Parker 590+ series Frame 1, 2, 3, 4, 5, 6 & H. Product Manual (2012) - page 29
D-126 Programming
SRAMP
Parameter
Tag
Range
ACCEL 1 JERK 2
612
0.00 to 100.00 %
Refer to ACCEL 0 JERK 2.
DECEL 1 JERK 1
597
0.00 to 100.00 %
Refer to DECEL 0 JERK 1.
DECEL 1 JERK 2
614
0.00 to 100.00 %
Refer to DECEL 0 JERK 2.
SRAMP OUTPUT
589
.xx %
Diagnostic, ramp output.
ACCEL OUTPUT
588
.xx %
Acceleration diagnostic.
AT SPEED
587
FALSE / TRUE
Diagnostic output indicating the Abs (input - output) is less than AT SPEED LEVEL.
Useful Equations
NOTE
These only hold true if Jerk = Jerk2 for
acceleration or Jerk 3 = Jerk 4 for deceleration.
V is the maximum speed the drive must reach.
In % / sec
A is the maximum allowable acceleration in %/sec2
J is the maximum allowable value for jerk, in %/sec3
The time needed to stop or accelerate is:
V A
t
=
+
[Seconds]
A J
as the speed is symmetrical the average speed is
V/2, therefore the stopping / acceleration distance
can be calculated.
V A
s= V
+
[Meters]
2
A J
Example acceleration graph for a velocity 60 %/s maximum Acceleration
of 20 %/s2 and a jerk of 10 %/s3
Programming D-127
STANDSTILL
Set a ZERO THRESHOLD defining when the speed setpoint is at zero to inhibit motor rotation.
The inputs to this block are SPEED FEEDBACK from the SPEED LOOP function block and SPEED
SETPOINT from setpoints.
The outputs are AT ZERO SPEED, AT STANDSTILL, and AT ZERO SETPOINT. AT ZERO
SPEED is connected to DIGOUT 1 (B5) in the default configuration. A "not at standstill" signal is sent
to the drive enable logic.
When SPEED FEEDBACK is less than ZERO THRESHOLD, AT ZERO SPEED is TRUE.
When SPEED SETPOINT is less than ZERO THRESHOLD, AT ZERO SETPOINT is TRUE.
When both AT ZERO SPEED and AT ZERO SETPOINT are TRUE, AT STANDSTILL is TRUE signalling the motor has stopped.
If AT STANDSTILL is TRUE and STANDSTILL LOGIC is ENABLED, then the speed and current loops are quenched. The SCR (Silicon Controlled
Rectifier)/thyristor firing circuits are disabled, the main contactor remains energised and the RUN LED stays on when the drive is at standstill. The
drive remains in this state until standstill drops out. That is, when the speed setpoint or speed feedback rise above the zero threshold.
STANDSTILL LOGIC is useful in maintaining absolute zero speed and aids in preventing gearbox wear due to “chattering”.
However, it can cause problems in web handling applications using tension feedback: at zero speed, the SCR/thyristors turn off allowing the web
tension to pull the driven roll in reverse. When the drive no longer senses it is at zero speed, the SCR/thyristors turn back on causing the motor to move
forward and regulate tension. An oscillation condition can result as the drives SCR/thyristors turn on and off trying to maintain a fixed position.
STANDSTILL
Parameter
Tag
Range
ZERO SETPOINT
699
-300.00 to 300.00 %
The input to the standstill function. By default this is connected to the speed demand parameter from the speed loop function block.
STANDSTILL LOGIC
11
DISABLED / ENABLED
If ENABLED, the Drive is quenched (although the contactor remains in) when the Speed Feedback and Speed Setpoint values are less than ZERO
THRESHOLD.
ZERO THRESHOLD
12
0.00 to 100.00 %
Threshold level which defines zero setpoint and zero speed diagnostic outputs and also controls the zero speed relay output.
AT ZERO SETPOINT
78
FALSE / TRUE
Logic output, TRUE when INPUT is below ZERO THRESHOLD. There is hysteresis of 0.5% on this test.
AT ZERO SPEED
77
FALSE / TRUE
D-128 Programming
STANDSTILL
Parameter
Tag
Range
Logic output, TRUE when speed feedback is below ZERO THRESHOLD. There is hysteresis of 0.5% on this test. The speed feedback parameter is
internally connected to the PERCENT RPM parameter in the FEEDBACKS block.
AT STANDSTILL
79
FALSE / TRUE
Logic output that is TRUE when standstill is detected.
STANDSTILL
ENABLED
DISABLED
t
0
STANDSTILL LOGIC
SPEED
FEEDBACK
SPEED
SETPOINT
CURVE DEPENDS ON LOAD
2%
CHARACTERISTICS
ZERO THRESHOLD
(DEFAULT = 2.00%)
t
0%
-2%
SPEED FEEDBACK %
ENABLED
ENABLED
DISABLED
t
0%
DRIVE ENABLE
Programming D-129
STANDSTILL
DEFAULT
TAG# PARAMETER
SETTING
TO
11 STANDSTILL LOGIC
DISABLED
DRIVE ENABLE
SPEED
DIGITAL O/P1
FEEDBACK
AT ZERO SPEED
D:12
FROM
77
B5
SPEED LOOP
( DEFAULT
D:14
79
CONFIGURATION )
12 ZERO THRESHOLD
2.00%
SPEED
AT STANDSTILL
SETPOINT
78
FROM
AT ZERO SETPOINT D:13
SETPOINT
D-130 Programming
STOP RATES
These parameters are used by a regenerative drive when stopping with Normal Stop or Program
Stop.
The stopping methods of the drive are described in more detail in Chapter 4: “Operating the Drive” -
Starting and Stopping Methods.
The internal inputs to this block are SPEED SETPOINT and SPEED FEEDBACK from the SPEED
LOOP function block, the Run signal from terminal C3, and PROGRAM STOP from terminal B8.
The internal outputs are SPEED DEMAND to the speed loop, PROG STOP I LIM to the current loop, and
signals to the coast stop and drive enable logic.
Normal Stop
A Normal Stop occurs when the Run signal is removed from terminal C3. It ramps the speed demand to zero at a rate set by STOP TIME.
• Non-regenerative drives can stop no faster than the coast stop rate.
• Regenerative drives use STOP TIME to set the duration of the stop.
After the stop, the contactor de-energises and the drive disables.
The STOP LIMIT timer starts when C3 goes to 0V (the Run signal is removed). If the drive speed has not reached STOP ZERO SPEED within the
STOP LIMIT time, the contactor de-energises and the drive disables.
During Normal Stops, after the motor reaches zero speed, CONTACTOR DELAY delays the de-energising of the contactor. When STOP ZERO
SPEED is set above 0.25% and the CURRENT DECAY RATE is not zero, the drive disables during the contactor delay. Otherwise the drive disables
after the contactor delay. This is useful when using the Jog function to prevent multiple operations of the contactor. CONTACTOR DELAY is
overridden when terminal C5 (Enable Input) is at 0V.
Program Stop
PROGRAM STOP provides a controlled fast stop for regenerative drives. The stop time is set by PROG STOP TIME. This timer starts once terminal
B8 (Program Stop) goes to 0V. When the drive reaches STOP ZERO SPEED, the contactor de-energises and the drive disables. PROG STOP LIMIT
sets the maximum time the Program Stop can take before the contactor de-energises and the drive disables.
PROG STOP I LIM sets the current limit in the current loop during a Program Stop. Other current limits can override it.
Programming D-131
STOP RATES
Parameter
Tag
Range
STOP TIME
27
0.1 to 600.0 s
Time to reach zero speed from 100% set speed in normal stop mode (terminal C3 = 0V).
STOP LIMIT
217
0.0 to 600.0 s
The maximum time a controlled stop can take in a Normal Stop (regenerative breaking) before the drive will coast to stop. The timer is triggered
when terminal C3 = 0V.
CONTACTOR DELAY
302
0.1 to 600.0 s
This defines the time the contactor stays energised for after the STOP ZERO SPEED limit is reached. Maintain zero speed during contactor
delay.
CURR DECAY RATE
594
0.00 to 200.00 %/s
This is the rate at which the current is quenched when the current loop is disabled.
A value of 100% will ramp the current from 100% to 0% in 1s.
A value of 50% will ramp the current from 100% to 0% is 2s.
PROG STOP TIME
26
0.1 to 600.0 s
Time to reach zero speed from 100% set speed in Program Stop mode (B8 = 0V).
PROG STOP LIMIT
216
0.0 to 600.0 s
The maximum time a Program Stop (regenerative breaking) can take before the contactor is de-energised and the drive is disabled. The timer is
triggered when terminal B8 = 0V.
PROG STOP I LIM
91
0.00 to 200.00 %
Main current limit level (assuming current limit not overridden by I Profile or Inverse Time limits) when performing a Program Stop.
STOP ZERO SPEED
29
0.00 to 100.00 %
The threshold at which the CONTACTOR DELAY timer starts in Program Stop and Normal Stop modes. See also CONTACTOR DELAY above.
D-132 Programming
Functional Description
The Drive’s reaction to commands is defined by a state
Stop Hierarchy
machine. This determines which commands provide
Coast Stop - Terminal B9
the demanded action, and in which sequence.
• Disables the drive and opens the contactor via the pilot output
Consequently, COAST STOP and PROGRAM STOP
Enable - Terminal C5
must be FALSE, i.e. the drive is not in Coast or
• Suspends and resets the Control Loops
Program mode, before a Run signal is applied
Program Stop - Terminal B8
otherwise the controller assumes a Stop mode and
• Independent ramp time
remains disabled. Refer to Chapter 4: “Operating the
• Stop Timer
Drive” - Stopping Methods for descriptions of Coast
• Independent Current Limit that may be higher than normal Current Limit
Stop and Program Stop.
• Independent zero speed
Normal Run/Stop - Terminal C3
• Independent ramp time
• Contactor Delay
SPEED
TO/FROM SPEED LOOP
SPEED
SETPOINT
DEMAND
STOP RATES
89
DEFAULT
TAG#
PARAMETER
SETTING
27
STOP TIME
10.0 SECS
RAMP TO ZERO
RAMP TO ZERO
TO CURRENT LOOP
26
PROG STOP TIME
0.1 SECS
CURRENT LIMIT SWITCH
91
PROG STOP I LIM
100.00%
217
STOP LIMIT
60.0 SECS
t
TO COAST
STOP LOGIC
t
216
PROG STOP LIMIT
60.0 SECS
29
STOP ZERO SPEED
2.00 %
t
302
CONTACTOR DELAY
1.0 SECS
TO DRIVE ENABLE
PROGRAM
PROGRAM STOP IS TRUE
STOP
WHEN TERMINAL B8 LOW
STOP (RUN)
(STATUS LED OFF)
SPEED
FEEDBACK
Programming D-133
TEC OPTION
This function block is used to configure the inputs and outputs of the various Technology Options
that can be fitted.
The Technology Option provides a communications interface for external control of the Drive.
Refer to the appropriate Technology Option Technical Manual supplied with the option for further
details.
TEC OPTION
Parameter
Tag
Range
TEC OPTION TYPE
500
See below
Selects the type of Technology Option.
0 : NONE
10 : TYPE 10
1 : RS485
11 : TYPE 11
2 : PROFIBUS
12 : TYPE 12
3 : LINK
13 : TYPE 13
4 : DEVICE NET
14 : TYPE 14
5 : CAN OPEN
15 : TYPE 15
6 : LONWORKS
7 : CONTROLNET
8 : MODBUS PLUS
9 : ETHERNET
TEC OPTION IN 1 to TEC OPTION IN 5
501, 502, 503, 504, 505
-32768 to 32767
The use of these input parameters depends upon the type of Technology Option fitted. Refer to the Technology Option Technical Manual.
D-134 Programming
TEC OPTION
Parameter
Tag
Range
TEC OPTION FAULT
506
See below
The fault state of the Technology Option.
0 : NONE
no faults
1 : PARAMETER
parameter out-of-range
2 : TYPE MISMATCH
TYPE parameter mismatch
3 : SELF TEST
hardware fault - internal
4 : HARDWARE
hardware fault - external
5 : MISSING
no option fitted
If the VERSION NUMBER error message is displayed, the Technology Option is using software that doesn’t fully support the drive; refer to Parker
SSD Drives.
TEC OPTION VER
507
0x0000 to 0xFFFF
The version of the Technology Option. If no option is fitted then the version is reset to zero.
TEC OPTION OUT 1 to TEC OPTION OUT 2
508, 509
.
The use of these output parameters depends upon the type of Technology Option fitted. Refer to the Technology Option Technical Manual.
Programming D-135
TORQUE CALC.
This block switches the drive between Speed and Tension mode. It also switches the current
limits as required for over and under winding.
TORQUE CALC.
Parameter
Tag
Range
TORQUE DEMAND
432
-200.00 to 200.00 %
This is the TORQUE CALC function block input.
TENSION ENABLE
433
DISABLED / ENABLED
When TENSION ENABLE is ENABLED , the tension demand is set by the TORQUE DEMAND signal , tag 432. When DISABLED, it is set by
the default current limit. Switch using a free digital input.
OVER WIND
434
DISABLED / ENABLED
Reverses the sign of the output clamps for over/under winding. Switch using a free digital input.
POS. I CLAMP
707
.xx V
Positive current clamp.
NEG. I CLAMP
708
.xx V
Negative current clamp
Pos. I Clamp
200%
Link to [301]
Overwind
[434]
-200%
Neg. I Clamp
200%
-1
Link to [48]
Current Demand
[432]
Tension
Enable
D-136 Programming
VALUE FUNC
The value function blocks can be
configured to perform one of a
number of functions upon a fixed
number of inputs.
Boolean inputs and outputs are
Outputs:
FALSE = 0.00
TRUE = 0.01
Inputs:
-0.005 < x < 0.005 = FALSE,
Else TRUE
Programming D-137
VALUE FUNCTION
Parameter
Tag
Range
INPUT A
830, 835, 840, 845, 850, 855, 860, 865, 870,
-32768 to 32768
875
General purpose input.
INPUT B
831, 836, 841, 846, 851, 856, 861, 866, 871,
-32768 to 32768
876
General purpose input.
INPUT C
832, 837, 842, 847, 852, 857, 862, 867, 872,
-32768 to 32768
877
General purpose input.
TYPE
833, 838, 843, 848, 853, 858, 863, 868, 873,
See below
878
The operation to be performed on the three inputs to produce the output value.
0: IF(C) -A
16: TIMER
31: PROFILE x^3
1: ABS(A+B+C)
17: MINIMUM PULSE
32: PROFILE x^4
2: SWITCH(A,B)
18: PULSE TRAIN
33: ON A>B, OFF A<C
3: (A*B)/C
19: WINDOW
34: (A+B) CLAMPED C
4: A+B+C
20: UP/DWN COUNTER
35: (A-B) CLAMPED C
5: A-B-C
21: (A*B)/C ROUND
36: (A*B) CLAMPED C
6: B<=A<=C
22: WINDOW NO HYST
37: (A/B) CLAMPED C
7: A>B+/-C
23: WIND A>=B,A<=C
38: A>=B:A, A<=C:0
8: A>=B
24: A<=B
39: (A * B) + C
9: ABS(A)>B+/-C
25: ((A*B)/100)+C
40: A * (B + C)
10: ABS(A)>=B
26: MIN(A,B,C)
41: A * (B - C)
11: A(1+B)
27: MAX(A,B,C)
42: A * (1+B/C)
12: IF(C) HOLD(A)
28: PROFILE SQRT
43: A * (1+(B * C))
13: BINARY DECODE
29: PROFILE LINEAR
44: MONOSTABLE HIGH
14: ON DELAY
30: PROFILE x^2
45: MONOSTABLE LOW
15: OFF DELAY
46: FILTER
OUTPUT
834, 839, 844, 849, 854, 859, 864, 869, 874,
.xx
879
The result of performing the selected operation on the inputs.
D-138 Programming
Functional Description
OUTPUT is generated from the inputs according to the operation type selected. The output is always limited to be within the range -32768.00 to
+32767.00.
Operation
Description
IF(C) -A
If INPUT C is not zero the OUTPUT is minus INPUT A, otherwise the OUTPUT is the same as INPUT A.
ABS(A+B+C)
The OUTPUT is set to the absolute value of INPUT A + INPUT B + INPUT C.
SWITCH(A,B)
INPUT A
If INPUT C is zero the OUTPUT is set to INPUT A, otherwise the output is
OUTPUT
set to INPUT B
INPUT B
INPUT C
(A*B)/C
The OUTPUT is set to (INPUT A * INPUT B) / (INPUT C). The algorithm compensates for the remainder term.
A+B+C
The OUTPUT is set to (INPUT A + INPUT B + INPUT C).
A-B-C
The OUTPUT is set to (INPUT A - INPUT B - INPUT C).
B <= A <= C
The OUTPUT is set to the value of INPUT A, limited to between a
INPUT A
OUTPUT
maximum value of INPUT C and a minimum value of INPUT B. If INPUT
B is greater than INPUT C the output is undefined.
INPUT B
INPUT C
A>B+/-C
The OUTPUT is TRUE if INPUT A is greater than INPUT B + INPUT C.
INPUT A
OUTPUT
The OUTPUT is FALSE if INPUT A is less than INPUT B - INPUT C.
INPUT B
INPUT C
Otherwise the OUTPUT is unchanged. In this way the block acts as a simple comparator with a comparison level of INPUT B
and a hysteresis band equal to +/- INPUT C.
A>=B
The OUTPUT is TRUE if INPUT A is greater than or equal to INPUT B,
INPUT A
OUTPUT
otherwise the OUTPUT is FALSE.
INPUT B
Programming D-139
Operation
Description
ABS(A)>
The OUTPUT is TRUE if the magnitude of INPUT A is greater than or equal
| INPUT A |
ABS(B)+/-C
OUTPUT
to the magnitude of INPUT B - INPUT C.
| INPUT B |
INPUT C
The OUTPUT is FALSE if the magnitude of INPUT A is less than the magnitude of INPUT B - INPUT C. Otherwise the
OUTPUT is unchanged. In this way the block acts as a magnitude comparator with a comparison level of INPUT B and a
hysteresis band equal to +/- INPUT C.
ABS(A)>
The OUTPUT is TRUE if the magnitude of INPUT A is greater than or equal
| INPUT A |
=ABS(B)
OUTPUT
to the magnitude of INPUT B, otherwise the OUTPUT is FALSE.
| INPUT B |
A(1+B)
The OUTPUT is set to INPUT A + ( INPUT A * INPUT B / 100.00 ).
IF(C) HOLD A
If INPUT C is zero, the OUTPUT is set to INPUT A, otherwise the OUTPUT is unchanged.
On powering up the drive, the output will be pre-loaded with the last saved value of input B.
BINARY DECODE
The OUTPUT is set according to which of the INPUTs are non-zero.
INPUT C INPUT B INPUT A
OUTPUT
0
0
0
0.00
0
0
≠0
1.00
0
≠0
0
2.00
0
≠0
≠0
3.00
≠0
0
0
4.00
≠0
0
≠0
5.00
≠0
≠0
0
6.00
≠0
≠0
≠0
7.00
In the above table, ≠0 indicates that the corresponding input is not zero.
D-140 Programming
Operation
Description
ON DELAY
input A
input C FALSE
output
input C TRUE
t
Target time (input B)
A programmable delay between receiving and outputting a Boolean TRUE signal.
INPUT A becoming TRUE starts the delay timer. INPUT B sets the duration of the delay in seconds (1 = 1 second). At the end
of the duration, OUTPUT becomes TRUE unless INPUT A has reverted to FALSE. Setting INPUT C to TRUE (≠0) inverts the
output.
OFF DELAY
input A
input C FALSE
output
input C TRUE
t
Target time (input B)
A programmable delay between receiving and outputting a Boolean FALSE signal.
INPUT A becoming FALSE starts the delay timer. INPUT B sets the duration of the delay in seconds (1 = 1 second). Setting
INPUT C to TRUE (≠0) inverts the output. At the end of the duration, OUTPUT becomes FALSE unless INPUT A has reverted
to TRUE.
Programming D-141
Operation
Description
TIMER
input A
input B
output
Times the period elapsed from when INPUT A is set TRUE and held TRUE, to when INPUT B becomes TRUE.
OUTPUT is the duration of the timer in seconds (1 = 1 second), starting from zero. If INPUT B is TRUE, the value for
OUTPUT is held until INPUT B is released. If on release INPUT A is still TRUE, the timer will continue from the held value.
Setting INPUT A and INPUT B to FALSE resets the timer.
INPUT C is not used.
MINIMUM PULSE
input A
input C FALSE
output
input C TRUE
t
t
Duration (input B)
Creates an output of adjustable minimum time when INPUT A is TRUE. (INPUT A is assumed to be a sequence of TRUE
pulses and FALSE off periods.)
INPUT B sets the length of the minimum pulse required in seconds (1 = 1 second). INPUT C inverts the output when TRUE.
The duration of the pulse is at least the period set by INPUT B.