SD2S Setup Instructions - SIEB & MEYER...On the page “Motor measurement system” you can adapt the angle controller for the sensorless vector control. The measuring system “Sensorless

SD2S Setup InstructionsSensorless Vector Control (SVC)

Training documentation

P-TD-0000231.22018-11-07

SIEB & MEYERW

CopyrightTranslation of the original instructions, Copyright © 2018 SIEB & MEYER AG

All rights reserved.

This manual or extracts thereof may only be copied with the explicit authorization ofSIEB & MEYER AG.

TrademarksAll product, font and company names mentioned in this manual may be trademarks or registeredtrademarks of their respective companies.

SIEB & MEYER worldwideFor questions regarding our products and technical problems please contact us.

SIEB & MEYER AGAuf dem Schmaarkamp 2121339 LueneburgGermany

Phone: +49 4131 203 0Fax: +49 4131 203 [email protected]://www.sieb-meyer.com

SIEB & MEYER Shenzhen Trading Co. Ltd.Room A208, 2/F,Internet Innovation and Creation services baseBuilding (2),No.126, Wanxia road, Shekou, Nanshan district,Shenzhen City, 518067China

Phone: +86 755 2681 1417 / +86 755 2681 2487Fax: +86 755 2681 [email protected]://www.sieb-meyer.cn

SIEB & MEYER Asia Co. Ltd.4 Fl, No. 532, Sec. 1Min-Sheng N. RoadKwei-Shan Hsiang333 Tao-Yuan HsienTaiwan

Phone: +886 3 311 5560Fax: +886 3 322 [email protected]://www.sieb-meyer.com

W

2 SD2S Setup Instructions - Sensorless Vector Control (SVC)

mailto:[email protected]

http://www.sieb-meyer.com


http://www.sieb-meyer.cn


http://www.sieb-meyer.com

1 General Information .......................................................... 51.1 SVC Structure ............................................................................................. 5

2 Device Connection and Software Startup ......................... 72.1 Install Software ........................................................................................... 72.2 SD2S Connection and Switch-on ................................................................ 72.3 Start Software ............................................................................................. 7

3 Create Parameter Set ....................................................... 9

4 Parameters of the Controller ........................................... 134.1 Motor Measurement System “Sensorless vector controlled / SVC” .......... 13

Magnetic alignment current ................................................................................................. 13Angle Controller ................................................................................................................... 14

4.2 Speed Reference Values .......................................................................... 154.3 Variable Ramps ........................................................................................ 184.4 Speed Controller ....................................................................................... 194.5 Reference Current Filters .......................................................................... 214.6 Current Controller ..................................................................................... 224.7 Start-up ..................................................................................................... 234.8 Field Weakening ....................................................................................... 25

5 Example for Initial Operation of the Motor ....................... 275.1 Check Current Controller Settings ............................................................ 285.1.1 Activating the Controller ........................................................................................ 285.1.2 Current Curve in Oscar ......................................................................................... 285.1.3 Error E45 ............................................................................................................... 295.2 Check Ramps ........................................................................................... 295.3 Check Direction of Rotation ...................................................................... 305.4 Optimize Starting Current ......................................................................... 305.5 Optimize Start Threshold .......................................................................... 315.5.1 Calculate Start Threshold ...................................................................................... 315.5.2 Measure Start Threshold ....................................................................................... 325.6 Optimize Tacho Filter ................................................................................ 335.7 Optimize Speed Controller ........................................................................ 33

6 Troubleshooting .............................................................. 37

W Content

SD2S Setup Instructions - Sensorless Vector Control (SVC) 3

Content W


1 General InformationThis document shall help you during initial operation of an SD2S with sensorless vectorcontrol (SVC).

The drive function “SERVO / VECTOR ” with the measuring system “Sensorless vectorcontrolled / SVC” enables sensorless operation of synchronous motors in an easy way.Thereby, output frequencies up to 2000 Hz are possible.

SVC is a closed-loop control with sensorless speed evaluation.

1.1 SVC Structure

Fig. 1: Structure of the sensorless vector control

W General Information


1

General Information W


1

2 Device Connection and SoftwareStartup

Read the hardware and software documentation of your device and payattention to the safety instructions.

2.1 Install Software➮ Install the latest version of the software drivemaster2 on your PC.

This is located in the download directory of the SIEB & MEYER web page underwww.sieb-meyer.de. (Please use the guest login.)

2.2 SD2S Connection and Switch-onThe following connectors must be wired at the least:▶ power supply (single-phase/three-phase)▶ motor phases (U, V, W, PE)▶ OSSD (safety circuit)

─ connection without safety function:X10 (036212Xxy, 0362X40xy to 0362X43xy): bridge pin 1 and pin 3 to pin 6X43 (0362X44xy to 0362X48xy): bridge pin 1 and pin 3 to pin 5

▶ communication with PC (e.g. USB port)▶ external ballast resistor, if applicable

We recommend also to connect the digital input D-IN2 with a quick stopfunction.

➮ Switch on the device now.The device driver has been copied during the software installation. After switch-onthe driver for SD2S is selected automatically by the operating system.With USB connection the driver installation may take some time. When the driverwas installed correctly, the Windows Device Manager displays it as “LibUsb-86xSM2 Device”.

2.3 Start Software➮ Start the software drivemaster2.➮ Select the option “Setup connection to the device” in the start screen and

configure the type of communication.➮ Click on the button “Search devices + connect” to apply your selection.✔ The connected SD2S is found by the software and appears in the user interface

as online device.

According to the delivery status of the device there are the following possibilities now:1. The device was delivered with a complete parameter set (incl. controller adjust‐

ment).a) The preset project is read from the device. The device is ready for operation.

2. The device was delivered without parameter set.

W Device Connection and Software Startup


2

http://www.sieb-meyer.de/downloads-144.html

a) The parameter set must be created according to the data sheet of the motormanufacturer. The controller parameters must be set.

b) An existing parameter set must be written into the device.

Device Connection and Software Startup W


2

3 Create Parameter SetIf the device was delivered without parameter set, the following window is displayedafter the device search.

➮ Click on the button “Create a parameter set ...”. A respective wizard will beopened. It takes you step-by-step through the parameter set creation.

➮ Step 1 – Drive Hardware: The basic drive is recognized automatically by the soft‐ware.

➮ Step 2 – Basic Data: Select the drive function “SERVO / VECTOR ”.➮ Step 3 – Motor Selection: Select the option “Edit all motor data” and edit the field

“Motor type”.

W Create Parameter Set


3

➮ Step 4 – Motor Data: Enter the motor data from the data sheet provided by themotor manufacturer. The highlighted motor data (in bold) are necessary for param‐eterization and must be adapted to the connected motor.

➮ Step 5 – Motor Feedback: Select the motor measuring system “Sensorless vectorcontrolled / SVC”.

➮ Step 6 – Controller: Select the control performance of the speed controller.

─ Stiffness of the speed controllerhard: highest bandwidth, can tend to vibratingmedium: medium bandwidthsmooth: lowest bandwidth, can overshoot muchMedium stiffness of the controller is suitable for the most applications.

─ Moment of inertia ratio of motor to loadExample:

Motor = 0.1 kg m²·1000 Tool = 0.05

Moment of inertia ratio = 1 : 0.5

kg m²·1000

If you do not know the moment of inertia ratio of your application, set themoment of inertia ratio to '0'.

➮ Step 7 – Operating Mode: The operating mode is always “Velocity mode 1”. Selectthe control channel according to the connection.

Create Parameter Set W


3

➮ After you have finished the parameterization with the wizard, select the menu

“Loader ÿ Write parameters to drive” or the button . Then, the parameters arewritten into the device.

If the system software of your device is not suitable for the parameterization,a respective message will pop up. In this case update the system softwareas described in the dialog window.

The latest version of the software drivemaster2 always includes the latestsystem software.

W Create Parameter Set


3

Create Parameter Set W


3

4 Parameters of the ControllerAfter the parameter set has been created by means of the wizard, the drive is properlyset to operate the motor. However, depending on the specific application you mustmake several additional settings in the controller parameters.

The following sections describe the controller settings for SVC operation.

4.1 Motor Measurement System “Sensorless vectorcontrolled / SVC”On the page “Motor measurement system” you can adapt the angle controller for thesensorless vector control. The measuring system “Sensorless vector controlled / SVC”has been set by the parameter wizard.

Magnetic alignment current

This parameter group is used to configure the alignment. The phasing of the motor isalso referred to as magnetic alignment.

Magnetic alignment current

The parameter indicates the current in amperes, which is to be supplied when themotor is phased in.

The magnetic alignment current should not be higher than the rated current of themotor.

W Parameters of the Controller


4

DANGERPhasing of the motor

Some drive configurations do not allow phasing-in a motor. The reason is that insome cases the brakes must be released and torques are effective.

If the motor is not able to phase in, the commutation is incorrect and thus thecontrol does not work.

Set-up time

The parameter indicates the phasing time in milliseconds.

Angle Controller

During sensorless vector control an angle controller is used to adapt the commutation.

Max. angle error

The parameter indicates the maximum angle error in degrees. A typical maximumangle error is 8°.

If the actual speed is very noisy, you can allow a greater maximum angle error. Themaximum angle error indirectly determines the bandwidth of the angle controller.

If the maximum angle error is beyond the normal value range (message indrivemaster2 software), the motor data are incorrect in most cases.

Bandwidth

The bandwidth of the angle controller determines the dynamics of sensorless commu‐tation finding. The unit is hertz.

The bandwidth is normally between 20 Hz and 80 Hz (typical value: 30 Hz). It is setindirectly via the maximum angle error.

Parameters of the Controller W


4

4.2 Speed Reference ValuesOn the page “Speed ref. values” you can parameterize the reference value generator.

Direction of rotation

The parameter defines the direction of motor rotation for positive reference values(viewed from the shaft end):▶ clockwise rotation = CW▶ counterclockwise rotation = CCW

The direction of rotation set in the software should match the actual rotationdirection of the motor. If this is not the case, two motor phases must beexchanged.

Direction lock

If only one direction of the motor is permitted, you can lock the other direction via thisparameter. The following settings are available:▶ None: Both positive and negative speed values are passed to the motor.▶ Positive: Positive speed values are not passed to the motor.▶ Negative: Negative speed values are not passed to the motor.

Skip bandwidth

By means of a skip bandwidth you can prevent that definite speeds are driven for along time. These speeds might be e.g. resonances of a machine.

Example▶ Skip velocity: 50000 rpm▶ Skip range: 10000 rpm▶ max. admissible speed below skip speed = 40000 rpm▶ min. admissible speed above skip speed = 60000 rpm



4

Speed reference values within the skip bandwidth (40000 – 60000 rpm) aresuppressed:

Max. limit

The parameter indicates the maximum possible reference speed in revolutions perminute.

Min. limit

The parameter indicates the minimum possible reference speed in revolutions perminute.

NMin mode

Via this parameter you can select the reference speed to be driven in case a targetvalue below the minimum speed has been selected.

Mode “N-Ref = 0”:



4

Mode “N-Ref = N-Min” (hysteresis):

It is not possible to reverse the direction of the motor rotation, when thetarget value is below the determined minimum speed.

Ramps

The ramps limit the acceleration via the reference speed value. They are indicated inmilliseconds. The parameter displays the time required for reaching the speed scalingfrom standstill. A ramp of e.g. 12000 ms together with a speed scaling of 120000 rpm

makes a maximum acceleration of 167 1/s² or 10000

s1/min

.▶ Acceleration ramp:

The parameter indicates the time for the acceleration from 0 to the speed limit: (|ν (t + Δt)| - |ν (t)| > 0)

▶ Deceleration ramp:The parameter indicates the time for a break application to speed 0: (|ν (t + Δt)| - |ν (t)| < 0)

▶ Quick stop ramp:The parameter indicates the time for a quick stop to speed 0: (|ν (t + Δt)| - |ν (t)| < 0)

Variable ramps

By means of the function “Variable ramps” you can set a limit for the mean actualcurrent. For this purpose the acceleration is reduced depending on the actual current.Typically, variable ramps are applied during the start-up of pumps or fans.▶ Off:

The function is not active – the ramps are fix as specified above.▶ Type 1 (Current controlled ramp - relative to Imax):

The acceleration is relative to the maximum current. For this purpose you must setthe characteristic curve on the page “Variable Ramps”.

▶ Type 2 (Current controlled ramp - absolute currents):The acceleration is relative to a fix current value. For this purpose you must setthe characteristic curve on the page “Variable Ramps”.



4

4.3 Variable RampsOn the page “Variable ramps” you can parameterize a limitation for the mean current.This page is only displayed when a variable ramp of type 1 or type 2 is set on the page“Speed ref. values”.

The maximum current (Imax) can be changed via the analog inputs as wellas via a bus system.

Type 1 – Current controlled ramp – relative to Imax

The acceleration is limited relative to the maximum current:

The following parameters must be set:▶ Start threshold (P1):

Indicates the current in percent at which the reduction of the acceleration isstarted. For assistance the corresponding current value is displayed in gray colorbelow.

▶ Minimum acceleration (P2):Indicates the minimum acceleration in percent. A negative value corresponds to'braking'.

▶ Stop threshold (P2):Indicates the current in percent at which the reduction of the acceleration isstopped and the minimum acceleration is kept. For assistance the correspondingcurrent value is displayed in gray color below.



4

Type 2 – Current controlled ramp – absolute currents

The acceleration is limited via absolute current values:

The following parameters must be set:▶ Start threshold (P1):

Indicates the current in amperes at which the reduction of the acceleration isstarted. For assistance the corresponding percent value (of the maximum current)is displayed in gray color below.

▶ Minimum acceleration (P2):Indicates the minimum acceleration in percent. A negative value corresponds to'braking'.

▶ Stop threshold (P2):Indicates the current in amperes at which the reduction of the acceleration isstopped and the minimum acceleration is kept. For assistance the correspondingpercent value (of the maximum current) is displayed in gray color below.

4.4 Speed ControllerOn this page you can set the parameters of the speed controller.

Amplification Kp

The parameter specifies the proportional amplification of the speed controller independance on the speed scaling and the peak current of the power output stage.



4

The parameter wizard sets this value automatically during parameter set creation whenthe following values are correct:▶ Moment of inertia of the motor▶ Torque constant of the motor▶ Stiffness of the speed controller (damping)▶ Velocity scaling▶ Drive peak current (is derived from the drive designation)

If you have configured additional reference current filters or a long tacho filtertime, you must possibly reduce the amplification Kp.

The proportional amplification is in charge of the drive dynamics. The higher the valueis set, the quicker the speed control circuit can react. If the amplification value is settoo high, the speed control circuit starts vibrating.

Integration time Ti

The parameter sets the integral amplification of the speed controller (therefore it isoften called integral time constant Ti). The integration time Ti is indicated in millisec‐onds.

The parameter wizard sets this value automatically during parameter set creation whenthe following values are correct:▶ Stiffness of the speed controller (damping)

If you have configured additional reference current filters or a long tacho filtertime, you must possibly increase the integral time Ti.

The integral time makes sure that the control deviation is zero in steady-state conditionwith constant reference value. The smaller the integration time is selected, the moreaccurate the speed control operates. If the value is set too small, the speed controlcircuit starts vibrating.

Filter time (tacho filter)

The parameter indicates the filter time for the actual speed (tachometer) in millisec‐onds. If the actual speed is noisy, you can smooth it by means of the filter.

A typical filter time value is 1 ms (at 230 V mains supply) or 3 ms (at 400 V mainssupply). You can increase the time constant, if a more smooth actual speed is needed.



4

4.5 Reference Current FiltersYou can set up to 4 reference current filters.

Filter 1–4

The parameter specifies the type of the filter. It is set by means of a selection list. Theoptions “No filter”, “Low-pass 1. order”, “Low-pass 2. order” and “Band-stop filter” areavailable.

Low-pass 1st/2nd order

A low-pass is used to suppress noise in the reference current value. This noise iscreated e.g. by noisy speed measurement. By means of the low-pass losses in thepower output stage and in the motor can be reduced.

You can use a low-pass 1st order or a low-pass 2nd order with Butterworth character‐istic. Set the desired filter and enter the 3 dB cutoff frequency of the filter. The unit ishertz.

Please consider that a low-pass in the reference current value reduces thedynamics of the torque output. For this reason you must possibly adapt thecontrol parameter of the speed controller (reduce the amplification andincrease the integration time).

Band-stop filter

A band-stop filter is used to suppress resonance frequencies caused by the mechan‐ical construction of the driven machine.

Enter the center frequency of the band-stop filter. The bandwidth is set automatically.The unit is hertz.

Please consider that a band-stop filter in the reference current value canreduce the dynamics of the current control. For this reason you mustpossibly adapt the control parameter of the speed controller (reduce theamplification and increase the integration time).



4

4.6 Current ControllerVia the parameter page “Current controller” you can set the current limitation, theholding current and the control parameters.

Iq-Max

The parameter indicates the maximum torque-generating current (Iq) as RMS value inamperes. The maximum value of Iq-Max corresponds to the peak currents of motorand power output stage.

Holding function

The parameter indicates whether a holding current is used. The holding current isactive when the controller is switched on and no reference value is set. The holdingcurrent shall keep the motor in position at standstill.

The desired current is defined in the parameter “Holding current” in amperes.

Field weakening

Via this parameter an additional negative magnetizing current (Id) can be applied toelectrically attenuate the magnetic field. This way the motor can reach higher speedsat the same voltage supply.

If field weakening is switched on, the parameters “Id-Max” and “Limit” are displayed onthe page “Current controller”:

Id-Max The parameter indicates the maximum magnetizing current asRMS value in amperes.

Limit The parameter indicates the limitation in the current controller forthe reference value of the current. The limit is indicated as RMSvalue in amperes. The maximum value of the limit correspondsto the peak currents of motor and power output stage.

In addition, the controller page “Field weakening” is displayed for further parameteriza‐tion.



4

Bandwidth current controller

The current is controlled via a status controller. The dynamics of the status controllerare determined via its bandwidth in hertz.

If the bandwidth is set too small, the current controller dynamics are too low, i.e. thecurrent control works rather slowly. If the bandwidth is set too great, the currentcontroller may become unstable. In this case the drive is switched off due to the errorE45 “Short circuit in power output stage”.

A typical bandwidth is 1500 Hz.

If the error E45 is triggered, the bandwidth must be reduced to 1100 Hz orpossibly to 800 Hz.

Bandwidth observer

A voltage observer is used to determine the commutation. The dynamics of the voltageobserver are determined via its bandwidth in hertz.

If the bandwidth is set too small, the observer dynamics are too low, i.e. the voltageobserver works rather slowly. If the bandwidth is set too great, the observer maybecome unstable. In this case the drive is switched off due to the error E45 “Shortcircuit in power output stage”.

A typical bandwidth is 2000 Hz.

If the error E45 is triggered, the bandwidth must be reduced to 1500 Hz orpossibly to 1100 Hz.

4.7 Start-upIn the low speed range it is not possible to determine the commutation for sensorlessvector control. That means the commutation can not be calculated until a definiteminimum output voltage or speed is reached. For this reason the motor must be accel‐erated to a minimum speed via open-loop control at first. Then it can be controlled bySVC. The same applies for the braking process. The motor is decelerated speed-controlled as long as the commutation can be calculated. In consequence there aretwo motor driving ranges, “Open loop range” and “Speed-controlled range”.



4

The page “Start-up” provides parameters to set the behavior of the drive in the openloop range.

Start-up current

The parameter indicates a constant current as RMS value in amperes that is appliedon start-up. The starting current must be greater than the acceleration current of thedrive (at least 120 %).

Reduction start-up current

The parameter indicates a reduction of the strart-up current in percent.

The start-up current should be reduced for motors with high breakaway torque, forexample motors with foil bearings.

Start threshold

The parameter indicates the speed in revolutions per minute, at which the commutationis to be calculated and the control circuits are activated. The value can be determinedby means of the output voltage (5 to 10 % of the maximum mains voltage are neces‐sary for commutation finding).

Holding current

At standstill the drive must not lose the commutation. Therefore a holding current isapplied. The holding current should be in the range of 5 to 25 % of the motor ratedcurrent.

Stop threshold

When the speed reference value (N-ref controller) drops below this value, braking themotor is continued by open-loop control.

The parameter is write-protected at present. The speed parametrized in the startthreshold is applied for the stop threshold as well.



4

Braking current

The parameter indicates the braking current as RMS value in amperes. This current isapplied during open-loop controlled braking.

When operating highly inductive motors the commutation can shift due tohigh braking torques. In this case the braking rate is reduced automatically,i.e. the deceleration time might be longer.

4.8 Field WeakeningThe parameter page “Field weakening” is only displayed when field weakening isswitched on in the current controller. The page provides additional parameters to setthe field weakening range.

Use min. DC link voltage

If the check box is activated, the bus voltage of the DC link is smoothed. This reducesfluctuation of current in the field weakening range.

Voltage reserve

The parameter indicates a voltage as RMS value in volts that is used as a reserve fordynamic control in the field weakening range.

Use external VP Module

This check box must be activated, when an external VP Module (Voltage ProtectionModule = module to limit the DC link voltage in the event of an error) is used.



4

NOTICEOvervoltage at speeds > Nmax

If the motor is operated at speeds > Nmax, the overvoltage limit of the drive ampli‐fier could be reached in the event of an error and the device will be destroyed.

Use an external VP Module, if the motor will be operated at speeds > Nmax.



4

5 Example for Initial Operation of theMotorThe following sections describe step-by-step how to adjust the controller for initial oper‐ation of the motor. For this purpose, at first you must set the basic parameters of SD2Sby means of the parameter wizard (see chapter 3 "Create Parameter Set", page 9).

For controller adjustment the tools drive-setup-tool and Oscar are available. You canstart both tools via the drivemaster2 user interface.

Activate drive setup

➮ In order to control the drive via drive-setup-tool , click the button “Drive SetupActive” and confirm the following inquiry with “OK”.

Configuration files for Oscar

In the following examples, ready-made configuration files for the Oscar are used. Youfind these configuration files (file extension *.OCf) in the installation path of the soft‐ware drivemaster2 in the subfolder “SM_Ini”.

W Example for Initial Operation of the Motor


5

5.1 Check Current Controller SettingsThe parameter wizard sets the bandwidth of the current controller automatically. Inorder to check this setting you can activate the controller shortly and optionally recordthe actual current curve in theOscar.

5.1.1 Activating the Controller

➮ Activate the controller for a short time. If the error E45 “Short circuit in poweroutput stage” is not triggered, the current controller parameters are set correctly.If the error E45 “Short circuit in power output stage” s displayed, proceed asdescribed in section 5.1.3 "Error E45", page 29.

5.1.2 Current Curve in OscarOptionally you can record the current curve in the Oscar and thereby check the motorparameters further.

Settings in the Oscar➮ Start the Oscar. Select the menu “File ÿ Load settings” and open the file

“SVC_CurrentController.OCf”. Thus, the trigger parameters in the Oscar are setfor the test.

➮ Click the button “Single Shot”. Now the record ist started once on controllerstartup.

Settings in the drive-setup-tool➮ Make the following settings in the field “Function”:

─ Function = Velocity - absolute values─ Max. current = half the motor rated current

➮ Tab page “Current Ref-Filters”: Deactivate all filters for this test.

After the test you must reactivate the used current reference filters.

Recording➮ Start the test by click on the button “Enable Operation” in drive-setup-tool. A

second click on “Enable Operation” stops the record.A current controller with a bandwidth of 1500 Hz has a rise time of 1 ms.─ The following figure shows the current curve, when the current controller is set

correctly.

Example for Initial Operation of the Motor W


5

─ A current curve similar to the following figure is recorded, when the actualinductance of choke and motor is greater than the value set in the parame‐ters. In this case the rise time is longer than 1 ms and the current mayovershoot.

─ The following figure shows a curve recorded when the actual inductance ofchoke and motor is smaller than the value set in the parameters. In this casethe rise time is shorter than 1 ms and the current may be noisy/vibrating.

5.1.3 Error E45

If the controller displays the error E45 “Short circuit in power output stage” during acti‐vation although the motor data are parameterized correctly, proceed as follows:➮ Open the page “Parameters ÿ Controller ÿ Current controller” in the software

drivemaster2.➮ Reduce the bandwidth of the current controller step-by-step by approximately

−25 % ((i.e. for the first step: current controller 1500 Hz → 1100 Hz, observer2000 Hz → 1500 Hz).

➮ Load the new parameters after each change into the controller using the button

. Then, activate the controller shortly. As soon as the controller does notdisplay the error E45 after activation anymore, the current controller is setcorrectly.

5.2 Check RampsThe ramp times are to find in drivemaster2 via “Parameters ÿ Controller ÿ Speedref. values”. The values were set by the software according to the speed scaling of themeasuring system.



5

➮ Check that the ramp times are suitable for your individual application. If this is notthe case, change the parameters as required and write the new values into the

drive using the button .

5.3 Check Direction of Rotation

The actual direction of motor rotation must match the parame‐terization on the page “Speed ref. values” in drivemaster2. Ifthis is not the case, two motor phases must be exchanged.

Check the direction of rotation using drive-setup-tool:➮ Make the following settings in the field “Function”:

─ Function = Velocity - absolute values─ Max. current = motor rated current─ Demand velocity = 15 % of rated motor speed

➮ In order to start the test click first on the button “Enable Operation ” and then acti‐vate the button “Start”.

➮ Check that the direction of rotation of the motor matches the parameterization.

If the error E44 “Commutation lost” is displayed during the test, the motorparameters “Torque constant” and “Moment of inertia” are not correct or thebandwidth of the angle controller is set too great.

➮ Quit the test by clicking the buttons “Start” and “Enable Operation”.➮ If the direction of rotation of the motor did not match the parameterization during

the test, you must exchange two motor phases.

5.4 Optimize Starting CurrentThe starting current must always be higher than the acceleration current. In order toset the starting current optimally, you must at first determine the acceleration currentusing the Oscar.


“SVC_Profile.OCf”. Thus, the trigger parameters in the Oscar are set for the test.➮ Click the button “Single Shot”. Now the record ist started once on controller

startup.


─ Function = Velocity - absolute values─ Max. current = motor peak current─ Demand velocity = 25 % of motor rated speed

Recording➮ In order to start the test click first on the button “Enable Operation” and then acti‐

vate the button “Start” in drive-setup-tool.➮ Quit the test, when the set speed is reached. (Click a second time on the button

“Start” and as soon as speed zero is reached click “Enable Operation”.)



5

➮ Look at the actual current curve generated in the Oscar and read out the accelera‐tion current. For this purpose click on channel “CH4” to display the actual currentscaling.

➮ Open the page “Parameters ÿ Controller ÿ Start-up” in the software drive‐master2 and set the parameter “Startup current” to at least 120 % of the accelera‐tion current.

➮ Load the parameters to the drive via the button .

5.5 Optimize Start ThresholdThe start threshold speed should be at a motor voltage of 5 to 10 % of the mainsvoltage of the connected SD2S:▶ mains voltage = 230 Vrms → voltage threshold = 15 Vrms▶ mains voltage = 400 Vrms → voltage threshold = 30 Vrms

You can either calculate the start threshold or measure it in Oscar.

5.5.1 Calculate Start ThresholdCalculate the start threshold using the following formula:

Start threshold =Mains supply × 5 %

Voltage constant

Example:▶ mains voltage = 400 Vrms▶ voltage constant = 10 Veff / krpm

n =400 V × 5 % rms10 Vrms / krpm

= 2 krpm

= 2000 rpm

The start threshold n is 2000 rpm.



5

5.5.2 Measure Start Threshold

You need the following configuration to determine the start threshold:


“SVC_StartThreshold.OCf”. Thus, the trigger parameters in the Oscar are set forthe test.

➮ Click the button “Single Shot”. Now the record ist started once on controllerstartup.


─ Function = Velocity - absolute values─ Max. current = motor peak current─ Demand velocity = 25 % of motor rated speed


vate the button “Start” in drive-setup-tool.➮ Quit the test, when the set speed is reached. (Click a second time on the button

“Start” and as soon as speed zero is reached click “Enable Operation”.)➮ Look at the actual speed curve generated in the Oscar and read out the start

threshold. For this purpose click on channel “CH4” to display the voltage scaling.Move the mouse pointer to the point, at which the voltage curve has reached 15 or30 Vrms. The corresponding speed value is displayed in the Curves section at"CH2".

➮ Open the page “Parameters ÿ Controller ÿ Start-up” in the software drive‐master2. Enter the read-out value in the parameter “Start threshold”.The parameterized minimum speed must not be smaller than the start threshold.Otherwise the motor could be operated in the open-loop range for longer timeperiods (see “Parameters ÿ Speed ref. values ÿ Min. Limit”).

➮ Load the parameters to the drive via the button .



5

➮ Record a second curve in the Oscar to check the start threshold.

5.6 Optimize Tacho FilterThe actual speed value should not show more than 0.2 % noise in relation to themaximum speed. If the actual speed is too noisy, you can extend the filter time of thetacho filter.

Use the curve generated in the Oscar in section 5.5 "Optimize Start Threshold",page 31 to check the actual speed value:➮ Click on channel “CH2” to display the speed scaling.➮ Zoom into the curve Vact and check whether the actual speed is more noisy than

2 % of the maximum motor speed. If this is the case, open the page “Parametersÿ Controller ÿ Speed controller” in the software drivemaster2 and increase theparameter “Filter time” step-by-step.Values between 1 and 5 ms are typical for the filter time.

➮ Load the new parameters after each change into the drive via the button andrecord a new Oscar curve to check the actual speed until the noise is sufficientlyreduced.

5.7 Optimize Speed ControllerThe parameters of the speed controller are set automatically by the parameter wizard.But you can optimize the parameterization, if required. For this purpose you need thefollowing configuration:


“SVC_SpeedController.OCf”. Thus the trigger parameters in the Oscar are set forthe test.

➮ Click on the button “Normal mode” to activate the trigger. Thus a record is startedon each operating start via the drive-setup-tool.


─ Function = Velocity - reversing function



5

─ Max. current = motor peak current─ V1 = 15 % of the maximum motor speed─ V2 = 30 % of the maximum motor speed─ tp = 0 ms─ t1 = 50 % of the parameterized ramp time─ t2 = 50 % of the parameterized ramp time

➮ Select the tab “Velocity controller” and make the following settings:─ Amplification = 20 % of the currently set value─ Readjustment time Tn = 200 ms


vate the button “Start” in drive-setup-tool.

Reference current noise➮ Click on channel “CH3” to display the scaling of the reference current. Zoom into

the reference current curve generated by Oscar and check that the noise is atleast 2 % of the motor rated current.

─ If the noise is smaller than 2 % of the motor rated current, increase the ampli‐fication Kp by 50 % in the drive-setup-tool. Repeat this step, if necessary.

A parameter changed in drive-setup-tool will immediately become effec‐tive in operation after confirming with ENTER.



5

Second overshoot of reference current➮ Check whether a second overshoot of the reference current is visible in the curve

as shown in the following figure.

─ If a second overshoot is not visible, reduce the readjustment time Tn by 30 %in drive-setup-tool. If necessary, repeat this step until a second overshoot isvisible.

─ As soon as a second overshoot is visible, increase the readjustment time Tnby 50 % in drive-setup-tool.

➮ Load the parameters into the controller via the button in drive-setup-tool.➮ Quit the initial operation by means of drive-setup-tool. (Click “Start ÿ Enable

Operation (at speed zero) ÿ Drive Setup Active”.)



5



5

6 TroubleshootingThe following problems may occur during initial operation:

Code Description Possible cause Remedy

– Direction of rotation of spindle/motoris wrong

Wiring of motor phases is faulty. Correct the wiring of motor phases(U, V, W) according to the datasheet.

Software: Bit for direction of rotationis set wrong.

Change the direction of rotation(CW/CCW) in drivemaster2 (para‐meter page “Speed ref. values”).

Software: Digital input “Speed direc‐tion” is set.

Correct the digital input “Speeddirection”.

Analog reference speed value iswrong.

Correct the analog reference speedvalue.

Software: The analog referencespeed value is inverted.

Analog reference speed value:Correct the parameter “Inverter”(Parameter page “Analog inputs”)

E31 Speed error too great Software: Settings of error E31 arewrong.

Adapt parameter “E31 - Shutdownthreshold” (parameter page “Errors”)

Wiring of motor phases is faulty. Correct the wiring of motor phases(U, V, W) according to the datasheet.

E34 Power supply load monitoring ->mains voltage too low

On switch-on SAFETY is on. Make sure that SAFETY is off beforeswitch-on of the device.

E41 Motor phase lost At least one motor phase is notconnected.

Check motor connections and motorcable.

E44−1 EMF monitoring triggered error. Software: Voltage constant set toogreat.

Reduce voltage constant (parameterpage “Motor”).

Error during alignment (motor break‐down)

Check settings of alignment in drive‐master2 (parameter page “Motormeasurement system”).

Software: Startup current too low(motor breakdown)

Increase startup current (parameterpage “Start-up”)

Software: Tacho filter not correct(motor breakdown)

Change filter time (parameter page“Speed controller”)

Software: Bandwidth of anglecontroller not correct (motor break‐down)

Change bandwidth (Parameter page“Motor measurement system”)

E44−5 Speed too low Too much load Reduce load.

E45 Short circuit in power output stage Power output stage defective Activate power output stage withoutmotor cable.1. Error E41 appears:

Power output stage is OK →motor cable or motor is defec‐tive.

2. Error E45 remains:Power output stage is defective→ please send the device toSIEB & MEYER for repairworks.

Software: Motor parameters are notcorrect.

Correct the motor parameters “statorresistance” and “stator inductance”(parameter page “Motor”).

Software: Bandwidth of currentcontroller too great

Correct bandwidths for currentcontroller and observer “Currentcontroller”)

– Motor vibrates Speed controller is not adjusted. Set Kp and Tn of speed controller(see section 5.7 "Optimize SpeedController", page 33).

W Troubleshooting


6

Code Description Possible cause Remedy

– Digital inputs/outputs are notworking.

No voltage supply for the inputs/outputs.

Connect X15, pin 9 to 24 V.

– Analog outputs are not working. Analog outputs are overloaded. Make sure that the analog outputsare loaded with max. 1 mA.

Troubleshooting W


6

Documents

SD2S Setup Instructions - SIEB & MEYER...On the page “Motor measurement system” you can adapt the angle controller for the sensorless vector control. The measuring system “Sensorless