Page 1 User Guide Model sizes 0 to 6 Universal Variable Speed AC drive for induction and servo motors Part Number: 0471-0000-13 Issue: 13 www.controltechniques.com...
Page 2 General Information The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed drive with the motor. The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the contents of the guide, without notice.
Page 3 How to use this guide This user guide provides complete information for installing and operating the drive from start to finish. The information is in logical order, taking the reader from receiving the drive through to fine tuning the performance. NOTE There are specific safety warnings throughout this guide, located in the relevant sections.
Page 4: Table Of Contents
Maximum motor rated current ......147 3.12 Electrical terminals ..........64 Current limits ............ 147 3.13 Routine maintenance ..........66 Motor thermal protection ........147 Switching frequency ......... 148 High speed operation ........148 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 5 12.2 Optional external EMC filters ......279 Diagnostics ........283 13.1 Trip indications ..........283 13.2 Alarm indications ..........299 13.3 Status indications ..........299 13.4 Displaying the trip history ........300 13.5 Behaviour of the drive when tripped ....300 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 6: Declaration Of Conformity (Size 0)
Data Sheet is also available giving detailed EMC information. low-voltage supply systems for equipment with rated current <16A EN 61000-3-2:2006 Applicable where input current <16A. No limits apply for professional equipment where input power >1kW. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 7: Declaration Of Conformity (Size 1-3)
Limitation of voltage fluctuations and flicker EN 61000-3-3:2008 in low-voltage supply systems for equipment with rated current <16A These products are for professional use, and power input exceeds 1kW for all models, so no limits apply. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 8: Declaration Of Conformity (Size 4-5)
Refer to the User Guide. An EMC Data Sheet is also available giving detailed EMC information. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 9: Declaration Of Conformity (Size 6)
Refer to the User Guide. An EMC Data Sheet is also available giving detailed EMC information. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 10: Declaration Of Conformity (Including 2006 Machinery Directive)
Declaration of Conformity (including 2006 Machinery Directive) Control Techniques Ltd The Gro Newtown Powys SY16 3BE This declaration applies to the Unidrive SP and Digitax ST variable speed T. Alexander drive product ranges, comprising model numbers composed as shown VP Technology below.: Date: 1st June 2011...
Page 11: Safety Information
The SAFE TORQUE OFF function may be used in a safety-related application. The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 12: Electrical Installation
The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energized, the AC supply must be isolated at least ten minutes before work may continue. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 13: Product Information
Data Information Product Information Ratings The Unidrive SP is dual rated. Available output Overload limit - The setting of the motor rated current determines which rating applies - current Heavy Duty Heavy Duty or Normal Duty.
Page 14: Table 2-1 200V Drive Ratings (200V To 240V ±10%)
*The closed loop peak current is based on 175% of the maximum continuous output current when the drive is used on a 3 phase supply. The value in brackets is the peak current based on 150% of the maximum continuous output current when the drive is used on a 1 phase supply. Unidrive SP User Guide www.controltechniques.com...
Page 15: Table 2-2 400V Drive Ratings (380V To 480V ±10%)
* Derating is applied to these drives at low output frequencies. Please contact the supplier of the drive for more information if the application requires significant torque, at or close to zero speed for extended periods of time or if prolonged periods of overload (>100%) are required. Unidrive SP User Guide Issue Number: 13...
Page 16: Table 2-3 575V Drive Ratings (500V To 575V ±10%)
(>100%) are required. The power ratings above for model size 4 and larger are for the 690V drives when used on a 500V to 575V supply. Unidrive SP User Guide www.controltechniques.com...
Page 17: Table 2-4 690V Drive Ratings (500V To 690V ±10%)
The time allowed in the overload region is proportionally reduced at very low output frequency on some drive ratings. NOTE The maximum overload level which can be attained is independent of the speed. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 18: Model Number
It can eliminate instability traditionally associated with open loop control such as operating large motors with light loads at low frequencies. The way in which the model numbers for the Unidrive SP range are For further details, refer to section 8.1.2 RFC mode on page 139.
Page 19: Drive Features
* The Marker tag as shown above, is where markers can be placed to identify a particular drive which can prove to be beneficial where several drives are located in the same panel. Unidrive SP User Guide Issue Number: 13...
Page 20: Figure 2-2 Features Of The Size 1 To 6 Drive
Low voltage DC Brake Low voltage DC mode resistor mode enable resistor mode enable resistor enable / heatsink fan supply connections NOTE The size 6 drive requires a 24V supply for the heatsink fan. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 21: Nameplate Description
Electric Shock Risk: Wait 10 mins between disconnecting supply and accessing terminals RoHS S/N: 3000005001 Serial IND. CONTROL SPZ 2 M/TL Compliant number EQUIPMENT Approvals E171230 Designed in the U.K. Made in China Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 22: Figure 2-4 Typical Drive Rating Labels For Size 1 To 6 Drives
Ser No: 3000005001 SP 100 T Serial Made In U.K number Input Heavy Duty / No. of phases & frequency Normal Duty Typical input current for rating output current Normal Duty rating Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 23: Options
Diagnostics Information Information Installation installation Started parameters the motor operation parameters Data Information Options Figure 2-5 Options available with Unidrive SP SMARTCARD* Keypad 15-way D-type converter Internal braking resistor (size 0 to 2 only) Feedback Automation Fieldbus External CT Comms...
Page 24 Additional I/O with overvoltage protection up to 48V SM-I/O 24V Cobalt Blue 2 x Analog outputs (current modes) Protected 4 x Digital input / outputs, 3 x Digital inputs, 2 x Relay outputs Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 25 The SM-SLM allows SLM feedback to be connected directly to the Unidrive Orange SM-SLM SP drive and allows operation in either of the following modes: • Encoder only mode • Host mode Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 26: Items Supplied With The Drive
Through panel mounting bracket Surface mounting brackets Top surface mounting brackets Nylon washers Sealing clips M4x10 Mounting screws M8x20 Grounding clamp Ground cable bridge and M5 nuts DC terminal cover grommets Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 27 Size 3 Size 4 Size 5 Size 6 Ferrite ring Supply and motor connector Ground screws M6x12 Fan supply connector IP54 gasket IP54 insert Finger guard grommets Single (10 off) Double (10 off) Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 28: Mechanical Installation
NOTE During installation it is recommended that the vents on the drive are covered to prevent debris (e.g. wire off-cuts) from entering the drive. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 29: Terminal Cover Removal
In order to provide access to the mounting holes when a size 1, 2 or 3 drive is through-panel mounted, the control terminal cover must be removed. For size 3 the high current DC / Braking and AC terminal covers must also be removed. Once the drive has been mounted, the terminal covers can be replaced. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 30: Figure 3-3 Location And Identification Of Terminal Covers
Figure 3-3 Location and identification of terminal covers High current High current DC / Braking DC / Braking voltage DC voltage DC Input Control Control Control Input Input Output Control Output Control Output Control Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 31: Figure 3-4 Removing The Size 1 Terminal Covers
When replacing the terminal covers the screws should be tightened with a maximum torque of 1 Nm (0.7 lb ft). Figure 3-4 Removing the size 1 terminal covers Pozi Pz2 Figure 3-5 Removing the size 2 terminal covers Pozi Pz2 Figure 3-6 Removing the size 3 terminal covers Pozi Pz2 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 32: Figure 3-7 Removing The Size 4, 5 And 6 Terminal Covers (Size 4 Illustrated)
Place finger-guard on a flat solid surface and hit relevant break-outs with hammer as shown (1). Continue until all required break-outs are removed (2). Remove any flash / sharp edges once the break-outs are removed. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 33: Figure 3-10 Size 4 To 6 Finger-Guard Grommets
WARNING 3.3.3 Instructions for fitting cable grommets to Unidrive SP size 4 to 6 power and ground terminals 1. Remove terminal cover, gland plate and M10 terminal nuts. 2. Remove breakouts as required in the gland plate - see Figure 3-8.
Page 34 8. Installation of double grommets on the power terminals of a Unidrive SP size 6 module where two cables per phase are required. 9. View showing the output terminals with grommets and power cables fitted. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 35: Solutions Module / Keypad Installation / Removal
It is recommended that the Solutions Module slots are used in the following order: slot 3, slot 2 and slot 1. Be aware of possible live terminals when installing the keypad. WARNING Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 36: Figure 3-13 Installation Of A Keypad On Size 0
To remove, while pressing the tabs inwards (A), gently lift the keypad in the direction indicated (B). NOTE The keypad can be installed / removed while the drive is powered up and running a motor, providing that the drive is not operating in keypad mode. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 37: Mounting Methods
(12.31in) Unidrive SP size 1 to 6 units can be either surface or through-panel mounted using the appropriate brackets. Size 0 can only be surface mounted. The following drawings show the dimensions of the drive and mounting holes for each method to allow a back plate to be prepared.
Page 38: Figure 3-16 Ingress Protection
Figure 3-17 Surface mounting the size 0 drive 47mm 7.5mm 226mm (8.9in) (1.85in) (0.3in) 220mm (8.66in) 249.7mm 322mm 292mm 304mm (9.83in) (12.68in) (11.49in) (11.96in) 226mm (8.9in) ∅5.4mm (0.21in) 62mm 229mm (9.02in) (0.24in) (2.44in) Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 39: Figure 3-18 Surface Mounting The Size 1 Drive
Figure 3-19 Surface mounting the size 2 drive 219mm (8.622in) 155mm (6.102in) ± 106 1.0mm ± 4.173 0.039in ∅ 6.5mm (0.256in) 24.5mm (0.965in) 368mm (14.488in) ± 337.5 1.0mm 371.6mm ± (13.287 0.039in) (14.630in) 21mm (0.827in) ∅ 6.5mm (0.256in) Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 40: Figure 3-20 Surface Mounting The Size 3 Drive
310mm (12.205in) 298mm (11.732in) ± 258.6 0.5mm ± (10.181 0.020in) ∅8.5mm (0.335in) ± 25.7 0.5mm ± (1.012 0.020in) 528.8 ± 510mm 546.8mm 0.5mm (20.079in) (21.528in) (20.819 ± 0.020in) 18.4mm (0.724in) ∅8.5mm (0.335in) Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 41: Figure 3-22 Surface Mounting The Size 5 Drive
± 258.6 0.5mm 310mm (12.205in) 298mm (11.732in) ± ∅8.5mm (10.181 0.020in) (0.335in) ± 25.7 0.5mm ± (1.012 0.020in) 820mm 857.3mm 839.3 (32.283in) (33.752in) ± 0.5mm (33.043 ± 0.020in) 18.4mm (0.72in) ∅8.5mm (0.335in) Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 42: Figure 3-23 Surface Mounting The Size 6 Drive
258.6 0.5mm ± ∅8.5mm (10.181 0.020in) ± 310mm (12.205in) 298mm (11.732in) (0.335in) 18.9mm (0.744in) 25.7 0.5mm ± (1.012 0.020in) ± 1131mm 1150.8 ±0.5mm 1168.8mm (44.528in) (46.016in) (45.307 0.020in) ± 18.9mm (0.744in) ∅8.5mm (0.335in) Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 43: Figure 3-24 Through-Panel Mounting The Size 1 Drive
± 368.0 1.0mm 391mm 368mm ± (14.488 0.039in) (15.394in) (14.488in) 293mm ± 294 0.5mm (11.535in) ± (11.575 0.020in) ± 9.3 0.5mm ∅6.5mm ± (0.366 0.020in) (0.256in) ± 101.5 0.5mm ± (3.996 0.020in) Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 44: Figure 3-26 Through-Panel Mounting The Size 3 Drive
When a size 4 is through-panel mounted, the grounding link bracket must be folded upwards. This is required to provide a grounding point for the grounding bracket. See section 4.11.1 Grounding hardware on page 81 for more information. Unidrive SP User Guide www.controltechniques.com...
Page 45: Figure 3-28 Through-Panel Mounting The Size 5 Drive
When a size 5 is through-panel mounted, the grounding link bracket must be folded upwards. This is required to provide a grounding point for the grounding bracket. See section 4.11.1 Grounding hardware on page 81 for more information. Unidrive SP User Guide Issue Number: 13...
Page 46: Figure 3-29 Through-Panel Mounting The Size 6 Drive
If the heatsink mounted braking resistor is to be used with the drive through-panel mounted, refer to section 3.11 Internal / heatsink mounted braking resistor on page 60 prior to mounting the drive. For further information refer to section 3.9 Enclosing standard drive for high environmental protection on page 50. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 47: Figure 3-30 Size 4, 5 And 6 Mounting Bracket
The two brackets should be installed to the top of the drive as shown in Figure 3-32. The maximum torque setting for the screws into the drive chassis is 10 N m (7.4 lb ft). Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 48: Enclosure For Standard Drives
Braking resistors are to be mounted outside the enclosure • Maximum ambient temperature inside the enclosure: 40°C Calculate the minimum required unobstructed surface area A for the • Maximum ambient temperature outside the enclosure: 30°C enclosure from: Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 49: Enclosure Design And Drive Ambient Temperature
-------------------------- - – Where: = Temperature outside the cabinet = Temperature inside the cabinet = Temperature used to select current rating from tables in rate Chapter 12 Technical Data on page 265. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 50: Heatsink Fan Operation
Figure 3-35 Example of IP54 (UL Type 12 / NEMA 12) through- panel layout IP54 (UL Type 12 / NEMA 12) enclosure IP20 (NEMA1) Drive with IP54 insert and IP54 fan installed Gasket seal Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 51: Figure 3-37 Installation Of Ip54 Insert For Size 1
For sizes 4 to 6 it may be necessary to improve the rigidity of the through panel mounting surface due to the larger distance between the top and bottom mounting brackets and the need to maintain compression on the gasket. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 52: Figure 3-39 Option 2 For Achieving Ip54 (Ul Type 12 / Nema 12) Through-Panel Mounting
Table 3-3 Quantity of nylon washers supplied with the drive Item Description Size Quantity of M8 (A) Quantity of M6 (B) Bolt Flat washer Nylon washer (from kitbox) Flat washer Spring washer Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 53: Figure 3-40 Option 3 For Achieving Ip54 (Ul Type 12 / Nema 12) Through Panel Mounting
Failure to do so may result in nuisance tripping. NOTE When designing an IP54 (NEMA 12) enclosure (Figure 3-35), consideration should be made to the dissipation from the front of the drive. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 54: External Emc Filter
Mount the external EMC filter following the guidelines in section 4.11.5 Compliance with generic emission standards on page 87. Figure 3-41 Footprint mounting the EMC Figure 3-42 Bookcase mounting the EMC Figure 3-43 Size 4 to 6 mounting of EMC filter filter filter Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 55: Figure 3-44 Size 0 External Emc Filter
440 mm Schaffner (17.323 in) 4200-6119 390 mm 423 mm 74 mm 45 mm 100 mm (15.354 in) (16.654 in) (2.913 in) (1.772 in) (3.937 in) 4200-6121 450 mm Epcos (17.717 in) 4200-6120 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 56: Figure 3-46 Size 2 External Emc Filter
(16.870 in) 371.5 mm 404.5 mm 125 mm 55 mm 30 mm 155 mm (14.626 in) (15.925 in) (4.921 in) (2.165 in) (1.181 in) (6.102 in) 431.5 mm 4200-6211 Epcos (16.988 in) Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 57: Figure 3-47 Size 3 External Emc Filter
396 mm 210 mm 60 mm 30 mm 250 mm 4200-6309 (15.591 in) (8.268 in) (2.362 in) (1.181 in) (9.843 in) 4200-6306 365 mm 425 mm Epcos (14.370 in) (16.732 in) 4200-6308 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 58: Figure 3-48 Size 4 And 5 External Emc Filter
(2.559 in) (0.079 in) 205 mm 4200-6407 Epcos (8.071 in) 4200-6501 170 mm 120 mm 85 mm 1 mm 249 mm (6.693 in) (4.724 in) (3.346 in) (0.039 in) (9.803 in) 4200-6502 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 59: Figure 3-49 Size 6 External Emc Filter
(0.079in) (2.106 in) (9.055 in) 4200-6601 200 mm 108 mm 147 mm 36.5 mm 364 mm 127 mm Epcos (7.874 in) (4.252 in) (5.787 in) (1.437 in) (14.331 in) (5.000 in) 4200-6602 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 60: Internal / Heatsink Mounted Braking Resistor
67). Ensure that the braking resistor thermistor is connected to the drive 4. Locate the braking resistor onto the drive tab 5. Refit the grill and mounting screws by reversing the procedure in points 1 and 2 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 61: Figure 3-51 Through-Panel Mounting Cut-Out Details
Terminate the cables with suitable crimps and connect to the BR and +DC terminals. Tighten the screw terminals to a maximum torque of 1.5 Nm (1.1 lb ft). • Replace both terminal covers. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 62: Figure 3-55 Connecting The Brake Resistor On A
• The screws should be tightened to a maximum torque of 2.0 N m (1.5 lb ft). • Close the hinged fan baffle. • Install cables to heatsink clip. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 63: Figure 3-59 Connecting The Brake Resistor On A Surface
If the heatsink mounted braking resistor is to be used at more than half of its average power rating then the drive's cooling fan must be set to full speed by setting Pr 6.45 to On (1). See section 4.9.1 Heatsink mounted braking resistor on page 78 for the resistor specifications. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 64: Electrical Terminals
2.5mm 17mm AF 17mm AF 17mm AF Low voltage Low voltage Low voltage DC AC output/ AC output/ AC output/ DC enable DC enable enable / Heatsink Brake Brake Brake fan supply Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 65: Table 3-7 Drive Control And Relay Terminal Data
10 N m 95mm (7.4 lb ft) (14.7 lb ft) 4200-6502 4/0AWG The maximum cable size for the power terminals on Unidrive SP size 0 4200-6601 is 4mm (10 AWG). 4200-6602 Table 3-10 Schaffner external EMC filter terminal data (size 0)
Page 66: Routine Maintenance
Screw connections Ensure all screw terminals remain tight Crimp terminals Ensure all crimp terminals remains tight – check for any discoloration which could indicate overheating Cables Check all cables for signs of damage Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 67: Electrical Installation
If the motor load is capable of rotating the motor when the supply is disconnected, then the motor must be isolated from the drive before gaining access to any live parts. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 68: Figure 4-2 Size 1 Power Connections
If the heatsink mounted resistor is used (size 1 and 2 only), an overload protection device is not required. The resistor is designed to fail safely under fault conditions. See Figure 4-6 for further information on ground connections. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 69: Figure 4-4 Size 3 Power Connections
EMC filter. * See section 4.1.2 Ground connections . See Figure 4-7 for further information on ground connections. ** See section 4.4 Heatsink fan supply on page 72 for more information. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 70: Figure 4-6 Size 2 Ground Connections
Size 6: 1000A Plain washers If the necessary conditions are not met, an additional ground connection must be provided to link the motor circuit ground and the supply ground. Spring washer M6 bolt Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 71: Ac Supply Requirements
175kVA: SP0201 SP0202 SP0203 SP0204 SP0205 SP0401 SP0402 SP0403 SP0404 SP0405 SP1201 SP1202 SP1203 SP1204 SP1401 SP1402 SP1403 SP1404 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 72: Supplying The Drive With Dc / Dc Bus Paralleling
21.6 V Maximum power supply requirement at 24V: 60 W Recommended fuse: 3 A, 50 Vdc Minimum and maximum voltage values include ripple and noise. Ripple and noise values must not exceed 5%. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 73: Low Voltage Dc Power Supply
Brake IGBT turn on = 1.325 x Pr 6.46 (V) Over voltage trip = 1.45 x Pr 6.46 (V) For application data, refer to the Unidrive SP Low Voltage DC Operation Installation Guide. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 74: Table 4-3 Size 0 To 3 Input Current, Fuse And Cable Size Ratings (European)
*The value in the bracket is when the drive is used on a 1 phase supply. *The value in the bracket is when the drive is used on a 1 phase supply. ** Fast acting or high speed class J fuses only. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 75: Table 4-5 Size 4 And Larger Input Current, Fuse And Cable Size Ratings
UL listing is dependent on the use of the correct type of UL-listed fuse, and applies when symmetrical short-circuit current does not exceed 100kA. See Chapter 14 UL Listing Information on page 301 for sizing information. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 76: Output Circuit And Motor Protection
(245ft) SP2202 200m 150m SP3505 (330ft) (660ft) (490ft) SP2203 SP3506 SP3201 SP3507 SP3202 SP4201 250m 185m 125m SP4202 (820ft) (607ft) (410ft) (295ft) SP4203 SP5201 250m 185m 125m (820ft) (607ft) (410ft) (295ft) SP5202 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 77: Figure 4-11 Cable Construction Influencing The Capacitance
• AC supply voltage exceeds 500V • DC supply voltage exceeds 670V • Operation of 400V drive with continuous or very frequent sustained braking • Multiple motors connected to a single drive Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 78: Braking
The Drive Enable terminal (T31) when opened provides a SAFE TORQUE OFF function. This can in many cases replace output contactors. For further information see section 4.16 SAFE TORQUE OFF on page 99. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 79: Table 4-11 Heatsink Mounted Braking Resistor Data
When a braking resistor is to be mounted outside the enclosure, ensure that it is mounted in a ventilated metal housing that will perform the following functions: • Prevent inadvertent contact with the resistor • Allow adequate ventilation for the resistor Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 80: Figure 4-14 Typical Protection Circuit For A Braking Resistor
10.31, Pr 10.37 and Pr 10.39. This software overload protection should be used in addition to an external overload protection device. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 81: Ground Leakage
Size 4 to 6: 56mA* AC at 400V 50Hz 4.11.5 Compliance with generic emission standards must be followed. 18µA DC with a 600V DC bus (33MΩ) Table 4-13 Unidrive SP and EMC filter cross reference * Proportional to the supply voltage and frequency. Schaffner...
Page 82: Figure 4-15 Use Of The Emc Bracket On Size 0
This is required to provide a grounding point for the grounding bracket as shown in Figure 4-20. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 83: Figure 4-20 Size 4 And 5 Grounding Link Bracket In Its Surface Mount Position (As Supplied)
For details of ground fault protection contact the supplier of the drive. If the drive is used as a motoring drive as part of a Unidrive SP regen system, then the internal EMC filter must be removed. The internal EMC filter reduces radio-frequency emission into the line power supply.
Page 84: Figure 4-23 Removal Of Internal Emc Filter (Size 1 To 3)
It must not be connected directly to the power earth busbar. Optional ground connection Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 85: Figure 4-26 Drive Cable Clearances
2. Additional measures to prevent unwanted emission of radio cable frequency noise. These are optional and only required where the installation is subject to specific requirements for radio frequency emission control. Twisted pair shield Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 86: Figure 4-28 Feedback Cable Connections
The requirements of operating in the second environment are met, depending on the motor cable length for 3kHz switching frequency as stated in Table 4-14 and Table 4-15. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 87: Figure 4-29 Supply And Ground Cable Clearance (Size 0 To 3)
100mm from the power module and motor cable. Figure 4-29 Supply and ground cable clearance (size 0 to 3) 100mm (4in) ≥100mm (4in) 100mm (4in) ≥100mm (4in) Do not modify the filter wires Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 88: Figure 4-31 Sensitive Signal Circuit Clearance
Enclosure Enclosure Ensure direct metal contact at drive and filter mounting points (any paint must be removed). Motor cable shield (unbroken) electrically connected to and held in place by grounding clamp. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 89: Figure 4-35 Grounding Of Signal Cable Shields Using The Grounding Bracket
1. Galvanic isolation, i.e. do not connect the control 0V terminal to ground. Avoid loops in the control wiring, i.e. ensure every control wire is accompanied by its return (0V) wire. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 90: Serial Communications Connections
The “isolated serial communications” lead has reinforced insulation as defined in IEC60950 for altitudes up to 3,000m. NOTE When using the CT EIA232 Comms cable the available baud rate is limited to 19.2k baud. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 91: Control Connections
If the CT Comms Cable is to be used, then pin 6 (TX enable) should be Positive logic is the default state for Unidrive SP. connected on all drives and pin 4 (+24V) should be linked to at least 1 CAUTION drive to supply power to the converter in the cable.
Page 92: Figure 4-41 Default Terminal Functions
With software V01.06.02 and earlier, Analog input 3 has no default function. Refer to Analog input 3 on page 93. **The SAFE TORQUE OFF / Drive enable terminal is a positive logic input only. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 93 T8 analog input 3 has a parallel connection to terminal 15 of the drive encoder connector. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 94: Encoder Connections
After removing the break-out, ensure that the ground tab is connected to ground. This will connect 0V of the drive to ground. This is required to enable the drive to meet IP20 when the break-out is removed. WARNING NOTE Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 95: Figure 4-43 Location Of Encoder Connector (Size 0)
The size of the connecting cable between the encoder ground tab and the EMC bracket should be equal to the input cable. 4.14.2 Location of encoder connector (size 1 to 6) Figure 4-45 Location of encoder connector Drive encoder connector Female 15-way D-type Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 96: Table 4-20 Drive Encoder Connector Details
7 to 12) Working common mode range +12V to –7V Absolute maximum applied voltage +14V to -9V relative to 0V Absolute maximum applied differential +14V to -9V voltage Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 97: Table 4-21 Feedback Resolution Based On Frequency And Voltage Level
Absolute maximum applied voltage ±14V and common mode voltage range relative to 0V For the SinCos encoder to be compatible with Unidrive SP, the output Absolute maximum applied differential ±14V signals from the encoder must be a 1V peak to peak differential voltage voltage (across Sin to Sinref and Cos to Cosref).
Page 98: Low Voltage Dc Mode Enable And Heatsink Fan Supply Connections (Size 4 To 6)
24V, 100W, 4.5A Not used Recommended fuse 4A fast blow (I t less than 20A Upper terminal connector Lower terminal connector 24V low voltage DC mode enable To the heatsink fan Pre-wired internally Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 99: Safe Torque Off
WARNING safety system. The system must be subject to a risk assessment to confirm that the residual risk of an unsafe event is at an acceptable level for the application. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 100: Getting Started
Understanding the display There are two types of keypad available for the Unidrive SP, LED and LCD. The SM-Keypad and SP0 Keypad have an LED display, and the SM- Keypad Plus has an LCD display. The SP0 Keypad can only be installed to size 0, and the SM-Keypad can only be installed to size 1 to 6. The SM- Keypad Plus can either be installed to the size 1 to 6, or it can be remotely mounted on an enclosure door.
Page 101: Figure 5-4 Display Modes
When changing the values of parameters, make a note of the new values in case they need to be entered again. NOTE For new parameter-values to apply after the AC supply to the drive is interrupted, new values must be saved. Refer to section 5.7 Saving parameters on page 104. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 102: Menu Structure
Figure 5-7 Menu structure Menu 0 ..XX.00..0.50 0.49 0.48 0.47 0.46 Moves between parameters 0.05 0.04 0.03 0.02 0.01 Moves between Menus Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 103: Advanced Menus
Additional Menu 0 set-up Keypad configuration menu User filter menu PLC registers PLC registers PLC registers PLC registers PLC registers PLC registers Timer function parameters Digital I/O parameters Status parameters General parameters Fast access parameters Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 104: Changing The Operating Mode
The motor I t accumulator in the drive has reached 75% of the value at Regen (See the Unidrive SP Regen which the drive will be tripped and the load on the drive is >100% Installation Guide for more information...
Page 105: Parameter Access Level And Security
Pr 22.29 If an incorrect security code is entered the display will revert to parameter view mode. To lock the User Security again, set Pr 0.49 to Loc and press the reset button. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 106: Displaying Parameters With Non-Default Values Only
When using one of the above converters or any other suitable converter The drive is always a slave. with the Unidrive SP, it is recommended that no terminating resistors be Modbus RTU connected on the network. It may be necessary to 'link out' the...
Page 107: Basic Parameters
CL> Drive encoder lines per { 3.34 } 0 to 50,000 1024 4096 RW Uni revolution 0.28 Keypad fwd/rev key enable { 6.13 } OFF (0) or On (1) OFF (0) RW Bit Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 108 V01.08.00 and later, power-down save Destination: This parameter selects the destination of an parameters are also saved in the drive when the user input or logic function. initiates a parameter save. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 109 Safety Product Mechanical Electrical Getting Basic Running SMARTCARD Onboard Advanced Technical UL Listing Optimization Diagnostics Information Information Installation installation Started parameters the motor operation parameters Data Information Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 110: Figure 6-1 Menu 0 Logic Diagram
Preset reference selectors A2.Pr Preset reference selectors Preset reference selectors Local/Remote Local/Remote Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown in their default settings Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 111 PWM switching 0.41 frequency Drive output Drive encoder 0.11 0.27 frequency Overspeed 0.26 threshold OL & VT> Total motor Motor active current current 0.13 0.12 Magnetising 15 way sub-D current connector Resistor optional Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 112: Full Descriptions
Set Pr 0.01 at the required minimum output frequency of the drive for both directions of rotation. The drive speed reference is scaled between Pr 0.01 and Pr 0.02. [0.01] is a nominal value; slip compensation may cause the actual frequency to be higher. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 113 SrE (5) Open-loop There are six voltage modes available, which fall into two categories, vector control and fixed boost. For further details, refer to section Pr 0.07 {5.14} Voltage mode on page 138. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 114: Figure 6-2 Fixed And Variable V/F Characteristics
0 to 65,535 ths of a revolution Servo Pr 0.11 displays the position of the encoder in mechanical values of 0 to 65,535. There are 65,536 units to one mechanical revolution. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 115 In modes 2 & 3 a current loop loss trip is generated if the current falls below 3mA. In modes 2 & 4 the analog input level goes to 0.0% if the input current falls below 4mA. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 116 Pr 0.22 determines whether the reference is uni-polar or bi-polar as follows: 1024 0 to 50,000 Pr 0.22 Function 4096 Closed-loop Unipolar speed/frequency reference Enter in Pr 0.27 the number of lines per revolution of the drive encoder. Bipolar speed/frequency reference Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 117 (Note: ANSI uses 7 data the frequencies detected by the drive as follows: bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and no parity). Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 118 A rotating autotune first performs a stationary autotune, before rotating the motor at base speed in the forward direction for approximately 30 seconds. The motor must be free from load for the rotating autotune. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 119 The full range of switching frequencies is not available on all ratings of (i.e. up to 2 mechanical revolutions) in the forward direction, and Unidrive SP. See section 8.5 Switching frequency on page 148, for the measure the encoder phase angle. The motor must be free from maximum available switching frequency for each drive rating.
Page 120 Enter the value from the rating plate of the motor. 0.00 to 40,000.00 rpm USA> 1,770.00 Open-loop This is the speed at which the motor would rotate when supplied with its base frequency at rated voltage, under rated load conditions (= Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 121 Each bit in this parameter has the following functions: Function Stop on non-important trips Disable braking IGBT trips Disable phase loss trip (Unidrive SP size 0 only) Disable braking resistor temperature monitoring failure detection. (Unidrive SP size 0 only) Example Pr 10.37=8 (1000...
Page 122: Running The Motor
For minimal parameter settings to run in each mode please see the relevant part of section 7.3 Quick Start Regen (See the Unidrive SP Regen commissioning/start-up on page 126. Installation Guide for more information...
Page 123: Figure 7-1 Minimum Connections To Get The Motor Running In Any Operating Mode (Size 0)
This must be wired to interrupt the AC supply in the Z Z 1 event of a fault. This is not required if the optional internal braking resistor is used Closed loop vector Servo Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 124: Figure 7-2 Minimum Connections To Get The Motor Running In Any Operating Mode (Size 1 To 3)
AC supply in the Z Z 1 L1 L2 event of a fault. This is not required if the optional internal braking resistor is used Closed loop vector Servo Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 125: Figure 7-3 Minimum Connections To Get The Motor Running In Any Operating Mode (Size 4 To 6)
This must be wired to interrupt the AC supply in the Z Z 1 event of a fault. This is not required if the optional internal braking resistor is used Closed loop vector Servo Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 126: Quick Start Commissioning/Start-Up
Remove the drive enable and run signal from the drive. Enter 1000 in Pr xx.00 Save parameters Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0) Drive is now ready to run Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 127 150kW. If the value of Pr 5.40 is too large the motor may accelerate from standstill when the drive is enabled. If the value of this parameter is too small the drive will detect the motor speed as zero even if the motor is spinning. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 128 Remove the drive enable and run signal from the drive. Enter 1000 in Pr xx.00 Save parameters Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0) Drive is now ready to run Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 129 Deceleration rate in Pr 0.04 (s/1000rpm) (If braking resistor installed, set Pr 0.15 = FAST. Also ensure Pr rates 10.30 and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.) 0.03 0.04 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 130 Action Detail Unidrive SP is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before an autotune is enabled. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive.
Page 131 0.04 Unidrive SP is able to perform a short low speed, a normal low speed or a minimal movement autotune. The motor must be at a standstill before an autotune is enabled. A normal low speed autotune will measure the encoder phase offset angle and calculate the current gains.
Page 132: Quick Start Commissioning/Start-Up (Ctsoft)
Quick start commissioning/start-up (CTSoft) CTSoft is a Windows™ based software commissioning/start-up tool for Unidrive SP and other Control Techniques products. CTSoft can be used for commissioning/start-up and monitoring, drive parameters can be uploaded, downloaded and compared, and simple or custom menu listings can be created.
Page 133: Setting Up A Feedback Device
Setting up a feedback device This section shows the parameter settings which must be made to use each of the compatible encoder types with Unidrive SP. For more information on the parameters listed here please refer to the Unidrive SP Advanced User Guide.
Page 134 Absolute Sincos encoder with Hiperface or EnDat serial communications, or Absolute EnDat communications only encoder The Unidrive SP is compatible with the following Hiperface encoders: SCS 60/70, SCM 60/70, SRS 50/60, SRM 50/60, SHS 170, LINCODER, SCS-KIT 101, SKS36, SKM36, SEK-53.
Page 135 If 1< Pr 3.34 <32,768, the drive uses the value in Pr 3.34 rounded down to nearest value that is a power of 2. (rotary encoders) If Pr 3.34 ≥32,768, the drive uses the value of 32,768. SC.HiPEr, SC.EndAt, SC.SSI The drive uses the value in Pr 3.34. (linear encoders Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 136 Initialization causes an encoder with communications to be re-initialized and auto-configuration to be performed if selected. After initialization Ab.SErVO, Fd.SErVO and Fr.SErVO encoders will use the UVW commutations signals to give position feedback for the first 120° (electrical) of rotation when the motor is restarted. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 137: Optimization
The drive can be put in to a controlled disable condition by removing the SAFE TORQUE OFF signal from terminal 31, setting the drive enable parameter Pr 6.15 to OFF (0) or disabling the drive via the control word (Pr 6.42 & Pr 6.43). Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 138 The synchronous speeds for 50Hz motors with different numbers of poles are as follows: 2 pole = 3000rpm, 4 pole = 1500rpm, 6pole =1000rpm, 8 pole = 750rpm Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 139 The stator inductance can be measured by the drive by performing a rotating autotune (see Autotune Pr 0.40, later in this table). Unidrive SP User Guide Issue Number: 13...
Page 140 If the value of this parameter is too large the motor may accelerate from standstill when the drive is enabled. If the value of this parameter is too small the drive will detect the motor speed as zero even if the motor is spinning. Unidrive SP User Guide www.controltechniques.com...
Page 141 Pr 3.18 - Motor and load inertia The drive can be made to measure the motor and load inertia by performing an inertia measurement autotune (see Autotune Pr 0.40, earlier in this table). Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 142 The stator inductance can be measured by the drive by performing a rotating autotune (see Autotune Pr 0.40, later in this table). Unidrive SP User Guide www.controltechniques.com...
Page 143 In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed closed-loop induction motor applications) the integral gain may need to have a significantly higher value. Unidrive SP User Guide Issue Number: 13...
Page 144 Pr 3.18 - Motor and load inertia The drive can be made to measure the motor and load inertia by performing an inertia measurement autotune (see Autotune Pr 0.40, earlier in this table). Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 145 In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed closed-loop induction motor applications) the integral gain may need to have a significantly higher value. Unidrive SP User Guide Issue Number: 13...
Page 146 Pr 3.18 - Motor and load inertia The drive can be made to measure the motor and load inertia by performing an inertia measurement autotune (see Autotune Pr 0.40, earlier in this table). Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 147: Maximum Motor Rated Current
161.2% for servo). characteristic is intended for motors where the cooling effect of motor The default settings for the current limit parameters for Unidrive SP size fan reduces with reduced motor speed below 50% of base speed/ 6 are: frequency.
Page 148: Switching Frequency
It is possible to operate the motor at very high speeds that would give a very high motor terminal voltage, but this voltage is prevented by the action of the drive. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 149 The additional low order harmonics cause increased losses and heating in the motor. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 150: Smartcard Operation
Pr 21.20 are not copied to the SMARTCARD. Therefore, Pr 3.25 and Pr 21.20 in the destination would not be changed during a transfer of this data block from the SMARTCARD. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 151: Transferring Data
With software V01.06.02 and earlier, a save must have been performed on the drive to transfer the parameters from the drive RAM to the EEPROM before the transfer to the SMARTCARD is carried out. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 152 Pr 5.07, Pr 21.07 Motor rated current copying SMARTCARD the master device. This provides a very fast and Pr 5.09, Pr 21.09 Motor rated voltage efficient way of re-programming a number of drives. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 153: Data Block Header Information
Unidrive SP, 1 = Commander GP20, 2 = Digitax ST, 3 = Affinity). mode set up with Pr 11.42. The difference from the default file is that it If there is no data on the card Pr 11.37 can only have values of 0 or 1000...
Page 154 (0) = Inactive rEAd (1) = Read parameter set from the SMARTCARD Prog (2) = Programming a parameter set to the SMARTCARD Auto (3) = Auto save boot (4) = Boot mode Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 155: Smartcard Trips
SMARTCARD trip: SMARTCARD has the Read only bit set Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access Ensure the drive is not writing to data locations 500 to 999 on the card Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 156 9.2.4 Booting up For further information, please refer to section from the SMARTCARD on every power up (Pr 11.42 = 9.2.3 Auto saving parameter changes (Pr 11.42 = Auto boot (4)) . (3)) . Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 157: Onboard Plc
Ladder diagrams can be created, compiled into user program programs and downloaded to a Unidrive SP or SM-Applications Lite for execution, via the RJ45 serial communications port on the front of the drive. The run-time operation of the compiled ladder diagram on the...
Page 158: Getting Started
CAPABILITY 10.5 Onboard PLC parameters SYPTLite can be used with either the Onboard PLC in the Unidrive SP or with SM-Applications Lite to create ladder logic programs. The following parameters are associated with the Onboard PLC SYPT can be used with any of the Applications Modules to create fully program.
Page 159: Onboard Plc Trips
4064 bytes and each block can be up to 4064 bytes in size. The maximum size of a user program is 4032 bytes so it is guaranteed that any Onboard PLC program downloaded to a Unidrive SP will fit on to an empty SMARTCARD. A SMARTCARD can contain a number of Onboard PLC programs until the capacity of the card is used.
Page 160: Advanced Parameters
Default columns. In some cases, the function or range of a parameter is affected by the setting of another parameter; the information in the lists relates to the default condition of such parameters. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 161: Table 11-3 Feature Look-Up Table
3.14 3.15 3.16 3.17 3.18 Hard speed reference 3.22 3.23 Heavy duty rating 5.07 11.32 High stability space vector 5.19 modulation I/O sequencer 6.04 6.30 6.31 6.32 6.33 6.34 6.42 6.43 6.41 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 162 7.06 7.32 7.35 10.18 Thermal protection - motor 4.15 5.07 4.19 4.16 4.25 7.15 Thermistor input 7.15 7.03 Threshold detector 1 12.01 12.03 to 12.07 Threshold detector 2 12.02 12.23 to 12.27 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 163 1.40 Voltage controller 5.31 Voltage mode 5.14 5.17 5.23 5.15 Voltage rating 11.33 5.09 5.05 Voltage supply 6.44 6.46 5.05 Warning 10.19 10.12 10.17 10.18 10.40 Zero speed indicator bit 3.05 10.03 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 164: Table 11-4 Definition Of Parameter Ranges & Variable Maximums
575V rating drive: 0 to 955V, 690V rating drive: 0 to 1150V Maximum DC bus voltage DC_VOLTAGE_MAX The maximum measurable DC bus voltage. [1190V] 200V drives: 415V, 400V drives: 830V, 575V drives: 990V, 690V drives: 1190V Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 165 Software V01.07.01 and earlier: POWER_MAX = √3 x AC_VOLTAGE_MAX x RATED_CURRENT [9999.99kW] x 1.75/1000 Software V01.08.00 and later: POWER_MAX = √3 x AC_VOLTAGE_MAX x DRIVE_CURRENT_MAX/1000 The values given in square brackets indicate the absolute maximum value allowed for the variable maximum. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 166: Table 11-5 Maximum Motor Rated Current
SP4603 27.0 27.0 36.0 SP4604 36.0 36.0 43.0 SP4605 43.0 43.0 52.0 SP4606 52.0 52.0 62.0 SP5601 63.0 63.0 84.0 SP5602 85.0 85.0 99.0 SP6601 85.7 100.0 125.0 SP6602 107.1 125.0 144.0 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 167 Safety Product Mechanical Electrical Getting Basic Running SMARTCARD Onboard Advanced Technical UL Listing Optimization Diagnostics Information Information Installation installation Started parameters the motor operation parameters Data Information Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 168: Menu 1: Frequency / Speed Reference
Read-only (RO) Output 0.XX 1.18 parameter Memory terminals 1.19 Precision The parameters are all shown in their default settings reference trim *For more information, refer to section 11.21.1 Reference modes on page 256 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 169 Skip freq./ Skip freq./ speed 1 speed 2 speed 3 Velocity feed-forward 1.05 1.30 1.32 1.34 [1.06] reference Skip freq./ Skip freq./ Skip freq./ reference speed band speed band speed band [1.06] [1.07] Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 170 (0), LASt (1), PrS1 (2) rESEt (0) RW Txt mode reference RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 171 Safety Product Mechanical Electrical Getting Basic Running SMARTCARD Onboard Advanced Technical UL Listing Optimization Diagnostics Information Information Installation installation Started parameters the motor operation parameters Data Information Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 172: Menu 2: Ramps
Pre-ramp speed Ramp mode 1.03 2.04 reference select* *For more information, refer to section 11.21.2 Braking Modes on page 257. **For more information, refer to section 11.21.3 S ramps on page 257. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 173 (Closed- loop only) Deceleration Ramps always enabled Post-ramp in Open-loop Ramp control reference 2.06 S-Ramp enable** 2.01 S-Ramp acceleration 2.07 limit 2.08 Standard ramp voltage* 2.38 d/dt Inertia compensation torque (Closed-loop only) Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 174 Inertia compensation torque ± 1,000.0 % NC PT RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 175: Menu 3: Frequency Slaving, Speed Feedback And Speed Control
10.06 Read-only (RO) Output 0.XX parameter terminals 3.09 10.07 Absolute at-speed 3.07 Above at-speed The parameters are all shown at their default settings detect mode window indicator At speed upper limit Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 176: Figure 11-4 Menu 3 Closed Loop Logic Diagram
**If output voltage from the encoder is >5V, then the termination resistors must be disabled Pr 3.39 to 0.**If output voltage from the encoder is >5V, then the termination resistors must be disabled Pr 3.39 to 0 Unidrive SP User Guide www.controltechniques.com...
Page 177 3.07 Absolute at-speed window indicator detect mode At speed upper limit Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 178 Bit 0 (LSB) = Wire break detect Bit 1 = Phase error detect 3.40 Drive encoder error detection level RW Uni Bit 2 (MSB) = SSI power supply bit monitor Value is binary sum Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 179 SMARTCARD. NOTE **If output voltage from the encoder is >5V, then the termination resistors must be disabled Pr 3.39 to Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 180: Menu 4: Torque And Current Control
Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings * For more information, refer to section 11.21.4 Torque modes on page 258 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 181: Figure 11-6 Menu 4 Closed-Loop Vector Logic Diagram
The parameters are all shown at their default settings *For more information, refer to section 11.21.4 Torque modes on page 258. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 182: Figure 11-7 Menu 4 Servo Logic Diagram
The parameters are all shown at their default settings *For more information, refer to section 11.21.4 Torque modes on page 258. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 183 Rating dependent Protected User save Power down save * For size 6 the default is 138.1% **For size 6 the default is 165.7% in closed loop mode and 150.0% in servo mode. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 184: Menu 5: Motor Control
4.02 4.01 4.20 Percentage active current 4.17 Motor magnetising current Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 185 Safety Product Mechanical Electrical Getting Basic Running SMARTCARD Onboard Advanced Technical UL Listing Optimization Diagnostics Information Information Installation installation Started parameters the motor operation parameters Data Information Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 186: Figure 11-9 Menu 5 Closed-Loop Logic Diagram
Low frequency voltage boost 5.15 High dynamic performance enable 5.26 Voltage controller gain 5.31 Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 187 Motor full load 5.03 rated speed Power calculation (V x 1) 5.16 optimiser enable Servo High speed Motor 5.22 servo mode current enable Motor active magnitude current 4.02 4.01 4.17 Motor magnetising current Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 188 0.0 to 10.0 VT> 0.0 to 10.0 RW Uni RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 189: Menu 6: Sequencer And Clock
5.05 Drive power supply monitor Active supply 6.44 Low voltage supply Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 190 Note that the fan will only run at full modes on page 261. speed if the drive is not in a UU condition. ****For more information, refer to section 11.21.8 Catch a spinning Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 191: Menu 7: Analog I/O
Motor active ??.?? current Read-only (RO) Output 0.XX 7.23 7.24 4.02 parameter terminals Analog Analog ??.?? output 2 output 2 The parameters are all shown at their default settings scaling mode selector Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 192 Power circuit temperature 3 -128 to 127 NC PT RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 193 Safety Product Mechanical Electrical Getting Basic Running SMARTCARD Onboard Advanced Technical UL Listing Optimization Diagnostics Information Information Installation installation Started parameters the motor operation parameters Data Information Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 194: Menu 8: Digital I/O
T26 digital 8.13 I/O polarity Open collector unprotected I/O 3 invert select output parameter ??.?? Run forward 6.30 x(-1) ??.?? *For more information, refer to section 11.21.1 Reference modes on page 256. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 195 Relay Relay source source invert This logic diagram applies only when all 8.17 8.27 parameters are at their default settings Any bit parameter Relay Drive state ??.?? Healthy 10.01 8.07 ??.?? x(-1) Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 196 OFF (0) or On (1) OFF (0) RW Bit selection disable RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 197: Menu 9: Programmable Logic, Motorized Pot, Binary Sum And Timers
??.?? ??.?? x(-1) Function-2 input-2 9.16 source parameter Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 198: Figure 11-14 Menu 9 Logic Diagram: Motorized Pot And Binary Sum
9.31 Binary-sum logic fours (MSB) Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 199 Binary sum offset 0 to 248 RW Uni RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 200: Menu 10: Status And Trips
Pr 10.30 Pr 10.31 page 283. 200V, size 0 0.06 400V, size 0 0.01 200V, size 1 & 2 0.09 400V, size 1 & 2 0.02 All other ratings and frame sizes 0.00 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 201: Menu 11: General Drive Set-Up
Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save * Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 202: Menu 12: Threshold Detectors, Variable Selectors And Brake Control Function
Threshold Threshold Threshold Detector 2 Detector 2 Detector 2 input source hysteresis output invert Hysteresis Input Read-write (RW) Threshold 0.XX terminals parameter level Read-only (RO) Output 0.XX parameter terminals Threshold output Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 203: Figure 11-16 Menu 12 Logic Diagram (Continued)
12.35 ??.?? control parameter Variable selector 2 ??.?? input 2 scaling 12.34 ??.?? Variable selector 2 12.29 input 2 source Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 204: Figure 11-17 Open-Loop Brake Function
5. Wait for zero frequency 1.11 Reference on 6. 1s delay as phase 2 of stopping sequence (Pr 6.01 =1,2 or 3) 12.40 Brake release 2.03 Ramp hold Pr 12.46 Pr 12.47 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 205: Figure 11-19 Closed-Loop Brake Function
Reference on 4. Wait for brake apply speed delay 5. Brake apply delay 12.40 Brake release 2.03 Ramp hold 13.10 Position control mode 6.08 Hold zero speed Pr 12.47 Pr 12.46 Pr 12.48 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 206 OFF (0) or On (1) RW Bit during brake release RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 207 Safety Product Mechanical Electrical Getting Basic Running SMARTCARD Onboard Advanced Technical UL Listing Optimization Diagnostics Information Information Installation installation Started parameters the motor operation parameters Data Information Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 208: Menu 13: Position Control
Position control feedback position Revolution Position Position Position counter fine controller feedback Drive source 3.28 3.29 3.30 Encoder 13.05 Slot 1 15.04 15.05 15.06 Position Slot 2 16.04 16.05 16.06 Slot 3 17.04 17.05 17.06 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 209 Read-only (RO) Output 0.XX parameter terminals This logic diagram applies only when all parameters are at their default settings *For more information, refer to section 11.21.9 Position modes on page 263. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 210: Figure 11-22 Menu 13 Closed-Loop Logic Diagram
Drive source 3.28 3.29 3.30 Encoder 13.05 Slot 1 15.04 15.05 15.06 Position Slot 2 16.04 16.05 16.06 Limited to ± / rev Slot 3 17.04 17.05 17.06 Orientation position 13.13 reference Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 211 3. The absolute mode parameter (Pr 13.11) is changed. The position controller is disabled transiently to reset the error integrator. 4. One of the position sources is invalid. 5. The position feedback initialised parameter (Pr 3.48) is zero. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 212 OFF (0) or On (1) OFF (0) RW Bit RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 213 Safety Product Mechanical Electrical Getting Basic Running SMARTCARD Onboard Advanced Technical UL Listing Optimization Diagnostics Information Information Installation installation Started parameters the motor operation parameters Data Information Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 214: Menu 14: User Pid Controller
14.06 Any variable parameter feedback ??.?? 14.21 ??.?? x(-1) enable 14.08 Drive normal indicator & 10.01 Logic 1 Any bit parameter ??.?? ??.?? Source 14.09 not used Optional PID enable source parameter Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 215 ??.?? PID integral gain 14.01 14.15 14.12 ??.?? PID derivative gain Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 216 NC PT 14.22 PID error ±100.00 % NC PT RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 217: Menus 15, 16 And 17: Solutions Module Set-Up
0.00 to 99.99 RO Uni NC PT version x.50 Solutions Module error status 0 to 255 RO Uni NC PT Solutions Module software x.51 0 to 99 RO Uni NC PT sub-version Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 218 The SM-Resolver, SM-Encoder Plus, SM-Encoder Output Plus and SM-I/O Plus modules do not contain any software, so Pr x.02 and Pr x.51 either show 0 (software V01.07.01 and earlier) or the parameters do not appear (software V01.08.00 and later). Unidrive SP User Guide www.controltechniques.com...
Page 219 Safety Product Mechanical Electrical Getting Basic Running SMARTCARD Onboard Advanced Technical UL Listing Optimization Diagnostics Information Information Installation installation Started parameters the motor operation parameters Data Information Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 220: Figure 11-26 Sm-Universal Encoder Plus Logic Diagram
Ab output Fd output SSI output Marker output block input input x.38 Freeze 0V common Data Data\ 9-Way Clock\ (input) RS485 Clock (input) 0V common Drive /slot bus input Freeze Freeze\ Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 221 Marker output other slots x.40 Marker output Marker Freeze flag Marker output x.35 Freeze revolution counter Freeze x.36 Freeze position x.39 Marker output x.37 Freeze fine position x(-1) x.41 Freeze invert Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 222 Solutions Module error status* 0 to 255 RO Uni NC PT x.51 Solutions Module software sub-version 0 to 99 RO Uni NC PT *See trip SLX.Er, Feedback module category on page 292. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 223 Safety Product Mechanical Electrical Getting Basic Running SMARTCARD Onboard Advanced Technical UL Listing Optimization Diagnostics Information Information Installation installation Started parameters the motor operation parameters Data Information Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 224: Figure 11-27 Sm-Resolver Logic Diagram
REF HIGH (excitation) REF LOW (excitation) Resolver x.15 poles x.17 Error detection level Freeze positional information Freeze input Freeze Freeze x.35 revolution flag SM-Applications counter x.39 SM-Universal Freeze Encoder Plus x.36 position Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 225 RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save *See trip SLX.Er, Feedback module category on page 292. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 226: Figure 11-28 Sm-Encoder Plus Logic Diagram
Not used x.32 x.33 Marker x.08 x.07 input Marker Marker flag position disable Freeze positional information Freeze input Freeze Freeze x.35 revolution flag SM-Applications counter x.39 SM-Universal Freeze Encoder Plus x.36 position Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 227 Lock position feedback Revolution counter Position x.04 x.05 Positional information Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 228: Figure 11-29 Sm-Encoder Output Plus Logic Diagram
SM-Universal Freeze Encoder Plus Freeze x.36 position flag Encoder Encoder simulation simulation mode source Position Encoder simulation Module encoder x.05 ratio numerator port Drive encoder 3.29 port Ab.L Fd.L Drive encoder position Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 229 Positional information Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Solutions Module terminal Ab.L Fd.L PL2 term block 9-Way Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 230 *Pr x.13, Pr x.24, Pr x.25 and Pr x.28 are only used when operating with a SM-Encoder Output Plus module. These parameters are not used when operating with a SM-Encoder Plus module **See trip SLX.Er, Feedback module category on page 292. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 231: Figure 11-30 Sm-I/O Plus Analog Logic Diagram
X.46 T10 Analog input 2 invert T12 Analog output 1 Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 232: Figure 11-31 Sm-I/O Plus Digital Logic Diagram 1
I/O 3 invert Positive parameter X.29 logic select ??.?? x(-1) ??.?? Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default setting Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 233: Figure 11-32 Sm-I/O Plus Digital Logic Diagram 2
X.29 Positive x(-1) logic select ??.?? X.17 Relay 1 Input terminals Output terminals Read-write 0.XX (RW) Relay 2 parameter Read-only 0.XX (RO) parameter The parameters are all shown at their default setting Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 234 RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save *See trip SLX.Er, Automation (I/O Expansion) module category on page 294. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 235: Figure 11-33 Sm-I/O Lite & Sm-I/O Timer Digital I/O Logic Diagram
Invert x.17 0.00 State Default source x.07 Pr 0.00 21.51 Input Read-write (RW) 0.XX terminals parameter 0.XX Read-only (RO) Output parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 236: Figure 11-34 Sm-I/O Lite & Sm-I/O Timer Analog I/O Logic Diagram
Years Real time clock x.37 Real time clock +1 hour Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 237 RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save *See trip SLX.Er, Automation (I/O Expansion) module category on page 294. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 238: Figure 11-36 Sm-I/O Pelv Digital I/O Logic Diagram
T6 digital X.14 I/O 4 invert unprotected bit parameter ??.?? x(-1) ??.?? Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default setting Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 239: Figure 11-37 Sm-I/O Pelv Digital Input Logic Diagram
1 level input 1 destination X.40 unprotected X.43 Analog input 1 variable parameter ??.?? X.38 X.41 Analog Analog ??.?? input 1 input 1 x(-1) mode selector scaling X.42 Analog input 1 invert Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 240: Figure 11-40 Sm-I/O Pelv Analog Output Logic Diagram
Figure 11-40 SM-I/O PELV analog output logic diagram T10 Analog output 1 T12 Analog output 2 Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 241 RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save *See trip SLX.Er, Automation (I/O Expansion) module category on page 294. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 242: Figure 11-41 Sm-I/O 24V Protected Digital I/O Logic
T6 digital X.14 I/O 4 invert Any unprotected parameter ??.?? x(-1) ??.?? Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default setting Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 243: Figure 11-42 Sm-I/O 24V Protected Digital I/O Logic
Relay 1 Any bit or integer parameter Relay 2 Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default setting Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 244: Figure 11-44 Sm-I/O 24V Protected Analog Output Logic
Pr 0.00 to Pr 21.51 Pr 0.00 x.49 Analog output 1 scaling 0.000 to 4.000 1.000 x.50 Solutions Module error status 0 to 255 x.51 Solutions Module software sub-version 0 to 99 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 245: Figure 11-45 Sm-I/O 120V Digital Input Logic Diagram
T8 digital Input 6 x.16 State 0.00 x.06 unprotected parameter x(-1) 21.51 Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 246: Figure 11-46 Sm-I/O 120V Relay Diagram
RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save *See trip SLX.Er, Automation (I/O Expansion) module category on page 294. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 247: Figure 11-47 Sm-I/O 32 Logic Diagram
RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save *See trip SLX.Er, Automation (I/O Expansion) module category on page 294. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 248 RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save *See trip SLX.Er, Automation (Applications) module category on page 293. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 249 Information Installation installation Started parameters the motor operation parameters Data Information 11.15.4 Fieldbus module category Fieldbus module parameters For information regarding fieldbus module parameters, refer to the appropriate Solutions Module User Guide. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 250: Figure 11-48 Sm-Slm Logic Diagram
Not connected x.26 x.27 5.18 = 8kHz 3.26 = SM-SLM slot SAVE Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown in their default settings Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 251 15 Running 16 Trip Speed x.03 Lock position feedback x.49 x.29 Action read from Revolution Fine SLM EEPROM Position counter position (CT Coder) Autotune mode x.04 x.05 x.06 x.26 Parameters transferred x.28 LOAD Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 252 Rating dependent Protected User save Power down save * Some of the parameters which are not used will be introduced in scheduled product enhancement. **See trip SLX.Er, SLM module category on page 295. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 253: Menu 18: Application Menu 1
9.2.1 Writing to the SMARTCARD on page 151 for more information. RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 254: Menu 21: Second Motor Parameters
When the second motor map parameters are active, the symbol ‘Mot2’ will appear in the lower left hand corner of the LCD display or the decimal point that is second from the right on the first row of the LED display is lit. Unidrive SP User Guide www.controltechniques.com...
Page 255: Menu 22: Additional Menu 0 Set-Up
Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US RW Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 256: Advanced Features
** Jog forward can only be selected when the drive is in either the ready scan timer enabled analog 1 and preset references 2 to 8 are selected (rdy), inhibit (inh) or trip states. automatically in turn. Pr 1.16 defines the time between each change. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 257 /100Hz or s /1000rpm, the time T for the 'curved' part of the S can be determined from: T = S ramp rate of change / Ramp rate Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 258 5rpm in reverse, and so take up any slack. The uncoiler can operate at any positive speed applying tension. If it is necessary to accelerate the uncoiler a positive Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 259 When this mode is selected Pr 6.01 has no effect. 6.06 Injection braking level 0.0 to 150.0 % 100.0 Defines the current level used during DC injection braking as a percentage of motor rated current as defined by Pr 5.07. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 260: Table 11-8 Dc Bus Voltage Thresholds
If the integral gain is increased too far the first signs of instability will occur when operating around the point where field Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 261 (σL the destination parameters for these digital I/O and Pr 6.40 can be This is the inductance value stored in Pr 5.24 after the autotune test modified by the user. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 262: Figure 11-49 Digital Input Connections When Pr 6.04 Is
When closed-loop vector mode is used without position feedback, and catch a spinning motor is not required, this parameter should be set to Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 263 3. When the position is within the window defined by Pr 13.14, the orientation complete indication is given in Pr 13.15. The stop mode selected by Pr 6.01 has no effect if orientation is enabled. Equal Areas Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 264 SAFE TORQUE OFF input to be forced high, including the case where a component such as a blocking diode has failed. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 265: Technical Data
SP6602 For the definition of ambient temperature, see section 3.7 Enclosure design and drive ambient temperature on page 49. NOTE *See Size 0 and SP2404 power and current ratings on page 266. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 266: Table 12-2 Maximum Permissible Continuous Output Current @ 40°C (104°F) Ambient With Ip54 Insert And Standard Ip54 Fan Installed
SP2404 above 3kHz when the overload is reduced from the default value 165% in open loop or 175% in closed loop, to 110%. If the current limits in Pr 4.05 to Pr 4.07 are set higher than 110% then the Heavy Duty current ratings are applicable. Unidrive SP User Guide www.controltechniques.com...
Page 267: Table 12-3 Maximum Permissible Continuous Output Current @ 50°C (122°F) Ambient
SP6602 NOTE For the definition of ambient temperature, see section 3.7 Enclosure design and drive ambient temperature on page 49. *See Size 0 and SP2404 power and current ratings on page 266. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 268: Table 12-4 Losses @ 40°C (104°F) Ambient
SP5601 1818 2129 2258 2203 1345 1585 1763 1757 SP5602 2176 2320 2215 2189 1792 1744 1714 1706 SP6601 2573 2512 2438 2573 2512 2438 SP6602 3106 2512 2438 3106 2512 2438 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 269: Table 12-5 Losses @ 40°C (104°F) Ambient With Ip54 Insert And Standard Ip54 Fan Installed
Normal Duty Heavy Duty 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz 3kHz 4kHz 6kHz 8kHz 12kHz 16kHz SP1201 SP1202 SP1203 SP1204 SP2201 SP2202 SP2203 SP1401 SP1402 SP1403 SP1404 SP1405 SP1406 SP2401 SP2402 SP2403 SP2404 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 270: Table 12-6 Losses @ 50°C (122°F) Ambient
SP5601 1785 1743 1689 1657 1345 1585 1763 1757 SP5602 1785 1743 1689 1657 1609 1557 1502 1504 SP6601 2084 2036 1978 2084 2036 1978 SP6602 2084 2036 1978 2084 2036 1978 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 271: Table 12-7 Power Losses From The Front Of The Drive When Through-Panel Mounted
IP / UL Rating Line reactors are particularly recommended for use with the following The Unidrive SP is rated to IP20 pollution degree 2 (dry, non-conductive drive models when one of the above factors exists, or when the supply contamination only) (NEMA 1). However, it is possible to configure the...
Page 272: Table 12-8 Ip Rating Degrees Of Protection
In order to achieve the high IP rating at the rear of the heatsink with NOTE Unidrive SP size 1 and 2, it is necessary to seal a heatsink vent by This is the limit for broad-band (random) vibration. Narrow-band...
Page 273: Table 12-10 Acoustic Noise Data
(33.752in) (12.205in) (11.732in) (7.874in) (3.858in) 1169mm (46.016in) 12.1.19 Weights Table 12-12 Overall drive weights Size Model 1201 to 1204, 1401 to 1404 11.0 1405 and 1406 12.8 15.4 33.1 66.1 121.3 165.3 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 274: Table 12-14 Size 0 To 3 Input Current, Fuse And Cable Size Ratings
Refer to local wiring regulations for the correct size of cables. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 275: Table 12-15 Size 4 And Larger Input Current, Fuse And Cable Size Ratings
8 A peak 340X 14 A peak 350X 18 A peak For sizes 4 to 6, the inrush current is limited by a controlled rectifier to below the rated current of the drive. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 276: Table 12-16 Maximum Motor Cable Lengths (200V Drives)
SP1405 SP1406 (120ft) SP2401 (165ft) 100m (245ft) SP2402 200m 150m (330ft) (660ft) (490ft) SP2403 SP2404 SP3401 SP3402 SP3403 SP4401 SP4402 SP4403 (295ft) 250m 185m 125m SP5401 (820ft) (607ft) (410ft) SP5402 SP6401 SP6402 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 277: Table 12-20 Minimum Resistance Values And Peak Power Rating For The Braking Resistor At 40°C (104°F)
The drive contains an in-built filter for basic emission control. An additional optional external filter provides further reduction of emission. The requirements of the following standards are met, depending on the motor cable length and switching frequency. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 278: Table 12-25 Size 0 (200V) Emission Compliance (Single And Three Phase Drives)
0 to 25 4 to 10 0 to 100 Do not use > 10 Using external filter: 0 to 25 25 to 75 Do not use 75 to 100 Do not use Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 279: Optional External Emc Filters
SP5601 to SP5602 4200-6504 4200-6502 suppliers, customers or users who separately or jointly have SP6601 to SP6602 4200-6604 4200-6602 technical competence in the EMC requirements of the application of drives. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 280: Table 12-37 Optional External Emc Filter Details
1.5MΩ resistor to ground (i.e. line to line 3.6MΩ, line to ground 3.3MΩ) 6. 470kΩ between phases with each phase connected by a 2MΩ resistance to ground. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 281: Table 12-38 Optional External Emc Filter Dimensions
300 mm (11.811 in) 4200-6501 12.0 26.5 249 mm (9.803 in) 120 mm (4.724 in) 4200-6502 10.0 22.0 4200-6601 364 mm (14.331 in) 230 mm (9.055 in) 147 mm (5.787 in) 19.0 4200-6602 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 282 1.35 N m (1.0 lb ft) 10mm 8AWG Epcos 4200-6405 6.8 N m (5.0 lb ft) 50mm 0AWG 4200-6407 4200-6501 20 N m (14.7 lb ft) 10 N m (7.4 lb ft) 95mm 4/0AWG 4200-6502 4200-6601 4200-6602 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 283: Diagnostics
Has offset measurement test been completed? (servo mode only) Reduce the values in current loop gain parameters - Pr 4.13 and Pr 4.14 (closed loop vector and servo modes only) Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 284: Table 13-1 Trip Indications
SMARTCARD trip: SMARTCARD has the Read Only bit set Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access Ensure the drive is not writing to data locations 500 to 999 on the card Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 285 With EnDat encoders, check the comms resolution and/or carry out the auto-configuration Pr 3.41 EnC6 Drive encoder trip: Encoder has indicated an error Replace feedback device With SSI encoders, check the wiring and encoder supply setting Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 286 Enter 12001 in Pr xx.00 and check for parameter controlling Pr 10.32 Ensure Pr 10.32 or Pr 10.38 (=6) are not being controlled by serial comms HF01 Data processing error: CPU address error Hardware fault - return drive to supplier Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 287 Soft start relay failed to close, soft start monitor failed or braking IGBT short circuit at power up Hardware fault - return drive to supplier HF27 Power stage thermistor 1 fault Hardware fault - return drive to supplier Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 288 Pr 10.31 to 0 to disable the trip L.SYnC Drive failed to synchronize to the supply voltage in Regen mode Refer to the Diagnostics chapter in the Unidrive SP Regen Installation Guide. O.CtL Drive control board over temperature Check enclosure / drive fans are still functioning correctly...
Page 289 Speed has exceeded 1.2 x Pr 1.06 or Pr 1.07 (open loop mode) Reduce the speed loop P gain (Pr 3.10) to reduce the speed overshoot (closed loop vector and servo modes only) Unidrive SP User Guide Issue Number: 13...
Page 290 Perform a user save (Pr xx.00 to 1000 or 1001 and reset the drive) or power down the drive normally to ensure this trip does or occur the next time the drive is powered up. Unidrive SP User Guide www.controltechniques.com...
Page 291 Reinstall the cable between the drive and keypad Check cable for damage Replace cable Replace keypad SLX.dF Solutions Module slot X trip: Solutions Module type installed in slot X changed 204,209,214 Save parameters and reset Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 292 The number of comms bits per SM-Universal Select a different type of encoder. period for a linear encoder Encoder Plus Faulty encoder. exceeds 255. Check ambient temperature Solutions Module has overheated Check enclosure ventilation Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 293 Inter-option module comms error with module in slot 2 Inter-option module comms error with module in slot 3 Inter-option module comms error with module unknown slot APC internal error Communications to drive faulty Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 294 Communications error to slot 3 SM-Ethernet, SM-EtherCAT Memory allocation error SM-Ethernet, SM-EtherCAT File system error SM-Ethernet, SM-EtherCAT Configuration file error SM-Ethernet Language file error SM-Ethernet Timed event over-run Internal watchdog error Internal software error Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 295 Motor object type incorrect Unidrive SP object error Encoder object CRC error Motor object CRC error Performance object CRC error Unidrive SP object CRC error Sequencer timeout Solutions module over temperature SLX.HF Solutions Module slot X trip: Solutions Module X hardware fault...
Page 296 Onboard PLC program attempted out of range parameter write Check program UP PAr Onboard PLC program attempted access to a non-existent parameter Check program UP ro Onboard PLC program attempted write to a read-only parameter Check program Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 297: Table 13-2 Serial Communications Look-Up Table
Enc16 SL3.tO Enc17 SL3.Er 168 to 174 t168 to t174 SL3.nF C.Prod SL3.dF EnP.Er SL.rtd CL.bit C.boot t216 SAVE.Er C.bUSY 217 to 232 HF17 to HF32 PSAVE.Er C.Chg t038 C.OPtn L.SYnC C.RdO Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 298: Table 13-3 Trip Categories
4. When the drive is first powered up a UV trip is initiated if the supply voltage is below the restart voltage level and another trip is not active. This does not cause save power down save parameters to be saved at this point. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 299: Alarm Indications
The drive is writing a parameter set to the SMARTCARD during power- For further information, please refer to section 9.2.3 Auto saving parameter changes (Pr 11.42 = Auto (3)) on page 152. loAding The drive is writing information to a Solutions Module. Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 300: Displaying The Trip History
(except if the low voltage DC supply is being used), but is only disabled if any of the following trips occurs or would occur if another trip had not already become active: OI.Br, PS, It.Br, OV or any HFxx trip. Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 301: Ul Listing Information
Class 1 75°C (167°F) copper wire only is used in the installation 4605 Field wiring connectors 4606 Sizes 4 to 6 • UL listed wire connectors are used for terminating power circuit field wiring, e.g. Ilsco TA series Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 302: Safety Label
SM-Encoder Plus • SM-SLM • SM-Encoder Output Plus • SM-Applications • 15-way D-type converter • SM-I/O PELV • SM-Applications Plus • SM-LON • SM-SERCOS • SM-I/O 24V Protected • SM-EtherCAT • SM-I/O 32 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 303: List Of Figures
Figure 2-4 Typical drive rating labels for size 1 to 6 drives 22 Figure 3-51 Through-panel mounting cut-out details Figure 2-5 Options available with Unidrive SP ....23 for size 1 ............61 Figure 3-1 Fire enclosure bottom layout ......28 Figure 3-52...
Page 304 Installation of the SMARTCARD ....150 Figure 9-2 Basic SMARTCARD operation .......151 Figure 10-1 Onboard PLC program scheduling ....157 Figure 10-2 Programming options for Unidrive SP ....158 Figure 11-1 Menu 1 logic diagram ........168 Figure 11-2 Menu 2 logic diagram ........172 Figure 11-3 Menu 3 Open-loop logic diagram ....175...
Page 305: List Of Tables
40°C (104°F) ..79 Table 12-9 UL enclosure ratings ........272 Table 4-13 Unidrive SP and EMC filter cross reference ..81 Table 12-10 Acoustic noise data ........273 Table 4-14 Second environment emission compliance Table 12-11 Overall drive dimensions ........ 273 (size 0) ..............86...
Page 306 Maximum continuous output current (200V drives) ..........301 Table 14-2 Maximum continuous output current (400V drives) ..........301 Table 14-3 Maximum continuous output current (575V drives) ..........301 Table 14-4 Maximum continuous output current (690V drives) ..........301 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 307: Index
Fuse ratings ................273 Current ratings ..............265 Fuse types ................75 Getting Started ..............100 Ground connections ............75 Ground leakage ..............81 Ground terminals ..............64 Grounding bracket ..............82 Grounding clamp ..............82 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
Page 308 Minimum connections to get the motor running in Precision reference Analog input 1 .........92 any operating mode ............123 Product information ..............13 Quadratic V/F mode ..............18 Quick start commissioning ........... 126 Quick start connections ............122 Unidrive SP User Guide www.controltechniques.com Issue Number: 13...
Page 309 Surge immunity of control circuits - long cables and connections outside a building ..........89 Surge suppression for analog and bipolar inputs and outputs ...............90 Surge suppression for digital and unipolar inputs and outputs ...............90 Switching frequency ............. 148 SYPTLite ................157 Unidrive SP User Guide Issue Number: 13 www.controltechniques.com...
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Emerson unidrive sp User Manual

Table of Contents

Declaration of Conformity (Size 0)

Declaration of Conformity (Size 1-3)

Declaration of Conformity (Size 4-5)

Declaration of Conformity (Size 6)

Declaration of Conformity (Including 2006 Machinery Directive)

1 Safety Information

2 Product Information

3 Mechanical Installation

4 Electrical Installation

5 Getting Started

6 Basic Parameters

7 Running the Motor

9 SMARTCARD Operation

10 Onboard PLC

11 Advanced Parameters

12 Technical Data

14 UL Listing Information

Quick Links

Chapters

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