Parker Variable Speed Drive AC30 series. User’s Manual (2017)

Parameter Reference

D-129

Parameter Name

No.

Path

Default

Range

Units

Writable

PMAC SVC Start Time

0477

Parameters::Motor Control::PMAC SVC

0.500

0.000 to 1000.000

ALWAYS

This parameter is used in conjunction with the

PMAC SVC Open Loop Strt

parameter. It selects the duration of Step 1 in the startup

procedure used for starting motors:

The value should be set up relatively to the motor inertia + load inertia.

PMAC SVC Start Cur

0478

Setup::Motor Control::SVC PMAC
Parameters::Motor Control::PMAC SVC

10.0

0.0 to 600.0

ALWAYS

This parameter is used in conjunction with the

PMAC SVC Open Loop Strt

parameter. It selects the current level during the startup

procedure used for starting motors.

The percentage value is a percentage of the nominal motor current (

PMAC Rated Current

of the

PMAC Motor Data

functions).

The default value of 10% is considered appropriate for most applications with light load, very low friction and low acceleration.

The value should be adapted to the starting conditions.

PMAC SVC Start Speed

0479

Same as PNO 478

0 to 200

ALWAYS

This parameter is used in conjunction with the

PMAC SVC Open Loop Strt

parameter. It selects the speed setpoint at which the

speed control is switched from an open loop mode to a closed loop mode during the startup procedure used for starting motors.

The percentage value is a percentage of the maximum application speed (

100% Speed in RPM

of the

Scale Setpoint

functions). It

should be set to an equivalent of 5% of the

PMAC Max Speed

PMAC Motor Data

function.

In open loop mode, the system is not controlled in speed mode. It must only be used to ‘start’ the motor under heavy conditions, or to
transitorily reach the zero speed or crossing the zero speed setpoint. It is not intended to be used to control accurately a motion.

D-130

Parameter Reference

Parameter Name

No.

Path

Default

Range

Units

Writable

Up and Down Motion -

Positive speed

Torque ON

Open Loop

Closed loop

Speed setpoint (2)

Current setpoint (3)

Startup speed

0.75 * Startup speed

Startup current

Startup

time

(5)

Speed input (1)

Ramp (4)

(1) : User speed setpoint
(2) : Internal speed setpoint
(3) ; Internal current setpoint
(4) : ramps are generated based on ramp parameters
(5) : startup procedure : a current is smoothly installed into the motor

Parameter Reference

D-131

Negative Speed

Torque ON

Open Loop

Closed loop

Speed setpoint (2)

Current setpoint (3)

Startup speed

0.75 * Startup speed

Startup current

Startup

time

(5)

Speed input (1)

ramp (4)

D-132

Parameter Reference

Parameter Name

No.

Path

Default

Range

Units

Writable

Crossing zero speed

Torque ON

Open Loop

Closed loop

Speed setpoint (2)

Current setpoint (3)

Startup speed

0.75 * Startup speed

Startup current

Speed input (1)

Startup current

0.75 * Startup speed

Startup speed

Ramp (4)

Startup

time

(5)

Parameter Reference

D-133

Pos Fbk Alignment

Parameters::Motor Control::Pos Fbk Alignment

Only available if PMAC MOTOR selected in

Control Mode

and

Control Type

set to ENCODER FEEDBACK

Vector Control of a PMAC motor needs to know the relative position between the rotor and the stator.
By definition, the AC30 Vector Control for a PMAC Motor is based on the assumption that the motor back EMF is crossing the 0V line in a positive
direction when the electrical position is also crossing the 0° line in a positive way. Another requirement is to insure a positive ‘encoder/resolver’
rotation with a positive electrical motor rotation ( U, V, W ).

This feature is used to automatically calculate any offset between the encoder absolute position and the motor back EMF, as well as selecting the
correct wiring of the motor ( U, V, W sequence ) with the encoder position.
The feature needs to be run at least once with a PMAC motor associated to an absolute encoder type.
The feature needs to be run after each power cycle with a PMAC motor associated to a relative encoder type ( pulse encoder for example )

The feature is run on a motor free to rotate, no load attached to the motor shaft.
Regardless of the Alignment Method selected, the motor should move during the sequence.

If Alignment Method is set to AUTOMATIC, it is possible that the direction of motor rotation for a positive setpoint could be reversed. The
parameter 1809 PMAC Wiring can be changed and overwritten by the sequence if an incompatibility of direction between the encoder and
the motor phases wiring is found.

Parameter Name

No.

Path

Default

Range

Units

Writable

Alignment Enable

1798

Setup::Motor Control::Pos Fbk
Alignment
Parameters::Motor Control::Pos
Fbk Alignment

FALSE

STOPPED

Enable the Alignment sequence.

Alignment On Power On

1796

Setup::Motor Control::Pos Fbk
Alignment
Parameters::Motor Control::Pos
Fbk Alignment

FALSE

STOPPED

D-134

Parameter Reference

Parameter Name

No.

Path

Default

Range

Units

Writable

Set to TRUE, this parameter automatically trips the drive after a power up on a Start command until an Alignment sequence is run and
completed successfully.

This is useful when the PMAC motor is associated to a relative encoder type and the position synchronism between encoder and motor
is lost due to power off.

Alignment On

Power On

1797

Setup::Motor Control::Pos Fbk
Alignment
Parameters::Motor Control::Pos
Fbk Alignment

FALSE

0 : MANUAL
1 : AUTOMATIC
2 : DIRECTION TEST

STOPPED

Each Method is extensively described in the

Functionnal Description

MANUAL

allows to place the motor in the selected position defined by the parameter “Alignment On Motor”. This method should be selected for multi
poles resolver with non integer value.

AUTOMATIC

Sequence runs automatically by the drive, on a start command from the user.
Allows to set up correctly the ‘encoder/resolver’ and the motor by :

Changing the motor phase connection of phase V and W internally to the drive if a mismatch is found between ‘encoder/resolver’

positive direction and positive motor electrical position

Automatically calculate the offset of position to align zero ‘encoder/resolver’ to U motor phase.

DIRECTION TEST

Allows to verify the direction of positive electrical position by slowly rotating the motor. A correct wiring of the motor phases should turn the
motor in a clockwise direction looking at the front shaft of the motor

Alignment Level

1799

Same as PNO 1796

0 to 150

ALWAYS

Level of current applied to the motor.
Motor amps% of rated motor amps, limited to rated drive amps

Parameter Reference

D-135

Parameter Name

No.

Path

Default

Range

Units

Writable

Alignment Ramp Time

1800

Same as PNO 1796

1.000

0.000 to 30.000

ALWAYS

Time to install the amps into the motor phase with a linear ramp.

Alignment On Motor

1801

Same as PNO 1796

0:PHASE U
1:PHASE V
2:PHASE W

ALWAYS

Selection of the motor phase when MANUAL method is selected. Can be

PHASE U

: “Alignment Elec Pos” should be 90° -

PHASE V

: “Alignment Elec Pos” should be 210° or -150°

PHASE W

: “Alignment Elec Pos” should be 330° or -30°

Alignment Offset

1802

Parameters::Motor Control::Pos
Fbk Alignment

x.x

-180.0 to 180.0

deg

NEVER

Represents the offset value needed to align Zero position to motor Back EMF

MANUAL

: Value is calculated and passed back to

1808

PMAC Encoder Offset

AUTOMATIC

: Value that has been applied to align the ‘encoder/resolver’ to the motor phase U with controls on position and motor

phases.

If the Alignment is completed, then this parameter is written back to

1808 PMAC Encoder Offset

Alignment Elec Pos

1803

Parameters::Motor Control::Pos
Fbk Alignment

x.x

-180.0 to 180.0

deg

NEVER

Actual electrical position

Alignment Direction

1804

Parameters::Motor Control::Pos
Fbk Alignment

0:STANDARD
1:REVERSE

NEVER

D-136

Parameter Reference

Parameter Name

No.

Path

Default

Range

Units

Writable

Wiring direction of the motor phase :

STANDARD : U V W : position and phase U V W are rotating in the same direction

REVERSE : U W V : position and phase U V W are not rotating in the same direction. V and W have been inverted
internally to the drive.

If the Alignment is completed, then this parameter is written back to

1809 PMAC Wiring

Alignment State

1805

Parameters::Motor Control::Pos
Fbk Alignment

0:OFF
1:ON MANUAL
2:ON AUTO
3:ERROR
4:ENDED

NEVER

State of Alignment sequence :

OFF : No Alignment sequence

ON MANUAL :

Alignment Method

= MANUAL or DIRECTION TEST +

Alignment Enable

= TRUE.

ON AUTO :

Alignment Method

= AUTOMATIC +

Alignment Enable

= TRUE.

ERROR : An error occurred during the Alignment. See Alignment error for possible diagnostics

ENDED : When Alignment sequence is run and successfully completed

Alignment Ended

1806

Parameters::Motor Control::Pos
Fbk Alignment

NEVER

TRUE : Alignment sequence ended successfully.

FALSE : No Alignment sequence or Alignment sequence in progress

Parameter Reference

D-137

Parameter Name

No.

Path

Default

Range

Units

Writable

Alignment Error

1807

Parameters::Motor Control::Pos
Fbk Alignment

0:NO ERROR
1:SHAFT LOCKED
2:AMPS
3:LOAD
4:POLES
5:MOTOR UNCONNECTED
6:ENCODER
7:INIT NEEDED

NEVER

Details of the last error recorded.

Reset to NO ERROR by running a new Alignment sequence.

NO ERROR : Everything ok. Alignment sequence is running

SHAFT LOCKED : the drive is locked in position.

AMPS : Not enough Amps to move the motor.

Alignment Level too small

LOAD : Not enough Amps to move the motor. Is the motor free to rotate? Is there a load on the motor?

POLES : Bad motor poles number.

MOTOR UNCONNECTED : Motor phases disconnected. Verify the motor wiring

ENCODER : Something wrong detected on encoder speed and/or position.

INIT NEEDED : When

Aligmnent On Power On

= TRUE and a Start command has been detected. The drive should have tripped on

46 PMAC ALIGN ERROR

D-138

Parameter Reference

Functional Description

The feature needs to be run after each power cycle with a PMAC motor associated to a relative encoder type ( pulse encoder for example ).

The feature is run on a motor free to rotate, no load attached to the motor shaft.
Regardless of the Alignment Method selected, the motor should move during the sequence.

The sequence is validated by

Alignment Enable

input.

The drive waits for a START condition to start the cycle.
The sequence can be stopped by a STOP command anywhere during the cycle.
A successful sequence sets

Alignment Ended = TRUE.

A TORQUE OFF command is needed to stop the sequence.

If Alignment Method is set to AUTOMATIC, it is possible that the direction of motor rotation for a positive setpoint could be reversed. The
parameter PMAC Wiring can be changed by the sequence if an incompatibility of direction between the encoder and the motor phases
wiring is found.

Alignment Method = MANUAL

The motor is moved to an electrical position corresponding to the motor phase selected by

Alignment On Motor

parameter

This electrical position depends on the PMAC Wiring

type selected and on the real motor phase wiring.

PMAC Encoder Offset

is calculated by looking at real position from the active encoder compared to theoretical position where the motor is.

So, it depends also on the encoder settings ( inverted or not ).

For standard connections ( correct U, V, W motor wiring sequence and position from encoder varying in a positive way looking at the motor front
shaft ), position offset is extracted and written back into PMAC Encoder Offset.
Correct connection of the encoder means that a clockwise rotation of the motor front shaft equals a positive position variation.
Correct motor wiring means phase U, V, W rotating in a correct sequence for a clock wise rotation of the motor front shaft.

Considering a standard connection, the following table gives possible encoder and

PMAC Wiring

settings and results on speed control :

1809 PMAC Wiring

Active Encoder Invert*

Correct speed control

Positive Speed setpoint **

STANDARD

FALSE

YES

Clockwise direction

STANDARD

TRUE

NO***

REVERSE

FALSE

NO***

REVERSE

TRUE

YES

Counter clockwise direction

Active Encoder Invert refers to the active speed feedback invert parameter.

Looking the front shaft of the motor

***

The motor is uncontrolled. It could overspeed, be stalled, or running at constant speed without any control.

Parameter Reference

D-139

Alignment Method = DIRECTION TEST

The motor is slowly rotates with the following sequence U, V, W, U, V, W…..
It allows to verify the rotation direction and detect any wiring inversion on the motor phases.
Active encoder Invert parameter has no effect during this test.
Looking at the position form the active encoder may help to know if the active encoder is correctly wired.

Considering a correct connection of the motor phases :

1809 PMAC Wiring

Motor Rotation direction

STANDARD

Clockwise

REVERSE

Counter Clockwise

When running this Method, either set

1257 Seq Stop Method

to DISABLE VOLTAGE or

0505 Zero Speed Threshold

to 1%otherwise you may end

up with a motor rotating at slow speed for 60s without any possibility to stop it.

Alignment Method = AUTOMATIC

In case of a correct wiring of encoder and/or motor phases, the sequence is as follows :

Current

Elec pos

1 2 3 4 5 6 7 8 9 10 11 12

States

210°

-30°

90°

During the final state ( 11 ) , the Alignment Offset is automatically calculated and is passed back to

1808

PMAC Encoder Offset

Also

1809 PMAC Wiring

is set to STANDARD

D-140

Parameter Reference

In the case of a wrong wiring of encoder and/or motor phases, the sequence is as follows :

Current

Elec pos

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

States

210°

-30°

90°

From State 4 to 9, a wrong direction as been detected, and the direction should be reverted.

Alignment Direction

is set to REVERSE.

During the final state ( 17 ), the Alignment Offset is automatically calculated and is passed back to

1808

PMAC Encoder Offset

Also

1809 PMAC Wiring

is set to REVERSE.

In that case, the direction of motor rotation has been changed during the Pos Alignment sequence.

Please verify if the new direction is

compatible with your application.

If you want to change it, please change the Invert parameter of the active encoder used to control the motor and run again the Pos
alignment sequence.

Drive settings during Pos Algnment :

Some errors may occur during the Alignment sequence which are related to the setting of the drive. Please be aware of the following

It’s better to run it with a speed setpoint at 0% ( Speed Error could end up the sequence before end )

When running

Alignment Method = DIRECTION TEST

, either set

1257 Seq Stop Method

to DISABLE VOLTAGE or

0505

Zero Speed Threshold

to 1%

When a resolver is used, the filter on the speed should be left at default values or set to good known values.

Parameter Reference

D-141

Power Loss Ride Thru

Parameters::Motor Control::Power Loss Ride Thru

The block controls the behaviour of the drive during a power outage.
When enabled, the drive attempts to keep the dc link high by regeneratively recovering the kinetic energy in the motor load in the event of a main
power supply loss.

Parameter Name

No.

Path

Default

Range

Units

Writable

Pwrl Enable

1645

Parameters::Motor Control::Power Loss
Ride Thru

FALSE

STOPPED

Enable the Power Loss Ride Through feature.

Pwrl Trip Threshold

1646

Parameters::Motor Control::Power Loss
Ride Thru

52.0

20.0 to 60.0

STOPPED

Determines the dc link volts at which the Power Loss Ride Through sequence is triggered.

% of the max dc link voltage ( drive overvoltage level = 100% )

Pwrl Control Band

1647

Parameters::Motor Control::Power Loss
Ride Thru

2.0

0.0 to 20.0

STOPPED

Determines the band while the speed setpoint is ramped down.

% of the max dc link voltage ( drive overvoltage level = 100% )

Once the dclink falls down below

Pwrl TripThreshold

, the speed septoint is ramped to zero until the dc link rises above

Pwrl trip

Threshold + Pwrl Control Band

Then the speed septoint is hold, waiting either to continue ramping down if the dc link is still moving down or ramped back to the speed
septoint if the supply returns.

Pwrl Accel Rate

1648

Parameters::Motor Control::Power Loss
Ride Thru

100

1 to 500

Hz/s

STOPPED

Rate in Hz/s ( electrical frequency/ second) at which the speed septoint is ramped back to the speed demand

D-142

Parameter Reference

Parameter Name

No.

Path

Default

Range

Units

Writable

Pwrl Decel Rate

1649

Parameters::Motor Control::Power Loss
Ride Thru

100

1 to 500

Hz/s

STOPPED

Rate in Hz/s ( electrical frequency/ second) at which the speed septoint is ramped to Zero

If this value is set too low, then the deceleration will may be not enough high for having regenerative condition to maintain the dc link.

Pwrl Time Limit

1650

Parameters::Motor Control::Power Loss
Ride Thru

30.000

0.000 to 300.000

STOPPED

Maximum allowed time in second of the Power Loss Ride Through sequence

If this value is reached, the the drive will trip on POWER LOSS STOP.

Pwrl Active

1651

Parameters::Motor Control::Power Loss
Ride Thru

NEVER

This diagnostic is TRUE while the Power Loss Ride Through is active

Functional Description

When

Pwrl Enable

is set to TRUE, the block controls the behaviour of the drive during a power outage.

This is achieved by ramping the speed setpoint to zero(

Pwrl Decel Rate

The dc link fall detection is triggered by

Pwrl Trip Threshold. Pwrl Control Band

determines the band of dc link ( between by

Pwrl Trip

Threshold

and

Pwrl trip Threshold + Pwrl Control Band

) while the speed septoint is ramped down to zero using

Pwrl Decel Rate

to try

recovering the kinetic energy.
If during the outage the supply returns, the speed is automatically ramped back (

Pwrl Accel Rate

) to the speed setpoint.

The condition to validate the supply returns is met if the dc link is kept higher than (

Pwrl trip Threshold + Pwrl Control Band

) for more than

500ms. During this time, the speed setpoint is hold.

Pwrl Time Limit

determines the maximum time of the Power Loss Ride Through sequence. If this time is exceeded, the drive will trip on POWER

LOSS STOP.
During the Power Loss Ride Through sequence,

Pwrl Active

becomes TRUE

When

Pwrl Enable

is set to FALSE, the drive will trip on UNDERVOLTS if the main supply is removed.

This feature is run at a rate of 1 milli-second.

Parameter Reference

D-143

IMPORTANT:

DC Link Volts Limit

feature enabled,

Pwrl Accel Rate

and

Pwrl Decel Rate

really applied to the speed

setpoint are limited by

Acceleration Time

and

Deceleration Time

of the Ramp.

Ramp

Power Loss

Ride Thru

DC Link

Volts Limit

Slew Rate

(V/Hz only)

Speed Setpoint path

User

Speed control loop

Parker Variable Speed Drive AC30 series. User’s Manual (2017) - page 27