User`s manual

ManualsBrandsDigital Watchdog ManualsPrint & ScanDW-716 DW-709

vacon nx

ac drives

marine application (apfiff09)

application manual

Summary of content (258 pages)

PAGE 1
vacon nx ® ac drives marine application (apfiff09) application manual
PAGE 2
• Vacon apfiff09 marine VACON MARINE APPLICATION MANUAL INDEX Document code: DPD01667 Software code: APFIFF09V151 Date: 21.10.2014 1. MARINE APPLICATION - INTRODUCTION ............................................................................................................... 6 1.1 General ......................................................................................................................................................... 6 1.2 Basic Features .....................................
PAGE 3
apfiff09 marine vacon • 3 6.4.3 Analogue input 1 ..................................................................................................................................... 45 6.4.4 Analogue input 2 ..................................................................................................................................... 46 6.4.5 Analogue input 3 ..................................................................................................................................... 46 6.4.
PAGE 4
• Vacon 6.15 6.16 6.17 6.18 6.19 6.20 7. apfiff09 marine Brake Control .............................................................................................................................................. 73 Autorestart parameters ............................................................................................................................... 74 PI Control Parameters....................................................................................................................
PAGE 5
apfiff09 marine vacon • 5 7.12.3 Stall protection ................................................................................................................................. 197 7.12.4 Speed Error ....................................................................................................................................... 199 7.12.5 Motor Protection .............................................................................................................................. 200 7.12.
PAGE 6
• Vacon 1. apfiff09 marine MARINE APPLICATION - INTRODUCTION Software APFIFF09, Marine application Marine application has advanced power handling features, main focus being in different kind of propulsion systems. Application can be used also for winch control where smooth brake logic makes it possible to use a multi-motor winch system by just entering few additional parameter settings that are explained in this manual without forgetting permanent magnet motors. 1.
PAGE 7
apfiff09 marine 1.2 vacon • 7 Basic Features The Marine application provides a wide range of parameters for controlling induction motors and permanent magnet motors. It can be used for various kinds of different processes where wide flexibility of I/O signals is needed and only simple PI control logic. The main focus has been how power reference, power limits and torque limits behave in different situations.
PAGE 8
• Vacon 2. V120 V122 V128 - apfiff09 marine MARINE VERSIONS COMPATIBILITY ISSUES Temperature measurement board 2 has own response parameter. Speed error monitoring status bits are moved from Fault Word 2 to Fault Word 10 B0 and from Warning Word 1 to Warning Word 10 B0 Earlier version, when operating in Ramp Follower mode, follower brake control closed the brake after master drive was in stop state. Now brake is closed in this mode at the same time as master drive is closing the brake.
PAGE 9
apfiff09 marine 3. vacon • 9 CONTROL I/O Reference potentiometer, NXOPTA1 Terminal  mA Signal Reference voltage output Analogue input 1. Range 0-10V, Ri = 200k Range 0-20 mA Ri = 250 I/O Ground Analogue input 2. Range 0-10V, Ri = 200k Range 0-20 mA Ri = 250 Control voltage output Description Voltage for potentiometer, etc. Analogue input 1 frequency reference. Input range selected by jumpers.
PAGE 10
• Vacon apfiff09 marine 4. PRINCIPLE The programming principle of the input and output signals in the Multipurpose Control Application NXP as well as in the Pump and Fan Control Application (and partly in the other applications) is different compared to the conventional method used in other Vacon NX applications. In the conventional programming method, Function to Terminal Programming Method (FTT), you have a fixed input or output that you define a certain function for.
PAGE 11
apfiff09 marine 4.2 vacon • 11 Defining a terminal for a certain function with NCDrive programming tool If you use the NCDrive Programming Tool for parametrizing you will have to establish the connection between the function and input/output in the same way as with the control panel. Just pick the address code from the drop-down menu in the Value column (see the Figure below). Figure 4-1.
PAGE 12
• Vacon 4.3 apfiff09 marine Defining unused inputs/outputs All unused inputs and outputs must be given the board slot value 0 and the value 1 also for the terminal number. The value 0.1 is also the default value for most of the functions. However, if you want to use the values of a digital input signal for e.g. testing purposes only, you can set the board slot value to 0 and the terminal number to any number between contact' and values 2 to 10 to 'closed contact'.
PAGE 13
apfiff09 marine 5. MARINE APPLICATION vacon • 13 MONITORING VALUES On the next pages you will find the lists of parameters within the respective parameter groups. The parameter descriptions are given on pages 76 to 224. Parameter description includes more than is available in this application see parameter list what is available.
PAGE 14
• Vacon 5.1 apfiff09 marine Monitoring values The monitoring values are the actual values of parameters and signals as well as statuses and measurements. Code V1.1 V1.2 V1.3 V1.4 V1.5 V1.6 V1.7 V1.8 V1.9 V1.10 V1.11 V1.12 V1.13 V1.14 V1.15 V1.16 V1.17 V1.18 V1.19 V1.20 V1.
PAGE 15
apfiff09 marine vacon • 15 5.1.1 Monitoring values 2 Code V1.24.1 V1.24.2 V1.24.3 V1.24.4 V1.24.5 V1.24.6 V1.24.7 V1.24.8 V1.24.9 V1.24.10 V1.24.11 V1.24.12 V1.24.13 V1.24.14 V1.24.15 V1.24.16 V1.24.17 V1.24.18 V1.24.19 V1.24.20 V1.24.21 V1.24.
PAGE 16
• Vacon apfiff09 marine 5.1.2 FieldBus Monitoring values Code V1.25.1 V1.25.2 V1.25.3 V1.25.4 V1.25.5 V1.25.6 Parameter FB Control Word FB Status Word FB Torque Reference FB Limit Scaling FB Adjust Reference FB Analogue Output V1.25.7 FB Motor Current V1.25.8 V1.25.9 V1.25.10 V1.25.11 V1.25.12 V1.25.13 V1.25.14 V1.25.15 V1.25.16 V1.25.17 V1.25.18 V1.25.19 V1.25.20 V1.25.21 V1.25.
PAGE 17
apfiff09 marine vacon • 17 5.1.5 Frequency Chain Code V1.28.1 V1.28.2 V1.28.3 V1.28.4 V1.28.5 V1.28.6 Parameter Frequency Reference 1 Frequency Reference 2 Frequency Reference Actual Frequency Ramp Out Frequency Reference Final Encoder Frequency Unit Hz Hz Form. ID 1126 1127 Hz 1128 Hz 1129 Hz 1131 Hz 1164 Description 5.1.6 Torque Chain Code V1.29.1 V1.29.2 V1.29.3 V1.29.4 V1.29.
PAGE 18
• Vacon apfiff09 marine 5.2 Monitoring values description V1.1 Output frequency [#,## Hz] ID1 Output frequency to motor, updated at 10 ms time level. V1.2 Frequency reference [#,## Hz] ID 25 Frequency reference to motor control, after speed share function. updates at 1 ms time level. V1.3 Motor speed [ # rpm] ID 2 [A] ID 3 Motor speed in rpm V1.4 Motor current Open loop: 1 s linear filtering.
PAGE 19
apfiff09 marine V1.5 Motor torque vacon • 19 % ID 4 In % of Motor nominal torque Open loop 1 s linear filtering Closed Loop 32 ms filtering Drive Synch Operation Follower drive nominal current. V1.6 Motor Power % ID 5 Calculated motor power V1.7 Motor voltage V ID 6 Calculated motor voltage V1.8 DC link voltage V ID 7 Measured DC voltage, filtered. V1.9 Unit temperature ID 8 Heatsink temperature V1.
PAGE 20
• Vacon apfiff09 marine V1.15 Analogue Out 1 % ID 26 V1.16 Analogue Out 2 % ID 50 V1.17 Analogue Out 3 % ID 51 V1.18 Analogue Out 4 % ID 1526 Analogue Output value 0 % = 0 mA / 0 V, 100 % = 20 mA / 10 V V1.19 DIN1, DIN2, DIN3 ID 15 V1.20 DIN4, DIN5, DIN6 ID 16 b0 b1 b2 V1.21 DIN1/DIN2/DIN3 status DIN3 DIN2 DIN1 Power reference % DIN4/DIN5/DIN6 status DIN6 DIN5 DIN4 ID 1700 Power reference monitoring value.
PAGE 21
apfiff09 marine vacon • 21 5.2.1 Monitoring values 2 V1.24.1 Current A ID 1113 Unfiltered motor current, recommended signal for NCDrive monitoring. Drive Synch Operation Master drive This value is the total current of the system divided by number of drives in the system (SbLastID). SbLastId cannot be changed; it needs to be set according to how many drives are linked with system bus. Drive Synch Operation Follower drive This value is current of drive own power unit. V1.24.
PAGE 22
• Vacon apfiff09 marine V1.24.7 Measured temperature 1 Cº ID 50 V1.24.8 Measured temperature 2 Cº ID 51 V1.24.9 Measured temperature 3 Cº ID 52 V1.24.10 Measured temperature 4 Cº ID 69 V1.24.11 Measured temperature 5 Cº ID 70 V1.24.12 Measured temperature 6 Cº ID 71 Separate measurement from two PT100 board. The signal has 4 s filtering time. V1.24.13 ABS Encoder Revolutions ID55 Absolute encoder revolution information. V1.24.
PAGE 23
apfiff09 marine V1.24.18 vacon • 23 Regulator Status ID 77 Regulator status ID77 b0 b1 b2 b3 Motoring Current Regulator Status Generator Current Regulator Status Motoring Torque Regulator Status Generator Torque Regulator Status For CL monitor B0 For CL monitor B1 b4 b5 b6 b7 Over Voltage Regulator Status Under Voltage Regulator Status DC Voltage DC Voltage b8 b9 b10 b11 b12 b13 b14 b15 V1.24.19 Frequency Delta ID 1847 Change of Final Frequency Reference in Hz/s. V1.24.
PAGE 24
• Vacon V1.24.21 apfiff09 marine Encoder 2 Frequency OPT-D7 board second input encoder frequency. V1.24.22 Operation Hours Running state hours. 5 Tel.
PAGE 25
apfiff09 marine vacon • 25 5.2.2 FieldBus Monitoring values V1.25.1 FB Control Word ID1160 Control word used in bypass mode. See P2.13.22 and option board ByPass. More details in Chapter 9 Status and Control Word in detail.
PAGE 26
• Vacon V1.25.3 apfiff09 marine FB Torque Reference % ID 1140 Torque reference value from fieldbus Default Control of FB PD 1 V1.25.4 FB Limit Scaling % ID 46 Limit scaling input value from fieldbus. Default Control of FB PD 2. V1.25.5 FB Adjust Reference % ID 47 Reference adjustment value from fieldbus. Default Control of FB PD 3. V1.25.6 FB Analog Output % ID 48 Fieldbus value to control analogue output. Default Control of FB PD 4. V1.25.
PAGE 27
apfiff09 marine V1.25.9 vacon • 27 Fault Word 2 ID 1173 Fault Word 2 ID1173 Fault V1.25.
PAGE 28
• Vacon V1.25.
PAGE 29
apfiff09 marine vacon • 29 V1.2515 Din Status Word ID 56 V1.25.16 Din Status Word 2 ID 57 b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 b11 b12 b13 b14 b15 V1.25.17 DIN StatusWord 1 DIN: A.1 DIN: A.2 DIN: A.3 DIN: A.4 DIN: A.5 DIN: A.6 DIN: B.1 DIN: B.2 DIN: B.3 DIN: B.4 DIN: B.5 DIN: B.6 DIN: C.1 DIN: C.2 DIN: C.3 DIN: C.4 MC Status DIN StatusWord 2 DIN: C.5 DIN: C.6 DIN: D.1 DIN: D.2 DIN: D.3 DIN: D.4 DIN: D.5 DIN: D.6 DIN: E.1 DIN: E.2 DIN: E.3 DIN: E.4 DIN: E.5 DIN: E.
PAGE 30
• Vacon V1.25.20 apfiff09 marine Shaft Angle ID 1169 Angle information from incremental encoder. The value is reset when 24 Vdc is removed from the drive. V1.25.21 Fault Word 10 ID 1202 Fault Word 10 ID1202 Fault Comment b0 b1 b2 b3 Speed Error F61 Over Load Fault Active No Motor Fault F82 F83 b4 b5 b6 b7 PT100 Fault F56 & F65 b8 b9 b10 b11 b12 b13 b14 b15 V1.25.
PAGE 31
apfiff09 marine vacon • 31 5.2.3 Master / Follower V1.26.1 SB SystemStatus ID 1601 D1: Status of all (max 4) drives status in system bus. D2, D3 and D4: Drive own status B0-B3 FALSE V1.26.
PAGE 32
• Vacon V1.26. 3 apfiff09 marine Master CW ID93 Master Drive Control Word. Master Sending, Follower receiving. Master Control Word ID93 Master-Follower DriveSynch Master-Follower b0 b1 b2 b3 Ready Status Run Enable Final Run Request Fault Reset b4 b5 b6 b7 Running Fault Brake Control WD Pulse b8 b9 b10 b11 Brake Control Reference Release Data Logger Trigger Ramp Stop Active Start Delay Active b12 b13 b14 b15 Fault Reset Running Brake Control Data Logger Trigger Disable SB Diagnostic V1.26.
PAGE 33
apfiff09 marine vacon • 33 V1.26.5.3 Status Word D3 ID 1603 D1: D3 Status Word D2,D3 and D4: Not updated. V1.26.5.4 Status Word D4 ID 1604 D1: D4 Status Word D2,D3 and D4: Not updated.
PAGE 34
• Vacon apfiff09 marine 5.2.4 PI Control monitoring This PI control uses ID numbers for input and output signal. See detail in PI Control chapter. V1.27.1 PI Reference ID20 Used PI Reference, reference is selected by ID number. V1.27.2 PI Actual Value ID21 PI Actual value. Actual input is selected by ID number. V1.27.3 PI Output ID23 PI Output before scaling. This value uses PI Out High and Low for limiting. V1.27.4 PI Output Scaled ID1807 Scaled PI Output.
PAGE 35
apfiff09 marine vacon • 35 5.2.5 Frequency Chain V1.28.1 Frequency Reference 1 Hz 1126 Frequency reference before speed share. Speed Share is used also for reference direction control. V1.28.2 Frequency Reference 2 Hz 1126 Frequency reference after speed share and reference adjust but before interpolator. V1.28.3 Frequency Reference Hz 25 Frequency reference after interpolator but before second order filtering. V1.28.
PAGE 36
• Vacon apfiff09 marine 5.2.7 Counters Below counter values are not visible as a standard monitoring signal but are accessible with ID numbers from fieldbus. 5.2.7.1 Power On Time counter This timer is counting when control board is powered (i.e. counting when only 24 Vdc is given to control board). ID10 PowerOnTimeTripCounter Resetable power on time counter. UINT value. READ only access. Use ID1050 to define format.
PAGE 37
apfiff09 marine ID81 vacon • 37 EnergyMeterUnit Unit for the energy meter USINT value. READ only access. 1 = kWh 2 = MWh 3 = GWh 4 = TWh 5.2.7.3 ID12 Energy Trip counter monitoring EnergytripCounter Energy trip counter, use ID1052 define format. UINT value. READ only access. Max. value is 65 535 and after that value is resetted to zero and counting is restarted. ID1052 EnergyTripCounterUnit WRITE access.Unit value can be changed via fieldbus .USINT value. 1 = 0.01 kWh 2 = 0.
PAGE 38
• Vacon apfiff09 marine 6. MARINE APPLICATION 6.1 Basic parameters Code P2.1.1 Parameter Minimum frequency Min 0,00 PARAMETER LIST Max P2.1.2 Unit Hz Default 0,00 ID 101 P2.1.2 Maximum frequency P2.1.1 320,00 Hz 50,00 102 P2.1.3 Motor nominal voltage 180 690 V NX2: 230V NX5: 400V NX6: 690V 110 P2.1.4 Motor nominal frequency 8,00 320,00 Hz 50,00 111 P2.1.5 Motor nominal speed 24 20 000 rpm 1440 112 P2.1.6 Motor nominal current 0,1 x IH 2 x IH A IH 113 P2.1.
PAGE 39
apfiff09 marine 6.2 vacon • 39 Reference Handling 6.2.1 Basic Settings Code Parameter Min Max P2.2.1 I/O Reference 0 16 0 117 P2.2.2 Keypad reference selector 0 9 8 121 0 9 9 122 See par. 2.2.2 0 -300,00 0,0 16 300,00 500,0 1 100,00 100,0 131 1241 1248 See ID117 & ID422 P2.2.3 P2.2.4 P2.2.5 P2.2.
PAGE 40
• Vacon apfiff09 marine 6.2.3 Power Reference Code Parameter Min Max P2.2.8.1 Power Reference 0 5 0,0 300.0 0 10000 P2.2.8.2 P2.2.8.3 Maximum Power reference Power reference Increase Rate Unit Default ID 0 1620 % 120,0 1621 %/s 100 1622 Table 6-2. Power reference input signal selection, G2.2.8 5 Cust Tel.
PAGE 41
apfiff09 marine vacon • 41 6.2.4 Torque Reference Code P2.2.9.1 P2.2.9.2 P2.2.9.3 P2.2.9.4 P2.2.9.5 Parameter Torque reference selection Torque reference max. Torque reference min. Torque reference filtering time Torque Reference Dead Zone Min Max 0 8 300,0 300,0 300,0 100 642 300,0 % 0,0 643 0 32000 ms 0 1244 0,0 300,0 % 0,00 1246 5 P2.2.9.7 P2.2.9.8 P2.2.9.9 P2.2.9.
PAGE 42
• Vacon apfiff09 marine 6.2.5 Prohibit frequency parameters Code P2.2.10.1 P2.2.10.2 P2.2.10.3 Parameter Prohibit frequency range 1 low limit Prohibit frequency range 1 high limit Ramp time factor Min Max Unit Default -1,00 320,00 Hz 0,00 509 0=Not used 0,00 320,00 Hz 0,00 510 0=Not used 518 Multiplier of the currently Selected ramp time between prohibit frequency limits. 0,1 10,0 x 1,0 Cust ID Note Table 6-3. Prohibit frequencies (G2.5) 6.2.
PAGE 43
apfiff09 marine 6.3 vacon • 43 Ramp Control 6.3.1 Basic Settings Code Parameter Min Max P2.3.1 Start function 0 1 0 505 P2.3.2 Stop function 0 1 0 506 P2.3.3 P2.3.4 Acceleration time 1 Deceleration time 1 0,2 0,2 3270,0 3270,0 s s 3,0 3,0 103 104 P2.3.5 Ramp 1 shape 0 100 % 2 500 P2.3.6 P2.3.7 Acceleration time 2 Deceleration time 2 0,2 0,2 3270,0 3270,0 s s 10,0 10,0 502 503 P2.3.8 Ramp 2 shape 0 100 % 4 501 P2.3.
PAGE 44
• Vacon 6.4 apfiff09 marine Input Signals 6.4.1 Basic Settings Code Parameter Min Max P2.4.1.1 Start/Stop logic selection 0 7 Unit Default Cust 0 ID Note Start Start signal 1 signal 2 (Default: (Default: DIN1) DIN2) 300 0 1 2 3 4 5 6 7 Start fwd Start/Stop Start/Stop Start pulse Start Start fwd* Start*/Stop Start*/Stop Start rvs Reverse Run enable Stop pulse Mot.Pot UP Start rvs* Reverse Run Enable Table 6-5. Input signals: basic settings, G2.2.
PAGE 45
apfiff09 marine vacon • 45 P2.4.2.26 Inching 1 0.1 0.1 531 P2.4.2.27 Inching 2 0.1 0.1 532 P2.4.2.28 P2.4.2.29 Motoring Power limit 1 Motoring Power limit 2 0.1 0.1 0.1 0.1 1500 1501 P2.4.2.30 2nd frequency Limit 0.1 0.1 1511 P2.4.2.31 P2.4.2.32 P2.4.2.33 P2.4.2.34 P2.4.2.35 P2.4.2.36 P2.4.2.37 P2.4.2.38 Generator Power Limit 1 Generator Power Limit 2 Reset Position MF Mode 2 Emergency Stop Motoring Torque Limit 1 Generator Torque Limit 1 PID Activation 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.
PAGE 46
• Vacon apfiff09 marine 6.4.4 Analogue input 2 Code P2.4.4.1 P2.4.4.2 Parameter AI2 signal selection AI2 filter time Min 0.1 0,000 Max E.10 32,000 P2.4.4.3 AI2 signal range 0 3 -160,00 160,00 -160,00 Unit s Default A.2 0,000 Cust ID 388 329 1 325 % 0,00 326 160,00 % 100,00 327 0,00 320,00 Hz 0,00 393 0,00 320,00 Hz 0,00 394 0,00 20,00 % 0,00 395 0,00 100,00 % 0,00 396 P2.4.4.
PAGE 47
apfiff09 marine vacon • 47 6.4.6 Analogue input 4 Code Parameter Min Max P2.4.6.1 AI4 signal selection 0.1 E.10 P2.4.6.2 AI4 filter time 0,000 AI4 custom minimum P2.4.6.3 -160,00 setting AI4 custom maximum P2.4.6.4 -160,00 setting Unit Default Cust ID 0.1 152 32,000 s 0,000 153 160,00 % 0,00 155 160,00 % 100,00 156 P2.4.6.5 AI4 signal inversion 0 1 0 162 P2.4.6.6 AI3 reference scaling, minimum value -32000 -32000 0 1039 P2.4.6.
PAGE 48
• Vacon apfiff09 marine P2.5.1.18 Output frequency limit 2 supervision Reference limit supervision P2.5.1.19 Temperature limit supervision 0.1 0.1 450 P2.5.1.20 Torque limit supervision 0.1 0.1 451 P2.5.1.21 Motor thermal protection 0.1 0.1 452 P2.5.1.22 Analogue input supervision limit 0.1 0.1 463 P2.5.1.23 Motor regulator activation 0.1 0.1 454 P2.5.1.24 Fieldbus digital input 1 0.1 0.1 455 P2.5.1.25 FB Dig 1 Parameter ID0 ID0 891 P2.5.1.
PAGE 49
apfiff09 marine P2.5.2.4 P2.5.2.5 P2.5.2.6 P2.5.2.7 Analogue output 1 inversion Analogue output 1 minimum Analogue output 1 scale Analogue output 1 offset vacon • 49 0 1 0 309 0 1 0 310 10 1000 % 100 311 -100,00 100,00 % 0,00 375 Unit Default 0=Not inverted 1=Inverted 0=0 mA (0 %) 1=4 mA (20 %) Table 6-11. Analogue output 1 parameters, G2.3.5 6.5.3 Analogue output 2 Code P2.5.3.1 P2.5.3.2 P2.5.3.3 P2.5.3.4 P2.5.3.5 P2.5.3.6 P2.5.3.
PAGE 50
• Vacon P2.5.4.7 Analogue output 3 offset apfiff09 marine -100,00 100,00 % 0,00 Unit Default 484 Table 6-13. Analogue output 3 parameters, G2.3.7 6.5.5 Analogue output 4 Code P2.5.5.1 P2.5.5.2 P2.5.5.3 P2.5.5.4 P2.5.5.5 P2.5.5.6 P2.5.5.7 Parameter Analogue output 4 signal selection Analogue output 4 function Analogue output 4 filter time Analogue output 4 inversion Analogue output 4 minimum Analogue output 4 scale Analogue output 4 offset Min Max 0.1 E.10 0.
PAGE 51
apfiff09 marine P2.5.6.3 P2.5.6.4 Digital output 1 on delay Digital output 1 off delay vacon • 51 0,00 320,00 s 0,00 487 0,00 = On delay not in use 0,00 320,00 s 0.00 488 0,00 = Off delay not in use 0=Not inverted 1=Inverted P2.5.6.5 Invert delayed DO1 0 1 0 1587 P2.5.6.6 ID.Bit Free DO 0,00 2000,15 0,00 1217 Table 6-15. Delayed digital output 1 parameters, G2.3.1 6.5.7 Delayed digital output 2 Code P2.5.7.1 P2.5.7.2 P2.5.7.3 P2.5.7.
PAGE 52
• Vacon apfiff09 marine 2=AI2 3=AI3 4=AI4 P2.5.8.13 P2.5.8.14 Analogue supervision low limit Analogue supervision high limit 0,00 100,00 % 10,00 357 Reset limit 0,00 100,00 % 90,00 358 Set limit Table 6-17. Supervision Limit settings, G2.3.4 6.6 Limit Settings 6.6.1 Current handling Code Parameter Min Max Unit Default P2.6.1 Current limit 0 2 x IH A IL 107 0 399 P2.6.2 Scaling of current limit 0 5 P2.6.3 P2.6.
PAGE 53
apfiff09 marine P2.6.2.11 P2.6.2.12 P2.6.2.13 P2.6.2.14 24- Scaling Motoring Power Limit Scaling Generator Power Limit Under Voltage Power DC Level Under Voltage Power Limit vacon • 53 0 5 0 179 0 5 0 1088 0 1200 V 0 1611 -300,0 300,0 % 0 1612 As parameter P2.6.2 Scaling from 0 to ID1289 As parameter P2.6.
PAGE 54
• Vacon apfiff09 marine 6.6.3 Torque Handling Code Parameter P2.6.3.1 Torque Limit P2.6.3.2 Motoring Torque Limit Generator Torque P2.6.3.3 Limit Motoring Torque Limit P2.6.3.4 1 Generator Torque limit P2.6.3.5 1 P2.6.3.6 P2.6.3.7 P2.6.3.
PAGE 55
apfiff09 marine vacon • 55 6.6.5 DC-Link Handling Code Parameter P2.6.5.1 Overvoltage controller Min Max Unit Default Cust ID 0 2 1 607 P2.6.5.2 Over Voltage Reference selector 0 2 1 1262 P2.6.5.3 Brake chopper 0 4 0 504 P2.6.5.4 Brake Chopper Level 5: 605 6: 836 5: 797 6: 1099 P2.6.5.5 Undervoltage controller 0 2 1 608 0 1 1 1537 5: 410 6: 567 5: 540 6: 745 V Varies 1538 Under Voltage Ref Selector Under Voltage Reference P2.6.5.6 P2.6.5.6 6.6.5.
PAGE 56
• Vacon 6.7 apfiff09 marine Flux and DC Current handling 6.7.1 Flux and DC Current handling OL Settings Code P2.7.1.1 P2.7.1.2 P2.7.1.3 P2.7.1.4 Parameter DC braking current DC braking time at start DC braking time at stop Frequency to start DC braking during ramp stop Min 0,00 Max IL Unit A Default 0,00 0,00 600,00 s 0,00 516 0=DC brake is off at start 0,00 600,00 s 0,00 508 0=DC brake is off at stop 0,10 10,00 Hz 1,50 515 P2.7.1.5 Scaling of DC-braking current P2.7.1.
PAGE 57
apfiff09 marine 6.8 vacon • 57 Motor Control 6.8.1 Motor Control Basic Settings Code Parameter Min Max P2.8.1 Motor control mode 0 4 0 600 P2.8.2 Motor control mode 2 0 4 2 521 See P2.8.1 1278 0=Speed Control 1=Maximum freq limit 2=Ramp Output 3=Min 4=Max 5=Window P2.8.3 Torque Select 0 5 Unit Default Cust 2 ID Note 0=Frequency control 1=Speed control 2=Speed/Torque control 3=Closed loop speed ctrl 4=Closed loop Speed/torque ctrl 6.8.
PAGE 58
• Vacon apfiff09 marine 6.8.4 PMSM Control settings Code P2.8.5.1 P2.8.5.2 P2.8.5.3 P2.8.5.4 Parameter PMSM Shaft Position Start Angle Identification mode Start Angle Identification DC Current Polarity Pulse Current Min Max 0 65535 0 10 0,0 150,0 -10,0 Unit Default Cust 0 ID 649 0 1691 % 0,0 1756 200,0 % 0,0 1566 P2.8.5.5 Start Angle ID Time 0 32000 ms 0 1755 P2.8.5.6 I/f Current 0,0 150,0 % 50,0 1693 P2.8.5.7 I/f Control Limit 0,0 300,0 % 10,0 1790 P2.8.
PAGE 59
apfiff09 marine P2.8.6.9 P2.8.6.10 P2.8.6.
PAGE 60
• Vacon apfiff09 marine 6.8.6 Tuning parameters Code P2.8.7.1 P2.8.7.2 P2.8.7.3 P2.8.7.4 P2.8.7.5 P2.8.8.6 P2.8.7.7 P2.8.7.8 P2.8.7.9 P2.8.7.10 P2.8.7.
PAGE 61
apfiff09 marine vacon • 61 6.8.7 Identification parameters Code P2.8.8.1 P2.8.8.2 P2.8.8.3 P2.8.8.4 P2.8.8.5 P2.8.8.6 P2.8.8.7 P2.8.8.8 P2.8.8.9 P2.8.8.10 P2.8.8.11 P2.8.8.12 P2.8.8.13 P2.8.8.14 P2.8.8.15 P2.8.8.16 P2.8.8.17 P2.8.8.18 P2.8.8.19 P2.8.8.20 P2.8.8.21 P2.8.8.22 P2.8.8.23 P2.8.8.24 P2.8.8.25 P2.8.8.26 P2.8.8.
PAGE 62
• Vacon 6.9 apfiff09 marine Speed Control 6.9.1 Speed Control Basic settings Code P2.9.1 P2.9.2 Parameter Load drooping Load Drooping Time Min 0,00 0 Max 100,00 32000 P2.9.3 Load Drooping Removal 0 2 Unit % ms Default 0,00 0 Cust 0 ID 620 656 1534 Note For dynamic changes 0=Normal 1= At zero Freq Lim 2=Linear zero to Fnom Table 6-20. Speed control basic settings 6.9.2 Speed Control OL Settings Code P2.9.4.1 P2.9.4.
PAGE 63
apfiff09 marine vacon • 63 6.10 Drive Control Code P2.10.1 P2.10.2 P2.10.3 P2.10.4 P2.10.5 P2.10.6 P2.10.7 P2.10.8 P2.10.9 P2.10.10 P2.10.
PAGE 64
• Vacon apfiff09 marine 6.11 Master Follower Control Parameters Code Parameter Min Max P2.11.1 Master Follower Mode 0 4 0 1324 P2.11.2 Follower Speed Reference Select 0 18 17 1081 P2.11.3 Follower Torque Reference Select 0 10 10 1083 P2.11.4 Follower Stop Function 0 2 2 1089 P2.11.5 MF Brake Logic 0 2 0 1326 P2.11.6 MF Mode 2 0 4 0 1093 P2.11.7 System Bus Fault 0 3 1 1082 0,00 320,00 3,00 1352 0 3 1 1536 P2.11.8 P2.11.
PAGE 65
apfiff09 marine 6.11.1.1 Code 2.11.10.1 2.11.10.2 2.11.10.3 2.11.10.4 vacon • 65 Drive Synch specific parameters Parameter Drive Synch Follower fault Follower phase shift DC Voltage Blance Gain SB Last ID 2nd Min Max 0 2 0,0 360,0 0 0 Unit Default Cust ID Note 1531 Dec 0,0 1518 1000 100 1519 64 0 1799 Table 6-25. Drive Synch specific parameters 6.12 Protections 6.12.1 Common settings Code Parameter Min Max P2.12.1.
PAGE 66
• Vacon 6.12.2 apfiff09 marine Temperature sensor protections Code Parameter Min Max P2.12.2.1 No. of used inputs on board 1 0 5 0 739 P2.12.2.2 Response to temperature fault 0 3 2 740 30,0 200,0 Cº 120,0 741 30,0 200,0 Cº 130,0 742 P2.12.2.3 P2.12.2.4 Board 1 warning limit Board 1 fault limit Unit Default Cust ID P2.12.2.5 No. of uses inputs on board 2 0 5 0 743 P2.12.2.
PAGE 67
apfiff09 marine 6.12.4 vacon • 67 Speed error monitoring Code Parameter Min Max P2.12.4.1 Speed Error Mode 0 3 P2.12.4.2 P2.12.4.3 Speed Error Limit Speed Fault Delay 0,0 0,00 100,0 100,00 Unit Default Cust ID 0 752 % S 5,0 0,1 753 754 Unit Default Note 0=No response 1=Warning 2=Fault,stop acc. to 2.3.2 3=Fault,stop by coasting Table 6-29. Speed error monitoring 6.12.5 Motor thermal protections Code Parameter Min Max P2.12.5.1 Thermal protection of the motor 0 3 P2.12.
PAGE 68
• Vacon 6.12.7 apfiff09 marine Underload protection Code Parameter Min Max 0 3 10,0 150,0 5,0 2,00 P2.12.7.1 Underload protection Field weakening area load P2.12.7.3 Zero frequency load Underload P2.12.7.4 protection time limit P2.12.7.2 Unit Default Cust ID 0 713 % 50,0 714 150,0 % 10,0 715 600,00 s 20,00 716 Unit Default Note 0=No response 1=Warning 2=Fault,stop acc. to 2.3.2 3=Fault,stop by coasting Table 6-32. Underload protection 6.12.
PAGE 69
apfiff09 marine 6.12.11 vacon • 69 External Fault Code Parameter Min Max P2.12.11.1 Response to external fault 1 0 3 2 701 P2.12.11.2 Response to external fault 2 0 3 2 747 Min Max Unit 0,00 320,00 Hz 1801 0,00 0 32,00 300 s % 1805 1800 6.12.12 Code P2.12.12.1 P2.12.12.2 P2.12.12.3 24- Unit Default Cust ID Note 0=No response 1=Warning 2=Fault,stop acc. to 2.3.2 3=Fault,stop by coasting 0=No response 1=Warning 2=Fault,stop acc. to 2.3.
PAGE 70
• Vacon apfiff09 marine 6.13 Fieldbus parameters Code P2.13.1 P2.13.2 Parameter Fieldbus min scale Fieldbus max scale Min 0,00 0,00 Max 320,00 320,00 P2.13.
PAGE 71
apfiff09 marine vacon • 71 6.14 ID Control Functions 6.14.1 Code P2.14.1.1 P2.14.1.2 P2.14.1.3 P2.14.1.4 P2.14.1.5 P2.14.1.6 Value Control Parameter Control Input Signal ID Control Input Off Limit Control Input On Limit Control Output Off Value Control Output On Value Control Output Signal ID Min Max Unit Default 0 10000 ID 0 1580 -32000 32000 0 1581 -32000 32000 0 1582 -32000 32000 0 1583 -32000 32000 0 1584 0 10000 0 1585 P2.14.1.7 Control Mode 0 5 P2.14.1.
PAGE 72
• Vacon 6.14.5 Code P2.14.5.1 P2.14.5.2 apfiff09 marine ID Controlled Digital Output 1 Parameter ID.Bit Free DO Free DO Sel Min 0,00 0,1 Max 2000,15 E.10 Unit ID.Bit Default 0,00 0,1 Cust ID 1216 1574 Note Cust ID 1386 1574 Note Cust ID 1832 1833 1834 1836 1835 Note Table 6-41. ID Controlled Digital Output parameters, G2.3.10 6.14.6 Code P2.14.6.1 P2.14.6.2 ID Controlled Digital Output 2 Parameter ID.Bit Free DO Free DO Sel Min 0,00 0,1 Max 2000,15 E.10 Unit ID.
PAGE 73
apfiff09 marine vacon • 73 6.15 Brake Control Code Parameter Min Max Unit Default P2.15.1 BrakeMechDelay 0,00 320,00 s 0,00 1544 P2.15.2 Brake OFF FreqLim Open Loop 0,00 320,00 Hz 1,50 1535 P2.15.3 Brake OFF FreqLim Closed Loop 0,00 320,00 Hz 0,00 1555 P2.15.4 Brake ON FreqLim + 0,00 320,00 Hz 1,00 1539 P2.15.5 Brake ON FreqLim - 0,00 320,00 Hz 1,50 1540 P2.15.6 Brake On/Off Current Limit 0,00 320,00 A 0,00 1085 P2.15.
PAGE 74
• Vacon apfiff09 marine 6.16 Autorestart parameters Code P2.16.1 P2.16.2 P2.16.3 Parameter Wait time Trial time Start function Number of tries after undervoltage trip Number of tries after P2.16.5 overvoltage trip Number of tries after P2.16.6 overcurrent trip Number of tries after P2.16.7 reference trip Number of tries after P2.16.8 motor temperature fault trip Number of tries after P2.16.9 external fault trip Number of tries after P2.16.10 underload fault trip P2.16.11 Fault Simulation P2.16.
PAGE 75
apfiff09 marine vacon • 75 6.18 Keypad control (Control keypad: Menu M3) The parameters for the selection of control place and direction on the keypad are listed below. See the Keypad control menu in the Vacon NX User's Manual. Code Parameter Min Max P3.1 Control place 1 3 R3.2 Keypad reference Direction (on keypad) P2.1.1 P2.1.2 0 1 0 123 P3.4 Stop button 0 1 1 114 R3.5 Torque reference 0,0 100,0 P3.
PAGE 76
• Vacon 7. MARINE APPLICATION 7.1 Basic Parameters P2.1.1 apfiff09 marine DESCRIPTION OF PARAMETERS Minimum frequency ID101 Defines minimum frequency of any adjustable reference input (i.e. reference is not a parameter). Minimum frequency is bypassed when jogging speed, preset speed or inching reference is used. P2.1.2 Maximum frequency ID102 Defines maximum frequency limit both negative and positive directions.
PAGE 77
apfiff09 marine vacon • 77 P2.1.7 Motor cos phi ID120 P2.1.8 Motor Nominal Power ID116 Find this value on the rating plate of the motor. Drive Synch Operation Motor Nominal power from the motor name plate / Number of drives in parallel using Vacon Drive Synch. P2.1.9 Magnetizing current ID612 Set here the motor magnetizing current (no-load current). Can be measured by running motor without load at 2/3 of nominal speed.
PAGE 78
• Vacon P2.1.10 apfiff09 marine Identification ID631 Identification Run is a part of tuning the motor and the drive specific parameters. It is a tool for commissioning and service of the drive with the aim to find as good parameter values as possible for most drives. The automatic motor identification calculates or measures the motor parameters that are needed for optimum motor and speed control.
PAGE 79
apfiff09 marine 2= vacon • 79 - Identification with motor rotating Shaft is rotated during identification. This identification must be run without load on motor shaft. U/f settings and magnetization current are identified. This identification should be run regardless of the final operation mode (closed loop or open loop) to get the best performance from the motor.
PAGE 80
• Vacon apfiff09 marine recommended to have shaft locked during this identification mode. 10 = - Identification failed Identification failed in last attempt. The basic motor name plate data has to be set correctly before performing the identification run: P2.1.8. Motor basic data. - P2.1.3 - P2.1.9 Magnetization current can also be given if available if given before identification without rotating motor; U/f curve will be tuned according to given magnetization current. - P2.1.11 Motor Type.
PAGE 81
apfiff09 marine 7.2 vacon • 81 Reference Handling Priority order of Marine application speed reference chain. DI (F) SEL DI Max Frequency 2 P Max Frequency P Max Frequency 2 G IN 0 IN 1 F 4 mA fault MUX IN 0 SEL DI I/O Ref 1/2 P I/O Reference P I/O Reference 2 G IN 0 IN 1 IN 1 IN 2 K Control Place SEL G IN 0 IN 1 SEL MIN P Preset Speed IN 1 G IN 0 IN 1 P Keypad Ref Sel IN 2 P Fieldbus Ctr Ref IN 3 P(F) Preset Speeds P 4mA Fault Freq.
PAGE 82
• Vacon apfiff09 marine 7.2.1 Basic Parameters P2.2.1 I/O frequency reference selection 1 ID117 Defines which frequency reference source is used when control place is I/O terminal P3.1 Control Place 0= AI1 - Analogue Input 1. 2.4.2: Input Signals \ S 1= AI2 - Analogue Input 2. S 2.4.3: Input Signals \ 2= AI1+AI2 - Analogue Input 1 + Analogue Input 2.
PAGE 83
apfiff09 marine P2.2.2 Keypad frequency reference selection vacon • 83 ID121 Defines which frequency reference source is used when control place is keypad P3.1 Control Place - Analogue Input 1. 2.4.3: Input Signals \ - Analogue Input 2. 2.4.4: Input Signals \ - Analogue Input 1 + Analogue Input 2. With alternative reference scaling in Analogue Input group 100 % input values can be set to correspond 25 Hz. That is, when both are at 100 % final reference will be 50 Hz.
PAGE 84
• Vacon P2.2.4 apfiff09 marine I/O frequency reference selection 2 ID131 This parameter is used to select different reference input location with digital input P2.4.2.17 I/O Ref. 2. Selections for this are the same as for the I/O frequency reference selection 1. Other parameters related to function - Digital input P2.4.2.17 I/0 Ref. 1/2 P2.2.5 Speed share ID1241 Defines the speed reference percentage ratio after final reference location but before shows the reference after speed share function.
PAGE 85
apfiff09 marine vacon • 85 7.2.2 Constant Reference P2.2.7.1 Jogging speed reference ID124 Defines the jogging speed reference when activated by a digital input. This reference will follow the reverse command if given. Jogging speed has a higher priority than preset speed references. Related parameters - Digital Input P2.4.2.16 Jogging Speed P2.2.7.2 P2.2.7.3 P2.2.7.4 P2.2.7.5 P2.2.7.6 P2.2.7.7 P2.2.7.
PAGE 86
• Vacon apfiff09 marine 7.2.3 Power Reference The Power reference mode allows the motor to operate at constant power while speed and torque are changing giving steady load for the generators in changing conditions. This also gives a fast response for thrusters as torque is increased rapidly after increase of power reference thus making speed of the thrusters to speed up fast to new reference.
PAGE 87
apfiff09 marine P2.2.8.1 vacon • 87 Power Reference Selection ID1620 With this parameter the input source for Power Reference is selected. If this value is set to zero but Torque reference selection is 10= written directly to Power Reference monitoring value from Fieldbus or with analogue ID writing function. - Analogue Input 1. 2.4.3: Input Signals \ - Analogue Input 2. 2.4.4: Input Signals \ 2.4.5: Input Signals \ Signal scaling in 2.4.6: Input Signals \ Analogue input 1, -10 Vdc...
PAGE 88
• Vacon apfiff09 marine 7.2.4 Torque Reference Motor torque is controlled which allows the motor speed to change depending on the actual load on the motor shaft. Speed limit behaviour is controlled by P2.2.9.6 TorqSpeedLimit parameter. The minimum is used only for analogue input selections 1 to 4.
PAGE 89
apfiff09 marine P2.2.9.2 vacon • 89 Torque reference scaling, maximum value ID641 Maximum allowed torque reference for positive and negative values. This is also used for joystick input for negative maximum limit. P2.2.9.3 Torque reference scaling, minimum value ID642 Minimum torque reference for analogue input reference selections 1-4. P2.2.9.4 Torque reference filtering time ID1244 Defines the filtering time for torque reference.
PAGE 90
• Vacon P2.2.9.6 apfiff09 marine Torque Select ID1278 Torque Select This parameter defines the speed limiting mode in torque control mode. This parameter can be used as single motor control mode selection when no change is made between open loop and closed loop controls.
PAGE 91
apfiff09 marine vacon • 91 Minimum from speed reference and torque reference. 3= The minimum of the speed controller output and the torque reference is selected as final torque reference.
PAGE 92
• Vacon apfiff09 marine 5= Window control Speed is limited within window from speed reference. Speed control activation limit is different from the speed limit. Speed needs, therefore, to Neg limit before the speed controller activates, go first to Window Pos or when speed controller is active speed will be restricted Speed controller active P Pos Freq Limit P P Speed Reference Window Pos Torque Control area Window Pos Off P Window Neg Off P Window Neg P P2.2.9.
PAGE 93
apfiff09 marine 7.2.4.1 vacon • 93 Torque reference OL settings P2.2.9.11.1 Open loop torque control minimum frequency ID636 Defines the frequency limit below which the frequency converter operates in frequency control mode. P2.2.9.11.2 Open loop torque controller P gain ID639 Defines the gain for open loop torque control. P2.2.9.11.3 Open loop torque controller I gain ID640 Defines the integration gain for open loop torque control.
PAGE 94
• Vacon apfiff09 marine 7.2.5 Prohibited frequencies In some systems it may be necessary to avoid certain frequencies because of mechanical resonance problems. With these parameters it is possible to set limits for the prohibited frequency region and ramp rate factor to use when frequency is going above this area. When the input reference is increased the internal reference is kept at the low limit until the input reference is above the high limit. P2.2.10.1 Prohibit frequency area 1; Low limit P2.2.
PAGE 95
apfiff09 marine vacon • 95 7.2.6 Motor potentiometer Motor potentiometer is used to control the reference with two digital inputs, one increasing the reference and the other decreasing the reference. The reference change rate can be set by parameter [Hz/s]. Motor potentiometer reference is available in I/O control only. It can be changed only when the drive is in running state. Speed Ref [RPM] Max Speed Motor Potentiometer Ramp Rate Min Speed Time [s] Motor Potentiometer UP Motor Potentiometer DOWN P2.
PAGE 96
• Vacon apfiff09 marine P2.2.11.3 Motor potentiometer reference copy ID366 This parameter defines how reference is handled when reference input is changed to motor potentiometer in I/O control. No copy Reference is not copied. Depending on function, the drive may start from minimum frequency or from reference that was last used when the drive was run with motor potentiometer. 1 Reference The drive active reference is copied.
PAGE 97
apfiff09 marine vacon • 97 7.2.7 Adjust Reference Adjust reference function is used to fine tune the main reference. Adjust reference is added to main FW FreqRef1 MULDIV MUX P F MULDIV K Adjust Input VALUE MULTIP DIVIS IN 0 Not Used F Analogue Input 1 IN 1 F Analogue Input 2 IN 2 F Analogue Input 3 IN 3 F Analogue Input 4 IN 4 F FB Adjust Reference IN 5 C SUB 10000 P Adjust Min IN 1 IN 2 C VALUE MULTIP DIVIS F Adjust Reference 1000 ADD P2.2.12.
PAGE 98
• Vacon apfiff09 marine Adjustment 10 % 50 % 100 % Adjust Input [%] 66,66 20 % 6 Tel.
PAGE 99
apfiff09 marine 7.3 vacon • 99 Ramp control SEL F SEL Prohibited area G IN 0 IN 1 SEL DI Ramp time 1/2 P Ramp time 1 P Ramp time 2 G IN 0 IN 1 P Inching Active P Inching Ramp 1,0 VALUE MULTIP DIVIS F Ramp Follower SEL MULDIV P F VALUE MULTIP DIVIS 100 % Ramp Reduction P P2.3.
PAGE 100
• Vacon P2.3.5 apfiff09 marine Acceleration/Deceleration ramp 1 shape ID500 The start and end of acceleration and deceleration ramps can be smoothed with these parameters. Setting value 0 gives a linear ramp shape which causes acceleration and deceleration to act immediately to the changes in the reference signal. Setting value 0 % for this parameter produces an S-shaped acceleration/deceleration. 1 Used to reduce mechanical erosion and current spikes when reference is changed.
PAGE 101
apfiff09 marine P2.3.9 vacon • 101 Inching ramp ID1257 This parameter defines acceleration and deceleration times when inching is active. Inching function will start the drive to reference without additional start command regardless of control place. Inching function requires enabling from digital input before command is accepted. Inching is also disabled if there is a start command active on the active control place. Other parameters for inching: - P2.3.
PAGE 102
• Vacon apfiff09 marine 7.3.2 Ramp Options P2.3.12.1 Ramp: Skip S2/S4 ID1900 This function is used to bypass the second corner S ramp (i.e. to avoid the unnecessary speed increase, the blue line in Figure 7-5) when the reference is changed before the final speed is reached. Also S4 is bypassed when reference is increased while speed is ramping down. 40 35 30 25 10 % S 20 0%S 15 S2 Skip 10 5 0,00 0,42 0,84 1,26 1,68 2,10 2,52 2,94 3,36 3,78 4,20 4,62 5,04 5,46 5,88 0 Figure 7-5.
PAGE 103
apfiff09 marine vacon • 103 P2.3.12.3 Speed Reference Interpolator TC ID1184 Set here time on what interval speed reference is updated. This function ramps the reference between updated values. Function is used when PLC is updating reference e.g. 100 ms time level but drive own ramp is set much shorter to have fast response. When reference (Green) is used without interpolator also output frequency would behave same way causing torque and current spikes every time reference changes.
PAGE 104
• Vacon 7.4 apfiff09 marine Input signals 7.4.1 Basic Settings P2.4.1.1 Start/Stop logic selection ID300 This parameter defines start stop logic when using I/O control. Some of these selections do not include everse command. Reverse command can be activated by a separate 0 Forward Start Reverse Start Start 1: closed contact = start forward Start 2: closed contact = start reverse Freq. Out Start 1 Start 2 1 2 Figure 7-6.
PAGE 105
apfiff09 marine 3 vacon • 105 Start Pulse Stop Pulse 3-wire connection (pulse control): DIN1: closed contact = start pulse DIN2: open contact = stop pulse, falling edge. Freq. Out Start 1 Start 2 Figure 7-8. Start pulse/ Stop pulse.
PAGE 106
• Vacon apfiff09 marine 7.4.2 Digital inputs P2.4.2.1 Start signal 1 ID403 Signal selection 1 for the start/stop logic. This is for Start Place A, selected with P2.4.2.39 Default programming A.1.Default Forward start. P2.4.2.2 Start signal 2 ID404 Signal selection 2 for the start/stop logic. This is for Start Place A, selected with P2.4.2.39 Default programming A.2. Default Reverse start. P2.4.2.3 Run enable ID407 When run enable is removed from the drive coasting stop is made always.
PAGE 107
apfiff09 marine P2.4.2.9 vacon • 107 Motor potentiometer UP ID418 Contact closed: Motor potentiometer reference DECREASES until the contact is opened. See details in G2.2.11 Motor Pot. P2.4.2.10 Fault reset ID414 Rising edge required to reset fault. P2.4.2.11 External fault closing contactor ID405 External fault input closing contactor, response selected in protection parameter group G2.11.1 Protections / General. P2.4.2.
PAGE 108
• Vacon 7.4.2.1 apfiff09 marine Forced control place Digital inputs can be used to bypass parameter P3.1 Control Place, for example, in an emergency situation when PLC is not able to send command to the drive. PC DI DI PC Control SEL IO Control SEL KP Control G IN 0 IN 1 SEL G IN 0 IN 1 SEL P DI FB Control C FB Control G IN 0 IN 1 Control Place C C C G IN 0 IN 1 Final Control Place PC COntrol IO Control KP Control Figure 7-9. Control place selection priority order P2.4.2.
PAGE 109
apfiff09 marine vacon • 109 P2.4.2.22 Motor control mode 1/2 ID164 This digital input is used to change between to motor control mode selection parameters: - P2.8.1 Motor Ctrl Mode ID600 - P2.8.2 Motor Ctrl Mode2 ID521 Contact is open = Contact is closed = Motor control mode 1 is selected Motor control mode 2 is selected When changing between open loop and closed loop control modes, make this change in stop state. P2.4.2.23 External brake acknowledgment.
PAGE 110
• Vacon apfiff09 marine P2.4.2.28 Motoring Power limit Digital input 1 P2.4.2.29 Motoring Power limit Digital input 2 ID1500 ID1501 With this parameter you can select the desired digital input for controlling motoring activates respective power power limit. limits defined in parameter group G2.6.2 Power Handling. If both inputs are activated power limit is zero.
PAGE 111
apfiff09 marine vacon • 111 P2.4.2.35 Quick Stop ID1213 Quick Digital input for Quick Stop function P2.4.2.36 Motoring Torque Limit 1 ID1624 Digital input for activating motoring torque limit 1 P2.4.2.37 Generator Torque Limit 1 ID1626 Gen. Torq. Limit 1 Digital input for activation generator torque limit 1 P2.4.2.38 PIC Function Activation ID1804 Select the digital input that will activate PI controller. Set selection to 0.2 and PIcontroller is activated without external wiring. P2.4.2.
PAGE 112
• Vacon apfiff09 marine 7.4.3 Analogue Input 1 & 2 NE P IN 1 IN 2 AIx RefScale Max 0 P SEL G IN 0 IN 1 Max Frequency MUX P Signal Range 100 % 100 % 100 % P AIx Custom Max K IN 0 IN 1 IN 2 IN 3 SCALING Out_Max In_Max AN.IN P AI1-2 Signal Sel IN MUX P K IN 0 IN 1 IN 2 IN 3 P P2.4.3.1 P2.4.4.
PAGE 113
apfiff09 marine P2.4.3.3 P2.4.4.3 vacon • 113 Analogue input signal 1 signal range ID320 Analogue input signal 2 signal range ID325 0 -20mA/10V Signal input ranges: 0...10 V and 0...20 mA. Input signal is used from 0% to 100%. Reference [Hz] Max Freq Min Freq Analogue Input 0% 1 100 % -20 mA Signal input ranges: 4 20 mA and 2 10 V Input signal is used from 20 % to 100 % Reference [Hz] Max Freq Min Freq 0% 2 20 % Analogue Input 100 % 10 - + 10 V Signal input range: -10 V - + 10 V.
PAGE 114
• Vacon apfiff09 marine 3 With custom range it is possible to freely adjust what input level corresponds to the minimum and maximum frequencies. Reference [Hz] Max Freq Min Freq 0% 6 40 % Custom Min Analogue Input 80 % Custom Max 100 % Tel.
PAGE 115
apfiff09 marine vacon • 115 P2.4.3.4 P2.4.3.5 AI1 custom minimum setting ID321 AI1 custom maximum setting ID322 P2.4.4.4 P2.4.4.5 AI2 custom minimum setting ID326 AI2 custom maximum setting ID327 These parameters set the analogue input signal for any input signal span within -160...160%. E.g. if the signal input scaling is set to 40 %...80 % the reference can be changed from 8 mA (for Minimum Frequency) to 16 mA (for Maximum Frequency). P2.4.3.6 P2.4.3.
PAGE 116
• Vacon 7.4.3.1 apfiff09 marine Sleep function The drive can be stopped by sleep function when the analogue input falls below a certain value for a certain time and speed functions become active. Analogue input 100 % 20 % Sleep Limit 0% Time [s] Run Status P2.4.3.9 P2.4.4.9 AI1 sleep limit AI2 sleep limit ID385 ID396 The drive is stopped automatically if the AI signal level falls below the Sleep limit defined with this parameter.
PAGE 117
apfiff09 marine vacon • 117 7.4.4 Analogue input 3 & 4 Analogue Inputs 3 and 4 can be written form fieldbus. This allows signal scaling and inversion. useful e.g. in case when PLC is not operational (value zero received) signal will be automatically at maximum. LT P IN 1 IN 2 AI3-4 Signal Sel 0.9 P AN.
PAGE 118
• Vacon apfiff09 marine P2.4.5.3 P2.4.5.4 AI3 custom setting minimum ID144 AI3 custom setting maximum ID145 P2.4.6.3 P2.4.6.4 AI4 custom setting minimum ID155 AI4 custom setting maximum ID156 Set the custom minimum and maximum input levels for the AI3 signal within AI3/AI4 Output 100 % 0% 0% P2.4.5.5. P2.4.6.5 40 % Custom Min AI3 signal inversion AI4 signal inversion Analogue Input 80 % Custom Max 100 % ID151 ID162 The signal inversion function is useful in a situation when e.g.
PAGE 119
apfiff09 marine 7.4.4.1 vacon • 119 Analogue input to any parameter This function allows control of any parameter by using an analogue input. The parameter selects what the range of control area and the ID number for the parameter that is controlled. P2.4.5.6 P2.4.5.7 P2.4.6.6 P2.4.6.
PAGE 120
• Vacon apfiff09 marine 7.4.5 Inversion control P2.4.7.1 Inversion Control ID1091 Inversion control allows you to select which input signal operation will be inverted. B00 B01 B02 B03 B04 B05 B08 B09 6 = +1 = Invert external fault 1 = +2 = Invert external fault 2 = +4 = Inverted Run Enable digital input = +8 = Inverted Brake acknowledge digital input = +16 = Invert Mot. Torq. Limit 1 digital input. = +32 = Invert Gen Torq.
PAGE 121
apfiff09 marine 7.5 vacon • 121 Output signlas 7.5.1 Digital output signals In the Marine application, all output signals are disabled by default. P2.5.1.1 Ready ID432 The frequency converter is ready to operate. Common reasons when ready signals are missing: - Run enable signal is low - DC Voltage is too low - DC Voltage is too high P2.5.1.2 Run ID433 The frequency converter is modulating. P2.5.1.3 Fault ID434 A fault trip has occurred. P2.5.1.
PAGE 122
• Vacon apfiff09 marine P2.5.1.12 Jogging speed ID413 Jogging speed command has been given. P2.5.1.13 IO Control Place ID444 Active control place is I/O terminal defined by the parameter for Control place (P3.1) or forced with digital input function. 7.5.1.1 Brake Control The mechanical brake control has two parts that need to be synchronically controlled. The first part is the mechanical brake release and the second is the speed reference release.
PAGE 123
apfiff09 marine vacon • 123 Relay state when control unit is not powered 21 22 23 P2.5.1.14 External brake control ID445 See detailed description about brake operation in G2.15 Brake Control. External brake ON/OFF control Example: OPTA2 board RO1 : Brake function ON: Terminals 22-23 are connected (Relay is energized). Brake function OFF: Terminals 22-23 are open (Relay not energized).
PAGE 124
• Vacon apfiff09 marine P2.5.1.16 Output frequency limit 1 supervision ID447 The output frequency goes outside the set supervision limits defined in Supervision Lim parameter group. The function can be set to monitor either the high or the low limit. Limit and functions are selected in G2.5.8 Supervision Limits. P2.5.1.17 Output frequency limit 2 supervision ID448 The output frequency goes outside the set supervision limits 2 defined in Supervision Lim parameter group.
PAGE 125
apfiff09 marine 7.5.1.2 P2.5.1.24 P2.5.1.26 P2.5.1.28 P2.5.1.30 P2.5.1.32 vacon • 125 Fieldbus digital inputs connection Fieldbus input data 1 Fieldbus input data 2 Fieldbus input data 3 Fieldbus input data 4 Fieldbus input data 5 ID455 ID456 ID457 ID169 ID170 The data from the Fieldbus main control word can be led to See used fieldbus board manual for location of these bits. P2.5.1.25 P2.5.1.27 P2.5.1.29 P2.5.1.31 P2.5.1.
PAGE 126
• Vacon apfiff09 marine 7.5.2 Analogue outputs 1 & 2 & 3 & 4 P2.5.2.1 P2.5.3.1 P2.5.4.1 P2.5.5.1 Analogue output 1 signal selection Analogue output 2 signal selection Analogue output 3, signal selection Analogue output 4, signal selection ID464 ID471 ID478 ID1527 Connect the AO1 signal to the analogue output of your choice with this parameter. P2.5.2.2 P2.5.3.2 P2.5.3.2 P2.5.3.
PAGE 127
apfiff09 marine vacon • 127 12 -2Tn)Motor torque from negative two times motor nominal to positive two times motor nominal torque 13 -2Pn)Motor power from negative two times motor nominal to positive two times motor nominal power 14 Maximum PT100 temperature value from used input scaling from -30 C to +200 C 15 FB analogue output fieldbus process data value can be connected to analogue output by using monitoring signal ID48 .
PAGE 128
• Vacon P2.5.2.4 P2.5.3.4 P2.5.4.4 P2.5.5.4 apfiff09 marine Analogue output inversion Analogue output 2 inversion Analogue output 3 inversion Analogue output 4 inversion ID309 ID474 ID481 ID1522 Inverts the analogue output signal: 100 % Analogue Output 0% 0% P2.5.2.5 P2.5.3.5 P2.5.4.5 P2.5.5.
PAGE 129
apfiff09 marine vacon • 129 100 % Scaling 200 % Analogue Output 50 % Scaling 50 % 20 % 0% 0% P2.5.2.7 P2.5.3.7 P2.5.4.7 P2.5.5.7 Analogue output offset Analogue output 2 offset Analogue output 3 offset Analogue output 4 offset 50 % Function Signal 100 % ID375 ID477 ID484 ID1524 Define the offset for the analogue output signal. In picture below 50 % scaling signal has been given 20 % offset and for 200 % scaling 50 % offset.
PAGE 130
• Vacon apfiff09 marine 7.5.3 Delayed Digital Output 1 & 2 P2.5.6.1 Digital output 1 signal selection ID486 P2.5.7.1 Digital output 2 signal selection ID489 Connect the delayed digital output signal to the digital output of your choice with this parameter. For more information about the TTF programming method, see chapter 4. P2.5.6.2 P2.5.7.2 Digital output function Digital output 2 function ID312 ID490 0 = Not used 1= The AC drive is ready to operate.
PAGE 131
apfiff09 marine vacon • 131 16 = Reference limit supervision Active reference goes beyond the set supervision low limit/high limit. 17 = External brake control External brake ON/OFF control with programmable delay 18 = Control from I/O terminals IO control place is active. 19 = Drive temperature limit supervision. Drive temperature goes beyond the set supervision limits (par. ID354) 20 = Motor rotation direction is different from the requested one.
PAGE 132
• Vacon apfiff09 marine P2.5.6.3 P2.5.6.4 Digital output 1 on-delay Digital output 1 off-delay ID487 ID488 P2.5.7.3 P2.5.7.4 Digital output 2 on-delay Digital output 2 off-delay ID491 ID492 With these parameters you can set on- and off-delays to digital outputs. On Delay Off Delay Signal DO Figure 7-11. Digital outputs 1 and 2, on- and off-delays P2.5.6.5 P2.5.7.5 Invert digital output 1 Invert digital output 2 ID1587 Inverts delayed digital output operation.
PAGE 133
apfiff09 marine vacon • 133 7.5.4 Supervision limits Supervision function gives you the possibility to monitor certain values with the limit setting. When the actual value exceeds or goes below the set value a message through a digital output can be given. The torque limit supervision is scalable. P2.5.8.1 P2.5.8.3 P2.5.8.5 P2.5.8.8 P3.6.8.
PAGE 134
• Vacon 7.5.4.1 apfiff09 marine Analogue input supervision function The analogue input supervision function will control the selected digital output to close when the analogue input signal has exceeded the high limit and open when the signal goes below the low limit. P2.5.8.12 Analogue input supervision signal ID356 With this parameter you can select the analogue input to be monitored. 0 = Not used 1 = AI1 2 = AI2 3 = AI3 4 = AI4 5 = FBLimScaling P2.5.8.
PAGE 135
apfiff09 marine 7.6 vacon • 135 Limit settings 7.6.1 Current limit handling P2.6.1.1 Current limit ID107 This parameter determines the maximum motor current from the AC drive. The parameter value range differs from size to size. When the Current limit is changed the Stall current limit is internally calculated to 90% of the current limit (if the Stall current limit is greater than the Current limit).
PAGE 136
• Vacon apfiff09 marine 7.6.2 Power limit handling Power limit function is meant to limit the drive output power to the motor. The general way to do this is to give a limiting signal from a primary system that gives information about how much power is available for drive operations. P INV Commands.B8 SEL DI G IN 0 IN 1 Mot.PowerLimit 1 NOT IN SEL DI G IN 0 IN 1 Mot.PowerLimit 2 NOT SEL4 IN B0 B1 MUX P P MotPowerLimScaling K P Mot.PowerLimit 1 X IN 1 P Mot.
PAGE 137
apfiff09 marine P2.6.2.1 vacon • 137 Power Limit ID1722 General power limit for both motoring and generator side. This value is the final limit for all scaling functions. This value should not be used for scaling but for the maximum safety limit because the ramp up rate function is ineffective when this parameter is changed. P2.6.2.2 Generator power limit ID1290 Generator side power limit. This limit value is used for all scaling functions and power limit ramp rate functions. P2.6.2.
PAGE 138
• Vacon 7.6.2.1 apfiff09 marine Power follower function The power follower function will keep the internal power limit near the actual power so that when power demand increases the increase rate is controlled by the power limit increase rate parameter. This function makes the power increase smoother for the ship generator when e.g. speed reference is increased or when propeller gets air and comes back to the water. P2.6.2.9 Power Follower ID1705 Activates the power follower function. P2.6.2.
PAGE 139
apfiff09 marine vacon • 139 P2.6.2.12 Scaling of Generating power limit ID1088 The generator power limit is equal to parameter Generator Power Limit if value 'Not Used' is selected. If any of the inputs is selected the generator power limit is scaled between zero and parameter P2.6.2.2 Generator Power Lim. 0 1 2 3 4 5 = Parameter = AI1 = AI2 = AI3 = AI4 = FieldBus Scaling ID46 (Monitoring Value) P2.6.2.
PAGE 140
• Vacon apfiff09 marine 7.6.3 Torque limit handling 7.6.3.1 Motoring torque limit function MUX P P MotTorqLimSclng K IN 0 MotorTorqueLimit MUL F Analogue Input 1 X IN 1 X IN 2 SEL F OL Control G IN 0 IN 1 IN 3 IN 4 MUL F Analogue Input 2 IN 5 X IN 6 X IN 7 IN 8 IN 9 MUL F Analogue Input 3 X MIN X IN 1 IN 2 T=P/w MUL F Analogue Input 4 X X SEL P MUL F FB Limit Scaling Torque Follower G IN 0 IN 1 X X LIMIT 0 ADD V Motor Torque P TorqueFoll.
PAGE 141
apfiff09 marine vacon • 141 Positive torque limit T Generator torque limit Motoring torque limit Q2 Generating Q1 Motoring ω Q3 Motoring Motoring torque limit Q4 Generating Generator torque limit Negative torque limit P2.6.3.1 Torque Limit ID609 The general torque limit for both motoring and generator sides. This value is the final limit for all scaling functions.
PAGE 142
• Vacon 7.6.3.3 apfiff09 marine Torque follower function Torque follower function will keep the internal torque limit near the actual torque so that when the torque demand increases, the increase rate is controlled by the torque limit increase rate parameter. This function can be used together with the power limit ramp rate function because a low power limit at low speed will give high torque and may cause mechanical stress in the system. P2.6.3.
PAGE 143
apfiff09 marine P2.6.3.9 vacon • 143 Motoring Torque limit scaling ID485 The motoring torque limit is equal to parameter any of the inputs is selected the motoring torque limit is scaled between zero and parameter Motorin Torque Limit. 0 1 2 3 4 5 = Not used = AI1 = AI2 = AI3 = AI4 = FB Limit Scaling ID46 Monitoring value P2.6.3.
PAGE 144
• Vacon apfiff09 marine 7.6.4 Frequency limit handling SEL DI Max Frequecy 2 P Max Frequency P Max Frequency 2 F G IN 0 IN 1 F Preset Speed 4 mA fault SEL MUX P IN 0 SEL DI I/O Ref 2 P I/O Reference P I/O Reference 2 G IN 0 IN 1 IN 1 IN 2 K Control Place G IN 0 IN 1 SEL MIN IN 1 G IN 0 IN 1 P Keypad Ref Sel IN 2 P Fieldbus Ctr Ref IN 3 P P Preset Speed x 4 mA Fault Freq.
PAGE 145
apfiff09 marine vacon • 145 7.6.5 DC Link handling P2.6.5.1 Overvoltage controller ID607 The parameter selects the behaviour of the overvoltage controller in open loop control. It also activates the closed loop overvoltage controller but the operation is always of type in closed loop control modes. P2.6.5.2 0 - Controller switched off Both open and closed loop overvoltage controllers are off. 1 Activated P-Controller type operation Both open and closed loop controllers are activated.
PAGE 146
• Vacon P2.6.5.3 apfiff09 marine Brake chopper ID504 When the AC drive is decelerating the motor, the inertia of the motor and the load are fed into an external brake resistor. This enables the drive to decelerate the load with a torque equal to that of acceleration (provided that the correct brake resistor has been selected). See separate Brake resistor installation manual. Brake chopper test mode generates pulse to resistor every second.
PAGE 147
apfiff09 marine P2.6.5.5 Undervoltage controller vacon • 147 ID608 Undervoltage controller will decrease the output frequency in order to get energy from the motor when the DC voltage has dropped to a limit where the undervoltage controller activates trying to keep DC voltage at the minimum level. 0 - Controller switched off Both open and closed loop overvoltage controllers are off. 1 Activated PI-Controller type operation Both open and closed loop controllers are activated.
PAGE 148
• Vacon apfiff09 marine P2.6.5.8.3 CL Under Voltage Reference Defines the under votlage reference level in Closed Loop control mode. Percentage value related to unit nominal voltage DC voltage. Default 65 %. 690 Vac * 1,35 * 65 % = 605 Vdc 500 Vac * 1,35 * 65 % = 438 Vdc 7.6.6 Limit options P2.6.6.1 Limit total current ID1901 This function activates the total current limit function in close loop control. Normally in closed loop the current limit only affects the torque producing current. 6 Tel.
PAGE 149
apfiff09 marine 7.7 vacon • 149 DC current and magnetization handling The DC brake can be used to hold the motor in place (nominal torque at nominal slip). It can be also used to keep the motor warm in places with high humidity and to speed up the generation of rotor flux. Rotor flux is needed in the induction motor to generate torque.
PAGE 150
• Vacon P2.7.1.3 apfiff09 marine DC-braking time at stop ID508 - Defines the time to use DC brake at stop. The operation is different depending on the selected stop mode (coasting or ramping). Stop function = 0 / Coasting: After the stop command, the motor coasts to a stop without control of the drive. With DC injection, the motor can be electrically stopped in the shortest possible time, without using an optional external braking resistor.
PAGE 151
apfiff09 marine vacon • 151 Output frequency fn Stop command 50 % DC-Brake time at stop DCBrake Freq. 0% Figure 7-15. DC-braking time when Stop mode = Ramp P2.7.1.4 DC braking frequency at stop ID515 - The output frequency at which the DC braking is applied when making ramping stop. P2.7.1.5 Scaling of DC-braking current ID400 - The DC braking current can be reduced with the free analogue input signal between zero current and the current set with parameter DC Braking Current.
PAGE 152
• Vacon 7.7.1.1 P2.7.1.7 apfiff09 marine Flux braking Flux brake ID520 Instead of DC braking, flux braking is a useful way to raise the braking capacity in cases where additional brake resistors are not needed. When braking is needed, the frequency is reduced and the flux in the motor is increased. This increases losses on motor, which in turn increases the motor's capability to brake. Unlike in DC braking, the motor speed remains controlled during braking. The flux braking can be set ON or OFF.
PAGE 153
apfiff09 marine vacon • 153 7.7.2 Closed loop settings P2.7.2.1 Magnetizing current at start ID627 Defines the current that is applied to the motor when the start command is given in closed loop control. At start this parameter is used together with Magnetizing time at start to decrease the time when the motor is able to produce nominal torque. In closed loop control output frequency is not forced to zero while magnetization current is applied to motor. P2.7.2.
PAGE 154
• Vacon P2.7.2.5 apfiff09 marine Stop State Flux ID1401 The amount of flux in percentage of the motor nominal flux maintained in the motor after the drive is stopped. The flux is maintained for the time set by parameter ID1402 Flux Off Delay. This parameter can only be used in closed loop motor control. 7.7.2.1 Reduced flux function Reduced flux function is used to decrease the magnetization current below a certain frequency limit.
PAGE 155
apfiff09 marine 7.8 vacon • 155 Motor Control Open Loop control Open loop control controls the motor without encoder feedback from the motor shaft. Control mode selections 0, 1 and 2 are open loop control modes. Slip Induction motor torque is based on slip. When load increases also slip will increase. Slip is the speed that rotor is behind of stator electrical frequency. Below picture presents torque that is produced by induction motor when connected directly on line. 1. Motor Synchronous speed.
PAGE 156
• Vacon apfiff09 marine Slip compensation in open loop control The drive uses motor torque and motor nominal rpm to compensate slip. If the motor nominal rpm is 1440 -> the nominal slip is 60 rpm. And when the motor torque is 50 % the slip is 30 rpm. To keep the reference speed the drive must increase the output frequency by 1 Hz. Freq. Ref 50 Hz Freq.
PAGE 157
apfiff09 marine P2.8.1 Motor control mode 0 vacon • 157 ID600 (2.6.1) q Con Open loop frequency control: Drive frequency reference is set to output frequency without slip compensation. Motor speed is defined by motor load. 1 Open loop speed control: Drive frequency reference is set to motor speed reference. Motor speed stays the same regardless of motor load. 2 Open loop Speed or Torque control In this control mode the drive can be selected to run in torque control mode.
PAGE 158
• Vacon P2.8.3 Torque Select apfiff09 marine ID1278 (P2.2.9.6) Torque Select This parameter defines the speed limiting mode in torque control mode. This parameter can be used as single motor control mode selection when no change is made between open loop and closed loop controls.
PAGE 159
apfiff09 marine vacon • 159 7.8.1 U/f Settings U/f settings are mainly used in open loop control modes with the exception of the Field weakening point voltage that is also used in closed loop control mode as a limit for voltage. U/f settings are used to control the voltage level that are applied to the motor at different frequencies and different load situations.
PAGE 160
• Vacon apfiff09 marine Set then the midpoint voltage to 2 * Zero Point Voltage and the midpoint frequency to (Zero Point Voltage/100%)*Nominal frequency of motor) Step 2 (If needed): Activate speed control or U/f optimization (Torque boost). Step 3 (If needed): Activate both speed control and U/f optimization. NOTE! P2.8.3.1 In high torque low speed applications it is likely that the motor will overheat.
PAGE 161
apfiff09 marine P2.8.3.3 vacon • 161 Field weakening point ID602 The field weakening point is the output frequency at which the output voltage reaches the field weakening point voltage. P2.8.3.4 Voltage at field weakening point ID603 Above the frequency at the field weakening point, the output voltage remains at the set maximum value. Below the frequency at the field weakening point, the output voltage depends on the setting of the U/f curve parameters.
PAGE 162
• Vacon apfiff09 marine 7.8.2 Close Loop Settings P2.8.4.1 Current control P gain ID617 Sets the gain for the current controller. The controller generates the voltage vector reference to the modulator. The gain is also used in open loop flying start. When the Sine filter parameter (parameter P6.7.5 in the System menu) has been set to Connected the value of this parameter is changed to 20.00 %. The value is also identified when using a PMS motor and making identification run with rotating motor.
PAGE 163
apfiff09 marine vacon • 163 Freq.Out SPC Out Accel. Compensation Acceleration compensation in use 2  f nom  , 2  f nom J Tnom Pnom 2 AccelCompe nsationTC  J  J = System inertia (kg*m2) fnom = Motor nominal frequency (Hz) Tnom = Motor nominal torque Pnom = Motor nominal power (kW). P2.8.4.5 Speed Error filtering time constant ID1311 Filter time constant for speed reference and actual speed error. May be used to remove small disturbances from encoder signal. P2.8.4.
PAGE 164
• Vacon apfiff09 marine B5&B6, +96 = Internal motor temperature compensation When the motor cools down or warms up the slip of the motor will change. When this function is activated in closed loop control mode the drive will estimate changes in motor resistance and correct the changes of motor slip automatically to achieve the best torque estimation. This function is automatically activated when identification run with rotating motor is successfully finished.
PAGE 165
apfiff09 marine vacon • 165 7.8.3 Permanent magnet synchronous motor settings There are three ways to know the magnet positions when using the closed loop control. The first one will identify the motor magnet position during every stat when using incremental encoder without Zpulse. Second one uses incremental encoder Z-pulse and the third one uses absolute encoder P2.8.5.
PAGE 166
• Vacon P2.8.5.3 apfiff09 marine Start Angle Identification Current ID1759 This parameter defines the current level that is used in start angle identification. The correct level depends of the motor type used. In general, 50% of motor nominal current seems to sufficient, but depending for example on the motor saturation level, higher current might be needed. P2.8.5.
PAGE 167
apfiff09 marine 7.8.3.1 vacon • 167 I/f Control I/f-control can be used to start the motor using a constant current control. This is useful especially, if the motor stator resistance is low, which makes the motor current sensitive for u/f-curve tuning at low speed area. I/f-control is activated by setting AdvancedOptions2.B9 = 1 (P2.10.6) for PM-motors. Also software modulator is required. Output Frequency I/f Start Current Motor Current I/f Control Limit P2.8.5.
PAGE 168
• Vacon 7.8.3.2 apfiff09 marine Flux current controller The flux current controller is used with a PMS motor when running in closed loop control in the field weakening area. This function controls negative Id current to PM motor in the field weakening area that motor terminal voltage do not increase above maximum level (set by field weakening point voltage, maximum drive output voltage) .
PAGE 169
apfiff09 marine 7.8.3.3 vacon • 169 D and Q axis voltage drops If d-axis and q-axis reactances (voltage drops) are defined, drive calculates the optimal d-axis current reference based on the reactance values and the motor torque in order to account motor reluctance torque part. In this way, motor Torque/Current ratio can be increased. P2.8.5.12 Lsd Voltage Drop ID1757 D-axis reactance voltage drop 2560 = 100%. Gives the % voltage drop across the stator inductance at nominal current and frequency.
PAGE 170
• Vacon apfiff09 marine 7.8.4 Stabilization settings 7.8.4.1 Torque stabiliser The torque stabiliser is basically a first order high-pass filter for the estimated torque [ ]. The output of the filter is a frequency correction term added to the output frequency reference. The purpose of the torque stabiliser is to stabilise the possible oscillations in the estimated torque. The controller gain is changing linearly between the zero and field weakening point frequencies.
PAGE 171
apfiff09 marine P2.8.6.3 vacon • 171 Torque stabiliser Gain in FWP area ID1414 Gain of the torque stabiliser at field weakening point in open loop motor control operation. See details from Torque Stabiliser Gain. P2.8.6.4 Torque stabiliser Limit ID1720 This defines how much torque stabiliser can affect output frequency. 7.8.4.2 P2.8.6.5 Flux Circle stabiliser Flux Circle stabiliser Gain ID1550 Gain for flux circle stabiliser. This will control the flux to origin when error is detected.
PAGE 172
• Vacon 7.8.4.4 apfiff09 marine Voltage stabiliser The voltage stabilizer is similar to the torque stabilizer controlling the change in DC-link voltage at frequencies above 3 Hz. It is a first order high-pass filter for the measured DC-link voltage . The output of the filter is a frequency correction term added to the output frequency reference. Gain is adjusted relative to the estimated torque.
PAGE 173
apfiff09 marine vacon • 173 7.8.5 Tuning settings P2.8.7.1 Flying Start Options b0 b1 b2 b3 b4 b5 P2.8.7.2 ID1610 =+1= Disable movement to reverse direction = +2=Disable AC Scanning = +4=Disable Fly Brake phase = +8=Use encoder information for frequency estimate = +16=Use frequency reference for initial guess = +32=Disable DC scanning for step-up application Motor Control Options ID1740 B00 =+1= Use switching frequency of 3,6 kHz during flying start if below.
PAGE 174
• Vacon P2.8.7.8 apfiff09 marine Resonance Damping Filtering TC ID1771 Filter TC for external feedback (Iq) signal . P2.8.7.9 Over modulation limit ID1515 Output Voltage Limit for partial modulation in 1%. 100% means maximum sinusoidal modulation. 113% is full six step. If you have sini filter in use set this to 96 %. P2.8.7.10 Modulation Index Limit ID655 Modulation index in % for closed loop operation. Higher value of motor terminal voltage can be achieved by increasing this value. P2.8.7.
PAGE 175
apfiff09 marine vacon • 175 7.8.6 Identification settings P2.8.8.1 to P2.8.8.15 ID1355 ID1369 Flux voltage. Measured during identification. P2.8.8.16 Measured Rs voltage drop ID662 The measured voltage drop at stator resistance between two phases with the nominal current of the motor. This parameter is identified during identification run. This parameter defines the motor stator resistance as a voltage drop at nominal current.
PAGE 176
• Vacon P2.8.8.26 Speed step apfiff09 marine ID1252 NCDrive parameter to help adjusting the speed controller (see NCDrive Tools: Step Response). With this tool you can give step to speed reference after ramp control. P2.8.8.27 Torque step ID1253 NCDrive parameter to help adjusting the torque controller (see NCDrive Tools: Step Response). With this tool you can give step to torque reference. 6 Tel.
PAGE 177
apfiff09 marine 7.9 vacon • 177 Speed Control settings P2.9.1 Load drooping ID620 The drooping function enables speed drop as a function of load. This parameter sets the value corresponding to the nominal torque of the motor. Speed [rpm] 10 % Reference Actual Torque [%] 100 % Example: If load drooping is set to 10 % for a motor that has a nominal frequency of 50 Hz and is nominally loaded (100 % of torque) the output frequency is allowed to decrease 5 Hz from the frequency reference.
PAGE 178
• Vacon P2.9.3 apfiff09 marine Load Drooping Removal ID1534 This function defines how load drooping is removed with reference to speed. It is used in lifting situations when it is necessary to keep to load at the same position without closing and the drooping factor. Normal 0 Load Drooping factor is constant through the whole speed range. Removed below zero frequency limit 1 Load drooping is removed linearly below the zero frequency limit (defined in G2.6.4 Freq. Handling).
PAGE 179
apfiff09 marine 7.9.1.1 P2.9.4.1 vacon • 179 Open Loop Settings Speed controller P gain, Open Loop ID637 Defines the P gain for the speed controlled in Open Loop control mode. P2.9.4.2 Speed controller I gain, Open Loop ID638 Defines the I gain for the speed controlled in Open Loop control mode. 7.9.1.2 Closed Loop Speed Control Settings Speed control formula: [ [ P2.9.5.1 Speed control P gain ] ] ID613 Gain for the speed controller in closed loop motor control operation.
PAGE 180
• Vacon P2.9.5.3 apfiff09 marine Zero speed time at start ID615 After giving the start command the drive will remain at zero speed for the time defined by this parameter. The ramp will be released to follow the set frequency/speed reference after this time has elapsed counted from the instant when the command was given. P2.9.5.
PAGE 181
apfiff09 marine 7.9.1.3 vacon • 181 Speed controller tuning for different speed areas The speed controller can be tuned for different gains in different speed areas, for slow speed and above the parameter Field weakening point. Gains for different speed areas are percentages of the original Speed Controller Gain value. P Gain FW P Gain 100 % P Gain f0 f0 P2.9.5.
PAGE 182
• Vacon 7.9.1.4 apfiff09 marine Speed controller gain with different loads The speed controller can also be tuned for different loads. Speed controller gain is first manipulated by the speed area gain function and this result is then further adjusted by torque related relative gain. 100 % Gain after speed area adjust 100 % Kp Torq Gain T TorqMin P2.9.5.
PAGE 183
apfiff09 marine vacon • 183 7.10 Drive Control P2.10.1 Switching frequency ID601 Motor noise can be minimised using a high switching frequency. Note, however, that increasing the switching frequency increases losses of the frequency converter. Lower frequencies are used when the motor cable is long and the motor is small. The range of this parameter depends on the size of the frequency converter: 0003 0003 0072 0041 0144 Type 0061 NX_5 0061 NX_2 0520 NX_5 0062 NX_6 0208 NX_6 Min. [kHz] Max.
PAGE 184
• Vacon apfiff09 marine 3 = Software modulator 3 Unsymmetrical BusClamb in which one switch always conducts 120 degrees to negative DC-rail to reduce switching losses. However, upper and lower switches are unevenly loaded and the spectrum is wide. 4 = Software modulator 4: Pure sinewave, sinusoidal modulator without harmonic injection. Dedicated to be used in back to back test benches etc. to avoid circulating third harmonic current.
PAGE 185
apfiff09 marine vacon • 185 and below this a normal U/f curve is used. The activation of this selection requires a performed identification with run. B09 = I/f control for PMS motors. PMS motor can be started with I/f control. Used with high power motor when there is low resistance in motor and U/f is difficult to tune to be stable. B13 = Changes automatically depending on Drive Synch operation P2.10.7 Advanced Options 4 ID1563 Reserved for future use.
PAGE 186
• Vacon apfiff09 marine 7.11 Master Follower 7.11.1 Master Follower: Standard system The Master/Follower function is designed for applications in which the system is run by several NXP drives and the motor shafts are coupled to each other via gearing, chain, belt etc. The NXP drives are in closed loop control mode. The external control signals are connected to the Master NXP only. The Master controls the Follower(s) via a System bus.
PAGE 187
apfiff09 marine 7.11.2 vacon • 187 Master Follower: DriveSynch system DriveSynch is used to control parallel drives. Up to four drives can be connected parallelly. The motor can be a single winding motor or there can be several winding motors. Vacon DriveSynch works in open loop and closed loop motor control modes. With closed loop motor control, the encoder feedback needs to be wired only to the master drive.
PAGE 188
• Vacon apfiff09 marine Master (D1) Follower (D2) Follower (D3) Follower (D4) Motor Nominal voltage from the motor name plate Motor Nominal frequency from the motor name plate Motor Nominal current from the motor name plate / Number of drives in parallel using Vacon Drive Synch Motor COS PHI from the motor name plate Motor Nominal voltage from the motor name plate Motor Nominal frequency from the motor name plate Motor Nominal current from the motor name plate / Number of drives in parallel using
PAGE 189
apfiff09 marine 7.11.3 vacon • 189 Master follower configuration The OPTD2 board in the Master has default jumper selections, i.e. X6:1-2, X5:1-2. For the followers, the jumper positions have to be changed: X6:1-2, X5:2-3. This board also has a CAN communication option that is useful for multiple drive monitoring with NCDrive PC software when commissioning Master Follower functions or line systems.
PAGE 190
• Vacon P2.11.2 apfiff09 marine Follower reference selection ID1081 Select where the follower drive receives its speed reference from. - Analogue Input 1. \ - Analogue Input 2. Signals \ - Analogue Input 1 + Analogue Input 2. With alternative reference scaling in Analogue Input group, 100 % input values can be set to correspond 25 Hz. In other words, when both are 100% the final reference will be 50 Hz. Analogue Input 1 minus Analogue Input 2. Analogue Input 2 minus Analogue Input 1.
PAGE 191
apfiff09 marine P2.11.3 vacon • 191 Follower torque reference selection ID1083 Select the source of torque reference for the follower drive. - Analogue Input 1. \ - Analogue Input 2. Signals \ Analogue input 1, -10 Vdc... +10 Vdc. For joystick inputs, the maximum negative reference is the negative of Analogue input 2, -10 Vdc... +10 Vdc For joystick inputs maximum negative reference is the negative of Torque reference from keypad R3.5 Reference is taken from fieldbus.
PAGE 192
• Vacon P2.11.5 apfiff09 marine Master Follower Brake Logic ID1326 This parameter defines brake functionality when operating Master-Follower mode. This parameter is not active when follower is operating in Ramp Follower mode (i.e. follower. In these cases follower brake is controlled by master drive. Note from brake control are bypassed on follower side. 0 = Master or Own (Default) Brake is opened when master or follower brake opening conditions are met in follower drive.
PAGE 193
apfiff09 marine P2.11.7 vacon • 193 SystemBus communication fault response ID1082 Defines the action when the System Bus heartbeat is missing. The master drive sends a heartbeat signal to all follower drives and this heartbeat is sent back to the master drive. 0 1 2 3 P2.11.
PAGE 194
• Vacon apfiff09 marine 7.12 Protections 7.12.1 General settings P2.12.1.1 Input phase supervision ID730 Defines the response when the drive notices that one of the input phases is missing. 0 = No response 1 = Warning 2 = Fault, stop mode after fault according to Stop Function 3 = Fault, stop mode after fault always by coasting P2.12.1.2 Response to undervoltage fault ID727 In some applications it is normal that the drive will be powered down when in run state.
PAGE 195
apfiff09 marine 7.12.2 vacon • 195 Temperature sensor protections The temperature protection function is used to measure temperatures and issue warnings and/or faults when the set limits are exceeded. The marine application supports two OPT-BH and OPT-B8 board simultaneously. One can be used for the motor winding and one for the motor bearings. P2.12.2.1 Number of used inputs in board 1 ID739 Board1 Channels Select used temperature sensor combination with this parameter.
PAGE 196
• Vacon apfiff09 marine P2.12.2.6 Board 2 Temperature response 0 1 2 3 ID766 = No response = Warning = Fault, stop mode after fault according to Stop Function = Fault, stop mode after fault always by coasting P2.12.2.7 Board 2 warning limit ID745 Board Set here the limit at which the second temperature sensor board warning will be activated. When individual warning and fault limits are activated this is second board first channel (2A). P2.12.2.
PAGE 197
apfiff09 marine 7.12.3 vacon • 197 Stall protection The motor stall protection protects the motor from short time overload situations such as one caused by a stalled shaft. The reaction time of the stall protection can be set shorter than that of the motor thermal protection. The stall state is defined with two parameters, Stall current and Stall frequency limit. If the current is higher than the set limit and the output frequency is lower than the set limit, the stall state is true.
PAGE 198
• Vacon P2.12.3.4 Stall time apfiff09 marine ID711 This is the maximum time allowed for a stall stage. The stall time is counted by an internal up/down counter. If the stall time counter value goes above this limit the protection will cause a trip. Stall Time Stall Trip Area Stall Status Time 6 Tel.
PAGE 199
apfiff09 marine 7.12.4 vacon • 199 Speed Error The Speed error monitoring function compares the encoder frequency and the ramp generator output. The function is used with a PMS motor to detect if the motor is off synchronization or to disable the open loop function using the encoder speed for slip compensation. The slip compensation is disabled regardless of the response and needs to be re-activated once a speed error is detected (set parameter again or power down the drive). P2.12.4.
PAGE 200
• Vacon 7.12.5 apfiff09 marine Motor Protection CAUTION! The calculated model does not protect the motor if the airflow to the motor is reduced by blocked air intake grill. The motor thermal protection is to protect the motor from overheating. The drive is capable of supplying higher than nominal current to the motor. If the load requires this high current there is a risk that the motor will be thermally overloaded. This is the case especially at low frequencies.
PAGE 201
apfiff09 marine vacon • 201 Cooling Factor 100 % 70 % of Fn Zero cooling Factor Motor Nominal Freq. Freq. Out P2.12.5.5 Motor thermal protection: Time constant ID707 This time can be set between 1 and 200 minutes. This is the thermal time constant of the motor. The bigger the motor, the bigger the time constant. The time constant is the time within which the calculated thermal stage has reached 63% of its final value.
PAGE 202
• Vacon apfiff09 marine Motor temperature Trip area 105% Motor current Fault/warning par. ID704 I/IT Time constant T Motor temperature *)  = (I/IT)2 x (1-e-t/T) Time *) Changes by motor size and adjusted with parameter ID707 Figure 7-17. Motor temperature calculation P2.12.5.
PAGE 203
apfiff09 marine 7.12.6 vacon • 203 Over Load Protection load protection. Over Load in based on internal counter that in increased when input value is above 105 % level and decreased when below 105 % level, increase and decrease is happening every 100 ms. Tripping is made when over load counter value is over 10 000. With parameters it can be defined what is increase (Over load maximum step) at maximum defined input level (Over Load Maximum Input). These points defines slope for the function. e.g.
PAGE 204
• Vacon 7.12.7 apfiff09 marine 4mA Protection The 4 mA protection monitors the analogue input signal level from Analogue input 1 and Analogue input 2. The monitoring function is active when signal range 4 mA 20 mA is selected. A fault or warning is generated when the signal falls below 3.5 mA for 5 seconds or below 0.5 mA for 0.5 seconds. P2.12.6.
PAGE 205
apfiff09 marine 7.12.8 vacon • 205 Under load protection The purpose of the motor under load protection is to ensure that there is load on the motor when the drive is running. If the motor loses its load there might be a problem in the process, e.g. a broken belt or a dry pump. The under load curve is a squared curve set between the zero frequency and the field weakening point. The protection is not active below 5Hz (the underl oad time counter is stopped).
PAGE 206
• Vacon apfiff09 marine P2.12.7.4 Underload time ID716 This time can be set between 2.0 and 600.0 s. This is the maximum time allowed for an underload state to exist. An internal up/down counter counts the accumulated underload time. If the underload counter value goes above this limit the protection will cause a trip according to parameter Underload Protection. Underload time Trip Area Underload State 6 Time Tel.
PAGE 207
apfiff09 marine 7.12.9 vacon • 207 Earth Fault The earth fault protection ensures that the sum of the motor phase currents is zero. The overcurrent protection is always working and protects the frequency converter from earth faults with high currents. P2.12.8.1 Earth fault protection 0 1 2 3 ID703 = No response = Warning = Fault, stop mode after fault according to Stop Function = Fault, stop mode after fault always by coasting P2.12.8.
PAGE 208
• Vacon 7.12.11 apfiff09 marine Fieldbus communication P2.12.10.1 Response to fieldbus fault ID733 Set here the response for a fieldbus fault if the active control place is fieldbus. For more information, see the respective Fieldbus Board Manual. 0 = No response 1 = Warning 2 = Fault, stop mode after fault according to Stop Function 3 = Fault, stop mode after fault always by coasting 4 = Warning, Previous frequency. Forced fault after delay. Only for profibus communication P2.12.10.
PAGE 209
apfiff09 marine 7.12.13 vacon • 209 Encoder Fault function Encoder supervision gives fault in case there are no pulses from encoder. Requirement is that reference is above 1 Hz and torque can reach 100 % level. This torque level can be adjusted by Iq Fault limit parameter. This limit may need adjustment when torque limit is below 100 %. Alternative method to detect encoder fault is Speed Error detection. P2.12.12.
PAGE 210
• Vacon apfiff09 marine 7.13 Fieldbus settings 7.13.1 P2.13.1 P2.13.2 General settings Fieldbus reference minimum scaling ID850 Fieldbus reference maximum scaling ID851 Use these two parameters to scale the fieldbus reference signal. If both parameters have the same value the minimum and maximum frequency limits are used for scaling. Frequency Max Freq FB Max Scale FB Min Scale Min Freq FB Reference input 0% 100 % Using this custom scaling function also affects the scaling of the actual value.
PAGE 211
apfiff09 marine vacon • 211 P2.13.3 to P2.13.10 Fieldbus data out selections 1 to 8 ID852- Using these parameters, you can monitor any monitoring or parameter value from the fieldbus. Enter the ID number of the item you wish to monitor for the value of these parameters. See monitoring signals for full details of ID numbers.
PAGE 212
• Vacon P2.13.20 apfiff09 marine FB Actual Speed ID1741 With this it is possible to select which Actual speed is shown on the fieldbus. 0 = Calculated This selection shows what the ramp generator output is. Open Loop In frequency control mode when only the ramp output is shown on the fieldbus and, therefore, the motor slip or any other changes of speed due to load changes are not visible in the actual speed value. However, limiting functions are visible in the ramp output.
PAGE 213
apfiff09 marine P2.13.21 Control Slot selector vacon • 213 ID1440 This parameter defines which slot is used as the main control place when two fieldbus boards have been installed in the drive. When values 6 or 7 are selected, the drive uses the Fast fieldbus profile. When the Fast fieldbus profile is used, s or other C type boards cannot be used.
PAGE 214
• Vacon apfiff09 marine 7.14 ID Functions Listed here are the functions that use the parameter ID number to control and monitor the signal. 7.14.1 Value Control The value control parameters are used to control an input signal parameter. P2.14.1.1 Control Input Signal ID ID1580 With this parameter you can select what signal is used to control selected parameter. P2.14.1.2 Control Off Limit ID1581 This parameter defines the limit when the selected parameter value is forced to Off value. P2.14.1.
PAGE 215
apfiff09 marine vacon • 215 1 = Scale ABS Absolute input value is scaled linearly between On and Off values. Control On Value Control Off value On value Negative Off value Off value Positive On value 2 = Scale ABS Inverted Inverted absolute value is scaled linearly between On and Off values. Control On Value Control Off value On value Negative Off value Off value Positive On value 3 = SR Input value is used to make a step change in the output between On and Off values.
PAGE 216
• Vacon 7.14.2 apfiff09 marine DIN ID Control This function is used to control any parameter between two different values with a digital input. Different values are given for DI ow and DI igh . SEL DI ID Control Digital Input P Value for LOW P Value for High P G IN 0 IN 1 DIN Controlled ID P2.14.2.1 ID Control Digital Input ID1570 P2.14.3.1 ID Control Digital Input ID1590 P2.14.4.
PAGE 217
apfiff09 marine 7.14.3 vacon • 217 ID-controlled DO This function is used to control any Digital output by any status that can be presented as bit. The input signal is selected with the ID number and bit number. Example: Most of the faults and warnings are normally presented in the common digital output. With the ID-controlled DO function, it is possible to select a specific fault to be connected to the digital output.
PAGE 218
• Vacon 7.14.4 apfiff09 marine Free DIN Delay This function is mend to be used on situation when certain DIN signal needs On or Off delay before actual command is given. e.g. Reading from DIN Status Word: DIN1 status giving it a e.g. 1,00 s delay and then writing it by ID number to ID403 Start 1, thus giving 1 second delay to start in drive side. P2.14.7.1 ID.Bit Free Digital input delay ID1832 DIN Select digital input from DIN Status Word to be delayed. P2.14.7.
PAGE 219
apfiff09 marine vacon • 219 7.15 Brake Control The mechanical brake control has two parts that need to be synchronically controlled. The first part is the mechanical brake release and the second is the speed reference release.
PAGE 220
• Vacon apfiff09 marine Speed Ref Brake Off lim 1 2 3 4 5 6 1. Start command 2. Start magnetization is used to build rotor flux fast. The drive Zero speed time is used during this. 3. When the rotor flux is > 90 % and the start zero time has expired the speed reference is released to BrakeOpenFreq limit. 4. Speed is kept at this speed until feedback is received from the brake acknowledge or when brake mechanical delay time has passed. 5. Speed follows normal reference signal.
PAGE 221
apfiff09 marine P2.15.3 vacon • 221 Brake Frequency limit Closed Loop ID1555 This parameter defines the frequency limit to release the brake. This value also applies as the maximum frequency reference limit while the brake is closed. In closed loop control it is recommended to use zero value so that the brake is released while the drive has zero speed at start. If torque is needed to avoid position change at the moment the brake mechanically opens use the start-up torque function. P2.15.
PAGE 222
• Vacon 7.15.1 apfiff09 marine Run away load protection Run away load protection is used to increase the generator torque limit in case when the speed of the load is increasing above the defined frequency limit. Used in cases when upper system is controlling generator torque limit and its needed to drive itself control situation when speed increases too high. Note! The maximum generator side torque limit is still limited by the General torque limit parameter. P2.15.
PAGE 223
apfiff09 marine 7.15.2 vacon • 223 Brake monitoring function The brake monitoring function is activated when the function Brake acknowledge is used. The brake monitoring function compares the brake feedback to the control signal. In other words, a fault will be issued if the feedback is missing when drive is in Run state and the output frequency is above the opening limit and the fault delay has expired.
PAGE 224
• Vacon 7.15.3 Closed Loop settings 7.15.3.1 Start Up torque apfiff09 marine The start-up torque is used to generate torque against the brake so that when the brake is mechanically opened there will be no position change because the drive is already generating the torque needed to keep the load in place. Settings the start-up torque time is set to -1 means that the start-up torque is removed when the drive notices encoder movement.
PAGE 225
apfiff09 marine vacon • 225 7.16 Auto Fault Reset The Auto reset function tries to reset the fault automatically during the trial time. An individual fault can be defined to be reset certain number of times before the actual fault indication is given. The function will operate as Automatic Restart function if the start command is received as a static signal. In I/O control of the Marine application, the default start function requires a rising edge command after fault trigger. P2.16.
PAGE 226
• Vacon P2.16.4 apfiff09 marine Number of tries after undervoltage fault trip ID720 This parameter determines how many automatic fault resets can be made during the trial time after undervoltage trip. 0 >0 P2.16.5 = No automatic reset = Number of automatic fault resets after undervoltage fault. Number of tries after overvoltage trip ID721 This parameter determines how many automatic fault resets can be made during the trial time after overvoltage trip. 0 >0 P2.16.
PAGE 227
apfiff09 marine P2.16.10 vacon • 227 Number of tries after underload fault trip ID738 This parameter determines how many automatic fault resets can be made during the trial time after underload trip. 0 >0 P2.16.11 = No automatic fault reset after Underload fault trip = Number of automatic fault resets after Underload fault trip Fault Simulation ID1569 without actually making e.g. over current situation. In drive interface point of view behaviour is identical to actual fault situation.
PAGE 228
• Vacon apfiff09 marine 7.17 PI Control PI Control in system interface application uses ID number to make connection between reference, actual value and output. PIC function will be active when PIC Controller Output ID is higher than zero. P P PID-Control Gain P PID-Contol I Time DI PID Activation P PID Reference (ID167) PID Controller ID SEL OUT Gain Integration Time PID Stop Value V OUT ID SEL IN PID Reference ID ID OUT ID SEL IN P PID Actual ID P2.17.
PAGE 229
apfiff09 marine P2.17.7 PI Controller Scale vacon • 229 ID340 This parameter allows you to invert the error value of the PID controller (and thus the operation of the PID controller). 1 No inversion -1 Inverted This value is a multiplier for P and I part of the control thus working as additional gain. NOTE! Zero is illegal value for PI controller P2.17.8 PI Controller minimum output ID359 P2.17.
PAGE 230
• Vacon apfiff09 marine 7.18 Keypad control parameters Unlike the parameters listed above, these parameters are located in the M3 menu of the control keypad. The reference parameters do not have an ID number. P3.1 Control Place ID125 The active control place can be changed with this parameter. Pushing the Start button for 3 seconds selects the control keypad as the active control place and copies the Run status information (Run/Stop, direction and reference).
PAGE 231
apfiff09 marine 8. vacon • 231 DATA LOGGER TRIGGER WORD There is a special trigger word in application level that can be used to trigger data logger. This word can be used for triggering when source is selected from Application and original Vacon Marine application vcn is used.
PAGE 232
• Vacon 9. apfiff09 marine IDENTIFICATION FUNCTION FOR PERMANENT MAGNET SYNCHRONOUS MOTOR PM Motor has several zero positioning identification modes. This chapter explains what kind of identification mode is needed to select when using different kind of hardware configuration. This chapter is addition to P2.1.9 Identification parameter description and P2.8.5.2 Start Angle Identification mode description. 9.1 Zero position identification with absolute encoder.
PAGE 233
apfiff09 marine 9.3 vacon • 233 Identification with incremental encoder with Z-pulse input. When using incremental encoder with Z-pulse, identification is made only once. Remade is needed if encoder and rotor position changes related to each other. Motor needs to be able to rotate freely that magnet positions can be identified.
PAGE 234
• Vacon 10. 6 apfiff09 marine STATUS AND CONTROL WORD IN DETAIL Combination P7.x.1.4 Operate Mode P2.13.22 State machine 1 1 / ProfiDrive 1 / Basic 2 2 / ByPass Some fieldbus board operate by default in 3 2 / ByPass 1 / Basic 4 1 / ProfiDrive 2 / ProfiDrive 2 / ProfiDrive Control and Status Word are explained in fieldbus option board manual Control word is ProfiDrive type and explained in this manual. Status Word is can be selected by ID number, default is ProfiDrive type ID65 V1.26.
PAGE 235
apfiff09 marine vacon • 235 10.1 Combination 1, ProfiDrive 10.1.
PAGE 236
• Vacon apfiff09 marine 10.2 Combination 2, ByPass 10.2.1 ProfiDrive State Diagram Power supply on S1: Switching On Disabled SW.B6 = TRUE | B0, B1, B2 = FALSE CW.B0 = FALSE (OFF) CW.B1= TRUE (No Coast Stop) CW.B2 = TRUE (No Quick Stop) CW.B1= FALSE (Coast Stop) CW.B2 = FALSE (Quick Stop) S2: Ready For Switching On SW.B0 = TRUE | B1, B2, B6 = FALSE CW.B0 = TRUE (ON) Modulation Stopped CW.B0 = FALSE (OFF) S5: Switching Off SW.B0, B1 = TRUE | B2, B6 = FALSE CW.B2 = FALSE (Quick Stop) CW.
PAGE 237
apfiff09 marine vacon • 237 10.2.2 State Machine 10.2.2.1 Costing Stop NOT W 10.2.2.2 V Fault with Coast Stop V Internal Coast Stop IN 1 IN 2 IN 3 V SW.B04 (Coast Stop Not Active) Coast Stop Quick stop R SW.B06 (Switch On Inhibited) IN NOT Switch On Inhibit 10.2.2.4 Ready to Switch-On, Operate and Running SW.B06 (Switch On Inhibited) Drive Ready State V No Active Fault IN 1 IN 2 V Drive Modulating SW.
PAGE 238
• Vacon 10.2.3 apfiff09 marine FB Control Word Signal b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 b11 FB Control Word Comment 0>1 will reset the Switch On Inhibit state and bring the drive to Ready Run. Should be reset after fault, Coast Stop (b1) and Emergency Stop (b2) .
PAGE 239
apfiff09 marine vacon • 239 B04: FALSE = Reset Ramp Generator, TRUE = Enable Ramp Generator This bit has priority over B05 and B06 in Control Word. Reset Ramp Generator: Closed Loop: Ramp generator is forced to zero, drive will make stop as fast as possible running against set torque limits or e.g. over voltage controller. Enable Ramp Generator: Ramp Generator function is enabled. To activate Jogging function from fieldbus B04, B05 and B06 needs to be zero.
PAGE 240
• Vacon apfiff09 marine B08: FALSE = No Function, TRUE = Jogging 1 Inching 1: Drive follows reference set by Jogging Ref 1. Function needs to separately activated by Aux Control Word or by digital input Enable Jogging when IO control used for Jogging. B09: FALSE = No Function, TRUE = Inching 2 Inching 2: Drive follows reference set by Jogging Ref 2. Function needs to separately activated by Aux Control Word or by digital input Enable Jogging when IO control used for Jogging.
PAGE 241
apfiff09 marine 10.2.
PAGE 242
• Vacon apfiff09 marine B04: FALSE = Coast Stop Activated, TRUE = Coast Stop Not Activated Coast Stop Activated: "Coast Stop (OFF 2)" command is present. Coast Stop Not Activated: Coast stop command is not active. B05: FALSE = Quick Stop Activated, TRUE = Quick Stop Not Activated Quick Stop Activated: " Quick Stop (OFF 3)" command is present. Quick Stop Not Activated: Quick stop command is not active.
PAGE 243
apfiff09 marine 10.3 Combination 3, ByPass 10.3.
PAGE 244
• Vacon 11. apfiff09 marine PROBLEM SOLVING Recommended signals for NCDrive For RS232 communication use fastest communication speed (Baudrate: 57600) and 50 ms update interval for signals. For CAN communication use 1 Mbit communication speed and 10 ms update interval for signals. When contacting Vacon local support or Vacon VDF tech.supportVDF@vacon.com send *.trn, *.par and Service info (*.txt) with situation description.
PAGE 245
apfiff09 marine 12. F1 vacon • 245 FAULT CODES Overcurrent fault Drive has detected a high current in the output phase. S1 = Hardware trip: Current above 4*Ih S2 = Only in NXS unit S3 = Current controller supervision. Current limit too low or current peak value too high. Possible cause and solutions 1. Sudden increase in load  Check motor load. 2. Short circuit in motor cables  Check motor and cables. 3. Motor is undermagnetized at start.  Make identification run 4. Unsuitable motor 5.
PAGE 246
• Vacon F5 apfiff09 marine Charge switch Charge switch status is not correct when start command is given. S1 = Charge switch was open when START command was given. Possible cause and solutions 1. Charge switch was open when the START command was given.  Check connection of the feedback from charging relay  Reset the fault and restart. Should the fault re-occur, contact your local distributor. F6 Emergency stop Emergency stop command has been given by using a special option board.
PAGE 247
apfiff09 marine vacon • 247 S34-36 = OPT-AF supply voltage hardware problem detected. S37-40 = Single hardware problem detected in STO inputs. S41-43 = Single hardware problem detected in the thermistor input. S44-46 = Single hardware problem detected in STO inputs or in the thermistor input. S47 = OPT-AF board mounted in old NXP control board. S48 = Parameter Expander boards/SlotB/Therm Trip(HW) is set to OFF even if the jumper wire X12 is not cut. S49 = OPT-AF board mounted in NXS control board.
PAGE 248
• Vacon F12 apfiff09 marine Brake chopper supervision Brake chopper supervision generates pulses to the brake resistor for response. If no response is received within set limits a fault is generated. Possible cause: 1. No brake resistor installed. 2. Brake resistor is broken. 3. Brake chopper failure. Correcting measures:  Check brake resistor and cabling.  If these are ok the chopper is faulty. Contact your local distributor. F13 Drive undertemperature fault Possible cause: 1.
PAGE 249
apfiff09 marine F17 vacon • 249 Motor underload fault The purpose of the motor underload protection is to ensure that there is load on the motor when the drive is running. If the motor loses its load there might be a problem in the process, e.g. a broken belt or a dry pump. The underload curve is a squared curve set between the zero frequency and the field weakening point. The protection is not active below 5Hz (the underload time counter is stopped).
PAGE 250
• Vacon F29 apfiff09 marine Thermistor fault The thermistor input of the option board has detected too high a motor temperature. Possible cause: 1. Motor is overheated. 2. Thermistor cable is broken. Correcting measures:  Check motor cooling and load  Check thermistor connection(If thermistor input of the option board is not in use it has to be short circuited). F31 IGBT temperature Hardware IGBT Inverter Bridge over temperature protection has detected too high a short term overload current.
PAGE 251
apfiff09 marine F39 vacon • 251 Device removed Option board removed. Correcting measures:  Reset. Device no longer available. F40 Device unknown Unknown option board or drive. S1 = Unknown device S2 = Power1 not same type as Power2 Correcting measures:  Contact the distributor near to you. F41 IGBT temperature Software IGBT inverter bridge over temperature protection has detected too high a short term overload current.    F42 Check load. Check motor size. Make Identification run.
PAGE 252
• Vacon F43 apfiff09 marine Encoder fault Encoder fault is issued when the drive is not able to operate in closed loop control mode (encoder is used).
PAGE 253
apfiff09 marine F51 vacon • 253 External fault Possible cause: 1. Digital input fault. Correcting measures:  Remove fault situation from external device. F52 Keypad communication Possible cause: 1. The connection between the control keypad or NCDrive and the AC drive is broken. Correcting measures:  Check keypad connection and possible keypad cable. F53 Fieldbus communication Possible cause: 1. The data connection between the fieldbus Master and the fieldbus board is broken.
PAGE 254
• Vacon F57 apfiff09 marine Identification Identification run has failed. Possible cause: 1. There was load on the motor shaft when making the identification run with rotating motor. 2. Motoring or generator side torque/power limits are too low to achieve a stable run. Correcting measures:  Run command was removed before identification was ready  Motor is not connected to the AC drive.  There is load on the motor shaft.
PAGE 255
apfiff09 marine F61 vacon • 255 Speed Error Speed error monitoring function compares the encoder frequency and the ramp generator output. This function is used with PMS motors to detect if the motor is out of synchronization or to disable open loop function that uses encoder speed for slip compensation. The slip compensation is disabled regardless of the response and needs to be re-activated once speed error is detected (set parameter again or power down the drive). Possible cause: 1.
PAGE 256
• Vacon F74 apfiff09 marine Follower fault When using the normal master follower function this fault code is given if one or more follower drives trip to fault. This fault is visible also when fault is in master drive. See also what other faults may be active in master drive. Possible cause: 1. Fault in follower drive or in Master drive. Correcting measures:  Identify original fault and problem.
PAGE 257
PAGE 258
Find your nearest Vacon office on the Internet at: www.vacon.com Manual authoring: documentation@vacon.com Vacon Plc. Runsorintie 7 65380 Vaasa Finland Subject to change without prior notice © 2014 Vacon Plc. Document ID: Rev.