Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance RFC mode
Menu 6
Unidrive SP Advanced User Guide
135
Issue Number: 10 www.controltechniques.com
Open-loop
Stopping is in two distinct phases: decelerating to stop, and stopped.
Once modes 3 or 4 have begun the drive must go through the ready state before being restarted either by stopping, tripping or being disabled.
If this parameter is set to 5 (Disable stopping mode) the disable stopping mode is used when the run command is removed and will allow the drive to
be started immediately by reapplying the run command. However, if the drive is disabled by removing the drive enable (i.e. via the secure disable
input or the drive enable (Pr
6.15
)) then the drive cannot be re-enabled for 1s.
Closed-loop vector and Servo
Only one stopping phase exists and the ready state is entered as soon as the single stopping action is complete. It should be noted that the stop
condition is detected when the speed feedback is below the zero speed threshold (Pr
3.05
) for at least 16ms. If the speed is not stable it is possible
that the stop condition is not detected. In this case the system should be made more stable or the zero speed threshold should be raised.
If coast stop is selected the inverter is inhibited immediately when the run command is removed. If however, hold zero speed is also selected (Pr
6.08
= 1), then the inverter will be re-enabled to hold zero speed. The result is that the inverter is disabled for one sample and then enabled to ramp the
motor to a stop. Therefore is coast stop is required Pr
6.08
should be set to zero to disable hold zero speed.
If stop with ramp is selected the relevant ramp rate is used to stop the motor even if Pr
2.02
is set to zero to disable ramps.
The motor can be stopped with position orientation after stopping. This mode is selected with the position controller mode (Pr
13.10
). When this mode
is selected Pr
6.01
has no effect.
0: dis
There is no mains loss detection and the drive operates normally only as long as the DC bus voltage remains within specification (i.e. >Vuu). Once
the voltage falls below Vuu a UU trip occurs and this will reset itself if the voltage rises again above VuuRestart shown in the table below.
6.01
Stop mode
Drive modes
Open-loop, Closed-loop vector, Servo
Coding
Bit
SP
FI
DE
TE
VM DP
ND
RA NC NV
PT
US RW BU
PS
1
1
1
1
Range
Open-loop
Closed-loop vector, Servo
0 to 5
0 to 2
Default
Open-loop,
Closed-loop vector
Servo
1
1
2
Update rate
Background read
Stopping Mode
Phase 1
Phase 2
Comments
0: Coast
Inverter disabled
Drive cannot be re-enabled for 1s Delay in phase 2 allows rotor flux to decay.
1: Ramp
Ramp down to zero frequency Wait for 1s with inverter enabled
2: Ramp followed by DC
injection
Ramp down to zero frequency
Inject DC at level specified by Pr
6.06
for time defined by Pr
6.07
3: DC injection with zero
speed detection
Low frequency current
injection with detection of low
speed before next phase.
Inject DC at level specified by Pr
6.06
for time defined by Pr
6.07
The drive automatically senses low speed and
therefore it adjusts the injection time to suit the
application. If the injection current level is too
small the drive will not sense low speed
(normally a minimum of 50-60% is required).
4: Timed DC injection braking
stop
Inject DC at level specified by
Pr
6.06
for time specified by Pr
6.07
.
No phase 2.
5:Disable
Inverter disabled
No phase 2.
Allows the drive to be immediately disabled
and then re-enabled again immediately if
required.
Stopping Mode
Action
0: Coast
Inhibits the inverter
1: Ramp
Stop with ramp
2: No ramp
Stop with no ramp
6.03
Mains loss mode
Drive modes
Open-loop, Closed-loop vector, Servo
Coding
Bit
SP
FI
DE
TE VM DP
ND
RA NC NV
PT
US RW BU
PS
1
1
1
1
Range
Open-loop, Closed-loop vector, Servo
0 to 2
Default
Open-loop, Closed-loop vector, Servo
0
Update rate
Background read
Summary of Contents for unidrive sp
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