Parker 590+ series Frame 1, 2, 3, 4, 5, 6 & H. Product Manual (2012) - page 25
D-62 Programming
FEEDBACKS
Diagnostics for the motor feedbacks.
FEEDBACKS
Parameter
Tag
Range
ARM VOLTS FBK
605
.x V
Back EMF scaled by NOM MOTOR VOLTS.
UNFIL.FIELD FBK
181
.xx %
Scaled field current feedback
SPEED FEEDBACK
207
.xx %
Speed feedback.
CURRENT FEEDBACK
298
.xx %
Scaled and filtered armature current feedback.
TACH INPUT
308
.x %
Scaled analog tachogenerator feedback.
Programming D-63
FIELD CONTROL
This function block contains all the parameters for the field operating mode.
It controls the drive's full wave, single phase, motor field thyristor bridge circuit.
The FIELD CONTROL function block is viewed in three sub-menus on the MMI:
FLD VOLTAGE VARS, FLD CURRENT VARS and FLD WEAK VARS.
In the FIELD CONTROL menu, you select the field operating mode: open loop
voltage control or closed loop current control.
The inputs to the FIELD CONTROL block come from FLD VOLTAGE VARS and
FLD CURRENT VARS.
FIELD ENABLE controls the field thyristor bridge and is set to DISABLED in
permanent field motor applications. Disabling the field automatically overrides the
field fail alarm. If FIELD ENABLE is enabled, you can select between voltage and
current control using the FLD CTRL MODE parameter. The default is VOLTAGE
CONTROL.
The diagnostic DRIVE ENABLE (Tag 84) is also used by the FLD. QUENCH
DELAY to delay disabling the field when Run is removed.
FLD VOLTAGE VARS : MMI Sub-Menu
Contains the parameter for the open loop VOLTAGE CONTROL mode.
In VOLTAGE CONTROL mode, set the value of FLD.VOLTS RATIO to provide
the correct field voltage. This control mode provides open-loop phase angle control
of the thyristor bridge. To calculate FLD.VOLTS RATIO, divide the desired DC
field voltage by the line-to-line RMS AC input voltage and multiply by 100. Note
that supply voltage variations are not compensated for in the field supply when in
this mode of operation.
FLD CURRENT VARS : MMI Sub-Menu
Contains the parameters for the closed loop current control mode.
CURRENT CONTROL mode uses actual field current feedback for closed-loop control giving accurate motor field control independent of motor
temperature. This mode makes use of a simple PI controller and is a pre-requisite for field weakening.
D-64 Programming
FLD WEAK VARS : MMI Sub-Menu
In certain applications of a DC motor controller, high speeds can only be achieved by reducing the field current and therefore the resultant torque. This
is termed as the Constant-Horsepower region or Field-Weakening region, and the speed at which it begins is known as the Base Speed.
FIELD CONTROL
Parameter
Tag
Range
FIELD ENABLE
170
DISABLED / ENABLED
Enables and disables the drive motor Field Control.
SETPOINT
171
0.00 to 100.00 %
Field current setpoint as percentage of calibrated value.
PROP. GAIN
173
0.00 to 100.00
This is the proportional gain adjustment of the field current PI loop. The default of 0.10 is equivalent to a real gain of 10.
INT. GAIN
172
0.00 to 100.00
This is the integral gain adjustment of the field current PI loop.
FLD. WEAK ENABLE
174
DISABLED/STANDARD/ADVANCED
Activates the additional motor back-emf, gain-limited PI loop for field weakening (field spillover) control.
STANDARD mode uses the control loop to convert the back-emf in excess of the MAX VOLTS setting, into a reduction of the demanded field
current.
ADVANCED mode also adds in a feedforward control term, based on a comparison of the speed feedback to the calculated base speed,
and uses adaptive gain, in both the back-emf and speed control loops, to compensate for the gain effects of reduced field operation.
EMF LEAD
175
0.10 to 50.00
With field weakening control enabled, a gain-limited PI loop is brought into operation. This is the lead time constant adjustment of the field
weakening PI loop. With a default of 2.00, real time constant = 200ms.
Refer to Chapter 5: "Control Loops" for details of Tuning.
EMF LAG
176
0.00 to 200.00
This is the lag time constant adjustment of the field weakening PI loop
With a default of 40.00, real time constant = 4000ms.
Refer to Chapter 5: "Control Loops" for details of Tuning.
EMF GAIN
177
0.00 to 100.00
This is the steady-state gain adjustment of the field weakening PI loop.
With a default of 0.30, real gain = 30.
Refer to Chapter 5: "Control Loops" for details of Tuning.
Programming D-65
FIELD CONTROL
Parameter
Tag
Range
MIN FLD. CURRENT
179
0.00 to 100.00 %
Protects against motor overspeeding due to unintended excessive field weakening.
The field weakening loop reduces the field current to achieve speed control above base speed. At top speed the field reaches a minimum value. MIN
FIELD CURRENT should be set below this minimum value to allow reasonable margin for transient control near the top speed but not lower than
6% as this could then cause the "Field Fail" alarm to operate.
MAX VOLTS
178
0.00 to 100.00 %
Maximum volts is the back-emf voltage level at which field weakening begins. It is also known as "Spillover Bias". The default value is 100% of the
nominal value as set by the armature voltage calibration value. This value might be reduced due to the known IR drop included in the armature
voltage calibration value. Additionally for commissioning purposes, this value may be set to another (lower) desirable level, and subsequently
returned to the original value.
BEMF FBK LEAD
191
20 to 5000
This is the lead time constant of the back emf feedback filter which is used for reducing armature voltage overshoots when accelerating fast through
base speed with a default of 100 (ms).
Refer to Chapter 5: "Control Loops" for details of Tuning.
BEMF FBK LAG
192
20 to 5000
This is the lag time constant of the above feedback filter. If the filter is active, the ratio of lead / lag should always be greater than 1 to give an overall
lead action which reduces the voltage overshoot and less than, typically, 3 for stable control. The default values cancel each other and make the filter
inactive with a default of 100 (ms).
Refer to Chapter 5: "Control Loops" for details of Tuning.
FLD. QUENCH DELAY
185
0.0 to 600.0 s
If dynamic breaking is used the field must be maintained for a period after the drive is disabled until the motor reaches zero speed. The field quench
delay is the period of time that the field is maintained for when the drive is disabled.
FLD. QUENCH MODE
186
QUENCH / STANDBY
After the field quench delay has expired, the field can be entirely quenched or put into a standby mode at 50% of rated current or volts depending
whether in current or voltage control mode respectively. (The default standby value of 50% can be modified through the "SYSTEM / Reserved"
Menu which is primarily for factory use only and requires the “super” password.)
FIELD I THRESH
617
0.00 to 100.00 %
Threshold for UP TO FIELD diagnostic as a percentage of calibrated field current (see below).
FLD. CTRL MODE
209
See below
Selects between open-loop VOLTAGE CONTROL or closed-loop CURRENT CONTROL.
FLD. VOLTS RATIO
210
0.0 to 100.0 %
Sets the output dc field voltage as a percentage of the RMS FIELD supply voltage (line-to-line) when FLD CTRL MODE is set to VOLTAGE
CONTROL.
FIELD ENABLED
169
DISABLED / ENABLED
Refer to Chapter 6: "The Keypad" - The Keypad Menus (DIAGNOSTICS).
D-66 Programming
FIELD CONTROL
Parameter
Tag
Range
FIELD DEMAND
183
.xx %
Refer to Chapter 6: "The Keypad" - The Keypad Menus (DIAGNOSTICS).
FLD. FIRING ANGLE
184
.xx DEG
Refer to Chapter 6: "The Keypad" - The Keypad Menus (DIAGNOSTICS).
FIELD I FBK.
300
.xx %
Field current feedback, as a percentage of the calibrated level.
FIELD I FBK.AMPS
539
.x A
FIELD I FBK calibrated in Amps.
UP TO FIELD
618
FALSE / TRUE
Field current feedback is above FIELD I THRESHOLD when TRUE. This may be used as part of a mechanical brake release strategy.
WEAK PID ERROR
1185
.xx %
Input error, as a percentage of calibrated Volts, to the field weakening controller. This is formed from the spill-over of filtered BEMF above the
MAX VOLTS setting.
WEAK PID OUT
1186
.xx %
Output field reduction demand, as a percentage of calibrated field current, from the field weakening controller.
FIELD STATE
1187
See below
State of the field controller.
0 : FIELD INIT
1 : FIELD QUENCH
2 : FIELD STANDBY
3 : FIELD FULL FLD
4 : FIELD TIMER
indicates that the FLD.QUENCH DELAY timer is counting down
5 : FIELD ERROR
6 : LOCAL BEMF
BEMF SOURCE
1273
LOCAL BEMF / BEMF INPUT
Selects the source of the back-emf feedback into the field weakening control loop.
Setting LOCAL BEMF makes use of the back-emf measured at the armature terminals.
Setting BEMF INPUT uses the value in the parameter BEMF INPUT as the feedback for the field weakening control.
Programming D-67
FIELD CONTROL
Parameter
Tag
Range
BEMF INPUT
1274
.xx %
The feedback value of back-emf used for the field weakening control, when BEMF SOURCE is set to BEMF INPUT. It allows for the use of the field
weakening control structure on motors not directly connected to the armature terminals. It can be wired within the block diagram to an analogue input
or a communications path.
The use of this parameter is typically combined with parameters ISOL DMD SOURCE and 3-PHASE FIELD (CURRENT LOOP function block) to
apply the drive to field weakening control of a motor field.
Note: If the ADVANCED field weakening mode is being used with an external back-emf feedback, ensure to apply the speed feedback so that
the base speed calculator can function correctly.
Action of EMULATE 590P on Software Versions
In 590+ software version 5.x or earlier, the processor was using a 12MHz clock. The formulae used to compute internal
variables from the "visible" time constant (set by DSElite or MMI) were dependant on that crystal frequency.
Software version 7.x introduced a 16MHz crystal, but the formulae were not changed. Thus, a 12/16 factor was added in
error to the time constant for the following parameters in the FIELD CONTROL function block:
EMF LEAD (tag 175)
Software V7.x
EMF LAG (tag 176)
For example, the default value of 2.00 for EMF LEAD
BEMF FBK LEAD (tag 191)
gives 150ms, not 200ms.
BEMF FBK LAG (tag 192)
Software version 8.x corrects this error, and also includes the EMULATE 590P parameter in the Configure Drive function block. When EMULATE
590P is set to non-zero, the drive emulates the features of software version 7.x, including the (INCORRECT) 12/16 factor. See the table below.
Software Version
EMULATE 590P
Non-zero (emulating)
Zero
5.x
CORRECT
200ms = 200ms Not applicable
7.x
INCORRECT
200ms = 150ms Not applicable
8.x
INCORRECT
200ms = 150ms CORRECT
200ms = 200ms
D-68 Programming
Functional Description
FIELD CONTROL MODE : VOLTAGE
DEFAULT
TAG# PARAMETER
SETTING
OUTPUT IN VOLTAGE MODE:
170
FIELD ENABLE
ENABLED
SUPPLY
RATIO
FIELD OUTPUT
NOTE (2)
FLD VOLTAGE VARS
460V
90%
410V
460V
67%
300V
210 FLD.VOLTS RATIO
90.00%
230V
90%
200V
FIELD
AC VOLTAGE
230V
67%
150V
[VF (AC) RMS]
VOLTAGE
TO FIELD
CONTROL
SCR FIRING
O/P
183
FIELD DEMAND (%)
x 0.5
QUENCH
169
STAND BY
FIELD ENABLED
186 FLD QUENCH MODE
QUENCH
185 FLD QUENCH DELAY
0.0 SECS
t
NOTE [2]
DISABLING FIELD ENABLE PARAMETER
DRIVE RUN
WILL AUTOMATICALLY OVERRIDE FIELD
FAILURE ALARM.
Programming D-69
FIELD CONTROL MODE : CURRENT
DEFAULT
TAG# PARAMETER
SETTING
170 FIELD ENABLE
ENABLED
173 PROP. GAIN
0.10
172 INT. GAIN
1.28
174 FLD WEAK ENABLE
DISABLED
179 MIN FLD CURRENT100.00 %
FIELD CURRENT
FEEDBACK
FLD FIRING
-
ANGLE
-
WEAK PID OUT
O/P
+
183
PI
184
+
FIELD DEMAND
QUENCH
50%
169
STANDBY
FIELD ENABLED
171 SETPOINT
100.00%
186 FLD QUENCH MODEQUENCH
186 FLD QUENCH DELAY 0.0 SECS
t
DRIVE RUN
D-70 Programming
FLD WEAK VARS
DEFAULT
TAG# PARAMETER
NOTE [1]
SETTING
175 EMF LEAD
2.00
176 EMF LAG
40.00
177 EMF GAIN
0.30
191 BEMF FBK LEAD
100
192 BEMF FBK LAG
100
-
BACK EMF
MOTOR
-
FEEDBACK
BEMF
PID
1186
WEAK PID OUT
CALIBRATION
FILTER
+
178 MAX VOLTS
100.00%
1185
WEAK PID ERROR
NOTE [1]
FIELD WEAKENING OPERATION REQUIRES ENCODER OR ANALOG TACH FEEDBACK
FIELD I CAL
SCALED FIELD
x
CURRENT FEEDBACK
[182]
FIELD I FEEDBACK
[179]
MIN FIELD
[177]
[210]
[21]
[170]
IR COMPENSATION
BACK EMF
EMF GAIN
FIELD DEMAND
RATIO OUT/IN
FIELD ENABLE
[191]
[176]
[172]
BEMF LEAD
EMF LAG
INT. GAIN
CURRENT FEEDBACK
x
[192]
[175]
[173]
BEMF LAG
EMF LEAD
PROP. GAIN
FIELD FIRING ANGLE
SCALED
ARMATURE
-
-
-
-
FIELD THYRISTOR
x
FIELD CURRENT PI
+
BEMF FILTER
FIELD WEAKENING PID
+
VOLTAGE
+
+
FIRING CONTROL
FEEDBACK
WEAK PID OUT
FIELD DEMAND
[209]
[20]
[178]
FIELD ENABLED
FIELD CONTROL MODE
MAX VOLTS
WEAK PID ERROR
[171]
[174]
ARMATURE V CAL
FIELD SETPOINT
FIELD WEAK ENABLE
TERMINAL VOLTS
KEY
VALUE SET-UP PARAMETER
LOGIC SET-UP PARAMETER
VALUE DIAGNOSTIC
LOGIC DIAGNOSTIC
TAG NUMBER
Field Control Block Diagram
Programming D-71
INERTIA COMP
This function block directly compensates for load inertia during acceleration.
This is particularly useful in high accuracy applications such as positioning systems and elevators.
The block calculates its output at the same rate as the current loop for maximum performance.
INERTIA COMP
Parameter
Tag
Range
INERTIA
556
0.00 to 200.00
The value of current necessary to accelerate load to 100% speed in 1 second.
FILTER
557
0 to 20000
Low pass filter acting on the DELTA parameter.
RATE CAL
558
0.00 to 200.00
Inertia compensation scaling factor.
INERTIA COMP O/P
602
.xx %
Inertia compensation directly added to the speed loop output.
UNSCALED OUTPUT
603
.xx %
Unscaled inertia compensation.
DELTA
601
.xx %
Rate of change of speed demand in %/s2.
Functional Description
DELTA
UNSCALED OUTPUT
d
SPEED DEMAND
FILTER
INERTIA COMP OUTPUT
dt
to Speed Loop
INERTIA
RATE CAL
D-72 Programming
LINK
Use internal links to connect between function block parameters.
LINK
Parameter
Tag
Range
LINK 1 - 80
SOURCE TAG
Refer to Parameter Table
-1276 to 1276
Enter the tag number of the source input value. Refer to “Making and Breaking Function Block Connections”, page D-2.
DESTINATION TAG
Refer to Parameter Table
0 to 1276
Enter the tag number for the destination output value. Refer to “Making and Breaking Function Block Connections”, page D-2.
Programming D-73
INVERSE TIME
The purpose of the inverse time is to automatically reduce the current limit in response to prolonged
overload conditions.
As the motor current exceeds an internal threshold of 103%, the excess current is integrated. The inverse time output remains unchanged until the
integrated value is equivalent to an overload of 200% current for 60s. Once this limit is reached the integral value is clamped, and the inverse time
output is decreased towards 103% at 10% per second.
Should the current drop below the 103% threshold the integrator value starts to discharge. As soon as the integrated value is less than the maximum
overload level the inverse time output is allowed to ramp back up to 200% at a rate of 10% per second.
The inverse time output parameter is internally used by the current loop.
INVERSE TIME
Parameter
Tag
Range
INVERSE TIME
203
.XX %
Inverse time clamp output level.
D-74 Programming
JOG/SLACK
This block can be used to provide jog, take up slack and crawl speed functions.
The inputs to this block are the Start and Jog signals via the SEQUENCING function block, and the
speed demand from the RAMPS function block. The output of this block is connected to the RAMPS
function block.
The JOG/SLACK parameters modify or replace the ramp input speed demand. You should use a spare
digital input to switch between modes to achieve full functionality.
The JOG/SLACK OUTPUT parameter is internally connected to the RAMPS function block. This
output is the modified value of the speed demand as required by MODE, Start, and Jog. These settings are shown in the Setpoint Selection table.
• Jog: With the Start signal OFF, the jog speed demand replaces the ramp input speed demand. MODE selects between jog setpoints 1 and 2. The
jog RAMP RATE replaces the RAMP ACCEL TIME and RAMP DECEL TIME in the RAMPS function block. % S-RAMP is also set to 0.00%.
• Take Up Slack: With the Start signal ON, the jog signal performs a "take up slack" function. When a jog signal is received, the take up slack
setpoint is added to the ramp input speed demand. MODE and Jog settings, from the table, select between the two take-up slack setpoints.
• Crawl: CRAWL SPEED replaces the ramp input speed demand as the output signal when both Start and Jog signals are ON, and MODE is TRUE.
JOG/SLACK
Parameter
Tag
Range
JOG SPEED 1
218
-100.00 to 100.00 %
Jog speed setpoint 1.
JOG SPEED 2
219
-100.00 to 100.00 %
Jog speed setpoint 2.
TAKE UP 1
253
-100.00 to 100.00 %
Take-up slack speed setpoint 1.
TAKE UP 2
254
-100.00 to 100.00 %
Take-up slack speed setpoint 2.
CRAWL SPEED
225
-100.00 to 100.00 %
Crawl speed setpoint.
MODE
228
FALSE / TRUE
Selects jog speed setpoints, take up setpoints, and the crawl setpoint. To achieve full functionality, connect MODE to a spare digital input.
Programming D-75
JOG/SLACK
Parameter
Tag
Range
RAMP RATE
355
0.1 to 600.0 s
The ramp rate used while jogging. This is independent of the main ramp rate during normal running. The acceleration and deceleration times in jog
are always equal.
OPERATING MODE
212
See below
Refer to Chapter 6: "The Keypad" - The Keypad Menus (DIAGNOSTICS).
0 : STOP
1 : STOP
2 : JOG SP. 1
3 : JOG SP. 2
4 : RUN
5 : TAKE UP SP. 1
6 : TAKE UP SP. 2
7 : CRAWL
JOG/SLACK OUTPUT
698
___.00 %
The setpoint combined with the JOG / SLACK function.
Functional Description
NOTE
The setpoint column in the table below refers to the Ramp Input ONLY, as indicated in the table. Any "direct" setpoints present will also add
to this setpoint to make the total speed setpoint. If you don't want this to happen, for example during jogging, then disconnect the direct
setpoint(s) during the appropriate conditions.
Setpoint Selection Table
OPERATING MODE [212] - diagnostic
Start C3
Jog C4
MODE [228]
Ramp Input
Ramp Time
Contactor
0 : STOP
OFF
OFF
False
Setpoint
Default
OFF
1 : STOP
OFF
OFF
True
Setpoint
Default
OFF
2 : JOG SP. 1
(inch/jog 1)
OFF
ON
False
JOG SPEED 1
RAMP RATE
ON
3 : JOG SP. 2
(inch/jog 2)
OFF
ON
True
JOG SPEED 2
RAMP RATE
ON
4 : RUN
ON
OFF
False
Setpoint
Default
ON
5 : TAKE UP SP. 1
(take-up slack 1)
ON *
ON *
False
Setpoint + TAKE UP 1
Default
ON
6 : TAKE UP SP. 2
(take-up slack 2)
ON
OFF
True
Setpoint + TAKE UP 2
Default
ON
7 : CRAWL
ON *
ON *
True
CRAWL SPEED
Default
ON
* Start (C3) and Jog (C4) must be applied (ON) simultaneously in the cases of TAKE UP SP.1 and CRAWL.
D-76 Programming
RAMP INPUT
RUN (C3)
JOG (C4)
JOG (C4)
t
0%
RAMP INPUT + TAKE UP 1
RAMP INPUT
JOG SPEED 1
t
0%
RAMP RATE
RAMP ACCEL TIME
RAMP DECEL TIME
set in JOG/SLACK
set in RAMPS
set in RAMPS
Block Diagram
TAKE UP 1
0
TAKE UP 2
MIN SPEED
RAMP INPUT
(see RAMPS
function block)
% S-RAMP
(from RAMPS
function block)
(see RAMPS
function block)
JOG 1
CRAWL SPEED
JOG 2
RAMP RATE
Jog/Slack Function
Programming D-77
LOGIC FUNC
These generic function blocks can be
configured to perform one of a number
of simple functions upon a fixed number
of inputs.