Mode: RFC‑S
Parameter | 05.001 Output Frequency | ||
---|---|---|---|
Short description | Displays the frequency applied to the motor | ||
Mode | RFC‑S | ||
Minimum | -2000.0 | Maximum | 2000.0 |
Default | Units | Hz | |
Type | 32 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 1 |
Coding | RO, FI, ND, NC, PT |
The output frequency is not controlled directly, but the Output Frequency (05.001) is a measurement of the frequency applied to the motor.
Parameter | 05.002 Output Voltage | ||
---|---|---|---|
Short description | Displays the r.m.s. line to line voltage at the a.c. terminals of the drive | ||
Mode | RFC‑S | ||
Minimum | −VM_AC_VOLTAGE | Maximum | VM_AC_VOLTAGE |
Default | Units | V | |
Type | 16 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 0 |
Coding | RO, FI, VM, ND, NC, PT |
The Output Voltage (05.002) is the r.m.s. line to line voltage at the a.c. terminals of the drive.
Parameter | 05.003 Output Power | ||
---|---|---|---|
Short description | Displays the power flowing via the a.c. terminals of the drive | ||
Mode | RFC‑S | ||
Minimum | −VM_POWER | Maximum | VM_POWER |
Default | Units | kW | |
Type | 32 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 3 |
Coding | RO, FI, VM, ND, NC, PT |
The Output Power (05.003) is the power flowing via the a.c. terminals of the drive. The power is derived as the dot product of the output voltage and current vectors, and so this is correct even if the motor parameters are incorrect and the motor model does not align the reference frame with the flux axis of a motor in RFC-A mode. For Open-loop, RFC-A and RFC-S modes a positive value of power indicates power flowing from the drive to motor. For Regen mode a positive value of power indicates power flowing from the supply to the regen drive.
Parameter | 05.005 D.c. Bus Voltage | ||
---|---|---|---|
Short description | Displays the voltage across the d.c. link of the drive | ||
Mode | RFC‑S | ||
Minimum | −VM_DC_VOLTAGE | Maximum | VM_DC_VOLTAGE |
Default | Units | V | |
Type | 16 Bit Volatile | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RO, FI, VM, ND, NC, PT |
D.c. Bus Voltage (05.005) gives the voltage across the d.c. link of the drive.
Parameter | 05.007 Rated Current | ||
---|---|---|---|
Short description | Set to the rated current rated of the motor | ||
Mode | RFC‑S | ||
Minimum | −VM_RATED_CURRENT | Maximum | VM_RATED_CURRENT |
Default | 0.000 | Units | A |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 3 |
Coding | RW, VM, RA |
Rated Current (05.007) is used as follows:
Parameter | 05.008 Rated Speed | ||
---|---|---|---|
Short description | Set to the rated speed of the motor | ||
Mode | RFC‑S | ||
Minimum | 0.00 | Maximum | 33000.00 |
Default | 3000.00 | Units | rpm |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 2 |
Coding | RW |
Rated Speed (05.008) is not used by the motor control algorithms, but it is used by the motor thermal protection system.
The units for Rated Speed (05.008) are always rpm even if a linear motor is used and Linear Speed Select (01.055) = 1.
Parameter | 05.009 Rated Voltage | ||
---|---|---|---|
Short description | Set to the rated voltage of the motor | ||
Mode | RFC‑S | ||
Minimum | −VM_AC_VOLTAGE_SET | Maximum | VM_AC_VOLTAGE_SET |
Default | See exceptions below | Units | V |
Type | 16 Bit User Save | Update Rate | 4ms read |
Display Format | None | Decimal Places | 0 |
Coding | RW, VM, RA |
Voltage | Region | Default Value |
200V | All | 230 |
400V | 50Hz | 400 |
400V | 60Hz | 460 |
575V | All | 575 |
690V | All | 690 |
The Rated Voltage (05.009) is the maximum continuous voltage that is applied to the motor. As with RFC-A mode some headroom must be allowed if high performance is required at higher speeds. It should be noted that this limit is not applied unless Enable High Speed Mode (05.022) is set to 1.
Parameter | 05.011 Number Of Motor Poles | ||
---|---|---|---|
Short description | Set to the number of poles of the motor | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 240 |
Default | 3 | Units | PolePairs |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW, BU |
* The units relate to the text string of the parameter and not the numeric value.
The numeric value in Number Of Motor Poles (05.011) should be set to the number of motor pole pairs (i.e. number of motor poles / 2). The text strings associated with Number Of Motor Poles (05.011) show the number of motor poles (i.e. the parameter value x 2). If a linear position feedback device is used Number Of Motor Poles (05.011) should be set to 1 (2 Pole).
If Number Of Motor Poles (05.011) = 0 the number of motor poles are calculated automatically as given below.
Pole pairs = 3 (6 Pole)
Parameter | 05.012 Auto-tune | ||
---|---|---|---|
Short description | Defines the auto-tune test to be performed | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 6 |
Default | 0 | Units | |
Type | 8 Bit Volatile | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW, NC |
The following describes how an auto-tune test can be initiated and normal operation can be resumed after the test for RFC-S mode:
The following describes the effects of the auto-tune test on the drive parameters for RFC-S mode:
The table below shows the parameters required for motor control indicating which should be set by the user and which can be measured with an auto-tune test.
Auto-tune test 1: Stationary test for basic control parameters
This test can be used to measure all the necessary parameters for basic control. (This test is not likely to give such an accurate value for Position Feedback Phase Angle (03.025) as auto-tune test 2.)
It should be noted that because this is a stationary test, it is not possible to check the direction of the position feedback. If the motor power connection phase sequence is incorrect so that the position feedback counts in reverse when the drive applies a phase sequence U-V-W to operate in the forward direction then the motor will jump thought 90o electrical and stop with a current in the motor defined by the current limits. This can be corrected by changing the drive output phase sequence with Reverse Output Phase Sequence (05.042) and then repeating the auto-tuning. This will make the motor rotate correctly in the direction defined by the position feedback rotation. If the position feedback direction is correct the motor will then rotate under control in the required direction, but if the position feedback direction is incorrect the motor will then rotate under control in the wrong direction.
Auto-tune test 2: Rotating test for basic control parameters
This test can be used to measure all the necessary parameters for basic control and parameters for cancelling the effects of cogging torque. The motor must be unloaded for this test. (This test is likely to give a more accurate value for Position Feedback Phase Angle (03.025) than auto-tune test 1.) Note that if sensorless mode is selected Auto-tune 1 test is performed.
Auto-tune test 3: Mechanical load measurement using signal injection
This test measures the mechanical characteristic of the motor and load by rotating the motor at the speed defined by the present speed reference and injecting a series of speed test signals. This test should only be used provided all the basic control parameters have been set-up correctly and the speed controller parameters should be set to conservative levels, such as the default values, so that the motor is stable when it runs. The test measures the motor and load inertia, which can be used in automatic set-up of the speed controller gains and in producing a torque feed-forward term. If Mechanical Load Test Level (05.021) is left at its default value of zero then the peak level of the injection signal will be 1% of the maximum speed reference subject to a maximum of 500rpm. If a different test level is required then Mechanical Load Test Level (05.021) should be set to a non-zero value to define the level as a percentage of the maximum speed reference, again subject to a maximum of 500rpm. The user defined speed reference which defines the speed of the motor should be set to a level higher than the test level, but not high enough for flux weakening to become active. In some cases, however it is possible to perform the test at zero speed provided the motor is free to move, but it may be necessary to increase the test signal from the default value. The test will give the correct results when there is a static load applied to the motor and in the presence of mechanical damping. This test should be used if possible, however for sensorless mode, or if the speed controller cannot be set up for stable operation an alternative test is provided (Auto-tune (05.012) = 4 ) where a series of torque levels are applied to accelerate and decelerate the motor to measure the inertia.
Auto-tune test 4: Mechanical load measurement using applied torque
Auto-tune test 3 should normally be used for mechanical load measurement, but under some circumstances this test may be used as an alternative. This test is likely to give incorrect results if standard ramp mode is active. A series of progressively larger torque levels are applied to the motor (20%, 40% ... 100% of rated torque) to accelerate the motor up to 3/4 x Rated Speed (05.008) to determine the inertia from the acceleration/deceleration time. The test attempts to reach the required speed within 5s, but if this fails the next torque level is used. When 100% torque is used the test allows 60s for the required speed to be reached, but if this is unsucessful a trip is initiated. To reduce the time taken for the test it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level (05.021) to a non-zero value. When the test level is defined the test is only carried out at the defined test level and 60s is allowed for the motor to reached the required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to acheive the required torque level to accelerate the motor fast enough. If this is the case, the maximum speed reference should be reduced.
Auto-tune test 5:
To be defined.
Auto-tune test 6: Locked rotor test for load dependent parameters
If sensorless mode is selected then the rotor must be locked in position so that it does not move with the level of current defined by Iq Test Current For Inductance Measurement (05.075). It is possible to perform this test when the motor is not completely rigidly locked provided sensorless mode is not selected. This could be done for example where the motor shaft is prevented from turning by another motor connected to its shaft on a motor loading rig. The loading motor should be set up with zero speed reference and be able to prevent the test motor from accelerating with a level of current defined by Iq Test Current For Inductance Measurement (05.075). The test will apply a series of torque pulsations to the motor during the test and the loading motor should prevent excessive movement and the system response must be stable. If this test is carried out with position feedback the feedback device must be set up correctly and the Position Feedback Phase Angle (03.025) must be correct.
This is a fairly prolonged test which makes measurements of the motor inductance with a range of test currents in the d and q axis of the motor. Iq varies between zero and the level specified by Iq Test Current For Inductance Measurement (05.075). Id varies between the level specified by Id Test Current for Inductance Measurement (05.082) and zero. The results are analysed by the drive and Phase Offset At Iq Test Current (05.077), Low Speed Sensorless Mode Current (05.071), No-load Lq (05.072), Lq At The Defined Iq Test Current (05.078) and Lq At The Defined Id Test Current (05.084) are calculated. As the test is carried out at standstill the thermal model for the drive may initiate a trip at the higher current levels. If this is the case then either the test currents or the switching frequency will need to be reduced.
The table below shows the trips that can occur during an auto-tune test:
Trip | Reason | Trip can occur in test |
Autotune Stopped | The final drive enable or the final drive run were removed before the test was completed. | All |
Resistance.001 | The measured value of Stator Resistance (05.017) exceeded a value of (VFS / √2) / Full Scale Current Kc (11.061), where VFS is the full scale d.c. link voltage. | 1, 2 |
Resistance.002 | It has not been possible to measure the drive inverter characteristic to define Maximum Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060). | 1, 2 |
Autotune 1.001 Autotune 1.002 Autotune 1.003 |
The position feedback did not change when position feedback is being used. The motor did not reach the required speed The required commutation signal edge could not be found with commutation signal only position feedback |
2 4 2 |
Autotune 2.001 Autotune 2.002 |
Position feedback direction is incorrect when position feedback is being used. A SINCOS encoder with comms is being used for position feedback and the comms position is rotating in the opposite direction to the sine wave based position. |
2 2 |
Autotune 3.001 | The measured inertia exceeds the parameter range. | 3, 4 |
Autotune 3.003 | The mechanical load test has failed to identify the inertia. | 3, 4 |
A position feedback device with commutation signals is being used (i.e. AB Servo, FD Servo, FR Servo, SC Servo) and one of the following errors has been detected: The commutation signals changed in the wrong direction. |
2 | |
Autotune 7 | The motor poles or the position feedback resolution have been set up incorrectly where position feedback is being used. The trip will not occur if Number Of Motor Poles (05.011) ≥ 6 (i.e. 12 poles). | 2 |
Inductance.004 |
During auto-tune test 1, or auto-tune test 2 in sensorless mode, the direction of the flux in the motor must be detected by the change of inductance with different currents. This trip is initiated if the change cannot be detected. |
1, 2 |
If Sensorless Mode Active (03.078) = 1 then trips Autotune 1, Autotune 2 and Autotune 7 are disabled.
Parameter | 05.014 Phasing Test On Enable | ||
---|---|---|---|
Short description | Defines a when a stationary test is performed to calculate the Postion Feedback Phase Angle | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 4 |
Default | 0 | Units | |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW, TE |
Value | Text |
0 | Disabled |
1 | Short |
2 | Short Once |
3 | Long |
4 | Long Once |
Phasing Test On Enable (05.014) can be used to get the drive to perform a phasing angle test when it is enabled. This test can be used when a non-absolute encoder is used for motor control feedback in RFC-S mode. The phasing test will measure and modify Position Feedback Phase Angle (03.025), so that the correct offset is applied to run the motor with the non-absolute encoder. The test can be selected to occur after power-up and each time the position feedback is re-initialised. It is not necessary to perform the test on every enable, but this can be selected as shown in the table below. If the motor has significant cogging torque, and is not locked during the test, it is suggested that a long test is selected, otherwise a short test can be used. It should be noted that the motor inductances ( Ld (05.024) and No-load Lq (05.072) ) are checked before the test is carried out, and if the difference is not sufficient (see Inductance) then the drive will trip. Therefore, if the motor inductances have not been measured with auto-tuning or changed from their default values of zero the drive will trip when the drive is enabled.
Phasing Test On Enable (05.014) | Action |
Disabled (0) | No phasing test is carried out on enable |
Short (1) | A test lasting approximately 0.4s is carried out on every enable |
Short Once (2) | A test lasting approximately 0.4s is carried out when the drive is first enabled after power-up, and when the drive is enabled after position feedback selected with Motor Control Feedback Select (03.026) is initialized. |
Long (3) | A test lasting approximately 1.3s is carried out on every enable |
Long Once (4) | A test lasting approximately 1.3s is carried out when the drive is first enabled after power-up, and when the drive is enabled after position feedback selected with Motor Control Feedback Select (03.026) is initialized |
A test is only carried out when sensorless mode is not active (i.e. Sensorless Mode Active (03.078) = 0). Position Feedback Phase Angle (03.025) is updated by the test, but is not save in non-volatile memory in the drive.
Most motors have a positive saturation characteristic so that increasing the current in the flux axis increases motor saturation. It is possible with some motor designs for the characteristic to be reversed. If this is the case the phase angle measurement on enable will produce a value that is 180deg from the real value. If this is the case Inverted Saturation Characteristic (05.070) should be set to one.
Parameter | 05.017 Stator Resistance | ||
---|---|---|---|
Short description | Defines the resistance of the motor stator | ||
Mode | RFC‑S | ||
Minimum | 0.000000 | Maximum | 1000.000000 |
Default | 0.000000 | Units | Ω |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 6 |
Coding | RW, RA |
The motor parameters used by the drive are derived from the star connected per phase equivalent circuit of a permanent magnet motor shown below.
Stator Resistance (05.017) = R
Ld (05.024) = L in the d (flux) axis
No-load Lq (05.072) = L in the q (torque) axis with no current in the motor
Lq At The Defined Iq Test Current (05.078) = L in the q axis with Id = 0 and Iq = Lq At The Defined Iq Test Current (05.078)
Lq At The Defined Id Test Current (05.084) = L in the q axis with Id = Lq At The Defined Id Test Current (05.084) and Iq = 0.
Parameter | 05.018 Maximum Switching Frequency | ||
---|---|---|---|
Short description | Defines the maximum switching frequency that can be used by the drive | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | VM_SWITCHING_FREQUENCY |
Default | 3 | Units | kHz |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW, TE, VM, RA |
Value | Text |
0 | 2 |
1 | 3 |
2 | 4 |
3 | 6 |
4 | 8 |
5 | 12 |
6 | 16 |
Maximum Switching Frequency (05.018) should be set to the required PWM switching frequency. The drive inverter will operate at this frequency unless the inverter temperature becomes too hot. Under these conditions the drive will reduce the switching frequency in an attempt to avoid tripping (see Auto-switching Frequency Change Disable (05.035) ). The actual switching frequency is shown in Switching Frequency (05.037). The switching frequency has a direct effect on the sample rate for the current controllers (see Current Controller Kp Gain (04.013)). All other control tasks are at a fixed rate.
Task | |
Speed controller (RFC-A, RFC-S) | 250μs |
D.c. link voltage controller | 1ms |
Flux controller (RFC-A, RFC-S) | 1ms |
Parameter | 05.021 Mechanical Load Test Level | ||
---|---|---|---|
Short description | Mechanical Load Test Level | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 100 |
Default | 0 | Units | % |
Type | 8 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See Auto-tune (05.012).
Parameter | 05.022 Enable High Speed Mode | ||
---|---|---|---|
Short description | Set to 1 to enable high speed mode | ||
Mode | RFC‑S | ||
Minimum | -1 | Maximum | 1 |
Default | 0 | Units | |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW, TE |
Value | Text |
‑1 | Limit |
0 | Disable |
1 | Enable |
Care must be taken when high speed mode is not set to "disable" to avoid damaging the drive. The voltage produced by the magnet flux is proportional to speed. For high speed operation the drive must apply currents to the motor to counter-act the flux produced by the magnets. 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. If however, the drive is disabled (or tripped) when the motor voltages would be higher than the rating of the drive without the currents to counter-act the flux from the magnets, it is possible to damage the drive. If high speed mode is not disabled the motor speed must be limited to the levels given in the table below unless an additional hardware protection system is used to limit the voltages applied to the drive output terminals to a safe level.
Drive voltage rating | Maximum motor speed (rpm) | Maximum safe line to line voltage at the motor terminals (V r.m.s.) |
200 |
400 x 1000 / (Ke x √2) | 400 / √2 |
400 | 800 x 1000 / (Ke x √2) | 800 / √2 |
575 | 955 x 1000 / (Ke x √2) | 955 / √2 |
690 | 1145x 1000 / (Ke x √2) | 1145 / √2 |
Ke is the ratio between r.m.s. line to line voltage produced by the motor and the speed in V/1000rpm.
High speed mode is diabled as default (i.e. Enable High Speed Mode (05.022) = 0 (Disable)). The motor flux is not modified to limit the motor voltage to the level defined by Rated Voltage (05.009). The motor voltage will increase as the speed is increased until the motor line voltage x √2 is equal to the d.c. link voltage (D.c. Bus Voltage (05.005)). It will not be possible to further increase the speed significantly. This mode is safe because the motor voltage with no current flowing in the motor cannot exceed a level that can damage the drive provided Position Feedback Phase Angle (03.025) is correct for the motor. Note that if Position Feedback Phase Angle (03.025) is modified by the user to change the flux level in the motor then it is possible to damage the drive.
If Enable High Speed Mode (05.022) = -1 (Limit) then the motor flux is modified to limit the motor voltage to the level defined by Rated Voltage (05.009). An Over Speed.1 trip is initiated if the measured motor speed exceeds the levels defined in the table to protect the drive.
If Enable High Speed Mode (05.022) = 1 (Enable) then the motor flux is modified to limit the motor voltage to the level defined by Rated Voltage (05.009), but no trip is provided, and so it is possible to damage the drive without additional protection. An indication that cannot be cleared is stored in Potential Drive Damage Conditions (10.106) and saved on power-down. The motor manufacturer should always be consulted before using this mode as care must be taken not to de-magnetise the motor.
Parameter | 05.023 D.c. Bus Voltage High Range | ||
---|---|---|---|
Short description | Displays the d.c. bus level but with a higher range | ||
Mode | RFC‑S | ||
Minimum | −VM_HIGH_DC_VOLTAGE | Maximum | VM_HIGH_DC_VOLTAGE |
Default | Units | V | |
Type | 16 Bit Volatile | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RO, FI, VM, ND, NC, PT |
D.c. Bus Voltage High Range (05.023) provides voltage feedback that has lower resolution and a higher range than D.c. Bus Voltage (05.005), and so it is possible to determine the d.c. link voltage even if this exceeds the level of the over-voltage trip. It should be noted that due to tolerances, D.c. Bus Voltage High Range (05.023) may not correspond exactly with the level given by D.c. Bus Voltage (05.005).
Parameter | 05.024 Ld | ||
---|---|---|---|
Short description | Defines the inductance in the flux axis | ||
Mode | RFC‑S | ||
Minimum | 0.000 | Maximum | 500.000 |
Default | 0.000 | Units | mH |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 3 |
Coding | RW, RA |
See Stator Resistance (05.017).
Parameter | 05.026 High Dynamic Performance Enable | ||
---|---|---|---|
Short description | Set to 1 to enable High Dynamic Performance | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
Whatever the value of High Dynamic Performance Enable (05.026) a feed-forward term based on the estimated level of flux in the motor and the motor speed is used to improve the performance of the current controllers and to avoid transients during spinning start. However, if High Dynamic Performance Enable (05.026) = 1 additional feed-forward terms are provided to remove the effects of cross-coupling between the flux and torque axes. This improves the performance of the current controllers under dynamic conditions at high speeds. It should be noted that High Dynamic Performance Enable (05.026) has no effect if sensorless control is active (i.e. Sensorless Mode Active (03.078) = 1).
Parameter | 05.031 Voltage Controller Gain | ||
---|---|---|---|
Short description | Defines the proportional gain of the d.c. link voltage controller | ||
Mode | RFC‑S | ||
Minimum | 1 | Maximum | 30 |
Default | 1 | Units | |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
Voltage Controller Gain (05.031) can be used to modify the proportional gain of the d.c. link voltage controller used for standard ramp and supply loss control.
Parameter | 05.032 Torque Per Amp | ||
---|---|---|---|
Short description | Displays the calculated value of kt for the attached motor | ||
Mode | RFC‑S | ||
Minimum | 0.00 | Maximum | 500.00 |
Default | 1.60 | Units | Nm/A |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 2 |
Coding | RW, BU |
Torque Per Amp (05.032) is used for automatic speed controller gain set up, and so the correct value for the motor should be entered if this feature is required.
Parameter | 05.033 Volts Per 1000rpm | ||
---|---|---|---|
Short description | Volts per 1000rpm | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 10000 |
Default | 98 | Units | V |
Type | 16 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
Volts Per 1000rpm (05.033) defines the r.m.s. line voltage produced by the motor flux at 1000rpm. This is used to define the voltage feed-forwards term in the motor control algorithms.
Parameter | 05.035 Auto-switching Frequency Change Disable | ||
---|---|---|---|
Short description | Defines auto-switching frequency control with thermal model | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 2 |
Default | 0 | Units | |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW, TE |
Value | Text |
0 | Enabled |
1 | Disabled |
2 | No Ripple Detect |
The drive inverter can be damaged if the temperature is too high. The inverter can also be damaged or the lifetime of the power devices reduced, if the temperature ripple of the devices is too high. Auto-switching Frequency Change Disable (05.035) defines the action taken if the drive inverter becomes too hot or the temperature ripple becomes too high.
Enabled:
If the inverter becomes too hot or the ripple temperature is higher than the level defined by Maximum Inverter Temperature Ripple (05.039) the switching frequency is reduced in an attempt to prevent tripping.
Disabled:
The switching frequency is not reduced, and so the drive will trip if the inverter is too hot or the temperature ripple is too high.
No Ripple Detect:
The switching frequency is reduced if the inverter temperature, but not the temperature ripple is too high. If the temperature ripple exceeds the level defined by Maximum Inverter Temperature Ripple (05.039) then the drive will trip.
The switching frequency is changed in steps defined by Auto-switching Frequency Step Size (05.036). For example with a switching frequency of 16kHz and a step size of two, the frequency will be reduced to 8kHz, then 4kHz etc. Minimum Switching Frequency (05.038) defines the minimum switching frequency that the system will attempt to use. If the switching frequency needs to switch to a lower level, then the drive will trip. If Minimum Switching Frequency is changed the new value will only become active when Switching Frequency is at or above the minimum value.
Parameter | 05.036 Auto-switching Frequency Step Size | ||
---|---|---|---|
Short description | Auto-switching frequency redcution step size | ||
Mode | RFC‑S | ||
Minimum | 1 | Maximum | 2 |
Default | 2 | Units | |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See Auto-switching Frequency Change Disable (05.035).
Parameter | 05.037 Switching Frequency | ||
---|---|---|---|
Short description | Displays the current switching frequency used by the drive | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 6 |
Default | Units | kHz | |
Type | 8 Bit Volatile | Update Rate | Background write |
Display Format | None | Decimal Places | 0 |
Coding | RO, TE, ND, NC, PT |
Value | Text |
0 | 2 |
1 | 3 |
2 | 4 |
3 | 6 |
4 | 8 |
5 | 12 |
6 | 16 |
Shows the actual inverter switching frequency after the auto-change function.
Parameter | 05.038 Minimum Switching Frequency | ||
---|---|---|---|
Short description | Minuimum Switching Frequency | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | VM_MIN_SWITCHING_FREQUENCY |
Default | 0 | Units | kHz |
Type | 8 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 0 |
Coding | RW, TE, VM |
Value | Text |
0 | 2 |
1 | 3 |
2 | 4 |
3 | 6 |
4 | 8 |
5 | 12 |
6 | 16 |
See Auto-switching Frequency Change Disable (05.035).
Parameter | 05.039 Maximum Inverter Temperature Ripple | ||
---|---|---|---|
Short description | Maximum Inverter Temperature Ripple | ||
Mode | RFC‑S | ||
Minimum | 20 | Maximum | 60 |
Default | 60 | Units | °C |
Type | 8 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
Maximum Inverter Temperature Ripple (05.039) defines the maximum inverter temperature ripple allowed before the switching frequency is reduced. See Auto-switching Frequency Change Disable (05.035).
Parameter | 05.040 Spin Start Boost | ||
---|---|---|---|
Short description | Defines the level of spin start boost used by the algorithm that detects the speed of a spinning motor | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 10.0 |
Default | 1.0 | Units | |
Type | 8 Bit User Save | Update Rate | Background write |
Display Format | None | Decimal Places | 1 |
Coding | RW |
Spin Start Boost (05.040) is used by the algorithm that detects the speed of a spinning motor when the drive is enabled and Catch A Spinning Motor (06.009) ≥ 1. This algorithm is not used in RFC-A or RFC-S modes if position feedback is being used, and so in these applications Spin Start Boost (05.040) has no effect. For smaller motors the default value of 1.0 is suitable, but for larger motors Spin Start Boost (05.040) may need to be increased. If Spin Start Boost (05.040) is too small the drive will detect zero speed whatever the speed of the motor, and if Spin Start Boost (05.040) is too large the motor may accelerate away from standstill when the drive is enabled.
Parameter | 05.041 Voltage Headroom | ||
---|---|---|---|
Short description | Voltage Headroom | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 20 |
Default | 0 | Units | % |
Type | 8 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
The voltage applied to the motor is always limited by Rated Voltage (05.009). When Voltage Headroom (05.041) is set to its default value of zero the output voltage of the inverter is also limited to a level equivalent to full modulation, which is the supply voltage minus voltage drops within the inverter itself. Depending on the relative values of the supply voltage and Rated Voltage (05.009) there may be some headroom between the rated voltage limit and the maximum possible voltage from the inverter to allow the current control system to give good dynamic performance. In some applications it is useful to enforce some headroom between the maximum allowed motor voltage and the inherent limit imposed by the inverter. If the supply voltage is known this can be done by setting Rated Voltage (05.009) to a suitable value below the supply voltage level, however, it is more convenient to set Rated Voltage (05.009) to the actual rated voltage of the motor, and to use Voltage Headroom (05.041) to enforce the voltage headroom. This parameter can be used to increase the headroom between the maximum modulation limit and the maximum motor voltage from zero up to 20% of the maximum modulation limit. For example, if the supply voltage is 400V then a value of 10% will give a voltage headroom of approximately 40V.
Parameter | 05.042 Reverse Output Phase Sequence | ||
---|---|---|---|
Short description | Set to 1 to reverse the sequence on the output phases | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
If Reverse Output Phase Sequence (05.042) = 0 the output phase sequence is U-V-W when Output Frequency (05.001) is positive and W-V-U when Output Frequency (05.001) is negative. If Reverse Output Phase Sequence (05.042) = 1 the output phase sequence is reversed so that the phase sequence in W-V-U for positive frequencies and U-V-W for negative frequencies.
Parameter | 05.044 Stator Temperature Source | ||
---|---|---|---|
Short description | Defines the source of the stator temperature | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 6 |
Default | 0 | Units | |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW, TE |
Value | Text |
0 | An In 3 |
1 | User |
2 | P1 Drive |
3 | P1 Slot1 |
4 | P1 Slot2 |
5 | P1 Slot3 |
6 | P1 Slot4 |
The stator temperature can be used to compensate for changes in stator resistance. See Stator Temperature Coefficient (05.047). Stator Temperature Source (05.044) is used to select the source for the stator temperature measurement.
Stator Temperature Source (05.044) | Source | Comments |
0 | Analog Input 3 Thermistor Temperature (07.050) | Analog input 3 must be set up for the correct temperature feedback device |
1 | User Stator Temperature (05.045) | The user can provide a stator temperature value. If an alternative feedback device is to be used or the user provides an algorithm to model the stator temperature. |
2 | P1 Thermistor Temperature (03.122) | P1 position feedback interface must be set up for the correct temperature feedback device |
3-6 | Option slot P1 Thermistor Temperature (xx.080) | A position feedback category option module must be fitted and the P1 position feedback must be set up for the correct temperature feedback device |
Parameter | 05.045 User Stator Temperature | ||
---|---|---|---|
Short description | Defines the stator temperature as set by the user | ||
Mode | RFC‑S | ||
Minimum | -50 | Maximum | 300 |
Default | 0 | Units | °C |
Type | 16 Bit Volatile | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See Stator Temperature Source (05.044).
Parameter | 05.046 Stator Temperature | ||
---|---|---|---|
Short description | Displays the temperature of the motor stator | ||
Mode | RFC‑S | ||
Minimum | -50 | Maximum | 300 |
Default | Units | °C | |
Type | 16 Bit Volatile | Update Rate | Background write |
Display Format | None | Decimal Places | 0 |
Coding | RO, ND, NC, PT |
See Stator Temperature Source (05.044).
Parameter | 05.047 Stator Temperature Coefficient | ||
---|---|---|---|
Short description | Defines the coefficient used to calculate the temperature of the motor stator | ||
Mode | RFC‑S | ||
Minimum | 0.00000 | Maximum | 0.10000 |
Default | 0.00390 | Units | 1/°C |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 5 |
Coding | RW |
Temperature Compensated Stator Resistance (05.050) shows the stator resistance from the active motor that is being used by the drive for motor control. If Enable Stator Compensation (05.049) = 0 and motor 1 is selected then Temperature Compensated Stator Resistance (05.050) is equal to Stator Resistance (05.017). If Enable Stator Compensation (05.049) = 1 the value of Stator Resistance (05.017) is not changed, but Temperature Compensated Stator Resistance (05.050) is derived as follows:
Temperature Compensated Stator Resistance (05.050) = Stator Resistance (05.017) x [1 + ((Stator Temperature (05.046) – Stator Base Temperature (05.048)) x Stator Temperature Coefficient (05.047))]
Stator Resistance (05.017) and Stator Base Temperature (05.048) can be set up by the user with the stator resistance at a given temperature. The preferred method is for the Stator Resistance (05.017) to be measured and set up using the auto-tuning system (See Auto-tune (05.012)). If Enable Stator Compensation (05.049) = 1 when the auto-tuning is carried out the Stator Base Temperature (05.048) will be updated automatically with Stator Temperature (05.046).
The temperature compensation system can only function correctly if the Stator Temperature Coefficient (05.047) is set up correctly. The default value is suitable for copper or aluminium windings and should not need to be adjusted for these materials provided the temperature measurement is a reasonable measure of the winding temperature. If the temperature measurement is not closely coupled to the winding it may be necessary to adjust Stator Temperature Coefficient (05.047) for correct compensation.
Parameter | 05.048 Stator Base Temperature | ||
---|---|---|---|
Short description | Defines the base temperature used to calculate the temperature of the motor stator | ||
Mode | RFC‑S | ||
Minimum | -50 | Maximum | 300 |
Default | 0 | Units | °C |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See Stator Temperature Coefficient (05.047).
Parameter | 05.049 Enable Stator Compensation | ||
---|---|---|---|
Short description | Set to 1 to enable stator compensation | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See Stator Temperature Coefficient (05.047).
Parameter | 05.050 Temperature Compensated Stator Resistance | ||
---|---|---|---|
Short description | Final stator resistance value used by the drive including temperature compensation | ||
Mode | RFC‑S | ||
Minimum | 0.000000 | Maximum | 1000.000000 |
Default | Units | ||
Type | 32 Bit Volatile | Update Rate | Background write |
Display Format | None | Decimal Places | 6 |
Coding | RO, ND, NC, PT |
Temperature Compensated Stator Resistance (05.050) shows the stator resistance value for the active motor that is being used by the drive including the effect of temperature compensation.
Parameter | 05.051 Rotor Temperature Source | ||
---|---|---|---|
Short description | Defines the source of the rotor temperature | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 6 |
Default | 0 | Units | |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW, TE |
Value | Text |
0 | An In 3 |
1 | User |
2 | P1 Drive |
3 | P1 Slot1 |
4 | P1 Slot2 |
5 | P1 Slot3 |
6 | P1 Slot4 |
The rotor temperature can be used to compensate for changes in rotor resistance that affects the motor slip and hence the rated speed in Open-loop or RFC-A mode, or the magnet flux that affects motor torque in RFC-S mode. See Rotor Temperature Coefficient (05.054) for details. Rotor Temperature Source (05.051) is used to select the source for the rotor temperature measurement.
Rotor Temperature Source (05.051) | Source | Comments |
0 | Analog Input 3 Thermistor Temperature (07.050) | Analog input 3 must be set up for the correct temperature feedback device |
1 | User Rotor Temperature (05.052) | The user can provide a rotor temperature value if an alternative feedback device is to be used or the user provides an algorithm to model the rotor temperature |
2 | P1 Thermistor Temperature (03.122) | P1 position feedback interface must be set up for the correct temperature feedback device |
3-6 | Option Slot P1 Thermistor Temperature (xx.080) | A position feedback category option module must be fitted and the P1 position feedback must be set up for the correct temperature feedback device |
Parameter | 05.052 User Rotor Temperature | ||
---|---|---|---|
Short description | Defines the temperature of the motor as set by the user | ||
Mode | RFC‑S | ||
Minimum | -50 | Maximum | 300 |
Default | 0 | Units | °C |
Type | 16 Bit Volatile | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See Rotor Temperature Source (05.051).
Parameter | 05.053 Rotor Temperature | ||
---|---|---|---|
Short description | Displays the temperature of the motor rotor | ||
Mode | RFC‑S | ||
Minimum | -50 | Maximum | 300 |
Default | Units | °C | |
Type | 16 Bit Volatile | Update Rate | Background write |
Display Format | None | Decimal Places | 0 |
Coding | RO, ND, NC, PT |
See Rotor Temperature Source (05.051).
Parameter | 05.054 Rotor Temperature Coefficient | ||
---|---|---|---|
Short description | Defines the coefficient used to calculate the temperature of the rotor | ||
Mode | RFC‑S | ||
Minimum | 0.00000 | Maximum | 0.10000 |
Default | 0.00100 | Units | 1/°C |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 5 |
Coding | RW |
The flux produced by the magnets in a permanent magnet motor varies with rotor temperature, and this in turn affects the relationship between the motor current and torque. Rotor Temperature Compensation (05.057) shows the compensation factor that is applied to convert from the torque reference to the torque producing current reference. If Enable Rotor Compensation (05.056) = 0 no compensation is applied in converting from the torque reference to the torque producing current reference (i.e. Rotor Temperature Compensation (05.057) = 1.000). If Enable Rotor Compensation (05.056) = 1 then Rotor Temperature Compensation (05.057) is calculated as follows:
Rotor Temperature Compensation (05.057) = 1 – [(Rotor Temperature (05.053) – Rotor Base Temperature (05.055)) x Rotor Temperature Coefficient (05.054)]
The default value of Rotor Temperature Coefficient (05.054) is a typical value for the magnets used in most permanent magnet motors. However, if the thermal coupling between the rotor and the temperature measuring device is poor it may be necessary to adjust Rotor Temperature Coefficient (05.054) to give better compensation.
Parameter | 05.055 Rotor Base Temperature | ||
---|---|---|---|
Short description | Defines the base temperature used to calculate the temperature of the rotor | ||
Mode | RFC‑S | ||
Minimum | -50 | Maximum | 300 |
Default | 0 | Units | °C |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See Rotor Temperature Coefficient (05.054).
Parameter | 05.056 Enable Rotor Compensation | ||
---|---|---|---|
Short description | Set to 1 to enable rotor compensation | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See Rotor Temperature Coefficient (05.054).
Parameter | 05.057 Rotor Temperature Compensation | ||
---|---|---|---|
Short description | Factor to convert from torque to current based on rotor temperature | ||
Mode | RFC‑S | ||
Minimum | 0.000 | Maximum | 2.000 |
Default | Units | ||
Type | 16 Bit Volatile | Update Rate | Background |
Display Format | None | Decimal Places | 3 |
Coding | RO, ND, NC, PT |
Rotor Temperature Compensation (05.057) shows the conversion factor used between the torque reference and the torque producing current.
Parameter | 05.059 Maximum Deadtime Compensation | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0.000 | Maximum | 10.000 |
Default | 0.000 | Units | µs |
Type | 16 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 3 |
Coding | RO, NC, PT |
Maximum Deadtime Compensation (05.059) is the deadtime compensation used to compensate for dead-time effects in the inverter. This level of compensation is used when the drive output current is above Current At Maximum Deadtime Compensation (05.060). Both of these values related to dead-time compensation are measured during auto-tuning and cannot be set by the user. It should be noted that if the auto-tuning test is not performed and Maximum Deadtime Compensation (05.059) = 0 then dead-time compensation is disabled. Although it is not recommended, it is possible to disable dead-time compensation by setting Disable Deadtime Compensation (05.061) = 1.
Parameter | 05.060 Current At Maximum Deadtime Compensation | ||
---|---|---|---|
Short description | Current at which maximum deadtime compensation is applied | ||
Mode | RFC‑S | ||
Minimum | 0.00 | Maximum | 100.00 |
Default | 0.00 | Units | % |
Type | 16 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 2 |
Coding | RO, NC, PT |
See Maximum Deadtime Compensation (05.059).
Parameter | 05.061 Disable Deadtime Compensation | ||
---|---|---|---|
Short description | Disable Deadtime Compensation | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See Maximum Deadtime Compensation (05.059).
Parameter | 05.064 RFC Low Speed Mode | ||
---|---|---|---|
Short description | Defines the low speed mode of the drive when position feedback is not being used | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW, TE |
Value | Text |
0 | Injection |
1 | Non-salient |
If sensorless mode is being used and is active (i.e. Sensorless Mode Active (03.078) = 1) and the motor speed is below Rated Speed (05.008) / 10 then a special low speed algorithm must be used to control the motor. RFC Low Speed Mode (05.064) is used to select the algorithm to be used.
0: Injection
A high frequency signal is injected into the motor to detect the motor flux axis. This can be used in a similar way to operation with position feedback except that for the drive to remain stable the speed controller bandwidth may need to be limited to 10Hz or less and the current limit may need to be limited (see Low Speed Sensorless Mode Current (05.071)).
1: Non-salient
If the ratio Lq/Ld < 1.1 on no load then the injection mode cannot be used and this mode should be used instead. This mode does not provide the same level of control as injection mode and has the following restrictions:
Low Speed Sensorless Mode Current (05.071) defines a current applied in the motor d axis to aid starting. The default value is suitable for most motors with a load of up to 60% rated torque. However, in some applications this level may need to be adjusted.
Parameter | 05.065 Saliency Torque control | ||
---|---|---|---|
Short description | Set to 1 to allow the saliency of the motor to produce additional torque | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
Most permanent magnet motors include some saliency due to saturation and physical construction. Torque is normally produced by interaction between the magnet flux and the stator current, but any saliency can be exploited to produce additional torque, which can increase the torque per Amp produced by the motor. If Saliency Torque control (05.065) = 0 torque is only produced from the magnet flux. If Saliency Torque control (05.065) = 1 the saliency of the motor will be used to produce additional torque. The following parameters should be set to the correct values for the motor to obtain the best torque per Amp: No-load Lq (05.072), Lq At The Defined Iq Test Current (05.078) and Lq At The Defined Id Test Current (05.084).
Parameter | 05.067 Percentage Over-current Trip Level | ||
---|---|---|---|
Short description | Percentage Over-current Trip Level | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 9 |
Default | 9 | Units | % |
Type | 8 Bit User Save | Update Rate | Percentage Over-current Trip Level |
Display Format | None | Decimal Places | 0 |
Coding | RW, TE |
Value | Text |
0 | 10 |
1 | 20 |
2 | 30 |
3 | 40 |
4 | 50 |
5 | 60 |
6 | 70 |
7 | 80 |
8 | 90 |
9 | 100 |
If Percentage Over-current Trip Level (05.067) is left at its default value of 100% an over-current trip due to currents flowing between the output phases will occur at a level approximately equal to the current defined by Full Scale Current Kc (11.061). Note that this current is defined as an r.m.s. value, but the over-current trip activates if one of the phase currents exceeds the equivalent peak of a sine wave with the defined r.m.s. level. Permanent magnet motors are de-magnetised if the current in the motor exceeds a specified level. If this level is less than the peak of a sine wave with an r.m.s. value defined by Full Scale Current Kc (11.061) then Percentage Over-current Trip Level (05.067) should be modified to reduce the over-current trip. Percentage Over-current Trip Level (05.067) gives the percentage of Full Scale Current Kc (11.061) used to define the over-current trip level.
Parameter | 05.070 Inverted Saturation Characteristic | ||
---|---|---|---|
Short description | The motor has an inverted saturation characteristic | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
The change of motor inductance with flux producing current is used to determine the flux direction in RFC-S mode when operating without position feedback. Normally an increase in flux producing current reduces Ld because the motor becomes more saturated. For some motors increasing the flux producing current can modify the flux path and Ld increases with increased flux producing current. For normal motors Inverted Saturation Characteristic (05.070) should be left at its default value of zero, however, for motors with an apparent inverse saturation characteristic Inverted Saturation Characteristic (05.070) should be set to one. If this parameter is not set and the motor has an inverted saturation characteristic this can be seen as follows:
1. Sudden jump in position during a stationary auto-tune with position feedback.
2. Sudden jump in position during auto-tuning in sensorless mode.
3. Very unstable operation or the motor runs in the wrong direction on starting in sensorless mode.
It should be noted that the saturation characteristic is also used to locate the flux axis when performing a stationary auto-tune or when measuring the phasing angle on enable. If a motor has an inverted saturation characteristic then Inverted Saturation Characteristic (05.070) should be set to one for these tests to operate correctly.
Parameter | 05.071 Low Speed Sensorless Mode Current | ||
---|---|---|---|
Short description | Maximum current limit for low speed injection mode or magnetising current for low speed non-salient mode | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 1000.0 |
Default | 20.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW, RA |
Injection mode
For low speed sensorless operation with signal injection (RFC Low Speed Mode (05.064) = 0) it is necessary to have a ratio of Lq/Ld = 1.1. Even if a motor has a larger ratio on no load, this ratio normally reduces as the q axis current is increased from zero. Low Speed Sensorless Mode Current (05.071) should be set at a level that is lower than the point where the inductance ratio falls to 1.1. The value of this parameter is used to define the drive current limits when signal injection is active and prevent loss of control of the motor.
Non-salient mode
For low speed sensorless operation for non-salient motors (RFC Low Speed Mode (05.064) = 1) this defines a current applied in the d axis to aid starting. For most motors and application requiring up to 60% torque on starting the default value is suitable. However the level of current may need to be increased to make the motor start.
Parameter | 05.072 No-load Lq | ||
---|---|---|---|
Short description | Defines the inducatance in the q axis with no current in the motor | ||
Mode | RFC‑S | ||
Minimum | 0.000 | Maximum | 500.000 |
Default | 0.000 | Units | mH |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 3 |
Coding | RW, RA |
Motor q axis inductance with no current in the motor.
Parameter | 05.075 Iq Test Current For Inductance Measurement | ||
---|---|---|---|
Short description | Iq current level used for the inductance measurement auto-tuning | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 200 |
Default | 100 | Units | % |
Type | 8 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 0 |
Coding | RW, BU |
Maximum test current level used for Iq during auto-tuning when measuring the motor inductance and phase offset as a percentage of Rated Current (05.007). This value is also used by the sensorless control algorithm to define the motor inductance and a reference frame phase offset at different levels of Iq. The values of Lq At The Defined Iq Test Current (05.078) and Phase Offset At Iq Test Current (05.077) should be the values which correspond to the test current level and will be set up during auto-tuning when auto-tune test 5 is carried out. Alternatively these values can be set up by the user. For most motors Phase Offset At Iq Test Current (05.077) will be zero and have little affect on the performance, however Lq is likely to vary significantly with Iq and should be set up correctly for good performance. If Lq At The Defined Iq Test Current (05.078) or Iq Test Current For Inductance Measurement (05.075) are zero then the estimate of Lq will not be affected by the level of Iq, and if Phase Offset At Iq Test Current (05.077) or Iq Test Current For Inductance Measurement (05.075) are zero the phase offset will not be affected by the level of Iq.
Parameter | 05.077 Phase Offset At Iq Test Current | ||
---|---|---|---|
Short description | Defines the change in electrical angle between the point of minimum inductance around the motor as load is applied | ||
Mode | RFC‑S | ||
Minimum | -90.0 | Maximum | 90.0 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW, RA |
Phase Offset At Iq Test Current (05.077) defines the offset of the point of minimum inductance as an electrical angle from the point with no current in the motor to the point with a level of Iq equivalent to Iq Test Current For Inductance Measurement (05.075). When the value is left at its default value of zero no compensation for phase offset with changes in Iq are made. Phase Offset At Iq Test Current (05.077) is used for low speed RFC sensorless control using injection mode. A positive value advances the point of minimum inductance with positve Iq. See RFC Low Speed Mode (05.064). For most motors a value of zero is acceptable.
Parameter | 05.078 Lq At The Defined Iq Test Current | ||
---|---|---|---|
Short description | Defines the inductance in the q axis when the defined q axis current is in the motor | ||
Mode | RFC‑S | ||
Minimum | 0.000 | Maximum | 500.000 |
Default | 0.000 | Units | mH |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 3 |
Coding | RW, RA |
Motor q axis inductance with no current in the d axis and the current defined by Iq Test Current For Inductance Measurement (05.075) in the q axis of the motor. If this parameter is left at its default value of zero then no compensation is made to the value of Lq with changes in Iq.
Parameter | 05.082 Id Test Current for Inductance Measurement | ||
---|---|---|---|
Short description | Id current level used for the inductance measurement auto-tuning | ||
Mode | RFC‑S | ||
Minimum | -100 | Maximum | 0 |
Default | -50 | Units | % |
Type | 8 Bit User Save | Update Rate | Background Read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
Minimum test current level used for Id during auto-tuning when measuring the motor inductance as a percentage of Rated Current (05.007). This is then used in a similar way as Iq Test Current For Inductance Measurement (05.075) to estimate the value of Lq used in the control algorithms as Id changes. If Lq At The Defined Id Test Current (05.084) or Id Test Current for Inductance Measurement (05.082) are set to zero then no compensation is made for changes in Lq with Id.
Parameter | 05.084 Lq At The Defined Id Test Current | ||
---|---|---|---|
Short description | Defines the inductance in the q axis when the defined d axis current is in the motor | ||
Mode | RFC‑S | ||
Minimum | 0.000 | Maximum | 500.000 |
Default | 0.000 | Units | mH |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 3 |
Coding | RW, RA |
Motor q axis inductance with no current in the q axis and the current defined by Id Test Current for Inductance Measurement (05.082) in the d axis of the motor. If this parameter is left at its default value of zero then no compensation is made to the value of Lq with changes in Id.
Parameter | 05.088 Estimated Lq | ||
---|---|---|---|
Short description | Estimated value of Lq including the effects of Id and Iq | ||
Mode | RFC‑S | ||
Minimum | 0.000 | Maximum | 500.000 |
Default | Units | mH | |
Type | 32 Bit Volatile | Update Rate | Background write |
Display Format | None | Decimal Places | 3 |
Coding | RO, FI, ND, NC, PT |
In sensorless mode the drive estimates a value for Lq to use in the control algorithm. Estimated Lq (05.088) shows the calculated value.
Parameter | 05.090 Torque Ripple Compensation | ||
---|---|---|---|
Short description | Set to 1 to enable Torque Ripple Compensation | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
TBA
Parameter | 05.091 Torque ripple compensation magnitude 1 | ||
---|---|---|---|
Short description | Torque ripple compensation magnitude 1 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 100.0 |
Default | 0.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.092 Torque ripple compensation phase 1 | ||
---|---|---|---|
Short description | Torque ripple compensation phase 1 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 359.9 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.093 Torque ripple compensation magnitude 2 | ||
---|---|---|---|
Short description | Torque ripple compensation magnitude 2 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 100.0 |
Default | 0.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.094 Torque ripple compensation phase 2 | ||
---|---|---|---|
Short description | Torque ripple compensation phase 2 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 359.9 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.095 Torque ripple compensation magnitude 3 | ||
---|---|---|---|
Short description | Torque ripple compensation magnitude 3 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 100.0 |
Default | 0.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.096 Torque ripple compensation phase 3 | ||
---|---|---|---|
Short description | Torque ripple compensation phase 3 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 359.9 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.097 Torque ripple compensation magnitude 4 | ||
---|---|---|---|
Short description | Torque ripple compensation magnitude 4 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 100.0 |
Default | 0.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.098 Torque ripple compensation phase 4 | ||
---|---|---|---|
Short description | Torque ripple compensation phase 4 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 359.9 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.099 Torque ripple compensation magnitude 5 | ||
---|---|---|---|
Short description | Torque ripple compensation magnitude 5 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 100.0 |
Default | 0.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.100 Torque ripple compensation phase 5 | ||
---|---|---|---|
Short description | Torque ripple compensation phase 5 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 359.9 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.101 Torque ripple compensation magnitude 6 | ||
---|---|---|---|
Short description | Torque ripple compensation magnitude 6 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 100.0 |
Default | 0.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.102 Torque ripple compensation phase 6 | ||
---|---|---|---|
Short description | Torque ripple compensation phase 6 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 359.9 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.103 Torque ripple compensation magnitude 7 | ||
---|---|---|---|
Short description | Torque ripple compensation magnitude 7 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 100.0 |
Default | 0.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.104 Torque ripple compensation phase 7 | ||
---|---|---|---|
Short description | Torque ripple compensation phase 7 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 359.9 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.105 Torque ripple compensation magnitude 8 | ||
---|---|---|---|
Short description | Torque ripple compensation magnitude 8 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 100.0 |
Default | 0.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.106 Torque ripple compensation phase 8 | ||
---|---|---|---|
Short description | Torque ripple compensation phase 8 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 359.9 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.107 Torque ripple compensation magnitude 9 | ||
---|---|---|---|
Short description | Torque ripple compensation magnitude 9 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 100.0 |
Default | 0.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.108 Torque ripple compensation phase 9 | ||
---|---|---|---|
Short description | Torque ripple compensation phase 9 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 359.9 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.109 Torque ripple compensation magnitude 10 | ||
---|---|---|---|
Short description | Torque ripple compensation magnitude 10 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 100.0 |
Default | 0.0 | Units | % |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA
Parameter | 05.110 Torque ripple compensation phase 10 | ||
---|---|---|---|
Short description | Torque ripple compensation phase 10 | ||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 359.9 |
Default | 0.0 | Units | ° |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
TBA