculation of motor slip frequency ( n synchron n asynchron ) P f Slip = -----------------------------------------------------------------60
At rated motor frequency 50 Hz:
n asynchron P f Slip = 50Hz --------------------------------60

where nsynchron: nasynchron: P: synchronous speed of motor asynchronous speed of motor number of pole pairs of asynchronous motor
Above the limit frequency (CIFMx) the current injection (reference CICNx) is regulated in linear mode over a transfer range (CIFRx) and then activated functions are inserted. Note: The limit current of the current-controlled startup should be adjusted if the initial and lowering frequencies fall into the current injection range. For this, the initial (CLFRx) and lowering (CLFLx) frequencies should be set to at least the limit frequency of the current injection (CIFMx) +2 Hz. During the injection phase the boost voltage is not applied, because the set voltage is determined by the current injection.
IxR load compensation
4.
The stator resistance dependent on the effective current influences the control. The stator resistance as a correction factor KIXRx can be determined by measuring a winding phase with an ohmmeter.
Note:
Pay attention to the circuit type of your motor.
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6 Control modes
Circuit type
Measurement
u
Correction factor
1
KIXR = 2 Rmeas 3
Delta
- configuration v w
2 3 4 5 6 A
Star
Y - configuration v w
KIXR = 1 Rmeas 2
Table 6.15
Measurement of stator resistance dependent on circuit type
Boost voltage
5.
By increasing the boost voltage the drive can be provided with more current for acceleration purposes in the lower frequency range. The rule here is: as much boost voltage as necessary, but as little as possible. An unnecessarily high boost voltage will lead to overheating of the motor.
Note:
During current injection the voltage to be set is determined by the control, in order to inject a constant current. Consequently, the current injection adopts the torque increase factor in the starting torque.
Calculation of boost voltage: VNx = RStator I N Motor
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Interaction between current injection, IxR load compensation and boost voltage
6.
As shown in Figure 6.18, the transition from current injection to IxR load compensation and boost / V/f characteristic is set by way of the current injection limit frequency.
CIFRx
[%]
t [ms]
CI: IR: SL: CIFMx:
Current injection IxR load compensation Slip compensation Current injection limit frequency Combination of V/F characteristic functions
Figure 6.18
Since the stator resistance influences the control dependent on the effective current, if the transition from current injection to IxR load compensation is poor the IxR load compensation may cause oscillations in the voltage change. In critical configurations in the overload range of the frequency inverter this may lead to inverter shut-off, so it is advisable to perform the commissioning with no IxR load compensation.
Current injection and boost voltage

u [v] UN
VB
CI
Boost CIFMx + CIFRx CIFMX
fN
Figure 6.19
Combination of current injection and boost voltage
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6 Control modes
Since both functions are used to increase the startup torque and the current injection takes priority before the boost voltage, the diagram shows that the boost voltage should not be increased when both functions are activated.
1 2 3 4
The following example illustrates the relative current conditions when parameters are not optimized and when they are optimized in conjunction with IxR load compensation set to IXR=ON.
Non-optimized setup:
(3)
5 6 A
(2) (4)
(1)
(1) (2) (3) (4)
Effective value of effective current Effective current after filter for IxR Control reference Voltage change by IxR Scope recording with motorized load torque of 8 Nm on a 1.5 kW asynchronous motor with holding brake and 100% current injection
Figure 6.20
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Optimized setup
(1) (3)
(2)
(4)
(1) (2) (3) (4)
Effective value of effective current Effective current after filter for IxR Control reference Voltage change by IxR Scope recording with motorized load torque of 8 Nm on a 1.5 kW asynchronous motor with holding brake and 120% current injection
Figure 6.21
Fazit:
The effective current in the optimum setup is lower by a factor of 2. This is based on a reduction of the slip during the startup phase, thereby improving the control transition.
V/F characteristic
7.
The response of the drive can be influenced by the setting of the V/F characteristic parameters by means of interpolation points. If resonance points or oscillation occurs in the drive, it can be "quietened" by reducing the voltage in the calculated frequency range. The reduced voltage causes less current to be delivered to the drive. Conversely, purposely increasing the voltage can deliver more current to the drive in order to compensate for increased load torques, such as those caused by the mechanism. If the rotor swings the anti-oscillation function should be activated and optimized. The "slip compensation" function must not be active while doing so.
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6 Control modes
Tips for a simple drive solution

Sensible combinations of the various controllers in VFC mode results in a faster and safer drive solution. The following table merely sets out some tips as a guide for how the drive solution can be found more easily when the mechanism is very soft or stiff relative as opposed to typical applications.
Closed-loop control function IxR load compensation Current injection Rigid, i.e. low elasticity, no slack Current-controlled startup
1 2 3 4 5 6 A
Mechanism
Note on setting IxR = ON_2 CICNx
~ 120%
Current limit value CLCLx ~ 120% Function CLSLx = CCWFR IxR = ON_2 Filter time constant IxRTF
IxR load compensation
~ 500 ms ~ 500 ms ~ -1000...-3000 ~ 80%
Soft, i.e. high elasticity, much slack
Driving profile generator Anti-oscillation Current injection
Smoothing JTIME Gain APGNx CICNx
Table 6.16
Tips for a drive solution with an external mechanism
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6 Control modes
6.2
Sensorless Flux Control (SFC)
Note:
Sensorless Flux Control is only suitable for asynchronous motors in standalone operation (not for multi-motor operation!).
Principle of Sensorless Flux Control

Sensorless Flux Control is based on activation of the motor with voltages which are oriented to the stator flux. To obtain stator flux orientation a machine model of the asynchronous motor of which the parameters can be calculated during auto-tuning is evaluated. By transforming the currents and voltages into a system of coordinates oriented to the stator flux, the flux and torque formation can be analyzed in isolation from each other. The stator flux angle FS is estimated based on the measured current curves and the injected voltages. Consequently, the d- and q-currents and voltages are likewise estimates. The d-components of the current and voltage point in the direction of the stator flux and thus contribute to formation of the field (flux-forming). The 90 offset q-components of the current and voltage run transverse to the stator flux and form the torque. This correlation is illustrated in Figure 6.22.
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6 Control modes
q-axis d-current id
d-axis q-current iq
1 2
+
+
3 4 5
+
+
Magnetic flux as vector

. Force as vector (FN ~ iq )
Figure 6.22
Principle of function of the asynchronous motor
6 A
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Current/torque limitation MOCNM % CLIMx Driving profile generator Speed controller id_ref, iq_ref fref fact Current controller Final control element Ud, Uq
Figure 6.23
id_act, iq_act
Motor model of asynchronous machine
FISAx=SCALE
ISA0x
SCALE
Sensorless Flux Control SFC
6 Control modes
ISA0x ISD0x IED0x
Selectors and reference adaptation
M 3~
6-44
PS
isa isb isc
Actual value calculation of d-current and q-current
6 Control modes
Software functions
In Sensorless Flux Control mode (SFC) not all functions of the inverter module are required. The following functions can be selected, but not all actively.
1 2
Functions in SFC
Active function Simultaneous Subsequent Current-controlled startup DC braking DC holding IxR load compensation Slip compensation Current injection Remagnetization Table 6.17 _64CA _67BR _68H0 _74IR _75SL _76CI _77MP

Designation
Abbreviation
Inactive function
3 4 5 6 A
Functions in conjunction with SFC
Explanatory notes
In the event of strong load surges resulting in rapid speed changes, the stator flux orientation of the SFC may be lost, and current overload shut-offs (error E-OC) may occur. This is counteracted by the "current-controlled startup" function (see section 5.5.11) setting a steep lowering ramp. The DC braking and DC holding functions can only be sequenced. If both functions are activated the DC holding function is not activated until the braking time has elapsed. No check that the rotor has come to a standstill is made before activation of the holding time. Magnetization can be deactivated by way of parameter 774MPT=0s in subject area "_77MP-Remagnetization". During autotuning the magnetization time is determined automatically.
Information for auto-tuning

For auto-tuning of the controller and motor parameters the rating plate data of the motor must be entered in the parameters of the " Initial commissioning" subject area (see section 5.1). Precise motor data should be obtained as necessary from the manufacturer. DE EN FR
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6 Control modes
The operating points of the motor are set based on these data, so precise information from the motor manufacturer is important.
Note:
Auto-tuning determines the controller and motor parameters automatically and enters them in the relevant parameters.
In special application cases a further optimization of the parameters based on experimentation with the application may improve the result. Manual optimization is particularly advisable for applications in the limit zone of the electric power rating of the inverter module as well as in case of major load surges, or for special motors (e.g. high-frequency spindles). This optimization based on tests should bring the desired success in terms of the drive solution.
Note:
During identification the switching frequency of the power stage should be reduced in subject area "_69PM-Modulation" by means of parameter 690-PMFS to 4kHz. This reduction improves the accuracy of motor identification, because the influence of the fault voltages of the inverter power stage is reduced. This measure can improve control response at inverter outputs above 22 kW (from CDA34.045).
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6 Control modes
6.2.1 _78SS- Speed controller SFC
Function
Effect
Setting of speed control circuit
Smooth running and good dynamics of the drive
1 2
Controller SSGx fref SSTLx
SSGFx
fact
id_ref, iq_ref
3
Actual speed filter SSTFx
4
Figure 6.24 SFC speed controller
5 6 A
1.
2.
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3.
Figure 6.25
Adaptation of the SFC speed controller
Parameters of SFC speed controller

Parameter 780-SSGF1 781-SSG1 782-SSTL1 783-SSTF1 784-SSGF2 785-SSG2 786-SSTL2 787-SSTF2 Function CDS1: Scaling of speed controller gain CDS1: Speed controller gain CDS1: Speed controller lag time CDS1: Filter time constant of speed estimate CDS2 Scaling of speed controller gain CDS2: Speed controller gain CDS2: Speed controller lag time CDS2: Filter time constant of speed estimate Table 6.18 Value range 0.00...999.95 0...16383 0.001...2 0.0005...20 0.00...999.95 0...16383 0.001...2 0.0005...20 FS 100 1 0.02 0.02 100 1 0.02 0.02 s s s s %
Unit %
Online
Parameters of SFC speed controller
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6 Control modes
Explanatory notes
All controllers are set by the initial commissioning. With the speed controller SFC and the current controller (see section 5.10) it is possible to make fine adjustments of the controller properties to the application where necessary. The dimensioning of the speed control circuit is based on the values specified by auto-tuning for the motor and system moments of inertia. If the value 0 is entered the inverter module enters estimated moments of inertia for the motor and the system (see section 5.1). The speed controller gain is adapted by way of the scaling parameter SSGFx according to the requirements of the application.
1 2 3 4
Controller setting
Effect Long rise times, slow control response
SSGFx low
Disturbance compensation slow, the controller appears undynamic Short rise times, fast control response Disturbance compensation fast, the controller appears dynamic Speed is noisy High noise
5 6 A
SSGFx high
Table 6.19
Response of the speed controller
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6.2.2 _80CC-Current controller
Function
Effect
Setting of current controller functions
Parameter setting of the PI current controller
Magnetic flux forming current id
q-current dependent d-current adaptation VCSFC d-current controller
id_ref id_act
ud
% ud_ref
Torque forming current iq

ISA0x
MOCNM
FISAx=SCALE
CLIMx
q-current controller
CCG CCTLG
iq_ref iq_act
uq_ref
Figure 6.26
SFC current controller
6-50
6 Control modes
1.
1 2
2. 3.
3 4 5 6 A
Figure 6.27
Adaptation of the current controller
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Parameters of current control

Parameter 800-CCG 801-CCTLG 802-CCTF 803-VCSFC 804-CLIM1 805-CLIM2 Function Current controller gain Current controller lag time Filter time constant for current measurement in SFC Correction factor of fault voltage characteristic SFC CDS1: Maximum reference current for current control CDS2: Maximum reference current for current control Table 6.20 Value range 0...500 0.001...100 0.0005...20 0...199 0...180 0...180 FS 48 0.0036 0.01 * 100 100 s s % % %
Unit
Online
Parameters of subject area _80CC Current control
Explanatory notes
The filter time constant for current measurement is used only by the Sensorless Flux Control (SFC) control mode. The parameters of the current controller are set automatically during auto-tuning in the initial commissioning phase. It is not necessary to change the obtained values of the PI controller for the gain (800CCG) and the lag time (801-CCTLG). The d-current is regulated to its reference value by the PI current controller. The d-current is regulated with a P controller. The D-current generally deviates from its reference value. It can be optimized with the aid of parameter VCSFC, which permits adjustment of the fault voltage characteristic to the application online (see section 6.2.3 "Tips and optimization aids for control engineers", section headed "Optimization of d-current"). Parameter values marked by an asterisk (*) in the "Factory setting" (FS) column are dependent on the device power output. The values correspond to an asynchronous IEC standard motor with the rated device power output.
Additional notes on the other fields of application of the current controller are set out in section 5.5.10.
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6 Control modes
Note:
The SCALE function via an analog input (FISAx=SCALE) only has sufficient linearity above a 60% ratio of reference to rated torque.
1 2
100 %
0%
3
Linear
4
60% Unlinear
5 6 A
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The following presents a systematic procedure for setting of the control.
Note:
In the event of strong load surges resulting in rapid speed changes, the stator flux orientation of the SFC may be lost, and current overload shut-offs (error E-OC) may occur. This error is counteracted by the "current-controlled startup" function (see section 5.5.11) setting a steep lowering ramp.
Step 1 2 3 4 5
Checks
Help
Check that your wiring is connected properly see section 2.1 "Device and terminal and the phase sequence is correct view" Enter correct (plausible) motor data and start see section 5.1 "_15FC-Initial comauto-tuning missioning" Check the fault voltage compensation Optimization of the D-current in this section
Check the limit values for the apparent cur- Setting of the current limitation in rent this section Check the speed controller Optimization of the speed controller in this section
Table 6.21
Procedure for optimization of SFC
Note:
The phase currents are measured by hardware in all three phases. In control modes SFC and FOR, to speed up the controller computing time, the phase current of phase W is not calculated in the digital scope of the DRIVEMANAGER.
6-54

1
isd wFS isq id_est iq_est
d,q
ia isa ib ic a,b,c
Structure diagram of SFC
Parameter
Voltage model and speed estimate
wFR
isb
isc
Mains
6 Control modes
Measuring points of the scope in the DRIVEMANAGER
FS Stator flux angle * Reference est Estimated value (by calculation) Figure 6.28 Structure diagram of Sensorless Flux Control
d-current adaptation isd wRS_est Flux input SSGx SSTLx MOCNM % SSGFx % CLIMx isq Current limitation
6-55
ACCRx DECRx SSTFx f t Speed control CLSLx 0 CLRRx CLFRx Is t
uDC
*
-
idsoll d-current controller CCG
VCSFC %
ud usd CCTLG
d,q
* *
uq iqsoll q-current controller
*
usq
a,b,c
*
M 3~
is_ramp
Current-controlled startup
DE EN FR
6 Control modes

Recording variable d-axle reference current q-axle reference current d-axle current q-axle current Phase current phase U Phase current phase V Phase current phase W Apparent current after filter for currentcontrolled startup DC-link voltage Slip frequency Output frequency (SFC) Rotor frequency Table 6.22 Abbreviation idref iqref isd isq isa isb isc is_ramp udc wFR wFS wRS_est User level 4 4 4 4 1 1 1 3 1 4 3 1
Recording variables in the structure diagram of control with SFC
Optimization of the d-current
3.
Adaptation of the fault voltage characteristic At low asynchronous motor resistances (e.g. in motors with higher power outputs) it may be necessary to optimize the current controller by fault voltage compensation by way of parameter 803-VCSFC in subject area "_80CC-Current controller". Note: A compromise needs to be found between formation of a high torque at low speeds (VCSFC high) and stability of the control (VCSFC low).
Optimization instructions:
1. Run motor with reference 0 Hz (parameter 597-RF0 = 0 Hz) in subject area "_59DP-Driving profile generator" 2. Open scope and set the currents "d-axle current" (isd) and "d-axle reference current" (isd_ref). (Note: User level 4 required!) 3. Compare the currents and set them to the following ratio by way of parameter 803-VCSFC: "d-axle current" (isd) =0.9 * "d-axle reference current" (isd_ref)
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6 Control modes
Example:
ASM with
P = 1.5 kW, UN = 400V, IN = 3.7A in Y configuration nN = 1410 rpm
1 2 3 4 5 6 A
After auto-tuning the inverter module set parameter 803-VCSFC at 68 %. The following diagrams illustrate the effect of parameter 803-VSSFC.
Figure 6.29
803-VCSFC = 199 %
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Figure 6.30
803-VCSFC = 0 %
Figure 6.31
803-VCSFC = 68 % after calculation by auto-tuning
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6 Control modes
Note:
If 803-VCSFC is too high the motor may rotate with maximum slip. This is indicated by the fact that the estimated speed (400ACTF) is unequal to the specified reference speed and the current of the q-axle (isq) enters the device limit. It is also shown on the motor, when the reference value is 0 Hz, by the motor shaft rotating slowly.
1 2 3 4 5 6 A
Optimization of current control
4.
With regard to the following optimization and adaptation tips it should be remembered that the overall current is composed of the d- and q-current based on the following relationship:
2 2 i = id + iq
As a result the effective value of the apparent current is produced as:
IS = i
At a maximum device rated current (397-CFPNM) equivalent to the apparent current IS the d and q current variables are thereby automatically limited. When the motor is run with rated torque the nominal value of the d-current is less than the nominal value of the q-current. In standard applications which do not demand the rated torque of the motor the q-current is usually smaller than the d-current.
Optimization of the maximum q-current

Optimization of the maximum reference current for current control When subject to high load surges or heavy load it may be necessary to adjust the maximum reference current. The limitation affects the reference value of the q-current (torque-forming) and finds its upper limit value in the device rated current 397-CFPNM in subject area "_39DD-Device data".
Note:
A compromise needs to be found between the formation of a maximum torque and the risk of current overload shut-offs (error E-OC).
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Setting CLIMx Increase Reduce Table 6.23 Higher torque
Effect
Greater tendency to current overload shut-off Lower torque Low tendency to current overload shut-off Setting of max. reference current for current control
Optimization of the speed controller with the gain SSGFx
5.
With precisely set moments of inertia, Sensorless Flux Control tends toward 20-30 % overshoot when a stepped change of the frequency reference is set. This can be checked with the aid of the DRIVEMANAGER.
Note:
Record step response The DRIVEMANAGER scope must be used to record the step response. The reference step should only be specified at a low frequency (approx. 10 Hz).
Setting of the scope

Channel 0 1 2 Table 6.24
Recording variable Reference step Step response (actual value) Current iq (torque)
Scope recording variable Control reference Output frequency (FOR and SFC) q-axle current
Recording variables of the DRIVEMANAGER scope
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6 Control modes
Attention!
The following diagrams illustrate the ideal condition of a system. In actual applications such characteristics are not attainable because of backlash, elasticity or fluctuations in moments.
1 2 3
f[Hz] wFS
I[A]
12
4
refvalue
5 6 A
6
isq
Gain SSGFx too high
Reduce value for SSFGx

Figure 6.32 Step response of frequency with high overshoot
Abbreviation refvalue wFS isq Table 6.25
Recording variable Control reference Output frequency (FOR and SFC) q-axle current Recording variables of the plot window
User level 1 3 4
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f[Hz] wFS
I[A]
12
9
refvalue
6
isq
Gain SSGFx optimum (lowest overshoot) Do not change value for SSFGx Figure 6.33 Step response of frequency is optimum
User level 1 3 4
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6 Control modes
1
f[Hz] wFS I[A]
2
12 9
refvalue
3
isq
4 5 6 A
Gain SSGFx too low
Increase value for SSFGx

Figure 6.34 Step response of frequency with long settling time
User level 1 3 4
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Tips and setting aids for optimization

Problem Cause Remedy
Implausibly high d-current ref- The influence of the fault voltages at high erence in motors with high inverter outputs (typically > 22 kW) and Reduce switching frequency 690-PMFS to power output motors with low stator resistance results in 4 kHz during auto-tuning the magnetizing inductance being identified too low. Incorrect number of pole pairs detected Enter synchronous speed as rated speed or Correct rated speed of ASM: motor with large number of pole pairs (p > 4) Check rating plate data and high slip frequency. Consult motor manufacturer or estimate a logical value and then restart a new auto-tuning process Enter correct number of pole pairs Torque too low because operatImprecise data on motor rating plate ing point wrong Rated speed not attainable Imprecise data on motor rating plate because operating point wrong Table 6.28 Optimization aids Check plausibility of rating plate data Check plausibility of rating plate data
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6 Control modes
6.3
Field-Oriented Regulation (FOR)

1 2 3 4 5 6 A
Note:
Field oriented speed control is only suitable for asynchronous motors in standalone operation (not for multi-motor operation!).
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Current/torque limitation MOCNM % CLIMx Driving profile generator Speed controller id_ref, iq_ref fref fact Current controller Final control element Ud, Uq
Figure 6.35
iq_act, id_act
FISAx=SCALE
ISA0x
SCALE
ISA0x ISD0x IED0x
Selectors and reference adaptation
6 Control modes
Field Oriented Regulation (FOR)

Actual speed filter
M 3~
6-66
PS
isa isb isc
eRS
Actual value calculation of speed, Id and Iq
6 Control modes
Software functions
In field-oriented speed control (FOR) not all functions of the inverter module are required. The following functions can be selected, but not all actively.
1 2
Functions in FOR
Active function Simultaneous Subsequent Current-controlled startup DC braking DC holding IxR load compensation Slip compensation Current injection Remagnetization Table 6.29 _75SL _76CI _77MP
Designation
Abbreviation _64CA _67BR _68H0
Inactive function
3 4
to V1.40
5 6 A
Functions in conjunction with FOR
Explanatory notes
Since setting of FOR mode represents a fully regulated system with speed feedback, the "current-controlled startup" function is not required. Consequently, as from firmware V. 2.10, to aid commissioning of field-oriented regulation (FOR) the "current-controlled startup" software function is disabled in the presets of the following application data sets: - DRV_4, DRV_5 - ROT_2, ROT_3 - M-S_2, M-S_4 The DC braking and DC holding functions can only be sequenced. If both functions are activated the DC holding function is not activated until the braking time has elapsed. No check that the rotor has come to a standstill is made before activation of the holding time. Magnetization can be deactivated by way of parameter 774MPT=0s in subject area "_77MP-Remagnetization". During autotuning the magnetization time is determined automatically.
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Information for auto-tuning

For auto-tuning of the controller and motor parameters the rating plate data of the motor must be entered in the parameter of the " Initial commissioning" subject area (see section 5.1). Precise motor data should be obtained as necessary from the manufacturer. The operating points of the motor are set based on these data, so precise information from the motor manufacturer is important.
Note:
Auto-tuning determines the controller and motor parameters automatically and enters them in the relevant parameters.
In special application cases a further optimization of the parameters based on experimentation with the application may improve the result. Manual optimization is particularly advisable for applications in the limit zone of the electric power rating of the inverter module as well as in case of major load surges, or for special motors. This optimization based on tests should bring the desired success in terms of the drive solution.
Note:
During identification the switching frequency of the power stage should be reduced in subject area "_69PM-Modulation" by means of parameter 690-PMFS to 4kHz. This reduction improves the accuracy of motor identification, because the influence of the fault voltages of the inverter power stage is reduced. This measure can improve control response at inverter outputs above 22 kW (from CDA34.045).
6-68
6 Control modes
6.3.1 _79EN-Encoder evaluation
Function
Effect
Input of encoder data
Adaptation of the inverter module to the encoder of the motor
1 2 3 4
Figure 6.36
HTL output configuration block diagram
5
Note: In order to maintain the switching times and the edge steepness of the encoder, the cable length dependent on the sampling rate and the supply voltage must not be exceeded. Therefore please refer to the manufacturer's data sheet.
6 A
1. 2.
6-69
DE EN FR
6 Control modes
3.
Figure 6.37
Adaptation of the encoder
Parameters of the encoder evaluation subject area

Parameter 790-ECLNC 791-MXFLW Function Lines per revolution of encoder Limit value for monitoring of max. frequency deviation in FOR Table 6.30 Value range 32...16384 0 ... 1600 FS 1024 50 Hz
Unit
Online
Parameters from subject area _79EN-Encoder evaluation
6-70
6 Control modes
Explanatory notes
On the inverter module the A and B track of a HTL encoder can be evaluated. Differential transducers cannot be evaluated. Permissible pulse counts are in the range 2n with n=5 to 14. For speed control the encoder signal in the inverter module is quadrupled, so a good level of speed control is possible with small pulse counts. If the maximum frequency deviation is exceeded, error message EFLW is delivered. The response to the error message can be defined in subject area _51-Error messages.
1 2 3 4 5 6 A
Only inputs ISD02 and ISD03 can be used for encoder evaluation, see section 5.2.3 "_21ID-Digital inputs".
6-71
DE EN FR
6 Control modes
Minimum reference speed

The minimum reference speed indicates the minimum speed as from which at least one pulse of the encoder per scan cycle of the inverter module can be evaluated. Formula for calculation of minimum reference speed depending on lines per revolution of encoder:
min
200 1 3000 1= --------------- 60 ------- = ---------- -------4 SZ mi SZ min

Lines per revolution Minimum reference speed in [rpm]
SZ nmin
Minimum reference speeds

Encoder lines per revolution pulses per rev 32 64 128 256 512 1024 2048 4096 8192 16384 Table 6.31 Minimum reference speed rpm 94 48 24 12 6 3 1.5 0.8 0.4 0.2 Minimum frequency [Hz] 2-pole ASM 1.6 0.8 0.4 0.2 0.1 0.05 0.03 0.02 0.01 0.01 4-pole ASM 3.3 1.6 0.8 0.4 0.2 0.1 0.05 0.04 0.03 0.01
Minimum speeds when using encoders with differing lines per revolution
6-72
6 Control modes
Maximum reference speed

The maximum reference speed indicates up to what speed the pulses of the encoder can be evaluated by the input of the inverter module. For specifications of the limit frequency for inputs ISD02 and ISD03 for encoder evaluation refer to section 2.4 "Specification of control connections". Formula for calculation of maximum reference speed depending on lines per revolution of encoder:
1 2 3 4 5 6 A
f max [ kHz ] 1 3000 1 3 n max = ----------------------- 10 60 -------- = ---------- -------SZ min SZ min
SZ nmax fmax Lines per revolution Maximum reference speed in [rpm] Limit frequency of inverter input in [kHz]
Typical maximum reference speeds

Encoder Maximum lines per reference speed revolution [rpm ] pulses per rev 32 64 128 256 512 1024 2048 4096 8192 16384
1)
Maximum frequency 2-pole ASM 4687 1) 2343 1) 1171 1) 585 1) 292 1) 146 73 37 18 9 4-pole ASM 9375 1) 4687 1) 2343 1) 1171 1) 585 1) 292 1) 146 74 36 18
281250 140625 70312 35156 17578 8789 4394 2198 1098 549
Maximum rotating field frequency dependent on inverter type, see table 6.24 Maximum reference speed when using encoders with differing lines per revolution
Table 6.32
The maximum frequency which can be delivered by the inverter is limited by the design size.
6-73
DE EN FR
6 Control modes
Inverter type CDA32.003 (0.375 kW) to CDA34.032 (15 kW) CDA34.045 (22 kW) to CDA34.170 (90 kW) Table 6.33
Rotating field frequency [Hz] 0 ... 400
Switching frequency [kHz] 4/8/16
0 ... 200
4/8
Maximum rotating field frequency of inverter types
6-74
6 Control modes
6.3.2 _81SC-Speed controller FOR
Function
Effect
Setting of speed control circuit
Very smooth running and high drive dynamic
1 2 3 4 5
Scaling Controller SCGx fref SCTLx % id_ref, iq_ref SCGFx
fact
Actual speed filter SCTFx
Figure 6.38
FOR speed controller
6 A
1. 2.
6-75
DE EN FR
6 Control modes
3.
Figure 6.39
Adaptation of the FOR speed controller
Parameters of the speed controller FOR subject area

Parameter 810-SCGF1 811-SCG1 812-SCTL1 813-SCTF1 814-SCGF2 815-SCG2 816-SCTL2 817-SCTF2 818-SCGF0 Function CDS1: Scaling of speed controller gain CDS1: Speed controller gain CDS1: Speed controller lag time CDS1: Jitter filter time constant CDS2: Scaling of speed controller gain CDS2: Speed controller gain CDS2: Speed controller lag time CDS2: Jitter filter time constant Speed controller gain at frequency zero Table 6.34 Value range 0.00...999.95 0...16383 0.001...2 0...0.032 0.00...999.95 0...16383 0.001...2 0...0.032 0.00...99.95 FS 100 1 0.02 0.001 100 1 0.02 0.001 10 s s % s s %
Unit %
Online
Parameters from subject area _81SC-Speed controller FOR
6-76
6 Control modes
Explanatory notes
1 2 3 4
All controllers are set by the initial commissioning. With the FOR speed controller the controllers can be fine-tuned as necessary to the special needs of the application. The quality of the dimensioning of the speed control circuit is based on exact values for the moments of inertia of the motor and the system. If the value 0 is entered the inverter module enters estimated moments of inertia for the motor and the system (see section 5.1). The speed controller gain should be adapted by way of scaling parameter SCGFx according to the application requirements.
Controller setting
Effect Long rise times, slow control response
SCGFx small
Disturbance compensation slow, the controller appears undynamic Short rise times, fast control response Disturbance compensation fast, the controller appears dynamic Speed is noisy High noise
5 6 A
SCGFx large
Table 6.35
Response of the encoder
6-77
DE EN FR
6 Control modes
6.3.3 _80CC-Current control
Function
Effect
Setting of current controller functions
Optimum parameter setting of PR current controller
Magnetic flux forming current id
d-current controller CCG CCTLG
id_ref id_act
ud_ref
Torque forming current iq
ISA0x
MOCNM
FISAx=SCALE
q-current controller CCG CCTLG
iq_ref iq_act
uq_ref
Figure 6.40
FOR current controller
1.
6-78
6 Control modes
2.
1 2 3 4
3.
5 6 A
Figure 6.41
Adaptation of the current controller
Parameters of current control

Parameter 800-CCG 801-CCTLG 802-CCTF 803-VCSFC Function Current controller gain Current controller lag time Filter time constant for current measurement in SFC Correction factor of fault voltage characteristic Table 6.36 Value range 0...500 0.001...100 0.0005...20 0...199 FS 48 0.0036 0.01 70 s s %
Unit
Online
6-79
DE EN FR
6 Control modes
Parameter 804-CLIM1 805-CLIM2
Function CDS1: Maximum reference current for current control CDS2: Maximum reference current for current control Table 6.36 Explanatory notes
Value range 0...180 0...180
FS 100 100
Unit % %
Online
No adaptation of the fault voltage compensation is required. The parameters of the current controller are set automatically during auto-tuning in initial commissioning. It is not necessary to change the calculated values of the PT controller for the gain (800 -CCG) or the lag time (801-CCTLG).
Additional notes on the other fields of application of the current controller are set out in section 5.5.10.
6-80
6 Control modes
The following section presents tips and optimization aids to deal with typical application errors.
1
Step 1 2 3 4 Checks Help Check that your wiring is connected properly see section 2.1 "Device and terminal and the phase sequence is correct view" Enter correct (plausible) motor data and start see section 5.1 "_15FC-Initial comauto-tuning missioning" Check the current control Check the speed controller Optimization of current control in this section Optimization of the speed controller in this section
2 3 4 5 6 A
Table 6.37
Procedure for optimization of FOR
Note:
The phase currents are measured by hardware in all three phases. In control modes SFC and FOR, to speed up the controller computing time, the phase current of phase W is not calculated in the digital scope of the DRIVEMANAGER.
6-81
DE EN FR
6 Control modes
Structure diagram of FOR

wRS_F epsm Speed recording and angle of rotation recording
isd wFS
id iq
d,q ib ic a,b,c
ia
isa
isb
isc
Field model
wFR
isq
Mains
CCG isd Flux input MOCNM ACCRx DECRx SCTFx SCGx SCTLx SCGFx % CCG CLIMx % isq Current limitation
CCTLG ud
uDC
*
iqsoll
idsoll d-current controller CCTLG
usd
* *
d,q
f t Driving profile generator Speed control
uq q-current controller
usq
* *
a,b,c
M 3~
Measuring points of the scope in the DRIVEMANAGER Parameter FS Stator flux angle * Reference Figure 6.42 Structure diagram of field-oriented speed control
6-82
6 Control modes

Recording variable d-axle reference current q-axle reference current d-axle current q-axle current Phase current phase U Phase current phase V Phase current phase W DC-link voltage Slip frequency Output frequency (FOR) Rotor frequency (FOR) Table 6.38 Abbreviation idref iqref isd isq isa isb isc udc wFR wFS wRS_F User level 4 4 4 4 1 1 1 1 4 3 1
1 2 3 4 5 6 A
Recording variables in the structure diagram of control with FOR (Figure 6.42)
Optimization of current control
3.
With regard to the following optimization and adaptation tips it should be remembered that the overall current is composed of the d- and q-current based on the following relationship:
2 2 i = id + iq
As a result the effective value of the apparent current is produced as:
IS = i
At a maximum device rated current (397-CFPNM) equivalent to the apparent current IS the d and q current variables are thereby automatically limited. When the motor is run with rated torque the nominal value of the d-current is less than the nominal value of the q-current. In standard applications which do not demand the rated torque of the motor the q-current is usually smaller than the d-current. DE EN FR
6-83
6 Control modes
Optimization of the speed controller with the gain SSGFx

For Field-Oriented Regulation the encoder is set in exactly the same way as for Sensorless Flux Control.
4.
f[Hz] wFS I[A]
12
9
refvalue
6
isq
Gain SSGFx too high Reduce value for SCGFx Figure 6.43 Step response of frequency with high overshoot
User level 1 3 4
6-84
6 Control modes
1
f[Hz] wFS I[A]
2 3
12
9
refvalue
6
isq
4 5 6 A
Gain SCGFx too optimal Do not change value for SCGFx Figure 6.44 Step response of frequency is optimum
User level 1 3 4
6-85
DE EN FR
6 Control modes
f[Hz]
wFS
I[A]
12
9
refvalue
6
isq
Gain SCGFx too small Increase value for SCGFx Figure 6.45 Step response of frequency with long settling time
User level 1 3 4
6-86
Appendix A Overview of parameters

The following parameter overview contains all the parameters up to user level 01-MODE = 4 in the factory setting (152-ASTER = DRV_1), in software version V1.30-0.
2 3 4 5 6 A
Abbreviations:
R Read level (LE), indicates the user level (01 MODE) as from which the parameter is displayed. Write level (SE), indicates the user level (01 MODE) as from which the parameter can be edited. RAM control variable RAM actual value Fixed point Flash-EPROM, retained after power-off dependent on device
RAM C V RAM A V FIXPT FLASH G
Note:
The DRIVEMANAGER has a user-friendly print function which you can use at any time to print off your latest parameter list.
A-1
DE EN FR
No.
Name
Unit
Function
Factory set.
STOP OFF DRV_1 G G 50 G G G 0 0 0 STOP 1 1 PARAM 0 VFC
Your set.
Data type
USIGN8 USIGN8 USIGN8 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 USIGN8 USIGN8 USIGN8 USIGN8 INT8 USIGN8
Memory type
RAM_CV FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM RAM_CV RAM_CV FEPROM FEPROM RAM_AV FEPROM
_15FC-Initial commissioning, from Page 5-4

150 151 152 154 155 156 157 158 159 160 161 162 163 164 165 166 167 300 SAVE ASTPR ASTER MOPNM MOVNM MOFN MOSNM MOCNM MOCOS MOJNM SCJ1 SCJ2 ENSC UDSWR UDSAC UDSSL SCPRO CFCON Back-up device setup Original application data set Current application data set (ADS) Rated motor power Rated motor voltage Rated motor frequency Rated speed Rated motor current Motor nominal cos-phi Mass moment of inertia of motor CDS 1: Mass moment of inertia of system CDS 2: Mass moment of inertia of system Enable auto-tuning Back-up device setup in a USER data set Activate USER data set Control location for switchover of the active USER data set Auto-tuning progress indicator Current open-loop control / closed-loop control mode of the device Function selector analog standard input ISA00 Function selector analog standard input ISA01 CDS 1: Maximum value ISA0 at +10V CDS 1: Minimum value ISA0 at +0V CDS 1: Maximum value ISA0 at -10V CDS 1: Minimum value ISA0 at -0V CDS 1: Maximum value ISA1 at +10V CDS 1: Minimum value ISA1 at +0V Filter for analog channel ISA0 Filter for analog channel ISA1 CDS 2: Maximum value ISA0 at +10V CDS 2: Minimum value ISA0 at +0V ISA0 play range ISA1 play range CDS 2: Maximum value ISA0 at -10V CDS 2: Minimum value ISA0 at -0V CDS 2: Maximum value ISA1 at +10V CDS 2: Minimum value ISA1 at +0V Function selector analog output OSA00 Minimum value for analog output OSA00 2 3 1 1 1 1 1 1 1 3 3 3 2 3 3 3 2 2 2 5 2 2 2 2 2 2 2 3 3 3 2 3 3 3 15 2
kW V Hz rpm A kgmm kgmm kgmm
_18IA-Analog inputs, from Page 5-24

180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 200 201 FISA0 FISA1 F0PX1 F0PN1 F0NX1 F0NN1 F1PX1 F1PN1 AFIL0 AFIL1 F0PX2 F0PN2 IADB0 IADB1 F0NX2 F0NN2 F1PX2 F1PN2 FOSA0 OAMN0 Hz Hz Hz Hz Hz Hz OFF OFF 50 0 0 0 50 0 3 3 50 0 0.00 0.00 0 0 50 0 AACTF 0 1 1 3 3 3 3 3 3 4 4 3 3 4 4 3 3 3 3 1 3 2 2 3 3 3 3 3 3 4 4 3 3 4 4 3 3 3 3 2 3 USIGN8 USIGN8 INT16 INT16 INT16 INT16 INT16 INT16 USIGN8 USIGN8 INT16 INT16 FIXPT16 FIXPT16 INT16 INT16 INT16 INT16 USIGN8 INT16 FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
Hz Hz
Hz Hz Hz Hz
_20OA-Analog output, from Page 5-32
A-2
No.
202 203 204 210 211 212 213 214 215 216 217 218 219 220 221 222 223 230 240 241 242 243 244 245 246
Name
OAMX0 OAFI0 TSCL FIS00 FIS01 FIS02 FIS03 FIE00 FIE01 FIE02 FIE03 FIE04 FIE05 FIE06 FIE07 FIF0 FIF1 REF_R FOS00 FOS01 FOS02 FOE00 FOE01 FOE02 FOE03
Unit
Function
Maximum value for analog output OSA00 Filter constant for OSA00 Torque (scaling value) Function selector digital standard input ISD00 Function selector digital standard input ISD01 Function selector digital standard input ISD02 Function selector digital standard input ISD03 Function selector digital input IED00 (terminal expansion) Function selector digital input IED01 (terminal expansion) Function selector digital input IED02 (terminal expansion) Function selector digital input IED03 (terminal expansion) Function selector digital input IED04 (terminal expansion) Function selector digital input IED05 (terminal expansion) Function selector digital input IED06 (terminal expansion) Function selector digital input IED07 (terminal expansion) Function selector virtual fixed input 0 Function selector virtual fixed input 1
Factory set.
100 4 20 STR STL SADD1 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 0.099991 BRK1 REF S_RDY OFF OFF OFF OFF
Your set.
3 3 3 1 1 1 1 3 3 3 3 3 3 3 3 4 4 4 1 1 1 3 3 3 3
W
3 3 3 2 2 2 2 3 3 3 3 3 3 3 3 4 4 4 2 2 2 3 3 3 3
Data type
INT16 USIGN8 FLOAT32 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8
Memory type
FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
1 2 3 4 5 6 A
Nm
_21ID-Digital inputs, from Page 5-38
_24OD-Digital outputs, from Page 5-46

Hz Reference-reached window Function selector digital standard output OSD00 Function selector digital standard output OSD01 Function selector digital standard output OSD02 (relay) Function selector digital output OSE00 (terminal expansion) Function selector digital output OSE01 (terminal expansion) Function selector digital output OSE02 (terminal expansion) Function selector digital output OSE03 (terminal expansion) INT32Q16 FEPROM USIGN8 FEPROM USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
A-3
DE EN FR
No.
247
Name
TENMO
Unit
ms
Function
Time between motor contactor and active loop control Multiplier for clock output OSD01 CDS 1: Maximum value clock input 10 kHz CDS 1: Minimum value clock input 10 kHz CDS 2: Maximum value clock input 10 kHz CDS 2: Minimum value clock input 10 kHz Filter time constant for clock input 10 kHz Auto-Start Control location selector
Factory set.
300
Your set.
3
W
3
Data type
USIGN16
Memory type
FEPROM
_25CK-Clock input/clock output, from Page 5-55

250 251 252 253 254 255 7 260 270 271 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 301 302 303 305 306 307 308 310 OCLK FFMX1 FFMN1 FFMX2 FFMN2 INCLF AUTO CLSEL FFIX1 FFIX2 RSSL1 RSSL2 FA0 FA1 FSIO FPOT FDIG FOPT1 FOPT2 SADD1 SADD2 REF1 REF2 REF3 REF4 REF5 REF6 RF1FA FMIN1 FMIN2 FMAX1 FMAX2 FMXA1 FMXA2 DLOCK FBCW Hz Hz Hz Hz Hz Hz s 1X 50 0 50 0 0.01 OFF TERM 20 20 FMAX FCON 0 0 0 0 0 0 0 10 0 0 0 0 0 0 0 100 0 0 50 50 1600 1600 OFF 3 3 3 3 3 3 4 4 4 2 2 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 2 2 2 2 4 4 3 3 3 3 3 3 3 4 4 4 2 2 4 4 15 15 6 15 15 15 15 4 4 15 15 15 15 15 15 4 2 2 2 2 4 4 3 3 USIGN8 INT16 INT16 INT16 INT16 FLOAT32 USIGN8 USIGN8 FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
_26CL-Control location, from Page 5-71
_27FF-Fixed frequencies, from Page 5-159

CDS 1: Fixed frequency CDS 2: Fixed frequency Reference selector 1 Reference selector 2 Analog reference input ISA00 Analog reference input ISA01 Reference serial interface Reference of MOP Digital reference input Reference value of option slot 1 Reference value of option slot 2 Offset for reference selector 1 Offset for reference selector 2 Reference of reference selector 1 Reference of reference selector 2 Reference before limiter Reference before ramp generator Reference after ramp generator Reference for transfer to control Factor for reference channel 1 CDS 1: Minimum frequency CDS 2: Minimum frequency CDS 1: Maximum frequency CDS 2: Maximum frequency CDS 1: Absolute limit output frequency CDS 2: Absolute limit output frequency Directional lock BRK1: Frequency limit for motor brake (clockwise) INT32Q16 FEPROM INT32Q16 FEPROM USIGN8 USIGN8 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 USIGN8 USIGN8 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 USIGN16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 USIGN8 FEPROM FEPROM RAM_AV RAM_AV RAM_CV RAM_AV RAM_AV RAM_AV RAM_AV FEPROM FEPROM RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
_28RS-Reference structure, from Page 5-61
Hz Hz Hz Hz Hz Hz Hz
Hz Hz Hz Hz Hz Hz
_30OL-Frequency limitation, from Page 5-76

Hz Hz Hz Hz Hz Hz
_31MB-Motor holding brake, from Page 5-139

Hz INT32Q16 FEPROM
A-4
No.
311 312 313 314 315 316 317
Name
FBCCW FBHYS SSCW SSCCW SSHYS TREF TCTRL
Unit
Hz Hz Hz Hz Hz ms ms
Function
BRK1: Frequency limit for motor brake (anticlockwise) BRK1: Switch-on hysteresis of motor brake BRK2: Frequency limit for motor brake (clockwise) BRK2: Frequency limit for motor brake (anticlockwise) BRK2: Frequency hysteresis for motor brake BRK2: Delay of acceleration in holding brake function BRK2: Delay of shut-off in holding brake function Configuration for motor operated potentiometer
Factory set.
-3 1 3 3 0.5 10 G
Your set.
3 4 3 3 3 3 3
W
3 4 3 3 3 3 3
Data type
Memory type
INT32Q16 FEPROM USIGN16 FEPROM INT32Q16 FEPROM INT32Q16 FEPROM INT32Q16 FEPROM USIGN16 FEPROM USIGN16 FEPROM
1 2 3 4 5
_32MP-MOP function, from Page 5-149

320 MPSEL OFF 3 3 USIGN8 FEPROM
_33MO-Motor protection, from Page 5-79

330 331 332 333 334 335 336 340 341 342 343 351 354 1 13 360 361 362 MOPTC MOPCB MOPCA MOPFB MOTMX MOPCN MOPFN PFSEL PFVON PFVRF PFTIM PFC PFR MODE UAPSP DISP BARG PSW2 Hz/s Hz Type of PTC evaluation 2. interpolation point, motor protection characteristic (referred to MOCNM) 1. interpolation point, motor protection characteristic (referred to MOCNM) 2. interpolation point, motor protection characteristic Shut-off temperature (motor) Rated motor current for motor protection Rated motor frequency for motor protection Power failure bridging selector DC-link switching threshold for power failure bridging on DC-link reference with DC-link control Delay in detection of mains power restoration Power failure bridging effective current reference Deceleration ramp power failure bridging User level of KP200 Parameter list of user definable subject area (11_UA) Parameter for continuous actual value display of KP200 Parameter for bar graph display of KP200 Password for user level 2 of KP200 OFF 100 100 50 150 06. May 50 OFF 260 236 50 100 999 2 0 406 419 0 2 4 4 4 4 1 4 4 4 4 4 4 4 1 4 2 2 2 3 4 4 4 4 2 4 4 4 4 4 4 6 1 4 2 2 2 USIGN8 USIGN8 USIGN8 FLOAT32 USIGN16 FLOAT32 FLOAT32 USIGN8 INT16 INT16 USIGN16 USIGN16 FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
6 A
A Hz
_34PF-Power failure bridging, from Page 5-96

V V ms
INT32Q16 FEPROM USIGN8 USIGN16 USIGN16 USIGN16 USIGN16 RAM_CV FEPROM FEPROM FEPROM FEPROM
_36KP-KEYPAD, from Page 5-104
A-5
DE EN FR
No.
363 364 367 368 369
Name
PSW3 PSW4 PSWCT PNUM CTLFA
Unit
Function
Factory set.
Your set.
3 4 3 4 4
W
3 4 3 4 4
Data type
USIGN16 USIGN16 USIGN16 USIGN8 USIGN16
Memory type
FEPROM FEPROM FEPROM FEPROM FEPROM
Password for user level 3 of KP200 0 Password for user level 4 of KP200 0 Password for Control menu of KP200 0 Parameter number display of KP200 on/off ON Multiplier of incremental value in CTRL menu 10000 (KP200) Max. current in acceleration phase of device rated current Max. current in braking phase of device rated current Max. current in stationary operation of device rated current Reset peak value storage Mean device capacity utilization Filter time constant for mean device capacity utilization Mean device capacity utilization in stat. operation Filter time constant for device capacity utilization in stat. operation Designation of parameter setting (max. 28 characters) Base standard version of modified software ID number of device type Software version Compatibility class of SmartCard Revision index as suffix to version number Checksum (XOR gate) of program memory Checksum (add gate) of program memory Serial number of device Symbolic device name Device type Hardware status word of system Article number of device Device test data: Date and sign of tester Device test data: Documentation of test sequence Device rated current Designation of parameter setting (max. 28 characters) Base standard version of modified software Software version Revision index as suffix to version number 0 0 0 ACTIVE 0 20 0 1000
_38TX-Device capacity utilization, from Page 5-112

380 381 382 384 388 389 435 436 CACMX CDCMX CSTMX CSCLR CMID CMIDF CMIS CMISF ms 4 4 4 4 4 4 4 4 7 7 7 4 15 4 15 4 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 FLOAT32 USIGN8 FLOAT32 FEPROM FEPROM FEPROM RAM_CV RAM_AV FEPROM RAM_AV FEPROM
_39DD-Device data, from Page 5-117

89 90 91 92 93 106 115 116 127 130 390 392 394 395 396 397 89 90 92 106 NAMDS SREV TYPE1 REV COMP CRIDX CSXOR CSADD S_NR NAME TYPE CFHSW A_NR TSTID TSTDC CFPNM NAMDS SREV REV CRIDX A 1 3.20 3404 3.20 1 99 0000H 0000H 4 6 1 6 4 5 5 3 1 1 5 3 5 5 4 1 Mrz 20 Mrz 20 0 4 1 4 2 7 7 7 7 7 7 7 7 6 15 15 7 7 7 7 2 7 7 7 STRING FIXPT16 USIGN16 FIXPT16 USIGN8 USIGN8 USIGN16 USIGN16 STRING STRING USIGN16 USIGN16 STRING STRING USIGN32 FLOAT32 STRING FIXPT16 FIXPT16 USIGN8 FEPROM RAM_CV FEPROM FEPROM FEPROM RAM_CV RAM_AV RAM_AV FEPROM FEPROM RAM_AV RAM_AV FEPROM FEPROM FEPROM RAM_AV FEPROM RAM_CV FEPROM RAM_CV
30000 0000H
0000111 1H 0
_50WA-Warning messages, from Page 5-123
A-6
No.
127 130 390 394 397 74 94 95 96 97 98 140 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 529 530 531 532 533 534
Name
S_NR NAME TYPE A_NR CFPNM ERES TERR ERR1 ERR2 ERR3 ERR4 R-RNM R-SIO R-CPU R-OFF R-OC R-OV R-OLI R-OTM R-OTI R-SC R-OLM R-PLS R-PAR R-FLT R-PWR R-EXT R-USR R-OP1 R-OP2 R-WBK R-EEP EFSCL R-PF R-FDG R-LSW
Unit
Function
Serial number of device Symbolic device name Device type Article number of device Device rated current Reset device errors System time on occurrence of last error Last error Second-last error Third-last error Fourth-last error Response to error in setting of an operation mode Response to SIO watchdog Response to CPU error Response to undervoltage Response to current overload Response to overvoltage Response to controller I*I*t shut-off Response to motor overheating Response to controller overheating Response to error during initial commissioning Response to motor I*t shut-off Response to software runtime error Response to faulty parameter list Response to floating point error Response to unknown power pack Response to external error message Response to modified software error message Response to error in option module slot 1 Response to error in option module slot 2 Response to wire break ISA0 (4..20mA) Response to memory error (EEPROM) Ground fault detection response threshold scaling Response after DC-link buffering Response to reference coupling transmission error Response to reversed limit switches
Factory set.
G 30000 G G STOP 0 - 0.0h - 0.0h - 0.0h - 0.0h RESET STOP RESET STOP LOCK LOCK LOCK LOCK LOCK LOCK LOCK RESET LOCK RESET RESET STOP STOP STOP STOP STOP RESET 0 STOP STOP LOCK
Your set.
3 1 1 3 4 4 1 1 2 2 2 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4
W
7 6 15 7 7 4 7 7 7 7 7 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4
Data type
STRING STRING USIGN16 STRING FLOAT32 USIGN8 USIGN16 ERR_STR UC ERR_STR UC ERR_STR UC ERR_STR UC USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8
Memory type
FEPROM FEPROM RAM_AV FEPROM RAM_AV RAM_CV RAM_AV FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
1 2 3 4 5 6 A
_51ER-Error messages, from Page 5-127

min
A-7
DE EN FR
No.
535 536 543 545 81 82 83 84 85 550 489 492 570 571 572 573 574 575 576 577 578 579 580 581 582 583 590 591 592 593 594 595 596 597 298 600 601 602 603
Name
R-PRC R-FLW R-OL5 TEOC SBAUD SADDR SDMMY SWDGT SERR SSTAT CLBDR CACNF CAMOD CLADR CASTA CACTR CAWDG CASCY OP1RV OP2RV OPTN2 OPTN1 COADR COBDR PBADR IOEXT ACCR1 ACCR2 DECR1 DECR2 STPR1 STPR2 JTIME RF0 RFMD FFTB0 FFTB1 FFTB2 FFTB3
Unit
Function
Response to exceeding of max. control deviation (PR) Response to exceeding of max. frequency deviation Response to I*t shut-off below 5 Hz Time delay of error message E-OC-1 LustBus transfer rate LustBus device address LustBus dummy parameter LustBus watchdog time setting LustBus error status word Status word of serial interface CANlust baud rate CANlust control/reference transfer mode Function selection option module CANlust CANlust device address CAN bus status word CAN bus control word CAN bus watchdog time (0 = OFF) Sampling time for status message (ms) Software version option module slot 1 Software version option module slot 2 Assignment of option module slot 2 Assignment of option module slot 1 CANopen device address CANopen baud rate Profibus DP device address States of external I/Os CDS 1: Acceleration ramp CDS 2: Acceleration ramp CDS 1: Deceleration ramp CDS 2: Deceleration ramp CDS 1: Stop ramp CDS 2: Stop ramp Smoothing time of S-shaped ramp in ms Response with reference 0Hz Ramp and reference selection Table frequency 1 Table frequency 2 Table frequency 3 Table frequency 4
Factory set.
LOCK LOCK LOCK 0 57600 1 0 0.00 00H 0000H 500 4 SLAVE 0 0000H 0000H 0 80 0.00 0.00 NONE NONE 0 500 0 0000H G G G G G G 0 OFF TB1 5 10 15 20
Your set.
4 3 4 3 4 4 4 4 4 4 3 3 4 3 3 3 3 3 1 1 1 1 3 3 3 2 2 2 2 2 2 2 3 4 2 3 3 3 3
W
4 3 4 3 4 4 4 4 4 4 3 3 4 3 15 6 3 3 7 7 15 15 3 3 3 15 2 2 2 2 2 2 3 4 3 3 3 3 3
Data type
USIGN8 USIGN8 USIGN8 USIGN16 USIGN8 USIGN8 USIGN8 FIXPT16 USIGN8 USIGN16 USIGN8 USIGN8 USIGN8 USIGN8 USIGN16 USIGN16 USIGN8 USIGN16 FIXPT16 FIXPT16 USIGN8 USIGN8 USIGN8 USIGN8 USIGN8 USIGN16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 USIGN16 USIGN8 USIGN8 INT32Q16 INT32Q16 INT32Q16 INT32Q16
Memory type
FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM RAM_CV FEPROM RAM_AV RAM_AV FEPROM FEPROM FEPROM FEPROM RAM_AV RAM_CV FEPROM FEPROM RAM_AV RAM_AV RAM_AV RAM_AV FEPROM FEPROM FEPROM RAM_AV FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
ms 1/s
_55LB-LUSTBUS, from Page 5-133
_57OP-Option modules, from Page 5-134
ms ms
_59DP-Driving profile generator, from Page 5-153

Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s ms
_60TB-Driving sets, from Page 5-161

Hz Hz Hz Hz
A-8
No.
604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 630 631 632 633 634 635 636 637
Name
FFTB4 FFTB5 FFTB6 FFTB7 TACR0 TACR1 TACR2 TACR3 TACR4 TACR5 TACR6 TACR7 TDCR0 TDCR1 TDCR2 TDCR3 TDCR4 TDCR5 TDCR6 TDCR7 TBSEL FSSEL FSFMX FSRMP FSCL FSOND FSSTD FSVFD FSTF
Unit
Hz Hz Hz Hz Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s Hz/s
Function
Table frequency 5 Table frequency 6 Table frequency 7 Table frequency 8 Table acceleration ramp 1 Table acceleration ramp 2 Table acceleration ramp 3 Table acceleration ramp 4 Table acceleration ramp 5 Table acceleration ramp 6 Table acceleration ramp 7 Table acceleration ramp 8 Table deceleration ramp 1 Table deceleration ramp 2 Table deceleration ramp 3 Table deceleration ramp 4 Table deceleration ramp 5 Table deceleration ramp 6 Table deceleration ramp 7 Table deceleration ramp 8 Table driving set selection Search mode for Up synchronization Maximum frequency during searching in Up synchronization Ramp during searching in Up synchronization Current during searching in Up synchronization Demagnetization time in Up synchronization Search delay in Up synchronization Transition time to normal mode in Up synchronization Filter time constant for effective current during Up synchronization Filter time constant for current-controlled startup/rundown CDS 1: Function selector current-controlled startup CDS 1: Current limit current-controlled startup CDS 1: Lowering frequency current-controlled startup CDS 1: Initial frequency current-controlled startup
Factory set.
25 30 40 50 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 0 OFF 50 50 20 1 0.2 1 0.01
Your set.
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 2 2 3 3 3 3 3
W
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 15 3 2 2 3 3 3 3 3
Data type
INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 USIGN8
Memory type
FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM RAM_AV
1 2 3 4 5 6 A
_63FS-Up synchronization, from Page 6-30

Hz Hz/s USIGN8 FEPROM INT32Q16 FEPROM INT32Q16 FEPROM USIGN16 FEPROM FLOAT32 FLOAT32 FLOAT32 FLOAT32 FEPROM FEPROM FEPROM FEPROM
s s s s
_64CA-Current-controlled startup, from Page 5-182

639 640 641 642 643 CLTF CLSL1 CLCL1 CLFL1 CLFR1 Hz Hz s 0.01 CCWFS 100 6 6 3 3 3 3 3 3 3 3 3 3 FLOAT32 USIGN8 USIGN16 FLOAT32 FLOAT32 FEPROM FEPROM FEPROM FEPROM FEPROM
A-9
DE EN FR
No.
644 645 646 647 648 649
Name
CLRR1 CLSL2 CLCL2 CLFL2 CLFR2 CLRR2
Unit
Hz/s
Function
CDS 1: Lowering ramp current-controlled startup CDS 2: Function selector current-controlled startup CDS 2: Current limit current-controlled startup CDS 2: Lowering frequency current-controlled startup CDS 2: Initial frequency current-controlled startup CDS 2: Lowering ramp current-controlled startup Activate characteristic data set (CDS) Control location for switchover of characteristic data set (CDS) Limit frequency for switchover CDS 2 Master-Slave coupling factor (FDIG) Error trigger time in case of failure of reference master DC braking on/off Braking current for DC braking Maximum DC braking time Demagnetization time before DC braking Minimum DC braking time DC holding current DC holding time Switching frequency of power stage
Factory set.
100 CCWFS 100 6 6 100
Your set.
3 3 3 3 3 3
W
3 3 3 3 3 3
Data type
Memory type
INT32Q16 FEPROM USIGN8 USIGN16 FLOAT32 FLOAT32 FEPROM FEPROM FEPROM FEPROM
Hz Hz Hz/s
INT32Q16 FEPROM
_65CS-Characteristic data switchover (CDS), from Page 5-166

650 651 652 837 838 CDSAC CDSSL FLIM MSFCT MSECT Hz CDS1 OFF 20 1 0 2 2 2 4 4 15 3 3 4 4 USIGN8 USIGN8 RAM_CV FEPROM
INT32Q16 FEPROM INT32Q16 FEPROM USIGN16 FEPROM
_66MS-Master/Slave operation, from Page 5-169

ms
_67BR-DC braking, from Page 5-173

670 671 672 673 674 680 681 690 700 701 702 703 704 705 706 707 708 709 710 711 712 BRDC BRDCC BRTMX BRTOF BRTMN HODCC HODCT PMFS VB1 VN1 FN1 V1-1 V2-1 V3-1 V4-1 V5-1 V6-1 F1-1 F2-1 F3-1 F4-1 V V Hz V V V V V V Hz Hz Hz Hz OFF 80 15 0.25 0 60 0.00 G G G 50 0 0 0 0 0 0 0 0 0 0 3 3 3 4 3 3 3 4 3 3 3 4 4 4 4 4 4 4 4 4 4 3 3 3 4 3 3 3 4 3 3 3 4 4 4 4 4 4 4 4 4 4 USIGN8 USIGN16 USIGN16 FIXPT16 USIGN16 USIGN16 FIXPT16 USIGN8 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
s s ms
_68HO-DC holding, from Page 5-177

s
_69PM-Modulation, from Page 5-189 _70VF-V/F characteristic, from Page 6-9

CDS 1: Boost voltage CDS 1: Rated motor voltage CDS 1: Rated motor frequency CDS 1: Voltage buffer value 1 CDS 1: Voltage buffer value 2 CDS 1: Voltage buffer value 3 CDS 1: Voltage buffer value 4 CDS 1: Voltage buffer value 5 CDS 1: Voltage buffer value 6 CDS 1: Frequency buffer value 1 CDS 1: Frequency buffer value 2 CDS 1: Frequency buffer value 3 CDS 1: Frequency buffer value 4
A-10
No.
713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731
Name
F5-1 F6-1 VB2 VN2 FN2 V1-2 V2-2 V3-2 V4-2 V5-2 V6-2 F1-2 F2-2 F3-2 F4-2 F5-2 F6-2 ASCA1 ASCA2
Unit
Hz Hz V V Hz V V V V V V Hz Hz Hz Hz Hz Hz
Function
CDS 1: Frequency buffer value 5 CDS 1: Frequency buffer value 6 CDS 2: Boost voltage CDS 2: Rated voltage CDS 2: Rated motor frequency CDS 2: Voltage buffer value 1 CDS 2: Voltage buffer value 2 CDS 2: Voltage buffer value 3 CDS 2: Voltage buffer value 4 CDS 2: Voltage buffer value 5 CDS 2: Voltage buffer value 6 CDS 2: Frequency buffer value 1 CDS 2: Frequency buffer value 2 CDS 2: Frequency buffer value 3 CDS 2: Frequency buffer value 4 CDS 2: Frequency buffer value 5 CDS 2: Frequency buffer value 6 Assistance parameter for V/F characteristic in CDS 1 Assistance parameter for V/F characteristic in CDS 2 CDS 1: Anti-oscillation initial frequency CDS 1: Anti-oscillation transition range CDS 1: Anti-oscillation gain CDS 2: Anti-oscillation initial frequency CDS 2: Anti-oscillation transition range CDS 2: Anti-oscillation gain CDS 1: I*R load compensation on/off CDS 1: I*R correction factor CDS 2: I*R load compensation on/off CDS 2: I*R correction factor Filter time constant for IxR compensation
Factory set.
0 0 G G 50 0 0 0 0 0 0 0 0 0 0 0 0 OFF OFF
Your set.
4 4 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 1 1
W
4 4 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 2 2
Data type
FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 FLOAT32 USIGN8 USIGN8
Memory type
FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
1 2 3 4 5 6 A
_73AP-Anti-oscillation, from Page 6-27

732 733 734 735 736 737 740 741 742 743 744 755 750 751 752 753 754 760 761 762 APFL1 APFR1 APGN1 APFL2 APFR2 APGN2 IXR1 KIXR1 IXR2 KIXR2 IXRTF IXRTV SC1 KSC1 SC2 KSC2 KSCTF CICN1 CIFM1 CIFR1 Hz Hz Hz Hz 4 2 0 4 2 0 ON G ON G 0.3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 FLOAT32 FLOAT32 INT16 FLOAT32 FLOAT32 INT16 USIGN8 FLOAT32 USIGN8 FLOAT32 FLOAT32 FLOAT32 USIGN8 FLOAT32 USIGN8 FLOAT32 FLOAT32 USIGN16 FLOAT32 FLOAT32 FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
_74IR-IxR load compensation, from Page 6-16

Ohm Ohm s s
_75SL-Slip compensation, from Page 6-20

CDS 1: Slip compensation on/off CDS1: Slip compensation correction factor CDS 2: Slip compensation on/off CDS2: Slip compensation correction factor Filter time constant for slip compensation CDS 1: Current injection reference CDS 1: Limit frequency of current injection CDS 1: Transition range of current injection OFF G OFF G 0.01 120 4 2
_76CI-Current injection, from Page 6-23

Hz Hz
A-11
DE EN FR
No.
763 764 765 766 767 768 769
Name
CICN2 CIFM2 CIFR2 CITM1 CICT1 CITM2 CICT2 s
Unit
Function
CDS 2: Current injection reference CDS 2: Limit frequency of current injection CDS 2: Transition range of current injection CDS1: Current injection timer for switchover to CICT1 CDS 1: Reference at end of current injection CITM1 CDS2: Current injection timer for switchover to CICT2 CDS 2: Reference at end of current injection CITM2 CDS 1: Magnetization current for VFC, SFC and FOR CDS 1: Magnetization time for VFC CDS 2: Magnetization current for VFC, SFC and FOR CDS 2: Magnetization time VFC Magnetization time for SFC and FOR CDS 1: Scaling of speed controller gain CDS1: Speed controller gain CDS 1: Speed controller lag time CDS 1: Filter time constant of speed estimate CDS 2: Scaling of speed controller gain CDS 2: Speed controller gain CDS 2: Speed controller lag time CDS 2: Filter time constant of speed estimate Lines per revolution of encoder Limit value for monitoring of max. frequency deviation in FOR Current controller gain Current controller lag time Filter time constant for current measurement Correction factor of fault voltage characteristic for SFC CDS 1: Maximum reference current for current control CDS 2: Maximum reference current for current control CDS 1: Scaling of speed controller gain CDS1: Speed controller gain CDS 1: Speed controller lag time
Factory set.
120 4 2 6 30
Your set.
3 3 4 3 3 6 3 3
W
3 3 4 3 3 3 3
Data type
USIGN16 FLOAT32 FLOAT32 FLOAT32 USIGN16 FLOAT32 USIGN16
Memory type
FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
Hz Hz s
30
_77MP-Remagnetization, from Page 5-194

770 771 772 773 774 780 781 782 783 784 785 786 787 790 791 MPCN1 MPT1 MPCN2 MPT2 MPT SSGF1 SSG1 SSTL1 SSTF1 SSGF2 SSG2 SSTL2 SSTF2 ECLNC MXFLW s G 0.00 G 0.00 0.50 100.00 1 G 0.02 100.00 1 G 0.02 1024 50 3 3 3 3 3 3 3 4 4 3 3 4 4 2 3 3 3 3 3 3 3 4 4 4 3 4 4 4 3 3 USIGN16 FIXPT16 USIGN16 FIXPT16 FIXPT16 FIXPT16 FLOAT32 FLOAT32 FLOAT32 FIXPT16 FLOAT32 FLOAT32 FLOAT32 FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
s s
_78SS- Speed controller SFC, from Page 6-47
s s
s s
_79EN-Encoder evaluation, from Page 6-69

Hz USIGN16 FEPROM INT32Q16 FEPROM
_80CC-Current control, from Page 6-78

800 801 802 803 804 805 CCG CCTLG CCTF VCSFC CLIM1 CLIM2 s s G G 0.01 G 100 100 4 4 4 4 3 3 4 4 4 4 3 3 FLOAT32 FLOAT32 FLOAT32 USIGN8 USIGN16 USIGN16 FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
_81SC-Speed controller FOR, from Page 6-75

810 811 812 SCGF1 SCG1 SCTL1 100.00 1 G 3 3 4 3 4 4 FIXPT16 FLOAT32 FLOAT32 FEPROM FEPROM FEPROM
A-12
No.
813 814 815 816 817 818 820 821 822 823 824 825 826 827 828 829
Name
SCTF1 SCGF2 SCG2 SCTL2 SCTF2 SCGF0 PRCT1 PRCT2 PRG1 PRTL1 PRG2 PRTL2 PRMX1 PRMX2 PRMCD PRACD s
Unit
Function
CDS 1: Jitter filter time constant CDS 2: Scaling of speed controller gain CDS 2: Speed controller gain CDS 2: Speed controller lag time CDS 2: Jitter filter time constant Speed controller gain at frequency zero CDS 1: Process controller on/off CDS 2: Process controller on/off CDS 1: Process controller gain CDS 1: Process controller lag time CDS 2: Process controller gain CDS 2: Process controller lag time CDS 1: Process controller limitation CDS 2: Process controller limitation Maximum control deviation of process controller Switch-on delay of PR max. control deviation function Symbolic motor name (max. 28 characters) Nominal pole flux Leakage inductance Stator resistance Rotor resistance Number of pole pairs of motor Magnetizing inductance from mag. characteristic Reset device to factory setting Activate control initialization Subject area of KP200
Factory set.
0.001 100.00 1 G 0.001 10.00 OFF OFF 0 0 0 0 1600 1600 50 5.00
Your set.
4 3 3 4 4 3 3 3 3 3 3 3 3 3 3 3
W
4 3 4 4 4 3 3 3 3 3 3 3 3 3 3 3
Data type
FLOAT32 FIXPT16 FLOAT32 FLOAT32 FLOAT32 FIXPT16 USIGN8 USIGN8 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 INT32Q16 FIXPT16
Memory type
FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM
1 2 3 4 5 6 A
s s
_82PR-Process controller, from Page 5-198
s s Hz Hz Hz s
_84MD-Motor data, from Page 5-192

839 840 841 842 843 844 850 MONAM MOFNM MOL_S MOR_S MOR_R MONPP MOL_M Vs H Ohm Ohm H G G G G 2 G 3 4 4 4 4 4 4 3 5 5 5 5 5 15 STRING FLOAT32 FLOAT32 FLOAT32 FLOAT32 USIGN8 FLOAT32 FEPROM FEPROM FEPROM FEPROM FEPROM FEPROM RAM_AV
_86SY-System, from Page 5-196

4 15 8 14 86 87 400 401 404 405 406 407 408 409 PROG PLRDY GROUP ACTT TSYS TOP ACTF ACTN VMOT DCV REFF MTEMP APCUR ACCUR Nm min h Hz rpm V V Hz A A 2 OFF _11UA 0 0 0 0 0 0.00 0.00 0 0.00 0.00 0.00 4 4 1 1 3 3 1 1 1 1 1 1 1 1 4 4 1 7 15 7 15 15 15 15 15 15 15 15 USIGN16 USIGN8 USIGN8 INT32Q16 USIGN16 USIGN16 INT32Q16 INT32Q16 FIXPT16 FIXPT16 INT32Q16 FIXPT16 FIXPT16 FIXPT16 FEPROM RAM_CV RAM_CV RAM_AV RAM_AV FEPROM RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV
_36KP-KEYPAD, from Page 5-104 _VAL-Actuals, from Page 5-120

Actual torque System time after power-up in [min]. Operating hours meter Current actual frequency Actual speed Output voltage of inverter DC-link voltage Current reference frequency Motor temperature in KTY84 evaluation Effective value of apparent current Effective value of effective current
A-13
DE EN FR
No.
413 416 417 418 419 420 422 423 425 427 428 429 430
Name
ACTOP ISA0 ISA1 IISA0 IOSTA OSA00 CNTL ERPAR DTEMP KTEMP PS PW PRER h V V
Unit
Function
Operating hours of power stage Filtered input voltage ISA0 Filtered input voltage ISA1 Filtered input current ISA00 States of digital and analog I/Os Filtered output voltage OSA00 Control word of system Faulty parameter in self-test Interior temperature Heat sink temperature Apparent power Effective power Process controller: Current control deviation
Factory set.
0 0 0 0 0000H 0 0000H 0 0.00 0.00 0 0 0
Your set.
1 4 4 4 2 4 4 4 1 1 1 1 1
W
7 15 15 15 15 15 15 15 15 15 15 15 15
Data type
USIGN16 INT32Q16 INT32Q16 INT32Q16 USIGN16 INT32Q16 USIGN16 USIGN16 FIXPT16 FIXPT16 FLOAT32 FLOAT32 INT32Q16
Memory type
FEPROM RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV RAM_AV
kVA kW Hz
A-14
Appendix B Error messages

Errors in operation are signalled as follows: CDA3000: Red LED (H1) flashes (flash code see section 2.5 "LEDs")
2 3 4 5
DRIVEMANAGER KEYPAD KP200:
Possible causes of the error and measures to remedy it are displayed in a window. The display is backlit in red and indicates the error (1) and an error location number (2). The error location number provides detailed localization of the cause of the error (see Table A.1).
(2)
VAL
6 A
(1)
Acknowledgment and resetting of errors

Errors can be acknowledged and reset in various ways: Rising edge at digital input ENPO Rising edge at a programmable digital input with setting of the function selector to ERES Write value 1 to parameter 74-ERES via control unit or bus system
A-15
DE EN FR
Response to error
In case of error the inverter module responds with one of the following responses (see Table A.2).
Bus 0 1 2 3 Table A.1 DM/KP WRN STOP LOCK RESET No response Disable power stage Disable power stage and secure against restarting (prevent auto-start) Disable power stage and reset device after confirmation of error Function
Response to error
Error messages
Error location no. -1 No error Error resulting from defective control unit or Switch device off and back on. (1) incorrect software version Error in self-test: Parameter initialization failed because of incorrect parameter description Switch device off and back on. (1) RESET Response no. in FS
Bus 0 1
DM/KP --
Error cause
Possible remedy
E-CPU
8 17 30
RAM area inadequate for scope functionality. (1) Program memory data faulty. (Self-test on device startup) (1)
1 2
E-CPU
39
Firmware not suitable for device. Program (1) memory data faulty (online program memory permanent). DC-link voltage too low (also indicated on normal power-off) Rectify power failure or connect a higher mains voltage STOP
E-OFF
(1) If this error is repeated please contact your local Service Partner
Table A.2
Error messages of the CDA3000
A-16
Bus 3
DM/KP E-OC
Error location no. 1
Error cause
Possible remedy
Response no. in FS LOCK
1 2 3 4 5
Overcurrent due to: 1. Incorrectly set param- 1. Check control circuit parameters; eters; 2. Short-circuit, ground-fault or insu- 2. Check installation; 3. (1) lation error; 3. Internal device fault Max. current space vector exceeded 1. Incorrectly set parameters; 2. Short-circuit, ground-fault or insulation error; 3. Internal device fault Permissible current limit exceeded 1. Incorrectly set parameters; 2. Short-circuit, ground-fault or insulation error; 3. Internal device fault\n\n Overcurrent in wiring test Measuring range overflow of current measurement analog/digital converters: 1. Incorrectly set parameters; 2. Short-circuit, ground-fault or insulation error; 3. Internal device fault 1. Check control circuit parameters; 2. Check installation; 3. If this error is repeated please contact your local Service Partner. 1. Check control circuit parameters; 2. Check installation; 3. If this error is repeated please contact your local Service Partner. Check wiring in inverter output 1. Check control circuit parameters; 2. Check installation; 3. If this error is repeated please contact your local Service Partner.
19
34
35
109
E-OV 1
Overvoltage due to: 1. Overload of the brak- 1. Set DECR ramp parameter slower ing chopper (braking too long or too heavy); (_REF), use ext. braking resistor or 2. Mains voltage overload chopper; 2. Adjust mains voltage
LOCK
6 A
E-OLM 1
Ixt shut-off to protect motor (permissible 1. Reduce load; 2. Use a higher-power LOCK current/time area exceeded once/more than motor once) I^2xt shut-off to protect power stage (permissible current/time area exceeded once/ more than once) Reduce load LOCK
E-OLI 1
E-OTM 18
Motor overheating (PTC in motor tripped) 1. Allow motor to cool; 2. Connect PTC LOCK due to: 1. PTC not connected; 2. Motor over- or jumper terminals with 100 Ohm; 3. load Use a higher-power motor Power stage overheating due to: 1. Exces- 1. Improve ventilation; 2. Use higher- LOCK sive ambient temperature; 2. Excessive load powered device (power stage or braking chopper) Overheating in device interior due to: 1. Excessive ambient temperature; 2. Excessive load (power stage or braking chopper) 1. Improve ventilation; 2. Use higherpowered device
E-OTI 31
32
Table A.2
A-17
DE EN FR
Bus 9
DM/KP E-PLS
Error location no. 1 6
Error cause Plausibility check detected invalid parameter (1) or impermissible program sequence Unknown switching frequency in initialization of power stage protection Parameter list could not be initialized in device startup phase. KP200 may display number of faulty parameter at top left. (1)
Possible remedy
Reset device by: 1. Set parameter PROG=1. 2. Switch off device, press and hold down Up and Down key on KP200 and switch device back on. KP200 indicates "RESET"
Plausibility check detected invalid parameter (1) object (incorrect data type or data length) No readable parameter exists at the current (1) user level or parameter access error via KP200 Both slots assigned the same module Error in auto-tuning Remove one module. 1. Check motor rating plate data matches corresponding motor parameters and restart auto-tuning. 2. (1) (1)
10 13 20
101
Unknown switching frequency in initialization of PWM
Table A.2
A-18
Bus 10
DM/KP E-PAR
Error cause Invalid parameter setting Parameter FMINx greater than parameter FMAXx or error in initialization of currentcontrolled startup The value of a parameter after the device startup phase is outside its value range. Error in first initialization of parameter list. A parameter could not be set to the factory setting. The combination of function selector settings for one of the analog inputs and the reference selector are mutually contradictory The setting of parameter FOSA0 (function selector, output OSA0) is outside its value range Error in controller initialization
Possible remedy Correct parameter setting or reset device to factory setting Set FMINx < FMAXx
1 2 3 4 5
Parameter 423-ERPAR contains the number of the incorrect parameter whose setting needs to be checked. Parameter 423-ERPAR contains the number of the incorrect parameter whose setting needs to be checked. Check and change setting
13
Check and change setting
16
100 101 102 104 105 106 107 Error in initialization of PWM Error in initialization of encoder evaluation Error in initialization of V/F characteristic Error in initialization of actual value recording
Check setting of controller and motor parameters. Restart auto-tuning as necessary. (1) (1) (1) (1)
6 A
Two interpolation points of V/F characteristic change setting have same frequency Pitch between two interpolation points for V/F characteristic is too large Error in initialization of SFC resulting from unfavourable parameter settings of motor and controller Global error in floating point calculation change setting Check controller and motor settings and restart auto-tuning as necessary. (1) RESET
108 11 E-FLT 0
Table A.2
A-19
DE EN FR
Bus 12
DM/KP E-PWR
Error cause Power pack not correctly detected Error in first initialization of parameter list
Possible remedy Send in device 1. Send in device; 2. If this error is repeated please contact your local Service Partner Rectify error in external device
Response no. in FS RESET
13 15
E-EXT E-OP1
1 150 151
Error in an external device Error in module at option slot 1 Error at option 1: BUS-OFF state detected.
STOP
1. Check module and identifier; 2. (1) STOP Check contacting of module. If the error reoccurs after switching on/off, the device or the module is faulty.
152
Error at option 1: Transmit protocol could not Check contacting of module. If the be sent. error reoccurs after switching on/off, the device or the module is faulty. Error at option 1: Module not responding Check contacting of module. If the error reoccurs after switching on/off, the device or the module is faulty.
153
154
Error at option 1: Module has signalled error Check contacting of module. If the error reoccurs after switching on/off, the device or the module is faulty. Error at option 1: Initialization error \Check contacting of module. If the error reoccurs after switching on/off, the device or the module is faulty.
155
Table A.2
A-20
Bus 16
DM/KP E-OP2
Error cause Error in module at option slot
Possible remedy
Response no. in FS
1 2 3 4 5 6 A
1. Check module and identifier STOP 2. If this error is repeated please contact your local Service Partner Check contacting of module. If the error reoccurs after switching on/off, the device or the module is faulty.
Error at option 2: BUS-OFF state detected. 171
172
Error at option 2: Transmit protocol could not Check contacting of module. If the be sent. error reoccurs after switching on/off, the device or the module is faulty. Error at option 2: Module not responding. Check contacting of module. If the error reoccurs after switching on/off, the device or the module is faulty.
173
174
Error at option 2: Module has signalled error Check contacting of module. If the error reoccurs after switching on/off, the device or the module is faulty. Error at option 2: Initialization error Check contacting of module. If the error reoccurs after switching on/off, the device or the module is faulty.
175
Table A.2
A-21
DE EN FR
Bus 17
DM/KP E-WRN
Error cause
Possible remedy
Response no. in FS
Device temperature above configured warn- 1. Check warning threshold; 2. ing threshold Improve ventilation; 3. Use higherpowered device Interior temperature above configured warn- 1. Check warning threshold; 2. ing threshold Improve ventilation; 3. Use higherpowered device Motor temperature above configured warning threshold 1. Check warning threshold; 2. Allow motor to cool; 3. Connect PTC or jumper terminals with 100 Ohm; 4. Use a higher-power motor 1. Check warning threshold; 2. Set DECR ramp parameter slower (_REF), use ext. braking resistor or chopper; 3. Adjust mains voltage 1. Check warning threshold; 2. Remedy power failure or connect higher mains voltage 1. Check warning threshold; 2. Check settings for reference generation; 3. Adapt reference parameters 1. Check warning threshold; 2. Reduce load 1. Check warning threshold; 2. Reduce load; 3. Use a higher-power motor 1. Check connection 1. Check warning threshold 1. Check connection; 2. Check bus STOP master or increase parameter SWDGT
DC link voltage above configured warning threshold for overvoltage
DC link voltage below configured warning threshold for undervoltage The output frequency is above the configured warning threshold The apparent current is above the configured warning threshold The I^2xt integrator (motor protection) is above the configured warning threshold Transmission error in reference coupling The Ixt integrator (device protection) has tripped Watchdog monitoring communication over LustBus tripped
7 8 9 18 E-SIO 11
Table A.2
A-22
Bus 19
DM/KP E-EEP
Error cause Error accessing parameter memory
Possible remedy
Response no. in FS
1 2 3
1. Switch device off/on; 2. If this error RESET is repeated please contact your local Service Partner 1. Switch device off/on; 2. If this error is repeated please contact your local Service Partner 1. If this error is repeated please contact your local Service Partner.
Error in hardware initialization 6 Error in initialization of an element function of a parameter object
9 18 20 E-WBK 1 21 E-SC 20
Error in initialization of automatic parameter 1. If this error is repeated please condata from EEPROM tact your local Service Partner. Possible wire break at input ISA00. Current less than 4mA in parameter setting to 420mA Error in auto-tuning Check wiring of input ISA00 STOP
4 5 6 A
1. Check motor wiring and repeat process. 2. If this error is repeated please contact your local Service Partner. 1. Check motor wiring and repeat process. 2. If this error is repeated please contact your local Service Partner. Set parameter 153-CFMOT to ASM if a relevant motor is being used and repeat auto-tuning. 1. Get motor parameters from manufacturer and enter manually 2. If possible use a different motor Check mains power supply
LOCK
21
Error in auto-tuning. Motor connected or partially disconnected
22
Auto-tuning is suitable only for asynchronous machines. Auto-tuning is unable to identify the connected motor correctly. Error in power failure bridging: The DC-link voltage was not restored within the preset time (parameter 343-PFTIM).
23 22 E-PF 1 23 24 25 26 E-RM E-FDG E-LSW E-OL5 1
STOP
0 1 1
Error in activation of an application data set 1. The error location number identifies RESET the incorrect parameter; 2. (1) Transmission error in reference coupling Limit switches reversed Check connection Correct wiring STOP LOCK LOCK
Ixt shut-off below 5 Hz to protect power Reduce load stage (exceeding of permissible current/time area)
Table A.2
A-23
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Bus 27 28
DM/KP E-PRC E-FLW
Error cause
Possible remedy
Response no. in FS LOCK LOCK
Exceeding of control deviation (error in con- Check control circuit trol circuit) Exceeding of max. frequency deviation in FOR (excessive acceleration/braking) Reduce ramps
Table A.2
Error messages
If an error occurs during operation it is indicated by a flash code from LED H1 (red) on the inverter module. The code indicates the type of error. If a KP200 is connected the KP200 indicates the error type as an abbreviation.
Flash code of red LED H1 1x 2x Display KEYPAD E-CPU E-OFF Response Explanation no. 3 1 Error in CPU (processor) Undervoltage shut-off Cause/Remedy Switch power off and back on again. If error reoccurs notify LUST Service. Check power supply. Also occurs briefly in response to normal power-off. Short-circuit, earth fault: check cabling of connections, check motor coil, check neutral conductor and earthing (see also section 3, Installation.) Device setup not correct: check parameters of control circuits. Check ramp setting. Voltage overload from mains: check mains voltage. Restart device. Voltage overload resulting from feedback from motor (regenerative operation): slow down braking ramps. If not possible, use a braking resistor. Motor overloaded (after I x t monitoring): slow down process cycle rate if possible. Check motor dimensioning.
3x
E-OC
Current overload shut-off
4x
E-OV
Voltage overload shut-off
5x
E-OLM
Motor protection shut-off Table 5.1
Error messages
A-24
Flash code of red LED H1 6x
Display KEYPAD E-OLI
Response Explanation no. 2 Device protection shut-off
Cause/Remedy Device overloaded: check dimensioning. Possibly use a larger device.
1 2 3 4 5 6 A
Remedy Select user level 1-MODE higher. Cancel start signal from a different control location. Reset error. Change value. Reduce value. Increase value. Reset start signal. Enter correct password.
7x
E-OTM
Motor PTC correctly connected? Parameter MOPTC (type of motor PTC evaluation) correctly Motor temperature too high set? Motor overloaded? Allow motor to cool down. Check dimensioning. Ambient temperature too high: improve ventilation in switch cabinet. Load too high during driving/braking: check dimensioning. Possibly use a braking resistor.
8x
E-OTI
Inverter overheating
Table 5.1
Error messages
Service Helpline
If you need further assistance, our specialists at the LUST Service Center will be glad to help. You can reach us: Mon.-Thur.: 8 a.m. - 4.30 p.m. Fri.: e-mail: 8 a.m. - 4 p.m. Tel. +49 6441/966-180, Fax -177 Tel. +49 6441/966-180, Fax -177
[email protected]
User errors in KEYPAD operation

Error ATT1 ATT2 ATT3 ATT4 ATT5 ATT6 ATT7 ERROR Table 5.2 Cause Parameter cannot be changed at current user level or is not editable. Motor must not be controlled via the CTRL menu. Motor must not be controlled via the CTRL menu because of error state. New parameter value impermissible New parameter value too high New parameter value too low Card must not be read in current state. Invalid password
KEYPAD user errors: reset with Start/Enter
A-25
DE EN FR
User errors in SMARTCARD operation

Error ERR91 ERR92 ERR93 ERR94 ERR96 ERR97 ERR98 ERR99 Meaning SMARTCARD write-protected Error in plausibility check SMARTCARD not readable, wrong inverter type SMARTCARD not readable, parameter not compatible Connection to SMARTCARD broken SMARTCARD DATA invalid (checksum) Insufficient memory on SMARTCARD Selected area not present on SMARTCARD, no parameters transferred to SMARTCARD SMARTCARD error: reset with Stop/Return Use different SMARTCARD Remedy
Table 5.3
A-26
Appendix C Glossary
2 3
87 Hz characteristic
Expanded manipulating range of the motor for constant torque delivery. A motor with 400 V / 50 Hz in star configuration can be expanded to 87 Hz in delta configuration at this voltage. (Latin: abscissus = torn off, separated) Horizontal axis in coordinates system Return value of the external signal acquisition in loopcontrolled systems. In open-loop control systems the value calculated on the basis of preset conditions. Final control element to act on a process (component, e.g. servo motor, solenoid valve, power switch) Address coding of a device in a bus system by means of a plug connector. An address in a bus system must be unique within a fixed address range. Application data set; data sets with preset solutions for typical standardized applications, which also serve as the basis for customizations. A customized application data set can only be saved to one user data set. The analog and digital grounds are isolated from each other in order to avoid transient currents. The analog ground is connected directly to the inverter module processor. It serves as the reference potential for analog reference input. The digital inputs and outputs are isolated from it. Under the terms of the EMC Act (EMVG): End product with an autonomous function in a dedicated housing and, where appropriate, interfaces and connections for functional and supply integration into its application environment.
4 5 6 A
Abscissa Actual
Actuator Address coding plug ADS
Analog/digital ground
Apparatus
A-27
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Appendix C Glossary
Application data set (ADS) Asynchronous motor
Factory predefined parameter data set to solve typical applications. Also termed IEC standard motor, squirrel-cage rotor or cage motor. Three-phase a.c. motor which does not run synchronous with the stator speed. The rotor is composed of several rods which are shorted at the ends by rings. The energy transfer from the stator to the rotor is inductive (without brushes or slip rings). Very robust and low-cost. Choke between the output of the inverter module and the motor, to reduce noise. Noise occurs in the motor due to high-frequency components of the current and voltage of an inverter. (Latin: axis) In the direction of the axis Speed range below the rated speed of a three-phase a.c. motor in which the stator voltage and the frequency are changed proportionally. Jean Baudot; measurement unit in bps (bits per second) for the speed of data transmission. Signal of which the information parameter can assume only the value Low or High (0 or 1). Mode in which a new software release can be transferred to a device. If there is a software program in the device, the device can be switched to Bootstrap mode without pressing the Bootstrap button. If the DC-link voltage of the inverter becomes too high, switches a resistor parallel to the DC-link to convert the energy fed back by the machine into heat. Consequence of a limited number of single pulses or an oscillation package of limited duration. Resistance to short-time electromagnetic interference signals with steep rising edges Controller Area Network; serial bus system for automotive engineering and industrial control units with high reliability based on error detection, handling and localization. Hamming distance: 6 (Internet http://www.can-cia.de) (CAN = Controller Area Network); networking concept based on the CAN bus system according to the CiA (CAN in Automation) standards, but with Lust-specific communication identifiers, oriented to the CAL (CAN Application Layer) protocol.
Attenuation choke
Axial Basic range
Baud Binary signal Bootstrap
Braking chopper
Burst Burst immunity CAN
CANLust
A-28
Appendix C Glossary
CANopen
(CAN = Controller Area Network); CANopen bus system according to the CiA (CAN in Automation) standards, based on the networking concept of the CAN serial bus system. Characteristic data set; subsidiary data set within a user data set of the typical parameters for adaptation of the motor characteristic and of the controller and open-loop control properties. A user/application data set contains two characteristic data sets for expanded adaptation to the movement task. A characteristic data set comprises a selection of parameters, but not all the parameters available in the inverter module. The controlled variable is recorded, compared against the reference input variable and adapted accordingly to the reference input variable by means of a mathematical relation. Characteristic is a control loop with feedback of the output variables to the input variables.
1 2 3 4 5 6 A
CDS
Characteristic data set (CDS)
Closed-loop control
Control deviation Difference between controlled variable and reference input variable. If the deviation is equal to zero, the output variable of the controller remains at its quiescent value. Control deviation The negative variance xw is termed the control deviation xd. Control deviation xd = -xw = w - x Control deviation The negative control deviation is termed control deviation xd. xd = xw = x - w. DC braking Feed of a direct current into the motor, causing it to brake. The resultant braking energy is converted directly into heat in the motor. The braking power is lower than when a braking resistor is used on the inverter. Effective nominal value of the outer conductor voltage of a three-phase AC system Under the terms of the EMC Act (EMVG): All electrical and electronic apparatus, systems, units and networks containing electrical and electronic components. Deutsches Institut fr Normung (German standardization organization, located in Berlin, Internet: http://www.din.de)
Delta voltage Device
DIN
A-29
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Appendix C Glossary
DM, DRIVEMANAGER Driving profile generator
User-friendly DriveManager user software for drive systems from Lust. Usable on notebooks and PCs running Win 9x/ME/NT/2000 operating systems. The driving profile generator contains the general ramp generator and the table-supported ramp generator. The ramp generators form a driving profile which is run through to attain the frequency reference. A driving data set contains a frequency reference and an assigned acceleration or deceleration ramp which, when the driving set is selected from a table, is set to attain the frequency reference in the table-supported ramp generator. Characterized by a fixed frequency and associated acceleration and deceleration ramps. A driving set is not the same as a positioning set, which also includes a value for a position. Speed deviation during the startup or braking process of a speed change. The greatest deviation very often occurs in the transient response in settling to the desired speed. Electromagnetic Compatibility Electromagnetic Compatibility; capability of the electrical unit to function according to its designated purpose in its electromagnetic surroundings and not impermissibly to influence the environment to which other units also belong. Limit values are laid down in directives (e.g. 89/336/EEC) and standards (e.g. IEC 61000 series). Electronic instrumentation and control system German Act governing the electromagnetic compatibility of devices (Internet download: http://www.regtp.de) ENable POwer; non-software-dependent hardware enable of inverter power stage. Electrostatic Sensitive Devices (Latin: exponere = expose) Power of a mathematical expression positioned to the top right of it (base). The exponent indicates how often the base is to be multiplied by itself. In Master/Slave operation the slave drive is controlled by the master speed-synchronously by way of a digital reference transfer. The transmission ratio can be determined by way of a coupling factor.
Driving set
Driving set
Dynamic speed accuracy
EMC EMC
EMR system EMVG ENPO ESD Exponent
Fast reference coupling
A-30
Appendix C Glossary
FELV Field bus
Functional Extra Low Voltage; without safe isolation (human being: max. 50V AC, 120V DC) Bus system in the process environment for direct connection of sensors and actuators with their own intelligence. The field bus is used for digital data exchange between the control unit and the sensors and actuators.
1 2 3 4 5 6 A
Field range, Field Speed range above the rated speed of a three-phase weakening range a.c. motor in which the stator voltage remains constant and only the frequency is changed. FIXPT16 FLOAT32 16-bit raw value divided by 20, to get decimal places resolution in 0.05 increments 32-bit number format with floating point. A fixed number of places (bits) is reserved for the digits after the point. Field Oriented Regulation, control method in which the rotor speed and current angle of the rotor are ascertained with an encoder. The voltage pointers are placed dependent on the calculated information to form the torque from the current. Very high dynamics and smooth running, also safeguarded against stalling. Diode to protect electronic components under inductive loads. Inductors (such as relay coils) produce high induced voltages at the moment of shutdown which attempt to maintain the current flow in the circuit and result in the destruction of components.
FOR
Freewheeling diode
Function selector Selector switch for function options Fundamental Inverters modulate a quasi-sinusoidal pulse width modulated voltage. The flowing current assumes a sinusoidal characteristic based on the inductance of the motor. According to Fourier, the characteristic results from the addition of several sinusoidal oscillations of differing frequency and amplitude. The fundamental is the sinusoidal oscillation with the frequency of the total signal. A conductive connection of an outer conductor or insulated centre conductor to ground or grounded components resulting from a fault or from arcing. Measure for the transmission integrity of digital signals. It indicates the number of positions at which two information bearing code words differ. The higher the hamming distance, the more reliably are errors detected and not interpreted as new code words.
Ground fault
Hamming distance, HD
A-31
DE EN FR
Appendix C Glossary
Harmonic
Inverters modulate a quasi-sinusoidal pulse width modulated voltage. The flowing current assumes a sinusoidal characteristic based on the inductance of the motor. According to Fourier, the characteristic results from the addition of several sinusoidal oscillations of differing frequency and amplitude. Harmonics are oscillations with a frequency of a whole-number multiple of the fundamental. Semiconductor component which actively outputs a voltage. No voltage is connected to ground, as in opencollector circuits. These drivers are generally monitored for overheating and short-circuit. Encoder with HTL square signals as output signals. Typical voltage range 10 to 30 V DC. For detection of speed and direction, at least two 90 phase shifted output signals are required. Their output voltages make HTL encoders suitable for direct connection to PLCcompatible inputs as per IEC1131. International Electrotechnical Commission, international standardization organization comprising national committees. It implements electrotechnical standards at a global level. (Located in Geneva, Internet: http:// www.iec.ch) Quick and easy parameter setting of the inverter module by means of the key basic parameters, based on the factory setting of the CDA3000 inverter module. Integer in 16-bit data format 32-bit number format in which the last 16 bits represent the decimal places; no floating point. By shifting of the load characteristic by a voltage amount dependent on the effective current Abbreviation TN. Characteristic quantity of a PR controller required in a step response to attain a change of a manipulated variable by means of the I-effect. This Ieffect is equal to that created by the P-component. Current occurring in operation as a result of parasitic capacitances or Y-capacitors fitted in devices between live conductors and the ground potential/grounding lead. For safety reasons the leakage current must not exceed device and country specific limit values. Minimizes network feedback from power converters such as commutation notches and harmonics.
High-side driver
HTL encoder
IEC
Initial commissioning INT16 INT32Q16 IxR load compensation Lag time
Leakage current
Line choke
A-32
Appendix C Glossary
LSB Manipulated variable Master/Slave Motor identification MSB Network
Least Significant Bit Output variable of the controlling system and thus the input variable for the controlled system. The master element dictates and the slave element follows the instructions of the master. Automated definition of the electrical parameters of a three-phase a.c. motor. Most Significant Bit Under the terms of the EMC Act (EMVG): Grouping of multiple transmission links interconnected at individual points electrically or optically by means of a unit, a system, an apparatus or a component. The input variables influence the output variables based on a predefined mathematical relationship. The characteristic feature is a path of action with no feedback of the output variables to the input variables. Conductor connected to an external point, e.g. L1, L2, L3 Voltage between two outer conductors, e.g. U12, U23, U31 in a three-phase AC system (see also: Delta voltage). Variable with a fixed value range and a predefined factory setting. Proportional controller; each value of the control difference is assigned a specific value of the manipulated variable. Protective Earthing Protective Extra Low Voltage; without safe isolation and additional safety measures (human being: max. 50V AC, 120V DC) Proportionalintegral controller; the value of the manipulated variable is proportional to the control difference and to its time integral. PROFIBUS for Decentralized Peripherals; serial bus system for simple digital input and output modules and for intelligent signal and process data processing units. (Internet http://www.profibus.com) Positive Temperature Coefficient; (thermistor) temperature-dependent resistor which increases in resistance as it heats up.
1 2 3 4 5 6 A
Open-loop control
Outer conductor Outer conductor voltage
Parameter P-controller
PE PELV
PR controller
PROFIBUS-DP
PTC
A-33
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Appendix C Glossary
PWM Ramp generator
Pulse Width Modulation, to emulate a signal. The preset frequency reference is attained by acceleration or deceleration of the drive. The necessary ramps are set in the ramp generator. Residual Current protective Device Analog or digital input value with which the system is to be operated. Value of the reference input variable in a given moment under analysis. Variable not influenced by the control which is fed into the control circuit from the outside. The output variable of the control follows the reference input variable in mathematical dependency. The current value of the reference input variable is termed the reference.
RCD Reference
Reference input variable
Reluctance motor Asynchronous motor which, due to its design, runs asynchronous in the startup phase and which, based on its strong pole formation, declines into synchronism in stationary operation. Remagnetization RS232 Increase in startup and standstill torque by means of magnetic flux build-up prior to starting of the drive Recommended Standard 232; standardized serial interface for one terminal device with max. 15 meters cable length. Recommended Standard 485; standardized serial interface for max. 240 terminal devices and 1000 meters cable length. Time for all instructions of the inverter software to be processed. Safety Extra Low Voltage; with electrical isolation of higher-voltage circuits and additional safety measures (human being: max. 50V AC, 120V DC). Sensorless Flux Control, control method in which the rotor speed and the current angle of the rotor are determined without encoder by way of the electrical variables. The voltage pointers are placed dependent on the calculated information to form the torque from the current. Good dynamics and smooth running, also high torque formation. Determines the rotor frequency fL of the asynchronous motor. As the load increases the slip s becomes greater and the speed decreases. Slip defined in rpm or as % of field speed nF
RS485
Sampling time SELV
SFC
Slip
A-34
Appendix C Glossary
Slip compensation
Compensates for load-dependent speed changes of a drive. As load increases the compensation provides an increase in output voltage and frequency, and reduces output voltage and frequency as the load is relieved. A driving profile with linear ramps is smoothed by sinusoidal speed ramps. This produces an s-shaped speed profile which results in bucking limitation with increased acceleration and deceleration time. The difference in time between the linear ramp and the sinusoidal ramp is termed the smoothing time JTIME.
1 2 3 4 5 6 A
Smoothing
Smoothness Speed control range, speed manipulating range
Measure for the smooth running of a motor. Ratio of maximum speed (usually rated speed) and minimum speed at which the drive is run stationary. Braking and acceleration processes are not taken into account.
Speed manipulat- Range in which the motor can always deliver nominal ing range torque MN. Standstill torque Momentum built up by the motor from feed via the inverter module in order to counteract a load-dependent rotation of the rotor from its current position. Speed deviation in the steady (static) state after completion of startup. In operation with speed control a high-frequency ripple is superimposed on the actual speed. Parameters assembled into parameter groups based on function orientation. Motor with permanent magnet excited rotor which requires no slip to the field speed nF of the stator in order to build up an electromagnetic force. The field speed of the stator and the rotor speed rotate synchronously. Under the terms of the EMC Act (EMVG): A combination of multiple items of apparatus or, where appropriate, electrical or electronic components developed, configured or produced by the manufacturer such that, when correctly installed, the said components together perform a specific task. The frequency reference drawn from a table; is attained with the assigned acceleration or deceleration ramp of the driving set. The necessary ramps are set in the table-supported ramp generator.
Static speed accuracy
Subject area Synchronous motor
System
Table-supported ramp generator
A-35
DE EN FR
Appendix C Glossary
Torque rise time
Time which expires after a reference step from 0 Nm to MN until the actual value of the torque in the motor has reached 95% of the nominal value. Under the terms of the EMC Act (EMVG): Interconnection of machines, systems or electrical/electronic components at a given location such that the said components together perform a specific task.
Unit
Usage categories Indication of the suitability of contactors, auxiliary and motor switches for special operating conditions in direct current (DC) or alternating current (AC) systems. Relays of the inverter module: AC-1 = non-inductive or low-inductance loads User data set (UDS) Custom parameter data set to solve an application task which cannot be solved by the application data set. Data set adapted by a user. Access level to subject areas and parameter to simplify operability. The higher the user levels, the more subject areas and parameters are visible to the user. User levels may be password protected. Voltage to Frequency Converter or Voltage/Frequency Control
User level
VFC
A-36
Appendix D Index
1
Symbols
_78SS Speed controller SFC ...............................6-47 Field bus operation.........................................4-6 Master/Slave operation ..................................4-7 selecting ........................................................4-4 Setting .........................................................5-12 Application data sets..................................... 3-4, 4-1 Application drive Rotational drive ..............................................4-5 Application with differing motor types ...............5-174 Assignment of the control circuit variables to the DriveManager digital scope ..............5-202 Auto-tuning.........................................................6-68 Activation .....................................................5-17 Conditions....................................................5-17
2 3 4 5 6 A
A
Abbreviations, parameter overview .......................A-1 Acceleration and braking ..................................5-186 Acceleration ramp.............................................5-157 Activating an application data set..........................4-3 Activation conditions, DC holding ......................5-178 Active BRK2 parameters in control mode FOR...................................5-146 Active characteristic data set display ................5-167 Active functions ........................................ 4-61, 4-76 Rotational drive ............................................4-49 Traction and lifting drive...............................4-28 Actual values of bus systems............................5-136 Actuals .............................................................5-120 Adaptation of anti-oscillation...............................6-28 Adaptation of current controller................. 6-51, 6-79 Adaptation of current injection ............................6-24 Adaptation of encoder.........................................6-70 Adaptation of FOR speed controller .....................6-76 Adaptation of IxR load compensation ..................6-18 Adaptation of SFC speed controller .....................6-48 Adaptation of slip compensation .........................6-21 Adaptation of voltage frequency control ..............6-11 ADS (Application data set).....................................3-2 Ambient conditions ...............................................2-7 Ambient conditions for the modules......................2-7 Analog speed input .............................................4-34 Anti-stall protection ..........................................5-182 Application Field bus operation.........................................4-6 Master/Slave operation ..................................4-7 Rotational drive ..............................................4-5 Traction and lifting drive.................................4-4 Application data set Activating.......................................................4-3 Adapting ......................................................3-21
B
Backing-up the device setup (150-SAVE) ............5-11 Backlash function in bipolar operation.................5-25 Back-up device setup .........................................5-11 Bar graph, KP200 .............................................5-104 Basic function with reset...................................5-151 Baud rates of CAN controllers ...........................5-138 Block diagram ..................................................5-115 Anti-oscillation .............................................6-27 Driving profile generator.............................5-154 HTL output configuration ..............................6-69 IxR load compensation .................................6-16 Process controller with integration into reference structure ..........5-198 Reference input............................................5-64 Slip compensation.............................. 6-20, 6-27 Block diagram (VFC)............................................6-34 Block diagram, HTL output circuit .......................4-20 Boost voltage......................................................6-37 Bootstrap............................................................2-19 Bootstrap mode ..................................................2-19 BRK2 in control mode FOR................................5-146 BRK2 in control mode VFC (SFC) .......................5-145 Bus operation and option modules ....................5-133 Bus systems .....................................................5-134 A-37
DE EN FR
Appendix D Index
BUS_3................................................................4-55 BUS_4................................................................4-57 BUS_5................................................................4-58
C
Calculation Boost voltage ............................................... 6-37 Current limit value with adapted motor protection characteristic........... 5-88 Effective inverter capacity utilization .......... 5-115 Motor slip frequency ....................................6-36 Shut-off time of Ixt monitoring ..................... 5-88 CDA3000 setup in expanded view ........................ 5-4 CDA3000 setup in minimized view...................... 3-15 CDS (Characteristic data set) ................................3-5 Changes automatic.........................4-26, 4-46, 4-60, 4-75 Changing the password for a user level ................ 3-8 Changing user level .............................................. 3-8 Characteristic data set dependent parameters ...................................3-6 Characteristic data sets ........................................ 3-6 Characteristic data switchover..........................5-166 Characteristic for expanded manipulating range ...................................... 6-14 Characteristic, 87 Hz .......................................... 6-14 Characteristics of the control methods in comparison .............................................. 4-63 Chien, Hrones and Reswik setting rules for fast disturbance compensation ............. 5-207 Clock drive ......................................................... 4-19 Clock input/clock output ..................................... 5-55 Combination of current injection and boost voltage......................................... 6-38 Combination of voltage frequency control functions .....................................6-6, 6-7 Commissioning................................................... 3-21 Comparison of motor control methods ................ 4-63 Condition of multiplier 250-OCLK........................5-60 Configuration options, ISA0x ...............................5-25 Connection and startup....................................... 3-14 Connection of a 3 x 230 / 400 V standard motor as per IEC 34.......................5-13 Connection via RS232 interface cable................. 3-14 Constant torque range to 87 Hz ..........................6-15
Continuous actual value display, KP200............ 5-104 Control characteristic at stability limit ............... 5-203 Control characteristic with aperiodic damping.............................. 5-203 Control characteristic with damped oscillation ............................. 5-203 Control connections, specification......................... 2-8 Control location ..................................................5-71 Control method..................................................... 5-7 Control modes .................................................... 5-23 Control terminal assignment ASTER = 4 ................................................... 4-19 ASTER = DRV_1...........................................4-10 ASTER = DRV_2...........................................4-12 ASTER = DRV_3...........................................4-15 ASTER = DRV_5...........................................4-22 ASTER = M-S_1...........................................4-66 ASTER = M-S_2...........................................4-68 ASTER = M-S_3 with S1 and S2 .................. 4-70 ASTER = M-S_4...........................................4-73 ASTER = ROT_1...........................................4-32 ASTER = ROT_3................................. 4-36, 4-39 ASTER = ROT_6...........................................4-43 ASTER=ROT_5.............................................4-41 Control terminal configuration ASTER = BUS_3...........................................4-55 ASTER = BUS_5...........................................4-58 Control terminal configuration with ASTER = BUS_4 ................................... 4-57 Control terminal designation, CDA3000................. 2-4 Control terminal designation, UM-8140................. 2-5 Control terminal device ASTER=ROT_2.............................................4-34 Control terminal expansion ASTER = DRV_5...........................................4-23 ASTER = ROT_3...........................................4-37 Control terminals User module UM-8I4O........................ 4-23, 4-37 Control via field bus in FOR mode ....................... 4-57 Control word of system.....................................5-121 Controls and displays............................................3-9 Controls and displays, KP200 ............................... 3-9 Current capacity of inverter modules .................. 5-93 Current control ................................................... 6-78 Current controller.................................... 5-179, 6-50 Current injection ....................................... 6-23, 6-35 A-38
Appendix D Index
Current injection and boost voltage .....................6-38 Current losses on motor cables.........................5-191 Current overload protection...............................5-182 Current-controlled startup.................................5-182
E
Edge controlled...................................................4-24 Effect of effective current reference PFC .............5-99 Effective inverter capacity utilization .................5-115 Effective range of current injection (II) .................6-23 EMC (Electromagnetic Compatibility).....................1-1 Emergency operation with limit switch evaluation ..........................4-55 Encoder ..............................................................4-20 Encoder evaluation .............................................6-69 Equivalent circuit diagram of asynchronous machine...........................5-193 Error ATT1 ..............................................................3-7 Reset ............................................... 5-127, B-15 Error history......................................................5-130 Error messages.......... 2-14, 5-127, B-15, B-16, B-24 Error messages of the CDA3000 .........................B-16 Error messages, acceleration processes ...........5-158 Example Driving sets................................................5-161 Emergency operation, ASTER = BUS_3 ........4-56 Error view on DriveManager .......................5-131 Expanded manipulating range 87 Hz characteristic..................6-14 Input ISD00 ..................................................5-69 Limit switch evaluation.................................4-18 Master/Slave coupling (ASTER = M-S_3) .....................4-71 Master/Slave coupling (ASTER = M-S_4) .....................4-74 Mean device capacity utilization .................5-114 of coupling factor MSFCT ...........................5-172 of two directions (ASTER=M-S_2) ................4-69 Quick jog driving profile (ASTER=DRV_4) .......................4-21 Quick jog/slow jog (ASTER = DRV_1)............4-11 Reference source switchover .......................5-68 selection of user data sets via terminals.........3-5 Setting F1 MOP function.............................5-151 Switchover by terminal operation .................5-22 Switchover via terminals ................................3-5 Table sets (ASTER = ROT_3) .............. 4-38, 4-40 Table sets (ASTER=DRV_5) ..........................4-24 Terminal preset, ASTER=DRV_2...................4-13
1 2 3 4 5 6 A
D
Dangers................................................................1-1 Data structure.......................................................3-2 Data structure of the CDA3000 .............................3-2 DC braking .......................................................5-173 DC holding........................................................5-177 DC holding for the time HODC ...........................5-177 DC holding, activating .......................................5-178 Deceleration ramp ............................................5-157 Demagnetization time .......................................5-173 Dependency Digital outputs on operation mode ................5-51 Ramp steepness ........................................5-187 Device and terminal view......................................2-2 Device capacity utilization..................... 5-112, 5-114 Device data .......................................... 5-117, 5-118 Device protection................................................5-91 Diagram of PTC KTY 84-130 ...............................5-82 Differential current monitoring ..........................5-132 Dig. output with 'reference reached' setting ..........................5-52 Display 650-CDSAC................................................5-167 KP200..........................................................B-24 Disturbance of the analog input ..........................2-17 Drive dimensioning ...........................................5-112 Drive solution Field bus operation.......................................4-50 Master/Slave operation ................................4-62 Driving profile generator ......................... 5-63, 5-153 Driving profile of ramp generator ......................5-155 Driving sets ............................................ 5-63, 5-161 DRV_1 ................................................................4-10 DRV_2 ................................................................4-12 DRV_3 ................................................................4-15 DRV_4 ................................................................4-19 DRV_5 ................................................................4-22 Dynamic, maximum..........................................5-182
A-39
DE EN FR
Appendix D Index
Terminal preset, ASTER=DRV_3 .................. 4-16 two directions (ASTER=M-S_1).................... 4-67 two directions (ASTER=ROT_1) .................... 4-33 two directions (ASTER=ROT_2) .................... 4-35 Use (ASTER = ROT_5) ..................................4-42 Use of analog speed input and fixed frequencies............... 4-44 Use of manual mode independently of bus operation .......................4-59 User data sets via terminals .........................5-22 Example of driving sets with fixed frequencies................................5-161 Exponential representation on the KP200 display ...................................3-12 Exponential value as "decimal point shift factor" ..........................3-12 Exponential value display....................................3-12
F
Factory setting...............................................3-4, 5-2 Factory setting of all user data sets .................... 2-18 Factory setting of parameter UAPSD ................. 5-110 Factory setting, data set ..................................... 2-18 Factory setting, Definition .....................................5-2 Fastest possible speed reduction without restart (emergency stop in case of power failure).............................5-103 Fault current monitoring ................................... 5-132 Features ............................................................. 5-94 Features of the BRK2 braking function dependent on control mode........................5-142 Field bus operation ............................................. 4-50 Field bus operation, comparison of parameters ...........................4-60 Field Oriented Regulation (FOR) ..........................6-66 Field-Oriented Regulation (FOR) ..........................6-65 Fixed frequencies ............................................. 5-159 Fixed frequency selection ................ 4-40, 4-42, 4-45 Fixed frequency, quick jog/slow jog .................. 5-159 FOR current controller ........................................ 6-78 FOR speed controller .......................................... 6-75 fout ..................................................................5-187 Frequency limitation ........................................... 5-76 Frequency limits ................................................. 5-76 Frequency ranges of the holding brake ............. 5-139
Function BRK2 in control mode FOR ......................... 5-147 BRK2 in control mode VFC (SFC) ................ 5-145 Function block Adaptation of analog inputs.......................... 5-24 Adaptation of analog output ......................... 5-32 Adaptation of digital inputs........................... 5-38 Adaptation of digital outputs......................... 5-46 Control location selector............................... 5-72 Functional areas Characteristic data set parameters............. 5-166 Functions in conjunction with FOR ............................... 6-67 in conjunction with SFC................................ 6-45 in FOR.......................................................... 6-67 in SFC .......................................................... 6-45 key .............................................................. 3-21 Functions in the preset, active ............................ 4-29 Functions, active ...................................... 4-28, 4-49 Functions, active in field bus operation.......................... 4-61, 4-76 Functions, active in preset ........................ 4-51, 4-65
G
Generally applied functions in open-loop control mode VFC ...................... 6-7 Glossary ............................................................. 1-27 Graphical definition of delay and compensating times ............................ 5-207
H
H1 flash code .....................................................B-24 Hexadecimal representation of warning messages................................. 5-126 How to use this Manual ........................................0-1 HTL output circuit, block diagram ....................... 4-20 Hysteresis......................................................... 5-125 Hysteresis of warning messages....................... 5-125
I
Increase standstill torque.................................. 5-194 Increase starting torque....................................5-194 Indication of whether a parameter is editable .................................. 3-7 A-40
Appendix D Index
Information for auto-tuning .................................6-45 Initial commissioning .................................... 5-4, 5-5 Initial frequency ................................................5-187 Input of moments of inertia...................................5-9 Input of motor data ..................................... 5-8, 5-12 Input signals .......................................................4-11 Inputs analog..........................................................5-24 digital...........................................................5-38 Specification ..................................................2-9 Inputs and outputs ..............................................5-24 Intended use.........................................................1-2 Interaction between current injection, IxR load compensation and boost voltage.........................................6-38 Isolation concept.................................................2-15 IxR load compensation.............................. 6-16, 6-36 Ixt monitoring .....................................................5-84
M
Magnetic flux forming current id .........................6-78 Magnetization phase (MP).................................5-194 Magnetizing current..........................................5-195 Mass moment of inertia of motor .......................................................5-14 Of system.....................................................5-16 Reduction.....................................................5-16 Setting .........................................................5-16 Mass moments of inertia ....................................5-15 Master drive .......................................................4-66 with analog guide value input.......................4-66 with encoder evaluation ...............................4-68 Master drive with analog guide value input .........4-66 Master drive with encoder evaluation..................4-68 Master/Slave coupling via two control cables........................................4-63 Master/Slave operation ........................... 4-62, 5-169 Parameter comparison .................................4-75 Parameters ................................................5-169 Presets.........................................................4-65 Master/Slave screens .......................................5-171 Maximum reference speed when using encoders with differing lines per revolution .................6-73 Mean device capacity utilization........................5-115 Measurement of stator resistance dependent on circuit type.............................6-37 Measures for your safety ......................................1-1 Menu level..........................................................3-10 Menu structure ...................................................3-10 KeyPad at a glance.......................................3-11 KP200, overview ..........................................3-10 Minimum reference speeds ................................6-72 Minimum speeds when using encoders ..............6-72 Modes of action of startup/rundown..................5-187 Modulation........................................................5-189 Module mounting..................................................2-6 MOP function ....................................................5-149 MOP functions ..................................................5-150 Motor connection of an IEC standard motor.........5-13 Motor contactor ..................................................5-10 Motor contactor control.......................................5-54 Motor data ........................................................5-192 Motor data acquired during auto-tuning ............5-192 Motor holding brake..........................................5-139 A-41
1 2 3 4 5 6 A
K
KeyPad .............................................................5-104 KeyPad KP200 ....................................................5-74 KeyPad KP200, operation......................................3-9 KeyPad user errors Reset with Start/Enter ..................................B-25 KP/DM ..................................................................5-3 KP-KeyPad........................................................5-104
L
Layout, CDA3000..................................................2-2 LEDs...................................................................2-14 LEDs, meanings..................................................2-14 Limit frequency...................................................6-24 Limit switch evaluation ............................. 4-18, 5-44 S4 and S3 ....................................................4-18 Limitation of output frequency ............................5-76 Limitation of process controller I-component ...............................5-201 Load surges........................................................6-16 Loading device software .....................................2-19 Loading new device software..............................2-19 Longest possible speed reduction with restart ................................................5-101 Longest possible speed reduction without restart............................................5-102 LustBus ............................................................5-133
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Appendix D Index
Motor holding brake BRK2 ................................5-142 Motor protection ................................................. 5-79 Motor protection characteristic in factory setting .......................................... 5-87 Motor protection possibilities ..............................5-90 Motor PTC, specification ..................................... 2-11 Motor rating plate ............................................... 5-14 Motor rating plate data ....................................... 5-14 Mounting Connection of the KeyPad ..............................3-9 KeyPad on CDA3000 or on switch cabinet door ........... 3-9 Mounting of user/communication modules ........... 2-6 M-S_1................................................................4-66 M-S_2................................................................4-68 M-S_3................................................................4-70 M-S_4................................................................4-73
Outputs digital........................................................... 5-46 Specification ................................................2-10 Overload calculation with adapted motor protection characteristic..................... 5-88 Overview of direction recognition........................ 5-52 Overview of option modules.................... 5-75, 5-136 Overview of parameters........................................A-1
P
Parameter ............................................................ 3-3 Encoder evaluation.......................................6-70 Subject area _86SY-System....................... 5-196 Parameter comparison Field bus operation.......................................4-60 Master/Slave operation ................................ 4-75 Rotational drive ............................................4-46 Traction and lifting drive............................... 4-26 Parameter preset for BRK2 by auto-tuning in motor identification ................................ 5-145 Parameter reset..................................................2-18 Parameters "_18IA-Analog inputs" ................................. 5-26 Actual value parameters............................. 5-120 Analog inputs ISA0x .....................................5-26 Analog output...............................................5-34 Characteristic data set switchover.............. 5-166 Characteristic data switchover ................... 5-166 Clock input/clock output..................... 5-56, 5-58 Control location............................................5-72 Current control ................................... 6-52, 6-79 Current controller .......................................5-180 Current injection ..........................................6-24 Current-controlled startup .......................... 5-183 Current-controlled startup/rundown ........... 5-183 DC braking................................................. 5-175 DC holding ................................................. 5-178 Device capacity utilization .......................... 5-114 Device data................................................5-118 Digital inputs................................................5-39 Digital outputs..............................................5-47 Driving profile generator............................. 5-157 Driving sets................................................5-163 Error messages..........................................5-128 Fixed frequencies.......................................5-160 A-42
N
Non-optimized setup .......................................... 6-39 Notes for control engineers...............................5-187 Notes on optimization ....................................... 5-181
O
Online...................................................................5-2 Online changes based on activation of the input with the MAN function ............... 5-43 Online, definition .................................................. 5-2 Open-loop and closed-loop control ................... 5-139 Open-loop/closed-loop control modes ................ 5-23 Operation with DriveManager .............................3-14 Optimization of current control ................................6-59, 6-83 of the speed controller .................................6-84 of the speed controller with the gain SSGFx ................. 6-60 Optimization aids................................................ 6-64 Optimized setup ................................................. 6-40 Option modules ................................................ 5-134 Option slots 1 and 2............................................ 5-75 Output signals .................................................... 4-11 (ASTER = M-S_3 and M-S_4) ...................... 4-72 (ASTER=M-S1 and M-S2) ............................4-67 (ASTER=ROT_1, ROT_2 and ROT_3)............ 4-33 Output, analog.................................................... 5-32
Appendix D Index
for analog inputs ISA0x ................................5-26 Frequency limitation.....................................5-77 Initial commissioning ...................................5-10 IxR load compensation .................................6-18 KeyPad.......................................................5-105 LustBus......................................................5-133 Master/Slave operation ..............................5-171 Modulation frequency.................................5-190 MOP function .............................................5-150 Motor data .................................................5-192 Motor holding brake ...................................5-141 Motor holding brake BRK2..........................5-143 Motor protection................................. 5-80, 5-85 of fixed frequencies....................................5-160 Option modules..........................................5-136 Power failure bridging ..................................5-97 Reference structure.......................... 5-66, 5-154 Remagnetization ........................................5-195 Slip compensation.............................. 6-21, 6-28 Speed controller SFC....................................6-48 Subject area _51ER Error messages ..........5-128 Subject area _55LB LustBus ......................5-133 Subject area _66MS Master/Slave operation................................5-171 Subject area _67BR DC braking .................5-175 Subject area _69PM Modulation.................5-190 Subject area _70VF Voltage Frequency Control ....................6-11 Subject area _74IR IxR load compensation...........................6-18 Subject area _76CI Current injection ............6-24 Subject area _77MP Magnetization ............5-195 Subject area _80CC Current control .............6-52 Subject area _80CC Current controller .......5-180 Subject area speed controller FOR................6-76 Subject area_82PR-Process controller .......5-200 System.......................................................5-196 Up synchronization.......................................6-31 VFC ..............................................................6-11 Warning messages.....................................5-124 Parameters changed during auto-tuning .............5-18 Peak current value storage ...............................5-112 Pictograms ...........................................................0-2 Pin assignment of serial interface X4 ..................2-12 Possibilities of characteristic data set switchover with 651-CDSSL.......................5-167
Power failure bridging.........................................5-96 Power failure bridging selector 340-PFSEL .........5-97 Power failure detection .....................................5-100 Power failure voltage threshold.........................5-100 Power terminal designation, CDA3000 ..................2-3 Presets Active functions..............................................4-8 Field bus operation.......................................4-51 Rotational drives ..........................................4-29 Traction and lifting drive.................................4-8 Principle of function of the asynchronous motor...........................6-43 Principle of Sensorless Flux Control ....................6-42 Procedure Commissioning ............................................3-21 Procedure for optimization of FOR.......................6-81 Procedure for optimization of voltage frequency control .........................6-33 Procedure for setting the reference input for characteristic data set CDS1 ..........5-70 Process controller ........................4-41, 5-198, 5-199 Process controller with analog speed input and night reduction .............................4-41 Protection and information..................................5-76 PTC evaluation operation diagram.......................5-84
1 2 3 4 5 6 A
Q
Qualification, users ...............................................1-1 Quick jog/slow jog driving profile ........................4-10
R
Ramp generator.................................... 5-154, 5-157 Ramps, sinusoidal.............................................5-155 Rated motor current dependent on inverter module and IEC standard motor ...................5-85 Rated motor power .............................................5-10 Rated speed .......................................................5-11 Recommended max. output frequency of clock output .............................................5-60 Recording variables in the FOR structure diagram.........................................6-83 Recording variables of the DriveManager scope...........................6-35 Recording variables of the plotting window .................6-62, 6-63, 6-84, 6-85, 6-86 A-43
DE EN FR
Appendix D Index
Recording variables of the scope function........... 6-83 Rectification of errors in acceleration................ 5-158 Reference......................................................... 5-146 Reference channels ............................................ 5-63 Reference coupling dependent on chosen operation mode .........................5-170 Reference coupling, Master/Slave operation ..............................5-169 Reference selectors............................................ 5-68 Reference speed, maximum ...............................6-73 Reference speed, minimum ................................6-72 Reference structure ............................................ 5-61 Relay output ....................................................... 2-11 Remagnetization............................................... 5-194 Removal of isolation ........................................... 2-16 Representation Control loop ............................................... 5-202 Error history ............................................... 5-130 via KeyPad KP200 ...................................... 5-121 Reset..................................................................2-18 Reset device to factory setting..........................5-197 Reset to factory setting..................................... 5-196 Resistance diagram as function of temperature of a PTC KTY 84-130............ 5-82 Response of the encoder ....................................6-77 Response of the speed controller........................6-49 Response to error ................................... 5-130, B-16 Responsibility ....................................................... 1-2 Reverse via terminal ..................................5-30, 5-43 Risk of disturbance............................................. 2-17 ROT_1................................................................4-32 ROT_2................................................................4-34 ROT_3................................................................4-36 ROT_4............................................. 4-39, 4-41, 4-43 ROT_5................................................................4-41 ROT_6................................................................4-43 Rotating field frequency, maximum .................... 6-74 Rotational drive .................................................. 4-29 Active functions ........................................... 4-29 Parameter comparison.................................4-46
S
Safety...................................................................1-1 Sampling time .................................................... 2-12 Scaling in unipolar operation ..............................5-25
Scaling of actual parameter values ................... 5-108 Scaling of clock input ISD01 ............................... 5-57 Scaling of parameters.......................................5-108 Scaling of the analog output ............................... 5-33 Scope recording with motorized load torque........................... 6-39 Scope setting to optimize the anti-oscillation function .......................... 6-29 Selection of driving sets....................................5-162 Selection of preset solution................................... 5-6 Selection of reference source ............................. 4-40 Selection of reference sources............................ 5-68 Sensorless Flux Control (SFC) ............................. 6-42 Serial interface, as control location ..................... 5-74 Service Helpline..................................................B-25 Set reference input .............................................5-70 Setting Digital outputs for BRK2 ............................. 5-144 Filter constant analog output OSA00 ............ 5-37 Filter time constants .................................... 5-37 Max. current control reference current .........6-60 Motor protection characteristic..................... 5-87 of active current reference 351-PFC............. 5-99 Process controller ......................................5-202 Setting aids ........................................................ 6-64 Setting instructions...........................................5-169 Setting user levels via "_36KP-KeyPad" ............... 3-8 Settings 140-RNM to 534-R-LSW ............................ 5-130 180-FISA0/181-FISA1 analog inputs ............ 5-27 200-FOSA .................................................... 5-34 240-FOS00 ... 246-FOE03............................ 5-48 280-RSSL1 and 281-RSSL2......................... 5-67 308-DLOCK..................................................5-78 330-MOPTC .................................................5-81 340-PFSEL................................................... 5-97 360-DISP and 361-BARG ........................... 5-106 651-CDSSL ................................................5-167 670-BRDC DC braking................................ 5-176 according to "Ziegler and Nichols"............... 5-204, 5-205 according to Chien, Hrones and Reswik................. 5-206 Analog inputs ...............................................5-27 Assistance parameter ASCA ......................... 6-13 Control location selector..................... 5-73, 5-78 A-44
Appendix D Index
Control location selector 260-CLSEL ............5-73 DC braking activation mode .......................5-176 Digital outputs, motor holding brake...........5-141 FIS00 ... 214-FIE00 ... 223-FIF1 ...................5-40 FOxxx of digital outputs for BRK2 ...............5-144 Function selector of digital outputs...............5-48 Function selectors........................................5-40 Inputs, MOP functions ................................5-151 MOP function .............................................5-150 MOPCN ........................................................5-85 Motor protection characteristic.....................5-87 Power failure bridging types.........................5-97 Predefined V/F characteristics ............ 6-13, 6-19 Reference selectors......................................5-67 Startup/rundown function selector..............5-185 Switching active user data set......................5-21 when motor power output ..............................6-7 Settings for selection of the application data sets ..........................5-12 SettingsFilter time constant for analog channels......................................5-31 SFC current controller .........................................6-50 SFC speed controller...........................................6-47 Short ..................................................................5-92 Shutdown limits..................................................5-92 Slave drive..........................................................4-70 Slave drive with encoder evaluation ....................4-73 Slip.....................................................................6-20 Slip compensation ..............................................6-20 Software functions.............................5-1, 6-45, 6-67 Specification control connections.............................. 2-8, 2-12 Interface card...............................................2-12 Speed controller FOR ..........................................6-75 Speed curve in Master/Slave operation ...............4-64 Speed input, analog driving sets ....................4-36, 4-39, 4-43 Starting torque....................................................6-23 Status controlled.................................................4-24 Status word 120-WRN ...................................................5-126 419-IOSTA .................................................5-122 419-IOSTA for factory setting DRV_1..........5-122 IOEXT of user module .................................5-138 IOSTA in subject area VAL ..........................5-122 of system ...................................................5-121 User module 583-IOEXT .............................5-138
Status word IOSTA in subject area VAL .............5-122 Step response Frequency ....................................................6-84 Frequency with long settling time.................6-63 Higher-order controlled system ..................5-206 Step response of frequency is optimum ..............6-85 Step response of frequency with high overshoot......................................6-61 Step response of frequency with long settling time..................................6-86 Stop ramp.........................................................5-157 Structure diagram of FOR ...................................6-82 Structure of reference processing in the slave ................................................5-172 Subject areas........................................................3-3 Parameter, characteristic data switchover (CDS) ............5-166 Subject areas, overview........................................3-3 Switching between UDS......................................5-21 Switching frequency .........................................5-189 Switching frequency of power stage .................5-190 Switching frequency, minimum.........................5-189 Switching frequency, power stage ....................5-189 Switchover Characteristic data set .................................4-14 User data set..........4-14, 4-17, 4-21, 4-25, 4-38 User data set (switchable offline)..................4-25 System .............................................................5-196
1 2 3 4 5 6 A
T
Temperature sensors, types................................5-81 Terminals, as control location ................... 5-44, 5-73 Time diagram of motor holding brake BRK2 in FOR...............................................5-147 BRK2 in VFC (SFC)......................................5-145 Time limited error checkback E-OC...................5-132 Tips and optimization aids for control engineers .......................... 6-33, 6-81 Torque forming current iq ...................................6-78 Torques, scaling (204-TSCL)...............................5-36 Traction and lifting drive .......................................4-8 Active functions..............................................4-8 applications....................................................4-4 Parameter comparison .................................4-26 Transmission speed, CAN controllers ................5-138 A-45
DE EN FR
Appendix D Index
Truth table for Control via terminals ....................................5-44 Truth table, control via terminals ........................5-73 Types of parameters............................................. 5-3 Typical maximum reference speeds.................... 6-73 Typical resistance values of a linear PTC (KTY 84 - 130) ...................... 5-82 Typical slip frequencies of asynchronous motors...............................6-35 Typical slip frequencies dependent on power group............................................ 6-35 Typical uses of the application data sets............... 3-4
V
V/F characteristic........................................ 6-9, 6-40 V/F characteristics of IxR load compensation ............................. 6-17 v/t diagram ........... 4-24, 4-33, 4-38, 4-40, 4-42, 4-44, 4-67 Variants of power failure bridging ..................... 5-100 Voltage Frequency Control (VFC) ........................... 6-6 Voltage frequency control with two interpolation points .......................... 6-9 Voltage supply to I/Os .........................................2-15 Voltage supply, specification............................... 2-11
U
UDS (user data set)............................................... 3-2 UDS switchover .................................................. 5-23 UDS, switchover ................................................. 5-21 UDS, User data set................................................ 3-5 Unstable control characteristic..........................5-203 Up synchronization ............................................. 6-30 Use of analog input as digital input ..................... 2-15 Use, intended ....................................................... 1-2 User application................................................ 5-110 User data set Storing......................................................... 5-21 Switchover (switchable offline)..................... 4-14 User data set switchover ....................................4-38 User data sets ...................................................... 3-5 User defined subject area _11UA......................5-109 User errors KP200..........................................................B-25 SmartCard operation ....................................B-26 User interface and data structure..........................3-1 User levels in the parameter structure .................. 3-7 User levels, parameter structure ...........................3-7 User module UM-8I4O ........................................ 2-12
W
Warning messages ............................... 5-123, 5-124 Hysteresis .................................................. 5-125 Warning thresholds...........................................5-124 Wiring Use of clock output ......................................5-59 Wiring with reference input via clock input .........5-57
A-46
Lust Antriebstechnik GmbH Gewerbestrasse 5-9 35633 Lahnau Gemany Tel. +49 (0) 64 41 / 9 66-0 Fax +49 (0) 64 41 / 9 66-137 Internet: http://www.lust-tec.de e-mail: [email protected] Lust DriveTronics GmbH Heinrich-Hertz-Str. 18 D-59423 Unna Gemany Tel. +49 (0) 23 03 / 77 9-0 Fax +49 (0) 23 03 / 77 9-3 97 Internet: http://www.lust-drivetronics.de e-mail: [email protected] ID no.: 0840.22B.5-00 Date: 12/2005 We reserve the right to make technical changes.
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CDA 3000 - Application Manual

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EN EN FR ES

Adaptation of the drive system to the application

With shipment (depending on supply package)

Application Manual CDA3000

Valid for software version V3.5 and above

We reserve the right to make technical changes.

How to use this manual

Appendix: Parameter overview, Error table, Glossary

Application Manual CDA3000

Danger from electrical tension! Improper behaviour

Note: Useful information Reference:More information in other sections of the

Function not available in the control mode

Application Manual CDA3000

Inverter module CDA3000

User interface and data structure

Application Manual CDA3000

Application data sets

Application Manual CDA3000

Application Manual CDA3000

Application Manual CDA3000

6.3 6.3.1 6.3.2 6.3.3 6.3.4

Overview of parameters Error messages Glossary Index

Application Manual CDA3000

Application Manual CDA3000

During installation observe the following instructions:

Application Manual CDA3000

Application Manual CDA3000

2 Inverter module CDA3000

Application Manual CDA3000

2 Inverter module CDA3000

Device and terminal view

No. H1, H2, H3 LEDs

Key to Figure 2.1

2 Inverter module CDA3000

Designation PTC connection RS232 connection Option slot 1 Option slot 2

Power terminal designation, CDA3000

Application Manual CDA3000

2 Inverter module CDA3000

Control terminal designation, CDA3000

Application Manual CDA3000

2 Inverter module CDA3000

24 V DC supply, feed Digital ground

UV IED00 IED01 IED02 IED03 IED04 IED05 IED06 IED07 DGND

DGND OED00 OED01 OED02 OED03

Control terminal designation, UM-8140

Application Manual CDA3000

2 Inverter module CDA3000

Inverter module BG1 ... BG5

Inverter module BG6 ... BG8

Typ: Ne tz: Ausg .:

IK ECHN IEBST au ANTR Lahn

00 SN.: .000000 00 000.0

Typ: Netz: Ausg.:

00 SN.: .000000 00 000.0

Mounting of user/communication modules

Do not plug modules in during operation.

Application Manual CDA3000

2 Inverter module CDA3000

User and communication module