VARIABLE FREQUENCY DRIVE

TRAINING I
Course Topics
Number Formats
Basic Equations
Impedance
Filters
Motor Basics
AC Drive Basics
Oscilloscope
Drive Parameters
Dynamic Braking Resistors
Number Formats

pico x10 12
nano x10 9
micro x10 6
milli x10 3

kilo x10 3
Mega x10 6
 Number Formats
1000 Ohms = 1 kiloOhm = 1 kOhm

0.001 Amp = 1 milliAmp = 1 mA

50 mA = .050 A

0.40 A = 400 mA

75 mV = .075 V

0.75 V = 750 mV

1 second = 1000 ms

300 ms = 0.3 seconds

 Basic Equations

Ohms Law
V=IR voltage equals current times resistance
I=V/R
R=V/I
I = 1.8 Amp

Multimeter

R = 50 Ohms ?V
 Kirchhoffs Voltage & Current
Laws
1. The sum of the currents entering any junction must equal
the sum of the currents leaving that junction.
2. The sum of the potential differences across each element
around any closed circuit loop must be zero.

1. 2. 16V 20V= I1*R1 + I1*R2

5 mA 3 mA
I1 = 20V/ (4+1)
I1 = 4A
4W
I1= I2 + I3 2 mA 20V 4V 20V = 4*4 + 4*1
1W
5 = 2 +3 20V = 16V + 4V
 Basic Equations
Period of a waveform is related to the frequency by:

T=1/f or f = 1 / T

Where period is T and frequency is f

The period of a waveform is the time duration before the waveform repeats.
 Basic Equations

10 ms 10 ms 10 ms 10 ms 10 ms

This waveform has a period, T = 10 ms = 0.010 seconds

f = 1 / T = 1 / 10 ms = 100 Hz
 Basic Equations
Sine Wave

1.0

0.8

0.6

0.4

0.2
16.67 ms
0.0

-0.2

0 seconds
-0.4

-0.6

-0.8

-1.0

f = 60 Hz T = 1 / f = 1 / 60 = 16.67 ms = 0.0167 sec

 Basic Equations
The generator outputs a sine voltage waveform that is 60 Hz in
Frequency and 600 V RMS. A voltage meter will display the
RMS voltage. When reading the voltage of a waveform, the RMS
voltage is the equivalent DC voltage that will produce the same
amount of heating.

When the waveform is a sine wave, the RMS voltage is related to

the peak voltage by:
VRMS = Vpeak / (2)1/2 = Vpeak / 1.414
Vpeak = VRMS x 1.414
So, for the 600 V RMS generator output, the peak voltage is
Vpeak = 600 x 1.414 = 848 V
 Basic Equations
Generator Output

850

750

650

550

450

350

250

150
voltage

50

-50

-150

-250

-350

-450

-550

-650

-750

-850
 Impedance (Z)

Impedance is the total opposition to current flow- Resistance and

Reactance. Impedance is frequency dependent. A measure of
Opposition which changes by frequency.
Two frequency dependent circuit components are capacitors and
Inductors. Z= R + jX
where R is the Resistance
X is the Reactance
 Reactance (X)

The Reactance of an inductor is: XL = 2p f L

where f is the frequency and L is the inductance
As the frequency increases- the impedance increases.

The Reactance of a Capacitor XC = 1/2p f C

where f is frequency and C is capacitance
As the frequency increases- the impedance gets smaller.
 Low Pass Filter Multimeter

Variable frequency
voltage source

If the voltage out of the source is kept at a constant level, and the frequency is made
to increase, the voltage across the resistor will decrease, because the voltage drop
across the line reactor is increasing.
 High Pass Filter Multimeter

capacitor

Variable frequency
voltage source

If the voltage out of the source is kept at a constant level, and the frequency is made
to increase, the voltage across the resistor will increase, because less and less of
the voltage is being dropped across the capacitor.
 Torque
In a DC motor, torque producing and magnetizing currents are physically
separated. The angle between the torque producing and magnetizing currents
can always be kept at 90 because of the mechanical location of the brushes.

F (flux)
Armature Current IT

Armature Voltage Va
DM

Im (magnetizing current)
Commutator & Brush

1) Magnetizing current (Im) and armature current (IT) can be controlled

independently.
2) The electrical angle between Im and IT is kept at 90 by positioning
the brushes mechanically.
 Vector Control
A vector is described as a quantity having both magnitude and
direction. If the lengths of the x and y components are known, the
length in question can be determined by using the Pythagorean
theorem.
y

4 ?

x
3

? = 32 + 42
?=5
 Vector Control
In a Flux Vector inverter, voltage is applied to the T leads of the motor (V1)).
This voltage produces a current that breaks into two components, an X value
(magnetizing current) and a Y value (torque producing current). Magnetizing
current is required to make flux. The torque producing current will change with
the load.
Flux (F) Stator
I1
T1

V1 T2
I2 Rotor
(f)
(shaft)
T3
Torque : T F I2

Im (magnetizing current) F (flux)

V1 I1

IT (torque producing current) I2 (secondary current)

 Vector Control
From the previous example, a relationship between the
magnetizing current (Im or Id), torque producing current (It or Iq),
and the resultant (I1) is established.

y y

4 5 IT I1

x x
3 Im

5= 32 + 42 I1 = Im2 + IT2
 Vector Control
The angle (q) between the torque producing current and the magnetizing
current is held at 90 to produce maximum torque. Torque is proportional to
Im X IT X the Sine of 90. The Sine of 90 =1. If the angle is greater than or
less than 90, the Sine of the angle would be less than 1.

IT I1

Q
Torque = Im X IT X Sin Q
When Q = 90 , Sin Q = 1.0
Im
When Q = more than 90, Sin Q < 1.0
When Q = less than 90, Sin Q < 1.0
 Motor Basics

AC induction motor:
Synchronous speed(revolutions per minute) = (120 x frequency)/ # poles

For across the line starters, the frequency will normally be 60 Hertz
Poles always occur in pairs, 2, 4, 6

For a 4 pole motor, with 60 Hz line voltage frequency, the synchronous

speed will be:
Speed = (120 x 60) / 4 = 1800 rpm
 Motor Basics
Once the motor has a load on it, the motor will no longer reach
synchronous speed. The difference between the synchronous
speed and the full load speed is known as slip.

Slip is often given as a percentage of synchronous speed.

slip = (synchronous speed full load speed) / synchronous speed

A 4 pole motor that runs at a full load speed of 1745 rpm has a slip of
slip = (1800 rpm 1745 rpm) / 1800 rpm = .03 = 3%

The more slip a motor has, the more torque it will develop.
Typical slip values are 2 to 3% for NEMA A, B, and C motors.
NEMA D motors have a high starting torque with slip values of 5 or
6%.
 AC Motor Model
LS Lr Iq
Rs Im

Rr
M

Stator Rotor

R1- Stator Resistance

R2- Rotor Resistance
M- Magnetizing Inductive Reactance
L1- Stator Inductive Reactance
L2- Rotor Inductive Reactance
 Oscilloscope

17 V
Vertical: 5 V/div

Horizontal: 10ms/div 10 V

0V

16 ms
20 ms

-17.5 V
 Oscilloscope

The scope can be put on DC coupled or AC coupled, the difference

is simply a capacitor on the input. Sometimes it might be necessary
To switch back and forth between these settings to see which one
gives you the waveform you are expecting.

AC coupled should take out any DC component of the waveform

while DC coupled should show the AC and DC components.
 Variable Frequency Drive

L1
L2 U
L3 V
W

PWM

Microprocessor 40.0
Control Voltage Current
Power Feedback Feedback
 AC Drive Basics

DC +
Converter Inverter
Module Module
3 phase power 3 phase power AC
Motor
rectifies AC voltage produces AC voltage
DC -
to DC voltage from DC voltage

Larger horsepower drives are normally modular, with a separate converter and
inverter module. Also, there may be multiple inverter modules and only one
converter module. The top drive house is an example of this, there is one converter
module and 2 inverter modules.
 AC Drive Basics

Line leads T leads

AC Drive
3 phase power AC
3 phase power Motor
rectifies AC voltage
to DC voltage, then
produces AC voltage

Smaller horsepower drives normally are contained within 1 box. The converter
and inverter are both housed in the same box.
 AC Drive Basics
+ DC Bus Voltage = approximately 830 V

0 Vdc

Newer AC drives output a pulse width modulated

-DC Bus Voltage Voltage waveform. The current waveform will be
= approx 830 V sinusoidal due to the motor appearing as a low-pass
filter.
 Voltage vs Frequency

600

Voltage

29
1.5 Frequency 60 Hz
 AC Drive Basics

Current output from drive

Voltage output from drive

 AC Drive Basics

Normally on the output of the drive there is a line reactor. This

line reactors purpose is to filter out harmonics and other higher
frequency noise.

reactor

AC Drive AC Motor
reactor

reactor
 AC Drive Basics
higher frequency

lower frequency

lower frequency

higher frequency

Impedance at the drive output will low pass filter the voltage pulses and sinusoidal
current will result. The higher frequencies are greatly attenuated, while the lower
frequencies are not attenuated.
 Drive Parameters

DRIVE FWD REV REMOTE DRIVE: Lit when in operation mode

SEQ REF FWD: Lit when there is a forward run
command input
Frequency Ref REV: Lit when there is a reverse run
U1-01 = 00.00 HZ command input
SEQ: Lit when the run command from the
control circuit terminal is enabled
REF: Lit when the frequency reference
LOCAL from control circuit is enabled
MENU ESC
REMOTE

DATA
JOG
ENTER

FWD
REV RESET

RUN STOP
 Drive Parameters
The drive has 5 modes.

Operation mode The drive can be run in this mode. Use this mode when monitoring
values such as frequency references or output current, displaying fault
information, or displaying the fault history.

Initialize mode Use this mode when selecting the language displayed on the digital
operator, selecting the access level for reading/setting user constants,
selecting the control mode, or initializing the user constants.

Programming mode Use this mode when reading/setting the user constants required
for operation.

Autotuning mode (used only in vector control) the motor constants are calculated
and set automatically.

Modified Constants mode Use this mode to read user constants that have been
changed from their factory set values.
 Drive Parameters

DRIVE FWD REV REMOTE

SEQ REF
operation
Frequency Ref
U1-01 = 00.00 HZ
initialize

LOCAL
MENU ESC
programming REMOTE

DATA
JOG
ENTER
autotuning FWD
REV RESET

Modified Consts RUN STOP

 Drive Parameters
There are 5 access levels:
operation only
quick start
basic
advanced
factory

There are only 2 levels to be concerned with:

operation only this is the access level the drive should be
in before you do any programming. This is the access level
that the drive should be put in after you finish doing any
programming.

factory this is the level to go to for making programming

changes.
 Drive Parameters

When the drive is in operation only, no changes can be made and

only 2 modes are available:
operation mode
initialize mode

*Normally the frequency reference is displayed on the keypad,

press the menu key and it will always take you to where you can
enter one of the available modes.

*The ESC key will always take you back one step
 Drive Parameters

To go into the factory access level:

1) Press the menu key

2) Use the up or down arrow keys to go to Initialize
3) Press the Data/Enter key to go into the initialize menu
4) Use the up or down keys to go to A1-04 enter password
5) Press Data/Enter
6) Enter in the password using the up and down arrows and the
right arrow. The password should be the model# 0616
7) Press the Data/Enter key, the keypad should briefly show
entry accepted
8) Use the up or down arrows to go to access level
9) Press the Data/Enter key
10) Use the up or down arrows to go to factory level
11) Press the Data/Enter key
12) Press the menu key, now you should be able to go into any of the 5 modes
operation, initialize, programming, auto-tuning, modified consts
 Drive Parameters

Initialize Mode Constants

A1-00 to A1-05
A2-01 to A2-32

Programming Mode Constants

B Application Constants operation mode selection, DC control, speed search, etc.
C Autotuning Constants accel/decel times, S-curve characteristics, carrier freq, etc.
D Reference Constants settings related to frequency control.
E Motor Constants V/f characteristics and motor constants.
F Options Constants settings for optional cards.
H Terminal Constants settings for digital I/O and analog I/O
L Protection Constants settings for the motor and drive protection functions.
O Operator Constants selects the digital operators display and key functions.
 Top Drive Parameters
# VALUE DESCRIPTION
B1-01 3 REFERENCE SOURCE / OPTION PCB
B1-02 3 RUN SOURCE / OPTION PCB

C1-01 5.0SEC ACCEL TIME 1

C1-02 2.0SEC DECEL TIME 1
C2-04 .2 SCRV DEC @ END

E1-02 1 STD. BLOWER COOLED

E1-04 81.5HZ MAX FREQ.
E1-05 575.0VAC MAX VOLTAGE
E1-06 39.2HZ BASE FREQ.
E1-09 0.5 MIN FREQ.

E2-01 732.0A MOTOR RATED FLA

E2-02 0.38HZ MOTOR RATED SLIP
E2-03 211.2A NO-LOAD CURRENT
E2-05 0.009 TERMINAL RESISTANCE
E2-07 0.40 SATURATION COMP 1
E2-08 0.61 SATURATION COMP 2

E4-01 81.5HZ MAX FREQ.

E4-02 575.0VAC MAX VOLTAGE
E4-03 39.2HZ BASE FREQ.
E4-05 48.3VAC MID VOLTAGE
E4-07 8.8VAC MIN VOLTAGE
E5-01 732.0A MOTOR RATED FLA
E5-02 0.51 MOTOR RATED SLIP
E5-03 214.7A NO-LOAD CURRENT
E5-05 0.004 TERMINAL RESISTANCE

F1-02 3 PG FDBK LOSS SEL-ALARM ONLY

F1-10 50% PG DEVIATE LEVEL
F1-11 10.0SEC PG DEVIATE TIME
F1-14 10.0SEC PGO DETECT TIME
F4-01 9 AO CH1 SELECT-TORQUE REF.
F4-04 1.00 AO CH2 GAIN
F7-01 0 1X OUTPUT FREQ.

H1-01 25 TERMINAL 3 SEL-EXT FLT/NC/ALWAYS DETECTED

H1-02 16 TERMINAL 4 SEL-MOTOR 2 SELECT
H2-01 E TERMINAL 9 SEL-FAULT
H4-01 18 TERMINAL 21 SEL- MOTOR SEC CURRENT
H4-02 0.50 TERMINAL 21 GAIN
L3-04 0 STALL P DECEL SELECT/ DISABLED
 Control Method
Open Loop

VFD IM

Closed Loop

VFD IM
Encoder