Rockwell-automation SA3100 Distributed Power System Drv Config,Program Instrukcja Użytkownika Strona 1

Instruction ManualDistributed Power SystemSA3100 Drive Configurationand ProgrammingS-3056-1

1-2SA3100 Drive Configuration and ProgrammingRelated PublicationsThe user must become familiar with the other instruction manuals that describe the SA

3-62SA3100 Drive Configuration and ProgrammingInterrupt Status Control Registers (Continued) 2000CCLK Counting Bit 5Hex Value: 0010HSug. Var. Name: N/

Configuring the UDC Module’s Registers3-63Scans Per Interrupt Register 2001The Scans Per Interrupt register contains the number of times a UDC task is

3-64SA3100 Drive Configuration and Programming

Application Programming for DPS Drive Control4-1CHAPTER 4Application Programmingfor DPS Drive ControlDistributed Power Drive products are sold only as

4-2SA3100 Drive Configuration and ProgrammingUDC tasks must be written in the Control Block language, a language designed specifically for drive contr

Application Programming for DPS Drive Control4-3All common input values for the UDC task are first read from the dual port memory and then stored in a

4-4SA3100 Drive Configuration and ProgrammingStep 4. SCAN_LOOP block/Enabling CCLKThis control block tells the UDC operating system how often to execu

Application Programming for DPS Drive Control4-5Step 6. Motor thermal overload protectionElectronic thermal overload protection for SA3100 drives is n

4-6SA3100 Drive Configuration and ProgrammingConsider an example in which LIM_BAR is defined to be 150% of full load current, THRESHOLD is 114%, and T

Application Programming for DPS Drive Control4-7Like all tunable values in the AutoMax environment, the values of these UDC task tunables are retained

Introduction1-3380 VAC -480 VAC[B]513 VDC-620 VDC[R]001B6.11003007010015020025030040C6.12050060D6.13075100125150E6.14200250300F6.14350400450G6.1550060

4-8SA3100 Drive Configuration and ProgrammingThe exchange of command and feedback register data is synchronized through the use of the constant clock

Application Programming for DPS Drive Control4-9Refer to the individual bit descriptions in this manual for more information.4.3 AutoMax Processor Tas

4-10SA3100 Drive Configuration and ProgrammingFigure 4.3 – Data/Time Flow for UDC Module and PMI(Background)(Foreground)PMIProcessorUDCModuleAutoMaxPr

On-Line Operation5-1CHAPTER 5On-Line OperationThe ON LINE! command in the System Configurator and the Task Manager applications allows you to access o

5-2SA3100 Drive Configuration and ProgrammingThe option “A” for ALL will automatically load the rack (i.e., AutoMax Processor configuration, the drive

On-Line Operation5-3Deleting UDC TasksWhen a UDC application task is deleted, any local variables which were forced are removed from the force table.

5-4SA3100 Drive Configuration and Programming

SA3100 Vector Regulator Register ReferenceA-1APPENDIX ASA3100 Vector Regulator Register ReferenceREGISTER MAPRegisters Function 0-23 Flex I/O port reg

A-2SA3100 Drive Configuration and ProgrammingFEEDBACK REGISTERS (CONTINUED) A/B202/1202 Drive FaultBit 0 DC bus overvoltage fault FLT_OV@ 1 DC bus o

SA3100 Volts / Hertz Regulator Register ReferenceB-1APPENDIX BSA3100 Volts / Hertz RegulatorRegister ReferenceREGISTER MAPRegisters Function 0-23 Flex

1-4SA3100 Drive Configuration and ProgrammingAdditional information about using the SA3100 drive is found in the wiring diagrams, prints, and other do

B-2SA3100 Drive Configuration and ProgrammingFEEDBACK REGISTERS (CONTINUED) A/B202/1202 Drive FaultBit 0 DC bus overvoltage fault FLT_OV@ 1 DC bus o

SA3100 Volts / Hertz Regulator Register ReferenceB-3

B-4SA3100 Drive Configuration and Programming

SA3100 Local Tunable VariablesC-1APPENDIX CSA3100 Local TunableVariablesC.1 Current Minor Loop Gain VariablesThe stator resistance and the stator time

C-2SA3100 Drive Configuration and ProgrammingC.2 Vector Algorithm Gain VariablesThe vector algorithm gain variables are used to adjust the gain of the

SA3100 Local Tunable VariablesC-3Tuning STATOR_IZ_E1% for Constant Power ApplicationsThe SA3100 Constant Power operating system has the capability of

C-4SA3100 Drive Configuration and ProgrammingSTATOR_IZ_E1% (continued) No Load Stator CurrentUse the following procedure to implement each reference p

SA3100 Local Tunable VariablesC-5C.3 Volts per Hertz Voltage Point Gain VariablesThe seven gains below represent the seven voltage points of the V/Hz

C-6SA3100 Drive Configuration and ProgrammingC.4 Volts per Hertz Frequency Point Gain VariablesThese seven gains below represent the seven frequency p

SA3100 Local Tunable VariablesC-7P1HZ_E3! Point 1 FrequencyThis value is set to select the frequency at point 1 in the V/Hz characteristic curve. This

Configuring the UDC Module, Regulator Type, and Parameters2-1CHAPTER 2Configuring the UDC Module,Regulator Type, and ParametersThe Rack Configurator a

C-8SA3100 Drive Configuration and ProgrammingC.5 DC Bus VariablesThe programmer selects the values in the following variables to determine the drive’s

SA3100 Local Tunable VariablesC-9C.6 Resolver Balance and Gain VariablesThe resolver gain and balance variable values are used to compensate for varyi

C-10SA3100 Drive Configuration and ProgrammingC.7 Diagnostic VariablesThe programmer enters the values in the diagnostic variables to establish thresh

Vector with Constant Power RegulatorD-1APPENDIX DVector with Constant PowerRegulatorSA3100 drives may use either a vector regulator (constant torque o

D-2SA3100 Drive Configuration and ProgrammingFigure D.1 – Vector with Constant Power Regulator Block DiagramUDC MODULEOUTERCONTROLLOOP(S)TRQ_REF%+4095

Vector with Constant Power RegulatorD-3D.1 Dual Wound MotorD.1.1 OverviewThe dual wound motor is a specially designed motor which has two sets of term

D-4Drive Configuration and Programming

Volts per Hertz (V/Hz) RegulatorE-1APPENDIX EVolts per Hertz (V/Hz)RegulatorThe SA3100 volts per hertz regulator (figure E.1) uses an application depe

E-2SA3100 Drive Configuration and ProgrammingWhen required the V/Hz curve is defined by the specification of 7 points of voltage and frequency, as sho

Volts per Hertz (V/Hz) RegulatorE-3Figure E.1 – Volts/Hertz Control Regulator Block DiagramFrequency Reference600000 == 600HzInternal RampVolts per He

2-2SA3100 Drive Configuration and ProgrammingStep 4. Select a product type and a regulator (control) type for both drive A and drive B. See section 2

E-4SA3100 Drive Configuration and ProgrammingFigure E.2 – Constant Torque Volts/Hertz CurveFigure E.3 – Variable Torque 7-Point Volts/Hertz CurveF6F4

Status of Data in the AutoMax Rack After a STOP_ALL Command or STOP_ALL FaultF-1APPENDIX FStatus of Data in the AutoMaxRack After a STOP_ALLCommand or

F-2SA3100 Drive Configuration and Programming

Torque Overload Ratio Parameter PrecautionsG-1APPENDIX GTorque Overload RatioParameter PrecautionsThe maximum RMS current that will be generated by th

G-2SA3100 Drive Configuration and ProgrammingMaximum RMS Current = Square Root of [(%Torque_Overload_Ratio/100)2 x (Rated_Motor_Current2 - Iz2) + Iz2

Default Carrier Frequency and Carrier Frequency Limit for Drive Horsepower RangesH-1APPENDIX HDefault Carrier Frequency andCarrier Frequency Limit for

H-2SA3100 Drive Configuration and Programming

Vector with Constant Power Parameter Entry ExampleI-1APPENDIX IVector with Constant PowerParameter Entry Example390V460 V318 375 700 1100 1200Base S1

Commissioning Procedure for Non-Constant Power Algorithim Operation J-1APPENDIX JCommissioning Procedurefor Non-Constant PowerAlgorithim OperationBack

J-2 SA3100 Drive Configuration and ProgrammingNote: You must observe the “Alter Speed” bit and modify the motor speed two times: once to accelerate th

Configuring the UDC Module, Regulator Type, and Parameters2-32.2 Entering the Drive ParametersDrive parameters are application-specific data that desc

Commissioning Procedure for Non-Constant Power Algorithim Operation J-3• After using the reference point data for Drive A (register 101), use the refe

J-4 Drive Configuration and ProgrammingFor a 2 to 1 range; reference points one, two, three, four, five, six and seven are used.For a 3 to 1 range; re

Commissioning Procedure for Non-Constant Power Algorithim Operation J-5Reference Material - The following information describes step by step processor

J-6 Drive Configuration and Programming4. Calculate the remainder of the necessary motor parameters using the following measurements:5. Run the full a

Commissioning Procedure for Non-Constant Power Algorithim Operation J-7It is necessary to recalculate all algorithm coefficients and variables based o

J-8 Drive Configuration and ProgrammingThis Page Intentionally Blank

I-2SA3100 Drive Configuration and Programming

Index Index-1INDEXAAccess, 3-3Application programming, 4-1 to 4-10AutoMax and UDC task coordination, 4-9AutoMax tasks, 4-1calculating local tunable va

Index-2SA3100 Drive Configuration and Programmingresolver scan position, 3-46resolver strobe position, 3-46revolutions per minute, 3-47selected variab

IndexIndex-3 feedback data (vector), 2-12Flex I/O, 2-24meter port selection (V/Hz), 2-22meter port selection (vector), 2-14motor data (vector), 2-6, 2

2-4SA3100 Drive Configuration and ProgrammingStep 3. Use the Configure Parameters option to access the Parameter Entry screens. For the Vector with Co

Index-4SA3100 Drive Configuration and Programming

Printed in U.S.A. S-3056-1 July 1999Rockwell Automation / 24703 Euclid Avenue / Cleveland, Ohio 44117 / (216) 266-7000

Configuring the UDC Module, Regulator Type, and Parameters2-52.3 Configuring the Vector with Constant Power RegulatorThe following sections (2.3.1 to

2-6SA3100 Drive Configuration and ProgrammingPower Module• Part NumberSelect a part number from the list of supported Power modules (x nnn, where x is

Configuring the UDC Module, Regulator Type, and Parameters2-7• Constant Magnetization, Manual Compensation, or Constant PowerThese selections define t

The information in this user’s manual is subject to change without notice.Ethernet™ is a trademark of Xerox Corporation.Windows™ is a trademark of M

2-8SA3100 Drive Configuration and ProgrammingIf a warning appears, it is likely that the maximum RMS current that can be supplied to the motor at the

Configuring the UDC Module, Regulator Type, and Parameters2-92.3.2.2 Constant Power Motor Data ScreenWhen Constant Power is selected, a new screen is

2-10SA3100 Drive Configuration and Programming• Speed (RPM) (Range: 10 to 10,000)Enter all speed values in RPM; the resolution is 1 RPM. There are no

Configuring the UDC Module, Regulator Type, and Parameters2-11If a warning appears, it is likely that the maximum RMS current that can be supplied to

2-12SA3100 Drive Configuration and Programming2.3.3 Feedback Data Screen (Vector with Constant Power) The Feedback Data Parameter Entry Screen allows

Configuring the UDC Module, Regulator Type, and Parameters2-13For the most accurate velocity control, always select the resolver (x1, x2, or x5) with

2-14SA3100 Drive Configuration and Programming2.3.4 PMI Meter Port Selection Screen (Vector with Constant Power)The Meter Port Selection Parameter Ent

Configuring the UDC Module, Regulator Type, and Parameters2-15PMI meter ports can also be set up on-line using the “Setup UDC” selection from the Moni

2-16SA3100 Drive Configuration and Programming2.4 Configuring the Volts per Hertz (V/Hz) RegulatorThe following sections (2.4.1 to 2.4.5) describe the

Configuring the UDC Module, Regulator Type, and Parameters2-17• MCR Connected To Output ContactorIf you have a motor control relay (MCR) on the output

Table of ContentsICONTENTSChapter 1 IntroductionChapter 2 Configuring the UDC Module, Regulator Type, and Parameters2.1 Adding a Universal Drive Contr

2-18SA3100 Drive Configuration and Programming2.4.2 Configuration Data - Setup (Volts per Hertz)The Configuration Data - Setup parameter screen allows

Configuring the UDC Module, Regulator Type, and Parameters2-19• Current LimitSelecting this button enables the current limit function in the drive. Sp

2-20SA3100 Drive Configuration and Programming2.4.3 V/Hz Characteristic Screen (Volts per Hertz)The V/Hz Characteristic parameter screen allows you to

Configuring the UDC Module, Regulator Type, and Parameters2-21• Voltage Boost Volts (Volts)Voltage Boost Volts and Voltage Boost Frequency define a po

2-22SA3100 Drive Configuration and Programming• Over Speed Limit (RPM) (Range: 10 to 20,000)This value is used to determine the maximum safe output fr

Configuring the UDC Module, Regulator Type, and Parameters2-23The Minimum Value must not be less than -32768. The Maximum Value must not be greater t

2-24SA3100 Drive Configuration and Programming2.5 Configuring Flex I/OThe Configure Flex I/O Parameter Entry Screen allows you to configure your Flex

Configuring the UDC Module, Regulator Type, and Parameters2-25• Channel 0 to Channel 7If an analog I/O module is selected for Module 2, you must confi

2-26SA3100 Drive Configuration and Programming

Configuring the UDC Module’s Registers3-1CHAPTER 3Configuring the UDC Module’sRegistersThe Variable Configurator application in the AutoMax Programmin

II SA3100 Drive Configuration and ProgrammingChapter 5 On-Line Operation5.1 Loading the UDC Module’s Operating System ...

3-2SA3100 Drive Configuration and Programming• The Command Registers view is used to configure pre-defined drive control registers that are written to

Configuring the UDC Module’s Registers3-33.1 Register and Bit Reference ConventionsUsed in this ManualRegister numbers are shown using the convention

3-4SA3100 Drive Configuration and ProgrammingTable 3.1 – UDC Module Configuration Views and RegistersView Register RangeDescribed in Section:Port 0 Fl

Configuring the UDC Module’s Registers3-5Table 3.2 – UDC Module Dual Port Memory Register Organization.Registers Function0 - 23 Flex I/O registers24-7

3-6SA3100 Drive Configuration and Programming3.2 Flex I/O Port Registers (Registers 0-23)The Flex I/O Port 0 view is used to assign variable names and

Configuring the UDC Module’s Registers3-7Table 3.4 lists the Flex I/O modules that are supported by the SA3100 system. Refer to the appropriate Flex I

3-8SA3100 Drive Configuration and Programming3.2.2 Analog Data FormatsData is returned from the Flex I/O module’s analog-to-digital converter with 12-

Configuring the UDC Module’s Registers3-93.2.3 Flex I/O Status and Error CodesRegister 10/22 contains status and error codes for Flex I/O Module 0 and

3-10SA3100 Drive Configuration and ProgrammingRegister 11/23 contains status and error codes for Flex I/O Module 2. The memory map is shown in table 3

Configuring the UDC Module’s Registers3-113.3 UDC/PMI Communication Status Registers(Registers 80-89/1080-1089)The UDC/PMI Communication Status Regist

Table of ContentsIIIList of FiguresFigure 2.1 – Adding a UDC Module... 2-2Figur

3-12SA3100 Drive Configuration and ProgrammingUDC Module Communication Status Register (Continued) 80/1080DMA Format Error Bit 4The DMA Format Error b

Configuring the UDC Module’s Registers3-13UDC Module Communication Status Register (Continued) 80/1080Multiplexed Data Verification Failure Bit 9The M

3-14SA3100 Drive Configuration and ProgrammingUDC Module CRC Error Count Register 82/1082This register contains the number of messages with CRC errors

Configuring the UDC Module’s Registers3-15PMI Communication Status Register (Continued) 84/1084Overrun Error Bit 3The Overrun Error bit is set if the

3-16SA3100 Drive Configuration and ProgrammingPMI Communication Status Register (Continued) 84/1084Multiplexed Data Verification Failure Bit 9The Mult

Configuring the UDC Module’s Registers3-17PMI Communication Status Register (Continued) 84/1084PMI Operating System Overflow into Stack Memory Bit 15T

3-18SA3100 Drive Configuration and ProgrammingUDC Module Fiber-Optic Link Status Register 88/1088This register shows the current operating state of th

Configuring the UDC Module’s Registers3-193.4 Command Registers (Registers 100-199/1100-1199)The Command Registers view is used to configure command r

3-20SA3100 Drive Configuration and ProgrammingDrive Control Register (Continued) 100/1100Bridge Test Enable Bit 2The Bridge Test Enable bit is set to

Configuring the UDC Module’s Registers3-21Drive Control Register (Continued) 100/1100Synchronous Transfer Request* Bit 7*Reserved for future use.The a

IVSA3100 Drive Configuration and Programming

3-22SA3100 Drive Configuration and ProgrammingDrive Control Register (Continued) 100/1100Bit 11Reserved for future use.Hex Value: 0800HSug. Var. Name:

Configuring the UDC Module’s Registers3-23I/O Control Register (Continued) 101/1101External Fault LED Bit 2The External Fault LED command bit is set b

3-24SA3100 Drive Configuration and ProgrammingI/O Control Register (Continued) 101/1101Enable External Strobe Falling Edge Bit 9The Enable External St

Configuring the UDC Module’s Registers3-25Torque Reference Register (Vector) 102/1102In Vector mode, register 102/1102 functions as the Torque Referen

3-26SA3100 Drive Configuration and ProgrammingBridge Test Code Register 105/1105The value written to the Bridge Test Code register determines which po

Configuring the UDC Module’s Registers3-273.5 Feedback Registers (Registers 200-299/1200-1299)The Feedback Registers view is used to configure the fee

3-28SA3100 Drive Configuration and ProgrammingDrive Status Register (Continued) 200/1200Torque / Frequency Reference Saturation Minus Bit 3In Vector m

Configuring the UDC Module’s Registers3-29Drive Status Register (Continued) 200/1200Fault Detected Bit 8The PMI Regulator sets the Fault Detected stat

3-30SA3100 Drive Configuration and ProgrammingI/O Status Register 201/1201The bits in the I/O Status register indicate the current state of the inputs

Configuring the UDC Module’s Registers3-31I/O Status Register (Continued) 201/1201Auxiliary Input 5 Bit 5The Auxiliary Input 5 bit reflects the status

Table of ContentsVList of TablesTable 1.1 – SA3100 Documentation (Binder S-3053) ... 1-2Table 1.2 – SA3100

3-32SA3100 Drive Configuration and ProgrammingI/O Status Register (Continued) 201/1201STATOR_IZ_E1% Tuning Complete (Vector with Constant Power) Bit 1

Configuring the UDC Module’s Registers3-33Drive Fault Register (Continued) 202/1202Ground Current Fault Bit 2The Ground Current Fault bit is set if gr

3-34SA3100 Drive Configuration and ProgrammingDrive Fault Register (Continued) 202/1202Charge Bus Time-Out Fault Bit 6The Charge Bus Time-out Fault bi

Configuring the UDC Module’s Registers3-35Drive Fault Register (Continued) 202/1202Overspeed Fault Bit 10The Overspeed Fault bit is set if the motor’s

3-36SA3100 Drive Configuration and ProgrammingDrive Fault Register (Continued) 202/1202Communication Lost Fault Bit 15The Communication Lost Fault bit

Configuring the UDC Module’s Registers3-37Drive Warning Register 203/1203Ground Current Warning Bit 2The Ground Current Warning bit is set if ground

3-38SA3100 Drive Configuration and ProgrammingDrive Warning Register (Continued) 203/1203Bit 6Reserved for future use.Hex Value: 0040HSug. Var. Name:A

Configuring the UDC Module’s Registers3-39Drive Warning Register (Continued) 203/1203Bit 12Reserved for future use.Hex Value: 1000HSug. Var. Name:Acce

3-40SA3100 Drive Configuration and ProgrammingPower Device Status Register (Continued) 204/1204Phase V-Upper IOC A Bit 1The Phase V-Upper IOC A bit is

Configuring the UDC Module’s Registers3-41Power Device Status Register (Continued) 204/1204Inverter Power Device Fault Bit 6The Inverter Power Device

VISA3100 Drive Configuration and Programming

3-42SA3100 Drive Configuration and ProgrammingPower Device Status Register (Continued) 204/1204Bit 14Reserved for future use.Hex Value: 4000HSug. Var.

Configuring the UDC Module’s Registers3-43Interlock Register (Continued) 205/1205RPI Missing Bit 2The RPI Missing bit is set if the Run Permissive inp

3-44SA3100 Drive Configuration and ProgrammingInterlock Register (Continued) 205/1205MCR Did Not Close Bit 7The MCR Did Not Close bit is set if the op

Configuring the UDC Module’s Registers3-45Ground Current Feedback (Amps) Register 208/1208The Ground Current Feedback (Amps) register contains the mea

3-46SA3100 Drive Configuration and ProgrammingIq Feedback Normalized Register (Vector) 213/1213In Vector mode, register 213/1213 functions as Iq Feedb

Configuring the UDC Module’s Registers3-47Revolutions Per Minute Register 217/1217The Revolutions Per Minute register contains the speed of the motor

3-48SA3100 Drive Configuration and ProgrammingAC Power Technology Calibration and Power-Up Faults:If any of the following calibration and power-up dia

Configuring the UDC Module’s Registers3-49Run Time AC Power Technology Hardware Faults (Continued):DC Bus Pre-charge Faults:Diagnostic Fault Code Regi

3-50SA3100 Drive Configuration and Programming3.6 Application Registers (Registers 300-599, Every Scan) (Registers 1300-1599, Every Nth Scan)The appli

Configuring the UDC Module’s Registers3-51to respond to an interrupt from the UDC module. Registers within this range that are written to by an AutoMa

Introduction1-1CHAPTER 1IntroductionSA3100 drives operate under the control of the AutoMax™ Distributed Power System (DPS). DPS drives are controlled

3-52SA3100 Drive Configuration and ProgrammingFigure 3.2 – Nth Scan InterruptsLatch “every scan"Output BInput A Run AOutputAInput B Run BScan 1Sc

Configuring the UDC Module’s Registers3-533.7 UDC Module Test I/O Registers (Registers 1000-1017)This view is used to configure the UDC module’s Test

3-54SA3100 Drive Configuration and ProgrammingUDC Test Switch Inputs Register (Continued) 1000COMM A OK LED Bit 9The COMM A OK LED bit shows the statu

Configuring the UDC Module’s Registers3-553.7.2 UDC Module Meter Port Setup Registers (Registers 1000-1017)Registers 1001-1017 are used to configure t

3-56SA3100 Drive Configuration and Programming3.7.2.1 Resolution of Meter Port DataFor meter ports, the output values will be clamped at the outside (

Configuring the UDC Module’s Registers3-57Meter Port 1UDC Module Meter Port 1 Register Number Register 1002UDC register number (0 - 2044) to be mapped

3-58SA3100 Drive Configuration and ProgrammingMeter Port 2UDC Module Meter Port 2 Register Number Register 1006UDC register number (0 - 2044) to be ma

Configuring the UDC Module’s Registers3-59Meter Port 3UDC Module Meter Port 3 Register Number Register 1010UDC register number (0 - 2044) to be mapped

3-60SA3100 Drive Configuration and ProgrammingMeter Port 4UDC Module Meter Port 4 Register Number Register 1014UDC register number (0 - 2044) to be ma

Configuring the UDC Module’s Registers3-613.8 Interrupt Status and Control Registers (Registers 2000-2047)This view is used to configure registers tha