ve 2007/09/01 2007 deu workshop. outline 1.product specifications and features 2.differences between...
TRANSCRIPT
VEVE
2007/09/01
2007 DEU Workshop
Outline
1. Product Specifications and Features
2. Differences between VE and V
3. New Accessories of VE series
4. Functions
5. Applications
Model Number VFDxxxVxxA-2
3-phase 460V 340~510Vac
3-phase 230V 180~265Vac
Voltage Tolerance0.75 1.5 2.2 3.7 7.55.5 1511 18.5 22 30
Applicable Motor Output (kW)
4537 55 75
Built-in Brake Chopper
Built-in Brake Chopper
Built-in DC Reactor
Built-in DC Reactor
B Frame
B Frame
C Frame D Frame E1 Frame
C Frame D Frame E Frame E1 Frame
*2. Fan cooling for all series (except 1HP)*3. No built- in EMI for all series *4. Built-in digital keypad(KPV-LE01)
*1. VFD110V43B-2 is C Frame VFD550V/750C 43C-2 is E1 Frame
Model
3-p
ha
se
23
0V
1
80
~2
65
Va
c
007 015 022 037 055 075 110 150 185 220 300 370 450 550 750Codes
5 7.5 11 17 25 33 49 65 75 90 120 146 CT Rated Current
CT: It is applied to constant-torque load. Take conveyer belt for example. Its necessary torque does not change with the motor speed. And constant torque usually needs larger starting torque. As the motor generates heat easily when constant torque is applied to lower speed, it is better to increase the horsepower or use the motor special for AC motor drive with constant cooling fan. VT: It is applied to variable-torque load. Such as pump, fan…etc. They are centrifugal machines, who use AC motor drive usually for energy saving. For example, when a fan is running at 50% of the full speed, its necessary torque is smaller than when it is running at full speed. As for the drive with variable torque, it can provide the motor only with necessary torque to save energies. In the applications like this, the maximum transient loads needn’t to be provided extra power. So the drive with variable torque is applied widely for its load endurance. What’s more, the overload current endurance of the drive with constant torque is 150% of rated current for 1 minute, while the drive with variable torque only 120% of rated current for 1 minute because the current of centrifugal machines rarely exceed the rated current. In addition, its starting torque is smaller than that of constant torque.
CT Overload Endurance: 150% of rated current for 1 minute, VT Overload Endurance: 120% of rated current for 1 minute
* Designed for standard motor application
1 2 3 5 7.5 10 15 20 25 30 40 50Applicable
Motor Output (HP)
6.25 9.4 13 21 31 41 61 81 93 112 150 182 VT Rated Current
1.5 2.5 4 7.5 10 15 20 25 30 40 50 60Applicable
Motor Output (HP)
3-p
ha
s 4
60
V
34
0~
51
0V
ac
3 4.2 6 8.5 13 18 24 32 38 45 60 73 91 110 150CT Rated Current
1 2 3 5 7.5 10 15 20 25 30 40 50 60 75 100Applicable
Motor Output (HP)
3.8 5.3 7.5 10 16 22 30 40 47 56 75 91 113 138 188VT Rated Current
1.5 2.5 4 7.5 10 15 20 25 30 40 50 60 75 100 125Applicable
Motor Output (HP)
Two Rated CT/VT
Mo
tor P
rotectio
n
Maxim
um
O
utp
ut
To
rqu
e L
imit
Startin
g
To
rqu
e
VE Standard feature
Tu
nin
g
Tech
niq
ue SPWM tuning
technique
Co
ntro
l Mo
de
V/f control /PGFOC vector control /PGSVC(sensor less)Torque control /PG Position controlPID
Sp
eed
Co
ntro
l R
ang
e
V/f control 1:10FOC vector control 1:100FOC+PG1:1000
0.5Hz 150%0Hz 150% for FOCPG mode
Sp
eed
con
trol
accurac
y FOC±0.2%FOC+PG ±0.02%
Sp
eed
Resp
on
se A
bility
FOC+PG 40Hz
Max 250% of rated current
To
rqu
eA
ccura
cy ±5%
0~ 600 HzVEH up to 3600Hz
Acce
l/Dec
el Ti
me 0.00~ 600.00 sec
0.0~ 6000.0 sec
Accel/
Decel
Cu
rve
4 steps S curve for set Acc./Dec. start and stop time independently
Accel/ D
ecel S
teps
1. 4 group Acc./Dec. time2. Jog Acc./Dec. time3. Auto Acc./Dec. setting
Vo
ltage/
Freq
uen
cyRandom V/f curve setting by using 4 independent points1.5/2.0 power curve
1. 2 sets of electronic thermal Protection2. PTC temperature sensor3. 2 sets over torque protection 4. Current limit5. Stall prevention during acceleration6. Stall prevention during operation
Overlo
ad
En
du
ranc
e 150% 60sec200% 2sec
AC
Mo
tor D
rive P
rotectio
n
1. Over-current: 300% of rated current 2. Overload: 150% 60sec 200% 2sec3. Over-voltage: 290/580Vac4. Low-voltage: 135/269Vac5. Current leakage: 50% of rated current6. Electric shock MOV7. Over-temperature: 90oC8. Compensation for the momentary power loss9. Phase loss protection
Param
eter sT
un
ing
1. Motor dynamic/static test2. Inertia estimation3. High- speed field weakening curve estimation
Po
sition
Co
ntro
l
0 speed control PI gain setting16 point to point control P to PHome return positioning 16 point position instructionPulse that following speed and locationDivision frequency output
VE Advanced feature
Sp
ecialized
Ap
plicatio
n
Double rated motor Y- switch△Light-load auto energy-savingDEB decelerationMechanical braking control10 convenient communication block transmitSerial I/O pulse position controlTorque and speed mode switch
En
viron
men
tal
NEMA 1/IP21Operation temperature: -10oC~40 oCStorage temperature: -20oC~60 oCAmbient humidity: below 90%RHVibration: 20Hz below 1G 20~60Hz 0.6GFan coolingAltitude limit: 1000m
Co
ntro
l Interface
Dual communication port RS485 KPV-CE01Communication KeypadPG Encoder Feedback cardBUS GatewayMonitor card and Software Digital I/O, analog I/O
VFD-VE series
Differences between VE and V (hardware-control board)
7149
Monitor card
PG card terminals
DFMoutput selection J5
SW1:Sink/Source mode
AFM output selection J8
ACI input selection J4
Same power board
I/O pin to pin
7045
PG03 card
EDCM REV MI2 MI4 MI6
+24V FWD MI1 MI3 MI5
Multi-function digital input terminalSW1:Sink/SourceMI1:02-01(3-wire designated terminal)MI2:02-02MI3:02-03MI4:02-04MI5:02-05MI6:02-06(TRG-designated terminal)
MO1 MO2
MCM
Multi-function digital outputMO1:02-13MO2:02-14(Open collector output type)
ACIAUI
ACM+10V AVI
Multi-function analog input terminals 03-00~03-17AVI:0~+10V 10bitsACI:4~20mA or 0~+10V selected from J4AUI:-10~+10VCaution: J4 cannot be set while the power is applied.
AFM
AFM: multi-function analog output terminal 03-18,19,20It is selected from J8 that output is 0~10V or 0~20mA.
DFM
DFM: Digital frequency output terminal 02-18It is selected from J5 that Output type is voltage or open collector.
MRC
MRA
RB
RA RC
Multi-function Relay outputRelay 1:02-11(RA,RB,RC)Relay 2:02-12(MRA,MRC)
1. All digital terminals use photocoupler. 2. All analog circuits are no isolated.
I/O Control Terminal
Differences between V and VE (Keypad)
V type VFD-PU05
VE typeKPV-CE01
It can memorize 2 groups of parameters. It can memorize 4 groups of parameters.
Speed Feedback Card of VE (PG)
1. 5V/12V encoder power supply2. PG1: encoder feedback 3. PG2: pulse command input4. No pulse output terminal5. Acceptable encoder signal types: Open Collector, Line drive, Voltage and Complementary type6. Bandwidth: 300kP/sec
1 EMV-PG01X
1. 5V/12V encoder power supply2. PG1: encoder feedback3. PG2: pulse command input4. Division Pulse output: Open Collector type5. Acceptable encoder signal types: Open Collector, Line drive, Voltage and Complementary type6. Bandwidth: 300kP/sec
2 EMV-PG01O
1. 5V encoder power supply2. PG1: encoder feedback3. PG2: pulse command input4. Division Pulse output: Line drive type5. Acceptable encoder signal types: Open Collector, Line drive, Output Voltage and complementary type6. Bandwidth: 300kP/sec
3 EMV-PG01L
FSW3Encoder Power supply VP terminal 5V/12V switch
FSW1PG1 encoder signal
mode switch
FSW2PG2 pulse signal
mode switch
A1 A2A1 B1 B1 Z1 Z1 DCM VP A2 B2B2
PG1 motor encoder feedback input terminal Power supply terminal PG2 pulse command input terminal
PG1 output terminals of pulse frequency division
A/O
A/O
B/O
B/O
Z/O
Z/O
E
VP
DCM
A/O
B/O
Z/O
01L01O01X
Lin
e D
rive
Ou
tpu
t T
yp
e
Op
en
Co
llec
tor o
utp
ut
Ty
pe
EMV-PG01O
EMV-PG01X
PG Card-EMV-PG01X/O/L
1. Can be applied to winding & tension systems
2. VE’s Acc./Dec. characteristics can be use in more type of CNC machine
3. PDFF function and load inertia tuning
4. Stable run at zero speed and home search function
5. Improvement of noise endurance and signal treatment with new PG card
6. Monitor card and software which makes parameter setting and problems
solving more convenient.
7. Y- switch control for wide-range motor in CNC machine field△8. Easy parameter setting and control for the elevator
9. Light load auto energy saving function to avoid motor burn-out duo to
long time running especially in CNC machine application
10. Motor temperature feedback (PTC) function for motor over heat protection
Differences between VE and V (software)
RS
-48
5 Co
mm
unica
tion P
ort
RS
-48
5 Co
mm
unica
tion P
ort
VE Communication Connection Diagram
RS485
Keypad Communication Port
The FOC control is a method that controls 3-phase AC motor drive like DC motor, whose torque is proportional to its output current .
DTC : Direct Torque Control
V/F FOC DTC
No Encoder Feedback
V/F+PG FOC+PG
Encoder Feedback
Speed Control
Torque Control
FOC DTC
No Encoder Feedback
FOC+PG
Encoder Feedback
Control Family
FOC Introduction
As AC motor has been widely used in industry, the methods relevant to variable speed control have had developed a lot with technology. According to its frame and method, they are sorted as below:
Pulse width modulation (open loop)
VVCF ControlCVVF Control VVVF Control
Control family
Slip tuning control (closed loop)
Slip ratio of voltage source inverterSlip ratio of current source inverter
FOC (closed loop)
(Direct Field-Oriented Control)(Indirect Field-Oriented Control) (Slip Torque Control) (Field Acceleration Control)
Variable speed control without sensor (Virtual control of closed circuit)Magnetic field control with motor speed estimated and voltage/current feedback Magnetic field control with motor speed estimated and current feedback
Variable Speed Control Family of AC Motor
e
*Reference AC Motor Control by Changhuan LiuVE adopts indirect method of the summation of rotor’s magnetic orientation and encoder
FOC Family
1.Install flux-meter to measure flux angle.2.Estimate flux angle.
Direct method Rotor’s magnetic
orientation
Stator’s magnetic
orientation
Gas’s magnetic orientation
Flux reference coordinatesMethods of get synchronous flux angle Motor Mechanical Speed
With Feedback Sensor
No Feedback Sensor
Indirect method
Use the summation of motor slip frequency and motor’s electric speed then after integral to get the flux angle.
FOC Introduction
AC motor’s torque would in direct proportion to stator current
FOC Profile
Stator
Rotor
Id
Iq
Coordinates conversion
w
ids
iqs
Ids flux current
Iqs torque current
Rotor and Id axes overlaps , ids maintains fixed value
D.C.
w
Is
Ia
Ib
Ic
90o 180o 270o 360o 450o 540o
Ia Ib Ic Ia
T
IIa+Ib+Ic=0
Ia+Ib+Ic=Is
T
I
To calculate Is’s vector sum by mathematical integralIs includes two elements of flux Id and torque IqIt changes the phase’s space position via control Ia Ib and IcUsing instant math mode and according to the position to separate Is into Id flux and Iq torque.Id as the element of DC generates magnetic field while Iq as the element of current generates torque. Keep Ids steady as constant while output torque can be changed directly by changing Iqs.
Wm(speed control)
Wr
ide
iqe (torque control)
Qe
iq
current control
flux control
2/3
decouple
iqe
tr*ide
ibiaWsl
id
Control diagram
This is torque control
*Reference AC Motor Control by Changhuan Liu
Indirect rotor’s magnetic orientation control diagram
Rs Lls Llr
RrLmVs
05-0605-18
05-0705-19
05-0805-20
05-0905-21
Traditional Electrical engineer Equivalent circuit
Rs Lσ
RRLMVs
VE Equivalent circuit
Rs : Stator resistance Lσ : Stator’s inductanceRr : rotor’s inductanceLm : Flux mutual inductanceLlr : rotor’s leakage inductance
Induction Motor Equivalent Circuit and Parameters Auto-tuning
Parameter adjust and V/f mode Trial RunThis is mainly means spindle motor. Because the spindle motor nameplate normally will not match its spec. So, take V/F trial run first.
Parameters are set as factory values and make sure all the wiring is correct.
1
To set up:Maximum frequency: 01-00Rated frequency: 01-01Rated voltage: 01-02Control mode 00-10=0( VF control mode)
Set the Running frequency as the motor's rated frequency.
2
RUN
NOIs the current and speed logically?
Is the current and speed logically?
To check output current and motor’s speed.
3
Increase Frequency (slowly) to maximum operation frequency.
4
Congratulations! V/F curve is correct and motor can run at high speed.
STOP
5
Please re-adjust V/F curve and operate again
STOP6
Motor may not run at over frequency.
STOP7
YES
NO
YES
Check point1.Does current near or exceed full load current?2.Is the slip too big?
Check Point1. Does current decreases when speed is increasing2. Is the slip too big?
Motor Parameters Auto- tuning
YES
NO1
Can the load be removed from motor?
3.2
Input motor no load current 05-05(guessed)
Set 05-00 to 2(static tuning), then press RUN
3.3
Set 05-00 to 3(static tuning and motor’s axis should be locked), then press RUN. (If it not locked motor will run)
Parameters are set as factory values and the all wiring is correct.
1
according to motor’s nameplate:Rated voltage: 01-02Rated frequency: 01-01Full loaded current: 05-01Motor power: 05-02Rated speed: 05-03motor’s poles: 05-04
According to motor’s power to input suitable ACC./DEC. time: 01-12, 01-13
If motor’s base frequency is bigger than maximum operating freq.(01-00), please set 01-00 as the same with 01-01
2
Set 05-00 to 1(dynamic tuning), then press RUN. (Notice: motor will run)
3.1
NO2
For a while, it is completed when motor has stopped. This process need about 30 s, with small motor. For large motor, it determined by ACC./DEC. time.
It will display AUE when it fails. Please check whether wiring and parameters are all correct.
Check parameters05-00,05-06,05-07,05-08,05-09 whether have successfully been written in
4
FOC+PG control mode -Trial Run
Select PG feedback card that is suitable to encoder power source and signal type.
1
Correctly installed into drive’s slot and wiring correctly.
Input PPR of encoder : 10-00
2
Input encoder’s signal type: 10-01
EMV-PG01X
EMV-PG01O
EMV-PG01L
Set control mode 00-10= 3 (FOC+PG)
Set lower Fcmd for testing
RUN
Any PG error or abnormity
speed?
Check other frequencyA
Change running direction
STOP
PGF1 check parametersPGF2 wire disconnectedPGF3 feedback stallPGF4 slip abnormity
B
Operate again after elimination
Current abnormity
CCheck the numbers of pulse of the encoder weather is the same with parameters10-00Check whether the settings of mechanical electronic gear ratio 10-27,10-28 is all rightOperate again after elimination
YES
NO
Inertia Estimation
Check the coupling of load and motor are all correctly
Adjust ACC./DEC. time according to load inertia. The less load inertia need shorter ACC./DEC. time
2
RUN
NO
YES
Do FWD/REV running quickly and observe the change of parameters 11-01
3
FWDREV
Parameters 11-01 has convergence
or not
Parameters 11-01 has change or not
Stop motor’s running4 Press the PROG/DATA
key for set last convergence into 11-01PROG
DATA Set 11-00 as 0
Inertia is estimated wrongly. Decrease the frequency command and estimate again.
Continue to estimate
1
Confirm drive control mode 00-10=3
Set Fcmd to 2/3 of motor’s rated frequency
Set 11-00 as 2
YES
NO
Convergence speed is according to different load inertia. The bigger inertia convergence is slower and needs do more test
0 2 4 6 8 10 12 14 16 18 20-60
-40
-20
0
20
40
60
0 2 4 6 8 10 12 14 16 18 20800
1000
1200
1400
1600
1800
(Hz)
(PU)
SpdRef
inertia
Inertia Estimation
Frequency command
Load inertia value
System will run
Convergence
Vector control diagram
00-20P
I
+ +
+
++
÷
-
Current control
PWM00-17
M
coordinateschange
Encoder10-00, 10-01
Actual frequency
Current feedback
Weak magnetism curve
Torque bias
07-28
No bias
According to 03-00 analog multi-function
According to 07-28 torque bias
According to multi-function input terminals
Torque limit
ASR low-pass filter 10-09
07-32~07-35
10-21/10-22 zero speed PI10-04/10-05 middle speed PI10-06/10-07 high speed PI
Base voltage/current: 01-01/01-02
Motor’s parameters05-01~05-09
Source of frequency command
PI adjustor
Vector control -Adjust Methods
YES
Estimate Jm value
NO
Set auto gain adjustment 11-00=1
Adjust 11-02, 11-03 & 11-11 separately for difference speed which its response need
Adjust if it is require 11-04 (PDFF function)
Adjust by requirement 10-08 (ASR1/ASR2 switch frequency)
Adjust by requirement 07-32~35 (torque limit)
Manual gain adjust11-00=0 (factory setting)
Adjust 10-04, 10-05 : middle speed10-06, 10-07: high speed 10-21, 10-22: 0 speed
Adjust by requirement 10-09(normally no need to adjust)
Vector control- PI Adjustor
To adjust 11-11 for output higher torque at 0Hz
10-0610-07
10-0410-05
10-2110-22
0 Hz 10-08 Hz
PI
5 Hz 5 Hz
(PI adjustment-Manual gain adjust)
11-03
11-02
11-11
0 Hz 10-08 Hz
PI
5 Hz 5 Hz
1.Must known inertia first2.Set 11-00 as 1
(PI adjustment-auto gain adjust)
To adjust 10-21, 10-22 for output higher torque at 0Hz
Beside traditional PI control, VE-series also provides PDFF function to reduce overshoot. To enable PDFF function, it need to:
1.Must know inertia first
2.Set 11-00 to 13.Adjust 11-04 (the larger number is set and the suppressed overshoot function will be better. But it will cause worse system response)
Vector control-PDFF
It is recommended to disable this function (Pr.
11-04=0) for Y- △connection switch and
ASR1/ASR2 switch application
PDFF
PI
For the spindle application, the adjustment method is1. To run the motor at its max. frequency2. Monitor the output voltage3. Adjust settings of Pr.11-05 (motor 1) or Pr.11-06 (motor 2) to make
the output voltage reach motor rated voltage4. The larger number it is set, the larger output voltage you will get.
Vector control-Flux Weakening Curve
Fbase
11-05 / 11-06
Hz
N-m
Vector control-Speed Feed-forward
For the spindle motor Fast ACC./DEC. application
The adjustment method is:
1. With factory default and it can not meet the requirement of
system ACC./DEC. time
2. Adjust 11-12, the larger number you set, the faster response you
will get.
3. For general, no need to adjust.
10-23Position feed forward
Position Control diagram
P
I
+ +
+
÷
-
Currentcontrol
PWM00-17
M
coordinateschange
Encoder
Actual frequency
Current feedback
Weak magnetism curve
Toque bias
07-27
No bias
According to 03-00 analog multi-function
According to 07-28 toque bias
According to multi-function to input terminals
Toque limitASR low-pass filter 10-09
07-32~07-3506-12
10-21/10-22 zero speed PI10-04/10-05 middle speed PI10-06/10-07 high speed PI
10-0010-01
PI adjustor
P
D
Integral
+
-
++
Actual position
10-21Positioncommand
Frequency command
Tuning-Position
10-23
P
D+ +
+Position command Frequency command
Actual position
10-21
Positionselection
10-19
I/O serial position
PG card Pulse command
According to multi-function Input
-
10-19 internal position (Home) Multi-input uses external terminals to set 34 multi-step position
function enable (multi-point position) Serial, uses external terminals to set 41 serial position clock and 42
serial position (multi-point position)All above need to use external terminals to set 35 position control
PG reference input, use 00-20 = 5, 10-15 PG ref input EnableExternal terminals set 37 pulse position command input enable (position following)
Home point position
SpdRef
RunStopFWD
MI4 =Position Control (35)
Speed Mode Position Mode(internal position, home 10-19)
RLY2 =On Position (39)
10-19 counter(10-00*10-01)
Multi-position teach
MI1=1
MI2=2
MI3=3
MI4 =4
MI5=36
Run/Stop
0
1
1
1
1
0
0
1
1101 =11-->04-25
2 1101 =09-->04-23
2
Multi-position teach
Multi-speed / Multi-position SpeedSelection
PositionSelection
MI4 MI3 MI2 MI1
OFF OFF OFF OFF Main Speed 10-19
OFF OFF OFF ON Multi-speed1 04-00 Multi-position 1 4-15
OFF OFF ON OFF Multi-speed2 04-01 Multi- position 2 04-01
OFF OFF ON ON Multi-speed3 04-02 Multi- position 3 04-02
OFF ON OFF OFF Multi-speed4 04-03 Multi- position 4 04-03
OFF ON OFF ON Multi-speed5 04-04 Multi- position 5 04-04
OFF ON ON OFF Multi-speed6 04-05 Multi- position 6 04-05
OFF ON ON ON Multi-speed7 04-06 Multi- position 7 04-06
ON OFF OFF OFF Multi-speed8 04-07 Multi- position 8 04-07
ON OFF OFF ON Multi-speed9 04-08 Multi- position 9 04-08
ON OFF ON OFF Multi-speed10 04-09 Multi- position 10 04-09
ON OFF ON ON Multi-speed11 04-10 Multi- position 11 04-10
ON ON OFF OFF Multi-speed12 04-11 Multi- position 12 04-11
ON ON OFF ON Multi-speed13 04-12 Multi- position 13 04-12
ON ON ON OFF Multi-speed14 04-13 Multi- position 14 04-13
ON ON ON ON Multi-speed15 04-14 Multi- position 15 04-14
Serial Position
D OM xI
D 1S P I P o s i t i o n C o m m a n d D a t a M xI
V F D - V E
CNCcontroller(PLC)
Multi-input02-01~02-06set 41
Multi-input02-01~02-06set 42
S P I P o s i t i o n C o m m a n d c l o c k
Serial Position
P G p o s i t i o n
c o n t r o l p o i n t
P r . 1 0 - 1 9
O S S
C l o c k
O S S
D a t a
1 2 3 4 1 1 1 2
b 0b 1 1E n c o d e r b 1b 2b 3b 4b 5b 6b 7b 8b 9b 1 0
3 6 0
1 8 0
9 0
4 5
1 3 7
3 0 8
4 0 9 6
4 0 9 5
2 0 4 8
1 0 2 4
5 1 2
1 5 5 8
3 5 0 4
3 6 8 7
0
1
0 0 0 0 0 0 0 0 0 0 0
1 1 1 1 1 1 1 1 1 1 1
0 0 0 0 0 0 0 0 0 0 01
0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0
1 0 0 0 0 1 0 1 1 0
1
1
0
0
0
0
0 1 1 0 1 1 0 0 0 011
1 0 0 1 1 0 0 1 1 111
V F D - V 2
t r a n s m i s s i o n s t a r t
R e a d y fo r t r a n s m i s s i o n
t e s t e x a m p l e
a n g l e
Multi-input02-01~02-06set 41
Multi-input02-01~02-06set 42
Torque Control diagram
P
I
+ +
+
+
÷
-
Currentcontrol
PWM00-17
M
Encoder
Actual frequency
Current feedbackWeak magnetism curve
Toquebias
07-27
No bias
According to 03-00 analog multi-function
According to multi-function to input terminals
Toque limit06-12
ASR low-pass filter 10-09
Toque limit07-32~07-35
10-21/10-22 zero speed PI10-04/10-05 middle speed PI10-06/10-07 high speed PI
10-0010-01
PI adjustor
The source of toque command can through 07-21 to select KP/communication/analog
Toque limit
Toque command filter time 07-23 s
pe
ed
/toq
ue
Mo
de
se
lec
tion
+
Speed limit command is selected by 07-24 , 00-20 or 07-25/07-26
coordinateschange
According to 07-28 toque bias
06-12 current limit06-12 current limit
06-12 current limit 06-12 current limit
Quadrant 1
Quadrant 4Quadrant 3
Quadrant 2
Forward motor modeReverse generator mode
Reverse motor mode Forward generator mode
ForwardReverse
speedspeed
Positive torque
Negative torque
The minimum of the comparison result of the three layers will be torque limit
Analog terminal 03-00~02d7: positive torque limitd9: regenerative torque limit d10: positive/negative torque limit
Analog terminal 03-00~02d7: positive torque limitd10: positive/negative torque limit
Analog terminal 03-00~02d8: negative torque limitd9: regenerative torque limit d10: positive/negative torque limit
Analog terminal 03-00~02d8: negative torque limitd9: regenerative torque limit d10: positive/negative torque limit
Reverse regenerative torque Limit 07-35
Forward regenerative torque Limit 07-33
Forward motor torque Limit 07-32
Reverse motortorque Limit 07-34
Torque Limit of FOC
Torque Control-Speed Limit Method
Method 107-24=0 Speed limit is from Pr.07-25,Pr.07-26
Torque
frequency/speed
Forward 07-25Reverse 07-26
Method 2 07-24=1 Speed limit is from Pr.00-20(Source of the frequency command )
Torque
frequency/speed
Forward 00-20Reverse 07-26
Toque
frequency/speed
Forward 07-25Reverse 00-20
When 07-24=1,Speed limit is positive,then negative speed limit is determined by 07-26
When 07-24=1,Speed limit is negative, then positive speed limit is determined by 07-25
Torque Control
Speed Control
Torque Control
Speed Control
ON
RUN
Speed/Torque Control Switch
ON
Multi-function InputDefault: d26 Torque/Speed Mode Switch OFF OFF
Speed LimitSpeed
CommandSpeed Limit
Speed Command
Torque Command
Torque Limit
Torque Command
Torque Limit
Run/Stop
03-00~03=d1AVI/AUI/ACI:Fcmd
03-00~03=d2AVI/AUI/ACI:Tcmd
Control ModeSpeed Control
(Ramp to Stop)
STOP STOP
Speed/Torque Control Timing Chart00-10 =d03/d04
Motor Y- Switch Function (Wiring)△
Y- connection switch: can be used for wide range motor△Y connection for low speed: higher torque can be used for rigid tapping
△ connection for high speed: higher speed can be used for high-speed drilling
IM
U V W
X Y Z
△connection control02-11~14=d32
Y connection control02-11~14=d31
RA
MRA
UVW△connection is completed
02-01~06=d30
Y-connection is completed02-01~06=d29
MI1
MI2
Wiring diagram of Y- connection switch function△
T
Speed30 90
P
Motor Y- Switch Function△
Motor Y- Switch Timing Chart△
ON ON
ON ON
ON
ON
If switch F setting is 60Hz, then real switch F is 62Hz at acceleration
05-11 Y-△Switch frequency
Real switch F is 58Hz at Deceleration
Motor speed/frequency
1. Here motor is in free run status, VFD stops outputting
2. Motor speed will decreases according to load inertia
Y-connection control signal output
Y-connection confirmation input
△connection Control signal output02-11~14=d32
△ connection confirmation input02-11~14=d30
Mechanical spring time
02-11~14=d31
02-11~14=d29
Switch waiting time is 05-30 min.=0.2sec
Band is 2Hz
RUN
Mechanical brake release
DC brake DC brake
Brake Control Function
Mechanical brake Control function can work together with zero speed holding or DC brake to get the purpose of load would not slide or pause when starting up. So it can be widely used in the field of elevator and crane.
Motor speed/frequency
02-31 brake release delay timeBrake delay release output 02-11~02-14=d12
Mechanical brake braked braked
07-02 DC braking time during start
07-03 DC braking time during stop
RUN/STOP STOP
DEB Function (Deceleration Energies Regeneration)
The DEB (Deceleration Energy Backup) function is the AC motor drive decelerates to stop after momentary power loss. When the momentary power loss occurs, this function can be used for the motor to decelerate to 0 speed with deceleration stop method. When the power is on again, motor will run again after DEB return time. ( Can be applied to high speed spindle motor)
It doesn't need multi-
function terminals
DC BUS
LV level
Soft-start relay ON level (LV+30V)
DEB return time counting level (LV+30V+58V)
07-14
Soft-start Relay
DEB function is activated
Output frequency
DEB return time
Pr. 07-13 DEB DEC. Time
Status 1: Insufficient power supply due to momentary power-loss/ unstable power (due to low voltage)/ sudden heavy-load
When Pr. 07-14 is set to 0, the AC motor drive will be stopped. Drive will not ACE. To the frequency before DEB even the power has return
Status 3:Some brand can enable DEB function via external terminal. For VFD-VE series, the DEB function can be used by combine deceleration time and EF function. For example, in textile machinery, you will hope that all the machines can be decelerated to stop to prevent broken stitching when power loss. In this case, the system controller will send a signal to the drive, thus, it can be done via combine DEB and EF function.
DC BUS voltage
LV levelSoft-start relay ON level (LV+30V)
DEB return counting time level (LV+30V+58V)
07-14
Soft start relay
DEB function is activated
Output frequency
DEB return time
DEB DEC. time 07-13
Status 2: unexpected power off, such as momentary power loss
DEB Function
•This function is used to enhance the unstable speed/position due to analog resolution no enough. •It needs to use with external input terminals (Pr 02-11~Pr.02-14 set 43).•Set Pr. 10-25 as analog input resolution switch frequency
Max. frequency for resolution switch of analog simulation value
Resolution switch02-11~02-14=d43
FORWARD REVERSE
AUI 0V
AUI +10V
AUI -10V
Max. output frequency Pr.01-00
Resolution switch frequency
Pr. 10-25
Output frequency
0Hz
Max, frequency switch waiting time
Max, frequency switch waiting time
Spindle motor (0.75kW~11kW) Main applying function:0~3600Hz
High speed curving machinePCB drilling machine
Spindle motor
Market Application 1
Elevator (7.5kW~22kW) (90m/min), craneMain applying function: FOCPG control, auto DC brake and mechanical brake control
Market Application 2
Drilling, lathe, milling and curving Integrated CNC machine, tools boxMain applying function: home position, multi-step position, pulse command position , electronic gear ratio, mechanical gear ratio, Y- start-up switch and speed search△
Market Application 3
Printing machineMain applying function : toque control (TQRPG)
Surface and intaglio printing machine, flexible printing machine
Market Application 4
Customer allow toreceive
OK OK OK Testing
Controler Franc Centrido SYNTEC INTEKDriver Model 075V23A-2 075V23A-2 055V43A-2 075V23A-2Motor power 5.5kW 5.5kW 5.5kW 3.7kW( Hidden principal axis)
Encoder 1024ppr 1024ppr 1024ppr 1024pprApllying machines Lathe Lathe/Milling Integrate Milling machine Lathe
Original usingbrand
Franc VFd-V KEB Fuji MS5
Spindle speed 3000rpm 6000rpm 12000rpm 6000rpmMotor speed 3000rpm 6000rpm 8000rpm 6000rpm
Accel/decel time No requirement 2 seconds No requirement 3.5 secondsPosition No Yes Yes 12
Requirment ofprocessing
characteristics
1500 rpm flexible tapping position and tools change High/low speed 0.5mm
Y-D switch No No No Yesmulti-step position No No No YesPulse command
inputNo No No
V command Yes AVI: 0~10V YesCustomer profits Cost down Improvement of the old
problems of instability andvibration of V positioning
The whole machine adoptslocal components
Cost down
V2 problems V command linear problems No Quick positoning whenmoving
Nots Currently, no feedbackproblems from customers
Been produced Testing Testing
Base problem New functions is need
Application Example 1
Application 1 (flexible tapping-Wiring)
FWD
REV
AVISpeed command
MI1
Accel time 1 and 2 switch
RLY1Driver is ready
MO1Speed attained
MO2Zero speed including stop
U.V,W
1024pprLine-drive
PG in
VFDcontroller
Motor
Spindle1024pprLine-drive
Application 1 (flexible tapping-Time chart)
SpdRef
Run StopFWD
MI1 =1/2 accel/decel switch
Drilling Flexible tapping
Run
1st step accel/decel 2nd step accel/decel
Z axis in Spindle decelerateZ axis doesn't move
Principle axisZ 軸 out
2 3 4 5 6 7 8 9 10 11 12-50
0
50
100
2 3 4 5 6 7 8 9 10 11 12-100
-50
0
50
100
2 3 4 5 6 7 8 9 10 11 12-100
-50
0
50
100
(Hz)
(A)
(A)
SpdRef SpdFdb
iqRef
ias
Drilling Flexible tapping
Application 1(flexible tapping-Wave Form)
1000rpm
Application 1 (High-Speed Position -Wiring)
FWD
REV
AVISpeed Command
MI4Position Control ON
RLY1 Error indication
MO1
At speed (Setpoint at running)
MO2
Zero Speed including Drive Stop(INV fout)
U.V,W
PG in
AC Motor DriveController
Motor
Spindle
1024pprLine-drive
MI5Reset
RLY2 On Position
PG out
Application 1 (High-Speed Position –Time chart)
SpdRef
RunStopFWD
MI4 =Position Control (35)
Speed Mode Position Mode(internal position, home 10-19)
RLY2 =On Position (39)
MO1 =At Speed (2)
MO2 = Zero Speed(34)
Application 1(High-Speed Position-Wave Form)
2 4 6 8 10 12 14 16 18-100
0
100
200
300
2 4 6 8 10 12 14 16 18-50
0
50
100
2 4 6 8 10 12 14 16 18-50
0
50
(Hz)
(A)
(A)
SpdFdb
iqRef
ias
High speed internal position
4 6 8 10 12 14 16-50
0
50
100
150
200
250
4 6 8 10 12 14 16-40
-30
-20
-10
0
10
20
30
40
(Hz)
(A)
SpdFdb
ias
Application 1 (Motor Y-D Switch) Y
Delta Y
Former Brand SYNTEC+VFD-V VFD-V NEW VFD-VSpindle Speed 12000rpm 12000rpm 12000rpm 3500rpmMotor Speed 12000rpm 12000rpm 12000rpm 3500rpmAccel/decel
Time4 sencods 4 sencods 4 sencods 4 sencods
Position Yes Yes Yes YesRequirment of
processingcharacteristics
Rigid Tapping Rigid tapping, position andtools change
Rigid tapping, position andtools change
Rigid tapping, position andtools change
Y-D Switch No No No NoMulti-stepPosition
No No No No
PulseCimmand Input
Yes Yes N/A No
V command No No No YesCustomerProfits
Improvement of the oldproblems of instability andvibration of V positioning
Improvement of the oldproblems of instability andvibration of V positioning
Trial-run for new model Improvement of the oldproblems of instability andvibration of V positioning
V2 Problems Waiting for new edition test Waiting for new edition test Waiting for new edition test Temporarily use V-typeNots Ecoder wire is long,
occationallly positioninaccurately because of noise
Inaccurate position caused bynoise
Inaccurate position causedby noise
Inaccurate position causedby noise
Base Problems Hardware of PG cardinterrupted by environment
Hardware of PG cardinterrupted by environment
Hardware of PG cardinterrupted by environment
Hardware of PG cardinterrupted by environment
Application Example 2
Application 2 (Fast Acceleration/Deceleration)
0 2 4 6 8 10 12-100
0
100
200
300
400
500
0 2 4 6 8 10 12-20
0
20
40
0 2 4 6 8 10 12-40
-20
0
20
40
(Hz)
(A)
(A)
SpdFdb
iqRef
ias
About 4 seconds
12000rpm
About 2 seconds
Customer allow toreceive
The sencond stage 2007/4/1 The sencond stage 2007/4/1 The sencond stage 2007/6/1
Controler Centrido CNC Fanuc HeidenhainDriver Model 075V23A-2 075V23A-2 075V23A-3Motor power 5.5KW 5.5kW 7.5kW
Encoder 1024ppr 1024ppr 1024pprApllying machines Milling machine Lathe Lathe
Former brand A700 Franc/Mitsubishi+Qma The first generation of LatheSpindle speed 3000~6000rpm 3600rpm 8000rpmMotor speed 6000rpm 5760rpm 8000rpm
Accel/decel time 2 senconds 3 senconds RequiedPosition Internal single position No Yes
Requirment ofprocessing
characteristics
Position and tools change,mechanical gear ratio switch
1200 rpm flexible tapping and side-cutting multi-position
Resolution and response
Y-D switch No No Nomulti-step position No No YesPulse command
inputNo No No
V command AVI: 0~10V AVI: 0~10V AUI: -10~+10VCustomer profits Have'nt adopted V Cost cut Cost cutV2 problems Two mechanical gear ratio 28:28 and
28:56mechanical gear ratio Use closed loop of Vcommand
system to position, AUI resolutionis deficient
Nots 1)New requirement of noticing VFDto switch two gears ratio by externalIO2)Can replace A700
Arranging testing, currently multi-position output need to besupplimented
Need to improve resolution so asto observe response
Base problems New function, waiting for adding D/Idefinition
Waiting for adding D/O definition AD resolution
Application Example 3
Application 4 (Tension Control - Wiring)
FWD
REV
AVISpeed Limit
AUITorque Command (0~10V)
MO1 Error indication
U.V,W
PG in
AC Motor DriveController
Motor
1024pprLine-drive
PG out
Diagram 1: V Wiring
As for VFD-V, FWD/REV specifies torque command and speed limit direction.
Application Example 4 (Tension Control –VE Wiring)
FWD
REV
AVISpeed Limit
AVI2Torque Command (0~10V)
MO1 Error indication
U.V,W
PG in
AC Motor DriveController
Motor
1024pprLine-drive
PG out
Diagram 2: VE Wiring
MI1direction of Torque command
If the torque command is from AUI, then, torque direction is decided by the by AUI.
Application 4 (Tension Control –Time chart)
SpdLimit
RunStopFWD
MI1 = direction ofTorque command
Torque Command
SpdLimit
RunStopREV
MI1 = direction ofTorque command
Torque Command
Control Time chart: (a) FWD Torque Command; (b) REV Torque Command
(a)
(b)
Speed limit have accelerate/decelerate
Speed limit have accelerate/decelerate
Application 4 (Tension Control-Wave Form)
4 6 8 10 12 14 16 18 20-50
0
50
100
150
200
4 6 8 10 12 14 16 18 20-200
-100
0
100
200
4 6 8 10 12 14 16 18 20-10
-5
0
5(Hz)
(A)
(A)
SpdLimit SpdFdb
Tq Command
ias
Torque Mode Speed Mode
PG feedback signals are interfered, which causes unstable speed.
Application-Elevator
Application-Elevator Control-Wiring
Eric (seem G5) Cable Number VE
Pin Def. Set Pin Set
19 RBError indication
028 RBError indication
20 RC 0028 RC
9 MRADuring Run
002 MRABrake release function
10 MRC 006 MRC
11 DCM 018 DCM
6 S6 Multi-Speed 2 (25Hz) 023 MI 1 Multi-Speed 2 (25Hz)
5 S5 Emergency Stop 0022 MI 4 Emergency Stop
1 S1 FWD 020 FWD
2 S2 REV 021 REV
7 S7 Multi-Speed 3 (6Hz) 022 MI 2 Multi-Speed 2 (6Hz)
8 S8 Jog (0Hz) 024 MI 5 Multi-Speed 3 (0Hz)
3 S3Multi-Acc/Dec 1
(connect to pin7)MI 3
Multi-Acc/Dec 1
(connect to MI 2)
4 S4Multi-Acc/Dec 2
(connect to pin8)MI 6
Multi-Acc/Dec 2
(connect to MI 5)
Application-Elevator Control -Timing
SpdRef
Motor Operation Indication
Run/Stop Command
DCI
Brake
40Hz
6Hz
0Hz DCI
MI2 & MI3
MI5 & MI6
2nd step speed6Hz
3rd step speed 0Hz
Application-Elevator Control –Wave Form
0 2 4 6 8 10 12 14 16 18 20-10
0
10
20
30
40
50
0 2 4 6 8 10 12 14 16 18 200
10
20
30
40
50
0 2 4 6 8 10 12 14 16 18 20-50
0
50
(Hz)
(A)
(A)
Spd*
Spd
iq*
ias
5th in Korea
Application-Carne test
Picture-1
Picture-2
MotorVOLTS : 380 ACAMP : 26AFrequency : 60kW : 9Poles : 8Rpm : 840
InverterModel : VFD150V43A
Specification
In the Crane application, without Encoder is very normal. So, can only use the SVC control method. To us DCI function for braking release and engage control will cause a random slip during go up or down.
In order to avoid slip, a Dwell function is need. To operate in coordination with multi-out function set as “42”, parameter 02-32 and 02-33 can reach higher safety operation.
Braking
Mu lti-ou tputMO=42( >02-33 active )
02-33Speed Area se tting
07-16Dwell Frequency at Accel.
07- 15Dwell Time at Accel.Outpu t Frequency
Release
Output cruuent
02-32Current Output Detect
Function note
2-11=d29, 02-33=5Hz, the output waveform as below:
14 15 16 17 18 19 200
5
10
15
20
25
14 15 16 17 18 19 20-1
0
1
2
3
4
5
14 15 16 17 18 19 200
10
20
30
40
(Hz)
(A)
H fcmd
brake close
brake release
Irms
Waveform-1
2-11=d42(fcmd>02-33), 02-33=2.5Hz, output waveform:
10 11 12 13 14 15 16 17 18 19 20-20
0
20
40
60
80
10 11 12 13 14 15 16 17 18 19 20-1
0
1
2
3
4
5
10 11 12 13 14 15 16 17 18 19 200
10
20
30
40
50
(Hz)
(A)
H
fcmd
brake close
brake release
Irms
Go down Go Up
Waveform-2
M e ch a n ic a l b r a k e r
M u lti - o u tp u t
M O = 4 2 ( A c ti v a t e d w h e n
F c m d > = 0 2 -3 3
C u r r e n t o u t > 0 2 - 3 2
T im e > 0 2 -3 1 )
0 7- 16 D w e l l F r e q . a t A cc e l.
0 7- 1 5
D w e ll Ti m e at A cc el .O u tp u t F r e q .
02-31Brake Delay Time
Set 07-16=02-33and when output current >02-32
0 7- 1 7D w e l l T i m e a t D ec ce l .
Set 07-18=02- 33 AND when output current <02-32
0 7- 1 8 D w el l Fr eq .
a t D e ce l .
02-31Brake Delay Time
07-16= 02-33 and Fcmd>02-33Output current>02-32Time > 02-31=>Mul ti-output=42(crane function) activated
Function time chart
More and more middle and low level “Printing machine” and “Stretching machine” would like to have a Inverter with PLC function. These can be define as below:
Application-Printing machine
With reciprocating roller One or two PID
Not reel diameter data Two PID
Line speed-Analog-Pulse train-Communication
No Line speed
Get Reel diameter and Master Frequency
Master freq. +PID auxiliary freq.( one PID)
Get Reel diameter-Thickness integral-Analog input
1. The System with the “Reciprocating roller” means can do tension Close-loop. The control mode can be the speed mode (either open or close loop) or torque mode.
2. In order to do speed close loop or torque mode, an encoder is need. But, people will not install it because the “cost”.
3. Besides, there is tension open loop with torque mode. But, its precision is not very good. Also, the encoder’s cost is higher than reciprocating roller
Tractor
Reel-in(with encoder)
Reel-out(powder braking)
Picture
VFD055V43A-2
MotorMotor
AVITension feedback
AVI2Line speed input/output
Reciprocating roller
Reel-in roller
AFM
Tractor
VFD055V43A-2
Encoder1024ppr
FWDRun CommandMO1
System Diagram
Control diagram
+- -1
PID r esult direct ion
1
08-34
PID reference08-24, 08-25
08-26PID feedba ck
PI08-28, 08-2908-31, 08-32
08- 35
Limit +
08- 54
01-00
Limit
Sourc e of line speed08-36
08-53
Present reel diameter
Smart start function
Smart mode
Master F
+
Re el diameter compensate value
Reel dia meter Auto com pensate
08-52
Initia l reel diameter reset
02-01~02-0 6set "44"
Sour ces of initia l reel diameter
Output Freque ncy
Reel d iameter calcu late
08-52
0 8-42, 0 8-43Limit
08-41 set "0 "
08-44
Initial reel d iameter setting 0~3
08-45~ 08-47++ Selected by
multi -input
Reel diameter low pass filter t ime
No Reel diameter com pensate
File 0 to 50 to 0_1.avi 及 0 to 50 to 0_2.avi: Tractor go 0Hz
first (pre-tension). After, increase to 50Hz and decrease to 0HzFile run to 50 and stop_1.avi 及 run to 50 and stop_2.avi: The
tractor go 50Hz with 1sec acc. Time and Stop with 1sec. Dec.From the video, we can know either of pre-tension or high-
speed start-up, the Reciprocating roller can go to the right
position very fast without overshoot.
Video description
Demo
E n c o d e r
M e a s u r e R o l l
V F D - M
V F D - V E
R o t a r y K n i f e
Cut pointsensor
Application-Cross cut
11-09: Sensor position(180)11-22: Rotary knife circumference(753mm)11-23: Synchronous angle(30)11-24: Cut out length (mm)11-25: Measure roll circumference(512mm)11-26: Reference line speed11-27: Gear radio A11-28: Gear radio B
The cut out length can separate into 3 parts basic in Rotary knife circumference
A. Cut out length >= 2 times Rotary knife circumference
B. 2 times Rotary knife circumference > Cut out length >= Rotary knife circumference
C. Rotary knife circumference > Cut out length
New function
實際線速度
電流
位置命令位置回授
線速度 60m/min, 裁長 1506mm(2 倍刀輪周長 )
5.5 6 6.5 7 7.5 8 8.5 9 9.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
x 104
Line speed
Position feedbackPosition command
Line speed 60m/min, Cut-out length 1506mm( = 2 times Rotary knife circumference(753mm)
Measure roll speed
6 6.5 7 7.5 8-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
x 104
Line speed 96 m/min, Cut-out length 1506mm( = 2 times Rotary knife circumference(753mm)
Line speed
Position feedbackPosition command
Measure roll speed
3 4 5 6 7 8 9 10 11 12
-1.5
-1
-0.5
0
0.5
1
x 104
Line speed 96m/min, cut-out length 4000mm, ( > 2 times Rotary knife circumference(753mm)
DC Bus
Line speed
Position feedback
Measure roll speed
4 4.5 5 5.5 6 6.5 7 7.5 8 8.5 9
-3
-2
-1
0
1
2
3
x 104
Line speed 43m/min, Cut-out length1000mm( > Rotary knife circumference(753mm)
Line speed
Position feedback
Position command
Measure roll speed
5 5.5 6 6.5 7
-3
-2
-1
0
1
2
3
x 104
Line speed
Position feedback
Position command
Measure roll speed
Line speed 43m/min, Cut-out length500mm(< Rotary knife circumference(753mm)
This customer now is using Danfoss, Schnelder and Yaskawa G7. The VFD-M seriesis also use for one drive system.
Request function:1. Give +/- tension command, +/- speed command and speed limit via comm.
2. Torque mode and speed mode switch via comm.
3. Torque precision must as motor rate ±5%
4. PG out division to PLC
5. For 3.7~11Kw inverter, max. roll diameter is 1.5 米
6. RS485 comm. Protocol ASCII 、 9600bps
Application-Torque/Speed control in Dyeing machine
Torque/Speed control in Dyeing machine
Torque Control diagram
P
I
+ +
+
+
÷
-
Currentcontrol
PWM00-17
M
Encoder
Actual frequency
Current feedbackWeak magnetism curve
Toquebias
07-27
No bias
According to 03-00 analog multi-function
According to multi-function to input terminals
Toque limit06-12
ASR low-pass filter 10-09
Toque limit07-32~07-35
10-21/10-22 zero speed PI10-04/10-05 middle speed PI10-06/10-07 high speed PI
10-0010-01
PI adjustor
The source of toque command can through 07-21 to select KP/communication/analog
Toque limit
Toque command filter time 07-23 s
pe
ed
/toq
ue
Mo
de
se
lec
tion
+
Speed limit command is selected by 07-24 , 00-20 or 07-25/07-26
coordinateschange
According to 07-28 toque bias
06-12 current limit06-12 current limit
06-12 current limit 06-12 current limit
Quadrant 1
Quadrant 4Quadrant 3
Quadrant 2
Forward motor modeReverse generator mode
Reverse motor mode Forward generator mode
ForwardReverse
speedspeed
Positive torque
Negative torque
The minimum of the comparison result of the three layers will be torque limit
Analog terminal 03-00~02d7: positive torque limitd9: regenerative torque limit d10: positive/negative torque limit
Analog terminal 03-00~02d7: positive torque limitd10: positive/negative torque limit
Analog terminal 03-00~02d8: negative torque limitd9: regenerative torque limit d10: positive/negative torque limit
Analog terminal 03-00~02d8: negative torque limitd9: regenerative torque limit d10: positive/negative torque limit
Reverse regenerative torque Limit 07-35
Forward regenerative torque Limit 07-33
Forward motor torque Limit 07-32
Reverse motortorque Limit 07-34
Torque of FOC
Torque control via communication(Torque mode 00-10=4)
1. Set Torque command source 07-21 = 1(communicaiton)2. Torque command 07-20
:0106071403E8 -> Torque command(+ 100.0%):01060714FC18 -> Torque command( 100.0%)﹣
3. Speed limit source select 07-24
0 7 - 2 6 0 0 - 2 0 0 7 - 2 50 0 - 2 00 7 - 2 6 0 7 - 2 5
0 7 - 2 4 = 1 0 7 - 2 4 = 1
t o r q u e t o r q u e t o r q u e
f r e q u e n c y f r e q u e n c y f r e q u e n c y
P r . 0 7 - 2 4 = 0
R u n n i n g / o p p o s i t e r u n n i n g
d i r e c t i o n a r e
l i m i t e d b y P r . 0 7 - 2 5
a n d P r . 0 7 - 2 6 .
W h e n i t i s f o r w a r d r u n n i n g ,
r u n n i n g d i r e c t i o n i s l i m i t e d
b y P r . 0 0 - 2 0
o p p o s i t e r u n n i n g d i r e c t i o n
i s l i m i t e d b y P r . 0 7 - 2 6 .
W h e n i t i s r e v e r s e r u n n i n g ,
r u n n i n g d i r e c t i o n i s l i m i t e d
b y P r . 0 7 - 2 5
o p p o s i t e r u n n i n g d i r e c t i o n
i s l i m i t e d b y P r . 0 0 - 2 0 .
To switch over between Torque and Speed mode via “virtual” terminal 02-23~02-30 set “26”02-23 = 26 (TQCPG/FOCPG switch)
To active this terminal:0106020A0100 -> Enable TQCPG/FOCPG switch =>FOCPG mode:0106020A0000 -> Disable TQCPG/FOCPG switch =>TQCPG mode
Torque Control
Speed Control
Torque Control
Speed Control
ON
RUN
ON
Multi-function InputDefault: d26 Torque/Speed Mode Switch
OFF OFF
Speed LimitSpeed
CommandSpeed Limit
Speed Command
Torque Command
Torque Limit
Torque Command
Torque Limit
Run/Stop
03-00~03=d1AVI/AUI/ACI:Fcmd
03-00~03=d2AVI/AUI/ACI:Tcmd
Control Mode Speed Control
(Ramp to Stop)
STOP STOP
Speed/Torque Control Timing Chart
To switch over from Torque to Speed mode via “virtual” terminal02-23~02-30 set “26”If the speed command source is communication(00-20=1)
Command= +10.00 Hz communication:0106200103E8 -> Frequency command 10.00Hz:010620000010 -> Forward command
Command= -10.00 Hz via communication:0106200103E8 -> Frequency command 10.00Hz:010620000020 -> Reverse command
Run command via communication (00-21 = 2):010620000004Stop command via communication:010620000002
Motor (Taiwan local brand)VOLTS : 380 ACAMP : 20.3AFrequency : 68.5kW : 11Poles : 4Rpm : 2000
InverterModel : VFD150V43A-2
Application-Injection machine
Run/Stop
AUI(+/- 10V)VFD-VE
Oil
Sluice
Flow
Pressure
Controller
System diagram
System picture
Controller
Controller
Oil bag(for as buffer or adding pressure
Servo valve
Pressure meter
Oil direction
Pump
Oil direction
Pressure feedback
Normal (old) injection system do not control motor. The injection
and pressure hold process are accomplish by using valve and sluice
gate control. This will cause bad efficiency.
Simulate system is using servo valve open angle as real load
Oil and electric combination system for injection machine need do
flow rate control with fast speed response when doing “injection
process” and pressure control with high torque at low speed
during “pressure hold and cooling process” is
Description
In je c t io n
M o ld c lo s in g
C h a rg in g
C o o l in g
M o ld o p e n in g
Thank You !!