1 / 42

Drives

TRAINING SUMMER 03. Drives. OMRON-YASKAWA MOTION CONTROL. >> L7Z DIFFERENCE WITH FV. >> CIMR-L7Z OVERVIEW L7Z DIFFERENCE WITH FV HARDWARE FIRMWARE FUNCTIONS. >> CIMR-L7Z OVERVIEW. MAIN HARDWARE FEATURES. 200V and 400V versions 3.7Kw to 22Kw (Up to 55Kw in September)

annot
Télécharger la présentation

Drives

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. TRAINING SUMMER 03 Drives OMRON-YASKAWA MOTION CONTROL

  2. >> L7Z DIFFERENCE WITH FV >> CIMR-L7ZOVERVIEW • L7Z DIFFERENCE WITH FV • HARDWARE • FIRMWARE FUNCTIONS OYMC L7Z training

  3. >> CIMR-L7Z OVERVIEW • MAIN HARDWARE FEATURES • 200V and 400V versions • 3.7Kw to 22Kw (Up to 55Kw in September) • V/F, Open Loop Vector and Closed Loop Vector Control methods • 8xDI, 1xAI, 4xDO (all relay), 3 Option ports : • IO expansion : Analog Input (AI-14B), Digital Input (DI-14H), Analog Output (AO-12), Digital Output (DO-02, DO-08) • Fieldbus :Profibus, DeviceNet, CANopen, Lonworks • PG Feedback : PG-X2, PG-B2 • Braking transistor built-in (Up to 18.5Kw) • Separate Control Power Supply terminal available for emergency rescue system. • New EMC filter “Bottom Plug” available • Pluggable control terminals. Easy maintenance of fan. Fan control from soft. • High nominal current (As FV) OYMC L7Z training

  4. >> CIMR-L7Z OVERVIEW • MAIN L7Z LIFT SOFTWARE FEATURES • Special LIFT sequence with Motor Brake, Contactor, and internal Run control • Specific parameter names. • High flexibility in the sequence behaviour selection (compatibility mode with FV) • Dual Torque compensation at start (Up/Down) in closed loop • Dual Feedforward Slip Compensation (motor/regen) in open loop • New errors • New lift oriented default values • New inertia compensation in closed loop • Added S-ramp for stop • Support for rescue operation with special alarm levels and control. • Simple to use Shortfloor function. OYMC L7Z training

  5. >> L7Z DIFFERENCE WITH FV • CIMR-L7ZOVERVIEW >> L7Z DIFFERENCE WITH FV • HARDWARE • FIRMWARE FUNCTIONS OYMC L7Z training

  6. >> L7Z DIFFERENCE WITH FV • MAIN DIFFERENCE WITH FV/G5 • New Static Autotune modes • Reduced size and reduced price • Improved performance (enhanced algorythms like DC braking, new functions) • New generation IGBTs. Lower voltage drop (reduced losses), smaller size. • Fan silent control when not working. • New DCCT current sensors. Faster response (1V/µs, FV was 8V/µs). Linearity • New generation capacitors with higher ripple current capacity, smaller size. • Better error handling and detection (GF is detected by specific slow circuitry (300 µs, OC is detected faster from the new DCCT in 8µs) • Same nominal rating as FV, although reduced duty cycle. • No RS-422 available in L7Z. RS-232 MEMOBUS is available. • Full 4 line LCD display • Of course : MANY NEW LIFT SOFTWARE FUNCTIONS OYMC L7Z training

  7. >> HARDWARE • CIMR-L7ZOVERVIEW • L7Z DIFFERENCE WITH FV >> HARDWARE • FIRMWARE FUNCTIONS OYMC L7Z training

  8. >> HARDWARE • STANDARD L7Z OYMC Labeling following Yaskawa naming • 3.7Kw to 55Kw now available OYMC L7Z training

  9. >> HARDWARE • L7Z WITH OPTIONAL LCD L7Z accepts PG option boards for Closed Loop Vector Pluggable terminal block OYMC L7Z training

  10. >> HARDWARE • HARDWARE SPECS OYMC L7Z training

  11. >> HARDWARE • CURRENT LIMITS AND SWITCHING FREQUENCY OYMC L7Z training

  12. Line Filter PG >> HARDWARE • POWER WIRING DC reactor to improve input power factor (Optional) Shielded wires Twisted-pair wires Braking Resistor unit (optional) U X Magnetic Contactor Short -circuit Bar Motor Fuse (+2) (-) B2 B1 U/T1 L1 3-phase power 380 to 480V 50/60Hz V/T2 IM L2 L3 W/T3 PE See emergency supply slide for other options P0 DC/DC Converter For option Input Voltage 48/96VDC For Battery Output Voltage For Control power supply P N0 OYMC L7Z training

  13. PG >> HARDWARE • CONTROL WIRING DI + Encoder Wiring (with PG) Forward run/stop S1 TA1 Reverse run/stop S2 Nominal speed S3 P Inspection Run S4 PG-X2 P Multi-function contact Inputs (Factory setting) (Option) Intermediate speed S5 Leveling speed S6 Shielded wires Not used S7 TA3 Hardware Baseblock BB Twisted-pair wires +24V 8mA TA2 A Pulse SC IP24V (24V) Pulse Monitor Output RS-422 Level (100m or less wiring) B Pulse CN5 (NPN setting) Z Pulse E(G) OYMC L7Z training

  14. M 1 M 2 >> Hardware • CONTROL WIRING AI + DO (relay outputs) Shielded wires E(G) M A Frequency setting adjustment Twisted-pair wires +V Fault contact Output 250VAC 1A or less 30VDC 1A or less Frequency setting power +15V 20mA M B 2KΩ M C External frequency reference Frequency setter 3 Master speed reference 0 to 10V 2 A1 0 to 10V 2KΩ 1 P AC Brake Command (Factory setting) 0V M 3 Multi-function Contact Output 250VAC 1A or less 30VDC 1A or less Communication and Control Cards (For Option) Contactor Control (Factory setting) M 4 2CN M 5 Inverter Ready (Factory setting) M 6 OYMC L7Z training

  15. >> HARDWARE • DETAIL ON CONTROL I/O LAYOUT AND CN5 NPN Internal Power supply (default) NPN External Power supply PNP Internal Power supply PNP External Power supply OYMC L7Z training

  16. >> HARDWARE • NEW BOTTOM-PLUG EMC FILTERS • New filters are being developed that provide CLASS A EMC filtering for 10m motor cable in compact size. • Available filters will be : • 18Amps for 3.7 –5.5kW • 35Amps for 7.5-11kW • 60Amps for 15-18.5kW • 100Amps for 22kW • Filters will be available for other inverters. • NOTE : Filter in image is a prototype OYMC L7Z training

  17. SoftCharge Resistor A A P ３ ＋ A ’ C R U S V ～ T W － B E D Control Power P ０ 200VClass(DC250V～300V) ＲＣＣ 400VClass(DC500V～600V) Minimum DC voltage 250V In both cases. Possible To use 220Vac UPS + rectifier N ０ E SX Battery　Operation Input SC setting 85 >> HARDWARE • EMERGENCY SUPPLY WIRING. USING BATTERY OYMC L7Z training

  18. >> FIRMWARE FUNCTIONS (FW1030) • CIMR-L7ZOVERVIEW • L7Z DIFFERENCE WITH FV • HARDWARE >> FIRMWARE FUNCTIONS (FW 1030) OYMC L7Z training

  19. DCInjection DCInjection zero servo zero servo S1-16 (200ms) brake open RUN Delay time delay time brake close delay time open delay Contactor S1-19 S1-06 S1-07 50ms speed Up/Down D/I Inverter Hardware BB (D/I) contactor confirmation D/I leveling D/I stop selected speed (D/I) Contactor Control D/O Internal Run Brake Control (D/O) t0 t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 >> FIRMWARE FUNCTIONS (FW 1030) • THE CORE : THE LIFT SEQUENCE (I) Lift sequence without Torque compensation at start OYMC L7Z training

  20. >> FIRMWARE FUNCTIONS (FW 1030) • THE CORE : THE LIFT SEQUENCE (II) • Lift sequence without Torque compensation at start OYMC L7Z training

  21. >> FIRMWARE FUNCTIONS (FW 1030) • THE CORE : THE LIFT SEQUENCE (III) • Lift sequence without Torque compensation at start OYMC L7Z training

  22. Zero Speed Zero Speed Control Control RUN Delay (200ms) Brake Close delay time 50ms S1-16 S1-19 speed 300%torque S1-07 torque comp level at start Clear the torque comp Torque comp producing time S1-22 Up/Down D/I Inverter Hardware BB (D/I) contactor confirmation D/I leveling D/I stop selected speed (D/I) Contactor Control D/O Internal Run Brake Control (D/O) t0 t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 >> FIRMWARE FUNCTIONS (FW 1030) • THE CORE : THE LIFT SEQUENCE (IV) • Lift sequence with Torque compensation at start (only FVC) • Selection is by setting analog input to Torque Comp. (e.g. H3-15=1) OYMC L7Z training

  23. >> FIRMWARE FUNCTIONS (FW 1030) • THE CORE : THE LIFT SEQUENCE (V) • Lift sequence with Torque compensation at start (only FVC) OYMC L7Z training

  24. >> FIRMWARE FUNCTIONS (FW 1030) • THE CORE : THE LIFT SEQUENCE (VI) • Lift sequence with Torque compensation at start (only FVC) OYMC L7Z training

  25. >> FIRMWARE FUNCTIONS (FW 1030) • THE CORE : THE LIFT SEQUENCE (VII) • Sequence parameters are in the new S1 menu. OYMC L7Z training

  26. >> FIRMWARE FUNCTIONS (FW 1030) • SOME SEQUENCE EXAMPLES (I) • Output current and brake output signal. We can identify the DC Injection perfectly.. OYMC L7Z training

  27. >> FIRMWARE FUNCTIONS (FW 1030) • SOME SEQUENCE EXAMPLES (II) • Here we can see Contactor Output (blue), brake output (brown) and Output current (green). OYMC L7Z training

  28. >> FIRMWARE FUNCTIONS (FW 1030) • SOME SEQUENCE EXAMPLES (III) • Here we can see a sequence example taken with SDC V2.1 … From top : • Run signal (Up) • Brake • Contactor • Frequency Output OYMC L7Z training

  29. >> FIRMWARE FUNCTIONS (FW 1030) • SPEED SELECTION (I) • THE SPEED PRIORITIES AND FV COMPATIBILITY MODE • The L7Z provides several sequence behaviour selection to allow FV update, old 2 speed systems update, new multispeed systems, etc… with minimum wiring. • Unfortunately, in FV compatibility mode some special functions related with the levelling speed selection are not possible in firmware 1030 (as the inverter is not aware of which is the levelling speed) : Short floor, feedforward slip, feedforward DC injection, etc. • TO GET MAXIMUM BENEFIT FROM Firmware 1030 use D1-18=1 or 2 !! • Also they provide increased sequence safety OYMC L7Z training

  30. DC DC Injection/ Injection/ zero servo zero servo speed Hardware BB Up/Down leveling no effect selected speed input is set DC DC Injection/ Injection/ zero servo zero servo speed Hardware BB Up/Down leveling speed leveling speed has priority selected speed >> FIRMWARE FUNCTIONS (FW 1030) • SPEED SELECTION (II) • PRIORITIES DEFINED AS FOLLOWS D1-18=1 is preferred type for safety : • D1-18 = 1 (high speed has priority) levelling STOPS. If levelling command is not configured, Up/Down STOPS. wires break = levelling • D1-18 = 2 (levelling has priority) levelling STOPS. If nominal command is not configured, Up/Down STOPS. wires break = nominal !!!!! OYMC L7Z training

  31. >> FIRMWARE FUNCTIONS (FW 1030) • SPEED SELECTION (III) • With D1-18=0, standard FV multifunction input values are available • With D1-18=1, New specific speed reference parameters with specific names are available. New multifunction values are available. OYMC L7Z training

  32. Inspection RUN DC DC (NO) Injection/ Injection/ zero servo zero servo speed speed Hardware BB Up/Down (D/I) Up/Down (D/I) Inspection RUN Inspection RUN base block base block MC closed (D/O) MC closed (D/O) Brake opened (D/O) Brake opened (D/O) >> FIRMWARE FUNCTIONS (FW 1030) • SPEED SELECTION. Inspection speed (IV) • The inspection speed has associated a specific typical inspection sequence Inspection RUN (NO) Hardware BB • RUN + Inspection speed terminal = start sequence. • The inverter coasts to stop during the inspection mode,. • The falling edge of the inspection RUN command or UP/DOWN commands triggers the contactor open command , the motor brake close command and the Baseblock. OYMC L7Z training

  33. >> FIRMWARE FUNCTIONS (FW 1030) • DECELERATION AND S-CURVE SETTINGS • C1-11 changes decel time from C1-02 to C1-08 only in decel section. C1-02 C1-01 C1-11 C1-08 • Additional S-Curve setting C2-05 for STOP. Very useful to modify stopping point without affecting deceleration ride quality. C2-03 C2-02 C2-04 C2-05 C2-01 OYMC L7Z training

  34. >> FIRMWARE FUNCTIONS (FW 1030) • NEW LIFT SEQUENCE FAULT MESSAGES • SE1 : Contactor feedback fault. If multifunction is set to 86 (Output Contactor feedback), then SE1 might appear : • CASE 1: Output contactor of output inverter kept closing before contactor closed command set. • CASE 2: Output contactor cannot be closed within the contactor close delay time. • CASE 3 :Output contactor is opened during inverter running. • SE2 : On brake release, the inverter checks if the motor current is higher than 25% of No-Load current. If not SE2 error is generated • SE3 : During RUN, the inverter checks if motor current is higher than 25% of No-Load current. If not, SE3 error is generated. OYMC L7Z training

  35. measure apply >> FIRMWARE FUNCTIONS (FW 1030) • FEEDFORWARD SLIP COMPENSATION (OLV / VF) (I) • After 1s at speed agree (nominal), the inverter makes an average of motor current (VF) or torque reference (OLV). This will be applied during levelling. • Only works with D1-18<>0 with firmware 1030 • The compesation differentiates regen and motoring. • Very, very useful in open loop for levelling accuracy. • New monitor U1-50 (slip comp. monitor) helps greatly to check how it works OYMC L7Z training

  36. >> FIRMWARE FUNCTIONS (FW 1030) • DC INJECTION (OLV / VF) (I) • DC Injection level (OLV and VF) and time (all methods) at Start and Stop can be set independently. • DC Injection times in FVC are zero speed hold times OYMC L7Z training

  37. ASR P,I ASR P,I C5-09 ASR Gain 3 C5-01 ASR Gain 1 C5-10　ASR I Time 3 C5-02 ASR I Time 1 C5-03 ASR Gain2 C5-03 ASR Gain2 C5-04　ASR I time 2 C5-04　ASR I time 2 0Hz 0Hz Speed(Hz) Speed(Hz) During Acceleration During Deceleration >> FIRMWARE FUNCTIONS (FW 1030) • 3 ASR (Automatic Speed Regulator) SETS (FVC) • L7Z allows selection of different ASR settings when starting, during top speed (E1-04 max freq. is the reference) and when stopping. This allows the most accurate settings. 50 ASR gain brake ASR gain levelling, opening zero speed 20 ASR gain top speed 0 OYMC L7Z training

  38. Internal RUN 300% torque Latch Torque comp.at start level >> FIRMWARE FUNCTIONS (FW 1030) • DWELL AT START FUNCTION • When S1-26 ( dwell speed reference ) is set , the Dwell at start function is activated. When the inverter starts, the inverter accelerates to S1-26 speed with C1-07 acceleration time. Once the motor speed exceeds the C1-11 frequency, the inverter will use the original acceleration. Dwell at start function C1-07 S1-26 • Original Dwell function (b6) is still available. Soft Starter Motor speed C1-11 Brake release OYMC L7Z training

  39. >> FIRMWARE FUNCTIONS (FW 1030) • INERTIA COMPENSATION (Speed feedforward) (FVC) • L7Z ads a feedforward term to the ASR control. When correctly tuned, overshoots due to inertia component of the machine are eliminated. • This becomes specially important as the gear ratio is reduced. • The tuning procedure is : • With balanced car, accelerate from zero to nominal speed with acceleration settings such that torque demand is continuous rated torque during acceleration. Measure the time and place in N5-02 OYMC L7Z training

  40. Speed Vs Vn Vn*0.4 Vl S2 Vj t 0 T1 T2 T1 T2 >> FIRMWARE FUNCTIONS (FW 1030) • SHORTFLOOR OPERATION • L7Z calculates estimated area (distance) from Vn to Vl with current parameters. • When levelling command is received, if actual speed is below 40% of Vn then the inverter keeps 40% reference for a calculated time to achieve the estimated area and reduce levelling time. The inverter keeps running at 40% of Vn reference until The S2 remaining area becomes Like S’ area. Speed Vn: nominal speed Vl: levelling speed T1:S-curve time at top T2:S-curve time at stop S = area Vstd VnX0.4 S s' s' t 0 T1 T2 OYMC L7Z training

  41. >> FIRMWARE FUNCTIONS (FW 1030) • NEW MONITORING FUNCTIONS • L7Z adds some other useful monitors. A group to check current behaviour during the car travel and a number of travels counter. In 1030 D1-18<>0. • LIMIT SWITCH INPUTS OYMC L7Z training

  42. >> FIRMWARE FUNCTIONS (FW 1030) • MULTIFUNCTION OUTPUTS • Door Open is already registered by other company, so we have to give a different name. OYMC L7Z training

More Related