CT Unidrive SP Lift Drive Basic Setup Guide

CT Unidrive SP Lift Drive Basic Setup Guide

CT Basic Setup Guide 16-10-12

Page 1

CT Unidrive SP Lift Drive Basic Setup Guide

Contents
Menus F, 0 & Advanced Saving Parameters Monitoring Parameters Autotune Set Current Limit Rotation Checks Motor & Encoder

Page No.
3 3 3 4 5 5

CT Basic Setup Guide 16-10-12

Page 2

CT Unidrive SP Lift Drive Basic Setup Guide

Menus F, 0 & Advanced

The drive parameters can be accessed via 3 types of menu : F-Menu, Menu 0 or Advanced Menus. F- Menu The F-Menu limits access to various commonly used parameters for basic easy set up of the drive. The parameters of this menu are arranged in the order of set-up. The up & down arrow buttons are used to navigate between parameters. Enable F-Menu Change #41.51 from Normal to Filter Disable F-Menu Change F51 from Filter to Normal

Menu 0 & Advanced Menus Menu 0 also limits access to various commonly used parameters for basic easy set up of the drive. Appropriate parameters are cloned from the Advanced Menus into Menu 0 and thus exist in both locations. The up & down arrow buttons are used to navigate between parameters. Advanced Menus consist of groups or parameters appropriate to a specific function or feature of the drive. The up & down arrow buttons are used to navigate between parameters and the left & right buttons are used to navigate between menus. Any parameters changed in the Advanced Menus will be lost upon removing power from the drive, so the Save procedure has to be carried out see details in next section. Menu 0 Only Set #0.49 Security Status to L1 Advanced Menus Set #0.49 Security Status to L2

Saving Parameters
Any parameters changed in the Advanced Menus will be lost upon removing power from the drive, so the Save procedure has to be carried out. Also, there are some parameters that need a Save to be carried out before they will take effect. Save Procedure Go to #0.00 Press M button to access the parameter Set to 1000 and press M button Press & release red Reset button #0.00 will change back to 0 and the values are saved

Monitoring Parameters
Requested Speed Actual Speed #3.01 Final Speed Ref (RPM) #3.02 Speed Feedback (RPM) #19.03 Ramp Speed (mm/s) #19.02 Actual Speed (mm/s) These can be used to : Check the actual speed matches the requested speed, Check encoder feedback polarity matches requested speed polarity see Rotation Check section, Check actual speed is steady at contract speed - may need to adjust gain parameters if speed is not steady. Motor Motor Voltage DC Bus Voltage Motor Current

#5.02 #5.05 #4.02

Volts Volts Amps CT Basic Setup Guide 16-10-12 Page 3

CT Unidrive SP Lift Drive Basic Setup Guide

Autotune (Parameter #5.12 or #0.40)

For the initial setup of the motor, adjustment of motor control parameters must be carried out by an automatic self-tuning autotune. There are two possible autotunes available, rotating and static autotunes. The rotating autotune should be carried out with no load on the motor (i.e. ropes removed from the motor/sheave). Permanent Magnet Motors Permanent magnet motors must have a rotating autotune to obtain the motor phase offset, unless the motor phase offset value is already known, then it can be entered in #3.25 and a static autotune carried out. In some systems a balanced load condition may be sufficient for the rotating autotune to be carried out. Motor Details Autotune Results #5.06 Frequency #3.25 Phase angle (NOT Required For Permanent Magnet Motor) (Permanent Magnet Motor Only) #5.07 Current #4.13 Current loop P gain #5.08 RPM #4.14 Current loop I gain #5.09 Voltage #5.17 Stator Resistance #5.10 #5.24 Transient Inductance Power factor (P.F. or cos) * (NOT Required For Permanent Magnet Motor) #5.11 Poles #5.25 Stator Inductance *NOTE: #5.10 Power Factor ONLY for Static Autotune with Induction Motor, if cant access, check #5.25 is set to 0 Induction Motor Rotating Autotune Ensure that ropes are removed from the motor/sheave, so the motor can run Set motor parameters from data on motor name plate Enable Autotune with #5.12 = 2 Activate Autotune with an inspection run until #5.12 changes back to 0 Check Autotune parameters Save parameters Induction Motor Static Autotune Set motor parameters from data on motor name plate Enable Autotune with #5.12 = 1 Activate Autotune with an inspection run until #5.12 changes back to 0 Check Autotune parameters Save parameters Permanent Magnet Motor Rotating Autotune Must be done, unless motor phase offset is known Ensure that ropes are removed from the motor/sheave, so the motor can run Set motor parameters from data on motor name plate Enable Autotune with #5.12 = 2 Activate Autotune with an inspection run until #5.12 changes back to 0 Check Autotune parameters Save parameters Permanent Magnet Motor Static Autotune If motor phase offset value is already known, then it can be entered in #3.25 and a static autotune carried out. Set motor parameters from data on motor name plate Enable Autotune with #5.12 = 4 Activate Autotune with an inspection run until #5.12 changes back to 0 Check Autotune parameters Save parameters CT Basic Setup Guide 16-10-12 Page 4

CT Unidrive SP Lift Drive Basic Setup Guide

Set Current Limit (Parameter #4.07)

Parameter #4.07 limits the maximum output current of the drive and hence maximum motor torque, to protect the drive and motor from overload. The maximum setting of #4.07 depends on the values of motor rated current (#5.07), drive rated current and the power factor (#5.10), so the current limit (#4.07) may be automatically reduced when motor details are entered for an autotune. If #4.07 is set too low, this would generally cause the motor to stall when trying to lift load. #10.09 (Drive Output Is At Current Limit) will change to ON in this condition. Set #4.07 to maximum to ensure maximum current & torque are available in all load conditions. (It may be reduced later, but needs to be high enough to lift maximum load). Save parameters.

Rotation Checks Motor & Encoder

Motor Rotation (Parameter #18.45) Run the lift on inspection and check the motor runs in correct direction up & down. If motor runs in wrong direction, change #18.45 Direction Invert. For Induction Motors, direction could also be reversed by swapping 2 phases to the motor. For Permanent Magnet Motors, motor phases CANNOT be swapped. Save parameters. Encoder Rotation If the encoder feedback polarity does not match the requested speed polarity, the motor will usually run slow with high current and can stall. Induction Motor With Incremental Encoder Check the polarity of #3.01 Final Speed Ref (RPM), this is the requested speed and will show a minus value in one direction. Check the polarity of #3.02 Speed Feedback (RPM), this is the speed feedback from the motor encoder and will also show a minus value in one direction. If the minus value for #3.01 & #3.02 is in the same direction, then polarity check is OK. If the minus value for #3.01 & #3.02 is NOT in the same direction, need to swap encoder connections. Swap channel A with A/ and swap channel B with B/, then recheck #3.01 & #3.02 Encoder Connections Terminal Encoder 1 Channel A 2 Channel A/ 3 Channel B 4 Channel B/ 13 +V 14 0V Encoder Type Incremental Parameter #3.38 = Ab

Voltage set by #3.36

(5V, 8V or 15V)

Permanent Magnet Motor With EndAt Encoder Or SC.EndAt Encoder The encoder connections cannot be swapped. The encoder rotation will be correct, provided the motor phases are connected correctly. The motor phases cannot be crossed (i.e. Connect U on the drive to U on the motor etc.) Set according to encoder type Parameter #3.38 = EndAt Parameter #3.38 = SC.EndAt

CT Basic Setup Guide 16-10-12

Page 5