# Menu 6 − Sequencer and Clock

Mode: Regeneration

The diagram below shows the sequencer for Regen mode.

The sequencer, which provides overall control of the drive, is implemented in two stages. The first stage include the enable logic and consists of static logic elements. The second stage is a state machine with internal states.

Hardware Enable (06.029) follows the safe torque off enable signal provided none of the digital inputs that are integral to the drive are routed to the Hardware Enable (06.029). The safe torque off hardware includes a delay in detecting a change from the enable to disable state of up to 20ms, but for most applications this is not a problem. However, a faster disable time can be achieved (600us) if digital input 4 or 5 on the drive is routed to the Hardware Enable (06.029).

If the safety function of the safe torque off input is required then there must not be a direct connection between the safe torque off input and any other digital I/O on the drive. If the safety function of the safe torque off input and a fast disable function are required together, then the drive should be given two separate independent enable input signals. A signal from a safe source should be connected to the safe torque off input on the drive. A second enable should be connected to the digital I/O selected for the fast disable function. The circuit must be arranged so that a fault which causes the fast input to be forced high cannot cause the safe torque off input to be forced high as well, including the case where a component such as a blocking diode has failed.

Parameter | 06.010 Enable Conditions
--- | ---
Short description | Displays all the conditions needed to change the state of the final drive enable
Mode | Regeneration
Minimum | 0 (Display: 00000000000000) | Maximum | 16383 (Display: 11111111111111)
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | 2ms write
Display Format | Binary | Decimal Places | 0
Coding | RO, ND, NC, PT

The Final drive enable is a combination of the Hardware Enable (06.029), Drive Enable (06.015) and other conditions that can prevent the drive from being enabled. All of these conditions are shown as bits in Enable Conditions (06.010) as given in the table below.

Enable Conditions (06.010) bits | Enable condition
0 | Hardware Enable (06.029)
1 | Drive Enable (06.015)
2 | 0 if auto-tune completed or trip during auto-tune, or if the drive stops when supply loss stop is active, but the drive needs to be disabled and re-enabled. (Always 1 in Regen mode).
3 | 1 if fire mode is active.
4 | Zero if Position Feedback Initialized (03.076) is present and all devices are not indicated as initialised, otherwise one.
5 | Zero until the drive thermal model has obtained temperatures from all drive thermistors at least once.
6 | Zero until all option modules that are present in the drive have indicated that they are ready to run or the system has timed out waiting for this.
7-10 | Zero if an option module has forced the drive to be disabled if for example it is updating its user program. Bit 7 corresponds to slot 1, bit 8 to slot 2, etc.
11 | Zero if the drive is in standby mode. See Standby Mode Enable (06.060)
12 | If the drive does not have an active input rectifier, then this is one. Otherwise it is zero unless the active input rectifier allows the drive to be enabled.
13 | If the drive has a relay soft-start system where the resistor in this system could be damaged if the relay is open and the drive is enabled, and the relay is open, this bit is zero to prevent the drive from being enabled. Otherwise if the soft-start system cannot be damaged or the soft-start relay is closed this bit is one.

Parameter | 06.011 Sequencer State Machine Inputs
--- | ---
Short description | Displays the states of inputs into the sequencer state machine
Mode | Regeneration
Minimum | 0 (Display: 000000) | Maximum | 63 (Display: 111111)
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | 2ms write
Display Format | Binary | Decimal Places | 0
Coding | RO, ND, NC, PT

The bits in Sequencer State Machine Inputs (06.011) show the state of the inputs to the sequencer state machine.

Sequencer State Machine Inputs (06.011) | Signal | Indicates
0 | Final drive enable | The drive inverter is allowed to be enabled.
1 | Not used | Always zero
2 | Under Voltage Active (10.016) | The under voltage condition has been detected.
3 | Charge System Disabled / Contactor Closed (03.008) | Indicates when the external charge system contactor is closed.
4 | Drive tripped | The drive is tripped.
5 | Synchronised (03.009) | Regen system is synchronised to the supply.

The system is controlled by a state machine as shown in the table below. The state machine begins in the UNDER_VOLTAGE state. When the under-voltage input condition becomes inactive current offset trimming is carried out and the system goes to the DISABLE state. When the final drive enable input condition becomes active (and all other input conditions are okay) the system attempts to synchronise to the supply and if successful goes to the SYNCHRONISED state. The table shows the conditions necessary to make state transitions and the actions taken in each state. The Status shows the value and string in Drive Status (10.101). If the drive trips Drive Status (10.101) shows 9 [Trip] instead. For more details and description of the Synchronisation Sub-system for each grid mode see the Regen Mode document.

Parameter | 06.015 Drive Enable
--- | ---
Short description | Set to 1 to enable the drive
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default | 1 | Units |
Type | 1 Bit User Save | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

Drive Enable (06.015) must be active for the drive to be enabled. See description of enable logic.

Parameter | 06.016 Date
--- | ---
Short description | Displays the current date
Mode | Regeneration
Minimum | 0 (Display: 00-00-00) | Maximum | 311299 (Display: 31-12-99)
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Background read/write
Display Format | Date | Decimal Places | 0
Coding | RW, ND, NC, PT

Date (06.016), Time (06.017) and Day Of Week (06.018) show the date and time as selected by Date/Time Selector (06.019). Date (06.016) stores the date in dd.mm.yy format regardless of the setting made in Date Format (06.020) however if the parameter is viewed using a keypad the date will be displayed in the format selected in Date Format (06.020). If a real time clock is selected from a keypad then the days, months and years are from the real time clock and the day of the week is displayed in Day Of Week (06.018). Otherwise the days have a minimum value of 0 and roll over after 30, the months have a minimum value of 0 and roll over after 11, and Day Of Week (06.018) is always 0 (Sunday).

If when setting the date/time this parameter is being written via comms or from an applications module then the value should be written in standard dd/mm/yy format as described below.

The value of this parameter as seen over comms or to an applications module is as follows.

Value = (day[1..31] x 10000) + (month[1..12] x 100) + year[0..99]

It should be noted that the date for a real-time clock should not be set before 1st January 2012 or after 18th January 2080. If the date is set earlier than this, or later than some times on 19th January 2080, or anytime on dates after 20th January 2080 the real-time clock date and time will be set to 00:00:00 on 1st January 2012.

Parameter | 06.017 Time
--- | ---
Short description | Displays the current time
Mode | Regeneration
Minimum | 0 (Display: 00:00:00) | Maximum | 235959 (Display: 23:59:59)
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Background read/write
Display Format | Time | Decimal Places | 0
Coding | RW, ND, NC, PT

See Date (06.016).

The value of this parameter as seen over comms or to an applications module is as follows.

Value = (hour[0..23] x 10000) + (minute[0..59] x 100) + seconds[0..59]

Parameter | 06.018 Day Of Week
--- | ---
Short description | Displays the current day of the week
Mode | Regeneration
Minimum | 0 | Maximum | 6
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, TE, ND, NC, PT

Value | Text
0 | Sunday
1 | Monday
2 | Tuesday
3 | Wednesday
4 | Thursday
5 | Friday
6 | Saturday

See Date (06.016).

Parameter | 06.019 Date/Time Selector
--- | ---
Short description | Defines which clock is used to display the current time, date and day of the week
Mode | Regeneration
Minimum | 0 | Maximum | 5
Default | 1 | Units |
Type | 8 Bit User Save | Update Rate | Drive Reset Read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Set
1 | Powered
2 | Running
3 | Acc Powered
4 | Local Keypad
5 | Remote Keypad

Date/Time Selector (06.019) is used to select the drive date and time as shown in the table below.

Date/Time Selector (06.019) | Date/Time Source
0: Set | Date and time parameters can be written by the user.
1: Power | Time since the drive was powered up.
2: Running | Accumulated drive running time since the drive was manufactured.
3: Acc Power | Accumulated powered-up time since the drive was manufactured.
4: Local Keypad | If a keypad fitted to the front of the drive includes a real-time clock then the date/time from this clock is displayed, otherwise the date/time is set to zero.
5: Remote Keypad | If a keypad connected to the user comms port of a drive with a 485 includes a real-time clock then the date/time from this clock is displayed, otherwise the date/time is set to zero.

When Date/Time Selector (06.019) = 0 the Date (06.016) and Time (06.017) can be written by the user and the values in these parameters are transferred to the real time clocks in keypads that support this feature that are fitted to the drive. When Date/Time Selector (06.019) is changed to any other value, the real time clocks are allowed to run normally again. When Date/Time Selector (06.019) is changed from any value to 0 the date and time from a real time clock, if present, is automatically loaded into Date (06.016) and Time (06.017), so that this date and time is used as the initial value for editing. If more than one real time clock is present the date/time from the local keypad is used, if present.

Date (06.016) and Time (06.017) are used by the timers in Menu 09 and for time stamping trips. These features will continue to use the originally selected clock even if Date/Time Selector (06.019) is changed until a drive reset is initiated. If Date/Time Selector (06.019) has been changed and a reset is initiated Timer 1 Repeat Function (09.039) and Timer 2 Repeat Function (09.049) are set to zero to disable the timers, and the trip dates and times (10.041 to 10.060) are reset to zero.

Parameter | 06.020 Date Format
--- | ---
Short description | Defines if the US date format is used or not
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Std
1 | US

Date Format (06.020) selects the display style for Date (06.016), Timer 1 Start Date (09.035), Timer 1 Stop Date (09.037), Timer 2 Start Date (09.045), Timer 2 Stop Date (09.047), and for the trip time stamping date parameters (10.041, 10.043, 10.045, 10.047, 10.049, 10.051, 10.053, 10.055, 10.057 and 10.059) when displayed on a keypad connected to the drive. The format selection made in this parameter does not affect the value of these parameters if they are read using comms or by an applications program.

If Date Format (06.020) is 0 then standard format is used and the date is displayed on the keypad as dd.mm.yy and if Date Format (06.020) is 1 then US format is used and the date is displayed on the keypad as mm.dd.yy.

Parameter | 06.021 Time Between Filter Changes
--- | ---
Short description | Defines the time between filter changes
Mode | Regeneration
Minimum | 0 | Maximum | 30000
Default | 0 | Units | hours
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

Time Between Filter Changes (06.021) should be set to a non-zero value to enable the filter change timer system. Each time Filter Change Required / Change Done (06.022) is changed by the user from 1 to 0 the value of Time Between Filter Changes (06.021) is copied to Time Before Filter Change Due (06.023). For each hour while Drive Active (10.002) = 1 the Time Before Filter Change Due (06.023) is reduced by 1 until it reaches zero. When Time Before Filter Change Due (06.023) reaches 0 Filter Change Required / Change Done (06.022) is set to 1 to indicate that a filter change is required. The filter should be changed and the system reset again by resetting Filter Change Required / Change Done (06.022) to 0.

When a non-zero value is written to Time Between Filter Changes (06.021) to enable the system, Filter Change Required / Change Done (06.022) should be set to 1 and then back to 0 to transfer the required time to Time Before Filter Change Due (06.023) and to enable the count down.

Parameter | 06.022 Filter Change Required / Change Done
--- | ---
Short description | Set to 0 when a filter change has taken place
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background read/write
Display Format | Standard | Decimal Places | 0
Coding | RW, ND, NC

See Time Between Filter Changes (06.021).

Parameter | 06.023 Time Before Filter Change Due
--- | ---
Short description | Displays the time before a filter change is required
Mode | Regeneration
Minimum | 0 | Maximum | 30000
Default |  | Units | hours
Type | 16 Bit Power Down Save | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Time Between Filter Changes (06.021).

Parameter | 06.024 Reset Energy Meter
--- | ---
Short description | Set to 1 to reset the energy meter
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

Energy Meter: MWh (06.025) and Energy Meter: kWh (06.026) accumulate the energy transferred through the drive. If Reset Energy Meter (06.024) = 1 then Energy Meter: MWh (06.025) and Energy Meter: kWh (06.026) are held at zero. If Reset Energy Meter (06.024) = 0 then the energy meter is enabled and will accumulate the energy flow. If the maximum or minimum of Energy Meter: MWh (06.025) is reached the parameter does not rollover and is instead clamped at the maximum or minimum value. For Open-loop, RFC-A and RFC-S modes a positive energy flow indicates that power is flowing out of the a.c. motor terminals. For Regen mode a positive energy flow indicates that power is flowing from the supply to the a.c. drive terminals.

Parameter | 06.025 Energy Meter: MWh
--- | ---
Short description | Displays the accumulated energy transferred through the drive in MWh
Mode | Regeneration
Minimum | -999.9 | Maximum | 999.9
Default |  | Units | MWh
Type | 16 Bit Power Down Save | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 1
Coding | RO, ND, NC, PT

See Reset Energy Meter (06.024).

Parameter | 06.026 Energy Meter: kWh
--- | ---
Short description | Displays the accumulated energy transferred through the drive in kWh
Mode | Regeneration
Minimum | -99.99 | Maximum | 99.99
Default |  | Units | kWh
Type | 16 Bit Power Down Save | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 2
Coding | RO, ND, NC, PT

See Reset Energy Meter (06.024).

Parameter | 06.027 Energy Cost Per kWh
--- | ---
Short description | Defines the cost of energy per kWh
Mode | Regeneration
Minimum | 0.0 | Maximum | 600.0
Default | 0.0 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

Running Cost (06.028) is derived from the Output Power (05.003) and the Energy Cost Per kWh (06.027) in cost per hour. The sign of Running Cost (06.028) is the same as the sign of Output Power (05.003).

Parameter | 06.028 Running Cost
--- | ---
Short description | Displays the running cost of the drive
Mode | Regeneration
Minimum | -32000 | Maximum | 32000
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Energy Cost Per kWh (06.027).

Parameter | 06.029 Hardware Enable
--- | ---
Short description | Set to 1 to enable the hardware of the drive
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Hardware Enable (06.029) normally shows the hardware enable state based on the state of the safe torque off system. However, drive I/O can be routed to Hardware Enable (06.029) to reduce the disable time. See description of the enable logic for more details.

Parameter | 06.041 Drive Event Flags
--- | ---
Short description | Displays if certain actions have occurred within the drive
Mode | Regeneration
Minimum | 0 (Display: 00) | Maximum | 3 (Display: 11)
Default | 0 (Display: 00) | Units |
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Binary | Decimal Places | 0
Coding | RW, NC

Drive Event Flags (06.041) indicates that certain actions have occurred within the drive as described below.

Bit | Corresponding event
0 | Defaults loaded
1 | Drive mode changed

Bit 0: Defaults loaded
The drive sets bit 0 when defaults have been loaded and the associated parameter save has been completed. The drive does not reset this flag except at power-up.

Bit 1: Drive mode changed
The drive sets bit 1 when the drive mode has changed and the associated parameter save has been completed. The drive does not reset this flag except at power-up.

Parameter | 06.042 Control Word
--- | ---
Short description | Controls the sequencer state machine inputs if the control word is enabled
Mode | Regeneration
Minimum | 0 (Display: 000000000000000) | Maximum | 32767 (Display: 111111111111111)
Default | 0 (Display: 000000000000000) | Units |
Type | 16 Bit Volatile | Update Rate | Bits 9,7-0: 2ms read. Other bits: Background read
Display Format | Binary | Decimal Places | 0
Coding | RW, NC

If Control Word Enable (06.043) = 0 then Control Word (06.042) has no effect. If Control Word Enable (06.043) = 1 the bits in Control Word (06.042) are used instead of their corresponding parameters or to initiate drive functions as shown in the table below. Note that the operation of this parameter and Control Word Enable (06.043) can be modified if Control Override Enable (06.086) is changed from its default of "Disable".

Bit | Corresponding parameter or function
0 | Drive Enable (06.015)
1 | Not used
2 | Not used
3 | Not used
4 | Not used
5 | Not used
6 | Not used
7 | Auto/manual
8 | Not used
9 | Not used
10 | Not used
11 | Not used
12 | Trip drive
13 | Reset drive
14 | Watchdog

Bits 0-7 and bit 9: Sequencer control
When Auto/manual bit (bit7) = 1 then bit 0 of the Control Word (06.042) becomes active. The equivalent parameters are not modified by these bits, but become inactive when the equivalent bits in the Control Word (06.042) are active. When the bits are active they replace the functions of the equivalent parameters.

Bit 8: Not used
The value of this bit has no effect on the drive.

Bit 10 and bit 11: Not used
The values of these bits have no effect on the drive.

Bit 12: Trip drive
If bit 12 = 1 then a Control Word trip is repeatedly initiated. The trip cannot be cleared until bit 12 = 0.

Bit 13: Reset drive
If bit 13 is changed from 0 to 1 a drive reset is initiated. Bit 13 does not modify Drive Reset (10.033).

Bit 14: Watchdog
A watchdog system can be enabled or serviced each time bit 14 is changed from 0 to 1. Once bit 14 has been changed from 0 to 1 to enable the watchdog, this must be repeated every 1s or else a Watchdog trip will be initiated. The watchdog is disabled when the trip occurs and must be re-enabled if required when the trip is reset.

Parameter | 06.043 Control Word Enable
--- | ---
Short description | Set to 1 to enable the control word
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Control Word (06.042).

Parameter | 06.044 Active Supply
--- | ---
Short description | Indicates when the backup supply mode is enabled and the dc link voltage is below the upper under voltage threshold
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

If Backup Supply Mode Enable (06.068) = 0 then Active Supply (06.044) = 0. If Backup Supply Mode Enable (06.068) = 1 then Active Supply (06.044) = 0 when the d.c. link voltage is above the upper under-voltage threshold otherwise it is one. In Regen mode Active Supply (06.044) is always zero.

Parameter | 06.045 Cooling Fan control
--- | ---
Short description | Defines the maximum speed of the drive cooling fan
Mode | Regeneration
Minimum | -10 | Maximum | 11
Default | -10 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

Cooling Fan control (06.045) can be used to select various fan control functions as shown in the table below. The actual control speed of the fan(s) is given in Cooling Fan Speed (06.046). There are 10 control speeds for the fan(s) in the drive, however the actual hardware control is more coarse than this, and so there may not be an actual change of fan speed as Cooling Fan Speed (06.046) changes from one value to the next. The default value for Cooling Fan control (06.045) is 10, which gives maximum cooling and does not limit the fan speed below its maximum. It should be noted that if the speed is limited, by setting a lower value, then the drive may trip prematurely under load.

Cooling Fan control (06.045) | Function Selected
-10 to -1 | Minimum fan noise function with fan speed limited to the absolute value of Cooling Fan control (06.045), i.e. -7 gives a limit of 7.
0 | Fan does not run.
1 to 10 | Maximum cooling with fan speed limited to the value of Cooling Fan control (06.045).
11 | Fan runs continuously at full speed.

The two possible control characteristics are shown in the diagram below.

The fan speed is derived from Percentage Of Drive Thermal Trip Level (07.036) which shows the percentage to the trip level of the hottest monitored point in the drive. The "Maximum Cooling" characteristic brings the fan(s) on at a relatively low temperature to give maximum cooling. The "Minimum Fan Noise" characteristic does not switch on the fan(s) until the drive temperature has risen significantly, and the characteristic has a lower gradient. Therefore with lighter continuous loads the fan noise is kept to a minimum. This characteristic also prevents the fan(s) from coming on when the drive is disabled and operating in a high ambient. With both characteristics a filter is applied to Percentage Of Drive Thermal Trip Level (07.036) to avoid the fans switching on and off during short high transient loads. The "Minimum Fan Noise" characteristic also includes a hysteresis band of 15% that is applied to the percentage of drive thermal trip level at the input to the control algorithm to prevent the feedback from changing the speed back again. This reduces the chance of the fan repetitively changing speed under constant load conditions.

If the drive has an input converter the fan speed is overriden if the level given by Input Converter Fan speed (23.108) is higher than the fans speed defined by the method shown here.

Parameter | 06.046 Cooling Fan Speed
--- | ---
Short description | Cooling Fan Speed
Mode | Regeneration
Minimum | 0 | Maximum | 10
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | Background Write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Cooling Fan control (06.045).

Parameter | 06.060 Standby Mode Enable
--- | ---
Short description | Set to 1 to enable standby mode
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

If Standby Mode Enable (06.060) = 1 then the drive will go into the standby power state whenever Drive Active (10.002) = 0 with a delay of 30s. In this state the LED on the front of the drive flashes 0.5s on and 5s off, the drive cannot be enabled and the following actions are taken as defined by the Standby Mode Mask (06.061). Actions are enabled by setting the appropriate bit to 1. Once standby mode has become active it will remain active, even if an attempt is made subsequently to enable the drive, until Standby Mode Enable (06.060) is set to 0.

Standby Mode Mask (06.061) bits | Action
0 | Turn off the drive position feedback power supply. On leaving standby mode the drive position feedback interfaces will be re-initialised.
1 | Turn off the power supply to a keypad fitted to the drive.
2 | Turn off the drive 24V output.
3 | Request that the option module in option slot 1 to go into the standby power mode
4 | Request that the option module in option slot 2 to go into the standby power mode
5 | Request that the option module in option slot 3 to go into the standby power mode
6 | Request that the option module in option slot 4 to go into the standby power mode

Parameter | 06.061 Standby Mode Mask
--- | ---
Short description | Defines the actions of the drive with standby mode enabled
Mode | Regeneration
Minimum | 0 (Display: 0000000) | Maximum | 127 (Display: 1111111)
Default | 0 (Display: 0000000) | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Binary | Decimal Places | 0
Coding | RW, BU

See Standby Mode Enable (06.060).

Parameter | 06.065 Standard Under Voltage Threshold
--- | ---
Short description | Defines the standard under voltage threshold
Mode | Regeneration
Minimum | 0 | Maximum | VM_STD_UNDER_VOLTS
Default | See exceptions below | Units | V
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA, BU

Voltage | Default Value
200V | 175
400V | 330

Under-voltage and power supply control

Under-voltage system
The under-voltage system controls the state of Under Voltage Active (10.016) which is then used by the sequencer state machine. Each under voltage threshold detection system includes hysteresis of 5% of the actual threshold level therefore:

D.c. Bus Voltage (05.005) | Under voltage detection
Vdc | Active
Threshold ≤ Vdc | No change
Vdc ≥ Threshold x 1.05* | Not active

* Hysteresis is 5% subject to a minimum of 5V

When Under Voltage Active (10.016) = 1 the sequencer state machine will change to the UNDER_VOLTAGE state and when the UNDER_VOLTAGE state is active it is not possible to enable the drive inverter.

If the low under-voltage threshold is used the internal drive power supplies are normally powered from the 24V supply input (i.e. Digital I/O 13). User Supply Select (06.072) should be set to one to select this supply and its monitoring system.

If Low Under Voltage Threshold Select (06.067) = 0 then the under voltage threshold is defined by Standard Under Voltage Threshold (06.065). If Low Under Voltage Threshold Select (06.067) = 1 then the under voltage threshold is defined by Low Under Voltage Threshold (06.066).

Parameter | 06.066 Low Under Voltage Threshold
--- | ---
Short description | Defines the low under voltage threshold
Mode | Regeneration
Minimum | 0 | Maximum | VM_LOW_UNDER_VOLTS
Default | 330 | Units | V
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA, BU

See Standard Under Voltage Threshold (06.065).

Parameter | 06.067 Low Under Voltage Threshold Select
--- | ---
Short description | Set to 1 to use the low under voltage threshold
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Standard Under Voltage Threshold (06.065). Also see User Supply Select (06.072) for details of when and how drive parameters can be saved, and when a User 24V trip can occur.

Parameter | 06.073 Braking IGBT Lower Threshold
--- | ---
Short description | Defines the lowest level of the d.c. bus voltage where the braking IGBT becomes active
Mode | Regeneration
Minimum | 0 | Maximum | VM_DC_VOLTAGE_SET
Default | See exceptions below | Units | V
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA, BU

Voltage | Default Value
200V | 390
400V | 780

Braking IGBT Lower Threshold (06.073) defines the lowest level of D.c. Bus Voltage (05.005) where the braking IGBT will become active and Braking IGBT Upper Threshold (06.074) defines the level of D.c. Bus Voltage (05.005) where the braking IGBT will be on continuously. When the braking IGBT is turned on it will remain on for at least 1ms. The braking IGBT on-time is defined by the thresholds and the d.c. link voltage as given in the table below where L = Braking IGBT Lower Threshold (06.073) and U = Braking IGBT Upper Threshold (06.074).

D.c. link voltage level | On-time
D.c. Bus Voltage (05.005) < L | 0%
L ≤ D.c. Bus Voltage (05.005) < U | [(D.c. Bus Voltage (05.005) - L) / (U - L)] x 100%
U ≤ D.c. Bus Voltage (05.005) | 100%

As the D.c. Bus Voltage (05.005) rises above the lower threshold the braking IGBT is active with an on/off ratio of 1/100. As the voltage rises further, the on/off ratio increases until at the upper threshold the braking IGBT is on continuously. The upper and lower voltage threshold can be set up so that braking resistors in drives with parallel connected d.c. links will share the braking load.

If Braking IGBT Lower Threshold (06.073) ≥ Braking IGBT Upper Threshold (06.074) then the braking IGBT is off when D.c. Bus Voltage (05.005) < Braking IGBT Upper Threshold (06.074) and on if D.c. Bus Voltage (05.005) ≥ Braking IGBT Upper Threshold (06.074). This method of control is the same as that used in Unidrive SP and the default values for the braking thresholds are equal to the braking thresholds in Unidrive SP.

Unless sharing between braking resistors is required the braking thresholds do not normally need to be adjusted. Care should be taken when reducing the thresholds because if either threshold is below the maximum value of the peak rectified supply voltage the braking resistor could take power from the supply.

The list below gives conditions that will disable the braking IGBT:

1. Braking IGBT Upper Threshold (06.074) = 0, or Low Voltage Braking IGBT Threshold Select (06.076) = 1 and Low Voltage Braking IGBT Threshold (06.075) = 0.
2. The drive is in the under-voltage state.
3. A priority 1, 2 or 3 trip is active (see Trip 0 (10.020)).
4. One of the following trips is active or would be active if another trip is not already active: OI Brake, PSU, Th Brake Res or OHt Inverter.
5. Percentage Of Drive Thermal Trip Level (07.036) = 100%. This is an indication that some part of the drive is too hot and is used to indicate if an internally fitted braking resistor is too hot.
6. Brake R Too Hot is active or the system has been set up to disable the braking IGBT based on the braking resistor temperature and the resistor is too hot (i.e. bit 2 of Action On Trip Detection (10.037) is set).

Parameter | 06.074 Braking IGBT Upper Threshold
--- | ---
Short description | Defines the level of the d.c. bus voltage where the braking IGBT will be on continuously
Mode | Regeneration
Minimum | 0 | Maximum | VM_DC_VOLTAGE_SET
Default | See exceptions below | Units | V
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA, BU

Voltage | Default Value
200V | 390
400V | 780

See Braking IGBT Lower Threshold (06.073).

Parameter | 06.075 Low Voltage Braking IGBT Threshold
--- | ---
Short description | Defines the threshold used for low voltage braking
Mode | Regeneration
Minimum | 0 | Maximum | VM_DC_VOLTAGE_SET
Default | 0 | Units | V
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA, BU

If Low Voltage Braking IGBT Threshold Select (06.076) = 0 the normal thresholds are used. If Low Voltage Braking IGBT Threshold Select (06.076) = 1 then Low Voltage Braking IGBT Threshold (06.075) is used, so that the braking IGBT is on with a minimum on time of 1ms if the d.c. link voltage is above this level, or off if the d.c. link voltage is below this level.

Parameter | 06.076 Low Voltage Braking IGBT Threshold Select
--- | ---
Short description | Set to 1 to enable low voltage IGBT braking
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Low Voltage Braking IGBT Threshold (06.075).

Parameter | 06.077 Current Feedback Level Shift Filter Disable
--- | ---
Short description | Disables the long time constant filter on the current feedback level shift.
Mode | Regeneration
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Background Read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

The current feedback from the power stage is level shifted. The voltage used to apply the shift is filtered using a filter with a long time constant to prevent noise from the level shift signal from affecting the current feedback. When the control system is powered up a short time constant is used to allow the level shift to be initialised and then the filter is switched to the long time constant to give good noise immunity. This is based on the assumption that the level shift signal is very stable after the initial power-up, as any subsequent changes in the level shift signal once the long time constant filter is active, would take a long time to pass through the filter. Normally the level shift signal is stable after the drive has powered up, however it is possible for small disturbances to be created due to events occurring in the power stage after the control system has powered up. For example, the drive could be powered initially from 24V and the long time constant filter would become active. A small transient change may then occur on the level shift signal when the main supply is activated. Usually the transient change is very small and has no discernible effect, but may give a small current offset that decays away with an 8s time constant which can be seen in precision systems. If this is the case then the long time constant can be held inactive after the initial control system power-up by setting Current Feedback Level Shift Filter Disable (06.077) to 1. The following sequence should be followed:

1. Once the control system has powered up Current Feedback Level Shift Filter Disable (06.077) should be set to one.
2. After all power stage events have occurred, wait for 1s then set Current Feedback Level Shift Filter Disable (06.077) to zero.
3. The long time constant filter has been preset after all the power stage events that can affect the level shift signal, and so the drive can now be enabled.

Parameter | 06.084 Date And Time Offset
--- | ---
Short description | Date And Time Offset
Mode | Regeneration
Minimum | -12.00 | Maximum | 12.00
Default | 0.00 | Units | hours
Type | 16 Bit User Save | Update Rate | Background Read
Display Format | Standard | Decimal Places | 2
Coding | RW

Date And Time Offset (06.084) is an offset, specified in hours, that can be applied to the Time (06.017). If the offset applied causes the time to roll-over at midnight then the Date (06.016) and Day Of Week (06.018) are also modified. The offset is only applied when the clock source is a clock derived from a keypad, i.e. Date/Time Selector (06.019) > 3. The offset can be used for time zone offsets or daylight saving time etc.

Parameter | 06.085 Control Word Override
--- | ---
Short description | Can be used to override the control word.
Mode | Regeneration
Minimum | 0 (Display: 000000000000000) | Maximum | 32767 (Display: 111111111111111)
Default | 0 (Display: 000000000000000) | Units |
Type | 16 Bit Volatile | Update Rate | Background read
Display Format | Binary | Decimal Places | 0
Coding | RW, NC

See Control Override Enable (06.086)

Parameter | 06.086 Control Override Enable
--- | ---
Short description | Selects the level of control override
Mode | Regeneration
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit Volatile | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE, NC

Value | Text | Description
0 | Disabled | Control override is disabled.
1 | Control Word | Control override is only overriding the control word.
2 | Enabled | Control override is overriding the control word and has disabled the drive onboard user program.

Control Override Enable (06.086) modifies the operation of the control word system.

0: Disabled
The control override is disabled and has no effect. Control Word (06.042) operates normally as described.

1: Control Word
Control Word Override (06.085) is used instead of Control Word (06.042) and does not require Control Word Enable (06.043) to be set for the control word to be active.

2: Enabled
Operates in the same way as the "Control Word" selection except that the drive onboard user program is also stopped. This selection may be used by Control Techniques PC tools to take control of the drive to perform an auto-tune. If this is to operate correctly Control Word Override (06.085) and Control Override Enable (06.086) should not be written while the PC tool is performing this action.